diff --git a/.gitmodules b/.gitmodules
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+[submodule "Jetpack"]
+	path = Jetpack
+	url = https://git.spirirobotics.com/dchvs/Jetpack.git
+	branch = cti-jetpack-4.4.1
+[submodule "CTI-L4T"]
+	path = CTI-L4T
+	url = https://git.spirirobotics.com/dchvs/CTI-L4T.git
+	branch = 4.4.1/feature/install-script-on-level2-directory
+[submodule "li-mt9m021"]
+	path = li-mt9m021
+	url = https://git.spirirobotics.com/dchvs/li-mt9m021.git
+	branch = jetpack-4.4.1
+[submodule "eg25-g"]
+	path = eg25-g
+	url = https://git.spirirobotics.com/dchvs/eg25-g.git
+	branch = master
diff --git a/CTI-L4T b/CTI-L4T
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+++ b/CTI-L4T
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+Subproject commit af2e8ef832d4e4b7efa2a8ce4aa710c8d87beff5
diff --git a/Jetpack b/Jetpack
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--- /dev/null
+++ b/Jetpack
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+Subproject commit f578b9924372cc7439f7122be030fc9e93a28203
diff --git a/README.md b/README.md
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+
+## Spiri cameras project installation 
+
+```bash
+LINUX_FOR_TEGRA=<Linux_for_Tegra/ path>
+cd $LINUX_FOR_TEGRA
+
+# Clone the repository to the workspace
+git clone --recurse-submodules  https://git.spirirobotics.com/dchvs/spiri-project.git
+cd spiri-project
+git checkout 4.4.1/tx2-cti/camera-driver-dev
+git submodule update --init --recursive --remote
+
+# Install the CTI BSP
+cd CTI-L4T/
+sudo ./install.sh
+
+# Install the Jetpack+CTI 4.4.1 and Driver MT9M021 to source/ directory
+cd $LINUX_FOR_TEGRA
+mkdir source/ && cd source/
+cp -r ../spiri-project/Jetpack/* .
+cp -r ../spiri-project/li-mt9m021/ .
+
+# Compile the sources
+cd $LINUX_FOR_TEGRA
+mkdir -p builds/build_<this build name> && cd builds/build_<this build name>
+
+mkdir build modules
+make -C ../../source/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ tegra_defconfig
+make -C ../../source/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ menuconfig
+make -C ../../source/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ CROSS_COMPILE=${CROSS_COMPILE} -j8 --output-sync=target zImage dtbs modules
+make -C ../../source/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ modules_install INSTALL_MOD_PATH=$PWD/modules 
+```
+
+## Flash the Spiri MU
+```bash
+# Backup the default Kernel
+cp  -r ../../kernel/dtb/  ../../kernel/backup_dtb/
+cp  ../../kernel/Image  ../../kernel/backup_Image
+sudo mv  ../../rootfs/lib/modules/4.9.140-tegra/   ../../rootfs/lib/modules/backup_4.9.140-tegra/
+
+# Install the Kernel
+cp build/arch/arm64/boot/dts/* ../../kernel/dtb/ 
+cp build/arch/arm64/boot/Image ../../kernel/
+sudo make -C ../../source/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ modules_install INSTALL_MOD_PATH=$PWD/../../rootfs/
+
+# Flash the Spiri MU
+cd $LINUX_FOR_TEGRA
+sudo ./flash.sh jetson-tx2 mmcblk0p1
+```
+
+## Capture test
+```bash
+# Sender endpoint
+gst-launch-1.0 nvarguscamerasrc ! 'video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)NV12,framerate=(fraction)30/1' ! omxh264enc control-rate=2 bitrate=8000000 ! 'video/x-h264, stream-format=(string)byte-stream' ! h264parse ! rtph264pay mtu=1400 ! udpsink host=$HOST_IP port=5000 sync=false async=false
+
+# Receiver endpoint
+gst-launch-1.0 udpsrc port=5000 ! "application/x-rtp,media=(string)video,payload=(int)96,clock-rate=(int)90000,encoding-name=(string)H264" ! rtph264depay ! queue ! avdec_h264 ! xvimagesink sync=true async=false
+```
+
diff --git a/doc/spiri_cameras_1.jpeg b/doc/spiri_cameras_1.jpeg
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diff --git a/doc/spiri_cameras_diagram.png b/doc/spiri_cameras_diagram.png
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diff --git a/eg25-g b/eg25-g
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+++ b/eg25-g
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+Subproject commit 480df7a9f40a98df7355970373aed26792c74e1c
diff --git a/li-mt9m021 b/li-mt9m021
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+++ b/li-mt9m021
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+Subproject commit 6b9e2b6b54c1d03ca81339ef91ad24ab4722a89b