diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 9541ba5..7610f70 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package cartographer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.2.0 (2017-06-19)
+------------------
+https://github.com/googlecartographer/cartographer/compare/0.1.0...0.2.0
+
 0.1.0 (2017-05-18)
 ------------------
 * First unstable development release
diff --git a/package.xml b/package.xml
index ff3a975..10b78ce 100644
--- a/package.xml
+++ b/package.xml
@@ -17,7 +17,7 @@
 
 <package format="2">
   <name>cartographer</name>
-  <version>0.1.0</version>
+  <version>0.2.0</version>
   <description>
     Cartographer is a system that provides real-time simultaneous localization
     and mapping (SLAM) in 2D and 3D across multiple platforms and sensor