diff --git a/realsense2_camera/CHANGELOG.rst b/realsense2_camera/CHANGELOG.rst
index 3b255c74e..d4dc9029c 100644
--- a/realsense2_camera/CHANGELOG.rst
+++ b/realsense2_camera/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package realsense2_camera
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+4.51.1 (2022-09-13)
+-------------------
 * Fix crash when activating IMU & aligned depth together
 * Fix rosbag device loading by preventing set_option to HDR/Gain/Exposure
 * Support ROS2 Humble
diff --git a/realsense2_camera/package.xml b/realsense2_camera/package.xml
index 6c35dbde2..b5cedbe64 100644
--- a/realsense2_camera/package.xml
+++ b/realsense2_camera/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>realsense2_camera</name>
-  <version>4.0.4</version>
+  <version>4.51.1</version>
   <description>RealSense camera package allowing access to Intel T265 Tracking module and SR300 and D400 3D cameras</description>
   <maintainer email="librs.ros@intel.com">LibRealSense ROS Team</maintainer>
   <license>Apache License 2.0</license>
diff --git a/realsense2_camera_msgs/CHANGELOG.rst b/realsense2_camera_msgs/CHANGELOG.rst
index 40287fcab..51029bbe7 100644
--- a/realsense2_camera_msgs/CHANGELOG.rst
+++ b/realsense2_camera_msgs/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package realsense2_camera_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+4.51.1 (2022-09-13)
+-------------------
 * Add copyright and license to all ROS2-beta source files
 
 * Contributors: SamerKhshiboun
diff --git a/realsense2_camera_msgs/package.xml b/realsense2_camera_msgs/package.xml
index 65030127f..b87821fda 100644
--- a/realsense2_camera_msgs/package.xml
+++ b/realsense2_camera_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>realsense2_camera_msgs</name>
-  <version>4.0.4</version>
+  <version>4.51.1</version>
   <description>RealSense camera_msgs package containing realsense camera messages definitions</description>
   <maintainer email="librs.ros@intel.com">LibRealSense ROS Team</maintainer>
   <license>Apache License 2.0</license>
diff --git a/realsense2_description/CHANGELOG.rst b/realsense2_description/CHANGELOG.rst
index 4ed165ea6..249b0e3b4 100644
--- a/realsense2_description/CHANGELOG.rst
+++ b/realsense2_description/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package realsense2_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+4.51.1 (2022-09-13)
+-------------------
 * Add copyright and license to all ROS2-beta source files
 
 * Contributors: SamerKhshiboun
diff --git a/realsense2_description/package.xml b/realsense2_description/package.xml
index 5bf1ee7d3..0a7776b96 100644
--- a/realsense2_description/package.xml
+++ b/realsense2_description/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>realsense2_description</name>
-  <version>4.0.4</version>
+  <version>4.51.1</version>
   <description>RealSense description package for Intel 3D D400 cameras</description>
   <maintainer email="librs.ros@intel.com">LibRealSense ROS Team</maintainer>
   <license>Apache License 2.0</license>