diff --git a/dependencies.rosinstall b/dependencies.rosinstall
index 9e50a1a8c..52a49b94d 100644
--- a/dependencies.rosinstall
+++ b/dependencies.rosinstall
@@ -6,11 +6,11 @@
 - git:
     local-name: tesseract
     uri: https://github.com/tesseract-robotics/tesseract.git
-    version: 3a14e2a071a06c60763c0ea985de539fba7341b2
+    version: 0.8.3
 - git:
     local-name: tesseract_planning
     uri: https://github.com/tesseract-robotics/tesseract_planning.git
-    version: 1627231f3de8118f48d19272d0a7ac43dfe2f98a
+    version: 0.9.3
 - git:
     local-name: trajopt
     uri: https://github.com/tesseract-robotics/trajopt.git
@@ -26,4 +26,4 @@
 - git:
     local-name: ifopt
     uri: https://github.com/ethz-adrl/ifopt.git
-    version: 2.1.2
+    version: 40a6c8c14d1ab9789c342203d1fb3046eae07669
diff --git a/dependencies_with_ext.rosinstall b/dependencies_with_ext.rosinstall
index e234d2c18..699ae778b 100644
--- a/dependencies_with_ext.rosinstall
+++ b/dependencies_with_ext.rosinstall
@@ -6,11 +6,11 @@
 - git:
     local-name: tesseract
     uri: https://github.com/tesseract-robotics/tesseract.git
-    version: 3a14e2a071a06c60763c0ea985de539fba7341b2
+    version: 0.8.3
 - git:
     local-name: tesseract_planning
     uri: https://github.com/tesseract-robotics/tesseract_planning.git
-    version: 1627231f3de8118f48d19272d0a7ac43dfe2f98a
+    version: 0.9.3
 - git:
     local-name: trajopt
     uri: https://github.com/tesseract-robotics/trajopt.git
@@ -26,7 +26,7 @@
 - git:
     local-name: ifopt
     uri: https://github.com/ethz-adrl/ifopt.git
-    version: 2.1.2
+    version: 40a6c8c14d1ab9789c342203d1fb3046eae07669
 - git:
     local-name: tesseract_ext
     uri: https://github.com/tesseract-robotics/tesseract_ext.git