diff --git a/micro_ros_agent/CHANGELOG.rst b/micro_ros_agent/CHANGELOG.rst
index 854d9e6..95610f1 100644
--- a/micro_ros_agent/CHANGELOG.rst
+++ b/micro_ros_agent/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+5.0.0 (2023-06-06)
+------------------
 * Add empty type key hash to GraphCache (`#189 <https://github.com/micro-ROS/micro-ROS-Agent/issues/189>`_)
 * Contributors: Antonio Cuadros
 
diff --git a/micro_ros_agent/package.xml b/micro_ros_agent/package.xml
index 1896959..5088aed 100644
--- a/micro_ros_agent/package.xml
+++ b/micro_ros_agent/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>micro_ros_agent</name>
-  <version>4.0.2</version>
+  <version>5.0.0</version>
   <description>micro-ROS Agent package</description>
   <maintainer email="pablogarrido@eprosima.com">Pablo Garrido</maintainer>
   <maintainer email="antoniocuadros@eprosima.com">Antonio Cuadros</maintainer>