diff --git a/CHANGELOG.md b/CHANGELOG.md
index dbac04a..81fba7a 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,14 +6,25 @@ features that will be removed in future versions **Removed** for deprecated feat
 
 ## Unreleased ##
 
-### 3.5.0
+## Released ##
+
+### Release v3.5.0
   - **add** Optional switch between "system timestamps" (default) and "tick timestamps"
   - **add** Extract sick_scan_xd version from package.xml
   - **add** Add git info to sick_scan_xd version
   - **fix** #316 (blocking API-close in case of wrong ip-address)
   - **add** #321, #310 (optional cmake-flag to set a calling convention for API calls)
-
-## Released ##
+  - **add** Hector SLAM configuration and example for picoScan
+  - **add** Correction angle shift settings for LRS-36x0 and OEM-15xx
+  - **add** Update FAQ (Network settings etc.)
+  - **add** Integration PR #347 (NAV350 landmarks)
+  - **add** Support for 3D-SLAM (OctoMap, RTAB-Map, timestamps for each scanpoint for deskewing, configuration example for multiScan)
+  - **add** customisations for gcc 13 (Ubuntu 24)
+  - **add** Update for bloom releases ROS-2 iron and jazzy 
+  - **add** Configuration multiScan interval filter via launchfile (#352) 
+  - **add** SPDX licence text (PR #354)
+  - **fix** Fix #355 (API launchfile parsing error)
+  - **add** Example configurations for parallel operation multi and picoScan
 
 ### Release v3.4.0
   - **add** azimuth angle table for MRS-1xxx and LMS-1xxx with firmware 2.2.0 oder newer
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index c533f26..aee2024 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -4,12 +4,26 @@ Changelog for package sick_scan_xd
 
 Forthcoming
 -----------
-* Release 3.5.0
+
+3.5.0 (2024-xx-xx)
+------------------
+* Release v3.5.0
   * add: Optional switch between "system timestamps" (default) and "tick timestamps"
   * add: Extract sick_scan_xd version from package.xml
   * add: Add git info to sick_scan_xd version
   * fix: #316 (blocking API-close in case of wrong ip-address)
   * add: #321, #310 (optional cmake-flag to set a calling convention for API calls)
+  * add: Hector SLAM configuration and example for picoScan
+  * add: Correction angle shift settings for LRS-36x0 and OEM-15xx
+  * add: Update FAQ (Network settings etc.)
+  * add: Integration PR #347 (NAV350 landmarks)
+  * add: Support for 3D-SLAM (OctoMap, RTAB-Map, timestamps for each scanpoint for deskewing, configuration example for multiScan)
+  * add: customisations for gcc 13 (Ubuntu 24)
+  * add: Update for bloom releases ROS-2 iron and jazzy 
+  * add: Configuration multiScan interval filter via launchfile (#352) 
+  * add: SPDX licence text (PR #354)
+  * fix: Fix #355 (API launchfile parsing error)
+  * add: Example configurations for parallel operation multi and picoScan
 
 3.4.0 (2024-04-18)
 ------------------
diff --git a/include/sick_scan/sick_scan_xd_version.h b/include/sick_scan/sick_scan_xd_version.h
index 66d3ecd..a449767 100644
--- a/include/sick_scan/sick_scan_xd_version.h
+++ b/include/sick_scan/sick_scan_xd_version.h
@@ -1,4 +1,4 @@
 /* This file has been generated by package_version_tool.py. Do not edit this file. To provide a new version number, modify file package.xml and rebuild */
 #ifndef SICK_SCAN_XD_VERSION
-#define SICK_SCAN_XD_VERSION "3.4.2"
+#define SICK_SCAN_XD_VERSION "3.5.0"
 #endif // SICK_SCAN_XD_VERSION
diff --git a/package.xml b/package.xml
index 038fbb8..e9973a9 100644
--- a/package.xml
+++ b/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>sick_scan_xd</name>
-  <version>3.4.2</version>
+  <version>3.5.0</version>
   <description>ROS 1 and 2 driver for SICK scanner</description>
   <maintainer email="ros.test@lehning.de">rostest</maintainer>
   <author email="michael.lehning@lehning.de">Michael Lehning</author>