diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 03a0db2..39bc41c 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -16,7 +16,7 @@ on:
     types: [published]
 
 jobs:
-  bake:
+  bake_no_cache:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout
@@ -34,6 +34,28 @@ jobs:
           workdir: ros2_pkg_builder/docker
           files: |
             ./docker-bake.hcl
+          targets: |
+            builder
+  bake_cache_for_robotx_buildfarm:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v2
+      - uses: docker/login-action@v2
+        with:
+          username: ${{ secrets.DOCKER_USERNAME }}
+          password: ${{ secrets.DOCKER_PASSWORD }}
+      - name: Build and push
+        uses: docker/bake-action@v3
+        with:
+          push: true
+          workdir: ros2_pkg_builder/docker
+          files: |
+            ./docker-bake.hcl
+          targets: |
+            cache
   build_python_packages:
     strategy:
       fail-fast: false
diff --git a/ros2_pkg_builder/build.py b/ros2_pkg_builder/build.py
index df4a790..9166981 100644
--- a/ros2_pkg_builder/build.py
+++ b/ros2_pkg_builder/build.py
@@ -25,6 +25,7 @@ def build_deb_packages(
     build_builder_image: bool,
     packages_above: str,
     apt_server: str,
+    cache_image: str,
 ) -> None:
     logger = get_logger(__name__)
     logger.info("Start building debian packages.")
@@ -45,6 +46,19 @@ def build_deb_packages(
         .joinpath("docker")
         .joinpath("workspace.repos"),
     )
+    if cache_image == "":
+        logger.info(
+            "Cache image was not specified, using ros:" + rosdistro + " as base image."
+        )
+        cache_image = "ros"
+    else:
+        logger.info(
+            "Cache image was specified, using "
+            + cache_image
+            + ":"
+            + rosdistro
+            + " as base image."
+        )
     if build_builder_image:
         logger.info("Building builder image for " + architecture + "/" + rosdistro)
         docker.buildx.bake(
@@ -53,6 +67,7 @@ def build_deb_packages(
             set={
                 "*.platform": "linux/" + architecture,
                 "*.context": Path(ros2_pkg_builder.__path__[0]).joinpath("docker"),
+                "*.args.IMAGE_NAME": cache_image,
             },
             files=[
                 Path(ros2_pkg_builder.__path__[0])
@@ -60,6 +75,7 @@ def build_deb_packages(
                 .joinpath("docker-bake.hcl")
             ],
         )
+
     docker.run(
         image="wamvtan/ros2_pkg_builder:" + rosdistro,
         volumes=[
@@ -105,6 +121,14 @@ def main():
         default="",
         help="List of build target packages.",
     )
+    parser.add_argument(
+        "--cache-image",
+        type=str,
+        default="",
+        help="Docker image for caching rosdep dependency. \
+            This image is used for base image of builder image. \
+            If this value is empty, it means use no cache.",
+    )
     parser.add_argument("--apt-server", type=str, default="ftp.jaist.ac.jp/pub/Linux")
     args = parser.parse_args()
     build_deb_packages(
@@ -114,6 +138,7 @@ def main():
         args.build_builder_image,
         args.packages_above,
         args.apt_server,
+        args.cache_image,
     )
 
 
diff --git a/ros2_pkg_builder/docker/Dockerfile.builder b/ros2_pkg_builder/docker/Dockerfile.builder
index 7e24f5f..b200f55 100644
--- a/ros2_pkg_builder/docker/Dockerfile.builder
+++ b/ros2_pkg_builder/docker/Dockerfile.builder
@@ -1,5 +1,6 @@
 ARG ROS_DISTRO=humble
-FROM ros:${ROS_DISTRO} as build-base-stage
+ARG IMAGE_NAME=ros
+FROM ${IMAGE_NAME}:${ROS_DISTRO} as build-stage
 RUN apt-get update && \
     DEBIAN_FRONTEND=noninteractive \
     apt-get install -y \
diff --git a/ros2_pkg_builder/docker/Dockerfile.cache b/ros2_pkg_builder/docker/Dockerfile.cache
new file mode 100644
index 0000000..f6b1f84
--- /dev/null
+++ b/ros2_pkg_builder/docker/Dockerfile.cache
@@ -0,0 +1,16 @@
+ARG ROS_DISTRO=humble
+ARG IMAGE_NAME=ros
+FROM ${IMAGE_NAME}:${ROS_DISTRO} as cache-stage
+
+WORKDIR /workspace
+RUN echo "repositories:" >> workspace.repos
+
+ARG REPOS_FILE=workspace.repos
+ADD ${REPOS_FILE} workspace.repos
+
+ARG APT_SERVER=ftp.jaist.ac.jp/pub/Linux
+RUN sed -i "s@archive.ubuntu.com@$APT_SERVER@g" /etc/apt/sources.list
+RUN vcs import . < workspace.repos
+RUN apt update && rosdep install -iy --from-paths . --skip-keys $(colcon list -n | tr '\n' ',') && \
+    apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
diff --git a/ros2_pkg_builder/docker/docker-bake.hcl b/ros2_pkg_builder/docker/docker-bake.hcl
index 613c880..3574948 100644
--- a/ros2_pkg_builder/docker/docker-bake.hcl
+++ b/ros2_pkg_builder/docker/docker-bake.hcl
@@ -1,9 +1,9 @@
-group "default" {
+group "builder" {
   targets = ["latest", "iron", "humble", "rolling"]
 }
 
 target "latest" {
-  target = "build-base-stage"
+  target = "build-stage"
   dockerfile = "Dockerfile.builder"
   tags = ["docker.io/wamvtan/ros2_pkg_builder:latest"]
   args = {
@@ -35,3 +35,43 @@ target "humble" {
     "ROS_DISTRO" : "humble"
   }
 }
+
+// Grid map does not released in comment outed distribution
+group "cache" {
+  targets = ["cache-latest", "cache-humble"] # "cache-iron", "cache-rolling" ]
+}
+
+target "cache-latest" {
+  target = "cache-stage"
+  dockerfile = "Dockerfile.cache"
+  tags = ["docker.io/wamvtan/robotx_buildfarm:latest"]
+  args = {
+    "ROS_DISTRO" : "latest",
+    "REPOS_FILE" : "https://raw.githubusercontent.com/OUXT-Polaris/ros2_pkg_builder/ouxt/repos/workspace.repos"
+  }
+  platforms = ["linux/amd64", "linux/arm64/v8"]
+}
+
+target "cache-rolling" {
+  inherits = ["cache-latest"]
+  tags = ["docker.io/wamvtan/robotx_buildfarm:rolling"]
+  args = {
+    "ROS_DISTRO" : "rolling"
+  }
+}
+
+target "cache-iron" {
+  inherits = ["cache-latest"]
+  tags = ["docker.io/wamvtan/robotx_buildfarm:iron"]
+  args = {
+    "ROS_DISTRO" : "iron"
+  }
+}
+
+target "cache-humble" {
+  inherits = ["cache-latest"]
+  tags = ["docker.io/wamvtan/robotx_buildfarm:humble"]
+  args = {
+    "ROS_DISTRO" : "humble"
+  }
+}
diff --git a/ros2_pkg_builder/docker/entrypoint.sh b/ros2_pkg_builder/docker/entrypoint.sh
index 80a3368..d967491 100644
--- a/ros2_pkg_builder/docker/entrypoint.sh
+++ b/ros2_pkg_builder/docker/entrypoint.sh
@@ -1,24 +1,25 @@
 #!/bin/bash
-
-# Building packages
 echo "Changing apt server to $APT_SERVER"
 sed -i "s@archive.ubuntu.com@$APT_SERVER@g" /etc/apt/sources.list
 
-vcs import . < workspace.repos
+cd /artifacts
+sh update_apt_repo.sh
 
-apt update
-rosdep install -iy -t buildtool_export -t build -t buildtool -t build_export -t test --from-paths . --skip-keys $(colcon list -n | tr '\n' ',')
+cd /workspace
+
+vcs import . < workspace.repos
 
 colcon list -t -p | xargs -L 1 bash -c \
     'cd "$1"; pkg=$(colcon list -n);pkg_with_prefix=$(echo $pkg|echo "ros-humble-"$(sed -e 's/_/-/g')); \
     yq eval -i ".\"$pkg\".ubuntu=[\"$pkg_with_prefix\"]" /artifacts/rosdep/${ROS_DISTRO}.yaml' _
 rosdep update
 
-cd /artifacts && sh update_apt_repo.sh
+apt update
+rosdep install -iy --from-paths . --skip-keys $(colcon list -n | tr '\n' ',')
 
 cd /workspace && colcon list -t -p --packages-above $PACKAGES_ABOVE | xargs -I{} bash -c \
     'echo {} && cd {} && \
-    rosdep install -iy -t buildtool_export -t build -t buildtool -t build_export -t test --from-paths . && \
+    rosdep install -iy --from-paths . && \
     bloom-generate rosdebian --os-name ubuntu --os-version $DEB_DISTRO --ros-distro $ROS_DISTRO && \
     fakeroot debian/rules binary && cd /artifacts && sh update_apt_repo.sh && \
     dpkg -i /artifacts/dists/$DEB_DISTRO/universe/binary-$ARCHITECTURE/ros-$ROS_DISTRO-*.deb'