diff --git a/.bumpversion.cfg b/.bumpversion.cfg
index 40db135..05a7a1c 100644
--- a/.bumpversion.cfg
+++ b/.bumpversion.cfg
@@ -1,5 +1,5 @@
 [bumpversion]
-current_version = 1.1.0
+current_version = 2.0.0
 message = Bump version to {new_version}
 commit = True
 tag = True
diff --git a/CHANGELOG.md b/CHANGELOG.md
index acd5db6..cddefe8 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -5,7 +5,7 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
-## Unreleased
+## [2.0.0] 2024-03-28
 
 ### Added
 
diff --git a/CITATION.cff b/CITATION.cff
index fca3f50..f1b385b 100644
--- a/CITATION.cff
+++ b/CITATION.cff
@@ -12,7 +12,7 @@ authors:
   orcid: "https://orcid.org/0000-0000-0000-0000"
 title: "COMPAS RRC: Online control for ABB robots over a simple-to-use Python interface."
 doi: 10.5281/zenodo.4639418
-version: v1.1.0
+version: v2.0.0
 date-released: 2020-07-03
 repository-code: "https://github.com/compas-rrc/compas_rrc"
 url: "https://compas-rrc.github.io/compas_rrc"
diff --git a/docker/real_controller_one_robot/docker-compose.yml b/docker/real_controller_one_robot/docker-compose.yml
index 0a29932..934a3bf 100644
--- a/docker/real_controller_one_robot/docker-compose.yml
+++ b/docker/real_controller_one_robot/docker-compose.yml
@@ -1,7 +1,7 @@
 version: '3'
 services:
   ros-master:
-    image: compasrrc/compas_rrc_driver:v1.1.0
+    image: compasrrc/compas_rrc_driver:v2.0.0
     container_name: ros-master
     environment:
       - ROS_HOSTNAME=ros-master
@@ -12,7 +12,7 @@ services:
       - roscore
 
   ros-bridge:
-    image: compasrrc/compas_rrc_driver:v1.1.0
+    image: compasrrc/compas_rrc_driver:v2.0.0
     container_name: ros-bridge
     environment:
       - ROS_HOSTNAME=ros-bridge
@@ -29,7 +29,7 @@ services:
       - unregister_timeout:=28800      # This horribly long timeout of 8 hours is to workaround this issue: https://github.com/RobotWebTools/rosbridge_suite/issues/138
 
   abb-driver-1:
-    image: compasrrc/compas_rrc_driver:v1.1.0
+    image: compasrrc/compas_rrc_driver:v2.0.0
     container_name: abb-driver-1
     environment:
       - ROS_HOSTNAME=abb-driver-1
diff --git a/docker/real_controller_two_robots/docker-compose.yml b/docker/real_controller_two_robots/docker-compose.yml
index f26248a..b480140 100644
--- a/docker/real_controller_two_robots/docker-compose.yml
+++ b/docker/real_controller_two_robots/docker-compose.yml
@@ -1,7 +1,7 @@
 version: '3'
 services:
   ros-master:
-    image: compasrrc/compas_rrc_driver:v1.1.0
+    image: compasrrc/compas_rrc_driver:v2.0.0
     container_name: ros-master
     environment:
       - ROS_HOSTNAME=ros-master
@@ -12,7 +12,7 @@ services:
       - roscore
 
   ros-bridge:
-    image: compasrrc/compas_rrc_driver:v1.1.0
+    image: compasrrc/compas_rrc_driver:v2.0.0
     container_name: ros-bridge
     environment:
       - ROS_HOSTNAME=ros-bridge
@@ -29,7 +29,7 @@ services:
       - unregister_timeout:=28800      # This horribly long timeout of 8 hours is to workaround this issue: https://github.com/RobotWebTools/rosbridge_suite/issues/138
 
   abb-driver-1:
-    image: compasrrc/compas_rrc_driver:v1.1.0
+    image: compasrrc/compas_rrc_driver:v2.0.0
     container_name: abb-driver-1
     environment:
       - ROS_HOSTNAME=abb-driver-1
@@ -47,7 +47,7 @@ services:
       - namespace:=rob1
 
   abb-driver-2:
-    image: compasrrc/compas_rrc_driver:v1.1.0
+    image: compasrrc/compas_rrc_driver:v2.0.0
     container_name: abb-driver-2
     environment:
       - ROS_HOSTNAME=abb-driver-2
diff --git a/docker/real_multi_controller/docker-compose.yml b/docker/real_multi_controller/docker-compose.yml
index b16b023..d8b695a 100644
--- a/docker/real_multi_controller/docker-compose.yml
+++ b/docker/real_multi_controller/docker-compose.yml
@@ -1,7 +1,7 @@
 version: '3'
 services:
   ros-master:
-    image: compasrrc/compas_rrc_driver:v1.1.0
+    image: compasrrc/compas_rrc_driver:v2.0.0
     container_name: ros-master
     environment:
       - ROS_HOSTNAME=ros-master
@@ -12,7 +12,7 @@ services:
       - roscore
 
   ros-bridge:
-    image: compasrrc/compas_rrc_driver:v1.1.0
+    image: compasrrc/compas_rrc_driver:v2.0.0
     container_name: ros-bridge
     environment:
       - ROS_HOSTNAME=ros-bridge
@@ -29,7 +29,7 @@ services:
       - unregister_timeout:=28800      # This horribly long timeout of 8 hours is to workaround this issue: https://github.com/RobotWebTools/rosbridge_suite/issues/138
 
   abb-driver-1:
-    image: compasrrc/compas_rrc_driver:v1.1.0
+    image: compasrrc/compas_rrc_driver:v2.0.0
     container_name: abb-driver-1
     environment:
       - ROS_HOSTNAME=abb-driver-1
@@ -47,7 +47,7 @@ services:
       - namespace:=ctrl1_rob1
 
   abb-driver-2:
-    image: compasrrc/compas_rrc_driver:v1.1.0
+    image: compasrrc/compas_rrc_driver:v2.0.0
     container_name: abb-driver-2
     environment:
       - ROS_HOSTNAME=abb-driver-2
diff --git a/docker/virtual_controller_one_robot/docker-compose.yml b/docker/virtual_controller_one_robot/docker-compose.yml
index 03a806d..5214a0b 100644
--- a/docker/virtual_controller_one_robot/docker-compose.yml
+++ b/docker/virtual_controller_one_robot/docker-compose.yml
@@ -1,7 +1,7 @@
 version: '3'
 services:
   ros-master:
-    image: compasrrc/compas_rrc_driver:v1.1.0
+    image: compasrrc/compas_rrc_driver:v2.0.0
     container_name: ros-master
     environment:
       - ROS_HOSTNAME=ros-master
@@ -12,7 +12,7 @@ services:
       - roscore
 
   ros-bridge:
-    image: compasrrc/compas_rrc_driver:v1.1.0
+    image: compasrrc/compas_rrc_driver:v2.0.0
     container_name: ros-bridge
     environment:
       - ROS_HOSTNAME=ros-bridge
@@ -29,7 +29,7 @@ services:
       - unregister_timeout:=28800      # This horribly long timeout of 8 hours is to workaround this issue: https://github.com/RobotWebTools/rosbridge_suite/issues/138
 
   abb-driver-1:
-    image: compasrrc/compas_rrc_driver:v1.1.0
+    image: compasrrc/compas_rrc_driver:v2.0.0
     container_name: abb-driver-1
     environment:
       - ROS_HOSTNAME=abb-driver-1
diff --git a/docker/virtual_controller_two_robots/docker-compose.yml b/docker/virtual_controller_two_robots/docker-compose.yml
index 95b3f68..064d649 100644
--- a/docker/virtual_controller_two_robots/docker-compose.yml
+++ b/docker/virtual_controller_two_robots/docker-compose.yml
@@ -1,7 +1,7 @@
 version: '3'
 services:
   ros-master:
-    image: compasrrc/compas_rrc_driver:v1.1.0
+    image: compasrrc/compas_rrc_driver:v2.0.0
     container_name: ros-master
     environment:
       - ROS_HOSTNAME=ros-master
@@ -12,7 +12,7 @@ services:
       - roscore
 
   ros-bridge:
-    image: compasrrc/compas_rrc_driver:v1.1.0
+    image: compasrrc/compas_rrc_driver:v2.0.0
     container_name: ros-bridge
     environment:
       - ROS_HOSTNAME=ros-bridge
@@ -29,7 +29,7 @@ services:
       - unregister_timeout:=28800      # This horribly long timeout of 8 hours is to workaround this issue: https://github.com/RobotWebTools/rosbridge_suite/issues/138
 
   abb-driver-1:
-    image: compasrrc/compas_rrc_driver:v1.1.0
+    image: compasrrc/compas_rrc_driver:v2.0.0
     container_name: abb-driver-1
     environment:
       - ROS_HOSTNAME=abb-driver-1
@@ -47,7 +47,7 @@ services:
       - namespace:=rob1
 
   abb-driver-2:
-    image: compasrrc/compas_rrc_driver:v1.1.0
+    image: compasrrc/compas_rrc_driver:v2.0.0
     container_name: abb-driver-2
     environment:
       - ROS_HOSTNAME=abb-driver-2
diff --git a/docker/virtual_multi_controller/docker-compose.yml b/docker/virtual_multi_controller/docker-compose.yml
index 8c39441..1333f78 100644
--- a/docker/virtual_multi_controller/docker-compose.yml
+++ b/docker/virtual_multi_controller/docker-compose.yml
@@ -1,7 +1,7 @@
 version: '3'
 services:
   ros-master:
-    image: compasrrc/compas_rrc_driver:v1.1.0
+    image: compasrrc/compas_rrc_driver:v2.0.0
     container_name: ros-master
     environment:
       - ROS_HOSTNAME=ros-master
@@ -12,7 +12,7 @@ services:
       - roscore
 
   ros-bridge:
-    image: compasrrc/compas_rrc_driver:v1.1.0
+    image: compasrrc/compas_rrc_driver:v2.0.0
     container_name: ros-bridge
     environment:
       - ROS_HOSTNAME=ros-bridge
@@ -29,7 +29,7 @@ services:
       - unregister_timeout:=28800      # This horribly long timeout of 8 hours is to workaround this issue: https://github.com/RobotWebTools/rosbridge_suite/issues/138
 
   abb-driver-1:
-    image: compasrrc/compas_rrc_driver:v1.1.0
+    image: compasrrc/compas_rrc_driver:v2.0.0
     container_name: abb-driver-1
     environment:
       - ROS_HOSTNAME=abb-driver-1
@@ -47,7 +47,7 @@ services:
       - namespace:=ctrl1_rob1
 
   abb-driver-2:
-    image: compasrrc/compas_rrc_driver:v1.1.0
+    image: compasrrc/compas_rrc_driver:v2.0.0
     container_name: abb-driver-2
     environment:
       - ROS_HOSTNAME=abb-driver-2
diff --git a/docs/doc_versions.txt b/docs/doc_versions.txt
index e343924..f9074ae 100644
--- a/docs/doc_versions.txt
+++ b/docs/doc_versions.txt
@@ -1,3 +1,4 @@
 latest
+2.0.0
 1.1.0
 1.0.0
diff --git a/src/compas_rrc/__version__.py b/src/compas_rrc/__version__.py
index 5d6f069..fa78a0a 100644
--- a/src/compas_rrc/__version__.py
+++ b/src/compas_rrc/__version__.py
@@ -1,7 +1,7 @@
 __title__ = "compas_rrc"
 __description__ = "COMPAS RRC: Library for ABB Robots"
 __url__ = "https://github.com/compas-rrc/compas_rrc"
-__version__ = "1.1.0"
+__version__ = "2.0.0"
 __author__ = "ETH Zurich"
 __author_email__ = "rrc@arch.ethz.ch"
 __license__ = "MIT license"