Fix bazel build errors with clang and enable bazel CI

[shameekganguly]

🦟 Bug fix

Summary

Fixes bazel build failures for clang found with:

$ bazel build ... --action_env=CC=/usr/bin/clang

Also enables Bazel CI, similar to gazebosim/gz-math#637

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
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