diff --git a/rclcpp/CHANGELOG.rst b/rclcpp/CHANGELOG.rst
index 13c945d..59b4040 100644
--- a/rclcpp/CHANGELOG.rst
+++ b/rclcpp/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+2.4.3 (2023-05-27)
+------------------
 * Do not attempt to use void allocators for memory allocation. (backport `#1657 <https://github.com/ros2/rclcpp/issues/1657>`_) (`#2004 <https://github.com/ros2/rclcpp/issues/2004>`_)
 * Contributors: Michel Hidalgo
 
diff --git a/rclcpp/package.xml b/rclcpp/package.xml
index bbe504e..e46fd13 100644
--- a/rclcpp/package.xml
+++ b/rclcpp/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp</name>
-  <version>2.4.2</version>
+  <version>2.4.3</version>
   <description>The ROS client library in C++.</description>
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>Apache License 2.0</license>
diff --git a/rclcpp_action/CHANGELOG.rst b/rclcpp_action/CHANGELOG.rst
index f0a8aa5..5ace7f2 100644
--- a/rclcpp_action/CHANGELOG.rst
+++ b/rclcpp_action/CHANGELOG.rst
@@ -3,8 +3,8 @@ Changelog for package rclcpp_action
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
-Forthcoming
------------
+2.4.3 (2023-05-27)
+------------------
 * Revert "Revert "extract the result response before the callback is is… (backport `#2152 <https://github.com/ros2/rclcpp/issues/2152>`_) (`#2153 <https://github.com/ros2/rclcpp/issues/2153>`_)
 * Contributors: Tomoya Fujita
 
diff --git a/rclcpp_action/package.xml b/rclcpp_action/package.xml
index 4e55eec..77713f1 100644
--- a/rclcpp_action/package.xml
+++ b/rclcpp_action/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp_action</name>
-  <version>2.4.2</version>
+  <version>2.4.3</version>
   <description>Adds action APIs for C++.</description>
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>Apache License 2.0</license>
diff --git a/rclcpp_components/CHANGELOG.rst b/rclcpp_components/CHANGELOG.rst
index c5f60db..560989a 100644
--- a/rclcpp_components/CHANGELOG.rst
+++ b/rclcpp_components/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package rclcpp_components
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+2.4.3 (2023-05-27)
+------------------
 
 2.4.2 (2022-07-25)
 ------------------
diff --git a/rclcpp_components/package.xml b/rclcpp_components/package.xml
index d3effc8..ca06599 100644
--- a/rclcpp_components/package.xml
+++ b/rclcpp_components/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp_components</name>
-  <version>2.4.2</version>
+  <version>2.4.3</version>
   <description>Package containing tools for dynamically loadable components</description>
   <maintainer email="michael@openrobotics.org">Michael Carroll</maintainer>
   <license>Apache License 2.0</license>
diff --git a/rclcpp_lifecycle/CHANGELOG.rst b/rclcpp_lifecycle/CHANGELOG.rst
index 47db23f..0cee932 100644
--- a/rclcpp_lifecycle/CHANGELOG.rst
+++ b/rclcpp_lifecycle/CHANGELOG.rst
@@ -3,8 +3,8 @@ Changelog for package rclcpp_lifecycle
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
-Forthcoming
------------
+2.4.3 (2023-05-27)
+------------------
 
 2.4.2 (2022-07-25)
 ------------------
diff --git a/rclcpp_lifecycle/package.xml b/rclcpp_lifecycle/package.xml
index 3f96230..48a4748 100644
--- a/rclcpp_lifecycle/package.xml
+++ b/rclcpp_lifecycle/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp_lifecycle</name>
-  <version>2.4.2</version>
+  <version>2.4.3</version>
   <description>Package containing a prototype for lifecycle implementation</description>
   <maintainer email="karsten@osrfoundation.org">Karsten Knese</maintainer>
   <license>Apache License 2.0</license>