Create better caching of rosdep dependencies

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

Dockerfile

@@ -25,7 +25,22 @@ RUN cd ./src/upstream/livox_ros_driver2 && \
 # Apply patches to upstream
 # RUN ./patches/apply_patches.sh
 
+# 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/*
+
 # Install dependencies with rosdep
+# This will catch anything that wasn't installed via .deb's from the frozen rosdep manifest.
 RUN apt-get update && \
     rosdep update && \
     rosdep install --from-paths src --ignore-src -r -y && \