diff --git a/openni2_camera/CHANGELOG.rst b/openni2_camera/CHANGELOG.rst
index dc4808b..ac187b3 100644
--- a/openni2_camera/CHANGELOG.rst
+++ b/openni2_camera/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package openni2_camera
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+2.1.0 (2024-02-14)
+------------------
 * implement proper lazy subscribers (`#136 <https://github.com/ros-drivers/openni2_camera/issues/136>`_)
   Fixes `#119 <https://github.com/ros-drivers/openni2_camera/issues/119>`_, works in Jazzy and later
 * publish tfs and set matching frame names (`#135 <https://github.com/ros-drivers/openni2_camera/issues/135>`_)
diff --git a/openni2_camera/package.xml b/openni2_camera/package.xml
index dac5f72..0eeed5f 100644
--- a/openni2_camera/package.xml
+++ b/openni2_camera/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>openni2_camera</name>
-  <version>2.0.2</version>
+  <version>2.1.0</version>
   <description>Drivers for the Asus Xtion and Primesense Devices. For using a kinect
   with ROS, try the <a href="http://wiki.ros.org/freenect_stack">freenect stack</a> 
   </description>