diff --git a/fetch_and_upload_firmware.sh b/fetch_and_upload_firmware.sh
new file mode 100755
index 0000000..e3318f9
--- /dev/null
+++ b/fetch_and_upload_firmware.sh
@@ -0,0 +1,19 @@
+#!/bin/bash
+
+source /boot/openmower/mower_config.txt
+
+# remove old firmware
+rm -rf firmware_download
+mkdir firmware_download
+cd firmware_download
+
+# Download the latest firmware
+echo "Fetching Firmware"
+wget https://github.com/ClemensElflein/OpenMower/releases/download/latest/firmware.zip
+
+unzip firmware.zip
+
+cd ..
+
+echo "Flashing Firmware: ./firmware_download/firmware/$OM_HARDWARE_VERSION/firmware.elf"
+sudo ./upload_firmware.sh ./firmware_download/firmware/$OM_HARDWARE_VERSION/firmware.elf
diff --git a/start_openocd.sh b/start_openocd.sh
new file mode 100755
index 0000000..f5697e1
--- /dev/null
+++ b/start_openocd.sh
@@ -0,0 +1,9 @@
+#!/bin/sh
+
+# This script starts OpenOCD on the pi and allows external connections.
+# This way you can use VS code to remotely debug the Pico code.
+
+echo "10" > /sys/class/gpio/export
+echo "out" > /sys/class/gpio/gpio10/direction
+echo "1" > /sys/class/gpio/gpio10/value
+openocd -f interface/raspberrypi-swd.cfg -f target/rp2040.cfg -c "bindto 0.0.0.0"
diff --git a/start_ros-debug_bash.sh b/start_ros-debug_bash.sh
new file mode 100755
index 0000000..1a42ace
--- /dev/null
+++ b/start_ros-debug_bash.sh
@@ -0,0 +1,6 @@
+#!/bin/bash
+
+# Starts a bash in the container.
+# Use this for ROS specific commands (e.g. rostopic echo)
+
+sudo podman exec -it openmower-debug /openmower_entrypoint.sh ${@:-/bin/bash}
diff --git a/start_ros_bash.sh b/start_ros_bash.sh
new file mode 100755
index 0000000..6b6bec1
--- /dev/null
+++ b/start_ros_bash.sh
@@ -0,0 +1,6 @@
+#!/bin/bash
+
+# Starts a bash in the container.
+# Use this for ROS specific commands (e.g. rostopic echo)
+
+sudo podman exec -it openmower /openmower_entrypoint.sh ${@:-/bin/bash}
diff --git a/upload_firmware.sh b/upload_firmware.sh
new file mode 100755
index 0000000..73635ac
--- /dev/null
+++ b/upload_firmware.sh
@@ -0,0 +1,10 @@
+#!/bin/sh
+
+# This script uploads new firmware to the Pico.
+# You need to provide the .elf file, not the .uf2
+# run as root!
+
+echo "10" > /sys/class/gpio/export
+echo "out" > /sys/class/gpio/gpio10/direction
+echo "1" > /sys/class/gpio/gpio10/value
+openocd -f interface/raspberrypi-swd.cfg -f target/rp2040.cfg -c "program $1 verify reset exit"
diff --git a/xesc2tcp.sh b/xesc2tcp.sh
new file mode 100755
index 0000000..dbcf81c
--- /dev/null
+++ b/xesc2tcp.sh
@@ -0,0 +1,30 @@
+#!/bin/bash
+
+PORT=1234
+
+declare -A DEVICE_MAP=(
+    ["left"]="/dev/ttyAMA4"
+    ["right"]="/dev/ttyAMA2"
+    ["mower"]="/dev/ttyAMA3"
+)
+
+if [[ -z $1 ]]; then
+    echo "Error: Argument required."
+    exit 1
+fi
+
+if [[ -z ${DEVICE_MAP[$1]} ]]; then
+    echo "Error: Invalid argument. Valid values are: left, right, mower."
+    exit 1
+fi
+
+DEVICE=${DEVICE_MAP[$1]}
+
+running=true
+trap 'echo "Interrupt received! Stopping..."; running=false' SIGINT
+
+echo "Running socat for device: ${DEVICE} on port: ${PORT}..."
+
+while $running; do
+    sudo socat TCP-LISTEN:${PORT},reuseaddr,fork FILE:${DEVICE},b115200,cs8,raw,echo=0 || true
+done