diff --git a/rtabmap_conversions/CMakeLists.txt b/rtabmap_conversions/CMakeLists.txt
index 3b165a1d1..fc5dc2218 100644
--- a/rtabmap_conversions/CMakeLists.txt
+++ b/rtabmap_conversions/CMakeLists.txt
@@ -19,7 +19,7 @@ find_package(tf2 REQUIRED)
 find_package(tf2_eigen REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
 
-find_package(RTABMap 0.21.0 REQUIRED)
+find_package(RTABMap 0.21.2 REQUIRED)
 
 include_directories(
   ${CMAKE_CURRENT_SOURCE_DIR}/include
diff --git a/rtabmap_conversions/package.xml b/rtabmap_conversions/package.xml
index 1894bff70..949c8626a 100644
--- a/rtabmap_conversions/package.xml
+++ b/rtabmap_conversions/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>rtabmap_conversions</name>
-  <version>0.21.1</version>
+  <version>0.21.2</version>
   <description>RTAB-Map's conversions package. This package can be used to convert rtabmap_msgs's msgs into RTAB-Map's library objects.</description>
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>
diff --git a/rtabmap_demos/package.xml b/rtabmap_demos/package.xml
index 1795a9986..18cf6f575 100644
--- a/rtabmap_demos/package.xml
+++ b/rtabmap_demos/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>rtabmap_demos</name>
-  <version>0.21.1</version>
+  <version>0.21.2</version>
   <description>RTAB-Map's demo launch files.</description>
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>
diff --git a/rtabmap_examples/package.xml b/rtabmap_examples/package.xml
index 986176d8e..917248acd 100644
--- a/rtabmap_examples/package.xml
+++ b/rtabmap_examples/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>rtabmap_examples</name>
-  <version>0.21.1</version>
+  <version>0.21.2</version>
   <description>RTAB-Map's example launch files.</description>
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>
diff --git a/rtabmap_launch/package.xml b/rtabmap_launch/package.xml
index e96f7358f..325e50cd2 100644
--- a/rtabmap_launch/package.xml
+++ b/rtabmap_launch/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>rtabmap_launch</name>
-  <version>0.21.1</version>
+  <version>0.21.2</version>
   <description>RTAB-Map's main launch files.</description>
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>
diff --git a/rtabmap_msgs/package.xml b/rtabmap_msgs/package.xml
index 45d90d23b..5e6338116 100644
--- a/rtabmap_msgs/package.xml
+++ b/rtabmap_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>rtabmap_msgs</name>
-  <version>0.21.1</version>
+  <version>0.21.2</version>
   <description>RTAB-Map's msgs package.</description>
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>
diff --git a/rtabmap_odom/package.xml b/rtabmap_odom/package.xml
index b3e993801..ca7bfec76 100644
--- a/rtabmap_odom/package.xml
+++ b/rtabmap_odom/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>rtabmap_odom</name>
-  <version>0.21.1</version>
+  <version>0.21.2</version>
   <description>RTAB-Map's odometry package.</description>
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>
diff --git a/rtabmap_python/package.xml b/rtabmap_python/package.xml
index 6f65a36a7..364e8335a 100644
--- a/rtabmap_python/package.xml
+++ b/rtabmap_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>rtabmap_python</name>
-  <version>0.21.1</version>
+  <version>0.21.2</version>
   <description>RTAB-Map's python package.</description>
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>
diff --git a/rtabmap_ros/package.xml b/rtabmap_ros/package.xml
index e694900b8..e7a70634e 100644
--- a/rtabmap_ros/package.xml
+++ b/rtabmap_ros/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>rtabmap_ros</name>
-  <version>0.21.1</version>
+  <version>0.21.2</version>
   <description>
     RTAB-Map Stack
   </description>
diff --git a/rtabmap_rviz_plugins/package.xml b/rtabmap_rviz_plugins/package.xml
index 3653f0641..4b904cb58 100644
--- a/rtabmap_rviz_plugins/package.xml
+++ b/rtabmap_rviz_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>rtabmap_rviz_plugins</name>
-  <version>0.21.1</version>
+  <version>0.21.2</version>
   <description>RTAB-Map's rviz plugins.</description>
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>
diff --git a/rtabmap_slam/package.xml b/rtabmap_slam/package.xml
index 64fe17ba8..2af87a6ea 100644
--- a/rtabmap_slam/package.xml
+++ b/rtabmap_slam/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>rtabmap_slam</name>
-  <version>0.21.1</version>
+  <version>0.21.2</version>
   <description>RTAB-Map's SLAM package.</description>
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>
diff --git a/rtabmap_sync/package.xml b/rtabmap_sync/package.xml
index e4e9bdb6f..fa86c9512 100644
--- a/rtabmap_sync/package.xml
+++ b/rtabmap_sync/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>rtabmap_sync</name>
-  <version>0.21.1</version>
+  <version>0.21.2</version>
   <description>RTAB-Map's synchronization package.</description>
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>
diff --git a/rtabmap_util/package.xml b/rtabmap_util/package.xml
index 5babb51d1..00d81ce04 100644
--- a/rtabmap_util/package.xml
+++ b/rtabmap_util/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>rtabmap_util</name>
-  <version>0.21.1</version>
+  <version>0.21.2</version>
   <description>RTAB-Map's various useful nodes and nodelets.</description>
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>
diff --git a/rtabmap_viz/package.xml b/rtabmap_viz/package.xml
index 335af85f0..a866c001c 100644
--- a/rtabmap_viz/package.xml
+++ b/rtabmap_viz/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>rtabmap_viz</name>
-  <version>0.21.1</version>
+  <version>0.21.2</version>
   <description>RTAB-Map's visualization package.</description>
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>