diff --git a/Nvidia_JTX1/Ubuntu/10_setup_ros.sh b/Nvidia_JTX1/Ubuntu/10_setup_ros.sh
new file mode 100755
index 00000000..d727f217
--- /dev/null
+++ b/Nvidia_JTX1/Ubuntu/10_setup_ros.sh
@@ -0,0 +1,77 @@
+#!/bin/bash
+
+# this script should be run as the apsync user
+# these instructions come from Dan Pollock, posting can be found here: https://www.facebook.com/groups/pixhawk2/permalink/1192680427481244/
+
+set -e
+set -x
+
+pushd .
+
+# setup reference to ros packages
+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://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
+sudo apt-get update
+
+# install ros
+sudo apt-get install -y ros-kinetic-ros-base python-rosinstall ros-kinetic-mavros ros-kinetic-rtabmap-ros ros-kinetic-robot-state-publisher
+sudo c_rehash /etc/ssl/certs
+sudo rosdep init
+rosdep update
+
+# add environment to .bashrc
+echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
+source ~/.bashrc
+
+# install the ZED SDK using 7_setup_zed.sh
+
+# install zed-ros-wrapper
+mkdir -p ~/catkin_zed/src
+cd ~/catkin_zed/src
+git clone https://github.com/stereolabs/zed-ros-wrapper.git
+
+# create workspace
+# Note: this seems to fail because some ROS variables are not being set
+cd ~/catkin_zed/src
+/opt/ros/kinetic/bin/catkin_init_workspace
+cd ~/catkin_zed
+/opt/ros/kinetic/bin/catkin_make
+
+# kill src directory and build again
+rm -rf ~/catkin_zed/src
+mkdir -p ~/catkin_zed/src
+cd ~/catkin_zed/src
+git clone https://github.com/stereolabs/zed-ros-wrapper.git
+cd ~/catkin_zed
+/opt/ros/kinetic/bin/catkin_make
+
+popd
+
+# cp zed_rtabmap_launch file to /opt/ros/kinetic/share/rtabmap_ros/launch
+sudo cp ./zed_rtabmap.launch /opt/ros/kinetic/share/rtabmap_ros/launch
+# old instructions for above:
+#     cd to /opt/ros/kinetic/share/rtabmap_ros/launch
+#     sudo cp /opt/ros/kinetic/share/rtabmap_ros/launch/rtabmap.launch /opt/ros/kinetic/share/rtabmap_ros/launch/zed_rtabmap.launch
+#     sudo vi /opt/ros/kinetic/share/rtabmap_ros/launch/zed_rtabmap.launch
+#     replace "/camera/rgb" with "/camera/zed/rgb"
+
+# put startup scripts in place
+mkdir ~/start_ros
+cp start_1_roscore.sh ~/start_ros
+cp start_2_zed_wrapper.sh ~/start_ros
+cp start_3_rosrun.sh ~/start_ros
+cp start_4_rtabmap.sh ~/start_ros
+
+# test rosrun zed_wrapper
+# first terminal
+#     roscore
+# second terminal:
+#     export ROS_NAMESPACE=camera
+#     source ~/catkin_zed/devel/setup.bash
+#     roslaunch zed_wrapper zed.launch
+# third terminal window:
+#     export ROS_NAMESPACE=camera
+#     source ~/catkin_zed/devel/setup.bash
+#     rosrun tf static_transform_publisher 0 0 0 -1.5707963267948966 0 -1.5707963267948966 camera_link zed_initial_frame 100 &
+# test viewer on client
+#     roslaunch rtabmap_ros zed_rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/zed/depth/depth_registered
diff --git a/Nvidia_JTX1/Ubuntu/7_setup_zed.sh b/Nvidia_JTX1/Ubuntu/7_setup_zed.sh
deleted file mode 100755
index f10bd1b7..00000000
--- a/Nvidia_JTX1/Ubuntu/7_setup_zed.sh
+++ /dev/null
@@ -1,18 +0,0 @@
-#!/bin/bash
-
-# this script sets up the ZED camera
-
-# store current directory
-pushd .
-
-# download install scripts from stereolabs
-cd ~/Downloads
-wget --no-check-certificate https://www.stereolabs.com/download_327af3/ZED_SDK_Linux_JTX1_v1.2.0_64b_JetPack23.run
-
-# install (user will need to press "Q"
-echo "Installing ZED camera SDK, you must manually accept the license agreement (press Y), enter root password and press enter to accept the default install directory"
-chmod +x ./ZED_SDK_Linux_JTX1_v1.2.0_64b_JetPack23.run
-./ZED_SDK_Linux_JTX1_v1.2.0_64b_JetPack23.run
-
-# return to stored directory
-popd
diff --git a/Nvidia_JTX1/Ubuntu/9_setup_zed.sh b/Nvidia_JTX1/Ubuntu/9_setup_zed.sh
new file mode 100755
index 00000000..4f1cbef3
--- /dev/null
+++ b/Nvidia_JTX1/Ubuntu/9_setup_zed.sh
@@ -0,0 +1,26 @@
+#!/bin/bash
+
+# this script sets up the ZED camera
+# this should be run as the "apsync" user
+
+# store current directory
+pushd .
+
+# download install scripts from stereolabs
+mkdir -p ~/Downloads
+cd ~/Downloads
+# wget --no-check-certificate https://www.stereolabs.com/download_327af3/ZED_SDK_Linux_JTX1_v1.2.0_64b_JetPack23.run
+wget --no-check-certificate https://dl.dropboxusercontent.com/u/3852647/ZED/ZED_SDK_Linux_JTX1_v1.2.0_64b_JetPack23.run
+
+# install (user will need to press "Q"
+echo "Installing ZED camera SDK, you must manually accept the license agreement (press Y), enter root password and press enter to accept the default install directory"
+chmod +x ./ZED_SDK_Linux_JTX1_v1.2.0_64b_JetPack23.run
+./ZED_SDK_Linux_JTX1_v1.2.0_64b_JetPack23.run
+
+# startup zed camera's Depth Viewer to force download of calibration file for this particular camera
+# this may require permissioning apsync to use the screen, "sudo xhost +SI:localuser:apsync"
+# Note: we should change this to a user runnable script to download the config for each user's camera
+/usr/local/zed/tools/ZED \ Depth\ Viewer
+
+# return to stored directory
+popd
diff --git a/Nvidia_JTX1/Ubuntu/start_1_roscore.sh b/Nvidia_JTX1/Ubuntu/start_1_roscore.sh
new file mode 100755
index 00000000..43c07c5e
--- /dev/null
+++ b/Nvidia_JTX1/Ubuntu/start_1_roscore.sh
@@ -0,0 +1,4 @@
+#!/bin/bash
+
+# start roscore
+roscore
diff --git a/Nvidia_JTX1/Ubuntu/start_2_zed_wrapper.sh b/Nvidia_JTX1/Ubuntu/start_2_zed_wrapper.sh
new file mode 100755
index 00000000..7fabf779
--- /dev/null
+++ b/Nvidia_JTX1/Ubuntu/start_2_zed_wrapper.sh
@@ -0,0 +1,6 @@
+#!/bin/bash
+
+# start rosrun
+export ROS_NAMESPACE=camera
+source ~/catkin_zed/devel/setup.bash
+roslaunch zed_wrapper zed.launch
diff --git a/Nvidia_JTX1/Ubuntu/start_3_rosrun.sh b/Nvidia_JTX1/Ubuntu/start_3_rosrun.sh
new file mode 100755
index 00000000..7bc6e70e
--- /dev/null
+++ b/Nvidia_JTX1/Ubuntu/start_3_rosrun.sh
@@ -0,0 +1,6 @@
+#!/bin/bash
+
+# start rosrun
+export ROS_NAMESPACE=camera
+source ~/catkin_zed/devel/setup.bash
+rosrun tf static_transform_publisher 0 0 0 -1.5707963267948966 0 -1.5707963267948966 camera_link zed_initial_frame 100 &
diff --git a/Nvidia_JTX1/Ubuntu/start_4_rtabmap.sh b/Nvidia_JTX1/Ubuntu/start_4_rtabmap.sh
new file mode 100755
index 00000000..ad5c3c6a
--- /dev/null
+++ b/Nvidia_JTX1/Ubuntu/start_4_rtabmap.sh
@@ -0,0 +1,9 @@
+#!/bin/bash
+
+# override home in case this is being run from different user
+export HOME=/home/apsync
+
+# start rosrun
+export ROS_NAMESPACE=camera
+source ~/catkin_zed/devel/setup.bash
+roslaunch rtabmap_ros zed_rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/zed/depth/depth_registered
diff --git a/Nvidia_JTX1/Ubuntu/zed_rtabmap.launch b/Nvidia_JTX1/Ubuntu/zed_rtabmap.launch
new file mode 100644
index 00000000..7a482db6
--- /dev/null
+++ b/Nvidia_JTX1/Ubuntu/zed_rtabmap.launch
@@ -0,0 +1,197 @@
+
+<launch>
+  <!-- Convenience launch file to launch odometry, rtabmap and rtabmapviz nodes at once -->
+
+  <!-- For stereo:=false
+        Your RGB-D sensor should be already started with "depth_registration:=true".
+        Examples:
+           $ roslaunch freenect_launch freenect.launch depth_registration:=true 
+           $ roslaunch openni2_launch openni2.launch depth_registration:=true -->
+           
+  <!-- For stereo:=true
+        Your camera should be calibrated and publishing rectified left and right 
+        images + corresponding camera_info msgs. You can use stereo_image_proc for image rectification.
+        Example:
+           $ roslaunch rtabmap_ros bumblebee.launch -->
+     
+  <!-- Choose between RGB-D and stereo -->      
+  <arg name="stereo"          default="false"/>
+ 
+  <!-- Choose visualization -->
+  <arg name="rtabmapviz"              default="true" /> 
+  <arg name="rviz"                    default="false" />
+  
+  <!-- Localization-only mode -->
+  <arg name="localization"            default="false"/>
+  
+  <!-- Corresponding config files -->
+  <arg name="cfg"                     default="" /> <!-- To change RTAB-Map's parameters, set the path of config file (*.ini) generated by the standalone app -->
+  <arg name="gui_cfg"                 default="~/.ros/rtabmap_gui.ini" />
+  <arg name="rviz_cfg"                default="-d $(find rtabmap_ros)/launch/config/rgbd.rviz" />
+  
+  <arg name="frame_id"                default="camera_link"/>     <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
+  <arg name="namespace"               default="rtabmap"/>
+  <arg name="database_path"           default="~/.ros/rtabmap.db"/>
+  <arg name="queue_size"              default="10"/>
+  <arg name="wait_for_transform"      default="0.2"/>
+  <arg name="rtabmap_args"            default=""/>              <!-- delete_db_on_start, udebug -->
+  <arg name="launch_prefix"           default=""/>              <!-- for debugging purpose, it fills launch-prefix tag of the nodes -->
+  <arg name="approx_sync"             default="true"/>         <!-- if timestamps of the input topics are not synchronized -->
+   
+  <!-- RGB-D related topics -->
+  <arg name="rgb_topic"               default="/camera/zed/rgb/image_rect_color" />
+  <arg name="depth_topic"             default="/camera/zed/depth_registered/image_raw" />
+  <arg name="camera_info_topic"       default="/camera/zed/rgb/camera_info" />
+  
+  <!-- stereo related topics -->
+  <arg name="stereo_namespace"        default="/stereo_camera"/>
+  <arg name="left_image_topic"        default="$(arg stereo_namespace)/left/image_rect_color" />
+  <arg name="right_image_topic"       default="$(arg stereo_namespace)/right/image_rect" />      <!-- using grayscale image for efficiency -->
+  <arg name="left_camera_info_topic"  default="$(arg stereo_namespace)/left/camera_info" />
+  <arg name="right_camera_info_topic" default="$(arg stereo_namespace)/right/camera_info" />
+  
+  <arg name="compressed"              default="false"/>         <!-- If you want to subscribe to compressed image topics -->
+                                                                <!-- For depth_topic, "compressedDepth" image_transport is used. --> 
+                                                                <!-- For rgb_topic, see "rgb_image_transport" argument. -->
+  <arg name="rgb_image_transport"     default="compressed"/>    <!-- Common types: compressed, theora (see "rosrun image_transport list_transports") -->
+   
+  <arg name="subscribe_scan"          default="false"/>
+  <arg name="scan_topic"              default="/scan"/>
+  
+  <arg name="subscribe_scan_cloud"    default="false"/>
+  <arg name="scan_cloud_topic"        default="/scan_cloud"/>
+   
+  <arg name="visual_odometry"         default="true"/>          <!-- Launch rtabmap visual odometry node -->
+  <arg name="odom_topic"              default="/odom"/>         <!-- Odometry topic used if visual_odometry is false -->
+  <arg name="odom_args"               default="$(arg rtabmap_args)"/>
+  
+  <!-- These arguments should not be modified directly, see referred topics without "_relay" suffix above -->
+  <arg if="$(arg compressed)"     name="rgb_topic_relay"           default="$(arg rgb_topic)_relay"/>
+  <arg unless="$(arg compressed)" name="rgb_topic_relay"           default="$(arg rgb_topic)"/>
+  <arg if="$(arg compressed)"     name="depth_topic_relay"         default="$(arg depth_topic)_relay"/>
+  <arg unless="$(arg compressed)" name="depth_topic_relay"         default="$(arg depth_topic)"/>
+  <arg if="$(arg compressed)"     name="left_image_topic_relay"    default="$(arg left_image_topic)_relay"/>
+  <arg unless="$(arg compressed)" name="left_image_topic_relay"    default="$(arg left_image_topic)"/>
+  <arg if="$(arg compressed)"     name="right_image_topic_relay"   default="$(arg right_image_topic)_relay"/>
+  <arg unless="$(arg compressed)" name="right_image_topic_relay"   default="$(arg right_image_topic)"/>
+
+  <!-- Nodes -->
+  <group ns="$(arg namespace)">
+  
+    <!-- RGB-D Odometry -->
+    <group unless="$(arg stereo)">
+      <node if="$(arg compressed)" name="republish_rgb" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg rgb_topic) raw out:=$(arg rgb_topic_relay)" />
+      <node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=$(arg depth_topic) raw out:=$(arg depth_topic_relay)" />
+  
+      <node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen" args="$(arg odom_args)" launch-prefix="$(arg launch_prefix)">
+        <remap from="rgb/image"       to="$(arg rgb_topic_relay)"/>
+        <remap from="depth/image"     to="$(arg depth_topic_relay)"/>
+        <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
+	  
+        <param name="frame_id"                    type="string" value="$(arg frame_id)"/>
+        <param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
+        <param name="approx_sync"                 type="bool"   value="$(arg approx_sync)"/>
+        <param name="config_path"                 type="string" value="$(arg cfg)"/>
+        <param name="queue_size"                  type="int" value="$(arg queue_size)"/>
+      </node>
+    </group>
+    
+    <!-- Stereo Odometry -->
+    <group if="$(arg stereo)">
+      <node if="$(arg compressed)" name="republish_left"  type="republish" pkg="image_transport" args="compressed in:=$(arg left_image_topic) raw out:=$(arg left_image_topic_relay)" />
+      <node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="compressed in:=$(arg right_image_topic) raw out:=$(arg right_image_topic_relay)" />
+  
+      <node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen" args="$(arg odom_args)" launch-prefix="$(arg launch_prefix)">
+        <remap from="left/image_rect"        to="$(arg left_image_topic_relay)"/>
+        <remap from="right/image_rect"       to="$(arg right_image_topic_relay)"/>
+        <remap from="left/camera_info"       to="$(arg left_camera_info_topic)"/>
+        <remap from="right/camera_info"      to="$(arg right_camera_info_topic)"/>
+	  
+        <param name="frame_id"                    type="string" value="$(arg frame_id)"/>
+        <param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
+        <param name="approx_sync"                 type="bool"   value="$(arg approx_sync)"/>
+        <param name="config_path"                 type="string" value="$(arg cfg)"/>
+        <param name="queue_size"                  type="int" value="$(arg queue_size)"/>
+      </node>
+    </group>
+  
+    <!-- Visual SLAM (robot side) -->
+    <!-- args: "delete_db_on_start" and "udebug" -->
+    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
+      <param     if="$(arg stereo)" name="subscribe_depth"  type="bool" value="false"/>
+      <param unless="$(arg stereo)" name="subscribe_depth"  type="bool" value="true"/>
+      <param name="subscribe_stereo"     type="bool"   value="$(arg stereo)"/>
+      <param name="subscribe_scan"       type="bool"   value="$(arg subscribe_scan)"/>
+      <param name="subscribe_scan_cloud" type="bool"   value="$(arg subscribe_scan_cloud)"/>
+      <param name="frame_id"             type="string" value="$(arg frame_id)"/>
+      <param name="wait_for_transform_duration"  type="double"   value="$(arg wait_for_transform)"/>
+      <param name="database_path"        type="string" value="$(arg database_path)"/>
+      <param name="approx_sync"          type="bool"   value="$(arg approx_sync)"/>
+      <param name="config_path"          type="string" value="$(arg cfg)"/>
+      <param name="queue_size"           type="int" value="$(arg queue_size)"/>
+      
+      <remap from="rgb/image"       to="$(arg rgb_topic_relay)"/>
+      <remap from="depth/image"     to="$(arg depth_topic_relay)"/>
+      <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
+	
+      <remap from="left/image_rect"        to="$(arg left_image_topic_relay)"/>
+      <remap from="right/image_rect"       to="$(arg right_image_topic_relay)"/>
+      <remap from="left/camera_info"       to="$(arg left_camera_info_topic)"/>
+      <remap from="right/camera_info"      to="$(arg right_camera_info_topic)"/>
+      
+      <remap from="scan"                   to="$(arg scan_topic)"/>
+      <remap from="scan_cloud"             to="$(arg scan_cloud_topic)"/>
+      <remap unless="$(arg visual_odometry)" from="odom"  to="$(arg odom_topic)"/>
+      
+      <!-- localization mode -->
+	  <param     if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
+	  <param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
+	  <param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
+    </node>
+  
+    <!-- Visualisation RTAB-Map -->
+    <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(arg gui_cfg)" output="screen" launch-prefix="$(arg launch_prefix)">
+      <param     if="$(arg stereo)" name="subscribe_depth"  type="bool" value="false"/>
+      <param unless="$(arg stereo)" name="subscribe_depth"  type="bool" value="true"/>
+      <param name="subscribe_stereo"     type="bool"   value="$(arg stereo)"/>
+      <param name="subscribe_scan"       type="bool"   value="$(arg subscribe_scan)"/>
+      <param name="subscribe_scan_cloud" type="bool"   value="$(arg subscribe_scan_cloud)"/>
+      <param name="subscribe_odom_info"  type="bool"   value="$(arg visual_odometry)"/>
+      <param name="frame_id"             type="string" value="$(arg frame_id)"/>
+      <param name="wait_for_transform_duration" type="double"   value="$(arg wait_for_transform)"/>
+      <param name="queue_size"           type="int" value="$(arg queue_size)"/>
+    
+      <remap from="rgb/image"       to="$(arg rgb_topic_relay)"/>
+      <remap from="depth/image"     to="$(arg depth_topic_relay)"/>
+      <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
+      
+      <remap from="left/image_rect"        to="$(arg left_image_topic_relay)"/>
+      <remap from="right/image_rect"       to="$(arg right_image_topic_relay)"/>
+      <remap from="left/camera_info"       to="$(arg left_camera_info_topic)"/>
+      <remap from="right/camera_info"      to="$(arg right_camera_info_topic)"/>
+      
+      <remap from="scan"                   to="$(arg scan_topic)"/>
+      <remap from="scan_cloud"             to="$(arg scan_cloud_topic)"/>
+      <remap unless="$(arg visual_odometry)" from="odom"  to="$(arg odom_topic)"/>
+    </node>
+  
+  </group>
+  
+  <!-- Visualization RVIZ -->
+  <node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="$(arg rviz_cfg)"/>
+  <node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
+    <remap from="left/image"        to="$(arg left_image_topic_relay)"/>
+    <remap from="right/image"       to="$(arg right_image_topic_relay)"/>
+    <remap from="left/camera_info"  to="$(arg left_camera_info_topic)"/>
+    <remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
+    <remap from="rgb/image"         to="$(arg rgb_topic_relay)"/>
+    <remap from="depth/image"       to="$(arg depth_topic_relay)"/>
+    <remap from="rgb/camera_info"   to="$(arg camera_info_topic)"/>
+    <remap from="cloud"             to="voxel_cloud" />
+
+    <param name="decimation"  type="double" value="2"/>
+    <param name="voxel_size"  type="double" value="0.02"/>
+    <param name="approx_sync" type="bool"   value="$(arg approx_sync)"/>
+  </node>
+
+</launch>