diff --git a/docker/build.sh b/docker/build.sh
index b962137b79..9e5dd66881 100755
--- a/docker/build.sh
+++ b/docker/build.sh
@@ -118,24 +118,60 @@ build_images() {
     echo "Building images for platform: $platform"
     echo "ROS distro: $rosdistro"
     echo "Base image: $base_image"
+    echo "Base Autoware image: $autoware_base_image"
+    echo "Base Autoware CUDA image: $autoware_base_cuda_image"
     echo "Setup args: $setup_args"
     echo "Lib dir: $lib_dir"
     echo "Image name suffix: $image_name_suffix"
     echo "Targets: ${targets[*]}"
 
     set -x
-    docker buildx bake --load --progress=plain -f "$SCRIPT_DIR/docker-bake.hcl" \
+    docker buildx bake --load --progress=plain -f "$SCRIPT_DIR/docker-bake-base.hcl" \
         --set "*.context=$WORKSPACE_ROOT" \
         --set "*.ssh=default" \
         --set "*.platform=$platform" \
         --set "*.args.ROS_DISTRO=$rosdistro" \
         --set "*.args.BASE_IMAGE=$base_image" \
+        --set "*.args.AUTOWARE_BASE_IMAGE=$autoware_base_image" \
+        --set "*.args.AUTOWARE_BASE_CUDA_IMAGE=$autoware_base_cuda_image" \
         --set "*.args.SETUP_ARGS=$setup_args" \
         --set "*.args.LIB_DIR=$lib_dir" \
-        --set "base.tags=ghcr.io/autowarefoundation/autoware:base" \
-        --set "universe-devel.tags=ghcr.io/autowarefoundation/autoware:universe-devel$image_name_suffix" \
-        --set "universe.tags=ghcr.io/autowarefoundation/autoware:universe$image_name_suffix" \
-        "${targets[@]}"
+        --set "base.tags=ghcr.io/autowarefoundation/autoware-base:latest" \
+        --set "base-cuda.tags=ghcr.io/autowarefoundation/autoware-base:cuda-latest"
+
+    docker buildx bake --load --progress=plain -f "$SCRIPT_DIR/docker-bake.hcl" -f "$SCRIPT_DIR/docker-bake-cuda.hcl" \
+        --set "*.context=$WORKSPACE_ROOT" \
+        --set "*.ssh=default" \
+        --set "*.platform=$platform" \
+        --set "*.args.ROS_DISTRO=$rosdistro" \
+        --set "*.args.BASE_IMAGE=$base_image" \
+        --set "*.args.AUTOWARE_BASE_IMAGE=$autoware_base_image" \
+        --set "*.args.AUTOWARE_BASE_CUDA_IMAGE=$autoware_base_cuda_image" \
+        --set "*.args.SETUP_ARGS=$setup_args" \
+        --set "*.args.LIB_DIR=$lib_dir" \
+        --set "rosdep-depend.tags=ghcr.io/autowarefoundation/autoware:rosdep-depend" \
+        --set "rosdep-universe-sensing-perception-depend.tags=ghcr.io/autowarefoundation/autoware:rosdep-universe-sensing-perception-depend" \
+        --set "rosdep-universe-localization-mapping-depend.tags=ghcr.io/autowarefoundation/autoware:rosdep-universe-localization-mapping-depend" \
+        --set "rosdep-universe-planning-control-depend.tags=ghcr.io/autowarefoundation/autoware:rosdep-universe-planning-control-depend" \
+        --set "rosdep-universe-vehicle-system-depend.tags=ghcr.io/autowarefoundation/autoware:rosdep-universe-vehicle-system-depend" \
+        --set "rosdep-universe-depend.tags=ghcr.io/autowarefoundation/autoware:rosdep-universe-depend" \
+        --set "core-devel.tags=ghcr.io/autowarefoundation/autoware:core-devel" \
+        --set "universe-common-devel.tags=ghcr.io/autowarefoundation/autoware:universe-common-devel" \
+        --set "universe-common-devel-cuda.tags=ghcr.io/autowarefoundation/autoware:universe-common-devel-cuda" \
+        --set "universe-sensing-perception-devel.tags=ghcr.io/autowarefoundation/autoware:universe-sensing-perception-devel" \
+        --set "universe-sensing-perception-devel-cuda.tags=ghcr.io/autowarefoundation/autoware:universe-sensing-perception-devel-cuda" \
+        --set "universe-localization-mapping-devel.tags=ghcr.io/autowarefoundation/autoware:universe-localization-mapping-devel" \
+        --set "universe-planning-control-devel.tags=ghcr.io/autowarefoundation/autoware:universe-planning-control-devel" \
+        --set "universe-vehicle-system-devel.tags=ghcr.io/autowarefoundation/autoware:universe-vehicle-system-devel" \
+        --set "universe-devel.tags=ghcr.io/autowarefoundation/autoware:universe-devel" \
+        --set "universe-devel-cuda.tags=ghcr.io/autowarefoundation/autoware:universe-devel-cuda" \
+        --set "universe-sensing-perception.tags=ghcr.io/autowarefoundation/autoware:universe-sensing-perception" \
+        --set "universe-sensing-perception-cuda.tags=ghcr.io/autowarefoundation/autoware:universe-sensing-perception-cuda" \
+        --set "universe-localization-mapping.tags=ghcr.io/autowarefoundation/autoware:universe-localization-mapping" \
+        --set "universe-planning-control.tags=ghcr.io/autowarefoundation/autoware:universe-planning-control" \
+        --set "universe-vehicle-system.tags=ghcr.io/autowarefoundation/autoware:universe-vehicle-system" \
+        --set "universe.tags=ghcr.io/autowarefoundation/autoware:universe" \
+        --set "universe-cuda.tags=ghcr.io/autowarefoundation/autoware:universe-cuda"
     set +x
 }
 
diff --git a/docker/docker-bake-cuda.hcl b/docker/docker-bake-cuda.hcl
index 87aa27df87..1f4c182f71 100644
--- a/docker/docker-bake-cuda.hcl
+++ b/docker/docker-bake-cuda.hcl
@@ -1,5 +1,6 @@
 group "default" {
   targets = [
+    "universe-common-devel-cuda",
     "universe-sensing-perception-devel-cuda",
     "universe-sensing-perception-cuda",
     "universe-devel-cuda",
@@ -8,11 +9,18 @@ group "default" {
 }
 
 // For docker/metadata-action
+target "docker-metadata-action-universe-common-devel-cuda" {}
 target "docker-metadata-action-universe-sensing-perception-devel-cuda" {}
 target "docker-metadata-action-universe-sensing-perception-cuda" {}
 target "docker-metadata-action-universe-devel-cuda" {}
 target "docker-metadata-action-universe-cuda" {}
 
+target "universe-common-devel-cuda" {
+  inherits = ["docker-metadata-action-universe-common-devel-cuda"]
+  dockerfile = "docker/Dockerfile"
+  target = "universe-common-devel-cuda"
+}
+
 target "universe-sensing-perception-devel-cuda" {
   inherits = ["docker-metadata-action-universe-sensing-perception-devel-cuda"]
   dockerfile = "docker/Dockerfile"
diff --git a/docker/docker-bake.hcl b/docker/docker-bake.hcl
index dcf79ffc11..1a1e06bfc7 100644
--- a/docker/docker-bake.hcl
+++ b/docker/docker-bake.hcl
@@ -1,6 +1,13 @@
 group "default" {
   targets = [
+    "rosdep-depend",
+    "rosdep-universe-depend",
+    "rosdep-universe-sensing-perception-depend",
+    "rosdep-universe-vehicle-system-depend",
+    "rosdep-universe-planning-control-depend",
+    "rosdep-universe-localization-mapping-depend",
     "core-devel",
+    "universe-common-devel",
     "universe-sensing-perception-devel",
     "universe-sensing-perception",
     "universe-localization-mapping-devel",
@@ -15,7 +22,14 @@ group "default" {
 }
 
 // For docker/metadata-action
+target "docker-metadata-action-rosdep-depend" {}
+target "docker-metadata-action-rosdep-universe-depend" {}
+target "docker-metadata-action-rosdep-universe-sensing-perception-depend" {}
+target "docker-metadata-action-rosdep-universe-vehicle-system-depend" {}
+target "docker-metadata-action-rosdep-universe-planning-control-depend" {}
+target "docker-metadata-action-rosdep-universe-localization-mapping-depend" {}
 target "docker-metadata-action-core-devel" {}
+target "docker-metadata-action-universe-common-devel" {}
 target "docker-metadata-action-universe-sensing-perception-devel" {}
 target "docker-metadata-action-universe-sensing-perception" {}
 target "docker-metadata-action-universe-localization-mapping-devel" {}
@@ -27,12 +41,53 @@ target "docker-metadata-action-universe-vehicle-system" {}
 target "docker-metadata-action-universe-devel" {}
 target "docker-metadata-action-universe" {}
 
+target "rosdep-depend" {
+  inherits = ["docker-metadata-action-rosdep-depend"]
+  dockerfile = "docker/Dockerfile"
+  target = "rosdep-depend"
+}
+
+target "rosdep-universe-depend" {
+  inherits = ["docker-metadata-action-rosdep-universe-depend"]
+  dockerfile = "docker/Dockerfile"
+  target = "rosdep-universe-depend"
+}
+
+target "rosdep-universe-sensing-perception-depend" {
+  inherits = ["docker-metadata-action-rosdep-universe-sensing-perception-depend"]
+  dockerfile = "docker/Dockerfile"
+  target = "rosdep-universe-sensing-perception-depend"
+}
+
+target "rosdep-universe-vehicle-system-depend" {
+  inherits = ["docker-metadata-action-rosdep-universe-vehicle-system-depend"]
+  dockerfile = "docker/Dockerfile"
+  target = "rosdep-universe-vehicle-system-depend"
+}
+
+target "rosdep-universe-planning-control-depend" {
+  inherits = ["docker-metadata-action-rosdep-universe-planning-control-depend"]
+  dockerfile = "docker/Dockerfile"
+  target = "rosdep-universe-planning-control-depend"
+}
+
+target "rosdep-universe-localization-mapping-depend" {
+  inherits = ["docker-metadata-action-rosdep-universe-localization-mapping-depend"]
+  dockerfile = "docker/Dockerfile"
+  target = "rosdep-universe-localization-mapping-depend"
+}
 target "core-devel" {
   inherits = ["docker-metadata-action-core-devel"]
   dockerfile = "docker/Dockerfile"
   target = "core-devel"
 }
 
+target "universe-common-devel" {
+  inherits = ["docker-metadata-action-universe-common-devel"]
+  dockerfile = "docker/Dockerfile"
+  target = "universe-common-devel"
+}
+
 target "universe-sensing-perception-devel" {
   inherits = ["docker-metadata-action-universe-sensing-perception-devel"]
   dockerfile = "docker/Dockerfile"