diff --git a/Tools/setup/OSX.sh b/Tools/setup/OSX.sh
index 1316fb4d2a..57e0e32995 100755
--- a/Tools/setup/OSX.sh
+++ b/Tools/setup/OSX.sh
@@ -18,22 +18,34 @@ do
   fi
 done
 
+# install Homebrew
+/usr/bin/ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)" < /dev/null
+
+# confirm Homebrew installed correctly
+brew doctor
+
 # Install px4-dev formula
-brew tap PX4/px4
-if [ brew ls --versions px4-dev > /dev/null ]; then
-  brew install px4-dev
-elif [[ $REINSTALL_FORMULAS == "--reinstall" ]]; then
+echo
+echo "Installing PX4 general dependencies (homebrew px4-dev)"
+
+if [[ $REINSTALL_FORMULAS == "--reinstall" ]]; then
+  brew tap PX4/px4
   brew reinstall px4-dev
+elif brew ls --versions px4-dev > /dev/null; then
+  brew tap PX4/px4
+  brew install px4-dev
 fi
 
-# Python dependencies
-sudo easy_install pip
-sudo -H python3 -m pip install --upgrade --force-reinstall pip
-sudo -H python3 -m pip install -I -r ${DIR}/requirements.txt
+# Python3 dependencies
+echo
+echo "Installing PX4 Python3 dependencies"
+brew install python3
+sudo -H python3 -m pip install --upgrade pip
+sudo -H python3 -m pip install -r ${DIR}/requirements.txt
 
 # Optional, but recommended additional simulation tools:
 if [[ $INSTALL_SIM == "--sim-tools" ]]; then
-  if [ brew ls --versions px4-sim > /dev/null ]; then
+  if brew ls --versions px4-sim > /dev/null; then
     brew install px4-sim
   elif [[ $REINSTALL_FORMULAS == "--reinstall" ]]; then
     brew reinstall px4-sim
diff --git a/Tools/setup/requirements.txt b/Tools/setup/requirements.txt
index 219511c8da..1ee025bf57 100644
--- a/Tools/setup/requirements.txt
+++ b/Tools/setup/requirements.txt
@@ -2,6 +2,7 @@ argparse>=1.2
 cerberus
 empy>=3.3
 jinja2>=2.8
+matplotlib
 nose
 numpy>=1.13
 pandas>=0.21
@@ -12,4 +13,3 @@ setuptools>=39.2.0
 toml>=0.9
 tornado
 wheel>=0.31.1
-matplotlib
diff --git a/Tools/setup/ubuntu.sh b/Tools/setup/ubuntu.sh
index 5c0a0baffb..2cdfd6a2be 100755
--- a/Tools/setup/ubuntu.sh
+++ b/Tools/setup/ubuntu.sh
@@ -49,6 +49,7 @@ fi
 
 export DEBIAN_FRONTEND=noninteractive
 
+echo
 echo "Installing PX4 general dependencies"
 
 sudo apt-get update -yy --quiet
@@ -81,20 +82,16 @@ sudo apt-get -yy --quiet --no-install-recommends install \
 	;
 
 
-# python dependencies
-echo "Installing PX4 Python dependencies"
-
-# TODO: deprecate python 2
-sudo python -m pip install --upgrade pip setuptools wheel
-sudo python -m pip install -r ${DIR}/requirements.txt
-
+# Python3 dependencies
+echo
+echo "Installing PX4 Python3 dependencies"
 sudo python3 -m pip install --upgrade pip setuptools wheel
 sudo python3 -m pip install -r ${DIR}/requirements.txt
 
-
 # NuttX toolchain (arm-none-eabi-gcc)
 if [[ $INSTALL_NUTTX == "true" ]]; then
 
+	echo
 	echo "Installing NuttX dependencies"
 
 	sudo apt-get -yy --quiet --no-install-recommends install \
@@ -145,6 +142,7 @@ fi
 # Simulation tools
 if [[ $INSTALL_SIM == "true" ]]; then
 
+	echo
 	echo "Installing PX4 simulation dependencies"
 
 	# java (jmavsim or fastrtps)
@@ -156,6 +154,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 
 	# Gazebo
 	sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+	wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
 	sudo apt-get update -yy --quiet
 	sudo apt-get -yy --quiet --no-install-recommends install gazebo9