diff --git a/tools/README.md b/tools/README.md
index ac2474809e..3188c0fd4a 100644
--- a/tools/README.md
+++ b/tools/README.md
@@ -22,7 +22,7 @@ git clone --recurse-submodules https://github.com/commaai/openpilot.git
 
 2. Run the setup script:
 
-Ubuntu:
+Ubuntu 20.04 LTS:
 ``` bash
 openpilot/tools/ubuntu_setup.sh
 ```
diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh
index 28452760f7..c6b8b3dddb 100755
--- a/tools/ubuntu_setup.sh
+++ b/tools/ubuntu_setup.sh
@@ -2,63 +2,113 @@
 
 OP_ROOT=$(git rev-parse --show-toplevel)
 
-sudo apt-get update && sudo apt-get install -y --no-install-recommends \
+# Install packages present in all supported versions of Ubuntu
+function install_ubuntu_common_requirements() {
+  sudo apt-get update
+  sudo apt-get install -y --no-install-recommends \
     autoconf \
     build-essential \
+    clang \
+    cmake \
+    make \
+    cppcheck \
+    libtool \
+    libstdc++-arm-none-eabi-newlib \
+    gcc-arm-none-eabi \
     bzip2 \
+    liblzma-dev \
+    libarchive-dev \
+    libbz2-dev \
     capnproto \
-    cppcheck \
     libcapnp-dev \
-    clang \
-    cmake \
     curl \
-    ffmpeg \
+    libcurl4-openssl-dev \
+    wget \
     git \
     git-lfs \
-    libavformat-dev libavcodec-dev libavdevice-dev libavutil-dev libswscale-dev libavresample-dev libavfilter-dev \
-    libarchive-dev \
-    libbz2-dev \
-    libcurl4-openssl-dev \
+    ffmpeg \
+    libavformat-dev \
+    libavcodec-dev \
+    libavdevice-dev \
+    libavutil-dev \
+    libavfilter-dev \
     libeigen3-dev \
     libffi-dev \
     libglew-dev \
     libgles2-mesa-dev \
     libglfw3-dev \
     libglib2.0-0 \
-    liblzma-dev \
     libomp-dev \
     libopencv-dev \
     libpng16-16 \
     libssl-dev \
-    libstdc++-arm-none-eabi-newlib \
     libsqlite3-dev \
-    libtool \
     libusb-1.0-0-dev \
     libzmq3-dev \
-    libsdl-image1.2-dev libsdl-mixer1.2-dev libsdl-ttf2.0-dev libsmpeg-dev \
-    libsdl1.2-dev  libportmidi-dev libswscale-dev libavformat-dev libavcodec-dev libfreetype6-dev \
+    libsdl1.2-dev \
+    libsdl-image1.2-dev \
+    libsdl-mixer1.2-dev \
+    libsdl-ttf2.0-dev \
+    libsmpeg-dev \
+    libportmidi-dev \
+    libfreetype6-dev \
     libsystemd-dev \
     locales \
+    opencl-headers \
     ocl-icd-libopencl1 \
     ocl-icd-opencl-dev \
-    opencl-headers \
     python-dev \
     python3-pip \
     qml-module-qtquick2 \
-    qt5-default \
     qtmultimedia5-dev \
     qtwebengine5-dev \
     qtlocation5-dev \
     qtpositioning5-dev \
     libqt5sql5-sqlite \
     libqt5svg5-dev \
-    screen \
-    sudo \
-    vim \
-    wget \
-    gcc-arm-none-eabi \
     libqt5x11extras5-dev \
     libreadline-dev
+}
+
+# Install Ubuntu 21.10 packages
+function install_ubuntu_latest_requirements() {
+  install_ubuntu_common_requirements
+
+  sudo apt-get install -y --no-install-recommends \
+    qtbase5-dev \
+    qtchooser \
+    qt5-qmake \
+    qtbase5-dev-tools
+}
+
+# Install Ubuntu 20.04 packages
+function install_ubuntu_lts_requirements() {
+  install_ubuntu_common_requirements
+
+  sudo apt-get install -y --no-install-recommends \
+    libavresample-dev \
+    qt5-default
+}
+
+# Detect OS using /etc/os-release file
+if [ -f "/etc/os-release" ]; then
+  source /etc/os-release
+  case "$ID $VERSION_ID" in
+    "ubuntu 21.10")
+      install_ubuntu_latest_requirements
+      ;;
+    "ubuntu 20.04")
+      install_ubuntu_lts_requirements
+      ;;
+    *)
+      echo "$ID $VERSION_ID is unsupported. This setup script is written for Ubuntu 20.04."
+      exit 1
+  esac
+else
+  echo "No /etc/os-release in the system"
+  exit 1
+fi
+
 
 # install pyenv
 if ! command -v "pyenv" > /dev/null 2>&1; then