diff --git a/dependencies.rosinstall b/dependencies.rosinstall
index 656ca4ad..da2bdbd0 100644
--- a/dependencies.rosinstall
+++ b/dependencies.rosinstall
@@ -5,11 +5,11 @@
 - git:
     local-name: tesseract
     uri: https://github.com/tesseract-robotics/tesseract.git
-    version: 0.21.4
+    version: 0.21.5
 - git:
     local-name: tesseract_planning
     uri: https://github.com/tesseract-robotics/tesseract_planning.git
-    version: 0.21.4
+    version: 0.21.6
 - git:
     local-name: trajopt
     uri: https://github.com/tesseract-robotics/trajopt.git
diff --git a/dependencies_with_ext.rosinstall b/dependencies_with_ext.rosinstall
index 7cb03104..246e9414 100644
--- a/dependencies_with_ext.rosinstall
+++ b/dependencies_with_ext.rosinstall
@@ -5,11 +5,11 @@
 - git:
     local-name: tesseract
     uri: https://github.com/tesseract-robotics/tesseract.git
-    version: 0.21.4
+    version: 0.21.5
 - git:
     local-name: tesseract_planning
     uri: https://github.com/tesseract-robotics/tesseract_planning.git
-    version: 0.21.4
+    version: 0.21.6
 - git:
     local-name: trajopt
     uri: https://github.com/tesseract-robotics/trajopt.git
diff --git a/tesseract_python/package.xml b/tesseract_python/package.xml
index 26e2efbd..a7de4877 100644
--- a/tesseract_python/package.xml
+++ b/tesseract_python/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>tesseract_python</name>
-  <version>0.3.0</version>
+  <version>0.4.0</version>
   <description>The tesseract_python package</description>
   <maintainer email="wason@wasontech.com">John Wason</maintainer>
   <license>Apache 2.0</license>
diff --git a/tesseract_python/swig/tesseract_swig_include.i b/tesseract_python/swig/tesseract_swig_include.i
index 87dde6c1..37d4f890 100644
--- a/tesseract_python/swig/tesseract_swig_include.i
+++ b/tesseract_python/swig/tesseract_swig_include.i
@@ -73,6 +73,9 @@ namespace std {
 %{
 namespace std
 {
+
+#if SWIG_VERSION < 0x040200
+  // SwigPySequence_Ref is not defined in swig  >= 4.2.0
   template<typename T> struct remove_reference<swig::SwigPySequence_Ref<T>>
   {
     typedef T type;
@@ -82,6 +85,7 @@ namespace std
   {
     typedef const T type;
   };
+#endif
 
   template<typename T> struct remove_reference<SwigValueWrapper<T>>
   {