Another approach is to set the axis locator:
import matplotlib.ticker as plticker
loc = plticker.MultipleLocator(base=1.0) # this locator puts ticks at regular intervals
ax.xaxis.set_major_locator(loc)
There are several different types of locator depending upon your needs.
Here is a full example:
import matplotlib.pyplot as plt
import matplotlib.ticker as plticker
x = [0,5,9,10,15]
y = [0,1,2,3,4]
fig, ax = plt.subplots()
ax.plot(x,y)
loc = plticker.MultipleLocator(base=1.0) # this locator puts ticks at regular intervals
ax.xaxis.set_major_locator(loc)
plt.show()