diff --git a/ansible/roles/cuda/README.md b/ansible/roles/cuda/README.md
index 9264489f701..e2969cf7d71 100644
--- a/ansible/roles/cuda/README.md
+++ b/ansible/roles/cuda/README.md
@@ -35,4 +35,31 @@ Perform the post installation actions:
 # Taken from: https://docs.nvidia.com/cuda/cuda-installation-guide-linux/index.html#post-installation-actions
 echo 'export PATH=/usr/local/cuda/bin${PATH:+:${PATH}}' >> ~/.bashrc
 echo 'export LD_LIBRARY_PATH=/usr/local/cuda/lib64${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}' >> ~/.bashrc
+
+# Register Vulkan, OpenGL, and OpenCL GPU vendors
+
+# Create Vulkan directory
+sudo mkdir -p /etc/vulkan/icd.d
+sudo chmod 0755 /etc/vulkan/icd.d
+
+# Create OpenGL directory
+sudo mkdir -p /etc/glvnd/egl_vendor.d
+sudo chmod 0755 /etc/glvnd/egl_vendor.d
+
+# Create OpenCL directory
+sudo mkdir -p /etc/OpenCL/vendors
+sudo chmod 0755 /etc/OpenCL/vendors
+
+# Download and set permissions for Vulkan GPU vendors JSON
+sudo wget https://gitlab.com/nvidia/container-images/vulkan/raw/dc389b0445c788901fda1d85be96fd1cb9410164/nvidia_icd.json -O /etc/vulkan/icd.d/nvidia_icd.json
+sudo chmod 0644 /etc/vulkan/icd.d/nvidia_icd.json
+
+# Download and set permissions for OpenGL GPU vendors JSON
+sudo wget https://gitlab.com/nvidia/container-images/opengl/raw/5191cf205d3e4bb1150091f9464499b076104354/glvnd/runtime/10_nvidia.json -O /etc/glvnd/egl_vendor.d/10_nvidia.json
+sudo chmod 0644 /etc/glvnd/egl_vendor.d/10_nvidia.json
+
+# Register and set permissions for OpenCL GPU vendors
+sudo touch /etc/OpenCL/vendors/nvidia.icd
+echo "libnvidia-opencl.so.1" | sudo tee /etc/OpenCL/vendors/nvidia.icd > /dev/null
+sudo chmod 0644 /etc/OpenCL/vendors/nvidia.icd
 ```
diff --git a/ansible/roles/dev_tools/README.md b/ansible/roles/dev_tools/README.md
index 17fb5e1931e..b84163b17ba 100644
--- a/ansible/roles/dev_tools/README.md
+++ b/ansible/roles/dev_tools/README.md
@@ -1,9 +1,39 @@
 # devel
 
-This role installs development dependencies for Autoware.
+This role installs optional development tools for Autoware.
+
+## Tools
+- Git LFS
+- pre-commit
+- clang-format
+- Go
 
 ## Inputs
 
-None.
+| Name                 | Required | Description                      |
+| -------------------- | -------- | -------------------------------- |
+| clang-version        | true     | The version of clang-format to install.
 
 ## Manual Installation
+```bash
+#!/bin/bash
+
+# Update package lists
+sudo apt-get update
+
+# Install Git LFS
+sudo apt-get install -y git-lfs
+
+# Setup Git LFS
+git lfs install
+
+# Install pre-commit using pip3
+pip3 install pre-commit
+
+# Install a specific version of clang-format using pip3
+# Replace X.Y with the actual version you want to install
+pip3 install clang-format==${clang_version}
+
+# Install Go
+sudo apt-get install -y golang
+```
\ No newline at end of file
diff --git a/ansible/roles/kisak_mesa/README.md b/ansible/roles/kisak_mesa/README.md
index 937de6afa36..86b6c9f6ee0 100644
--- a/ansible/roles/kisak_mesa/README.md
+++ b/ansible/roles/kisak_mesa/README.md
@@ -1,3 +1,26 @@
-# Kisak Mesa Fix for Ubuntu 22.04 for Rviz2
+# Kisak Mesa Fix for Ubuntu 22.04 for Rviz2 (Not mandatory)
 
-<https://github.com/ros2/rviz/issues/948>
+If you are using Ubuntu 22.04 and Rviz2 (especially inside a container), you may encounter black-screen error on Rviz2: <https://github.com/ros2/rviz/issues/948>
+
+This role will install the Kisak Mesa fix for Ubuntu 22.04 for Rviz2.
+
+## Inputs
+None
+
+## Manual Installation
+```bash
+#!/bin/bash
+
+# Update the package list and install software-properties-common
+sudo apt-get update
+sudo apt-get install -y software-properties-common
+
+# Add the Kisak Mesa PPA
+sudo add-apt-repository -y ppa:kisak/kisak-mesa
+
+# Update the package list after adding the new repository
+sudo apt-get update
+
+# Install Mesa libraries
+sudo apt-get install -y libegl-mesa0 libegl1-mesa-dev libgbm-dev libgbm1 libgl1-mesa-dev libgl1-mesa-dri libglapi-mesa libglx-mesa0
+```