feat(docker,ci): split prebuilt stage into autoware-core and autoware-universe stages

[youtalk]

Description

This PR is the first step in this discussion https://github.com/orgs/autowarefoundation/discussions/4661#discussioncomment-9995806.
The Dockerfile's prebuilt stage will be divided into two stages: autoware-core and autoware-universe.
Additionally, the src-imported stage, which was prepared for vcs import, has now been renamed to rosdep-depend because src is no longer imported via vcs import but simply called COPY.

The current Dockerfile

This PR's Dockerfile

Tests performed

https://github.com/youtalk/autoware/actions/runs/9868168693

Effects on system behavior

Not applicable.

Interface changes

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[mitsudome-r]

It seems like some of the workflows in Autoware.Universe uses prebuilt image. If we are removing them, we should update Autoware.Universe CIs to use devel environment instead.
https://github.com/autowarefoundation/autoware.universe/blob/ea0276acd134a75bc0227aeeb96266c26db7100e/.github/workflows/build-and-test-differential.yaml#L36

[youtalk]

@mitsudome-r That's good catch! Since latest-auware-universe tag will be replaced with the equivalent latest-prebuilt tag, I plan to submit a correction PR to https://github.com/autowarefoundation/autoware.universe as soon as this PR is merged and the image is pushed.

[youtalk]

I made a PR to resolve the autoware.universe's issue autowarefoundation/autoware.universe#7952.
Once this PR is merged and the image is pushed, I will change the PR to Ready for review.
@mitsudome-r Please review again.

[youtalk]

I'm sorry but I sent the message to the different PR.

#4975 (comment)

@xmfcx @oguzkaganozt @mitsudome-r Thank you for the discussion on the multi-containerization yesterday. Here is the PR for the first step. Please review it.

[xmfcx]

@youtalk thanks for the updates.

Could you add the following directly into the autoware/docker/README.md file:

Example mermaid link

## Images

Images diagram (in mermaid format please)

### base

- imports from X
- used for X
- contains X

### rosdep-depend

...

So we can understand what's happening easily.

[youtalk]

@xmfcx It seems there is no de facto standard syntax for writing multi-stage build Dockerfile in Mermaid format. Do you want me to convert something equivalent to https://github.com/patrickhoefler/dockerfilegraph to Mermaid format on my own?

[youtalk]

@xmfcx Is it okay to separate the README update and the Dockerfile modification into different PRs? I think the discussion about the format of the README and the discussion about the design of the Dockerfile's multi-stage build are separate issues.

[xmfcx]

@youtalk I see, I didn't know it was generated by dockerfilegraph, which uses graphviz, same as what colcon uses to visualize the package dependency graph!

https://github.com/patrickhoefler/dockerfilegraph?tab=readme-ov-file#more-options

Here it has -o svg option, which should output a svg to be version control friendly, we can use that.

Is it okay to separate the README update and the Dockerfile modification into different PRs? I think the discussion about the format of the README and the discussion about the design of the Dockerfile's multi-stage build are separate issues.

That's alright, as long as we have the documentation in sync with the dockerfile.
Right now it is a little bit messy, people need to read through the dockerfile to know what stands for what.

[xmfcx]

By the way, I need something like this:
https://github.com/osrf/docker_images/tree/master?tab=readme-ov-file#repo-info-3

[youtalk]

@xmfcx I will make a PR to write the README. Thank you for you understanding.