diff --git a/scripts/install_rl_cruise_accel_planner.sh b/scripts/install_rl_cruise_accel_planner.sh
new file mode 100755
index 0000000..802602c
--- /dev/null
+++ b/scripts/install_rl_cruise_accel_planner.sh
@@ -0,0 +1,33 @@
+#!/bin/bash
+# Author: Matt Bunting
+
+# if you follow conventions correctly, you only need to change the below two parameters
+
+UPDATE_SCRIPT=update_rl_cruise_accel_planner.sh
+LAUNCH_FILE=rl_cruise_accel_planner_readonly.launch
+
+echo "----------------------------"
+if [[ $EUID == 0 ]];
+  then echo "Do NOT run this script as root"
+  exit
+fi
+
+# uninstall the current installations
+source ~/.bashrc
+sh uninstallRobotUpstart.sh
+
+
+# run the update script
+./${UPDATE_SCRIPT}
+
+pushd ~/catkin_ws
+source devel/setup.sh
+rosrun robot_upstart uninstall can
+rosrun robot_upstart install can_to_ros/launch/${LAUNCH_FILE} --user root
+
+echo "Enabling can_to_ros startup script"
+sudo systemctl daemon-reload
+sudo systemctl enable can
+popd
+
+echo "----------------------------"
diff --git a/scripts/rosRepositories.csv b/scripts/rosRepositories.csv
index 15b9614..802a524 100644
--- a/scripts/rosRepositories.csv
+++ b/scripts/rosRepositories.csv
@@ -1,4 +1,4 @@
-jmscslgroup,	   can_to_ros, 	b6d316c2ffb5bb52b2231eb2046a8d61319fd197	
+jmscslgroup,	   can_to_ros, 	eee44a39432ed128e06b4f9978f1d74e25646eee	
 jmscslgroup,	   setpointreader,	bf9116d7e7a8284527e1d94537de1228c2b3abb8
 jmscslgroup, 	   live_tracker,	 a974d92748f4137b2bf1d083cebf6ac974b5bf49	
-CIRCLES-consortium, algos-stack, 		f95d26f78ffed06cd21fa73fcf414d5d5e5042a2
+CIRCLES-consortium, algos-stack, 		26a532a9941b122f89f02074f5e85ae02865445f
diff --git a/scripts/update_rl_cruise_accel_planner.sh b/scripts/update_rl_cruise_accel_planner.sh
new file mode 100755
index 0000000..45ac99c
--- /dev/null
+++ b/scripts/update_rl_cruise_accel_planner.sh
@@ -0,0 +1,59 @@
+#!/bin/bash
+# Author: Matt Bunting
+
+# Change params below, assuming you followed conventions, this should be
+# all you need to change IF YOU ARE USING ONNX MODELS for your controller
+
+PRETTY_STRING="RL Cruise Accel-based Planner"
+ALGOS_STACK_BRANCH=rl_cruise_accel
+
+echo "----------------------------"
+if [[ $EUID == 0 ]];
+  then echo "Do NOT run this script as root"
+  exit
+fi
+
+echo "Installing/Updating ${PRETTY_STRING} packages"
+
+source ~/.bashrc
+
+sh uninstallRobotUpstart.sh
+
+#cd ~
+#if [ ! -d catkin_ws/src ]; then
+#	mkdir -p catkin_ws/src
+#fi
+#cd catkin_ws/src
+#
+## The following are repositories under jmscslgroup:
+#declare -a repositories=(can_to_ros live_tracker)
+#
+#for repository in "${repositories[@]}"
+#do
+#	echo "Checking" $repository
+#	if [ -d ${repository} ]; then
+#		cd ${repository}
+#		git pull
+#		cd ..
+#	else
+#		git clone "https://github.com/jmscslgroup/${repository}.git"
+#	fi
+#done
+#
+## this requires credentials:
+#if [ -d algos-stack ]; then
+#	cd algos-stack
+#	git pull
+#	cd ..
+#else
+#	git clone https://github.com/CIRCLES-consortium/algos-stack
+#fi
+#cd algos-stack
+## checkout the repository branch we need
+#git checkout ${ALGOS_STACK_BRANCH}
+#
+#cd ~/catkin_ws
+#catkin_make
+
+echo "----------------------------"
+
diff --git a/update_rl_accel.sh b/update_rl_accel.sh
new file mode 100755
index 0000000..53a8103
--- /dev/null
+++ b/update_rl_accel.sh
@@ -0,0 +1,53 @@
+#!/bin/bash
+# Author: Matt Bunting
+
+echo "Running libpanda's update_rl_accel.sh."
+echo "Meant to be used on Toyota RAV-4."
+
+if [[ $EUID == 0 ]];
+  then echo "Do NOT run this script as root"
+  exit
+fi
+
+source /opt/ros/noetic/setup.bash
+
+cd /home/circles/libpanda # likely unnecessary
+git pull
+
+# TODO Could allow this to allow for changes.
+INSTALLED_LIBPANDA_GIT_VERSION=$(cat /etc/libpanda.d/libpanda_version)
+CURRENT_LIBPANDA_GIT_VERSION=$(git rev-parse HEAD | tr -d "\n\r")
+
+if [ "$INSTALLED_LIBPANDA_GIT_VERSION" = "$CURRENT_LIBPANDA_GIT_VERSION" ];
+then
+	echo "Software stack is already up to date!"
+	exit 1
+fi
+
+echo "Update needed, Git hash mismatch: $INSTALLED_LIBPANDA_GIT_VERSION != $CURRENT_LIBPANDA_GIT_VERSION"
+
+
+echo "Stopping can_to_ros..."
+sudo systemctl stop rosnodeChecker
+sudo systemctl stop can
+sudo sh -c "echo 'ROS has been stopped for update!' > /etc/libpanda.d/logMessage"
+
+echo "Updating libpanda..."
+./install.sh
+
+cd scripts
+echo "Executing installMVTRosPackages..."
+./installMVTRosPackages.sh
+
+echo "Executing install_rl_cruise_accel_planner..."
+./install_rl_cruise_accel_planner.sh
+
+# Do the following at the end of installs to ensure all other processes completed
+echo "Saving current pandaversion to /etc/libpanda.d/libpanda_version"
+sudo sh -c "pandaversion > /etc/libpanda.d/libpanda_version"
+
+echo "Starting can_to_ros..."
+sudo systemctl start can
+sudo systemctl start rosnodeChecker
+
+echo "libpanda update.sh done."