diff --git a/ariac_controllers/package.xml b/ariac_controllers/package.xml
index 0f84ad78c..4451110ac 100644
--- a/ariac_controllers/package.xml
+++ b/ariac_controllers/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>ariac_controllers</name>
-  <version>2024.3.0</version>
+  <version>2024.4.0</version>
   <description>ros2 controllers for ARIAC simulation</description>
   <maintainer email="justin.albrecht@nist.gov"> Justin Albrecht</maintainer>
   <license>NIST</license>
diff --git a/ariac_description/package.xml b/ariac_description/package.xml
index c40133db4..eda03fc9e 100644
--- a/ariac_description/package.xml
+++ b/ariac_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>ariac_description</name>
-  <version>2024.3.0</version>
+  <version>2024.4.0</version>
   <description>Package containing URDF descriptions for all robots in the ARIAC simulation</description>
   <maintainer email="justin.albrecht@nist.gov">justin</maintainer>
   <license>NIST</license>
diff --git a/ariac_gazebo/package.xml b/ariac_gazebo/package.xml
index 3d2b232dd..90f864985 100644
--- a/ariac_gazebo/package.xml
+++ b/ariac_gazebo/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>ariac_gazebo</name>
-  <version>2024.3.0</version>
+  <version>2024.4.0</version>
   <description>ARIAC ROS2 port</description>
   <maintainer email="jalbrecht23@gmail.com">justin</maintainer>
   <license>NIST</license>
diff --git a/ariac_gui/package.xml b/ariac_gui/package.xml
index 7ac58f957..7ec7ad202 100644
--- a/ariac_gui/package.xml
+++ b/ariac_gui/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>ariac_gui</name>
-  <version>2024.3.0</version>
+  <version>2024.4.0</version>
   <description>GUI for creating trial configurations</description>
   <maintainer email="joseph.fernandez@nist.gov">Joseph Fernandez</maintainer>
   <license>NIST</license>
diff --git a/ariac_moveit_config/package.xml b/ariac_moveit_config/package.xml
index 7d16bf0b3..efeb2bc42 100644
--- a/ariac_moveit_config/package.xml
+++ b/ariac_moveit_config/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>ariac_moveit_config</name>
-  <version>2024.3.0</version>
+  <version>2024.4.0</version>
   <description> An package with MoveIt2 configurations for ARIAC robots</description>
   <maintainer email="justin.albrecht@nist.gov">Justin Albrecht</maintainer>
   <license>NIST</license>
diff --git a/ariac_msgs/package.xml b/ariac_msgs/package.xml
index 992e8af9e..78e23be90 100644
--- a/ariac_msgs/package.xml
+++ b/ariac_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>ariac_msgs</name>
-  <version>2024.3.0</version>
+  <version>2024.4.0</version>
   <description>Interface definitions for ARIAC</description>
   <maintainer email="justin.albrecht@nist.gov">justin</maintainer>
   <license>NIST</license>
diff --git a/ariac_plugins/package.xml b/ariac_plugins/package.xml
index a1fa4cec0..c6dcb5dbf 100644
--- a/ariac_plugins/package.xml
+++ b/ariac_plugins/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>ariac_plugins</name>
-  <version>2024.3.0</version>
+  <version>2024.4.0</version>
   <description>Gazebo/ROS2 plugins for the ARAIC competition</description>
   <maintainer email="justin.albrecht@nist.gov">justin albrecht</maintainer>
   <maintainer email="zeid.kootbally@nist.gov">zeid kootbally</maintainer>
diff --git a/ariac_plugins/src/vacuum_gripper_plugin.cpp b/ariac_plugins/src/vacuum_gripper_plugin.cpp
index 376d3c1ed..8d01d3ffc 100644
--- a/ariac_plugins/src/vacuum_gripper_plugin.cpp
+++ b/ariac_plugins/src/vacuum_gripper_plugin.cpp
@@ -155,8 +155,10 @@ namespace ariac_plugins
     impl_->first_publish_ = true;
 
     // Connect Subscribers
-    impl_->trial_config_sub_ = impl_->ros_node_->create_subscription<ariac_msgs::msg::Trial>(
-        "/ariac/trial_config", qos.get_subscription_qos("/ariac/trial_config", rclcpp::QoS(1)),
+    rclcpp::QoS qos_profile = rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable();  
+
+    impl_->trial_config_sub_ = impl_->ros_node_->create_subscription<ariac_msgs::msg::Trial>(  
+        "/ariac/trial_config", qos.get_subscription_qos("/ariac/trial_config", qos_profile),  
         std::bind(&VacuumGripperPluginPrivate::OnTrialCallback, impl_.get(), std::placeholders::_1));
 
     // Register enable service
diff --git a/ariac_sensors/package.xml b/ariac_sensors/package.xml
index 7979a50d5..ea55fcc8c 100644
--- a/ariac_sensors/package.xml
+++ b/ariac_sensors/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>ariac_sensors</name>
-  <version>2024.3.0</version>
+  <version>2024.4.0</version>
   <description>Gazebo plugins for the ARIAC sensors</description>
   <maintainer email="justin.albrecht@nist.gov">justin</maintainer>
   <license>NIST</license>