Update workflow

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

.github/workflows/build.yml

@@ -13,22 +13,42 @@ env:
   CORTEX_PATH: ${{ github.workspace }}/cortex
 
 jobs:
-  build:
+  install-cortex:
     runs-on: ubuntu-22.04
+    steps:
+      - name: Cache CORTEX
+        id: cache-cortex
+        uses: actions/cache@v4
+        with:
+          path: ${{ env.CORTEX_PATH }}
+          key: cortex-${{ runner.os }}-ubuntu-22.04
+      - name: Install Cortex
+        run: |
+          mkdir -p $CORTEX_PATH && cd $CORTEX_PATH
+          curl -o installation.sh https://raw.githubusercontent.com/grupo-avispa/cortex/development/installation.sh
+          chmod +x installation.sh
+          ./installation.sh
+  build-dsr-ros:
+    runs-on: ubuntu-22.04
+    needs: install-cortex
     steps:
       - name: Checkout Repository
         uses: actions/checkout@v4.1.6
       - name: Setup ROS 2
         uses: ros-tooling/setup-ros@0.7.5
         with:
           required-ros-distributions: humble
-      - name: Install Cortex
+      - name: Restore CORTEX cache
+        id: restore-cache-cortex
+        uses: actions/cache@v4
+        with:
+          path: ${{ env.CORTEX_PATH }}
+          key: cortex-${{ runner.os }}-ubuntu-22.04
+      - name: Restore CORTEX headers
+        if: steps.restore-cache-cortex.outputs.cache-hit != 'true'
         run: |
-          mkdir $CORTEX_PATH && cd $CORTEX_PATH
-          curl -o installation.sh https://raw.githubusercontent.com/grupo-avispa/cortex/development/installation.sh
-          chmod +x installation.sh
-          ./installation.sh
-      - name: Install dependencies
+          cd $CORTEX_PATH/build && make install
+      - name: Build packages
         uses: ros-tooling/action-ros-ci@0.3.13
         with:
           package-name: