diff --git a/.bumpversion.cfg b/.bumpversion.cfg
index e7a4a1b..077d24b 100644
--- a/.bumpversion.cfg
+++ b/.bumpversion.cfg
@@ -1,5 +1,5 @@
 [bumpversion]
-current_version = 1.3.0
+current_version = 1.4.0
 message = Bump version to {new_version}
 commit = True
 tag = True
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 595125e..669d025 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -7,7 +7,7 @@ All notable changes to this project will be documented in this file.
 The format is based on `Keep a Changelog <http://keepachangelog.com/en/1.0.0/>`_
 and this project adheres to `Semantic Versioning <http://semver.org/spec/v2.0.0.html>`_.
 
-Unreleased
+1.4.0
 ----------
 
 **Added**
diff --git a/docs/conf.py b/docs/conf.py
index b9e92b4..b9eaa70 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -25,7 +25,7 @@
 year = "2019"
 author = "Gramazio Kohler Research"
 copyright = "{0}, {1}".format(year, author)
-version = release = "1.3.0"
+version = release = "1.4.0"
 
 pygments_style = "trac"  # Perhaps change to sphinx
 templates_path = ["."]
diff --git a/src/roslibpy/__version__.py b/src/roslibpy/__version__.py
index 4746373..39d4149 100644
--- a/src/roslibpy/__version__.py
+++ b/src/roslibpy/__version__.py
@@ -4,7 +4,7 @@
 __title__ = "roslibpy"
 __description__ = "Python ROS Bridge library."
 __url__ = "https://github.com/gramaziokohler/roslibpy"
-__version__ = "1.3.0"
+__version__ = "1.4.0"
 __author__ = "Gramazio Kohler Research"
 __author_email__ = "gramaziokohler@arch.ethz.ch"
 __license__ = "MIT license"