diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index cd88dfe..fa5e647 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package mcl_3dl
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.5.4 (2021-03-07)
+------------------
+* Add odom/imu/cloud_queue_size params (`#375 <https://github.com/at-wat/mcl_3dl/issues/375>`_)
+* Fix flaky tests (`#376 <https://github.com/at-wat/mcl_3dl/issues/376>`_)
+* Contributors: Atsushi Watanabe
+
 0.5.3 (2021-02-26)
 ------------------
 * Fix cloud accum reset on map update (`#371 <https://github.com/at-wat/mcl_3dl/issues/371>`_)
diff --git a/package.xml b/package.xml
index 5ebc8f2..22e0432 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>mcl_3dl</name>
-  <version>0.5.3</version>
+  <version>0.5.4</version>
   <description>3-D/6-DOF localization for mobile robots with 3-D LIDAR(s)</description>
 
   <maintainer email="atsushi.w@ieee.org">Atsushi Watanabe</maintainer>