diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 3c13a4b6..8ef2e688 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -29,7 +29,7 @@ jobs:
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip setuptools
-          python -m pip install PyYAML argparse empy rosdep vcstools catkin-pkg python-dateutil
+          python -m pip install PyYAML argparse empy rosdep vcstools catkin-pkg python-dateutil packaging
           python -m pip install nose coverage pep8
       - name: Run tests
         run: |
diff --git a/bloom/commands/git/import_upstream.py b/bloom/commands/git/import_upstream.py
index 74bbbbfd..3a2d79b9 100755
--- a/bloom/commands/git/import_upstream.py
+++ b/bloom/commands/git/import_upstream.py
@@ -39,7 +39,7 @@
 import tarfile
 import tempfile
 
-from pkg_resources import parse_version
+from packaging.version import parse as parse_version
 
 try:
     from urlparse import urlparse
diff --git a/bloom/commands/release.py b/bloom/commands/release.py
index dc68d50e..35837e00 100644
--- a/bloom/commands/release.py
+++ b/bloom/commands/release.py
@@ -49,8 +49,6 @@
 import webbrowser
 import yaml
 
-from pkg_resources import parse_version
-
 # python2/3 compatibility
 try:
     from urllib.error import HTTPError, URLError
diff --git a/bloom/commands/update.py b/bloom/commands/update.py
index 63486f08..692c849c 100644
--- a/bloom/commands/update.py
+++ b/bloom/commands/update.py
@@ -51,7 +51,7 @@
 from bloom.util import add_global_arguments
 from bloom.util import handle_global_arguments
 
-from pkg_resources import parse_version
+from packaging.version import parse as parse_version
 from threading import Lock
 
 _updater_running = False
diff --git a/bloom/generators/debian/generator.py b/bloom/generators/debian/generator.py
index 6e1a9af3..fe629c8d 100644
--- a/bloom/generators/debian/generator.py
+++ b/bloom/generators/debian/generator.py
@@ -49,7 +49,7 @@
 except ImportError:
     from ConfigParser import SafeConfigParser
 from dateutil import tz
-from pkg_resources import parse_version
+from packaging.version import parse as parse_version
 
 from bloom.generators import BloomGenerator
 from bloom.generators import GeneratorError
diff --git a/bloom/generators/release.py b/bloom/generators/release.py
index 067edfcb..5eeb4a34 100755
--- a/bloom/generators/release.py
+++ b/bloom/generators/release.py
@@ -53,7 +53,7 @@
 
 try:
     import catkin_pkg
-    from pkg_resources import parse_version
+    from packaging.version import parse as parse_version
     if parse_version(catkin_pkg.__version__) < parse_version('0.3.8'):
         warning("This version of bloom requires catkin_pkg version >= '0.3.8',"
                 " the used version of catkin_pkg is '{0}'".format(catkin_pkg.__version__))
diff --git a/bloom/git.py b/bloom/git.py
index e22e48a8..6a0ea58f 100755
--- a/bloom/git.py
+++ b/bloom/git.py
@@ -36,6 +36,7 @@
 
 import os
 import functools
+import re
 import shutil
 import subprocess
 import tempfile
@@ -43,8 +44,6 @@
 from subprocess import PIPE
 from subprocess import CalledProcessError
 
-from pkg_resources import parse_version
-
 from bloom.logging import debug
 from bloom.logging import error
 from bloom.logging import fmt
@@ -686,7 +685,9 @@ def get_last_tag_by_version(directory=None):
     versions = []
     for line in output.splitlines():
         tags.append(line.strip())
-        versions.append(parse_version(line.strip()))
+        ver = re.match(r"[0-9]+\.[0-9]+\.[0-9]+", line)
+        if ver:
+            versions.append(ver)
     return tags[versions.index(max(versions))] if versions else ''
 
 
diff --git a/bloom/logging.py b/bloom/logging.py
index efc9931b..c38c828d 100755
--- a/bloom/logging.py
+++ b/bloom/logging.py
@@ -39,11 +39,6 @@
 import datetime
 import os
 from platform import mac_ver
-try:
-    from pkg_resources import parse_version
-except OSError:
-    os.chdir(os.path.expanduser('~'))
-    from pkg_resources import parse_version
 import re
 import string
 import sys
@@ -60,7 +55,7 @@
 
 _emoji_check_mark = "✅  "
 _emoji_cross_mark = "❌  "
-_is_mac_lion_or_greater = parse_version(mac_ver()[0]) >= parse_version('10.7.0')
+_is_mac = (mac_ver()[0] != '')
 
 
 def ansi(key):
@@ -127,17 +122,17 @@ def disable_ANSI_colors():
         _ansi[key] = ''
 
 
-def is_mac_lion_or_greater():
-    global _is_mac_lion_or_greater
-    return _is_mac_lion_or_greater
+def _is_mac():
+    global _is_mac
+    return _is_mac
 
 
 def get_success_prefix():
-    return _emoji_check_mark if _is_mac_lion_or_greater else "@{gf}<== @|"
+    return _emoji_check_mark if _is_mac else "@{gf}<== @|"
 
 
 def get_error_prefix():
-    return _emoji_cross_mark if _is_mac_lion_or_greater else "@{rf}@!<== @|"
+    return _emoji_cross_mark if _is_mac else "@{rf}@!<== @|"
 
 
 # Default to ansi colors on
diff --git a/bloom/rosdistro_api.py b/bloom/rosdistro_api.py
index 72e03e15..b951952c 100644
--- a/bloom/rosdistro_api.py
+++ b/bloom/rosdistro_api.py
@@ -38,7 +38,7 @@
 import sys
 import traceback
 
-from pkg_resources import parse_version
+from packaging.version import parse as parse_version
 
 # python2/3 compatibility
 try:
diff --git a/setup.py b/setup.py
index 159b9645..8729e72f 100755
--- a/setup.py
+++ b/setup.py
@@ -7,6 +7,7 @@
     'catkin_pkg >= 0.4.3',
     'setuptools',
     'empy',
+    'packaging',
     'python-dateutil',
     'PyYAML',
     'rosdep >= 0.15.0',