diff --git a/point_cloud_transport/CHANGELOG.rst b/point_cloud_transport/CHANGELOG.rst
index 6792bbe..39bbe48 100644
--- a/point_cloud_transport/CHANGELOG.rst
+++ b/point_cloud_transport/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package point_cloud_transport
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+5.0.4 (2024-10-03)
+------------------
 
 5.0.3 (2024-07-19)
 ------------------
diff --git a/point_cloud_transport/package.xml b/point_cloud_transport/package.xml
index 6062dfd..c3d1f53 100644
--- a/point_cloud_transport/package.xml
+++ b/point_cloud_transport/package.xml
@@ -1,7 +1,7 @@
 <package format="3">
   <name>point_cloud_transport</name>
 
-  <version>5.0.3</version>
+  <version>5.0.4</version>
 
   <description>
     Support for transporting PointCloud2 messages in compressed format and plugin interface for implementing additional PointCloud2 transports.
diff --git a/point_cloud_transport_py/CHANGELOG.rst b/point_cloud_transport_py/CHANGELOG.rst
index f5194ce..b732fa0 100644
--- a/point_cloud_transport_py/CHANGELOG.rst
+++ b/point_cloud_transport_py/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package point_cloud_transport_py
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+5.0.4 (2024-10-03)
+------------------
 * remove extra semicolon (`#98 <https://github.com/ros-perception/point_cloud_transport/issues/98>`_)
 * Contributors: Manu
 
diff --git a/point_cloud_transport_py/package.xml b/point_cloud_transport_py/package.xml
index 291c2c8..8002565 100644
--- a/point_cloud_transport_py/package.xml
+++ b/point_cloud_transport_py/package.xml
@@ -1,7 +1,7 @@
 <package format="3">
   <name>point_cloud_transport_py</name>
 
-  <version>5.0.3</version>
+  <version>5.0.4</version>
 
   <description>Python API for point_cloud_transport</description>