diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 3f210dd4..82ab18db 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,15 @@
 Changelog for package ur_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.2 (2023-11-17)
+------------------
+* Add license comment to package.xml (`#107 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/issues/107>`_)
+* License update for README (`#108 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/issues/108>`_)
+* Default to non_blocking_read=true (`#115 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/issues/115>`_)
+* added possibility to change reverse_port, script_sender_port and trajectory_port (`#105 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/issues/105>`_) (`#106 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/issues/106>`_)
+* Update README regarding distribution branches (`#80 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/issues/80>`_) (`#86 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/issues/86>`_)
+* Contributors: Felix Exner, Rune Søe-Knudsen, mergify[bot]
+
 2.1.1 (2023-09-08)
 ------------------
 * Update the joint limits for UR20 (`#99 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/issues/99>`_)
diff --git a/package.xml b/package.xml
index 3f78b3de..3d0f3469 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>ur_description</name>
-  <version>2.1.1</version>
+  <version>2.1.2</version>
   <description>
     URDF description for Universal Robots
   </description>