diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 48a97c13ef..9d7c0531a4 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -74,7 +74,7 @@ repos:
         args: [--line-length=100]
 
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v19.1.5
+    rev: v19.1.6
     hooks:
       - id: clang-format
         types_or: [c++, c, cuda]
diff --git a/autoware.repos b/autoware.repos
index e8ada00d82..770bb5bbb9 100644
--- a/autoware.repos
+++ b/autoware.repos
@@ -12,7 +12,7 @@ repositories:
   core/autoware_internal_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_internal_msgs.git
-    version: 1.3.0
+    version: 1.4.0
   core/autoware_cmake:
     type: git
     url: https://github.com/autowarefoundation/autoware_cmake.git
@@ -37,7 +37,7 @@ repositories:
   universe/external/tier4_ad_api_adaptor: # TODO(TIER IV): Migrate to AD API and remove this repository entry.
     type: git
     url: https://github.com/tier4/tier4_ad_api_adaptor.git
-    version: tier4/universe
+    version: v0.40.0
   universe/external/tier4_autoware_msgs:
     type: git
     url: https://github.com/tier4/tier4_autoware_msgs.git
@@ -103,7 +103,7 @@ repositories:
   sensor_kit/sample_sensor_kit_launch:
     type: git
     url: https://github.com/autowarefoundation/sample_sensor_kit_launch.git
-    version: 0.39.0
+    version: 0.40.0
   sensor_kit/external/awsim_sensor_kit_launch: # TODO: Integrate into sample_sensor_kit_launch
     type: git
     url: https://github.com/tier4/awsim_sensor_kit_launch.git
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 8857e43bc9..b4b56698a9 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -35,6 +35,18 @@ RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
   > /rosdep-universe-common-depend-packages.txt \
   && cat /rosdep-universe-common-depend-packages.txt
 
+FROM rosdep-depend AS rosdep-universe-visualization-depend
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ARG ROS_DISTRO
+
+COPY src/universe/autoware.universe/visualization /autoware/src/universe/autoware.universe/visualization
+RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
+  > /rosdep-universe-visualization-depend-packages.txt \
+  && cat /rosdep-universe-visualization-depend-packages.txt
+RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
+  > /rosdep-universe-visualization-exec-depend-packages.txt \
+  && cat /rosdep-universe-visualization-exec-depend-packages.txt
+
 FROM rosdep-depend AS rosdep-universe-sensing-perception-depend
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
@@ -44,7 +56,7 @@ COPY src/universe/autoware.universe/sensing /autoware/src/universe/autoware.univ
 RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
   > /rosdep-universe-sensing-perception-depend-packages.txt \
   && cat /rosdep-universe-sensing-perception-depend-packages.txt
-RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
+RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} --dependency-types=exec \
   > /rosdep-universe-sensing-perception-exec-depend-packages.txt \
   && cat /rosdep-universe-sensing-perception-exec-depend-packages.txt
 
@@ -57,7 +69,7 @@ COPY src/universe/autoware.universe/map /autoware/src/universe/autoware.universe
 RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
   > /rosdep-universe-localization-mapping-depend-packages.txt \
   && cat /rosdep-universe-localization-mapping-depend-packages.txt
-RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
+RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} --dependency-types=exec \
   > /rosdep-universe-localization-mapping-exec-depend-packages.txt \
   && cat /rosdep-universe-localization-mapping-exec-depend-packages.txt
 
@@ -75,7 +87,7 @@ COPY src/universe/autoware.universe/sensing/autoware_pointcloud_preprocessor /au
 RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
   > /rosdep-universe-planning-control-depend-packages.txt \
   && cat /rosdep-universe-planning-control-depend-packages.txt
-RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
+RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} --dependency-types=exec \
   > /rosdep-universe-planning-control-exec-depend-packages.txt \
   && cat /rosdep-universe-planning-control-exec-depend-packages.txt
 
@@ -90,7 +102,7 @@ COPY src/universe/autoware.universe/localization/autoware_pose2twist /autoware/s
 RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
   > /rosdep-universe-vehicle-system-depend-packages.txt \
   && cat /rosdep-universe-vehicle-system-depend-packages.txt
-RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
+RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} --dependency-types=exec \
   > /rosdep-universe-vehicle-system-exec-depend-packages.txt \
   && cat /rosdep-universe-vehicle-system-exec-depend-packages.txt
 
@@ -108,7 +120,7 @@ RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
   > /rosdep-universe-depend-packages.txt \
   && cat /rosdep-universe-depend-packages.txt
 
-RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
+RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} --dependency-types=exec \
   > /rosdep-exec-depend-packages.txt \
   && cat /rosdep-exec-depend-packages.txt
 
@@ -314,6 +326,30 @@ RUN --mount=type=cache,target=${CCACHE_DIR} \
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
 
+FROM universe-common-devel AS universe-visualization-devel
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ARG ROS_DISTRO
+ENV CCACHE_DIR="/root/.ccache"
+
+# Install rosdep dependencies
+COPY --from=rosdep-universe-visualization-depend /rosdep-universe-visualization-depend-packages.txt /tmp/rosdep-universe-visualization-depend-packages.txt
+# hadolint ignore=SC2002
+RUN --mount=type=ssh \
+  --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  apt-get update \
+  && cat /tmp/rosdep-universe-visualization-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
+  && /autoware/cleanup_apt.sh
+
+# hadolint ignore=SC1091
+RUN --mount=type=cache,target=${CCACHE_DIR} \
+  --mount=type=bind,from=rosdep-universe-visualization-depend,source=/autoware/src/universe/autoware.universe/visualization,target=/autoware/src/universe/autoware.universe/visualization \
+  source /opt/ros/"$ROS_DISTRO"/setup.bash \
+  && source /opt/autoware/setup.bash \
+  && /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["/bin/bash"]
+
 FROM universe-common-devel AS universe-devel
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
@@ -332,6 +368,7 @@ COPY --from=universe-sensing-perception-devel /opt/autoware /opt/autoware
 COPY --from=universe-localization-mapping-devel /opt/autoware /opt/autoware
 COPY --from=universe-planning-control-devel /opt/autoware /opt/autoware
 COPY --from=universe-vehicle-system-devel /opt/autoware /opt/autoware
+COPY --from=universe-visualization-devel /opt/autoware /opt/autoware
 # hadolint ignore=SC1091
 RUN --mount=type=cache,target=${CCACHE_DIR} \
   --mount=type=bind,from=rosdep-universe-depend,source=/autoware/src/launcher,target=/autoware/src/launcher \
@@ -494,6 +531,32 @@ RUN echo "source /opt/autoware/setup.bash" > /etc/bash.bashrc
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
 
+# hadolint ignore=DL3006
+FROM $AUTOWARE_BASE_IMAGE AS universe-visualization
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ARG ROS_DISTRO
+ARG LIB_DIR
+
+# Set up runtime environment
+COPY --from=rosdep-universe-visualization-depend /rosdep-universe-visualization-exec-depend-packages.txt /tmp/rosdep-universe-visualization-exec-depend-packages.txt
+# hadolint ignore=SC2002
+RUN --mount=type=ssh \
+  --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  ./setup-dev-env.sh -y --module all --no-nvidia --no-cuda-drivers --runtime openadkit \
+  && pip uninstall -y ansible ansible-core \
+  && apt-get update \
+  && cat /tmp/rosdep-universe-visualization-exec-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
+  && /autoware/cleanup_system.sh $LIB_DIR $ROS_DISTRO
+
+COPY --from=universe-visualization-devel /opt/autoware /opt/autoware
+
+# Copy bash aliases
+COPY docker/etc/.bash_aliases /root/.bash_aliases
+RUN echo "source /opt/autoware/setup.bash" > /etc/bash.bashrc
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["/bin/bash"]
+
 # hadolint ignore=DL3006
 FROM $AUTOWARE_BASE_IMAGE AS universe
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
diff --git a/docker/README.md b/docker/README.md
index 7128e578a3..c5bdf3a7fc 100644
--- a/docker/README.md
+++ b/docker/README.md
@@ -135,6 +135,10 @@ This stage is an Autoware Universe Sensing/Perception runtime container. It only
 
 This stage installs the CUDA runtime environment and copies the binaries built in the `universe-sensing-perception-devel-cuda` stage.
 
+### `universe-visualization`
+
+This stage is a Autoware Universe Visualization runtime container. It only includes the dependencies given by `/rosdep-universe-visualization-exec-depend-packages.txt` and the binaries built in the `universe-visualization-devel` stage.
+
 ### `universe-localization-mapping-devel`
 
 This stage installs the dependency packages based on `/rosdep-universe-localization-mapping-depend-packages.txt` and builds the packages under the following directories of `autoware.repos`:
@@ -187,6 +191,7 @@ Then it builds the remaining packages of `autoware.repos`:
 - `universe/autoware.universe/launch`
 - `universe/autoware.universe/simulator`
 - `universe/autoware.universe/tools`
+- `universe/autoware.universe/visualization`
 - `vehicle`
 
 This stage provides an all-in-one development container to Autoware developers. By running the host's source code with volume mounting, it allows for easy building and debugging of Autoware.
diff --git a/docker/build.sh b/docker/build.sh
index d0d8b8976e..4d23941763 100755
--- a/docker/build.sh
+++ b/docker/build.sh
@@ -11,6 +11,7 @@ print_help() {
     echo "  --no-cuda       Disable CUDA support"
     echo "  --platform      Specify the platform (default: current platform)"
     echo "  --devel-only    Build devel image only"
+    echo "  --target        Specify the target image (default: universe or universe-devel if --devel-only is set)"
     echo ""
     echo "Note: The --platform option should be one of 'linux/amd64' or 'linux/arm64'."
 }
@@ -36,6 +37,10 @@ parse_arguments() {
         --devel-only)
             option_devel_only=true
             ;;
+        --target)
+            option_target="$2"
+            shift
+            ;;
         *)
             echo "Unknown option: $1"
             print_help
@@ -58,10 +63,15 @@ set_cuda_options() {
 
 # Set build options
 set_build_options() {
-    if [ "$option_devel_only" = "true" ]; then
-        target="universe-devel"
+    if [ -n "$option_target" ]; then
+        target="$option_target"
+        image_name_suffix=""
     else
-        target="universe"
+        if [ "$option_devel_only" = "true" ]; then
+            target="universe-devel"
+        else
+            target="universe"
+        fi
     fi
 }
 
@@ -144,9 +154,21 @@ build_images() {
         --set "*.args.AUTOWARE_BASE_CUDA_IMAGE=$autoware_base_cuda_image" \
         --set "*.args.SETUP_ARGS=$setup_args" \
         --set "*.args.LIB_DIR=$lib_dir" \
+        --set "universe-sensing-perception-devel.tags=ghcr.io/autowarefoundation/autoware:universe-sensing-perception-devel" \
+        --set "universe-sensing-perception.tags=ghcr.io/autowarefoundation/autoware:universe-sensing-perception" \
+        --set "universe-localization-mapping-devel.tags=ghcr.io/autowarefoundation/autoware:universe-localization-mapping-devel" \
+        --set "universe-localization-mapping.tags=ghcr.io/autowarefoundation/autoware:universe-localization-mapping" \
+        --set "universe-planning-control-devel.tags=ghcr.io/autowarefoundation/autoware:universe-planning-control-devel" \
+        --set "universe-planning-control.tags=ghcr.io/autowarefoundation/autoware:universe-planning-control" \
+        --set "universe-vehicle-system-devel.tags=ghcr.io/autowarefoundation/autoware:universe-vehicle-system-devel" \
+        --set "universe-vehicle-system.tags=ghcr.io/autowarefoundation/autoware:universe-vehicle-system" \
+        --set "universe-visualization-devel.tags=ghcr.io/autowarefoundation/autoware:universe-visualization-devel" \
+        --set "universe-visualization.tags=ghcr.io/autowarefoundation/autoware:universe-visualization" \
         --set "universe-devel.tags=ghcr.io/autowarefoundation/autoware:universe-devel" \
-        --set "universe-devel-cuda.tags=ghcr.io/autowarefoundation/autoware:universe-devel-cuda" \
         --set "universe.tags=ghcr.io/autowarefoundation/autoware:universe" \
+        --set "universe-sensing-perception-devel-cuda.tags=ghcr.io/autowarefoundation/autoware:universe-sensing-perception-devel-cuda" \
+        --set "universe-sensing-perception-cuda.tags=ghcr.io/autowarefoundation/autoware:universe-sensing-perception-cuda" \
+        --set "universe-devel-cuda.tags=ghcr.io/autowarefoundation/autoware:universe-devel-cuda" \
         --set "universe-cuda.tags=ghcr.io/autowarefoundation/autoware:universe-cuda" \
         "$target$image_name_suffix"
     set +x
diff --git a/docker/docker-bake.hcl b/docker/docker-bake.hcl
index dcf79ffc11..600b47108b 100644
--- a/docker/docker-bake.hcl
+++ b/docker/docker-bake.hcl
@@ -9,6 +9,8 @@ group "default" {
     "universe-planning-control",
     "universe-vehicle-system-devel",
     "universe-vehicle-system",
+    "universe-visualization-devel",
+    "universe-visualization",
     "universe-devel",
     "universe"
   ]
@@ -24,6 +26,8 @@ target "docker-metadata-action-universe-planning-control-devel" {}
 target "docker-metadata-action-universe-planning-control" {}
 target "docker-metadata-action-universe-vehicle-system-devel" {}
 target "docker-metadata-action-universe-vehicle-system" {}
+target "docker-metadata-action-universe-visualization-devel" {}
+target "docker-metadata-action-universe-visualization" {}
 target "docker-metadata-action-universe-devel" {}
 target "docker-metadata-action-universe" {}
 
@@ -81,6 +85,18 @@ target "universe-vehicle-system" {
   target = "universe-vehicle-system"
 }
 
+target "universe-visualization-devel" {
+  inherits = ["docker-metadata-action-universe-visualization-devel"]
+  dockerfile = "docker/Dockerfile"
+  target = "universe-visualization-devel"
+}
+
+target "universe-visualization" {
+  inherits = ["docker-metadata-action-universe-visualization"]
+  dockerfile = "docker/Dockerfile"
+  target = "universe-visualization"
+}
+
 target "universe-devel" {
   inherits = ["docker-metadata-action-universe-devel"]
   dockerfile = "docker/Dockerfile"
diff --git a/docker/scripts/build_and_clean.sh b/docker/scripts/build_and_clean.sh
index e9d5ec6168..f5f383f156 100755
--- a/docker/scripts/build_and_clean.sh
+++ b/docker/scripts/build_and_clean.sh
@@ -1,4 +1,5 @@
 #!/bin/bash
+set -e
 
 function build_and_clean() {
     local ccache_dir=$1
diff --git a/docker/scripts/cleanup_apt.sh b/docker/scripts/cleanup_apt.sh
index ad03c1f39e..f3a47e5829 100755
--- a/docker/scripts/cleanup_apt.sh
+++ b/docker/scripts/cleanup_apt.sh
@@ -1,4 +1,5 @@
 #!/bin/bash
+set -e
 
 function cleanup_apt() {
     local apt_clean=$1
diff --git a/docker/scripts/cleanup_system.sh b/docker/scripts/cleanup_system.sh
index 0833be2b3a..72127927ec 100755
--- a/docker/scripts/cleanup_system.sh
+++ b/docker/scripts/cleanup_system.sh
@@ -1,4 +1,5 @@
 #!/bin/bash
+set -e
 
 function cleanup_system() {
     local lib_dir=$1
diff --git a/docker/scripts/resolve_rosdep_keys.sh b/docker/scripts/resolve_rosdep_keys.sh
index 1615e9f68f..1b3f5839bd 100755
--- a/docker/scripts/resolve_rosdep_keys.sh
+++ b/docker/scripts/resolve_rosdep_keys.sh
@@ -1,10 +1,13 @@
 #!/bin/bash
+set -e
 
 function resolve_rosdep_keys() {
     local src_path=$1
     local ros_distro=$2
+    local rosdep_keys_args=$3
 
-    rosdep keys --ignore-src --from-paths "$src_path" |
+    # shellcheck disable=SC2086
+    rosdep keys $rosdep_keys_args --ignore-src --from-paths "$src_path" |
         xargs rosdep resolve --rosdistro "$ros_distro" |
         grep -v '^#' |
         sed 's/ \+/\n/g' |