diff --git a/mujoco_ros/CHANGELOG.md b/mujoco_ros/CHANGELOG.md
index 4d35ee3..be31088 100644
--- a/mujoco_ros/CHANGELOG.md
+++ b/mujoco_ros/CHANGELOG.md
@@ -1,5 +1,5 @@
-<a name="Unreleased"></a>
-## [Unreleased]
+<a name="0.6.0"></a>
+## [0.6.0] - 2023-06-30
 
 ### Added
 * Signal handling to gracefully exit on SIGINT and SIGTERM.
@@ -38,9 +38,6 @@ Contributors: @DavidPL1, @lbergmann
 * Missing roll back of collision functions to default on reload caused calling unloaded code.
 * An invalid model will not result in trying to reload indefinitely anymore.
 
-### Fixed
-* Stepping action server is now sensitive to preemts caused by reload/reset/shutdown and will inform clients in time instead of just severing the connection.
-
 Contributors: @DavidPL1, @fpatzelt
 
 <a name="0.4.0"></a>
@@ -180,7 +177,7 @@ Contributors: @DavidPL1, @balandbal
 
 Contributors: @DavidPL1
 
-[Unreleased]: https://github.com/ubi-agni/mujoco_ros_pkgs/compare/0.5.0...HEAD
+[0.6.0]: https://github.com/ubi-agni/mujoco_ros_pkgs/compare/0.5.0...0.6.0
 [0.5.0]: https://github.com/ubi-agni/mujoco_ros_pkgs/compare/0.4.0...0.5.0
 [0.4.0]: https://github.com/ubi-agni/mujoco_ros_pkgs/compare/0.3.1...0.4.0
 [0.3.1]: https://github.com/ubi-agni/mujoco_ros_pkgs/compare/0.3.0...0.3.1
diff --git a/mujoco_ros/package.xml b/mujoco_ros/package.xml
index 1b0b93b..0ad4c2c 100644
--- a/mujoco_ros/package.xml
+++ b/mujoco_ros/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>mujoco_ros</name>
-  <version>0.5.0</version>
+  <version>0.6.0</version>
   <description>The mujoco_ros package</description>
 
   <maintainer email="dleins@techfak.uni-bielefeld.de">David P. Leins</maintainer>
diff --git a/mujoco_ros_control/package.xml b/mujoco_ros_control/package.xml
index 007ffec..5ee886c 100644
--- a/mujoco_ros_control/package.xml
+++ b/mujoco_ros_control/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>mujoco_ros_control</name>
-  <version>0.5.0</version>
+  <version>0.6.0</version>
   <description>The mujoco_ros_control package</description>
 
   <url type="repository">https://github.com/DavidPL1/mujoco_ros_pkgs</url>
diff --git a/mujoco_ros_msgs/package.xml b/mujoco_ros_msgs/package.xml
index 80a7a4b..172e6a7 100644
--- a/mujoco_ros_msgs/package.xml
+++ b/mujoco_ros_msgs/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>mujoco_ros_msgs</name>
-  <version>0.5.0</version>
+  <version>0.6.0</version>
   <description>mujoco_ros_msgs provides message files for interaction with a mujoco_ros simulation</description>
 
   <maintainer email="dleins@techfak.uni-bielefeld.de">David Leins</maintainer>
diff --git a/mujoco_ros_pkgs/package.xml b/mujoco_ros_pkgs/package.xml
index 169c67a..052116b 100644
--- a/mujoco_ros_pkgs/package.xml
+++ b/mujoco_ros_pkgs/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
     <name>mujoco_ros_pkgs</name> <!-- This is a meta package! -->
-    <version>0.5.0</version>
+    <version>0.6.0</version>
     <description>Interface for using ROS with the <a href="https://mujoco.org/">MuJoCo</a> simulator.</description>
 
     <license>BSD</license>
diff --git a/mujoco_ros_sensors/package.xml b/mujoco_ros_sensors/package.xml
index 556fde0..8c92bc8 100644
--- a/mujoco_ros_sensors/package.xml
+++ b/mujoco_ros_sensors/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>mujoco_ros_sensors</name>
-  <version>0.5.0</version>
+  <version>0.6.0</version>
   <description>Sensor plugin for mujoco_ros</description>
 
   <maintainer email="dleins@techfak.uni-bielefeld.de">David P. Leins</maintainer>