diff --git a/.dockerignore b/.dockerignore
index 679e11b25ef..0255e920e4f 100644
--- a/.dockerignore
+++ b/.dockerignore
@@ -10,13 +10,13 @@
 docker
 !docker/etc
 !docker/scripts
+!docker/tools
 
 # Ignore a part of files under src
 src/**/.*
 src/**/*.asc
 src/**/*.gif
 src/**/*.md
-src/**/*.pcd
 src/**/*.svg
 
 # Ignore generated files by colcon
diff --git a/.github/actions/docker-build-and-push-tools/action.yaml b/.github/actions/docker-build-and-push-tools/action.yaml
new file mode 100644
index 00000000000..5b9f4d10a82
--- /dev/null
+++ b/.github/actions/docker-build-and-push-tools/action.yaml
@@ -0,0 +1,68 @@
+name: docker-build-and-push-tools
+description: Composite action to build and push tools images to registry.
+
+inputs:
+  platform:
+    description: Target platform.
+    required: true
+  target-image:
+    description: Target docker image name in the registry.
+    required: true
+  build-args:
+    description: Additional build args.
+    required: false
+
+runs:
+  using: composite
+  steps:
+    - name: Install jq and vcstool
+      run: |
+        sudo apt-get -y update
+        sudo apt-get -y install jq python3-pip
+        pip install --no-cache-dir vcstool
+      shell: bash
+
+    - name: Run vcs import
+      run: |
+        vcs import src < autoware.repos
+        vcs import src < simulator.repos
+      shell: bash
+
+    - name: Setup Docker Buildx
+      uses: docker/setup-buildx-action@v3
+
+    - name: Get current date
+      id: date
+      run: echo "date=$(date +'%Y%m%d')" >> $GITHUB_OUTPUT
+      shell: bash
+
+    - name: Docker meta for autoware:scenario-simulator
+      id: meta-scenario-simulator
+      uses: docker/metadata-action@v5
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.target-image }}
+        tags: |
+          type=raw,value=scenario-simulator-${{ inputs.platform }}
+          type=raw,value=scenario-simulator-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=ref,event=tag,prefix=scenario-simulator-,suffix=-${{ inputs.platform }}
+        bake-target: docker-metadata-action-scenario-simulator
+        flavor: |
+          latest=false
+
+    - name: Login to GitHub Container Registry
+      uses: docker/login-action@v3
+      with:
+        registry: ghcr.io
+        username: ${{ github.repository_owner }}
+        password: ${{ github.token }}
+
+    - name: Build and Push to GitHub Container Registry
+      uses: docker/bake-action@v5
+      with:
+        push: true
+        files: |
+          docker/docker-bake-tools.hcl
+          ${{ steps.meta-scenario-simulator.outputs.bake-file }}
+        provenance: false
+        set: |
+          ${{ inputs.build-args }}
diff --git a/.github/workflows/docker-build-and-push-arm64.yaml b/.github/workflows/docker-build-and-push-arm64.yaml
index 0388d324e6f..4b6418509e6 100644
--- a/.github/workflows/docker-build-and-push-arm64.yaml
+++ b/.github/workflows/docker-build-and-push-arm64.yaml
@@ -72,6 +72,22 @@ jobs:
             *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-main
             *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-${{ github.ref_name }},mode=max
 
+      - name: Build 'autoware-tools'
+        uses: ./.github/actions/docker-build-and-push-tools
+        with:
+          platform: arm64
+          target-image: autoware-tools
+          build-args: |
+            *.platform=linux/arm64
+            *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
+            *.args.BASE_IMAGE=${{ needs.load-env.outputs.base_image }}
+            *.args.AUTOWARE_BASE_IMAGE=${{ needs.load-env.outputs.autoware_base_image }}
+            *.args.AUTOWARE_BASE_CUDA_IMAGE=${{ needs.load-env.outputs.autoware_base_cuda_image }}
+            *.args.LIB_DIR=aarch64
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-${{ github.ref_name }}
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-main
+            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-${{ github.ref_name }},mode=max
+
       - name: Show disk space
         if: always()
         run: |
diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml
index 567678bde3e..478ba6a473a 100644
--- a/.github/workflows/docker-build-and-push.yaml
+++ b/.github/workflows/docker-build-and-push.yaml
@@ -62,6 +62,22 @@ jobs:
             *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:amd64-main
             *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:amd64-${{ github.ref_name }},mode=max
 
+      - name: Build 'autoware-tools'
+        uses: ./.github/actions/docker-build-and-push-tools
+        with:
+          platform: amd64
+          target-image: autoware-tools
+          build-args: |
+            *.platform=linux/amd64
+            *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
+            *.args.BASE_IMAGE=${{ needs.load-env.outputs.base_image }}
+            *.args.AUTOWARE_BASE_IMAGE=${{ needs.load-env.outputs.autoware_base_image }}
+            *.args.AUTOWARE_BASE_CUDA_IMAGE=${{ needs.load-env.outputs.autoware_base_cuda_image }}
+            *.args.LIB_DIR=x86_64
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:amd64-${{ github.ref_name }}
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:amd64-main
+            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:amd64-${{ github.ref_name }},mode=max
+
       - name: Show disk space
         if: always()
         run: |
diff --git a/docker/docker-bake-tools.hcl b/docker/docker-bake-tools.hcl
new file mode 100644
index 00000000000..f3dc7a81ee3
--- /dev/null
+++ b/docker/docker-bake-tools.hcl
@@ -0,0 +1,14 @@
+group "default" {
+  targets = [
+    "scenario-simulator",
+  ]
+}
+
+// For docker/metadata-action
+target "docker-metadata-action-scenario-simulator" {}
+
+target "scenario-simulator" {
+  inherits = ["docker-metadata-action-scenario-simulator"]
+  dockerfile = "docker/tools/scenario-simulator/Dockerfile.scenario-simulator"
+  target = "scenario-simulator"
+}
diff --git a/docker/tools/README.md b/docker/tools/README.md
new file mode 100644
index 00000000000..df19c8ee265
--- /dev/null
+++ b/docker/tools/README.md
@@ -0,0 +1,30 @@
+# Open AD Kit Tools
+
+This directory offers tools for [Open AD Kit](https://autoware.org/open-ad-kit/) containers to make deployment and simulation easier.
+
+- `scenario-simulator`: a container that can visualize the Autoware and scenario simulation on RViz.
+
+## Scenario Simulator
+
+### Run
+
+```bash
+docker run --rm --name openadkit-scenario-simulator ghcr.io/autowarefoundation/autoware-tools:scenario-simulator
+```
+
+### Settings
+
+The following environment variables can be configured for the scenario simulator container:
+
+| Variable              | Default Value                                                                                                                                                   | Possible Values             | Description                                              |
+| --------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------- | -------------------------------------------------------- |
+| `SCENARIO`            | [`scenario_test_runner/scenario/sample.yaml`](https://github.com/tier4/scenario_simulator_v2/blob/master/test_runner/scenario_test_runner/scenario/sample.yaml) | Any valid path              | The full path to the scenario file inside the container  |
+| `ARCHITECTURE_TYPE`   | `awf/universe/20240605`                                                                                                                                         | Any valid architecture type | The architecture type to use for the scenario simulation |
+| `SENSOR_MODEL`        | `sample_sensor_kit`                                                                                                                                             | Any valid sensor model      | The sensor model to use for the scenario simulation      |
+| `VEHICLE_MODEL`       | `sample_vehicle`                                                                                                                                                | Any valid vehicle model     | The vehicle model to use for the scenario simulation     |
+| `INITIALIZE_DURATION` | `90`                                                                                                                                                            | Any positive integer        | The duration to initialize the scenario simulation       |
+| `GLOBAL_FRAME_RATE`   | `30`                                                                                                                                                            | Any positive integer        | The frame rate of the scenario simulation                |
+| `GLOBAL_TIMEOUT`      | `120`                                                                                                                                                           | Any positive integer        | The timeout of the scenario simulation                   |
+| `OUTPUT_DIRECTORY`    | `/autoware/scenario-sim/output`                                                                                                                                 | Any valid path              | The directory to save the simulation results             |
+| `USE_SIM_TIME`        | `false`                                                                                                                                                         | `true`, `false`             | Whether to use simulation time instead of system time    |
+| `RECORD`              | `false`                                                                                                                                                         | `true`, `false`             | Whether to record the scenario simulation rosbag         |
diff --git a/docker/tools/scenario-simulator/Dockerfile.scenario-simulator b/docker/tools/scenario-simulator/Dockerfile.scenario-simulator
new file mode 100644
index 00000000000..2ec90c48a06
--- /dev/null
+++ b/docker/tools/scenario-simulator/Dockerfile.scenario-simulator
@@ -0,0 +1,59 @@
+### Builder
+FROM ghcr.io/autowarefoundation/autoware:universe-devel AS builder
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ARG ROS_DISTRO
+ARG LIB_DIR
+ENV CCACHE_DIR="/root/.ccache"
+WORKDIR /autoware
+COPY src /autoware/src
+COPY docker/scripts/resolve_rosdep_keys.sh /autoware/resolve_rosdep_keys.sh
+RUN chmod +x /autoware/resolve_rosdep_keys.sh
+
+# Install dependencies and build the scenario simulator
+# hadolint ignore=SC1091
+RUN --mount=type=ssh \
+    --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    apt-get update \
+    && rosdep update && rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO \
+    && source /opt/ros/"$ROS_DISTRO"/setup.bash && source /opt/autoware/setup.bash \
+    && colcon build --cmake-args \
+        "-Wno-dev" \
+        "--no-warn-unused-cli" \
+        --install-base /opt/autoware \
+        --merge-install \
+        --mixin release compile-commands ccache \
+        --base-paths /autoware/src/simulator \
+    && find /opt/autoware/lib -type f -name "*.py" -exec chmod +x {} \; \
+    && find /opt/autoware/share -type f -name "*.py" -exec chmod +x {} \; \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
+
+# Extract rosdep dependencies for simulator
+RUN /autoware/resolve_rosdep_keys.sh /autoware/src/simulator ${ROS_DISTRO} --dependency-types=exec \
+    > /rosdep-simulator-depend-packages.txt \
+    && cat /rosdep-simulator-depend-packages.txt
+
+### Scenario Simulator
+FROM ghcr.io/autowarefoundation/autoware:core AS scenario-simulator
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ARG ROS_DISTRO
+ARG LIB_DIR
+WORKDIR /autoware
+COPY --from=builder /opt/autoware /opt/autoware
+COPY --from=builder /rosdep-simulator-depend-packages.txt /tmp/rosdep-simulator-depend-packages.txt
+
+# hadolint ignore=SC2002
+RUN --mount=type=ssh \
+    --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    apt-get update && apt-get install -y curl unzip \
+    && source /opt/ros/"$ROS_DISTRO"/setup.bash && source /opt/autoware/setup.bash \
+    && rosdep update \
+    # Remove xmlschema and yamale from rosdep packages since we install via pip
+    && sed -i '/\(xmlschema\|yamale\)/d' /tmp/rosdep-simulator-depend-packages.txt \
+    && pip install --no-cache-dir yamale xmlschema \
+    && cat /tmp/rosdep-simulator-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
+    && /autoware/cleanup_system.sh $LIB_DIR $ROS_DISTRO
+
+COPY docker/tools/scenario-simulator/entrypoint.sh /entrypoint.sh
+RUN chmod +x /entrypoint.sh
+ENTRYPOINT ["/entrypoint.sh"]
diff --git a/docker/tools/scenario-simulator/entrypoint.sh b/docker/tools/scenario-simulator/entrypoint.sh
new file mode 100644
index 00000000000..969783ff945
--- /dev/null
+++ b/docker/tools/scenario-simulator/entrypoint.sh
@@ -0,0 +1,57 @@
+#!/usr/bin/env bash
+# cspell:ignore
+# shellcheck disable=SC1090,SC1091
+
+run_scenario_simulator() {
+    echo -e "\e[32mRunning scenario simulator...\e[0m"
+
+    # Set default values if not provided
+    ARCHITECTURE_TYPE=${ARCHITECTURE_TYPE:-awf/universe/20240605}
+    SENSOR_MODEL=${SENSOR_MODEL:-sample_sensor_kit}
+    VEHICLE_MODEL=${VEHICLE_MODEL:-sample_vehicle}
+    INITIALIZE_DURATION=${INITIALIZE_DURATION:-90}
+    GLOBAL_FRAME_RATE=${GLOBAL_FRAME_RATE:-30}
+    OUTPUT_DIRECTORY=${OUTPUT_DIRECTORY:-/autoware/scenario-sim/output}
+    SCENARIO=${SCENARIO:-$(ros2 pkg prefix --share scenario_test_runner)/scenario/sample.yaml}
+    GLOBAL_TIMEOUT=${GLOBAL_TIMEOUT:-120}
+    RECORD=${RECORD:-false}
+    USE_SIM_TIME=${USE_SIM_TIME:-false}
+
+    # Print all variables
+    echo "ARCHITECTURE_TYPE: $ARCHITECTURE_TYPE"
+    echo "SENSOR_MODEL: $SENSOR_MODEL"
+    echo "VEHICLE_MODEL: $VEHICLE_MODEL"
+    echo "INITIALIZE_DURATION: $INITIALIZE_DURATION"
+    echo "GLOBAL_FRAME_RATE: $GLOBAL_FRAME_RATE"
+    echo "OUTPUT_DIRECTORY: $OUTPUT_DIRECTORY"
+    echo "SCENARIO: $SCENARIO"
+    echo "GLOBAL_TIMEOUT: $GLOBAL_TIMEOUT"
+    echo "RECORD: $RECORD"
+    echo "USE_SIM_TIME: $USE_SIM_TIME"
+
+    # Launch scenario test runner
+    ros2 launch scenario_test_runner scenario_test_runner.launch.py \
+        launch_autoware:=false \
+        launch_rviz:=false \
+        architecture_type:="$ARCHITECTURE_TYPE" \
+        sensor_model:="$SENSOR_MODEL" \
+        vehicle_model:="$VEHICLE_MODEL" \
+        initialize_duration:="$INITIALIZE_DURATION" \
+        global_frame_rate:="$GLOBAL_FRAME_RATE" \
+        output_directory:="$OUTPUT_DIRECTORY" \
+        scenario:="$SCENARIO" \
+        global_timeout:="$GLOBAL_TIMEOUT" \
+        record:="$RECORD" \
+        use_sim_time:="$USE_SIM_TIME"
+}
+
+# Source ROS and Autoware setup files
+source "/opt/ros/$ROS_DISTRO/setup.bash"
+source "/opt/autoware/setup.bash"
+
+# Execute passed command if provided, otherwise run scenario simulator
+if [ $# -gt 0 ]; then
+    exec "$@"
+else
+    run_scenario_simulator
+fi