diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 267e1cc..c443256 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package ur_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.0 (2024-12-02)
+------------------
+* Added service to set force mode (`#26 <https://github.com/ros-industrial/ur_msgs/issues/26>`_)
+* Contributors: URJala
+
 2.0.1 (2024-10-07)
 ------------------
 * [ROS 2] Update README and ci (`#31 <https://github.com/ros-industrial/ur_msgs/issues/31>`_)
diff --git a/package.xml b/package.xml
index ec96a3e..8e9665a 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_msgs</name>
-  <version>2.0.1</version>
+  <version>2.1.0</version>
   <description>Message and service definitions for interacting with Universal Robots robot controllers.</description>
   <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn</maintainer>
   <maintainer email="miguel.prada@tecnalia.com">Miguel Prada Sarasola</maintainer>