diff --git a/lbr_bringup/package.xml b/lbr_bringup/package.xml
index 5aa5f8b7..284fb1e8 100644
--- a/lbr_bringup/package.xml
+++ b/lbr_bringup/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>lbr_bringup</name>
-  <version>1.3.1</version>
+  <version>1.4.0</version>
   <description>LBR launch files.</description>
   <maintainer email="martin.huber@kcl.ac.uk">mhubii</maintainer>
   <license>MIT</license>
diff --git a/lbr_demos/lbr_demos_fri_ros2_advanced_cpp/package.xml b/lbr_demos/lbr_demos_fri_ros2_advanced_cpp/package.xml
index 22596062..078be467 100644
--- a/lbr_demos/lbr_demos_fri_ros2_advanced_cpp/package.xml
+++ b/lbr_demos/lbr_demos_fri_ros2_advanced_cpp/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>lbr_demos_fri_ros2_advanced_cpp</name>
-  <version>1.3.1</version>
+  <version>1.4.0</version>
   <description>Advanced C++ demos for the lbr_fri_ros2.</description>
   <maintainer email="martin.huber@kcl.ac.uk">mhubii</maintainer>
   <license>MIT</license>
diff --git a/lbr_demos/lbr_demos_fri_ros2_advanced_python/package.xml b/lbr_demos/lbr_demos_fri_ros2_advanced_python/package.xml
index 5ab6a0c4..dce7579e 100644
--- a/lbr_demos/lbr_demos_fri_ros2_advanced_python/package.xml
+++ b/lbr_demos/lbr_demos_fri_ros2_advanced_python/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>lbr_demos_fri_ros2_advanced_python</name>
-  <version>1.3.1</version>
+  <version>1.4.0</version>
   <description>Advanced Python demos for the lbr_fri_ros2.</description>
   <maintainer email="martin.huber@kcl.ac.uk">mhubii</maintainer>
   <license>MIT</license>
diff --git a/lbr_demos/lbr_demos_fri_ros2_advanced_python/setup.py b/lbr_demos/lbr_demos_fri_ros2_advanced_python/setup.py
index 9d50960a..8ba5bb9f 100644
--- a/lbr_demos/lbr_demos_fri_ros2_advanced_python/setup.py
+++ b/lbr_demos/lbr_demos_fri_ros2_advanced_python/setup.py
@@ -6,7 +6,7 @@
 
 setup(
     name=package_name,
-    version="1.3.1",
+    version="1.4.0",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
diff --git a/lbr_demos/lbr_demos_fri_ros2_cpp/package.xml b/lbr_demos/lbr_demos_fri_ros2_cpp/package.xml
index be003933..1088cc46 100644
--- a/lbr_demos/lbr_demos_fri_ros2_cpp/package.xml
+++ b/lbr_demos/lbr_demos_fri_ros2_cpp/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>lbr_demos_fri_ros2_cpp</name>
-  <version>1.3.1</version>
+  <version>1.4.0</version>
   <description>C++ demos for the lbr_fri_ros2.</description>
   <maintainer email="martin.huber@kcl.ac.uk">mhubii</maintainer>
   <license>MIT</license>
diff --git a/lbr_demos/lbr_demos_fri_ros2_python/package.xml b/lbr_demos/lbr_demos_fri_ros2_python/package.xml
index 6b972b2f..450e29a7 100644
--- a/lbr_demos/lbr_demos_fri_ros2_python/package.xml
+++ b/lbr_demos/lbr_demos_fri_ros2_python/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>lbr_demos_fri_ros2_python</name>
-  <version>1.3.1</version>
+  <version>1.4.0</version>
   <description>Python demos for the lbr_fri_ros2.</description>
   <maintainer email="martin.huber@kcl.ac.uk">mhubii</maintainer>
   <license>MIT</license>
diff --git a/lbr_demos/lbr_demos_fri_ros2_python/setup.py b/lbr_demos/lbr_demos_fri_ros2_python/setup.py
index b7483cbc..ebe826cb 100644
--- a/lbr_demos/lbr_demos_fri_ros2_python/setup.py
+++ b/lbr_demos/lbr_demos_fri_ros2_python/setup.py
@@ -6,7 +6,7 @@
 
 setup(
     name=package_name,
-    version="1.3.1",
+    version="1.4.0",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
diff --git a/lbr_demos/lbr_demos_ros2_control_cpp/package.xml b/lbr_demos/lbr_demos_ros2_control_cpp/package.xml
index add6e9d1..dd7f5a6e 100644
--- a/lbr_demos/lbr_demos_ros2_control_cpp/package.xml
+++ b/lbr_demos/lbr_demos_ros2_control_cpp/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>lbr_demos_ros2_control_cpp</name>
-  <version>1.3.1</version>
+  <version>1.4.0</version>
   <description>C++ demos for the LBR ros2_control integration.</description>
   <maintainer email="martin.huber@kcl.ac.uk">mhubii</maintainer>
   <license>MIT</license>
diff --git a/lbr_demos/lbr_demos_ros2_control_python/package.xml b/lbr_demos/lbr_demos_ros2_control_python/package.xml
index d5b3167a..37ea5649 100644
--- a/lbr_demos/lbr_demos_ros2_control_python/package.xml
+++ b/lbr_demos/lbr_demos_ros2_control_python/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>lbr_demos_ros2_control_python</name>
-  <version>1.3.1</version>
+  <version>1.4.0</version>
   <description>Python demos for the LBR ros2_control integration.</description>
   <maintainer email="martin.huber@kcl.ac.uk">mhubii</maintainer>
   <license>MIT</license>
diff --git a/lbr_demos/lbr_demos_ros2_control_python/setup.py b/lbr_demos/lbr_demos_ros2_control_python/setup.py
index 68ea2799..2180e5b7 100644
--- a/lbr_demos/lbr_demos_ros2_control_python/setup.py
+++ b/lbr_demos/lbr_demos_ros2_control_python/setup.py
@@ -4,7 +4,7 @@
 
 setup(
     name=package_name,
-    version="1.3.1",
+    version="1.4.0",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
diff --git a/lbr_description/package.xml b/lbr_description/package.xml
index 7bfff445..5e4e5bbe 100644
--- a/lbr_description/package.xml
+++ b/lbr_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>lbr_description</name>
-  <version>1.3.1</version>
+  <version>1.4.0</version>
   <description>KUKA LBR description files</description>
   <maintainer email="martin.huber@kcl.ac.uk">mhubii</maintainer>
   <license>MIT</license>
diff --git a/lbr_fri_msgs/package.xml b/lbr_fri_msgs/package.xml
index 462af45f..dabe201b 100644
--- a/lbr_fri_msgs/package.xml
+++ b/lbr_fri_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>lbr_fri_msgs</name>
-  <version>1.3.1</version>
+  <version>1.4.0</version>
   <description>ROS 2 message for the Fast Robot Interface (FRI) specific states.</description>
   <maintainer email="martin.huber@kcl.ac.uk">mhubii</maintainer>
   <license>MIT</license>
diff --git a/lbr_fri_ros2/package.xml b/lbr_fri_ros2/package.xml
index df1637bf..ea568f40 100644
--- a/lbr_fri_ros2/package.xml
+++ b/lbr_fri_ros2/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>lbr_fri_ros2</name>
-  <version>1.3.1</version>
+  <version>1.4.0</version>
   <description>The lbr_fri_ros2 package provides the Fast Robot Interface (FRI) integration into ROS
     2. Robot states can be extracted and commanded.</description>
   <maintainer email="martin.huber@kcl.ac.uk">mhubii</maintainer>
diff --git a/lbr_fri_ros2_stack/package.xml b/lbr_fri_ros2_stack/package.xml
index 875c0765..b9d2ab8c 100644
--- a/lbr_fri_ros2_stack/package.xml
+++ b/lbr_fri_ros2_stack/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>lbr_fri_ros2_stack</name>
-  <version>1.3.1</version>
+  <version>1.4.0</version>
   <description>ROS 2 stack for KUKA LBRs.</description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
   <license>MIT</license>
diff --git a/lbr_ros2_control/package.xml b/lbr_ros2_control/package.xml
index d1f28312..ae426cc2 100644
--- a/lbr_ros2_control/package.xml
+++ b/lbr_ros2_control/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>lbr_ros2_control</name>
-  <version>1.3.1</version>
+  <version>1.4.0</version>
   <description>ROS 2 hardware hardware_interface for KUKA LBR through Fast Robot Interface (FRI).</description>
   <maintainer email="martin.huber@kcl.ac.uk">mhubii</maintainer>
   <license>MIT</license>