diff --git a/docs/source/conf.py b/docs/source/conf.py
index 0cde4765..539a8c56 100644
--- a/docs/source/conf.py
+++ b/docs/source/conf.py
@@ -22,7 +22,7 @@
 author = "Sebastian Castro"
 
 # The full version, including alpha/beta/rc tags
-version = release = "3.1.0"
+version = release = "3.2.0"
 
 
 # -- General configuration ---------------------------------------------------
diff --git a/pyrobosim/setup.py b/pyrobosim/setup.py
index 09ed15de..e9f0deb0 100644
--- a/pyrobosim/setup.py
+++ b/pyrobosim/setup.py
@@ -36,7 +36,7 @@ def get_files_in_folder(directory):
 
 setup(
     name=project_name,
-    version="3.1.0",
+    version="3.2.0",
     url="https://github.com/sea-bass/pyrobosim",
     author="Sebastian Castro",
     author_email="sebas.a.castro@gmail.com",
diff --git a/pyrobosim/test/test_pyrobosim.py b/pyrobosim/test/test_pyrobosim.py
index 9acd5039..1c918f82 100644
--- a/pyrobosim/test/test_pyrobosim.py
+++ b/pyrobosim/test/test_pyrobosim.py
@@ -12,4 +12,4 @@ def test_import():
 
 def test_version():
     ver = version("pyrobosim")
-    assert ver == "3.1.0", "Incorrect pyrobosim version"
+    assert ver == "3.2.0", "Incorrect pyrobosim version"
diff --git a/pyrobosim_msgs/package.xml b/pyrobosim_msgs/package.xml
index 1b92a3bc..e9448005 100644
--- a/pyrobosim_msgs/package.xml
+++ b/pyrobosim_msgs/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>pyrobosim_msgs</name>
-  <version>3.1.0</version>
+  <version>3.2.0</version>
   <description>ROS interface definitions for pyrobosim.</description>
   <maintainer email="sebas.a.castro@gmail.com">Sebastian Castro</maintainer>
   <license>MIT</license>
diff --git a/pyrobosim_ros/package.xml b/pyrobosim_ros/package.xml
index 13792542..74fd9e9a 100644
--- a/pyrobosim_ros/package.xml
+++ b/pyrobosim_ros/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>pyrobosim_ros</name>
-  <version>3.1.0</version>
+  <version>3.2.0</version>
   <description>ROS 2 wrapper around pyrobosim.</description>
   <maintainer email="sebas.a.castro@gmail.com">Sebastian Castro</maintainer>
   <license>MIT</license>
diff --git a/pyrobosim_ros/setup.py b/pyrobosim_ros/setup.py
index 92ba3e1b..3f30bb34 100644
--- a/pyrobosim_ros/setup.py
+++ b/pyrobosim_ros/setup.py
@@ -9,7 +9,7 @@
 
 setup(
     name=project_name,
-    version="3.1.0",
+    version="3.2.0",
     url="https://github.com/sea-bass/pyrobosim",
     author="Sebastian Castro",
     author_email="sebas.a.castro@gmail.com",
diff --git a/setup/setup_pyrobosim.bash b/setup/setup_pyrobosim.bash
index 8b940d12..21b7bf8b 100755
--- a/setup/setup_pyrobosim.bash
+++ b/setup/setup_pyrobosim.bash
@@ -53,8 +53,8 @@ then
   echo "PYROBOSIM_ROS_WORKSPACE=${ROS_WORKSPACE}" >> ${ENV_FILE}
   echo "PYROBOSIM_ROS_DISTRO=${ROS_DISTRO,,}" >> ${ENV_FILE}
 
-  # Install packages needed to run colcon build from within our virtual environment.
-  pip3 install colcon-common-extensions
+  # Install packages needed to run colcon build and use rclpy from within our virtual environment.
+  pip3 install colcon-common-extensions typing_extensions
 
   # Install any ROS package dependencies that may be missing.
   pushd ${ROS_WORKSPACE} > /dev/null