diff --git a/CHANGELOG.rst b/CHANGELOG.rst
new file mode 100644
index 0000000..20d70ba
--- /dev/null
+++ b/CHANGELOG.rst
@@ -0,0 +1,75 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package libcreate
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Forthcoming
+-----------
+* Switch to trusty for CI
+* Set mimumum cmake version to 2.8.12
+* Update CMakeLists.txt configuration and install rules
+* Add package.xml
+* Add config.cmake.in
+* Contributors: Jacob Perron
+
+1.3.0 (2016-08-23)
+------------------
+* Add support for early model Roomba 400s and other robots using the original SCI protocol.
+* Expose individual wheel distances and requested velocities. Fix wheel distance calculation for the Create 1.
+* Manually link to thread library. This allows libcreate to build on ARM.
+* Fix odometry inversion for Create 1.
+* Contributors: Ben Wolsieffer, Jacob Perron
+
+1.2.1 (2016-04-30)
+------------------
+* Make velocity relative to base frame, not odometry frame
+* Contributors: Jacob Perron
+
+1.2.0 (2016-04-15)
+------------------
+* Add covariance info to Pose and Vel
+* Fix getMode bug
+* Contributors: Jacob Perron
+
+1.1.1 (2016-04-07)
+------------------
+* Fix odometry sign error
+* Add warning in code regarding Create 1 odometry issue
+* Add odom_example.cpp
+* Contributors: Jacob Perron
+
+1.1.0 (2016-04-02)
+------------------
+* Add API to get light sensor signals
+* Contributors: Jacob Perron
+
+1.0.0 (2016-04-01)
+------------------
+* Fix odometry for Create 1
+* Fix odom angle sign error
+* Convert units to base units
+* Implement 'getMode'
+* Rename 'isIRDetect*' functions to 'isLightBumper*'
+* Documentation / code cleanup
+* Add function 'driveRadius'
+* Add function 'isVirtualWall'
+* Fix sign error on returned 'current' and 'temperature'
+* Contributors: Jacob Perron
+
+0.1.1 (2016-03-25)
+------------------
+* Fix odometry bug
+* Contributors: Jacob Perron
+
+0.1.0 (2016-03-24)
+------------------
+* Add enum of special IR characters
+* Fix bug: convert distance measurement to meters
+* Add support for first generation Create (Roomba 400 series)
+* Fix bug: Too many packets requested corrupting serial buffer
+* Expose functions for getting number of corrupt packets and total packets in Create class
+* Add getters for number of corrupt and total packets received over serial
+* Update README.md
+* Added build badge
+* Added CI (travis)
+* Instantaneous velocity now available
+* Contributors: Jacob Perron
diff --git a/CMakeLists.txt b/CMakeLists.txt
index be7fe66..cb37422 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -9,7 +9,7 @@
 cmake_minimum_required(VERSION 2.8.12)
 project(libcreate)
 
-set(package_version 1.2.0)
+set(package_version 1.4.0)
 
 find_package(Boost REQUIRED system thread)
 find_package(Threads REQUIRED)
diff --git a/package.xml b/package.xml
index 9a31e9c..017e60f 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>libcreate</name>
-  <version>1.2.0</version>
+  <version>1.3.0</version>
   <description>C++ library for interfacing with iRobot's Create 1 and Create 2</description>
 
   <maintainer email="jperron@sfu.ca">Jacob Perron</maintainer>