diff --git a/enable_NAT.sh b/enable_NAT.sh
new file mode 100755
index 0000000..c611e8b
--- /dev/null
+++ b/enable_NAT.sh
@@ -0,0 +1,9 @@
+#!/bin/bash
+
+#NOTE: this should be in the install script, but that generates an error
+
+sudo iptables -t nat -A POSTROUTING -o eth0 -j MASQUERADE
+sudo iptables -A FORWARD -i eth0 -o wlan0 -m state --state RELATED,ESTABLISHED -j ACCEPT
+sudo iptables -A FORWARD -i wlan0 -o eth0 -j ACCEPT
+
+sudo sh -c "iptables-save > /etc/iptables/rules.v4"
diff --git a/install_zoef.sh b/install_zoef.sh
new file mode 100755
index 0000000..2a96699
--- /dev/null
+++ b/install_zoef.sh
@@ -0,0 +1,100 @@
+#!/bin/bash
+# Or should we use https://docs.armbian.com/Developer-Guide_User-Configurations/#user-provided-image-customization-script
+
+
+
+# Save git credentials
+git config --global credential.helper 'store --file /.my-credentials'
+
+# Update
+sudo apt update
+
+# Install Zoef SD card scripts
+sudo apt install -y git
+cd ~
+git clone https://gitlab.tudelft.nl/rcj_zoef/zoef_sd_card_image.git
+
+## TODO: currently not working, arduino-cli and qemu give issues
+# Install arduino firmata upload script
+sudo apt install -y singularity-container
+cd ~
+git clone https://gitlab.tudelft.nl/rcj_zoef/zoef_arduino.git
+#cd zoef_arduino
+#sudo singularity build --sandbox arduino_dev Singularity
+
+# Install ROS Melodic
+sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+sudo apt update
+sudo apt install -y ros-melodic-ros-base python-rosinstall python-rosinstall-generator python-wstool build-essential python-catkin-tools
+grep -qxF "source /opt/ros/melodic/setup.bash" ~/.bashrc || echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
+source /opt/ros/melodic/setup.bash
+
+# Install pymata and allow usage of usb device
+sudo apt install git python-pip -y
+sudo -H python -m pip install pymata
+
+# Install Zoef ROS package (TODO: create rosinstall/rosdep)
+sudo apt install -y ros-melodic-controller-manager ros-melodic-rosbridge-server ros-melodic-diff-drive-controller
+mkdir -p ~/zoef_ws/src
+cd ~/zoef_ws/src
+git clone https://gitlab.tudelft.nl/rcj_zoef/zoef_ros_package.git
+git clone https://gitlab.tudelft.nl/rcj_zoef/zoef_msgs.git
+cd ..
+catkin build
+grep -qxF "source /home/zoef/zoef_ws/devel/setup.bash" ~/.bashrc || echo "source /home/zoef/zoef_ws/devel/setup.bash" >> ~/.bashrc
+grep -qxF "export ROS_IP=127.0.0.1" ~/.bashrc || echo "export ROS_IP=127.0.0.1" >> ~/.bashrc
+source /home/zoef/zoef_ws/devel/setup.bash
+
+# Add systemd service to start ROS nodes
+sudo rm /lib/systemd/system/zoef_ros.service
+sudo bash -c "echo '[Unit]' > /lib/systemd/system/zoef_ros.service"
+sudo bash -c "echo 'Description=Zoef ROS' >> /lib/systemd/system/zoef_ros.service"
+sudo bash -c "echo 'After=network.target' >> /lib/systemd/system/zoef_ros.service"
+sudo bash -c "echo 'After=ssh.service' >> /lib/systemd/system/zoef_ros.service"
+sudo bash -c "echo 'After=network-online.target' >> /lib/systemd/system/zoef_ros.service"
+sudo bash -c "echo '' >> /lib/systemd/system/zoef_ros.service"
+sudo bash -c "echo '[Service]' >> /lib/systemd/system/zoef_ros.service"
+sudo bash -c "echo 'Environment=ROS_IP=127.0.0.1' >> /lib/systemd/system/zoef_ros.service"
+sudo bash -c "echo 'ExecStart=/bin/bash -c \"source /home/zoef/zoef_ws/devel/setup.bash && roslaunch zoef_ros_package hw_control.launch\"' >> /lib/systemd/system/zoef_ros.service"
+sudo bash -c "echo '' >> /lib/systemd/system/zoef_ros.service"
+sudo bash -c "echo '[Install]' >> /lib/systemd/system/zoef_ros.service"
+sudo bash -c "echo 'WantedBy=multi-user.target' >> /lib/systemd/system/zoef_ros.service"
+
+sudo systemctl daemon-reload
+sudo systemctl stop zoef_ros || /bin/true
+sudo systemctl start zoef_ros
+sudo systemctl enable zoef_ros
+
+# Install Zoef Interface
+sudo apt install -y singularity-container
+cd ~
+git clone https://gitlab.tudelft.nl/rcj_zoef/web_interface.git
+cd web_interface
+sed -i 's/From: ubuntu:bionic/From: arm32v7\/ubuntu:bionic/g' Singularity
+sed -i 's/%files/%files\n    \/usr\/bin\/qemu-arm-static \/usr\/bin\//g' Singularity
+sudo rm -rf zoef_web_interface
+./run_singularity.sh build_dev
+
+# Add systemd service to start ROS nodes
+# NOTE: starting singularity image form ssystemd has some issues (https://github.com/sylabs/singularity/issues/1600)
+sudo rm /lib/systemd/system/zoef_web_interface.service
+sudo bash -c "echo '[Unit]' > /lib/systemd/system/zoef_web_interface.service"
+sudo bash -c "echo 'Description=Zoef Web Interface' >> /lib/systemd/system/zoef_web_interface.service"
+sudo bash -c "echo 'After=network.target' >> /lib/systemd/system/zoef_web_interface.service"
+sudo bash -c "echo 'After=ssh.service' >> /lib/systemd/system/zoef_web_interface.service"
+sudo bash -c "echo 'After=network-online.target' >> /lib/systemd/system/zoef_web_interface.service"
+sudo bash -c "echo '' >> /lib/systemd/system/zoef_web_interface.service"
+sudo bash -c "echo '[Service]' >> /lib/systemd/system/zoef_web_interface.service"
+sudo bash -c "echo 'ExecStart=/bin/bash -c \"cd /home/zoef/web_interface/ && singularity run -B app:/app/my_app zoef_web_interface 2>&1 | tee\"' >> /lib/systemd/system/zoef_web_interface.service"
+sudo bash -c "echo '' >> /lib/systemd/system/zoef_web_interface.service"
+sudo bash -c "echo '[Install]' >> /lib/systemd/system/zoef_web_interface.service"
+sudo bash -c "echo 'WantedBy=multi-user.target' >> /lib/systemd/system/zoef_web_interface.service"
+
+sudo systemctl daemon-reload
+sudo systemctl stop zoef_web_interface || /bin/true
+sudo systemctl start zoef_web_interface
+sudo systemctl enable zoef_web_interface
+
+# TODO:  Remove git credentials
+rm /.my-credentials
diff --git a/network_install.sh b/network_install.sh
new file mode 100755
index 0000000..2bc0585
--- /dev/null
+++ b/network_install.sh
@@ -0,0 +1,35 @@
+#!/bin/bash 
+
+# Install wifi-connect
+bash <(curl -L https://github.com/balena-io/wifi-connect/raw/master/scripts/raspbian-install.sh)
+systemctl disable systemd-resolved
+echo "nameserver 8.8.8.8" > /etc/resolv.conf
+apt install -y dnsmasq
+systemctl disable dnsmasq # will be enabled by wifi-connect
+
+# Added systemd service to account for fix: https://askubuntu.com/questions/472794/hostapd-error-nl80211-could-not-configure-driver-mode
+echo '[Unit]' >> /lib/systemd/system/zoef_ap.service
+echo 'Description=Zoef Wifi AP' >> /lib/systemd/system/zoef_ap.service
+echo 'After=network.target' >> /lib/systemd/system/zoef_ap.service
+echo 'After=ssh.service' >> /lib/systemd/system/zoef_ap.service
+echo 'After=network-online.target' >> /lib/systemd/system/zoef_ap.service
+echo '' >> /lib/systemd/system/zoef_ap.service
+echo '[Service]' >> /lib/systemd/system/zoef_ap.service
+echo 'ExecStart=/bin/bash -c "/home/zoef/zoef_sd_card_image/network_setup.sh"' >> /lib/systemd/system/zoef_ap.service
+echo '' >> /lib/systemd/system/zoef_ap.service
+echo '[Install]' >> /lib/systemd/system/zoef_ap.service
+echo 'WantedBy=multi-user.target' >> /lib/systemd/system/zoef_ap.service
+
+systemctl enable zoef_ap
+
+# Add zoef user with sudo rights
+useradd -m -G sudo -s /bin/bash zoef
+echo -e "zoef_zoef\nzoef_zoef" | passwd zoef
+passwd --expire zoef
+
+# Disable ssh root login
+sed -i 's/#PermitRootLogin yes/PermitRootLogin no/g' /etc/ssh/sshd_config
+
+# Add avahi daemon to enable http://zoef.local
+sudo apt-get install -y avahi-daemon
+echo "zoef" > /etc/hostname
diff --git a/network_setup.sh b/network_setup.sh
new file mode 100755
index 0000000..90cc8f8
--- /dev/null
+++ b/network_setup.sh
@@ -0,0 +1,21 @@
+#bin/bash
+
+if [ ! -f /etc/ssid ]; then
+    UNIQUE_ID=$(openssl rand -hex 3)
+    ZOEF_SSID=Zoef_$(echo ${UNIQUE_ID^^})
+    sudo bash -c 'echo '$ZOEF_SSID' > /etc/ssid'
+fi
+
+sudo service dnsmasq stop
+sleep 15
+
+iwgetid -r
+
+if [ $? -eq 0 ]; then
+    printf 'Skipping WiFi Connect\n'
+else
+    printf 'Starting WiFi Connect\n'
+    sudo wifi-connect -o 8080 -p zoef_zoef -s `cat /etc/ssid`
+    sudo service dnsmasq start
+fi
+