diff --git a/CMakeLists.txt b/CMakeLists.txt
index a657360e..9ab6c94f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(ignition-sensors5 VERSION 5.1.0)
+project(ignition-sensors5 VERSION 5.1.1)
 
 #============================================================================
 # Find ignition-cmake
diff --git a/Changelog.md b/Changelog.md
index feead8bc..120dcd71 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -1,6 +1,12 @@
 ## Ignition Sensors 5
 
-### Ignition Sensors 5.X.X
+### Ignition Sensors 5.1.1 (2022-03-25)
+
+1. Conform to ROS format for header field `frame_id` of sensor msgs
+    * [Pull request #195](https://github.com/ignitionrobotics/ign-sensors/pull/195)
+
+1. Fix compiler warnings (CMP0072 and copy elision)
+    * [Pull request #188](https://github.com/ignitionrobotics/ign-sensors/pull/188)
 
 ### Ignition Sensors 5.1.0 (2021-10-15)