diff --git a/CHANGELOG.md b/CHANGELOG.md
index c0d27e62..b831e9f0 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,6 +1,18 @@
 Change log
 ==========
 
+1.7.1 (2019-07-04)
+==================
+
+* API changes:
+  * None
+* Deprecated features:
+  * None
+* New features:
+  * None
+* Bug fixes:
+  * Fixed joint velocity abs bug in GC controller: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/pull/117
+
 1.7.0 (2019-04-09)
 ==================
 
diff --git a/applications/CMakeLists.txt b/applications/CMakeLists.txt
index 08ce41e6..ea8aec13 100644
--- a/applications/CMakeLists.txt
+++ b/applications/CMakeLists.txt
@@ -51,7 +51,7 @@ if (cisst_FOUND_AS_REQUIRED)
   # saw components have been compiled within cisst, we should find them automatically
   find_package (sawRobotIO1394          1.7.0 REQUIRED)
   find_package (sawControllers          1.7.0 REQUIRED)
-  find_package (sawIntuitiveResearchKit 1.7.0 REQUIRED)
+  find_package (sawIntuitiveResearchKit 1.7.1 REQUIRED)
   find_package (sawTextToSpeech         1.2.0 REQUIRED)
 
   if (sawRobotIO1394_FOUND AND sawControllers_FOUND
diff --git a/applications/package.xml b/applications/package.xml
index 3cbca821..bc1fc305 100644
--- a/applications/package.xml
+++ b/applications/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>saw_intuitive_research_kit_applications</name>
-  <version>1.7.0</version>
+  <version>1.7.1</version>
   <description>
   sawIntuitiveResearchKit Application
   </description>
diff --git a/components/package.xml b/components/package.xml
index a36c25a4..1ad78ae4 100644
--- a/components/package.xml
+++ b/components/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>saw_intuitive_research_kit</name>
-  <version>1.7.0</version>
+  <version>1.7.1</version>
   <description>
   sawIntuitiveResearchKit
   </description>
diff --git a/examples/derivedTeleOperationPSM/components/CMakeLists.txt b/examples/derivedTeleOperationPSM/components/CMakeLists.txt
index fcea6ec8..bbd7419f 100644
--- a/examples/derivedTeleOperationPSM/components/CMakeLists.txt
+++ b/examples/derivedTeleOperationPSM/components/CMakeLists.txt
@@ -37,7 +37,7 @@ if (cisst_FOUND)
 
   # sawIntuitiveResearchKit has been compiled within cisst, we should
   # find it automatically
-  find_package(sawIntuitiveResearchKit 1.7.0 REQUIRED)
+  find_package(sawIntuitiveResearchKit 1.7.1 REQUIRED)
 
   if (sawIntuitiveResearchKit_FOUND)
 
diff --git a/examples/derivedTeleOperationPSM/components/package.xml b/examples/derivedTeleOperationPSM/components/package.xml
index b5fc3ecc..9aaf0518 100644
--- a/examples/derivedTeleOperationPSM/components/package.xml
+++ b/examples/derivedTeleOperationPSM/components/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>saw_intuitive_research_kit_example_derived_teleop_psm</name>
-  <version>1.7.0</version>
+  <version>1.7.1</version>
   <description>
   sawIntuitiveResearchKit Example
   </description>
diff --git a/share/package.xml b/share/package.xml
index 56e7537f..5dfa9611 100644
--- a/share/package.xml
+++ b/share/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>dvrk_config</name>
-  <version>1.7.0</version>
+  <version>1.7.1</version>
   <description>dVRK config files</description>
 
   <maintainer email="anton.deguet@jhu.edu">Anton Deguet</maintainer>