diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index ab8ac6e..0824cd3 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -11,8 +11,8 @@ Changelog for package move_basic
 * Add dynamic reconfigure
 * Contributors: Teodor Janez Podobnik, Rohan Agrawal
 
-Forthcoming
------------
+0.4.1 (2021-03-24)
+------------------
 * Removed backward drive
 * Cosine Runaway safety abort
 * Minimum velocity parameters
diff --git a/package.xml b/package.xml
index bd5278f..8b2988a 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>move_basic</name>
-  <version>0.4.0</version>
+  <version>0.4.1</version>
   <description>Simple navigation package</description>
 
   <maintainer email="jimv@mrjim.com">Jim Vaughan</maintainer>