diff --git a/depthai-ros/CHANGELOG.rst b/depthai-ros/CHANGELOG.rst
index 089a2dec..053db04b 100644
--- a/depthai-ros/CHANGELOG.rst
+++ b/depthai-ros/CHANGELOG.rst
@@ -2,6 +2,29 @@
 Changelog for package depthai-ros
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.10.1 (2024-09-18)
+-------------------
+* Fix ToF synced publishing
+* Add camera_info publishing when publishing compressed images
+* Catch errors when starting the device
+
+2.10.0 (2024-08-29)
+-------------------
+* Adding stl files for SR and LR models by @danilo-pejovic in https://github.com/luxonis/depthai-ros/pull/491
+* No imu fix Humble by @Serafadam in https://github.com/luxonis/depthai-ros/pull/500
+* Tracking converter for ROS2 Humble by @daniqsilva25 in https://github.com/luxonis/depthai-ros/pull/505
+* Added Env Hooks so that depthai xacro can be used with gazebo sim by @r4hul77 in https://github.com/luxonis/depthai-ros/pull/507
+* Fix resource paths for Ignition Gazebo by @Nibanovic in https://github.com/luxonis/depthai-ros/pull/511
+* Use simulation flag to decide how to load meshes. by @destogl in https://github.com/luxonis/depthai-ros/pull/524
+* Add new launch file for starting multiple rgbd cameras on robots. by @destogl in https://github.com/luxonis/depthai-ros/pull/532
+* Missing fields in detection messages Humble by @Serafadam in https://github.com/luxonis/depthai-ros/pull/574
+* Ip autodiscovery fix Humble by @Serafadam in https://github.com/luxonis/depthai-ros/pull/561
+* RS Mode & Sync - Humble by @Serafadam in https://github.com/luxonis/depthai-ros/pull/578
+* Compressed image publishers by @Serafadam in https://github.com/luxonis/depthai-ros/pull/580
+* ToF Support Humble by @Serafadam in https://github.com/luxonis/depthai-ros/pull/581
+* WLS fix humble by @Serafadam in https://github.com/luxonis/depthai-ros/pull/582
+* Syncing & RS updates Humble by @Serafadam in https://github.com/luxonis/depthai-ros/pull/586
+
 2.9.0 (2024-01-24)
 -------------------
 
diff --git a/depthai-ros/CMakeLists.txt b/depthai-ros/CMakeLists.txt
index eb0bc15d..3913f5ac 100644
--- a/depthai-ros/CMakeLists.txt
+++ b/depthai-ros/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required (VERSION 3.10.2)  # CMake version in Ubuntu 18.04 LTS
 
-project(depthai-ros VERSION 2.9.0 LANGUAGES CXX C)
+project(depthai-ros VERSION 2.10.1 LANGUAGES CXX C)
 
 set(CMAKE_CXX_STANDARD 14)
 
diff --git a/depthai-ros/package.xml b/depthai-ros/package.xml
index 6e12193e..e6993e2d 100644
--- a/depthai-ros/package.xml
+++ b/depthai-ros/package.xml
@@ -1,13 +1,10 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>depthai-ros</name>
-  <version>2.9.0</version>
+  <version>2.10.1</version>
   <description>The depthai-ros package</description>
 
-  <!-- One maintainer tag required, multiple allowed, one person per tag -->
-  <!-- Example:  -->
-  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="sachin@luxonis.com">sachin</maintainer>
+  <maintainer email="adam.serafin@luxonis.com">Adam Serafin</maintainer>
   <author>Sachin Guruswamy</author>
 
   <license>MIT</license>
diff --git a/depthai_bridge/CMakeLists.txt b/depthai_bridge/CMakeLists.txt
index b510034f..f9b6e51c 100644
--- a/depthai_bridge/CMakeLists.txt
+++ b/depthai_bridge/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required (VERSION 3.10.2)  # CMake version in Ubuntu 18.04 LTS
 set (CMAKE_POSITION_INDEPENDENT_CODE ON)
 
-project(depthai_bridge VERSION 2.9.0 LANGUAGES CXX C)
+project(depthai_bridge VERSION 2.10.1 LANGUAGES CXX C)
 
 set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
diff --git a/depthai_bridge/package.xml b/depthai_bridge/package.xml
index 96564a77..472f02e9 100644
--- a/depthai_bridge/package.xml
+++ b/depthai_bridge/package.xml
@@ -1,10 +1,10 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>depthai_bridge</name>
-  <version>2.9.0</version>
+  <version>2.10.1</version>
   <description>The depthai_bridge package</description>
 
-  <maintainer email="sachin@luxonis.com">Sachin Guruswamy</maintainer>
+  <maintainer email="adam.serafin@luxonis.com">Adam Serafin</maintainer>
   <author>Sachin Guruswamy</author>
 
   <license>MIT</license>
diff --git a/depthai_descriptions/CMakeLists.txt b/depthai_descriptions/CMakeLists.txt
index 25a37c5e..cabcef61 100644
--- a/depthai_descriptions/CMakeLists.txt
+++ b/depthai_descriptions/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.10.2)
-project(depthai_descriptions VERSION 2.9.0 LANGUAGES CXX C)
+project(depthai_descriptions VERSION 2.10.1 LANGUAGES CXX C)
 
 
 find_package(catkin REQUIRED
diff --git a/depthai_descriptions/package.xml b/depthai_descriptions/package.xml
index 35612189..13a68388 100644
--- a/depthai_descriptions/package.xml
+++ b/depthai_descriptions/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>depthai_descriptions</name>
-  <version>2.9.0</version>
+  <version>2.10.1</version>
   <description>The depthai_descriptions package</description>
 
   <maintainer email="adam.serafin@luxonis.com">Adam Serafin</maintainer>
diff --git a/depthai_examples/CMakeLists.txt b/depthai_examples/CMakeLists.txt
index cf0c27ad..e3861e33 100644
--- a/depthai_examples/CMakeLists.txt
+++ b/depthai_examples/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required (VERSION 3.10.2)  # CMake version in Ubuntu 18.04 LTS
-project(depthai_examples VERSION 2.9.0 LANGUAGES CXX C)
+project(depthai_examples VERSION 2.10.1 LANGUAGES CXX C)
 
 set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
diff --git a/depthai_examples/package.xml b/depthai_examples/package.xml
index 9cb495ea..7e0f988c 100644
--- a/depthai_examples/package.xml
+++ b/depthai_examples/package.xml
@@ -1,26 +1,21 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>depthai_examples</name>
-  <version>2.9.0</version>
+  <version>2.10.1</version>
   <description>The depthai_examples package</description>
 
-  <!-- One maintainer tag required, multiple allowed, one person per tag -->
-  <!-- Example:  -->
-  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="sachin@luxonis.com">sachin</maintainer>
+  <maintainer email="adam.serafin@luxonis.com">Adam Serafin</maintainer>
   <author>Sachin Guruswamy</author>
 
   <license>MIT</license>
 
 
   <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
-  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
   
   <depend condition="$ROS_VERSION == 1">roscpp</depend>
   <depend condition="$ROS_VERSION == 1">rospy</depend>
   <depend condition="$ROS_VERSION == 1">message_filters</depend>
   
-  <depend condition="$ROS_VERSION == 2">rclcpp</depend>
   
   <depend>cv_bridge</depend>
   <depend>camera_info_manager</depend>
@@ -46,7 +41,6 @@
   <export>
     <nodelet condition="$ROS_VERSION == 1" plugin="${prefix}/nodelet_plugins.xml" />
     <build_type condition="$ROS_VERSION == 1">catkin</build_type>
-    <build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
   </export>
 
 </package>
diff --git a/depthai_filters/CMakeLists.txt b/depthai_filters/CMakeLists.txt
index 454764e9..a2d330a1 100644
--- a/depthai_filters/CMakeLists.txt
+++ b/depthai_filters/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.10.2)
-project(depthai_filters VERSION 2.9.0 LANGUAGES CXX C)
+project(depthai_filters VERSION 2.10.1 LANGUAGES CXX C)
 
 set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
diff --git a/depthai_filters/package.xml b/depthai_filters/package.xml
index 3cb8a66a..3ff34453 100644
--- a/depthai_filters/package.xml
+++ b/depthai_filters/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>depthai_filters</name>
-  <version>2.9.0</version>
+  <version>2.10.1</version>
   <description>The depthai_filters package</description>
 
   <maintainer email="adam.serafin@luxonis.com">Adam Serafin</maintainer>
diff --git a/depthai_ros_driver/CMakeLists.txt b/depthai_ros_driver/CMakeLists.txt
index 3fd5c804..7c2b9924 100644
--- a/depthai_ros_driver/CMakeLists.txt
+++ b/depthai_ros_driver/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.16.3)
-project(depthai_ros_driver)
+project(depthai_ros_driver VERSION 2.10.1)
 if(NOT CMAKE_C_STANDARD)
   set(CMAKE_C_STANDARD 99)
 endif()
diff --git a/depthai_ros_driver/package.xml b/depthai_ros_driver/package.xml
index 522c4d9b..59e50067 100644
--- a/depthai_ros_driver/package.xml
+++ b/depthai_ros_driver/package.xml
@@ -2,10 +2,9 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>depthai_ros_driver</name>
-  <version>2.9.0</version>
+  <version>2.10.1</version>
   <description>Depthai ROS Monolithic node.</description>
   <maintainer email="adam.serafin@luxonis.com">Adam Serafin</maintainer>
-  <maintainer email="sachin@luxonis.com">Sachin Guruswamy</maintainer>
   <author>Adam Serafin</author>
 
   <license>MIT</license>
diff --git a/depthai_ros_msgs/CMakeLists.txt b/depthai_ros_msgs/CMakeLists.txt
index 5d203bb9..b70af73a 100644
--- a/depthai_ros_msgs/CMakeLists.txt
+++ b/depthai_ros_msgs/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required (VERSION 3.10.2)  # CMake version in Ubuntu 18.04 LTS
 
-project (depthai_ros_msgs VERSION 2.9.0)
+project (depthai_ros_msgs VERSION 2.10.1)
 
 if(POLICY CMP0057)
     cmake_policy(SET CMP0057 NEW)
diff --git a/depthai_ros_msgs/package.xml b/depthai_ros_msgs/package.xml
index 574cb0b2..ccccce4f 100644
--- a/depthai_ros_msgs/package.xml
+++ b/depthai_ros_msgs/package.xml
@@ -1,10 +1,10 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>depthai_ros_msgs</name>
-  <version>2.9.0</version>
+  <version>2.10.1</version>
   <description>Package to keep interface independent of the driver</description>
 
-  <maintainer email="sachin@luxonis.com">Sachin Guruswamy</maintainer>
+  <maintainer email="adam.serafin@luxonis.com">Adam Serafin</maintainer>
   <author>Sachin Guruswamy</author>
 
   <license>MIT</license>