diff --git a/README.md b/README.md
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+++ b/README.md
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+# Perception Develop Environment
+Repository housing perception dev environment setup script
+
+Compile on Command Line: 
+
+g++ test.cpp -I/usr/local/include/pcl-1.11 -I/usr/local/include/eigen3 -I/usr/include/boost -I/usr/include/vtk-6.3 -I/usr/include/flann -lpcl_common -lpcl_visualization -lpcl_io -lvtksys-6.3 -lvtkRenderingCore-6.3 -lvtkCommonCore-6.3 -lvtkCommonDataModel-6.3 -lvtkCommonMath-6.3 -lvtkFiltersCore-6.3 -lvtkCommonExecutionModel-6.3 -lvtkFiltersGeometry-6.3 -lboost_system -o test
+
+Run on Command Line:
+
+./test
+
diff --git a/cuda-repo-ubuntu1804_10.0.130-1_amd64.deb b/cuda-repo-ubuntu1804_10.0.130-1_amd64.deb
new file mode 100644
index 0000000..85eaa00
Binary files /dev/null and b/cuda-repo-ubuntu1804_10.0.130-1_amd64.deb differ
diff --git a/perception_dev_setup b/perception_dev_setup
new file mode 100755
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--- /dev/null
+++ b/perception_dev_setup
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+#! /bin/bash
+
+ask_question(){
+    while :
+    do
+        read -p "$question" input
+        
+        if [ $input == 'y' ] || [ $input == 'Y' ] || [ $input == 'n' ] || [ $input == 'N' ]
+        then
+            break;
+        fi
+        echo "Please enter (Y/N)";
+    done
+}
+
+stop_if_fail(){
+if ! $command
+then 
+    echo "Couldn't $command"
+    exit;
+fi
+}
+
+retry_command(){
+if ! $command
+then 
+    for i in 1 2
+    do
+        echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!$command FAILED. Attempt $i. Please close all other applications"
+        
+        if $command
+        then
+            check='y' 
+            break
+        fi
+    
+    done
+
+    if ! [ $check == 'y' ]
+    then
+        echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!$command FAILED. Retrying. Attempt 3. Please close all other applications"
+        stop_if_fail
+    fi
+fi
+}
+
+install_cuda(){
+
+echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!INSTALLING CUDA"
+echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!DOWNLOADING 1.6GB FILE"
+dpkg -i cuda-repo-ubuntu1804_10.0.130-1_amd64.deb
+apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/7fa2af80.pub
+apt-get update -y
+apt-get install -y cuda-10-0
+exit
+
+}
+
+setup_workspace() {
+
+echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!Setting Up Workspace"
+cd ~
+apt-get install -y git
+
+command="cd $workspace"
+stop_if_fail
+command="cd mrover-workspace"
+stop_if_fail
+
+apt-get update
+apt-get -y upgrade
+apt-get install -y build-essential software-properties-common apt-transport-https git wget
+apt-add-repository ppa:ansible/ansible
+apt-get update
+apt-get install -y ansible
+
+command="cd ansible"
+stop_if_fail
+command="ansible-playbook -i "localhost," -c local devbox.yml"
+stop_if_fail
+echo "Workspace all set!"
+
+}
+
+
+question="Setup Workspace? (Y/N): "
+ask_question
+setupWorkspace=$input
+
+if [ $setupWorkspace == 'y' ] || [ $setupWorkspace == 'Y' ] ;
+then
+read -p "Please enter path to mrover-workspace (doesn't include 'mrover-workspace'):" workspace
+setup_workspace
+exit
+fi
+
+question="OpenCV? (Y/N): ";
+ask_question
+openCV=$input
+
+question="CUDA? (Y/N): ";
+ask_question
+installCuda=$input
+
+if [ $installCuda == 'y' ] || [ $installCuda == 'Y' ] ;
+then
+    echo "You have indicated you wish to install CUDA" ; 
+    echo "Once CUDA is installed you must restart your computer" ;
+    echo "After restart select N for this option and Y for the CUDA Installed option to continue setting up rest of the dev evn" ;
+    question="Continue? (Y/N) ";
+    ask_question
+    install_cuda
+fi
+
+question="CUDA Installed? (Y/N): ";
+ask_question
+CUDA=$input
+
+if [ $CUDA == 'y' ] || [ $CUDA == 'Y' ] ;
+then
+    question="ZedSDK? (Y/N): ";
+    ask_question
+    zedSDK=$input
+fi
+
+question="PCL? (Y/N): ";
+ask_question
+PCL=$input
+
+if [[ $PCL == 'y' || $PCL == 'Y' ]] && [[ $CUDA == 'y' || $CUDA == 'Y' ]] ;
+then
+question="PCL GPU Configuration? (Y/N): ";
+ask_question
+PCL_GPU=$input
+fi
+
+if [ $openCV == 'y' ] || [ $openCV == 'Y' ] 
+then
+
+echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!INSTALLING OPENCV"
+apt-get update
+apt-get -y upgrade
+apt-get install -y build-essential software-properties-common apt-transport-https wget
+apt-get autoremove -y
+apt-get install -y --no-install-recommends cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev python3.6-dev python3-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff5-dev jasper libdc1394-22-dev libeigen3-dev libtheora-dev libvorbis-dev libxvidcore-dev libx264-dev sphinx-common libtbb-dev yasm libfaac-dev libopencore-amrnb-dev libopencore-amrwb-dev libopenexr-dev libgstreamer-plugins-base1.0-dev libavutil-dev libavfilter-dev libavresample-dev
+cd /usr/local
+wget -O opencv-3.2.0.tar.gz https://github.com/opencv/opencv/archive/3.2.0.tar.gz
+tar -xzf opencv-3.2.0.tar.gz
+wget -O opencv_contrib-3.2.0.tar.gz https://github.com/opencv/opencv_contrib/archive/3.2.0.tar.gz
+tar -xzf opencv_contrib-3.2.0.tar.gz
+rm opencv-3.2.0.tar.gz
+rm opencv_contrib-3.2.0.tar.gz
+cd opencv-3.2.0
+mkdir release
+cd release
+cmake -DENABLE_PREMCOMPILED_HEADERS=OFF -D WITH_CUDA=OFF -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D OPENCV_EXTRA_MODULES_PATH=/usr/local/opencv_contrib-3.2.0/modules -D BUILD_opencv_aruco=ON -D BUILD_opencv_bgsegm=OFF -D BUILD_opencv_bioinspired=OFF -D BUILD_opencv_ccalib=OFF -D BUILD_opencv_cnn_3dobj=OFF -D BUILD_opencv_cvv=OFF -D BUILD_opencv_datasets=OFF -D BUILD_opencv_dnn_objdetect=OFF -D BUILD_opencv_dnn_superres=OFF -D BUILD_opencv_dnns_easily_fooled=OFF -D BUILD_opencv_dpm=OFF -D BUILD_opencv_face=OFF -D BUILD_opencv_fuzzy=OFF -D BUILD_opencv_freetype=OFF -D BUILD_opencv_hdf=OFF -D BUILD_opencv_line_descriptor=OFF -D BUILD_opencv_matlab=OFF -D BUILD_opencv_optflow=OFF -D BUILD_opencv_ovis=OFF -D BUILD_opencv_plot=OFF -D BUILD_opencv_reg=OFF -D BUILD_opencv_rgbd=OFF -D BUILD_opencv_saliency=OFF -D BUILD_opencv_sfm=OFF -D BUILD_opencv_stereo=OFF -D BUILD_opencv_structured_light=OFF -D BUILD_opencv_surface_matching=OFF -D BUILD_opencv_text=OFF -D BUILD_opencv_tracking=OFF -D BUILD_opencv_xfeatures2d=OFF -D BUILD_opencv_ximgproc=OFF -D BUILD_opencv_xobjdetect=OFF -D BUILD_opencv_xphoto=OFF /usr/local/opencv-3.2.0/
+command="make"
+stop_if_fail
+make install
+ldconfig
+echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!CLEANING OPENCV"
+cd /usr/local
+rm -rf opencv-3.2.0
+
+fi
+
+if [ $PCL == 'y' ] || [ $PCL == 'Y' ] 
+then 
+
+echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!INSTALLING VTK"
+apt-get install -y libboost-all-dev curl cmake libxt-dev 
+apt-get install -y --no-install-recommends cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev python3.6-dev python3-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff5-dev jasper libdc1394-22-dev libeigen3-dev libtheora-dev libvorbis-dev libxvidcore-dev libx264-dev sphinx-common libtbb-dev yasm libfaac-dev libopencore-amrnb-dev libopencore-amrwb-dev libopenexr-dev libgstreamer-plugins-base1.0-dev libavutil-dev libavfilter-dev libavresample-dev 
+
+if [ $PCL_GPU == 'y' ] || [ $PCL_GPU == 'Y' ] ;
+then 
+    curl https://vtk.org/files/release/8.2/VTK-8.2.0.tar.gz --output VTK-8.2.0.tar.gz
+    command="tar -xvzf VTK-8.2.0.tar.gz"
+    stop_if_fail
+    mv VTK-8.2.0 /usr/local
+    cd /usr/local/VTK-8.2.0/
+    mkdir VTK-Release-build
+    cd VTK-Release-build/
+    cmake -DCMAKE_BUILD_TYPE:STRING=Release /usr/local/VTK-8.2.0/ -DVTK_USE_SYSTEM_PNG=ON
+    make -j1 install
+    echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!INSTALLED VTK VERSION 8.2" ;
+else 
+    apt-get install -y libvtk6-dev libvtk6-java
+    ehcho "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!INSTALLED VTK VERSION 6.3" ;
+fi
+
+
+echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!INSTALLING EIGEN"
+cd /usr/local
+wget -qO- https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.tar.gz | sudo tar xz
+apt install -y libblas-dev
+cd eigen-3.3.7 && sudo mkdir build && cd build
+cmake ..
+make install
+cd ../.. && sudo rm -rf eigen-3.3.7/ && sudo rm -f eigen-3.3.7.tar.gz
+
+echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!INSTALLING PCL"
+apt-get install -y libflann-dev libgtest-dev libboost-all-dev
+cd /usr/local
+curl https://codeload.github.com/PointCloudLibrary/pcl/tar.gz/pcl-1.11.1 --output pcl-pcl-1.11.1.tar.gz
+tar -xvzf pcl-pcl-1.11.1.tar.gz 
+rm pcl-pcl-1.11.1.tar.gz
+cd pcl-pcl-1.11.1
+sudo mkdir build && cd build
+
+if [ $PCL_GPU == 'y' ] || [ $PCL_GPU == 'Y' ] ;
+then 
+    command="cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_CUDA=ON -DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_global_tests=ON -DBUILD_outofcore=on -DBUILD_people=ON -DBUILD_visualization=ON -DBUILD_cuda_io=ON .."
+    stop_if_fail
+    echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!CONFIGURED FOR GPU" ;
+else
+    command="cmake -DCMAKE_BUILD_TYPE=Release .."
+    stop_if_fail
+fi
+
+echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!BUILDING BE PATIENT. CLOSE ALL OPEN APPLICATIONS!!!!!!"
+command="make -j1"
+stop_if_fail
+make install
+ldconfig
+echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!CLEANING PCL"
+cd /usr/local
+rm -rf pcl-pcl-1.11.1
+fi
+
+if [ $zedSDK == 'y' ] || [ $zedSDK == 'Y' ]
+then
+
+echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!INSTALLING ZED SDK"
+apt-get install --no-install-recommends lsb-release wget less udev sudo apt-transport-https -y
+apt-get update -y
+wget -O ZED_SDK_Linux_Ubuntu18.run https://download.stereolabs.com/zedsdk/3.2/cu100/ubuntu18
+command="chmod +x ZED_SDK_Linux_Ubuntu18.run"
+stop_if_fail
+./ZED_SDK_Linux_Ubuntu18.run silent
+rm ZED_SDK_Linux_Ubuntu18.run
+fi
+
+
diff --git a/test.cpp b/test.cpp
new file mode 100644
index 0000000..c07e91b
--- /dev/null
+++ b/test.cpp
@@ -0,0 +1,30 @@
+
+#include <pcl/visualization/pcl_visualizer.h>
+#include <pcl/common/common_headers.h>
+#include <pcl/io/pcd_io.h>
+
+
+int main() {
+	pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
+
+	pcl::visualization::PCLVisualizer viewer("PCL ZED 3D Viewer"); 
+	viewer.setBackgroundColor(0.12, 0.12, 0.12);
+    pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud);
+    viewer.addPointCloud<pcl::PointXYZRGB>(cloud, rgb);
+    viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1.5);
+    viewer.addCoordinateSystem(1.0);
+    viewer.initCameraParameters();
+    viewer.setCameraPosition(0,0,-800,0,-1,0);
+
+if (pcl::io::loadPCDFile<pcl::PointXYZRGB> ("pcl/pcl10.pcd", *cloud) == -1) //* load the file
+  {
+    PCL_ERROR ("Couldn't read file test_pcd.pcd \n");
+    return (-1);
+  }
+   
+while(true){
+viewer.updatePointCloud(cloud);
+    viewer.spinOnce(10);}
+return 0;
+
+}