diff --git a/px4_setup/px4setup.sh b/px4_setup/px4setup.sh
index 6129142..fa8d2fd 100644
--- a/px4_setup/px4setup.sh
+++ b/px4_setup/px4setup.sh
@@ -1,149 +1,7 @@
-#!/bin/bash
-
-# 
-# Setup script for PX4 firmware and sitl development eco-system 
-# Author: Tarek Taha, Mohamed Abdelkader
-# References: http://dev.px4.io/master/en/setup/dev_env_linux_ubuntu.html#sim_nuttx
-#
-
-if [ -z "$1" ]; then
-    ARROW_HOME=$HOME
-else
-    ARROW_HOME=$1
-fi	
-
-if [ -f /.dockerenv ]; then
-	pass=arrow
-	echo "Running within docker, installing initial dependencies";
-	echo $pass | sudo -S apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
-		ca-certificates \
-		gnupg \
-		lsb-core \
-		sudo \
-		wget \
-		;
-else
-	read -p "Enter user password please (for sudo): " -s pass
-fi
-
-# script directory
-DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
-
-# check requirements.txt exists (script not run in source tree)
-REQUIREMENTS_FILE="px4_requirements.txt"
-if [[ ! -f "${DIR}/${REQUIREMENTS_FILE}" ]]; then
-	echo "FAILED: ${REQUIREMENTS_FILE} needed in same directory as setup_px4.sh (${DIR})."
-	return 1
-fi
-
-echo "Installing PX4 general dependencies"
-
-echo $pass | sudo -S apt-get update -y --quiet
-echo $pass | sudo -S DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-	astyle \
-	build-essential \
-	ccache \
-	clang \
-	clang-tidy \
-	cmake \
-	cppcheck \
-	doxygen \
-	file \
-	g++ \
-	gcc \
-	gdb \
-	git \
-	lcov \
-	make \
-	ninja-build \
-	python3 \
-	python3-dev \
-	python3-pip \
-	python3-setuptools \
-	python3-wheel \
-	rsync \
-	shellcheck \
-	unzip \
-	xsltproc \
-	zip \
-	;
-
-# Python3 dependencies
-echo
-echo "Installing PX4 Python3 dependencies"
-pip3 install --user -r ${DIR}/px4_requirements.txt
-
-# Simulation dependencies
-echo $pass | sudo -S DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-		ant \
-		openjdk-11-jre \
-		openjdk-11-jdk \
-		libvecmath-java \
-		xmlstarlet \
-		;
-
-echo $pass | sudo -S DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-		gstreamer1.0-plugins-bad \
-		gstreamer1.0-plugins-base \
-		gstreamer1.0-plugins-good \
-		gstreamer1.0-plugins-ugly \
-		gstreamer1.0-libav \
-		libeigen3-dev \
-		libgazebo9-dev \
-		libgstreamer-plugins-base1.0-dev \
-		libimage-exiftool-perl \
-		libopencv-dev \
-		libxml2-utils \
-		pkg-config \
-		protobuf-compiler \
-		dmidecode \
-		bc \
-		;
-
-echo $pass | sudo -S update-alternatives --set java $(update-alternatives --list java | grep "java-11")
-
-#Setting up PX4 Firmware
-if [ ! -d "${HOME}/Firmware" ]; then
-    cd ${HOME}
-    git clone https://github.com/PX4/PX4-Autopilot.git --recursive
-else
-    echo "Firmware already exists. Just pulling latest upstream...."
-    cd ${HOME}/Firmware
-    git pull
-fi
-cd ${HOME}/PX4-Autopilot
-make clean && make distclean
-#git checkout v1.10.1  && git submodule update --recursive
-#git checkout v1.11.2  && git submodule update --recursive
-git submodule update --recursive
-
-#cd ${HOME}/Firmware/Tools/sitl_gazebo/external/OpticalFlow && git submodule update --recursive # this is needed for PX4 v1.10.1
-# cd ${HOME}/Firmware/Tools/sitl_gazebo/external/OpticalFlow/external/klt_feature_tracker && git submodule update --recursive # this is needed for PX4 v1.10.1
-#### NOTE: in PX4 v1.10.1, there is a bug in Firmware/Tools/sitl_gazebo/include/gazebo_opticalflow_plugin.h:43:18
-#### NOTE:  #define HAS_GYRO TRUE needs to be replaced by #define HAS_GYRO true
-# sed -i 's/#define HAS_GYRO.*/#define HAS_GYRO true/' ${HOME}/Firmware/Tools/sitl_gazebo/include/gazebo_opticalflow_plugin.h # this is needed for PX4 v1.10.1
-
-cd ${HOME}/Firmware
-DONT_RUN=1 make px4_sitl gazebo
-
-#Copying this to  .bashrc file
-grep -xF 'source ~/Firmware/Tools/setup_gazebo.bash ~/Firmware ~/Firmware/build/px4_sitl_default' ${HOME}/.bashrc || echo "source ~/Firmware/Tools/setup_gazebo.bash ~/Firmware ~/Firmware/build/px4_sitl_default" >> ${HOME}/.bashrc
-grep -xF 'export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/Firmware' ${HOME}/.bashrc || echo "export ROS_PACKAGE_PATH=\$ROS_PACKAGE_PATH:~/Firmware" >> ${HOME}/.bashrc
-grep -xF 'export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/Firmware/Tools/sitl_gazebo' ${HOME}/.bashrc || echo "export ROS_PACKAGE_PATH=\$ROS_PACKAGE_PATH:~/Firmware/Tools/sitl_gazebo" >> ${HOME}/.bashrc
+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
-
-# Install QGroundControl
-###### Not working yet!!!
-echo $pass | sudo -S usermod -a -G dialout $USER
-echo $pass | sudo -S apt-get remove modemmanager -y
-echo $pass | sudo -S apt-get install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl -y
-echo $pass | sudo -S apt-get install fuse libpulse-mainloop-glib0 -y
-
-cd ${HOME}
-wget https://s3-us-west-2.amazonaws.com/qgroundcontrol/latest/QGroundControl.AppImage
-chmod +x ./QGroundControl.AppImage
-
-echo "**** Make sure to logout and login again ****"
+source ${HOME}/.bashrc
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