diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 9d08583..cf92c9a 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -15,7 +15,7 @@ jobs:
       fail-fast: false
       matrix:
         version:
-          - '1.8'
+          - '1.10'
           - 'nightly'
         os:
           - ubuntu-latest
@@ -59,7 +59,7 @@ jobs:
 
       - uses: julia-actions/setup-julia@v1
         with:
-          version: 1.8
+          version: '1.10'
           arch: x64
 
       - uses: actions/cache@v1
diff --git a/Project.toml b/Project.toml
index 2aed23a..6cc3119 100644
--- a/Project.toml
+++ b/Project.toml
@@ -2,7 +2,7 @@ name = "RoMEPlotting"
 uuid = "238d586b-a4bf-555c-9891-eda6fc5e55a2"
 keywords = ["mm-iSAM", "SLAM", "plotting", "2D", "robotics", "navigation"]
 desc = "Visualization tools for the RoME.jl package."
-version = "0.10.3"
+version = "0.10.4"
 
 [deps]
 ApproxManifoldProducts = "9bbbb610-88a1-53cd-9763-118ce10c1f89"
@@ -18,39 +18,41 @@ IncrementalInference = "904591bb-b899-562f-9e6f-b8df64c7d480"
 KernelDensityEstimate = "2472808a-b354-52ea-a80e-1658a3c6056d"
 KernelDensityEstimatePlotting = "c43967c8-f634-5d24-8eab-2867546b366b"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
+PrecompileTools = "aea7be01-6a6a-4083-8856-8a6e6704d82a"
 Reexport = "189a3867-3050-52da-a836-e630ba90ab69"
 Requires = "ae029012-a4dd-5104-9daa-d747884805df"
 RoME = "91fb55c2-4c03-5a59-ba21-f4ea956187b8"
-SnoopPrecompile = "66db9d55-30c0-4569-8b51-7e840670fc0c"
 Statistics = "10745b16-79ce-11e8-11f9-7d13ad32a3b2"
 StatsBase = "2913bbd2-ae8a-5f71-8c99-4fb6c76f3a91"
 TensorCast = "02d47bb6-7ce6-556a-be16-bb1710789e2b"
 
 [compat]
-ApproxManifoldProducts = "0.6"
+ApproxManifoldProducts = "0.8"
 Cairo = "0.8, 1"
 Colors = "0.11, 0.12"
 Compose = "0.8, 0.9"
-DistributedFactorGraphs = "0.19, 0.20"
+DistributedFactorGraphs = "0.23"
 DocStringExtensions = "0.8, 0.9"
 Fontconfig = "0.3, 0.4"
 Gadfly = "1.3.1"
-IncrementalInference = "0.32, 0.33"
+IncrementalInference = "0.35"
 KernelDensityEstimate = "0.5"
 KernelDensityEstimatePlotting = "0.1.8"
+PrecompileTools = "1"
 Reexport = "1"
 Requires = "1"
-RoME = "0.21, 0.22"
-SnoopPrecompile = "1"
-StatsBase = "0.32, 0.33"
+RoME = "0.24"
+Statistics = "1.10"
+StatsBase = "0.33, 0.34"
 TensorCast = "0.33, 0.4"
-julia = "1.8"
+julia = "1.10"
 
 [extras]
 Caesar = "62eebf14-49bc-5f46-9df9-f7b7ef379406"
+CameraModels = "0d57b887-6120-40e6-8b8c-29d3116bc0c1"
 Flux = "587475ba-b771-5e3f-ad9e-33799f191a9c"
 ImageMagick = "6218d12a-5da1-5696-b52f-db25d2ecc6d1"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [targets]
-test = ["Caesar", "Flux", "ImageMagick", "Test"]
+test = ["Caesar", "CameraModels", "Flux", "ImageMagick", "Test"]
diff --git a/README.md b/README.md
index e0c4f69..6851943 100644
--- a/README.md
+++ b/README.md
@@ -1,8 +1,8 @@
 # RoMEPlotting.jl
 
- Release v0.9 | Release v0.10 | Dev | Test Coverage | Caesar Docs
---------------|--------------|-----|---------------|--------------
-[![build-0-9]][CI-url] | [![build-0-10]][CI-url] | [![build-dev]][CI-url] | [![codecov-img]][codecov-url] | [![docs][docs-shield]][caesar-docs]
+ Release v0.10 | Dev | Test Coverage | Caesar Docs
+--------------|-----|---------------|--------------
+[![build-0-10]][CI-url] | [![build-dev]][CI-url] | [![codecov-img]][codecov-url] | [![docs][docs-shield]][caesar-docs]
 
 
 2D plotting functionality for the RoME.jl package (presently only using Gadfly).  This package is part of the [Caesar.jl](http://www.github.com/JuliaRobotics/Caesar.jl) suite of tools.  This package contains all the plotting functions relating to the [IncrementalInference.jl](http://www.github.com/JuliaRobotics/IncrementalInference.jl) and [RoME.jl](http://www.github.com/JuliaRobotics/RoME.jl) packages.
@@ -22,7 +22,6 @@ Documentation for this package will be covered in the plotting section of [Caesa
 
 [CI-url]: https://github.com/JuliaRobotics/RoMEPlotting.jl/actions/workflows/ci.yml
 [build-0-10]: https://github.com/JuliaRobotics/RoMEPlotting.jl/actions/workflows/ci.yml/badge.svg?branch=release%2Fv0.10
-[build-0-9]: https://github.com/JuliaRobotics/RoMEPlotting.jl/actions/workflows/ci.yml/badge.svg?branch=release%2Fv0.9
 [build-dev]: https://github.com/JuliaRobotics/RoMEPlotting.jl/actions/workflows/ci.yml/badge.svg?branch=master
 
 [codecov-url]: https://codecov.io/github/JuliaRobotics/RoMEPlotting.jl?branch=master
diff --git a/src/RoMEPlotting.jl b/src/RoMEPlotting.jl
index d74eef7..2aa3d51 100644
--- a/src/RoMEPlotting.jl
+++ b/src/RoMEPlotting.jl
@@ -17,7 +17,7 @@ using DocStringExtensions
 using ApproxManifoldProducts
 using TensorCast
 using Requires
-using SnoopPrecompile
+using PrecompileTools
 
 # import ApproxManifoldProducts: mmd! # future dependency
 
@@ -36,10 +36,10 @@ import KernelDensityEstimatePlotting: plotKDE
 include("ExportAPI.jl")
 
 # EXPERIMENTAL
-const AbstractMatrix__{T} = Union{AbstractArray{T,2}, Adjoint{T,<:AbstractArray{T,2}}}
+const AbstractMatrix__{T} = Union{<:AbstractArray{T,2}, <:Adjoint{T,<:AbstractArray{T,2}}}
 
 # will be overwritten if flux is present (dont make const)
-PlotTypesPose2 = Union{Type{Pose2Pose2}, Type{Pose2Point2BearingRange}, Type{Pose2Point2Range}, Type{Pose2Point2Bearing}}
+PlotTypesPose2 = Union{Type{<:Pose2Pose2}, Type{<:Pose2Point2BearingRange}, Type{<:Pose2Point2Range}, Type{<:Pose2Point2Bearing}}
 ExtendedPose2Pose2Types = Pose2Pose2
 
 include("services/PlotBelief.jl")
@@ -62,7 +62,7 @@ function __init__()
   @require Caesar="62eebf14-49bc-5f46-9df9-f7b7ef379406" include("services/ScatterAlignPlotting.jl")  
 end
 
-@precompile_all_calls begin
+@compile_workload begin
   # In here put "toy workloads" that exercise the code you want to precompile
   fg = generateGraph_Hexagonal()
   initAll!(fg)