docker

CI: Modernize environment settings in Dockerfile #144

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Run time

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Job	Run time
release (noetic)	1m 11s
ci (noetic)	6m 17s
ci (master)	5m 33s
ci-testing (noetic)	1m 29s
source (noetic)	24m 11s
source (master)	20m 19s
	59m 0s