diff --git a/ansible/roles/ros2/README.md b/ansible/roles/ros2/README.md
index 54fb39e0a94..07fab9500b8 100644
--- a/ansible/roles/ros2/README.md
+++ b/ansible/roles/ros2/README.md
@@ -4,6 +4,8 @@ This role installs [ROS 2](http://www.ros2.org/) following [this page](https://d
 
 Additional steps may be needed depending on the `rosdistro` you choose.
 
+To prevent the update of the ROS 2 packages, if ros-`distro`-desktop is held, the installation process for the packages will be skipped and output warning.
+
 <!-- TODO: Add these steps to the role if Humble requires. -->
 
 ```bash
diff --git a/ansible/roles/ros2/tasks/main.yaml b/ansible/roles/ros2/tasks/main.yaml
index ab77bb632c1..9ad8bb165f9 100644
--- a/ansible/roles/ros2/tasks/main.yaml
+++ b/ansible/roles/ros2/tasks/main.yaml
@@ -34,12 +34,25 @@
     state: present
     update_cache: true
 
+- name: Hold check of ros-{{ rosdistro + '-' + ros2_installation_type }}
+  ansible.builtin.command: apt-mark showhold
+  register: held_ros_packages
+  changed_when: false
+
 - name: Install ros-{{ rosdistro + '-' + ros2_installation_type }}
   become: true
   ansible.builtin.apt:
     name: ros-{{ rosdistro }}-{{ ros2_installation_type }}
     state: latest
     update_cache: true
+  when: "'ros-' + rosdistro + '-' + ros2_installation_type not in held_ros_packages.stdout"
+  register: install_result
+  failed_when: false
+
+- name: Display warning if ROS 2 package is held
+  ansible.builtin.debug:
+    msg: ROS package 'ros-{{ rosdistro + '-' + ros2_installation_type }}' is apt-mark hold. Skipping installation.
+  when: not install_result.changed
 
 - name: Add PATH to .bashrc
   ansible.builtin.lineinfile: