diff --git a/.github/workflows/ansible.yaml b/.github/workflows/ansible.yaml
index 8c0fe8feb..008018408 100644
--- a/.github/workflows/ansible.yaml
+++ b/.github/workflows/ansible.yaml
@@ -25,7 +25,7 @@ jobs:
     - name: ansible version
       run: |
             ansible-playbook --version
-    - uses: actions/checkout@v2-beta
+    - uses: actions/checkout@v4
     - name: make robotx_ws
       run: |
             mkdir robotx_ws
@@ -55,7 +55,7 @@ jobs:
     name: setup_firmware
     runs-on: ubuntu-22.04
     steps:
-    - uses: actions/checkout@v2-beta
+    - uses: actions/checkout@v4
     - name: basic install
       run: |
           sudo apt install ansible
@@ -74,7 +74,7 @@ jobs:
     name: setup_dataset
     runs-on: ubuntu-22.04
     steps:
-    - uses: actions/checkout@v2-beta
+    - uses: actions/checkout@v4
     - name: basic install
       run: |
           sudo apt install ansible
@@ -88,4 +88,4 @@ jobs:
         status: ${{ job.status }}
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        SLACK_WEBHOOK_URL: ${{ secrets.SLACK_WEBHOOK }}
\ No newline at end of file
+        SLACK_WEBHOOK_URL: ${{ secrets.SLACK_WEBHOOK }}
diff --git a/.github/workflows/check_workflow.yaml b/.github/workflows/check_workflow.yaml
index bc30ae320..6a3486e7c 100644
--- a/.github/workflows/check_workflow.yaml
+++ b/.github/workflows/check_workflow.yaml
@@ -14,7 +14,7 @@ jobs:
         - BuildTest
         - Release
     steps:
-    - uses: actions/checkout@v2-beta
+    - uses: actions/checkout@v4
     - name: Set up Python
       uses: actions/setup-python@v2
       with:
diff --git a/.github/workflows/deploy_workflow.yaml b/.github/workflows/deploy_workflow.yaml
index 2a1dfa588..8e5382212 100644
--- a/.github/workflows/deploy_workflow.yaml
+++ b/.github/workflows/deploy_workflow.yaml
@@ -15,7 +15,7 @@ jobs:
   get_template:
     runs-on: ubuntu-22.04
     steps:  
-      - uses: actions/checkout@v2-beta
+      - uses: actions/checkout@v4
       - uses: actions/upload-artifact@v2
         with:
           name: templates
@@ -73,7 +73,7 @@ jobs:
       with:
         name: templates
         path: ~/templates
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
       with:
         repository: OUXT-Polaris/${{ matrix.package_name }}
         token: ${{ secrets.WAMV_TAN_BOT_SECRET }}
diff --git a/.github/workflows/docker/auto_logger/action.yaml b/.github/workflows/docker/auto_logger/action.yaml
index c304a121f..6d2033abe 100644
--- a/.github/workflows/docker/auto_logger/action.yaml
+++ b/.github/workflows/docker/auto_logger/action.yaml
@@ -12,14 +12,14 @@ inputs:
 runs:
   using: "composite"
   steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
     - name: basic install
       run: |
           sudo apt install make ansible
-    - uses: actions/checkout@v2-beta
+    - uses: actions/checkout@v4
     - name: run ansible
       run: |
-          ansible-playbook -i ansible/hosts/localhost.ini ansible/export_repos_full.yml --connection local --become -e ansible_user=ubuntu
+          ansible-playbook -i ansible/hosts/localhost.ini ansible/export_repos.yml --connection local --become -e ansible_user=ubuntu
     - name: copy repos file
       run: |
         cp ansible/mv ansible/packages_exact.repos .github/workflows/docker/auto_logger/
diff --git a/.github/workflows/docker/dev_container/action.yaml b/.github/workflows/docker/dev_container/action.yaml
index 0c3a0fbb7..a6749b3c8 100644
--- a/.github/workflows/docker/dev_container/action.yaml
+++ b/.github/workflows/docker/dev_container/action.yaml
@@ -21,8 +21,8 @@ inputs:
 runs:
   using: "composite"
   steps:
-    - uses: actions/checkout@v2
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
+    - uses: actions/checkout@v4
       with:
         path: ./.github/workflows/docker/dev_container/tmp/ouxt_automation
         clean: false
diff --git a/.github/workflows/docker/l4t_opencv/action.yaml b/.github/workflows/docker/l4t_opencv/action.yaml
index 1722a9e38..b573a00a5 100644
--- a/.github/workflows/docker/l4t_opencv/action.yaml
+++ b/.github/workflows/docker/l4t_opencv/action.yaml
@@ -15,7 +15,7 @@ inputs:
 runs:
   using: "composite"
   steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
     - name: Set up Docker Buildx
       uses: docker/setup-buildx-action@v2
     - name: Setup QEMU user-mode emulation
@@ -59,4 +59,4 @@ runs:
         platforms: linux/arm64/v8
         no-cache: false
         cache-from: type=registry,ref=wamvtan/l4t_opencv:${{ inputs.opencv_version }}-buildcache
-        push: false
\ No newline at end of file
+        push: false
diff --git a/.github/workflows/docker/vrx/action.yaml b/.github/workflows/docker/vrx/action.yaml
index 9002bd786..e5e8138e3 100644
--- a/.github/workflows/docker/vrx/action.yaml
+++ b/.github/workflows/docker/vrx/action.yaml
@@ -12,7 +12,7 @@ inputs:
 runs:
   using: "composite"
   steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
     - name: Set up Docker Buildx
       uses: docker/setup-buildx-action@v2
     - name: Login to Docker Hub
diff --git a/.github/workflows/docker/wamv/.gitignore b/.github/workflows/docker/wamv/.gitignore
new file mode 100644
index 000000000..c05e7776d
--- /dev/null
+++ b/.github/workflows/docker/wamv/.gitignore
@@ -0,0 +1 @@
+repos
diff --git a/.github/workflows/docker/wamv/Dockerfile b/.github/workflows/docker/wamv/Dockerfile
new file mode 100644
index 000000000..7f10977b7
--- /dev/null
+++ b/.github/workflows/docker/wamv/Dockerfile
@@ -0,0 +1,34 @@
+FROM docker.io/hakuturu583/cuda_ros:lt4-humble-cuda-12.2.2-devel
+SHELL ["/bin/bash", "-c"]
+
+RUN apt-get update && \
+    DEBIAN_FRONTEND=noninteractive \
+    apt-get install -y \
+    python3-vcstool git python3-colcon-common-extensions python3-rosdep python3-pip \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN mkdir -p /wamv_ws/src
+WORKDIR /wamv_ws/src
+COPY ./repos/packages_exact.repos packages_exact.repos
+RUN vcs import . < packages_exact.repos
+WORKDIR ../
+ENV USE_NCCL 0
+ENV USE_DISTRIBUTED 1
+ENV TORCH_CUDA_ARCH_LIST 8.7
+RUN rosdep init && rosdep update
+
+RUN --mount=type=cache,target=/wamv_ws/build source /opt/ros/$ROS_DISTRO/setup.bash && \
+    apt-get update && \
+    DEBIAN_FRONTEND=noninteractive \
+    rosdep install -iry --from-paths src && \
+    apt-get clean &&\
+    rm -rf /var/lib/apt/lists/*
+
+RUN source /opt/ros/$ROS_DISTRO/setup.bash && \
+    colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF
+
+ADD entrypoint.sh /
+RUN chmod +x /entrypoint.sh
+
+ENTRYPOINT ["/entrypoint.sh"]
diff --git a/.github/workflows/docker/wamv/action.yaml b/.github/workflows/docker/wamv/action.yaml
new file mode 100644
index 000000000..9aecbc3d5
--- /dev/null
+++ b/.github/workflows/docker/wamv/action.yaml
@@ -0,0 +1,55 @@
+name: "Build WAM-V image action"
+description: "Build WAM-V docker images"
+
+inputs:
+  docker_username:
+    description: "Username for Dockerhub"
+    required: true
+  docker_password:
+    description: "Password for Dockerhub"
+    required: true
+  module:
+    description: "Software module"
+    required: true
+
+runs:
+  using: "composite"
+  steps:
+    - name: Set up Docker Buildx
+      uses: docker/setup-buildx-action@v2
+    - name: Login to Docker Hub
+      uses: docker/login-action@v1
+      with:
+        username: ${{ inputs.docker_username }}
+        password: ${{ inputs.docker_password }}
+    - name: Build and Push Docker Image
+      if: ${{ github.event_name != 'pull_request'}}
+      uses: docker/build-push-action@v2
+      env:
+        DOCKER_BUILDKIT: 1
+      with:
+        username: ${{ inputs.docker_username }}
+        password: ${{ inputs.docker_password }}
+        context: ./.github/workflows/docker/wamv
+        file: ./.github/workflows/docker/wamv/Dockerfile
+        tags: wamvtan/wamv_${{ inputs.module }}:latest
+        no-cache: false
+        cache-from: type=registry,ref=wamvtan/wamv_${{ inputs.module }}:buildcache
+        cache-to: type=registry,ref=wamvtan/wamv_${{ inputs.module }}:buildcache,mode=max
+        push: true
+        platforms: linux/arm64/v8
+    - name: Build Docker Image
+      if: ${{ github.event_name == 'pull_request'}}
+      uses: docker/build-push-action@v2
+      env:
+        DOCKER_BUILDKIT: 1
+      with:
+        username: ${{ inputs.docker_username }}
+        password: ${{ inputs.docker_password }}
+        context: ./.github/workflows/docker/wamv
+        file: ./.github/workflows/docker/wamv/Dockerfile
+        tags: wamvtan/wamv_${{ inputs.module }}:latest
+        no-cache: false
+        cache-from: type=registry,ref=wamvtan/wamv_${{ inputs.module }}:buildcache
+        push: false
+        platforms: linux/arm64/v8
diff --git a/.github/workflows/docker/wamv/entrypoint.sh b/.github/workflows/docker/wamv/entrypoint.sh
new file mode 100755
index 000000000..4e7d0fcbf
--- /dev/null
+++ b/.github/workflows/docker/wamv/entrypoint.sh
@@ -0,0 +1,7 @@
+#!/bin/bash
+set -e
+
+source "/opt/ros/humble/setup.bash"
+source /wamv_ws/install/setup.sh
+
+exec "$@"
diff --git a/.github/workflows/docker/yolox/action.yaml b/.github/workflows/docker/yolox/action.yaml
index 5d888186d..1a891ab48 100644
--- a/.github/workflows/docker/yolox/action.yaml
+++ b/.github/workflows/docker/yolox/action.yaml
@@ -12,7 +12,7 @@ inputs:
 runs:
   using: "composite"
   steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
     - name: Set up Docker Buildx
       uses: docker/setup-buildx-action@v2
     - name: Login to Docker Hub
diff --git a/.github/workflows/docker/yolox_trainer/action.yaml b/.github/workflows/docker/yolox_trainer/action.yaml
index 89483b935..9d06c3065 100644
--- a/.github/workflows/docker/yolox_trainer/action.yaml
+++ b/.github/workflows/docker/yolox_trainer/action.yaml
@@ -18,7 +18,7 @@ inputs:
 runs:
   using: "composite"
   steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
     - name: Set up Docker Buildx
       uses: docker/setup-buildx-action@v2
     - name: Login to Docker Hub
diff --git a/.github/workflows/docker_push.yaml b/.github/workflows/docker_push.yaml
index cdfdc50f6..7c08f7da0 100644
--- a/.github/workflows/docker_push.yaml
+++ b/.github/workflows/docker_push.yaml
@@ -19,7 +19,7 @@ jobs:
       matrix:
         opencv_version: ["4.4.0", "4.5.0"]
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - uses: ./.github/workflows/actions/cleanup_runner
       - uses: ./.github/workflows/docker/l4t_opencv
         with:
@@ -46,7 +46,7 @@ jobs:
   #           gui: vnc
   #           entrypoint: entrypoint_vnc.sh
   #   steps:
-  #     - uses: actions/checkout@v2
+  #     - uses: actions/checkout@v4
   #     - uses: ./.github/workflows/actions/cleanup_runner
   #     - uses: ./.github/workflows/docker/dev_container
   #       with:
@@ -60,7 +60,7 @@ jobs:
     runs-on: ubuntu-22.04
     timeout-minutes: 30
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - uses: ./.github/workflows/actions/cleanup_runner
       - uses: ./.github/workflows/docker/yolox
         with:
@@ -76,7 +76,7 @@ jobs:
         os: [linux-x64]
         runner_version: [2.295.0]
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - uses: ./.github/workflows/actions/cleanup_runner
       - uses: ./.github/workflows/docker/yolox_trainer
         with:
@@ -89,7 +89,7 @@ jobs:
     runs-on: ubuntu-22.04
     timeout-minutes: 30
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - uses: ./.github/workflows/actions/cleanup_runner
       - uses: ./.github/workflows/docker/vrx
         with:
@@ -100,9 +100,51 @@ jobs:
     runs-on: ubuntu-22.04
     timeout-minutes: 30
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - uses: ./.github/workflows/actions/cleanup_runner
       - uses: ./.github/workflows/docker/vrx
         with:
           docker_username: ${{ secrets.DOCKER_USERNAME }}
           docker_password: ${{ secrets.DOCKER_PASSWORD }}
+  export_wamv_repos:
+    name: export_wamv_repos
+    runs-on: ubuntu-22.04
+    timeout-minutes: 360
+    strategy:
+      matrix:
+        module: ["perception", "control", "drivers", "localization", "planning"]
+    steps:
+      - uses: actions/checkout@v4
+      - name: basic install
+        run: |
+            sudo apt install ansible
+      - name: Export repos file
+        run: ansible-playbook -i ansible/hosts/localhost.ini ansible/export_repos.yml --connection local -t ${{ matrix.module }} -t utility --become -e ansible_user=ubuntu
+      - uses: actions/upload-artifact@v3
+        with:
+          name: repos_file_${{ matrix.module }}
+          path: | 
+            ansible/packages.repos
+            ansible/packages_exact.repos
+  wamv:
+    needs: export_wamv_repos
+    name: build and push wamvtan/wamv
+    runs-on: ubuntu-22.04
+    timeout-minutes: 360
+    strategy:
+      matrix:
+        module: ["perception", "control", "drivers", "localization", "planning"]
+    steps:
+      - uses: actions/checkout@v4
+      - uses: ./.github/workflows/actions/cleanup_runner
+      - uses: actions/download-artifact@v3
+        with:
+          name: repos_file_${{ matrix.module }}
+          path: ./.github/workflows/docker/wamv/repos
+      - run: ls ./.github/workflows/docker/wamv/repos
+      - run: cat ./.github/workflows/docker/wamv/repos/packages_exact.repos
+      - uses: ./.github/workflows/docker/wamv
+        with:
+          docker_username: ${{ secrets.DOCKER_USERNAME }}
+          docker_password: ${{ secrets.DOCKER_PASSWORD }}
+          module: ${{ matrix.module }}
diff --git a/.github/workflows/document.yaml b/.github/workflows/document.yaml
index 0a543d029..106f07fc9 100644
--- a/.github/workflows/document.yaml
+++ b/.github/workflows/document.yaml
@@ -14,7 +14,7 @@ jobs:
     name: build document
     runs-on: ubuntu-22.04
     steps:
-      - uses: actions/checkout@v2-beta
+      - uses: actions/checkout@v4
       - name: Set up Python
         uses: actions/setup-python@v1
         with:
@@ -35,4 +35,4 @@ jobs:
         if: ${{ github.event_name != 'pull_request'}}
         with:
           github_token: ${{ secrets.GITHUB_TOKEN }}
-          publish_dir: docs/site
\ No newline at end of file
+          publish_dir: docs/site
diff --git a/.github/workflows/generate_rosdep_yaml.yaml b/.github/workflows/generate_rosdep_yaml.yaml
index e2a693b0a..342a6e9fa 100644
--- a/.github/workflows/generate_rosdep_yaml.yaml
+++ b/.github/workflows/generate_rosdep_yaml.yaml
@@ -18,10 +18,10 @@ jobs:
     - name: ansible version
       run: |
             ansible-playbook --version
-    - uses: actions/checkout@v2-beta
+    - uses: actions/checkout@v4
     - name: run ansible
       run: |
-          ansible-playbook -i ansible/hosts/localhost.ini ansible/export_repos_full.yml --connection local --become -e ansible_user=ubuntu
+          ansible-playbook -i ansible/hosts/localhost.ini ansible/export_repos.yml --connection local --become -e ansible_user=ubuntu
     - name: run script
       run: |
         python3 generate_rosdep_yaml.py ../robotx_ws/src/
@@ -41,7 +41,7 @@ jobs:
     runs-on: ubuntu-22.04
     needs: generate_rosdep_yaml
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
         with:
           repository: OUXT-Polaris/ouxt_distro
           token: ${{ secrets.WAMV_TAN_BOT_SECRET }}
@@ -97,4 +97,4 @@ jobs:
           token: ${{ secrets.WAMV_TAN_BOT_SECRET }}
           pull-request-number: ${{ steps.create_pull_request.outputs.pull-request-number }}
           merge-method: squash
-          repository: OUXT-Polaris/ouxt_distro
\ No newline at end of file
+          repository: OUXT-Polaris/ouxt_distro
diff --git a/ansible/export_repos.yml b/ansible/export_repos.yml
new file mode 100644
index 000000000..3d5a184ab
--- /dev/null
+++ b/ansible/export_repos.yml
@@ -0,0 +1,11 @@
+---
+- name: Export repos file of development workspace
+  hosts: all
+  roles:
+    - role: ros2
+      tags: always
+    - role: create_workspace
+      tags: always
+    - role: clone_packages
+    - role: export_repos
+      tags: always
diff --git a/ansible/export_repos_full.yml b/ansible/export_repos_full.yml
deleted file mode 100644
index 72d9e2a4f..000000000
--- a/ansible/export_repos_full.yml
+++ /dev/null
@@ -1,8 +0,0 @@
----
-- name: Export repos file of development workspace
-  hosts: all
-  roles:
-    - ros2
-    - create_workspace
-    - clone_packages
-    - export_repos
\ No newline at end of file
diff --git a/ansible/roles/clone_packages/tasks/main.yml b/ansible/roles/clone_packages/tasks/main.yml
index 0f9ab829f..b0eacb46e 100644
--- a/ansible/roles/clone_packages/tasks/main.yml
+++ b/ansible/roles/clone_packages/tasks/main.yml
@@ -69,13 +69,14 @@
     version: master
     accept_hostkey: yes
   tags: [perception]
-- name: clone vision_opencv
-  git:
-    repo: https://github.com/OUXT-Polaris/vision_opencv.git
-    dest: "{{workspace_path}}/src/perception/vision_opencv"
-    version: feature/opencv_vendor
-    accept_hostkey: yes
-  tags: [perception]
+# This package is too heavy for building, so it will be add cahce layer in the near future.
+# - name: clone vision_opencv
+#   git:
+#     repo: https://github.com/OUXT-Polaris/vision_opencv.git
+#     dest: "{{workspace_path}}/src/perception/vision_opencv"
+#     version: feature/opencv_vendor
+#     accept_hostkey: yes
+#   tags: [base]
 - name: clone point_painting
   git:
     repo: https://github.com/OUXT-Polaris/point_painting.git
@@ -90,13 +91,6 @@
     version: master
     accept_hostkey: yes
   tags: [perception]
-- name: clone pcl_type_adapter
-  git:
-    repo: https://github.com/OUXT-Polaris/pcl_type_adapter.git
-    dest: "{{workspace_path}}/src/perception/pcl_type_adapter"
-    version: master
-    accept_hostkey: yes
-  tags: [perception]
 - name: clone grid_map_type_adapter
   git:
     repo: https://github.com/OUXT-Polaris/grid_map_type_adapter.git
@@ -129,6 +123,13 @@
   tags: [planning]
 
 # Utility Packages
+- name: clone pcl_type_adapter
+  git:
+    repo: https://github.com/OUXT-Polaris/pcl_type_adapter.git
+    dest: "{{workspace_path}}/src/utils/pcl_type_adapter"
+    version: master
+    accept_hostkey: yes
+  tags: [utility]
 - name: clone data_buffer
   git:
     repo: https://github.com/OUXT-Polaris/data_buffer.git
@@ -171,6 +172,13 @@
     version: main
     accept_hostkey: yes
   tags: [utility]
+- name: clone tcp_sender
+  git:
+    repo: https://github.com/OUXT-Polaris/tcp_sender.git
+    dest: "{{workspace_path}}/src/drivers/tcp_sender"
+    version: master
+    accept_hostkey: yes
+  tags: [utility]
 
 # Description Packages
 - name: clone wamv_description
@@ -225,13 +233,6 @@
     dest: "{{workspace_path}}/src/drivers/wamv_control"
     version: master
     accept_hostkey: yes
-- name: clone tcp_sender
-  git:
-    repo: https://github.com/OUXT-Polaris/tcp_sender.git
-    dest: "{{workspace_path}}/src/drivers/tcp_sender"
-    version: master
-    accept_hostkey: yes
-  tags: [driver]
 - name: clone playstation_controller_drivers
   git:
     repo: https://github.com/OUXT-Polaris/playstation_controller_drivers
diff --git a/ansible/roles/export_repos/tasks/main.yml b/ansible/roles/export_repos/tasks/main.yml
index 5d527b4ae..d3e35e9e9 100644
--- a/ansible/roles/export_repos/tasks/main.yml
+++ b/ansible/roles/export_repos/tasks/main.yml
@@ -31,4 +31,4 @@
   shell: vcs export {{workspace_path}}/src > packages_exact.repos --exact
 
 - name: export repos file
-  shell: vcs export {{workspace_path}}/src > packages_exact.repos
\ No newline at end of file
+  shell: vcs export {{workspace_path}}/src > packages.repos
diff --git a/workflow_templates/Release.yaml b/workflow_templates/Release.yaml
index fb0623280..40aa7ff13 100644
--- a/workflow_templates/Release.yaml
+++ b/workflow_templates/Release.yaml
@@ -12,7 +12,7 @@ jobs:
     if: startsWith(github.event.issue.title, 'Release ')
     steps:
       - name: checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
       - name: create release
         id: create_release
         uses: at-wat/catkin-release-action@v1