diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst
index 275be260e6c..0f064eb12bc 100644
--- a/common/math/arithmetic/CHANGELOG.rst
+++ b/common/math/arithmetic/CHANGELOG.rst
@@ -21,6 +21,22 @@ Changelog for package arithmetic
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.3.3 (2025-02-18)
+-------------------
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge remote-tracking branch 'origin/master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+10.3.2 (2025-02-17)
+-------------------
+
 10.3.1 (2025-02-17)
 -------------------
 * Merge branch 'master' into fix/use-capital-as
diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml
index f3759efbe50..eb29e3844db 100644
--- a/common/math/arithmetic/package.xml
+++ b/common/math/arithmetic/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>arithmetic</name>
-  <version>10.3.1</version>
+  <version>10.3.3</version>
   <description>arithmetic library for scenario_simulator_v2</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>
diff --git a/common/math/geometry/CHANGELOG.rst b/common/math/geometry/CHANGELOG.rst
index 42143b5baf0..f8a168efadb 100644
--- a/common/math/geometry/CHANGELOG.rst
+++ b/common/math/geometry/CHANGELOG.rst
@@ -21,6 +21,22 @@ Changelog for package geometry
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.3.3 (2025-02-18)
+-------------------
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge remote-tracking branch 'origin/master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+10.3.2 (2025-02-17)
+-------------------
+
 10.3.1 (2025-02-17)
 -------------------
 * Merge branch 'master' into fix/use-capital-as
diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml
index ce79e578d7a..9b026a5a274 100644
--- a/common/math/geometry/package.xml
+++ b/common/math/geometry/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>geometry</name>
-  <version>10.3.1</version>
+  <version>10.3.3</version>
   <description>geometry math library for scenario_simulator_v2 application</description>
   <maintainer email="masaya.kataoka@tier4.jp">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>
diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst
index 50fad967af7..06615913161 100644
--- a/common/scenario_simulator_exception/CHANGELOG.rst
+++ b/common/scenario_simulator_exception/CHANGELOG.rst
@@ -21,6 +21,22 @@ Changelog for package scenario_simulator_exception
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.3.3 (2025-02-18)
+-------------------
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge remote-tracking branch 'origin/master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+10.3.2 (2025-02-17)
+-------------------
+
 10.3.1 (2025-02-17)
 -------------------
 * Merge branch 'master' into fix/use-capital-as
diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml
index da37cb3beee..2ab2a19118f 100644
--- a/common/scenario_simulator_exception/package.xml
+++ b/common/scenario_simulator_exception/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>scenario_simulator_exception</name>
-  <version>10.3.1</version>
+  <version>10.3.3</version>
   <description>Exception types for scenario simulator</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>
diff --git a/common/simple_junit/CHANGELOG.rst b/common/simple_junit/CHANGELOG.rst
index 30752036186..596211e0bc2 100644
--- a/common/simple_junit/CHANGELOG.rst
+++ b/common/simple_junit/CHANGELOG.rst
@@ -21,6 +21,22 @@ Changelog for package junit_exporter
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.3.3 (2025-02-18)
+-------------------
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge remote-tracking branch 'origin/master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+10.3.2 (2025-02-17)
+-------------------
+
 10.3.1 (2025-02-17)
 -------------------
 * Merge branch 'master' into fix/use-capital-as
diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml
index b88296eaa58..095a184ade1 100644
--- a/common/simple_junit/package.xml
+++ b/common/simple_junit/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>simple_junit</name>
-  <version>10.3.1</version>
+  <version>10.3.3</version>
   <description>Lightweight JUnit library for ROS 2</description>
   <maintainer email="masaya.kataoka@tier4.jp">Masaya Kataoka</maintainer>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
diff --git a/common/status_monitor/CHANGELOG.rst b/common/status_monitor/CHANGELOG.rst
index f8eaadac151..6b15565c140 100644
--- a/common/status_monitor/CHANGELOG.rst
+++ b/common/status_monitor/CHANGELOG.rst
@@ -21,6 +21,22 @@ Changelog for package status_monitor
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.3.3 (2025-02-18)
+-------------------
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge remote-tracking branch 'origin/master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+10.3.2 (2025-02-17)
+-------------------
+
 10.3.1 (2025-02-17)
 -------------------
 * Merge branch 'master' into fix/use-capital-as
diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml
index 4853458db4e..f641697cbe3 100644
--- a/common/status_monitor/package.xml
+++ b/common/status_monitor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>status_monitor</name>
-  <version>10.3.1</version>
+  <version>10.3.3</version>
   <description>none</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>
diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst
index 311d5347adb..7fd204f5ae0 100644
--- a/external/concealer/CHANGELOG.rst
+++ b/external/concealer/CHANGELOG.rst
@@ -21,6 +21,22 @@ Changelog for package concealer
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.3.3 (2025-02-18)
+-------------------
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge remote-tracking branch 'origin/master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+10.3.2 (2025-02-17)
+-------------------
+
 10.3.1 (2025-02-17)
 -------------------
 * Merge branch 'master' into fix/use-capital-as
diff --git a/external/concealer/package.xml b/external/concealer/package.xml
index a25f81af279..87c8b690711 100644
--- a/external/concealer/package.xml
+++ b/external/concealer/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>concealer</name>
-  <version>10.3.1</version>
+  <version>10.3.3</version>
   <description>Provides a class 'Autoware' to conceal miscellaneous things to simplify Autoware management of the simulator.</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>
diff --git a/external/embree_vendor/CHANGELOG.rst b/external/embree_vendor/CHANGELOG.rst
index 0dc2fe951ea..2f58b65f16b 100644
--- a/external/embree_vendor/CHANGELOG.rst
+++ b/external/embree_vendor/CHANGELOG.rst
@@ -24,6 +24,22 @@ Changelog for package embree_vendor
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.3.3 (2025-02-18)
+-------------------
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge remote-tracking branch 'origin/master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+10.3.2 (2025-02-17)
+-------------------
+
 10.3.1 (2025-02-17)
 -------------------
 * Merge branch 'master' into fix/use-capital-as
diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml
index d546f3345d5..9f5a1d21a90 100644
--- a/external/embree_vendor/package.xml
+++ b/external/embree_vendor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>embree_vendor</name>
-  <version>10.3.1</version>
+  <version>10.3.3</version>
   <description>vendor packages for intel raytracing kernel library</description>
   <maintainer email="ms.kataoka@gmail.com">masaya</maintainer>
   <license>Apache 2.0</license>
diff --git a/map/kashiwanoha_map/CHANGELOG.rst b/map/kashiwanoha_map/CHANGELOG.rst
index ea83472f590..f304996978e 100644
--- a/map/kashiwanoha_map/CHANGELOG.rst
+++ b/map/kashiwanoha_map/CHANGELOG.rst
@@ -21,6 +21,22 @@ Changelog for package kashiwanoha_map
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.3.3 (2025-02-18)
+-------------------
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge remote-tracking branch 'origin/master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+10.3.2 (2025-02-17)
+-------------------
+
 10.3.1 (2025-02-17)
 -------------------
 * Merge branch 'master' into fix/use-capital-as
diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml
index 39e8df7d0bd..c6a84f47a93 100644
--- a/map/kashiwanoha_map/package.xml
+++ b/map/kashiwanoha_map/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>kashiwanoha_map</name>
-  <version>10.3.1</version>
+  <version>10.3.3</version>
   <description>map package for kashiwanoha</description>
   <maintainer email="masaya.kataoka@tier4.jp">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>
diff --git a/map/simple_cross_map/CHANGELOG.rst b/map/simple_cross_map/CHANGELOG.rst
index abb30def789..b769d9cf581 100644
--- a/map/simple_cross_map/CHANGELOG.rst
+++ b/map/simple_cross_map/CHANGELOG.rst
@@ -9,6 +9,22 @@ Changelog for package simple_cross_map
 * Merge branch 'master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.3.3 (2025-02-18)
+-------------------
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge remote-tracking branch 'origin/master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+10.3.2 (2025-02-17)
+-------------------
+
 10.3.1 (2025-02-17)
 -------------------
 * Merge branch 'master' into fix/use-capital-as
diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml
index 7703392f541..be15c63f081 100644
--- a/map/simple_cross_map/package.xml
+++ b/map/simple_cross_map/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>simple_cross_map</name>
-  <version>10.3.1</version>
+  <version>10.3.3</version>
   <description>map package for simple cross</description>
   <maintainer email="masaya.kataoka@tier4.jp">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>
diff --git a/mock/cpp_mock_scenarios/CHANGELOG.rst b/mock/cpp_mock_scenarios/CHANGELOG.rst
index cf559f7cafa..7046fba1220 100644
--- a/mock/cpp_mock_scenarios/CHANGELOG.rst
+++ b/mock/cpp_mock_scenarios/CHANGELOG.rst
@@ -21,6 +21,22 @@ Changelog for package cpp_mock_scenarios
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.3.3 (2025-02-18)
+-------------------
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge remote-tracking branch 'origin/master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+10.3.2 (2025-02-17)
+-------------------
+
 10.3.1 (2025-02-17)
 -------------------
 * Merge branch 'master' into fix/use-capital-as
diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml
index a83a6af53e1..2fe9721780f 100644
--- a/mock/cpp_mock_scenarios/package.xml
+++ b/mock/cpp_mock_scenarios/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cpp_mock_scenarios</name>
-  <version>10.3.1</version>
+  <version>10.3.3</version>
   <description>C++ mock scenarios</description>
   <maintainer email="masaya.kataoka@tier4.jp">masaya</maintainer>
   <license>Apache License 2.0</license>
diff --git a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst
index a175ac2c291..e5e91b4fc9c 100644
--- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst
+++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst
@@ -21,6 +21,22 @@ Changelog for package openscenario_experimental_catalog
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.3.3 (2025-02-18)
+-------------------
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge remote-tracking branch 'origin/master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+10.3.2 (2025-02-17)
+-------------------
+
 10.3.1 (2025-02-17)
 -------------------
 * Merge branch 'master' into fix/use-capital-as
diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml
index 52ffc366043..ee843c65526 100644
--- a/openscenario/openscenario_experimental_catalog/package.xml
+++ b/openscenario/openscenario_experimental_catalog/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>openscenario_experimental_catalog</name>
-  <version>10.3.1</version>
+  <version>10.3.3</version>
   <description>TIER IV experimental catalogs for OpenSCENARIO</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>
diff --git a/openscenario/openscenario_interpreter/CHANGELOG.rst b/openscenario/openscenario_interpreter/CHANGELOG.rst
index bf73747f6ff..feea59259f6 100644
--- a/openscenario/openscenario_interpreter/CHANGELOG.rst
+++ b/openscenario/openscenario_interpreter/CHANGELOG.rst
@@ -32,6 +32,22 @@ Changelog for package openscenario_interpreter
 * add publish_empty_context parameter
 * Contributors: Masaya Kataoka
 
+10.3.3 (2025-02-18)
+-------------------
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge remote-tracking branch 'origin/master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+10.3.2 (2025-02-17)
+-------------------
+
 10.3.1 (2025-02-17)
 -------------------
 * Merge branch 'master' into fix/use-capital-as
diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml
index f866ba9cef1..b3ce0cf9a5f 100644
--- a/openscenario/openscenario_interpreter/package.xml
+++ b/openscenario/openscenario_interpreter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>openscenario_interpreter</name>
-  <version>10.3.1</version>
+  <version>10.3.3</version>
   <description>OpenSCENARIO 1.2.0 interpreter package for Autoware</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>
diff --git a/openscenario/openscenario_interpreter_example/CHANGELOG.rst b/openscenario/openscenario_interpreter_example/CHANGELOG.rst
index 7036b39251a..5b6341c8ad6 100644
--- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst
+++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst
@@ -21,6 +21,22 @@ Changelog for package openscenario_interpreter_example
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.3.3 (2025-02-18)
+-------------------
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge remote-tracking branch 'origin/master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+10.3.2 (2025-02-17)
+-------------------
+
 10.3.1 (2025-02-17)
 -------------------
 * Merge branch 'master' into fix/use-capital-as
diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml
index 9307f59ffd7..35031288243 100644
--- a/openscenario/openscenario_interpreter_example/package.xml
+++ b/openscenario/openscenario_interpreter_example/package.xml
@@ -3,7 +3,7 @@
 
 <package format="3">
   <name>openscenario_interpreter_example</name>
-  <version>10.3.1</version>
+  <version>10.3.3</version>
   <description>Examples for some TIER IV OpenSCENARIO Interpreter's features</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>
diff --git a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst
index 11c586f22c3..d0c9dba2023 100644
--- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst
+++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst
@@ -21,6 +21,22 @@ Changelog for package openscenario_interpreter_msgs
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.3.3 (2025-02-18)
+-------------------
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge remote-tracking branch 'origin/master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+10.3.2 (2025-02-17)
+-------------------
+
 10.3.1 (2025-02-17)
 -------------------
 * Merge branch 'master' into fix/use-capital-as
diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml
index e5635203852..faa2eeaef5f 100644
--- a/openscenario/openscenario_interpreter_msgs/package.xml
+++ b/openscenario/openscenario_interpreter_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>openscenario_interpreter_msgs</name>
-  <version>10.3.1</version>
+  <version>10.3.3</version>
   <description>ROS message types for package openscenario_interpreter</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Yamasaki Tatsuya</maintainer>
   <license>Apache License 2.0</license>
diff --git a/openscenario/openscenario_preprocessor/CHANGELOG.rst b/openscenario/openscenario_preprocessor/CHANGELOG.rst
index cbd5a1fba4a..3440d779940 100644
--- a/openscenario/openscenario_preprocessor/CHANGELOG.rst
+++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst
@@ -21,6 +21,22 @@ Changelog for package openscenario_preprocessor
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.3.3 (2025-02-18)
+-------------------
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge remote-tracking branch 'origin/master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+10.3.2 (2025-02-17)
+-------------------
+
 10.3.1 (2025-02-17)
 -------------------
 * Merge branch 'master' into fix/use-capital-as
diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml
index 196f4dd5dbc..46ac0311846 100644
--- a/openscenario/openscenario_preprocessor/package.xml
+++ b/openscenario/openscenario_preprocessor/package.xml
@@ -3,7 +3,7 @@
 
 <package format="3">
   <name>openscenario_preprocessor</name>
-  <version>10.3.1</version>
+  <version>10.3.3</version>
   <description>Example package for TIER IV OpenSCENARIO Interpreter</description>
   <maintainer email="kotaro.yoshimoto@tier4.jp">Kotaro Yoshimoto</maintainer>
   <license>Apache License 2.0</license>
diff --git a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst
index 0f832ee126f..56a9cbecb54 100644
--- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst
+++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst
@@ -21,6 +21,22 @@ Changelog for package openscenario_preprocessor_msgs
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.3.3 (2025-02-18)
+-------------------
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge remote-tracking branch 'origin/master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+10.3.2 (2025-02-17)
+-------------------
+
 10.3.1 (2025-02-17)
 -------------------
 * Merge branch 'master' into fix/use-capital-as
diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml
index fcff7264d66..898a2c118a5 100644
--- a/openscenario/openscenario_preprocessor_msgs/package.xml
+++ b/openscenario/openscenario_preprocessor_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>openscenario_preprocessor_msgs</name>
-  <version>10.3.1</version>
+  <version>10.3.3</version>
   <description>ROS message types for package openscenario_preprocessor</description>
   <maintainer email="kotaro.yoshimoto@tier4.jp">Kotaro Yoshimoto</maintainer>
   <license>Apache License 2.0</license>
diff --git a/openscenario/openscenario_utility/CHANGELOG.rst b/openscenario/openscenario_utility/CHANGELOG.rst
index 69d49014caf..d2c7f2021c1 100644
--- a/openscenario/openscenario_utility/CHANGELOG.rst
+++ b/openscenario/openscenario_utility/CHANGELOG.rst
@@ -24,6 +24,22 @@ Changelog for package openscenario_utility
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.3.3 (2025-02-18)
+-------------------
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge remote-tracking branch 'origin/master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+10.3.2 (2025-02-17)
+-------------------
+
 10.3.1 (2025-02-17)
 -------------------
 * Merge branch 'master' into fix/use-capital-as
diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml
index f4b77d40b6a..01b6d6d30e0 100644
--- a/openscenario/openscenario_utility/package.xml
+++ b/openscenario/openscenario_utility/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>openscenario_utility</name>
-  <version>10.3.1</version>
+  <version>10.3.3</version>
   <description>Utility tools for ASAM OpenSCENARIO 1.2.0</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>
diff --git a/openscenario/openscenario_validator/CHANGELOG.rst b/openscenario/openscenario_validator/CHANGELOG.rst
index 784cb592a59..ffde9117e67 100644
--- a/openscenario/openscenario_validator/CHANGELOG.rst
+++ b/openscenario/openscenario_validator/CHANGELOG.rst
@@ -10,6 +10,22 @@ Changelog for package openscenario_validator
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.3.3 (2025-02-18)
+-------------------
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge remote-tracking branch 'origin/master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+10.3.2 (2025-02-17)
+-------------------
+
 10.3.1 (2025-02-17)
 -------------------
 * Merge branch 'master' into fix/use-capital-as
diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml
index 4a8752ba69d..84ec7a36616 100644
--- a/openscenario/openscenario_validator/package.xml
+++ b/openscenario/openscenario_validator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>openscenario_validator</name>
-  <version>10.3.1</version>
+  <version>10.3.3</version>
   <description>Validator for OpenSCENARIO 1.3</description>
   <maintainer email="kotaro.yoshimoto@tier4.jp">Kotaro Yoshimoto</maintainer>
   <license>Apache License 2.0</license>
diff --git a/rviz_plugins/openscenario_visualization/CHANGELOG.rst b/rviz_plugins/openscenario_visualization/CHANGELOG.rst
index ef5813d03b0..ca8e64e47d8 100644
--- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst
+++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst
@@ -21,6 +21,22 @@ Changelog for package openscenario_visualization
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.3.3 (2025-02-18)
+-------------------
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge remote-tracking branch 'origin/master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+10.3.2 (2025-02-17)
+-------------------
+
 10.3.1 (2025-02-17)
 -------------------
 * Merge branch 'master' into fix/use-capital-as
diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml
index 3f3831ed1b8..4b7ac037193 100644
--- a/rviz_plugins/openscenario_visualization/package.xml
+++ b/rviz_plugins/openscenario_visualization/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>openscenario_visualization</name>
-  <version>10.3.1</version>
+  <version>10.3.3</version>
   <description>Visualization tools for simulation results</description>
   <maintainer email="masaya.kataoka@tier4.jp">Masaya Kataoka</maintainer>
   <maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
diff --git a/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst b/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst
index 096e3ee20b2..f1125b688d4 100644
--- a/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst
+++ b/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst
@@ -21,6 +21,22 @@ Changelog for package real_time_factor_control_rviz_plugin
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.3.3 (2025-02-18)
+-------------------
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge remote-tracking branch 'origin/master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+10.3.2 (2025-02-17)
+-------------------
+
 10.3.1 (2025-02-17)
 -------------------
 * Merge branch 'master' into fix/use-capital-as
diff --git a/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml b/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml
index ab27e0f13d5..612c31a81ba 100644
--- a/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml
+++ b/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>real_time_factor_control_rviz_plugin</name>
-  <version>10.3.1</version>
+  <version>10.3.3</version>
   <description>Slider controlling real time factor value.</description>
   <maintainer email="pawel.lech@robotec.ai">Paweł Lech</maintainer>
   <license>Apache License 2.0</license>
diff --git a/scenario_simulator_v2/CHANGELOG.rst b/scenario_simulator_v2/CHANGELOG.rst
index d12df5cb831..93e7f4a5032 100644
--- a/scenario_simulator_v2/CHANGELOG.rst
+++ b/scenario_simulator_v2/CHANGELOG.rst
@@ -21,6 +21,22 @@ Changelog for package scenario_simulator_v2
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.3.3 (2025-02-18)
+-------------------
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge remote-tracking branch 'origin/master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+10.3.2 (2025-02-17)
+-------------------
+
 10.3.1 (2025-02-17)
 -------------------
 * Merge branch 'master' into fix/use-capital-as
diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml
index 6e7436c5d4b..218d7c50861 100644
--- a/scenario_simulator_v2/package.xml
+++ b/scenario_simulator_v2/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>scenario_simulator_v2</name>
-  <version>10.3.1</version>
+  <version>10.3.3</version>
   <description>scenario testing framework for Autoware</description>
   <maintainer email="masaya.kataoka@tier4.jp">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>
diff --git a/simulation/behavior_tree_plugin/CHANGELOG.rst b/simulation/behavior_tree_plugin/CHANGELOG.rst
index 8855ea5c1ca..8643e4ddaa4 100644
--- a/simulation/behavior_tree_plugin/CHANGELOG.rst
+++ b/simulation/behavior_tree_plugin/CHANGELOG.rst
@@ -21,6 +21,22 @@ Changelog for package behavior_tree_plugin
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.3.3 (2025-02-18)
+-------------------
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge remote-tracking branch 'origin/master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+10.3.2 (2025-02-17)
+-------------------
+
 10.3.1 (2025-02-17)
 -------------------
 * Merge branch 'master' into fix/use-capital-as
diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml
index 6d83a3db203..3080d7176af 100644
--- a/simulation/behavior_tree_plugin/package.xml
+++ b/simulation/behavior_tree_plugin/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>behavior_tree_plugin</name>
-  <version>10.3.1</version>
+  <version>10.3.3</version>
   <description>Behavior tree plugin for traffic_simulator</description>
   <maintainer email="masaya.kataoka@tier4.jp">masaya</maintainer>
   <license>Apache 2.0</license>
diff --git a/simulation/do_nothing_plugin/CHANGELOG.rst b/simulation/do_nothing_plugin/CHANGELOG.rst
index a9bd90ef15f..976e7bec359 100644
--- a/simulation/do_nothing_plugin/CHANGELOG.rst
+++ b/simulation/do_nothing_plugin/CHANGELOG.rst
@@ -21,6 +21,22 @@ Changelog for package do_nothing_plugin
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.3.3 (2025-02-18)
+-------------------
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge remote-tracking branch 'origin/master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+10.3.2 (2025-02-17)
+-------------------
+
 10.3.1 (2025-02-17)
 -------------------
 * Merge branch 'master' into fix/use-capital-as
diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml
index ce6931f1173..4fcad83b898 100644
--- a/simulation/do_nothing_plugin/package.xml
+++ b/simulation/do_nothing_plugin/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>do_nothing_plugin</name>
-  <version>10.3.1</version>
+  <version>10.3.3</version>
   <description>Behavior plugin for do nothing</description>
   <maintainer email="masaya.kataoka@tier4.jp">Masaya Kataoka</maintainer>
   <license>Apache 2.0</license>
diff --git a/simulation/simple_sensor_simulator/CHANGELOG.rst b/simulation/simple_sensor_simulator/CHANGELOG.rst
index 085a97141ee..315f9f76ce4 100644
--- a/simulation/simple_sensor_simulator/CHANGELOG.rst
+++ b/simulation/simple_sensor_simulator/CHANGELOG.rst
@@ -21,6 +21,33 @@ Changelog for package simple_sensor_simulator
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.3.3 (2025-02-18)
+-------------------
+* Merge pull request `#1506 <https://github.com/tier4/scenario_simulator_v2/issues/1506>`_ from tier4/refactor/simple_sensor_simulator/noise
+  Refactor/simple sensor simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Remove data member `DetectionSensor<...>::published_detected_entities`
+* Merge remote-tracking branch 'origin/master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Rename some `DetectionSensor` data members
+* Remove `DetectionSensor::published_ground_truth_objects_queue`
+* Update `DetectionSensor::*_queue` to hold `EntityStatus`
+* Add function `make_detected_objects` and `make_ground_truth_objects`
+* Lipsticks
+* Update `DetectionSensor` to hold published data for a few seconds
+* Remove struct `DefaultNoiseApplicator` and `CustomNoiseApplicator`
+* Move `CustomNoiseApplicator::operator()` into `DetectionSensor::update`
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+10.3.2 (2025-02-17)
+-------------------
+
 10.3.1 (2025-02-17)
 -------------------
 * Merge branch 'master' into fix/use-capital-as
diff --git a/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp b/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp
index 0aff66be710..474837afa06 100644
--- a/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp
+++ b/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp
@@ -76,11 +76,8 @@ class DetectionSensor : public DetectionSensorBase
 
   std::default_random_engine random_engine_;
 
-  std::queue<std::pair<autoware_perception_msgs::msg::DetectedObjects, double>>
-    detected_objects_queue;
-
-  std::queue<std::pair<autoware_perception_msgs::msg::TrackedObjects, double>>
-    ground_truth_objects_queue;
+  std::queue<std::pair<std::vector<traffic_simulator_msgs::EntityStatus>, double>>
+    unpublished_detected_entities, unpublished_ground_truth_entities;
 
 public:
   explicit DetectionSensor(
diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml
index 164f2ab8ceb..97b120b1acb 100644
--- a/simulation/simple_sensor_simulator/package.xml
+++ b/simulation/simple_sensor_simulator/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>simple_sensor_simulator</name>
-  <version>10.3.1</version>
+  <version>10.3.3</version>
   <description>simple_sensor_simulator package</description>
 
   <maintainer email="masaya.kataoka@tier4.jp">masaya kataoka</maintainer>
diff --git a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp
index cf5925688ff..da114db12b9 100644
--- a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp
+++ b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp
@@ -245,13 +245,12 @@ auto make(const traffic_simulator_msgs::EntityStatus & status)
 }
 
 template <>
-auto make(
-  const traffic_simulator_msgs::EntityStatus & status,
-  const autoware_perception_msgs::msg::DetectedObject & detected_object)
+auto make(const traffic_simulator_msgs::EntityStatus & status)
   -> autoware_perception_msgs::msg::TrackedObject
 {
   // ref: https://github.com/autowarefoundation/autoware.universe/blob/main/common/perception_utils/src/conversion.cpp
   auto tracked_object = autoware_perception_msgs::msg::TrackedObject();
+  const auto detected_object = make<autoware_perception_msgs::msg::DetectedObject>(status);
   // clang-format off
   tracked_object.object_id                           = make<unique_identifier_msgs::msg::UUID>(status);
   tracked_object.existence_probability               = detected_object.existence_probability;
@@ -264,86 +263,6 @@ auto make(
   return tracked_object;
 };
 
-struct DefaultNoiseApplicator
-{
-  const double current_simulation_time;
-
-  const rclcpp::Time & current_ros_time;
-
-  const traffic_simulator_msgs::EntityStatus & ego_entity_status;
-
-  std::default_random_engine & random_engine;
-
-  const simulation_api_schema::DetectionSensorConfiguration & detection_sensor_configuration;
-
-  explicit DefaultNoiseApplicator(
-    double current_simulation_time, const rclcpp::Time & current_ros_time,
-    const traffic_simulator_msgs::EntityStatus & ego_entity_status,
-    std::default_random_engine & random_engine,
-    const simulation_api_schema::DetectionSensorConfiguration & detection_sensor_configuration)
-  : current_simulation_time(current_simulation_time),
-    current_ros_time(current_ros_time),
-    ego_entity_status(ego_entity_status),
-    random_engine(random_engine),
-    detection_sensor_configuration(detection_sensor_configuration)
-  {
-  }
-
-  DefaultNoiseApplicator(const DefaultNoiseApplicator &) = delete;
-
-  DefaultNoiseApplicator(DefaultNoiseApplicator &&) = delete;
-
-  auto operator=(const DefaultNoiseApplicator &) = delete;
-
-  auto operator=(DefaultNoiseApplicator &&) = delete;
-
-  auto operator()(autoware_perception_msgs::msg::DetectedObjects detected_objects) -> decltype(auto)
-  {
-    auto position_noise_distribution =
-      std::normal_distribution<>(0.0, detection_sensor_configuration.pos_noise_stddev());
-
-    for (auto && detected_object : detected_objects.objects) {
-      detected_object.kinematics.pose_with_covariance.pose.position.x +=
-        position_noise_distribution(random_engine);
-      detected_object.kinematics.pose_with_covariance.pose.position.y +=
-        position_noise_distribution(random_engine);
-    }
-
-    detected_objects.objects.erase(
-      std::remove_if(
-        detected_objects.objects.begin(), detected_objects.objects.end(),
-        [this](auto &&) {
-          return std::uniform_real_distribution()(random_engine) <
-                 detection_sensor_configuration.probability_of_lost();
-        }),
-      detected_objects.objects.end());
-
-    return detected_objects;
-  }
-};
-
-struct CustomNoiseApplicator : public DefaultNoiseApplicator
-{
-  using DefaultNoiseApplicator::DefaultNoiseApplicator;
-
-  /*
-     NOTE: for Autoware developers
-
-     If you need to apply experimental noise to the DetectedObjects that the
-     simulator publishes, comment out the following member functions and
-     implement them.
-
-     See class DefaultNoiseApplicator for the default noise implementation.
-     This class inherits from DefaultNoiseApplicator, so you can use its data
-     members, or you can explicitly call DefaultNoiseApplicator::operator().
-  */
-  // auto operator()(autoware_perception_msgs::msg::DetectedObjects detected_objects)
-  //   -> decltype(auto)
-  // {
-  //   return detected_objects;
-  // }
-};
-
 template <>
 auto DetectionSensor<autoware_perception_msgs::msg::DetectedObjects>::update(
   const double current_simulation_time,
@@ -356,13 +275,6 @@ auto DetectionSensor<autoware_perception_msgs::msg::DetectedObjects>::update(
     -0.002) {
     previous_simulation_time_ = current_simulation_time;
 
-    autoware_perception_msgs::msg::DetectedObjects detected_objects;
-    detected_objects.header.stamp = current_ros_time;
-    detected_objects.header.frame_id = "map";
-
-    autoware_perception_msgs::msg::TrackedObjects ground_truth_objects;
-    ground_truth_objects.header = detected_objects.header;
-
     const auto ego_entity_status = findEgoEntityStatusToWhichThisSensorIsAttached(statuses);
 
     auto is_in_range = [&](const auto & status) {
@@ -375,30 +287,82 @@ auto DetectionSensor<autoware_perception_msgs::msg::DetectedObjects>::update(
                 lidar_detected_entities.end());
     };
 
-    for (const auto & status : statuses) {
-      if (is_in_range(status)) {
-        const auto detected_object = make<autoware_perception_msgs::msg::DetectedObject>(status);
-        detected_objects.objects.push_back(detected_object);
+    /*
+       NOTE: for Autoware developers
+
+       If you need to apply experimental noise to the DetectedObjects that the
+       simulator publishes, comment out the following function and implement
+       new one.
+    */
+    auto noise = [&](auto detected_entities, auto simulation_time) {
+      auto position_noise_distribution =
+        std::normal_distribution<>(0.0, configuration_.pos_noise_stddev());
+
+      for (auto && detected_entity : detected_entities) {
+        detected_entity.mutable_pose()->mutable_position()->set_x(
+          detected_entity.pose().position().x() + position_noise_distribution(random_engine_));
+        detected_entity.mutable_pose()->mutable_position()->set_y(
+          detected_entity.pose().position().y() + position_noise_distribution(random_engine_));
+      }
+
+      detected_entities.erase(
+        std::remove_if(
+          detected_entities.begin(), detected_entities.end(),
+          [this](auto &&) {
+            return std::uniform_real_distribution()(random_engine_) <
+                   configuration_.probability_of_lost();
+          }),
+        detected_entities.end());
+
+      return detected_entities;
+    };
+
+    auto make_detected_objects = [&](const auto & detected_entities) {
+      auto detected_objects = autoware_perception_msgs::msg::DetectedObjects();
+      detected_objects.header.stamp = current_ros_time;
+      detected_objects.header.frame_id = "map";
+      for (const auto & detected_entity : detected_entities) {
+        detected_objects.objects.push_back(
+          make<autoware_perception_msgs::msg::DetectedObject>(detected_entity));
+      }
+      return detected_objects;
+    };
+
+    auto make_ground_truth_objects = [&](const auto & detected_entities) {
+      auto ground_truth_objects = autoware_perception_msgs::msg::TrackedObjects();
+      ground_truth_objects.header.stamp = current_ros_time;
+      ground_truth_objects.header.frame_id = "map";
+      for (const auto & detected_entity : detected_entities) {
         ground_truth_objects.objects.push_back(
-          make<autoware_perception_msgs::msg::TrackedObject>(status, detected_object));
+          make<autoware_perception_msgs::msg::TrackedObject>(detected_entity));
       }
-    }
+      return ground_truth_objects;
+    };
+
+    auto detected_entities = std::vector<traffic_simulator_msgs::EntityStatus>();
+
+    std::copy_if(
+      statuses.begin(), statuses.end(), std::back_inserter(detected_entities), is_in_range);
 
-    if (detected_objects_queue.emplace(detected_objects, current_simulation_time);
-        current_simulation_time - detected_objects_queue.front().second >=
-        configuration_.object_recognition_delay()) {
-      auto apply_noise = CustomNoiseApplicator(
-        current_simulation_time, current_ros_time, *ego_entity_status, random_engine_,
-        configuration_);
-      detected_objects_publisher->publish(apply_noise(detected_objects_queue.front().first));
-      detected_objects_queue.pop();
+    unpublished_detected_entities.emplace(detected_entities, current_simulation_time);
+
+    if (
+      current_simulation_time - unpublished_detected_entities.front().second >=
+      configuration_.object_recognition_delay()) {
+      const auto modified_detected_entities =
+        std::apply(noise, unpublished_detected_entities.front());
+      detected_objects_publisher->publish(make_detected_objects(modified_detected_entities));
+      unpublished_detected_entities.pop();
     }
 
-    if (ground_truth_objects_queue.emplace(ground_truth_objects, current_simulation_time);
-        current_simulation_time - ground_truth_objects_queue.front().second >=
-        configuration_.object_recognition_ground_truth_delay()) {
-      ground_truth_objects_publisher->publish(ground_truth_objects_queue.front().first);
-      ground_truth_objects_queue.pop();
+    unpublished_ground_truth_entities.emplace(detected_entities, current_simulation_time);
+
+    if (
+      current_simulation_time - unpublished_ground_truth_entities.front().second >=
+      configuration_.object_recognition_ground_truth_delay()) {
+      ground_truth_objects_publisher->publish(
+        make_ground_truth_objects(unpublished_ground_truth_entities.front().first));
+      unpublished_ground_truth_entities.pop();
     }
   }
 }
diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst
index 8d3166450e5..bb996d21a19 100644
--- a/simulation/simulation_interface/CHANGELOG.rst
+++ b/simulation/simulation_interface/CHANGELOG.rst
@@ -21,6 +21,22 @@ Changelog for package simulation_interface
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.3.3 (2025-02-18)
+-------------------
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge remote-tracking branch 'origin/master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+10.3.2 (2025-02-17)
+-------------------
+
 10.3.1 (2025-02-17)
 -------------------
 * Merge branch 'master' into fix/use-capital-as
diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml
index 1e33185ced4..86e98528e60 100644
--- a/simulation/simulation_interface/package.xml
+++ b/simulation/simulation_interface/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>simulation_interface</name>
-  <version>10.3.1</version>
+  <version>10.3.3</version>
   <description>packages to define interface between simulator and scenario interpreter</description>
   <maintainer email="masaya.kataoka@tier4.jp">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>
diff --git a/simulation/traffic_simulator/CHANGELOG.rst b/simulation/traffic_simulator/CHANGELOG.rst
index 42e413d5353..1f3b7c21d3b 100644
--- a/simulation/traffic_simulator/CHANGELOG.rst
+++ b/simulation/traffic_simulator/CHANGELOG.rst
@@ -21,6 +21,26 @@ Changelog for package traffic_simulator
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.3.3 (2025-02-18)
+-------------------
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge remote-tracking branch 'origin/master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+10.3.2 (2025-02-17)
+-------------------
+* Merge pull request `#1530 <https://github.com/tier4/scenario_simulator_v2/issues/1530>`_ from tier4/fix/visualization_triangle
+  fix: remove double applied orientation for visualization entity triangle marker
+* fix: remove double applied orientation for visualization entity triangle marker
+* Contributors: Kotaro Yoshimoto
+
 10.3.1 (2025-02-17)
 -------------------
 * Merge branch 'master' into fix/use-capital-as
diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml
index 17ab784621f..0226479e61f 100644
--- a/simulation/traffic_simulator/package.xml
+++ b/simulation/traffic_simulator/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>traffic_simulator</name>
-  <version>10.3.1</version>
+  <version>10.3.3</version>
   <description>control traffic flow</description>
 
   <maintainer email="masaya.kataoka@tier4.jp">masaya kataoka</maintainer>
diff --git a/simulation/traffic_simulator/src/visualization/visualization_component.cpp b/simulation/traffic_simulator/src/visualization/visualization_component.cpp
index 10c1bc5d968..c3e63333fac 100644
--- a/simulation/traffic_simulator/src/visualization/visualization_component.cpp
+++ b/simulation/traffic_simulator/src/visualization/visualization_component.cpp
@@ -357,7 +357,6 @@ const visualization_msgs::msg::MarkerArray VisualizationComponent::generateMarke
   pr = math::geometry::transformPoint(status.pose, pr);
   arrow.points = {pf, pl, pr};
   arrow.colors = {color};
-  arrow.pose.orientation = status.pose.orientation;
   arrow.type = visualization_msgs::msg::Marker::TRIANGLE_LIST;
   arrow.scale.x = 1.0;
   arrow.scale.y = 1.0;
diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst
index 1e913e61b54..b7f548398d6 100644
--- a/simulation/traffic_simulator_msgs/CHANGELOG.rst
+++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst
@@ -21,6 +21,22 @@ Changelog for package openscenario_msgs
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.3.3 (2025-02-18)
+-------------------
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge remote-tracking branch 'origin/master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+10.3.2 (2025-02-17)
+-------------------
+
 10.3.1 (2025-02-17)
 -------------------
 * Merge branch 'master' into fix/use-capital-as
diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml
index 527ab3c5074..dc080ae4a29 100644
--- a/simulation/traffic_simulator_msgs/package.xml
+++ b/simulation/traffic_simulator_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>traffic_simulator_msgs</name>
-  <version>10.3.1</version>
+  <version>10.3.3</version>
   <description>ROS messages for openscenario</description>
   <maintainer email="masaya.kataoka@tier4.jp">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>
diff --git a/test_runner/random_test_runner/CHANGELOG.rst b/test_runner/random_test_runner/CHANGELOG.rst
index f0b44f42e23..1f5d1a42b68 100644
--- a/test_runner/random_test_runner/CHANGELOG.rst
+++ b/test_runner/random_test_runner/CHANGELOG.rst
@@ -21,6 +21,22 @@ Changelog for package random_test_runner
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.3.3 (2025-02-18)
+-------------------
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge remote-tracking branch 'origin/master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+10.3.2 (2025-02-17)
+-------------------
+
 10.3.1 (2025-02-17)
 -------------------
 * Merge branch 'master' into fix/use-capital-as
diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml
index b3cff24938f..ccbde75f86c 100644
--- a/test_runner/random_test_runner/package.xml
+++ b/test_runner/random_test_runner/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>random_test_runner</name>
-  <version>10.3.1</version>
+  <version>10.3.3</version>
   <description>Random behavior test runner</description>
   <maintainer email="piotr-zyskowski@robotec.ai">piotr-zyskowski-rai</maintainer>
   <license>Apache License 2.0</license>
diff --git a/test_runner/scenario_test_runner/CHANGELOG.rst b/test_runner/scenario_test_runner/CHANGELOG.rst
index 3ff0804b2b5..7c8fab3e5d1 100644
--- a/test_runner/scenario_test_runner/CHANGELOG.rst
+++ b/test_runner/scenario_test_runner/CHANGELOG.rst
@@ -35,6 +35,22 @@ Changelog for package scenario_test_runner
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+10.3.3 (2025-02-18)
+-------------------
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge remote-tracking branch 'origin/master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Merge branch 'master' into refactor/simple_sensor_simulator/noise
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+10.3.2 (2025-02-17)
+-------------------
+
 10.3.1 (2025-02-17)
 -------------------
 * Merge branch 'master' into fix/use-capital-as
diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml
index 36002f4e6cf..f973ae8b9c8 100644
--- a/test_runner/scenario_test_runner/package.xml
+++ b/test_runner/scenario_test_runner/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>scenario_test_runner</name>
-  <version>10.3.1</version>
+  <version>10.3.3</version>
   <description>scenario test runner package</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>