diff --git a/.github/workflows/docker-publish.yml b/.github/workflows/docker-publish.yml
index f609e9d..84c35e9 100644
--- a/.github/workflows/docker-publish.yml
+++ b/.github/workflows/docker-publish.yml
@@ -33,10 +33,16 @@ jobs:
         include:
           - dockerfile: ros-kinetic/Dockerfile
             image: ghcr.io/vanttec/ros-kinetic
+            path: ros-kinetic/
           - dockerfile: rllib_trainer/Dockerfile
             image: ghcr.io/vanttec/rllib_trainer
+            path: rllib_trainer/
           - dockerfile: sdv_ros2_foxy/Dockerfile
             image: ghcr.io/vanttec/sdv_ros2_foxy
+            path: sdv_ros2_foxy/
+          - dockerfile: cuda-jetpack-5.0.2/Dockerfile
+            image: ghcr.io/vantec/cuda-jetpack-5.0.2
+            path: cuda-jetpack-5.0.2/
     steps:
       - name: Checkout repository
         uses: actions/checkout@v3
@@ -78,11 +84,12 @@ jobs:
         id: build-and-push
         uses: docker/build-push-action@ac9327eae2b366085ac7f6a2d02df8aa8ead720a
         with:
-          context: .
+          context: ${{ matrix.path }}
           push: ${{ github.event_name != 'pull_request' }}
           tags: ${{ steps.meta.outputs.tags }}
           labels: ${{ steps.meta.outputs.labels }}
           file: ${{ matrix.dockerfile }}
+          path: ${{ matrix.path }}
 
       # Sign the resulting Docker image digest except on PRs.
       # This will only write to the public Rekor transparency log when the Docker
diff --git a/README.md b/README.md
index 96fc7ca..8c64ae4 100644
--- a/README.md
+++ b/README.md
@@ -10,3 +10,5 @@ General purpose ros-kinetic image with acados and other USV dependencies.
 General purpose sdv ros2 image and scripts.
 ### rllib_trainer
 Used for rllib training.
+### cuda-jetpack-5.0.2
+General Purpose image installed with CUDA, ROS Noetic, OpenCV, Pangolin and other useful dependencies.
diff --git a/cuda-jetpack-5.0.2/Dockerfile b/cuda-jetpack-5.0.2/Dockerfile
new file mode 100644
index 0000000..e6e1e4f
--- /dev/null
+++ b/cuda-jetpack-5.0.2/Dockerfile
@@ -0,0 +1,102 @@
+FROM nvcr.io/nvidia/l4t-jetpack:r35.1.0
+
+RUN apt-get update
+
+ARG DEBIAN_FRONTEND=noninteractive
+	# Installing Base Tools
+RUN apt-get update && apt-get install -y \
+	gnupg2 \
+	curl \
+	lsb-core \
+	vim wget \
+	python3-pip \
+	libpng16-16 \
+	libjpeg-turbo8 \
+	libtiff5 \
+	build-essential \
+	cmake \
+        git \
+        unzip \
+        pkg-config \
+	&& rm -rf /var/lib/apt/lists/*
+
+	# Installing ROS-noetic
+RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' && \
+	apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 && \
+	curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | apt-key add - && \
+	apt-get  update && apt-get install -y \
+	ros-noetic-desktop-full \
+	python3-rosdep \
+	python3-rosinstall \
+	python3-rosinstall-generator \
+	python3-wstool \
+	ros-noetic-sophus \
+	&& rm -rf /var/lib/apt/lists/* && \
+	rosdep init && rosdep update && \
+	echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+
+	# Intalling python-catkin
+RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list' && \
+	wget http://packages.ros.org/ros.key -O - | sudo apt-key add - && \
+	apt-get update && apt-get install -y \
+	python3-catkin-tools \
+	software-properties-common \
+	&& rm -rf /var/lib/apt/lists/*
+
+RUN apt-get update && apt-get install -y \
+        # Pangolin dependencies
+        libgl1-mesa-dev \
+        libglew-dev \
+        libpython2.7-dev \
+        libeigen3-dev \
+        apt-transport-https \
+        ca-certificates\
+        software-properties-common \
+    	# Build OpenCV Dependencies
+	python3-dev \
+	python3-numpy \
+	python-dev \
+	python-numpy \
+	libavcodec-dev \
+	libavformat-dev \
+	libswscale-dev \
+	libgstreamer-plugins-base1.0-dev \
+	libgstreamer1.0-dev \
+	libgtk-3-dev \
+	libopencv-dev \
+	python3-opencv \
+ 	&& rm -rf /var/lib/apt/lists/*
+
+
+    # Build Pangolin
+RUN cd /tmp && git clone https://github.com/stevenlovegrove/Pangolin && \
+    cd Pangolin && git checkout v0.6 && mkdir build && cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS=-std=c++11 .. && \
+    make -j$nproc && make install && \
+    cd / && rm -rf /tmp/Pangolin
+
+    # Install Open CV from source 
+RUN cd /tmp && git clone https://github.com/opencv/opencv/ && \
+    git clone https://github.com/opencv/opencv_contrib/ && \
+    cd /tmp/opencv && \
+    mkdir build && cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS=-std=c++11 -DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules .. && \
+    make -j4 && make install && \
+    cd / && rm -rf /tmp/opencv && rm -rf /tmp/opencv_contrib
+
+    # Set Python3 as default
+RUN apt-get update && apt-get install -y \
+    python-is-python3 \
+    && rm -rf /var/lib/apt/lists/*
+    
+ENV ROS_DISTRO noetic
+ENV LANG en_US.UTF-8
+RUN ["/bin/bash"]
+#ENTRYPOINT ["/ros_entrypoint.sh"]
+
+USER $USERNAME
+# terminal colors with xterm
+ENV TERM xterm
+RUN mkdir /ws
+WORKDIR /ws
+CMD ["bash"]