diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 2ea4cdb..3428f89 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -1,6 +1,9 @@
 Changelog
 =========
 
+v0.2.1 (21-09-2024)
+- [uav_ros_stack] Update to version 0.2.1
+
 v0.2.0 (20-07-2024)
 --------------
 - [uav_ros_stack] Update to version 0.2.0
diff --git a/Dockerfile.binary b/Dockerfile.binary
index aafcae5..04ec8f1 100644
--- a/Dockerfile.binary
+++ b/Dockerfile.binary
@@ -1,4 +1,4 @@
-ARG VERSION=0.1.0
+ARG VERSION=0.2.1
 ARG DISTRO=focal
 ARG BASE_IMAGE=nvidia/opengl:1.2-glvnd-runtime-ubuntu20.04
 
diff --git a/gitman.yml b/gitman.yml
index 7f88c1e..cc44fb6 100644
--- a/gitman.yml
+++ b/gitman.yml
@@ -138,7 +138,7 @@ sources_locked:
       - git submodule update --init --recursive
   - repo: git@github.com:larics/uav_ros_stack
     name: uav_ros_stack
-    rev: 5e191e1d38b91e04b581de73215c25f861e16b52
+    rev: bfa98eaae58daba69c9be98769b20e2b06a74a70
     type: git
     params:
     sparse_paths: