diff --git a/point_cloud_transport/CHANGELOG.rst b/point_cloud_transport/CHANGELOG.rst
index f1204b0..142011b 100644
--- a/point_cloud_transport/CHANGELOG.rst
+++ b/point_cloud_transport/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package point_cloud_transport
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+4.0.0 (2024-03-29)
+------------------
 * Rename the republish_node to pc_republish_node. (`#75 <https://github.com/ros-perception/point_cloud_transport/issues/75>`_)
 * Fixed flake8 errors (`#72 <https://github.com/ros-perception/point_cloud_transport/issues/72>`_)
 * Added documentation (`#69 <https://github.com/ros-perception/point_cloud_transport/issues/69>`_)
diff --git a/point_cloud_transport/package.xml b/point_cloud_transport/package.xml
index 7827501..1b8ee8c 100644
--- a/point_cloud_transport/package.xml
+++ b/point_cloud_transport/package.xml
@@ -1,7 +1,7 @@
 <package format="3">
   <name>point_cloud_transport</name>
 
-  <version>3.0.5</version>
+  <version>4.0.0</version>
 
   <description>
     Support for transporting PointCloud2 messages in compressed format and plugin interface for implementing additional PointCloud2 transports.
diff --git a/point_cloud_transport_py/CHANGELOG.rst b/point_cloud_transport_py/CHANGELOG.rst
index 800a727..c44ba4a 100644
--- a/point_cloud_transport_py/CHANGELOG.rst
+++ b/point_cloud_transport_py/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package point_cloud_transport_py
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+4.0.0 (2024-03-29)
+------------------
 
 3.0.5 (2024-03-15)
 -------------------
diff --git a/point_cloud_transport_py/package.xml b/point_cloud_transport_py/package.xml
index 92dc9ad..7446805 100644
--- a/point_cloud_transport_py/package.xml
+++ b/point_cloud_transport_py/package.xml
@@ -1,7 +1,7 @@
 <package format="3">
   <name>point_cloud_transport_py</name>
 
-  <version>3.0.5</version>
+  <version>4.0.0</version>
 
   <description>Python API for point_cloud_transport</description>