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Ok here is what I did .. first I installed opencv with the flags for GPU set, that is, with -D WITH_CUDA=ON . Now I renamed the opencv package config files in /opt/ros/groovy/lib/pkgconfig to something else eg.

opencv.pc to opencv.pc.disable

opencv2.pc to opencv2.pc.disable

I did this so that now when you build the vision_opencv (in the overlay/workspace) the package manager builds your cv_bridge (contained in vision_opencv) stuff against your gpu enabled opencv and not the ros opencv.

Just source the overlay and you're ready to go.

This is a quick hack and might save you a lot of time.