Fix upstream for rodep install in devcontainer

.devcontainer/jazzy/Dockerfile.jazzy

@@ -1,3 +1,4 @@
+# syntax=docker/dockerfile:1.7-labs
 FROM osrf/ros:jazzy-desktop-full
 ARG USERNAME=USERNAME
 ARG USER_UID=1000
@@ -51,19 +52,17 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGE
     python3-vcstool \
     && rm -rf /var/lib/apt/lists/*
 
-# system deps from frozen rosdep manifest — no rosdep at build or startup
-# NOTE: There should be a check in your CI that this file is up to date.
-# Something like: 
-#   ./scripts/freeze-rosdep.sh && git diff --exit-code rosdep-packages.txt
-# COPY rosdep-packages.txt /tmp/rosdep-packages.txt
-# The --mount=type=cache option caches the apt packages with buildkit
-# The id-apt-cache-${TARGETARCH} option allows for separate caches for different architectures
-# this enables parallel builds for different architectures without cache conflicts
-# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
-#     rm -f /etc/apt/apt.conf.d/docker-clean \
-#     && apt-get update \
-#     && xargs -r -a /tmp/rosdep-packages.txt apt-get install -y --no-install-recommends \
-#     && rm -rf /var/lib/apt/lists/*
+# Copy boilerplate project config into workspace so it can be parsed by rosdep.
+# This will be obscured by the volume mount or the workspace in the devcontainer
+# Don't include all sources, because the rosdep will re-process on any file change
+COPY --parents src/**/package.xml src/**/COLCON_IGNORE src/
+
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
+    apt-get update \
+    && rosdep update --rosdistro $ROS_DISTRO \
+    && rosdep install --from-paths src --ignore-src -y \
+    && rm -rf /var/lib/apt/lists/*
+
 
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
     apt-get update \