diff --git a/.ci.rosinstall b/.ci.rosinstall
index dbb5477f..d5d7a9ed 100644
--- a/.ci.rosinstall
+++ b/.ci.rosinstall
@@ -1,8 +1,4 @@
 - git:
     uri: https://github.com/rt-net/crane_x7_description.git
     local-name: crane_x7_description
-    version: ros2
-- git:
-    uri: https://github.com/ros-controls/gz_ros2_control.git
-    local-name: gz_ros2_control
-    version: humble
+    version: ros2
\ No newline at end of file
diff --git a/README.en.md b/README.en.md
index 87bc3af2..68e5b3e6 100644
--- a/README.en.md
+++ b/README.en.md
@@ -55,7 +55,6 @@ $ git clone -b ros2 https://github.com/rt-net/crane_x7_ros.git
 $ git clone -b ros2 https://github.com/rt-net/crane_x7_description.git
 
 # Install dependencies
-$ git clone -b humble https://github.com/ros-controls/gz_ros2_control.git
 $ rosdep install -r -y -i --from-paths .
 
 # Build & Install
diff --git a/README.md b/README.md
index 49d38764..8eb5fc2e 100644
--- a/README.md
+++ b/README.md
@@ -57,7 +57,6 @@ $ git clone -b ros2 https://github.com/rt-net/crane_x7_ros.git
 $ git clone -b ros2 https://github.com/rt-net/crane_x7_description.git
 
 # Install dependencies
-$ git clone -b humble https://github.com/ros-controls/gz_ros2_control.git
 $ rosdep install -r -y -i --from-paths .
 
 # Build & Install
diff --git a/crane_x7/package.xml b/crane_x7/package.xml
index 90783e93..c5f54c82 100644
--- a/crane_x7/package.xml
+++ b/crane_x7/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>crane_x7</name>
-  <version>4.3.0</version>
+  <version>4.4.0</version>
   <description>ROS 2 package suite of CRANE-X7</description>
   <maintainer email="shop@rt-net.jp">RT Corporation</maintainer>
   <license>Apache License 2.0</license>
diff --git a/crane_x7_control/config/crane_x7_controllers.yaml b/crane_x7_control/config/crane_x7_controllers.yaml
index 43e74bd2..7bdfa64c 100644
--- a/crane_x7_control/config/crane_x7_controllers.yaml
+++ b/crane_x7_control/config/crane_x7_controllers.yaml
@@ -29,6 +29,7 @@ crane_x7_arm_controller:
 crane_x7_gripper_controller:
   ros__parameters:
     joint: crane_x7_gripper_finger_a_joint
+    goal_tolerance: 0.1
 
     command_interfaces:
       - position
diff --git a/crane_x7_control/package.xml b/crane_x7_control/package.xml
index 43578cd8..7c5173cc 100644
--- a/crane_x7_control/package.xml
+++ b/crane_x7_control/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>crane_x7_control</name>
-  <version>4.3.0</version>
+  <version>4.4.0</version>
   <description>The CRANE-X7 control package</description>
   <maintainer email="shop@rt-net.jp">RT Corporation</maintainer>
   <license>Apache License 2.0</license>
diff --git a/crane_x7_examples/package.xml b/crane_x7_examples/package.xml
index 1b8eea2a..f5157997 100644
--- a/crane_x7_examples/package.xml
+++ b/crane_x7_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>crane_x7_examples</name>
-  <version>4.3.0</version>
+  <version>4.4.0</version>
   <description>CRANE-X7 examples package</description>
   <maintainer email="shop@rt-net.jp">RT Corporation</maintainer>
   <license>Apache License 2.0</license>
diff --git a/crane_x7_examples/src/pick_and_place_tf.cpp b/crane_x7_examples/src/pick_and_place_tf.cpp
index a875c23f..82c0fe83 100644
--- a/crane_x7_examples/src/pick_and_place_tf.cpp
+++ b/crane_x7_examples/src/pick_and_place_tf.cpp
@@ -163,7 +163,7 @@ class PickAndPlaceTf : public rclcpp::Node
   {
     const double GRIPPER_DEFAULT = 0.0;
     const double GRIPPER_OPEN = angles::from_degrees(60.0);
-    const double GRIPPER_CLOSE = angles::from_degrees(15.0);
+    const double GRIPPER_CLOSE = angles::from_degrees(20.0);
 
     // 何かを掴んでいた時のためにハンドを開閉
     control_gripper(GRIPPER_OPEN);
diff --git a/crane_x7_gazebo/launch/crane_x7_with_table.launch.py b/crane_x7_gazebo/launch/crane_x7_with_table.launch.py
index 59801bf5..f68e0570 100644
--- a/crane_x7_gazebo/launch/crane_x7_with_table.launch.py
+++ b/crane_x7_gazebo/launch/crane_x7_with_table.launch.py
@@ -82,6 +82,13 @@ def generate_launch_description():
                 output='screen',
             )
 
+    bridge = Node(
+                package='ros_gz_bridge',
+                executable='parameter_bridge',
+                arguments=['/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock'],
+                output='screen'
+            )
+
     return LaunchDescription([
         SetParameter(name='use_sim_time', value=True),
         ign_gazebo,
@@ -89,5 +96,6 @@ def generate_launch_description():
         move_group,
         spawn_joint_state_controller,
         spawn_arm_controller,
-        spawn_gripper_controller
+        spawn_gripper_controller,
+        bridge
     ])
diff --git a/crane_x7_gazebo/package.xml b/crane_x7_gazebo/package.xml
index de03b7ef..878b6c56 100644
--- a/crane_x7_gazebo/package.xml
+++ b/crane_x7_gazebo/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>crane_x7_gazebo</name>
-  <version>4.3.0</version>
+  <version>4.4.0</version>
   <description>The crane_x7_gazebo package</description>
   <maintainer email="shop@rt-net.jp">RT Corporation</maintainer>
   <license>Apache License 2.0</license>
diff --git a/crane_x7_moveit_config/package.xml b/crane_x7_moveit_config/package.xml
index 50edc60f..372c33f5 100644
--- a/crane_x7_moveit_config/package.xml
+++ b/crane_x7_moveit_config/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>crane_x7_moveit_config</name>
-  <version>4.3.0</version>
+  <version>4.4.0</version>
   <description>CRANE-X7 move_group config package</description>
   <maintainer email="shop@rt-net.jp">RT Corporation</maintainer>
   <license>Apache License 2.0</license>