diff --git a/.github/workflows/flexbe_ci.yml b/.github/workflows/flexbe_ci.yml
index ec24552..e57b76c 100644
--- a/.github/workflows/flexbe_ci.yml
+++ b/.github/workflows/flexbe_ci.yml
@@ -12,20 +12,20 @@ jobs:
   test:
     strategy:
       matrix:
-        ros: [humble] #, iron, rolling]
+        ros: [humble, iron, rolling]
         include:
         - os: ubuntu-22.04
           ros: humble
           python: python3
           ci_branch: ros2-devel
-        # - os: ubuntu-22.04
-        #   ros: iron
-        #   ci_branch: ros2-devel
-        #   python: python3
-        # - os: ubuntu-22.04
-        #   ros: rolling
-        #   python: python3
-        #   ci_branch: ros2-devel
+        - os: ubuntu-22.04
+          ros: iron
+          ci_branch: ros2-devel
+          python: python3
+        - os: ubuntu-22.04
+          ros: rolling
+          python: python3
+          ci_branch: ros2-devel
 
     runs-on: ${{ matrix.os }}
     env:
diff --git a/README.md b/README.md
index ba88e16..415aba2 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,4 @@
-# Generic FlexBE States ![Build Status](https://github.com/flexbe/generic_flexbe_states/workflows/FlexBE%20CI/badge.svg)
+# Generic FlexBE States ![Build Status](https://github.com/flexbe/generic_flexbe_states/workflows/FlexBE%20CI/badge.svg?branch=ros2-devel)
 
 A collection of robot-agnostic FlexBE states for navigation, manipulation,
 perception, etc. They are agnostic in the sense that they only depend on
diff --git a/flexbe_manipulation_states/CHANGELOG.rst b/flexbe_manipulation_states/CHANGELOG.rst
index 8ee294a..fa1de55 100644
--- a/flexbe_manipulation_states/CHANGELOG.rst
+++ b/flexbe_manipulation_states/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package flexbe_manipulation_states
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+2.0.0 (2023-06-23)
+------------------
 * pylint testing with colcon test; flag some ROS 2 conversion issues; linter cleanup
 * remove non-standard packages from rosdepend; update .github CI
 * initial release of ROS 2 build; mostly untested other than some basic imports
diff --git a/flexbe_manipulation_states/package.xml b/flexbe_manipulation_states/package.xml
index 0678d4c..2a224d2 100644
--- a/flexbe_manipulation_states/package.xml
+++ b/flexbe_manipulation_states/package.xml
@@ -3,7 +3,7 @@
 
 <package format="3">
   <name>flexbe_manipulation_states</name>
-  <version>1.0.1</version>
+  <version>2.0.0</version>
   <description>
      flexbe_manipulation_states provides a collection of robot-agnostic
      states related to manipulation and trajectory execution.
diff --git a/flexbe_navigation_states/CHANGELOG.rst b/flexbe_navigation_states/CHANGELOG.rst
index 674157d..76525c0 100644
--- a/flexbe_navigation_states/CHANGELOG.rst
+++ b/flexbe_navigation_states/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package flexbe_navigation_states
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+2.0.0 (2023-06-23)
+------------------
 * pylint testing with colcon test; flag some ROS 2 conversion issues; linter cleanup
 * remove non-standard packages from rosdepend; update .github CI
 * initial release of ROS 2 build; mostly untested other than some basic imports
diff --git a/flexbe_navigation_states/package.xml b/flexbe_navigation_states/package.xml
index 9164895..a665f4c 100644
--- a/flexbe_navigation_states/package.xml
+++ b/flexbe_navigation_states/package.xml
@@ -3,7 +3,7 @@
 
 <package format="3">
   <name>flexbe_navigation_states</name>
-  <version>1.0.1</version>
+  <version>2.0.0</version>
   <description>
      flexbe_navigation_states provides a collection of robot-agnostic
      states related to mobile robot navigation.
diff --git a/flexbe_utility_states/CHANGELOG.rst b/flexbe_utility_states/CHANGELOG.rst
index 9b68440..4283aaf 100644
--- a/flexbe_utility_states/CHANGELOG.rst
+++ b/flexbe_utility_states/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package flexbe_utility_states
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+2.0.0 (2023-06-23)
+------------------
 * pylint testing with colcon test; flag some ROS 2 conversion issues; linter cleanup
 * initial release of ROS 2 build; mostly untested other than some basic imports
 * Merge pull request `#9 <https://github.com/FlexBE/generic_flexbe_states/issues/9>`_ from alireza-hosseini/install-src
diff --git a/flexbe_utility_states/package.xml b/flexbe_utility_states/package.xml
index adaf991..8e1f739 100644
--- a/flexbe_utility_states/package.xml
+++ b/flexbe_utility_states/package.xml
@@ -3,7 +3,7 @@
 
 <package format="3">
   <name>flexbe_utility_states</name>
-  <version>1.0.1</version>
+  <version>2.0.0</version>
   <description>
      Provides a collection of generic states mainly for development and debugging purposes.
   </description>
diff --git a/generic_flexbe_states/CHANGELOG.rst b/generic_flexbe_states/CHANGELOG.rst
index 0cf5727..4e40b46 100644
--- a/generic_flexbe_states/CHANGELOG.rst
+++ b/generic_flexbe_states/CHANGELOG.rst
@@ -2,7 +2,7 @@
 Changelog for package generic_flexbe_states
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+2.0.0 (2023-06-23)
+------------------
 * pylint testing with colcon test; flag some ROS 2 conversion issues; linter cleanup
 * Contributors: David Conner
diff --git a/generic_flexbe_states/package.xml b/generic_flexbe_states/package.xml
index 45b5c3f..7f66cbb 100644
--- a/generic_flexbe_states/package.xml
+++ b/generic_flexbe_states/package.xml
@@ -3,7 +3,7 @@
 
 <package format="3">
   <name>generic_flexbe_states</name>
-  <version>1.0.1</version>
+  <version>2.0.0</version>
   <description>
      Provides a collection of generic states mainly for development and debugging purposes.
   </description>