ros2: Updated CI

docker/iron/latest/Dockerfile

@@ -1,9 +1,5 @@
 FROM introlab3it/rtabmap:jammy-iron
 
-RUN apt-get update && apt-get install -y \
-    ros-iron-pcl-ros \
-    && rm -rf /var/lib/apt/lists/
-
 RUN source /ros_entrypoint.sh && \
     mkdir -p ros2_ws/src && \
     cd ros2_ws/src
@@ -13,7 +9,8 @@ COPY . ros2_ws/src/rtabmap_ros
 RUN source /ros_entrypoint.sh && \
     cd ros2_ws && \
     export MAKEFLAGS="-j1" && \
-    apt update && apt install -y ros-iron-pcl-ros && \
+    rosdep update && \
+    rosdep install --from-paths src --ignore-src -r -y && \
     colcon build --event-handlers console_direct+ --install-base /opt/ros/iron --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
     cd && \
     rm -rf ros2_ws