diff --git a/ansible/roles/cuda/tasks/main.yaml b/ansible/roles/cuda/tasks/main.yaml
index 4150e40e706..eef25639da9 100644
--- a/ansible/roles/cuda/tasks/main.yaml
+++ b/ansible/roles/cuda/tasks/main.yaml
@@ -17,7 +17,7 @@
 - name: Install CUDA keyring
   become: true
   ansible.builtin.apt:
-    deb: https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/{{ cuda_architecture.stdout }}/cuda-keyring_1.1-1_all.deb
+    deb: https://developer.download.nvidia.com/compute/cuda/repos/ubuntu{{ cuda__lsb_release }}/{{ cuda_architecture.stdout }}/cuda-keyring_1.1-1_all.deb
     update_cache: true
 
 - name: Install CUDA devel libraries except for cuda-drivers
diff --git a/ansible/roles/cuda/vars/main.yaml b/ansible/roles/cuda/vars/main.yaml
index a25734446a1..f0f79ac3935 100644
--- a/ansible/roles/cuda/vars/main.yaml
+++ b/ansible/roles/cuda/vars/main.yaml
@@ -1,2 +1,3 @@
 ---
 cuda__dash_case_cuda_version: '{{ cuda_version | regex_replace("\.", "-") }}'
+cuda__lsb_release: '{{ ansible_lsb.release | regex_replace("\.", "") }}'
diff --git a/ansible/roles/dev_tools/tasks/main.yaml b/ansible/roles/dev_tools/tasks/main.yaml
index 1a7d3c6511a..67738128fd4 100644
--- a/ansible/roles/dev_tools/tasks/main.yaml
+++ b/ansible/roles/dev_tools/tasks/main.yaml
@@ -29,31 +29,3 @@
     name: clang-format
     version: "{{ pre_commit_clang_format_version }}"
     executable: pip3
-
-- name: Install Go
-  become: true
-  ansible.builtin.apt:
-    name: golang
-    state: latest
-    update_cache: true
-
-- name: Hold check of ros-{{ rosdistro + '-plotjuggler-ros' }}
-  ansible.builtin.command: apt-mark showhold
-  register: held_ros_packages
-  changed_when: false
-
-- name: Install plotjuggler
-  become: true
-  ansible.builtin.apt:
-    name:
-      - ros-{{ rosdistro }}-plotjuggler-ros
-    state: latest
-    update_cache: true
-  when: "'ros-' + rosdistro + '-plotjuggler-ros' not in held_ros_packages.stdout"
-  register: install_result
-  failed_when: false
-
-- name: Display warning if plotjuggler-ros package is held
-  ansible.builtin.debug:
-    msg: ROS package 'ros-{{ rosdistro }}-plotjuggler-ros' is apt-mark hold. Skipping installation.
-  when: not install_result.changed
diff --git a/ansible/roles/docker_engine/tasks/main.yaml b/ansible/roles/docker_engine/tasks/main.yaml
index 973be1e9ec3..b8d2bf6feca 100644
--- a/ansible/roles/docker_engine/tasks/main.yaml
+++ b/ansible/roles/docker_engine/tasks/main.yaml
@@ -8,7 +8,6 @@
       - containerd
       - runc
     state: absent
-    update_cache: true
 
 - name: Install dependencies for setting up apt sources
   become: true
diff --git a/ansible/roles/kisak_mesa/README.md b/ansible/roles/kisak_mesa/README.md
deleted file mode 100644
index e92b276647e..00000000000
--- a/ansible/roles/kisak_mesa/README.md
+++ /dev/null
@@ -1,36 +0,0 @@
-# Kisak Mesa Fix for Ubuntu 22.04 for Rviz2 (Not mandatory)
-
-If you are using Ubuntu 22.04 and Rviz2 (especially inside a container), you may encounter black-screen error on Rviz2: <https://github.com/ros2/rviz/issues/948>
-
-This role will install the Kisak Mesa fix for Ubuntu 22.04 for Rviz2.
-
-## Inputs
-
-None
-
-## Manual Installation
-
-```bash
-#!/bin/bash
-
-# Update the package list and install software-properties-common
-sudo apt-get update
-sudo apt-get install -y software-properties-common
-
-# Add the Kisak Mesa PPA
-sudo add-apt-repository -y ppa:kisak/kisak-mesa
-
-# Update the package list after adding the new repository
-sudo apt-get update
-
-# Install Mesa libraries
-sudo apt-get install -y \
-libegl-mesa0 \
-libegl1-mesa-dev \
-libgbm-dev \
-libgbm1 \
-libgl1-mesa-dev \
-libgl1-mesa-dri \
-libglapi-mesa \
-libglx-mesa0
-```
diff --git a/ansible/roles/kisak_mesa/defaults/main.yaml b/ansible/roles/kisak_mesa/defaults/main.yaml
deleted file mode 100644
index e69de29bb2d..00000000000
diff --git a/ansible/roles/kisak_mesa/meta/main.yaml b/ansible/roles/kisak_mesa/meta/main.yaml
deleted file mode 100644
index e69de29bb2d..00000000000
diff --git a/ansible/roles/kisak_mesa/tasks/main.yaml b/ansible/roles/kisak_mesa/tasks/main.yaml
deleted file mode 100644
index 910c6f38b62..00000000000
--- a/ansible/roles/kisak_mesa/tasks/main.yaml
+++ /dev/null
@@ -1,24 +0,0 @@
-- name: Install additional dependencies
-  become: true
-  ansible.builtin.apt:
-    name: software-properties-common
-    state: present
-
-- name: Add Kisak Mesa PPA
-  become: true
-  ansible.builtin.apt_repository:
-    repo: ppa:kisak/kisak-mesa
-
-- name: Install Mesa libraries
-  become: true
-  ansible.builtin.apt:
-    name:
-      - libegl-mesa0
-      - libegl1-mesa-dev
-      - libgbm-dev
-      - libgbm1
-      - libgl1-mesa-dev
-      - libgl1-mesa-dri
-      - libglapi-mesa
-      - libglx-mesa0
-    state: present