diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml
index 61a5f1f29c..844a4559e2 100644
--- a/.github/workflows/humble-abi-compatibility.yml
+++ b/.github/workflows/humble-abi-compatibility.yml
@@ -14,6 +14,11 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_control-not-released.humble.repos'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   abi_check:
     runs-on: ubuntu-latest
diff --git a/.github/workflows/humble-binary-build.yml b/.github/workflows/humble-binary-build.yml
index 6392ba8e68..0fabfda92f 100644
--- a/.github/workflows/humble-binary-build.yml
+++ b/.github/workflows/humble-binary-build.yml
@@ -32,6 +32,11 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
diff --git a/.github/workflows/humble-check-docs.yml b/.github/workflows/humble-check-docs.yml
index f3c31703cd..078a541bf0 100644
--- a/.github/workflows/humble-check-docs.yml
+++ b/.github/workflows/humble-check-docs.yml
@@ -10,6 +10,10 @@ on:
       - '**.md'
       - '**.yaml'
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   check-docs:
     name: Check Docs
diff --git a/.github/workflows/humble-coverage-build.yml b/.github/workflows/humble-coverage-build.yml
index 209c931d4e..8255b02bb4 100644
--- a/.github/workflows/humble-coverage-build.yml
+++ b/.github/workflows/humble-coverage-build.yml
@@ -28,6 +28,11 @@ on:
       - 'ros2_control.humble.repos'
       - 'codecov.yml'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   coverage_humble:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master
diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
index 0ce72a3184..301befbcab 100644
--- a/.github/workflows/humble-debian-build.yml
+++ b/.github/workflows/humble-debian-build.yml
@@ -17,6 +17,10 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
 
 jobs:
   debian_source_build:
diff --git a/.github/workflows/humble-pre-commit.yml b/.github/workflows/humble-pre-commit.yml
index 5bb2408578..38a76ee025 100644
--- a/.github/workflows/humble-pre-commit.yml
+++ b/.github/workflows/humble-pre-commit.yml
@@ -6,6 +6,10 @@ on:
     branches:
       - humble
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   pre-commit:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
index 62c5cd62ba..e986bf361e 100644
--- a/.github/workflows/humble-rhel-binary-build.yml
+++ b/.github/workflows/humble-rhel-binary-build.yml
@@ -17,6 +17,11 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   rhel_semi_binary_build:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
diff --git a/.github/workflows/humble-semi-binary-build.yml b/.github/workflows/humble-semi-binary-build.yml
index 96938467f9..7b0c5f1fd3 100644
--- a/.github/workflows/humble-semi-binary-build.yml
+++ b/.github/workflows/humble-semi-binary-build.yml
@@ -1,6 +1,6 @@
 name: Humble Semi-Binary Build
 # author: Denis Štogl <denis@stoglrobotics.de>
-# description: 'Build & test all dependencies from released (binary) packages.'
+# description: 'Build & test all ros2_control dependencies from source.'
 
 on:
   workflow_dispatch:
@@ -32,8 +32,13 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
-  binary:
+  semi-binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -45,3 +50,14 @@ jobs:
       ros_repo: ${{ matrix.ROS_REPO }}
       upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: humble
+  semi-binary-clang:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    with:
+      ros_distro: humble
+      ros_repo: testing
+      upstream_workspace: ros2_control.humble.repos
+      ref_for_scheduled_build: humble
+      additional_debs: clang
+      c_compiler: clang
+      cxx_compiler: clang++
+      not_test_build: true
diff --git a/.github/workflows/jazzy-abi-compatibility.yml b/.github/workflows/jazzy-abi-compatibility.yml
index 367b3736fb..aa0fe81e63 100644
--- a/.github/workflows/jazzy-abi-compatibility.yml
+++ b/.github/workflows/jazzy-abi-compatibility.yml
@@ -14,6 +14,11 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_control-not-released.jazzy.repos'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   abi_check:
     runs-on: ubuntu-latest
diff --git a/.github/workflows/jazzy-binary-build.yml b/.github/workflows/jazzy-binary-build.yml
index 5be853ebfc..599a075d9a 100644
--- a/.github/workflows/jazzy-binary-build.yml
+++ b/.github/workflows/jazzy-binary-build.yml
@@ -32,6 +32,11 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
diff --git a/.github/workflows/jazzy-check-docs.yml b/.github/workflows/jazzy-check-docs.yml
index cbdf6c30bd..7910cde0b5 100644
--- a/.github/workflows/jazzy-check-docs.yml
+++ b/.github/workflows/jazzy-check-docs.yml
@@ -10,6 +10,10 @@ on:
       - '**.md'
       - '**.yaml'
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   check-docs:
     name: Check Docs
diff --git a/.github/workflows/jazzy-debian-build.yml b/.github/workflows/jazzy-debian-build.yml
index 4ec6a29fff..0f695ed8bc 100644
--- a/.github/workflows/jazzy-debian-build.yml
+++ b/.github/workflows/jazzy-debian-build.yml
@@ -17,6 +17,10 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
 
 jobs:
   debian_source_build:
diff --git a/.github/workflows/jazzy-pre-commit.yml b/.github/workflows/jazzy-pre-commit.yml
index d9ec610bbc..aab5ba52ac 100644
--- a/.github/workflows/jazzy-pre-commit.yml
+++ b/.github/workflows/jazzy-pre-commit.yml
@@ -6,6 +6,10 @@ on:
     branches:
       - master
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   pre-commit:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
diff --git a/.github/workflows/jazzy-rhel-binary-build.yml b/.github/workflows/jazzy-rhel-binary-build.yml
index 0dcc912dab..a6404d2dbd 100644
--- a/.github/workflows/jazzy-rhel-binary-build.yml
+++ b/.github/workflows/jazzy-rhel-binary-build.yml
@@ -17,6 +17,11 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   rhel_semi_binary_build:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
diff --git a/.github/workflows/jazzy-semi-binary-build.yml b/.github/workflows/jazzy-semi-binary-build.yml
index 12769eb740..d5e3a96835 100644
--- a/.github/workflows/jazzy-semi-binary-build.yml
+++ b/.github/workflows/jazzy-semi-binary-build.yml
@@ -1,6 +1,6 @@
 name: Jazzy Semi-Binary Build
 # author: Denis Štogl <denis@stoglrobotics.de>
-# description: 'Build & test all dependencies from released (binary) packages.'
+# description: 'Build & test all ros2_control dependencies from source.'
 
 on:
   workflow_dispatch:
@@ -32,8 +32,13 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
-  binary:
+  semi-binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -45,3 +50,14 @@ jobs:
       ros_repo: ${{ matrix.ROS_REPO }}
       upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: master
+  semi-binary-clang:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    with:
+      ros_distro: jazzy
+      ros_repo: testing
+      upstream_workspace: ros2_control.jazzy.repos
+      ref_for_scheduled_build: master
+      additional_debs: clang
+      c_compiler: clang
+      cxx_compiler: clang++
+      not_test_build: true
diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
index a07fecc660..3e30571ea1 100644
--- a/.github/workflows/rolling-abi-compatibility.yml
+++ b/.github/workflows/rolling-abi-compatibility.yml
@@ -14,6 +14,11 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_control-not-released.rolling.repos'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   abi_check:
     runs-on: ubuntu-latest
diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build.yml
index 24a28f16ae..0859169b15 100644
--- a/.github/workflows/rolling-binary-build.yml
+++ b/.github/workflows/rolling-binary-build.yml
@@ -32,6 +32,11 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
diff --git a/.github/workflows/rolling-check-docs.yml b/.github/workflows/rolling-check-docs.yml
index 80e8287abd..8dc02f65c1 100644
--- a/.github/workflows/rolling-check-docs.yml
+++ b/.github/workflows/rolling-check-docs.yml
@@ -10,6 +10,10 @@ on:
       - '**.md'
       - '**.yaml'
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   check-docs:
     name: Check Docs
diff --git a/.github/workflows/rolling-compatibility-humble-binary-build.yml b/.github/workflows/rolling-compatibility-humble-binary-build.yml
index b55091521e..35957bbc0e 100644
--- a/.github/workflows/rolling-compatibility-humble-binary-build.yml
+++ b/.github/workflows/rolling-compatibility-humble-binary-build.yml
@@ -29,6 +29,11 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   build-on-humble:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
diff --git a/.github/workflows/rolling-compatibility-jazzy-binary-build.yml b/.github/workflows/rolling-compatibility-jazzy-binary-build.yml
index 621ffb6a26..bddbd14878 100644
--- a/.github/workflows/rolling-compatibility-jazzy-binary-build.yml
+++ b/.github/workflows/rolling-compatibility-jazzy-binary-build.yml
@@ -29,6 +29,11 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   build-on-jazzy:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
diff --git a/.github/workflows/rolling-coverage-build.yml b/.github/workflows/rolling-coverage-build.yml
index 45b10876e7..ad4e467606 100644
--- a/.github/workflows/rolling-coverage-build.yml
+++ b/.github/workflows/rolling-coverage-build.yml
@@ -28,6 +28,11 @@ on:
       - 'ros2_control.rolling.repos'
       - 'codecov.yml'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   coverage_rolling:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
index 00d4ad844b..a54e7ad0d1 100644
--- a/.github/workflows/rolling-debian-build.yml
+++ b/.github/workflows/rolling-debian-build.yml
@@ -17,6 +17,11 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 
 jobs:
   debian_source_build:
diff --git a/.github/workflows/rolling-pre-commit.yml b/.github/workflows/rolling-pre-commit.yml
index 7bc07ba802..792278d6d2 100644
--- a/.github/workflows/rolling-pre-commit.yml
+++ b/.github/workflows/rolling-pre-commit.yml
@@ -6,6 +6,10 @@ on:
     branches:
       - master
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   pre-commit:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
index b8b572f921..8af8d728c1 100644
--- a/.github/workflows/rolling-rhel-binary-build.yml
+++ b/.github/workflows/rolling-rhel-binary-build.yml
@@ -17,6 +17,13 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+<<<<<<< HEAD
+=======
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+>>>>>>> 6e896bf ([CI] Add clang job, setup concurrency, use rt_tools humble branch (#1910))
 
 jobs:
   rhel_semi_binary_build:
diff --git a/.github/workflows/rolling-semi-binary-build.yml b/.github/workflows/rolling-semi-binary-build.yml
index 492da45ab9..6431b9f4fa 100644
--- a/.github/workflows/rolling-semi-binary-build.yml
+++ b/.github/workflows/rolling-semi-binary-build.yml
@@ -1,6 +1,6 @@
 name: Rolling Semi-Binary Build
 # author: Denis Štogl <denis@stoglrobotics.de>
-# description: 'Build & test all dependencies from released (binary) packages.'
+# description: 'Build & test all ros2_control dependencies from source.'
 
 on:
   workflow_dispatch:
@@ -32,8 +32,13 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
-  binary:
+  semi-binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -45,3 +50,15 @@ jobs:
       ros_repo: ${{ matrix.ROS_REPO }}
       upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: master
+  semi-binary-clang:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    with:
+      # job for building only, no tests -> one distro is enough
+      ros_distro: rolling
+      ros_repo: testing
+      upstream_workspace: ros2_control.rolling.repos
+      ref_for_scheduled_build: master
+      additional_debs: clang
+      c_compiler: clang
+      cxx_compiler: clang++
+      not_test_build: true
diff --git a/.github/workflows/rosdoc2.yml b/.github/workflows/rosdoc2.yml
index 07a9e2904a..3452796f55 100644
--- a/.github/workflows/rosdoc2.yml
+++ b/.github/workflows/rosdoc2.yml
@@ -8,6 +8,9 @@ on:
       - ros2_control/rosdoc2.yaml
       - ros2_control/package.xml
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 
 jobs:
   check:
diff --git a/controller_interface/include/semantic_components/force_torque_sensor.hpp b/controller_interface/include/semantic_components/force_torque_sensor.hpp
index ab55a537ad..c749ed1db8 100644
--- a/controller_interface/include/semantic_components/force_torque_sensor.hpp
+++ b/controller_interface/include/semantic_components/force_torque_sensor.hpp
@@ -62,7 +62,7 @@ class ForceTorqueSensor : public SemanticComponentInterface<geometry_msgs::msg::
     const std::string & interface_torque_y, const std::string & interface_torque_z)
   : SemanticComponentInterface("", 6)
   {
-    auto check_and_add_interface = [this](const std::string & interface_name, const int index)
+    auto check_and_add_interface = [this](const std::string & interface_name, const size_t index)
     {
       if (!interface_name.empty())
       {
@@ -120,7 +120,7 @@ class ForceTorqueSensor : public SemanticComponentInterface<geometry_msgs::msg::
     // find out how many force interfaces are being used
     // torque interfaces will be found from the next index onward
     auto torque_interface_counter =
-      std::count(existing_axes_.begin(), existing_axes_.begin() + 3, true);
+      static_cast<size_t>(std::count(existing_axes_.begin(), existing_axes_.begin() + 3, true));
 
     for (size_t i = 3; i < 6; ++i)
     {
diff --git a/controller_interface/src/controller_interface_base.cpp b/controller_interface/src/controller_interface_base.cpp
index 26c8c41cf6..60a15a2877 100644
--- a/controller_interface/src/controller_interface_base.cpp
+++ b/controller_interface/src/controller_interface_base.cpp
@@ -33,7 +33,15 @@ return_type ControllerInterfaceBase::init(
 
   try
   {
+<<<<<<< HEAD
     auto_declare<int>("update_rate", 0);
+=======
+    // no rclcpp::ParameterValue unsigned int specialization
+    auto_declare<int>("update_rate", static_cast<int>(update_rate_));
+
+    auto_declare<bool>("is_async", false);
+    auto_declare<int>("thread_priority", 50);
+>>>>>>> 6e896bf ([CI] Add clang job, setup concurrency, use rt_tools humble branch (#1910))
   }
   catch (const std::exception & e)
   {
@@ -85,6 +93,24 @@ const rclcpp_lifecycle::State & ControllerInterfaceBase::configure()
   {
     update_rate_ = static_cast<unsigned int>(get_node()->get_parameter("update_rate").as_int());
   }
+<<<<<<< HEAD
+=======
+  if (is_async_)
+  {
+    const int thread_priority =
+      static_cast<int>(get_node()->get_parameter("thread_priority").as_int());
+    RCLCPP_INFO(
+      get_node()->get_logger(), "Starting async handler with scheduler priority: %d",
+      thread_priority);
+    async_handler_ = std::make_unique<realtime_tools::AsyncFunctionHandler<return_type>>();
+    async_handler_->init(
+      std::bind(
+        &ControllerInterfaceBase::update, this, std::placeholders::_1, std::placeholders::_2),
+      thread_priority);
+    async_handler_->start_thread();
+  }
+  trigger_stats_.reset();
+>>>>>>> 6e896bf ([CI] Add clang job, setup concurrency, use rt_tools humble branch (#1910))
 
   return get_node()->configure();
 }
diff --git a/controller_manager/src/ros2_control_node.cpp b/controller_manager/src/ros2_control_node.cpp
index d6a0b0f3dd..9febe6b4bf 100644
--- a/controller_manager/src/ros2_control_node.cpp
+++ b/controller_manager/src/ros2_control_node.cpp
@@ -64,6 +64,32 @@ int main(int argc, char ** argv)
     RCLCPP_WARN(cm->get_logger(), "Unable to lock the memory : '%s'", message.c_str());
   }
 
+<<<<<<< HEAD
+=======
+  rclcpp::Parameter cpu_affinity_param;
+  if (cm->get_parameter("cpu_affinity", cpu_affinity_param))
+  {
+    std::vector<int> cpus = {};
+    if (cpu_affinity_param.get_type() == rclcpp::ParameterType::PARAMETER_INTEGER)
+    {
+      cpus = {static_cast<int>(cpu_affinity_param.as_int())};
+    }
+    else if (cpu_affinity_param.get_type() == rclcpp::ParameterType::PARAMETER_INTEGER_ARRAY)
+    {
+      const auto cpu_affinity_param_array = cpu_affinity_param.as_integer_array();
+      std::for_each(
+        cpu_affinity_param_array.begin(), cpu_affinity_param_array.end(),
+        [&cpus](int cpu) { cpus.push_back(static_cast<int>(cpu)); });
+    }
+    const auto affinity_result = realtime_tools::set_current_thread_affinity(cpus);
+    if (!affinity_result.first)
+    {
+      RCLCPP_WARN(
+        cm->get_logger(), "Unable to set the CPU affinity : '%s'", affinity_result.second.c_str());
+    }
+  }
+
+>>>>>>> 6e896bf ([CI] Add clang job, setup concurrency, use rt_tools humble branch (#1910))
   RCLCPP_INFO(cm->get_logger(), "update rate is %d Hz", cm->get_update_rate());
   const int thread_priority = cm->get_parameter_or<int>("thread_priority", kSchedPriority);
   RCLCPP_INFO(
diff --git a/hardware_interface/src/component_parser.cpp b/hardware_interface/src/component_parser.cpp
index e087d39c95..60d8b03367 100644
--- a/hardware_interface/src/component_parser.cpp
+++ b/hardware_interface/src/component_parser.cpp
@@ -174,7 +174,7 @@ std::size_t parse_size_attribute(const tinyxml2::XMLElement * elem)
   std::regex int_re("[1-9][0-9]*");
   if (std::regex_match(s, int_re))
   {
-    size = std::stoi(s);
+    size = static_cast<size_t>(std::stoi(s));
   }
   else
   {
@@ -595,6 +595,85 @@ std::vector<HardwareInfo> parse_control_resources_from_urdf(const std::string &
     ros2_control_it = ros2_control_it->NextSiblingElement(kROS2ControlTag);
   }
 
+<<<<<<< HEAD
+=======
+  // parse full URDF for mimic options
+  urdf::Model model;
+  if (!model.initString(urdf))
+  {
+    throw std::runtime_error("Failed to parse URDF file");
+  }
+  for (auto & hw_info : hardware_info)
+  {
+    for (auto i = 0u; i < hw_info.joints.size(); ++i)
+    {
+      const auto & joint = hw_info.joints.at(i);
+      auto urdf_joint = model.getJoint(joint.name);
+      if (!urdf_joint)
+      {
+        throw std::runtime_error("Joint '" + joint.name + "' not found in URDF");
+      }
+      if (!urdf_joint->mimic && joint.is_mimic == MimicAttribute::TRUE)
+      {
+        throw std::runtime_error(
+          "Joint '" + joint.name + "' has no mimic information in the URDF.");
+      }
+      if (urdf_joint->mimic && joint.is_mimic != MimicAttribute::FALSE)
+      {
+        if (joint.command_interfaces.size() > 0)
+        {
+          throw std::runtime_error(
+            "Joint '" + joint.name +
+            "' has mimic attribute not set to false: Activated mimic joints cannot have command "
+            "interfaces.");
+        }
+        auto find_joint = [&hw_info](const std::string & name)
+        {
+          auto it = std::find_if(
+            hw_info.joints.begin(), hw_info.joints.end(),
+            [&name](const auto & j) { return j.name == name; });
+          if (it == hw_info.joints.end())
+          {
+            throw std::runtime_error("Mimic joint '" + name + "' not found in <ros2_control> tag");
+          }
+          return static_cast<size_t>(std::distance(hw_info.joints.begin(), it));
+        };
+
+        MimicJoint mimic_joint;
+        mimic_joint.joint_index = i;
+        mimic_joint.mimicked_joint_index = find_joint(urdf_joint->mimic->joint_name);
+        mimic_joint.multiplier = urdf_joint->mimic->multiplier;
+        mimic_joint.offset = urdf_joint->mimic->offset;
+        hw_info.mimic_joints.push_back(mimic_joint);
+      }
+
+      if (urdf_joint->type == urdf::Joint::FIXED)
+      {
+        throw std::runtime_error(
+          "Joint '" + joint.name +
+          "' is of type 'fixed'. "
+          "Fixed joints do not make sense in ros2_control.");
+      }
+
+      joint_limits::JointLimits limits;
+      getJointLimits(urdf_joint, limits);
+      // Take the most restricted one. Also valid for continuous-joint type only
+      detail::update_interface_limits(joint.command_interfaces, limits);
+      hw_info.limits[joint.name] = limits;
+      joint_limits::SoftJointLimits soft_limits;
+      if (getSoftJointLimits(urdf_joint, soft_limits))
+      {
+        if (limits.has_position_limits)
+        {
+          soft_limits.min_position = std::max(soft_limits.min_position, limits.min_position);
+          soft_limits.max_position = std::min(soft_limits.max_position, limits.max_position);
+        }
+        hw_info.soft_limits[joint.name] = soft_limits;
+      }
+    }
+  }
+
+>>>>>>> 6e896bf ([CI] Add clang job, setup concurrency, use rt_tools humble branch (#1910))
   return hardware_info;
 }
 
diff --git a/hardware_interface/src/mock_components/generic_system.cpp b/hardware_interface/src/mock_components/generic_system.cpp
index fb91961d60..2ea6239c3b 100644
--- a/hardware_interface/src/mock_components/generic_system.cpp
+++ b/hardware_interface/src/mock_components/generic_system.cpp
@@ -144,7 +144,11 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
       custom_interface_with_following_offset_ = it->second;
     }
   }
+<<<<<<< HEAD
   // its extremlly improbably that std::distance results int this value - therefore default
+=======
+  // it's extremely improbable that std::distance results in this value - therefore default
+>>>>>>> 6e896bf ([CI] Add clang job, setup concurrency, use rt_tools humble branch (#1910))
   index_custom_interface_with_following_offset_ = std::numeric_limits<size_t>::max();
 
   // Initialize storage for standard interfaces
@@ -210,9 +214,15 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
     if (if_it != other_interfaces_.end())
     {
       index_custom_interface_with_following_offset_ =
+<<<<<<< HEAD
         std::distance(other_interfaces_.begin(), if_it);
       RCUTILS_LOG_INFO_NAMED(
         "mock_generic_system", "Custom interface with following offset '%s' found at index: %zu.",
+=======
+        static_cast<size_t>(std::distance(other_interfaces_.begin(), if_it));
+      RCLCPP_INFO(
+        get_logger(), "Custom interface with following offset '%s' found at index: %zu.",
+>>>>>>> 6e896bf ([CI] Add clang job, setup concurrency, use rt_tools humble branch (#1910))
         custom_interface_with_following_offset_.c_str(),
         index_custom_interface_with_following_offset_);
     }
@@ -395,7 +405,12 @@ return_type GenericSystem::prepare_command_mode_switch(
 
     if (joint_it_found != info_.joints.end())
     {
+<<<<<<< HEAD
       const size_t joint_index = std::distance(info_.joints.begin(), joint_it_found);
+=======
+      const size_t joint_index =
+        static_cast<size_t>(std::distance(info.joints.begin(), joint_it_found));
+>>>>>>> 6e896bf ([CI] Add clang job, setup concurrency, use rt_tools humble branch (#1910))
       if (joint_found_in_x_requests_[joint_index] == 0)
       {
         joint_found_in_x_requests_[joint_index] = FOUND_ONCE_FLAG;
@@ -483,7 +498,12 @@ return_type GenericSystem::perform_command_mode_switch(
 
     if (joint_it_found != info_.joints.end())
     {
+<<<<<<< HEAD
       const size_t joint_index = std::distance(info_.joints.begin(), joint_it_found);
+=======
+      const size_t joint_index =
+        static_cast<size_t>(std::distance(info.joints.begin(), joint_it_found));
+>>>>>>> 6e896bf ([CI] Add clang job, setup concurrency, use rt_tools humble branch (#1910))
 
       if (key == info_.joints[joint_index].name + "/" + hardware_interface::HW_IF_POSITION)
       {
@@ -673,7 +693,7 @@ bool GenericSystem::get_interface(
   auto it = std::find(interface_list.begin(), interface_list.end(), interface_name);
   if (it != interface_list.end())
   {
-    auto j = std::distance(interface_list.begin(), it);
+    auto j = static_cast<size_t>(std::distance(interface_list.begin(), it));
     interfaces.emplace_back(name, *it, &values[j][vector_index]);
     return true;
   }
@@ -706,7 +726,7 @@ void GenericSystem::initialize_storage_vectors(
       // If interface name is found in the interfaces list
       if (it != interfaces.end())
       {
-        auto index = std::distance(interfaces.begin(), it);
+        auto index = static_cast<size_t>(std::distance(interfaces.begin(), it));
 
         // Check the initial_value param is used
         if (!interface.initial_value.empty())
diff --git a/hardware_interface/test/test_component_interfaces.cpp b/hardware_interface/test/test_component_interfaces.cpp
index d90756c324..1b9dd71fb5 100644
--- a/hardware_interface/test/test_component_interfaces.cpp
+++ b/hardware_interface/test/test_component_interfaces.cpp
@@ -308,7 +308,7 @@ class DummySystem : public hardware_interface::SystemInterface
       return hardware_interface::return_type::ERROR;
     }
 
-    for (auto i = 0; i < 3; ++i)
+    for (size_t i = 0; i < 3; ++i)
     {
       position_state_[i] += velocity_command_[0];
       velocity_state_[i] = velocity_command_[0];
@@ -318,7 +318,7 @@ class DummySystem : public hardware_interface::SystemInterface
 
   CallbackReturn on_shutdown(const rclcpp_lifecycle::State & /*previous_state*/) override
   {
-    for (auto i = 0ul; i < 3; ++i)
+    for (size_t i = 0; i < 3; ++i)
     {
       velocity_state_[i] = 0.0;
     }
@@ -344,9 +344,121 @@ class DummySystem : public hardware_interface::SystemInterface
     std::numeric_limits<double>::quiet_NaN(), std::numeric_limits<double>::quiet_NaN(),
     std::numeric_limits<double>::quiet_NaN()};
   std::array<double, 3> velocity_state_ = {
+<<<<<<< HEAD
     std::numeric_limits<double>::quiet_NaN(), std::numeric_limits<double>::quiet_NaN(),
     std::numeric_limits<double>::quiet_NaN()};
   std::array<double, 3> velocity_command_ = {0.0, 0.0, 0.0};
+=======
+    {std::numeric_limits<double>::quiet_NaN(), std::numeric_limits<double>::quiet_NaN(),
+     std::numeric_limits<double>::quiet_NaN()}};
+  std::array<double, 3> velocity_command_ = {{0.0, 0.0, 0.0}};
+
+  // Helper variables to initiate error on read
+  unsigned int read_calls_ = 0;
+  unsigned int write_calls_ = 0;
+  bool recoverable_error_happened_ = false;
+};
+// END
+
+class DummySystemDefault : public hardware_interface::SystemInterface
+{
+  CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override
+  {
+    if (
+      hardware_interface::SystemInterface::on_init(info) !=
+      hardware_interface::CallbackReturn::SUCCESS)
+    {
+      return hardware_interface::CallbackReturn::ERROR;
+    }
+    return CallbackReturn::SUCCESS;
+  }
+
+  CallbackReturn on_configure(const rclcpp_lifecycle::State & /*previous_state*/) override
+  {
+    for (auto i = 0ul; i < 3; ++i)
+    {
+      set_state(position_states_[i], 0.0);
+      set_state(velocity_states_[i], 0.0);
+    }
+    // reset command only if error is initiated
+    if (recoverable_error_happened_)
+    {
+      for (auto i = 0ul; i < 3; ++i)
+      {
+        set_command(velocity_commands_[i], 0.0);
+      }
+    }
+
+    read_calls_ = 0;
+    write_calls_ = 0;
+
+    return CallbackReturn::SUCCESS;
+  }
+
+  std::string get_name() const override { return "DummySystemDefault"; }
+
+  hardware_interface::return_type read(
+    const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override
+  {
+    ++read_calls_;
+    if (read_calls_ == TRIGGER_READ_WRITE_ERROR_CALLS)
+    {
+      return hardware_interface::return_type::ERROR;
+    }
+
+    // no-op, state is getting propagated within write.
+    return hardware_interface::return_type::OK;
+  }
+
+  hardware_interface::return_type write(
+    const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override
+  {
+    ++write_calls_;
+    if (write_calls_ == TRIGGER_READ_WRITE_ERROR_CALLS)
+    {
+      return hardware_interface::return_type::ERROR;
+    }
+
+    for (size_t i = 0; i < 3; ++i)
+    {
+      auto current_pos = get_state(position_states_[i]);
+      set_state(position_states_[i], current_pos + get_command(velocity_commands_[i]));
+      set_state(velocity_states_[i], get_command(velocity_commands_[i]));
+    }
+    return hardware_interface::return_type::OK;
+  }
+
+  CallbackReturn on_shutdown(const rclcpp_lifecycle::State & /*previous_state*/) override
+  {
+    for (const auto & velocity_state : velocity_states_)
+    {
+      set_state(velocity_state, 0.0);
+    }
+    return CallbackReturn::SUCCESS;
+  }
+
+  CallbackReturn on_error(const rclcpp_lifecycle::State & /*previous_state*/) override
+  {
+    if (!recoverable_error_happened_)
+    {
+      recoverable_error_happened_ = true;
+      return CallbackReturn::SUCCESS;
+    }
+    else
+    {
+      return CallbackReturn::ERROR;
+    }
+    return CallbackReturn::FAILURE;
+  }
+
+private:
+  std::vector<std::string> position_states_ = {
+    "joint1/position", "joint2/position", "joint3/position"};
+  std::vector<std::string> velocity_states_ = {
+    "joint1/velocity", "joint2/velocity", "joint3/velocity"};
+  std::vector<std::string> velocity_commands_ = {
+    "joint1/velocity", "joint2/velocity", "joint3/velocity"};
+>>>>>>> 6e896bf ([CI] Add clang job, setup concurrency, use rt_tools humble branch (#1910))
 
   // Helper variables to initiate error on read
   unsigned int read_calls_ = 0;
diff --git a/hardware_interface/test/test_macros.cpp b/hardware_interface/test/test_macros.cpp
index a7c56849d1..7dc707d58b 100644
--- a/hardware_interface/test/test_macros.cpp
+++ b/hardware_interface/test/test_macros.cpp
@@ -62,7 +62,7 @@ TEST_F(TestMacros, throw_on_not_null)
   EXPECT_ANY_THROW(THROW_ON_NOT_NULLPTR(a_ptr));
 
   std::vector<int *> vec_ptr;
-  for (auto i : {0, 1, 2})
+  for (size_t i = 0; i < 3; ++i)
   {
     vec_ptr.push_back(i_ptr);
     EXPECT_ANY_THROW(THROW_ON_NOT_NULLPTR(vec_ptr[i]));
diff --git a/ros2_control.humble.repos b/ros2_control.humble.repos
index 98b2866d38..af5cbc3c26 100644
--- a/ros2_control.humble.repos
+++ b/ros2_control.humble.repos
@@ -2,7 +2,7 @@ repositories:
   ros-controls/realtime_tools:
     type: git
     url: https://github.com/ros-controls/realtime_tools.git
-    version: master
+    version: humble
   ros-controls/control_msgs:
     type: git
     url: https://github.com/ros-controls/control_msgs.git