diff --git a/control_msgs/CHANGELOG.rst b/control_msgs/CHANGELOG.rst
index c3500af..8f9fa6a 100644
--- a/control_msgs/CHANGELOG.rst
+++ b/control_msgs/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package control_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+5.1.0 (2024-04-09)
+------------------
 * Add ParallelGripperCommand (`#99 <https://github.com/ros-controls/control_msgs/issues/99>`_)
 * Specify BSD as BSD-3-Clause (`#114 <https://github.com/ros-controls/control_msgs/issues/114>`_)
 * Contributors: Christoph Fröhlich, Paul Gesel
diff --git a/control_msgs/package.xml b/control_msgs/package.xml
index f576586..c7ab556 100644
--- a/control_msgs/package.xml
+++ b/control_msgs/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>control_msgs</name>
-  <version>5.0.0</version>
+  <version>5.1.0</version>
   <description>
     control_msgs contains base messages and actions useful for
     controlling robots.  It provides representations for controller