diff --git a/configs/bb.org-ubuntu-bionic-ros-iot-v4.19.conf b/configs/bb.org-ubuntu-bionic-ros-iot-v4.19.conf
index 7d16a7c531ca10e39bfb702645d0a8a4ed462854..279d2249f9c7023f0c838b668fb4631d21e186bf 100644
--- a/configs/bb.org-ubuntu-bionic-ros-iot-v4.19.conf
+++ b/configs/bb.org-ubuntu-bionic-ros-iot-v4.19.conf
@@ -145,7 +145,7 @@ repo_rcnee_pkg_list="	\
 	gpiod	\
 	ipumm-dra7xx-installer	\
 	librobotcontrol	\
-	linux-image-4.19.15-ti-rt-r6	\
+	linux-image-4.19.15-ti-rt-r7	\
 	mjpg-streamer	\
 	nodejs	\
 	npm	\
@@ -180,7 +180,7 @@ repo_ros_pkg_list="	\
 	ros-melodic-ros-base	\
 "
 ##
-repo_rcnee_pkg_version="4.19.15-ti-rt-r6"
+repo_rcnee_pkg_version="4.19.15-ti-rt-r7"
 include_firmware="enable"
 #
 chroot_COPY_SETUP_SDCARD="enable"
diff --git a/configs/kernel.data b/configs/kernel.data
index ad2e0747a10d4ec52bb72bdec8d1a97a2ecabfd7..65e32f98db3593c771c3b8b7b5fcbb23f7c9ff0c 100644
--- a/configs/kernel.data
+++ b/configs/kernel.data
@@ -4,4 +4,4 @@ ti LTS44 4.4.155-ti-r151
 ti LTS414 4.14.94-ti-r93
 ti-rt LTS414 4.14.94-ti-rt-r93
 ti LTS419 4.19.15-ti-r7
-ti-rt LTS419 4.19.15-ti-rt-r6
+ti-rt LTS419 4.19.15-ti-rt-r7