diff --git a/Changelog.md b/Changelog.md
index 091d2da88..3216b1855 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -4,6 +4,55 @@
 
 ## libsdformat 14.X
 
+### libsdformat 14.1.1 (2024-03-28)
+
+1. Fix warning with pybind11 2.12
+    * [Pull request #1389](https://github.com/gazebosim/sdformat/pull/1389)
+
+1. Use relative install paths in CMake
+    * [Pull request #1387](https://github.com/gazebosim/sdformat/pull/1387)
+
+### libsdformat 14.1.0 (2024-03-14)
+
+1. Resolve URIs relative to file path
+    * [Pull request #1373](https://github.com/gazebosim/sdformat/pull/1373)
+
+1. Use `//link/inertial/density` for auto-inertials
+    * [Pull request #1335](https://github.com/gazebosim/sdformat/pull/1335)
+
+1. Fix a little typo in the README.md
+    * [Pull request #1365](https://github.com/gazebosim/sdformat/pull/1365)
+
+1. Fix version variable in reference manual PDF filename
+    * [Pull request #1363](https://github.com/gazebosim/sdformat/pull/1363)
+
+1. In parser config test, use a filename less likely to exist
+    * [Pull request #1362](https://github.com/gazebosim/sdformat/pull/1362)
+
+1. Update CI badges in README
+    * [Pull request #1352](https://github.com/gazebosim/sdformat/pull/1352)
+
+1. Bazel updates for Garden build
+    * [Pull request #1239](https://github.com/gazebosim/sdformat/pull/1239)
+
+1. Fix static builds and optimize test compilation
+    * [Pull request #1343](https://github.com/gazebosim/sdformat/pull/1343)
+    * [Pull request #1347](https://github.com/gazebosim/sdformat/pull/1347)
+
+1. Install ruby commands on Windows
+    * [Pull request #1339](https://github.com/gazebosim/sdformat/pull/1339)
+
+1. Infrastructure
+    * [Pull request #1336](https://github.com/gazebosim/sdformat/pull/1336)
+    * [Pull request #1345](https://github.com/gazebosim/sdformat/pull/1345)
+    * [Pull request #1367](https://github.com/gazebosim/sdformat/pull/1367)
+
+1. URDF parser: use SDFormat 1.11, parse joint mimic
+    * [Pull request #1333](https://github.com/gazebosim/sdformat/pull/1333)
+
+1. URDF->SDF handle links with no inertia or small mass
+    * [Pull request #1238](https://github.com/gazebosim/sdformat/pull/1238)
+
 ### libsdformat 14.0.0 (2023-09-29)
 
 1. Add missing conda dependencies
diff --git a/conf/CMakeLists.txt b/conf/CMakeLists.txt
index 7ac7c9e15..9e2b135ee 100644
--- a/conf/CMakeLists.txt
+++ b/conf/CMakeLists.txt
@@ -24,4 +24,4 @@ configure_file(
 
 # Install the yaml configuration files in an unversioned location.
 install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.yaml
-  DESTINATION ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/gz/)
+  DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/gz/)
diff --git a/python/src/sdf/_gz_sdformat_pybind11.cc b/python/src/sdf/_gz_sdformat_pybind11.cc
index 0dcf96f6d..d982e13f4 100644
--- a/python/src/sdf/_gz_sdformat_pybind11.cc
+++ b/python/src/sdf/_gz_sdformat_pybind11.cc
@@ -150,7 +150,11 @@ PYBIND11_MODULE(BINDINGS_MODULE_NAME, m) {
       sdfErrorsException.attr("errors") = pybind11::cast(e.Errors());
       // This has to be called last since it's the call that sets
       // PyErr_SetString.
+#if PYBIND11_VERSION_HEX >= 0x020C0000
+      pybind11::set_error(sdfErrorsException, e.what());
+#else
       sdfErrorsException(e.what());
+#endif
     }
   });
 
diff --git a/sdf/1.0/CMakeLists.txt b/sdf/1.0/CMakeLists.txt
index dd62ae21c..26d50f4ac 100644
--- a/sdf/1.0/CMakeLists.txt
+++ b/sdf/1.0/CMakeLists.txt
@@ -27,4 +27,4 @@ set (sdfs
   world.sdf
 )
 
-install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.0/)
+install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.0/)
diff --git a/sdf/1.10/CMakeLists.txt b/sdf/1.10/CMakeLists.txt
index 55a906f71..da5f3084b 100644
--- a/sdf/1.10/CMakeLists.txt
+++ b/sdf/1.10/CMakeLists.txt
@@ -84,5 +84,5 @@ add_custom_target(schema1_10 ALL DEPENDS ${SDF_SCHEMA})
 
 set_source_files_properties(${SDF_SCHEMA} PROPERTIES GENERATED TRUE)
 
-install(FILES 1_9.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.10)
-install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.10)
+install(FILES 1_9.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.10)
+install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.10)
diff --git a/sdf/1.11/CMakeLists.txt b/sdf/1.11/CMakeLists.txt
index 61dc7ac8d..2e56bf0a7 100644
--- a/sdf/1.11/CMakeLists.txt
+++ b/sdf/1.11/CMakeLists.txt
@@ -85,5 +85,5 @@ add_custom_target(schema1_11 ALL DEPENDS ${SDF_SCHEMA})
 
 set_source_files_properties(${SDF_SCHEMA} PROPERTIES GENERATED TRUE)
 
-install(FILES 1_10.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.11)
-install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.11)
+install(FILES 1_10.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.11)
+install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.11)
diff --git a/sdf/1.12/CMakeLists.txt b/sdf/1.12/CMakeLists.txt
index 85eb3fbc2..e901587b2 100644
--- a/sdf/1.12/CMakeLists.txt
+++ b/sdf/1.12/CMakeLists.txt
@@ -85,5 +85,5 @@ add_custom_target(schema1_12 ALL DEPENDS ${SDF_SCHEMA})
 
 set_source_files_properties(${SDF_SCHEMA} PROPERTIES GENERATED TRUE)
 
-install(FILES 1_11.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.12)
-install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.12)
+install(FILES 1_11.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.12)
+install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.12)
diff --git a/sdf/1.2/CMakeLists.txt b/sdf/1.2/CMakeLists.txt
index 051e49e55..5ade204b3 100644
--- a/sdf/1.2/CMakeLists.txt
+++ b/sdf/1.2/CMakeLists.txt
@@ -28,4 +28,4 @@ set (sdfs
   world.sdf
 )
 
-install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.2)
+install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.2)
diff --git a/sdf/1.3/CMakeLists.txt b/sdf/1.3/CMakeLists.txt
index 9325a7e19..28f10f9d9 100644
--- a/sdf/1.3/CMakeLists.txt
+++ b/sdf/1.3/CMakeLists.txt
@@ -29,4 +29,4 @@ set (sdfs
   world.sdf
 )
 
-install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.3)
+install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.3)
diff --git a/sdf/1.4/CMakeLists.txt b/sdf/1.4/CMakeLists.txt
index 657bd085e..cbf8b488e 100644
--- a/sdf/1.4/CMakeLists.txt
+++ b/sdf/1.4/CMakeLists.txt
@@ -44,4 +44,4 @@ set (sdfs
   world.sdf
 )
 
-install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.4)
+install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.4)
diff --git a/sdf/1.5/CMakeLists.txt b/sdf/1.5/CMakeLists.txt
index 4beac5c0a..86cf89091 100644
--- a/sdf/1.5/CMakeLists.txt
+++ b/sdf/1.5/CMakeLists.txt
@@ -78,5 +78,5 @@ add_custom_target(schema1_5 ALL DEPENDS ${SDF_SCHEMA})
 
 set_source_files_properties(${SDF_SCHEMA} PROPERTIES GENERATED TRUE)
 
-install(FILES 1_4.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.5)
-install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.5)
+install(FILES 1_4.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.5)
+install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.5)
diff --git a/sdf/1.6/CMakeLists.txt b/sdf/1.6/CMakeLists.txt
index ed41bf3b1..1797c485b 100644
--- a/sdf/1.6/CMakeLists.txt
+++ b/sdf/1.6/CMakeLists.txt
@@ -82,5 +82,5 @@ add_custom_target(schema1_6 ALL DEPENDS ${SDF_SCHEMA})
 
 set_source_files_properties(${SDF_SCHEMA} PROPERTIES GENERATED TRUE)
 
-install(FILES 1_5.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.6)
-install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.6)
+install(FILES 1_5.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.6)
+install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.6)
diff --git a/sdf/1.7/CMakeLists.txt b/sdf/1.7/CMakeLists.txt
index 51e6fe9af..04d19cc18 100644
--- a/sdf/1.7/CMakeLists.txt
+++ b/sdf/1.7/CMakeLists.txt
@@ -83,5 +83,5 @@ add_custom_target(schema1_7 ALL DEPENDS ${SDF_SCHEMA})
 
 set_source_files_properties(${SDF_SCHEMA} PROPERTIES GENERATED TRUE)
 
-install(FILES 1_6.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.7)
-install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.7)
+install(FILES 1_6.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.7)
+install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.7)
diff --git a/sdf/1.8/CMakeLists.txt b/sdf/1.8/CMakeLists.txt
index ed7f874df..380c98b59 100644
--- a/sdf/1.8/CMakeLists.txt
+++ b/sdf/1.8/CMakeLists.txt
@@ -85,5 +85,5 @@ add_custom_target(schema1_8 ALL DEPENDS ${SDF_SCHEMA})
 
 set_source_files_properties(${SDF_SCHEMA} PROPERTIES GENERATED TRUE)
 
-install(FILES 1_7.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.8)
-install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.8)
+install(FILES 1_7.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.8)
+install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.8)
diff --git a/sdf/1.9/CMakeLists.txt b/sdf/1.9/CMakeLists.txt
index 193f82c23..738d583f3 100644
--- a/sdf/1.9/CMakeLists.txt
+++ b/sdf/1.9/CMakeLists.txt
@@ -85,5 +85,5 @@ add_custom_target(schema1_9 ALL DEPENDS ${SDF_SCHEMA})
 
 set_source_files_properties(${SDF_SCHEMA} PROPERTIES GENERATED TRUE)
 
-install(FILES 1_8.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.9)
-install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.9)
+install(FILES 1_8.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.9)
+install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.9)
diff --git a/src/cmd/CMakeLists.txt b/src/cmd/CMakeLists.txt
index a869d5fca..a1cf707c1 100644
--- a/src/cmd/CMakeLists.txt
+++ b/src/cmd/CMakeLists.txt
@@ -56,4 +56,4 @@ install(
   FILES
     ${CMAKE_CURRENT_BINARY_DIR}/sdf${PROJECT_VERSION_MAJOR}.bash_completion.sh
   DESTINATION
-    ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/gz/gz${GZ_TOOLS_VER}.completion.d)
+    ${CMAKE_INSTALL_DATAROOTDIR}/gz/gz${GZ_TOOLS_VER}.completion.d)