diff --git a/bash_scripts/protobuf_install.txt b/bash_scripts/protobuf_install.txt
new file mode 100644
index 0000000..7bd7a4b
--- /dev/null
+++ b/bash_scripts/protobuf_install.txt
@@ -0,0 +1,14 @@
+sudo apt-get install libprotobuf-dev=3.0.0-9.1ubuntu1 libprotoc-dev=3.0.0-9.1ubuntu1 protobuf-compiler=3.0.0-9.1ubuntu1
+
+commit: 601c588294973caf105b79a23f7587c6b991bb05
+
+Qground control: 
+wget https://github.com/mavlink/qgroundcontrol/releases/download/v4.2.0/QGroundControl.AppImage
+chmod +x QGroundControl.AppImage
+
+mavros/mavlink:
+cp -R ~/catkin_ws/src/oscillation_ctrl/bash_scripts/rosinstall.txt /tmp/mavros.rosinstall
+wstool merge -t src /tmp/mavros.rosinstall
+wstool update -t src -j4
+rosdep install --from-paths src --ignore-src -y
+catkin build
diff --git a/bash_scripts/rosinstall.txt b/bash_scripts/rosinstall.txt
new file mode 100644
index 0000000..dcf2309
--- /dev/null
+++ b/bash_scripts/rosinstall.txt
@@ -0,0 +1,8 @@
+- git:
+    local-name: mavlink
+    uri: https://github.com/mavlink/mavlink-gbp-release.git
+    version: release/melodic/mavlink/2020.2.2-1
+- git:
+    local-name: mavros
+    uri: https://github.com/mavlink/mavros.git
+    version: 0.32.0
diff --git a/bash_scripts/ubuntu.sh b/bash_scripts/ubuntu.sh
new file mode 100755
index 0000000..852f38c
--- /dev/null
+++ b/bash_scripts/ubuntu.sh
@@ -0,0 +1,254 @@
+#! /usr/bin/env bash
+
+set -e
+
+## Bash script to setup PX4 development environment on Ubuntu LTS (20.04, 18.04, 16.04).
+## Can also be used in docker.
+##
+## Installs:
+## - Common dependencies and tools for nuttx, jMAVSim, Gazebo
+## - NuttX toolchain (omit with arg: --no-nuttx)
+## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools)
+##
+## Not Installs:
+## - FastRTPS and FastCDR
+
+INSTALL_NUTTX="true"
+INSTALL_SIM="true"
+INSTALL_ARCH=`uname -m`
+
+# Parse arguments
+for arg in "$@"
+do
+	if [[ $arg == "--no-nuttx" ]]; then
+		INSTALL_NUTTX="false"
+	fi
+
+	if [[ $arg == "--no-sim-tools" ]]; then
+		INSTALL_SIM="false"
+	fi
+
+done
+
+# detect if running in docker
+if [ -f /.dockerenv ]; then
+	echo "Running within docker, installing initial dependencies";
+	apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
+		ca-certificates \
+		gnupg \
+		lsb-core \
+		sudo \
+		wget \
+		;
+fi
+
+# script directory
+DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+
+# check requirements.txt exists (script not run in source tree)
+REQUIREMENTS_FILE="requirements.txt"
+if [[ ! -f "${DIR}/${REQUIREMENTS_FILE}" ]]; then
+	echo "FAILED: ${REQUIREMENTS_FILE} needed in same directory as ubuntu.sh (${DIR})."
+	return 1
+fi
+
+
+# check ubuntu version
+# otherwise warn and point to docker?
+UBUNTU_RELEASE="`lsb_release -rs`"
+
+if [[ "${UBUNTU_RELEASE}" == "14.04" ]]; then
+	echo "Ubuntu 14.04 is no longer supported"
+	exit 1
+elif [[ "${UBUNTU_RELEASE}" == "16.04" ]]; then
+	echo "Ubuntu 16.04 is no longer supported"
+	exit 1
+elif [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
+	echo "Ubuntu 18.04"
+elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
+	echo "Ubuntu 20.04"
+fi
+
+
+echo
+echo "Installing PX4 general dependencies"
+
+sudo apt-get update -y --quiet
+sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+	astyle \
+	build-essential \
+	cmake \
+	cppcheck \
+	file \
+	g++ \
+	gcc \
+	gdb \
+	git \
+	lcov \
+	libxml2-dev \
+	libxml2-utils \
+	make \
+	ninja-build \
+	python3 \
+	python3-dev \
+	python3-pip \
+	python3-setuptools \
+	python3-wheel \
+	rsync \
+	shellcheck \
+	unzip \
+	zip \
+	;
+
+# Python3 dependencies
+echo
+echo "Installing PX4 Python3 dependencies"
+if [ -n "$VIRTUAL_ENV" ]; then
+	# virtual envrionments don't allow --user option
+	python -m pip install -r ${DIR}/requirements.txt
+else
+	# older versions of Ubuntu require --user option
+	python3 -m pip install --user -r ${DIR}/requirements.txt
+fi
+
+# NuttX toolchain (arm-none-eabi-gcc)
+if [[ $INSTALL_NUTTX == "true" ]]; then
+
+	echo
+	echo "Installing NuttX dependencies"
+
+	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+		automake \
+		binutils-dev \
+		bison \
+		build-essential \
+		flex \
+		g++-multilib \
+		gcc-multilib \
+		gdb-multiarch \
+		genromfs \
+		gettext \
+		gperf \
+		libelf-dev \
+		libexpat-dev \
+		libgmp-dev \
+		libisl-dev \
+		libmpc-dev \
+		libmpfr-dev \
+		libncurses5 \
+		libncurses5-dev \
+		libncursesw5-dev \
+		libtool \
+		pkg-config \
+		screen \
+		texinfo \
+		u-boot-tools \
+		util-linux \
+		vim-common \
+		;
+	if [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
+		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+		kconfig-frontends \
+		;
+	fi
+
+
+	if [ -n "$USER" ]; then
+		# add user to dialout group (serial port access)
+		sudo usermod -a -G dialout $USER
+	fi
+
+	# arm-none-eabi-gcc
+	NUTTX_GCC_VERSION="9-2020-q2-update"
+	NUTTX_GCC_VERSION_SHORT="9-2020q2"
+
+	source $HOME/.profile # load changed path for the case the script is reran before relogin
+	if [ $(which arm-none-eabi-gcc) ]; then
+		GCC_VER_STR=$(arm-none-eabi-gcc --version)
+		GCC_FOUND_VER=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}")
+	fi
+
+	if [[ "$GCC_FOUND_VER" == "1" ]]; then
+		echo "arm-none-eabi-gcc-${NUTTX_GCC_VERSION} found, skipping installation"
+
+	else
+		echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
+		wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-${INSTALL_ARCH}-linux.tar.bz2 && \
+			sudo tar -jxf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 -C /opt/;
+
+		# add arm-none-eabi-gcc to user's PATH
+		exportline="export PATH=/opt/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}/bin:\$PATH"
+
+		if grep -Fxq "$exportline" $HOME/.profile; then
+			echo "${NUTTX_GCC_VERSION} path already set.";
+		else
+			echo $exportline >> $HOME/.profile;
+		fi
+	fi
+fi
+
+# Simulation tools
+if [[ $INSTALL_SIM == "true" ]]; then
+
+	echo
+	echo "Installing PX4 simulation dependencies"
+
+	# General simulation dependencies
+	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+		bc \
+		;
+
+	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
+		java_version=11
+		gazebo_version=9
+	elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
+		java_version=13
+		gazebo_version=11
+	else
+		java_version=14
+		gazebo_version=11
+	fi
+	# Java (jmavsim or fastrtps)
+	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+		ant \
+		openjdk-$java_version-jre \
+		openjdk-$java_version-jdk \
+		libvecmath-java \
+		;
+
+	# Set Java 11 as default
+	sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")
+
+	# Gazebo
+	sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+	wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
+	# Update list, since new gazebo-stable.list has been added
+	sudo apt-get update -y --quiet
+	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+		dmidecode \
+		gazebo$gazebo_version \
+		gstreamer1.0-plugins-bad \
+		gstreamer1.0-plugins-base \
+		gstreamer1.0-plugins-good \
+		gstreamer1.0-plugins-ugly \
+		gstreamer1.0-libav \
+		libeigen3-dev \
+		libgazebo$gazebo_version-dev \
+		libgstreamer-plugins-base1.0-dev \
+		libimage-exiftool-perl \
+		libopencv-dev \
+		libxml2-utils \
+		pkg-config \
+		protobuf-compiler \
+		;
+
+	if sudo dmidecode -t system | grep -q "Manufacturer: VMware, Inc." ; then
+		# fix VMWare 3D graphics acceleration for gazebo
+		echo "export SVGA_VGPU10=0" >> ~/.profile
+	fi
+fi
+
+if [[ $INSTALL_NUTTX == "true" ]]; then
+	echo
+	echo "Relogin or reboot computer before attempting to build NuttX targets"
+fi
diff --git a/bash_scripts/ubuntu_sim_ros_melodic.sh b/bash_scripts/ubuntu_sim_ros_melodic.sh
new file mode 100644
index 0000000..e31985f
--- /dev/null
+++ b/bash_scripts/ubuntu_sim_ros_melodic.sh
@@ -0,0 +1,104 @@
+#!/bin/bash
+
+## Bash script for setting up ROS Melodic (with Gazebo 9) development environment for PX4 on Ubuntu LTS (18.04).
+## It installs the common dependencies for all targets (including Qt Creator)
+##
+## Installs:
+## - Common dependencies libraries and tools as defined in `ubuntu_sim_common_deps.sh`
+## - ROS Melodic (including Gazebo9)
+## - MAVROS
+
+if [[ $(lsb_release -sc) == *"xenial"* ]]; then
+  echo "OS version detected as $(lsb_release -sc) (16.04)."
+  echo "ROS Melodic requires at least Ubuntu 18.04."
+  echo "Exiting ...."
+  return 1;
+fi
+
+echo "Downloading dependent script 'ubuntu_sim_common_deps.sh'"
+# Source the ubuntu_sim_common_deps.sh script directly from github
+common_deps=$(wget https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_common_deps.sh -O -)
+wget_return_code=$?
+# If there was an error downloading the dependent script, we must warn the user and exit at this point.
+if [[ $wget_return_code -ne 0 ]]; then echo "Error downloading 'ubuntu_sim_common_deps.sh'. Sorry but I cannot proceed further :("; exit 1; fi
+# Otherwise source the downloaded script.
+. <(echo "${common_deps}")
+
+# ROS Melodic
+## Gazebo simulator dependencies
+sudo apt-get install libeigen3-dev libopencv-dev protobuf-compiler=3.0.0-9.1ubuntu1 -y 
+
+## ROS Gazebo: http://wiki.ros.org/melodic/Installation/Ubuntu
+## Setup keys
+sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+## For keyserver connection problems substitute hkp://pgp.mit.edu:80 or hkp://keyserver.ubuntu.com:80 above.
+sudo apt-get update
+## Get ROS/Gazebo
+sudo apt install ros-melodic-desktop-full -y
+## Initialize rosdep
+sudo rosdep init
+rosdep update
+## Setup environment variables
+rossource="source /opt/ros/melodic/setup.bash"
+if grep -Fxq "$rossource" ~/.bashrc; then echo ROS setup.bash already in .bashrc;
+else echo "$rossource" >> ~/.bashrc; fi
+eval $rossource
+
+## Install rosinstall and other dependencies
+sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential -y
+
+
+
+# MAVROS: https://dev.px4.io/en/ros/mavros_installation.html
+## Install dependencies
+sudo apt-get install python-catkin-tools python-rosinstall-generator -y
+
+## Create catkin workspace
+mkdir -p ~/catkin_ws/src
+cd ~/catkin_ws
+catkin init
+wstool init src
+
+
+## Install MAVLink
+###we use the Kinetic reference for all ROS distros as it's not distro-specific and up to date
+rosinstall_generator --rosdistro kinetic mavlink | tee /tmp/mavros.rosinstall
+
+## Build MAVROS
+### Get source (upstream - released)
+rosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall
+
+### Setup workspace & install deps
+wstool merge -t src /tmp/mavros.rosinstall
+wstool update -t src
+if ! rosdep install --from-paths src --ignore-src -y; then
+    # (Use echo to trim leading/trailing whitespaces from the unsupported OS name
+    unsupported_os=$(echo $(rosdep db 2>&1| grep Unsupported | awk -F: '{print $2}'))
+    rosdep install --from-paths src --ignore-src --rosdistro melodic -y --os ubuntu:bionic
+fi
+
+if [[ ! -z $unsupported_os ]]; then
+    >&2 echo -e "\033[31mYour OS ($unsupported_os) is unsupported. Assumed an Ubuntu 18.04 installation,"
+    >&2 echo -e "and continued with the installation, but if things are not working as"
+    >&2 echo -e "expected you have been warned."
+fi
+
+#Install geographiclib
+sudo apt install geographiclib-tools -y
+echo "Downloading dependent script 'install_geographiclib_datasets.sh'"
+# Source the install_geographiclib_datasets.sh script directly from github
+install_geo=$(wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh -O -)
+wget_return_code=$?
+# If there was an error downloading the dependent script, we must warn the user and exit at this point.
+if [[ $wget_return_code -ne 0 ]]; then echo "Error downloading 'install_geographiclib_datasets.sh'. Sorry but I cannot proceed further :("; exit 1; fi
+# Otherwise source the downloaded script.
+sudo bash -c "$install_geo"
+
+## Build!
+catkin build
+## Re-source environment to reflect new packages/build environment
+catkin_ws_source="source ~/catkin_ws/devel/setup.bash"
+if grep -Fxq "$catkin_ws_source" ~/.bashrc; then echo ROS catkin_ws setup.bash already in .bashrc;
+else echo "$catkin_ws_source" >> ~/.bashrc; fi
+eval $catkin_ws_source