diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 5e8e4be..01e1425 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package laser_geometry
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+2.4.0 (2022-03-01)
+------------------
 * Install headers to include/${PROJECT_NAME} (`#86 <https://github.com/ros-perception/laser_geometry/issues/86>`_)
 * Explicit cast to double to prevent loss of precision
 * Fix Duration casting issue leading to no undistortion
diff --git a/package.xml b/package.xml
index d94016f..749e321 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>2.3.0</version>
+  <version>2.4.0</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