diff --git a/.github/workflows/bazelized_drake_ros.yml b/.github/workflows/bazelized_drake_ros.yml
index 038aa9b6..10fdb29a 100755
--- a/.github/workflows/bazelized_drake_ros.yml
+++ b/.github/workflows/bazelized_drake_ros.yml
@@ -39,10 +39,6 @@ jobs:
       - name: Configure drake_ros Bazel for CI
         run: ln -s ../.github/ci.bazelrc ./user.bazelrc
         working-directory: drake_ros
-      - name: Install ROS tools (like rosdep)
-        uses: ros-tooling/setup-ros@v0.4
-      - name: Update rosdep data
-        run: rosdep update
       - name: Install bazel_ros2_rules dependencies
         # TODO(sloretz) make bazel_ros2_rules/setup/install_prereqs.sh
         run: |
@@ -54,16 +50,11 @@ jobs:
       - name: Install Drake's dependencies
         run: yes | sudo ./bazel-drake_ros/external/drake/setup/ubuntu/install_prereqs.sh
         working-directory: drake_ros
-      - name: Install ROS tarball's dependencies
-        # TODO(sloretz) can't use rosdep here because we need the archive downloaded,
-        # but can't download the archive with bazel until we have the dependencies installed
-        # so bazel_ros2_rules can inspect it.
-        run: |
-          sudo apt-get install -y libconsole-bridge-dev
-          sudo rm -rf /var/lib/apt/lists/*
       # CI for drake_ros.
       - name: Install drake_ros's dependencies
-        run: yes | sudo ./setup/install_prereqs.sh
+        run: |
+          yes | sudo ./setup/install_prereqs.sh
+          rosdep update  # As user.
         working-directory: drake_ros
       - name: Build drake_ros
         run: export ROS_DISTRO=humble; bazel build //...