diff --git a/CHANGELOG.md b/CHANGELOG.md
index bba65e53..42558fab 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,12 @@
 # Changelog
 
+## 0.1.11 - 2023-12-20
+
+Requires libfranka >= 0.13.2, requires ROS 2 Humble
+
+* franka\_example\_controllers: Add a joint impedance example using OrocosKDL(LMA-ik) through MoveIt service.
+* franka\_hardware: Register initial joint positions and cartesian pose state interface without having running command interfaces.
+
 ## 0.1.10 - 2023-12-04
 
 Requires libfranka >= 0.13.0, required ROS 2 Humble
diff --git a/franka_bringup/package.xml b/franka_bringup/package.xml
index cbb21670..6538bde0 100644
--- a/franka_bringup/package.xml
+++ b/franka_bringup/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>franka_bringup</name>
-  <version>0.1.9</version>
+  <version>0.1.11</version>
   <description>Package with launch files and run-time configurations for using Franka Emika research robots with ros2_control</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/franka_description/package.xml b/franka_description/package.xml
index 7c55d9f5..32de8da1 100644
--- a/franka_description/package.xml
+++ b/franka_description/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>franka_description</name>
-  <version>0.1.9</version>
+  <version>0.1.11</version>
   <description>franka_description contains URDF files and meshes of Franka Emika robots</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/franka_example_controllers/package.xml b/franka_example_controllers/package.xml
index 34b91490..3039ff7f 100644
--- a/franka_example_controllers/package.xml
+++ b/franka_example_controllers/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>franka_example_controllers</name>
-  <version>0.1.9</version>
+  <version>0.1.11</version>
   <description>franka_example_controllers provides example code for controlling Franka Emika research robots with ros2_control</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/franka_gripper/package.xml b/franka_gripper/package.xml
index b1b544d9..ff310142 100644
--- a/franka_gripper/package.xml
+++ b/franka_gripper/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>franka_gripper</name>
-  <version>0.1.9</version>
+  <version>0.1.11</version>
   <description>This package implements the franka gripper of type Franka Hand for the use in ROS2</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/franka_hardware/package.xml b/franka_hardware/package.xml
index fb504aa6..d79b7cb1 100644
--- a/franka_hardware/package.xml
+++ b/franka_hardware/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>franka_hardware</name>
-  <version>0.1.9</version>
+  <version>0.1.11</version>
   <description>franka_hardware provides hardware interfaces for using Franka Emika research robots with ros2_control</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/franka_moveit_config/package.xml b/franka_moveit_config/package.xml
index a5067ae1..dcf6aae3 100644
--- a/franka_moveit_config/package.xml
+++ b/franka_moveit_config/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>franka_moveit_config</name>
-  <version>0.1.9</version>
+  <version>0.1.11</version>
   <description>Contains Moveit2 configuration files for Franka Emika research robots</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/franka_msgs/package.xml b/franka_msgs/package.xml
index 0106479b..66117a16 100644
--- a/franka_msgs/package.xml
+++ b/franka_msgs/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>franka_msgs</name>
-  <version>0.1.9</version>
+  <version>0.1.11</version>
   <description>franka_msgs provides messages and actions specific to Franka Emika research robots</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/franka_robot_state_broadcaster/package.xml b/franka_robot_state_broadcaster/package.xml
index 0997c647..6c0a3c8d 100644
--- a/franka_robot_state_broadcaster/package.xml
+++ b/franka_robot_state_broadcaster/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>franka_robot_state_broadcaster</name>
-  <version>0.1.9</version>
+  <version>0.1.11</version>
   <description>Broadcaster to publish robot states</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/integration_launch_testing/package.xml b/integration_launch_testing/package.xml
index 663e7bdf..61398f79 100644
--- a/integration_launch_testing/package.xml
+++ b/integration_launch_testing/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>integration_launch_testing</name>
-  <version>0.1.9</version>
+  <version>0.1.11</version>
   <description>Functional integration tests for franka controllers</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>