diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index a2bf307..56bc3c4 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package laser_geometry
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+2.10.0 (2024-12-20)
+-------------------
 * Deprecating tf2 C Headers (`#98 <https://github.com/ros-perception/laser_geometry/issues/98>`_)
 * Remove CODEOWNERS and mirror-rolling-to-main workflow (`#100 <https://github.com/ros-perception/laser_geometry/issues/100>`_)
 * Contributors: Alejandro Hernández Cordero, Lucas Wendland
diff --git a/package.xml b/package.xml
index f6dcb39..0a040c8 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>2.9.0</version>
+  <version>2.10.0</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