diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index ffea06d2b26..911bf45d2b6 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -3,4 +3,5 @@
 .devcontainer/** oguzkaganozt@gmail.com yutaka.kondo@tier4.jp ryohsuke.mitsudome@tier4.jp mfc@autoware.org
 .github/** oguzkaganozt@gmail.com yutaka.kondo@tier4.jp isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp mfc@autoware.org
 ansible/** oguzkaganozt@gmail.com yutaka.kondo@tier4.jp isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp mfc@autoware.org
+ansible/roles/agnocast/** oguzkaganozt@gmail.com yutaka.kondo@tier4.jp isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp mfc@autoware.org koichi.imai.2@tier4.jp
 docker/** oguzkaganozt@gmail.com yutaka.kondo@tier4.jp isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp mfc@autoware.org
diff --git a/ansible/roles/agnocast/README.md b/ansible/roles/agnocast/README.md
index e1441aeeb59..6c9bb44bed5 100644
--- a/ansible/roles/agnocast/README.md
+++ b/ansible/roles/agnocast/README.md
@@ -1,27 +1,23 @@
 # agnocast
 
-This role installs [Agnocast](https://github.com/tier4/agnocast), true zero-copy communication middleware for all ROS 2 message types.
+This role installs [Agnocast](https://github.com/autowarefoundation/agnocast), true zero-copy communication middleware for all ROS 2 message types.
 
 ## Inputs
 
-None.
+| Name                      | Required | Description                                                                                      |
+| ------------------------- | -------- | ------------------------------------------------------------------------------------------------ |
+| agnocast_version          | false    | The version of Agnocast.                                                                         |
+| agnocast_heaphook_package | false    | The apt package of the heaphook library. The default is `agnocast-heaphook-v<agnocast_version>`. |
+| agnocast_kmod_package     | false    | The apt package of the kernel module. The default is `agnocast-kmod-v<agnocast_version>`.        |
 
-## Manual Installation
+## Installation
 
-```bash
-agnocast_version="2.1.2"
-agnocast_heaphook_package="agnocast-heaphook-v${agnocast_version}"
-agnocast_kmod_package="agnocast-kmod-v${agnocast_version}"
-
-sudo add-apt-repository -y ppa:t4-system-software/agnocast
-sudo apt update
-sudo apt install -y "${agnocast_heaphook_package}"
-
-if dkms status | grep agnocast | grep -q "{agnocast_version}"; then
-    echo "agnocast-kmod-v${agnocast_version} is already registered in dkms. Skipping purge and install."
-else
-    sudo apt purge -y "${agnocast_kmod_package}"
-    sudo apt install -y "${agnocast_kmod_package}"
-fi
+Install Ansible first. The steps are in the [ansible installation guide](../../README.md#ansible-installation).
 
+```bash
+cd ~/autoware # The root directory of the cloned repository
+ansible-galaxy collection install -f -r "ansible-galaxy-requirements.yaml"
+ansible-playbook autoware.dev_env.install_dev_env --tags agnocast --ask-become-pass
 ```
+
+If you need a different version, add `-e agnocast_version=<version>` to the last command.