CI: Caching and parallel test execution

.github/workflows/Dockerfile

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+# Use the ROS Humble desktop-full image as the base
+FROM osrf/ros:humble-desktop-full
+
+COPY . /scenario_execution/
+
+RUN apt-get update &&  \
+    apt-get install -y python3-pip && \
+    xargs -a /scenario_execution/deb_requirements.txt apt install -y --no-install-recommends && \
+    rosdep update --rosdistro=humble && \
+    rosdep install --rosdistro=humble --from-paths /scenario_execution/. --ignore-src -r -y && \
+    pip3 install -r /scenario_execution/requirements.txt