diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 0c3926b..56aca0b 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,13 @@
 Changelog for package geometric_shapes
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.0 (2024-11-29)
+------------------
+* Install headers into subdirectory (`#253 <https://github.com/moveit/geometric_shapes/issues/253>`_)
+* Added bodies::Body::computeBoundingBox (oriented box version) (`#239 <https://github.com/moveit/geometric_shapes/issues/239>`_)
+* Improve padding of meshes using weighted vertex normals (`#240 <https://github.com/moveit/geometric_shapes/issues/240>`_)
+* Contributors: Kenji Brameld (TRACLabs), Robert Haschke, Sebastian Castro, Sebastian Pelletier, Tyler Mayoff
+
 2.2.1 (2024-06-26)
 ------------------
 * Use the system version of octomap (`#244 <https://github.com/ros-planning/geometric_shapes/issues/244>`_)
diff --git a/package.xml b/package.xml
index 724cc4b..dfafaf4 100644
--- a/package.xml
+++ b/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>geometric_shapes</name>
-  <version>2.2.1</version>
+  <version>2.3.0</version>
   <description>This package contains generic definitions of geometric shapes and bodies.</description>
 
   <author email="isucan@google.com">Ioan Sucan</author>