You need the Lua plugin for ScriptHookV for the script to run. You can get it here: http://gtaforums.com/topic/789139-vrelhook-lua-plugin-for-script-hook-v/
To install this script:
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Download Lua plugin for ScriptHookV
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Unzip the contents into a seperate folder and put them into GTAV installation folder. (Where GTA5.exe, GTAVLauncher.exe, etc. is located.)
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Go into the "scripts" folder and go into the "addins" folder (Option: You can delete the Lua scripts in there. (Recommemded to delete them or backup them somewhere else.))
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Put the script in the "addins" folder
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Start up GTA V and use the button that reloads the addons. The script is now installed and ready to run.
How to use the script: Press the Insert key to spawn them and press the Delete button to remove them.
When the bodyguards die, they will be automatically deleted.