diff --git a/bosdyn_api_msgs/package.xml b/bosdyn_api_msgs/package.xml
index f27ab161..0c994d20 100644
--- a/bosdyn_api_msgs/package.xml
+++ b/bosdyn_api_msgs/package.xml
@@ -5,7 +5,7 @@ Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>bosdyn_api_msgs</name>
-  <version>4.0.0</version>
+  <version>4.0.2</version>
   <description>ROS 2 interoperability support for Boston Dynamics Spot SDK core APIs</description>
   <maintainer email="engineering@theaiinstitute.com">BD AI Institute</maintainer>
   <license>MIT</license>
diff --git a/bosdyn_auto_return_api_msgs/package.xml b/bosdyn_auto_return_api_msgs/package.xml
index 5dffe2e3..a4973de0 100644
--- a/bosdyn_auto_return_api_msgs/package.xml
+++ b/bosdyn_auto_return_api_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>bosdyn_auto_return_api_msgs</name>
-  <version>4.0.0</version>
+  <version>4.0.2</version>
   <description>ROS 2 interoperability support for Boston Dynamics Spot SDK auto-return APIs</description>
   <maintainer email="engineering@theaiinstitute.com">BD AI Institute</maintainer>
   <license>MIT</license>
diff --git a/bosdyn_autowalk_api_msgs/package.xml b/bosdyn_autowalk_api_msgs/package.xml
index 0ef29ccf..a61c7601 100644
--- a/bosdyn_autowalk_api_msgs/package.xml
+++ b/bosdyn_autowalk_api_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>bosdyn_autowalk_api_msgs</name>
-  <version>4.0.0</version>
+  <version>4.0.2</version>
   <description>ROS 2 interoperability support for Boston Dynamics Spot SDK autowalk APIs</description>
   <maintainer email="engineering@theaiinstitute.com">BD AI Institute</maintainer>
   <license>MIT</license>
diff --git a/bosdyn_cmake_module/package.xml b/bosdyn_cmake_module/package.xml
index df762d96..d51daed5 100644
--- a/bosdyn_cmake_module/package.xml
+++ b/bosdyn_cmake_module/package.xml
@@ -5,7 +5,7 @@ Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>bosdyn_cmake_module</name>
-  <version>4.0.0</version>
+  <version>4.0.2</version>
   <description>CMake modules for Boston Dynamics Spot SDK</description>
   <maintainer email="engineering@theaiinstitute.com">BD AI Institute</maintainer>
   <license>MIT</license>
diff --git a/bosdyn_graph_nav_api_msgs/package.xml b/bosdyn_graph_nav_api_msgs/package.xml
index ee59d322..c09c07b5 100644
--- a/bosdyn_graph_nav_api_msgs/package.xml
+++ b/bosdyn_graph_nav_api_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>bosdyn_graph_nav_api_msgs</name>
-  <version>4.0.0</version>
+  <version>4.0.2</version>
   <description>ROS 2 interoperability support for Boston Dynamics Spot SDK graph nav APIs</description>
   <maintainer email="engineering@theaiinstitute.com">BD AI Institute</maintainer>
   <license>MIT</license>
diff --git a/bosdyn_keepalive_api_msgs/package.xml b/bosdyn_keepalive_api_msgs/package.xml
index a4351164..63493222 100644
--- a/bosdyn_keepalive_api_msgs/package.xml
+++ b/bosdyn_keepalive_api_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>bosdyn_keepalive_api_msgs</name>
-  <version>4.0.0</version>
+  <version>4.0.2</version>
   <description>ROS 2 interoperability support for Boston Dynamics Spot SDK keepalive APIs</description>
   <maintainer email="engineering@theaiinstitute.com">BD AI Institute</maintainer>
   <license>MIT</license>
diff --git a/bosdyn_log_status_api_msgs/package.xml b/bosdyn_log_status_api_msgs/package.xml
index 46aa4086..55286f0b 100644
--- a/bosdyn_log_status_api_msgs/package.xml
+++ b/bosdyn_log_status_api_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>bosdyn_log_status_api_msgs</name>
-  <version>4.0.0</version>
+  <version>4.0.2</version>
   <description>ROS 2 interoperability support for Boston Dynamics Spot SDK log status APIs</description>
   <maintainer email="engineering@theaiinstitute.com">BD AI Institute</maintainer>
   <license>MIT</license>
diff --git a/bosdyn_metrics_logging_api_msgs/package.xml b/bosdyn_metrics_logging_api_msgs/package.xml
index a2f0ffa0..2c0e7a8b 100644
--- a/bosdyn_metrics_logging_api_msgs/package.xml
+++ b/bosdyn_metrics_logging_api_msgs/package.xml
@@ -5,7 +5,7 @@ Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved.
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>bosdyn_metrics_logging_api_msgs</name>
-  <version>4.0.0</version>
+  <version>4.0.2</version>
   <description>ROS 2 interoperability support for Boston Dynamics Spot SDK metrics logging APIs</description>
   <maintainer email="engineering@theaiinstitute.com">BD AI Institute</maintainer>
   <license>MIT</license>
diff --git a/bosdyn_mission_api_msgs/package.xml b/bosdyn_mission_api_msgs/package.xml
index 7cad1f2b..b11e55aa 100644
--- a/bosdyn_mission_api_msgs/package.xml
+++ b/bosdyn_mission_api_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>bosdyn_mission_api_msgs</name>
-  <version>4.0.0</version>
+  <version>4.0.2</version>
   <description>ROS 2 interoperability support for Boston Dynamics Spot SDK mission APIs</description>
   <maintainer email="engineering@theaiinstitute.com">BD AI Institute</maintainer>
   <license>MIT</license>
diff --git a/bosdyn_msgs/package.xml b/bosdyn_msgs/package.xml
index aa83357a..bae13cc8 100644
--- a/bosdyn_msgs/package.xml
+++ b/bosdyn_msgs/package.xml
@@ -5,7 +5,7 @@ Copyright (c) 2023-2024 Boston Dynamics AI Institute LLC. All rights reserved.
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>bosdyn_msgs</name>
-  <version>4.0.0</version>
+  <version>4.0.2</version>
   <description>ROS 2 interoperability support for Boston Dynamics Spot SDK APIs</description>
   <maintainer email="engineering@theaiinstitute.com">BD AI Institute</maintainer>
   <license>MIT</license>
diff --git a/bosdyn_spot_api_msgs/package.xml b/bosdyn_spot_api_msgs/package.xml
index 15fcace8..60af2348 100644
--- a/bosdyn_spot_api_msgs/package.xml
+++ b/bosdyn_spot_api_msgs/package.xml
@@ -5,7 +5,7 @@ Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>bosdyn_spot_api_msgs</name>
-  <version>4.0.0</version>
+  <version>4.0.2</version>
   <description>Boston Dynamics Spot API ROS 2 interfaces</description>
   <maintainer email="engineering@theaiinstitute.com">BD AI Institute</maintainer>
   <license>MIT</license>
diff --git a/bosdyn_spot_cam_api_msgs/package.xml b/bosdyn_spot_cam_api_msgs/package.xml
index d5ae5a57..642e76c0 100644
--- a/bosdyn_spot_cam_api_msgs/package.xml
+++ b/bosdyn_spot_cam_api_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>bosdyn_spot_cam_api_msgs</name>
-  <version>4.0.0</version>
+  <version>4.0.2</version>
   <description>Boston Dynamics Spot API ROS 2 interfaces</description>
   <maintainer email="engineering@theaiinstitute.com">BD AI Institute</maintainer>
   <license>MIT</license>
diff --git a/pip-constraint.txt b/pip-constraint.txt
index 838d0eb5..9117165c 100644
--- a/pip-constraint.txt
+++ b/pip-constraint.txt
@@ -1,4 +1,3 @@
-bosdyn-api==4.0.0
-bosdyn-choreography-protos==4.0.0
+bosdyn-api==4.0.2
 # ensure protoc 3.12.4 compatibility
 protobuf<=4.22.4