diff --git a/src/tools/scripts/can_setup.sh b/src/tools/scripts/can_setup.sh
deleted file mode 100755
index f2dd043..0000000
--- a/src/tools/scripts/can_setup.sh
+++ /dev/null
@@ -1,5 +0,0 @@
-sudo killall slcand
-sudo slcand -o -c -s8 /dev/ttyACM0 can0
-sudo slcand -o -c -s8 /dev/ttyACM1 can0
-sudo ip link set can0 up type can bitrate 1000000
-sudo ifconfig can0 txqueuelen 1000
\ No newline at end of file
diff --git a/src/tools/scripts/framework_network_setup.sh b/src/tools/scripts/framework_network_setup.sh
new file mode 100644
index 0000000..0784c65
--- /dev/null
+++ b/src/tools/scripts/framework_network_setup.sh
@@ -0,0 +1 @@
+sudo ip addr add 192.168.1.2/24 dev enx9cbf0d007947
diff --git a/src/tools/scripts/jetson_setup/umdloop_can.service b/src/tools/scripts/jetson_setup/umdloop_can.service
new file mode 100755
index 0000000..8e8fe38
--- /dev/null
+++ b/src/tools/scripts/jetson_setup/umdloop_can.service
@@ -0,0 +1,12 @@
+[Unit]
+Description=CAN Interface Setup
+After=systemd-modules-load.service
+
+[Service]
+Type=oneshot
+ExecStart=/usr/local/bin/can-setup.sh
+ExecStop=/sbin/ip link set can0 down
+RemainAfterExit=yes
+
+[Install]
+WantedBy=multi-user.target
\ No newline at end of file
diff --git a/src/tools/scripts/jetson_setup/umdloop_can_setup.sh b/src/tools/scripts/jetson_setup/umdloop_can_setup.sh
new file mode 100755
index 0000000..0a59d85
--- /dev/null
+++ b/src/tools/scripts/jetson_setup/umdloop_can_setup.sh
@@ -0,0 +1,17 @@
+#!/bin/bash
+# SPECIFICALLY for orin nx, pinmux wrong for other devices
+set -euo pipefail
+
+# load can kernel modules
+modprobe can
+modprobe can_raw
+modprobe mttcan
+
+# https://docs.nvidia.com/jetson/archives/r35.3.1/DeveloperGuide/text/HR/ControllerAreaNetworkCan.html#jetson-platform-details
+busybox devmem 0x0c303018 w 0xc458  # can0_din
+busybox devmem 0x0c303010 w 0xc400  # can0_dout
+
+ip link set can0 up type can \
+    bitrate 1000000 \
+    berr-reporting on \
+    restart-ms 1000
diff --git a/src/tools/scripts/jetson_setup/umdloop_canable_setup.sh b/src/tools/scripts/jetson_setup/umdloop_canable_setup.sh
new file mode 100755
index 0000000..2cfc12a
--- /dev/null
+++ b/src/tools/scripts/jetson_setup/umdloop_canable_setup.sh
@@ -0,0 +1,18 @@
+#!/bin/bash
+
+set -euo pipefail
+
+killall slcand 2>/dev/null || true
+sleep 1
+
+if [[ -e /dev/ttyACM0 ]]; then
+    slcand -o -c -s8 /dev/ttyACM0 can0
+elif [[ -e /dev/ttyACM1 ]]; then
+    slcand -o -c -s8 /dev/ttyACM1 can0
+else
+    echo "No CANable device found on /dev/ttyACM0 or /dev/ttyACM1"
+    exit 1
+fi
+
+ip link set can0 up
+ip link set can0 txqueuelen 1000
diff --git a/src/tools/scripts/jetson_setup/umdloop_jetson_setup.sh b/src/tools/scripts/jetson_setup/umdloop_jetson_setup.sh
new file mode 100755
index 0000000..471e43c
--- /dev/null
+++ b/src/tools/scripts/jetson_setup/umdloop_jetson_setup.sh
@@ -0,0 +1,192 @@
+#!/bin/bash
+set -euo pipefail
+
+trap 'echo "[ERROR] Script failed at line $LINENO"' ERR
+
+# having both of these are weird but they make sure you use sudo and you're not logged in as root (don't know the userdir if you're logged in as root)
+if [[ $EUID -ne 0 ]]; then
+    echo "[ERROR] This script must be run as root (use sudo)"
+    exit 1
+fi
+
+if [[ -z "${SUDO_USER:-}" ]]; then
+    echo "[ERROR] Please run with sudo, not as root directly"
+    exit 1
+fi
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+USER_HOME="$(getent passwd "$SUDO_USER" | cut -d: -f6)"
+ATHENA_REPO_DIR="${USER_HOME}/athena-code"
+ATHENA_REPO_URL="https://github.com/umdloop/athena-code.git"
+
+install_ros2_humble() {
+    echo "[INFO] Installing ROS2 Humble Hawksbill..."
+
+    echo "[INFO] Installing Git"
+    apt-get install -y git-all
+
+    if [[ -f /opt/ros/humble/setup.bash ]]; then
+        echo "[WARN] ROS2 Humble already installed, skipping..."
+        return 0
+    fi
+
+    apt-get update && apt-get install -y locales
+    locale-gen en_US en_US.UTF-8
+    update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+    export LANG=en_US.UTF-8
+
+    apt-get install -y software-properties-common curl
+    add-apt-repository -y universe
+    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 $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+    apt-get update
+    apt-get install -y ros-humble-desktop ros-dev-tools
+
+    echo "[INFO] ROS2 Humble installed successfully"
+}
+
+setup_athena_code() {
+    echo "[INFO] Setting up athena-code repository..."
+
+    if [[ ! -d "$ATHENA_REPO_DIR" ]]; then
+        echo "[INFO] Cloning athena-code repository..."
+        sudo -u "$SUDO_USER" git clone "$ATHENA_REPO_URL" "$ATHENA_REPO_DIR"
+    else
+        echo "[WARN] athena-code directory already exists, skipping clone..."
+    fi
+
+    cd "$ATHENA_REPO_DIR" || { echo "[ERROR] Failed to cd to $ATHENA_REPO_DIR"; exit 1; }
+    bash dependencies.sh
+
+    echo "[INFO] Building athena-code workspace..."
+    
+    if ! grep -qxF 'source /opt/ros/humble/setup.bash' "$USER_HOME/.bashrc"; then
+        echo 'source /opt/ros/humble/setup.bash' >> "$USER_HOME/.bashrc"
+    fi
+    
+    source /opt/ros/humble/setup.bash
+    colcon build --symlink-install
+
+    echo "[INFO] athena-code built successfully"
+}
+
+configure_can() {
+    echo "[INFO] Configuring CAN interface..."
+
+    while true; do
+        echo "Select CAN interface type:"
+        echo "1) Native Jetson CAN (can0/mttcan)"
+        echo "2) CANable USB adapter (slcand)"
+        echo "3) Skip CAN configuration"
+        read -p "Enter choice [1-3]: " can_choice
+
+        case $can_choice in
+            1) configure_native_can; return ;;
+            2) configure_canable; return ;;
+            3) echo "[INFO] Skipping CAN configuration"; return ;;
+            *)
+                echo "[ERROR] Invalid choice. Please try again."
+                ;;
+        esac
+    done
+}
+
+setup_can_common() {
+    local setup_script=$1
+    shift
+    local packages=("$@")
+
+    apt-get install -y "${packages[@]}"
+    cp "${SCRIPT_DIR}/${setup_script}" /usr/local/bin/umdloop_can_setup.sh
+    chmod +x /usr/local/bin/umdloop_can_setup.sh
+    cp "${SCRIPT_DIR}/umdloop_can.service" /etc/systemd/system/umdloop_can.service
+    setup_can_service
+}
+
+configure_native_can() {
+    echo "[INFO] Configuring native Jetson CAN interface..."
+    setup_can_common "umdloop_can_setup.sh" "can-utils" "busybox"
+}
+
+configure_canable() {
+    echo "[INFO] Configuring CANable USB adapter..."
+    setup_can_common "umdloop_canable_setup.sh" "can-utils"
+}
+
+setup_can_service() {
+    echo "[INFO] Setting up CAN systemd service..."
+
+    if systemctl is-enabled umdloop_can.service &>/dev/null; then
+        echo "[WARN] CAN service already enabled"
+        ip link set can0 down 2>/dev/null || true
+        systemctl restart umdloop_can.service
+    else
+        systemctl daemon-reload
+        systemctl enable umdloop_can.service
+        systemctl start umdloop_can.service
+    fi
+
+    echo "[INFO] CAN service installed and enabled"
+}
+
+configure_networking() {
+    echo "[INFO] Configuring network routes for radios..."
+
+    echo "Available network interfaces:"
+    ip link show | grep -E '^[0-9]+:' | awk -F': ' '{print $2}' | grep -v lo
+
+    read -p "Enter the network interface name or press Enter to skip: " NETWORK_INTERFACE
+
+    if [[ -z "$NETWORK_INTERFACE" ]]; then
+        echo "[WARN] Skipping network configuration"
+        return 0
+    fi
+
+    read -p "Enter the IP address to assign (e.g., 192.168.1.10): " NETWORK_IP
+
+    if [[ -z "$NETWORK_IP" ]]; then
+        echo "[WARN] No IP provided, skipping network configuration"
+        return 0
+    fi
+
+    read -p "Enter subnet prefix length [24]: " SUBNET_PREFIX
+    SUBNET_PREFIX="${SUBNET_PREFIX:-24}"
+
+    local conn_name="athena-radio"
+
+    nmcli connection delete "$conn_name" 2>/dev/null || true
+
+    nmcli connection add type ethernet \
+        con-name "$conn_name" \
+        ifname "$NETWORK_INTERFACE" \
+        ipv4.method manual \
+        ipv4.addresses "${NETWORK_IP}/${SUBNET_PREFIX}" \
+        connection.autoconnect yes
+
+    nmcli connection up "$conn_name"
+
+    echo "[INFO] Network configuration completed for $NETWORK_INTERFACE"
+}
+
+main() {
+    echo "[INFO] Starting Jetson setup for athena-code..."
+    echo
+
+    install_ros2_humble
+    echo
+
+    setup_athena_code
+    echo
+
+    configure_can
+    echo
+
+    configure_networking
+    echo
+
+    echo "[INFO] Setup complete!"
+    echo "[INFO] Please reboot the system to ensure all changes take effect."
+}
+
+main
\ No newline at end of file