diff --git a/.github/actions/docker-build-and-push/action.yaml b/.github/actions/docker-build-and-push/action.yaml
index bc22829e70e..d81e73f5042 100644
--- a/.github/actions/docker-build-and-push/action.yaml
+++ b/.github/actions/docker-build-and-push/action.yaml
@@ -64,6 +64,19 @@ runs:
       run: echo "date=$(date +'%Y%m%d')" >> $GITHUB_OUTPUT
       shell: bash
 
+    - name: Docker meta for autoware:core
+      id: meta-core
+      uses: docker/metadata-action@v5
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.target-image }}
+        tags: |
+          type=raw,value=core-${{ inputs.platform }}
+          type=raw,value=core-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=ref,event=tag,prefix=core-,suffix=-${{ inputs.platform }}
+        bake-target: docker-metadata-action-core
+        flavor: |
+          latest=false
+
     - name: Docker meta for autoware:core-devel
       id: meta-core-devel
       uses: docker/metadata-action@v5
@@ -246,6 +259,7 @@ runs:
         push: true
         files: |
           docker/docker-bake.hcl
+          ${{ steps.meta-core.outputs.bake-file }}
           ${{ steps.meta-core-devel.outputs.bake-file }}
           ${{ steps.meta-universe-sensing-perception-devel.outputs.bake-file }}
           ${{ steps.meta-universe-sensing-perception.outputs.bake-file }}
diff --git a/docker/Dockerfile b/docker/Dockerfile
index b4b56698a9e..c093cdc12ed 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -28,6 +28,9 @@ COPY src/core /autoware/src/core
 RUN rosdep update && /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
   > /rosdep-core-depend-packages.txt \
   && cat /rosdep-core-depend-packages.txt
+RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} --dependency-types=exec \
+  > /rosdep-core-exec-depend-packages.txt \
+  && cat /rosdep-core-exec-depend-packages.txt
 
 COPY src/universe/external /autoware/src/universe/external
 COPY src/universe/autoware.universe/common /autoware/src/universe/autoware.universe/common
@@ -43,7 +46,7 @@ COPY src/universe/autoware.universe/visualization /autoware/src/universe/autowar
 RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
   > /rosdep-universe-visualization-depend-packages.txt \
   && cat /rosdep-universe-visualization-depend-packages.txt
-RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
+RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} --dependency-types=exec \
   > /rosdep-universe-visualization-exec-depend-packages.txt \
   && cat /rosdep-universe-visualization-exec-depend-packages.txt
 
@@ -405,6 +408,32 @@ COPY --from=universe-devel /opt/autoware /opt/autoware
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
 
+# hadolint ignore=DL3006
+FROM $AUTOWARE_BASE_IMAGE AS core
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ARG ROS_DISTRO
+ARG LIB_DIR
+
+# Set up runtime environment
+COPY --from=rosdep-core-depend /rosdep-core-depend-packages.txt /tmp/rosdep-core-depend-packages.txt
+# hadolint ignore=SC2002
+RUN --mount=type=ssh \
+  --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  ./setup-dev-env.sh -y --module all --no-nvidia --no-cuda-drivers --runtime openadkit \
+  && pip uninstall -y ansible ansible-core \
+  && apt-get update \
+  && cat /tmp/rosdep-core-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
+  && /autoware/cleanup_system.sh $LIB_DIR $ROS_DISTRO
+
+COPY --from=core-devel /opt/autoware /opt/autoware
+
+# Copy bash aliases
+COPY docker/etc/.bash_aliases /root/.bash_aliases
+RUN echo "source /opt/autoware/setup.bash" > /etc/bash.bashrc
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["/bin/bash"]
+
 # hadolint ignore=DL3006
 FROM $AUTOWARE_BASE_IMAGE AS universe-sensing-perception
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
diff --git a/docker/docker-bake.hcl b/docker/docker-bake.hcl
index 600b47108be..df32d0908f2 100644
--- a/docker/docker-bake.hcl
+++ b/docker/docker-bake.hcl
@@ -1,5 +1,6 @@
 group "default" {
   targets = [
+    "core",
     "core-devel",
     "universe-sensing-perception-devel",
     "universe-sensing-perception",
@@ -17,6 +18,7 @@ group "default" {
 }
 
 // For docker/metadata-action
+target "docker-metadata-action-core" {}
 target "docker-metadata-action-core-devel" {}
 target "docker-metadata-action-universe-sensing-perception-devel" {}
 target "docker-metadata-action-universe-sensing-perception" {}
@@ -31,6 +33,12 @@ target "docker-metadata-action-universe-visualization" {}
 target "docker-metadata-action-universe-devel" {}
 target "docker-metadata-action-universe" {}
 
+target "core" {
+  inherits = ["docker-metadata-action-core"]
+  dockerfile = "docker/Dockerfile"
+  target = "core"
+}
+
 target "core-devel" {
   inherits = ["docker-metadata-action-core-devel"]
   dockerfile = "docker/Dockerfile"