diff --git a/realsense2_camera/CHANGELOG.rst b/realsense2_camera/CHANGELOG.rst
index 4edb915e23..a1923a8e60 100644
--- a/realsense2_camera/CHANGELOG.rst
+++ b/realsense2_camera/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package realsense2_camera
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+4.54.1 (2023-06-27)
+-------------------
 * Applying AlignDepth filter after Pointcloud
 * Publish /aligned_depth_to_color topic only when color frame present
 * Support Iron distro
diff --git a/realsense2_camera/package.xml b/realsense2_camera/package.xml
index 0556f105ba..9a46a9e51e 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>4.51.1</version>
+  <version>4.54.1</version>
   <description>RealSense camera package allowing access to Intel 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 2df89c45c7..5f1c979598 100644
--- a/realsense2_camera_msgs/CHANGELOG.rst
+++ b/realsense2_camera_msgs/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package realsense2_camera_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+4.54.1 (2023-06-27)
+-------------------
 * add info about extrinsic msg format in Extrinsics.msg and README.md
 * Expose USB port in DeviceInfo service
 * Fix Apache License Header and Intel Copyrights
diff --git a/realsense2_camera_msgs/package.xml b/realsense2_camera_msgs/package.xml
index b87821fda3..8c527be1fe 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>4.51.1</version>
+  <version>4.54.1</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 7140732886..6580fcf252 100644
--- a/realsense2_description/CHANGELOG.rst
+++ b/realsense2_description/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package realsense2_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+4.54.1 (2023-06-27)
+-------------------
 * Update mesh path
 * clone PR1637 to ros2-development
 * Fix Apache License Header and Intel Copyrights
diff --git a/realsense2_description/package.xml b/realsense2_description/package.xml
index 0a7776b968..bc9f573032 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>4.51.1</version>
+  <version>4.54.1</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>