diff --git a/px4_setup/px4setup.sh b/px4_setup/px4setup.sh
index 6d0e783..cd7c500 100644
--- a/px4_setup/px4setup.sh
+++ b/px4_setup/px4setup.sh
@@ -1,4 +1,6 @@
-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
+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
\ No newline at end of file