diff --git a/rclrs/logging_demo/Cargo.toml b/rclrs/logging_demo/Cargo.toml
index a959249..74d9d48 100644
--- a/rclrs/logging_demo/Cargo.toml
+++ b/rclrs/logging_demo/Cargo.toml
@@ -1,8 +1,8 @@
 [package]
 name = "examples_logging_demo"
-version = "0.1.0"
+version = "0.5.0"
 edition = "2021"
 
 [dependencies]
-rclrs = "0.4"
+rclrs = "0.5"
 example_interfaces = "*"
diff --git a/rclrs/logging_demo/package.xml b/rclrs/logging_demo/package.xml
index 0cfdd35..dc81dcd 100644
--- a/rclrs/logging_demo/package.xml
+++ b/rclrs/logging_demo/package.xml
@@ -7,7 +7,7 @@
   <maintainer email="esteve@apache.org">Esteve Fernandez</maintainer>
   <!-- This project is not military-sponsored, Jacob's employment contract just requires him to use this email address -->
   <maintainer email="jacob.a.hassold.civ@army.mil">Jacob Hassold</maintainer>
-  <version>0.4.1</version>
+  <version>0.5.0</version>
   <description>Package containing an example of how to use a worker in rclrs.</description>
   <license>Apache License 2.0</license>
 
diff --git a/rclrs/message_demo/Cargo.toml b/rclrs/message_demo/Cargo.toml
index 1325809..bdb1e2b 100644
--- a/rclrs/message_demo/Cargo.toml
+++ b/rclrs/message_demo/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "examples_rclrs_message_demo"
-version = "0.4.1"
+version = "0.5.0"
 authors = ["Nikolai Morin <nnmmgit@gmail.com>"]
 edition = "2021"
 
@@ -10,7 +10,7 @@ path = "src/message_demo.rs"
 
 [dependencies]
 anyhow = {version = "1", features = ["backtrace"]}
-rclrs = "0.4"
+rclrs = "0.5"
 rosidl_runtime_rs = "0.4"
 rclrs_example_msgs = { version = "0.4", features = ["serde"] }
 serde_json = "1.0"
diff --git a/rclrs/message_demo/package.xml b/rclrs/message_demo/package.xml
index 60519f4..682568c 100644
--- a/rclrs/message_demo/package.xml
+++ b/rclrs/message_demo/package.xml
@@ -4,7 +4,7 @@
    schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>examples_rclrs_message_demo</name>
-  <version>0.4.1</version>
+  <version>0.5.0</version>
   <description>Package containing an example of message-related functionality in rclrs.</description>
   <maintainer email="nnmmgit@gmail.com">Nikolai Morin</maintainer>
   <license>Apache License 2.0</license>
diff --git a/rclrs/minimal_client_service/Cargo.toml b/rclrs/minimal_client_service/Cargo.toml
index 92ce280..16783bc 100644
--- a/rclrs/minimal_client_service/Cargo.toml
+++ b/rclrs/minimal_client_service/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "examples_rclrs_minimal_client_service"
-version = "0.4.1"
+version = "0.5.0"
 authors = ["Esteve Fernandez <esteve@apache.org>"]
 edition = "2021"
 
@@ -19,7 +19,7 @@ path = "src/minimal_service.rs"
 [dependencies]
 anyhow = {version = "1", features = ["backtrace"]}
 tokio = { version = "1", features = ["macros", "rt", "rt-multi-thread", "time"] }
-rclrs = "0.4"
+rclrs = "0.5"
 rosidl_runtime_rs = "0.4"
 example_interfaces = "*"
 
diff --git a/rclrs/minimal_client_service/package.xml b/rclrs/minimal_client_service/package.xml
index dd4e41b..7d59c7f 100644
--- a/rclrs/minimal_client_service/package.xml
+++ b/rclrs/minimal_client_service/package.xml
@@ -4,7 +4,7 @@
    schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>examples_rclrs_minimal_client_service</name>
-  <version>0.4.1</version>
+  <version>0.5.0</version>
   <description>Package containing an example of the client-service mechanism in rclrs.</description>
   <maintainer email="esteve@apache.org">Esteve Fernandez</maintainer>
   <license>Apache License 2.0</license>
diff --git a/rclrs/minimal_pub_sub/Cargo.toml b/rclrs/minimal_pub_sub/Cargo.toml
index ab78495..a4a49e5 100644
--- a/rclrs/minimal_pub_sub/Cargo.toml
+++ b/rclrs/minimal_pub_sub/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "examples_rclrs_minimal_pub_sub"
-version = "0.4.1"
+version = "0.5.0"
 # This project is not military-sponsored, Jacob's employment contract just requires him to use this email address
 authors = ["Esteve Fernandez <esteve@apache.org>", "Nikolai Morin <nnmmgit@gmail.com>", "Jacob Hassold <jacob.a.hassold.civ@army.mil>"]
 edition = "2021"
@@ -27,7 +27,7 @@ path = "src/zero_copy_publisher.rs"
 
 [dependencies]
 anyhow = {version = "1", features = ["backtrace"]}
-rclrs = "0.4"
+rclrs = "0.5"
 rosidl_runtime_rs = "0.4"
 example_interfaces = "*"
 
diff --git a/rclrs/minimal_pub_sub/package.xml b/rclrs/minimal_pub_sub/package.xml
index 3494e36..cef4883 100644
--- a/rclrs/minimal_pub_sub/package.xml
+++ b/rclrs/minimal_pub_sub/package.xml
@@ -4,7 +4,7 @@
    schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>examples_rclrs_minimal_pub_sub</name>
-  <version>0.4.1</version>
+  <version>0.5.0</version>
   <description>Package containing an example of the publish-subscribe mechanism in rclrs.</description>
   <maintainer email="esteve@apache.org">Esteve Fernandez</maintainer>
   <maintainer email="nnmmgit@gmail.com">Nikolai Morin</maintainer>
diff --git a/rclrs/parameter_demo/Cargo.toml b/rclrs/parameter_demo/Cargo.toml
index 6a20a9a..b47ce14 100644
--- a/rclrs/parameter_demo/Cargo.toml
+++ b/rclrs/parameter_demo/Cargo.toml
@@ -1,8 +1,8 @@
 [package]
 name = "examples_parameter_demo"
-version = "0.1.0"
+version = "0.5.0"
 edition = "2021"
 
 [dependencies]
-rclrs = "0.4"
+rclrs = "0.5"
 example_interfaces = "*"
diff --git a/rclrs/parameter_demo/package.xml b/rclrs/parameter_demo/package.xml
index e2443c8..58e4275 100644
--- a/rclrs/parameter_demo/package.xml
+++ b/rclrs/parameter_demo/package.xml
@@ -7,7 +7,7 @@
   <maintainer email="esteve@apache.org">Esteve Fernandez</maintainer>
   <!-- This project is not military-sponsored, Jacob's employment contract just requires him to use this email address -->
   <maintainer email="jacob.a.hassold.civ@army.mil">Jacob Hassold</maintainer>
-  <version>0.4.1</version>
+  <version>0.5.0</version>
   <description>Package containing an example of how to use a worker in rclrs.</description>
   <license>Apache License 2.0</license>
 
diff --git a/rclrs/rclrs_example_msgs/package.xml b/rclrs/rclrs_example_msgs/package.xml
index a667786..0395af5 100644
--- a/rclrs/rclrs_example_msgs/package.xml
+++ b/rclrs/rclrs_example_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>rclrs_example_msgs</name>
-  <version>0.4.1</version>
+  <version>0.5.0</version>
   <description>A package containing some example message definitions.</description>
   <maintainer email="nnmmgit@gmail.com">Nikolai Morin</maintainer>
   <license>Apache License 2.0</license>
diff --git a/rclrs/rust_pubsub/Cargo.toml b/rclrs/rust_pubsub/Cargo.toml
index 4876675..9200923 100644
--- a/rclrs/rust_pubsub/Cargo.toml
+++ b/rclrs/rust_pubsub/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "rust_pubsub"
-version = "0.1.0"
+version = "0.5.0"
 edition = "2021"
 
 [[bin]]
diff --git a/rclrs/worker_demo/Cargo.toml b/rclrs/worker_demo/Cargo.toml
index 2cde242..81de189 100644
--- a/rclrs/worker_demo/Cargo.toml
+++ b/rclrs/worker_demo/Cargo.toml
@@ -1,8 +1,8 @@
 [package]
 name = "examples_worker_demo"
-version = "0.1.0"
+version = "0.5.0"
 edition = "2021"
 
 [dependencies]
-rclrs = "0.4"
+rclrs = "0.5"
 example_interfaces = "*"
diff --git a/rclrs/worker_demo/package.xml b/rclrs/worker_demo/package.xml
index f5624c7..88fac2a 100644
--- a/rclrs/worker_demo/package.xml
+++ b/rclrs/worker_demo/package.xml
@@ -7,7 +7,7 @@
   <maintainer email="esteve@apache.org">Esteve Fernandez</maintainer>
   <!-- This project is not military-sponsored, Jacob's employment contract just requires him to use this email address -->
   <maintainer email="jacob.a.hassold.civ@army.mil">Jacob Hassold</maintainer>
-  <version>0.4.1</version>
+  <version>0.5.0</version>
   <description>Package containing an example of how to use a worker in rclrs.</description>
   <license>Apache License 2.0</license>