diff --git a/ansible/roles/rmw_implementation/tasks/main.yaml b/ansible/roles/rmw_implementation/tasks/main.yaml
index bdbb7fa8a01..e37b94c3146 100644
--- a/ansible/roles/rmw_implementation/tasks/main.yaml
+++ b/ansible/roles/rmw_implementation/tasks/main.yaml
@@ -3,12 +3,25 @@
   register: rmw_implementation__dash_case_rmw_implementation
   changed_when: false
 
+- name: Hold check of ros-{{ rosdistro + '-' + rmw_implementation__dash_case_rmw_implementation.stdout }}
+  ansible.builtin.command: apt-mark showhold
+  register: held_ros_packages
+  changed_when: false
+
 - name: Install ros-{{ rosdistro + '-' + rmw_implementation__dash_case_rmw_implementation.stdout }}
   become: true
   ansible.builtin.apt:
     name: ros-{{ rosdistro }}-{{ rmw_implementation__dash_case_rmw_implementation.stdout }}
     state: latest
     update_cache: true
+  when: "'ros-' + rosdistro + '-' + rmw_implementation__dash_case_rmw_implementation.stdout not in held_ros_packages.stdout"
+  register: install_result
+  failed_when: false
+
+- name: Display warning if ROS 2 RMW package is held
+  ansible.builtin.debug:
+    msg: ROS 2 RMW package 'ros-{{ rosdistro + '-' + rmw_implementation__dash_case_rmw_implementation.stdout }}' is apt-mark hold. Skipping installation.
+  when: not install_result.changed
 
 - name: Add RMW_IMPLEMENTATION to .bashrc
   ansible.builtin.lineinfile: