[build] Add CMake build support for sanitizers (#3576)

* Address sanitizer uses -DCMAKE_BUILD_TYPE=Asan
* Thread sanitizer uses -DCMAKE_BUILD_TYPE=Tsan
* Undefined behavior sanitizer uses -DCMAKE_BUILD_TYPE=Ubsan

Only ubsan is enabled in CI for now because asan and tsan report
failures.

.github/workflows/sanitizers.yml

@@ -0,0 +1,37 @@
+name: Sanitizers
+
+on: [pull_request, push]
+
+jobs:
+  build:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          #- name: asan
+          #  flags: "-DCMAKE_BUILD_TYPE=Asan"
+          #- name: tsan
+          #  flags: "-DCMAKE_BUILD_TYPE=Tsan"
+          - name: ubsan
+            flags: "-DCMAKE_BUILD_TYPE=Ubsan"
+    name: "${{ matrix.name }}"
+    runs-on: ubuntu-latest
+    container: wpilib/roborio-cross-ubuntu:2021-18.04
+    steps:
+      - uses: actions/checkout@v2
+      - name: Install Dependencies
+        run: |
+          sudo add-apt-repository ppa:ubuntu-toolchain-r/test
+          sudo apt install -y gcc-11 g++-11
+          sudo update-alternatives \
+            --install /usr/bin/gcc gcc /usr/bin/gcc-11 11 \
+            --slave /usr/bin/g++ g++ /usr/bin/g++-11
+          sudo update-alternatives --set gcc /usr/bin/gcc-11
+      - name: configure
+        run: mkdir build && cd build && cmake ${{ matrix.flags }} ..
+      - name: build
+        working-directory: build
+        run: make -j3
+      - name: test
+        working-directory: build
+        run: ctest --output-on-failure