refactor(docker): use Docker build cache to cache deb files

[youtalk]

Description

This PR introduces the Docker build cache.

https://docs.docker.com/build/cache/

This will cache the deb files downloaded by apt-get install into the container registry, which is expected to speed up the installation of dependent packages.

A separate PR will also cache colcon build's ccache to the container registry.

Tests performed

https://github.com/autowarefoundation/autoware/actions/runs/9091177421

Effects on system behavior

Not applicable.

Interface changes

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