diff --git a/ansible/playbooks/openadkit.yaml b/ansible/playbooks/openadkit.yaml
index 5cfa0408d58..dc02ee99ef5 100644
--- a/ansible/playbooks/openadkit.yaml
+++ b/ansible/playbooks/openadkit.yaml
@@ -26,16 +26,16 @@
       when: module == 'base'
     - role: autoware.dev_env.pacmod
       when: module == 'base'
-    - role: autoware.dev_env.cuda
-      when: module == 'base' and prompt_install_nvidia=='y'
-    - role: autoware.dev_env.tensorrt
-      when: module == 'base' and prompt_install_nvidia=='y'
     - role: autoware.dev_env.build_tools
       when: module == 'all' and install_devel=='y'
 
     # Module specific dependencies
     - role: autoware.dev_env.geographiclib
       when: module == 'perception-localization' or module == 'all'
+    - role: autoware.dev_env.cuda
+      when: (module == 'base' or module == 'perception-localization' or module == 'all') and prompt_install_nvidia=='y'
+    - role: autoware.dev_env.tensorrt
+      when: (module == 'base' or module == 'perception-localization' or module == 'all') and prompt_install_nvidia=='y'
 
     # Development environment
     - role: autoware.dev_env.dev_tools
diff --git a/docker/Dockerfile b/docker/Dockerfile
index efde0797845..82e2ccaf9e0 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -193,12 +193,13 @@ RUN rosdep keys --dependency-types=exec --ignore-src --from-paths src \
 FROM base AS core-devel
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
+ARG SETUP_ARGS
 ENV CCACHE_DIR="/root/.ccache"
 
 # Set up development environment and tools
 RUN --mount=type=ssh \
   --mount=type=cache,target=/var/cache/apt,sharing=locked \
-  ./setup-dev-env.sh -y --module all openadkit \
+  ./setup-dev-env.sh -y --module all ${SETUP_ARGS} --no-cuda-drivers openadkit \
   && ./setup-dev-env.sh -y --module dev-tools openadkit \
   && pip uninstall -y ansible ansible-core \
   && apt-get autoremove -y && rm -rf "$HOME"/.cache