diff --git a/script/README.md b/script/README.md
index c296e7d..e8845ca 100644
--- a/script/README.md
+++ b/script/README.md
@@ -62,3 +62,9 @@ Delete all packages in the workspace.
 Use catkin to build the workspace.
 ### usage
 1. ```CATKIN_MAKE_SARA```
+
+# Using ssh
+To use ssh instead of https, you need to set SARA_FORCE_SSH=true.
+To make this permanent, add this line to your .bashrc:
+```SARA_FORCE_SSH=true```
+Note that when forcing ssh, the .rosinstall file will still show https but ssh will be used nevertheless.
diff --git a/script/_switch_https_ssh.sh b/script/_switch_https_ssh.sh
new file mode 100644
index 0000000..b2c49f3
--- /dev/null
+++ b/script/_switch_https_ssh.sh
@@ -0,0 +1,13 @@
+#!/bin/bash
+while getopts "sh" arg; do
+  case $arg in
+    s)
+      # Switch to ssh
+      sed "s/https:\/\/github\.com\/walkingmachine/git@github\.com\:WalkingMachine/g" src/.rosinstall  > /tmp/sara_install && mv /tmp/sara_install src/.rosinstall
+      ;;
+    h)
+      # Switch to https
+      sed "s/git@github\.com\:WalkingMachine/https:\/\/github\.com\/walkingmachine/g" src/.rosinstall  > /tmp/sara_install && mv /tmp/sara_install src/.rosinstall
+      ;;
+  esac
+done
diff --git a/script/install.sh b/script/install.sh
index facbcf4..7784b2d 100644
--- a/script/install.sh
+++ b/script/install.sh
@@ -51,6 +51,16 @@ source "$WSDIR/script/setup.sh"
 # Move to the workspace
 cd "$WSDIR"
 
+
+######################################
+## Set to ssh if needed
+if [[ $SARA_FORCE_SSH == "true" ]]
+then
+	echo "SARA_FORCE_SSH is true. Forcing ssh mode."
+	bash -c "source script/_switch_https_ssh.sh -s"
+fi
+
+
 ######################################
 ## Remove extra repos
 
@@ -80,6 +90,15 @@ set +v
 ######################################
 ## End
 
+
+######################################
+## Set back to https if needed
+if [[ $SARA_FORCE_SSH == "true" ]]
+then
+	bash -c "source script/_switch_https_ssh.sh -h"
+fi
+
+
 # Get the right setup for the shell
 source $WSDIR/devel/setup.$SHELL_EXTENSION
 # Move back to the original position
diff --git a/script/scrape_config.sh b/script/scrape_config.sh
index de8f53b..06343bd 100644
--- a/script/scrape_config.sh
+++ b/script/scrape_config.sh
@@ -50,6 +50,15 @@ fi
 cd "$WSDIR"
 
 
+######################################
+## Set to ssh if needed
+if [[ $SARA_FORCE_SSH == "true" ]]
+then
+	echo "SARA_FORCE_SSH is true. Forcing ssh mode."
+	bash -c "source script/_switch_https_ssh.sh -s"
+fi
+
+
 ######################################
 ## Scrape all packages using wstool and some gawk magics.
 
@@ -65,9 +74,9 @@ echo "By Branch:"
 wstool info -t src --data-only | sed -r 's/\ [XLVCM][XLVCM]?\ /\ /' | sed 's/([^(]*)/\ /'g | tac > /tmp/sara_install_ws
 gawk 'BEGIN { FS = " " } ; $2=="git" {print "- "$2":\n\
     local-name: "$1"\n\
-    uri: https://"$5"\n\
-    version: "$3}' /tmp/sara_install_ws > src/.rosinstall
-
+    uri: "$5"\n\
+    version: "$3}' /tmp/sara_install_ws > /tmp/sara_install_ws2
+		sed "s/github.com\//https:\/\/github.com\//g" /tmp/sara_install_ws2 > src/.rosinstall
     echo "here is a summary of all packages in src:"
     gawk 'BEGIN { FS = " " } ; $2=="git" {print "    - "$1" "$3""}' /tmp/sara_install_ws | column -t
 else
@@ -75,9 +84,9 @@ echo "By commit:"
 wstool info -t src --only=scmtype,localname,revision,uri | tr , \  | tac > /tmp/sara_install_ws
 gawk '$2=="git" {print "- "$1":\n\
     local-name: "$2"\n\
-    uri: https://"$4"\n\
-    version: "$3}' /tmp/sara_install_ws > src/.rosinstall
-
+    uri: "$4"\n\
+    version: "$3}' /tmp/sara_install_ws > /tmp/sara_install_ws2
+		sed "s/github.com\//https:\/\/github.com\//g" /tmp/sara_install_ws2 > src/.rosinstall
     echo "here is a summary of all packages in src:"
     gawk '$2=="git" {print "    - "$2" ("$3")"}' /tmp/sara_install_ws
 
@@ -86,6 +95,14 @@ fi
 #rm /tmp/sara_install_ws
 
 
+######################################
+## Set back to https if needed
+if [[ $SARA_FORCE_SSH == "true" ]]
+then
+	bash -c "source script/_switch_https_ssh.sh -h"
+fi
+
+
 ######################################
 ## End
 
diff --git a/script/status.sh b/script/status.sh
index 38b559f..d7e6482 100644
--- a/script/status.sh
+++ b/script/status.sh
@@ -48,6 +48,16 @@ source "$WSDIR/script/setup.sh"
 # Move to the workspace
 cd "$WSDIR"
 
+
+######################################
+## Set to ssh if needed
+if [[ $SARA_FORCE_SSH == "true" ]]
+then
+	echo "SARA_FORCE_SSH is true. Forcing ssh mode."
+	bash -c "source script/_switch_https_ssh.sh -s"
+fi
+
+
 ######################################
 ## Status report
 
@@ -73,6 +83,15 @@ echo "*"
 echo -e "*****************************************\n\n"
 ######################################
 
+
+######################################
+## Set back to https if needed
+if [[ $SARA_FORCE_SSH == "true" ]]
+then
+	bash -c "source script/_switch_https_ssh.sh -h"
+fi
+
+
 ## End
 
 # Move back to the original position
diff --git a/script/update.sh b/script/update.sh
index f1a457d..7bf0ed7 100644
--- a/script/update.sh
+++ b/script/update.sh
@@ -52,6 +52,15 @@ source "$WSDIR/script/setup.sh"
 cd "$WSDIR"
 
 
+######################################
+## Set to ssh if needed
+if [[ $SARA_FORCE_SSH == "true" ]]
+then
+	echo "SARA_FORCE_SSH is true. Forcing ssh mode."
+	bash -c "source script/_switch_https_ssh.sh -s"
+fi
+
+
 ######################################
 ## Update all packages
 
@@ -68,6 +77,17 @@ set +v
 ######################################
 ## End
 
+
+
+######################################
+## Set back to https if needed
+if [[ $SARA_FORCE_SSH == "true" ]]
+then
+	bash -c "source script/_switch_https_ssh.sh -h"
+fi
+
+
+
 # Get the right setup for the shell
 source $WSDIR/devel/setup.$SHELL_EXTENSION
 # Move back to the original position