[fix] Update CI

Goal

• Fix CI after sb has been updated
• Clean docker

Changes

• Change PCL version in the CI script for slam lib which uses the sb
• Add sb tags for better comprehension of the CI script
• Refactor the docker file for ROS1
• The new docker image was pushed
• Add docker image in CI script
• Remove the SLAM build from the SB build job to keep only dependencies
• Remove bad deps paths from ROS jobs

TODO

Hack job is broken because the cache does not exist anymore (since the runner has been reset).

A next MR will fix the ROS tests and add the results as artifacts