diff --git a/micro_ros_agent/CHANGELOG.rst b/micro_ros_agent/CHANGELOG.rst
index 9467182..5dc3caf 100644
--- a/micro_ros_agent/CHANGELOG.rst
+++ b/micro_ros_agent/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+4.0.1 (2022-06-13)
+------------------
 * Fix memory leak in graph manager (`#147 <https://github.com/micro-ROS/micro-ROS-Agent/issues/147>`_) (`#148 <https://github.com/micro-ROS/micro-ROS-Agent/issues/148>`_)
 
 4.0.0 (2022-05-25)
diff --git a/micro_ros_agent/package.xml b/micro_ros_agent/package.xml
index 204d1ab..c4db0ff 100644
--- a/micro_ros_agent/package.xml
+++ b/micro_ros_agent/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>micro_ros_agent</name>
-  <version>4.0.0</version>
+  <version>4.0.1</version>
   <description>micro-ROS Agent package</description>
   <maintainer email="pablogarrido@eprosima.com">Pablo Garrido</maintainer>
   <maintainer email="antoniocuadros@eprosima.com">Antonio Cuadros</maintainer>