diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index dbce4dc..5aa8c35 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package moveit_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+2.4.0 (2024-01-11)
+------------------
 * Add error message string to MoveItErrorCode msg (`#171 <https://github.com/ros-planning/moveit_msgs/issues/171>`_)
   * Add error message string to MoveItErrorCode msg
   * Add error source string
diff --git a/package.xml b/package.xml
index da76efe..ad0abfc 100644
--- a/package.xml
+++ b/package.xml
@@ -1,6 +1,6 @@
 <package format="3">
   <name>moveit_msgs</name>
-  <version>2.3.0</version>
+  <version>2.4.0</version>
   <description>Messages, services and actions used by MoveIt</description>
   <author email="isucan@google.com">Ioan Sucan</author>
   <author email="sachinc@sri.com">Sachin Chitta</author>