diff --git a/ansible/roles/artifacts/defaults/main.yaml b/ansible/roles/artifacts/defaults/main.yaml
new file mode 100644
index 0000000..832ca2e
--- /dev/null
+++ b/ansible/roles/artifacts/defaults/main.yaml
@@ -0,0 +1 @@
+script_download_dir: /tmp
diff --git a/ansible/roles/artifacts/tasks/main.yaml b/ansible/roles/artifacts/tasks/main.yaml
new file mode 100644
index 0000000..0d8bcf8
--- /dev/null
+++ b/ansible/roles/artifacts/tasks/main.yaml
@@ -0,0 +1,80 @@
+# tensorrt_yolox
+- name: Create tensorrt_yolox directory inside {{ data_dir }}
+  ansible.builtin.file:
+    path: "{{ data_dir }}/tensorrt_yolox"
+    mode: "755"
+    state: directory
+
+- name: Download tensorrt_yolox/yolox-tiny.onnx
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/yolox-tiny.onnx
+    dest: "{{ data_dir }}/tensorrt_yolox/yolox-tiny.onnx"
+    mode: "644"
+    checksum: sha256:471a665f4243e654dff62578394e508db22ee29fe65d9e389dfc3b0f2dee1255
+
+- name: Download tensorrt_yolox/yolox-sPlus-opt.onnx
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/yolox-sPlus-opt.onnx
+    dest: "{{ data_dir }}/tensorrt_yolox/yolox-sPlus-opt.onnx"
+    mode: "644"
+    checksum: sha256:36b0832177b01e6b278e00c7369f1de71e616c36261cbae50f0753d41289da01
+
+- name: Download tensorrt_yolox/yolox-sPlus-opt.EntropyV2-calibration.table
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/yolox-sPlus-opt.EntropyV2-calibration.table
+    dest: "{{ data_dir }}/tensorrt_yolox/yolox-sPlus-opt.EntropyV2-calibration.table"
+    mode: "644"
+    checksum: sha256:b9e9d7da33342262ccaea4469b4d02b8abb32b6d7bf737f9e0883fece1b8f580
+
+- name: Download tensorrt_yolox/yolox-sPlus-T4-960x960-pseudo-finetune.onnx
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/object_detection_yolox_s/v1/yolox-sPlus-T4-960x960-pseudo-finetune.onnx
+    dest: "{{ data_dir }}/tensorrt_yolox/yolox-sPlus-T4-960x960-pseudo-finetune.onnx"
+    mode: "644"
+    checksum: sha256:f5054e8a890c3be86dc1b4b89a5a36fb2279d4f6110b0159e793be062641bf65
+
+- name: Download tensorrt_yolox/yolox-sPlus-T4-960x960-pseudo-finetune.EntropyV2-calibration.table
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/object_detection_yolox_s/v1/yolox-sPlus-T4-960x960-pseudo-finetune.EntropyV2-calibration.table
+    dest: "{{ data_dir }}/tensorrt_yolox/yolox-sPlus-T4-960x960-pseudo-finetune.EntropyV2-calibration.table"
+    mode: "644"
+    checksum: sha256:cc378d327db5616b0b3a4d077bf37100c25a50ecd22d2b542f54098da100f34c
+
+- name: Download tensorrt_yolox/label.txt
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/label.txt
+    dest: "{{ data_dir }}/tensorrt_yolox/label.txt"
+    mode: "644"
+    checksum: sha256:3540a365bfd6d8afb1b5d8df4ec47f82cb984760d3270c9b41dbbb3422d09a0c
+
+- name: Download tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/object_detection_semseg_yolox_s/v1/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx
+    dest: "{{ data_dir }}/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx"
+    mode: "644"
+    checksum: sha256:73b3812432cedf65cebf02ca4cb630542fc3b1671c4c0fbf7cee50fa38e416a8
+
+- name: Download tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.EntropyV2-calibration.table
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/object_detection_semseg_yolox_s/v1/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.EntropyV2-calibration.table
+    dest: "{{ data_dir }}/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.EntropyV2-calibration.table"
+    mode: "644"
+    checksum: sha256:28cd6524d4bcdb2809592a225d28330433e58dc02c92169ea555b44c1a51a584
+
+- name: Download tensorrt_yolox/semseg_color_map.csv
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/object_detection_semseg_yolox_s/v1/semseg_color_map.csv
+    dest: "{{ data_dir }}/tensorrt_yolox/semseg_color_map.csv"
+    mode: "644"
+    checksum: sha256:3d93ca05f31b63424d7d7246a01a2365953705a0ed3323ba5b6fddd744a4bfea
+
+
diff --git a/ansible/setup.yaml b/ansible/setup.yaml
index f7dfee4..a1f903f 100644
--- a/ansible/setup.yaml
+++ b/ansible/setup.yaml
@@ -19,6 +19,7 @@
         [Warning] Do you want to configure the network? This configuration may overwrite the IP address of the specific network interface [y/N]
       private: false
   roles:
+    - role: artifacts
     - role: autoware
     - role: cuda
     - role: cyclonedds
diff --git a/autoware.repos b/autoware.repos
index 950dd09..a7ea7e7 100644
--- a/autoware.repos
+++ b/autoware.repos
@@ -58,3 +58,11 @@ repositories:
     type: git
     url: https://github.com/tier4/tensorrt_cmake_module.git
     version: main
+  demos:
+    type: git
+    url: https://github.com/ros2/demos.git
+    version: humble
+  autoware_internal_msgs:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_internal_msgs.git
+    version: main
diff --git a/setup-dev-env.sh b/setup-dev-env.sh
index d991aff..893c333 100755
--- a/setup-dev-env.sh
+++ b/setup-dev-env.sh
@@ -49,7 +49,7 @@ export PATH="$HOME/.local/bin:$PATH"
 echo -e "\e[36mRunning ansible playbook to setup ECU.\e[0m"
 
 # Run ansible
-if ansible-playbook "${SCRIPT_DIR}"/ansible/setup.yaml --ask-become-pass; then
+if ansible-playbook "${SCRIPT_DIR}"/ansible/setup.yaml --ask-become-pass --extra-vars data_dir=$HOME/autoware_data; then
     echo -e "\e[32mCompleted.\e[0m"
     exit 0
 else