diff --git a/rmw_cyclonedds_cpp/CHANGELOG.rst b/rmw_cyclonedds_cpp/CHANGELOG.rst
index dbd399c..b78adfc 100644
--- a/rmw_cyclonedds_cpp/CHANGELOG.rst
+++ b/rmw_cyclonedds_cpp/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package rmw_cyclonedds_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.7.3 (2020-07-21)
+------------------
+* Fix lost service responses (`#183 <https://github.com/ros2/rmw_cyclonedds/issues/183>`_, `#74 <https://github.com/ros2/rmw_cyclonedds/issues/74>`_) (`#187 <https://github.com/ros2/rmw_cyclonedds/issues/187>`_) (`#209 <https://github.com/ros2/rmw_cyclonedds/issues/209>`_)
+* Contributors: Erik Boasson
+
 0.7.2 (2020-07-07)
 ------------------
 * Handle RMW_DEFAULT_DOMAIN_ID (`#194 <https://github.com/ros2/rmw_cyclonedds/issues/194>`_) (`#199 <https://github.com/ros2/rmw_cyclonedds/issues/199>`_)
diff --git a/rmw_cyclonedds_cpp/package.xml b/rmw_cyclonedds_cpp/package.xml
index eb092f5..052151e 100644
--- a/rmw_cyclonedds_cpp/package.xml
+++ b/rmw_cyclonedds_cpp/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rmw_cyclonedds_cpp</name>
-  <version>0.7.2</version>
+  <version>0.7.3</version>
   <description>Implement the ROS middleware interface using Eclipse CycloneDDS in C++.</description>
   <maintainer email="erik.boasson@adlinktech.com">Erik Boasson</maintainer>
   <license>Apache License 2.0</license>