diff --git a/tutorials/pick_and_place/PickAndPlaceProject/Packages/manifest.json b/tutorials/pick_and_place/PickAndPlaceProject/Packages/manifest.json
index 812be142..c0a03b65 100644
--- a/tutorials/pick_and_place/PickAndPlaceProject/Packages/manifest.json
+++ b/tutorials/pick_and_place/PickAndPlaceProject/Packages/manifest.json
@@ -5,8 +5,8 @@
     "com.unity.ide.visualstudio": "2.0.3",
     "com.unity.ide.vscode": "1.2.2",
     "com.unity.robotics.ros-tcp-connector":
-    "https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.ros-tcp-connector#dev",
-    "com.unity.robotics.urdf-importer": "https://github.com/Unity-Technologies/URDF-Importer.git?path=/com.unity.robotics.urdf-importer#v0.2.0",
+    "https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.ros-tcp-connector#v0.3.0",
+    "com.unity.robotics.urdf-importer": "https://github.com/Unity-Technologies/URDF-Importer.git?path=/com.unity.robotics.urdf-importer#v0.3.0",
     "com.unity.test-framework": "1.1.18",
     "com.unity.textmeshpro": "3.0.1",
     "com.unity.timeline": "1.4.3",
diff --git a/tutorials/pick_and_place/ROS/src/ros_tcp_endpoint b/tutorials/pick_and_place/ROS/src/ros_tcp_endpoint
index 97bb44e9..a5e0fd1c 160000
--- a/tutorials/pick_and_place/ROS/src/ros_tcp_endpoint
+++ b/tutorials/pick_and_place/ROS/src/ros_tcp_endpoint
@@ -1 +1 @@
-Subproject commit 97bb44e9e99596d1af54cce116eb0d91e697ad87
+Subproject commit a5e0fd1ce1a711f557fe67e73657c74f92482fbe