Update K8s docker image build and the source artifact registry

[yika-luo]

This PR depends on https://github.com/skypilot-org/skypilot-catalog/pull/98

Impact of this change:

1. Make setup.py the single source of truth of sky dependencies
2. Host images in skypilot's own GCP projects.
3. Performance gain: ~10s speed up in k8s sky cluster creation

VM Type 💻	Old Provision 🕐	New Provision 🕐	% Speedup ✅
K8 CPU	58s	34s	40% (2x)
K8 GPU	42s	34s	20% (1.5x)

Tested (run the relevant ones):

• [x] Made new artifact repos public
• [x] Manual test for both CPU and GPU: ./skypilot-k8s-image.sh -p -l -r ${REGION} --> change local catalog --> sky local up --> sky launch --cloud=kubernetes
• [x] Minimal smoke test: pytest tests/test_smoke.py::test_minimal --kubernetes

[yika-luo]

Thanks for adding this @yika-luo! Could we test the speed up with --system-site-packages removed from our setup script in #4168? I suspect the speed up would be more significant.

Also, it is a bit surprising that the provisioning for CPU is longer than GPU. Is it because the CPU image is larger than GPU image? If so, maybe we should move to ubuntu base image instead.

Oh I ran CPU on my macbook.. I ran again on the same GPU instance and refreshed the result. They look comparable now. I also tested removing --system-site-packages and it only gained 1s, but at least no regression :)