diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
index f355340b..2052fe3f 100644
--- a/.github/workflows/release.yml
+++ b/.github/workflows/release.yml
@@ -99,6 +99,9 @@ jobs:
           publish_if_not_exists dora-daemon
           publish_if_not_exists dora-cli
 
+          # Publish ROS2 bridge 
+          publish_if_not_exists dora-ros2-bridge-msg-gen
+          publish_if_not_exists dora-ros2-bridge
   unix:
     runs-on: ${{ matrix.platform.runner }}
     strategy:
diff --git a/Cargo.lock b/Cargo.lock
index b6938568..b8ebf91b 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -2887,7 +2887,7 @@ dependencies = [
 
 [[package]]
 name = "dora-object-to-pose"
-version = "0.1.0"
+version = "0.3.10-rc3"
 dependencies = [
  "dora-node-api",
  "eyre",
@@ -3002,7 +3002,7 @@ dependencies = [
 
 [[package]]
 name = "dora-ros2-bridge"
-version = "0.1.0"
+version = "0.3.10-rc3"
 dependencies = [
  "array-init",
  "dora-daemon",
@@ -3025,7 +3025,7 @@ dependencies = [
 
 [[package]]
 name = "dora-ros2-bridge-msg-gen"
-version = "0.1.0"
+version = "0.3.10-rc3"
 dependencies = [
  "anyhow",
  "glob",
@@ -3041,7 +3041,7 @@ dependencies = [
 
 [[package]]
 name = "dora-ros2-bridge-python"
-version = "0.1.0"
+version = "0.3.10-rc3"
 dependencies = [
  "arrow 54.2.1",
  "dora-ros2-bridge",
diff --git a/Changelog.md b/Changelog.md
index 6280ef91..5ca62b33 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -1,5 +1,31 @@
 # Changelog
 
+## v0.3.10 (2025-03-04)
+
+## What's Changed
+
+- Enables array based bounding boxes by @haixuanTao in https://github.com/dora-rs/dora/pull/772
+- Fix typo in node version by @haixuanTao in https://github.com/dora-rs/dora/pull/773
+- CI: Use `paths-ignore` instead of negated `paths` by @phil-opp in https://github.com/dora-rs/dora/pull/781
+- Adding rerun connect options by @haixuanTao in https://github.com/dora-rs/dora/pull/782
+- Forbid `/` in node IDs by @phil-opp in https://github.com/dora-rs/dora/pull/785
+- Adding reachy and dora reachy demo by @haixuanTao in https://github.com/dora-rs/dora/pull/784
+- Fix typo in reachy node by @haixuanTao in https://github.com/dora-rs/dora/pull/789
+- Update dependency transformers to >=4.48.0,<=4.48.0 [SECURITY] - abandoned by @renovate in https://github.com/dora-rs/dora/pull/778
+- Fix bounding box for rerun viewer and clear the viewer if no bounding box is detected by @haixuanTao in https://github.com/dora-rs/dora/pull/787
+- Adding float for env variable and metadata parameters by @haixuanTao in https://github.com/dora-rs/dora/pull/786
+- Limit pip release ci to strict minimum by @haixuanTao in https://github.com/dora-rs/dora/pull/791
+- Add uv flag within start cli command by @haixuanTao in https://github.com/dora-rs/dora/pull/788
+- Adding a test for checking on the latency when used timeout and queue at the same time by @haixuanTao in https://github.com/dora-rs/dora/pull/783
+- Use zenoh for inter-daemon communication by @phil-opp in https://github.com/dora-rs/dora/pull/779
+- Pin chrono version by @haixuanTao in https://github.com/dora-rs/dora/pull/797
+- Add kokoro tts by @haixuanTao in https://github.com/dora-rs/dora/pull/794
+- Pick place demo by @haixuanTao in https://github.com/dora-rs/dora/pull/793
+- Bump pyo3 to 0.23 by @haixuanTao in https://github.com/dora-rs/dora/pull/798
+- Faster node hub CI/CD by removing `free disk space on ubuntu` by @haixuanTao in https://github.com/dora-rs/dora/pull/801
+
+## v0.3.9 (2025-02-06)
+
 ## What's Changed
 
 - Making cli install the default api avoiding confusion on install by @haixuanTao in https://github.com/dora-rs/dora/pull/739
diff --git a/libraries/extensions/ros2-bridge/Cargo.toml b/libraries/extensions/ros2-bridge/Cargo.toml
index 69fd99af..1cbb91fd 100644
--- a/libraries/extensions/ros2-bridge/Cargo.toml
+++ b/libraries/extensions/ros2-bridge/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "dora-ros2-bridge"
-version = "0.1.0"
+version.workspace = true
 edition.workspace = true
 links = "dora-ros2-bridge"
 
diff --git a/libraries/extensions/ros2-bridge/msg-gen/Cargo.toml b/libraries/extensions/ros2-bridge/msg-gen/Cargo.toml
index c823f547..daa580c6 100644
--- a/libraries/extensions/ros2-bridge/msg-gen/Cargo.toml
+++ b/libraries/extensions/ros2-bridge/msg-gen/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "dora-ros2-bridge-msg-gen"
-version = "0.1.0"
+version.workspace = true
 edition.workspace = true
 authors = ["Yuma Hiramatsu <yuma.hiramatsu@gmail.com>"]
 license = "Apache-2.0"
diff --git a/libraries/extensions/ros2-bridge/python/Cargo.toml b/libraries/extensions/ros2-bridge/python/Cargo.toml
index acba0a21..9d8f94cb 100644
--- a/libraries/extensions/ros2-bridge/python/Cargo.toml
+++ b/libraries/extensions/ros2-bridge/python/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "dora-ros2-bridge-python"
-version = "0.1.0"
+version.workspace = true
 edition.workspace = true
 
 
diff --git a/node-hub/dora-franka/Cargo.toml b/node-hub/dora-franka/Cargo.toml
new file mode 100644
index 00000000..2776cdc2
--- /dev/null
+++ b/node-hub/dora-franka/Cargo.toml
@@ -0,0 +1,18 @@
+[package]
+name = "dora-franka"
+version.workspace = true
+edition = "2021"
+documentation.workspace = true
+description.workspace = true
+license.workspace = true
+repository.workspace = true
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+tokio = { version = "1.36.0", features = ["fs", "rt", "rt-multi-thread"] }
+dora-node-api = { workspace = true, features = ["tracing"] }
+eyre = "0.6.8"
+chrono = "0.4.31"
+dora-tracing = { workspace = true }
+parquet = { version = "53", features = ["async"] }
diff --git a/node-hub/dora-kokoro-tts/pyproject.toml b/node-hub/dora-kokoro-tts/pyproject.toml
index 60f30ee9..6197c53b 100644
--- a/node-hub/dora-kokoro-tts/pyproject.toml
+++ b/node-hub/dora-kokoro-tts/pyproject.toml
@@ -1,6 +1,6 @@
 [project]
 name = "dora-kokoro-tts"
-version = "0.0.0"
+version = "0.3.10rc3"
 authors = [{ name = "Your Name", email = "email@email.com" }]
 description = "dora-kokoro-tts"
 license = { text = "MIT" }
diff --git a/node-hub/dora-object-to-pose/Cargo.toml b/node-hub/dora-object-to-pose/Cargo.toml
index f4307d2b..f1ca11f6 100644
--- a/node-hub/dora-object-to-pose/Cargo.toml
+++ b/node-hub/dora-object-to-pose/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "dora-object-to-pose"
-version = "0.1.0"
+version = "0.3.10-rc3"
 edition = "2021"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html