diff --git a/built_packages b/built_packages
index bd6caa8dd..3ff3b324d 100755
--- a/built_packages
+++ b/built_packages
@@ -1,6 +1,6 @@
 
-https://github.com/ament/ament_cmake.git 4c630d4c36af09e8a426ef5c1fbc8850f656019c
-https://github.com/ament/ament_index.git 1ef3b4c92b54bf0530efb01424b65856b44a25ef
+https://github.com/ament/ament_cmake.git 818562a5fd1f34d0dbbe7465f5aed4c55e0d1802
+https://github.com/ament/ament_index.git 05c29be9ff7ce17bd744c83c27ac3692d3532490
 https://github.com/ament/ament_lint.git 2e54ed347731357c510273b3d4328eaabe6825d6
 https://github.com/ament/ament_package.git 2695c27e809ad431eebec608ea4ebf74d7f015c7
 https://github.com/ament/googletest.git 826d84bcc66eec650242bf360a565597e6aaad56
@@ -9,8 +9,8 @@ https://github.com/eProsima/Micro-CDR.git ed4fd513a24a53b93d548d342cb7aa0a18716f
 https://github.com/eProsima/Micro-XRCE-DDS-Client.git 83f129a80770a09aac9e823896ecbf6a0eddf0fc
 https://github.com/micro-ROS/micro_ros_msgs.git 4f1dbf42db9e35b22525e3d408730a450eeb4eea
 https://github.com/micro-ROS/micro_ros_utilities a593e18e745c7fc01499e07b9cf3fb9af1ab459f
-https://github.com/micro-ROS/rcl 0ea24e8a5c8a76ef737d29622316bedcbd8d688f
-https://github.com/micro-ROS/rcutils f4e8bb9454b5ae0bf9a6b2a6581f2b429872c3ef
+https://github.com/micro-ROS/rcl b5d447d1f01b7153d45c59c7d75783c4c0bc9843
+https://github.com/micro-ROS/rcutils 2586c0cc466b40d21453de06ba80295babe5d03d
 https://github.com/micro-ROS/rmw-microxrcedds.git d4d26af5d4ffa9f5a0874fb147444383987abca8
 https://github.com/micro-ROS/rosidl_typesupport.git 16487c1ab537b5fdb34b936f2569fcf10b5aff54
 https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git cbd7719e07d5ca94077784accf95eac9ad535b56
@@ -18,16 +18,16 @@ https://github.com/ros-controls/control_msgs 1416954c31432c192ff95a06559847e8738
 https://github.com/ros2/ament_cmake_ros.git 2fc2c6baada47130ff3c2fbc5265a9ec782d3332
 https://github.com/ros2/common_interfaces.git d685509e9cb9f80bd320a347f2db954a73397ae7
 https://github.com/ros2/example_interfaces.git dec9e55175f95f0feecc46213df3a26c8543313f
-https://github.com/ros2/libyaml_vendor.git f4ccfc67e7ba2ec4e77170d105c1da0133fa3971
-https://github.com/ros2/rcl.git 1e565d56551f193b5cb1461a6ed71015508f7485
+https://github.com/ros2/libyaml_vendor.git 5545d39cf02ea3678288d0fa235036f3851d9fb2
+https://github.com/ros2/rcl.git d9daca7c0af7ecdcd103ece30bb7c64bc919ef24
 https://github.com/ros2/rcl_interfaces.git f6b3741d921ef5414125091b2ccc74b863be3c24
-https://github.com/ros2/rcl_logging.git 4d186fac565caa7dfb2e21b367bec8c074b62835
+https://github.com/ros2/rcl_logging.git 21c2d19ce28efb91dab764c7bbfc9017f7a06c71
 https://github.com/ros2/rclc b4e3b9c4f6456b4cdf957296a1ad27c842bf91da
 https://github.com/ros2/rcpputils.git 10939f92d75ab0c0d8caea6b979110cbdcc5d3a5
-https://github.com/ros2/rmw.git f4105b162277cdec8ad62e47cbf52aead073d277
-https://github.com/ros2/rmw_implementation.git b103174ff42ac382fa0e3e3fef32145721fcfd63
-https://github.com/ros2/ros2_tracing.git a866b9c701311bc8200a00c949b4a0fff9803777
-https://github.com/ros2/rosidl.git c027a3867a4b4c6e42b8f79796e9950d4b28ffac
+https://github.com/ros2/rmw.git 33118c9d4dc2adec838962554f0e09ab5c15d1e0
+https://github.com/ros2/rmw_implementation.git e3a409a32bf2987c6dcc31164af8156a8a8feddd
+https://github.com/ros2/ros2_tracing.git 4376bdc1e788432d204f4a1bed7291fdc397187e
+https://github.com/ros2/rosidl.git c71febca9493d7222eb1d6d67bacd129c56a3919
 https://github.com/ros2/rosidl_core.git 0ac65c0bfe629340d8d3569e0be1dce0e732a345
 https://github.com/ros2/rosidl_dds.git 395a946f1cde1999ddb78cb31717d0991421a317
 https://github.com/ros2/rosidl_defaults.git 0f2defcb7022132a11d96532d123c1eafc905182
diff --git a/src/rcl_action/version.h b/src/rcl_action/version.h
index c38287cc6..cddcbe1d3 100755
--- a/src/rcl_action/version.h
+++ b/src/rcl_action/version.h
@@ -17,19 +17,19 @@
 
 /// \def RCL_ACTION_VERSION_MAJOR
 /// Defines RCL_ACTION major version number
-#define RCL_ACTION_VERSION_MAJOR (9)
+#define RCL_ACTION_VERSION_MAJOR (10)
 
 /// \def RCL_ACTION_VERSION_MINOR
 /// Defines RCL_ACTION minor version number
-#define RCL_ACTION_VERSION_MINOR (4)
+#define RCL_ACTION_VERSION_MINOR (0)
 
 /// \def RCL_ACTION_VERSION_PATCH
 /// Defines RCL_ACTION version patch number
-#define RCL_ACTION_VERSION_PATCH (1)
+#define RCL_ACTION_VERSION_PATCH (0)
 
 /// \def RCL_ACTION_VERSION_STR
 /// Defines RCL_ACTION version string
-#define RCL_ACTION_VERSION_STR "9.4.1"
+#define RCL_ACTION_VERSION_STR "10.0.0"
 
 /// \def RCL_ACTION_VERSION_GTE
 /// Defines a macro to check whether the version of RCL_ACTION is greater than or equal to
diff --git a/src/rcl_lifecycle/version.h b/src/rcl_lifecycle/version.h
index e6c1f750f..702625b65 100755
--- a/src/rcl_lifecycle/version.h
+++ b/src/rcl_lifecycle/version.h
@@ -17,19 +17,19 @@
 
 /// \def RCL_LIFECYCLE_VERSION_MAJOR
 /// Defines RCL_LIFECYCLE major version number
-#define RCL_LIFECYCLE_VERSION_MAJOR (9)
+#define RCL_LIFECYCLE_VERSION_MAJOR (10)
 
 /// \def RCL_LIFECYCLE_VERSION_MINOR
 /// Defines RCL_LIFECYCLE minor version number
-#define RCL_LIFECYCLE_VERSION_MINOR (4)
+#define RCL_LIFECYCLE_VERSION_MINOR (0)
 
 /// \def RCL_LIFECYCLE_VERSION_PATCH
 /// Defines RCL_LIFECYCLE version patch number
-#define RCL_LIFECYCLE_VERSION_PATCH (1)
+#define RCL_LIFECYCLE_VERSION_PATCH (0)
 
 /// \def RCL_LIFECYCLE_VERSION_STR
 /// Defines RCL_LIFECYCLE version string
-#define RCL_LIFECYCLE_VERSION_STR "9.4.1"
+#define RCL_LIFECYCLE_VERSION_STR "10.0.0"
 
 /// \def RCL_LIFECYCLE_VERSION_GTE
 /// Defines a macro to check whether the version of RCL_LIFECYCLE is greater than or equal to