diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 997d08f4..a450d71c 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package mvsim
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+0.9.4 (2024-05-08)
+------------------
 * Better detection of "in collision" flag.
 * Update to clang-format-14
 * Upgrade Joystick API so it works correctly with an arbitrary number of axes
diff --git a/package.xml b/package.xml
index 4e6b7008..d8b7fb37 100644
--- a/package.xml
+++ b/package.xml
@@ -5,7 +5,7 @@
   <description>A lightweight multivehicle simulation framework.</description>
 
   <!-- All version numbers in CMake scripts are taken from this line: -->
-  <version>0.9.3</version>
+  <version>0.9.4</version>
 
   <maintainer email="jlblanco@ual.es">Jose-Luis Blanco-Claraco</maintainer>
   <license>BSD</license>