diff --git a/doc/configuration_options.rst b/doc/configuration_options.rst
index 12f356cb8..e7e7c4685 100644
--- a/doc/configuration_options.rst
+++ b/doc/configuration_options.rst
@@ -598,6 +598,8 @@ The following options are valid in version ``1`` (beside the generic options):
   By default, the resulting archives are only available to other jobs within
   Jenkins.
 
+* ``tests_require_gpu``: a boolean flag to indicate if software tests needs gpu
+  support to run correctly.
 The following options are valid as keys in the ``_config`` dict under
 ``targets``:
 
diff --git a/ros_buildfarm/ci_job.py b/ros_buildfarm/ci_job.py
index d6d8dd8ac..311b43750 100644
--- a/ros_buildfarm/ci_job.py
+++ b/ros_buildfarm/ci_job.py
@@ -288,6 +288,8 @@ def _get_ci_job_config(
         'ros_version': ros_version,
         'build_environment_variables': build_environment_variables,
 
+        'require_gpu_support': build_file.tests_require_gpu_default,
+
         'timeout_minutes': build_file.jenkins_job_timeout,
 
         'repos_file_urls': repos_files,
diff --git a/ros_buildfarm/config/ci_build_file.py b/ros_buildfarm/config/ci_build_file.py
index 12b32a078..2fbcff630 100644
--- a/ros_buildfarm/config/ci_build_file.py
+++ b/ros_buildfarm/config/ci_build_file.py
@@ -136,6 +136,11 @@ def __init__(self, name, data):  # noqa: D107
                     self.show_plots[plot_group].append(
                         PlotConfig(name, plot_config_data))
 
+        self.tests_require_gpu_default = False
+        if 'tests_require_gpu' in data:
+            self.tests_require_gpu_default = bool(
+                data['tests_require_gpu'])
+
         self.benchmark_patterns = []
         if 'benchmark_patterns' in data:
             self.benchmark_patterns = data['benchmark_patterns']
diff --git a/ros_buildfarm/scripts/ci/build_task_generator.py b/ros_buildfarm/scripts/ci/build_task_generator.py
index 88bb423f3..a2ab89804 100644
--- a/ros_buildfarm/scripts/ci/build_task_generator.py
+++ b/ros_buildfarm/scripts/ci/build_task_generator.py
@@ -72,6 +72,12 @@ def main(argv=sys.argv[1:]):
     for k, v in remainder_args.items():
         setattr(args, k, v)
 
+    if args.require_gpu_support:
+        print(
+            'WARNING: using the --require-gpu-support argument is deprecated.'
+            'Can be removed without changing functionality.',
+            file=sys.stderr)
+
     apt_cache = Cache()
 
     debian_pkg_names = set(['build-essential'])
@@ -132,7 +138,6 @@ def main(argv=sys.argv[1:]):
 
         'testing': args.testing,
         'run_abichecker': args.run_abichecker,
-        'require_gpu_support': args.require_gpu_support,
         'workspace_root': mapped_workspaces[-1][1],
         'parent_result_space': [mapping[1] for mapping in mapped_workspaces[:-1]],
     }
diff --git a/ros_buildfarm/scripts/devel/build_and_test.py b/ros_buildfarm/scripts/devel/build_and_test.py
index 924c5e798..6c4234b98 100644
--- a/ros_buildfarm/scripts/devel/build_and_test.py
+++ b/ros_buildfarm/scripts/devel/build_and_test.py
@@ -65,6 +65,12 @@ def main(argv=sys.argv[1:]):
     for k, v in remainder_args.items():
         setattr(args, k, v)
 
+    if args.require_gpu_support:
+        print(
+            'WARNING: using the --require-gpu-support argument is deprecated.'
+            'Can be removed without changing functionality.',
+            file=sys.stderr)
+
     ensure_workspace_exists(args.workspace_root)
 
     if args.clean_before:
diff --git a/ros_buildfarm/templates/ci/ci_job.xml.em b/ros_buildfarm/templates/ci/ci_job.xml.em
index 6d1ed4c99..565abb9a4 100644
--- a/ros_buildfarm/templates/ci/ci_job.xml.em
+++ b/ros_buildfarm/templates/ci/ci_job.xml.em
@@ -421,11 +421,13 @@ parameters = [
         'export UNDERLAY%d_JOB_SPACE=$WORKSPACE/underlay%d/ros%d-linux' % (i + 1, i + 1, local_ros_version)
         for i, local_ros_version in zip(range(len(underlay_source_jobs)), [ros_version] * len(underlay_source_jobs))
     ] + [
+        ('if [ ! -c /dev/nvidia[0-9] ]; then echo "--require-gpu-support is enabled but can not detect nvidia support installed" && exit 1; fi' if require_gpu_support else ''),
         'rm -fr $WORKSPACE/ws/test_results',
         'mkdir -p $WORKSPACE/ws/test_results',
         '# If using Podman, change the user namespace to preserve UID. No effect if using Docker.',
         'export PODMAN_USERNS=keep-id',
         'docker run' +
+        (' --env=DISPLAY=:0.0 --env=QT_X11_NO_MITSHM=1 --volume=/tmp/.X11-unix:/tmp/.X11-unix:rw  --gpus all' if require_gpu_support else '') +
         ' --rm ' +
         ' --cidfile=$WORKSPACE/docker_build_and_test/docker.cid' +
         ((' -e CCACHE_DIR=/home/buildfarm/.ccache' +
diff --git a/ros_buildfarm/templates/devel/devel_task.Dockerfile.em b/ros_buildfarm/templates/devel/devel_task.Dockerfile.em
index 5f9c02437..aac03ff29 100644
--- a/ros_buildfarm/templates/devel/devel_task.Dockerfile.em
+++ b/ros_buildfarm/templates/devel/devel_task.Dockerfile.em
@@ -129,8 +129,6 @@ else:
         ' /tmp/ros_buildfarm/scripts/devel/build_and_test.py' + \
         ' --rosdistro-name %s' % (rosdistro_name or "''") + \
         ' --ros-version ' + str(ros_version)
-    if require_gpu_support:
-        cmd += ' --require-gpu-support'
 cmd += \
     ' --build-tool ' + build_tool + \
     ' --workspace-root ' + workspace_root + \