diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 530d315c..de116b81 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,16 @@
 Changelog for package ur_client_library
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.0 (2025-10-13)
+------------------
+* UR18 support (`#387 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/387>`_)
+* Remove output_bit_register_0...63 and input_bit_register_0..63 from RTDE list (`#385 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/385>`_)
+* Set force mode parameters from config (`#383 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/383>`_)
+* Direct torque control (`#381 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/381>`_)
+* Update RTDE list to include new fields (`#380 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/380>`_)
+* Add const qualifier to get functions and changed map value retrieval to at() function (`#379 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/379>`_)
+* Contributors: Dominic Reber, Felix Exner, Pablo David Aranda Rodriguez, URJala
+
 2.3.0 (2025-09-15)
 ------------------
 * Install endian header on Windows and Apple only (`#372 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/372>`_)
diff --git a/package.xml b/package.xml
index 1139d22e..f586cf5f 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>2.3.0</version>
+  <version>2.4.0</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>