diff --git a/ansible/roles/canfd/meta/main.yaml b/ansible/roles/canfd/meta/main.yaml
new file mode 100644
index 00000000000..e69de29bb2d
diff --git a/ansible/roles/canfd/tasks/main.yaml b/ansible/roles/canfd/tasks/main.yaml
new file mode 100644
index 00000000000..a81837470a6
--- /dev/null
+++ b/ansible/roles/canfd/tasks/main.yaml
@@ -0,0 +1,28 @@
+- name: Add systemd managed CAN interface
+  ansible.builtin.blockinfile:
+    path: /etc/systemd/network/80-can.network
+    create: true
+    mode: "0644"
+    block: |
+      [Match]
+      Name=can*
+
+      [CAN]
+      BitRate=500000
+      FDMode=yes
+      SamplePoint=75%
+      DataBitRate=4000000
+      DataSamplePoint=80%
+      RestartSec=0.5s
+  become: true
+- name: Add CAN utils
+  ansible.builtin.apt:
+    name: can-utils
+  become: true
+- name: Disable network wait on boot
+  ansible.builtin.systemd:
+    unit: systemd-networkd-wait-online.service
+    enabled: false
+    state: stopped
+    masked: true
+  become: true
diff --git a/ansible/roles/canfd_pi/meta/main.yaml b/ansible/roles/canfd_pi/meta/main.yaml
new file mode 100644
index 00000000000..7144d728269
--- /dev/null
+++ b/ansible/roles/canfd_pi/meta/main.yaml
@@ -0,0 +1,2 @@
+dependencies:
+  - role: autoware.dev_env.canfd
diff --git a/ansible/roles/canfd_pi/tasks/main.yaml b/ansible/roles/canfd_pi/tasks/main.yaml
new file mode 100644
index 00000000000..7251346dc4d
--- /dev/null
+++ b/ansible/roles/canfd_pi/tasks/main.yaml
@@ -0,0 +1,20 @@
+- name: Disable serial console
+  ansible.builtin.replace:
+    path: /boot/firmware/cmdline.txt
+    # backup: yes
+    regexp: console=serial0,[0-9]+
+    replace: ""
+  become: true
+- name: Enable CAN FD driver
+  ansible.builtin.blockinfile:
+    block: |
+      dtparam=spi=on
+
+      # Disable internal bluetooth
+      dtoverlay=disable-bt
+
+      dtoverlay=spi0-2cs,cs0_pin=8,cs1_pin=7
+      dtoverlay=mcp251xfd,spi0-0,interrupt=25,oscillator=20000000
+    # backup: yes
+    path: /boot/firmware/config.txt
+  become: true