diff --git a/nanosaur_base/package.xml b/nanosaur_base/package.xml
index 6eabb15..09d39d0 100644
--- a/nanosaur_base/package.xml
+++ b/nanosaur_base/package.xml
@@ -1,4 +1,4 @@
-<?xml version="1.0"?>
+<?xml version='1.0' encoding='UTF-8'?>
 <!--
 Copyright (C) 2021, Raffaello Bonghi <raffaello@rnext.it>
 All rights reserved
@@ -28,7 +28,7 @@ EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
    <name>nanosaur_base</name>
-   <version>2.0.2</version>
+   <version>2.1.0</version>
    <description>Basic drivers for NanoSaur, motors and displays</description>
    <author email="raffaello@rnext.it">Raffaello Bonghi</author>
    <maintainer email="raffaello@rnext.it">Raffaello Bonghi</maintainer>
diff --git a/nanosaur_bringup/package.xml b/nanosaur_bringup/package.xml
index 8de9002..944cef6 100644
--- a/nanosaur_bringup/package.xml
+++ b/nanosaur_bringup/package.xml
@@ -1,4 +1,4 @@
-<?xml version="1.0"?>
+<?xml version='1.0' encoding='UTF-8'?>
 <!--
 Copyright (C) 2021, Raffaello Bonghi <raffaello@rnext.it>
 All rights reserved
@@ -28,7 +28,7 @@ EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
    <name>nanosaur_bringup</name>
-   <version>2.0.2</version>
+   <version>2.1.0</version>
    <description>Launch files and configuration scripts for NanoSaur Robot.</description>
    <author email="raffaello@rnext.it">Raffaello Bonghi</author>
    <maintainer email="raffaello@rnext.it">Raffaello Bonghi</maintainer>
@@ -52,4 +52,4 @@ EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
    <export>
       <build_type>ament_cmake</build_type>
    </export>
-</package>
\ No newline at end of file
+</package>
diff --git a/nanosaur_robot/package.xml b/nanosaur_robot/package.xml
index 13634c2..6dea424 100644
--- a/nanosaur_robot/package.xml
+++ b/nanosaur_robot/package.xml
@@ -1,4 +1,4 @@
-<?xml version="1.0"?>
+<?xml version='1.0' encoding='UTF-8'?>
 <!--
 Copyright (C) 2021, Raffaello Bonghi <raffaello@rnext.it>
 All rights reserved
@@ -28,7 +28,7 @@ EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nanosaur_robot</name>
-  <version>2.0.2</version>
+  <version>2.1.0</version>
   <description>NanoSaur robot support meta package</description>
 
   <maintainer email="raffaello@rnext.it">Raffaello Bonghi</maintainer>
@@ -45,4 +45,4 @@ EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-</package>
\ No newline at end of file
+</package>