diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
new file mode 100644
index 00000000000..fd54fcb6e3c
--- /dev/null
+++ b/.devcontainer/devcontainer.json
@@ -0,0 +1,6 @@
+{
+	"name": "Autoware",
+	"image": "ghcr.io/autowarefoundation/autoware-openadk:devel-latest"
+
+	// "remoteUser": "autoware",
+}
diff --git a/.github/workflows/update-docker-manifest.yaml b/.github/workflows/update-docker-manifest.yaml
index a82929bcdeb..a0ad71e70e0 100644
--- a/.github/workflows/update-docker-manifest.yaml
+++ b/.github/workflows/update-docker-manifest.yaml
@@ -16,35 +16,35 @@ jobs:
       - name: Check out repository
         uses: actions/checkout@v4
 
-      - name: Combine multi arch images for 'autoware-universe'
+      - name: Combine multi arch images for 'autoware-openadk'
         uses: ./.github/actions/combine-multi-arch-images
         with:
-          package-name: autoware-universe
+          package-name: autoware-openadk
 
-      - name: Create alias from 'autoware-universe:{rosdistro}-latest' to 'autoware-universe:latest'
+      - name: Create alias from 'autoware-openadk:{rosdistro}-latest' to 'autoware-openadk:latest'
         uses: ./.github/actions/create-main-distro-alias
         with:
-          package-name: autoware-universe
+          package-name: autoware-openadk
           rosdistro: ${{ needs.load-env.outputs.rosdistro }}
           tag-name: latest
 
-      - name: Create alias from 'autoware-universe:{rosdistro}-latest-prebuilt' to 'autoware-universe:latest-prebuilt'
+      - name: Create alias from 'autoware-openadk:{rosdistro}-latest-monorun' to 'autoware-openadk:latest-monorun'
         uses: ./.github/actions/create-main-distro-alias
         with:
-          package-name: autoware-universe
+          package-name: autoware-openadk
           rosdistro: ${{ needs.load-env.outputs.rosdistro }}
-          tag-name: latest-prebuilt
+          tag-name: latest-monorun
 
-      - name: Create alias from 'autoware-universe:{rosdistro}-latest-cuda' to 'autoware-universe:latest-cuda'
+      - name: Create alias from 'autoware-openadk:{rosdistro}-latest-cuda' to 'autoware-openadk:latest-cuda'
         uses: ./.github/actions/create-main-distro-alias
         with:
-          package-name: autoware-universe
+          package-name: autoware-openadk
           rosdistro: ${{ needs.load-env.outputs.rosdistro }}
           tag-name: latest-cuda
 
-      - name: Create alias from 'autoware-universe:{rosdistro}-latest-prebuilt-cuda' to 'autoware-universe:latest-prebuilt-cuda'
+      - name: Create alias from 'autoware-openadk:{rosdistro}-latest-monorun-cuda' to 'autoware-openadk:latest-monorun-cuda'
         uses: ./.github/actions/create-main-distro-alias
         with:
-          package-name: autoware-universe
+          package-name: autoware-openadk
           rosdistro: ${{ needs.load-env.outputs.rosdistro }}
-          tag-name: latest-prebuilt-cuda
+          tag-name: latest-monorun-cuda
diff --git a/ansible/playbooks/openadk.yaml b/ansible/playbooks/openadk.yaml
index ab26d1f696f..1f8a64a43c7 100644
--- a/ansible/playbooks/openadk.yaml
+++ b/ansible/playbooks/openadk.yaml
@@ -37,8 +37,8 @@
 
     # ONNX files and other artifacts
     - role: autoware.dev_env.artifacts
-      when: (module == 'perception-localization' or module == 'all') and prompt_install_nvidia=='y'
-
+      when: module == 'perception-localization' or module == 'all'
+    
     # Development environment
     - role: autoware.dev_env.devel
       when: install_devel == 'true'
diff --git a/ansible/roles/devel/README.md b/ansible/roles/devel/README.md
index 5077b31257a..17fb5e1931e 100644
--- a/ansible/roles/devel/README.md
+++ b/ansible/roles/devel/README.md
@@ -1,4 +1,4 @@
-# autoware_core
+# devel
 
 This role installs development dependencies for Autoware.
 
diff --git a/ansible/roles/gdown/README.md b/ansible/roles/gdown/README.md
index a834adb9e79..4d5e1e5dbab 100644
--- a/ansible/roles/gdown/README.md
+++ b/ansible/roles/gdown/README.md
@@ -1,6 +1,6 @@
-# autoware_core
+# Role: gdown
 
-This role installs development/runtime dependencies for Autoware Core.
+This role installs gdown to download files from CMakeLists.txt.
 
 ## Inputs
 
diff --git a/ansible/roles/nvidia_docker/tasks/main.yaml b/ansible/roles/nvidia_docker/tasks/main.yaml
index 7e7aac2a672..def9b2f2b13 100644
--- a/ansible/roles/nvidia_docker/tasks/main.yaml
+++ b/ansible/roles/nvidia_docker/tasks/main.yaml
@@ -20,7 +20,7 @@
       - nvidia-container-toolkit
     update_cache: true
 
-- name: Add NVIDIA container toolkit repository
+- name: Add NVIDIA runtime support to docker engine
   ansible.builtin.shell: |
     sudo nvidia-ctk runtime configure --runtime=docker
 
diff --git a/docker/README.md b/docker/README.md
index 21dc1e5916e..6888b894677 100644
--- a/docker/README.md
+++ b/docker/README.md
@@ -1,11 +1,11 @@
 # Open AD Kit: Containerized Workloads for the Autoware
 
-Open AD Kit offers two types of Docker image to let you get started with the Autoware quickly: `development` and `monorun`.
+Open AD Kit offers two types of Docker image to let you get started with the Autoware quickly: `devel` and `monorun`.
 
-1. The `development` image enables you to develop Autoware without setting up the local development environment.
+1. The `devel` image enables you to develop Autoware without setting up the local development environment.
 2. The `monorun` image contains only runtime executables and enables you to try out Autoware quickly.
 
-**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 Universe images, you accept the terms and conditions of the license.
+**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.
 
 ## Prerequisites
 
@@ -56,36 +56,6 @@ For more launch options you can edit the launch command `--launch-cmd`:
 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.
 
-```json
-// .devcontainer/devcontainer.json
-{
-  "name": "Autoware",
-  "build": {
-    "dockerfile": "Dockerfile"
-  },
-  "remoteUser": "autoware",
-  "settings": {
-    "terminal.integrated.defaultProfile.linux": "bash"
-  }
-}
-```
-
-```docker
-# .devcontainer/Dockerfile
-FROM ghcr.io/autowarefoundation/autoware-universe:latest
-
-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
-```
-
 ## Building Docker images from scratch
 
 If you want to build these images locally for development purposes, run the following command:
diff --git a/docker/autoware-openadk/Dockerfile b/docker/autoware-openadk/Dockerfile
index 1a94fa7d66d..889737189dd 100644
--- a/docker/autoware-openadk/Dockerfile
+++ b/docker/autoware-openadk/Dockerfile
@@ -124,7 +124,7 @@ RUN --mount=type=ssh \
   && find / -name "*.h" -type f -delete \
   && find / -name "*.hpp" -type f -delete \
   && rm -rf /autoware/src /autoware/ansible /autoware/autoware.repos \
-    /root/.local/pipx /opt/ros/humble/include /etc/apt/sources.list.d/cuda*.list \
+    /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/autoware-openadk/docker-bake.hcl b/docker/autoware-openadk/docker-bake.hcl
index 74f13603e6e..0df8f0422b6 100644
--- a/docker/autoware-openadk/docker-bake.hcl
+++ b/docker/autoware-openadk/docker-bake.hcl
@@ -15,10 +15,5 @@ target "devel" {
 target "monorun" {
   inherits = ["docker-metadata-action-monorun"]
   dockerfile = "docker/autoware-openadk/Dockerfile"
-<<<<<<< HEAD
-  target = "monolithic"
-}
-=======
   target = "monorun"
-}
->>>>>>> 5f13c741 (change monolithic to monorun, update readme and run.sh)
+}
\ No newline at end of file
diff --git a/docker/autoware-openadk/etc/dev_entrypoint.sh b/docker/autoware-openadk/etc/dev_entrypoint.sh
index 396ab49107d..bd060744d1d 100644
--- a/docker/autoware-openadk/etc/dev_entrypoint.sh
+++ b/docker/autoware-openadk/etc/dev_entrypoint.sh
@@ -5,17 +5,23 @@ USER_ID=${LOCAL_UID}
 USER_NAME=${LOCAL_USER}
 GROUP_ID=${LOCAL_GID}
 GROUP_NAME=${LOCAL_GROUP}
-echo "Starting with user: $USER_NAME >> UID $USER_ID, GID: $GROUP_ID"
 
-# Create group and user with GID/UID
-groupadd -g $GROUP_ID $GROUP_NAME
-useradd -u $USER_ID -g $GROUP_ID -s /bin/bash -m -d /home/$USER_NAME $USER_NAME
+# Check if any of the variables are empty
+if [[ -z $USER_ID || -z $USER_NAME || -z $GROUP_ID || -z $GROUP_NAME ]]; then
+    exec "$@"
+else
+    echo "Starting with user: $USER_NAME >> UID $USER_ID, GID: $GROUP_ID"
 
-# Add sudo privileges to the user
-echo "$USER_NAME ALL=(ALL) NOPASSWD:ALL" >>/etc/sudoers
+    # Create group and user with GID/UID
+    groupadd -g $GROUP_ID  $GROUP_NAME
+    useradd -u $USER_ID -g $GROUP_ID -s /bin/bash -m -d /home/$USER_NAME $USER_NAME
 
-# Source ROS2
-source /opt/ros/humble/setup.bash
+    # Add sudo privileges to the user
+    echo "$USER_NAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
 
-# Execute the command as the user
-exec /usr/sbin/gosu $USER_NAME "$@"
+    # Source ROS2
+    source "/opt/ros/$ROS_DISTRO/setup.bash"
+
+    # Execute the command as the user
+    exec /usr/sbin/gosu $USER_NAME "$@"
+fi
diff --git a/docker/autoware-openadk/etc/ros_entrypoint.sh b/docker/autoware-openadk/etc/ros_entrypoint.sh
index 9667d6ceb25..e061d9bae78 100644
--- a/docker/autoware-openadk/etc/ros_entrypoint.sh
+++ b/docker/autoware-openadk/etc/ros_entrypoint.sh
@@ -1,6 +1,6 @@
 #!/bin/bash
 set -e
 
-source /opt/ros/humble/setup.bash
+source "/opt/ros/$ROS_DISTRO/setup.bash"
 source /autoware/install/setup.bash
 exec "$@"
diff --git a/docker/run.sh b/docker/run.sh
index b5e49f57dce..94ab431a407 100755
--- a/docker/run.sh
+++ b/docker/run.sh
@@ -2,6 +2,13 @@
 
 set -e
 
+SCRIPT_DIR=$(readlink -f "$(dirname "$0")")
+WORKSPACE_ROOT="$SCRIPT_DIR/../"
+source "$WORKSPACE_ROOT/amd64.env"
+if [ "$(uname -m)" = "aarch64" ]; then
+    source "$WORKSPACE_ROOT/arm64.env"
+fi
+
 # Function to print help message
 print_help() {
     echo "Usage: run.sh [OPTIONS]"
@@ -64,7 +71,7 @@ parse_arguments() {
 # Set image and workspace variables based on options
 set_variables() {
     if [ "$option_devel" == "true" ]; then
-        IMAGE="ghcr.io/autowarefoundation/autoware-openadk:devel-humble-latest"
+        IMAGE="ghcr.io/autowarefoundation/autoware-openadk:devel-$rosdistro-latest"
         USER_ID="-e LOCAL_UID=$(id -u) -e LOCAL_GID=$(id -g) -e LOCAL_USER=$(id -un) -e LOCAL_GROUP=$(id -gn)"
         WORKSPACE="-v ${WORKSPACE_PATH}:/workspace"
         LAUNCH_CMD=""
@@ -74,7 +81,7 @@ set_variables() {
             exit 1
         fi
         MAP="-v ${MAP_PATH}:/${MAP_PATH}"
-        IMAGE="ghcr.io/autowarefoundation/autoware-openadk:latest-monorun-humble"
+        IMAGE="ghcr.io/autowarefoundation/autoware-openadk:monorun-$rosdistro-latest"
         WORKSPACE=""
     fi
 }