diff --git a/CMakeLists.txt b/CMakeLists.txt
index a26edc7b..5f67488e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -32,7 +32,7 @@ find_package(fiducial_msgs)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
-find_package(RTABMap 0.20.18 REQUIRED)
+find_package(RTABMap 0.20.20 REQUIRED)
 
 find_package(OpenCV REQUIRED QUIET COMPONENTS core calib3d imgproc highgui stitching optflow photo video OPTIONAL_COMPONENTS aruco xfeatures2d nonfree gpu cudafeatures2d)
 
diff --git a/package.xml b/package.xml
index 4e17f61a..3c1af103 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>rtabmap_ros</name>
-  <version>0.20.18</version>
+  <version>0.20.20</version>
   <description>RTAB-Map's ros-pkg. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description>
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>