diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 792de96..268c325 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package bno055
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.5.0 (2024-02-17)
+------------------
+* Bump to 0.5.0 to prep for release
+* Added Gravity publisher (`#64 <https://github.com/flynneva/bno055/issues/64>`_)
+  * Added Gravity publisher
+  * Updated Readme to introduce Gravity publisher
+* Spelling/Grammar (`#62 <https://github.com/flynneva/bno055/issues/62>`_)
+* Fix uart write answer reading (`#57 <https://github.com/flynneva/bno055/issues/57>`_)
+* Update package.xml to include smbus dependency (`#58 <https://github.com/flynneva/bno055/issues/58>`_)
+* fix build error on foxy that caused by typo (`#59 <https://github.com/flynneva/bno055/issues/59>`_)
+* Contributors: Andrew Symington, Burak Guler, Combinatrix, Evan Flynn, Vintheruler1, emilnovak
+
 0.4.1 (2023-01-15)
 ------------------
 * Update CHANGELOG
diff --git a/package.xml b/package.xml
index 5e8536a..453898a 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>bno055</name>
-  <version>0.4.1</version>
+  <version>0.5.0</version>
   <description>Bosch BNO055 IMU driver for ROS2</description>
   <maintainer email="evanflynn.msu@gmail.com">flynneva</maintainer>
   <license>BSD</license>
diff --git a/setup.py b/setup.py
index 0774755..eb36166 100644
--- a/setup.py
+++ b/setup.py
@@ -7,7 +7,7 @@
 
 setup(
     name=package_name,
-    version='0.4.1',
+    version='0.5.0',
     # find sub-packages automatically in order to allow sub-modules, etc. to be imported:
     # packages=[package_name],
     packages=find_packages(exclude=['test']),