diff --git a/doc/release_notes.rst b/doc/release_notes.rst
index 8320a81705..beb1e7e00c 100644
--- a/doc/release_notes.rst
+++ b/doc/release_notes.rst
@@ -106,6 +106,7 @@ hardware_interface
 * Added ``get_hardware_info`` method to the hardware components interface to access the ``HardwareInfo`` instead of accessing the variable ``info_`` directly (`#1643 <https://github.com/ros-controls/ros2_control/pull/1643>`_)
 * With (`#1683 <https://github.com/ros-controls/ros2_control/pull/1683>`_) the ``rclcpp_lifecycle::State & get_state()`` and ``void set_state(const rclcpp_lifecycle::State & new_state)`` are replaced by ``rclcpp_lifecycle::State & get_lifecycle_state()`` and ``void set_lifecycle_state(const rclcpp_lifecycle::State & new_state)``. This change affects controllers and hardware. This is related to (`#1240 <https://github.com/ros-controls/ros2_control/pull/1240>`_) as variant support introduces ``get_state`` and ``set_state`` methods for setting/getting state of handles.
 * With (`#1421 <https://github.com/ros-controls/ros2_control/pull/1421>`_) a key-value storage is added to InterfaceInfo. This allows to define extra params with per Command-/StateInterface in the ``.ros2_control.xacro`` file.
+* With (`#1763 <https://github.com/ros-controls/ros2_control/pull/1763>`_) parsing for SDF published to ``robot_description`` topic is now also supported.
 
 joint_limits
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