diff --git a/sns_ik/package.xml b/sns_ik/package.xml
index 582b3e6..0c798c3 100644
--- a/sns_ik/package.xml
+++ b/sns_ik/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>sns_ik</name>
-  <version>0.2.1</version>
+  <version>0.2.3</version>
   <description>
    Metapackage for the Saturation in the Null Space (SNS)
    Inverse Kinematic Library.
diff --git a/sns_ik_examples/package.xml b/sns_ik_examples/package.xml
index 6c02c99..0bf883f 100644
--- a/sns_ik_examples/package.xml
+++ b/sns_ik_examples/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>sns_ik_examples</name>
-  <version>0.2.1</version>
+  <version>0.2.3</version>
   <description>
    Example programs for the Saturation in the Null Space (SNS)
    Inverse Kinematic Library.
diff --git a/sns_ik_kinematics_plugin/package.xml b/sns_ik_kinematics_plugin/package.xml
index bebb0b0..9106cff 100644
--- a/sns_ik_kinematics_plugin/package.xml
+++ b/sns_ik_kinematics_plugin/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>sns_ik_kinematics_plugin</name>
-  <version>0.2.1</version>
+  <version>0.2.3</version>
   <description>
    SNS IK Kinematics Plugin for use with the MoveIT! framework.
   </description>
diff --git a/sns_ik_lib/package.xml b/sns_ik_lib/package.xml
index 9a09758..fabc5d6 100644
--- a/sns_ik_lib/package.xml
+++ b/sns_ik_lib/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>sns_ik_lib</name>
-  <version>0.2.1</version>
+  <version>0.2.3</version>
   <description>
    Saturation in the Null Space (SNS) Inverse Kinematic Library.
    SNS is a real-time Cartesian IK solver for uses the redundancy