diff --git a/.github/workflows/autoware_runtime.yml b/.github/workflows/autoware_runtime.yml
new file mode 100644
index 0000000..e9ef527
--- /dev/null
+++ b/.github/workflows/autoware_runtime.yml
@@ -0,0 +1,43 @@
+name: Build Autoware runtime image
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: '41 8 * * *' # Every day at 8:41 UTC
+  push:
+    paths:
+      - containers/autoware-runtime/Dockerfile
+      - .github/workflows/autoware_runtime.yml # Self-trigger
+
+env:
+  REGISTRY: ghcr.io
+  IMAGE_NAME: bounverif/autoware-runtime
+  VERSION: latest
+
+jobs:
+  build-and-push-image:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      packages: write
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v3
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v2
+      - name: Log in to the registry
+        uses: docker/login-action@v2
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+      - name: Build and push image
+        uses: docker/build-push-action@v4
+        with:
+          context: containers/autoware-runtime
+          build-args: |
+            VERSION=${{ env.VERSION }}
+          tags: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:${{ env.VERSION }}
+          push: true
+          cache-from: type=gha
+          cache-to: type=gha,mode=max
\ No newline at end of file
diff --git a/containers/autoware-runtime/Dockerfile b/containers/autoware-runtime/Dockerfile
new file mode 100644
index 0000000..796ff8a
--- /dev/null
+++ b/containers/autoware-runtime/Dockerfile
@@ -0,0 +1,45 @@
+FROM ghcr.io/bounverif/autoware-prebuilt:latest as prebuilt
+FROM ros:humble-ros-base-jammy
+
+ARG CUDA_ARCH=x86_64
+ARG CUDA_DISTRO=ubuntu2204
+ARG CUDA_KEYRING_PACKAGE=cuda-keyring_1.1-1_all.deb
+ARG CUDA_KEYRING_FILEPATH=https://developer.download.nvidia.com/compute/cuda/repos/${CUDA_DISTRO}/${CUDA_ARCH}/${CUDA_KEYRING_PACKAGE}
+
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=compute,utility 
+
+RUN apt-get update && export DEBIAN_FRONTEND=noninteractive \
+    && apt-get -y install \
+      git \
+      wget \
+      tini \
+    && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* 
+
+RUN wget ${CUDA_KEYRING_FILEPATH} && dpkg -i ${CUDA_KEYRING_PACKAGE} && rm ${CUDA_KEYRING_PACKAGE}
+
+RUN apt-get update && export DEBIAN_FRONTEND=noninteractive \
+    && apt-get -y install \
+      libcublas-12-2 \
+      libcurand-12-2 \
+      cuda-cudart-12-2 \
+      libnvinfer8 \
+      libnvinfer-plugin8 \
+      libnvparsers8 \
+      libnvonnxparsers8 \
+    && find . -name 'libcu*.a' -delete \
+    && find . -name 'libnv*.a' -delete \ 
+    && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* 
+
+# Copy Autoware build artifacts
+COPY --from=prebuilt /opt/autoware/humble /opt/autoware/humble
+
+# Copy the script to the container
+COPY ./entrypoint.sh /
+RUN chmod +x /entrypoint.sh
+
+# Tini correctly initialize the shell in the container
+# With the -g option, tini kills the child process group.
+# This corresponds more closely to what happens when you do ctrl-C
+# See: https://github.com/krallin/tini
+ENTRYPOINT ["tini", "-g", "--", "/entrypoint.sh"]
diff --git a/containers/autoware-runtime/entrypoint.sh b/containers/autoware-runtime/entrypoint.sh
new file mode 100644
index 0000000..81d1cd3
--- /dev/null
+++ b/containers/autoware-runtime/entrypoint.sh
@@ -0,0 +1,9 @@
+#!/bin/bash
+# Trigger an error if non-zero exit code is encountered
+set -e
+
+# Source Autoware environment
+source /opt/autoware/humble/setup.bash
+
+# Execute the command
+exec ros2 launch "${@}"