diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 4adbcc8d..73471c95 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package rplidar_ros
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+2.1.4 (2023-08-15)
+------------------
 * Update SDK.
   * UltraDense protocol support
   * support for stoppping A1 motor
diff --git a/package.xml b/package.xml
index f0fb157b..28343566 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>rplidar_ros</name>
-  <version>2.1.3</version>
+  <version>2.1.4</version>
   <description>
     The rplidar ros package, support rplidar A1/A2/A3/S1/S2/S3/T1
   </description>