diff --git a/launch_testing/launch_testing_examples/package.xml b/launch_testing/launch_testing_examples/package.xml
index aebe2bff..231e3fad 100644
--- a/launch_testing/launch_testing_examples/package.xml
+++ b/launch_testing/launch_testing_examples/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>launch_testing_examples</name>
-  <version>0.19.2</version>
+  <version>0.19.3</version>
   <description>Examples of simple launch tests</description>
 
   <maintainer email="aditya.pande@openrobotics.org">Aditya Pande</maintainer>
diff --git a/launch_testing/launch_testing_examples/setup.py b/launch_testing/launch_testing_examples/setup.py
index 5e23aa5b..0d9480e4 100644
--- a/launch_testing/launch_testing_examples/setup.py
+++ b/launch_testing/launch_testing_examples/setup.py
@@ -4,7 +4,7 @@
 
 setup(
     name=package_name,
-    version='0.19.2',
+    version='0.19.3',
     packages=[package_name],
     data_files=[
         ('share/ament_index/resource_index/packages',
diff --git a/rclcpp/actions/minimal_action_client/package.xml b/rclcpp/actions/minimal_action_client/package.xml
index b14b1407..6aec10aa 100644
--- a/rclcpp/actions/minimal_action_client/package.xml
+++ b/rclcpp/actions/minimal_action_client/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>examples_rclcpp_minimal_action_client</name>
-  <version>0.19.2</version>
+  <version>0.19.3</version>
   <description>Minimal action client examples</description>
 
   <maintainer email="aditya.pande@openrobotics.org">Aditya Pande</maintainer>
diff --git a/rclcpp/actions/minimal_action_server/package.xml b/rclcpp/actions/minimal_action_server/package.xml
index 920c0950..7e7abcf2 100644
--- a/rclcpp/actions/minimal_action_server/package.xml
+++ b/rclcpp/actions/minimal_action_server/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>examples_rclcpp_minimal_action_server</name>
-  <version>0.19.2</version>
+  <version>0.19.3</version>
   <description>Minimal action server examples</description>
 
   <maintainer email="aditya.pande@openrobotics.org">Aditya Pande</maintainer>
diff --git a/rclcpp/composition/minimal_composition/package.xml b/rclcpp/composition/minimal_composition/package.xml
index 096bc487..b0a7c239 100644
--- a/rclcpp/composition/minimal_composition/package.xml
+++ b/rclcpp/composition/minimal_composition/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>examples_rclcpp_minimal_composition</name>
-  <version>0.19.2</version>
+  <version>0.19.3</version>
   <description>Minimalist examples of composing nodes in the same
   process</description>
 
diff --git a/rclcpp/executors/cbg_executor/package.xml b/rclcpp/executors/cbg_executor/package.xml
index 1188d555..dbff2f6e 100644
--- a/rclcpp/executors/cbg_executor/package.xml
+++ b/rclcpp/executors/cbg_executor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>examples_rclcpp_cbg_executor</name>
-  <version>0.19.2</version>
+  <version>0.19.3</version>
   <description>Example for multiple Executor instances in one process, using the callback-group-level interface of the Executor class.</description>
 
   <maintainer email="aditya.pande@openrobotics.org">Aditya Pande</maintainer>
diff --git a/rclcpp/executors/multithreaded_executor/package.xml b/rclcpp/executors/multithreaded_executor/package.xml
index 6e82beb6..b30a59b3 100644
--- a/rclcpp/executors/multithreaded_executor/package.xml
+++ b/rclcpp/executors/multithreaded_executor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>examples_rclcpp_multithreaded_executor</name>
-  <version>0.19.2</version>
+  <version>0.19.3</version>
   <description>Package containing example of how to implement a multithreaded executor</description>
 
   <maintainer email="aditya.pande@openrobotics.org">Aditya Pande</maintainer>
diff --git a/rclcpp/services/async_client/package.xml b/rclcpp/services/async_client/package.xml
index ca7ae17f..c099921d 100644
--- a/rclcpp/services/async_client/package.xml
+++ b/rclcpp/services/async_client/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>examples_rclcpp_async_client</name>
-  <version>0.19.2</version>
+  <version>0.19.3</version>
   <description>Example of an async service client</description>
 
   <maintainer email="aditya.pande@openrobotics.org">Aditya Pande</maintainer>
diff --git a/rclcpp/services/minimal_client/package.xml b/rclcpp/services/minimal_client/package.xml
index 33d58f92..b74d4034 100644
--- a/rclcpp/services/minimal_client/package.xml
+++ b/rclcpp/services/minimal_client/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>examples_rclcpp_minimal_client</name>
-  <version>0.19.2</version>
+  <version>0.19.3</version>
   <description>Examples of minimal service clients</description>
 
   <maintainer email="aditya.pande@openrobotics.org">Aditya Pande</maintainer>
diff --git a/rclcpp/services/minimal_service/package.xml b/rclcpp/services/minimal_service/package.xml
index e0dd2cfb..7feda6f9 100644
--- a/rclcpp/services/minimal_service/package.xml
+++ b/rclcpp/services/minimal_service/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>examples_rclcpp_minimal_service</name>
-  <version>0.19.2</version>
+  <version>0.19.3</version>
   <description>A minimal service server which adds two numbers</description>
 
   <maintainer email="aditya.pande@openrobotics.org">Aditya Pande</maintainer>
diff --git a/rclcpp/timers/minimal_timer/package.xml b/rclcpp/timers/minimal_timer/package.xml
index 227b5e43..57148cf5 100644
--- a/rclcpp/timers/minimal_timer/package.xml
+++ b/rclcpp/timers/minimal_timer/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>examples_rclcpp_minimal_timer</name>
-  <version>0.19.2</version>
+  <version>0.19.3</version>
   <description>Examples of minimal nodes which have timers</description>
 
   <maintainer email="aditya.pande@openrobotics.org">Aditya Pande</maintainer>
diff --git a/rclcpp/topics/minimal_publisher/package.xml b/rclcpp/topics/minimal_publisher/package.xml
index 3b2bc95a..01207c2a 100644
--- a/rclcpp/topics/minimal_publisher/package.xml
+++ b/rclcpp/topics/minimal_publisher/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>examples_rclcpp_minimal_publisher</name>
-  <version>0.19.2</version>
+  <version>0.19.3</version>
   <description>Examples of minimal publisher nodes</description>
 
   <maintainer email="aditya.pande@openrobotics.org">Aditya Pande</maintainer>
diff --git a/rclcpp/topics/minimal_subscriber/package.xml b/rclcpp/topics/minimal_subscriber/package.xml
index 20346a94..7112ec5f 100644
--- a/rclcpp/topics/minimal_subscriber/package.xml
+++ b/rclcpp/topics/minimal_subscriber/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>examples_rclcpp_minimal_subscriber</name>
-  <version>0.19.2</version>
+  <version>0.19.3</version>
   <description>Examples of minimal subscribers</description>
 
   <maintainer email="aditya.pande@openrobotics.org">Aditya Pande</maintainer>
diff --git a/rclcpp/wait_set/package.xml b/rclcpp/wait_set/package.xml
index 6c33fa07..512ee68f 100644
--- a/rclcpp/wait_set/package.xml
+++ b/rclcpp/wait_set/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>examples_rclcpp_wait_set</name>
-  <version>0.19.2</version>
+  <version>0.19.3</version>
   <description>Example of how to use the rclcpp::WaitSet directly.</description>
 
   <maintainer email="aditya.pande@openrobotics.org">Aditya Pande</maintainer>
diff --git a/rclpy/actions/minimal_action_client/package.xml b/rclpy/actions/minimal_action_client/package.xml
index 287fb854..06adf5d3 100644
--- a/rclpy/actions/minimal_action_client/package.xml
+++ b/rclpy/actions/minimal_action_client/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>examples_rclpy_minimal_action_client</name>
-  <version>0.19.2</version>
+  <version>0.19.3</version>
   <description>Examples of minimal action clients using rclpy.</description>
 
   <maintainer email="aditya.pande@openrobotics.org">Aditya Pande</maintainer>
diff --git a/rclpy/actions/minimal_action_client/setup.py b/rclpy/actions/minimal_action_client/setup.py
index 451a5d1a..5a1fed7a 100644
--- a/rclpy/actions/minimal_action_client/setup.py
+++ b/rclpy/actions/minimal_action_client/setup.py
@@ -4,7 +4,7 @@
 
 setup(
     name=package_name,
-    version='0.19.2',
+    version='0.19.3',
     packages=[package_name],
     data_files=[
         ('share/ament_index/resource_index/packages',
diff --git a/rclpy/actions/minimal_action_server/package.xml b/rclpy/actions/minimal_action_server/package.xml
index 07eab5ba..dbca10d9 100644
--- a/rclpy/actions/minimal_action_server/package.xml
+++ b/rclpy/actions/minimal_action_server/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>examples_rclpy_minimal_action_server</name>
-  <version>0.19.2</version>
+  <version>0.19.3</version>
   <description>Examples of minimal action servers using rclpy.</description>
 
   <maintainer email="aditya.pande@openrobotics.org">Aditya Pande</maintainer>
diff --git a/rclpy/actions/minimal_action_server/setup.py b/rclpy/actions/minimal_action_server/setup.py
index da1a41e1..700d2a3f 100644
--- a/rclpy/actions/minimal_action_server/setup.py
+++ b/rclpy/actions/minimal_action_server/setup.py
@@ -4,7 +4,7 @@
 
 setup(
     name=package_name,
-    version='0.19.2',
+    version='0.19.3',
     packages=[package_name],
     data_files=[
         ('share/ament_index/resource_index/packages',
diff --git a/rclpy/executors/package.xml b/rclpy/executors/package.xml
index 83e3efc2..494aa421 100644
--- a/rclpy/executors/package.xml
+++ b/rclpy/executors/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>examples_rclpy_executors</name>
-  <version>0.19.2</version>
+  <version>0.19.3</version>
   <description>Examples of creating and using exectors to run multiple nodes in the same process</description>
 
   <maintainer email="aditya.pande@openrobotics.org">Aditya Pande</maintainer>
diff --git a/rclpy/executors/setup.py b/rclpy/executors/setup.py
index 508bed5e..c093e8ee 100644
--- a/rclpy/executors/setup.py
+++ b/rclpy/executors/setup.py
@@ -4,7 +4,7 @@
 
 setup(
     name=package_name,
-    version='0.19.2',
+    version='0.19.3',
     packages=['examples_rclpy_executors'],
     data_files=[
         ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
diff --git a/rclpy/guard_conditions/package.xml b/rclpy/guard_conditions/package.xml
index 3968f9e4..6b1ad7ba 100644
--- a/rclpy/guard_conditions/package.xml
+++ b/rclpy/guard_conditions/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>examples_rclpy_guard_conditions</name>
-  <version>0.19.2</version>
+  <version>0.19.3</version>
   <description>Examples of using guard conditions.</description>
 
   <maintainer email="aditya.pande@openrobotics.org">Aditya Pande</maintainer>
diff --git a/rclpy/guard_conditions/setup.py b/rclpy/guard_conditions/setup.py
index 58621d12..5b3b8736 100644
--- a/rclpy/guard_conditions/setup.py
+++ b/rclpy/guard_conditions/setup.py
@@ -4,7 +4,7 @@
 
 setup(
     name=package_name,
-    version='0.19.2',
+    version='0.19.3',
     packages=[package_name],
     data_files=[
         ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
diff --git a/rclpy/services/minimal_client/package.xml b/rclpy/services/minimal_client/package.xml
index 26e90ab1..bf673633 100644
--- a/rclpy/services/minimal_client/package.xml
+++ b/rclpy/services/minimal_client/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>examples_rclpy_minimal_client</name>
-  <version>0.19.2</version>
+  <version>0.19.3</version>
   <description>Examples of minimal service clients using rclpy.</description>
 
   <maintainer email="aditya.pande@openrobotics.org">Aditya Pande</maintainer>
diff --git a/rclpy/services/minimal_client/setup.py b/rclpy/services/minimal_client/setup.py
index 9ab29cf1..24f2cbde 100644
--- a/rclpy/services/minimal_client/setup.py
+++ b/rclpy/services/minimal_client/setup.py
@@ -4,7 +4,7 @@
 
 setup(
     name=package_name,
-    version='0.19.2',
+    version='0.19.3',
     packages=[package_name],
     data_files=[
         ('share/ament_index/resource_index/packages',
diff --git a/rclpy/services/minimal_service/package.xml b/rclpy/services/minimal_service/package.xml
index 87564c64..48fd3d92 100644
--- a/rclpy/services/minimal_service/package.xml
+++ b/rclpy/services/minimal_service/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>examples_rclpy_minimal_service</name>
-  <version>0.19.2</version>
+  <version>0.19.3</version>
   <description>Examples of minimal service servers using rclpy.</description>
 
   <maintainer email="aditya.pande@openrobotics.org">Aditya Pande</maintainer>
diff --git a/rclpy/services/minimal_service/setup.py b/rclpy/services/minimal_service/setup.py
index cb98015d..a0754125 100644
--- a/rclpy/services/minimal_service/setup.py
+++ b/rclpy/services/minimal_service/setup.py
@@ -4,7 +4,7 @@
 
 setup(
     name=package_name,
-    version='0.19.2',
+    version='0.19.3',
     packages=[package_name],
     data_files=[
         ('share/ament_index/resource_index/packages',
diff --git a/rclpy/topics/minimal_publisher/package.xml b/rclpy/topics/minimal_publisher/package.xml
index c6b3e5fb..ce18599f 100644
--- a/rclpy/topics/minimal_publisher/package.xml
+++ b/rclpy/topics/minimal_publisher/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>examples_rclpy_minimal_publisher</name>
-  <version>0.19.2</version>
+  <version>0.19.3</version>
   <description>Examples of minimal publishers using rclpy.</description>
 
   <maintainer email="aditya.pande@openrobotics.org">Aditya Pande</maintainer>
diff --git a/rclpy/topics/minimal_publisher/setup.py b/rclpy/topics/minimal_publisher/setup.py
index 9f864396..ab6a88f2 100644
--- a/rclpy/topics/minimal_publisher/setup.py
+++ b/rclpy/topics/minimal_publisher/setup.py
@@ -4,7 +4,7 @@
 
 setup(
     name=package_name,
-    version='0.19.2',
+    version='0.19.3',
     packages=[package_name],
     data_files=[
         ('share/ament_index/resource_index/packages',
diff --git a/rclpy/topics/minimal_subscriber/package.xml b/rclpy/topics/minimal_subscriber/package.xml
index e3a96faf..d75d9496 100644
--- a/rclpy/topics/minimal_subscriber/package.xml
+++ b/rclpy/topics/minimal_subscriber/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>examples_rclpy_minimal_subscriber</name>
-  <version>0.19.2</version>
+  <version>0.19.3</version>
   <description>Examples of minimal subscribers using rclpy.</description>
 
   <maintainer email="aditya.pande@openrobotics.org">Aditya Pande</maintainer>
diff --git a/rclpy/topics/minimal_subscriber/setup.py b/rclpy/topics/minimal_subscriber/setup.py
index 5367bd1b..b15e6226 100644
--- a/rclpy/topics/minimal_subscriber/setup.py
+++ b/rclpy/topics/minimal_subscriber/setup.py
@@ -4,7 +4,7 @@
 
 setup(
     name=package_name,
-    version='0.19.2',
+    version='0.19.3',
     packages=[package_name],
     data_files=[
         ('share/ament_index/resource_index/packages',
diff --git a/rclpy/topics/pointcloud_publisher/CHANGELOG.rst b/rclpy/topics/pointcloud_publisher/CHANGELOG.rst
index c988e205..3cf2ccf6 100644
--- a/rclpy/topics/pointcloud_publisher/CHANGELOG.rst
+++ b/rclpy/topics/pointcloud_publisher/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package examples_rclpy_pointcloud_publisher
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+0.19.3 (2024-04-16)
+-------------------
 
 0.19.2 (2024-03-28)
 -------------------
diff --git a/rclpy/topics/pointcloud_publisher/package.xml b/rclpy/topics/pointcloud_publisher/package.xml
index a8981ad4..2c2e3a15 100644
--- a/rclpy/topics/pointcloud_publisher/package.xml
+++ b/rclpy/topics/pointcloud_publisher/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>examples_rclpy_pointcloud_publisher</name>
-  <version>0.19.2</version>
+  <version>0.19.3</version>
   <description>Example on how to publish a Pointcloud2 message</description>
 
   <maintainer email="aditya.pande@openrobotics.org">Aditya Pande</maintainer>
diff --git a/rclpy/topics/pointcloud_publisher/setup.py b/rclpy/topics/pointcloud_publisher/setup.py
index cc975e5d..7d675085 100644
--- a/rclpy/topics/pointcloud_publisher/setup.py
+++ b/rclpy/topics/pointcloud_publisher/setup.py
@@ -4,7 +4,7 @@
 
 setup(
     name=package_name,
-    version='0.19.2',
+    version='0.19.3',
     packages=[package_name],
     data_files=[
         ('share/ament_index/resource_index/packages',