diff --git a/homer_map_manager/CHANGELOG.rst b/homer_map_manager/CHANGELOG.rst
index 1b0e0917865be98bd78e11d3fd84ebafdf02daa9..e4595b685087282c2ecf8cf2b316a8d4d244a0ca 100644
--- a/homer_map_manager/CHANGELOG.rst
+++ b/homer_map_manager/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package homer_map_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+0.1.21 (2017-03-21)
+-------------------
 * autoformat
 * typo
 * send merged map on masking update
diff --git a/homer_map_manager/package.xml b/homer_map_manager/package.xml
index e4ad289e4313f889a779000906c94dd439ac49a2..f451c8bb9158644a36b17686d09e4624745b3e33 100644
--- a/homer_map_manager/package.xml
+++ b/homer_map_manager/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>homer_map_manager</name>
-  <version>0.1.20</version>
+  <version>0.1.21</version>
   <description>
      map_manager
   </description>
diff --git a/homer_mapnav_msgs/CHANGELOG.rst b/homer_mapnav_msgs/CHANGELOG.rst
index 9a4e8bb97ba5b9a2c8e59895b2e911039f0b4241..d14f6b3496152fae12103798836ee63183aa4225 100644
--- a/homer_mapnav_msgs/CHANGELOG.rst
+++ b/homer_mapnav_msgs/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package homer_mapnav_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+0.1.21 (2017-03-21)
+-------------------
 
 0.1.19 (2017-03-02)
 -------------------
diff --git a/homer_mapnav_msgs/package.xml b/homer_mapnav_msgs/package.xml
index 25ae48ca56addc3d304cfbfd69360a03ab770411..9f6268a324b07035a70377750e1b85828d7cc50d 100644
--- a/homer_mapnav_msgs/package.xml
+++ b/homer_mapnav_msgs/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>homer_mapnav_msgs</name>
-  <version>0.1.20</version>
+  <version>0.1.21</version>
   <description> homer_mapnav_msgs contains the messages used for mapping and navigation
   </description>
   <maintainer email="fpolster@uni-koblenz.de">Florian Polster</maintainer>
diff --git a/homer_mapping/CHANGELOG.rst b/homer_mapping/CHANGELOG.rst
index 8beb08c6afa4164c5aafcf38afddd2b1a6a8e330..7664afacc8efc480da8fdd1bb42dbf06686ccdb2 100644
--- a/homer_mapping/CHANGELOG.rst
+++ b/homer_mapping/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package homer_mapping
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+0.1.21 (2017-03-21)
+-------------------
 * clang format
 * merge with clang format
 * clang format
diff --git a/homer_mapping/package.xml b/homer_mapping/package.xml
index a9ad8827ccaf3b759f6b77afed13f128755a4bd6..a1a3570e98afcf17f9061bf7eaa298ddb23bc5dc 100644
--- a/homer_mapping/package.xml
+++ b/homer_mapping/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>homer_mapping</name>
-  <version>0.1.20</version>
+  <version>0.1.21</version>
   <description>
 
      homer_mapping
diff --git a/homer_nav_libs/CHANGELOG.rst b/homer_nav_libs/CHANGELOG.rst
index 489db1e43b9f218a185f2e652c7ee1cb9d8e0e7c..7e10f155796d08121c657ac552e8d544af617162 100644
--- a/homer_nav_libs/CHANGELOG.rst
+++ b/homer_nav_libs/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package homer_nav_libs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+0.1.21 (2017-03-21)
+-------------------
 * autoformat
 * Contributors: Niklas Yann Wettengel
 
diff --git a/homer_nav_libs/package.xml b/homer_nav_libs/package.xml
index 96dc8dd2b438fdf12dc8b11539c1e4f31cfcfcd2..fdce9929aabd178ea3c82e490bac44d4f226e838 100644
--- a/homer_nav_libs/package.xml
+++ b/homer_nav_libs/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>homer_nav_libs</name>
-  <version>0.1.20</version>
+  <version>0.1.21</version>
   <description>The nav_libs package</description>
 
   <maintainer email="fpolster@uni-koblenz.de">Florian Polster</maintainer>
diff --git a/homer_navigation/CHANGELOG.rst b/homer_navigation/CHANGELOG.rst
index b23ed661c242956affe0c9ffc073ce1e58f326bd..b5860e78c49a08e3af6fec268dc5876bcd4052d6 100644
--- a/homer_navigation/CHANGELOG.rst
+++ b/homer_navigation/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package homer_navigation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+0.1.21 (2017-03-21)
+-------------------
 * autoformat
 * Contributors: Niklas Yann Wettengel
 
diff --git a/homer_navigation/package.xml b/homer_navigation/package.xml
index 3234b6a4635752e1d761581cbd08b946dae6f4e6..371e85046d2f44b42c0340016b45dccb7adbcb47 100644
--- a/homer_navigation/package.xml
+++ b/homer_navigation/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>homer_navigation</name>
-  <version>0.1.20</version>
+  <version>0.1.21</version>
   <description>The homer_navigation package</description>
 
   <maintainer email="fpolster@uni-koblenz.de">Florian Polster</maintainer>