diff --git a/CHANGELOG.md b/CHANGELOG.md
index b51f947910879a73e0a95ef13b787c9626cc4f96..98705a0867fc64527bebc5568fe1ffe69472df03 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,13 @@
 # CHANGELOG
 
+## 0.5.0 - 2018-06-28
+
+Requires `libfranka` >= 0.4.0
+
+  * **BREAKING** Updated URDF:
+    * Adjusted maximum joint velocity
+    * Updated axis 4 hard and soft limits
+
 ## 0.4.1 - 2018-06-21
 
 Requires `libfranka` >= 0.3.0
diff --git a/franka_control/CMakeLists.txt b/franka_control/CMakeLists.txt
index bf926fba094c137034388704faa00b83044f02e8..d299f857b2c1ca12da472b55b058684160db6c2d 100644
--- a/franka_control/CMakeLists.txt
+++ b/franka_control/CMakeLists.txt
@@ -21,7 +21,7 @@ find_package(catkin REQUIRED COMPONENTS
   tf2_msgs
 )
 
-find_package(Franka 0.3.0 REQUIRED)
+find_package(Franka 0.4.0 REQUIRED)
 
 add_service_files(FILES
   SetCartesianImpedance.srv
diff --git a/franka_control/package.xml b/franka_control/package.xml
index 0ab337d8902d118e086e7f122370ce1f17b4b232..738b5874e4d92b24d816da35e3371d311ed2922a 100644
--- a/franka_control/package.xml
+++ b/franka_control/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>franka_control</name>
-  <version>0.4.1</version>
+  <version>0.5.0</version>
   <description>franka_control provides a hardware node to control a Franka Emika research robot</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/franka_description/package.xml b/franka_description/package.xml
index d61e6a9630423980d4def03d699f64d4c3041ec6..e793c1e9dc0dfba136a08ea36c8d471d13e0bef7 100644
--- a/franka_description/package.xml
+++ b/franka_description/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>franka_description</name>
-  <version>0.4.1</version>
+  <version>0.5.0</version>
   <description>franka_description contains URDF files and meshes of Franka Emika robots</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/franka_example_controllers/package.xml b/franka_example_controllers/package.xml
index 79620acf101228f7fc2b8e52756379864f2d0e30..8068b48b14a396f4d46924d7167bfc9702025516 100644
--- a/franka_example_controllers/package.xml
+++ b/franka_example_controllers/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>franka_example_controllers</name>
-  <version>0.4.1</version>
+  <version>0.5.0</version>
   <description>franka_example_controllers provides example code for controlling Franka Emika research robots with ros_control</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/franka_gripper/CMakeLists.txt b/franka_gripper/CMakeLists.txt
index 3055ed44345a2076f91a81539141148d1253892b..b623d556596e5f2423449edbca4eefb00a3ff5be 100644
--- a/franka_gripper/CMakeLists.txt
+++ b/franka_gripper/CMakeLists.txt
@@ -14,7 +14,7 @@ find_package(catkin REQUIRED COMPONENTS
   actionlib_msgs
 )
 
-find_package(Franka 0.3.0 REQUIRED)
+find_package(Franka 0.4.0 REQUIRED)
 
 add_action_files(
   DIRECTORY action
diff --git a/franka_gripper/package.xml b/franka_gripper/package.xml
index 85d5543553d567601ead7f21aba1b60a722ebd3d..218475d19ca92dc63e86371b8321edda145cfcba 100644
--- a/franka_gripper/package.xml
+++ b/franka_gripper/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>franka_gripper</name>
-  <version>0.4.1</version>
+  <version>0.5.0</version>
   <description>This package implements the franka gripper of type Franka Hand for the use in ros</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/franka_hw/CMakeLists.txt b/franka_hw/CMakeLists.txt
index 0dcf4852d6b41dcacf5734e39ddeefaed93d42d4..7ee51468007e4cafdd59c7b91d88e3e5bc9acfa2 100644
--- a/franka_hw/CMakeLists.txt
+++ b/franka_hw/CMakeLists.txt
@@ -11,7 +11,7 @@ find_package(catkin REQUIRED COMPONENTS
   roscpp
 )
 
-find_package(Franka 0.3.0 REQUIRED)
+find_package(Franka 0.4.0 REQUIRED)
 
 catkin_package(
   INCLUDE_DIRS include
diff --git a/franka_hw/package.xml b/franka_hw/package.xml
index da3027ced1014039a5b6133ef40a51b715284ad9..ae2a2bd224319e9c665b40809f99375334e4c29d 100644
--- a/franka_hw/package.xml
+++ b/franka_hw/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>franka_hw</name>
-  <version>0.4.1</version>
+  <version>0.5.0</version>
   <description>franka_hw provides hardware interfaces for using Franka Emika research robots with ros_control</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/franka_msgs/package.xml b/franka_msgs/package.xml
index 56bf65ec21de96d6fc74afe3ca66ee951c23d260..0bfe4336878fb977ee93514f856032c5d311c595 100644
--- a/franka_msgs/package.xml
+++ b/franka_msgs/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>franka_msgs</name>
-  <version>0.4.1</version>
+  <version>0.5.0</version>
   <description>franka_msgs provides messages specific to Franka Emika research robots</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/franka_ros/package.xml b/franka_ros/package.xml
index 28a99b0a692283a35f0d25e74c3497dbab8e0d56..099ccaaa05ba9ea1cfadb770e96f6f116c9dc2f9 100644
--- a/franka_ros/package.xml
+++ b/franka_ros/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>franka_ros</name>
-  <version>0.4.1</version>
+  <version>0.5.0</version>
   <description>franka_ros is a metapackage for all Franka Emika ROS packages</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/franka_visualization/package.xml b/franka_visualization/package.xml
index 8f51cd172636418f24d739da68c483424e35aa0c..a9f1c505fd33705c223abb7652fdcceac1d813d3 100644
--- a/franka_visualization/package.xml
+++ b/franka_visualization/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>franka_visualization</name>
-  <version>0.4.1</version>
+  <version>0.5.0</version>
   <description>This package contains visualization tools for Franka Emika.</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/panda_moveit_config/package.xml b/panda_moveit_config/package.xml
index 2bf3e31bac2cab3c6a0d4d615a8e510194fca652..0719e1afabcc1d90faad889e0d3d4dc51f55224a 100644
--- a/panda_moveit_config/package.xml
+++ b/panda_moveit_config/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>panda_moveit_config</name>
-  <version>0.4.1</version>
+  <version>0.5.0</version>
   <description> A partly automatically generated package with all the configuration and launch files for using Panda research with MoveIt!</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>