diff --git a/docker/build.sh b/docker/build.sh
index a5de2f4bff..d0d8b8976e 100755
--- a/docker/build.sh
+++ b/docker/build.sh
@@ -8,7 +8,9 @@ print_help() {
     echo "Options:"
     echo "  --help          Display this help message"
     echo "  -h              Display this help message"
+    echo "  --no-cuda       Disable CUDA support"
     echo "  --platform      Specify the platform (default: current platform)"
+    echo "  --devel-only    Build devel image only"
     echo ""
     echo "Note: The --platform option should be one of 'linux/amd64' or 'linux/arm64'."
 }
@@ -24,10 +26,16 @@ parse_arguments() {
             print_help
             exit 1
             ;;
+        --no-cuda)
+            option_no_cuda=true
+            ;;
         --platform)
             option_platform="$2"
             shift
             ;;
+        --devel-only)
+            option_devel_only=true
+            ;;
         *)
             echo "Unknown option: $1"
             print_help
@@ -38,6 +46,25 @@ parse_arguments() {
     done
 }
 
+# Set CUDA options
+set_cuda_options() {
+    if [ "$option_no_cuda" = "true" ]; then
+        setup_args="--no-nvidia"
+        image_name_suffix=""
+    else
+        image_name_suffix="-cuda"
+    fi
+}
+
+# Set build options
+set_build_options() {
+    if [ "$option_devel_only" = "true" ]; then
+        target="universe-devel"
+    else
+        target="universe"
+    fi
+}
+
 # Set platform
 set_platform() {
     if [ -n "$option_platform" ]; then
@@ -91,9 +118,10 @@ 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 "Target: $target"
 
     set -x
     docker buildx bake --load --progress=plain -f "$SCRIPT_DIR/docker-bake-base.hcl" \
@@ -102,12 +130,10 @@ build_images() {
         --set "*.platform=$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: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=$WORKSPACE_ROOT" \
         --set "*.ssh=default" \
@@ -116,30 +142,13 @@ build_images() {
         --set "*.args.BASE_IMAGE=$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 "universe-cuda.tags=ghcr.io/autowarefoundation/autoware:universe-cuda" \
+        "$target$image_name_suffix"
     set +x
 }
 
@@ -150,6 +159,8 @@ remove_dangling_images() {
 
 # Main script execution
 parse_arguments "$@"
+set_cuda_options
+set_build_options
 set_platform
 set_arch_lib_dir
 load_env