diff --git a/px4_setup/px4setup.sh b/px4_setup/px4setup.sh
index fa8d2fd..6d0e783 100644
--- a/px4_setup/px4setup.sh
+++ b/px4_setup/px4setup.sh
@@ -1,7 +1,4 @@
-grep -xF 'source ~/PX4-Autopilot/Tools/setup_gazebo.bash ~/PX4-Autopilot ~/PX4-Autopilot/build/px4_sitl_default' ${HOME}/.bashrc || echo "source ~/PX4-Autopilot/Tools/setup_gazebo.bash ~/PX4-Autopilot ~/PX4-Autopilot/build/px4_sitl_default" >> ${HOME}/.bashrc
-grep -xF 'export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4-Autopilot' ${HOME}/.bashrc || echo "export ROS_PACKAGE_PATH=\$ROS_PACKAGE_PATH:~/PX4-Autopilot" >> ${HOME}/.bashrc
-grep -xF 'export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4-Autopilot/Tools/sitl_gazebo' ${HOME}/.bashrc || echo "export ROS_PACKAGE_PATH=\$ROS_PACKAGE_PATH:~/PX4-Autopilot/Tools/sitl_gazebo" >> ${HOME}/.bashrc
-#grep -xF 'export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/home/aaal/catkin_ws/src/swarm_sim/models' ${HOME}/.bashrc || echo "export GAZEBO_MODEL_PATH=\$GAZEBO_MODEL_PATH:/home/aaal/catkin_ws/src/swarm_sim/models" >> ${HOME}/.bashrc
-grep -xF 'export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:/usr/lib/x86_64-linux-gnu/gazebo-9/plugins' ${HOME}/.bashrc || echo "export GAZEBO_PLUGIN_PATH=\$GAZEBO_PLUGIN_PATH:/usr/lib/x86_64-linux-gnu/gazebo-9/plugins" >> ${HOME}/.bashrc
-
-source ${HOME}/.bashrc
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+echo "cd ~/PX4-Autopilot" >> ~/.bashrc
+echo "source Tools/simulation/gazebo-classic/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default" >> ~/.bashrc
+echo "export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)" >> ~/.bashrc
+echo "export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/simulation/gazebo-classic/sitl_gazebo-classic" >> ~/.bashrc
\ No newline at end of file