Added desktop-nvidia_unbuilt intermediate stage.

Author: amarburg

.docker/Dockerfile

@@ -245,6 +245,31 @@ FROM desktop_unbuilt AS desktop
 RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
     && colcon build
 
+# This repetition doesn't exactly sit right ... but I can't quite figure
+# out how to make this work without repeating either these instructions or
+# the colcon build
+FROM desktop_unbuilt AS desktop-nvidia_unbuilt
+
+# Install NVIDIA software
+RUN sudo apt-get update \
+    && sudo apt-get -q -y upgrade \
+    && sudo apt-get install -y -qq --no-install-recommends \
+    libglvnd0 \
+    libgl1 \
+    libglx0 \
+    libegl1 \
+    libxext6 \
+    libx11-6 \
+    && sudo apt-get autoremove -y \
+    && sudo apt-get clean -y \
+    && sudo rm -rf /var/lib/apt/lists/*
+
+# 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
+
+
 FROM desktop AS desktop-nvidia
 
 # Install NVIDIA software

.docker/docker-bake.hcl

@@ -93,6 +93,16 @@ target "desktop" {
   ]
 }
 
+target "desktop-nvidia_unbuilt" {
+  inherits = [ "desktop", "docker-metadata-action-desktop-nvidia" ]
+  target = "desktop-nvidia_unbuilt"
+  tags = [
+    "ghcr.io/${BLUE_GITHUB_REPO}:${BLUE_ROS_DISTRO}-desktop-nvidia-unbuilt"
+  ]
+
+}
+
+
 target "desktop-nvidia" {
   inherits = [ "desktop", "docker-metadata-action-desktop-nvidia" ]
   target = "desktop-nvidia"