From 7108ae876dc6f1358714eceb14097b1e7a31fe47 Mon Sep 17 00:00:00 2001
From: Dominic Reber <dominic@aica.tech>
Date: Wed, 8 Apr 2026 12:55:14 +0200
Subject: [PATCH] release: version 5.4.1

---
 CHANGELOG.md                          | 11 ++++++++++-
 aica-package.toml                     |  2 +-
 source/modulo_components/package.xml  |  2 +-
 source/modulo_controllers/package.xml |  2 +-
 source/modulo_core/package.xml        |  2 +-
 source/modulo_utils/package.xml       |  2 +-
 6 files changed, 15 insertions(+), 6 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 4a809b22..b3a84561 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -2,6 +2,7 @@
 
 Release Versions:
 
+- [5.4.1](#541)
 - [5.4.0](#540)
 - [5.3.0](#530)
 - [5.2.3](#523)
@@ -25,7 +26,15 @@ Release Versions:
 - [2.1.1](#211)
 - [2.1.0](#210)
 
-## Upcoming changes
+## 5.4.1
+
+### April 8th, 2026
+
+Version 5.4.1 is a patch releases to revert some changes from v5.3.0 and v5.4.1 that break the ABI of the modulo
+libraries. In particular, the addition of assignments in the C++ classes changed the ABI in ways that components and
+controllers built with previous versions of modulo might stop working. Using v5.3.0 or 5.4.0 is discouraged, and users
+should move to v5.4.1.
+
 
 - fix(controllers): safety check for predicate publisher access (#238)
 - fix: remove ABI breaking assignment methods from C++ components and controllers (#240)
diff --git a/aica-package.toml b/aica-package.toml
index 5ec9688a..788bdc93 100644
--- a/aica-package.toml
+++ b/aica-package.toml
@@ -1,7 +1,7 @@
 #syntax=ghcr.io/aica-technology/package-builder:v1.4.0
 
 [metadata]
-version = "5.4.0"
+version = "5.4.1"
 description = "Modular ROS 2 extension library for dynamic composition of components and controllers with the AICA robotics framework"
 
 [metadata.collection]
diff --git a/source/modulo_components/package.xml b/source/modulo_components/package.xml
index 9abcd921..49515b1f 100644
--- a/source/modulo_components/package.xml
+++ b/source/modulo_components/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>modulo_components</name>
-  <version>5.4.0</version>
+  <version>5.4.1</version>
   <description>Modulo base classes that wrap ROS 2 Nodes as modular components for the AICA application framework</description>
   <maintainer email="baptiste@aica.tech">Baptiste Busch</maintainer>
   <maintainer email="enrico@aica.tech">Enrico Eberhard</maintainer>
diff --git a/source/modulo_controllers/package.xml b/source/modulo_controllers/package.xml
index 0cf98b47..fc77d99c 100644
--- a/source/modulo_controllers/package.xml
+++ b/source/modulo_controllers/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>modulo_controllers</name>
-  <version>5.4.0</version>
+  <version>5.4.1</version>
   <description>Interface class for modulo controllers</description>
   <maintainer email="enrico@aica.tech">Enrico Eberhard</maintainer>
   <maintainer email="dominic@aica.tech">Dominic Reber</maintainer>
diff --git a/source/modulo_core/package.xml b/source/modulo_core/package.xml
index 3cd24024..9ea4af09 100644
--- a/source/modulo_core/package.xml
+++ b/source/modulo_core/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>modulo_core</name>
-  <version>5.4.0</version>
+  <version>5.4.1</version>
   <description>Modulo Core communication and translation utilities for interoperability with AICA Control Libraries</description>
   <maintainer email="baptiste@aica.tech">Baptiste Busch</maintainer>
   <maintainer email="enrico@aica.tech">Enrico Eberhard</maintainer>
diff --git a/source/modulo_utils/package.xml b/source/modulo_utils/package.xml
index add6ed14..015a7cb4 100644
--- a/source/modulo_utils/package.xml
+++ b/source/modulo_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>modulo_utils</name>
-  <version>5.4.0</version>
+  <version>5.4.1</version>
   <description>Modulo utils package for shared test fixtures</description>
   <maintainer email="dominic@aica.tech">Dominic Reber</maintainer>
   <license>GPLv3</license>