diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 65aa14e..62da7e9 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package control_toolbox
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+3.4.0 (2024-12-08)
+------------------
 * Add job for clang build (`#239 <https://github.com/ros-controls/control_toolbox/issues/239>`_)
 * Fix bug in rate_limiter filter and add more tests (`#237 <https://github.com/ros-controls/control_toolbox/issues/237>`_)
 * Fix jerk limiter in rate_limiter (`#240 <https://github.com/ros-controls/control_toolbox/issues/240>`_)
diff --git a/package.xml b/package.xml
index b055c58..0121fea 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>control_toolbox</name>
-  <version>3.3.0</version>
+  <version>3.4.0</version>
   <description>The control toolbox contains modules that are useful across all controllers.</description>
 
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>