diff --git a/tools/ci/cibuild.sh b/tools/ci/cibuild.sh
index c1e0e9e608..a5ce2f6992 100755
--- a/tools/ci/cibuild.sh
+++ b/tools/ci/cibuild.sh
@@ -209,16 +209,16 @@ function elf-toolchain {
 }
 
 function gen-romfs {
-  add_path "${tools}"/genromfs/usr/bin
-
-  if [ ! -f "${tools}/genromfs/usr/bin/genromfs" ]; then
-    git clone https://bitbucket.org/nuttx/tools.git "${tools}"/nuttx-tools
-    cd "${tools}"/nuttx-tools
-    tar zxf genromfs-0.5.2.tar.gz -C "${tools}"
-    cd "${tools}"/genromfs-0.5.2
-    make install PREFIX="${tools}"/genromfs
-    cd "${tools}"
-    rm -rf genromfs-0.5.2
+  if ! type genromfs &> /dev/null; then
+    case ${os} in
+      Darwin)
+        brew tap PX4/px4
+        brew install genromfs
+        ;;
+      Linux)
+        apt-get install -y genromfs
+        ;;
+    esac
   fi
 }
 
@@ -242,6 +242,7 @@ function kconfig-frontends {
   add_path "${tools}"/kconfig-frontends/bin
 
   if [ ! -f "${tools}/kconfig-frontends/bin/kconfig-conf" ]; then
+    git clone https://bitbucket.org/nuttx/tools.git "${tools}"/nuttx-tools
     cd "${tools}"/nuttx-tools/kconfig-frontends
     ./configure --prefix="${tools}"/kconfig-frontends \
       --disable-kconfig --disable-nconf --disable-qconf \
diff --git a/tools/ci/docker/linux/Dockerfile b/tools/ci/docker/linux/Dockerfile
index ec37e34e00..045c80547d 100644
--- a/tools/ci/docker/linux/Dockerfile
+++ b/tools/ci/docker/linux/Dockerfile
@@ -50,12 +50,6 @@ RUN mkdir bloaty -p \
   && cmake -DCMAKE_SYSTEM_PREFIX_PATH=/tools/bloaty \
   && make install
 
-RUN cd nuttx-tools \
-  && mkdir genromfs \
-  && tar -C genromfs --strip-components=1 -xf genromfs-0.5.2.tar.gz \
-  && cd genromfs \
-  && make install PREFIX=/tools/genromfs
-
 RUN cd nuttx-tools/kconfig-frontends \
   && ./configure --enable-mconf --disable-gconf --disable-qconf --enable-static --prefix=/tools/kconfig-frontends \
   && make install
@@ -239,6 +233,7 @@ RUN apt-get update -qq && DEBIAN_FRONTEND="noninteractive" apt-get install -y -q
   gcc \
   gcc-avr \
   gcc-multilib \
+  genromfs \
   gettext \
   git \
   lib32z1-dev \
@@ -302,8 +297,6 @@ WORKDIR /tools
 # Pull in the tools we just built for nuttx
 COPY --from=nuttx-tools /tools/bloaty/ bloaty/
 ENV PATH="/tools/bloaty/bin:$PATH"
-COPY --from=nuttx-tools /tools/genromfs/ /tools/genromfs/
-ENV PATH="/tools/genromfs/usr/bin:$PATH"
 COPY --from=nuttx-tools /tools/kconfig-frontends/ kconfig-frontends/
 ENV PATH="/tools/kconfig-frontends/bin:$PATH"