diff --git a/rmf_traffic/CHANGELOG.md b/rmf_traffic/CHANGELOG.md
index 77921a75..79fa3174 100644
--- a/rmf_traffic/CHANGELOG.md
+++ b/rmf_traffic/CHANGELOG.md
@@ -1,5 +1,11 @@
 ## Changelog for package rmf_traffic
 
+1.4.0 (2021-09-01)
+------------------
+* Mandate use of FCL>=0.6: [#39](https://github.com/open-rmf/rmf_traffic/pull/39)
+* Make the stubborn negotiator's strategy more flexible: [#40](https://github.com/open-rmf/rmf_traffic/pull/40)
+* Fix participant lifecycles: [#35](https://github.com/open-rmf/rmf_traffic/pull/35)
+
 1.3.0 (2021-05-07)
 ------------------
 * Allow a Database to be forked off of a Mirror: [#17](https://github.com/open-rmf/rmf_traffic/pull/17)
diff --git a/rmf_traffic/CMakeLists.txt b/rmf_traffic/CMakeLists.txt
index f06361f0..77ef5394 100644
--- a/rmf_traffic/CMakeLists.txt
+++ b/rmf_traffic/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.5.0)
 
-project(rmf_traffic VERSION 1.0.2)
+project(rmf_traffic VERSION 1.4.0)
 
 set(CMAKE_EXPORT_COMPILE_COMMANDS on)
 
@@ -65,7 +65,7 @@ if(BUILD_TESTING AND ament_cmake_catch2_FOUND AND rmf_cmake_uncrustify_FOUND)
       $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/>
   )
 
-  find_file(uncrustify_config_file 
+  find_file(uncrustify_config_file
     NAMES "rmf_code_style.cfg"
     PATHS "${rmf_utils_DIR}/../../../share/rmf_utils/")
 
diff --git a/rmf_traffic/package.xml b/rmf_traffic/package.xml
index 1322ae02..520dea2d 100644
--- a/rmf_traffic/package.xml
+++ b/rmf_traffic/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rmf_traffic</name>
-  <version>1.3.0</version>
+  <version>1.4.0</version>
   <description>Package for managing traffic in the Robotics Middleware Framework</description>
   <maintainer email="grey@openrobotics.org">Grey</maintainer>
   <maintainer email="marco@openrobotics.org">Marco A. Gutiérrez</maintainer>