diff --git a/rmw_connextdds/CHANGELOG.rst b/rmw_connextdds/CHANGELOG.rst
index f4a105db..a757990c 100644
--- a/rmw_connextdds/CHANGELOG.rst
+++ b/rmw_connextdds/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package rmw_connextdds
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+0.16.0 (2023-07-11)
+-------------------
 
 0.15.1 (2023-05-11)
 -------------------
diff --git a/rmw_connextdds/package.xml b/rmw_connextdds/package.xml
index 1739c44d..a046b8cf 100644
--- a/rmw_connextdds/package.xml
+++ b/rmw_connextdds/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>rmw_connextdds</name>
-  <version>0.15.1</version>
+  <version>0.16.0</version>
   <description>A ROS 2 RMW implementation built with RTI Connext DDS Professional.</description>
   <maintainer email="asorbini@rti.com">Andrea Sorbini</maintainer>
   <license>Apache License 2.0</license>
diff --git a/rmw_connextdds_common/CHANGELOG.rst b/rmw_connextdds_common/CHANGELOG.rst
index b902a4cd..2388afa1 100644
--- a/rmw_connextdds_common/CHANGELOG.rst
+++ b/rmw_connextdds_common/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package rmw_connextdds_common
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+0.16.0 (2023-07-11)
+-------------------
 * Add support for listener callbacks (`#76 <https://github.com/ros2/rmw_connextdds/issues/76>`_)
 * Contributors: Andrea Sorbini
 
diff --git a/rmw_connextdds_common/package.xml b/rmw_connextdds_common/package.xml
index e239c398..be3f414d 100644
--- a/rmw_connextdds_common/package.xml
+++ b/rmw_connextdds_common/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>rmw_connextdds_common</name>
-  <version>0.15.1</version>
+  <version>0.16.0</version>
   <description>Common source for RMW implementations built with RTI Connext DDS Professional and RTI Connext DDS Micro.</description>
   <maintainer email="asorbini@rti.com">Andrea Sorbini</maintainer>
   <license>Apache License 2.0</license>
diff --git a/rmw_connextddsmicro/CHANGELOG.rst b/rmw_connextddsmicro/CHANGELOG.rst
index f971a3bd..3210a444 100644
--- a/rmw_connextddsmicro/CHANGELOG.rst
+++ b/rmw_connextddsmicro/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package rmw_connextddsmicro
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+0.16.0 (2023-07-11)
+-------------------
 
 0.15.1 (2023-05-11)
 -------------------
diff --git a/rmw_connextddsmicro/package.xml b/rmw_connextddsmicro/package.xml
index c2bdc5f8..4512382b 100644
--- a/rmw_connextddsmicro/package.xml
+++ b/rmw_connextddsmicro/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>rmw_connextddsmicro</name>
-  <version>0.15.1</version>
+  <version>0.16.0</version>
   <description>A ROS 2 RMW implementation built with RTI Connext DDS Micro.</description>
   <maintainer email="asorbini@rti.com">Andrea Sorbini</maintainer>
   <license>Apache License 2.0</license>
diff --git a/rti_connext_dds_cmake_module/CHANGELOG.rst b/rti_connext_dds_cmake_module/CHANGELOG.rst
index 7cd0dd47..8b572594 100644
--- a/rti_connext_dds_cmake_module/CHANGELOG.rst
+++ b/rti_connext_dds_cmake_module/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package rti_connext_dds_cmake_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+0.16.0 (2023-07-11)
+-------------------
 
 0.15.1 (2023-05-11)
 -------------------
diff --git a/rti_connext_dds_cmake_module/package.xml b/rti_connext_dds_cmake_module/package.xml
index df4e4b8d..61bcdc1a 100644
--- a/rti_connext_dds_cmake_module/package.xml
+++ b/rti_connext_dds_cmake_module/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>rti_connext_dds_cmake_module</name>
-  <version>0.15.1</version>
+  <version>0.16.0</version>
   <description>Helper module to provide access to RTI products like Connext DDS Professional</description>
   <maintainer email="asorbini@rti.com">Andrea Sorbini</maintainer>
   <license>Apache License 2.0</license>