diff --git a/config/ignition_citadel_gazebo11_debian_buster.yaml b/config/ignition_citadel_gazebo11_debian_buster.yaml
index ead4cf87..6c3ad083 100644
--- a/config/ignition_citadel_gazebo11_debian_buster.yaml
+++ b/config/ignition_citadel_gazebo11_debian_buster.yaml
@@ -4,103 +4,130 @@ suites: [buster]
 component: main
 architectures: [amd64, source]
 filter_formula: "\
-(Package (% gazebo11), $Version (% 11.0.0*))|\
-(Package (% gazebo11-common), $Version (% 11.0.0*))|\
-(Package (% gazebo11-dbg), $Version (% 11.0.0*))|\
-(Package (% gazebo11-doc), $Version (% 11.0.0*))|\
-(Package (% gazebo11-plugin-base), $Version (% 11.0.0*))|\
-(Package (% ignition-citadel), $Version (% 1.0.0*))|\
-(Package (% ignition-tools), $Version (% 1.0.0*))|\
-(Package (% libgazebo11), $Version (% 11.0.0*))|\
-(Package (% libgazebo11-dev), $Version (% 11.0.0*))|\
-(Package (% libignition-cmake2-dev), $Version (% 2.6.2*))|\
-(Package (% libignition-common3), $Version (% 3.10.0*))|\
-(Package (% libignition-common3-av), $Version (% 3.10.0*))|\
-(Package (% libignition-common3-av-dev), $Version (% 3.10.0*))|\
-(Package (% libignition-common3-core-dev), $Version (% 3.10.0*))|\
-(Package (% libignition-common3-dev), $Version (% 3.10.0*))|\
-(Package (% libignition-common3-events), $Version (% 3.10.0*))|\
-(Package (% libignition-common3-events-dev), $Version (% 3.10.0*))|\
-(Package (% libignition-common3-graphics), $Version (% 3.10.0*))|\
-(Package (% libignition-common3-graphics-dev), $Version (% 3.10.0*))|\
-(Package (% libignition-common3-profiler), $Version (% 3.10.0*))|\
-(Package (% libignition-common3-profiler-dev), $Version (% 3.10.0*))|\
-(Package (% libignition-fuel-tools4), $Version (% 4.3.0*))|\
-(Package (% libignition-fuel-tools4-dev), $Version (% 4.3.0*))|\
-(Package (% libignition-gazebo3), $Version (% 3.0.0*))|\
-(Package (% libignition-gazebo3-dev), $Version (% 3.0.0*))|\
-(Package (% libignition-gazebo3-plugins), $Version (% 3.0.0*))|\
-(Package (% libignition-gui3), $Version (% 3.4.0*))|\
-(Package (% libignition-gui3-dev), $Version (% 3.4.0*))|\
-(Package (% libignition-launch2), $Version (% 2.0.1*))|\
-(Package (% libignition-launch2-dev), $Version (% 2.0.1*))|\
-(Package (% libignition-math6), $Version (% 6.7.0*))|\
-(Package (% libignition-math6-dbg), $Version (% 6.7.0*))|\
-(Package (% libignition-math6-dev), $Version (% 6.7.0*))|\
-(Package (% libignition-math6-eigen3-dev), $Version (% 6.7.0*))|\
-(Package (% libignition-msgs5), $Version (% 5.6.0*))|\
-(Package (% libignition-msgs5-dbg), $Version (% 5.6.0*))|\
-(Package (% libignition-msgs5-dev), $Version (% 5.6.0*))|\
-(Package (% libignition-physics2), $Version (% 2.3.0*))|\
-(Package (% libignition-physics2-core-dev), $Version (% 2.3.0*))|\
-(Package (% libignition-physics2-dartsim), $Version (% 2.3.0*))|\
-(Package (% libignition-physics2-dartsim-dev), $Version (% 2.3.0*))|\
-(Package (% libignition-physics2-dev), $Version (% 2.3.0*))|\
-(Package (% libignition-physics2-mesh-dev), $Version (% 2.3.0*))|\
-(Package (% libignition-physics2-sdf-dev), $Version (% 2.3.0*))|\
-(Package (% libignition-physics2-tpe), $Version (% 2.3.0*))|\
-(Package (% libignition-physics2-tpe-dev), $Version (% 2.3.0*))|\
-(Package (% libignition-physics2-tpelib), $Version (% 2.3.0*))|\
-(Package (% libignition-physics2-tpelib-dev), $Version (% 2.3.0*))|\
-(Package (% libignition-plugin), $Version (% 1.1.0*))|\
-(Package (% libignition-plugin-dev), $Version (% 1.1.0*))|\
-(Package (% libignition-rendering3), $Version (% 3.2.0*))|\
-(Package (% libignition-rendering3-core-dev), $Version (% 3.2.0*))|\
-(Package (% libignition-rendering3-dev), $Version (% 3.2.0*))|\
-(Package (% libignition-rendering3-ogre1), $Version (% 3.2.0*))|\
-(Package (% libignition-rendering3-ogre1-dev), $Version (% 3.2.0*))|\
-(Package (% libignition-rendering3-ogre2), $Version (% 3.2.0*))|\
-(Package (% libignition-rendering3-ogre2-dev), $Version (% 3.2.0*))|\
-(Package (% libignition-sensors3), $Version (% 3.0.0*))|\
-(Package (% libignition-sensors3-air-pressure), $Version (% 3.0.0*))|\
-(Package (% libignition-sensors3-air-pressure-dev), $Version (% 3.0.0*))|\
-(Package (% libignition-sensors3-altimeter), $Version (% 3.0.0*))|\
-(Package (% libignition-sensors3-altimeter-dev), $Version (% 3.0.0*))|\
-(Package (% libignition-sensors3-camera), $Version (% 3.0.0*))|\
-(Package (% libignition-sensors3-camera-dev), $Version (% 3.0.0*))|\
-(Package (% libignition-sensors3-core-dev), $Version (% 3.0.0*))|\
-(Package (% libignition-sensors3-depth-camera), $Version (% 3.0.0*))|\
-(Package (% libignition-sensors3-depth-camera-dev), $Version (% 3.0.0*))|\
-(Package (% libignition-sensors3-dev), $Version (% 3.0.0*))|\
-(Package (% libignition-sensors3-gpu-lidar), $Version (% 3.0.0*))|\
-(Package (% libignition-sensors3-gpu-lidar-dev), $Version (% 3.0.0*))|\
-(Package (% libignition-sensors3-imu), $Version (% 3.0.0*))|\
-(Package (% libignition-sensors3-imu-dev), $Version (% 3.0.0*))|\
-(Package (% libignition-sensors3-lidar), $Version (% 3.0.0*))|\
-(Package (% libignition-sensors3-lidar-dev), $Version (% 3.0.0*))|\
-(Package (% libignition-sensors3-logical-camera), $Version (% 3.0.0*))|\
-(Package (% libignition-sensors3-logical-camera-dev), $Version (% 3.0.0*))|\
-(Package (% libignition-sensors3-magnetometer), $Version (% 3.0.0*))|\
-(Package (% libignition-sensors3-magnetometer-dev), $Version (% 3.0.0*))|\
-(Package (% libignition-sensors3-rendering), $Version (% 3.0.0*))|\
-(Package (% libignition-sensors3-rendering-dev), $Version (% 3.0.0*))|\
-(Package (% libignition-sensors3-rgbd-camera), $Version (% 3.0.0*))|\
-(Package (% libignition-sensors3-rgbd-camera-dev), $Version (% 3.0.0*))|\
-(Package (% libignition-sensors3-thermal-camera), $Version (% 3.0.0*))|\
-(Package (% libignition-sensors3-thermal-camera-dev), $Version (% 3.0.0*))|\
-(Package (% libignition-tools-dev), $Version (% 1.0.0*))|\
-(Package (% libignition-transport8), $Version (% 8.0.0*))|\
-(Package (% libignition-transport8-core-dev), $Version (% 8.0.0*))|\
-(Package (% libignition-transport8-dbg), $Version (% 8.0.0*))|\
-(Package (% libignition-transport8-dev), $Version (% 8.0.0*))|\
-(Package (% libignition-transport8-log), $Version (% 8.0.0*))|\
-(Package (% libignition-transport8-log-dev), $Version (% 8.0.0*))|\
-(Package (% libogre-2.1), $Version (% 2.0.9999~20180616~06a386f-3osrf~*))|\
-(Package (% libogre-2.1-dev), $Version (% 2.0.9999~20180616~06a386f-3osrf~*))|\
-(Package (% libsdformat9), $Version (% 9.4.0*))|\
-(Package (% libsdformat9-dbg), $Version (% 9.4.0*))|\
-(Package (% libsdformat9-dev), $Version (% 9.4.0*))|\
-(Package (% sdformat9-dbg), $Version (% 9.4.0*))|\
-(Package (% sdformat9-doc), $Version (% 9.4.0*))|\
-(Package (% sdformat9-sdf), $Version (% 9.4.0*))\
+((Package (% =gazebo11) |\
+Package (% =gazebo11-common) |\
+Package (% =gazebo11-dbg) |\
+Package (% =gazebo11-doc) |\
+Package (% =libgazebo11) |\
+Package (% =libgazebo11-dev)), \
+$Version (% 11.5.0-1~buster)) |\
+((Package (% =ignition-cmake2) |\
+Package (% =libignition-cmake2-dev)) |\
+$Version (% 2.7.0-1~buster)) |\
+(Package (% =ignition-citadel), $Version (% 1.0.0*))|\
+((Package (% =ignition-common3) |\
+Package (% =libignition-common3) |\
+Package (% =libignition-common3-av) |\
+Package (% =libignition-common3-av-dev) |\
+Package (% =libignition-common3-core-dev) |\
+Package (% =libignition-common3-dev) |\
+Package (% =libignition-common3-events) |\
+Package (% =libignition-common3-events-dev) |\
+Package (% =libignition-common3-graphics) |\
+Package (% =libignition-common3-graphics-dev) |\
+Package (% =libignition-common3-profiler) |\
+Package (% =libignition-common3-profiler-dev)), \
+$Version (% 3.12.0-1~buster)) |\
+(Package (% =ignition-fuel-tools4), $Version (% 4.3.0-1~buster)) |\
+((Package (% =ignition-gazebo3) |\
+Package (% =libignition-gazebo3) |\
+Package (% =libignition-gazebo3-dev) |\
+Package (% =libignition-gazebo3-plugins)), \
+$Version (% 3.8.0-1~buster)) |\
+((Package (% =ignition-gui3) |\
+Package (% =libignition-gui3) |\
+Package (% =libignition-gui3-dev)), \
+$Version (% 3.5.1-1~buster)) |\
+((Package (% =ignition-launch2) |\
+Package (% =libignition-launch2) |\
+Package (% =libignition-launch2-dev)), \
+$Version (% 2.2.1-1~buster)) |\
+((Package (% =ignition-math6) |\
+Package (% =libignition-math6) |\
+Package (% =libignition-math6-dbg) |\
+Package (% =libignition-math6-dev) |\
+Package (% =libignition-math6-eigen3-dev)), \
+$Version (% 6.8.0-1~buster)) |\
+((Package (% =ignition-msgs5) |\
+Package (% =libignition-msgs5) |\
+Package (% =libignition-msgs5-dev) |\
+Package (% =libignition-msgs5-dbg)), \
+$Version (% 5.7.0-1~buster)) |\
+((Package (% =ignition-physics2) |\
+Package (% =libignition-physics2) |\
+Package (% =libignition-physics2-core-dev) |\
+Package (% =libignition-physics2-dartsim) |\
+Package (% =libignition-physics2-dartsim-dev) |\
+Package (% =libignition-physics2-dev) |\
+Package (% =libignition-physics2-mesh-dev) |\
+Package (% =libignition-physics2-sdf-dev) |\
+Package (% =libignition-physics2-tpe) |\
+Package (% =libignition-physics2-tpe-dev) |\
+Package (% =libignition-physics2-tpelib) |\
+Package (% =libignition-physics2-tpelib-dev)), \
+$Version (% 2.4.0-1~buster)) |\
+((Package (% =ignition-plugin) |\
+Package (% =libignition-plugin) |\
+Package (% =libignition-plugin-dev)), \
+$Version (% 1.2.0-1~buster)) |\
+((Package (% =ignition-rendering3) |\
+Package (% =libignition-rendering3) |\
+Package (% =libignition-rendering3-core-dev) |\
+Package (% =libignition-rendering3-dev) |\
+Package (% =libignition-rendering3-ogre1) |\
+Package (% =libignition-rendering3-ogre1-dev) |\
+Package (% =libignition-rendering3-ogre2) |\
+Package (% =libignition-rendering3-ogre2-dev)), \
+$Version (% 3.4.0-1~buster)) |\
+((Package (% =ignition-sensors3) |\
+Package (% =libignition-sensors3) |\
+Package (% =libignition-sensors3-air-pressure) |\
+Package (% =libignition-sensors3-air-pressure-dev) |\
+Package (% =libignition-sensors3-altimeter) |\
+Package (% =libignition-sensors3-altimeter-dev) |\
+Package (% =libignition-sensors3-camera) |\
+Package (% =libignition-sensors3-camera-dev) |\
+Package (% =libignition-sensors3-core-dev) |\
+Package (% =libignition-sensors3-depth-camera) |\
+Package (% =libignition-sensors3-depth-camera-dev) |\
+Package (% =libignition-sensors3-dev) |\
+Package (% =libignition-sensors3-gpu-lidar) |\
+Package (% =libignition-sensors3-gpu-lidar-dev) |\
+Package (% =libignition-sensors3-imu) |\
+Package (% =libignition-sensors3-imu-dev) |\
+Package (% =libignition-sensors3-lidar) |\
+Package (% =libignition-sensors3-lidar-dev) |\
+Package (% =libignition-sensors3-logical-camera) |\
+Package (% =libignition-sensors3-logical-camera-dev) |\
+Package (% =libignition-sensors3-magnetometer) |\
+Package (% =libignition-sensors3-magnetometer-dev) |\
+Package (% =libignition-sensors3-rendering) |\
+Package (% =libignition-sensors3-rendering-dev) |\
+Package (% =libignition-sensors3-rgbd-camera) |\
+Package (% =libignition-sensors3-rgbd-camera-dev) |\
+Package (% =libignition-sensors3-thermal-camera) |\
+Package (% =libignition-sensors3-thermal-camera-dev)), \
+$Version (% 3.2.0-1~buster)) |\
+((Package (% =ignition-transport8) |\
+Package (% =libignition-transport8) |\
+Package (% =libignition-transport8-core-dev) |\
+Package (% =libignition-transport8-dbg) |\
+Package (% =libignition-transport8-dev) |\
+Package (% =libignition-transport8-log) |\
+Package (% =libignition-transport8-log-dev)), \
+$Version (% 8.2.0-1~buster)) |\
+((Package (% =ignition-tools) |\
+Package (% =libignition-tools-dev)), \
+$Version (% 1.2.0-1~buster)) |\
+((Package (% =ogre-2.1) |\
+Package (% =libogre-2.1) |\
+Package (% =libogre-2.1-dev)),
+$Version (% 2.0.9999~20180616~06a386f-3osrf~buster)) |\
+((Package (% =sdformat9) |\
+Package (% =libsdformat9) |\
+Package (% =libsdformat9-dbg) |\
+Package (% =libsdformat9-dev) |\
+Package (% =sdformat9-doc) |\
+Package (% =sdformat9-sdf)), \
+$Version (% 9.5.0-1~buster)) \
 "
diff --git a/config/ignition_citadel_gazebo11_ubuntu_focal.yaml b/config/ignition_citadel_gazebo11_ubuntu_focal.yaml
index 3ad9fadf..17ad752a 100644
--- a/config/ignition_citadel_gazebo11_ubuntu_focal.yaml
+++ b/config/ignition_citadel_gazebo11_ubuntu_focal.yaml
@@ -10,9 +10,9 @@ Package (% =gazebo11-dbg) |\
 Package (% =gazebo11-doc) |\
 Package (% =libgazebo11) |\
 Package (% =libgazebo11-dev)), \
-$Version (% 11.3.0-1~focal)) |\
-(Package (% =ignition-cmake2), $Version (% 2.6.2-1~focal)) |\
-(Package (% =ignition-common3), $Version (% 3.11.1-1~focal)) |\
+$Version (% 11.5.0-1~focal)) |\
+(Package (% =ignition-cmake2), $Version (% 2.7.0-1~focal)) |\
+(Package (% =ignition-common3), $Version (% 3.12.0-1~focal)) |\
 ((Package (% =libignition-common3) |\
 Package (% =libignition-common3-av) |\
 Package (% =libignition-common3-av-dev) |\
@@ -24,7 +24,7 @@ Package (% =libignition-common3-graphics) |\
 Package (% =libignition-common3-graphics-dev) |\
 Package (% =libignition-common3-profiler) |\
 Package (% =libignition-common3-profiler-dev)), \
-$Version (% 3.11.1-1~focal)) |\
+$Version (% 3.12.0-1~focal)) |\
 (Package (% =ignition-fuel-tools4), $Version (% 4.3.0-1~focal)) |\
 ((Package (% =ignition-gazebo3) |\
 Package (% =libignition-gazebo3) |\
@@ -34,19 +34,19 @@ $Version (% 3.8.0-1~focal)) |\
 ((Package (% =ignition-gui3) |\
 Package (% libignition-gui3) |\
 Package (% libignition-gui3-dev)), \
-$Version (% 3.5.0-1~focal)) |\
+$Version (% 3.5.1-1~focal)) |\
 ((Package (% =ignition-launch2) |\
 Package (% =libignition-launch2) |\
 Package (% =libignition-launch2-dev)), \
 $Version (% 2.2.1-1~focal)) |\
-(Package (% =ignition-math6), $Version (% 6.7.0-1~focal)) |\
+(Package (% =ignition-math6), $Version (% 6.8.0-1~focal)) |\
 ((Package (% =ignition-msgs5) |\
 Package (% =libignition-msgs5) |\
 Package (% =libignition-msgs5-dev) |\
 Package (% =libignition-msgs5-dbg)), \
 $Version (% 5.7.0-1~focal)) |\
-(Package (% =ignition-physics2), $Version (% 2.3.0-1~focal)) |\
-(Package (% =ignition-plugin), $Version (% 1.1.0-1~focal)) |\
+(Package (% =ignition-physics2), $Version (% 2.4.0-1~focal)) |\
+(Package (% =ignition-plugin), $Version (% 1.2.0-1~focal)) |\
 ((Package (% =ignition-rendering3) |\
 Package (% =libignition-rendering3) |\
 Package (% =libignition-rendering3-core-dev) |\