[Feature] Github Actions Caching

[atticusrussell]

Is your feature request related to a problem? Please describe.
GitHub actions take a long time to run.

Describe the solution you'd like
I want to use caching like the CI actions from ROS_industrial do
Use github actions caching. https://github.com/actions/cache

# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
# For troubleshooting, see README (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)

name: CI Industrial

on: # this determines when this workflow is run
  push:
  #   branches: [ master, melodic-devel ] #  when master or melodic-devel branch is pushed to
  pull_request:
  #   branches: [ master ] # when there is a pull request against master
  # schedule: # uncomment to run periodically
  #  - cron: '0 4 * * *' # every day at 4 AM (UTC)
  workflow_dispatch: # allow manually starting this workflow

jobs:
  industrial_ci:
    name: ROS ${{ matrix.ROS_DISTRO }} (${{ matrix.ROS_REPO }})
    runs-on: ubuntu-latest
    strategy:
      # fail-fast: false # uncomment if failing jobs should not cancel the others immediately
      matrix: # matrix is the product of entries
        # TODO add rolling once ci working
        ROS_DISTRO: [humble]
        ROS_REPO: [main]
        # exclude: # specific configuration can be excludes
        #   - {ROS_DISTRO: melodic, ROS_REPO: testing}
        # include: # add additional configurations
        #   - {ROS_DISTRO: kinetic, ROS_REPO: testing}
    env:
      CCACHE_DIR: "${{ github.workspace }}/.ccache" # directory for ccache (and how we enable ccache in industrial_ci)
    steps:
      - uses: actions/checkout@v3 # clone target repository
      - uses: actions/cache@v2 # fetch/store the directory used by ccache before/after the ci run
        with:
          path: ${{ env.CCACHE_DIR }}
          # This configuration will always create a new ccache cache starting off from the previous one (if any).
          # In this simple version it will be shared between all builds of the same ROS_REPO and ROS_REPO
          # and might need some fine-tuning to match the use case
          key: ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-${{github.run_id}}
          restore-keys: |
            ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-
      - run: |
          sudo apt update
          sudo apt install git -y --no-install-recommends
          sudo apt install build-essential -y --no-install-recommends
      - uses: 'ros-industrial/industrial_ci@master' # run industrial_ci
        env: # either pass all entries explicitly
          ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
          ROS_REPO: ${{ matrix.ROS_REPO }}
        # with: # or pass the full matrix as config
        #    config: ${{toJSON(matrix)}}