diff --git a/built_packages b/built_packages
index dab2115d..f9c4aebf 100755
--- a/built_packages
+++ b/built_packages
@@ -6,7 +6,7 @@ https://github.com/ament/ament_package.git cf415e74bb8faff896bb6915ee3d120cc7b60
 https://github.com/ament/googletest.git 1c2fdcd80b08fcfe6b70fa2a369ae6bab9d5f78e
 https://github.com/ament/uncrustify_vendor.git 94ed3f68d1d2e44e04398c4538509f5e78114dae
 https://github.com/eProsima/Micro-CDR.git ed4fd513a24a53b93d548d342cb7aa0a18716f04
-https://github.com/eProsima/Micro-XRCE-DDS-Client.git b8dbfaa775d0d842edfa9a0eb2ebc8ebdb1a0c14
+https://github.com/eProsima/Micro-XRCE-DDS-Client.git 371718ca16c361f639c06a2761b9497f8706794a
 https://github.com/micro-ROS/micro_ros_msgs.git b9a1df227be07375b3ad32a27d81b4012d09ecc0
 https://github.com/micro-ROS/micro_ros_utilities 74f7a6b08690079ecbb0262db563aa96f667277d
 https://github.com/micro-ROS/rcl d50d3670258e26291ab996fd361175cb612abfe9
diff --git a/libmicroros/include/uxr/client/config.h b/libmicroros/include/uxr/client/config.h
index 591a89e1..e9b4d357 100755
--- a/libmicroros/include/uxr/client/config.h
+++ b/libmicroros/include/uxr/client/config.h
@@ -17,8 +17,8 @@
 
 #define UXR_CLIENT_VERSION_MAJOR 2
 #define UXR_CLIENT_VERSION_MINOR 4
-#define UXR_CLIENT_VERSION_MICRO 1
-#define UXR_CLIENT_VERSION_STR "2.4.1"
+#define UXR_CLIENT_VERSION_MICRO 2
+#define UXR_CLIENT_VERSION_STR "2.4.2"
 
 /* #undef UCLIENT_PROFILE_DISCOVERY */
 
diff --git a/libmicroros/include/uxr/client/profile/transport/can/can_transport.h b/libmicroros/include/uxr/client/profile/transport/can/can_transport.h
index 3bc36af0..cb77dc30 100755
--- a/libmicroros/include/uxr/client/profile/transport/can/can_transport.h
+++ b/libmicroros/include/uxr/client/profile/transport/can/can_transport.h
@@ -29,11 +29,12 @@ extern "C"
 #include <uxr/client/visibility.h>
 #include <uxr/client/transport.h>
 
-#define UXR_CONFIG_CAN_TRANSPORT_MTU 63
+/* For CAN-FD, MTU is fixed value */
+#define UXR_CAN_TRANSPORT_MTU 63
 
 typedef struct uxrCANTransport
 {
-    uint8_t buffer[UXR_CONFIG_CAN_TRANSPORT_MTU];
+    uint8_t buffer[UXR_CAN_TRANSPORT_MTU];
     uxrCommunication comm;
     struct uxrCANPlatform platform;
 } uxrCANTransport;