diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 607b6399..2cf24447 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package micro_ros_setup
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+2.1.0 (2022-05-25)
+------------------
 * Fix PyYaml unistall error (`#521 <https://github.com/micro-ROS/micro-ros-build/issues/521>`_) (`#523 <https://github.com/micro-ROS/micro-ros-build/issues/523>`_)
 * Add renesas dummy meta (`#516 <https://github.com/micro-ROS/micro-ros-build/issues/516>`_) (`#518 <https://github.com/micro-ROS/micro-ros-build/issues/518>`_)
 * Add platformIO to Readme (`#510 <https://github.com/micro-ROS/micro-ros-build/issues/510>`_)
diff --git a/package.xml b/package.xml
index 111b45ff..4a1f2e4e 100644
--- a/package.xml
+++ b/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>micro_ros_setup</name>
-  <version>2.0.0</version>
+  <version>2.1.0</version>
   <description>Tools for setting up micro-ROS workspaces</description>
   <maintainer email="ingo.luetkebohle@de.bosch.com">Ingo Lütkebohle</maintainer>
   <license>Apache-2.0</license>