diff --git a/mujoco_ros/CHANGELOG.md b/mujoco_ros/CHANGELOG.md
index f7c5d912..df4c6a3c 100644
--- a/mujoco_ros/CHANGELOG.md
+++ b/mujoco_ros/CHANGELOG.md
@@ -1,5 +1,5 @@
-<a name="Unreleased"></a>
-## [Unreleased]
+<a name="0.7.0"></a>
+## [0.7.0] - 2023-08-15
 
 ### Added
 * Updated to MuJoCo library version 2.3.6.
@@ -23,6 +23,8 @@
 * `env_id` members were removed from messages, since env_ids are no longer used.
 * Added more compiler warnings (see [CompilerWarnings.cmake](./cmake/CompilerWarnings.cmake)).
 
+Contributors: @DavidPL1
+
 <a name="0.6.0"></a>
 ## [0.6.0] - 2023-06-30
 
@@ -202,7 +204,7 @@ Contributors: @DavidPL1, @balandbal
 
 Contributors: @DavidPL1
 
-[Unreleased]: https://github.com/ubi-agni/mujoco_ros_pkgs/compare/0.6.0...HEAD
+[0.7.0]: https://github.com/ubi-agni/mujoco_ros_pkgs/compare/0.6.0...0.7.0
 [0.6.0]: https://github.com/ubi-agni/mujoco_ros_pkgs/compare/0.5.0...0.6.0
 [0.5.0]: https://github.com/ubi-agni/mujoco_ros_pkgs/compare/0.4.0...0.5.0
 [0.4.0]: https://github.com/ubi-agni/mujoco_ros_pkgs/compare/0.3.1...0.4.0
diff --git a/mujoco_ros/CMakeLists.txt b/mujoco_ros/CMakeLists.txt
index d24d5a48..468ff3e8 100644
--- a/mujoco_ros/CMakeLists.txt
+++ b/mujoco_ros/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.16 FATAL_ERROR)
-project(mujoco_ros VERSION 0.6.0 LANGUAGES CXX)
+project(mujoco_ros VERSION 0.7.0 LANGUAGES CXX)
 
 set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED ON)
diff --git a/mujoco_ros/package.xml b/mujoco_ros/package.xml
index 5500ebb0..a40999ad 100644
--- a/mujoco_ros/package.xml
+++ b/mujoco_ros/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>mujoco_ros</name>
-  <version>0.6.0</version>
+  <version>0.7.0</version>
   <description>The mujoco_ros package</description>
 
   <maintainer email="dleins@techfak.uni-bielefeld.de">David P. Leins</maintainer>
diff --git a/mujoco_ros_control/package.xml b/mujoco_ros_control/package.xml
index 5ee886cc..d90c40a0 100644
--- a/mujoco_ros_control/package.xml
+++ b/mujoco_ros_control/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>mujoco_ros_control</name>
-  <version>0.6.0</version>
+  <version>0.7.0</version>
   <description>The mujoco_ros_control package</description>
 
   <url type="repository">https://github.com/DavidPL1/mujoco_ros_pkgs</url>
diff --git a/mujoco_ros_msgs/package.xml b/mujoco_ros_msgs/package.xml
index 172e6a78..981a42ce 100644
--- a/mujoco_ros_msgs/package.xml
+++ b/mujoco_ros_msgs/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>mujoco_ros_msgs</name>
-  <version>0.6.0</version>
+  <version>0.7.0</version>
   <description>mujoco_ros_msgs provides message files for interaction with a mujoco_ros simulation</description>
 
   <maintainer email="dleins@techfak.uni-bielefeld.de">David Leins</maintainer>
diff --git a/mujoco_ros_pkgs/package.xml b/mujoco_ros_pkgs/package.xml
index 052116b3..cd3b3ed8 100644
--- a/mujoco_ros_pkgs/package.xml
+++ b/mujoco_ros_pkgs/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
     <name>mujoco_ros_pkgs</name> <!-- This is a meta package! -->
-    <version>0.6.0</version>
+    <version>0.7.0</version>
     <description>Interface for using ROS with the <a href="https://mujoco.org/">MuJoCo</a> simulator.</description>
 
     <license>BSD</license>
diff --git a/mujoco_ros_sensors/package.xml b/mujoco_ros_sensors/package.xml
index 8c92bc8b..971b7f66 100644
--- a/mujoco_ros_sensors/package.xml
+++ b/mujoco_ros_sensors/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>mujoco_ros_sensors</name>
-  <version>0.6.0</version>
+  <version>0.7.0</version>
   <description>Sensor plugin for mujoco_ros</description>
 
   <maintainer email="dleins@techfak.uni-bielefeld.de">David P. Leins</maintainer>