Fix TSAN CI to use gcc-12 (#116)

* Fix TSAN CI to use gcc-12

Signed-off-by: Raul Sanchez-Mateos <raul@eprosima.com>

* Remove warning note in tsan job

Signed-off-by: Raul Sanchez-Mateos <raul@eprosima.com>

---------

Signed-off-by: Raul Sanchez-Mateos <raul@eprosima.com>

.github/workflows/reusable-workflow.yml

@@ -153,9 +153,6 @@ jobs:
 # TSAN
 
   tsan:
-    # NOTE: there is a known issue in TSAN 20.04 with std::condition_variable::wait_for
-    # https://github.com/google/sanitizers/issues/1259
-    # Until this is fixed, we use 20.04 for TSAN work
     runs-on: ubuntu-22.04
     steps:
 
@@ -176,6 +173,11 @@ jobs:
 
       - name: Compile and run tests
         uses: eProsima/eProsima-CI/multiplatform/colcon_build_test@v0
+        env:
+          # GCC 11.3 (Ubuntu Jammy default) produces several false positives regarding timed synchronization protocols
+          # These issues were fixed in GCC 12 so we upgrade to that version.
+          CC: gcc-12
+          CXX: g++-12
         with:
           packages_names: ${{ env.cpp_packages_names }}
           cmake_args: -DBUILD_TESTS=ON -DTSAN_BUILD=ON