Use worktree for docker

[a-miyadera]

• Use the current worktree for docker image
• Use layered workspace (to reduce build time after the second time)

[OTL]

If we care about the image size, we should remove apt cache by 'rm -rf /var/lib/apt/lists/*', because L16 do apt install.
(But it increases the build time because we will do ti again in L31.

Do you have good idea?

[a-miyadera]

(But it increases the build time because we will do ti again in L31.

That's exactly why I didn't do so.

Do you have good idea?

If we install all the needed packages from haruna in apt-get install beginning from L6,
we may possibly not need rosdep install in L31.
(But we have to update the apt-get install lines, every time the haruna dependencies are changed.)