diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 7101df0..e2dd17b 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -12,12 +12,10 @@ jobs:
         ros_distribution: [noetic, humble]
         include:
           - docker_image: ubuntu:20.04
-            cuda_distribution: ubuntu2004
             ros_distribution: noetic
             ros_version: 1
 
           - docker_image: ubuntu:22.04
-            cuda_distribution: ubuntu2204
             ros_distribution: humble
             ros_version: 2
 
@@ -30,24 +28,23 @@ jobs:
           apt update
           apt install --no-install-recommends -y ca-certificates gnupg wget software-properties-common
 
-      - name: setup CUDA repository
-        run: |
-          wget https://developer.download.nvidia.com/compute/cuda/repos/${{ matrix.cuda_distribution }}/x86_64/cuda-${{ matrix.cuda_distribution }}.pin
-          mv cuda-${{ matrix.cuda_distribution }}.pin /etc/apt/preferences.d/cuda-repository-pin-600
-          apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/${{ matrix.cuda_distribution }}/x86_64/3bf863cc.pub
-          add-apt-repository "deb https://developer.download.nvidia.com/compute/cuda/repos/${{ matrix.cuda_distribution }}/x86_64/ /"
-
       - name: install CUDA (Ubuntu 20.04)
         if: ${{ matrix.docker_image == 'ubuntu:20.04' }}
         run: |
+          wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/cuda-ubuntu2004.pin
+          mv cuda-ubuntu2004.pin /etc/apt/preferences.d/cuda-repository-pin-600
+          apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/3bf863cc.pub
+          add-apt-repository "deb https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/ /"
           apt install --no-install-recommends -y libcurand-dev-11-3 libcufft-dev-11-3 libcublas-dev-11-3 cuda-nvcc-11-3 cuda-nvtx-11-3 libcudnn8-dev
 
       - name: install CUDA (Ubuntu 22.04)
         if: ${{ matrix.docker_image == 'ubuntu:22.04' }}
         run: |
-          apt install --no-install-recommends -y libcurand-dev-11-7 libcufft-dev-11-7 libcublas-dev-11-7 cuda-nvcc-11-7 cuda-nvtx-11-7
-          wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/libcudnn8_8.4.0.27-1+cuda11.6_amd64.deb https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/libcudnn8-dev_8.4.0.27-1+cuda11.6_amd64.deb
-          dpkg -i libcudnn8_8.4.0.27-1+cuda11.6_amd64.deb libcudnn8-dev_8.4.0.27-1+cuda11.6_amd64.deb
+          wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/cuda-keyring_1.1-1_all.deb
+          dpkg -i cuda-keyring_1.1-1_all.deb
+          rm cuda-keyring_1.1-1_all.deb
+          apt update
+          apt install --no-install-recommends -y libcurand-dev-11-8 libcufft-dev-11-8 libcublas-dev-11-8 cuda-nvcc-11-8 cuda-nvtx-11-8 libcudnn8-dev
 
       - uses: actions/checkout@v3