diff --git a/.github/workflows/abi.yaml b/.github/workflows/abi.yaml
index 150d77ec0c..112ffc150e 100644
--- a/.github/workflows/abi.yaml
+++ b/.github/workflows/abi.yaml
@@ -20,7 +20,7 @@ jobs:
       BASEDIR: /home/runner/work
       DOCKER_IMAGE: rhaschke/ici:rviz-${{ matrix.distro }}-${{ matrix.repo || 'ros' }}
       CACHE_PREFIX: ${{ matrix.distro }}
-      ABICHECK_URL: github:ros-visualization/rviz#15e148d0e4af0522c0494e83eb9f440f37c02b82
+      ABICHECK_URL: github:ros-visualization/rviz#1.14.20
       GHA_CACHE_SAVE: always
 
     name: "check"
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 7df6cea9bb..7d7782a29b 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package rviz
 ^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.14.20 (2023-03-30)
+--------------------
+* Improvements to TF display (`#1789 <https://github.com/ros-visualization/rviz/issues/1789>`_)
+
+  - Add regex filters (white+black list) to TF Display (`#1744 <https://github.com/ros-visualization/rviz/issues/1744>`_)
+  - Reparent children to root tree node when deleting a frame
+  - Insert frame properties sorted
+  - Create tree nodes also if the frame is not connected to rviz' global frame
+* RobotModel: Fix orientation of joint axis arrow (`#1788 <https://github.com/ros-visualization/rviz/issues/1788>`_)
+* Use static QCoreApplication::processEvents() w/o QApplication instance (`#1772 <https://github.com/ros-visualization/rviz/issues/1772>`_)
+* Contributors: Blaz Potokar, Robert Haschke, Yannis Gerlach
+
 1.14.19 (2022-08-14)
 --------------------
 * Fixup to `#1760 <https://github.com/ros-visualization/rviz/issues/1760>`_, SplitterHandle (`#1766 <https://github.com/ros-visualization/rviz/issues/1766>`_)
diff --git a/package.xml b/package.xml
index 06542388e7..1760d2eafc 100644
--- a/package.xml
+++ b/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>rviz</name>
-  <version>1.14.19</version>
+  <version>1.14.20</version>
   <description>
      3D visualization tool for ROS.
   </description>