Build the CUDA packages with the `sensing`/`perception` container as the parent

[youtalk]

• #5079

Extract only the CUDA-dependent packages from the sensing/perception packages and build them in the next stage after the sensing/perception image build.

This approach eliminates the need to build the -cuda image.

[sasakisasaki]

(CC: @go-sakayori )
Currently we are seeing following error in this github action. It seems this error got appeared after this PR is merged. Though I'm not sure if this is related to this issue, but any your help and idea are highly appreciated. Thanks!

Error message:

The self-hosted runner: 57429a91-d57e-4052-922c-eef225a22e0d lost communication with the server. Verify the machine is running and has a healthy network connection. Anything in your workflow that terminates the runner process, starves it for CPU/Memory, or blocks its network access can cause this error.

What we did:

• Re-run the failed action 2 times. Because the behavior looks unstable as the attached picture (log output is incomplete which might indicate the runner's stability issue).
• Checked that before the PR is merged, build-test-differential and local build succeeded.
• Re-build the Autoware with autoware.universe bb825f0021e5aa0e1962ca982bb537b1562df2da on our local machine

Screenshot