diff --git a/micro_ros_agent/CHANGELOG.rst b/micro_ros_agent/CHANGELOG.rst
index 970b1e8..7833fb4 100644
--- a/micro_ros_agent/CHANGELOG.rst
+++ b/micro_ros_agent/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+4.0.4 (2024-01-29)
+------------------
 * Fix thread include (`#216 <https://github.com/micro-ROS/micro-ROS-Agent/issues/216>`_)
   * Fix thread include
   * Update CI
diff --git a/micro_ros_agent/package.xml b/micro_ros_agent/package.xml
index 6aa03d7..accb6f3 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>4.0.3</version>
+  <version>4.0.4</version>
   <description>micro-ROS Agent package</description>
   <maintainer email="pablogarrido@eprosima.com">Pablo Garrido</maintainer>
   <maintainer email="antoniocuadros@eprosima.com">Antonio Cuadros</maintainer>