diff --git a/ansible/playbook.yml b/ansible/playbook.yml
index 5953c485..c50e2624 100644
--- a/ansible/playbook.yml
+++ b/ansible/playbook.yml
@@ -17,3 +17,4 @@
     - { role: ros-tracing, rosdistro: humble, tags: [ros-tracing], when: package_install == 'y' }
     - { role: visualizer, tags: [visualizer], when: package_install == 'y' }
     - { role: caret, rosdistro: humble, tags: [caret] }
+    - { role: cyclonedds, rosdistro: humble, tags: [cyclonedds] }
diff --git a/ansible/roles/cyclonedds/tasks/main.yml b/ansible/roles/cyclonedds/tasks/main.yml
new file mode 100644
index 00000000..66977987
--- /dev/null
+++ b/ansible/roles/cyclonedds/tasks/main.yml
@@ -0,0 +1,2 @@
+- name: cyclonedds (Disable description to hide symbols)
+  command: sed -i "s/^set_property(TARGET ddsc PROPERTY C_VISIBILITY_PRESET hidden)/\# &/" "{{ WORKSPACE_ROOT }}"/src/eclipse-cyclonedds/cyclonedds/src/core/CMakeLists.txt
diff --git a/caret.repos b/caret.repos
index 918bc749..1b908aa3 100644
--- a/caret.repos
+++ b/caret.repos
@@ -32,3 +32,7 @@ repositories:
     type: git
     url: https://github.com/tier4/caret_common.git
     version: main
+  eclipse-cyclonedds/cyclonedds:
+    type: git
+    url: https://github.com/eclipse-cyclonedds/cyclonedds.git
+    version: releases/0.10.x