diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8c255074..78b1a371 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(gz-msgs10 VERSION 10.1.2)
+project(gz-msgs10 VERSION 10.2.0)
 
 #============================================================================
 # Find gz-cmake
@@ -25,7 +25,7 @@ gz_configure_project(VERSION_SUFFIX
 #============================================================================
 
 # Cross-compilation related options
-# In a cross-compilation scenario, it is possible that the 
+# In a cross-compilation scenario, it is possible that the
 # ${PROJECT_NAME}_protoc_plugin
 # generator compiled for the target machine cannot be used to generate
 # the C++ code corresponding to the .proto definition.
@@ -34,7 +34,7 @@ gz_configure_project(VERSION_SUFFIX
 # To avoid, that the following options can be used as follows.
 # First of all, gz-msgs is compiled targeting the host machine, and in the
 # build targeting the host, ensuring that the ${PROJECT_NAME}_protoc_plugin
-# is installed in <host_install_prefix>/bin/${PROJECT_NAME}_protoc_plugin . 
+# is installed in <host_install_prefix>/bin/${PROJECT_NAME}_protoc_plugin .
 # Then, the same version of gz-msgs
 # can be cross-compiled, and in the cross-compilation build the location of the
 # host gz_msgs_gen is specified via the GZ_MSGS_GEN_EXECUTABLE CMake option.
@@ -43,9 +43,9 @@ gz_configure_project(VERSION_SUFFIX
 # to the build appropriate CMake options:
 # > cmake -Dgz-msgs<MajVer>_PROTO_GENERATOR_PLUGIN=gz-msgs<MajVer>_protoc_plugin
 # >       -Dgz-msgs<MajVer>_PROTOC_EXECUTABLE=<host_install_prefix>/bin/protoc
-# >       -Dgz-msgs<MajVer>_PYTHON_INTERPRETER=<host_install_prefix>/bin/python 
+# >       -Dgz-msgs<MajVer>_PYTHON_INTERPRETER=<host_install_prefix>/bin/python
 # >        ..
-# In case the gz-msgs CMake functions are used also in downstream projects, 
+# In case the gz-msgs CMake functions are used also in downstream projects,
 # the same variables can be passed when configuring the downsream projects.
 
 set(
diff --git a/Changelog.md b/Changelog.md
index f2690240..e9ccaba9 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -1,5 +1,19 @@
 ## Gazebo Msgs 10.x
 
+### Gazebo Msgs 10.2.0 (2024-05-17)
+
+1. CameraTrack message for advanced tracking and following.
+    * [Pull request #440](https://github.com/gazebosim/gz-msgs/pull/440)
+
+1. Update minimum version of gz-cmake3
+    * [Pull request #439](https://github.com/gazebosim/gz-msgs/pull/439)
+
+1. bazel: lint
+    * [Pull request #438](https://github.com/gazebosim/gz-msgs/pull/438)
+
+1. Add package.xml
+    * [Pull request #432](https://github.com/gazebosim/gz-msgs/pull/432)
+
 ### Gazebo Msgs 10.1.2 (2024-04-08)
 
 1. Use relative install paths for gz tool data and extra cmake files
diff --git a/package.xml b/package.xml
index 1e17e9fc..3ea17866 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>gz-msgs10</name>
-  <version>10.1.2</version>
+  <version>10.2.0</version>
   <description>Gazebo Messages: Protobuf messages and functions for robot applications</description>
   <maintainer email="caguero@openrobotics.org">Carlos Agüero</maintainer>
   <license>Apache License 2.0</license>