diff --git a/changelog b/changelog
index 7ce6146..5565266 100644
--- a/changelog
+++ b/changelog
@@ -1,3 +1,10 @@
+swd-ros-controllers (4.0.0) unstable; urgency=medium
+
+  * Set minimum swd-services version to 2.0.0 in order to support SWD FW >= 2.0.2
+  * Change DEFAULT_MAX_SLS_WHEEL_RPM to 40 RPM
+
+ -- Grégory Mermet <g.mermet@ez-wheel.com>  Fri, 27 Oct 2023 14:30:37 +0000
+
 swd-ros-controllers (3.4.0) unstable; urgency=medium
 
   * Add wheel_max_delta_speed_rpm parameter  
diff --git a/package.xml b/package.xml
index 517b5fc..62e6ba9 100644
--- a/package.xml
+++ b/package.xml
@@ -3,7 +3,7 @@
 
 <package format="2">
   <name>swd_ros_controllers</name>
-  <version>3.4.0</version>
+  <version>4.0.0</version>
   <description>Package which control 2 wheels in as a differential drive robot</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->