diff --git a/Tools/setup/requirements.txt b/Tools/setup/requirements.txt
index baf2d94fbd9a..f6a3794fd46f 100644
--- a/Tools/setup/requirements.txt
+++ b/Tools/setup/requirements.txt
@@ -4,7 +4,7 @@ cerberus
 coverage
 empy>=3.3
 jinja2>=2.8
-matplotlib==3.0.*
+matplotlib>=3.0.*
 numpy>=1.13
 packaging
 pandas>=0.21
diff --git a/Tools/setup/ubuntu.sh b/Tools/setup/ubuntu.sh
index 56c44e5bdb8c..a4bd951212d4 100755
--- a/Tools/setup/ubuntu.sh
+++ b/Tools/setup/ubuntu.sh
@@ -1,6 +1,6 @@
 #! /usr/bin/env bash
 
-## Bash script to setup PX4 development environment on Ubuntu LTS (18.04, 16.04).
+## Bash script to setup PX4 development environment on Ubuntu LTS (20.04, 18.04, 16.04).
 ## Can also be used in docker.
 ##
 ## Installs:
@@ -107,7 +107,6 @@ fi
 # Python3 dependencies
 echo
 echo "Installing PX4 Python3 dependencies"
-python3 -m pip install --upgrade pip
 python3 -m pip install --user -r ${DIR}/requirements.txt
 
 # NuttX toolchain (arm-none-eabi-gcc)
@@ -140,6 +139,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 	# arm-none-eabi-gcc
 	NUTTX_GCC_VERSION="7-2017-q4-major"
 
+	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}")
@@ -156,8 +156,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		# add arm-none-eabi-gcc to user's PATH
 		exportline="export PATH=/opt/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}/bin:\$PATH"
 
-		if grep -Fxq "$exportline" $HOME/.profile;
-		then
+		if grep -Fxq "$exportline" $HOME/.profile; then
 			echo "${NUTTX_GCC_VERSION} path already set.";
 		else
 			echo $exportline >> $HOME/.profile;
@@ -206,9 +205,13 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		protobuf-compiler \
 		;
 
+	if sudo dmidecode -t system | grep -q "Manufacturer: VMware, Inc." ; then
+		# fix VMWare 3D graphics acceleration for gazebo
+		echo "export SVGA_VGPU10=0" >> ~/.profile
+	fi
 fi
 
 if [[ $INSTALL_NUTTX == "true" ]]; then
 	echo
-	echo "Reboot or logout, login computer before attempting to build NuttX targets"
+	echo "Relogin or reboot computer before attempting to build NuttX targets"
 fi