diff --git a/.github/workflows/docker-build-opengl.yaml b/.github/workflows/docker-build-opengl.yaml
new file mode 100644
index 0000000..15535e1
--- /dev/null
+++ b/.github/workflows/docker-build-opengl.yaml
@@ -0,0 +1,56 @@
+name: Build Docker Images
+
+on:
+  push:
+    branches: [ main ]
+    tags:
+      - '*'
+  pull_request:
+    branches: [ main ]
+
+  schedule:
+    - cron:  '30 2 * * 0,2,4,6'
+  workflow_dispatch:
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+        matrix:
+          include:
+            - base_image: ubuntu:jammy
+              ros_distro: humble
+              push_tag: lcas.lincoln.ac.uk/lcas/ros:jammy-humble
+            - base_image: nvidia/cuda:11.8.0-runtime-ubuntu22.04
+              ros_distro: humble
+              push_tag: lcas.lincoln.ac.uk/lcas/ros:jammy-humble-cuda-opengl
+  
+    steps:
+    - uses: actions/checkout@v3
+    - name: What
+      run: echo "BRANCH=${GITHUB_REF##*/}" >> $GITHUB_ENV
+    - name: Docker Login LCAS
+      if: ${{ github.event_name != 'pull_request' }}
+      # You may pin to the exact commit or the version.
+      # uses: docker/login-action@f054a8b539a109f9f41c372932f1ae047eff08c9
+      uses: docker/login-action@v3
+      with:
+        # Server address of Docker registry. If not set then will default to Docker Hub
+        registry: lcas.lincoln.ac.uk
+        # Username used to log against the Docker registry
+        username: ${{ secrets.LCAS_REGISTRY_PUSHER }}
+        # Password or personal access token used to log against the Docker registry
+        password: ${{ secrets.LCAS_REGISTRY_TOKEN }}
+
+    - name: Build Docker Image
+      uses: docker/build-push-action@v5
+      with:
+        context: .
+        file: ./Dockerfile.opengl
+        platforms: linux/amd64
+        push: ${{ github.event_name != 'pull_request' }}
+        tags: ${{ matrix.push_tag }}
+        build-args: |
+            BASE_IMAGE=ros:${{ matrix.base_image }}
+            BRANCH=${{ env.BRANCH }}
+            ROS_DISTRO=${{ matrix.ros_distro }}
diff --git a/Dockerfile.kasm b/Dockerfile.kasm
new file mode 100644
index 0000000..b0e7267
--- /dev/null
+++ b/Dockerfile.kasm
@@ -0,0 +1,22 @@
+ARG BASE_IMAGE=lcas.lincoln.ac.uk/lcas/ros:humble
+
+FROM ${BASE_IMAGE} as installer
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+
+RUN apt-get update && \
+    wget -O /tmp/vncserver.deb https://github.com/kasmtech/KasmVNC/releases/download/v1.2.0/kasmvncserver_focal_1.2.0_amd64.deb && apt-get install -y /tmp/vncserver.deb && \
+    apt-get install -y xfce4-session xfce4-panel && \
+    apt-get clean
+
+#RUN sh -c 'echo "deb https://lcas.lincoln.ac.uk/apt/lcas $(lsb_release -sc) lcas" > /etc/apt/sources.list.d/lcas-latest.list' && \
+#    curl -s https://lcas.lincoln.ac.uk/apt/repo_signing.gpg | tee /etc/apt/trusted.gpg.d/lcas-latest.gpg
+
+# RUN rosdep init || true
+# RUN curl -o /etc/ros/rosdep/sources.list.d/20-default.list https://raw.githubusercontent.com/LCAS/rosdistro/master/rosdep/sources.list.d/20-default.list && \
+#     curl -o /etc/ros/rosdep/sources.list.d/50-lcas.list https://raw.githubusercontent.com/LCAS/rosdistro/master/rosdep/sources.list.d/50-lcas.list
+
+# ENV ROSDISTRO_INDEX_URL=https://raw.github.com/LCAS/rosdistro/master/index-v4.yaml
+
+# RUN mkdir -p ~/.config/rosdistro && echo "index_url: https://raw.github.com/LCAS/rosdistro/master/index-v4.yaml" > ~/.config/rosdistro/config.yaml
diff --git a/Dockerfile.opengl b/Dockerfile.opengl
new file mode 100644
index 0000000..46dcd07
--- /dev/null
+++ b/Dockerfile.opengl
@@ -0,0 +1,221 @@
+ARG BASE_IMAGE=nvidia/cuda:11.8.0-runtime-ubuntu22.04
+
+###########################################
+FROM ${BASE_IMAGE} as base
+ARG ROS_DISTRO=humble
+
+ENV ROS_DISTRO=${ROS_DISTRO}
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install language
+RUN apt-get update && apt-get install -y \
+  locales \
+  && locale-gen en_US.UTF-8 \
+  && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
+  && rm -rf /var/lib/apt/lists/*
+ENV LANG en_US.UTF-8
+
+# Install timezone
+RUN ln -fs /usr/share/zoneinfo/UTC /etc/localtime \
+  && export DEBIAN_FRONTEND=noninteractive \
+  && apt-get update \
+  && apt-get install -y tzdata \
+  && dpkg-reconfigure --frontend noninteractive tzdata \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN apt-get update && apt-get -y upgrade \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install common programs
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    curl \
+    gnupg2 \
+    lsb-release \
+    sudo \
+    software-properties-common \
+    wget \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install ROS2
+RUN add-apt-repository universe \
+  && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
+  && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null \
+  && apt-get update && apt-get install -y --no-install-recommends \
+    ros-${ROS_DISTRO}-ros-base \
+    python3-argcomplete \
+  && rm -rf /var/lib/apt/lists/*
+
+################
+# Expose the nvidia driver to allow opengl 
+# Dependencies for glvnd and X11.
+################
+RUN apt-get update \
+ && apt-get install -y -qq --no-install-recommends \
+  libglvnd0 \
+  libgl1 \
+  libglx0 \
+  libegl1 \
+  libxext6 \
+  libx11-6
+
+# Env vars for the nvidia-container-runtime.
+ENV NVIDIA_VISIBLE_DEVICES all
+ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
+ENV QT_X11_NO_MITSHM 1
+
+ENV AMENT_PREFIX_PATH=/opt/ros/${ROS_DISTRO}
+ENV COLCON_PREFIX_PATH=/opt/ros/${ROS_DISTRO}
+ENV LD_LIBRARY_PATH=/opt/ros/${ROS_DISTRO}/lib
+ENV PATH=/opt/ros/${ROS_DISTRO}/bin:$PATH
+ENV PYTHONPATH=/opt/ros/${ROS_DISTRO}/local/lib/python3.10/dist-packages:/opt/ros/${ROS_DISTRO}/lib/python3.10/site-packages
+ENV ROS_PYTHON_VERSION=3
+ENV ROS_VERSION=2
+ENV DEBIAN_FRONTEND=
+
+###########################################
+#  Develop image
+###########################################
+FROM base AS dev
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && apt-get install -y --no-install-recommends \
+  bash-completion \
+  build-essential \
+  cmake \
+  gdb \
+  git \
+  openssh-client \
+  python3-argcomplete \
+  python3-pip \
+  ros-dev-tools \
+  ros-${ROS_DISTRO}-ament-* \
+  vim \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN rosdep init || echo "rosdep already initialized"
+
+ARG USERNAME=ros
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+# Create a non-root user
+RUN groupadd --gid $USER_GID $USERNAME \
+  && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
+  # Add sudo support for the non-root user
+  && apt-get update \
+  && apt-get install -y sudo \
+  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
+  && chmod 0440 /etc/sudoers.d/$USERNAME \
+  && rm -rf /var/lib/apt/lists/*
+
+# Set up autocompletion for user
+RUN apt-get update && apt-get install -y git-core bash-completion \
+  && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc \
+  && echo "if [ -f /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash ]; then source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash; fi" >> /home/$USERNAME/.bashrc \
+  && rm -rf /var/lib/apt/lists/* 
+
+ENV DEBIAN_FRONTEND=
+ENV AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1
+
+###########################################
+#  Full image
+###########################################
+FROM dev AS full
+
+ENV DEBIAN_FRONTEND=noninteractive
+# Install the full release
+RUN apt-get update && apt-get install -y --no-install-recommends \
+  ros-${ROS_DISTRO}-desktop \
+  && rm -rf /var/lib/apt/lists/*
+ENV DEBIAN_FRONTEND=
+ENV LD_LIBRARY_PATH=/opt/ros/${ROS_DISTRO}/lib
+
+
+###########################################
+FROM dev as lcas
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update && \
+    apt-get install -y lsb-release curl software-properties-common apt-transport-https && \
+    apt-get clean
+
+RUN sh -c 'echo "deb https://lcas.lincoln.ac.uk/apt/lcas $(lsb_release -sc) lcas" > /etc/apt/sources.list.d/lcas-latest.list' && \
+    curl -s https://lcas.lincoln.ac.uk/apt/repo_signing.gpg | tee /etc/apt/trusted.gpg.d/lcas-latest.gpg
+
+RUN rosdep init || true
+RUN curl -o /etc/ros/rosdep/sources.list.d/20-default.list https://raw.githubusercontent.com/LCAS/rosdistro/master/rosdep/sources.list.d/20-default.list && \
+    curl -o /etc/ros/rosdep/sources.list.d/50-lcas.list https://raw.githubusercontent.com/LCAS/rosdistro/master/rosdep/sources.list.d/50-lcas.list
+
+ENV ROSDISTRO_INDEX_URL=https://raw.github.com/LCAS/rosdistro/master/index-v4.yaml
+
+ENV DEBIAN_FRONTEND=
+
+###########################################
+FROM lcas as openglvnc
+
+ARG ENTRY_POINT=/opt/entrypoint.sh
+ENV ENTRY_POINT=${ENTRY_POINT}
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN curl -L -O https://github.com/VirtualGL/virtualgl/releases/download/3.1.1/virtualgl_3.1.1_amd64.deb && \
+    apt-get -y install ./virtualgl_3.1.1_amd64.deb && \
+    rm virtualgl_3.1.1_amd64.deb
+RUN curl -L -O https://github.com/TurboVNC/turbovnc/releases/download/3.1.1/turbovnc_3.1.1_amd64.deb && \
+    apt-get -y install ./turbovnc_3.1.1_amd64.deb && \
+    rm turbovnc_3.1.1_amd64.deb
+RUN addgroup --gid 1002 vglusers && adduser ros video && adduser ros vglusers
+RUN apt-get update && apt-get -y install xfce4-session xfce4-terminal xfce4-panel python3-minimal python3-pip python3-numpy unzip less tmux screen
+ENV DEBIAN_FRONTEND=
+
+# Install noVNC
+
+ENV NOVNC_VERSION=1.4.0
+ENV WEBSOCKETIFY_VERSION=0.10.0
+
+RUN mkdir -p /usr/local/novnc && \
+    curl -sSL https://github.com/novnc/noVNC/archive/v${NOVNC_VERSION}.zip -o /tmp/novnc-install.zip && \
+    unzip /tmp/novnc-install.zip -d /usr/local/novnc && \
+    cp /usr/local/novnc/noVNC-${NOVNC_VERSION}/vnc.html /usr/local/novnc/noVNC-${NOVNC_VERSION}/index.html && \
+    curl -sSL https://github.com/novnc/websockify/archive/v${WEBSOCKETIFY_VERSION}.zip -o /tmp/websockify-install.zip && \
+    unzip /tmp/websockify-install.zip -d /usr/local/novnc && \
+    ln -s /usr/local/novnc/websockify-${WEBSOCKETIFY_VERSION} /usr/local/novnc/noVNC-${NOVNC_VERSION}/utils/websockify && \
+    rm -f /tmp/websockify-install.zip /tmp/novnc-install.zip && \
+    sed -i -E 's/^python /python3 /' /usr/local/novnc/websockify-${WEBSOCKETIFY_VERSION}/run
+
+RUN cat <<EOF > /usr/share/glvnd/egl_vendor.d/10_nvidia.json
+    {
+        "file_format_version" : "1.0.0",
+        "ICD" : {
+            "library_path" : "libEGL_nvidia.so.0"
+        }
+    }
+EOF
+
+COPY start-turbovnc.sh /opt/nvidia/entrypoint.d/90-turbovnc.sh
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" > /opt/nvidia/entrypoint.d/91-ros.sh
+
+COPY entrypoint.sh /opt/entrypoint.sh
+RUN chmod +x /opt/entrypoint.sh
+COPY start-turbovnc.sh /opt/entrypoint.d/90-turbovnc.sh
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" > /opt/entrypoint.d/91-ros.sh
+
+ENTRYPOINT ["/opt/entrypoint.sh"]
+
+###########################################
+FROM openglvnc as user
+USER ros
+
+RUN mkdir -p ~/.config/rosdistro && echo "index_url: https://raw.github.com/LCAS/rosdistro/master/index-v4.yaml" > ~/.config/rosdistro/config.yaml
+RUN sudo apt-get purge -y xfce4-screensaver
+
+ENV DISPLAY=:1
+ENV TVNC_VGL=1
+ENV VGL_ISACTIVE=1
+ENV VGL_FPS=30
+ENV VGL_COMPRESS=0
+ENV VGL_DISPLAY=egl
+ENV VGL_WM=1
+ENV VGL_PROBEGLX=0
+ENV LD_PRELOAD=libdlfaker.so:libvglfaker.so
+
diff --git a/entrypoint.sh b/entrypoint.sh
new file mode 100644
index 0000000..f9e8990
--- /dev/null
+++ b/entrypoint.sh
@@ -0,0 +1,15 @@
+#!/bin/bash
+
+# hand over to nvidia if present
+if [ -r /opt/nvidia/nvidia_entrypoint.sh ]; then
+    exec /opt/nvidia/nvidia_entrypoint.sh "$@"
+fi
+
+set -xe
+
+export VGL_FPS=30
+export VGL_DISPLAY=egl
+/opt/TurboVNC/bin/vncserver -vgl -depth 24  -securitytypes TLSNone,X509None,None -wm xfce4-session > /tmp/vnc.log 2>&1
+/usr/local/novnc/noVNC-1.4.0/utils/novnc_proxy --vnc localhost:5901 --listen 5801 > /tmp/novnc.log 2>&1 &
+
+exec "$@"
diff --git a/start-turbovnc.sh b/start-turbovnc.sh
new file mode 100644
index 0000000..27dba0d
--- /dev/null
+++ b/start-turbovnc.sh
@@ -0,0 +1,5 @@
+#!/bin/bash
+export VGL_FPS=30
+export VGL_DISPLAY=egl
+/opt/TurboVNC/bin/vncserver -vgl -depth 24  -securitytypes TLSNone,X509None,None -wm xfce4-session > /tmp/vnc.log 2>&1
+/usr/local/novnc/noVNC-1.4.0/utils/novnc_proxy --vnc localhost:5901 --listen 5801 > /tmp/novnc.log 2>&1 &