diff --git a/Tools/environment_install/install-ROS-ubuntu.sh b/Tools/environment_install/install-ROS-ubuntu.sh
new file mode 100644
index 0000000000..e2a81c817b
--- /dev/null
+++ b/Tools/environment_install/install-ROS-ubuntu.sh
@@ -0,0 +1,253 @@
+#!/bin/bash
+echo "---------- $0 start ----------"
+set -e
+# set -x
+
+ROS_WS_ROOT=$HOME/ardupilot-ws
+
+red=`tput setaf 1`
+green=`tput setaf 2`
+reset=`tput sgr0`
+
+sep="##############################################"
+
+
+function heading() {
+    echo "$sep"
+    echo $*
+    echo "$sep"
+}
+
+ASSUME_YES=false
+
+function maybe_prompt_user() {
+    if $ASSUME_YES; then
+        return 0
+    else
+        read -p "$1"
+        if [[ $REPLY =~ ^[Yy]$ ]]; then
+            return 0
+        else
+            return 1
+        fi
+    fi
+}
+
+function usage
+{
+    echo "Usage: ./installROS.sh [[-p package] | [-h]]"
+    echo "Install ROS1"
+    echo "This script will select the ROS distribution according to the OS being used"
+    echo "Installs desktop-full as default base package; Use -p to override"
+    echo "-p | --package <packagename>  ROS package to install"
+    echo "                              Multiple usage allowed"
+    echo "                              Must include one of the following:"
+    echo "                               ros-base"
+    echo "                               desktop"
+    echo "                               desktop-full"
+    echo "-h | --help  This message"
+}
+
+function shouldInstallPackages
+{
+    echo "${red}Your package list did not include a recommended base package${reset}"
+    echo "Please include one of the following:"
+    echo "   ros-base"
+    echo "   desktop"
+    echo "   desktop-full"
+    echo ""
+    echo "ROS not installed"
+}
+
+function package_is_installed() {
+    dpkg-query -W -f='${Status}' "$1" 2>/dev/null | grep -c "ok installed"
+}
+
+# Iterate through command line inputs
+packages=()
+while [ "$1" != "" ]; do
+    case $1 in
+        -p | --package )        shift
+                                packages+=("$1")
+                                ;;
+        -h | --help )           usage
+                                exit
+                                ;;
+        * )                     usage
+                                exit 1
+    esac
+    shift
+done
+
+# Install lsb-release as it is needed to check Ubuntu version
+if ! package_is_installed "lsb-release"; then
+    heading "Installing lsb-release"
+    sudo apt install lsb-release -y
+    echo "Done!"
+fi
+
+# Checking Ubuntu release to adapt software version to install
+RELEASE_CODENAME=$(lsb_release -c -s)
+PYTHON_V="python3"  # starting from ubuntu 20.04, python isn't symlink to default python interpreter
+
+
+# echo $RELEASE_CODENAME
+
+if [ ${RELEASE_CODENAME} == 'bionic' ] ; then
+    #Ubuntu 18.04 - Melodic
+    ROS_VERSION="melodic"
+    PYTHON_V="python2"
+    heading "${green}Detected Ubuntu 18.04, installing ROS Melodic${reset}"
+elif [ ${RELEASE_CODENAME} == 'buster' ]; then
+    #RPi Buster - Melodic
+    ROS_VERSION="melodic"
+    PYTHON_V="python2"
+    heading "${green}Detected RPi Buster, installing ROS Melodic${reset}"
+elif [ ${RELEASE_CODENAME} == 'focal' ]; then
+    #Ubuntu 20.04 - Noetic
+    ROS_VERSION="noetic"
+    PYTHON_V="python3"
+    heading "${green}Detected Ubuntu 20.04, installing ROS Noetic${reset}"
+elif [ ${RELEASE_CODENAME} == 'jammy' ]; then
+    #Ubuntu 22.04 - unsupported only ROS2
+    heading "${red}Currently only ROS1 is supported. This Ubuntu release can only be used with ROS2.${reset}"
+    exit 1
+else
+    # We assume an unsupported OS is being used.
+    heading "${red}Unsupported OS detected. Please refer to the ROS webpage to find how to install ROS1 on your system if at all possible.${reset}"
+    exit 1
+fi
+
+# Check to see if other packages were specified
+# If not, set the default base package
+if [ ${#packages[@]}  -eq 0 ] ; then
+ packages+="desktop-full"
+fi
+echo "Packages to install: "${packages[@]}
+# Check to see if we have a ROS base kinda thingie
+hasBasePackage=false
+for package in "${packages[@]}"; do
+  if [[ $package == "ros-base" ]]; then
+     delete=ros-base
+     packages=( "${packages[@]/$delete}" )
+     packages+=" ros-${ROS_VERSION}-ros-base"
+     hasBasePackage=true
+     break
+  elif [[ $package == "desktop" ]]; then
+     delete=desktop
+     packages=( "${packages[@]/$delete}" )
+     packages+=" ros-${ROS_VERSION}-desktop"    
+     hasBasePackage=true
+     break
+  elif [[ $package == "desktop-full" ]]; then
+     delete=desktop-full
+     packages=( "${packages[@]/$delete}" )
+     packages+=" ros-${ROS_VERSION}-desktop-full"    
+     hasBasePackage=true
+     break
+  fi
+done
+if [ $hasBasePackage == false ] ; then
+   shouldInstallPackages
+   exit 1
+fi
+
+heading "${green}Adding Repositories and source lists${reset}"
+#Lets start instaling stuff
+sudo apt install software-properties-common -y
+sudo apt-add-repository universe
+sudo apt-add-repository multiverse
+sudo apt-add-repository restricted
+
+# Setup sources.lst
+sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+# Setup keys
+sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+# If you experience issues connecting to the keyserver, you can try substituting hkp://pgp.mit.edu:80 or hkp://keyserver.ubuntu.com:80 in the previous command.
+# Installation
+
+heading "${green}Updating apt${reset}"
+sudo apt update
+
+heading "${green}Installing ROS${reset}"
+# Here we loop through any packages passed on the command line
+# Install packages ...
+for package in "${packages[@]}"; do
+  sudo apt install $package -y
+done
+
+# This is where you might start to modify the packages being installed, i.e.# sudo apt install ros-${ROS_VERSION}-{package_name}
+# sudo apt install -y setpriv
+# sudo apt install -y ros-${ROS_VERSION}-robot-upstart
+# sudo apt install -y ros-${ROS_VERSION}-navigation
+
+# Install MAVROS and the geographic libs
+sudo apt install -y ros-${ROS_VERSION}-mavros
+
+wget  https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
+sudo bash ./install_geographiclib_datasets.sh
+
+# install other needed packages
+sudo apt install build-essential cmake -y
+
+#
+# To find available packages:
+# apt-cache search ros-melodic
+# 
+# Initialize rosdep
+
+heading "${green}Installing rosdep${reset}"
+
+sudo apt install ${PYTHON_V}-rosdep -y
+# Certificates are messed up on earlier version Jetson for some reason
+# Do not know if it is an issue with the Xavier, test by commenting out
+# sudo c_rehash /etc/ssl/certs
+# Initialize rosdep
+
+heading "${green}Initializaing rosdep${reset}"
+
+sudo rosdep init || true
+# To find available packages, use:
+rosdep update
+# Use this to install dependencies of packages in a workspace
+# rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
+# Environment Setup - Don't add /opt/ros/${ROS_VERSION}/setup.bash if it's already in bashrc
+if maybe_prompt_user "Do you want to add ROS_HOSTNAME and ROS_MASTER_URI to your .bashrc [N/y]?" ; then
+    heading "${green}Adding setup.bash, ROS_MASTER_URI and ROS_HOSTNAME to .bashrc ${reset}"
+    grep -q -F "ROS_HOSTNAME=$HOSTNAME.local" ~/.bashrc || echo "ROS_HOSTNAME=$HOSTNAME.local" >> ~/.bashrc
+    grep -q -F "ROS_MASTER_URI=http://$HOSTNAME.local:11311" ~/.bashrc || echo "ROS_MASTER_URI=http://$HOSTNAME.local:11311" >> ~/.bashrc
+    grep -q -F "source /opt/ros/${ROS_VERSION}/setup.bash" ~/.bashrc || echo "source /opt/ros/${ROS_VERSION}/setup.bash" >> ~/.bashrc
+    source ~/.bashrc
+fi
+
+heading "${green}Installing rosinstall tools${reset}"
+
+sudo apt install ${PYTHON_V}-rosinstall ${PYTHON_V}-rosinstall-generator ${PYTHON_V}-wstool ${PYTHON_V}-catkin-tools -y
+
+heading "${green}Installing Ardupilot-ROS workspace${reset}"
+
+if maybe_prompt_user "Add ardupilot-ws to your home folder [N/y]?" ; then
+    if [ ! -d $ROS_WS_ROOT ]; then
+        mkdir -p $ROS_WS_ROOT/src
+        pushd $ROS_WS_ROOT
+        catkin init
+        pushd src
+        git clone https://github.com/snktshrma/ardupilot_ros.git
+        popd
+        sudo apt update
+        rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
+        catkin build
+        popd
+    else
+        heading "${red}ardupilot-ws already exists, skipping...${reset}"
+    fi
+    
+else
+    echo "Skipping adding ardupilot_ws to your home folder."
+fi
+
+heading "${green}Adding setup.bash, ROS_MASTER_URI and ROS_HOSTNAME to .bashrc ${reset}"
+grep -q -F "source $ROS_WS_ROOT/devel/setup.bash" ~/.bashrc || echo "source $ROS_WS_ROOT/devel/setup.bash" >> ~/.bashrc
+source ~/.bashrc
+
+heading "${green}Installation complete! Please close this terminal and open a new one for changes to take effect!${reset}"