diff --git a/driving_log_replayer/CHANGELOG.rst b/driving_log_replayer/CHANGELOG.rst
index 010566937..ecb653961 100644
--- a/driving_log_replayer/CHANGELOG.rst
+++ b/driving_log_replayer/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package driving_log_replayer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+1.8.4 (2023-11-08)
+------------------
 * feat: parameterize perception mode (`#299 <https://github.com/tier4/driving_log_replayer/issues/299>`_)
 * Contributors: Hayato Mizushima
 
diff --git a/driving_log_replayer/package.xml b/driving_log_replayer/package.xml
index dba9678e6..915b80b67 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>1.8.3</version>
+  <version>1.8.4</version>
   <description>The driving_log_replayer package</description>
   <maintainer email="hayato.mizushima@tier4.jp">Hayato Mizushima</maintainer>
   <maintainer email="koji.minoda@tier4.jp">Koji Minoda</maintainer>
diff --git a/driving_log_replayer_analyzer/CHANGELOG.rst b/driving_log_replayer_analyzer/CHANGELOG.rst
index 49cd244a3..72daee3f7 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_analyzer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+1.8.4 (2023-11-08)
+------------------
 * feat: parameterize perception mode (`#299 <https://github.com/tier4/driving_log_replayer/issues/299>`_)
 * Contributors: Hayato Mizushima
 
diff --git a/driving_log_replayer_analyzer/package.xml b/driving_log_replayer_analyzer/package.xml
index f4139c92d..78b451345 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>1.8.3</version>
+  <version>1.8.4</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 00c8535a3..b7a200abd 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_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+1.8.4 (2023-11-08)
+------------------
 * feat: parameterize perception mode (`#299 <https://github.com/tier4/driving_log_replayer/issues/299>`_)
 * Contributors: Hayato Mizushima
 
diff --git a/driving_log_replayer_msgs/package.xml b/driving_log_replayer_msgs/package.xml
index aa92c8835..db5adcfa1 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>1.8.3</version>
+  <version>1.8.4</version>
   <description>driving_log_replayer msgs</description>
   <maintainer email="hayato.mizushima@tier4.jp">Hayato Mizushima</maintainer>
   <license>Apache-2.0</license>