diff --git a/src/pi/camera_streamer/package.xml b/src/pi/camera_streamer/package.xml
index ce383216..e0e9a23e 100644
--- a/src/pi/camera_streamer/package.xml
+++ b/src/pi/camera_streamer/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>camera_streamer</name>
-  <version>1.0.0</version>
+  <version>1.1.0</version>
   <description>Capture video from usb and pi cameras and send it as MJPEG streams on ROS topics</description>
   <maintainer email="noah@mollerstuen.com">Noah Mollerstuen</maintainer>
   <license>Apches License 2.0</license>
diff --git a/src/pi/camera_streamer/setup.py b/src/pi/camera_streamer/setup.py
index 1dcab2c8..dcf5924e 100644
--- a/src/pi/camera_streamer/setup.py
+++ b/src/pi/camera_streamer/setup.py
@@ -8,7 +8,7 @@
 
 setup(
     name=PACKAGE_NAME,
-    version='1.0.0',
+    version='1.1.0',
     packages=[PACKAGE_NAME],
     data_files=[
         ('share/ament_index/resource_index/packages',
diff --git a/src/pi/manipulators/package.xml b/src/pi/manipulators/package.xml
index f7872a39..0de90e93 100644
--- a/src/pi/manipulators/package.xml
+++ b/src/pi/manipulators/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>manipulators</name>
-  <version>1.0.0</version>
+  <version>1.1.0</version>
   <description>Code for manipulators.</description>
   <maintainer email="gcm49@case.edu">Georgia Martinez</maintainer>
   <maintainer email="rmc170@case.edu">Michael Carlstrom</maintainer>
diff --git a/src/pi/manipulators/setup.py b/src/pi/manipulators/setup.py
index 6c45869d..6cd07e56 100644
--- a/src/pi/manipulators/setup.py
+++ b/src/pi/manipulators/setup.py
@@ -8,7 +8,7 @@
 
 setup(
     name=PACKAGE_NAME,
-    version='1.0.0',
+    version='1.1.0',
     packages=[PACKAGE_NAME],
     data_files=[
         ('share/ament_index/resource_index/packages',
diff --git a/src/pi/pi_main/package.xml b/src/pi/pi_main/package.xml
index 890fa7d2..82db3f36 100644
--- a/src/pi/pi_main/package.xml
+++ b/src/pi/pi_main/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>pi_main</name>
-  <version>1.0.0</version>
+  <version>1.1.0</version>
   <description>MATE ROV Pi Main</description>
   <maintainer email="bwp18@case.edu">Benjamin Poulin</maintainer>
   <license>Apache License 2.0</license>
diff --git a/src/pi/pi_main/setup.py b/src/pi/pi_main/setup.py
index 6e345e61..a5bf8efd 100644
--- a/src/pi/pi_main/setup.py
+++ b/src/pi/pi_main/setup.py
@@ -9,7 +9,7 @@
 
 setup(
     name=PACKAGE_NAME,
-    version='1.0.0',
+    version='1.1.0',
     packages=[PACKAGE_NAME],
     data_files=[
         ('share/ament_index/resource_index/packages',
diff --git a/src/pi/pixhawk_communication/package.xml b/src/pi/pixhawk_communication/package.xml
index c3c881d4..3347acba 100644
--- a/src/pi/pixhawk_communication/package.xml
+++ b/src/pi/pixhawk_communication/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>pixhawk_communication</name>
-  <version>1.0.0</version>
+  <version>1.1.0</version>
   <description>Manages Pixhawk</description>
   <maintainer email="rmc170@case.edu">Michael Carlstrom</maintainer>
   <license>Apache License 2.0</license>
diff --git a/src/pi/pixhawk_communication/setup.py b/src/pi/pixhawk_communication/setup.py
index f55542a6..23a5564d 100644
--- a/src/pi/pixhawk_communication/setup.py
+++ b/src/pi/pixhawk_communication/setup.py
@@ -8,7 +8,7 @@
 
 setup(
     name=PACKAGE_NAME,
-    version='1.0.0',
+    version='1.1.0',
     packages=[PACKAGE_NAME],
     data_files=[
         ('share/ament_index/resource_index/packages',
diff --git a/src/pi/realsense/package.xml b/src/pi/realsense/package.xml
index 41e15cfe..edf8d748 100644
--- a/src/pi/realsense/package.xml
+++ b/src/pi/realsense/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>realsense</name>
-  <version>1.0.0</version>
+  <version>1.1.0</version>
   <description>MATE ROV Pi Realsense</description>
   <maintainer email="rmc170@case.edu">Michael Carlstrom</maintainer>
   <license>Apache License 2.0</license>
diff --git a/src/pi/realsense/setup.py b/src/pi/realsense/setup.py
index 05114fa5..499dc125 100644
--- a/src/pi/realsense/setup.py
+++ b/src/pi/realsense/setup.py
@@ -9,7 +9,7 @@
 
 setup(
     name=PACKAGE_NAME,
-    version='1.0.0',
+    version='1.1.0',
     packages=[PACKAGE_NAME],
     data_files=[
         ('share/ament_index/resource_index/packages',
diff --git a/src/surface/flight_control/package.xml b/src/surface/flight_control/package.xml
index 78689a5a..beedf691 100644
--- a/src/surface/flight_control/package.xml
+++ b/src/surface/flight_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>flight_control</name>
-  <version>1.0.0</version>
+  <version>1.1.0</version>
   <description>Mate ROV sub movement controllers</description>
   <maintainer email="bwp18@case.edu">Benjamin</maintainer>
   <license>Apache License 2.0</license>
diff --git a/src/surface/flight_control/setup.py b/src/surface/flight_control/setup.py
index fecd198a..1651b242 100644
--- a/src/surface/flight_control/setup.py
+++ b/src/surface/flight_control/setup.py
@@ -7,7 +7,7 @@
 
 setup(
     name=package_name,
-    version='1.0.0',
+    version='1.1.0',
     packages=[package_name],
     data_files=[
         ('share/ament_index/resource_index/packages',
diff --git a/src/surface/gui/package.xml b/src/surface/gui/package.xml
index cea31521..1925b0e9 100644
--- a/src/surface/gui/package.xml
+++ b/src/surface/gui/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>gui</name>
-  <version>1.0.0</version>
+  <version>1.1.0</version>
   <description>MATE ROV GUI and related ROS nodes</description>
   <maintainer email="bwp18@case.edu">Benjamin Poulin</maintainer>
   <license>Apache License 2.0</license>
diff --git a/src/surface/gui/setup.py b/src/surface/gui/setup.py
index 8796a58c..e53887f4 100644
--- a/src/surface/gui/setup.py
+++ b/src/surface/gui/setup.py
@@ -8,7 +8,7 @@
 
 setup(
     name=PACKAGE_NAME,
-    version='1.0.0',
+    version='1.1.0',
     packages=[PACKAGE_NAME, os.path.join(PACKAGE_NAME, 'widgets'),
               os.path.join(PACKAGE_NAME, 'event_nodes')],
     data_files=[
diff --git a/src/surface/ps5_controller/package.xml b/src/surface/ps5_controller/package.xml
index 838d8120..9fd4de0a 100644
--- a/src/surface/ps5_controller/package.xml
+++ b/src/surface/ps5_controller/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>ps5_controller</name>
-  <version>1.0.0</version>
+  <version>1.1.0</version>
   <description>Boilerplate for calling standard joystick launch file.</description>
   <maintainer email="rmc170@case.edu">Michael Carlstrom</maintainer>
   <license>Apache License 2.0</license>
diff --git a/src/surface/ps5_controller/setup.py b/src/surface/ps5_controller/setup.py
index 3bdaccce..c7b19729 100644
--- a/src/surface/ps5_controller/setup.py
+++ b/src/surface/ps5_controller/setup.py
@@ -8,7 +8,7 @@
 
 setup(
     name=PACKAGE_NAME,
-    version='1.0.0',
+    version='1.1.0',
     packages=[PACKAGE_NAME],
     data_files=[
         ('share/ament_index/resource_index/packages',
diff --git a/src/surface/ros2_video_streamer b/src/surface/ros2_video_streamer
index e1a8d332..a33c6b01 160000
--- a/src/surface/ros2_video_streamer
+++ b/src/surface/ros2_video_streamer
@@ -1 +1 @@
-Subproject commit e1a8d332467ed3109117a19db74c2385b59f116a
+Subproject commit a33c6b011d6241c678b141d057e2435d5bd91ae1
diff --git a/src/surface/rov_flir/package.xml b/src/surface/rov_flir/package.xml
index be941b00..5e23881e 100644
--- a/src/surface/rov_flir/package.xml
+++ b/src/surface/rov_flir/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>rov_flir</name>
-  <version>1.0.0</version>
+  <version>1.1.0</version>
   <description>Boilerplate for calling flir launch file.</description>
   <maintainer email="rmc170@case.edu">Michael Carlstrom</maintainer>
   <license>Apache License 2.0</license>
diff --git a/src/surface/rov_flir/setup.py b/src/surface/rov_flir/setup.py
index 6717701e..a9b88642 100644
--- a/src/surface/rov_flir/setup.py
+++ b/src/surface/rov_flir/setup.py
@@ -7,7 +7,7 @@
 
 setup(
     name=package_name,
-    version='1.0.0',
+    version='1.1.0',
     packages=[package_name],
     data_files=[
         ('share/ament_index/resource_index/packages',
diff --git a/src/surface/rov_gazebo/package.xml b/src/surface/rov_gazebo/package.xml
index 61c48ae2..a1a0f183 100644
--- a/src/surface/rov_gazebo/package.xml
+++ b/src/surface/rov_gazebo/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>rov_gazebo</name>
-  <version>1.0.0</version>
+  <version>1.1.0</version>
   <description>MATE ROV simulation</description>
   <maintainer email="sxj754@case.edu">Seongmin Jung</maintainer>
   <license>Apache License 2.0</license>
diff --git a/src/surface/rov_gazebo/setup.py b/src/surface/rov_gazebo/setup.py
index 33f49162..85733d8e 100644
--- a/src/surface/rov_gazebo/setup.py
+++ b/src/surface/rov_gazebo/setup.py
@@ -8,7 +8,7 @@
 
 setup(
     name=PACKAGE_NAME,
-    version="1.0.0",
+    version="1.1.0",
     packages=[PACKAGE_NAME],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + PACKAGE_NAME]),
diff --git a/src/surface/surface_main/package.xml b/src/surface/surface_main/package.xml
index 64644072..44ec4d30 100644
--- a/src/surface/surface_main/package.xml
+++ b/src/surface/surface_main/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>surface_main</name>
-  <version>1.0.0</version>
+  <version>1.1.0</version>
   <description>MATE ROV Surface Main</description>
   <maintainer email="bwp18@case.edu">Benjamin Poulin</maintainer>
   <license>Apache License 2.0</license>
diff --git a/src/surface/surface_main/setup.py b/src/surface/surface_main/setup.py
index 83574567..74db7982 100644
--- a/src/surface/surface_main/setup.py
+++ b/src/surface/surface_main/setup.py
@@ -8,7 +8,7 @@
 
 setup(
     name=PACKAGE_NAME,
-    version='1.0.0',
+    version='1.1.0',
     packages=[PACKAGE_NAME],
     data_files=[
         ('share/ament_index/resource_index/packages',