diff --git a/docker/Dockerfile b/docker/Dockerfile
index 8857e43bc9..537084f682 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -39,6 +39,8 @@ FROM rosdep-depend AS rosdep-universe-sensing-perception-depend
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 
+COPY src/universe/autoware.universe/launch/tier4_perception_launch /autoware/src/universe/autoware.universe/launch/tier4_perception_launch
+COPY src/universe/autoware.universe/launch/tier4_sensing_launch /autoware/src/universe/autoware.universe/launch/tier4_sensing_launch
 COPY src/universe/autoware.universe/perception /autoware/src/universe/autoware.universe/perception
 COPY src/universe/autoware.universe/sensing /autoware/src/universe/autoware.universe/sensing
 RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
@@ -199,6 +201,8 @@ RUN --mount=type=ssh \
 
 # hadolint ignore=SC1091
 RUN --mount=type=cache,target=${CCACHE_DIR} \
+  --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/launch/tier4_perception_launch,target=/autoware/src/universe/autoware.universe/launch/tier4_perception_launch \
+  --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/launch/tier4_sensing_launch,target=/autoware/src/universe/autoware.universe/launch/tier4_sensing_launch \
   --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception,target=/autoware/src/universe/autoware.universe/perception \
   --mount=type=bind,from=rosdep-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/sensing,target=/autoware/src/universe/autoware.universe/sensing \
   source /opt/ros/"$ROS_DISTRO"/setup.bash \