diff --git a/CHANGELOG.md b/CHANGELOG.md
index 54b5de1b1ae8832aa51f3e9b763b141609f9e9a5..6178646ba0ad44f5a170b41b92e80e4775a9e089 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,11 @@
 # CHANGELOG
 
+## 0.4.1 - UNRELEASED
+
+Requires `libfranka` >= 0.3.0
+
+  * Added some missing includes to `franka_hw`
+
 ## 0.4.0 - 2018-03-26
 
 Requires `libfranka` >= 0.3.0
diff --git a/franka_control/package.xml b/franka_control/package.xml
index 8a08ae4f0e198cf871f88aa1157c6f2698f0b250..0ab337d8902d118e086e7f122370ce1f17b4b232 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>0.4.0</version>
+  <version>0.4.1</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 a3b09e7c05fac6e47a9b2245e13ac266dadf1a02..d61e6a9630423980d4def03d699f64d4c3041ec6 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>0.4.0</version>
+  <version>0.4.1</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 90f43393ff83f2bc94b0577e7c9d2fc1154211d6..79620acf101228f7fc2b8e52756379864f2d0e30 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>0.4.0</version>
+  <version>0.4.1</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/package.xml b/franka_gripper/package.xml
index 46934f26ab4710aecacdc2ea89fb81f8979139f6..85d5543553d567601ead7f21aba1b60a722ebd3d 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>0.4.0</version>
+  <version>0.4.1</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/include/franka_hw/control_mode.h b/franka_hw/include/franka_hw/control_mode.h
index 281f842a3b1e9e1ed69f1934a9ab401a12e874cd..ccf6915a76fb9a772647ec5a0dd6ca99ebbc8f7e 100644
--- a/franka_hw/include/franka_hw/control_mode.h
+++ b/franka_hw/include/franka_hw/control_mode.h
@@ -3,6 +3,7 @@
 #pragma once
 
 #include <ostream>
+#include <type_traits>
 
 namespace franka_hw {
 
diff --git a/franka_hw/package.xml b/franka_hw/package.xml
index 2df78856ad630527b1f26d51cfedf231b09416a7..da3027ced1014039a5b6133ef40a51b715284ad9 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>0.4.0</version>
+  <version>0.4.1</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_hw/src/control_mode.cpp b/franka_hw/src/control_mode.cpp
index 8ff3d47211d85f1abd4fc997633f67b8cdcbb144..c8c724fecbb3a8eb4764f2e770973e20f31b6cf9 100644
--- a/franka_hw/src/control_mode.cpp
+++ b/franka_hw/src/control_mode.cpp
@@ -4,6 +4,7 @@
 
 #include <algorithm>
 #include <iterator>
+#include <string>
 #include <vector>
 
 namespace franka_hw {
diff --git a/franka_msgs/package.xml b/franka_msgs/package.xml
index d7717acafc601a25e1844a8fd3917749d1baf74d..56bf65ec21de96d6fc74afe3ca66ee951c23d260 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>0.4.0</version>
+  <version>0.4.1</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 3948a55a2d61500bbf7cdbbbb14edf0571851ac8..28a99b0a692283a35f0d25e74c3497dbab8e0d56 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>0.4.0</version>
+  <version>0.4.1</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 279ae10e5fe2f2a93a0ac62c28b080f00b828d1e..8f51cd172636418f24d739da68c483424e35aa0c 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>0.4.0</version>
+  <version>0.4.1</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 076bf5e62bdac1182db51437114f28d55c135ad0..2bf3e31bac2cab3c6a0d4d615a8e510194fca652 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>0.4.0</version>
+  <version>0.4.1</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>