diff --git a/humble/ci-drake-ros-underlay.yaml b/humble/ci-drake-ros-underlay.yaml
deleted file mode 100644
index e19a1770..00000000
--- a/humble/ci-drake-ros-underlay.yaml
+++ /dev/null
@@ -1,69 +0,0 @@
-%YAML 1.1
-# ROS buildfarm ci-build file
----
-build_environment_variables:
-  ROS_PYTHON_VERSION: '3'
-build_tool: colcon
-build_tool_args: '--merge-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DSKIP_MULTI_RMW_TESTS=1 --no-warn-unused-cli'
-# Add placeholder-with-space to deal with poor shell escaping in ros_buildfarm
-build_tool_test_args: '--merge-install --retest-until-pass 2 --ctest-args -LE "(linter|performance|xfail| placeholder-with-space )" --pytest-args -m "not linter and not performance and not xfail" -k "not test_copyright"'
-install_packages:
-- python3-colcon-bash
-jenkins_job_label: ci-agent
-jenkins_job_priority: 55
-jenkins_job_schedule: 15 23 * * 6
-jenkins_job_timeout: 300
-jenkins_job_weight: 4
-package_dependencies: true
-package_names:
-- action_msgs
-- ament_cmake_clang_format
-- ament_cmake_pycodestyle
-- cv_bridge
-- ros_base
-- rviz2
-- unique_identifier_msgs
-- xacro
-package_selection_args: '--packages-ignore-regex .*connext.* .*fastcdr.* .*fastrtps.* .*foonathan.*'
-repositories:
-  keys:
-  - |
-    -----BEGIN PGP PUBLIC KEY BLOCK-----
-    Version: GnuPG v1
-
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-    PyTkvSyey/Tjn+PozcdvzkvrEjDMftIk8E1WzLGq7vnPLZ1q/b6Vq4H373Z+EDWa
-    DaDwW72CbCBLWAVtqff80CwlI2x8fYHKr3VBUnwcXNHR4+nRABfAWnaU4k+oTshC
-    Qucsd8vitNfsSXrKuKyz91IRHRPnJjx8UvGU4tRGfrHkw1505EZvgP02vXeRyWBR
-    fKiL1vGy4tCSRDdZO3ms2J2m08VPv65HsHaWYMnO+rNJmMZj9d9JdL/9GRf5F6U0
-    quoIFL39BhUEvBynuqlrqistnyOhw8W/IQy/ymNzBMcMz6rcMjMwhkgm/LNXoSD1
-    1OrJu4ktQwRhwvGVarnB8ihwjsTxZFylaLmFSfaA+OAlOqCLS1OkIVMzjW+Ul6A6
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-    TUDG9e2xKLzV2Z/DLYsb3+n9QW7KO0yZKfiuUo6AYboAioQKn5jh3iRvjGh2Ujpo
-    22G+oae3PcCc7G+z12j6xIY709FQuA49dA2YpzMda0/OX4LP56STEveDRrO+CnV6
-    WE+F5FaIKwb72PL4rLi4
-    =i0tj
-    -----END PGP PUBLIC KEY BLOCK-----
-  urls:
-  - http://repo.ros2.org/ubuntu/testing
-targets:
-  ubuntu:
-    focal:
-      amd64:
-type: ci-build
-upload_directory: drake-ros-underlay
-version: 1
diff --git a/index.yaml b/index.yaml
index f33c12a1..88d5a9aa 100644
--- a/index.yaml
+++ b/index.yaml
@@ -5,7 +5,6 @@ distributions:
   humble:
     ci_builds:
       benchmark: humble/ci-benchmark.yaml
-      drake-ros-underlay: humble/ci-drake-ros-underlay.yaml
       nightly-connext: humble/ci-nightly-connext.yaml
       nightly-cross-vendor-connext-cyclonedds: humble/ci-nightly-cross-vendor-connext-cyclonedds.yaml
       nightly-cross-vendor-connext-fastrtps: humble/ci-nightly-cross-vendor-connext-fastrtps.yaml