diff --git a/niryo_one/package.xml b/niryo_one/package.xml
index d9dcdbc1..d403b581 100644
--- a/niryo_one/package.xml
+++ b/niryo_one/package.xml
@@ -1,6 +1,6 @@
 <package>
     <name>niryo_one</name>
-    <version>2.3.1</version>
+    <version>2.3.2</version>
     <description>Niryo One metapackage</description>
     <author>Edouard Renard</author>
     <maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>
diff --git a/niryo_one_bringup/package.xml b/niryo_one_bringup/package.xml
index 45928268..514de6b2 100644
--- a/niryo_one_bringup/package.xml
+++ b/niryo_one_bringup/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>niryo_one_bringup</name>
-  <version>2.3.1</version>
+  <version>2.3.2</version>
   <description>Provides roslaunch scripts to start Niryo One packages and ros params</description>
   <author>Edouard Renard</author>
     <maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>
diff --git a/niryo_one_camera/package.xml b/niryo_one_camera/package.xml
index cfd9c757..aa8a8f83 100644
--- a/niryo_one_camera/package.xml
+++ b/niryo_one_camera/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>niryo_one_camera</name>
-  <version>2.3.1</version>
+  <version>2.3.2</version>
   <description>Niryo vision package</description>
   <author>Rémi Lux</author>
   <author>Andreas Voigt</author>
diff --git a/niryo_one_commander/package.xml b/niryo_one_commander/package.xml
index 73787d23..39af2713 100644
--- a/niryo_one_commander/package.xml
+++ b/niryo_one_commander/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>niryo_one_commander</name>
-  <version>2.3.1</version>
+  <version>2.3.2</version>
   <description>Interface between user and Moveit! to easily control Niryo One (arm + tools). Validates params, checks if previous trajectory has not finished, ...</description>
   <author>Edouard Renard</author>
   <maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>
diff --git a/niryo_one_debug/package.xml b/niryo_one_debug/package.xml
index 5c90f03f..9eda1675 100644
--- a/niryo_one_debug/package.xml
+++ b/niryo_one_debug/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
     <name>niryo_one_debug</name>
-    <version>2.3.1</version>
+    <version>2.3.2</version>
     <description>Niryo One debug tools</description>
     <author>Edouard Renard</author>
     <maintainer email="e.rey-coquais@niryo.com">Etienne Rey-Coquais</maintainer>
diff --git a/niryo_one_description/package.xml b/niryo_one_description/package.xml
index 459c6c65..bfc82238 100644
--- a/niryo_one_description/package.xml
+++ b/niryo_one_description/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>niryo_one_description</name>
-  <version>2.3.1</version>
+  <version>2.3.2</version>
   <description>Provides URDF files for Moveit! and IKfast plugin</description>
   <author>Edouard Renard</author>
   <maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>
diff --git a/niryo_one_driver/package.xml b/niryo_one_driver/package.xml
index 1766a500..c29a878c 100644
--- a/niryo_one_driver/package.xml
+++ b/niryo_one_driver/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
     <name>niryo_one_driver</name>
-    <version>2.3.1</version>
+    <version>2.3.2</version>
     <description>Niryo One driver. Provides a hardware interface between ros_control and RPI3 hardware. Also provides
         user interface to directly interact with hardware
     </description>
diff --git a/niryo_one_modbus/package.xml b/niryo_one_modbus/package.xml
index 557c0337..438e7c4b 100644
--- a/niryo_one_modbus/package.xml
+++ b/niryo_one_modbus/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
     <name>niryo_one_modbus</name>
-    <version>2.3.1</version>
+    <version>2.3.2</version>
     <description>Niryo One Modbus Server</description>
     <author>Edouard Renard</author>
     <maintainer email="e.rey-coquais@niryo.com">Etienne Rey-Coquais</maintainer>
diff --git a/niryo_one_moveit_config/package.xml b/niryo_one_moveit_config/package.xml
index f0f3ba4b..cf9ced06 100644
--- a/niryo_one_moveit_config/package.xml
+++ b/niryo_one_moveit_config/package.xml
@@ -1,7 +1,7 @@
 <package>
 
     <name>niryo_one_moveit_config</name>
-    <version>2.3.1</version>
+    <version>2.3.2</version>
     <description>
         An automatically generated package with all the configuration and launch files for using the niryo_one with the
         MoveIt! Motion Planning Framework
diff --git a/niryo_one_msgs/package.xml b/niryo_one_msgs/package.xml
index e3e999d7..f13e61aa 100644
--- a/niryo_one_msgs/package.xml
+++ b/niryo_one_msgs/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
     <name>niryo_one_msgs</name>
-    <version>2.3.1</version>
+    <version>2.3.2</version>
     <description>Niryo One ROS messages used in other Niryo One packages</description>
     <author>Edouard Renard</author>
     <maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>
diff --git a/niryo_one_pose_converter/package.xml b/niryo_one_pose_converter/package.xml
index 7518ed29..b3c21a57 100644
--- a/niryo_one_pose_converter/package.xml
+++ b/niryo_one_pose_converter/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
     <name>niryo_one_pose_converter</name>
-    <version>2.3.1</version>
+    <version>2.3.2</version>
     <description>Handles the convertion of workspace-relative poses to robot poses</description>
     <author email="a.voigt@niryo.com">Andreas Voigt</author>
     <maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>
diff --git a/niryo_one_python_api/package.xml b/niryo_one_python_api/package.xml
index 8bded41b..6054a09d 100644
--- a/niryo_one_python_api/package.xml
+++ b/niryo_one_python_api/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
     <name>niryo_one_python_api</name>
-    <version>2.3.1</version>
+    <version>2.3.2</version>
     <description>Python API to get Niryo One ROS functionalities, without knowing ROS</description>
     <author>Edouard Renard</author>
     <maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>
diff --git a/niryo_one_rpi/package.xml b/niryo_one_rpi/package.xml
index b2601deb..1a4381fa 100644
--- a/niryo_one_rpi/package.xml
+++ b/niryo_one_rpi/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
     <name>niryo_one_rpi</name>
-    <version>2.3.1</version>
+    <version>2.3.2</version>
     <description>Specific utilities for Niryo One's RPI3 + custom Niryo One shield</description>
     <author>Edouard Renard</author>
     <author>Maxime Catrice</author>
diff --git a/niryo_one_tcp_server/package.xml b/niryo_one_tcp_server/package.xml
index 28786dd6..b9485bd7 100644
--- a/niryo_one_tcp_server/package.xml
+++ b/niryo_one_tcp_server/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>niryo_one_tcp_server</name>
-  <version>2.3.1</version>
+  <version>2.3.2</version>
   <description>Niryo One TCP Server</description>
   <author>Corentin Ducatez</author>
   <maintainer email="c.ducatez@niryo.com">Corentin Ducatez</maintainer>
diff --git a/niryo_one_tools/package.xml b/niryo_one_tools/package.xml
index 48b46989..9bdc7633 100644
--- a/niryo_one_tools/package.xml
+++ b/niryo_one_tools/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
     <name>niryo_one_tools</name>
-    <version>2.3.1</version>
+    <version>2.3.2</version>
     <description>Provides functionalities to control end-effectors and accessories for Niryo One</description>
     <author>Edouard Renard</author>
     <maintainer email="e.rey-coquais@niryo.com">Etienne Rey-Coquais</maintainer>
diff --git a/niryo_one_user_interface/package.xml b/niryo_one_user_interface/package.xml
index e54ffb97..d5e6c755 100644
--- a/niryo_one_user_interface/package.xml
+++ b/niryo_one_user_interface/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>niryo_one_user_interface</name>
-  <version>2.3.1</version>
+  <version>2.3.2</version>
   <description>Handles high level commands from user (joystik, sequences, blockly), and calls appropriates Niryo One utilities</description>
   <author>Edouard Renard</author>
   <maintainer email="c.ducatez@niryo.com">Corentin Ducatez</maintainer>