diff --git a/.bumpversion.cfg b/.bumpversion.cfg
index 169ed5b..61dc669 100644
--- a/.bumpversion.cfg
+++ b/.bumpversion.cfg
@@ -1,5 +1,5 @@
 [bumpversion]
-current_version = 2.0.1
+current_version = 2.1.0
 message = Bump version to {new_version}
 commit = True
 tag = True
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index c4ed692..5dec664 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -12,6 +12,19 @@ Unreleased
 
 **Added**
 
+**Changed**
+
+**Fixed**
+
+**Deprecated**
+
+**Removed**
+
+2.1.0
+----------
+
+**Added**
+
 * Added an asyncio transport backend (Autobahn running on an asyncio event
   loop instead of the Twisted reactor) selectable with ``ROSLIBPY_TRANSPORT``,
   ``set_default_transport()``, or the ``Ros(..., transport=...)`` argument.
diff --git a/docs/conf.py b/docs/conf.py
index 92de844..e42a090 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -25,7 +25,7 @@
 year = "2019"
 author = "Gramazio Kohler Research"
 copyright = "{0}, {1}".format(year, author)
-version = release = "2.0.1"
+version = release = "2.1.0"
 
 pygments_style = "trac"  # Perhaps change to sphinx
 templates_path = ["."]
diff --git a/src/roslibpy/__version__.py b/src/roslibpy/__version__.py
index a75431d..224e5f5 100644
--- a/src/roslibpy/__version__.py
+++ b/src/roslibpy/__version__.py
@@ -4,7 +4,7 @@
 __title__ = "roslibpy"
 __description__ = "Python ROS Bridge library."
 __url__ = "https://github.com/gramaziokohler/roslibpy"
-__version__ = "2.0.1"
+__version__ = "2.1.0"
 __author__ = "Gramazio Kohler Research"
 __author_email__ = "gramaziokohler@arch.ethz.ch"
 __license__ = "MIT license"