diff --git a/RELEASE.md b/RELEASE.md
index be09dc33..88a40905 100644
--- a/RELEASE.md
+++ b/RELEASE.md
@@ -1,5 +1,13 @@
 # Releases
 
+## Release 0.2.7
+
+  * Survey manager
+  * Multiple fixes to inspection
+  * GMM anomaly detection
+  * Ubuntu 20 only supported now
+  * Others
+
 ## Release 0.2.6
 
   * Upgrades on inspection tool
diff --git a/astrobee/behaviors/inspection/resources/volumetric_granite.txt b/astrobee/behaviors/inspection/resources/volumetric_granite.txt
index 00c893ba..ee0fa82b 100644
--- a/astrobee/behaviors/inspection/resources/volumetric_granite.txt
+++ b/astrobee/behaviors/inspection/resources/volumetric_granite.txt
@@ -1,6 +1,6 @@
 # Wifi survey, simpler
-0.3 0.3 0.7 0 0 0
--0.3 0.3 0.7 0 0 0
--0.3 -0.3 0.7 0 0 0
-0.3 -0.3 0.7 0 0 0
-0.3 0.3 0.7 0 0 0
\ No newline at end of file
+0.3 0.3 -0.67 0 0 0
+-0.3 0.3 -0.67 0 0 0
+-0.3 -0.3 -0.67 0 0 0
+0.3 -0.3 -0.67 0 0 0
+0.3 0.3 -0.67 0 0 0
\ No newline at end of file
diff --git a/debian/changelog b/debian/changelog
index fe42eeef..50d13c95 100644
--- a/debian/changelog
+++ b/debian/changelog
@@ -1,3 +1,13 @@
+isaac (0.2.7) testing; urgency=medium
+
+  * Survey manager
+  * Multiple fixes to inspection
+  * GMM anomaly detection
+  * Ubuntu 20 only supported now
+  * Others
+
+ -- ISAAC Flight Software <astrobee-fsw@nx.arc.nasa.gov> Thu, 07 Mar 2024 16:04:57 -0800
+
 isaac (0.2.6) testing; urgency=medium
 
   * Upgrades on inspection tool
diff --git a/isaac.doxyfile b/isaac.doxyfile
index 1d7d3208..7c9a2636 100644
--- a/isaac.doxyfile
+++ b/isaac.doxyfile
@@ -38,7 +38,7 @@ PROJECT_NAME           = "ISAAC"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 0.2.6
+PROJECT_NUMBER         = 0.2.7
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a
diff --git a/scripts/configure.sh b/scripts/configure.sh
index b98e8b2f..0ff45b44 100755
--- a/scripts/configure.sh
+++ b/scripts/configure.sh
@@ -315,12 +315,9 @@ if [ $armhf_build == 1 ] ; then
         --install \
         --cmake-args -DARMHF_CHROOT_DIR=$ARMHF_CHROOT_DIR ${armhf_opts} ${use_ctc} ${extra_opts} \
             -DCMAKE_BUILD_TYPE=Release
-    if [ "$DIST" = "xenial" ]; then
-        catkin config \
-        --whitelist isaac_astrobee_description isaac_util isaac_msgs inspection cargo isaac_hw_msgs wifi isaac gs_action_helper
-    elif [ "$DIST" = "focal" ]; then
-        catkin config \
-        --buildlist isaac_astrobee_description isaac_util isaac_msgs inspection cargo isaac_hw_msgs wifi isaac gs_action_helper
-    fi
+    catkin config \
+        --skiplist acoustics_cam astrobee_r2 gmm pano_stitch geometry_mapper analyst_notebook pano_view isaac_gazebo img_analysis vol_mapper ros_gs_bridge \
+        --no-buildlist
+
     
 fi