diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh
index 27e9d6d7..9f09279d 100755
--- a/tools/ubuntu_setup.sh
+++ b/tools/ubuntu_setup.sh
@@ -89,7 +89,7 @@ pipenv install --system --deploy
 pip install -r tools/requirements.txt
 
 # to make modeld work on PC with nvidia GPU
-pip install tensorflow-gpu==2.2
+pip install tensorflow==2.2
 
 # for loggerd to work on ubuntu
 # TODO: PC should log somewhere else
diff --git a/tools/webcam/README.md b/tools/webcam/README.md
index 89f1ac3a..74676f35 100644
--- a/tools/webcam/README.md
+++ b/tools/webcam/README.md
@@ -17,7 +17,7 @@ git clone https://github.com/commaai/openpilot.git
 ```
 - Follow [this readme](https://github.com/commaai/openpilot/tree/master/tools) to install the requirements  
 - Add line "export PYTHONPATH=$HOME/openpilot" to your ~/.bashrc  
-- You also need to install tensorflow-gpu 2.1.0 (if not working, try 2.0.0) and nvidia drivers: nvidia-xxx/cuda10.0/cudnn7.6.5  
+- You also need to install tensorflow 2.2 and nvidia drivers: nvidia-xxx/cuda10.0/cudnn7.6.5  
 - Install [OpenCL Driver](http://registrationcenter-download.intel.com/akdlm/irc_nas/12556/opencl_runtime_16.1.2_x64_rh_6.4.0.37.tgz)  
 - (Note: the code assumes cl platforms order to be 0.GPU/1.CPU when running clinfo; if reverse, change the -1 to -2 in selfdrive/modeld/modeld.cc#L130; helping us refactor this mess is encouraged)  
 - Install [OpenCV4](https://www.pyimagesearch.com/2018/08/15/how-to-install-opencv-4-on-ubuntu/) (ignore the Python part)