If I want to cache docker layer: https://www.blacksmith.sh/blog/cache-is-king-a-guide-for-docker-layer-caching-in-github-actions

If I want to cache python deps: https://docs.github.com/en/actions/reference/workflows-and-actions/dependency-caching

What I'm using: https://github.com/marketplace/actions/ros-2-ci-action

To share the workflow across other repos: https://docs.github.com/en/actions/how-tos/reuse-automations/reuse-workflows