diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 50896508..cf4f07e0 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package ur_client_library
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+1.3.4 (2023-09-22)
+------------------
 * Make depreaction warning for keepalive_counter a warning instead of error (`#182 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/182>`_)
 * Added watchdog configuration for the reverse socket (`#178 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/178>`_)
 * Add support for ur20 in start_ursim script (`#179 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/179>`_)
diff --git a/package.xml b/package.xml
index 6887846e..0a4b7938 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>ur_client_library</name>
-  <version>1.3.3</version>
+  <version>1.3.4</version>
   <description>Standalone C++ library for accessing Universal Robots interfaces. This has been forked off the ur_robot_driver.</description>
   <author>Thomas Timm Andersen</author>
   <author>Simon Rasmussen</author>