diff --git a/raspimouse_fake/CHANGELOG.rst b/raspimouse_fake/CHANGELOG.rst
index 50bd1c6..119b56b 100644
--- a/raspimouse_fake/CHANGELOG.rst
+++ b/raspimouse_fake/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package raspimouse_fake
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.0 (2024-03-05)
+------------------
+
 2.0.0 (2023-11-07)
 ------------------
 * シミュレータ環境に擬似的なラズパイマウスノードを追加 (`#69 <https://github.com/rt-net/raspimouse_sim/issues/69>`_)
diff --git a/raspimouse_fake/package.xml b/raspimouse_fake/package.xml
index 2065be8..6687992 100644
--- a/raspimouse_fake/package.xml
+++ b/raspimouse_fake/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>raspimouse_fake</name>
-  <version>2.0.0</version>
+  <version>2.1.0</version>
   <description>The raspimouse_control package</description>
   <maintainer email="shop@rt-net.jp">RT Corporation</maintainer>
   <license>MIT</license>
diff --git a/raspimouse_gazebo/CHANGELOG.rst b/raspimouse_gazebo/CHANGELOG.rst
index 8321fbf..6886bd8 100644
--- a/raspimouse_gazebo/CHANGELOG.rst
+++ b/raspimouse_gazebo/CHANGELOG.rst
@@ -2,6 +2,17 @@
 Changelog for package raspimouse_gazebo
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.0 (2024-03-05)
+------------------
+* シミュレータ環境でSLAMとNavigationを実行 (`#77 <https://github.com/rt-net/raspimouse_sim/issues/77>`_)
+  Co-authored-by: Shota Aoki <s.aoki@rt-net.jp>
+* コントローラのパラメータを調整してオドメトリのズレを修正 (`#76 <https://github.com/rt-net/raspimouse_sim/issues/76>`_)
+* camera_downwardがtrueのときRGBカメラが斜め下を向くように変更 (`#75 <https://github.com/rt-net/raspimouse_sim/issues/75>`_)
+  Co-authored-by: Shota Aoki <s.aoki@rt-net.jp>
+* ライントレース用のコースを作成 (`#74 <https://github.com/rt-net/raspimouse_sim/issues/74>`_)
+  Co-authored-by: Shota Aoki <s.aoki@rt-net.jp>
+* Contributors: YusukeKato
+
 2.0.0 (2023-11-07)
 ------------------
 * Gazebo上で画像トピックを配信できるようにbridgeを設定 (`#71 <https://github.com/rt-net/raspimouse_sim/issues/71>`_)
diff --git a/raspimouse_gazebo/package.xml b/raspimouse_gazebo/package.xml
index 25f4762..ea94cdb 100644
--- a/raspimouse_gazebo/package.xml
+++ b/raspimouse_gazebo/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>raspimouse_gazebo</name>
-  <version>2.0.0</version>
+  <version>2.1.0</version>
   <description>The raspimouse_gazebo package</description>
   <maintainer email="shop@rt-net.jp">RT Corporation</maintainer>
   <license>MIT</license>
diff --git a/raspimouse_sim/CHANGELOG.rst b/raspimouse_sim/CHANGELOG.rst
index 85bfaa7..8b275bf 100644
--- a/raspimouse_sim/CHANGELOG.rst
+++ b/raspimouse_sim/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package raspimouse_sim
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.0 (2024-03-05)
+------------------
+
 2.0.0 (2023-11-07)
 ------------------
 * ROS 2 Humble環境のraspimouse_with_emptyworld.launch.pyを実装 (`#66 <https://github.com/rt-net/raspimouse_sim/issues/66>`_)
diff --git a/raspimouse_sim/package.xml b/raspimouse_sim/package.xml
index ac6070b..cfe26ce 100644
--- a/raspimouse_sim/package.xml
+++ b/raspimouse_sim/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>raspimouse_sim</name>
-  <version>2.0.0</version>
+  <version>2.1.0</version>
   <description>ROS 2 package suite for Raspberry Pi Mouse Simulator</description>
   <maintainer email="shop@rt-net.jp">RT Corporation</maintainer>
   <license>MIT</license>