diff --git a/Tools/setup/ubuntu.sh b/Tools/setup/ubuntu.sh
index 8077444b3a..b64c60f00a 100755
--- a/Tools/setup/ubuntu.sh
+++ b/Tools/setup/ubuntu.sh
@@ -2,20 +2,22 @@
 
 set -e
 
-## Bash script to setup PX4 development environment on Ubuntu LTS (20.04, 18.04, 16.04).
+## Bash script to setup PX4 development environment on Ubuntu LTS (20.04, 18.04).
 ## Can also be used in docker.
 ##
 ## Installs:
-## - Common dependencies and tools for nuttx, jMAVSim, Gazebo
+## - Common dependencies and tools for NuttX, jMAVSim, Gazebo
 ## - NuttX toolchain (omit with arg: --no-nuttx)
-## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools)
-##
-## Not Installs:
-## - FastRTPS and FastCDR
+## - jMAVSim and Gazebo simulator (omit with arg: --no-sim-tools)
+## Optional:
+## - FastRTPS and FastCDR (with args: --with-rtps)
 
 INSTALL_NUTTX="true"
 INSTALL_SIM="true"
 INSTALL_ARCH=`uname -m`
+INSTALL_RTPS="false"
+INSTALL_JAVA="false"
+INSIDE_DOCKER="false"
 
 # Parse arguments
 for arg in "$@"
@@ -28,19 +30,19 @@ do
 		INSTALL_SIM="false"
 	fi
 
-done
+	if [[ $arg == "--with-rtps" ]]; then
+		INSTALL_RTPS="true"
+	fi
 
-# detect if running in docker
-if [ -f /.dockerenv ]; then
-	echo "Running within docker, installing initial dependencies";
-	apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
-		ca-certificates \
-		gnupg \
-		lsb-core \
-		sudo \
-		wget \
-		;
-fi
+	if [[ $arg == "--with-java" ]]; then
+		INSTALL_JAVA="true"
+	fi
+
+	if [[ $arg == "--from-docker" ]]; then
+		INSIDE_DOCKER="true"
+	fi
+
+done
 
 # script directory
 DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
@@ -69,20 +71,35 @@ elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
 	echo "Ubuntu 20.04"
 fi
 
+VERBOSE_BAR="####################"
+echo
+echo $VERBOSE_BAR
+echo "#⚡️ Starting PX4 Dependency Installer for Ubuntu ${UBUNTU_RELEASE} (${INSTALL_ARCH})"
+echo "# Options:
+#
+#  - Install NuttX = ${INSTALL_NUTTX}
+#  - Install Java = ${INSTALL_JAVA}
+#  - Install Simulation = ${INSTALL_SIM}
+#  - Install RTPS = ${INSTALL_RTPS}"
+echo $VERBOSE_BAR
+echo
 
 echo
-echo "Installing PX4 general dependencies"
+echo $VERBOSE_BAR
+echo "🍻 Installing System Dependencies"
+echo $VERBOSE_BAR
+echo
 
 sudo apt-get update -y --quiet
 sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-	astyle \
 	build-essential \
-	cmake \
-	cppcheck \
-	file \
 	g++ \
 	gcc \
 	gdb \
+	astyle \
+	cmake \
+	cppcheck \
+	file \
 	git \
 	lcov \
 	libxml2-dev \
@@ -98,34 +115,45 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
 	shellcheck \
 	unzip \
 	zip \
+	libssl-dev \
 	;
 
-# Python3 dependencies
+# Python 3 dependencies
 echo
-echo "Installing PX4 Python3 dependencies"
+echo $VERBOSE_BAR
+echo "🍻 Installing Python dependencies"
+echo $VERBOSE_BAR
+echo
+
 if [ -n "$VIRTUAL_ENV" ]; then
 	# virtual environments don't allow --user option
 	python -m pip install -r ${DIR}/requirements.txt
 else
 	# older versions of Ubuntu require --user option
-	python3 -m pip install --user -r ${DIR}/requirements.txt
+	if [[ $INSIDE_DOCKER == "true" ]]; then
+		# when running inside a docker container we don't need to install
+		# under --user since the installer user is root
+		# its best to install packages globaly for any user to find
+		python3 -m pip install -r /tmp/requirements.txt
+	else
+		python3 -m pip install --user -r ${DIR}/requirements.txt
+	fi
 fi
 
 # NuttX toolchain (arm-none-eabi-gcc)
 if [[ $INSTALL_NUTTX == "true" ]]; then
 
 	echo
-	echo "Installing NuttX dependencies"
+	echo $VERBOSE_BAR
+	echo "🍻 Installing NuttX dependencies"
+	echo $VERBOSE_BAR
+	echo
 
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		automake \
 		binutils-dev \
 		bison \
-		build-essential \
 		flex \
-		g++-multilib \
-		gcc-multilib \
-		gdb-multiarch \
 		genromfs \
 		gettext \
 		gperf \
@@ -145,7 +173,12 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		u-boot-tools \
 		util-linux \
 		vim-common \
+		g++-arm-linux-gnueabihf \
+		gcc-arm-linux-gnueabihf \
+		g++-aarch64-linux-gnu \
+		gcc-aarch64-linux-gnu \
 		;
+
 	if [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
 		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		kconfig-frontends \
@@ -158,78 +191,147 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		sudo usermod -a -G dialout $USER
 	fi
 
-	# arm-none-eabi-gcc
 	NUTTX_GCC_VERSION="9-2020-q2-update"
 	NUTTX_GCC_VERSION_SHORT="9-2020q2"
+	echo
+	echo $VERBOSE_BAR
+	echo "🍻 Verifying proper gcc version (${NUTTX_GCC_VERSION}), and installing if not found"
+	echo
 
 	source $HOME/.profile # load changed path for the case the script is reran before relogin
 	if [ $(which arm-none-eabi-gcc) ]; then
 		GCC_VER_STR=$(arm-none-eabi-gcc --version)
-		GCC_FOUND_VER=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}")
+		GCC_VER_FOUND=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}")
 	fi
 
-	if [[ "$GCC_FOUND_VER" == "1" ]]; then
-		echo "arm-none-eabi-gcc-${NUTTX_GCC_VERSION} found, skipping installation"
+	if [[ $(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}") == "1" ]]; then
+		echo "📌 Skipping installation, the arm cross compiler was found"
+		echo $VERBOSE_BAR
+		echo
 
 	else
-		echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
-		wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-${INSTALL_ARCH}-linux.tar.bz2 && \
-			sudo tar -jxf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 -C /opt/;
+		echo "📌 The arm cross compiler was not found";
+		echo " * Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
+		# The arm cross compiler hosting provider is known to throttle download speeds
+		# for users who reach a certain limit of downloads in a given time frame
+		# for this reason we allow for using a previously downloaded file
+		# this is specially helpful when debugging this installer script
+		# from within a container COMPILER_PATH="/tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2"
+		COMPILER_NAME="gcc-arm-none-eabi-${NUTTX_GCC_VERSION}"
+		COMPILER_PATH="/tmp/$COMPILER_NAME-linux.tar.bz2"
+		if [ ! -f "$COMPILER_PATH" ]; then
+			wget -O $COMPILER_PATH https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/${COMPILER_NAME}-${INSTALL_ARCH}-linux.tar.bz2
+		fi
+		sudo tar -jxf $COMPILER_PATH -C /opt/;
 
 		# add arm-none-eabi-gcc to user's PATH
-		exportline="export PATH=/opt/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}/bin:\$PATH"
-
-		if grep -Fxq "$exportline" $HOME/.profile; then
+		exportline="export PATH=\"/opt/${COMPILER_NAME}/bin:\$PATH\""
+		if [[ $INSIDE_DOCKER == "true" ]]; then
+			# when running on a docker container its best to set the environment globally
+			# since we don't know which user is going to be running commands on the container
+			touch /etc/profile.d/px4env.sh
+			echo $exportline >> /etc/profile.d/px4env.sh
+		elif grep -Fxq "$exportline" $HOME/.profile; then
 			echo "${NUTTX_GCC_VERSION} path already set.";
 		else
 			echo $exportline >> $HOME/.profile;
 		fi
+		echo " * arm-none-eabi-gcc (${NUTTX_GCC_VERSION}) Installed Succesful to /opt/${COMPILER_NAME}/bin"
+		echo $VERBOSE_BAR
+		echo
 	fi
 fi
 
+# Install JAVA
+# NOTE: The version of java below has been double checked to work
+# against all the tools and dependencies you need including FastRTPS
+# and Gazebo. If really need to update JDK, make sure you test the
+# compatibility with Gradle and the eProsima tools in the next step
+if [[ $INSTALL_JAVA == "true" ]]; then
+	JDK_VERSION="14.0.2_12"
+	echo
+	echo $VERBOSE_BAR
+	echo "🍻 Installing Java JDK
+
+	* Version: $JDK_VERSION
+	* Path: /opt/jdk-14.0.2+12"
+	echo $VERBOSE_BAR
+	echo
+
+	JDK_DOWNLOAD="/tmp/OpenJDK14U-jdk_x64_linux_hotspot_$JDK_VERSION.tar.gz"
+	wget -O $JDK_DOWNLOAD https://github.com/AdoptOpenJDK/openjdk14-binaries/releases/download/jdk-14.0.2%2B12/OpenJDK14U-jdk_x64_linux_hotspot_14.0.2_12.tar.gz
+	sudo tar -xzf $JDK_DOWNLOAD -C /opt/
+	export PATH="/opt/jdk-14.0.2+12/bin:$PATH"
+fi
+
+# Fast-RTPS
+# The version of eProsima tools we are using has a hard dependency on
+# JDK 14 because of Gradle, any new version of Gradle won't work unless
+# the eProsima tools are updated
+if [[ $INSTALL_RTPS == "true" ]]; then
+	echo
+	echo $VERBOSE_BAR
+	echo "🍻 Installing Fast-RTPS"
+	echo $VERBOSE_BAR
+	echo
+
+	GRADLE_VERSION="6.4.1"
+	wget -O "/tmp/gradle-$GRADLE_VERSION-bin.zip" "https://services.gradle.org/distributions/gradle-$GRADLE_VERSION-bin.zip" \
+		&& unzip -d /opt/gradle "/tmp/gradle-$GRADLE_VERSION-bin.zip"
+	export PATH="$PATH:/opt/gradle/gradle-$GRADLE_VERSION/bin"
+
+	# Intall foonathan_memory from source as it is required to Fast-RTPS >= 1.9
+	git clone https://github.com/eProsima/foonathan_memory_vendor.git /tmp/foonathan_memory \
+		&& cd /tmp/foonathan_memory \
+		&& mkdir build && cd build \
+		&& cmake .. \
+		&& cmake --build . --target install -- -j $(nproc)
+
+	# Fast-DDS (Fast-RTPS 2.1.1)
+	git clone --recursive https://github.com/eProsima/Fast-DDS.git -b v2.1.1 /tmp/FastRTPS-2.1.1 \
+		&& cd /tmp/FastRTPS-2.1.1 \
+		&& mkdir build && cd build \
+		&& cmake -DTHIRDPARTY=ON -DSECURITY=ON .. \
+		&& cmake --build . --target install -- -j $(nproc)
+
+	# Fast-RTPS-Gen 1.0.4
+	git clone --recursive https://github.com/eProsima/Fast-DDS-Gen.git -b v1.0.4 /tmp/Fast-RTPS-Gen-1.0.4 \
+		&& cd /tmp/Fast-RTPS-Gen-1.0.4 \
+		&& gradle assemble \
+		&& gradle install
+
+fi
+
 # Simulation tools
 if [[ $INSTALL_SIM == "true" ]]; then
 
 	echo
-	echo "Installing PX4 simulation dependencies"
+	echo $VERBOSE_BAR
+	echo "🍻 Installing PX4 Simulation Tools"
+	echo
+
+	# default and Ubuntu 20.04
+	gazebo_version=11
+	gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
+	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
+		gazebo_version=9
+	elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
+		gazebo_version=11
+		gazebo_packages="gazebo libgazebo-dev"
+	fi
+
+	echo "  * Gazebo Version $gazebo_version"
+	echo $VERBOSE_BAR
 
 	# General simulation dependencies
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		bc \
-		;
-
-	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
-		java_version=11
-	elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
-		java_version=13
-	elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
-		java_version=11
-	else
-		java_version=14
-	fi
-	# Java (jmavsim or fastrtps)
-	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		ant \
-		openjdk-$java_version-jre \
-		openjdk-$java_version-jdk \
 		libvecmath-java \
 		;
 
-	# Set Java 11 as default
-	sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")
-
-	# Gazebo
-	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
-		gazebo_version=9
-		gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
-	elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
-		gazebo_packages="gazebo libgazebo-dev"
-	else
-		# default and Ubuntu 20.04
-		gazebo_version=11
-		gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
-	fi
-
+	# Installing Gazebo and dependencies
+	# Setup OSRF Gazebo repository
 	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 -
 	# Update list, since new gazebo-stable.list has been added
@@ -257,7 +359,26 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	fi
 fi
 
-if [[ $INSTALL_NUTTX == "true" ]]; then
-	echo
-	echo "Relogin or reboot computer before attempting to build NuttX targets"
+if [[ $INSIDE_DOCKER == "true" ]]; then
+	# cleanup installation
+	rm -rf /tmp/
 fi
+
+if [[ $INSIDE_DOCKER == "false" ]] && [[ $INSTALL_NUTTX == "true" ]]; then
+	echo
+	echo $VERBOSE_BAR
+	echo "💡 We recommend you relogin/reboot before attempting to build NuttX targets"
+	echo $VERBOSE_BAR
+	echo
+fi
+
+echo
+echo
+echo $VERBOSE_BAR
+echo "#⚡️ PX4 Dependency Installer Ended Succesfully
+#
+#  For more information on PX4 Autopilot check out our docs
+#  at docs.px4.io, if you find a bug please file an issue
+#  on GitHub https://github.com/px4/px4-autopilot"
+echo $VERBOSE_BAR
+echo