diff --git a/source/Releases/Release-Humble-Hawksbill.rst b/source/Releases/Release-Humble-Hawksbill.rst
index 4cc0d9d0b4..1df40233d1 100644
--- a/source/Releases/Release-Humble-Hawksbill.rst
+++ b/source/Releases/Release-Humble-Hawksbill.rst
@@ -709,6 +709,29 @@ The CMake function ``rosidl_target_interfaces()`` has been deprecated, and now i
 Users wanting to use messages/services/actions in the same ROS package that generated them should instead call ``rosidl_get_typesupport_target()`` and then ``target_link_libraries()`` to make their targets depend on the returned typesupport target.
 See https://github.com/ros2/rosidl/pull/606 for more details, and https://github.com/ros2/demos/pull/529 for an example of using the new function.
 
+
+rviz2
+^^^^^
+
+We've added `the ability to apply textures defined via URI to arbitrary triangle lists using UV Coordinates <https://github.com/ros2/rviz/pull/719>`__.
+Now we can create a gradient pull from a texture map instead of the default grayscale.
+This will enable complex coloring of markers. To use this, you should use the
+``visualization_msgs/Marker.msg`` and fill the ``texture_resource``, ``texture``, ``uv_coordinates`` and ``mesh_file`` fields.
+You can find more information `here <https://github.com/ros2/common_interfaces/pull/153>`__.
+
+.. image:: images/triangle_marker_with_gradient.png
+
+We also added the ability to visualize inertias. To do this, you select enable 'Inertia' in the 'Mass Properties' under the robot model:
+
+.. image:: images/rviz_mass_inertia.png
+
+You can see an image of an inertia below.
+
+.. image:: images/tb4_inertia.png
+
+Some smaller changes are that we've `improved the efficiency of 3-bytes pixel formats <https://github.com/ros2/rviz/pull/743>`__ and have `changed the way inertias are computed to use ignition math rather than Ogre's math libraries <https://github.com/ros2/rviz/pull/751>`__.
+
+
 geometry2
 ^^^^^^^^^
 
diff --git a/source/Releases/images/rviz_mass_inertia.png b/source/Releases/images/rviz_mass_inertia.png
new file mode 100644
index 0000000000..b5e3cb6995
Binary files /dev/null and b/source/Releases/images/rviz_mass_inertia.png differ
diff --git a/source/Releases/images/tb4_inertia.png b/source/Releases/images/tb4_inertia.png
new file mode 100644
index 0000000000..6099edfaee
Binary files /dev/null and b/source/Releases/images/tb4_inertia.png differ
diff --git a/source/Releases/images/triangle_marker_with_gradient.png b/source/Releases/images/triangle_marker_with_gradient.png
new file mode 100644
index 0000000000..5ca50505f6
Binary files /dev/null and b/source/Releases/images/triangle_marker_with_gradient.png differ