diff --git a/scripts/setup.bash b/scripts/setup.bash
index c56efc21f..51b08d21f 100755
--- a/scripts/setup.bash
+++ b/scripts/setup.bash
@@ -198,6 +198,19 @@ prettycp() {
 	rsync --recursive --times --modify-window=2 --progress --verbose --itemize-changes --stats --human-readable "$1" "$2"
 }
 
+# Disambiguation function for ROS_MASTER_URI/GAZEBO_MASTER_URI
+# sets the values to calculated expr 11340+$1 and 11350+$1 respectively
+disambig() {
+	if [ "$#" -ne 1 ]; then
+		printf "Usage: disambig <plus_factor>\n\tSets the ROS_MASTER_URI and GAZEBO_MASTER_URI to 11340+<plus_factor> and 11350+<plus_factor> respectively to allow for parallel simulations"
+		return
+	fi
+	export ROS_MASTER_URI="http://localhost:$((11340 + $1))"
+	export GAZEBO_MASTER_URI="http://localhost:$((11350 + $1))"
+	echo "ROS_MASTER_URI=$ROS_MASTER_URI"
+	echo "GAZEBO_MASTER_URI=$GAZEBO_MASTER_URI"
+}
+
 mount_ssd() {
 	sudo mkdir -p /mnt/ssd
 	sudo mount -t exfat /dev/sda1 /mnt/ssd