diff --git a/CHANGELOG.md b/CHANGELOG.md
index 5502a5684b..22226c885d 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,6 +1,8 @@
 ## Aikido 0 (prerelease)
 
-### 0.4.0 (2020-XX-XX)
+### 0.5.0 (2020-XX-XX)
+
+### 0.4.0 (2020-08-27)
 
 * Planner
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 520799c12b..d90ce291b8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -20,7 +20,7 @@ project(aikido)
 
 # If you change the version, please update the <version> tag in package.xml.
 set(AIKIDO_MAJOR_VERSION "0")
-set(AIKIDO_MINOR_VERSION "3")
+set(AIKIDO_MINOR_VERSION "4")
 set(AIKIDO_PATCH_VERSION "0")
 set(AIKIDO_VERSION "${AIKIDO_MAJOR_VERSION}.${AIKIDO_MINOR_VERSION}.${AIKIDO_PATCH_VERSION}")
 
diff --git a/package.xml b/package.xml
index 0f5ea4a30e..ff806b7e90 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>aikido</name>
-  <version>0.3.0</version>
+  <version>0.4.0</version>
   <description>description</description>
   <maintainer email="bhou@cs.uw.edu">Brian Hou</maintainer>
   <maintainer email="gilwoo@cs.uw.edu">Gilwoo Lee</maintainer>