diff --git a/orbbec_camera/include/orbbec_camera/constants.h b/orbbec_camera/include/orbbec_camera/constants.h
index 3a9b058a..680fb1df 100644
--- a/orbbec_camera/include/orbbec_camera/constants.h
+++ b/orbbec_camera/include/orbbec_camera/constants.h
@@ -24,7 +24,7 @@
 
 #define OB_ROS_MAJOR_VERSION 2
 #define OB_ROS_MINOR_VERSION 10
-#define OB_ROS_PATCH_VERSION 3
+#define OB_ROS_PATCH_VERSION 4
 
 #ifndef STRINGIFY
 #define STRINGIFY(arg) #arg
diff --git a/orbbec_camera/package.xml b/orbbec_camera/package.xml
index 13304dc4..137765d9 100644
--- a/orbbec_camera/package.xml
+++ b/orbbec_camera/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>orbbec_camera</name>
-  <version>2.10.3</version>
+  <version>2.10.4</version>
   <description>Orbbec Camera package</description>
   <maintainer email="yalian@orbbec.com">yalian</maintainer>
   <license>Apache-2.0</license>
@@ -20,7 +20,7 @@
   <depend>rclcpp_components</depend>
   <depend>cv_bridge</depend>
   <depend>camera_info_manager</depend>
-  <depend version_gte="2.10.3">orbbec_camera_msgs</depend>
+  <depend version_gte="2.10.4">orbbec_camera_msgs</depend>
   <depend>builtin_interfaces</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_action</depend>
diff --git a/orbbec_camera_msgs/package.xml b/orbbec_camera_msgs/package.xml
index 717bacc3..962278ed 100644
--- a/orbbec_camera_msgs/package.xml
+++ b/orbbec_camera_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>orbbec_camera_msgs</name>
-  <version>2.10.3</version>
+  <version>2.10.4</version>
   <description>A package containing orbbec camera messages definitions.</description>
   <maintainer email="yalian@orbbec.com">yalian</maintainer>
   <license>Apache-2.0</license>
diff --git a/orbbec_description/package.xml b/orbbec_description/package.xml
index bb6b86c9..e2aca503 100644
--- a/orbbec_description/package.xml
+++ b/orbbec_description/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>orbbec_description</name>
-  <version>2.10.3</version>
+  <version>2.10.4</version>
   <description>TODO: Package description</description>
   <maintainer email="yalian@orbbec.com">yalian</maintainer>
   <license>Apache-2.0</license>