diff --git a/gz_ros2_control_tests/package.xml b/gz_ros2_control_tests/package.xml
index b17b790b..83d7a7f4 100644
--- a/gz_ros2_control_tests/package.xml
+++ b/gz_ros2_control_tests/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>gz_ros2_control_tests</name>
-  <version>0.4.3</version>
+  <version>0.7.0</version>
   <description>Gazebo ros2 control tests</description>
   <maintainer email="alejandro@openrobotics.org">Alejandro Hernández</maintainer>
   <license>Apache License 2.0</license>
diff --git a/ign_ros2_control/CHANGELOG.rst b/ign_ros2_control/CHANGELOG.rst
index 59a8d6f5..98bba3ff 100644
--- a/ign_ros2_control/CHANGELOG.rst
+++ b/ign_ros2_control/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package ign_ros2_control
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.7.1 (2023-08-23)
+------------------
+* Catch pluginlib exceptions (backport `#175 <https://github.com/ros-controls/gz_ros2_control/issues/175>`_) (`#176 <https://github.com/ros-controls/gz_ros2_control/issues/176>`_)
+* Fixed install include (`#162 <https://github.com/ros-controls/gz_ros2_control/issues/162>`_)
+* Install include directory since it is exported (`#127 <https://github.com/ros-controls/gz_ros2_control/issues/127>`_) (`#161 <https://github.com/ros-controls/gz_ros2_control/issues/161>`_)
+  (cherry picked from commit ab33f76d158e533c21537bc408f636831819e875)
+  Co-authored-by: Tim Clephas <tim.clephas@nobleo.nl>
+* Remove plugin export (ROS 1 syntax) (backport `#158 <https://github.com/ros-controls/gz_ros2_control/issues/158>`_) (`#159 <https://github.com/ros-controls/gz_ros2_control/issues/159>`_)
+  * Remove plugin export from ROS 1 (`#158 <https://github.com/ros-controls/gz_ros2_control/issues/158>`_)
+  (cherry picked from commit 223086dea282ea3ff2c432414396952b9cfeec88)
+  Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
+  Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
+* Contributors: Alejandro Hernández Cordero, Christoph Fröhlich, mergify[bot]
+
 0.5.0 (2023-05-23)
 ------------------
 * Fixed segmentation fault with logger (backport `#136 <https://github.com/ros-controls/gz_ros2_control/issues/136>`_) (`#140 <https://github.com/ros-controls/gz_ros2_control/issues/140>`_)
@@ -33,7 +47,6 @@ Changelog for package ign_ros2_control
 * ros2_control is now having usings under its namespace. (`#43 <https://github.com/ros-controls/gz_ros2_control/issues/43>`_)
 * Fix default ign gazebo version Rolling (`#45 <https://github.com/ros-controls/gz_ros2_control/issues/45>`_)
 * Fix ignition version in package.xml - Rolling (`#41 <https://github.com/ros-controls/gz_ros2_control/issues/41>`_)
-* Fixed position control (`#29 <https://github.com/ros-controls/gz_ros2_control/issues/29>`_)
 * Add support for initial_values for hardware interfaces when starting simulation. (`#27 <https://github.com/ros-controls/gz_ros2_control/issues/27>`_)
 * Contributors: Alejandro Hernández Cordero, Denis Štogl, Guillaume Beuzeboc, Tianyu Li
 
@@ -52,7 +65,6 @@ Changelog for package ign_ros2_control
 * Merge pull request `#36 <https://github.com/ignitionrobotics/ign_ros2_control/issues/36>`_ from ignitionrobotics/ahcorde/foxy_to_galactic
   Foxy -> Galactic
 * Merge remote-tracking branch 'origin/foxy' into ahcorde/foxy_to_galactic
-* Fixed position control (`#29 <https://github.com/ignitionrobotics/ign_ros2_control/issues/29>`_)
 * typo fix. (`#25 <https://github.com/ignitionrobotics/ign_ros2_control/issues/25>`_)
 * Contributors: Alejandro Hernández Cordero, Tomoya Fujita
 
diff --git a/ign_ros2_control_demos/CHANGELOG.rst b/ign_ros2_control_demos/CHANGELOG.rst
index 05994748..c42c5a82 100644
--- a/ign_ros2_control_demos/CHANGELOG.rst
+++ b/ign_ros2_control_demos/CHANGELOG.rst
@@ -2,6 +2,16 @@
 Changelog for package ign_ros2_control_demos
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.7.1 (2023-08-23)
+------------------
+* Set C++ version to 17 (`#171 <https://github.com/ros-controls/gz_ros2_control/issues/171>`_) (`#174 <https://github.com/ros-controls/gz_ros2_control/issues/174>`_)
+  (cherry picked from commit 353b5a001733612241049557a907f835b53f35ac)
+  Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
+* Update diff_drive_controller_velocity.yaml (`#172 <https://github.com/ros-controls/gz_ros2_control/issues/172>`_) (`#173 <https://github.com/ros-controls/gz_ros2_control/issues/173>`_)
+  (cherry picked from commit 7559d9bfe9dc836a7fc4907cc234554600e54b14)
+  Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
+* Contributors: Alejandro Hernández Cordero, mergify[bot]
+
 0.5.0 (2023-05-23)
 ------------------
 * Clean shutdown example position (`#135 <https://github.com/ros-controls/gz_ros2_control/issues/135>`_) (`#139 <https://github.com/ros-controls/gz_ros2_control/issues/139>`_)
@@ -41,7 +51,7 @@ Changelog for package ign_ros2_control_demos
 ------------------
 
 0.3.0 (2022-03-16)
------------
+------------------
 
 0.2.0 (2022-02-17)
 ------------------