diff --git a/ariac_controllers/package.xml b/ariac_controllers/package.xml
index 3f8f8b0da..9e46c59c2 100644
--- a/ariac_controllers/package.xml
+++ b/ariac_controllers/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ariac_controllers</name>
-  <version>2024.4.1</version>
+  <version>2024.5.0</version>
   <description>ros2 controllers for ARIAC simulation</description>
   <maintainer email="justin.albrecht@nist.gov"> Justin Albrecht</maintainer>
   <license>NIST</license>
diff --git a/ariac_description/package.xml b/ariac_description/package.xml
index b8890e20d..aacf713c8 100644
--- a/ariac_description/package.xml
+++ b/ariac_description/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ariac_description</name>
-  <version>2024.4.1</version>
+  <version>2024.5.0</version>
   <description>Package containing URDF descriptions for all robots in the ARIAC simulation</description>
   <maintainer email="justin.albrecht@nist.gov">justin</maintainer>
   <license>NIST</license>
diff --git a/ariac_gazebo/package.xml b/ariac_gazebo/package.xml
index ac94a6165..8aaad5444 100644
--- a/ariac_gazebo/package.xml
+++ b/ariac_gazebo/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ariac_gazebo</name>
-  <version>2024.4.1</version>
+  <version>2024.5.0</version>
   <description>ARIAC ROS2 port</description>
   <maintainer email="jalbrecht23@gmail.com">justin</maintainer>
   <license>NIST</license>
diff --git a/ariac_gui/package.xml b/ariac_gui/package.xml
index 995340c86..8ee6e4dda 100644
--- a/ariac_gui/package.xml
+++ b/ariac_gui/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ariac_gui</name>
-  <version>2024.4.1</version>
+  <version>2024.5.0</version>
   <description>GUI for creating trial configurations</description>
   <maintainer email="joseph.fernandez@nist.gov">Joseph Fernandez</maintainer>
   <license>NIST</license>
diff --git a/ariac_gui/setup.py b/ariac_gui/setup.py
index 363abe475..3a2e3ff0a 100644
--- a/ariac_gui/setup.py
+++ b/ariac_gui/setup.py
@@ -6,7 +6,7 @@
 file_names = ['plus','assembly_station','agv','tray','light_icon','dark_icon']+[color+pType for color in PART_COLORS for pType in PART_TYPES]+[f'id_0{i}' for i in range(10)]
 setup(
     name=package_name,
-    version='2024.2.0',
+    version='2024.5.0',
     packages=[package_name],
     data_files=[
         ('share/ament_index/resource_index/packages',
diff --git a/ariac_moveit_config/package.xml b/ariac_moveit_config/package.xml
index 08e1d8efb..7ec9e8705 100644
--- a/ariac_moveit_config/package.xml
+++ b/ariac_moveit_config/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ariac_moveit_config</name>
-  <version>2024.4.1</version>
+  <version>2024.5.0</version>
   <description> An package with MoveIt2 configurations for ARIAC robots</description>
   <maintainer email="justin.albrecht@nist.gov">Justin Albrecht</maintainer>
   <license>NIST</license>
diff --git a/ariac_msgs/package.xml b/ariac_msgs/package.xml
index 0658436c5..ad675246d 100644
--- a/ariac_msgs/package.xml
+++ b/ariac_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ariac_msgs</name>
-  <version>2024.4.1</version>
+  <version>2024.5.0</version>
   <description>Interface definitions for ARIAC</description>
   <maintainer email="justin.albrecht@nist.gov">justin</maintainer>
   <license>NIST</license>
diff --git a/ariac_plugins/package.xml b/ariac_plugins/package.xml
index ef23fd71b..1afcf5068 100644
--- a/ariac_plugins/package.xml
+++ b/ariac_plugins/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ariac_plugins</name>
-  <version>2024.4.1</version>
+  <version>2024.5.0</version>
   <description>Gazebo/ROS2 plugins for the ARAIC competition</description>
   <maintainer email="justin.albrecht@nist.gov">justin albrecht</maintainer>
   <maintainer email="zeid.kootbally@nist.gov">zeid kootbally</maintainer>
diff --git a/ariac_sensors/package.xml b/ariac_sensors/package.xml
index 3c0ca546b..ee303c017 100644
--- a/ariac_sensors/package.xml
+++ b/ariac_sensors/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ariac_sensors</name>
-  <version>2024.4.1</version>
+  <version>2024.5.0</version>
   <description>Gazebo plugins for the ARIAC sensors</description>
   <maintainer email="justin.albrecht@nist.gov">justin</maintainer>
   <license>NIST</license>