diff --git a/.release-please-manifest.json b/.release-please-manifest.json
index d37ecbcf..5be2c5d4 100644
--- a/.release-please-manifest.json
+++ b/.release-please-manifest.json
@@ -1,3 +1,3 @@
 {
-    ".": "2.15.4"
+    ".": "2.16.0"
 }
diff --git a/CHANGELOG.md b/CHANGELOG.md
index ce9722a4..547192ba 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -2,6 +2,29 @@
 
 All notable changes to this project will be documented in this file. See [standard-version](https://github.com/conventional-changelog/standard-version) for commit guidelines.
 
+## [2.16.0](https://github.com/rickstaa/panda-gazebo/compare/v2.15.4...v2.16.0) (2023-12-20)
+
+
+### Features
+
+* improve grasping cube ([#195](https://github.com/rickstaa/panda-gazebo/issues/195)) ([3441187](https://github.com/rickstaa/panda-gazebo/commit/3441187551846c0896d7735a45f4b99d76726837))
+* make code compatible with latest franka_ros version ([#183](https://github.com/rickstaa/panda-gazebo/issues/183)) ([b466168](https://github.com/rickstaa/panda-gazebo/commit/b46616842d7215b58c1c203f2585d6e9529cf09c))
+* remove 'panda_moveit_config' submodule ([#185](https://github.com/rickstaa/panda-gazebo/issues/185)) ([39c8f12](https://github.com/rickstaa/panda-gazebo/commit/39c8f129806921ae9df03187a3b1a518b5e9163b))
+
+
+### Bug Fixes
+
+* **control_switcher:** fix control switcher ([#187](https://github.com/rickstaa/panda-gazebo/issues/187)) ([43fd75c](https://github.com/rickstaa/panda-gazebo/commit/43fd75cdbf3958f895f85143e4b7e0b0612a6b1f))
+* fix 'set_logging_level' launch file arguments ([#186](https://github.com/rickstaa/panda-gazebo/issues/186)) ([2bc9a26](https://github.com/rickstaa/panda-gazebo/commit/2bc9a26e7f1c513bab9ab39f5d97d56a092b7900))
+* fix moveit launch argument ([#188](https://github.com/rickstaa/panda-gazebo/issues/188)) ([a03b978](https://github.com/rickstaa/panda-gazebo/commit/a03b9783cb42f8b3b23aa706da1121c3ebc5249d))
+* **moveit_server:** fix add_plane service ([#189](https://github.com/rickstaa/panda-gazebo/issues/189)) ([424fd4e](https://github.com/rickstaa/panda-gazebo/commit/424fd4ef3cf05e72ea2c27c140a10f7284314960))
+
+
+### Documentation
+
+* add known issues to docs ([35c77f8](https://github.com/rickstaa/panda-gazebo/commit/35c77f8b4a0aeb266f86bf5863ad0ffb02c4f1f8))
+* add known issues to docs ([#197](https://github.com/rickstaa/panda-gazebo/issues/197)) ([4cac087](https://github.com/rickstaa/panda-gazebo/commit/4cac08709490ed986854aa14ac12b6141436fa47))
+
 ## [2.15.4](https://github.com/rickstaa/panda-gazebo/compare/v2.15.3...v2.15.4) (2023-10-04)
 
 
diff --git a/package.json b/package.json
index a4f89477..e4929b2e 100644
--- a/package.json
+++ b/package.json
@@ -1,6 +1,6 @@
 {
   "name": "panda-gazebo",
-  "version": "2.15.4",
+  "version": "2.16.0",
   "description": "A package that contains all the ROS components needed for creating a Panda Emika Franka Gazebo simulation",
   "keywords": [
     "robotics",
diff --git a/panda_gazebo/package.xml b/panda_gazebo/package.xml
index b4912957..5983a5cd 100755
--- a/panda_gazebo/package.xml
+++ b/panda_gazebo/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>panda_gazebo</name>
-  <version>2.15.4</version>
+  <version>2.16.0</version>
   <description>A package that allows you to train several ROS based robots using Gazebo.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
diff --git a/panda_gazebo/src/panda_gazebo/version.py b/panda_gazebo/src/panda_gazebo/version.py
index 21ad8877..baaced9f 100644
--- a/panda_gazebo/src/panda_gazebo/version.py
+++ b/panda_gazebo/src/panda_gazebo/version.py
@@ -1,3 +1,3 @@
 """Stores the package version number so that it can be accessed from other modules."""
-__version__ = "2.15.4"
+__version__ = "2.16.0"
 __version_tuple__ = __version__.split(".")