Investigate CI times

[tylerjw]

Investigate the causes of CI times and recommend changes that could speed up ci. Some potential things we could do are:

• Split up building/testing packages into parallel CI jobs
• Use newer build tools like lld and ninja
• Investigate caching approach to make sure caches are working as expected
• Build more upstream dependencies into the docker files
• Only rebuild docker images for changes to dependencies and on a schedule
• Only use upstream packages from buildfarm and not from source (migrate moveit_msgs and moveit_resources into this package)
• Break up large compilation units (like servo_calcs) to speed up builds