diff --git a/.github/workflows/setup-docker.yaml b/.github/workflows/setup-docker.yaml
index 7ff8a98204..b55a2df8d3 100644
--- a/.github/workflows/setup-docker.yaml
+++ b/.github/workflows/setup-docker.yaml
@@ -13,4 +13,4 @@ jobs:
 
       - name: Run setup script
         run: |
-          ./setup-dev-env.sh -y docker
+          ./setup-dev-env.sh -y -v docker
diff --git a/.github/workflows/setup-uiniverse.yaml b/.github/workflows/setup-uiniverse.yaml
new file mode 100644
index 0000000000..b67da515b1
--- /dev/null
+++ b/.github/workflows/setup-uiniverse.yaml
@@ -0,0 +1,16 @@
+name: setup-universe
+
+on:
+  pull_request:
+
+jobs:
+  setup-universe:
+    runs-on: ubuntu-latest
+    container: ubuntu:20.04
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v3
+
+      - name: Run setup script
+        run: |
+          ./setup-dev-env.sh -y -v --no-nvidia universe
diff --git a/ansible/roles/plotjuggler/tasks/main.yaml b/ansible/roles/plotjuggler/tasks/main.yaml
index 2e50889e3d..7033617bfc 100644
--- a/ansible/roles/plotjuggler/tasks/main.yaml
+++ b/ansible/roles/plotjuggler/tasks/main.yaml
@@ -1,7 +1,15 @@
-- name: Install apt packages
+# Workaround for https://serverfault.com/questions/1099606/ansible-openssl-error-with-apt-module
+- name: Upgrade pyOpenSSL
+  become: true
+  ansible.builtin.pip:
+    name: pyOpenSSL
+    state: latest
+    executable: pip3
+
+- name: Install plotjuggler
   become: true
   ansible.builtin.apt:
     name:
-      - ros-galactic-plotjuggler-ros
+      - ros-{{ rosdistro }}-plotjuggler-ros
     state: latest
     update_cache: true
diff --git a/setup-dev-env.sh b/setup-dev-env.sh
index 3cadaef844..2afd799318 100755
--- a/setup-dev-env.sh
+++ b/setup-dev-env.sh
@@ -60,7 +60,7 @@ fi
 
 # Check verbose option
 if [ "$option_verbose" = "true" ]; then
-    ansible_args+=("-v")
+    ansible_args+=("-vvv")
 fi
 
 # Check NVIDIA Installation