diff --git a/libmavconn/CHANGELOG.rst b/libmavconn/CHANGELOG.rst
index a90ed63f1..d4cdfaddb 100644
--- a/libmavconn/CHANGELOG.rst
+++ b/libmavconn/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package libmavconn
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+2.0.4 (2021-11-04)
+------------------
 * Merge branch 'master' into ros2
   * master:
   1.10.0
diff --git a/libmavconn/package.xml b/libmavconn/package.xml
index 4c55a00b2..47a170c9f 100644
--- a/libmavconn/package.xml
+++ b/libmavconn/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>libmavconn</name>
-  <version>2.0.3</version>
+  <version>2.0.4</version>
   <description>
     MAVLink communication library.
     This library provide unified connection handling classes
diff --git a/mavros/CHANGELOG.rst b/mavros/CHANGELOG.rst
index 96ca2440f..aeb464b5e 100644
--- a/mavros/CHANGELOG.rst
+++ b/mavros/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package mavros
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+2.0.4 (2021-11-04)
+------------------
 * Merge branch 'master' into ros2
   * master:
   1.10.0
diff --git a/mavros/package.xml b/mavros/package.xml
index e8dccf90c..dd7f651d3 100644
--- a/mavros/package.xml
+++ b/mavros/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>mavros</name>
-  <version>2.0.3</version>
+  <version>2.0.4</version>
   <description>
     MAVROS -- MAVLink extendable communication node for ROS
     with proxy for Ground Control Station.
diff --git a/mavros_extras/CHANGELOG.rst b/mavros_extras/CHANGELOG.rst
index 99d543510..cce6c38cf 100644
--- a/mavros_extras/CHANGELOG.rst
+++ b/mavros_extras/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package mavros_extras
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+2.0.4 (2021-11-04)
+------------------
 * Merge branch 'master' into ros2
   * master:
   1.10.0
diff --git a/mavros_extras/package.xml b/mavros_extras/package.xml
index 9f1b7efae..b35f60673 100644
--- a/mavros_extras/package.xml
+++ b/mavros_extras/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>mavros_extras</name>
-  <version>2.0.3</version>
+  <version>2.0.4</version>
   <description>
     Extra nodes and plugins for <a href="http://wiki.ros.org/mavros">MAVROS</a>.
   </description>
diff --git a/mavros_msgs/CHANGELOG.rst b/mavros_msgs/CHANGELOG.rst
index e9d9911ee..419314d21 100644
--- a/mavros_msgs/CHANGELOG.rst
+++ b/mavros_msgs/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package mavros_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+2.0.4 (2021-11-04)
+------------------
 * Merge branch 'master' into ros2
   * master:
   1.10.0
diff --git a/mavros_msgs/package.xml b/mavros_msgs/package.xml
index f7f1d4841..0678d8533 100644
--- a/mavros_msgs/package.xml
+++ b/mavros_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>mavros_msgs</name>
-  <version>2.0.3</version>
+  <version>2.0.4</version>
   <description>
     mavros_msgs defines messages for <a href="http://wiki.ros.org/mavros">MAVROS</a>.
   </description>