Apply autoware's new Dockerfile pipeline

[youtalk]

Checklist

• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

Apply the autowarefoundation/autoware#7003 changes into openadkit.

Purpose

Apply the autowarefoundation/autoware#7003 changes into openadkit.

Possible approaches

Apply the autowarefoundation/autoware#7003 changes into openadkit.