diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index fbe037d..3a09dd5 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package laser_geometry
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.0 (2019-09-27)
+------------------
+* Merge pull request `#46 <https://github.com/ros-perception/laser_geometry/issues/46>`_ from sloretz/eigen3_cmake_module
+* Contributors: Jonathan Binney, Shane Loretz
+
 2.0.0 (2018-06-27)
 ------------------
 * Removed the ``angle`` dependency as no longer necessary.
diff --git a/package.xml b/package.xml
index 59d94a5..d6d80f6 100644
--- a/package.xml
+++ b/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>laser_geometry</name>
-  <version>2.0.0</version>
+  <version>2.1.0</version>
   <description>
     This package contains a class for converting from a 2D laser scan as defined by
     sensor_msgs/LaserScan into a point cloud as defined by sensor_msgs/PointCloud