diff --git a/drake_bazel_external/setup/install_prereqs b/drake_bazel_external/setup/install_prereqs
index 20ba6acc..bf666588 100755
--- a/drake_bazel_external/setup/install_prereqs
+++ b/drake_bazel_external/setup/install_prereqs
@@ -31,20 +31,6 @@
 
 set -euxo pipefail
 
-ros_humble=0
-
-while [ "${1:-}" != "" ]; do
-  case "$1" in
-    --ros-humble)
-      ros_humble=1
-      ;;
-    *)
-      echo 'Invalid command line argument' >&2
-      exit 1
-  esac
-  shift
-done
-
 if [[ "${EUID:-}" -ne 0 ]]; then
   echo 'This script must be run as root' >&2
   exit 2
@@ -59,91 +45,14 @@ if [[ "$(lsb_release -sc)" != 'jammy' ]]; then
 fi
 
 apt-get install --no-install-recommends $(cat <<EOF
-  ca-certificates
   wget
 EOF
 )
 
+# Download the drake source and install the source prereqs
 wget -O drake.tar.gz \
-  https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-jammy.tar.gz
+  https://github.com/RobotLocomotion/drake/archive/master.tar.gz
 trap 'rm -f drake.tar.gz' EXIT
 tar -xf drake.tar.gz -C /opt
 
-# Show version for debugging; use echo for newline / readability.
-echo -e "\ndrake VERSION.TXT: $(cat /opt/drake/share/doc/drake/VERSION.TXT)\n"
-
-/opt/drake/share/drake/setup/install_prereqs
-
-apt-get install --no-install-recommends gnupg
-
-apt-key adv --fetch-keys https://bazel.build/bazel-release.pub.gpg
-echo 'deb [arch=amd64] https://storage.googleapis.com/bazel-apt stable jdk1.8' \
-  > /etc/apt/sources.list.d/bazel.list
-
-apt-get update
-apt-get install --no-install-recommends $(cat <<EOF
-  bazel
-  cmake
-  default-jdk
-  file
-  gfortran
-  git
-  libblas-dev
-  libclang-15-dev
-  libeigen3-dev
-  libgflags-dev
-  libgl-dev
-  libglib2.0-dev
-  libglx-dev
-  liblapack-dev
-  libmumps-seq-dev
-  libopengl-dev
-  libspdlog-dev
-  libx11-dev
-  locales
-  nasm
-  ocl-icd-opencl-dev
-  opencl-headers
-  openssh-client
-  patch
-  patchelf
-  pkg-config
-  python-is-python3
-  python3-all-dev
-  python3-ipywidgets
-  python3-matplotlib
-  python3-munkres
-  python3-numpy
-  python3-pil
-  python3-pydot
-  python3-pygame
-  python3-yaml
-  zlib1g-dev
-EOF
-)
-
-locale-gen en_US.UTF-8
-
-if [[ ${ros_humble} -eq 1 ]]; then
-  apt-key adv --fetch-keys \
-    https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc
-  echo 'deb http://packages.ros.org/ros2/ubuntu jammy main' \
-    > /etc/apt/sources.list.d/ros2-latest.list
-
-  apt-get update
-  apt-get install --no-install-recommends $(cat <<EOF
-    python3-colcon-common-extensions
-    ros-humble-ament-cmake
-    ros-humble-ament-cmake-gtest
-    ros-humble-ament-cmake-lint-cmake
-    ros-humble-ament-cmake-xmllint
-    ros-humble-ament-lint-auto
-EOF
-  )
-else
-  apt-get install --no-install-recommends $(cat <<EOF
-  catkin
-  python3-pkg-resources
-EOF
-  )
-fi
+/opt/drake-master/setup/ubuntu/install_prereqs
diff --git a/drake_cmake_external/README.md b/drake_cmake_external/README.md
index 696e6cc7..0e05bf65 100644
--- a/drake_cmake_external/README.md
+++ b/drake_cmake_external/README.md
@@ -2,14 +2,29 @@
 
 This pulls in Drake using the CMake `ExternalProject_Add(drake)` mechanism.
 
-To build all apps using CMake and Make:
+## Instructions
+
+First, install the required Ubuntu packages:
+
+```
+sudo setup/install_prereqs
+```
+
+This script will first download the drake source and then call drake's source 
+`install_prereqs` script to install any required packages. It is expected that
+the script will have been run prior to building with CMake as described below.
+
+Within the top-level CMakeLists, the drake source is once again downloaded as
+an external project. Keep in mind that if a specific commit of drake is used 
+rather than master, and any dependencies have changed within that commit, then
+the appropriate `install_prereqs` script will need to be run.
+
+To build and run tests using CMake:
 
 ```
 mkdir build
 cd build
 cmake ..
-make
+cmake --build .
+ctest -V .
 ```
-
-**Under Construction**
-
diff --git a/drake_cmake_external/setup/install_prereqs b/drake_cmake_external/setup/install_prereqs
index 20ba6acc..b8c7ae24 100755
--- a/drake_cmake_external/setup/install_prereqs
+++ b/drake_cmake_external/setup/install_prereqs
@@ -31,20 +31,6 @@
 
 set -euxo pipefail
 
-ros_humble=0
-
-while [ "${1:-}" != "" ]; do
-  case "$1" in
-    --ros-humble)
-      ros_humble=1
-      ;;
-    *)
-      echo 'Invalid command line argument' >&2
-      exit 1
-  esac
-  shift
-done
-
 if [[ "${EUID:-}" -ne 0 ]]; then
   echo 'This script must be run as root' >&2
   exit 2
@@ -59,91 +45,16 @@ if [[ "$(lsb_release -sc)" != 'jammy' ]]; then
 fi
 
 apt-get install --no-install-recommends $(cat <<EOF
-  ca-certificates
   wget
 EOF
 )
 
+# Download the drake source and install the source prereqs
 wget -O drake.tar.gz \
-  https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-jammy.tar.gz
+  https://github.com/RobotLocomotion/drake/archive/master.tar.gz
 trap 'rm -f drake.tar.gz' EXIT
 tar -xf drake.tar.gz -C /opt
 
-# Show version for debugging; use echo for newline / readability.
-echo -e "\ndrake VERSION.TXT: $(cat /opt/drake/share/doc/drake/VERSION.TXT)\n"
-
-/opt/drake/share/drake/setup/install_prereqs
-
-apt-get install --no-install-recommends gnupg
-
-apt-key adv --fetch-keys https://bazel.build/bazel-release.pub.gpg
-echo 'deb [arch=amd64] https://storage.googleapis.com/bazel-apt stable jdk1.8' \
-  > /etc/apt/sources.list.d/bazel.list
-
-apt-get update
-apt-get install --no-install-recommends $(cat <<EOF
-  bazel
-  cmake
-  default-jdk
-  file
-  gfortran
-  git
-  libblas-dev
-  libclang-15-dev
-  libeigen3-dev
-  libgflags-dev
-  libgl-dev
-  libglib2.0-dev
-  libglx-dev
-  liblapack-dev
-  libmumps-seq-dev
-  libopengl-dev
-  libspdlog-dev
-  libx11-dev
-  locales
-  nasm
-  ocl-icd-opencl-dev
-  opencl-headers
-  openssh-client
-  patch
-  patchelf
-  pkg-config
-  python-is-python3
-  python3-all-dev
-  python3-ipywidgets
-  python3-matplotlib
-  python3-munkres
-  python3-numpy
-  python3-pil
-  python3-pydot
-  python3-pygame
-  python3-yaml
-  zlib1g-dev
-EOF
-)
-
-locale-gen en_US.UTF-8
+/opt/drake-master/setup/ubuntu/install_prereqs
 
-if [[ ${ros_humble} -eq 1 ]]; then
-  apt-key adv --fetch-keys \
-    https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc
-  echo 'deb http://packages.ros.org/ros2/ubuntu jammy main' \
-    > /etc/apt/sources.list.d/ros2-latest.list
 
-  apt-get update
-  apt-get install --no-install-recommends $(cat <<EOF
-    python3-colcon-common-extensions
-    ros-humble-ament-cmake
-    ros-humble-ament-cmake-gtest
-    ros-humble-ament-cmake-lint-cmake
-    ros-humble-ament-cmake-xmllint
-    ros-humble-ament-lint-auto
-EOF
-  )
-else
-  apt-get install --no-install-recommends $(cat <<EOF
-  catkin
-  python3-pkg-resources
-EOF
-  )
-fi
diff --git a/drake_cmake_installed/.github/ci_build_test b/drake_cmake_installed/.github/ci_build_test
index 70e16b6e..f765d2e1 100755
--- a/drake_cmake_installed/.github/ci_build_test
+++ b/drake_cmake_installed/.github/ci_build_test
@@ -11,7 +11,7 @@ mkdir build
 pushd build
 
 cmake -DCMAKE_PREFIX_PATH=/opt/drake "$@" ..
-make
+cmake --build .
 ctest -V .
 
 popd