diff --git a/.github/actions/docker-build-and-push/action.yaml b/.github/actions/docker-build-and-push/action.yaml
index e2fb347e5c5..7804e9e1ccf 100644
--- a/.github/actions/docker-build-and-push/action.yaml
+++ b/.github/actions/docker-build-and-push/action.yaml
@@ -1,199 +1,201 @@
-name: docker-build-and-push
-description: ""
-
-inputs:
-  bake-target:
-    description: ""
-    required: true
-  build-args:
-    description: ""
-    required: false
-  tag-prefix:
-    description: ""
-    required: false
-  tag-suffix:
-    description: ""
-    required: false
-  allow-push:
-    description: ""
-    default: "true"
-    required: false
-
-runs:
-  using: composite
-  steps:
-    - name: Setup Docker Buildx
-      uses: docker/setup-buildx-action@v2
-
-    - name: Install jq
-      run: |
-        sudo apt-get -y update
-        sudo apt-get -y install jq
-      shell: bash
-
-    - name: Set Docker tags
-      id: set-docker-tags
-      run: |
-        tags=()
-        if [ "${{ github.event_name }}" == "push" ] && [ "${{ github.ref_type }}" == "tag" ]; then
-            tags+=("$(echo "${{ github.ref }}" | sed -E 's/.*([vV][0-9]+\.[0-9]+\.[0-9]+).*/\1/')")
-        fi
-
-        tags+=("{{date 'YYYYMMDD'}}")
-        tags+=("latest")
-        tags+=("latest-${{ inputs.tag-prefix }}")
-
-        # Output multiline strings: https://docs.github.com/en/actions/using-workflows/workflow-commands-for-github-actions#multiline-strings
-        EOF=$(dd if=/dev/urandom bs=15 count=1 status=none | base64)
-        echo "tags<<$EOF" >> $GITHUB_OUTPUT
-        echo "$(printf "%s\n" "${tags[@]}")" >> $GITHUB_OUTPUT
-        echo "$EOF" >> $GITHUB_OUTPUT
-      shell: bash
-
-    - name: Docker meta for base
-      id: meta-base
-      uses: docker/metadata-action@v4
-      with:
-        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
-        tags: ${{ steps.set-docker-tags.outputs.tags }}
-        bake-target: docker-metadata-action-base
-        flavor: |
-          latest=false
-          suffix=-base${{ inputs.tag-suffix }}
-
-    - name: Docker meta for prebuilt
-      id: meta-prebuilt
-      uses: docker/metadata-action@v4
-      with:
-        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
-        tags: ${{ steps.set-docker-tags.outputs.tags }}
-        bake-target: docker-metadata-action-prebuilt
-        flavor: |
-          latest=false
-          suffix=-prebuilt${{ inputs.tag-suffix }}
-
-    - name: Docker meta for devel
-      id: meta-devel
-      uses: docker/metadata-action@v4
-      with:
-        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
-        tags: ${{ steps.set-docker-tags.outputs.tags }}
-        bake-target: docker-metadata-action-devel
-        flavor: |
-          latest=false
-          suffix=-devel${{ inputs.tag-suffix }}
-
-    - name: Docker meta for runtime
-      if: ${{ github.event_name == 'workflow_dispatch' }} || ${{ (github.event_name == 'push' && github.ref_type == 'tag') }}
-      id: meta-runtime
-      uses: docker/metadata-action@v4
-      with:
-        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
-        tags: ${{ steps.set-docker-tags.outputs.tags }}
-        bake-target: docker-metadata-action-runtime
-        flavor: |
-          latest=${{ github.event_name == 'push' && github.ref_type == 'tag' }}
-          suffix=-runtime${{ inputs.tag-suffix }}
-
-    - name: Login to GitHub Container Registry
-      if: ${{ github.event_name != 'pull_request' }}
-      uses: docker/login-action@v2
-      with:
-        registry: ghcr.io
-        username: ${{ github.repository_owner }}
-        password: ${{ github.token }}
-
-    - name: Build and Push - prebuilt and devel
-      if: ${{ (github.event_name == 'push' && github.ref_type == 'branch') || github.event_name == 'schedule' }}
-      uses: docker/bake-action@v3
-      with:
-        push: ${{ inputs.allow-push == 'true' }}
-        files: |
-          docker/${{ inputs.bake-target }}/docker-bake.hcl
-          ${{ steps.meta-base.outputs.bake-file }}
-          ${{ steps.meta-prebuilt.outputs.bake-file }}
-          ${{ steps.meta-devel.outputs.bake-file }}
-        targets: |
-          base
-          prebuilt
-          devel
-        provenance: false
-        set: |
-          ${{ inputs.build-args }}
-
-    - name: Build and Publish to GitHub Container Registry
-      if: ${{ ( github.event_name == 'push' && github.ref_type == 'tag' ) || ( github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'registry') }}
-      uses: docker/bake-action@v3
-      with:
-        push: true
-        files: |
-          docker/${{ inputs.bake-target }}/docker-bake.hcl
-          ${{ steps.meta-base.outputs.bake-file }}
-          ${{ steps.meta-devel.outputs.bake-file }}
-          ${{ steps.meta-prebuilt.outputs.bake-file }}
-          ${{ steps.meta-runtime.outputs.bake-file }}
-        provenance: false
-        set: |
-          ${{ inputs.build-args }}
-
-    - name: Build and Save Artifacts
-      if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }}
-      uses: docker/bake-action@v3
-      with:
-        push: false
-        files: |
-          docker/${{ inputs.bake-target }}/docker-bake.hcl
-          ${{ steps.meta-base.outputs.bake-file }}
-          ${{ steps.meta-devel.outputs.bake-file }}
-          ${{ steps.meta-prebuilt.outputs.bake-file }}
-          ${{ steps.meta-runtime.outputs.bake-file }}
-        provenance: false
-        set: |
-          ${{ inputs.build-args }}
-          prebuilt.output=type=docker,dest=/tmp/prebuilt.tar
-          devel.output=type=docker,dest=/tmp/devel.tar
-          runtime.output=type=docker,dest=/tmp/runtime.tar
-
-    - name: Upload Artifact - prebuilt
-      if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }}
-      id: artifact-upload-step-prebuilt
-      uses: actions/upload-artifact@v4
-      with:
-        name: prebuilt-image${{ inputs.tag-suffix }}
-        path: /tmp/prebuilt.tar
-        retention-days: 7
-        compression-level: 6
-        overwrite: true
-        if-no-files-found: error
-
-    - name: Upload Artifact - devel
-      if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }}
-      id: artifact-upload-step-devel
-      uses: actions/upload-artifact@v4
-      with:
-        name: devel-image${{ inputs.tag-suffix }}
-        path: /tmp/devel.tar
-        retention-days: 7
-        compression-level: 6
-        overwrite: true
-        if-no-files-found: error
-
-    - name: Upload Artifact - runtime
-      if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }}
-      id: artifact-upload-step-runtime
-      uses: actions/upload-artifact@v4
-      with:
-        name: runtime-image${{ inputs.tag-suffix }}
-        path: /tmp/runtime.tar
-        retention-days: 7
-        compression-level: 6
-        overwrite: true
-        if-no-files-found: error
-
-    - name: Output artifact URLs
-      id: output-artifact-urls
-      run: |
-        echo 'prebuilt URL ${{ steps.artifact-upload-step-prebuilt.outputs.artifact-url }}'
-        echo 'devel URL ${{ steps.artifact-upload-step-devel.outputs.artifact-url }}'
-        echo 'runtime URL ${{ steps.artifact-upload-step-runtime.outputs.artifact-url }}'
-      shell: bash
+name: docker-build-and-push
+description: ""
+
+inputs:
+  bake-target:
+    description: ""
+    required: true
+  bake-target-modular:
+    description: ""
+    required: true
+  build-args:
+    description: ""
+    required: false
+  tag-prefix:
+    description: ""
+    required: false
+  tag-suffix:
+    description: ""
+    required: false
+  allow-push:
+    description: ""
+    default: "true"
+    required: false
+
+runs:
+  using: composite
+  steps:
+    - name: Setup Docker Buildx
+      uses: docker/setup-buildx-action@v2
+
+    - name: Install jq
+      run: |
+        sudo apt-get -y update
+        sudo apt-get -y install jq
+      shell: bash
+
+    - name: Set Docker tags
+      id: set-docker-tags
+      run: |
+        tags=()
+        if [ "${{ github.event_name }}" == "push" ] && [ "${{ github.ref_type }}" == "tag" ]; then
+            tags+=("$(echo "${{ github.ref }}" | sed -E 's/.*([vV][0-9]+\.[0-9]+\.[0-9]+).*/\1/')")
+        fi
+
+        tags+=("{{date 'YYYYMMDD'}}")
+        tags+=("latest")
+        tags+=("latest-${{ inputs.tag-prefix }}")
+
+        # Output multiline strings: https://docs.github.com/en/actions/using-workflows/workflow-commands-for-github-actions#multiline-strings
+        EOF=$(dd if=/dev/urandom bs=15 count=1 status=none | base64)
+        echo "tags<<$EOF" >> $GITHUB_OUTPUT
+        echo "$(printf "%s\n" "${tags[@]}")" >> $GITHUB_OUTPUT
+        echo "$EOF" >> $GITHUB_OUTPUT
+      shell: bash
+
+    - name: Docker meta for base
+      id: meta-base
+      uses: docker/metadata-action@v4
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target-modular }}
+        tags: ${{ steps.set-docker-tags.outputs.tags }}
+        bake-target: docker-metadata-action-base
+        flavor: |
+          latest=false
+          suffix=-base${{ inputs.tag-suffix }}
+
+    - name: Docker meta for prebuilt
+      id: meta-prebuilt
+      uses: docker/metadata-action@v4
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: ${{ steps.set-docker-tags.outputs.tags }}
+        bake-target: docker-metadata-action-prebuilt
+        flavor: |
+          latest=false
+          suffix=-prebuilt${{ inputs.tag-suffix }}
+
+    - name: Docker meta for devel
+      id: meta-devel
+      uses: docker/metadata-action@v4
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: ${{ steps.set-docker-tags.outputs.tags }}
+        bake-target: docker-metadata-action-devel
+        flavor: |
+          latest=false
+          suffix=-devel${{ inputs.tag-suffix }}
+
+    - name: Docker meta for runtime
+      if: ${{ github.event_name == 'workflow_dispatch' }} || ${{ (github.event_name == 'push' && github.ref_type == 'tag') }}
+      id: meta-runtime
+      uses: docker/metadata-action@v4
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: ${{ steps.set-docker-tags.outputs.tags }}
+        bake-target: docker-metadata-action-runtime
+        flavor: |
+          latest=${{ github.event_name == 'push' && github.ref_type == 'tag' }}
+          suffix=-runtime${{ inputs.tag-suffix }}
+
+    - name: Login to GitHub Container Registry
+      if: ${{ github.event_name != 'pull_request' }}
+      uses: docker/login-action@v2
+      with:
+        registry: ghcr.io
+        username: ${{ github.repository_owner }}
+        password: ${{ github.token }}
+
+    - name: Build and Push - prebuilt and devel
+      if: ${{ (github.event_name == 'push' && github.ref_type == 'branch') || github.event_name == 'schedule' }}
+      uses: docker/bake-action@v3
+      with:
+        push: ${{ inputs.allow-push == 'true' }}
+        files: |
+          docker/${{ inputs.bake-target }}/docker-bake.hcl
+          ${{ steps.meta-base.outputs.bake-file }}
+          ${{ steps.meta-prebuilt.outputs.bake-file }}
+          ${{ steps.meta-devel.outputs.bake-file }}
+        targets: |
+          base
+          prebuilt
+          devel
+        provenance: false
+        set: |
+          ${{ inputs.build-args }}
+
+    - name: Build and Publish to GitHub Container Registry
+      if: ${{ ( github.event_name == 'push' && github.ref_type == 'tag' ) || ( github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'registry') }}
+      uses: docker/bake-action@v3
+      with:
+        push: true
+        files: |
+          docker/${{ inputs.bake-target }}/docker-bake.hcl
+          ${{ steps.meta-base.outputs.bake-file }}
+        targets: |
+          base
+        provenance: false
+        set: |
+          ${{ inputs.build-args }}
+
+    - name: Build and Save Artifacts
+      if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }}
+      uses: docker/bake-action@v3
+      with:
+        push: false
+        files: |
+          docker/${{ inputs.bake-target }}/docker-bake.hcl
+          ${{ steps.meta-base.outputs.bake-file }}
+          ${{ steps.meta-devel.outputs.bake-file }}
+          ${{ steps.meta-prebuilt.outputs.bake-file }}
+          ${{ steps.meta-runtime.outputs.bake-file }}
+        provenance: false
+        set: |
+          ${{ inputs.build-args }}
+          prebuilt.output=type=docker,dest=/tmp/prebuilt.tar
+          devel.output=type=docker,dest=/tmp/devel.tar
+          runtime.output=type=docker,dest=/tmp/runtime.tar
+
+    - name: Upload Artifact - prebuilt
+      if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }}
+      id: artifact-upload-step-prebuilt
+      uses: actions/upload-artifact@v4
+      with:
+        name: prebuilt-image${{ inputs.tag-suffix }}
+        path: /tmp/prebuilt.tar
+        retention-days: 7
+        compression-level: 6
+        overwrite: true
+        if-no-files-found: error
+
+    - name: Upload Artifact - devel
+      if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }}
+      id: artifact-upload-step-devel
+      uses: actions/upload-artifact@v4
+      with:
+        name: devel-image${{ inputs.tag-suffix }}
+        path: /tmp/devel.tar
+        retention-days: 7
+        compression-level: 6
+        overwrite: true
+        if-no-files-found: error
+
+    - name: Upload Artifact - runtime
+      if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }}
+      id: artifact-upload-step-runtime
+      uses: actions/upload-artifact@v4
+      with:
+        name: runtime-image${{ inputs.tag-suffix }}
+        path: /tmp/runtime.tar
+        retention-days: 7
+        compression-level: 6
+        overwrite: true
+        if-no-files-found: error
+
+    - name: Output artifact URLs
+      id: output-artifact-urls
+      run: |
+        echo 'prebuilt URL ${{ steps.artifact-upload-step-prebuilt.outputs.artifact-url }}'
+        echo 'devel URL ${{ steps.artifact-upload-step-devel.outputs.artifact-url }}'
+        echo 'runtime URL ${{ steps.artifact-upload-step-runtime.outputs.artifact-url }}'
+      shell: bash
diff --git a/.github/workflows/docker-build-and-push-main-self-hosted.yaml b/.github/workflows/docker-build-and-push-main-self-hosted.yaml
index 315e5b1ed07..9382f8353a7 100644
--- a/.github/workflows/docker-build-and-push-main-self-hosted.yaml
+++ b/.github/workflows/docker-build-and-push-main-self-hosted.yaml
@@ -66,6 +66,7 @@ jobs:
         uses: ./.github/actions/docker-build-and-push
         with:
           bake-target: autoware-openadk
+          bake-target-modular: autoware-openadk-modular
           build-args: |
             *.platform=linux/arm64
             *.args.ROS_DISTRO=${{ env.rosdistro }}
diff --git a/docker/autoware-openadk/docker-bake.hcl b/docker/autoware-openadk/docker-bake.hcl
index c1b40c68abf..59c5903f0fa 100644
--- a/docker/autoware-openadk/docker-bake.hcl
+++ b/docker/autoware-openadk/docker-bake.hcl
@@ -7,6 +7,10 @@ target "docker-metadata-action-base" {}
 target "docker-metadata-action-prebuilt" {}
 target "docker-metadata-action-devel" {}
 target "docker-metadata-action-runtime" {}
+target "docker-metadata-action-perception-localization" {}
+target "docker-metadata-action-planning-control" {}
+target "docker-metadata-action-visualizer" {}
+target "docker-metadata-action-simulator" {}
 
 target "base" {
   inherits = ["docker-metadata-action-prebuilt"]
@@ -31,3 +35,27 @@ target "runtime" {
   dockerfile = "docker/autoware-openadk/Dockerfile"
   target = "runtime"
 }
+
+target "perception-localization" {
+  inherits = ["docker-metadata-action-runtime"]
+  dockerfile = "docker/autoware-openadk/services/perception-localization/Dockerfile"
+  target = "perception-localization"
+}
+
+target "planning-control" {
+  inherits = ["docker-metadata-action-runtime"]
+  dockerfile = "docker/autoware-openadk/services/planning-control/Dockerfile"
+  target = "planning-control"
+}
+
+target "visualizer" {
+  inherits = ["docker-metadata-action-runtime"]
+  dockerfile = "docker/autoware-openadk/services/visualizer/Dockerfile"
+  target = "visualizer"
+}
+
+target "simulator" {
+  inherits = ["docker-metadata-action-runtime"]
+  dockerfile = "docker/autoware-openadk/services/simulator/Dockerfile"
+  target = "simulator"
+}
diff --git a/docker/autoware-openadk/services/perception-localization/Dockerfile b/docker/autoware-openadk/services/perception-localization/Dockerfile
index 2d213b306bb..57dcd113839 100644
--- a/docker/autoware-openadk/services/perception-localization/Dockerfile
+++ b/docker/autoware-openadk/services/perception-localization/Dockerfile
@@ -1,5 +1,5 @@
 ARG PLATFORM
-FROM ghcr.io/autowarefoundation/autoware-openadk:latest-base-${PLATFORM} as base
+FROM ghcr.io/autowarefoundation/autoware-openadk-modular:latest-base-${PLATFORM} as perception-localization
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG PLATFORM
 ARG ROS_DISTRO
diff --git a/docker/autoware-openadk/services/planning-control/Dockerfile b/docker/autoware-openadk/services/planning-control/Dockerfile
index a8f90d21407..192725412f2 100644
--- a/docker/autoware-openadk/services/planning-control/Dockerfile
+++ b/docker/autoware-openadk/services/planning-control/Dockerfile
@@ -1,5 +1,5 @@
 ARG PLATFORM
-FROM ghcr.io/autowarefoundation/autoware-openadk:latest-base-${PLATFORM} as base
+FROM ghcr.io/autowarefoundation/autoware-openadk-modular:latest-base-${PLATFORM} as planning-control
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG PLATFORM
 ARG ROS_DISTRO
diff --git a/docker/autoware-openadk/services/simulator/Dockerfile b/docker/autoware-openadk/services/simulator/Dockerfile
index 7cc15bff439..0cb7f6184cf 100644
--- a/docker/autoware-openadk/services/simulator/Dockerfile
+++ b/docker/autoware-openadk/services/simulator/Dockerfile
@@ -1,5 +1,5 @@
 ARG PLATFORM
-FROM ghcr.io/autowarefoundation/autoware-openadk:latest-base-${PLATFORM} as base
+FROM ghcr.io/autowarefoundation/autoware-openadk-modular:latest-base-${PLATFORM} as simulator-base
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG PLATFORM
 ARG ROS_DISTRO
diff --git a/docker/autoware-openadk/services/visualizer/Dockerfile b/docker/autoware-openadk/services/visualizer/Dockerfile
index 377266fada6..b1e972b5854 100644
--- a/docker/autoware-openadk/services/visualizer/Dockerfile
+++ b/docker/autoware-openadk/services/visualizer/Dockerfile
@@ -1,5 +1,5 @@
 ARG PLATFORM
-FROM ghcr.io/autowarefoundation/autoware-openadk:latest-base-${PLATFORM} as base
+FROM ghcr.io/autowarefoundation/autoware-openadk-modular:latest-base-${PLATFORM} as visualizer
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG PLATFORM
 ARG ROS_DISTRO