# Cognipilot: I need to start over

Sometimes you just want to start over. It's ok, we all have days like that.\
I Fyou need afresh cognipilot start, and want to be extra sure there are no leftover dependencies or files you dont' want etc then follow these steps.\
\
Keep in mind this is going to erase local changes you may have made to cognipilot files. Note them in advance if you want to re-do the changes afterwards. (for example you may have disabled the battery voltage check in \<todo> xxx.conf)

## For clean install on your PC

```
sudo rm -rf /opt/toolchains
sudo rm -rf /opt/zeth
sudo rm -rf /opt/poetry
rm -rf ~/bin/build_*
rm -rf ~/bin/west
rm -rf ~/bin/cyecca
rm -rf ~/bin/docs
rm -rf ~/cognipilot
```

Then start again with the [cognipilot install instructions for the Linux host development PC.](https://nxp.gitbook.io/mr-b3rb/software/mr-b3rb-software-developer-guide/cognipilot-prepare-linux-development-pc)

or this link\
<https://airy.cognipilot.org/getting_started/install/#use-cognipilot-universal-installer>

\
Stuck on a previous Gazebo&#x20;
--------------------------------

The instructions above will take care of Gazebo install also. \
If you happen to know you are stuck on an old version of Gazebo you may want to just try this first.\
\
The example below is where <mark style="color:purple;">gazebo "garden" (gzgarden)</mark> is installed, but you want <mark style="color:purple;">gazebo "harmonic"</mark>

```
apt-get remove ros-humble-ros-gzgarden
sudo apt-get install ros-humble-ros-gzharmonic
sudo apt-get install gz-harmonic
```