ci(docker-new): split base-cuda layer and restructure CI pipelines (#7033)

Restructures the docker-new image graph and CI topology:

- Add base-cuda-runtime / base-cuda-devel stages as a dedicated CUDA
  base, and rebase universe-cuda off them instead of universe.
- Drop universe-runtime-dependencies; fold into universe.
- Split rmw and nvidia ansible roles into standalone playbooks so
  Dockerfiles bind-mount only what they need.
- Switch every BuildKit RUN mount to named IDs
  (apt/ccache/pip/pipx, ROS_DISTRO-scoped where relevant).
- Split per-distro CI into per-arch jobs; extract multi-arch manifest
  stitching into docker-manifest-new.yaml.
- Persist BuildKit mount caches across runs via actions/cache +
  buildkit-cache-dance, with a size guard and lineage pruning.

Signed-off-by: Mete Fatih Cırıt <mfc@autoware.org>

Author: xmfcx

.github/actions/docker-build-and-push-tools/action.yaml

@@ -40,17 +40,21 @@ runs:
             max-parallelism = ${{ inputs.max-parallelism }}
         install: true
 
+    # TODO: temporarily disabled via `if: false`. Re-enable once cache saving is needed again.
     - name: Cache ccache
       uses: actions/cache@v4
+      if: false
       with:
         path: |
           root-ccache
         key: ccache-tools-${{ inputs.platform }}-${{ hashFiles('src/**/*.cpp') }}
         restore-keys: |
           ccache-tools-${{ inputs.platform }}-
 
+    # TODO: temporarily disabled via `if: false`. Re-enable once cache saving is needed again.
     - name: Cache apt-get
       uses: actions/cache@v4
+      if: false
       with:
         path: |
           var-cache-apt

.github/actions/docker-build/action.yaml

@@ -49,9 +49,10 @@ runs:
         vcs import --shallow --force src < ${{ inputs.additional-repos }}
       shell: bash
 
+    # TODO: temporarily disabled via `&& false`. Re-enable once cache saving is needed again.
     - name: Cache ccache
       uses: actions/cache@v4
-      if: ${{ github.ref == 'refs/heads/main'}}
+      if: ${{ github.ref == 'refs/heads/main' && false }}
       id: cache-ccache
       with:
         path: |
@@ -61,9 +62,10 @@ runs:
           ccache-${{ inputs.platform }}-${{ inputs.cache-tag-suffix }}-
           ccache-${{ inputs.platform }}-
 
+    # TODO: temporarily disabled via `&& false`. Re-enable once cache saving is needed again.
     - name: Cache apt-get
       uses: actions/cache@v4
-      if: ${{ github.ref == 'refs/heads/main'}}
+      if: ${{ github.ref == 'refs/heads/main' && false }}
       id: cache-apt-get
       with:
         path: |

.github/workflows/docker-build-and-push-new.yaml

@@ -51,17 +51,48 @@ jobs:
             .github/workflows/docker-build-new.yaml
             .github/workflows/docker-build-pipeline-new.yaml
             .github/workflows/docker-build-and-push-new.yaml
+            .github/workflows/docker-manifest-new.yaml
 
-  humble:
+  humble-amd64:
     needs: changed-files
     if: needs.changed-files.outputs.should-build == 'true'
     uses: ./.github/workflows/docker-build-pipeline-new.yaml
     with:
       ros-distro: humble
+      platform: amd64
 
-  jazzy:
+  humble-arm64:
     needs: changed-files
     if: needs.changed-files.outputs.should-build == 'true'
     uses: ./.github/workflows/docker-build-pipeline-new.yaml
+    with:
+      ros-distro: humble
+      platform: arm64
+
+  humble-manifest:
+    needs: [humble-amd64, humble-arm64]
+    uses: ./.github/workflows/docker-manifest-new.yaml
+    with:
+      ros-distro: humble
+
+  jazzy-amd64:
+    needs: changed-files
+    if: needs.changed-files.outputs.should-build == 'true'
+    uses: ./.github/workflows/docker-build-pipeline-new.yaml
+    with:
+      ros-distro: jazzy
+      platform: amd64
+
+  jazzy-arm64:
+    needs: changed-files
+    if: needs.changed-files.outputs.should-build == 'true'
+    uses: ./.github/workflows/docker-build-pipeline-new.yaml
+    with:
+      ros-distro: jazzy
+      platform: arm64
+
+  jazzy-manifest:
+    needs: [jazzy-amd64, jazzy-arm64]
+    uses: ./.github/workflows/docker-manifest-new.yaml
     with:
       ros-distro: jazzy