diff --git a/build-everything.sh b/build-everything.sh
old mode 100644
new mode 100755
index a3f75be..400ac17
--- a/build-everything.sh
+++ b/build-everything.sh
@@ -1,88 +1,105 @@
-#! /usr/bin/env bash
+#!/usr/bin/env bash
 
-### Installation script for ROS 2 Jazzy
+### Installation script for ROS 2 (tested with Humble and Jazzy)
 ## Credits to @anadon
 
+set -e
+
+# Usage: ./install.sh [add_ros_setup (true/false)] [shell_type (bash/zsh)]
+ADD_ROS_SETUP=${1:-true}
+SHELL_TYPE=${2:-bash}
+RC_FILE="$HOME/.${SHELL_TYPE}rc"
+WORKSPACE_DIR="$(pwd)"
+
 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 "
+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-$ROS_DISTRO-desktop ros-$ROS_DISTRO-rtabmap ros-$ROS_DISTRO-rtabmap-msgs ros-$ROS_DISTRO-navigation2 ros-$ROS_DISTRO-nav2-bringup ros-$ROS_DISTRO-perception-pcl ros-$ROS_DISTRO-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/lajoiepy/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 
+declare -A REPOS=(
+  ["cslam"]="https://github.com/lajoiepy/cslam.git"
+  ["cslam_interfaces"]="https://github.com/lajoiepy/cslam_interfaces.git"
+  ["cslam_experiments"]="https://github.com/lajoiepy/cslam_experiments.git"
+  ["gtsam"]="https://github.com/borglab/gtsam.git"
+)
+
+for repo in "${!REPOS[@]}"; do
+  if [ ! -d "$repo" ]; then
+    git clone "${REPOS[$repo]}"
+  else
+    echo "Repo $repo already cloned. Skipping."
+  fi
+done
 
 $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
-
+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
+mkdir -p build
 cd build || exit 1
 cmake ..
- # make check (optional, runs unit tests)
+make -j$(nproc)
 $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."
+echo "WARNING!!! Using newer ROS 2 versions (like Humble or Jazzy) instead of Foxy"
 
-# 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"
-
-$SUDO rosdep init
+if [[ "$ADD_ROS_SETUP" == "true" ]]; then
+	echo "Adding ROS environment setup to $RC_FILE"
+	echo 'source "/opt/ros/$ROS_DISTRO/setup.'"$SHELL_TYPE"'"' >> "$RC_FILE"
+	source "/opt/ros/$ROS_DISTRO/setup.$SHELL_TYPE"
+fi
 
-rosdep update
-rosdep install --from-paths src -y --ignore-src --rosdistro jazzy 
+$SUDO rosdep init || echo "rosdep already initialized"
+if ! rosdep update; then
+  echo "WARNING: rosdep update failed — continuing anyway"
+fi
+if ! rosdep install --from-paths src -y --ignore-src --rosdistro $ROS_DISTRO; then
+  echo "WARNING: rosdep install failed — continuing anyway"
+fi
 
 pushd cslam_interfaces || exit 1
 colcon build
-  echo 'source "/Swarm-SLAM/cslam_interfaces/install/setup.bash"' >> "$HOME/.bashrc"
-  source "/Swarm-SLAM/cslam_interfaces/install/setup.bash"
+if [[ "$ADD_ROS_SETUP" == "true" ]]; then
+	echo 'source "'"$WORKSPACE_DIR"'/cslam_interfaces/install/setup.'"$SHELL_TYPE"'"' >> "$RC_FILE"
+  source "$WORKSPACE_DIR/cslam_interfaces/install/setup.$SHELL_TYPE"
+fi
 popd || exit 1
 
 colcon build
 colcon test
 
-echo 'source "/Swarm-SLAM/install/setup.bash"' >> "$HOME/.bashrc" 
-source "/Swarm-SLAM/install/setup.bash"
-
+if [[ "$ADD_ROS_SETUP" == "true" ]]; then
+	echo 'source "'"$WORKSPACE_DIR"'/install/setup.'"$SHELL_TYPE"'"' >> "$RC_FILE"
+  source "$WORKSPACE_DIR/install/setup.$SHELL_TYPE"
+fi