diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 669cd1c..9a8b2e7 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -4,6 +4,11 @@ Changelog
 
 Forthcoming
 -----------
+* ...
+
+2.1.0 (2020-08-02)
+------------------
+* [infra] api updates for py_trees 2.1.x and ros2/foxy compatibility
 * [infra] spelling fix for tutorial eight
 
 2.0.2 (2020-05-14)
diff --git a/doc/conf.py b/doc/conf.py
index 89972bd..6c82383 100644
--- a/doc/conf.py
+++ b/doc/conf.py
@@ -46,9 +46,9 @@
 # built documents.
 #
 # The short X.Y version.
-version = "2.0"
+version = "2.1"
 # The full version, including alpha/beta/rc tags.
-release = "2.0.2"
+release = "2.1.0"
 
 ##############################################################################
 # Regular Sphinx Configuration
diff --git a/package.xml b/package.xml
index 4bf9fc0..29450c0 100644
--- a/package.xml
+++ b/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>py_trees_ros_tutorials</name>
-  <version>2.0.2</version>
+  <version>2.1.0</version>
   <description>
     ROS2 extensions and behaviours for py_trees.
   </description>
diff --git a/py_trees_ros_tutorials/version.py b/py_trees_ros_tutorials/version.py
index bcc7200..9a436ce 100644
--- a/py_trees_ros_tutorials/version.py
+++ b/py_trees_ros_tutorials/version.py
@@ -14,4 +14,4 @@
 # Version
 ##############################################################################
 
-__version__ = '2.0.2'
+__version__ = '2.1.0'
diff --git a/setup.py b/setup.py
index 3db22e4..f8a38ec 100644
--- a/setup.py
+++ b/setup.py
@@ -79,7 +79,7 @@ def gather_launch_files():
     },
     name=package_name,
     # also update package.xml (version and website url), version.py and conf.py
-    version='2.0.2',
+    version='2.1.0',
     packages=find_packages(exclude=['tests*', 'docs*', 'launch*']),
     data_files=[
         ('share/' + package_name, ['package.xml']),