diff --git a/CHANGELOG.md b/CHANGELOG.md
index dc32564..377fa49 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,33 @@
 # Changelog
 
+## [3.0.0](https://github.com/vsurendran-bdai/crisp_controllers/compare/v2.1.0...v3.0.0) (2026-03-05)
+
+
+### ⚠ BREAKING CHANGES
+
+* major controller improvements + ros version ahndled with macros ([#36](https://github.com/vsurendran-bdai/crisp_controllers/issues/36))
+
+### Features
+
+* Add new parameters for the controllers and fix reference frame when using world base jacobian ([#29](https://github.com/vsurendran-bdai/crisp_controllers/issues/29)) ([2544834](https://github.com/vsurendran-bdai/crisp_controllers/commit/25448340bd536416819ebce55722b57b544d7027))
+* add throttled pose / twist broadcasting ([bbaae79](https://github.com/vsurendran-bdai/crisp_controllers/commit/bbaae798c6f56804ef41e87711597ae1529f62f0))
+* add twist_broadcaster that publishes end effector local twist ([2806ca7](https://github.com/vsurendran-bdai/crisp_controllers/commit/2806ca7eec03c48e1ef3ba305c57f9cde4b5dc5e))
+* added release workflow ([6c959c8](https://github.com/vsurendran-bdai/crisp_controllers/commit/6c959c865f2b6953e6a1242fae34ab00a9d59803))
+* broadcast frequency ([53eee4b](https://github.com/vsurendran-bdai/crisp_controllers/commit/53eee4b07110edae313f6e2c0a42a1ed6f30d27e))
+* Fix Cartesian Controller to work with respect to the  base_frame indicated in the parameters and not just world frame ([#10](https://github.com/vsurendran-bdai/crisp_controllers/issues/10)) ([da805ab](https://github.com/vsurendran-bdai/crisp_controllers/commit/da805ab45691a66279ca88138fc2583d5e77319b))
+* major controller improvements + ros version ahndled with macros ([#36](https://github.com/vsurendran-bdai/crisp_controllers/issues/36)) ([abcddb0](https://github.com/vsurendran-bdai/crisp_controllers/commit/abcddb05ffdf5c9a471ad964cce5d14f602cb59c))
+* refactor controller state update + add regularization configurable parameter for inverse mass matrix computation  ([#40](https://github.com/vsurendran-bdai/crisp_controllers/issues/40)) ([d682c9a](https://github.com/vsurendran-bdai/crisp_controllers/commit/d682c9abb5837c798867def561e5220b0dfe61c8))
+* Update docs with dynaarm ([#30](https://github.com/vsurendran-bdai/crisp_controllers/issues/30)) ([aa2be28](https://github.com/vsurendran-bdai/crisp_controllers/commit/aa2be286ef09b3d12a4ae35ecb9146f2f2ae2f9a))
+
+
+### Bug Fixes
+
+* add warning to for versions in docs ([5814498](https://github.com/vsurendran-bdai/crisp_controllers/commit/5814498444627ff808ab9c063b8d048bcc600ad8))
+* Bug in broadcasting frequency of pose/twist broadcasters ([98dda54](https://github.com/vsurendran-bdai/crisp_controllers/commit/98dda5441f55dd8557d2e123b7f15f2e6de6ab9e))
+* Bug in broadcasting frequency of pose/twist broadcasters ([c1ca95f](https://github.com/vsurendran-bdai/crisp_controllers/commit/c1ca95f765f79e8adec91c52502467620ad5b671))
+* path for videos ([e80645e](https://github.com/vsurendran-bdai/crisp_controllers/commit/e80645e318f27f0e115c4d9081b73cf8ddaebcc9))
+* Rollback jittery controller ([5d78af9](https://github.com/vsurendran-bdai/crisp_controllers/commit/5d78af9f9f1b2b2aa3bfe089eb6b33a03ce33858))
+
 ## [2.1.0](https://github.com/utiasDSL/crisp_controllers/compare/v2.0.0...v2.1.0) (2026-02-28)