diff --git a/ur_calibration/CHANGELOG.rst b/ur_calibration/CHANGELOG.rst
index 190da4ed..5890137e 100644
--- a/ur_calibration/CHANGELOG.rst
+++ b/ur_calibration/CHANGELOG.rst
@@ -1,5 +1,5 @@
-Forthcoming
------------
+2.1.4 (2024-04-08)
+------------------
 
 2.1.3 (2023-12-18)
 ------------------
diff --git a/ur_calibration/package.xml b/ur_calibration/package.xml
index 32448c4e..43ecbb1b 100644
--- a/ur_calibration/package.xml
+++ b/ur_calibration/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>ur_calibration</name>
-  <version>2.1.3</version>
+  <version>2.1.4</version>
   <description>Package for extracting the factory calibration from a UR robot and change it such that it can be used by ur_description to gain a correct URDF</description>
 
   <maintainer email="exner@fzi.de">Felix Exner</maintainer>
diff --git a/ur_dashboard_msgs/CHANGELOG.rst b/ur_dashboard_msgs/CHANGELOG.rst
index 1fc096d9..33f54ae9 100644
--- a/ur_dashboard_msgs/CHANGELOG.rst
+++ b/ur_dashboard_msgs/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package ur_dashboard_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+2.1.4 (2024-04-08)
+------------------
 
 2.1.3 (2023-12-18)
 ------------------
diff --git a/ur_dashboard_msgs/package.xml b/ur_dashboard_msgs/package.xml
index a2f38513..f12d165e 100644
--- a/ur_dashboard_msgs/package.xml
+++ b/ur_dashboard_msgs/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>ur_dashboard_msgs</name>
-  <version>2.1.3</version>
+  <version>2.1.4</version>
   <description>Messages around the UR Dashboard server.</description>
 
   <maintainer email="exner@FZI.de">Felix Exner</maintainer>
diff --git a/ur_robot_driver/CHANGELOG.rst b/ur_robot_driver/CHANGELOG.rst
index f8465f04..6c4ca4a3 100644
--- a/ur_robot_driver/CHANGELOG.rst
+++ b/ur_robot_driver/CHANGELOG.rst
@@ -1,5 +1,5 @@
-Forthcoming
------------
+2.1.4 (2024-04-08)
+------------------
 * Added support for UR30 (`#688 <https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/688>`_)
 * Added arg to enable/disable launch of ursim (`#679 <https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/pull/679>`_)
 * Contributors: Vincenzo Di Pentima, mahp
diff --git a/ur_robot_driver/package.xml b/ur_robot_driver/package.xml
index d7abab7c..7f7cc450 100644
--- a/ur_robot_driver/package.xml
+++ b/ur_robot_driver/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>ur_robot_driver</name>
-  <version>2.1.3</version>
+  <version>2.1.4</version>
   <description>The new driver for Universal Robots UR3, UR5 and UR10 robots with CB3 controllers and the e-series.</description>
   <author>Thomas Timm Andersen</author>
   <author>Simon Rasmussen</author>