Create better caching of rosdep dependencies

For both  devcontainer and deployable container.
Also add ability to use docker from inside the devcontainer.

.devcontainer/jazzy/Dockerfile.jazzy

@@ -2,6 +2,7 @@ FROM osrf/ros:jazzy-desktop-full
 ARG USERNAME=USERNAME
 ARG USER_UID=1000
 ARG USER_GID=$USER_UID
+ARG TARGETARCH
 
 # Delete user if it exists in container (e.g Ubuntu Noble: ubuntu)
 RUN if id -u $USER_UID ; then userdel `id -un $USER_UID` ; fi
@@ -47,13 +48,18 @@ RUN apt-get update \
     python3-vcstool \
     && rm -rf /var/lib/apt/lists/*
 
-# Optional: pre-install apt dependencies resolved from rosdep on a previous run.
-COPY .devcontainer/jazzy/ /tmp/devcontainer-jazzy/
-
-RUN apt-get update \
-    && if [ -f /tmp/devcontainer-jazzy/rosdep-apt-packages.txt ]; then \
-    grep -Ev '^\s*($|#)' /tmp/devcontainer-jazzy/rosdep-apt-packages.txt | xargs -r apt-get install -y --no-install-recommends; \
-    fi \
+# system deps from frozen rosdep manifest — no rosdep at build or startup
+# NOTE: There should be a check in your CI that this file is up to date.
+# Something like: 
+#   ./scripts/freeze-rosdep.sh && git diff --exit-code rosdep-packages.txt
+COPY rosdep-packages.txt /tmp/rosdep-packages.txt
+# The --mount=type=cache option caches the apt packages with buildkit
+# The id-apt-cache-${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/*
 
 RUN apt-get update \
@@ -61,13 +67,6 @@ RUN apt-get update \
     ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
     && rm -rf /var/lib/apt/lists/*
 
-# ROS 2 ament build tools
-# RUN apt-get install -y \
-#     ros-${ROS_DISTRO}-ament-cmake \
-#     ros-${ROS_DISTRO}-ament-cmake-auto \
-#     ros-${ROS_DISTRO}-ament-python \
-#     ros-${ROS_DISTRO}-ament-lint-auto \
-#     ros-${ROS_DISTRO}-ament-lint-common
 
 ENV SHELL=/bin/bash
 

.devcontainer/jazzy/devcontainer-lock.json

@@ -0,0 +1,9 @@
+{
+  "features": {
+    "ghcr.io/devcontainers/features/docker-from-docker:1": {
+      "version": "1.10.0",
+      "resolved": "ghcr.io/devcontainers/features/docker-from-docker@sha256:c2c2cf829505ead8e4892c88c31b6594ae94a2bbb209e16e1fac456c1a3a624e",
+      "integrity": "sha256:c2c2cf829505ead8e4892c88c31b6594ae94a2bbb209e16e1fac456c1a3a624e"
+    }
+  }
+}

.devcontainer/jazzy/devcontainer.json

@@ -10,6 +10,12 @@
         }
     },
     "workspaceFolder": "/workspaces/agv_pro_ros2",
+    "features": {
+        "ghcr.io/devcontainers/features/docker-from-docker:1": {
+            "version": "latest",
+            "moby": true
+        }
+    },
     "customizations": {
         "vscode": {
             "extensions": [