diff --git a/README.md b/README.md
index 13c2e2e705..e121cb2e42 100644
--- a/README.md
+++ b/README.md
@@ -3,7 +3,7 @@ These are packages for using Intel RealSense cameras (D400 and L500 series, SR30
 
 This version supports ROS2 Dashing, Eloquent, Foxy, Galactic and Rolling.
 
-LibRealSense supported version: v2.50.0 (see [realsense2_camera release notes](https://github.com/IntelRealSense/realsense-ros/releases))
+LibRealSense supported version: v2.51.1 (see [realsense2_camera release notes](https://github.com/IntelRealSense/realsense-ros/releases))
 
 ## Please notice: if you are moving from RealSense [ROS2 branch](https://github.com/IntelRealSense/realsense-ros/tree/ros2) to ROS2-beta:
 - **Changed Parameters**:
@@ -46,7 +46,7 @@ LibRealSense supported version: v2.50.0 (see [realsense2_camera release notes](h
       - In this case treat yourself as a developer: make sure to follow the instructions to also install librealsense2-dev and librealsense2-dkms packages
 
 - #### Option 2: Build from source
-  - Download the latest [Intel® RealSense™ SDK 2.0](https://github.com/IntelRealSense/librealsense/releases/tag/v2.50.0)
+  - Download the latest [Intel® RealSense™ SDK 2.0](https://github.com/IntelRealSense/librealsense/releases/tag/v2.51.1)
   - Follow the instructions under [Linux Installation](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md)
 
 
diff --git a/realsense2_camera/CHANGELOG.rst b/realsense2_camera/CHANGELOG.rst
index 0cd4682626..3b255c74e2 100644
--- a/realsense2_camera/CHANGELOG.rst
+++ b/realsense2_camera/CHANGELOG.rst
@@ -2,6 +2,22 @@
 Changelog for package realsense2_camera
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+Forthcoming
+-----------
+* Fix crash when activating IMU & aligned depth together
+* Fix rosbag device loading by preventing set_option to HDR/Gain/Exposure
+* Support ROS2 Humble
+* Publish real frame rate of realsense camera node topics/publishers
+* No need to start/stop sensors for align depth changes
+* Fix colorizer filter which returns null reference ptr
+* Fix align_depth enable/disable
+* Add colorizer.enable to rs_launch.py
+* Add copyright and license to all ROS2-beta source files
+* Fix CUDA suffix for pointcloud and align_depth topics
+* Add ROS build farm pre-release to ci
+
+* Contributors: Eran, NirAz, SamerKhshiboun
+
 4.0.4 (2022-03-20)
 ------------------
 * fix required packages for building debians for ros2-beta branch
diff --git a/realsense2_camera/CMakeLists.txt b/realsense2_camera/CMakeLists.txt
index 4dcd142f65..84c9e5bd65 100644
--- a/realsense2_camera/CMakeLists.txt
+++ b/realsense2_camera/CMakeLists.txt
@@ -101,7 +101,7 @@ find_package(tf2_ros REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(diagnostic_updater REQUIRED)
 
-find_package(realsense2 2.50.0)
+find_package(realsense2 2.51.1)
 if(NOT realsense2_FOUND)
     message(FATAL_ERROR "\n\n Intel RealSense SDK 2.0 is missing, please install it from https://github.com/IntelRealSense/librealsense/releases\n\n")
 endif()
diff --git a/realsense2_camera/include/constants.h b/realsense2_camera/include/constants.h
index de5ecb8480..f640bab854 100644
--- a/realsense2_camera/include/constants.h
+++ b/realsense2_camera/include/constants.h
@@ -7,8 +7,8 @@
 #include <rclcpp/rclcpp.hpp>
 
 #define REALSENSE_ROS_MAJOR_VERSION    4
-#define REALSENSE_ROS_MINOR_VERSION    0
-#define REALSENSE_ROS_PATCH_VERSION    4
+#define REALSENSE_ROS_MINOR_VERSION    51
+#define REALSENSE_ROS_PATCH_VERSION    1
 
 #define STRINGIFY(arg) #arg
 #define VAR_ARG_STRING(arg) STRINGIFY(arg)
diff --git a/realsense2_camera_msgs/CHANGELOG.rst b/realsense2_camera_msgs/CHANGELOG.rst
index dcfc4fd7c6..40287fcab0 100644
--- a/realsense2_camera_msgs/CHANGELOG.rst
+++ b/realsense2_camera_msgs/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package realsense2_camera_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+Forthcoming
+-----------
+* Add copyright and license to all ROS2-beta source files
+
+* Contributors: SamerKhshiboun
+
 4.0.4 (2022-03-20)
 ------------------
 
diff --git a/realsense2_description/CHANGELOG.rst b/realsense2_description/CHANGELOG.rst
index a5ee9e0fd4..4ed165ea61 100644
--- a/realsense2_description/CHANGELOG.rst
+++ b/realsense2_description/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package realsense2_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+Forthcoming
+-----------
+* Add copyright and license to all ROS2-beta source files
+
+* Contributors: SamerKhshiboun
+
 4.0.4 (2022-03-20)
 ------------------