diff --git a/.github/workflows/docker-build-and-push-humble-self-hosted.yaml b/.github/workflows/docker-build-and-push-humble-self-hosted.yaml
index bf29a2a9fb4b5..193f4631af6d2 100644
--- a/.github/workflows/docker-build-and-push-humble-self-hosted.yaml
+++ b/.github/workflows/docker-build-and-push-humble-self-hosted.yaml
@@ -23,7 +23,7 @@ jobs:
             setup-args: --no-nvidia
             additional-tag-suffix: ""
           - name: cuda
-            base_image_env: base_image
+            base_image_env: cuda_base_image
             setup-args: --no-cuda-drivers
             additional-tag-suffix: -cuda
     steps:
diff --git a/.github/workflows/docker-build-and-push-humble.yaml b/.github/workflows/docker-build-and-push-humble.yaml
index 25a95e3126edc..367f3a3dfbbee 100644
--- a/.github/workflows/docker-build-and-push-humble.yaml
+++ b/.github/workflows/docker-build-and-push-humble.yaml
@@ -23,7 +23,7 @@ jobs:
             setup-args: --no-nvidia
             additional-tag-suffix: ""
           - name: cuda
-            base_image_env: base_image
+            base_image_env: cuda_base_image
             setup-args: --no-cuda-drivers
             additional-tag-suffix: -cuda
     steps:
diff --git a/.github/workflows/docker-build-and-push-main-self-hosted.yaml b/.github/workflows/docker-build-and-push-main-self-hosted.yaml
index 7f1e809bb13e5..cdf436e944675 100644
--- a/.github/workflows/docker-build-and-push-main-self-hosted.yaml
+++ b/.github/workflows/docker-build-and-push-main-self-hosted.yaml
@@ -23,7 +23,7 @@ jobs:
             setup-args: --no-nvidia
             additional-tag-suffix: ""
           - name: cuda
-            base_image_env: base_image
+            base_image_env: cuda_base_image
             setup-args: --no-cuda-drivers
             additional-tag-suffix: -cuda
     steps:
diff --git a/.github/workflows/docker-build-and-push-main.yaml b/.github/workflows/docker-build-and-push-main.yaml
index 529610c27426b..9022d798bccc4 100644
--- a/.github/workflows/docker-build-and-push-main.yaml
+++ b/.github/workflows/docker-build-and-push-main.yaml
@@ -23,7 +23,7 @@ jobs:
             setup-args: --no-nvidia
             additional-tag-suffix: ""
           - name: cuda
-            base_image_env: base_image
+            base_image_env: cuda_base_image
             setup-args: --no-cuda-drivers
             additional-tag-suffix: -cuda
     steps:
diff --git a/amd64.env b/amd64.env
index 08b7b6235f4a3..86a0f69b5fcb7 100644
--- a/amd64.env
+++ b/amd64.env
@@ -1,6 +1,7 @@
 rosdistro=galactic
 rmw_implementation=rmw_cyclonedds_cpp
 base_image=ubuntu:20.04
+cuda_base_image=nvidia/cuda:11.4.3-devel-ubuntu20.04
 cuda_version=11.4
 cudnn_version=8.2.4.15-1+cuda11.4
 tensorrt_version=8.2.4-1+cuda11.4
diff --git a/ansible/roles/cuda/tasks/main.yaml b/ansible/roles/cuda/tasks/main.yaml
index 9cb888470512e..fd427d430ae57 100644
--- a/ansible/roles/cuda/tasks/main.yaml
+++ b/ansible/roles/cuda/tasks/main.yaml
@@ -8,6 +8,12 @@
   register: cuda_architecture
   changed_when: false
 
+- name: Remove old /etc/apt/sources.list.d/cuda.list
+  become: true
+  ansible.builtin.file:
+    path: /etc/apt/sources.list.d/cuda.list
+    state: absent
+
 - name: Install CUDA keyring
   become: true
   ansible.builtin.apt: