diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 4e21b7ae8..052386aa3 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,21 @@
 Changelog for package behaviortree_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+Forthcoming
+-----------
+* Initialize template variable `T out` (`#839 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/839>`_)
+* Building with a recent compiler fails due incompatible expected library (`#833 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/833>`_)
+  * nonstd::expected updated to 0.8
+* fix issue `#829 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/829>`_: support again custom JSON converters
+* fix issue `#834 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/834>`_: enable minitrace
+* allow multiple instances of the loggers
+* fix issue `#827 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/827>`_ : verify <BehaviorTree> name
+* add TickMonitorCallback
+* Fix typo in FallbackNode constructor parameter name (`#830 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/830>`_)
+* fix segfault and throw instead when manifest is nullptr
+* Add in call to ament_export_targets. (`#826 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/826>`_)
+* Contributors: Davide Faconti, S. Messerschmidt, Sharmin Ramli, avikus-seonghyeon.kwon
+
 4.6.1 (2024-05-20)
 ------------------
 * remove flatbuffers from public API and old file_logger
diff --git a/CMakeLists.txt b/CMakeLists.txt
index ad0d37363..9b6d1ebaa 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.16.3) # version on Ubuntu Focal
 
-project(behaviortree_cpp VERSION 4.6.1 LANGUAGES C CXX)
+project(behaviortree_cpp VERSION 4.6.2 LANGUAGES C CXX)
 
 set(CMAKE_CONFIG_PATH ${CMAKE_MODULE_PATH}  "${CMAKE_CURRENT_LIST_DIR}/cmake")
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CONFIG_PATH}")
@@ -198,7 +198,7 @@ message( STATUS "BTCPP_LIB_DESTINATION:   ${BTCPP_LIB_DESTINATION} " )
 message( STATUS "BTCPP_INCLUDE_DESTINATION: ${BTCPP_INCLUDE_DESTINATION} " )
 message( STATUS "BTCPP_UNIT_TESTS:   ${BTCPP_UNIT_TESTS} " )
 
-if (BTCPP_UNIT_TESTS OR BTCPP_EXAMPLES) 
+if (BTCPP_UNIT_TESTS OR BTCPP_EXAMPLES)
 add_subdirectory(sample_nodes)
 endif()