diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index e71e40d..cc53ce1 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package robot_state_publisher
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+3.4.0 (2024-04-26)
+------------------
 
 3.3.3 (2024-01-24)
 ------------------
diff --git a/package.xml b/package.xml
index d1dfb29..f372c16 100644
--- a/package.xml
+++ b/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>robot_state_publisher</name>
-  <version>3.3.3</version>
+  <version>3.4.0</version>
   <description>
     This package take the joint angles of a robot as input, and publishes the 3D poses of the robot links to tf2, using a kinematic tree model of the robot.
   </description>