diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index d4f6b2a4..439e38c2 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -3,8 +3,23 @@ Release Notes
 
 Forthcoming
 -----------
+* ...
+
+2.1.1 (2020-08-11)
+------------------
+* [behaviours] generators for variable values in SetBlackboardVariable, `#300 <https://github.com/splintered-reality/py_trees_ros/pull/300>`_
+
+2.1.0 (2020-07-20)
+------------------
+* [behaviours] CheckBlackboardVariableValue, WaitForBlackboardVariableValue use comparison expressins, `#296 <https://github.com/splintered-reality/py_trees_ros/pull/296>`_
+* [idioms] eternal_guard uses blackboard_names (previously blackboard_name_prefix), `#295 <https://github.com/splintered-reality/py_trees_ros/pull/295>`_
+* [composites] Chooser deprecated, `#293 <https://github.com/splintered-reality/py_trees_ros/pull/293>`_
 * [composites] chain-able add_children for all composites, `#290 <https://github.com/splintered-reality/py_trees_ros/pull/290>`_
 
+2.0.16 (2020-08-11)
+-------------------
+* [behaviours] generators for variable values in SetBlackboardVariable, `#300 <https://github.com/splintered-reality/py_trees_ros/pull/300>`_
+
 2.0.15 (2020-05-14)
 -------------------
 * [composites] fix current_child problems on dynamic child insertion/removal, `#289 <https://github.com/splintered-reality/py_trees_ros/pull/289>`_