diff --git a/.github/cppcheck-problem-matcher.json b/.github/cppcheck-problem-matcher.json
new file mode 100644
index 00000000..3b18fecc
--- /dev/null
+++ b/.github/cppcheck-problem-matcher.json
@@ -0,0 +1,16 @@
+{
+  "problemMatcher": [
+    {
+      "owner": "cppcheck",
+      "pattern": [
+        {
+          "regexp": "^([^:]+):(\\d+):(\\d*):\\s(style|portability|performance|warning|error):\\s(.*)$",
+          "file": 1,
+          "line": 2,
+          "column": 3,
+          "message": 5
+        }
+      ]
+    }
+  ]
+}
diff --git a/.github/workflows/build-and-test-daily.yaml b/.github/workflows/build-and-test-daily.yaml
new file mode 100644
index 00000000..63822f8b
--- /dev/null
+++ b/.github/workflows/build-and-test-daily.yaml
@@ -0,0 +1,79 @@
+name: build-and-test-daily
+
+on:
+  schedule:
+    - cron: 0 0 * * *
+  workflow_dispatch:
+
+jobs:
+  build-and-test-daily:
+    runs-on: [self-hosted, linux, X64, gpu]
+    container: ${{ matrix.container }}${{ matrix.container-suffix }}
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro:
+          - humble
+        container-suffix:
+          - ""
+          - -cuda
+        include:
+          - rosdistro: humble
+            container: ghcr.io/autowarefoundation/autoware:universe-devel
+            build-depends-repos: build_depends.repos
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 1
+
+      - name: Show disk space before the tasks
+        run: df -h
+
+      - name: Remove exec_depend
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
+
+      - name: Get self packages
+        id: get-self-packages
+        uses: autowarefoundation/autoware-github-actions/get-self-packages@v1
+
+      - name: Export CUDA state as a variable for adding to cache key
+        run: |
+          build_type_cuda_state=nocuda
+          if [[ "${{ matrix.container-suffix }}" == "-cuda" ]]; then
+            build_type_cuda_state=cuda
+          fi
+          echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}"
+          echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
+        shell: bash
+
+      - name: Build
+        if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-build@v1
+        with:
+          rosdistro: ${{ matrix.rosdistro }}
+          target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
+          build-depends-repos: ${{ matrix.build-depends-repos }}
+          cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
+
+      - name: Test
+        if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
+        id: test
+        uses: autowarefoundation/autoware-github-actions/colcon-test@v1
+        with:
+          rosdistro: ${{ matrix.rosdistro }}
+          target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
+          build-depends-repos: ${{ matrix.build-depends-repos }}
+
+      - name: Upload coverage to CodeCov
+        if: ${{ steps.test.outputs.coverage-report-files != '' }}
+        uses: codecov/codecov-action@v4
+        with:
+          files: ${{ steps.test.outputs.coverage-report-files }}
+          fail_ci_if_error: false
+          verbose: true
+          flags: total
+          token: ${{ secrets.CODECOV_TOKEN }}
+
+      - name: Show disk space after the tasks
+        run: df -h
diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml
index cda16666..e77aae16 100644
--- a/.github/workflows/build-and-test-differential.yaml
+++ b/.github/workflows/build-and-test-differential.yaml
@@ -42,7 +42,7 @@ jobs:
           - -cuda
         include:
           - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe
+            container: ghcr.io/autowarefoundation/autoware:universe-devel
             build-depends-repos: build_depends.repos
           - container-suffix: -cuda
             runner: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large
@@ -76,7 +76,7 @@ jobs:
   clang-tidy-differential:
     needs: build-and-test-differential
     runs-on: ubuntu-22.04
-    container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe-cuda
+    container: ghcr.io/autowarefoundation/autoware:universe-devel-cuda
     steps:
       - name: Set PR fetch depth
         run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml
index 228b547e..a9274804 100644
--- a/.github/workflows/build-and-test.yaml
+++ b/.github/workflows/build-and-test.yaml
@@ -2,27 +2,44 @@ name: build-and-test
 
 on:
   push:
-  schedule:
-    - cron: 0 0 * * *
+    branches:
+      - main
   workflow_dispatch:
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.run_id }}
+  cancel-in-progress: true
+
+env:
+  CC: /usr/lib/ccache/gcc
+  CXX: /usr/lib/ccache/g++
+
 jobs:
   build-and-test:
-    if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }}
-    runs-on: ubuntu-latest
-    container: ${{ matrix.container }}
+    runs-on: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large
+    container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
       fail-fast: false
       matrix:
         rosdistro:
           - humble
+        container-suffix:
+          - -cuda
         include:
           - rosdistro: humble
-            container: ros:humble
+            container: ghcr.io/autowarefoundation/autoware:universe-devel
             build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
         uses: actions/checkout@v4
+        with:
+          fetch-depth: 1
+
+      - name: Show disk space before the tasks
+        run: df -h
+
+      - name: Show machine specs
+        run: lscpu && free -h
 
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
@@ -31,6 +48,43 @@ jobs:
         id: get-self-packages
         uses: autowarefoundation/autoware-github-actions/get-self-packages@v1
 
+      - name: Create ccache directory
+        run: |
+          mkdir -p ${CCACHE_DIR}
+          du -sh ${CCACHE_DIR} && ccache -s
+        shell: bash
+
+      - name: Attempt to restore ccache
+        uses: actions/cache/restore@v4
+        with:
+          path: |
+            /root/.ccache
+          key: ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}-${{ github.sha }}
+          restore-keys: |
+            ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}-
+
+      - name: Limit ccache size
+        run: |
+          rm -f "${CCACHE_DIR}/ccache.conf"
+          echo -e "# Set maximum cache size\nmax_size = 600MB" >> "${CCACHE_DIR}/ccache.conf"
+        shell: bash
+
+      - name: Show ccache stats before build and reset stats
+        run: |
+          du -sh ${CCACHE_DIR} && ccache -s
+          ccache --zero-stats
+        shell: bash
+
+      - name: Export CUDA state as a variable for adding to cache key
+        run: |
+          build_type_cuda_state=nocuda
+          if [[ "${{ matrix.container-suffix }}" == "-cuda" ]]; then
+            build_type_cuda_state=cuda
+          fi
+          echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}"
+          echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
+        shell: bash
+
       - name: Build
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
         uses: autowarefoundation/autoware-github-actions/colcon-build@v1
@@ -38,6 +92,21 @@ jobs:
           rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
           build-depends-repos: ${{ matrix.build-depends-repos }}
+          cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
+          build-pre-command: taskset --cpu-list 0-6
+
+      - name: Show ccache stats after build
+        run: du -sh ${CCACHE_DIR} && ccache -s
+        shell: bash
+
+      # Only keep save the -cuda version because cuda packages covers non-cuda packages too
+      - name: Push the ccache cache
+        if: matrix.container-suffix == '-cuda'
+        uses: actions/cache/save@v4
+        with:
+          path: |
+            /root/.ccache
+          key: ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}-${{ github.sha }}
 
       - name: Test
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
@@ -56,3 +125,7 @@ jobs:
           fail_ci_if_error: false
           verbose: true
           flags: total
+          token: ${{ secrets.CODECOV_TOKEN }}
+
+      - name: Show disk space after the tasks
+        run: df -h
diff --git a/.github/workflows/cppcheck-differential.yaml b/.github/workflows/cppcheck-differential.yaml
new file mode 100644
index 00000000..36239577
--- /dev/null
+++ b/.github/workflows/cppcheck-differential.yaml
@@ -0,0 +1,95 @@
+name: cppcheck-differential
+
+on:
+  pull_request:
+
+jobs:
+  cppcheck-differential:
+    runs-on: ubuntu-22.04
+
+    steps:
+      - name: Set PR fetch depth
+        run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
+
+      - name: Checkout PR branch and all PR commits
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+          fetch-depth: ${{ env.PR_FETCH_DEPTH }}
+
+      - name: Install dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y git
+
+      - name: Install colcon
+        run: |
+          sudo sh -c 'echo "deb [arch=amd64,arm64] http://repo.ros2.org/ubuntu/main `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
+          curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+          sudo apt update
+          sudo apt install python3-colcon-common-extensions
+
+      # cppcheck from apt does not yet support --check-level args, and thus install from snap
+      - name: Install Cppcheck from snap
+        run: |
+          sudo snap install cppcheck
+
+      - name: Fetch the base branch with enough history for a common merge-base commit
+        run: git fetch origin ${{ github.base_ref }}
+        shell: bash
+
+      - name: Get modified packages
+        id: get-modified-packages
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
+
+      - name: Get full paths of modified packages
+        id: get-full-paths
+        run: |
+          modified_packages="${{ steps.get-modified-packages.outputs.modified-packages }}"
+          paths=""
+          for pkg in $modified_packages; do
+            path=$(colcon list --packages-select $pkg | awk '{print $2}' | xargs realpath)
+            paths="$paths $path"
+          done
+          echo "full-paths=$paths" >> $GITHUB_OUTPUT
+
+      - name: Filter packages with no cpp/hpp files
+        id: filter-paths-no-cpp-files
+        run: |
+          filtered_paths=""
+          for dir in ${{ steps.get-full-paths.outputs.full-paths }}; do
+            if [ -d "$dir" ] && find "$dir" -name "*.cpp" | grep -q .; then
+              filtered_paths="$filtered_paths $dir"
+            fi
+          done
+          echo "filtered-full-paths=$filtered_paths" >> $GITHUB_OUTPUT
+
+      # cspell: ignore suppr, Dslots
+      - name: Run Cppcheck on modified packages
+        if: ${{ steps.filter-paths-no-cpp-files.outputs.filtered-full-paths != '' }}
+        continue-on-error: true
+        id: cppcheck
+        run: |
+          echo "Running Cppcheck on modified packages: ${{ steps.filter-paths-no-cpp-files.outputs.filtered-full-paths }}"
+          cppcheck --enable=all --inconclusive --check-level=exhaustive -D'PLUGINLIB_EXPORT_CLASS(class_type, base_class)=' -Dslots= -DQ_SLOTS= --error-exitcode=1 --suppressions-list=.cppcheck_suppressions --inline-suppr ${{ steps.filter-paths-no-cpp-files.outputs.filtered-full-paths }} 2> cppcheck-report.txt
+        shell: bash
+
+      - name: Setup Problem Matchers for cppcheck
+        if: ${{ steps.filter-paths-no-cpp-files.outputs.filtered-full-paths != '' }}
+        run: echo "::add-matcher::.github/cppcheck-problem-matcher.json"
+
+      - name: Show cppcheck-report result
+        if: ${{ steps.filter-paths-no-cpp-files.outputs.filtered-full-paths != '' }}
+        run: |
+          cat cppcheck-report.txt
+
+      - name: Upload Cppcheck report
+        if: ${{ steps.filter-paths-no-cpp-files.outputs.filtered-full-paths != '' }}
+        uses: actions/upload-artifact@v4
+        with:
+          name: cppcheck-report
+          path: cppcheck-report.txt
+
+      - name: Fail the job if Cppcheck failed
+        if: ${{ steps.filter-paths-no-cpp-files.outputs.filtered-full-paths != '' && steps.cppcheck.outcome == 'failure' }}
+        run: exit 1
diff --git a/.github/workflows/cppcheck-weekly.yaml b/.github/workflows/cppcheck-weekly.yaml
new file mode 100644
index 00000000..c75a72e1
--- /dev/null
+++ b/.github/workflows/cppcheck-weekly.yaml
@@ -0,0 +1,47 @@
+name: cppcheck-weekly
+
+on:
+  schedule:
+    - cron: 0 0 * * 1
+  workflow_dispatch:
+
+jobs:
+  cppcheck-weekly:
+    runs-on: ubuntu-22.04
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v2
+
+      # cppcheck from apt does not yet support --check-level args, and thus install from snap
+      - name: Install Cppcheck from snap
+        run: |
+          sudo snap install cppcheck
+
+      # cspell: ignore suppr, Dslots
+      - name: Run Cppcheck on all files
+        continue-on-error: true
+        id: cppcheck
+        run: |
+          cppcheck --enable=all --inconclusive --check-level=exhaustive -D'PLUGINLIB_EXPORT_CLASS(class_type, base_class)=' -Dslots= -DQ_SLOTS= --suppress=*:*/test/* --error-exitcode=1 --xml --inline-suppr . 2> cppcheck-report.xml
+        shell: bash
+
+      - name: Count errors by error ID and severity
+        run: |
+          #!/bin/bash
+          temp_file=$(mktemp)
+          grep -oP '(?<=id=")[^"]+" severity="[^"]+' cppcheck-report.xml | sed 's/" severity="/,/g' > "$temp_file"
+          echo "Error counts by error ID and severity:"
+          sort "$temp_file" | uniq -c
+          rm "$temp_file"
+        shell: bash
+
+      - name: Upload Cppcheck report
+        uses: actions/upload-artifact@v4
+        with:
+          name: cppcheck-report
+          path: cppcheck-report.xml
+
+      - name: Fail the job if Cppcheck failed
+        if: steps.cppcheck.outcome == 'failure'
+        run: exit 1
diff --git a/.github/workflows/json-schema-check.yaml b/.github/workflows/json-schema-check.yaml
new file mode 100644
index 00000000..be9b8e3c
--- /dev/null
+++ b/.github/workflows/json-schema-check.yaml
@@ -0,0 +1,39 @@
+name: json-schema-check
+
+on:
+  pull_request:
+  workflow_dispatch:
+
+jobs:
+  check-if-relevant-files-changed:
+    runs-on: ubuntu-22.04
+    outputs:
+      run-check: ${{ steps.paths_filter.outputs.json_or_yaml }}
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dorny/paths-filter@v3
+        id: paths_filter
+        with:
+          filters: |
+            json_or_yaml:
+              - '**/schema/*.schema.json'
+              - '**/config/*.param.yaml'
+
+  json-schema-check:
+    needs: check-if-relevant-files-changed
+    if: needs.check-if-relevant-files-changed.outputs.run-check == 'true'
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Run json-schema-check
+        uses: autowarefoundation/autoware-github-actions/json-schema-check@v1
+
+  no-relevant-changes:
+    needs: check-if-relevant-files-changed
+    if: needs.check-if-relevant-files-changed.outputs.run-check == 'false'
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Dummy step
+        run: echo "No relevant changes, passing check"