diff --git a/fuse/package.xml b/fuse/package.xml
index a44a4ddf7..1690be890 100644
--- a/fuse/package.xml
+++ b/fuse/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>fuse</name>
-  <version>1.1.5</version>
+  <version>1.3.0</version>
   <description>
     The fuse metapackage.
   </description>
diff --git a/fuse_constraints/package.xml b/fuse_constraints/package.xml
index c79ea01b0..43bb69eb1 100644
--- a/fuse_constraints/package.xml
+++ b/fuse_constraints/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>fuse_constraints</name>
-  <version>1.1.5</version>
+  <version>1.3.0</version>
   <description>
     The fuse_constraints package provides a set of commonly used constraint types, such as direct measurements on \
     state variables (absolute constraints) or measurements of the state changes (relative constraints).
diff --git a/fuse_core/package.xml b/fuse_core/package.xml
index 1f9294498..9fe993200 100644
--- a/fuse_core/package.xml
+++ b/fuse_core/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>fuse_core</name>
-  <version>1.1.5</version>
+  <version>1.3.0</version>
   <description>
     The fuse_core package provides the base class interfaces for the various fuse components. Concrete implementations of these
     interfaces are provided in other packages.
diff --git a/fuse_doc/package.xml b/fuse_doc/package.xml
index 987b92d7b..bf00a2578 100644
--- a/fuse_doc/package.xml
+++ b/fuse_doc/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>fuse_doc</name>
-  <version>1.1.5</version>
+  <version>1.3.0</version>
   <description>
     The fuse_doc package provides documentation and examples for the fuse package.
   </description>
diff --git a/fuse_graphs/package.xml b/fuse_graphs/package.xml
index 1bcc59e43..97faa5902 100644
--- a/fuse_graphs/package.xml
+++ b/fuse_graphs/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>fuse_graphs</name>
-  <version>1.1.5</version>
+  <version>1.3.0</version>
   <description>
     The fuse_graphs package provides some concrete implementations of the fuse_core::Graph interface.
   </description>
diff --git a/fuse_loss/package.xml b/fuse_loss/package.xml
index 542514d48..378f156dd 100644
--- a/fuse_loss/package.xml
+++ b/fuse_loss/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>fuse_loss</name>
-  <version>1.1.5</version>
+  <version>1.3.0</version>
   <description>
     The fuse_loss package provides a set of commonly used loss functions, such as the basic ones provided by Ceres.
   </description>
diff --git a/fuse_models/package.xml b/fuse_models/package.xml
index ecd05fa23..e09c80169 100644
--- a/fuse_models/package.xml
+++ b/fuse_models/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>fuse_models</name>
-  <version>1.1.5</version>
+  <version>1.3.0</version>
   <description>fuse plugins that implement various kinematic and sensor models</description>
 
   <maintainer email="tmoore@locusrobotics.com">Tom Moore</maintainer>
diff --git a/fuse_msgs/package.xml b/fuse_msgs/package.xml
index ee6813e33..56315065b 100644
--- a/fuse_msgs/package.xml
+++ b/fuse_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>fuse_msgs</name>
-  <version>1.1.5</version>
+  <version>1.3.0</version>
   <description>
     The fuse_msgs package contains messages capable of holding serialized fuse objects.
   </description>
diff --git a/fuse_optimizers/package.xml b/fuse_optimizers/package.xml
index 67dff89b3..b3febb8df 100644
--- a/fuse_optimizers/package.xml
+++ b/fuse_optimizers/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>fuse_optimizers</name>
-  <version>1.1.5</version>
+  <version>1.3.0</version>
   <description>
     The fuse_optimizers package provides a set of optimizer implementations. An optimizer is the object responsible \
     for coordinating the sensors and motion model inputs, computing the optimal state values, and providing access to \
diff --git a/fuse_publishers/package.xml b/fuse_publishers/package.xml
index dc2bb1bc3..d00c42d0f 100644
--- a/fuse_publishers/package.xml
+++ b/fuse_publishers/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>fuse_publishers</name>
-  <version>1.1.5</version>
+  <version>1.3.0</version>
   <description>
     The fuse_publishers package provides a set of common publisher plugins.
   </description>
diff --git a/fuse_tutorials/package.xml b/fuse_tutorials/package.xml
index 581d6c7e1..44dee97b0 100644
--- a/fuse_tutorials/package.xml
+++ b/fuse_tutorials/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>fuse_tutorials</name>
-  <version>1.1.5</version>
+  <version>1.3.0</version>
   <description>
     Package containing source code for the fuse tutorials.
   </description>
diff --git a/fuse_variables/package.xml b/fuse_variables/package.xml
index edc049b3b..ebbc37b36 100644
--- a/fuse_variables/package.xml
+++ b/fuse_variables/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>fuse_variables</name>
-  <version>1.1.5</version>
+  <version>1.3.0</version>
   <description>
     The fuse_variables package provides a set of commonly used variable types, such as 2D and 3D positions, \
     orientations, velocities, and accelerations.
diff --git a/fuse_viz/package.xml b/fuse_viz/package.xml
index b5810d642..e0e034a7f 100644
--- a/fuse_viz/package.xml
+++ b/fuse_viz/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>fuse_viz</name>
-  <version>1.1.5</version>
+  <version>1.3.0</version>
   <description>
     The fuse_viz package provides visualization tools for fuse.
   </description>