diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index d40aa24..810c023 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,23 @@
 Changelog for package teleop_twist_joy
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.5.1 (2024-06-17)
+------------------
+* Add an option to publish TwistStamped (`#42 <https://github.com/ros2/teleop_twist_joy/issues/42>`_) (`#46 <https://github.com/ros2/teleop_twist_joy/issues/46>`_)
+  (cherry picked from commit 76cd6508a8c4e35d9fe3a6a8968abbe7159ffc08)
+  # Conflicts:
+  #	README.md
+  #	src/teleop_twist_joy.cpp
+  Co-authored-by: Tamaki Nishino <otamachan@gmail.com>
+  Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
+* add inverted reverse param (`#35 <https://github.com/ros2/teleop_twist_joy/issues/35>`_) (`#44 <https://github.com/ros2/teleop_twist_joy/issues/44>`_)
+  * add inverted-reverse param
+  (cherry picked from commit 2a5f3e4f776869ae1e981f3ca1877cdf10318f37)
+  Co-authored-by: Máté <56221639+turtlewizard73@users.noreply.github.com>
+  Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
+* Added Iron CI (`#49 <https://github.com/ros2/teleop_twist_joy/issues/49>`_)
+* Contributors: Alejandro Hernández Cordero, mergify[bot]
+
 2.5.0 (2023-06-07)
 ------------------
 * [rolling] Update maintainers - 2022-11-07 (`#33 <https://github.com/ros2/teleop_twist_joy/issues/33>`_)