diff --git a/pluginlib/CHANGELOG.rst b/pluginlib/CHANGELOG.rst
index 5dd720f..416f4c6 100644
--- a/pluginlib/CHANGELOG.rst
+++ b/pluginlib/CHANGELOG.rst
@@ -3,8 +3,8 @@ Changelog for package pluginlib
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
-Forthcoming
------------
+5.4.1 (2024-01-24)
+------------------
 * Remove redundant throw of a std::runtime_error (`#232 <https://github.com/ros/pluginlib/issues/232>`_)
 * Contributors: Hunter L. Allen
 
diff --git a/pluginlib/package.xml b/pluginlib/package.xml
index 7560f37..eec3ab4 100644
--- a/pluginlib/package.xml
+++ b/pluginlib/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="2">
   <name>pluginlib</name>
-  <version>5.4.0</version>
+  <version>5.4.1</version>
   <description>
     The pluginlib package provides tools for writing and dynamically loading plugins using the ROS build infrastructure.
     To work, these tools require plugin providers to register their plugins in the package.xml of their package.