diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 801e8bc6..4af73859 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package control_toolbox
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+2.1.0 (2022-06-30)
+------------------
 * Fix parameter loading log levels
 * Support pass in a precomputed derivative error
 * Add getParametersCallbackHandle function
diff --git a/package.xml b/package.xml
index 8d8b13a7..baea6537 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>control_toolbox</name>
-  <version>2.0.2</version>
+  <version>2.1.0</version>
   <description>The control toolbox contains modules that are useful across all controllers.</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="jordan.palacios@pal-robotics.com">Jordan Palacios</maintainer>