diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 1baabd6..2d3c3c9 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,15 @@
 Changelog for package rt_usb_9axisimu_driver
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.0 (2024-08-23)
+------------------
+* Fix to get the latest data (`#58 <https://github.com/rt-net/rt_usb_9axisimu_driver/issues/58>`_)
+* Add test for readSensorData() (`#57 <https://github.com/rt-net/rt_usb_9axisimu_driver/issues/57>`_)
+* checkDataFormat() and unit test updates (`#54 <https://github.com/rt-net/rt_usb_9axisimu_driver/issues/54>`_)
+* Add unit tests (`#52 <https://github.com/rt-net/rt_usb_9axisimu_driver/issues/52>`_)
+  Co-authored-by: ShotaAk <s.aoki@rt-net.jp>
+* Contributors: YusukeKato
+
 2.0.2 (2023-01-26)
 ------------------
 * Support Humble (`#42 <https://github.com/rt-net/rt_usb_9axisimu_driver/issues/42>`_)
diff --git a/package.xml b/package.xml
index 6f61f2a..c7c4671 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>rt_usb_9axisimu_driver</name>
-  <version>2.0.2</version>
+  <version>2.1.0</version>
   <description>The rt_usb_9axisimu_driver package</description>
 
   <maintainer email="shop@rt-net.jp">RT Corporation</maintainer>