diff --git a/kdl_parser/CHANGELOG.rst b/kdl_parser/CHANGELOG.rst
index 58011af6..cf104986 100644
--- a/kdl_parser/CHANGELOG.rst
+++ b/kdl_parser/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package kdl_parser
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.1 (2020-08-07)
+------------------
+* Remove unused find_library call (`#40 <https://github.com/ros/kdl_parser/issues/40>`_)
+* Contributors: Michael Carroll
+
 2.4.0 (2020-05-26)
 ------------------
 * Deprecate treeFromXml (`#8 <https://github.com/ros2/kdl_parser/issues/8>`_)
diff --git a/kdl_parser/package.xml b/kdl_parser/package.xml
index 581a5382..7a16dcc2 100644
--- a/kdl_parser/package.xml
+++ b/kdl_parser/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>kdl_parser</name>
-  <version>2.4.0</version>
+  <version>2.4.1</version>
   <description>
    The Kinematics and Dynamics Library (KDL) defines a tree structure
    to represent the kinematic and dynamic parameters of a robot