diff --git a/ansible/roles/autoware/defaults/main.yaml b/ansible/roles/autoware/defaults/main.yaml
index f4c77b2..37c8d78 100644
--- a/ansible/roles/autoware/defaults/main.yaml
+++ b/ansible/roles/autoware/defaults/main.yaml
@@ -1,2 +1,2 @@
 autoware_env_dir: /opt/autoware/env
-ros_domain_id: 1
+autoware_ros_domain_id: 1
diff --git a/ansible/roles/autoware/tasks/main.yaml b/ansible/roles/autoware/tasks/main.yaml
index ecb6e08..285fa2d 100644
--- a/ansible/roles/autoware/tasks/main.yaml
+++ b/ansible/roles/autoware/tasks/main.yaml
@@ -6,7 +6,7 @@
     mode: 0644
     marker: "# {mark} autoware"
     block: |
-      export ROS_DOMAIN_ID={{ ros_domain_id }}
+      export ROS_DOMAIN_ID={{ autoware_ros_domain_id }}
   become: true
 
 - name: Add sourcing command in user's bashrc
diff --git a/ansible/roles/calibration_tools/defaults/main.yaml b/ansible/roles/calibration_tools/defaults/main.yaml
index 2f9059a..0380524 100644
--- a/ansible/roles/calibration_tools/defaults/main.yaml
+++ b/ansible/roles/calibration_tools/defaults/main.yaml
@@ -1,3 +1,3 @@
-pyside2_url_base: https://github.com/hiroyuki-s1/PySide2InstallForJetson/raw/main/dist
-pyside2_wheel: PySide2-5.9.0a1-5.9.5-cp36-cp36m-linux_aarch64.whl
-pyside2_download_dir: /tmp
+calibration_tools_pyside2_url_base: https://github.com/hiroyuki-s1/PySide2InstallForJetson/raw/main/dist
+calibration_tools_pyside2_wheel: PySide2-5.9.0a1-5.9.5-cp36-cp36m-linux_aarch64.whl
+calibration_tools_pyside2_download_dir: /tmp
diff --git a/ansible/roles/calibration_tools/tasks/main.yaml b/ansible/roles/calibration_tools/tasks/main.yaml
index 4d3a345..b471231 100644
--- a/ansible/roles/calibration_tools/tasks/main.yaml
+++ b/ansible/roles/calibration_tools/tasks/main.yaml
@@ -1,14 +1,14 @@
 - name: Fix python interpreter version to 3
-  set_fact:
+  ansible.builtin.set_fact:
     ansible_python_interpreter: /usr/bin/python3.6
 
 - name: Upgrade pip
-  pip:
+  ansible.builtin.pip:
     name: pip
     state: latest
 
 - name: Install dependencies
-  pip:
+  ansible.builtin.pip:
     name:
       - dt-apriltags
       - ruamel.yaml
@@ -16,11 +16,11 @@
 
 - name: Download PySide2 wheel
   ansible.builtin.uri:
-    url: "{{ pyside2_url_base }}/{{ pyside2_wheel }}"
-    dest: "{{ pyside2_download_dir }}/{{ pyside2_wheel }}"
+    url: "{{ calibration_tools_pyside2_url_base }}/{{ calibration_tools_pyside2_wheel }}"
+    dest: "{{ calibration_tools_pyside2_download_dir }}/{{ calibration_tools_pyside2_wheel }}"
     mode: 0644
 
 - name: Install PySide2
-  pip:
-    name: "{{ pyside2_download_dir }}/{{ pyside2_wheel }}"
+  ansible.builtin.pip:
+    name: "{{ calibration_tools_pyside2_download_dir }}/{{ calibration_tools_pyside2_wheel }}"
     state: latest
diff --git a/ansible/roles/cyclonedds/defaults/main.yaml b/ansible/roles/cyclonedds/defaults/main.yaml
index 6ab6c0c..39f8a10 100644
--- a/ansible/roles/cyclonedds/defaults/main.yaml
+++ b/ansible/roles/cyclonedds/defaults/main.yaml
@@ -1,6 +1,5 @@
-cyclonedds:
-  minimum_socket_receive_buffer_size: 20MB
-  ipfrag_time: 3
-  ipfrag_high_thresh: 134217728
-  rmem_max: 2147483647
-  rmem_default: 8388608
+cyclonedds_minimum_socket_receive_buffer_size: 20MB
+cyclonedds_ipfrag_time: 3
+cyclonedds_ipfrag_high_thresh: 134217728
+cyclonedds_rmem_max: 2147483647
+cyclonedds_rmem_default: 8388608
diff --git a/ansible/roles/cyclonedds/tasks/main.yaml b/ansible/roles/cyclonedds/tasks/main.yaml
index c8c00a8..6fef34d 100644
--- a/ansible/roles/cyclonedds/tasks/main.yaml
+++ b/ansible/roles/cyclonedds/tasks/main.yaml
@@ -37,10 +37,10 @@
     reload: true
     sysctl_file: /etc/sysctl.d/60-cyclonedds.conf
   with_dict:
-    net.ipv4.ipfrag_time: "{{ cyclonedds.ipfrag_time }}"
-    net.ipv4.ipfrag_high_thresh: "{{ cyclonedds.ipfrag_high_thresh }}"
-    net.core.rmem_max: "{{ cyclonedds.rmem_max }}"
-    net.core.rmem_default: "{{ cyclonedds.rmem_default }}"
+    net.ipv4.ipfrag_time: "{{ cyclonedds_ipfrag_time }}"
+    net.ipv4.ipfrag_high_thresh: "{{ cyclonedds_ipfrag_high_thresh }}"
+    net.core.rmem_max: "{{ cyclonedds_rmem_max }}"
+    net.core.rmem_default: "{{ cyclonedds_rmem_default }}"
   become: true
 
 - name: Add settings to autoware.env
diff --git a/ansible/roles/cyclonedds/templates/cyclonedds.xml.jinja2 b/ansible/roles/cyclonedds/templates/cyclonedds.xml.jinja2
index 50398dc..246a84d 100644
--- a/ansible/roles/cyclonedds/templates/cyclonedds.xml.jinja2
+++ b/ansible/roles/cyclonedds/templates/cyclonedds.xml.jinja2
@@ -15,7 +15,7 @@
       <DontRoute>true</DontRoute>
     </General>
     <Internal>
-      <SocketReceiveBufferSize min="{{ cyclonedds.minimum_socket_receive_buffer_size }}" />
+      <SocketReceiveBufferSize min="{{ cyclonedds_minimum_socket_receive_buffer_size }}" />
     </Internal>
   </Domain>
 </CycloneDDS>
diff --git a/ansible/roles/enlarge_txqueue/defaults/main.yaml b/ansible/roles/enlarge_txqueue/defaults/main.yaml
index 41196e7..7b12c5e 100644
--- a/ansible/roles/enlarge_txqueue/defaults/main.yaml
+++ b/ansible/roles/enlarge_txqueue/defaults/main.yaml
@@ -1 +1 @@
-txqueue_length: 20000
+enlarge_txqueue_length: 20000
diff --git a/ansible/roles/enlarge_txqueue/templates/99-enlarge-txqueuelen.rules.jinja2 b/ansible/roles/enlarge_txqueue/templates/99-enlarge-txqueuelen.rules.jinja2
index e6703ab..c45a994 100644
--- a/ansible/roles/enlarge_txqueue/templates/99-enlarge-txqueuelen.rules.jinja2
+++ b/ansible/roles/enlarge_txqueue/templates/99-enlarge-txqueuelen.rules.jinja2
@@ -1,5 +1,5 @@
 {% for key in network_config %}
 {% if 'dhcp' not in key %}
-SUBSYSTEM=="net",ACTION=="add|change",KERNEL=="{{ network_config[key].interface_name }}",ATTR{tx_queue_len}="{{ txqueue_length }}"
+SUBSYSTEM=="net",ACTION=="add|change",KERNEL=="{{ network_config[key].interface_name }}",ATTR{tx_queue_len}="{{ enlarge_txqueue_length }}"
 {% endif %}
 {% endfor %}
diff --git a/ansible/roles/netplan/tasks/main.yaml b/ansible/roles/netplan/tasks/main.yaml
index 401da90..ed67a3b 100644
--- a/ansible/roles/netplan/tasks/main.yaml
+++ b/ansible/roles/netplan/tasks/main.yaml
@@ -12,5 +12,6 @@
   become: true
 
 - name: Netplan apply
-  command: netplan apply
+  ansible.builtin.command: netplan apply
   become: true
+  changed_when: false
diff --git a/ansible/roles/ptp4l_client/tasks/main.yaml b/ansible/roles/ptp4l_client/tasks/main.yaml
index 510ac86..d161005 100644
--- a/ansible/roles/ptp4l_client/tasks/main.yaml
+++ b/ansible/roles/ptp4l_client/tasks/main.yaml
@@ -9,6 +9,7 @@
   ansible.builtin.copy:
     src: ptp4l@.service
     dest: /etc/systemd/system/
+    mode: 0755
   become: true
 
 - name: Install ptp4l client service file
diff --git a/ansible/roles/ros2/tasks/main.yaml b/ansible/roles/ros2/tasks/main.yaml
index 9672e3c..770ce69 100644
--- a/ansible/roles/ros2/tasks/main.yaml
+++ b/ansible/roles/ros2/tasks/main.yaml
@@ -1,8 +1,9 @@
 - name: Fix python interpreter version to 3
-  set_fact:
+  ansible.builtin.set_fact:
     ansible_python_interpreter: /usr/bin/python3.6
 
 - name: Setup dependencies
+  become: true
   block:
     - name: Apt install
       ansible.builtin.apt:
@@ -18,7 +19,8 @@
         install_recommends: false
         update_cache: true
     - name: Add ROS 2 source list
-      shell: echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+      ansible.builtin.shell: set -o pipefail && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+      changed_when: false
     - name: Download gpg key
       ansible.builtin.uri:
         url: https://raw.githubusercontent.com/ros/rosdistro/master/ros.key
@@ -49,10 +51,9 @@
           - libflann-dev
         install_recommends: false
         update_cache: true
-  become: true
 
-- name: add CUDA into PATH
-  set_fact:
+- name: Add CUDA into PATH
+  ansible.builtin.set_fact:
     environment:
       PATH: /usr/local/cuda/bin:{{ ansible_env.PATH }}
 
@@ -80,7 +81,7 @@
 - name: Prepare for dependencies' source build
   block:
     - name: Define directory name
-      set_fact:
+      ansible.builtin.set_fact:
         source_build_dir: "{{ ansible_env.HOME }}/source_builds"
     - name: Create directory
       ansible.builtin.file:
diff --git a/ansible/roles/tier4_hdr_camera_driver/tasks/main.yaml b/ansible/roles/tier4_hdr_camera_driver/tasks/main.yaml
index 5b77a21..5d4ebb5 100644
--- a/ansible/roles/tier4_hdr_camera_driver/tasks/main.yaml
+++ b/ansible/roles/tier4_hdr_camera_driver/tasks/main.yaml
@@ -63,27 +63,27 @@
 
 - name: Setup C1 configuration
   block:
-    - name: "{{ block_name }} : Change trigger mode to Fsync mode"
-      include_tasks: mod_or_add.yaml
+    - name: Change trigger mode to Fsync mode
+      ansible.builtin.include_tasks: mod_or_add.yaml
       vars:
         target_item: trigger_mode
         target_val: "1"
     # Set the same value to min/mid/max exposure time
     # so that exposure time can be estimated under any brightness condition
-    - name: "{{ block_name }} : Fix exposure time"
+    - name: Fix exposure time
       block:
-        - name: "{{ block_name }} : Set min exposure"
-          include_tasks: mod_or_add.yaml
+        - name: Set min exposure
+          ansible.builtin.include_tasks: mod_or_add.yaml
           vars:
             target_item: shutter_time_min
             target_val: "{{ exposure_time }}"
-        - name: "{{ block_name }} : Set mid exposure"
-          include_tasks: mod_or_add.yaml
+        - name: Set mid exposure
+          ansible.builtin.include_tasks: mod_or_add.yaml
           vars:
             target_item: shutter_time_mid
             target_val: "{{ exposure_time }}"
-        - name: "{{ block_name }} : Set max exposure"
-          include_tasks: mod_or_add.yaml
+        - name: Set max exposure
+          ansible.builtin.include_tasks: mod_or_add.yaml
           vars:
             target_item: shutter_time_max
             target_val: "{{ exposure_time }}"
@@ -94,28 +94,28 @@
 
 - name: Setup C2 configuration
   block:
-    - name: "{{ block_name }} : Change trigger mode to Fsync mode"
-      include_tasks: mod_or_add.yaml
+    - name: Change trigger mode to Fsync mode
+      ansible.builtin.include_tasks: mod_or_add.yaml
       vars:
         target_item: trigger_mode
         target_val: "1"
 
     # Set the same value to min/mid/max exposure time
     # so that exposure time can be estimated under any brightness condition
-    - name: "{{ block_name }} : Fix exposure time"
+    - name: Fix exposure time
       block:
-        - name: "{{ block_name }} : Set min exposure"
-          include_tasks: mod_or_add.yaml
+        - name: Set min exposure
+          ansible.builtin.include_tasks: mod_or_add.yaml
           vars:
             target_item: shutter_time_min
             target_val: "{{ exposure_time }}"
-        - name: "{{ block_name }} : Set mid exposure"
-          include_tasks: mod_or_add.yaml
+        - name: Set mid exposure
+          ansible.builtin.include_tasks: mod_or_add.yaml
           vars:
             target_item: shutter_time_mid
             target_val: "{{ exposure_time }}"
-        - name: "{{ block_name }} : Set max exposure"
-          include_tasks: mod_or_add.yaml
+        - name: Set max exposure
+          ansible.builtin.include_tasks: mod_or_add.yaml
           vars:
             target_item: shutter_time_max
             target_val: "{{ exposure_time }}"
diff --git a/ansible/roles/tier4_hdr_camera_driver/tasks/mod_or_add.yaml b/ansible/roles/tier4_hdr_camera_driver/tasks/mod_or_add.yaml
index e6065ba..6efcd5e 100644
--- a/ansible/roles/tier4_hdr_camera_driver/tasks/mod_or_add.yaml
+++ b/ansible/roles/tier4_hdr_camera_driver/tasks/mod_or_add.yaml
@@ -3,7 +3,7 @@
 # or add it to the end of line starting with {{ config_prefix }} if it not exist
 #
 - name: Check item existence
-  lineinfile:
+  ansible.builtin.lineinfile:
     dest: "{{ target_file }}"
     regexp: ^(.*){{ target_item }}={{ target_val }}(.*)$
     state: absent
@@ -13,7 +13,7 @@
   become: true
 
 - name: Modify
-  lineinfile:
+  ansible.builtin.lineinfile:
     dest: "{{ target_file }}"
     regexp: ^(.*) {{ target_item }}=[a-z0-9]* (.*)$
     line: \1 {{ target_item }}={{ target_val }} \2 # Yaml requires escaping backslashes in double quotes but not in single quotes
@@ -22,7 +22,7 @@
   become: true
 
 - name: Add
-  lineinfile:
+  ansible.builtin.lineinfile:
     dest: "{{ target_file }}"
     regexp: ^({{ config_prefix }})(.*)$
     line: \1\2 {{ target_item }}={{ target_val }}
diff --git a/ansible/roles/vcstool/defaults/main.yaml b/ansible/roles/vcstool/defaults/main.yaml
index 832ca2e..d08393b 100644
--- a/ansible/roles/vcstool/defaults/main.yaml
+++ b/ansible/roles/vcstool/defaults/main.yaml
@@ -1 +1 @@
-script_download_dir: /tmp
+vcstool_script_download_dir: /tmp
diff --git a/ansible/roles/vcstool/tasks/main.yaml b/ansible/roles/vcstool/tasks/main.yaml
index 1ed6660..cda9eea 100644
--- a/ansible/roles/vcstool/tasks/main.yaml
+++ b/ansible/roles/vcstool/tasks/main.yaml
@@ -3,11 +3,11 @@
     - name: Download setup script
       ansible.builtin.uri:
         url: https://packagecloud.io/install/repositories/dirk-thomas/vcstool/script.deb.sh
-        dest: "{{ script_download_dir }}"
+        dest: "{{ vcstool_script_download_dir }}"
         mode: 0755
       register: script_deb_sh
     - name: Execute setup script
-      ansible.builtin.command: bash {{ script_download_dir }}/script.deb.sh
+      ansible.builtin.command: bash {{ vcstool_script_download_dir }}/script.deb.sh
       become: true
       # noqa no-changed-when
       # TODO: check vcstool existing