diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 1691a5b..8de5d94 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -4,7 +4,11 @@ Changelog
 
 Forthcoming
 -----------
-* [trees] public with/without memory information
+* ...
+
+2.1.1 (2021-05-09)
+------------------
+* [trees] publish with/without memory information (supports new selector/sequence modes)
 
 2.1.0 (2020-08-02)
 ------------------
diff --git a/doc/conf.py b/doc/conf.py
index 484eca4..0da064c 100644
--- a/doc/conf.py
+++ b/doc/conf.py
@@ -48,7 +48,7 @@
 # The short X.Y version.
 version = "2.1"
 # The full version, including alpha/beta/rc tags.
-release = "2.1.0"
+release = "2.1.1"
 
 ##############################################################################
 # Regular Sphinx Configuration
diff --git a/package.xml b/package.xml
index 98eee0f..52792d4 100644
--- a/package.xml
+++ b/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>py_trees_ros</name>
-  <version>2.1.0</version>
+  <version>2.1.1</version>
   <description>
     ROS2 extensions and behaviours for py_trees.
   </description>
diff --git a/py_trees_ros/version.py b/py_trees_ros/version.py
index 2803e81..c2e1d28 100644
--- a/py_trees_ros/version.py
+++ b/py_trees_ros/version.py
@@ -15,4 +15,4 @@
 # Version
 ##############################################################################
 
-__version__ = '2.1.0'
+__version__ = '2.1.1'
diff --git a/setup.py b/setup.py
index 7829d52..62836cd 100644
--- a/setup.py
+++ b/setup.py
@@ -7,7 +7,7 @@
 
 setup(
     name=package_name,
-    version='2.1.0',  # also package.xml, doc/conf.py, py_trees_ros/version.py
+    version='2.1.1',  # also package.xml, doc/conf.py, py_trees_ros/version.py
     packages=find_packages(
         exclude=['doc*', 'tests*', 'graveyard*', 'scripts*']
     ),