diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index cfdcda4..17cbcb0 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package micro_ros_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+5.0.2 (2024-05-31)
+------------------
 
 5.0.1 (2024-02-01)
 ------------------
diff --git a/package.xml b/package.xml
index 8e43aa9..062def8 100644
--- a/package.xml
+++ b/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_msgs</name>
-  <version>5.0.1</version>
+  <version>5.0.2</version>
   <description>Definitions for the ROS 2 msgs entities information used by micro-ROS to leverage its functionality to the same level as ROS 2, by means of a dedicated graph manager</description>
   <maintainer email="pablogarrido@eprosima.com">Pablo Garrido</maintainer>
   <license>Apache License 2.0</license>