feat(ci): cache apt archives in `vcs-import` workflow

[youtalk]

Description

This PR adds the cache action to the vcs-import workflow to cache apt archives. This is expected to speed up the execution of rosdep install.

Tests performed

Not applicable.

Effects on system behavior

Not applicable.

Interface changes

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• [ ] I've confirmed the contribution guidelines.
• [ ] The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• [ ] The PR follows the pull request guidelines.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• [ ] There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.