diff --git a/isaac_ros_dnn_image_encoder/package.xml b/isaac_ros_dnn_image_encoder/package.xml
index 43598bc..fec079e 100644
--- a/isaac_ros_dnn_image_encoder/package.xml
+++ b/isaac_ros_dnn_image_encoder/package.xml
@@ -21,7 +21,7 @@ SPDX-License-Identifier: Apache-2.0
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_dnn_image_encoder</name>
-  <version>2.0.0</version>
+  <version>2.1.0</version>
   <description>Encoder for preprocessing images into tensors for deep learning inference</description>
   <maintainer email="hemals@nvidia.com">Hemal Shah</maintainer>
   <license>Apache-2.0</license>
diff --git a/isaac_ros_tensor_rt/config/tensor_rt_inference.yaml b/isaac_ros_tensor_rt/config/tensor_rt_inference.yaml
index a0d27ca..cb3b379 100644
--- a/isaac_ros_tensor_rt/config/tensor_rt_inference.yaml
+++ b/isaac_ros_tensor_rt/config/tensor_rt_inference.yaml
@@ -62,6 +62,10 @@ components:
     force_engine_update: true
     verbose: true
     clock: utils/clock
+- type: nvidia::gxf::MemoryAvailableSchedulingTerm
+  parameters:
+    allocator: pool
+    min_blocks: 1
 ---
 name: cuda_stream_sync
 components:
diff --git a/isaac_ros_tensor_rt/package.xml b/isaac_ros_tensor_rt/package.xml
index 86f63b9..492d210 100644
--- a/isaac_ros_tensor_rt/package.xml
+++ b/isaac_ros_tensor_rt/package.xml
@@ -21,7 +21,7 @@ SPDX-License-Identifier: Apache-2.0
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_tensor_rt</name>
-  <version>2.0.0</version>
+  <version>2.1.0</version>
   <description>DNN Inference support for Isaac ROS</description>
 
   <maintainer email="cyc@nvidia.com">CY Chen</maintainer>
diff --git a/isaac_ros_triton/package.xml b/isaac_ros_triton/package.xml
index 28faf35..15ba39f 100644
--- a/isaac_ros_triton/package.xml
+++ b/isaac_ros_triton/package.xml
@@ -21,7 +21,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_triton</name>
-  <version>2.0.0</version>
+  <version>2.1.0</version>
   <description>DNN Inference support for Isaac ROS</description>
 
   <maintainer email="cyc@nvidia.com">CY Chen</maintainer>