diff --git a/cmake/Modules/CodeCoverage.cmake b/cmake/Modules/CodeCoverage.cmake
index 7ac0675..e5992dd 100644
--- a/cmake/Modules/CodeCoverage.cmake
+++ b/cmake/Modules/CodeCoverage.cmake
@@ -45,6 +45,9 @@
 # 2018-06-12, Michael Ferguson
 # - Forked for ROS support
 #
+# 2020-10-28, Stefan Fabian
+# - Added python3-coverage support
+#
 
 include(CMakeParseArguments)
 
@@ -54,11 +57,20 @@ find_program( LCOV_PATH  NAMES lcov lcov.bat lcov.exe lcov.perl)
 find_program( GENHTML_PATH NAMES genhtml genhtml.perl genhtml.bat )
 find_program( GCOVR_PATH gcovr PATHS ${CMAKE_SOURCE_DIR}/scripts/test)
 find_program( SIMPLE_PYTHON_EXECUTABLE python )
+find_program( PYTHON_COVERAGE_PATH python-coverage )
+
+if (NOT PYTHON_COVERAGE_PATH)
+    find_program( PYTHON_COVERAGE_PATH python3-coverage )
+endif()
 
 if(NOT GCOV_PATH)
     message(FATAL_ERROR "gcov not found! Aborting...")
 endif() # NOT GCOV_PATH
 
+if (NOT PYTHON_COVERAGE_PATH)
+    message(FATAL_ERROR "Neither python3-coverage nor python-coverage not found! Aborting...")
+endif()
+
 if("${CMAKE_CXX_COMPILER_ID}" MATCHES "(Apple)?[Cc]lang")
     if("${CMAKE_CXX_COMPILER_VERSION}" VERSION_LESS 3)
         message(FATAL_ERROR "Clang version must be 3.0.0 or greater! Aborting...")
@@ -145,7 +157,7 @@ function(ADD_CODE_COVERAGE)
 
     # Cleanup python counters
     add_custom_target(${Coverage_NAME}_cleanup_py
-        COMMAND python-coverage erase
+        COMMAND ${PYTHON_COVERAGE_PATH} erase
         WORKING_DIRECTORY ${COVERAGE_DIR}
         COMMENT "Resetting PYTHON code coverage counters to zero."
     )
@@ -173,10 +185,10 @@ function(ADD_CODE_COVERAGE)
         # Rename .coverage file generated by nosetests to avoid overwriting during combine step
         COMMAND if [ -f ${PROJECT_BINARY_DIR}/.coverage ]\; then mv ${PROJECT_BINARY_DIR}/.coverage ${PROJECT_BINARY_DIR}/.coverage.nosetests\; fi
         COMMAND cp ${PROJECT_BINARY_DIR}/.coverage* ${COVERAGE_DIR}/ || echo "WARNING: No python coverage!"
-        COMMAND python-coverage combine || echo "WARNING: No python coverage to combine!"
-        COMMAND python-coverage report --include "*${PROJECT_SOURCE_DIR}*" --omit ${COVERAGE_EXCLUDES} || echo "WARNING: no python report to output"
-        COMMAND python-coverage xml    --include "*${PROJECT_SOURCE_DIR}*" --omit ${COVERAGE_EXCLUDES} || echo "WARNING: No python xml to output"
-        COMMAND python-coverage html   --include "*${PROJECT_SOURCE_DIR}*" --omit ${COVERAGE_EXCLUDES} || echo "WARNING: No python html to output"
+        COMMAND ${PYTHON_COVERAGE_PATH} combine || echo "WARNING: No python coverage to combine!"
+        COMMAND ${PYTHON_COVERAGE_PATH} report --include "*${PROJECT_SOURCE_DIR}*" --omit ${COVERAGE_EXCLUDES} || echo "WARNING: no python report to output"
+        COMMAND ${PYTHON_COVERAGE_PATH} xml    --include "*${PROJECT_SOURCE_DIR}*" --omit ${COVERAGE_EXCLUDES} || echo "WARNING: No python xml to output"
+        COMMAND ${PYTHON_COVERAGE_PATH} html   --include "*${PROJECT_SOURCE_DIR}*" --omit ${COVERAGE_EXCLUDES} || echo "WARNING: No python html to output"
         WORKING_DIRECTORY ${COVERAGE_DIR}
         DEPENDS _run_tests_${PROJECT_NAME}
     )