diff --git a/CHANGELOG.rst b/CHANGELOG.rst
new file mode 100644
index 0000000..9541ba5
--- /dev/null
+++ b/CHANGELOG.rst
@@ -0,0 +1,7 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package cartographer
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.1.0 (2017-05-18)
+------------------
+* First unstable development release
diff --git a/package.xml b/package.xml
index ad273d1..ff3a975 100644
--- a/package.xml
+++ b/package.xml
@@ -17,7 +17,7 @@
 
 <package format="2">
   <name>cartographer</name>
-  <version>1.0.0</version>
+  <version>0.1.0</version>
   <description>
     Cartographer is a system that provides real-time simultaneous localization
     and mapping (SLAM) in 2D and 3D across multiple platforms and sensor