diff --git a/.github/actions/docker-build-and-push/action.yaml b/.github/actions/docker-build-and-push/action.yaml
index 84a7c12a2b0..2625334f2cb 100644
--- a/.github/actions/docker-build-and-push/action.yaml
+++ b/.github/actions/docker-build-and-push/action.yaml
@@ -144,6 +144,12 @@ runs:
         overwrite: true
         if-no-files-found: error
 
+    - name: Remove tar file - prebuilt
+      if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }}
+      run: |
+        rm /tmp/prebuilt.tar
+      shell: bash
+
     - name: Upload Artifact - devel
       if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }}
       id: artifact-upload-step-devel
@@ -156,6 +162,12 @@ runs:
         overwrite: true
         if-no-files-found: error
 
+    - name: Remove tar file - devel
+      if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }}
+      run: |
+        rm /tmp/devel.tar
+      shell: bash
+
     - name: Upload Artifact - runtime
       if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }}
       id: artifact-upload-step-runtime
@@ -168,6 +180,12 @@ runs:
         overwrite: true
         if-no-files-found: error
 
+    - name: Remove tar file - runtime
+      if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }}
+      run: |
+        rm /tmp/runtime.tar
+      shell: bash
+
     - name: Output artifact URLs
       id: output-artifact-urls
       run: |
diff --git a/.github/workflows/build-main-self-hosted.yaml b/.github/workflows/build-main-self-hosted.yaml
index e4cc44884e3..c0bba91845b 100644
--- a/.github/workflows/build-main-self-hosted.yaml
+++ b/.github/workflows/build-main-self-hosted.yaml
@@ -13,7 +13,11 @@ on:
         default: tarball
 
 jobs:
+  load-env:
+    uses: ./.github/workflows/load-env.yaml
+
   build-main-self-hosted:
+    needs: load-env
     runs-on: [self-hosted, linux, ARM64]
     strategy:
       fail-fast: false
@@ -43,25 +47,18 @@ jobs:
       - name: Free disk space
         uses: ./.github/actions/free-disk-space
 
-      - name: Load env
-        run: |
-          cat amd64.env | sed -e "s/^\s*//" -e "/^#/d" >> $GITHUB_ENV
-          if [ "$(uname -m)" = "aarch64" ]; then
-            cat arm64.env | sed -e "s/^\s*//" -e "/^#/d" >> $GITHUB_ENV
-          fi
-
       - name: Build 'autoware-universe'
         uses: ./.github/actions/docker-build-and-push
         with:
           bake-target: autoware-openadk
           build-args: |
             *.platform=linux/arm64
-            *.args.ROS_DISTRO=${{ env.rosdistro }}
-            *.args.BASE_IMAGE=${{ env[format('{0}', matrix.base_image_env)] }}
+            *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
+            *.args.BASE_IMAGE=${{ needs.load-env.outputs[format('{0}', matrix.base_image_env)] }}
             *.args.SETUP_ARGS=${{ matrix.setup-args }}
             *.args.LIB_DIR=${{ matrix.lib_dir }}
           tag-suffix: ${{ matrix.additional-tag-suffix }}-arm64
-          tag-prefix: ${{ env.rosdistro }}
+          tag-prefix: ${{ needs.load-env.outputs.rosdistro }}
           allow-push: false
 
       - name: Show disk space
diff --git a/.github/workflows/build-main.yaml b/.github/workflows/build-main.yaml
index 7b21980574a..4b276a7ad32 100644
--- a/.github/workflows/build-main.yaml
+++ b/.github/workflows/build-main.yaml
@@ -13,7 +13,11 @@ on:
         default: tarball
 
 jobs:
+  load-env:
+    uses: ./.github/workflows/load-env.yaml
+
   build-main:
+    needs: load-env
     runs-on: ubuntu-latest
     strategy:
       fail-fast: false
@@ -38,25 +42,18 @@ jobs:
       - name: Free disk space
         uses: ./.github/actions/free-disk-space
 
-      - name: Load env
-        run: |
-          cat amd64.env | sed -e "s/^\s*//" -e "/^#/d" >> $GITHUB_ENV
-          if [ "$(uname -m)" = "aarch64" ]; then
-            cat arm64.env | sed -e "s/^\s*//" -e "/^#/d" >> $GITHUB_ENV
-          fi
-
       - name: Build 'autoware-universe'
         uses: ./.github/actions/docker-build-and-push
         with:
           bake-target: autoware-openadk
           build-args: |
             *.platform=linux/amd64
-            *.args.ROS_DISTRO=${{ env.rosdistro }}
-            *.args.BASE_IMAGE=${{ env[format('{0}', matrix.base_image_env)] }}
+            *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
+            *.args.BASE_IMAGE=${{ needs.load-env.outputs[format('{0}', matrix.base_image_env)] }}
             *.args.SETUP_ARGS=${{ matrix.setup-args }}
             *.args.LIB_DIR=${{ matrix.lib_dir }}
           tag-suffix: ${{ matrix.additional-tag-suffix }}-amd64
-          tag-prefix: ${{ env.rosdistro }}
+          tag-prefix: ${{ needs.load-env.outputs.rosdistro }}
           allow-push: false
 
       - name: Show disk space
diff --git a/.github/workflows/docker-build-and-push-main-self-hosted.yaml b/.github/workflows/docker-build-and-push-main-self-hosted.yaml
index 315e5b1ed07..98b194f5d76 100644
--- a/.github/workflows/docker-build-and-push-main-self-hosted.yaml
+++ b/.github/workflows/docker-build-and-push-main-self-hosted.yaml
@@ -25,7 +25,11 @@ on:
         default: tarball
 
 jobs:
+  load-env:
+    uses: ./.github/workflows/load-env.yaml
+
   docker-build-and-push-main-self-hosted:
+    needs: load-env
     runs-on: [self-hosted, linux, ARM64]
     strategy:
       fail-fast: false
@@ -52,15 +56,24 @@ jobs:
       - name: Check out repository
         uses: actions/checkout@v4
 
+      - name: Install vcstool
+        run: |
+          sudo apt-get -y update
+          sudo apt-get -y install python3-pip
+          pip install --no-cache-dir vcstool
+
+      - name: Set git config
+        uses: autowarefoundation/autoware-github-actions/set-git-config@v1
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+
       - name: Free disk space
         uses: ./.github/actions/free-disk-space
 
-      - name: Load env
+      - name: Run vcs import
         run: |
-          cat amd64.env | sed -e "s/^\s*//" -e "/^#/d" >> $GITHUB_ENV
-          if [ "$(uname -m)" = "aarch64" ]; then
-            cat arm64.env | sed -e "s/^\s*//" -e "/^#/d" >> $GITHUB_ENV
-          fi
+          mkdir src
+          vcs import src < autoware.repos
 
       - name: Build 'autoware-openadk'
         uses: ./.github/actions/docker-build-and-push
@@ -68,12 +81,12 @@ jobs:
           bake-target: autoware-openadk
           build-args: |
             *.platform=linux/arm64
-            *.args.ROS_DISTRO=${{ env.rosdistro }}
-            *.args.BASE_IMAGE=${{ env[format('{0}', matrix.base_image_env)] }}
+            *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
+            *.args.BASE_IMAGE=${{ needs.load-env.outputs[format('{0}', matrix.base_image_env)] }}
             *.args.SETUP_ARGS=${{ matrix.setup-args }}
             *.args.LIB_DIR=${{ matrix.lib_dir }}
           tag-suffix: ${{ matrix.additional-tag-suffix }}-arm64
-          tag-prefix: ${{ env.rosdistro }}
+          tag-prefix: ${{ needs.load-env.outputs.rosdistro }}
           allow-push: true
 
       - name: Show disk space
diff --git a/.github/workflows/docker-build-and-push-main.yaml b/.github/workflows/docker-build-and-push-main.yaml
index 1ed3fbef819..37607874844 100644
--- a/.github/workflows/docker-build-and-push-main.yaml
+++ b/.github/workflows/docker-build-and-push-main.yaml
@@ -19,7 +19,11 @@ on:
         default: tarball
 
 jobs:
+  load-env:
+    uses: ./.github/workflows/load-env.yaml
+
   docker-build-and-push-main:
+    needs: load-env
     runs-on: buildjet-16vcpu-ubuntu-2204
     strategy:
       fail-fast: false
@@ -54,12 +58,21 @@ jobs:
       - name: Check out repository
         uses: actions/checkout@v4
 
-      - name: Load env
+      - name: Install vcstool
         run: |
-          cat amd64.env | sed -e "s/^\s*//" -e "/^#/d" >> $GITHUB_ENV
-          if [ "$(uname -m)" = "aarch64" ]; then
-            cat arm64.env | sed -e "s/^\s*//" -e "/^#/d" >> $GITHUB_ENV
-          fi
+          sudo apt-get -y update
+          sudo apt-get -y install python3-pip
+          pip install --no-cache-dir vcstool
+
+      - name: Set git config
+        uses: autowarefoundation/autoware-github-actions/set-git-config@v1
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Run vcs import
+        run: |
+          mkdir src
+          vcs import src < autoware.repos
 
       - name: Build 'autoware-openadk'
         if: steps.author-check.outputs.author-found == 'true' || ${{ github.event_name == 'workflow_dispatch' }}
@@ -68,10 +81,14 @@ jobs:
           bake-target: autoware-openadk
           build-args: |
             *.platform=linux/amd64
-            *.args.ROS_DISTRO=${{ env.rosdistro }}
-            *.args.BASE_IMAGE=${{ env[format('{0}', matrix.base_image_env)] }}
+            *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
+            *.args.BASE_IMAGE=${{ needs.load-env.outputs[format('{0}', matrix.base_image_env)] }}
             *.args.SETUP_ARGS=${{ matrix.setup-args }}
             *.args.LIB_DIR=${{ matrix.lib_dir }}
           tag-suffix: ${{ matrix.additional-tag-suffix }}-amd64
-          tag-prefix: ${{ env.rosdistro }}
+          tag-prefix: ${{ needs.load-env.outputs.rosdistro }}
           allow-push: true
+
+      - name: Show disk space
+        run: |
+          df -h
diff --git a/.github/workflows/load-env.yaml b/.github/workflows/load-env.yaml
index 508a30bf74a..e65389426b1 100644
--- a/.github/workflows/load-env.yaml
+++ b/.github/workflows/load-env.yaml
@@ -3,8 +3,8 @@ name: load-env
 on:
   workflow_call:
     outputs:
-      base-image:
-        value: ${{ jobs.load-env.outputs.base-image }}
+      base_image:
+        value: ${{ jobs.load-env.outputs.base_image }}
       rosdistro:
         value: ${{ jobs.load-env.outputs.rosdistro }}
 
@@ -12,7 +12,7 @@ jobs:
   load-env:
     runs-on: ubuntu-latest
     outputs:
-      base-image: ${{ steps.set-env.outputs.base-image }}
+      base_image: ${{ steps.set-env.outputs.base_image }}
       rosdistro: ${{ steps.set-env.outputs.rosdistro }}
     steps:
       - name: Check out repository
@@ -28,5 +28,5 @@ jobs:
       - name: Set env
         id: set-env
         run: |
-          echo "base-image=${{ env.base_image }}" >> $GITHUB_OUTPUT
+          echo "base_image=${{ env.base_image }}" >> $GITHUB_OUTPUT
           echo "rosdistro=${{ env.rosdistro }}" >> $GITHUB_OUTPUT
diff --git a/ansible/playbooks/docker.yaml b/ansible/playbooks/docker.yaml
index 5cc84043e27..443d355709a 100644
--- a/ansible/playbooks/docker.yaml
+++ b/ansible/playbooks/docker.yaml
@@ -24,3 +24,7 @@
       when: prompt_install_nvidia == 'y'
     - role: autoware.dev_env.docker_engine
     - role: autoware.dev_env.nvidia_container_toolkit
+
+    # ONNX files and other artifacts
+    - role: autoware.dev_env.artifacts
+      when: prompt_download_artifacts == 'y'
diff --git a/ansible/playbooks/rosdep.yaml b/ansible/playbooks/rosdep.yaml
new file mode 100644
index 00000000000..c7c23a245ab
--- /dev/null
+++ b/ansible/playbooks/rosdep.yaml
@@ -0,0 +1,10 @@
+- name: Register rosdep package repositories
+  hosts: localhost
+  connection: local
+  pre_tasks:
+    - name: Verify OS
+      ansible.builtin.fail:
+        msg: Only Ubuntu 22.04 is supported for this branch. Please refer to https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/source-installation/.
+      when: ansible_distribution != 'Ubuntu' or ansible_distribution_version != '22.04'
+  roles:
+    - role: autoware.dev_env.pacmod
diff --git a/docker/autoware-openadk/Dockerfile b/docker/autoware-openadk/Dockerfile
index 3602fe690cf..e07b79c0856 100644
--- a/docker/autoware-openadk/Dockerfile
+++ b/docker/autoware-openadk/Dockerfile
@@ -39,6 +39,39 @@ RUN --mount=type=ssh \
 # Create entrypoint
 CMD ["/bin/bash"]
 
+FROM $BASE_IMAGE as src-imported
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ARG ROS_DISTRO
+
+# Copy files
+COPY setup-dev-env.sh ansible-galaxy-requirements.yaml amd64.env arm64.env /autoware/
+COPY ansible/ /autoware/ansible/
+WORKDIR /autoware
+
+RUN --mount=type=ssh \
+  ./setup-dev-env.sh -y rosdep \
+  && pip uninstall -y ansible ansible-core \
+  && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
+
+# Copy repository files
+COPY src /autoware/src
+
+# Generate install package lists
+RUN rosdep update && rosdep keys --ignore-src --from-paths src \
+    | xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
+    | grep -v '^#' \
+    | sed 's/ \+/\n/g'\
+    | sort \
+    > /rosdep-all-depend-packages.txt \
+    && cat /rosdep-all-depend-packages.txt
+RUN rosdep keys --dependency-types=exec --ignore-src --from-paths src \
+    | xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
+    | grep -v '^#' \
+    | sed 's/ \+/\n/g'\
+    | sort \
+    > /rosdep-exec-depend-packages.txt \
+    && cat /rosdep-exec-depend-packages.txt
+
 FROM base as prebuilt
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
@@ -60,15 +93,15 @@ RUN --mount=type=ssh \
 COPY autoware.repos /autoware/
 
 # Install rosdep dependencies
+COPY --from=src-imported /rosdep-all-depend-packages.txt /tmp/rosdep-all-depend-packages.txt
+# hadolint ignore=SC2002
 RUN --mount=type=ssh \
-  mkdir src \
-  && vcs import src < autoware.repos \
-  && apt-get update \
-  && rosdep update \
-  && DEBIAN_FRONTEND=noninteractive rosdep install -y --ignore-src --from-paths src --rosdistro "$ROS_DISTRO" \
+  apt-get update \
+  && cat /tmp/rosdep-all-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
   && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
 
 # Build Autoware
+COPY --from=src-imported /autoware/src /autoware/src
 RUN source /opt/ros/"$ROS_DISTRO"/setup.bash \
   && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --cmake-args \
     " -Wno-dev" \
@@ -86,7 +119,7 @@ SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
 # Install development tools and artifacts
 RUN --mount=type=ssh \
-  ./setup-dev-env.sh -y --module dev-tools --download-artifacts openadk \
+  ./setup-dev-env.sh -y --module dev-tools openadk \
   && pip uninstall -y ansible ansible-core \
   && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
 
@@ -103,20 +136,19 @@ ARG LIB_DIR
 ARG SETUP_ARGS
 
 # Set up runtime environment and artifacts
-COPY autoware.repos /autoware/
+COPY --from=src-imported /rosdep-exec-depend-packages.txt /tmp/rosdep-exec-depend-packages.txt
+# hadolint ignore=SC2002
 RUN --mount=type=ssh \
-  ./setup-dev-env.sh -y --module all ${SETUP_ARGS} --download-artifacts --no-cuda-drivers --runtime openadk \
+  ./setup-dev-env.sh -y --module all ${SETUP_ARGS} --no-cuda-drivers --runtime openadk \
   && pip uninstall -y ansible ansible-core \
-  && mkdir src \
-  && vcs import src < autoware.repos \
-  && rosdep update \
-  && DEBIAN_FRONTEND=noninteractive rosdep install -y --dependency-types=exec --ignore-src --from-paths src --rosdistro "$ROS_DISTRO" \
+  && apt-get update \
+  && cat /tmp/rosdep-exec-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
   && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache \
   && find /usr/lib/$LIB_DIR-linux-gnu -name "*.a" -type f -delete \
   && find / -name "*.o" -type f -delete \
   && find / -name "*.h" -type f -delete \
   && find / -name "*.hpp" -type f -delete \
-  && rm -rf /autoware/src /autoware/ansible /autoware/autoware.repos \
+  && rm -rf /autoware/ansible \
     /root/.local/pipx /opt/ros/"$ROS_DISTRO"/include /etc/apt/sources.list.d/cuda*.list \
     /etc/apt/sources.list.d/docker.list /etc/apt/sources.list.d/nvidia-docker.list \
     /usr/include /usr/share/doc /usr/lib/gcc /usr/lib/jvm /usr/lib/llvm*
diff --git a/docker/run.sh b/docker/run.sh
index 3ea92854b3c..2c6856b1e71 100755
--- a/docker/run.sh
+++ b/docker/run.sh
@@ -20,11 +20,12 @@ fi
 option_no_nvidia=false
 option_devel=false
 option_headless=false
+DATA_PATH="${HOME}/autoware_data"
 MAP_PATH=""
 WORKSPACE_PATH=""
 USER_ID=""
 WORKSPACE=""
-DEFAULT_LAUNCH_CMD="ros2 launch autoware_launch autoware.launch.xml map_path:=/autoware_map vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit"
+DEFAULT_LAUNCH_CMD="ros2 launch autoware_launch autoware.launch.xml data_path:=/autoware_data map_path:=/autoware_map vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit"
 
 # Function to print help message
 print_help() {
@@ -35,6 +36,7 @@ print_help() {
     echo -e "${RED}Usage:${NC} run.sh [OPTIONS] [LAUNCH_CMD](optional)"
     echo -e "Options:"
     echo -e "  ${GREEN}--help/-h${NC}       Display this help message"
+    echo -e "  ${GREEN}--data-path${NC}     Specify to mount data files into /autoware_data"
     echo -e "  ${GREEN}--map-path${NC}      Specify to mount map files into /autoware_map (mandatory if no custom launch command is provided)"
     echo -e "  ${GREEN}--no-nvidia${NC}     Disable NVIDIA GPU support"
     echo -e "  ${GREEN}--devel${NC}         Use the latest development version of Autoware"
@@ -64,6 +66,10 @@ parse_arguments() {
             WORKSPACE_PATH="$2"
             shift
             ;;
+        --data-path)
+            DATA_PATH="$2"
+            shift
+            ;;
         --map-path)
             MAP_PATH="$2"
             shift
@@ -95,6 +101,9 @@ set_variables() {
         exit 1
     fi
 
+    # Mount data path if provided
+    DATA="-v ${DATA_PATH}:/autoware_data:ro"
+
     # Mount map path if provided
     MAP="-v ${MAP_PATH}:/autoware_map:ro"
 
@@ -150,6 +159,7 @@ main() {
 
     echo -e "${GREEN}\n-----------------------LAUNCHING CONTAINER-----------------------"
     echo -e "${GREEN}IMAGE:${NC} ${IMAGE}"
+    echo -e "${GREEN}DATA PATH(mounted):${NC} ${DATA_PATH}:/autoware_data"
     echo -e "${GREEN}MAP PATH(mounted):${NC} ${MAP_PATH}:/autoware_map"
     echo -e "${GREEN}WORKSPACE(mounted):${NC} ${WORKSPACE_PATH}:/workspace"
     echo -e "${GREEN}LAUNCH CMD:${NC} ${LAUNCH_CMD}"
@@ -159,7 +169,7 @@ main() {
     set -x
     docker run -it --rm --net=host ${GPU_FLAG} ${USER_ID} ${MOUNT_X} \
         -e XAUTHORITY=${XAUTHORITY} -e XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR -e NVIDIA_DRIVER_CAPABILITIES=all -v /etc/localtime:/etc/localtime:ro \
-        ${WORKSPACE} ${MAP} ${IMAGE} \
+        ${WORKSPACE} ${DATA} ${MAP} ${IMAGE} \
         ${LAUNCH_CMD}
 }
 
diff --git a/setup-dev-env.sh b/setup-dev-env.sh
index e5cb6953f61..48afecc4444 100755
--- a/setup-dev-env.sh
+++ b/setup-dev-env.sh
@@ -133,7 +133,7 @@ if [ "$option_yes" = "true" ] || [ "$option_download_artifacts" = "true" ]; then
 fi
 
 # Check downloading artifacts
-if [ "$target_playbook" = "autoware.dev_env.openadk" ]; then
+if [ "$target_playbook" = "autoware.dev_env.docker" ] || [ "$target_playbook" = "autoware.dev_env.openadk" ]; then
     if [ "$option_download_artifacts" = "true" ]; then
         echo -e "\e[36mArtifacts will be downloaded to $option_data_dir\e[m"
         ansible_args+=("--extra-vars" "prompt_download_artifacts=y")