diff --git a/rmw_fastrtps_cpp/CHANGELOG.rst b/rmw_fastrtps_cpp/CHANGELOG.rst
index a1b4ccd6e..684fee61a 100644
--- a/rmw_fastrtps_cpp/CHANGELOG.rst
+++ b/rmw_fastrtps_cpp/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package rmw_fastrtps_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+3.1.2 (2020-09-25)
+------------------
 * Updated publisher/subscription allocation and wait set API return codes (`#443 <https://github.com/ros2/rmw_fastrtps/issues/443>`_)
 * Added rmw_logging tests (`#442 <https://github.com/ros2/rmw_fastrtps/issues/442>`_)
 * Contributors: Alejandro Hernández Cordero
diff --git a/rmw_fastrtps_cpp/package.xml b/rmw_fastrtps_cpp/package.xml
index 53b5c7f28..07554537e 100644
--- a/rmw_fastrtps_cpp/package.xml
+++ b/rmw_fastrtps_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_fastrtps_cpp</name>
-  <version>3.1.1</version>
+  <version>3.1.2</version>
   <description>Implement the ROS middleware interface using eProsima FastRTPS static code generation in C++.</description>
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>Apache License 2.0</license>
diff --git a/rmw_fastrtps_dynamic_cpp/CHANGELOG.rst b/rmw_fastrtps_dynamic_cpp/CHANGELOG.rst
index bb396cddc..591848cb2 100644
--- a/rmw_fastrtps_dynamic_cpp/CHANGELOG.rst
+++ b/rmw_fastrtps_dynamic_cpp/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package rmw_fastrtps_dynamic_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+3.1.2 (2020-09-25)
+------------------
 * Updated publisher/subscription allocation and wait set API return codes (`#443 <https://github.com/ros2/rmw_fastrtps/issues/443>`_)
 * Added rmw_logging tests (`#442 <https://github.com/ros2/rmw_fastrtps/issues/442>`_)
 * Contributors: Alejandro Hernández Cordero
diff --git a/rmw_fastrtps_dynamic_cpp/package.xml b/rmw_fastrtps_dynamic_cpp/package.xml
index aa8d6581b..f19499bb1 100644
--- a/rmw_fastrtps_dynamic_cpp/package.xml
+++ b/rmw_fastrtps_dynamic_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_fastrtps_dynamic_cpp</name>
-  <version>3.1.1</version>
+  <version>3.1.2</version>
   <description>Implement the ROS middleware interface using introspection type support.</description>
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>Apache License 2.0</license>
diff --git a/rmw_fastrtps_shared_cpp/CHANGELOG.rst b/rmw_fastrtps_shared_cpp/CHANGELOG.rst
index 4808a71b4..a3a34e354 100644
--- a/rmw_fastrtps_shared_cpp/CHANGELOG.rst
+++ b/rmw_fastrtps_shared_cpp/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package rmw_fastrtps_shared_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+3.1.2 (2020-09-25)
+------------------
 * Updated publisher/subscription allocation and wait set API return codes (`#443 <https://github.com/ros2/rmw_fastrtps/issues/443>`_)
 * Added rmw_logging tests (`#442 <https://github.com/ros2/rmw_fastrtps/issues/442>`_)
 * Contributors: Alejandro Hernández Cordero
diff --git a/rmw_fastrtps_shared_cpp/package.xml b/rmw_fastrtps_shared_cpp/package.xml
index 6ddfb5921..6c837cde5 100644
--- a/rmw_fastrtps_shared_cpp/package.xml
+++ b/rmw_fastrtps_shared_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_fastrtps_shared_cpp</name>
-  <version>3.1.1</version>
+  <version>3.1.2</version>
   <description>Code shared on static and dynamic type support of rmw_fastrtps_cpp.</description>
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>Apache License 2.0</license>