diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
new file mode 100644
index 00000000000..ca5c9172ae0
--- /dev/null
+++ b/.devcontainer/Dockerfile
@@ -0,0 +1,14 @@
+FROM ghcr.io/autowarefoundation/openadk:devel-latest-cuda
+
+ENV SHELL /bin/bash
+
+ARG USERNAME=autoware
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+RUN groupadd --gid $USER_GID $USERNAME \
+  && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
+  && apt-get update \
+  && apt-get install -y sudo \
+  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+  && chmod 0440 /etc/sudoers.d/$USERNAME
\ No newline at end of file
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 29450aa3cca..edb6deeb0e3 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -1,6 +1,25 @@
 {
-  "name": "Autoware",
-  "image": "ghcr.io/autowarefoundation/autoware-openadk:devel-latest"
-
-  // "remoteUser": "autoware",
+    "name": "Autoware",
+    "build": {
+      "dockerfile": "Dockerfile"
+    },
+    "remoteUser": "autoware",
+    "hostRequirements": {
+      "gpu": true
+    },
+    "runArgs": [
+      "--cap-add=SYS_PTRACE",
+      "--security-opt",
+      "seccomp=unconfined",
+      "--net=host",
+      "--volume=/etc/localtime:/etc/localtime:ro",
+      "--gpus", "all"
+    ],
+    "customizations": {
+      "vscode": {
+        "settings.json": {
+          "terminal.integrated.profiles.linux": {"bash": {"path": "/bin/bash"}}
+        }
+      }
+    }
 }
diff --git a/.github/actions/docker-build-and-push/action.yaml b/.github/actions/docker-build-and-push/action.yaml
index 703be5eb9c9..726eaa79e1e 100644
--- a/.github/actions/docker-build-and-push/action.yaml
+++ b/.github/actions/docker-build-and-push/action.yaml
@@ -51,29 +51,29 @@ runs:
         echo "$EOF" >> $GITHUB_OUTPUT
       shell: bash
 
-    - name: Docker meta for devel
-      id: meta-devel
+    - name: Docker meta for prebuilt
+      id: meta-prebuilt
       uses: docker/metadata-action@v4
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: ${{ steps.set-docker-tags.outputs.tags }}
-        bake-target: docker-metadata-action-devel
+        bake-target: docker-metadata-action-prebuilt
         flavor: |
           latest=false
           prefix=${{ inputs.tag-prefix }}
-          suffix=devel${{ inputs.tag-suffix }}
+          suffix=prebuilt${{ inputs.tag-suffix }}
 
-    - name: Docker meta for prebuilt
-      id: meta-prebuilt
+    - name: Docker meta for devel
+      id: meta-devel
       uses: docker/metadata-action@v4
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: ${{ steps.set-docker-tags.outputs.tags }}
-        bake-target: docker-metadata-action-prebuilt
+        bake-target: docker-metadata-action-devel
         flavor: |
           latest=false
           prefix=${{ inputs.tag-prefix }}
-          suffix=prebuilt${{ inputs.tag-suffix }}
+          suffix=devel${{ inputs.tag-suffix }}
 
     - name: Docker meta for runtime
       id: meta-runtime
diff --git a/.github/workflows/update-docker-manifest.yaml b/.github/workflows/update-docker-manifest.yaml
index d5963ca38e6..0e2ac4a8ab0 100644
--- a/.github/workflows/update-docker-manifest.yaml
+++ b/.github/workflows/update-docker-manifest.yaml
@@ -21,12 +21,12 @@ jobs:
         with:
           package-name: autoware-openadk
 
-      - name: Create alias from 'autoware-openadk:{rosdistro}-latest' to 'autoware-openadk:latest'
+      - name: Create alias from 'autoware-openadk:{rosdistro}-latest-devel' to 'autoware-openadk:latest-devel'
         uses: ./.github/actions/create-main-distro-alias
         with:
           package-name: autoware-openadk
           rosdistro: ${{ needs.load-env.outputs.rosdistro }}
-          tag-name: latest
+          tag-name: latest-devel
 
       - name: Create alias from 'autoware-openadk:{rosdistro}-latest-runtime' to 'autoware-openadk:latest-runtime'
         uses: ./.github/actions/create-main-distro-alias
@@ -35,12 +35,12 @@ jobs:
           rosdistro: ${{ needs.load-env.outputs.rosdistro }}
           tag-name: latest-runtime
 
-      - name: Create alias from 'autoware-openadk:{rosdistro}-latest-cuda' to 'autoware-openadk:latest-cuda'
+      - name: Create alias from 'autoware-openadk:{rosdistro}-latest-devel-cuda' to 'autoware-openadk:latest-devel-cuda'
         uses: ./.github/actions/create-main-distro-alias
         with:
           package-name: autoware-openadk
           rosdistro: ${{ needs.load-env.outputs.rosdistro }}
-          tag-name: latest-cuda
+          tag-name: latest-devel-cuda
 
       - name: Create alias from 'autoware-openadk:{rosdistro}-latest-runtime-cuda' to 'autoware-openadk:latest-runtime-cuda'
         uses: ./.github/actions/create-main-distro-alias
diff --git a/docker/README.md b/docker/README.md
index ccae2487f26..54bda0f0782 100644
--- a/docker/README.md
+++ b/docker/README.md
@@ -54,7 +54,19 @@ For more launch options you can edit the launch command `--launch-cmd`:
 #### Using VS Code Remote Containers for Development
 
 Get the Visual Studio Code's [Remote - Containers](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers) extension.
-Refer to [this document](https://code.visualstudio.com/remote/advancedcontainers/add-nonroot-user) for more details.
+And reopen the workspace in the container by selecting `Remote-Containers: Reopen in Container` from the Command Palette (`F1`).
+
+By default devcontainer assumes NIVIDA GPU support, you can change this by deleting these lines within `.devcontainer/devcontainer.json`:
+
+```json
+    "hostRequirements": {
+      "gpu": true
+    },
+```
+```json
+      "--gpus", "all"
+```
+
 
 ## Building Docker images from scratch
 
diff --git a/docker/autoware-openadk/docker-bake.hcl b/docker/autoware-openadk/docker-bake.hcl
index 54fef6ef6d4..d472a0df008 100644
--- a/docker/autoware-openadk/docker-bake.hcl
+++ b/docker/autoware-openadk/docker-bake.hcl
@@ -3,22 +3,22 @@ group "default" {
 }
 
 // For docker/metadata-action
-target "docker-metadata-action-devel" {}
 target "docker-metadata-action-prebuilt" {}
+target "docker-metadata-action-devel" {}
 target "docker-metadata-action-runtime" {}
 
-target "devel" {
-  inherits = ["docker-metadata-action-devel"]
-  dockerfile = "docker/autoware-openadk/Dockerfile"
-  target = "devel"
-}
-
 target "prebuilt" {
   inherits = ["docker-metadata-action-prebuilt"]
   dockerfile = "docker/autoware-openadk/Dockerfile"
   target = "prebuilt"
 }
 
+target "devel" {
+  inherits = ["docker-metadata-action-devel"]
+  dockerfile = "docker/autoware-openadk/Dockerfile"
+  target = "devel"
+}
+
 target "runtime" {
   inherits = ["docker-metadata-action-runtime"]
   dockerfile = "docker/autoware-openadk/Dockerfile"
diff --git a/docker/run.sh b/docker/run.sh
index cb8d4dc9a28..8fddd96377f 100755
--- a/docker/run.sh
+++ b/docker/run.sh
@@ -15,12 +15,12 @@ print_help() {
     echo "Options:"
     echo "  --help          Display this help message"
     echo "  -h              Display this help message"
+    echo "  --map-path      Specify the path to the map files (mandatory)"
     echo "  --no-nvidia     Disable NVIDIA GPU support"
     echo "  --devel         Use the latest development version of Autoware"
-    echo "  --headless      Run Autoware in headless mode"
+    echo "  --headless      Run Autoware in headless mode (default: false)"
     echo "  --workspace     Specify the workspace path (default: current directory)"
-    echo "  --map-path      Specify the path to the map files (mandatory)"
-    echo "  --launch-cmd    Specify the launch command (default: autoware.launch.xml)"
+    echo "  --launch-cmd    Specify the launch command for the container"
     echo ""
     echo "Note: The --map-path option is mandatory. Please provide the path to the map files."
 }
@@ -29,8 +29,8 @@ print_help() {
 option_no_nvidia=false
 option_devel=false
 option_headless=false
-MAP_PATH="/path/to/map"
-LAUNCH_CMD="ros2 launch autoware_launch autoware.launch.xml map_path:=${MAP_PATH} vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit"
+MAP_PATH=""
+LAUNCH_CMD=""
 WORKSPACE_PATH="${PWD}"
 USER_ID=""
 
@@ -80,14 +80,28 @@ set_variables() {
         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=""
+
+        # Echo
+        echo -e "\nStarting Autoware devel container..."
+        echo "WORKSPACE: ${WORKSPACE_PATH}"
     else
         if [ "$MAP_PATH" == "" ]; then
             print_help
             exit 1
         fi
+        if [ "$LAUNCH_CMD" == "" ]; then
+            LAUNCH_CMD="ros2 launch autoware_launch autoware.launch.xml map_path:=${MAP_PATH} vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit"
+        fi
+
         MAP="-v ${MAP_PATH}:/${MAP_PATH}"
         IMAGE="ghcr.io/autowarefoundation/autoware-openadk:runtime-$rosdistro-latest"
         WORKSPACE=""
+
+        # Echo
+
+        echo -e "\nStarting Autoware..."
+        echo "MAP PATH: ${MAP_PATH}"
+        echo "LAUNCH CMD: ${LAUNCH_CMD}"
     fi
 }
 
@@ -118,6 +132,11 @@ main() {
     set_x_display
 
     # Launch Autoware with custom map
+    echo
+    echo "Executing Docker command:"
+    echo "docker run -it --rm --net=host ${GPU_FLAG} ${USER_ID} ${MOUNT_X} ${WORKSPACE} ${MAP} ${IMAGE} ${LAUNCH_CMD}"
+    echo "------------------------------------"
+    sleep 2
     docker run -it --rm --net=host ${GPU_FLAG} ${USER_ID} ${MOUNT_X} \
         ${WORKSPACE} ${MAP} ${IMAGE} \
         ${LAUNCH_CMD}