diff --git a/driving_log_replayer/CHANGELOG.rst b/driving_log_replayer/CHANGELOG.rst
index 1b9a2cc3f..ad947e845 100644
--- a/driving_log_replayer/CHANGELOG.rst
+++ b/driving_log_replayer/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package driving_log_replayer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+2.1.0 (2024-07-10)
+------------------
 * feat: use autoware project rviz (`#516 <https://github.com/tier4/driving_log_replayer/issues/516>`_)
 * Contributors: Hayato Mizushima
 
diff --git a/driving_log_replayer/package.xml b/driving_log_replayer/package.xml
index bbb958414..7c0e2506f 100644
--- a/driving_log_replayer/package.xml
+++ b/driving_log_replayer/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>driving_log_replayer</name>
-  <version>2.0.12</version>
+  <version>2.1.0</version>
   <description>The driving_log_replayer package</description>
   <maintainer email="hayato.mizushima@tier4.jp">Hayato Mizushima</maintainer>
   <maintainer email="kotaro.uetake@tier4.jp">Kotaro Uetake</maintainer>
diff --git a/driving_log_replayer_analyzer/CHANGELOG.rst b/driving_log_replayer_analyzer/CHANGELOG.rst
index 10fa0678d..5887f51a7 100644
--- a/driving_log_replayer_analyzer/CHANGELOG.rst
+++ b/driving_log_replayer_analyzer/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package driving_log_replayer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+2.1.0 (2024-07-10)
+------------------
 * feat: use autoware project rviz (`#516 <https://github.com/tier4/driving_log_replayer/issues/516>`_)
 * Contributors: Hayato Mizushima
 
diff --git a/driving_log_replayer_analyzer/package.xml b/driving_log_replayer_analyzer/package.xml
index cacf1f1f5..9d436c688 100644
--- a/driving_log_replayer_analyzer/package.xml
+++ b/driving_log_replayer_analyzer/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>driving_log_replayer_analyzer</name>
-  <version>2.0.12</version>
+  <version>2.1.0</version>
   <description>The driving_log_replayer_analyzer package</description>
   <maintainer email="hayato.mizushima@tier4.jp">Hayato Mizushima</maintainer>
   <maintainer email="keisuke.shima@tier4.jp">Keisuke Shima</maintainer>
diff --git a/driving_log_replayer_msgs/CHANGELOG.rst b/driving_log_replayer_msgs/CHANGELOG.rst
index 10fa0678d..5887f51a7 100644
--- a/driving_log_replayer_msgs/CHANGELOG.rst
+++ b/driving_log_replayer_msgs/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package driving_log_replayer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+2.1.0 (2024-07-10)
+------------------
 * feat: use autoware project rviz (`#516 <https://github.com/tier4/driving_log_replayer/issues/516>`_)
 * Contributors: Hayato Mizushima
 
diff --git a/driving_log_replayer_msgs/package.xml b/driving_log_replayer_msgs/package.xml
index 1d165383b..69bf69e6f 100644
--- a/driving_log_replayer_msgs/package.xml
+++ b/driving_log_replayer_msgs/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>driving_log_replayer_msgs</name>
-  <version>2.0.12</version>
+  <version>2.1.0</version>
   <description>driving_log_replayer msgs</description>
   <maintainer email="hayato.mizushima@tier4.jp">Hayato Mizushima</maintainer>
   <license>Apache-2.0</license>