diff --git a/ansible/playbooks/openadkit.yaml b/ansible/playbooks/openadkit.yaml
index 46a8757229f..dc02ee99ef5 100644
--- a/ansible/playbooks/openadkit.yaml
+++ b/ansible/playbooks/openadkit.yaml
@@ -33,9 +33,9 @@
     - role: autoware.dev_env.geographiclib
       when: module == 'perception-localization' or module == 'all'
     - role: autoware.dev_env.cuda
-      when: (module == 'perception-localization' or module == 'all') and prompt_install_nvidia=='y'
+      when: (module == 'base' or module == 'perception-localization' or module == 'all') and prompt_install_nvidia=='y'
     - role: autoware.dev_env.tensorrt
-      when: (module == 'perception-localization' or module == 'all') and prompt_install_nvidia=='y'
+      when: (module == 'base' or module == 'perception-localization' or module == 'all') and prompt_install_nvidia=='y'
 
     # Development environment
     - role: autoware.dev_env.dev_tools
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 635fb204808..82e2ccaf9e0 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -4,6 +4,7 @@ ARG BASE_IMAGE
 FROM $BASE_IMAGE AS base
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
+ARG SETUP_ARGS
 
 # Install apt packages and add GitHub to known hosts for private repositories
 RUN rm -f /etc/apt/apt.conf.d/docker-clean \
@@ -24,7 +25,7 @@ WORKDIR /autoware
 # Set up base environment
 RUN --mount=type=ssh \
   --mount=type=cache,target=/var/cache/apt,sharing=locked \
-  ./setup-dev-env.sh -y --module base --runtime openadkit \
+  ./setup-dev-env.sh -y --module base ${SETUP_ARGS} --no-cuda-drivers --runtime openadkit \
   && pip uninstall -y ansible ansible-core \
   && apt-get autoremove -y && rm -rf "$HOME"/.cache \
   && echo "source /opt/ros/${ROS_DISTRO}/setup.bash" > /etc/bash.bashrc