diff --git a/software/code_reference/QT/DualScreenTest/.idea/DualScreenTest.iml b/software/code_reference/QT/DualScreenTest/.idea/DualScreenTest.iml
deleted file mode 100644
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+++ /dev/null
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diff --git a/software/code_reference/QT/DualScreenTest/.idea/workspace.xml b/software/code_reference/QT/DualScreenTest/.idea/workspace.xml
deleted file mode 100644
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-
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- 1510038952879
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diff --git a/software/design_reference/Canadian team's awesome rover diagram - THANKS CANADA!!.png b/software/design_reference/Canadian team's awesome rover diagram - THANKS CANADA!!.png
deleted file mode 100644
index 3441561..0000000
Binary files a/software/design_reference/Canadian team's awesome rover diagram - THANKS CANADA!!.png and /dev/null differ
diff --git a/software/environment_reference/UDEV Rules/99-rover-cameras.rules b/software/environment/rover/UDEV_rules/99-rover-cameras.rules
similarity index 100%
rename from software/environment_reference/UDEV Rules/99-rover-cameras.rules
rename to software/environment/rover/UDEV_rules/99-rover-cameras.rules
diff --git a/software/environment_reference/UDEV Rules/99-rover-usb-serial.rules b/software/environment/rover/UDEV_rules/99-rover-usb-serial.rules
similarity index 100%
rename from software/environment_reference/UDEV Rules/99-rover-usb-serial.rules
rename to software/environment/rover/UDEV_rules/99-rover-usb-serial.rules
diff --git a/software/environment_reference/UDEV Rules/install_rules.sh b/software/environment/rover/UDEV_rules/install_rules.sh
similarity index 100%
rename from software/environment_reference/UDEV Rules/install_rules.sh
rename to software/environment/rover/UDEV_rules/install_rules.sh
diff --git a/software/environment_reference/ZED Settings/SN2129.conf b/software/environment/rover/ZED_settings/SN2129.conf
similarity index 100%
rename from software/environment_reference/ZED Settings/SN2129.conf
rename to software/environment/rover/ZED_settings/SN2129.conf
diff --git a/software/ground_station/Resources/Images/compass.png b/software/ground_station/Resources/Images/compass.png
deleted file mode 100644
index d9fcdb4..0000000
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diff --git a/software/ground_station_setup.sh b/software/ground_station_setup.sh
new file mode 100755
index 0000000..a8e3eb4
--- /dev/null
+++ b/software/ground_station_setup.sh
@@ -0,0 +1,50 @@
+#!/usr/bin/env bash
+# As a point of reference, the environment layout should be as follows
+# /home/$user/Github/Rover_2017_2018 for the OSURC github repo
+# /home/$user/catkin_workspace for the user's catkin catkin_workspace
+# By keeping this consistent across all development machines, it will make it
+# easier to keep track of things
+
+# Which folders should be symbolically_linked?
+folders_to_link=(
+ ground_station
+ rover_control
+ nimbro_topic_transport
+ rover_main
+)
+
+# Print heading
+echo "Setting up ROS packages for ground_station."
+
+# Get the catkin_workspace directory
+catkin_workspace_dir="catkin_workspace"
+catkin_workspace_path="$HOME/$catkin_workspace_dir"
+catkin_src_path="$catkin_workspace_path/src"
+
+# Get the rover software directory
+github_rover_repo_dir="Github/Rover_2017_2018"
+github_rover_packages_path="$HOME/$github_rover_repo_dir/software/ros_packages"
+
+# Remove existing symbolic links if necessary
+symlinked_folders=$(find $catkin_src_path -maxdepth 1 -type l)
+if [ -z $symlinked_folders ]; then
+ echo "No symlinks to remove from catkin_workspace. Skipping."
+else
+ echo "Removing existing symlinks in catkin_workspace."
+ rm $symlinked_folders
+fi
+
+# Make the new symbolic link connections
+echo "Making new symlinks."
+for folder in ${folders_to_link[@]}; do
+ ln -s "$github_rover_packages_path/$folder" "$catkin_src_path/."
+ echo "Adding symlink for $folder."
+done
+
+# catkin_make so the new pacakges are available and re-source bash
+cd "$catkin_workspace_path"
+catkin_make
+
+source ~/.bashrc
+
+exit 0
diff --git a/software/code_reference/QT/DualScreenTest/Resources/UI/RoverGui.ui b/software/reference/code_reference/QT/DualScreenTest/Resources/UI/RoverGui.ui
similarity index 100%
rename from software/code_reference/QT/DualScreenTest/Resources/UI/RoverGui.ui
rename to software/reference/code_reference/QT/DualScreenTest/Resources/UI/RoverGui.ui
diff --git a/software/code_reference/QT/DualScreenTest/Resources/UI/RoverGui2.ui b/software/reference/code_reference/QT/DualScreenTest/Resources/UI/RoverGui2.ui
similarity index 100%
rename from software/code_reference/QT/DualScreenTest/Resources/UI/RoverGui2.ui
rename to software/reference/code_reference/QT/DualScreenTest/Resources/UI/RoverGui2.ui
diff --git a/software/code_reference/QT/DualScreenTest/main.py b/software/reference/code_reference/QT/DualScreenTest/main.py
similarity index 100%
rename from software/code_reference/QT/DualScreenTest/main.py
rename to software/reference/code_reference/QT/DualScreenTest/main.py
diff --git a/software/design_reference/UI Design/left_screen.svg b/software/reference/design_reference/UI Design/left_screen.svg
similarity index 100%
rename from software/design_reference/UI Design/left_screen.svg
rename to software/reference/design_reference/UI Design/left_screen.svg
diff --git a/software/design_reference/UI Design/right_screen.svg b/software/reference/design_reference/UI Design/right_screen.svg
similarity index 100%
rename from software/design_reference/UI Design/right_screen.svg
rename to software/reference/design_reference/UI Design/right_screen.svg
diff --git a/software/rover/CMakeLists.txt b/software/ros_packages/CMakeLists.txt
similarity index 100%
rename from software/rover/CMakeLists.txt
rename to software/ros_packages/CMakeLists.txt
diff --git a/software/rover/Readme.md b/software/ros_packages/Readme.md
similarity index 100%
rename from software/rover/Readme.md
rename to software/ros_packages/Readme.md
diff --git a/software/ros_packages/ground_station/CMakeLists.txt b/software/ros_packages/ground_station/CMakeLists.txt
new file mode 100644
index 0000000..321758e
--- /dev/null
+++ b/software/ros_packages/ground_station/CMakeLists.txt
@@ -0,0 +1,197 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(ground_station)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ rospy
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES ground_station
+# CATKIN_DEPENDS rospy
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+ ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/ground_station.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/ground_station_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+# ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_ground_station.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/software/ros_packages/ground_station/package.xml b/software/ros_packages/ground_station/package.xml
new file mode 100644
index 0000000..f3fbd0d
--- /dev/null
+++ b/software/ros_packages/ground_station/package.xml
@@ -0,0 +1,62 @@
+
+
+ ground_station
+ 0.0.0
+ The ground_station package
+
+
+
+
+ caperren
+
+
+
+
+
+ TODO
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ catkin
+ rospy
+ rospy
+ rospy
+
+
+
+
+
+
+
+
diff --git a/software/ground_station/Framework/DriveSystems/RoverDriveSender.py b/software/ros_packages/ground_station/src/Framework/DriveSystems/RoverDriveSender.py
similarity index 100%
rename from software/ground_station/Framework/DriveSystems/RoverDriveSender.py
rename to software/ros_packages/ground_station/src/Framework/DriveSystems/RoverDriveSender.py
diff --git a/software/ground_station/Framework/DriveSystems/__init__.py b/software/ros_packages/ground_station/src/Framework/DriveSystems/__init__.py
similarity index 100%
rename from software/ground_station/Framework/DriveSystems/__init__.py
rename to software/ros_packages/ground_station/src/Framework/DriveSystems/__init__.py
diff --git a/software/ground_station/Framework/LoggingSystems/Logger.py b/software/ros_packages/ground_station/src/Framework/LoggingSystems/Logger.py
similarity index 100%
rename from software/ground_station/Framework/LoggingSystems/Logger.py
rename to software/ros_packages/ground_station/src/Framework/LoggingSystems/Logger.py
diff --git a/software/ground_station/Framework/LoggingSystems/__init__.py b/software/ros_packages/ground_station/src/Framework/LoggingSystems/__init__.py
similarity index 100%
rename from software/ground_station/Framework/LoggingSystems/__init__.py
rename to software/ros_packages/ground_station/src/Framework/LoggingSystems/__init__.py
diff --git a/software/ground_station/Framework/MapSystems/RoverMap.py b/software/ros_packages/ground_station/src/Framework/MapSystems/RoverMap.py
similarity index 100%
rename from software/ground_station/Framework/MapSystems/RoverMap.py
rename to software/ros_packages/ground_station/src/Framework/MapSystems/RoverMap.py
diff --git a/software/ground_station/Framework/MapSystems/RoverMapCoordinator.py b/software/ros_packages/ground_station/src/Framework/MapSystems/RoverMapCoordinator.py
similarity index 100%
rename from software/ground_station/Framework/MapSystems/RoverMapCoordinator.py
rename to software/ros_packages/ground_station/src/Framework/MapSystems/RoverMapCoordinator.py
diff --git a/software/ground_station/Framework/MapSystems/RoverMapHelper.py b/software/ros_packages/ground_station/src/Framework/MapSystems/RoverMapHelper.py
similarity index 100%
rename from software/ground_station/Framework/MapSystems/RoverMapHelper.py
rename to software/ros_packages/ground_station/src/Framework/MapSystems/RoverMapHelper.py
diff --git a/software/ground_station/Framework/MapSystems/__init__.py b/software/ros_packages/ground_station/src/Framework/MapSystems/__init__.py
similarity index 100%
rename from software/ground_station/Framework/MapSystems/__init__.py
rename to software/ros_packages/ground_station/src/Framework/MapSystems/__init__.py
diff --git a/software/ground_station/Framework/MapSystems/signing.py b/software/ros_packages/ground_station/src/Framework/MapSystems/signing.py
similarity index 100%
rename from software/ground_station/Framework/MapSystems/signing.py
rename to software/ros_packages/ground_station/src/Framework/MapSystems/signing.py
diff --git a/software/ground_station/Framework/StartupSystems/ROSMasterChecker.py b/software/ros_packages/ground_station/src/Framework/StartupSystems/ROSMasterChecker.py
similarity index 100%
rename from software/ground_station/Framework/StartupSystems/ROSMasterChecker.py
rename to software/ros_packages/ground_station/src/Framework/StartupSystems/ROSMasterChecker.py
diff --git a/software/ground_station/Framework/StartupSystems/__init__.py b/software/ros_packages/ground_station/src/Framework/StartupSystems/__init__.py
similarity index 100%
rename from software/ground_station/Framework/StartupSystems/__init__.py
rename to software/ros_packages/ground_station/src/Framework/StartupSystems/__init__.py
diff --git a/software/ground_station/Framework/VideoSystems/RoverVideoCoordinator.py b/software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoCoordinator.py
similarity index 100%
rename from software/ground_station/Framework/VideoSystems/RoverVideoCoordinator.py
rename to software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoCoordinator.py
diff --git a/software/ground_station/Framework/VideoSystems/RoverVideoReceiver.py b/software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoReceiver.py
similarity index 100%
rename from software/ground_station/Framework/VideoSystems/RoverVideoReceiver.py
rename to software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoReceiver.py
diff --git a/software/ground_station/Framework/VideoSystems/RoverVideoReceiverOld.py b/software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoReceiverOld.py
similarity index 100%
rename from software/ground_station/Framework/VideoSystems/RoverVideoReceiverOld.py
rename to software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoReceiverOld.py
diff --git a/software/ground_station/Framework/VideoSystems/__init__.py b/software/ros_packages/ground_station/src/Framework/VideoSystems/__init__.py
similarity index 100%
rename from software/ground_station/Framework/VideoSystems/__init__.py
rename to software/ros_packages/ground_station/src/Framework/VideoSystems/__init__.py
diff --git a/software/ground_station/Framework/__init__.py b/software/ros_packages/ground_station/src/Framework/__init__.py
similarity index 100%
rename from software/ground_station/Framework/__init__.py
rename to software/ros_packages/ground_station/src/Framework/__init__.py
diff --git a/software/ground_station/Readme.md b/software/ros_packages/ground_station/src/Readme.md
similarity index 100%
rename from software/ground_station/Readme.md
rename to software/ros_packages/ground_station/src/Readme.md
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rename from software/rover/rover_camera/src/rover_camera.cpp
rename to software/ros_packages/rover_camera/src/rover_camera.cpp
diff --git a/software/rover/rover_control/CMakeLists.txt b/software/ros_packages/rover_control/CMakeLists.txt
similarity index 100%
rename from software/rover/rover_control/CMakeLists.txt
rename to software/ros_packages/rover_control/CMakeLists.txt
diff --git a/software/rover/rover_control/launch/rover_control.launch b/software/ros_packages/rover_control/launch/rover_control.launch
similarity index 100%
rename from software/rover/rover_control/launch/rover_control.launch
rename to software/ros_packages/rover_control/launch/rover_control.launch
diff --git a/software/rover/rover_control/msg/DriveCommandMessage.msg b/software/ros_packages/rover_control/msg/DriveCommandMessage.msg
similarity index 100%
rename from software/rover/rover_control/msg/DriveCommandMessage.msg
rename to software/ros_packages/rover_control/msg/DriveCommandMessage.msg
diff --git a/software/rover/rover_control/msg/DriveControlMessage.msg b/software/ros_packages/rover_control/msg/DriveControlMessage.msg
similarity index 100%
rename from software/rover/rover_control/msg/DriveControlMessage.msg
rename to software/ros_packages/rover_control/msg/DriveControlMessage.msg
diff --git a/software/rover/rover_control/package.xml b/software/ros_packages/rover_control/package.xml
similarity index 100%
rename from software/rover/rover_control/package.xml
rename to software/ros_packages/rover_control/package.xml
diff --git a/software/rover/rover_control/src/control_coordinator/control_coordinator.py b/software/ros_packages/rover_control/src/control_coordinator/control_coordinator.py
similarity index 100%
rename from software/rover/rover_control/src/control_coordinator/control_coordinator.py
rename to software/ros_packages/rover_control/src/control_coordinator/control_coordinator.py
diff --git a/software/rover/rover_control/src/control_coordinator/coordinators/__init__.py b/software/ros_packages/rover_control/src/control_coordinator/coordinators/__init__.py
similarity index 100%
rename from software/rover/rover_control/src/control_coordinator/coordinators/__init__.py
rename to software/ros_packages/rover_control/src/control_coordinator/coordinators/__init__.py
diff --git a/software/rover/rover_control/src/control_coordinator/coordinators/drive_coordinator.py b/software/ros_packages/rover_control/src/control_coordinator/coordinators/drive_coordinator.py
similarity index 100%
rename from software/rover/rover_control/src/control_coordinator/coordinators/drive_coordinator.py
rename to software/ros_packages/rover_control/src/control_coordinator/coordinators/drive_coordinator.py
diff --git a/software/rover/rover_control/src/drive_control/drive_control.py b/software/ros_packages/rover_control/src/drive_control/drive_control.py
similarity index 100%
rename from software/rover/rover_control/src/drive_control/drive_control.py
rename to software/ros_packages/rover_control/src/drive_control/drive_control.py
diff --git a/software/rover/rover_control/src/iris_controller/iris_controller.py b/software/ros_packages/rover_control/src/iris_controller/iris_controller.py
similarity index 100%
rename from software/rover/rover_control/src/iris_controller/iris_controller.py
rename to software/ros_packages/rover_control/src/iris_controller/iris_controller.py
diff --git a/software/rover/rover_main/CMakeLists.txt b/software/ros_packages/rover_main/CMakeLists.txt
similarity index 100%
rename from software/rover/rover_main/CMakeLists.txt
rename to software/ros_packages/rover_main/CMakeLists.txt
diff --git a/software/rover/rover_main/launch/rover_main.launch b/software/ros_packages/rover_main/launch/ground_station.launch
similarity index 100%
rename from software/rover/rover_main/launch/rover_main.launch
rename to software/ros_packages/rover_main/launch/ground_station.launch
diff --git a/software/ros_packages/rover_main/launch/rover.launch b/software/ros_packages/rover_main/launch/rover.launch
new file mode 100644
index 0000000..2590035
--- /dev/null
+++ b/software/ros_packages/rover_main/launch/rover.launch
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diff --git a/software/rover/rover_main/package.xml b/software/ros_packages/rover_main/package.xml
similarity index 100%
rename from software/rover/rover_main/package.xml
rename to software/ros_packages/rover_main/package.xml
diff --git a/software/rover/zed_wrapper/CMakeLists.txt b/software/ros_packages/zed_wrapper/CMakeLists.txt
similarity index 100%
rename from software/rover/zed_wrapper/CMakeLists.txt
rename to software/ros_packages/zed_wrapper/CMakeLists.txt
diff --git a/software/rover/zed_wrapper/LICENSE b/software/ros_packages/zed_wrapper/LICENSE
similarity index 100%
rename from software/rover/zed_wrapper/LICENSE
rename to software/ros_packages/zed_wrapper/LICENSE
diff --git a/software/rover/zed_wrapper/README.md b/software/ros_packages/zed_wrapper/README.md
similarity index 100%
rename from software/rover/zed_wrapper/README.md
rename to software/ros_packages/zed_wrapper/README.md
diff --git a/software/rover/zed_wrapper/cfg/Zed.cfg b/software/ros_packages/zed_wrapper/cfg/Zed.cfg
similarity index 100%
rename from software/rover/zed_wrapper/cfg/Zed.cfg
rename to software/ros_packages/zed_wrapper/cfg/Zed.cfg
diff --git a/software/rover/zed_wrapper/launch/README.md b/software/ros_packages/zed_wrapper/launch/README.md
similarity index 100%
rename from software/rover/zed_wrapper/launch/README.md
rename to software/ros_packages/zed_wrapper/launch/README.md
diff --git a/software/rover/zed_wrapper/launch/display.launch b/software/ros_packages/zed_wrapper/launch/display.launch
similarity index 100%
rename from software/rover/zed_wrapper/launch/display.launch
rename to software/ros_packages/zed_wrapper/launch/display.launch
diff --git a/software/rover/zed_wrapper/launch/zed.launch b/software/ros_packages/zed_wrapper/launch/zed.launch
similarity index 100%
rename from software/rover/zed_wrapper/launch/zed.launch
rename to software/ros_packages/zed_wrapper/launch/zed.launch
diff --git a/software/rover/zed_wrapper/launch/zed_camera.launch b/software/ros_packages/zed_wrapper/launch/zed_camera.launch
similarity index 100%
rename from software/rover/zed_wrapper/launch/zed_camera.launch
rename to software/ros_packages/zed_wrapper/launch/zed_camera.launch
diff --git a/software/rover/zed_wrapper/launch/zed_multi_cam.launch b/software/ros_packages/zed_wrapper/launch/zed_multi_cam.launch
similarity index 100%
rename from software/rover/zed_wrapper/launch/zed_multi_cam.launch
rename to software/ros_packages/zed_wrapper/launch/zed_multi_cam.launch
diff --git a/software/rover/zed_wrapper/launch/zed_multi_gpu.launch b/software/ros_packages/zed_wrapper/launch/zed_multi_gpu.launch
similarity index 100%
rename from software/rover/zed_wrapper/launch/zed_multi_gpu.launch
rename to software/ros_packages/zed_wrapper/launch/zed_multi_gpu.launch
diff --git a/software/rover/zed_wrapper/nodelet_plugins.xml b/software/ros_packages/zed_wrapper/nodelet_plugins.xml
similarity index 100%
rename from software/rover/zed_wrapper/nodelet_plugins.xml
rename to software/ros_packages/zed_wrapper/nodelet_plugins.xml
diff --git a/software/rover/zed_wrapper/package.xml b/software/ros_packages/zed_wrapper/package.xml
similarity index 100%
rename from software/rover/zed_wrapper/package.xml
rename to software/ros_packages/zed_wrapper/package.xml
diff --git a/software/rover/zed_wrapper/records/record_depth.sh b/software/ros_packages/zed_wrapper/records/record_depth.sh
similarity index 100%
rename from software/rover/zed_wrapper/records/record_depth.sh
rename to software/ros_packages/zed_wrapper/records/record_depth.sh
diff --git a/software/rover/zed_wrapper/records/record_stereo.sh b/software/ros_packages/zed_wrapper/records/record_stereo.sh
similarity index 100%
rename from software/rover/zed_wrapper/records/record_stereo.sh
rename to software/ros_packages/zed_wrapper/records/record_stereo.sh
diff --git a/software/rover/zed_wrapper/rviz/zed.rviz b/software/ros_packages/zed_wrapper/rviz/zed.rviz
similarity index 100%
rename from software/rover/zed_wrapper/rviz/zed.rviz
rename to software/ros_packages/zed_wrapper/rviz/zed.rviz
diff --git a/software/rover/zed_wrapper/src/zed_wrapper_node.cpp b/software/ros_packages/zed_wrapper/src/zed_wrapper_node.cpp
similarity index 100%
rename from software/rover/zed_wrapper/src/zed_wrapper_node.cpp
rename to software/ros_packages/zed_wrapper/src/zed_wrapper_node.cpp
diff --git a/software/rover/zed_wrapper/src/zed_wrapper_nodelet.cpp b/software/ros_packages/zed_wrapper/src/zed_wrapper_nodelet.cpp
similarity index 100%
rename from software/rover/zed_wrapper/src/zed_wrapper_nodelet.cpp
rename to software/ros_packages/zed_wrapper/src/zed_wrapper_nodelet.cpp
diff --git a/software/rover/zed_wrapper/urdf/ZED.stl b/software/ros_packages/zed_wrapper/urdf/ZED.stl
similarity index 100%
rename from software/rover/zed_wrapper/urdf/ZED.stl
rename to software/ros_packages/zed_wrapper/urdf/ZED.stl
diff --git a/software/rover/zed_wrapper/urdf/zed.urdf b/software/ros_packages/zed_wrapper/urdf/zed.urdf
similarity index 100%
rename from software/rover/zed_wrapper/urdf/zed.urdf
rename to software/ros_packages/zed_wrapper/urdf/zed.urdf
diff --git a/software/rover/rover_main/launch/rover_nav.launch b/software/rover/rover_main/launch/rover_nav.launch
deleted file mode 100644
index 353ae57..0000000
--- a/software/rover/rover_main/launch/rover_nav.launch
+++ /dev/null
@@ -1,6 +0,0 @@
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diff --git a/software/rover_setup.sh b/software/rover_setup.sh
new file mode 100755
index 0000000..4d0f44a
--- /dev/null
+++ b/software/rover_setup.sh
@@ -0,0 +1,51 @@
+#!/usr/bin/env bash
+# As a point of reference, the environment layout should be as follows
+# /home/$user/Github/Rover_2017_2018 for the OSURC github repo
+# /home/$user/catkin_workspace for the user's catkin catkin_workspace
+# By keeping this consistent across all development machines, it will make it
+# easier to keep track of things
+
+# Which folders should be symbolically_linked?
+folders_to_link=(
+ rover_camera
+ rover_control
+ zed_wrapper
+ nimbro_topic_transport
+ rover_main
+)
+
+# Print heading
+echo "Setting up ROS packages for rover."
+
+# Get the catkin_workspace directory
+catkin_workspace_dir="catkin_workspace"
+catkin_workspace_path="$HOME/$catkin_workspace_dir"
+catkin_src_path="$catkin_workspace_path/src"
+
+# Get the rover software directory
+github_rover_repo_dir="Github/Rover_2017_2018"
+github_rover_packages_path="$HOME/$github_rover_repo_dir/software/ros_packages"
+
+# Remove existing symbolic links if necessary
+symlinked_folders=$(find $catkin_src_path -maxdepth 1 -type l)
+if [ -z $symlinked_folders ]; then
+ echo "No symlinks to remove from catkin_workspace. Skipping."
+else
+ echo "Removing existing symlinks in catkin_workspace."
+ rm $symlinked_folders
+fi
+
+# Make the new symbolic link connections
+echo "Making new symlinks."
+for folder in ${folders_to_link[@]}; do
+ ln -s "$github_rover_packages_path/$folder" "$catkin_src_path/."
+ echo "Adding symlink for $folder."
+done
+
+# catkin_make so the new pacakges are available and re-source bash
+cd "$catkin_workspace_path"
+catkin_make
+
+source ~/.bashrc
+
+exit 0
diff --git a/software/fragments/joystick_drive_test.py b/software/testing/joystick_drive_test.py
similarity index 100%
rename from software/fragments/joystick_drive_test.py
rename to software/testing/joystick_drive_test.py