diff --git a/control_msgs/CHANGELOG.rst b/control_msgs/CHANGELOG.rst
index a87a0df..373aad8 100644
--- a/control_msgs/CHANGELOG.rst
+++ b/control_msgs/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package control_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+5.0.0 (2023-04-28)
+------------------
 * Update JTC state message (`#86 <https://github.com/ros-controls/control_msgs/issues/86>`_)
 * Contributors: Christoph Fröhlich
 
diff --git a/control_msgs/package.xml b/control_msgs/package.xml
index 4556aad..83b79a0 100644
--- a/control_msgs/package.xml
+++ b/control_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>control_msgs</name>
-  <version>4.3.0</version>
+  <version>5.0.0</version>
   <description>
     control_msgs contains base messages and actions useful for
     controlling robots.  It provides representations for controller