diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index e39e373..54b0b5e 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package ur_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+2.2.1 (2023-09-08)
+------------------
 * Update the joint limits for UR20 (`#98 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/issues/98>`_)
 * UR20 description and meshes (`#94 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/issues/94>`_)
   The UR20 meshes are added under Universal Robots A/S’
diff --git a/package.xml b/package.xml
index b8eaf1e..1c8ecbb 100644
--- a/package.xml
+++ b/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ur_description</name>
-  <version>2.2.0</version>
+  <version>2.2.1</version>
   <description>
     URDF description for Universal Robots
   </description>