diff --git a/jenkins-scripts/dsl/_configs_/OSRFUNIXBase.groovy b/jenkins-scripts/dsl/_configs_/OSRFUNIXBase.groovy
index 037a59c06..2c9989464 100644
--- a/jenkins-scripts/dsl/_configs_/OSRFUNIXBase.groovy
+++ b/jenkins-scripts/dsl/_configs_/OSRFUNIXBase.groovy
@@ -38,6 +38,59 @@ 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(" NVIDIA driver/library version mismatch not detected in the log - Not performing any recovery automatic recovery step")
+                    return 1;
+                  } else {
+                    try {
+                      println(" PROBLEM: NVIDIA driver/library version mismatch was detected in the log. Try to automatically resolve it:")
+                      println("Removing labels and adding 'recovery-process' label to node")
+                      node.setLabelString("recovery-process")
+                    } 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)
+        }
+        // Manual insertion of xml for Naginator plugin because of this issue https://issues.jenkins.io/browse/JENKINS-66458
+        configure { project -> 
+          project / publishers / 'com.chikli.hudson.plugin.naginator.NaginatorPublisher' {
+            regexpForRerun("nvml error: driver/library version mismatch")
+            checkRegexp(true)
+            maxSchedule(1)
+            delay(class: 'com.chikli.hudson.plugin.naginator.FixedDelay') {
+              delay(70)
+            }
+          }
+        }
+      }
     }
   }
-}
+}
\ No newline at end of file