diff --git a/CHANGELOG.md b/CHANGELOG.md
new file mode 100644
index 0000000000000000000000000000000000000000..7e39d86d90fe94905a1a3e191b78e01d9be163b2
--- /dev/null
+++ b/CHANGELOG.md
@@ -0,0 +1,6 @@
+# CHANGELOG
+
+## 0.1.0 - 2017-09-15
+
+  * Initial release
+
diff --git a/franka_control/package.xml b/franka_control/package.xml
index 237176d5db9cec49f26912d37b7456dbb5c7c08e..1d147fc43bb97d3c2dcc61c1fd86907a868d4e68 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>0.0.1</version>
+  <version>0.1.0</version>
   <description>franka_control provides a hardware node to control a Franka Emika research robot</description>
   <maintainer email="info@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 3d26aeb1e16cde3a50788707e8946c2bb86e4693..3c181fe79aa6aa5acc411ac22ac07a4273abe9f6 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>0.0.1</version>
+  <version>0.1.0</version>
   <description>The franka_example_controllers package</description>
   <maintainer email="info@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/franka_gripper/package.xml b/franka_gripper/package.xml
index e5926cc06165c1faa945f36520e54767229bad8b..e03f800d43e30432064e9e62d0afa8674b40542f 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>0.0.1</version>
+  <version>0.1.0</version>
   <description>This package implements the franka gripper of type Franka Hand for the use in ros</description>
   <maintainer email="info@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/franka_hw/package.xml b/franka_hw/package.xml
index d549cf6be3dddb31cbc05ad19fdaaf0c0868786d..4654603b7e568537f61a64db663af534ef1f323a 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>0.0.1</version>
+  <version>0.1.0</version>
   <description>franka_hw provides hardware interfaces for using Franka Emika research robots with ros_control</description>
   <maintainer email="info@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/franka_msgs/package.xml b/franka_msgs/package.xml
index 56d76ff30eede5ba51853457dc46445345954629..bbe272e5633c3963139025156049e931dab632b9 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>0.0.1</version>
+  <version>0.1.0</version>
   <description>franka_msgs provides messages specific to Franka Emika research robots</description>
   <maintainer email="info@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/franka_ros/package.xml b/franka_ros/package.xml
index ebba6e0c9a5a74ab67e055aa05734cc1a293ac8a..56d5835817905348b6d94ba83f0fa4c449daf0f6 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>0.0.1</version>
+  <version>0.1.0</version>
   <description>franka_ros is a metapackage for all Franka Emika ROS packages</description>
   <maintainer email="info@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/franka_visualization/package.xml b/franka_visualization/package.xml
index e96375901e31d0dea0f5fdba3b9ff9ed22697857..7ce0492d7476e3ee634209e472793966fb4b98b6 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>0.0.1</version>
+  <version>0.1.0</version>
   <description>This package contains visualization tools for Franka Emika.</description>
   <maintainer email="info@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 870bd05a3bbd65504f8e9aa1e973f8c9a134bb06..b679caff81af43c130234efc972fd7f419b6c5d4 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>0.0.1</version>
+  <version>0.1.0</version>
   <description> A partly automatically generated package with all the configuration and launch files for using Panda research with MoveIt!</description>
   <maintainer email="info@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>