diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 9d9c39d..c069a12 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -1,6 +1,19 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for package dynamixel_interfaces
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+2.0.0 (2024-02-08)
+------------------
+* **BREAKING**: Add telemetry fields to DynamixelState message
+  
+  - Added present_temperature (int16[])
+  - Added present_input_voltage (int16[]) 
+  - Added present_current (int16[])
+  - Added present_load (int16[])
+  
+  Downstream packages must:
+  1. Rebuild against new message definition
+  2. Update code if parsing DynamixelState messages
+  
 
 1.0.1 (2025-03-11)
 ------------------
diff --git a/msg/DynamixelState.msg b/msg/DynamixelState.msg
index 7aae937..a320348 100644
--- a/msg/DynamixelState.msg
+++ b/msg/DynamixelState.msg
@@ -1,9 +1,16 @@
 std_msgs/Header header
 
+# all arrays in tandem, elements at ith position correspond to servo noted in id[]
+# see corresponding servo manuals for return values and ranges
+
 int32 comm_state
 int32[] id
 bool[] torque_state
 int32[] dxl_hw_state
+int16[] present_temperature
+int16[] present_input_voltage
+int16[] present_current
+int16[] present_load
 
 int32 COMM_STATE_OK = 0
 int32 COMM_STATE_CANNOT_FIND_CONTROL_ITEM = -1
diff --git a/package.xml b/package.xml
index c3a97c3..2a456e5 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='UTF-8'?>
 <package format="3">
   <name>dynamixel_interfaces</name>
-  <version>1.0.1</version>
+  <version>2.0.0</version>
   <description>
     dynamixel_interfaces contains base messages and service useful for controlling Dynamixel.
   </description>