diff --git a/dependencies.rosinstall b/dependencies.rosinstall
index ad3da286e03..3e2d61e5c08 100644
--- a/dependencies.rosinstall
+++ b/dependencies.rosinstall
@@ -5,7 +5,7 @@
 - git:
     local-name: trajopt
     uri: https://github.com/tesseract-robotics/trajopt.git
-    version: 0.4.0
+    version: 0.4.1
 - git:
     local-name: descartes_light
     uri: https://github.com/swri-robotics/descartes_light.git