diff --git a/CHANGELOG.md b/CHANGELOG.md
index 085694b..9e6b8a0 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,11 @@
 # Changelog
 
+## v0.5.0-rc.2 -> v0.5.0-rc.3
+
+- Bump r2r to 0.9.
+- Fixed building in `no_std` environments.
+- Removed `expect` calls.
+
 ## v0.5.0-rc.1 -> v0.5.0-rc.2
 
 - `PointConvertible` now includes the information for `TypeLayout` and `Fields`, which reduces boilerplate code for custom points. The respective derive macro is updated to work with the updated trait.
diff --git a/README.md b/README.md
index 1ce29fc..b94934c 100644
--- a/README.md
+++ b/README.md
@@ -7,7 +7,7 @@
 
 ros_pointcloud2 uses its own type for the message `PointCloud2Msg` to keep the library framework agnostic. ROS1 and ROS2 are supported with feature flags.
 
-Get started with the example below, check out the other use cases in the `examples` folder or see the [Documentation](https://docs.rs/ros_pointcloud2/0.5.0-rc.2/) for a complete guide.
+Get started with the example below, check out the other use cases in the `examples` folder or see the [Documentation](https://docs.rs/ros_pointcloud2/0.5.0-rc.3/) for a complete guide.
 
 ## Quickstart
 
@@ -68,7 +68,7 @@ Features do not work properly with `rcrls` because the messages are linked exter
 
 ```toml
 [dependencies]
-ros_pointcloud2 = { git = "https://github.com/stelzo/ros_pointcloud2", tag = "v0.5.0-rc.2_rclrs" }
+ros_pointcloud2 = { git = "https://github.com/stelzo/ros_pointcloud2", tag = "v0.5.0-rc.3_rclrs" }
 ```
 
 Also, indicate the following dependencies to your linker inside the `package.xml` of your package.
diff --git a/rpcl2/Cargo.toml b/rpcl2/Cargo.toml
index ee5d313..99b1f05 100644
--- a/rpcl2/Cargo.toml
+++ b/rpcl2/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "ros_pointcloud2"
-version = "0.5.0-rc.2"
+version = "0.5.0-rc.3"
 edition = "2021"
 authors = ["Christopher Sieh <stelzo@steado.de>"]
 description = "Customizable conversions for working with sensor_msgs/PointCloud2."
diff --git a/rpcl2/src/lib.rs b/rpcl2/src/lib.rs
index 3792013..1b7b494 100644
--- a/rpcl2/src/lib.rs
+++ b/rpcl2/src/lib.rs
@@ -125,7 +125,7 @@
 //! ```
 #![crate_type = "lib"]
 #![cfg_attr(docsrs, feature(doc_cfg))]
-#![doc(html_root_url = "https://docs.rs/ros_pointcloud2/0.5.0-rc.2")]
+#![doc(html_root_url = "https://docs.rs/ros_pointcloud2/0.5.0-rc.3")]
 #![warn(clippy::print_stderr)]
 #![warn(clippy::print_stdout)]
 #![warn(clippy::unwrap_used)]