diff --git a/package-lock.json b/package-lock.json
index 3e093c19..a0a6cbe4 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -1,21 +1,21 @@
 {
     "name": "vscode-ros",
-    "version": "0.9.4",
+    "version": "0.9.5",
     "lockfileVersion": 2,
     "requires": true,
     "packages": {
         "": {
             "name": "vscode-ros",
-            "version": "0.9.4",
+            "version": "0.9.5",
             "license": "SEE LICENSE IN LICENSE",
             "dependencies": {
-                "@polyhobbyist/babylon_ros": "^0.0.4",
+                "@polyhobbyist/babylon_ros": "^0.0.5",
                 "@polyhobbyist/babylon-collada-loader": "^0.0.3",
                 "@vscode/debugadapter": "^1.59.0",
                 "@vscode/extension-telemetry": "^0.6.2",
                 "@vscode/webview-ui-toolkit": "^1.2.2",
                 "assert": "^2.0.0",
-                "babylonjs": "^5.54.0",
+                "babylonjs": "^6.21.1",
                 "babylonjs-materials": "^5.54.0",
                 "buffer": "^6.0.3",
                 "console-browserify": "^1.2.0",
@@ -371,9 +371,9 @@
             }
         },
         "node_modules/@polyhobbyist/babylon_ros": {
-            "version": "0.0.4",
-            "resolved": "https://registry.npmjs.org/@polyhobbyist/babylon_ros/-/babylon_ros-0.0.4.tgz",
-            "integrity": "sha512-t3pbnutuv6h5Kh+KI1baVu5DC93h5x0PO9ias2m5ELMFXLAjbMu3U4CjeyqjTAPoGFfrW9UvNKDBv06mEh6cjA==",
+            "version": "0.0.5",
+            "resolved": "https://registry.npmjs.org/@polyhobbyist/babylon_ros/-/babylon_ros-0.0.5.tgz",
+            "integrity": "sha512-QPDhSKwzFEfutp0/T4GhcgLqkKAKrcqeOc4D/aHf/DLdbnkaNAS2YyrdVunNPlLjSM0e5QTaENI3gvHy9clS6g==",
             "dependencies": {
                 "@types/xml2js": "^0.4.11",
                 "babylonjs": "^5.53.0",
@@ -389,6 +389,12 @@
                 "xml-loader": "^1.2.1"
             }
         },
+        "node_modules/@polyhobbyist/babylon_ros/node_modules/babylonjs": {
+            "version": "5.57.1",
+            "resolved": "https://registry.npmjs.org/babylonjs/-/babylonjs-5.57.1.tgz",
+            "integrity": "sha512-X1t3mi8GuJjFVziN1yBJtekphilGN9VfOHm2tn/H6gra+WS7UZkrOOHLlKwYEXKdU73opxOR95jHXmv692KR6g==",
+            "hasInstallScript": true
+        },
         "node_modules/@polyhobbyist/babylon-collada-loader": {
             "version": "0.0.3",
             "resolved": "https://registry.npmjs.org/@polyhobbyist/babylon-collada-loader/-/babylon-collada-loader-0.0.3.tgz",
@@ -407,6 +413,12 @@
                 "xml-loader": "^1.2.1"
             }
         },
+        "node_modules/@polyhobbyist/babylon-collada-loader/node_modules/babylonjs": {
+            "version": "5.57.1",
+            "resolved": "https://registry.npmjs.org/babylonjs/-/babylonjs-5.57.1.tgz",
+            "integrity": "sha512-X1t3mi8GuJjFVziN1yBJtekphilGN9VfOHm2tn/H6gra+WS7UZkrOOHLlKwYEXKdU73opxOR95jHXmv692KR6g==",
+            "hasInstallScript": true
+        },
         "node_modules/@sinclair/typebox": {
             "version": "0.25.24",
             "resolved": "https://registry.npmjs.org/@sinclair/typebox/-/typebox-0.25.24.tgz",
@@ -1021,9 +1033,9 @@
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         "node_modules/babylonjs": {
-            "version": "5.57.1",
-            "resolved": "https://registry.npmjs.org/babylonjs/-/babylonjs-5.57.1.tgz",
-            "integrity": "sha512-X1t3mi8GuJjFVziN1yBJtekphilGN9VfOHm2tn/H6gra+WS7UZkrOOHLlKwYEXKdU73opxOR95jHXmv692KR6g==",
+            "version": "6.21.1",
+            "resolved": "https://registry.npmjs.org/babylonjs/-/babylonjs-6.21.1.tgz",
+            "integrity": "sha512-uCMzjXIkPf66BwDVPy9JNGIQj7ooIwmJxcsu5SW86GlMLSYenpSjZuz8C1bs6rRltfy+z/fXyAT+roRG7Je89w==",
             "hasInstallScript": true
         },
         "node_modules/babylonjs-gltf2interface": {
@@ -1039,6 +1051,12 @@
                 "babylonjs": "^5.57.1"
             }
         },
+        "node_modules/babylonjs-gui/node_modules/babylonjs": {
+            "version": "5.57.1",
+            "resolved": "https://registry.npmjs.org/babylonjs/-/babylonjs-5.57.1.tgz",
+            "integrity": "sha512-X1t3mi8GuJjFVziN1yBJtekphilGN9VfOHm2tn/H6gra+WS7UZkrOOHLlKwYEXKdU73opxOR95jHXmv692KR6g==",
+            "hasInstallScript": true
+        },
         "node_modules/babylonjs-loaders": {
             "version": "5.54.0",
             "resolved": "https://registry.npmjs.org/babylonjs-loaders/-/babylonjs-loaders-5.54.0.tgz",
@@ -1048,6 +1066,12 @@
                 "babylonjs-gltf2interface": "^5.54.0"
             }
         },
+        "node_modules/babylonjs-loaders/node_modules/babylonjs": {
+            "version": "5.57.1",
+            "resolved": "https://registry.npmjs.org/babylonjs/-/babylonjs-5.57.1.tgz",
+            "integrity": "sha512-X1t3mi8GuJjFVziN1yBJtekphilGN9VfOHm2tn/H6gra+WS7UZkrOOHLlKwYEXKdU73opxOR95jHXmv692KR6g==",
+            "hasInstallScript": true
+        },
         "node_modules/babylonjs-materials": {
             "version": "5.54.0",
             "resolved": "https://registry.npmjs.org/babylonjs-materials/-/babylonjs-materials-5.54.0.tgz",
@@ -1056,6 +1080,12 @@
                 "babylonjs": "^5.54.0"
             }
         },
+        "node_modules/babylonjs-materials/node_modules/babylonjs": {
+            "version": "5.57.1",
+            "resolved": "https://registry.npmjs.org/babylonjs/-/babylonjs-5.57.1.tgz",
+            "integrity": "sha512-X1t3mi8GuJjFVziN1yBJtekphilGN9VfOHm2tn/H6gra+WS7UZkrOOHLlKwYEXKdU73opxOR95jHXmv692KR6g==",
+            "hasInstallScript": true
+        },
         "node_modules/babylonjs-viewer": {
             "version": "5.54.0",
             "resolved": "https://registry.npmjs.org/babylonjs-viewer/-/babylonjs-viewer-5.54.0.tgz",
@@ -5627,9 +5657,9 @@
             }
         },
         "@polyhobbyist/babylon_ros": {
-            "version": "0.0.4",
-            "resolved": "https://registry.npmjs.org/@polyhobbyist/babylon_ros/-/babylon_ros-0.0.4.tgz",
-            "integrity": "sha512-t3pbnutuv6h5Kh+KI1baVu5DC93h5x0PO9ias2m5ELMFXLAjbMu3U4CjeyqjTAPoGFfrW9UvNKDBv06mEh6cjA==",
+            "version": "0.0.5",
+            "resolved": "https://registry.npmjs.org/@polyhobbyist/babylon_ros/-/babylon_ros-0.0.5.tgz",
+            "integrity": "sha512-QPDhSKwzFEfutp0/T4GhcgLqkKAKrcqeOc4D/aHf/DLdbnkaNAS2YyrdVunNPlLjSM0e5QTaENI3gvHy9clS6g==",
             "requires": {
                 "@types/xml2js": "^0.4.11",
                 "babylonjs": "^5.53.0",
@@ -5643,6 +5673,13 @@
                 "string_decoder": "^1.3.0",
                 "timers-browserify": "^2.0.12",
                 "xml-loader": "^1.2.1"
+            },
+            "dependencies": {
+                "babylonjs": {
+                    "version": "5.57.1",
+                    "resolved": "https://registry.npmjs.org/babylonjs/-/babylonjs-5.57.1.tgz",
+                    "integrity": "sha512-X1t3mi8GuJjFVziN1yBJtekphilGN9VfOHm2tn/H6gra+WS7UZkrOOHLlKwYEXKdU73opxOR95jHXmv692KR6g=="
+                }
             }
         },
         "@polyhobbyist/babylon-collada-loader": {
@@ -5661,6 +5698,13 @@
                 "string_decoder": "^1.3.0",
                 "timers-browserify": "^2.0.12",
                 "xml-loader": "^1.2.1"
+            },
+            "dependencies": {
+                "babylonjs": {
+                    "version": "5.57.1",
+                    "resolved": "https://registry.npmjs.org/babylonjs/-/babylonjs-5.57.1.tgz",
+                    "integrity": "sha512-X1t3mi8GuJjFVziN1yBJtekphilGN9VfOHm2tn/H6gra+WS7UZkrOOHLlKwYEXKdU73opxOR95jHXmv692KR6g=="
+                }
             }
         },
         "@sinclair/typebox": {
@@ -6203,9 +6247,9 @@
             "integrity": "sha512-DMD0KiN46eipeziST1LPP/STfDU0sufISXmjSgvVsoU2tqxctQeASejWcfNtxYKqETM1UxQ8sp2OrSBWpHY6sw=="
         },
         "babylonjs": {
-            "version": "5.57.1",
-            "resolved": "https://registry.npmjs.org/babylonjs/-/babylonjs-5.57.1.tgz",
-            "integrity": "sha512-X1t3mi8GuJjFVziN1yBJtekphilGN9VfOHm2tn/H6gra+WS7UZkrOOHLlKwYEXKdU73opxOR95jHXmv692KR6g=="
+            "version": "6.21.1",
+            "resolved": "https://registry.npmjs.org/babylonjs/-/babylonjs-6.21.1.tgz",
+            "integrity": "sha512-uCMzjXIkPf66BwDVPy9JNGIQj7ooIwmJxcsu5SW86GlMLSYenpSjZuz8C1bs6rRltfy+z/fXyAT+roRG7Je89w=="
         },
         "babylonjs-gltf2interface": {
             "version": "5.54.0",
@@ -6218,6 +6262,13 @@
             "integrity": "sha512-gOfRlC+XAyPqEF16Agd7W7g+j+9aLbJJ34/jiUgFLTFcAHZGHnh+kYX9+fRfjb8v0nRm633p8al0s8nUFoXl3A==",
             "requires": {
                 "babylonjs": "^5.57.1"
+            },
+            "dependencies": {
+                "babylonjs": {
+                    "version": "5.57.1",
+                    "resolved": "https://registry.npmjs.org/babylonjs/-/babylonjs-5.57.1.tgz",
+                    "integrity": "sha512-X1t3mi8GuJjFVziN1yBJtekphilGN9VfOHm2tn/H6gra+WS7UZkrOOHLlKwYEXKdU73opxOR95jHXmv692KR6g=="
+                }
             }
         },
         "babylonjs-loaders": {
@@ -6227,6 +6278,13 @@
             "requires": {
                 "babylonjs": "^5.54.0",
                 "babylonjs-gltf2interface": "^5.54.0"
+            },
+            "dependencies": {
+                "babylonjs": {
+                    "version": "5.57.1",
+                    "resolved": "https://registry.npmjs.org/babylonjs/-/babylonjs-5.57.1.tgz",
+                    "integrity": "sha512-X1t3mi8GuJjFVziN1yBJtekphilGN9VfOHm2tn/H6gra+WS7UZkrOOHLlKwYEXKdU73opxOR95jHXmv692KR6g=="
+                }
             }
         },
         "babylonjs-materials": {
@@ -6235,6 +6293,13 @@
             "integrity": "sha512-gxBrJcJKHPeXjR5LliWAMrMluLBXDidz8q9b7hSJkeuUOOC2yP18yVbkryYXMfJjnVi2cZVmwhhbTRdvbMc0OQ==",
             "requires": {
                 "babylonjs": "^5.54.0"
+            },
+            "dependencies": {
+                "babylonjs": {
+                    "version": "5.57.1",
+                    "resolved": "https://registry.npmjs.org/babylonjs/-/babylonjs-5.57.1.tgz",
+                    "integrity": "sha512-X1t3mi8GuJjFVziN1yBJtekphilGN9VfOHm2tn/H6gra+WS7UZkrOOHLlKwYEXKdU73opxOR95jHXmv692KR6g=="
+                }
             }
         },
         "babylonjs-viewer": {
diff --git a/package.json b/package.json
index 682af6f4..6d47899d 100644
--- a/package.json
+++ b/package.json
@@ -462,7 +462,7 @@
         "@vscode/extension-telemetry": "^0.6.2",
         "@vscode/webview-ui-toolkit": "^1.2.2",
         "assert": "^2.0.0",
-        "babylonjs": "^5.54.0",
+        "babylonjs": "^6.21.1",
         "babylonjs-materials": "^5.54.0",
         "buffer": "^6.0.3",
         "console-browserify": "^1.2.0",