diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index b16610b0b3e..045aa5c10cf 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -1,4 +1,4 @@
-FROM ghcr.io/autowarefoundation/openadk:devel-latest-cuda
+FROM ghcr.io/autowarefoundation/openadk:latest-devel
 
 ENV SHELL /bin/bash
 
diff --git a/docker/README.md b/docker/README.md
index f9fb715a940..19be1aec827 100644
--- a/docker/README.md
+++ b/docker/README.md
@@ -2,8 +2,8 @@
 
 Open AD Kit offers two types of Docker image to let you get started with the Autoware quickly: `devel` and `runtime`.
 
-1. The `devel` image enables you to develop Autoware without setting up the local development environment.
-2. The `runtime` image contains only runtime executables and enables you to try out Autoware quickly.
+1. The `devel` image contains the development environment and enables you to build and develop Autoware from source. Keep in mind that 'devel' image always include more recent changes than the 'runtime' image to provide the latest development environment.
+2. The `runtime` image contains only runtime executables and enables you to try out Autoware quickly. 'runtime' image is more stable than 'devel' image and is recommended for production use.
 
 **Note**: Before proceeding, confirm and agree with the [NVIDIA Deep Learning Container license](https://developer.nvidia.com/ngc/nvidia-deep-learning-container-license). By pulling and using the Autoware Open AD Kit images, you accept the terms and conditions of the license.
 
diff --git a/docker/build.sh b/docker/build.sh
index af3be384b04..0a1650dd874 100755
--- a/docker/build.sh
+++ b/docker/build.sh
@@ -50,9 +50,9 @@ parse_arguments() {
 set_cuda_options() {
     if [ "$option_no_cuda" = "true" ]; then
         setup_args="--no-nvidia"
-        image_name_suffix=""
+        image_name_suffix="-nocuda"
     else
-        image_name_suffix="-cuda"
+        image_name_suffix=""
     fi
 }
 
@@ -119,9 +119,9 @@ build_images() {
         --set "*.args.BASE_IMAGE=$base_image" \
         --set "*.args.SETUP_ARGS=$setup_args" \
         --set "*.args.LIB_DIR=$lib_dir" \
-        --set "devel.tags=ghcr.io/autowarefoundation/autoware-openadk:devel-$rosdistro-latest$image_name_suffix" \
-        --set "prebuilt.tags=ghcr.io/autowarefoundation/autoware-openadk:prebuilt-$rosdistro-latest$image_name_suffix" \
-        --set "runtime.tags=ghcr.io/autowarefoundation/autoware-openadk:runtime-$rosdistro-latest$image_name_suffix" \
+        --set "devel.tags=ghcr.io/autowarefoundation/autoware-openadk:latest-devel-$image_name_suffix" \
+        --set "prebuilt.tags=ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt-$image_name_suffix" \
+        --set "runtime.tags=ghcr.io/autowarefoundation/autoware-openadk:latest-runtime-$image_name_suffix" \
         "${targets[@]}"
     set +x
 }
diff --git a/docker/run.sh b/docker/run.sh
index 8fddd96377f..856be9b1d17 100755
--- a/docker/run.sh
+++ b/docker/run.sh
@@ -76,7 +76,7 @@ parse_arguments() {
 # Set image and workspace variables based on options
 set_variables() {
     if [ "$option_devel" == "true" ]; then
-        IMAGE="ghcr.io/autowarefoundation/autoware-openadk:devel-$rosdistro-latest"
+        IMAGE="ghcr.io/autowarefoundation/autoware-openadk:latest-devel"
         USER_ID="-e LOCAL_UID=$(id -u) -e LOCAL_GID=$(id -g) -e LOCAL_USER=$(id -un) -e LOCAL_GROUP=$(id -gn)"
         WORKSPACE="-v ${WORKSPACE_PATH}:/workspace"
         LAUNCH_CMD=""
@@ -94,7 +94,7 @@ set_variables() {
         fi
 
         MAP="-v ${MAP_PATH}:/${MAP_PATH}"
-        IMAGE="ghcr.io/autowarefoundation/autoware-openadk:runtime-$rosdistro-latest"
+        IMAGE="ghcr.io/autowarefoundation/autoware-openadk:latest-runtime"
         WORKSPACE=""
 
         # Echo
@@ -107,11 +107,11 @@ set_variables() {
 
 # Set GPU flag based on option
 set_gpu_flag() {
-    if [ "$option_no_nvidia" = "false" ]; then
-        IMAGE=${IMAGE}-cuda
-        GPU_FLAG="--gpus all"
-    else
+    if [ "$option_no_nvidia" = "true" ]; then
+        IMAGE=${IMAGE}-nocuda
         GPU_FLAG=""
+    else
+        GPU_FLAG="--gpus all"
     fi
 }