Prepare base docker container

[iluetkeb]

To reduce build time, and avoid spurious build failures like the failed toolchain download recently, I would suggest to prepare a base docker file which contains all dependencies already. This could be built once a day or so.

[pablogs9]

Should be solved with https://github.com/micro-ROS/docker Close if agree.

[Acuadros95]

Closing due to inactivity and a solution was proposed