diff --git a/RELEASING.rst b/RELEASING.rst
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+Steps for Releasing
+-------------------
+
+.. code-block:: bash
+  catkin_generate_changelog
+
+* Update changelog to point to GitHub release log (e.g.
+  https://github.com/googlecartographer/cartographer/compare/0.1.0...0.2.0)
+
+.. code-block:: bash
+  git commit -am"Update changelog for release"
+  catkin_prepare_release --bump minor --no-push
+
+* Create PR
+* Add release via GitHub web UI