diff --git a/RELEASE.md b/RELEASE.md
index 8e211df68b..ebf200ac1a 100644
--- a/RELEASE.md
+++ b/RELEASE.md
@@ -1,5 +1,10 @@
 # Releases
 
+## Release 0.16.6
+
+  * switch map online possibility
+  * other fixes
+
 ## Release 0.16.5
 
   * Fix multiple bugs
diff --git a/astrobee.doxyfile b/astrobee.doxyfile
index 1aeb60965b..66ec78dd2e 100644
--- a/astrobee.doxyfile
+++ b/astrobee.doxyfile
@@ -39,7 +39,7 @@ PROJECT_NAME           = "NASA Astrobee Robot Software"
 # control system is used.
 
 
-PROJECT_NUMBER         = 0.16.5
+PROJECT_NUMBER         = 0.16.6
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a
diff --git a/astrobee/CMakeLists.txt b/astrobee/CMakeLists.txt
index b2eb9c6bf7..609f8a4913 100644
--- a/astrobee/CMakeLists.txt
+++ b/astrobee/CMakeLists.txt
@@ -18,7 +18,7 @@
 cmake_minimum_required(VERSION 3.0)
 project(astrobee)
 
-set(ASTROBEE_VERSION 0.16.5)
+set(ASTROBEE_VERSION 0.16.6)
 
 ## Compile as C++14, supported in ROS Kinetic and newer
 add_compile_options(-std=c++14)
diff --git a/debian/changelog b/debian/changelog
index 16ad85c35b..e3fd583036 100644
--- a/debian/changelog
+++ b/debian/changelog
@@ -1,3 +1,10 @@
+astrobee (0.16.6) testing; urgency=medium
+
+  * switch map online possibility
+  * other fixes
+
+ -- Astrobee Flight Software <astrobee-fsw@nx.arc.nasa.gov>  Fri, 03 Jun 2022 15:54:22 -0700
+
 astrobee (0.16.5) testing; urgency=medium
 
   * Fix multiple bugs