diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index fe8f6253..2560b07c 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package micro_ros_setup
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+4.1.0 (2023-06-12)
+------------------
 * Iron release (`#647 <https://github.com/micro-ROS/micro_ros_setup/issues/647>`_)
 * Replace ros2 repo with micro-ROS fork (`#642 <https://github.com/micro-ROS/micro_ros_setup/issues/642>`_)
 * Support Segger J-Link to flash Olimex E407 (`#635 <https://github.com/micro-ROS/micro_ros_setup/issues/635>`_) (`#640 <https://github.com/micro-ROS/micro_ros_setup/issues/640>`_)
diff --git a/package.xml b/package.xml
index c4914a7f..530e65df 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>micro_ros_setup</name>
-  <version>4.0.2</version>
+  <version>4.1.0</version>
   <description>Tools for setting up micro-ROS workspaces</description>
   <maintainer email="ingo.luetkebohle@de.bosch.com">Ingo Lütkebohle</maintainer>
   <license>Apache-2.0</license>