Scenario Execution ROS

The scenario_execution_ros package is the ROS2 middleware implementation of the scenario execution. It uses the py_trees_ros packages as the py_trees’s implementation for ROS2.

It provides the following scenario execution libraries:

• ros.osc: ROS specific actions like topic publish and service call.

Changelog for package scenario_execution_ros

1.8.0 (2026-09-28)

• RosActionCall gains a check_result() hook: a message it returns for a succeeded goal fails the action (#127)
• Contributors: fred-labs

1.7.0 (2026-09-21)

• bag_record names its topics with --topics, which every supported rosbag2 accepts; positional topics were dropped after Jazzy (#116)
• A recording that could not be closed is stoppable, and says so if it was not (#119)
• Contributors: fred-labs

1.6.0 (2026-09-18)

• A cancelled recording is closed, not killed (#111)
• bag_record: record a listed hidden topic without a flag (#102)
• Measure a scenario's durations on simulated time under use_sim_time (#104)
• Give an adjusted QoS preset a profile of its own (#100)
• Keep the traceback when a scenario run fails (#92)
• Skip an empty launch-argument value instead of aborting the whole launch (#90)
• Cancel a long-running action mid-scenario, not only at teardown (#85)
• Record how fast the tree ticked, and which behavior spent the time (#84)
• Add assert_realtime_factor() to compare the ROS clock against wall time (#83)
• Fix check_data comparing messages received before the action starts (#80)
• Tracing (#76)
• variable parent frame in tf_close_to action (#72)
• Contributors: Florian Mirus, fred-labs
• Fix --step-duration being ignored: the tick period was always the 0.1s default

1.5.0 (2026-06-14)

• Support step-based simulators
• Shutdown timeout (#64)
• support multiple --post-run (#63)
• Update pytrees version (#53)
• Contributors: Adi Vardi, Frederik Pasch

1.4.0 (2025-11-27)

• rosbag_record: report missing topics
• add post command execution
• ros2: bag_record is able to remove previous bag directory
• ros_launch: support launch file without package
• fix nav_through_poses

1.3.0 (2025-06-04)

• add ros examples and new actions
• update run_process action to send signals to whole process group

1.2.1 (2025-05-27)

• update py-trees dependency
• update from OpenSCENARIO 2.0 to OpenSCENARIO DSL V2.1.0

1.2.0 (2024-10-02)

• check_data_external: add action to check with custom python function
• rename record_bag to bag_record, add bag_play
• action_call: fix shutdown
• action_call: add parameter to succeed on goal acceptance
• Support usage of ros messages as parameters
• add action: wait_for_nodes
• Service_call_qos
• Fix service_call with repeat() modifier
• Add topic_monitor action
• Add ros_launch action
• bugfix in ros_topic_wait_for_topics action
• Add action: action_call
• action_assert_lifecycle_state
• Action assert_tf_moving
• Action topic frequency