diff --git a/installROS.sh b/installROS.sh
index 920aefd..8b2c1cc 100755
--- a/installROS.sh
+++ b/installROS.sh
@@ -1,4 +1,34 @@
 #!/bin/bash
+# Install ROS on NVIDIA Jetson Developer Kits
+# Copyright (c) JetsonHacks, 2019-2021
+
+# MIT License
+# Maintainer of ARM builds for ROS is http://answers.ros.org/users/1034/ahendrix/
+# Information from:
+# http://wiki.ros.org/melodic/Installation/UbuntuARM
+
+# Get code name of distribution
+# lsb_release gets the Ubuntu Description Release and Code name
+DISTRIBUTION_CODE_NAME=$( lsb_release -sc )
+
+case $DISTRIBUTION_CODE_NAME in
+  "xenial" )
+    echo "This Ubuntu distribution is Ubuntu Xenial (16.04)"
+    echo "This install is not the ROS recommended version for Ubuntu Xenial."
+    echo "ROS Bionic is the recommended version."
+    echo "This script installs ROS Melodic. You will need to modify it for your purposes."
+    exit 0
+  ;;
+  "bionic")
+    echo "This Ubuntu distribution is Ubuntu Bionic (18.04)"
+    echo "Installing ROS Melodic"
+  ;;
+  *)
+    echo "This distribution is $DISTRIBUTION_CODE_NAME"
+    echo "This script will only work with Ubuntu Xenial (16.04) or Bionic (18.04)"
+    exit 0
+esac
+
 # Install Robot Operating System (ROS) on NVIDIA Jetson Developer Kit
 # Maintainer of ARM builds for ROS is http://answers.ros.org/users/1034/ahendrix/
 # Information from:
@@ -8,7 +38,7 @@
 # Green is 2
 # Reset is sgr0
 
-function usage
+usage ()
 {
     echo "Usage: ./installROS.sh [[-p package] | [-h]]"
     echo "Install ROS Melodic"
@@ -22,7 +52,7 @@ function usage
     echo "-h | --help  This message"
 }
 
-function shouldInstallPackages
+shouldInstallPackages ()
 {
     tput setaf 1
     echo "Your package list did not include a recommended base package"
@@ -87,9 +117,9 @@ sudo apt-add-repository restricted
 # Setup sources.lst
 sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
 # Setup keys
-sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
-# If you experience issues connecting to the keyserver, you can try substituting hkp://pgp.mit.edu:80 or hkp://keyserver.ubuntu.com:80 in the previous command.
-# Installation
+sudo apt install curl 
+curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+
 tput setaf 2
 echo "Updating apt-get"
 tput sgr0
@@ -120,8 +150,6 @@ tput setaf 2
 echo "Installing rosdep"
 tput sgr0
 sudo apt-get install python-rosdep -y
-# Certificates are messed up on earlier version Jetson for some reason
-# sudo c_rehash /etc/ssl/certs
 # Initialize rosdep
 tput setaf 2
 echo "Initializaing rosdep"
@@ -129,15 +157,54 @@ tput sgr0
 sudo rosdep init
 # To find available packages, use:
 rosdep update
-# Environment Setup - Don't add /opt/ros/melodic/setup.bash if it's already in bashrc
+# Environment Setup - source melodic setup.bash
+# Don't add /opt/ros/melodic/setup.bash if it's already in bashrc
 grep -q -F 'source /opt/ros/melodic/setup.bash' ~/.bashrc || echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
 source ~/.bashrc
 # Install rosinstall
 tput setaf 2
 echo "Installing rosinstall tools"
 tput sgr0
-sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential -y
+
+# Install useful ROS dev tools
+sudo apt-get install -y python-rosinstall \
+  python-rosinstall-generator \
+  python-wstool \
+  build-essential
+
+# Use ip to get the current IP addresses of eth0 and wlan0; parse into form xx.xx.xx.xx
+ETH0_IPADDRESS=$(ip -4 -o addr show eth0 | awk '{print $4}' | cut -d "/" -f 1)
+WLAN_IPADDRESS=$(ip -4 -o addr show wlan0 | awk '{print $4}' | cut -d "/" -f 1)
+
+if [ -z "$ETH0_IPADDRESS" ] ; then
+  echo "Ethernet (eth0) is not available"
+else
+  echo "Ethernet (eth0) is $ETH0_IPADDRESS"
+fi
+if [ -z "$WLAN_IPADDRESS" ] ; then
+  echo "Wireless (wlan0) is not available"
+else
+  echo "Wireless (wlan0) ip address is $WLAN_IPADDRESS"
+fi
+
+# Default to eth0 if available; wlan0 next
+ROS_IP_ADDRESS=""
+if [ ! -z "$ETH0_IPADDRESS" ] ; then
+  ROS_IP_ADDRESS=$ETH0_IPADDRESS
+else
+  ROS_IP_ADDRESS=$WLAN_IPADDRESS
+fi
+if [ ! -z "$ROS_IP_ADDRESS" ] ; then
+  echo "Setting ROS_IP in ${HOME}/.bashrc to: $ROS_IP_ADDRESS"
+else
+  echo "Setting ROS_IP to empty. Please change ROS_IP in the ${HOME}/.bashrc file"
+fi
+
+#setup ROS environment variables
+grep -q -F ' ROS_MASTER_URI' ~/.bashrc ||  echo 'export ROS_MASTER_URI=http://localhost:11311' | tee -a ~/.bashrc
+grep -q -F ' ROS_IP' ~/.bashrc ||  echo "export ROS_IP=${ROS_IP_ADDRESS}" | tee -a ~/.bashrc
 tput setaf 2
+
 echo "Installation complete!"
 echo "Please setup your Catkin Workspace"
 tput sgr0
diff --git a/setupCatkinWorkspace.sh b/setupCatkinWorkspace.sh
index e1aacc5..afb5225 100755
--- a/setupCatkinWorkspace.sh
+++ b/setupCatkinWorkspace.sh
@@ -1,33 +1,47 @@
 #!/bin/bash
-# Create a Catkin Workspace and setup ROS environment variables
-# Usage setupCatkinWorkspace.sh dirName
+# Create a Catkin Workspace
+# Copyright (c) JetsonHacks, 2019-2021
+
+# MIT License
+# Maintainer of ARM builds for ROS is http://answers.ros.org/users/1034/ahendrix/
+# Information from:
+# http://wiki.ros.org/melodic/Installation/UbuntuARM
+# 
 
 source /opt/ros/melodic/setup.bash
-DEFAULTDIR=~/catkin_ws
-CLDIR="$1"
-if [ ! -z "$CLDIR" ]; then 
- DEFAULTDIR=~/"$CLDIR"
-fi
-if [ -e "$DEFAULTDIR" ] ; then
-  echo "$DEFAULTDIR already exists; no action taken" 
+
+# Usage setupCatkinWorkspace.sh dirName
+help_usage ()
+{
+    echo "Usage: ./setupCatkinWorkspac.sh <path>"
+    echo "  Setup a Catkin Workspace at the path indicated"
+    echo "  Default path is ~/catkin_ws"
+    echo "  -h | --help  This message"
+    exit 0
+}
+
+CATKIN_DIR=""
+ case $1 in
+   -h | --help)           help_usage ;;
+    *)                    CATKIN_DIR="$1" ;;
+ esac
+
+
+CATKIN_DIR=${CATKIN_DIR:="${HOME}/catkin_ws"}
+
+if [ -e "$CATKIN_DIR" ] ; then
+  echo "$CATKIN_DIR already exists; no action taken" 
   exit 1
 else 
-  echo "Creating Catkin Workspace: $DEFAULTDIR"
+  echo "Creating Catkin Workspace: $CATKIN_DIR"
 fi
-echo "$DEFAULTDIR"/src
-mkdir -p "$DEFAULTDIR"/src
-cd "$DEFAULTDIR"/src
+echo "$CATKIN_DIR"/src
+mkdir -p "$CATKIN_DIR"/src
+cd "$CATKIN_DIR"/src
 catkin_init_workspace
-cd "$DEFAULTDIR"
+cd ..
 catkin_make
 
 
-#setup ROS environment variables
-grep -q -F ' ROS_MASTER_URI' ~/.bashrc ||  echo 'export ROS_MASTER_URI=http://localhost:11311' | tee -a ~/.bashrc
-grep -q -F ' ROS_IP' ~/.bashrc ||  echo "export ROS_IP=$(hostname -I)" | tee -a ~/.bashrc
-echo "export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH" >> ~/.bashrc
-
-echo "The Catkin Workspace has been created"
-echo "Please modify the placeholders for ROS_MASTER_URI and ROS_IP placed into the file ${HOME}/.bashrc"
-echo "to suit your environment."
+echo "Catkin workspace: $CATKIN_DIR created"