diff --git a/build-everything.sh b/build-everything.sh
new file mode 100644
index 0000000..7bb5593
--- /dev/null
+++ b/build-everything.sh
@@ -0,0 +1,85 @@
+#! /usr/bin/env bash
+
+if (( EUID == 0 )); then
+	SUDO=""
+else
+	SUDO="sudo"
+fi
+
+
+$SUDO add-apt-repository universe
+$SUDO apt update
+
+export DEBIAN_FRONTEND=noninteractive
+
+DEPS_0="curl git sudo apt-utils dialog locales"
+DEPS_1="libboost-all-dev cmake libtbb-dev  intel-mkl-full python3-rosdep python3-colcon-common-extensions sudo git software-properties-common python3-dev python3-full python3-pip"
+DEPS_2="ros-dev-tools ros-jazzy-desktop ros-jazzy-rtabmap ros-jazzy-rtabmap-msgs ros-jazzy-navigation2 ros-jazzy-nav2-bringup  ros-jazzy-nav2-minimal-tb* ros-jazzy-perception-pcl ros-jazzy-rtabmap-conversions ros-rolling-cv-bridge "
+
+$SUDO apt install -y $DEPS_0
+
+
+$SUDO locale-gen en_US en_US.UTF-8
+$SUDO update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+export LANG=en_US.UTF-8
+export LC_ALL=en_US.UTF-8
+
+git clone https://github.com/anadon/cslam.git
+git clone https://github.com/lajoiepy/cslam_interfaces.git 
+git clone https://github.com/lajoiepy/cslam_experiments.git 
+git clone https://github.com/borglab/gtsam.git 
+
+$SUDO apt install -y $DEPS_1
+
+$SUDO curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+
+echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo "$UBUNTU_CODENAME") main" | sudo tee "/etc/apt/sources.list.d/ros2.list" > /dev/null
+
+
+$SUDO apt update
+$SUDO apt install -y $DEPS_2
+
+pip install -r requirements.txt
+
+
+pushd gtsam || exit 1
+
+echo "WARNING!!! This deviates from the Swarm-Slam instructions by using gtsam v4.2 and not 4.1.1."
+mkdir build
+cd build || exit 1
+cmake ..
+ # make check (optional, runs unit tests)
+$SUDO make install
+
+popd || exit 1
+
+##################
+# ROS 2 OS SETUP #
+##################
+
+echo "WARNING!!! This deviates from Swarm-Slam instructions by using ROS 2 Jazzy instead of Foxy"
+echo "WARNING!!! This is setting up a one-time configuration change because it is destructive to your environment.  This installer is REQUIRING that you take manual action to make this change permenent."
+
+# Replace ".bash" with your shell if you're not using bash
+# Possible values are: setup.bash, setup.sh, setup.zsh
+
+echo 'source "/opt/ros/jazzy/setup.bash"' >> ~/.bashrc 
+source "/opt/ros/jazzy/setup.bash"
+
+$SUDO rosdep init
+
+rosdep update
+rosdep install --from-paths src -y --ignore-src --rosdistro jazzy 
+
+pushd cslam_interfaces || exit 1
+colcon build
+  echo 'source "/Swarm-SLAM/cslam_interfaces/install/setup.bash"' >> "$HOME/.bashrc"
+  source "/Swarm-SLAM/cslam_interfaces/install/setup.bash"
+popd || exit 1
+
+colcon build
+colcon test
+
+echo 'source "/Swarm-SLAM/install/setup.bash"' >> "$HOME/.bashrc" 
+source "/Swarm-SLAM/install/setup.bash"
+