diff --git a/CHANGELOG.md b/CHANGELOG.md
index 6d162974..3040439a 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,47 @@
 # Change Log
 
+## [0.19.0] 27 September 2024
+
+### Added
+
+- Added skeleton animation (mesh skinning) performed on GPU
+  - Added API call to assign bone weights to the mesh
+    - `rgl_mesh_set_bone_weights`
+  - Added API call to assign restposes to the mesh
+    - `rgl_mesh_set_restposes`
+  - Added API call to set the current pose of the given Entity in world coordinates
+    - `rgl_entity_set_pose_world`
+- Added multi-return outputs
+  - Multi-return point clouds can be post-processed and outputted by RGL
+  - Added more return types supported (second, strongest, second strongest)
+  - Added API call to configure return mode
+    - `rgl_node_raytrace_configure_return_mode`
+- Added support for ROS 2 Jazzy
+
+### Changed
+
+- Changed API calls for handling animations resulted from external animation system
+  - Removed API call to update vertices of the mesh
+    - `rgl_mesh_update_vertices`
+  - Added API call to update vertices of the entity
+    - `rgl_entity_apply_external_animation`
+  - In current implementation, meshes that are animated can be shared between entities
+    - Previously, such meshes must be duplicated because vertices were updated in the mesh object
+    - Now, the entity holds its copy of animated vertices
+- Renamed API call for setting transform of the entity
+  - `rgl_entity_set_pose` -> `rgl_entity_set_transform`
+  - Pose is considered as set of skeleton bones transforms
+
+### Fixed
+
+- Fixed error message from yield node when trying to get field data that was not requested
+
+### Removed
+
+- Removed API call to switch between return modes:
+  - `rgl_node_multi_return_switch`
+  - Replaced by `rgl_node_raytrace_configure_return_mode`
+
 ## [0.18.0] 24 July 2024
 
 ### Added
diff --git a/extensions.repos b/extensions.repos
index 3d3d86c4..b76c98a2 100644
--- a/extensions.repos
+++ b/extensions.repos
@@ -2,10 +2,10 @@ repositories:
   extensions/udp:
     type: git
     url: git@github.com:RobotecAI/RGL-extension-udp.git
-    version: develop
+    version: v0.19.0
 
   extensions/weather:
     type: git
     url: git@github.com:RobotecAI/RGL-extension-weather.git
-    version: develop
+    version: v0.19.0
 
diff --git a/include/rgl/api/core.h b/include/rgl/api/core.h
index ccebb4d1..1b13f83a 100644
--- a/include/rgl/api/core.h
+++ b/include/rgl/api/core.h
@@ -50,7 +50,7 @@
 #define RGL_API NO_MANGLING RGL_VISIBLE
 
 #define RGL_VERSION_MAJOR 0
-#define RGL_VERSION_MINOR 18
+#define RGL_VERSION_MINOR 19
 #define RGL_VERSION_PATCH 0
 
 // Invalid Entity ID is assign to rays that does not hit any Entity.