diff --git a/.gitignore b/.gitignore
index 15584cace..25435a095 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1 +1,7 @@
 .pyc
+### VS Code ###
+.vscode/
+
+### Mac OS ###
+.DS_Store
+jenkins-scripts/dsl/job-dsl-core-1.77-standalone.jar
diff --git a/jenkins-scripts/dsl/_configs_/OSRFUNIXBase.groovy b/jenkins-scripts/dsl/_configs_/OSRFUNIXBase.groovy
index 037a59c06..2c2705375 100644
--- a/jenkins-scripts/dsl/_configs_/OSRFUNIXBase.groovy
+++ b/jenkins-scripts/dsl/_configs_/OSRFUNIXBase.groovy
@@ -10,10 +10,10 @@ import javaposse.jobdsl.dsl.Job
      - allow concurrent builds
      - bash: RTOOLS checkout
 */
-class OSRFUNIXBase extends OSRFBase
+class OSRFUNIXBase extends OSRFBase 
 {
-  static void create(Job job)
-  {
+  static void create(Job job) 
+  { 
     OSRFBase.create(job)
 
     job.with
@@ -38,6 +38,63 @@ class OSRFUNIXBase extends OSRFBase
              git clone https://github.com/gazebo-tooling/release-tools scripts -b \$RTOOLS_BRANCH
              """.stripIndent())
       }
+          publishers {
+            postBuildScripts {
+              steps{
+              conditionalSteps {
+                  condition {
+                      expression('(.)*gpu-nvidia(.)*','${NODE_LABELS}')
+                  }
+                  steps {
+                     systemGroovyCommand('''\
+                        import hudson.model.Cause.UpstreamCause;
+                        import hudson.model.*;
+                    
+                        def node = build.getBuiltOn()
+                        def old_labels = node.getLabelString()
+
+                        println("# BEGIN SECTION: NVIDIA MISMATCH RECOVERY")
+                        if (!(build.getLog(1000) =~ "nvml error: driver/library version mismatch")) {
+                          println("Build failed for other reason than NVIDIA error - Not performing any more steps")
+                          return 0;
+                        } else {
+                          try {
+                            println("Removing labels and adding 'recovery-process' label to node")
+                            node.setLabelString("recovery-process")
+
+                            println("Requeuing job :" + build.project.name)
+                            def job = Hudson.instance.getJob(build.project.name)
+                          
+                            def params = build.getAllActions().find{ it instanceof ParametersAction }?.parameters
+                            def cause = new UpstreamCause(build)
+                            // wait 70s to build again so that the computer has time to reboot (e.g only one agent available)
+                            def scheduled = job.scheduleBuild2(70, cause, new ParametersAction(params))
+                            if(!scheduled) {
+                              throw new Exception("Job could not be requeued!")
+                            }
+                            println("Job requeued!")
+
+                          } catch (Exception ex) {
+                            println("ERROR - CANNOT PERFORM RECOVERY ACTIONS FOR NVIDIA ERROR")
+                            println("Restoring to previous state")
+                            node.setLabelString(old_labels)
+                            throw ex
+                          }
+                        }
+                        println("# END SECTION: NVIDIA MISMATCH RECOVERY")
+                        '''.stripIndent()
+                      )
+                      shell("""sudo shutdown -r +1""")
+                  }
+                }
+              }
+                onlyIfBuildSucceeds(false)
+                onlyIfBuildFails(true)
+              }
+              
+          }
+        
     }
   }
-}
+
+}
\ No newline at end of file