diff --git a/dependencies.rosinstall b/dependencies.rosinstall
index 91326dea0..644766f7e 100644
--- a/dependencies.rosinstall
+++ b/dependencies.rosinstall
@@ -5,15 +5,15 @@
 - git:
     local-name: tesseract
     uri: https://github.com/tesseract-robotics/tesseract.git
-    version: 80d60cef50e7bebd957de627e9a987534f0c678a
+    version: 0.7.0
 - git:
     local-name: trajopt
     uri: https://github.com/tesseract-robotics/trajopt.git
-    version: c02b1dfb1ad49c688856b482092700439f57c867
+    version: 0.2.0
 - git:
     local-name: tesseract_planning
     uri: https://github.com/tesseract-robotics/tesseract_planning.git
-    version: b8a95bfbd2efc46eb2dda69f108e2bac822310cf
+    version: 0.7.0
 - git:
     local-name: descartes_light
     uri: https://github.com/swri-robotics/descartes_light.git
diff --git a/dependencies_with_ext.rosinstall b/dependencies_with_ext.rosinstall
index 3184efe07..0e17563ce 100644
--- a/dependencies_with_ext.rosinstall
+++ b/dependencies_with_ext.rosinstall
@@ -9,15 +9,15 @@
 - git:
     local-name: tesseract
     uri: https://github.com/tesseract-robotics/tesseract.git
-    version: 80d60cef50e7bebd957de627e9a987534f0c678a
+    version: 0.7.0
 - git:
     local-name: trajopt
     uri: https://github.com/tesseract-robotics/trajopt_ros.git
-    version: c02b1dfb1ad49c688856b482092700439f57c867
+    version: 0.2.0
 - git:
     local-name: tesseract_planning
     uri: https://github.com/tesseract-robotics/tesseract_planning.git
-    version: b8a95bfbd2efc46eb2dda69f108e2bac822310cf
+    version: 0.7.0
 - git:
     local-name: descartes_light
     uri: https://github.com/swri-robotics/descartes_light.git
diff --git a/tesseract_ros_examples/src/glass_upright_example.cpp b/tesseract_ros_examples/src/glass_upright_example.cpp
index de80d64cf..82b82d9c2 100644
--- a/tesseract_ros_examples/src/glass_upright_example.cpp
+++ b/tesseract_ros_examples/src/glass_upright_example.cpp
@@ -195,10 +195,11 @@ bool GlassUprightExample::run()
   {
     auto composite_profile = std::make_shared<TrajOptIfoptDefaultCompositeProfile>();
     composite_profile->collision_cost_config->type = tesseract_collision::CollisionEvaluatorType::LVS_DISCRETE;
-    composite_profile->collision_cost_config->contact_manager_config.collision_margin_data.setDefaultCollisionMargin(0.01);
+    composite_profile->collision_cost_config->contact_manager_config = tesseract_collision::ContactManagerConfig(0.01);
     composite_profile->collision_cost_config->collision_margin_buffer = 0.01;
     composite_profile->collision_constraint_config->type = tesseract_collision::CollisionEvaluatorType::LVS_DISCRETE;
-    composite_profile->collision_constraint_config->contact_manager_config.collision_margin_data.setDefaultCollisionMargin(0.01);
+    composite_profile->collision_constraint_config->contact_manager_config =
+        tesseract_collision::ContactManagerConfig(0.01);
     composite_profile->collision_constraint_config->collision_margin_buffer = 0.01;
     composite_profile->smooth_velocities = true;
     composite_profile->smooth_accelerations = false;
diff --git a/tesseract_rosutils/package.xml b/tesseract_rosutils/package.xml
index 09d22d0f6..ed2113176 100644
--- a/tesseract_rosutils/package.xml
+++ b/tesseract_rosutils/package.xml
@@ -30,6 +30,7 @@
   <depend>roscpp</depend>
   <depend>roslib</depend>
   <depend>std_msgs</depend>
+  <depend>visualization_msgs</depend>
 
   <test_depend>tesseract_support</test_depend>