diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml
index 1b344986866..b4cef11430e 100644
--- a/.github/workflows/BuildAndRun.yaml
+++ b/.github/workflows/BuildAndRun.yaml
@@ -78,7 +78,7 @@ jobs:
       - name: Install sonar-scanner and build-wrapper
         uses: sonarsource/sonarcloud-github-c-cpp@v3
         env:
-          SONAR_HOST_URL: ${{ secrets.SONAR_HOST_URL }} 
+          SONAR_HOST_URL: ${{ secrets.SONAR_HOST_URL }}
 
       - name: Build with SonarCloud Build Wrapper
         run: |
@@ -120,6 +120,34 @@ jobs:
           ./src/scenario_simulator_v2/.github/workflows/workflow.sh ./src/scenario_simulator_v2/test_runner/scenario_test_runner/config/workflow.txt global_frame_rate:=20
         shell: bash
 
+      - name: Scenario test (optional)
+        id: optional-scenario-test
+        run: |
+          source install/setup.bash
+          source install/local_setup.bash
+          # execute scenarios but ignore the return code
+          ./src/scenario_simulator_v2/.github/workflows/workflow.sh ./src/scenario_simulator_v2/test_runner/scenario_test_runner/config/optional_workflow.txt global_frame_rate:=20 || true
+          ./src/scenario_simulator_v2/.github/workflows/generate_workflow_report.sh /tmp/scenario_workflow/optional_workflow
+          echo failure=$(grep -c "<failure"  /tmp/scenario_workflow/optional_workflow/failure_report.md) >> $GITHUB_OUTPUT
+        shell: bash
+
+      - uses: actions/github-script@v7
+        if: steps.optional-scenario-test.outputs.failure > 0
+        with:
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          script: |
+            const fs = require('fs');
+            let commentBody = fs.readFileSync('/tmp/scenario_workflow/optional_workflow/failure_report.md', 'utf8');
+            if (commentBody) {
+              commentBody = '## Failure optional scenarios\n> [!NOTE]\n> This is an experimental check and does not block merging the pull-request. \n> But, please be aware that this may indicate a regression.\n' + commentBody;
+            }
+            await github.rest.issues.createComment({
+              issue_number: context.issue.number,
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              body: commentBody
+            })
+
       - name: Upload Lcov result
         uses: actions/upload-artifact@v4
         with:
diff --git a/.github/workflows/Docker.yaml b/.github/workflows/Docker.yaml
index d5bc37819a3..bbf1d8f938d 100644
--- a/.github/workflows/Docker.yaml
+++ b/.github/workflows/Docker.yaml
@@ -69,7 +69,8 @@ jobs:
             *.cache-to=type=gha,mode=max
             *.cache-from=type=gha
             *.tags=ghcr.io/tier4/scenario_simulator_v2:traffic_simulator_${{ matrix.rosdistro }}-${{ github.event.inputs.version }}
-          push: true
+            *.tags=ghcr.io/tier4/scenario_simulator_v2:traffic_simulator-latest
+            push: true
           targets: |
             traffic_simulator_${{ matrix.rosdistro }}
 
@@ -135,6 +136,7 @@ jobs:
             *.cache-to=type=gha,mode=max
             *.cache-from=type=gha
             *.tags=ghcr.io/tier4/scenario_simulator_v2:humble-${{ github.event.inputs.version }}
+            *.tags=ghcr.io/tier4/scenario_simulator_v2:humble-latest
           push: true
           targets: |
             ${{ matrix.rosdistro }}_base_${{ matrix.arch }}
diff --git a/.github/workflows/generate_workflow_report.sh b/.github/workflows/generate_workflow_report.sh
new file mode 100755
index 00000000000..260c565dde3
--- /dev/null
+++ b/.github/workflows/generate_workflow_report.sh
@@ -0,0 +1,21 @@
+#!/bin/sh
+
+if [ $# -ne 1 ]; then
+    echo "Usage: $0 <workflow_directory>"
+    exit 1
+fi
+
+workflow_directory="$1"
+failure_report="$workflow_directory/failure_report.md"
+rm -f "$failure_report"
+
+find $workflow_directory -name "result.junit.xml" | while read file; do
+  [ -e "$file" ] || continue
+  if grep -q '<failure' "$file"; then
+    {
+      echo "<details><summary>scenario failed: $(dirname "${file#"$workflow_directory"/}" | cut -d'/' -f1)</summary><div>\n\n\`\`\`xml"
+      grep '<failure' "$file"
+      echo "\`\`\`\n</div></details>\n"
+    } >> "$failure_report"
+  fi
+done
diff --git a/.github/workflows/workflow.sh b/.github/workflows/workflow.sh
index 736b7561e97..2479ae746b6 100755
--- a/.github/workflows/workflow.sh
+++ b/.github/workflows/workflow.sh
@@ -15,8 +15,9 @@ exit_status=0
 
 while IFS= read -r line
 do
-  ros2 launch scenario_test_runner scenario_test_runner.launch.py scenario:="$line" "$@"
-  ros2 run scenario_test_runner result_checker.py /tmp/scenario_test_runner/result.junit.xml
+  output_directory="/tmp/scenario_workflow/$(basename "$file_path" | sed 's/\.[^.]*$//')/$(basename "$line" | sed 's/\.[^.]*$//')"
+  ros2 launch scenario_test_runner scenario_test_runner.launch.py scenario:="$line" output_directory:=$output_directory "$@"
+  ros2 run scenario_test_runner result_checker.py $output_directory/scenario_test_runner/result.junit.xml
   command_exit_status=$?
   if [ $command_exit_status -ne 0 ]; then
     echo "Error: caught non-zero exit status（code: $command_exit_status)"
diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst
index 645ead25fb7..001ec0ffd18 100644
--- a/common/math/arithmetic/CHANGELOG.rst
+++ b/common/math/arithmetic/CHANGELOG.rst
@@ -21,6 +21,46 @@ Changelog for package arithmetic
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+12.1.0 (2025-03-05)
+-------------------
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit
+
+12.0.2 (2025-03-04)
+-------------------
+* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper
+* Contributors: ぐるぐる
+
+12.0.1 (2025-02-26)
+-------------------
+* Merge branch 'master' into feature/push-latest-docker-tag
+* Contributors: Masaya Kataoka
+
+12.0.0 (2025-02-25)
+-------------------
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Contributors: Tatsuya Yamasaki
+
+11.1.0 (2025-02-21)
+-------------------
+* Merge branch 'master' into feature/execution_time
+* Merge remote-tracking branch 'origin/master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 11.0.0 (2025-02-20)
 -------------------
 * Merge branch 'master' into refactor/lanelet_wrapper_route
diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml
index 819bf5482ad..e13e5c38d9b 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>11.0.0</version>
+  <version>12.1.0</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 13707a10ea2..d99e2319781 100644
--- a/common/math/geometry/CHANGELOG.rst
+++ b/common/math/geometry/CHANGELOG.rst
@@ -21,6 +21,46 @@ Changelog for package geometry
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+12.1.0 (2025-03-05)
+-------------------
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit
+
+12.0.2 (2025-03-04)
+-------------------
+* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper
+* Contributors: ぐるぐる
+
+12.0.1 (2025-02-26)
+-------------------
+* Merge branch 'master' into feature/push-latest-docker-tag
+* Contributors: Masaya Kataoka
+
+12.0.0 (2025-02-25)
+-------------------
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Contributors: Tatsuya Yamasaki
+
+11.1.0 (2025-02-21)
+-------------------
+* Merge branch 'master' into feature/execution_time
+* Merge remote-tracking branch 'origin/master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 11.0.0 (2025-02-20)
 -------------------
 * Merge branch 'master' into refactor/lanelet_wrapper_route
diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml
index fab413ddcfe..744f5220d4c 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>11.0.0</version>
+  <version>12.1.0</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 a29e1796f3b..52153494d03 100644
--- a/common/scenario_simulator_exception/CHANGELOG.rst
+++ b/common/scenario_simulator_exception/CHANGELOG.rst
@@ -21,6 +21,46 @@ Changelog for package scenario_simulator_exception
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+12.1.0 (2025-03-05)
+-------------------
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit
+
+12.0.2 (2025-03-04)
+-------------------
+* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper
+* Contributors: ぐるぐる
+
+12.0.1 (2025-02-26)
+-------------------
+* Merge branch 'master' into feature/push-latest-docker-tag
+* Contributors: Masaya Kataoka
+
+12.0.0 (2025-02-25)
+-------------------
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Contributors: Tatsuya Yamasaki
+
+11.1.0 (2025-02-21)
+-------------------
+* Merge branch 'master' into feature/execution_time
+* Merge remote-tracking branch 'origin/master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 11.0.0 (2025-02-20)
 -------------------
 * Merge branch 'master' into refactor/lanelet_wrapper_route
diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml
index 3ba4c0ddccd..423355275c3 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>11.0.0</version>
+  <version>12.1.0</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 df5ed0c3ade..40e67cde721 100644
--- a/common/simple_junit/CHANGELOG.rst
+++ b/common/simple_junit/CHANGELOG.rst
@@ -21,6 +21,46 @@ Changelog for package junit_exporter
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+12.1.0 (2025-03-05)
+-------------------
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit
+
+12.0.2 (2025-03-04)
+-------------------
+* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper
+* Contributors: ぐるぐる
+
+12.0.1 (2025-02-26)
+-------------------
+* Merge branch 'master' into feature/push-latest-docker-tag
+* Contributors: Masaya Kataoka
+
+12.0.0 (2025-02-25)
+-------------------
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Contributors: Tatsuya Yamasaki
+
+11.1.0 (2025-02-21)
+-------------------
+* Merge branch 'master' into feature/execution_time
+* Merge remote-tracking branch 'origin/master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 11.0.0 (2025-02-20)
 -------------------
 * Merge branch 'master' into refactor/lanelet_wrapper_route
diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml
index f99fff7f1f1..140566b0a28 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>11.0.0</version>
+  <version>12.1.0</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 d3a17de0b4c..f4d65db1bc1 100644
--- a/common/status_monitor/CHANGELOG.rst
+++ b/common/status_monitor/CHANGELOG.rst
@@ -21,6 +21,46 @@ Changelog for package status_monitor
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+12.1.0 (2025-03-05)
+-------------------
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit
+
+12.0.2 (2025-03-04)
+-------------------
+* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper
+* Contributors: ぐるぐる
+
+12.0.1 (2025-02-26)
+-------------------
+* Merge branch 'master' into feature/push-latest-docker-tag
+* Contributors: Masaya Kataoka
+
+12.0.0 (2025-02-25)
+-------------------
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Contributors: Tatsuya Yamasaki
+
+11.1.0 (2025-02-21)
+-------------------
+* Merge branch 'master' into feature/execution_time
+* Merge remote-tracking branch 'origin/master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 11.0.0 (2025-02-20)
 -------------------
 * Merge branch 'master' into refactor/lanelet_wrapper_route
diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml
index 832e1fc0257..ee1246139f8 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>11.0.0</version>
+  <version>12.1.0</version>
   <description>none</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>
diff --git a/docs/developer_guide/.pages b/docs/developer_guide/.pages
index 949b856adfc..1f8c92f0091 100644
--- a/docs/developer_guide/.pages
+++ b/docs/developer_guide/.pages
@@ -13,6 +13,7 @@ nav:
     - ManualOverrideWithFollowTrajectoryAction.md
     - NPCBehavior.md
     - OpenSCENARIOSupport.md
+    - Parameters.md
     - SimpleSensorSimulator.md
     - SimulationResultFormat.md
     - SystemArchitecture.md
diff --git a/docs/developer_guide/Parameters.md b/docs/developer_guide/Parameters.md
new file mode 100644
index 00000000000..a991a793294
--- /dev/null
+++ b/docs/developer_guide/Parameters.md
@@ -0,0 +1,442 @@
+# Parameters
+
+This section describes how to configure the topics that `scenario_simulator_v2`
+publishes to Autoware.
+
+<!-- cspell: ignore mathtt -->
+<!-- cspell: ignore occlusionless -->
+
+## Overview
+
+The topics that `scenario_simulator_v2` publishes to Autoware are configurable
+from the ROS 2 parameter file given to the launch argument
+`parameter_file_path` of scenario_test_runner. The default value of
+`parameter_file_path` is the path to [a sample parameter
+file](https://github.com/tier4/scenario_simulator_v2/blob/master/test_runner/scenario_test_runner/config/parameters.yaml).
+
+All parameters that can be specified and their default values are shown in the
+sample parameter file. In practice, it is not necessary to specify all
+parameters except for some that are mandatory. In that case, the simulator will
+behave as if similar default values had been specified.
+
+There are currently two ways to configure some topics: an old way and a new way
+described on this page. The new way is backward compatible and is the
+recommended way. If you want to know how to use the old way, [see this
+page](https://tier4.github.io/scenario_simulator_v2-docs/developer_guide/ConfiguringPerceptionTopics/).
+
+## /perception/object_recognition/detection/objects
+
+### `version`
+
+An `int` type value in YYYYMMDD format, mandatory.
+Suffix of `scenario_test_runner` launch argument `architecture_type`, used to
+maintain backward compatibility of the simulator when changing the Autoware
+interface.
+
+### `seed`
+
+A positive `int` type value, default `0`.
+The seed value for the random number generator. If `0` is specified, a random
+seed value will be generated for each run.
+
+### `override_legacy_configuration`
+
+A `boolean` type value, default `false`.
+Some of the parameters described below can be configured in either the old or
+new way. This parameter is used to determine which value to use. That is, as
+long as this parameter is `false`, some of the following parameters will be
+ignored and the values set by the old method will be used. If you want to
+configure the new way, set it to `true`. For backward compatibility, the
+default value of this parameter is `false`.
+
+### `delay`
+
+A positive `double` type value, default `0.0`. The unit is seconds. It is an
+error if the value is negative.
+Delays the publication of the topic by the specified number of seconds. This
+parameter is used only if `override_legacy_configuration` is true. If it is
+false, the value of `detectedObjectPublishingDelay` in
+`ObjectController.Properties` in the scenario file is used.
+
+### `range`
+
+A positive `double` type value, default `300.0`. The unit is meters.
+The sensor detection range. This parameter is used only if
+`override_legacy_configuration` is true. If it is false, the value of
+`detectionSensorRange` in `ObjectController.Properties` in the scenario file is
+used.
+
+### `occlusionless`
+
+A `boolean` type value, default `false`.
+The message is a simulated object recognition result based on a pointcloud.
+Pointclouds are usually sensed by LiDAR, and scenario_simulator_v2 assumes this
+and simulates it, including LiDAR occlusion. If this parameter is `true`,
+object recognition is simulated as if there is no occlusion. In other words, it
+produces recognition results as if objects behind the object are also visible
+(even though they are in shadow and invisible in normal LiDAR).  This parameter
+is used only if `override_legacy_configuration` is true. If it is false, the
+value of `isClairvoyant` in `ObjectController.Properties` in the scenario file
+is used.
+
+### `noise.model.version`
+
+A positive `int` type value, default `1`. If a non-existent version is
+specified, it is an error.
+This parameter specifies the version of the noise model to be used. Currently,
+the following two noise models are implemented:
+- version: 1 - Simple noise model with position randomization
+- version: 2 - Elliptically approximated model of noise variation with distance
+  from the ego entity
+
+The parameters specific to the models are placed under `noise.v1.` and
+`noise.v2`, respectively.
+
+### `noise.v1.position.standard_deviation`
+
+A positive `double` type value, default `0.0`.
+Standard deviation used for randomization of the position of the vehicle in the
+message. This parameter is used only if the value of `noise.model.version` is
+`1`.
+
+### `noise.v1.missing_probability`
+
+A `double` type value between `0.0` and `1.0`, default `0.0`.
+Based on the probability specified by the value of this parameter, random
+vehicle data is removed from the message. This parameter is used only if the
+value of `noise.model.version` is `1`.
+
+### `noise.v2.ellipse_y_radii`
+
+Array of positive double type values, default `[10.0, 20.0, 40.0, 60.0, 80.0,
+120.0, 150.0, 180.0, 1000.0]`. Units are in meters. The size of the array is
+arbitrary, but must be the same size as the array described later.
+This parameter is used only if the value of `noise.model.version` is `2`.
+
+### `noise.v2.distance.autocorrelation_coefficient.amplitude`
+
+A positive `double` type value, default `0.0`.
+The parameter of the autocorrelation coefficient used in the generation of
+distance noise. The autocorrelation coefficient $\phi$ is calculated by the
+following equation: $$\phi(\varDelta t) = \mathtt{amplitude} *
+\exp(-\mathtt{decay} * \varDelta t) + \mathtt{offset}$$ The noise models the
+time series as AR(1) model. The autocorrelation coefficient $\phi$ is used in
+the model to calculate the position noise $X_\mathrm{distance}$: as follows:
+$$X_\mathrm{distance}(t) = \mathtt{mean} + \phi * (X_\mathrm{distance}(t-1) -
+\mathtt{mean}) + \mathcal{N}(0, 1 - \phi^2) * \mathtt{standard\_deviation}$$
+This parameter is used only if the value of `noise.model.version` is `2`.
+
+### `noise.v2.distance.autocorrelation_coefficient.decay`
+
+A positive `double` type value, default `0.0`.
+The parameter of the autocorrelation coefficient used in the generation of
+distance noise. The autocorrelation coefficient $\phi$ is calculated by the
+following equation: $$\phi(\varDelta t) = \mathtt{amplitude} *
+\exp(-\mathtt{decay} * \varDelta t) + \mathtt{offset}$$ The noise models the
+time series as AR(1) model. The autocorrelation coefficient $\phi$ is used in
+the model to calculate the position noise $X_\mathrm{distance}$: as follows:
+$$X_\mathrm{distance}(t) = \mathtt{mean} + \phi * (X_\mathrm{distance}(t -
+\varDelta t) - \mathtt{mean}) + \mathcal{N}(0, 1 - \phi^2) *
+\mathtt{standard\_deviation}$$ This parameter is used only if the value of
+`noise.model.version` is `2`.
+
+### `noise.v2.distance.autocorrelation_coefficient.offset`
+
+A positive `double` type value, default `0.0`.
+The parameter of the autocorrelation coefficient used in the generation of
+distance noise. The autocorrelation coefficient $\phi$ is calculated by the
+following equation: $$\phi(\varDelta t) = \mathtt{amplitude} *
+\exp(-\mathtt{decay} * \varDelta t) + \mathtt{offset}$$ The noise models the
+time series as AR(1) model. The autocorrelation coefficient $\phi$ is used in
+the model to calculate the position noise $X_\mathrm{distance}$: as follows:
+$$X_\mathrm{distance}(t) = \mathtt{mean} + \phi * (X_\mathrm{distance}(t -
+\varDelta t) - \mathtt{mean}) + \mathcal{N}(0, 1 - \phi^2) *
+\mathtt{standard\_deviation}$$ This parameter is used only if the value of
+`noise.model.version` is `2`.
+
+### `noise.v2.distance.mean.ellipse_normalized_x_radius`
+
+A positive `double` type value, default `0.0`.
+The noise models the space as an elliptical model. This parameter is the ratio
+of the radius of the x-axis to the radius of the y-axis of that ellipse. The
+coordinate system is a right-handed local coordinate system, where the x-axis
+is the longitudinal direction of the ego entity and the y-axis is its lateral
+direction. The value of this parameter is used to calculate the distance $d$
+between the ego entity and the other vehicle using the following equation: $$d
+= \sqrt[2]{(\varDelta x / \mathtt{ellipse\_normalized\_x\_radius})^2 +
+\varDelta y^2}$$ This parameter is used only if the value of
+`noise.model.version` is `2`.
+
+### `noise.v2.distance.mean.values`
+
+Array of positive double type values, default `[0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+0.0, 0.0, 0.0]`.
+Each element of the array is a mean of normal distribution. The first element
+with a value greater than $d$ is searched from `ellipse_y_radii` and the
+elements with the same index are referenced from `values`. Therefore, the array
+size of this parameter must be the same as `ellipse_y_radii`. Otherwise, it is
+an error. This parameter is used only if the value of `noise.model.version` is
+`2`.
+
+### `noise.v2.distance.standard_deviation.ellipse_normalized_x_radius`
+
+A positive `double` type value, default `0.0`.
+The noise models the space as an elliptical model. This parameter is the ratio
+of the radius of the x-axis to the radius of the y-axis of that ellipse. The
+coordinate system is a right-handed local coordinate system, where the x-axis
+is the longitudinal direction of the ego entity and the y-axis is its lateral
+direction. The value of this parameter is used to calculate the distance $d$
+between the ego entity and the other vehicle using the following equation: $$d
+= \sqrt[2]{(\varDelta x / \mathtt{ellipse\_normalized\_x\_radius})^2 +
+\varDelta y^2}$$ This parameter is used only if the value of
+`noise.model.version` is `2`.
+
+### `noise.v2.distance.standard_deviation.values`
+
+Array of positive double type values, default `[0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+0.0, 0.0, 0.0]`.
+Each element of the array is a standard deviation of normal distribution. The
+first element with a value greater than $d$ is searched from `ellipse_y_radii`
+and the elements with the same index are referenced from `values`. Therefore,
+the array size of this parameter must be the same as `ellipse_y_radii`.
+Otherwise, it is an error. This parameter is used only if the value of
+`noise.model.version` is `2`.
+
+### `noise.v2.yaw.autocorrelation_coefficient.amplitude`
+
+A positive `double` type value, default `0.0`.
+The parameter of the autocorrelation coefficient used in the generation of yaw
+noise. The autocorrelation coefficient $\phi$ is calculated by the following
+equation: $$ \phi(\varDelta t) = \mathtt{amplitude} * \exp(-\mathtt{decay} *
+\varDelta t) + \mathtt{offset}$$ The noise models the time series as AR(1)
+model. The autocorrelation coefficient $\phi$ is used in the model to calculate
+the yaw noise $X_\mathrm{yaw}$: as follows: $$ X_\mathrm{yaw}(t) =
+\mathtt{mean} + \phi * (X_\mathrm{yaw}(t - \varDelta t) - \mathtt{mean}) +
+\mathcal{N}(0, 1 - \phi^2) * \mathtt{standard\_deviation}$$ This parameter is
+used only if the value of `noise.model.version` is `2`.
+
+### `noise.v2.yaw.autocorrelation_coefficient.decay`
+
+A positive `double` type value, default `0.0`.
+The parameter of the autocorrelation coefficient used in the generation of yaw
+noise. The autocorrelation coefficient $\phi$ is calculated by the following
+equation: $$ \phi(\varDelta t) = \mathtt{amplitude} * \exp(-\mathtt{decay} *
+\varDelta t) + \mathtt{offset}$$ The noise models the time series as AR(1)
+model. The autocorrelation coefficient $\phi$ is used in the model to calculate
+the yaw noise $X_\mathrm{yaw}$: as follows: $$ X_\mathrm{yaw}(t) =
+\mathtt{mean} + \phi * (X_\mathrm{yaw}(t - \varDelta t) - \mathtt{mean}) +
+\mathcal{N}(0, 1 - \phi^2) * \mathtt{standard\_deviation}$$ This parameter is
+used only if the value of `noise.model.version` is `2`.
+
+### `noise.v2.yaw.autocorrelation_coefficient.offset`
+
+A positive `double` type value, default `0.0`.
+The parameter of the autocorrelation coefficient used in the generation of yaw
+noise. The autocorrelation coefficient $\phi$ is calculated by the following
+equation: $$ \phi(\varDelta t) = \mathtt{amplitude} * \exp(-\mathtt{decay} *
+\varDelta t) + \mathtt{offset}$$ The noise models the time series as AR(1)
+model. The autocorrelation coefficient $\phi$ is used in the model to calculate
+the yaw noise $X_\mathrm{yaw}$: as follows: $$ X_\mathrm{yaw}(t) =
+\mathtt{mean} + \phi * (X_\mathrm{yaw}(t - \varDelta t) - \mathtt{mean}) +
+\mathcal{N}(0, 1 - \phi^2) * \mathtt{standard\_deviation}$$ This parameter is
+used only if the value of `noise.model.version` is `2`.
+
+### `noise.v2.yaw.mean.ellipse_normalized_x_radius`
+
+A positive `double` type value, default `0.0`.
+The noise models the space as an elliptical model. This parameter is the ratio
+of the radius of the x-axis to the radius of the y-axis of that ellipse. The
+coordinate system is a right-handed local coordinate system, where the x-axis
+is the longitudinal direction of the ego entity and the y-axis is its lateral
+direction. The value of this parameter is used to calculate the distance $d$
+between the ego entity and the other vehicle using the following equation: $$d
+= \sqrt[2]{(\varDelta x / \mathtt{ellipse\_normalized\_x\_radius})^2 +
+\varDelta y^2}$$ This parameter is used only if the value of
+`noise.model.version` is `2`.
+
+### `noise.v2.yaw.mean.values`
+
+Array of positive double type values, default `[0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+0.0, 0.0, 0.0]`.
+Each element of the array is a mean of normal distribution. The first element
+with a value greater than $d$ is searched from `ellipse_y_radii` and the
+elements with the same index are referenced from `values`. Therefore, the array
+size of this parameter must be the same as `ellipse_y_radii`. Otherwise, it is
+an error. This parameter is used only if the value of `noise.model.version` is
+`2`.
+
+### `noise.v2.yaw.standard_deviation.ellipse_normalized_x_radius`
+
+A positive `double` type value, default `0.0`.
+The noise models the space as an elliptical model. This parameter is the ratio
+of the radius of the x-axis to the radius of the y-axis of that ellipse. The
+coordinate system is a right-handed local coordinate system, where the x-axis
+is the longitudinal direction of the ego entity and the y-axis is its lateral
+direction. The value of this parameter is used to calculate the distance $d$
+between the ego entity and the other vehicle using the following equation: $$d
+= \sqrt[2]{(\varDelta x / \mathtt{ellipse\_normalized\_x\_radius})^2 +
+\varDelta y^2}$$. This parameter is used only if the value of
+`noise.model.version` is `2`.
+
+### `noise.v2.yaw.standard_deviation.values`
+
+Array of positive double type values, default `[0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+0.0, 0.0, 0.0]`.
+Each element of the array is a standard deviation of normal distribution. The
+first element with a value greater than $d$ is searched from `ellipse_y_radii`
+and the elements with the same index are referenced from `values`. Therefore,
+the array size of this parameter must be the same as `ellipse_y_radii`.
+Otherwise, it is an error. This parameter is used only if the value of
+`noise.model.version` is `2`.
+
+### `noise.v2.yaw_flip.autocorrelation_coefficient.amplitude`
+
+A positive `double` type value, default `0.0`.
+The parameter of the autocorrelation coefficient used in the generation of
+yaw-flip noise. The autocorrelation coefficient $\phi$ is calculated by the
+following equation: $$\phi(\varDelta t) = \mathtt{amplitude} *
+\exp(-\mathtt{decay} * \varDelta t) + \mathtt{offset}$$ The noise models the
+time series as Markov process. The autocorrelation coefficient $\phi$ is used
+in the model to calculate the yaw-flip noise with following transition matrix:
+$$ \begin{bmatrix} p_{0,0} & p_{0,1} \\ p_{1,0} & p_{1,1} \end{bmatrix} =
+\begin{bmatrix} \pi_0 + \phi \pi_1 && \pi_1 (1 - \phi) \\ \pi_0 (1 - \phi) &&
+\pi_1 - \phi \pi_0 \end{bmatrix}$$ This parameter is used only if the value of
+`noise.model.version` is `2`.
+
+### `noise.v2.yaw_flip.autocorrelation_coefficient.decay`
+
+A positive `double` type value, default `0.0`.
+The parameter of the autocorrelation coefficient used in the generation of
+yaw-flip noise. The autocorrelation coefficient $\phi$ is calculated by the
+following equation: $$\phi(\varDelta t) = \mathtt{amplitude} *
+\exp(-\mathtt{decay} * \varDelta t) + \mathtt{offset}$$ The noise models the
+time series as Markov process. The autocorrelation coefficient $\phi$ is used
+in the model to calculate the yaw-flip noise with following transition matrix:
+$$ \begin{bmatrix} p_{0,0} & p_{0,1} \\ p_{1,0} & p_{1,1} \end{bmatrix} =
+\begin{bmatrix} \pi_0 + \phi \pi_1 && \pi_1 (1 - \phi) \\ \pi_0 (1 - \phi) &&
+\pi_1 - \phi \pi_0 \end{bmatrix}$$  This parameter is used only if the value of
+`noise.model.version` is `2`.
+
+### `noise.v2.yaw_flip.autocorrelation_coefficient.offset`
+
+A positive `double` type value, default `0.0`.
+The parameter of the autocorrelation coefficient used in the generation of
+yaw-flip noise. The autocorrelation coefficient $\phi$ is calculated by the
+following equation: $$\phi(\varDelta t) = \mathtt{amplitude} *
+\exp(-\mathtt{decay} * \varDelta t) + \mathtt{offset}$$ The noise models the
+time series as Markov process. The autocorrelation coefficient $\phi$ is used
+in the model to calculate the yaw-flip noise with following transition matrix:
+$$ \begin{bmatrix} p_{0,0} & p_{0,1} \\ p_{1,0} & p_{1,1} \end{bmatrix} =
+\begin{bmatrix} \pi_0 + \phi \pi_1 && \pi_1 (1 - \phi) \\ \pi_0 (1 - \phi) &&
+\pi_1 - \phi \pi_0 \end{bmatrix}$$ This parameter is used only if the value of
+`noise.model.version` is `2`.
+
+### `noise.v2.yaw_flip.speed_threshold`
+
+A positive `double` type value, default `0.1`.
+When the absolute speed of one other vehicle is less than the value of this
+parameter, it is determined whether yaw-flip occurs or not based on the `rate`
+described below. This parameter is used only if the value of
+`noise.model.version` is `2`.
+
+### `noise.v2.yaw_flip.rate`
+
+A positive `double` type value, default `0.0`.
+Vehicles whose absolute speed is below the aforementioned `speed_threshold`
+will have yaw-flip noise applied with the probability of the value of this
+parameter. This parameter is used only if the value of `noise.model.version` is
+`2`.
+
+### `noise.v2.true_positive.autocorrelation_coefficient.amplitude`
+
+A positive `double` type value, default `0.0`.
+The parameter of the autocorrelation coefficient used in the generation of
+random-mask noise. The autocorrelation coefficient $\phi$ is calculated by the
+following equation: $$\phi(\varDelta t) = \mathtt{amplitude} *
+\exp(-\mathtt{decay} * \varDelta t) + \mathtt{offset}$$ The noise models the
+time series as Markov process. The autocorrelation coefficient $\phi$ is used
+in the model to calculate the random-mask noise with following transition
+matrix: $$ \begin{bmatrix} p_{0,0} & p_{0,1} \\ p_{1,0} & p_{1,1} \end{bmatrix}
+= \begin{bmatrix} \pi_0 + \phi \pi_1 && \pi_1 (1 - \phi) \\ \pi_0 (1 - \phi) &&
+\pi_1 - \phi \pi_0 \end{bmatrix}$$ This parameter is used only if the value of
+`noise.model.version` is `2`.
+
+### `noise.v2.true_positive.autocorrelation_coefficient.decay`
+
+A positive `double` type value, default `0.0`.
+The parameter of the autocorrelation coefficient used in the generation of
+random-mask noise. The autocorrelation coefficient $\phi$ is calculated by the
+following equation: $$\phi(\varDelta t) = \mathtt{amplitude} *
+\exp(-\mathtt{decay} * \varDelta t) + \mathtt{offset}$$ The noise models the
+time series as Markov process. The autocorrelation coefficient $\phi$ is used
+in the model to calculate the random-mask noise with following transition
+matrix: $$ \begin{bmatrix} p_{0,0} & p_{0,1} \\ p_{1,0} & p_{1,1} \end{bmatrix}
+= \begin{bmatrix} \pi_0 + \phi \pi_1 && \pi_1 (1 - \phi) \\ \pi_0 (1 - \phi) &&
+\pi_1 - \phi \pi_0 \end{bmatrix}$$ This parameter is used only if the value of
+`noise.model.version` is `2`.
+
+### `noise.v2.true_positive.autocorrelation_coefficient.offset`
+
+A positive `double` type value, default `0.0`.
+The parameter of the autocorrelation coefficient used in the generation of
+random-mask noise. The autocorrelation coefficient $\phi$ is calculated by the
+following equation: $$\phi(\varDelta t) = \mathtt{amplitude} *
+\exp(-\mathtt{decay} * \varDelta t) + \mathtt{offset}$$ The noise models the
+time series as Markov process. The autocorrelation coefficient $\phi$ is used
+in the model to calculate the random-mask noise with following transition
+matrix: $$ \begin{bmatrix} p_{0,0} & p_{0,1} \\ p_{1,0} & p_{1,1} \end{bmatrix}
+= \begin{bmatrix} \pi_0 + \phi \pi_1 && \pi_1 (1 - \phi) \\ \pi_0 (1 - \phi) &&
+\pi_1 - \phi \pi_0 \end{bmatrix}$$ This parameter is used only if the value of
+`noise.model.version` is `2`.
+
+### `noise.v2.true_positive.rate.ellipse_normalized_x_radius`
+
+A positive `double` type value, default `0.0`.
+The noise models the space as an elliptical model. This parameter is the ratio
+of the radius of the x-axis to the radius of the y-axis of that ellipse. The
+coordinate system is a right-handed local coordinate system, where the x-axis
+is the longitudinal direction of the ego entity and the y-axis is its lateral
+direction. The value of this parameter is used to calculate the distance $d$
+between the ego entity and the other vehicle using the following equation: $$d
+= \sqrt[2]{(\varDelta x / \mathtt{ellipse\_normalized\_x\_radius})^2 +
+\varDelta y^2}$$. This parameter is used only if the value of
+`noise.model.version` is `2`.
+
+### `noise.v2.true_positive.rate.values`
+
+Array of positive double type values, default `[1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
+1.0, 1.0, 1.0]`.
+Each element of this array is the probability that the value will be output
+correctly (true positive rate). The first element with a value greater than $d$
+is searched from `ellipse_y_radii` and the elements with the same index are
+referenced from `values`. Therefore, the array size of this parameter must be
+the same as `ellipse_y_radii`. Otherwise, it is an error. This parameter is
+used only if the value of `noise.model.version` is `2`.
+
+## /perception/object_recognition/ground_truth/objects
+
+### `version`
+
+An `int` type value in YYYYMMDD format, mandatory.
+Suffix of `scenario_test_runner` launch argument `architecture_type`, used to
+maintain backward compatibility of the simulator when changing the Autoware
+interface.
+
+### `override_legacy_configuration`
+
+A `boolean` type value, default `false`.
+Some of the parameters described below can be configured in either the old or
+new way. This parameter is used to determine which value to use. That is, as
+long as this parameter is `false`, some of the following parameters will be
+ignored and the values set by the old method will be used. If you want to
+configure the new way, set it to `true`. For backward compatibility, the
+default value of this parameter is `false`.
+
+### `delay`
+
+A positive `double` type value, default `0.0`. The unit is seconds. It is an
+error if the value is negative.
+Delays the publication of the topic by the specified number of seconds. This
+parameter is used only if `override_legacy_configuration` is true. If it is
+false, the value of `detectedObjectGroundTruthPublishingDelay` in
+`ObjectController.Properties` in the scenario file is used.
diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst
index 1f528a38302..b38170ca501 100644
--- a/external/concealer/CHANGELOG.rst
+++ b/external/concealer/CHANGELOG.rst
@@ -21,6 +21,50 @@ Changelog for package concealer
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+12.1.0 (2025-03-05)
+-------------------
+* Merge pull request `#1532 <https://github.com/tier4/scenario_simulator_v2/issues/1532>`_ from tier4/feature/simple_sensor_simulator/new-noise-model
+  Feature/simple sensor simulator/new noise model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Lipsticks
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model
+* Add parameters for new noise model
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit
+
+12.0.2 (2025-03-04)
+-------------------
+* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper
+* Contributors: ぐるぐる
+
+12.0.1 (2025-02-26)
+-------------------
+* Merge branch 'master' into feature/push-latest-docker-tag
+* Contributors: Masaya Kataoka
+
+12.0.0 (2025-02-25)
+-------------------
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Contributors: Tatsuya Yamasaki
+
+11.1.0 (2025-02-21)
+-------------------
+* Merge branch 'master' into feature/execution_time
+* Merge remote-tracking branch 'origin/master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 11.0.0 (2025-02-20)
 -------------------
 * Merge branch 'master' into refactor/lanelet_wrapper_route
diff --git a/external/concealer/include/concealer/get_parameter.hpp b/external/concealer/include/concealer/get_parameter.hpp
index aabee2c0ced..084bbee7460 100644
--- a/external/concealer/include/concealer/get_parameter.hpp
+++ b/external/concealer/include/concealer/get_parameter.hpp
@@ -35,7 +35,7 @@ auto getParameter(
 template <typename T>
 auto getParameter(const std::string & name, T value = {})
 {
-  auto node = rclcpp::Node("get_parameter", "simulation");
+  static auto node = rclcpp::Node("getParameter", "simulation");
   return getParameter(node.get_node_parameters_interface(), name, value);
 }
 }  // namespace concealer
diff --git a/external/concealer/package.xml b/external/concealer/package.xml
index e9220c61892..0d33dc8d8ba 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>11.0.0</version>
+  <version>12.1.0</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 73afdb31596..14dbf93a44e 100644
--- a/external/embree_vendor/CHANGELOG.rst
+++ b/external/embree_vendor/CHANGELOG.rst
@@ -24,6 +24,46 @@ Changelog for package embree_vendor
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+12.1.0 (2025-03-05)
+-------------------
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit
+
+12.0.2 (2025-03-04)
+-------------------
+* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper
+* Contributors: ぐるぐる
+
+12.0.1 (2025-02-26)
+-------------------
+* Merge branch 'master' into feature/push-latest-docker-tag
+* Contributors: Masaya Kataoka
+
+12.0.0 (2025-02-25)
+-------------------
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Contributors: Tatsuya Yamasaki
+
+11.1.0 (2025-02-21)
+-------------------
+* Merge branch 'master' into feature/execution_time
+* Merge remote-tracking branch 'origin/master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 11.0.0 (2025-02-20)
 -------------------
 * Merge branch 'master' into refactor/lanelet_wrapper_route
diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml
index 6791d2e5593..91d42f027e2 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>11.0.0</version>
+  <version>12.1.0</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 10ad0bb0cdd..684ded3eb95 100644
--- a/map/kashiwanoha_map/CHANGELOG.rst
+++ b/map/kashiwanoha_map/CHANGELOG.rst
@@ -21,6 +21,46 @@ Changelog for package kashiwanoha_map
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+12.1.0 (2025-03-05)
+-------------------
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit
+
+12.0.2 (2025-03-04)
+-------------------
+* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper
+* Contributors: ぐるぐる
+
+12.0.1 (2025-02-26)
+-------------------
+* Merge branch 'master' into feature/push-latest-docker-tag
+* Contributors: Masaya Kataoka
+
+12.0.0 (2025-02-25)
+-------------------
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Contributors: Tatsuya Yamasaki
+
+11.1.0 (2025-02-21)
+-------------------
+* Merge branch 'master' into feature/execution_time
+* Merge remote-tracking branch 'origin/master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 11.0.0 (2025-02-20)
 -------------------
 * Merge branch 'master' into refactor/lanelet_wrapper_route
diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml
index bcd672b7b20..5dfc0d72559 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>11.0.0</version>
+  <version>12.1.0</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 2c77f3b120a..ea19396f0bb 100644
--- a/map/simple_cross_map/CHANGELOG.rst
+++ b/map/simple_cross_map/CHANGELOG.rst
@@ -9,6 +9,46 @@ Changelog for package simple_cross_map
 * Merge branch 'master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+12.1.0 (2025-03-05)
+-------------------
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit
+
+12.0.2 (2025-03-04)
+-------------------
+* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper
+* Contributors: ぐるぐる
+
+12.0.1 (2025-02-26)
+-------------------
+* Merge branch 'master' into feature/push-latest-docker-tag
+* Contributors: Masaya Kataoka
+
+12.0.0 (2025-02-25)
+-------------------
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Contributors: Tatsuya Yamasaki
+
+11.1.0 (2025-02-21)
+-------------------
+* Merge branch 'master' into feature/execution_time
+* Merge remote-tracking branch 'origin/master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 11.0.0 (2025-02-20)
 -------------------
 * Merge branch 'master' into refactor/lanelet_wrapper_route
diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml
index 7be7066f28c..28a4fdedd07 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>11.0.0</version>
+  <version>12.1.0</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 95b0f2ab438..3c335a864eb 100644
--- a/mock/cpp_mock_scenarios/CHANGELOG.rst
+++ b/mock/cpp_mock_scenarios/CHANGELOG.rst
@@ -21,6 +21,49 @@ Changelog for package cpp_mock_scenarios
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+12.1.0 (2025-03-05)
+-------------------
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit
+
+12.0.2 (2025-03-04)
+-------------------
+* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper
+* Contributors: ぐるぐる
+
+12.0.1 (2025-02-26)
+-------------------
+* Merge branch 'master' into feature/push-latest-docker-tag
+* Contributors: Masaya Kataoka
+
+12.0.0 (2025-02-25)
+-------------------
+* Merge pull request `#1533 <https://github.com/tier4/scenario_simulator_v2/issues/1533>`_ from tier4/refactor/lanelet_wrapper_bound
+  HdMapUtils refactor lanelet_wrapper::lanelet_map::leftBound rightBound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* remove hdmap_utils from `distanceToLaneBound`
+* Contributors: Masaya Kataoka, Tatsuya Yamasaki, abco20
+
+11.1.0 (2025-02-21)
+-------------------
+* Merge branch 'master' into feature/execution_time
+* Merge remote-tracking branch 'origin/master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 11.0.0 (2025-02-20)
 -------------------
 * Merge branch 'master' into refactor/lanelet_wrapper_route
diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml
index 4a047501e15..b3effaba173 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>11.0.0</version>
+  <version>12.1.0</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 48af3ee19c9..f26be8395be 100644
--- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst
+++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst
@@ -21,6 +21,46 @@ Changelog for package openscenario_experimental_catalog
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+12.1.0 (2025-03-05)
+-------------------
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit
+
+12.0.2 (2025-03-04)
+-------------------
+* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper
+* Contributors: ぐるぐる
+
+12.0.1 (2025-02-26)
+-------------------
+* Merge branch 'master' into feature/push-latest-docker-tag
+* Contributors: Masaya Kataoka
+
+12.0.0 (2025-02-25)
+-------------------
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Contributors: Tatsuya Yamasaki
+
+11.1.0 (2025-02-21)
+-------------------
+* Merge branch 'master' into feature/execution_time
+* Merge remote-tracking branch 'origin/master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 11.0.0 (2025-02-20)
 -------------------
 * Merge branch 'master' into refactor/lanelet_wrapper_route
diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml
index a0fb249ac42..7f7fae52440 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>11.0.0</version>
+  <version>12.1.0</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 685a766e6e9..97ee53e92f6 100644
--- a/openscenario/openscenario_interpreter/CHANGELOG.rst
+++ b/openscenario/openscenario_interpreter/CHANGELOG.rst
@@ -32,6 +32,61 @@ Changelog for package openscenario_interpreter
 * add publish_empty_context parameter
 * Contributors: Masaya Kataoka
 
+12.1.0 (2025-03-05)
+-------------------
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit
+
+12.0.2 (2025-03-04)
+-------------------
+* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper
+* Contributors: ぐるぐる
+
+12.0.1 (2025-02-26)
+-------------------
+* Merge branch 'master' into feature/push-latest-docker-tag
+* Contributors: Masaya Kataoka
+
+12.0.0 (2025-02-25)
+-------------------
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Contributors: Tatsuya Yamasaki
+
+11.1.0 (2025-02-21)
+-------------------
+* Merge pull request `#1517 <https://github.com/tier4/scenario_simulator_v2/issues/1517>`_ from tier4/feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge remote-tracking branch 'origin/master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* refactor: use minimum captures for lambda
+* chore: use seconds as time unit in execution_time topics
+* refactor: generate UserDefinedValue message for each publishers
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* fix: delete unavailable include
+* refactor: delete unused code
+* refactor: use ExecutionTimer instead of ScopedElapsedTimeRecorder
+* refactor: rename TClock with Clock
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* refactor: simplify ScopedElapsedTimeRecorder class
+* fix: correct initialization order
+* Merge branch 'master' into feature/execution_time
+* fix: add activate and deactivate process for time publisher in interpreter
+* fix: correct time unit conversion
+* feat: publish execution time from interpreter
+* feat: record execution time with  ScopedElapsedTimeRecorder class
+* feat: implement ScopedElapsedTimeRecorder class
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 11.0.0 (2025-02-20)
 -------------------
 * Merge branch 'master' into refactor/lanelet_wrapper_route
diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp
index 1fd5a0c67d2..2ec83694855 100644
--- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp
+++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp
@@ -32,6 +32,7 @@
 #include <rclcpp_lifecycle/lifecycle_node.hpp>
 #include <scenario_simulator_exception/exception.hpp>
 #include <simple_junit/junit5.hpp>
+#include <tier4_simulation_msgs/msg/user_defined_value.hpp>
 #include <utility>
 
 #define INTERPRETER_INFO_STREAM(...) \
@@ -52,6 +53,15 @@ class Interpreter : public rclcpp_lifecycle::LifecycleNode,
 
   const rclcpp_lifecycle::LifecyclePublisher<Context>::SharedPtr publisher_of_context;
 
+  rclcpp_lifecycle::LifecyclePublisher<tier4_simulation_msgs::msg::UserDefinedValue>::SharedPtr
+    evaluate_time_publisher;
+
+  rclcpp_lifecycle::LifecyclePublisher<tier4_simulation_msgs::msg::UserDefinedValue>::SharedPtr
+    update_time_publisher;
+
+  rclcpp_lifecycle::LifecyclePublisher<tier4_simulation_msgs::msg::UserDefinedValue>::SharedPtr
+    output_time_publisher;
+
   double local_frame_rate;
 
   double local_real_time_factor;
@@ -195,36 +205,6 @@ class Interpreter : public rclcpp_lifecycle::LifecycleNode,
       return handle();
     }
   }
-
-  template <typename TimeoutHandler, typename Thunk>
-  auto withTimeoutHandler(TimeoutHandler && handle, Thunk && thunk) -> decltype(auto)
-  {
-    if (const auto time = execution_timer.invoke("", thunk); currentLocalFrameRate() < time) {
-      handle(execution_timer.getStatistics(""));
-    }
-  }
-
-  auto defaultTimeoutHandler() const
-  {
-    /*
-       Ideally, the scenario should be terminated with an error if the total
-       time for the ScenarioDefinition evaluation and the traffic_simulator's
-       updateFrame exceeds the time allowed for a single frame. However, we
-       have found that many users are in environments where it is not possible
-       to run the simulator stably at 30 FPS (the default setting) while
-       running Autoware. In order to prioritize comfortable daily use, we
-       decided to give up full reproducibility of the scenario and only provide
-       warnings.
-    */
-
-    return [this](const auto & statistics) {
-      RCLCPP_WARN_STREAM(
-        get_logger(),
-        "Your machine is not powerful enough to run the scenario at the specified frame rate ("
-          << local_frame_rate << " Hz). We recommend that you reduce the frame rate to "
-          << 1000.0 / statistics.template max<std::chrono::milliseconds>().count() << " or less.");
-    };
-  }
 };
 }  // namespace openscenario_interpreter
 
diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml
index 5e43b546497..661625c6509 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>11.0.0</version>
+  <version>12.1.0</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/src/openscenario_interpreter.cpp b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp
index 4cb96beee16..e76840d2d84 100644
--- a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp
+++ b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp
@@ -37,6 +37,12 @@ namespace openscenario_interpreter
 Interpreter::Interpreter(const rclcpp::NodeOptions & options)
 : rclcpp_lifecycle::LifecycleNode("openscenario_interpreter", options),
   publisher_of_context(create_publisher<Context>("context", rclcpp::QoS(1).transient_local())),
+  evaluate_time_publisher(create_publisher<tier4_simulation_msgs::msg::UserDefinedValue>(
+    "/simulation/interpreter/execution_time/evaluate", rclcpp::QoS(1).transient_local())),
+  update_time_publisher(create_publisher<tier4_simulation_msgs::msg::UserDefinedValue>(
+    "/simulation/interpreter/execution_time/update", rclcpp::QoS(1).transient_local())),
+  output_time_publisher(create_publisher<tier4_simulation_msgs::msg::UserDefinedValue>(
+    "/simulation/interpreter/execution_time/output", rclcpp::QoS(1).transient_local())),
   local_frame_rate(30),
   local_real_time_factor(1.0),
   osc_path(""),
@@ -188,7 +194,7 @@ auto Interpreter::on_activate(const rclcpp_lifecycle::State &) -> Result
         deactivate();
       },
       [this]() {
-        withTimeoutHandler(defaultTimeoutHandler(), [this]() {
+        const auto evaluate_time = execution_timer.invoke("evaluate", [this]() {
           if (std::isnan(evaluateSimulationTime())) {
             if (not waiting_for_engagement_to_be_completed and engageable()) {
               engage();
@@ -202,11 +208,44 @@ auto Interpreter::on_activate(const rclcpp_lifecycle::State &) -> Result
           } else {
             throw Error("No script evaluable.");
           }
-
-          SimulatorCore::update();
-
-          publishCurrentContext();
         });
+
+        const auto update_time =
+          execution_timer.invoke("update", []() { SimulatorCore::update(); });
+
+        const auto output_time =
+          execution_timer.invoke("output", [this]() { publishCurrentContext(); });
+
+        auto generate_double_user_defined_value_message = [](double value) {
+          tier4_simulation_msgs::msg::UserDefinedValue message;
+          message.type.data = tier4_simulation_msgs::msg::UserDefinedValueType::DOUBLE;
+          message.value = std::to_string(value);
+          return message;
+        };
+        evaluate_time_publisher->publish(generate_double_user_defined_value_message(
+          std::chrono::duration<double>(evaluate_time).count()));
+        update_time_publisher->publish(generate_double_user_defined_value_message(
+          std::chrono::duration<double>(update_time).count()));
+        output_time_publisher->publish(generate_double_user_defined_value_message(
+          std::chrono::duration<double>(output_time).count()));
+
+        if (auto time_until_trigger = timer->time_until_trigger(); time_until_trigger.count() < 0) {
+          /*
+            Ideally, the scenario should be terminated with an error if the total
+            time for the ScenarioDefinition evaluation and the traffic_simulator's
+            updateFrame exceeds the time allowed for a single frame. However, we
+            have found that many users are in environments where it is not possible
+            to run the simulator stably at 30 FPS (the default setting) while
+            running Autoware. In order to prioritize comfortable daily use, we
+            decided to give up full reproducibility of the scenario and only provide
+            warnings.
+          */
+          RCLCPP_WARN_STREAM(
+            get_logger(),
+            "Your machine is not powerful enough to run the scenario at the specified frame rate ("
+              << local_frame_rate << " Hz). Current frame execution exceeds "
+              << -time_until_trigger.count() / 1.e6 << " milliseconds.");
+        }
       });
   };
 
@@ -249,6 +288,9 @@ auto Interpreter::on_activate(const rclcpp_lifecycle::State &) -> Result
         execution_timer.clear();
 
         publisher_of_context->on_activate();
+        evaluate_time_publisher->on_activate();
+        update_time_publisher->on_activate();
+        output_time_publisher->on_activate();
 
         assert(publisher_of_context->is_activated());
 
@@ -320,6 +362,15 @@ auto Interpreter::reset() -> void
   if (publisher_of_context->is_activated()) {
     publisher_of_context->on_deactivate();
   }
+  if (evaluate_time_publisher->is_activated()) {
+    evaluate_time_publisher->on_deactivate();
+  }
+  if (update_time_publisher->is_activated()) {
+    update_time_publisher->on_deactivate();
+  }
+  if (output_time_publisher->is_activated()) {
+    output_time_publisher->on_deactivate();
+  }
 
   if (not has_parameter("initialize_duration")) {
     declare_parameter<int>("initialize_duration", 30);
diff --git a/openscenario/openscenario_interpreter_example/CHANGELOG.rst b/openscenario/openscenario_interpreter_example/CHANGELOG.rst
index 6b1557780d9..9a6c63d45a6 100644
--- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst
+++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst
@@ -21,6 +21,46 @@ Changelog for package openscenario_interpreter_example
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+12.1.0 (2025-03-05)
+-------------------
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit
+
+12.0.2 (2025-03-04)
+-------------------
+* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper
+* Contributors: ぐるぐる
+
+12.0.1 (2025-02-26)
+-------------------
+* Merge branch 'master' into feature/push-latest-docker-tag
+* Contributors: Masaya Kataoka
+
+12.0.0 (2025-02-25)
+-------------------
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Contributors: Tatsuya Yamasaki
+
+11.1.0 (2025-02-21)
+-------------------
+* Merge branch 'master' into feature/execution_time
+* Merge remote-tracking branch 'origin/master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 11.0.0 (2025-02-20)
 -------------------
 * Merge branch 'master' into refactor/lanelet_wrapper_route
diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml
index 61c93b42ba2..71ee14b47ba 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>11.0.0</version>
+  <version>12.1.0</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 66d86170288..5c51927e866 100644
--- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst
+++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst
@@ -21,6 +21,46 @@ Changelog for package openscenario_interpreter_msgs
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+12.1.0 (2025-03-05)
+-------------------
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit
+
+12.0.2 (2025-03-04)
+-------------------
+* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper
+* Contributors: ぐるぐる
+
+12.0.1 (2025-02-26)
+-------------------
+* Merge branch 'master' into feature/push-latest-docker-tag
+* Contributors: Masaya Kataoka
+
+12.0.0 (2025-02-25)
+-------------------
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Contributors: Tatsuya Yamasaki
+
+11.1.0 (2025-02-21)
+-------------------
+* Merge branch 'master' into feature/execution_time
+* Merge remote-tracking branch 'origin/master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 11.0.0 (2025-02-20)
 -------------------
 * Merge branch 'master' into refactor/lanelet_wrapper_route
diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml
index 89523cf4cdf..fbcb3950bac 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>11.0.0</version>
+  <version>12.1.0</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 8a441ba0ef7..e94b227f6fd 100644
--- a/openscenario/openscenario_preprocessor/CHANGELOG.rst
+++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst
@@ -21,6 +21,46 @@ Changelog for package openscenario_preprocessor
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+12.1.0 (2025-03-05)
+-------------------
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit
+
+12.0.2 (2025-03-04)
+-------------------
+* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper
+* Contributors: ぐるぐる
+
+12.0.1 (2025-02-26)
+-------------------
+* Merge branch 'master' into feature/push-latest-docker-tag
+* Contributors: Masaya Kataoka
+
+12.0.0 (2025-02-25)
+-------------------
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Contributors: Tatsuya Yamasaki
+
+11.1.0 (2025-02-21)
+-------------------
+* Merge branch 'master' into feature/execution_time
+* Merge remote-tracking branch 'origin/master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 11.0.0 (2025-02-20)
 -------------------
 * Merge branch 'master' into refactor/lanelet_wrapper_route
diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml
index 10bc61ac4b8..9f7c121cb14 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>11.0.0</version>
+  <version>12.1.0</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 22120d8dc8d..c843912b138 100644
--- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst
+++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst
@@ -21,6 +21,46 @@ Changelog for package openscenario_preprocessor_msgs
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+12.1.0 (2025-03-05)
+-------------------
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit
+
+12.0.2 (2025-03-04)
+-------------------
+* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper
+* Contributors: ぐるぐる
+
+12.0.1 (2025-02-26)
+-------------------
+* Merge branch 'master' into feature/push-latest-docker-tag
+* Contributors: Masaya Kataoka
+
+12.0.0 (2025-02-25)
+-------------------
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Contributors: Tatsuya Yamasaki
+
+11.1.0 (2025-02-21)
+-------------------
+* Merge branch 'master' into feature/execution_time
+* Merge remote-tracking branch 'origin/master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 11.0.0 (2025-02-20)
 -------------------
 * Merge branch 'master' into refactor/lanelet_wrapper_route
diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml
index 45547e73bd9..f31bf37f103 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>11.0.0</version>
+  <version>12.1.0</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 05b6b7217d4..be11addc02f 100644
--- a/openscenario/openscenario_utility/CHANGELOG.rst
+++ b/openscenario/openscenario_utility/CHANGELOG.rst
@@ -24,6 +24,46 @@ Changelog for package openscenario_utility
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+12.1.0 (2025-03-05)
+-------------------
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit
+
+12.0.2 (2025-03-04)
+-------------------
+* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper
+* Contributors: ぐるぐる
+
+12.0.1 (2025-02-26)
+-------------------
+* Merge branch 'master' into feature/push-latest-docker-tag
+* Contributors: Masaya Kataoka
+
+12.0.0 (2025-02-25)
+-------------------
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Contributors: Tatsuya Yamasaki
+
+11.1.0 (2025-02-21)
+-------------------
+* Merge branch 'master' into feature/execution_time
+* Merge remote-tracking branch 'origin/master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 11.0.0 (2025-02-20)
 -------------------
 * Merge branch 'master' into refactor/lanelet_wrapper_route
diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml
index 1e631d3fcb3..a6ff15e2467 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>11.0.0</version>
+  <version>12.1.0</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 91bef2be35b..9c4895c4ac7 100644
--- a/openscenario/openscenario_validator/CHANGELOG.rst
+++ b/openscenario/openscenario_validator/CHANGELOG.rst
@@ -10,6 +10,46 @@ Changelog for package openscenario_validator
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+12.1.0 (2025-03-05)
+-------------------
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit
+
+12.0.2 (2025-03-04)
+-------------------
+* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper
+* Contributors: ぐるぐる
+
+12.0.1 (2025-02-26)
+-------------------
+* Merge branch 'master' into feature/push-latest-docker-tag
+* Contributors: Masaya Kataoka
+
+12.0.0 (2025-02-25)
+-------------------
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Contributors: Tatsuya Yamasaki
+
+11.1.0 (2025-02-21)
+-------------------
+* Merge branch 'master' into feature/execution_time
+* Merge remote-tracking branch 'origin/master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 11.0.0 (2025-02-20)
 -------------------
 * Merge branch 'master' into refactor/lanelet_wrapper_route
diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml
index edbca6817c7..d4b6b473b1d 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>11.0.0</version>
+  <version>12.1.0</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 6bb333751df..8c1c2d1356f 100644
--- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst
+++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst
@@ -21,6 +21,46 @@ Changelog for package openscenario_visualization
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+12.1.0 (2025-03-05)
+-------------------
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit
+
+12.0.2 (2025-03-04)
+-------------------
+* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper
+* Contributors: ぐるぐる
+
+12.0.1 (2025-02-26)
+-------------------
+* Merge branch 'master' into feature/push-latest-docker-tag
+* Contributors: Masaya Kataoka
+
+12.0.0 (2025-02-25)
+-------------------
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Contributors: Tatsuya Yamasaki
+
+11.1.0 (2025-02-21)
+-------------------
+* Merge branch 'master' into feature/execution_time
+* Merge remote-tracking branch 'origin/master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 11.0.0 (2025-02-20)
 -------------------
 * Merge branch 'master' into refactor/lanelet_wrapper_route
diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml
index 5d1cabae0f2..1a978528501 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>11.0.0</version>
+  <version>12.1.0</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 bf423a6f684..649ee79adda 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 +21,46 @@ Changelog for package real_time_factor_control_rviz_plugin
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+12.1.0 (2025-03-05)
+-------------------
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit
+
+12.0.2 (2025-03-04)
+-------------------
+* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper
+* Contributors: ぐるぐる
+
+12.0.1 (2025-02-26)
+-------------------
+* Merge branch 'master' into feature/push-latest-docker-tag
+* Contributors: Masaya Kataoka
+
+12.0.0 (2025-02-25)
+-------------------
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Contributors: Tatsuya Yamasaki
+
+11.1.0 (2025-02-21)
+-------------------
+* Merge branch 'master' into feature/execution_time
+* Merge remote-tracking branch 'origin/master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 11.0.0 (2025-02-20)
 -------------------
 * Merge branch 'master' into refactor/lanelet_wrapper_route
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 c28462b1fa2..16fa6beab23 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>11.0.0</version>
+  <version>12.1.0</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 fe9982abd22..e4ea61ad045 100644
--- a/scenario_simulator_v2/CHANGELOG.rst
+++ b/scenario_simulator_v2/CHANGELOG.rst
@@ -21,6 +21,46 @@ Changelog for package scenario_simulator_v2
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+12.1.0 (2025-03-05)
+-------------------
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit
+
+12.0.2 (2025-03-04)
+-------------------
+* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper
+* Contributors: ぐるぐる
+
+12.0.1 (2025-02-26)
+-------------------
+* Merge branch 'master' into feature/push-latest-docker-tag
+* Contributors: Masaya Kataoka
+
+12.0.0 (2025-02-25)
+-------------------
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Contributors: Tatsuya Yamasaki
+
+11.1.0 (2025-02-21)
+-------------------
+* Merge branch 'master' into feature/execution_time
+* Merge remote-tracking branch 'origin/master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 11.0.0 (2025-02-20)
 -------------------
 * Merge branch 'master' into refactor/lanelet_wrapper_route
diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml
index c2c38365c38..00ca53a9632 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>11.0.0</version>
+  <version>12.1.0</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 ec85f54e9a7..93d1d1d7bd6 100644
--- a/simulation/behavior_tree_plugin/CHANGELOG.rst
+++ b/simulation/behavior_tree_plugin/CHANGELOG.rst
@@ -21,6 +21,46 @@ Changelog for package behavior_tree_plugin
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+12.1.0 (2025-03-05)
+-------------------
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit
+
+12.0.2 (2025-03-04)
+-------------------
+* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper
+* Contributors: ぐるぐる
+
+12.0.1 (2025-02-26)
+-------------------
+* Merge branch 'master' into feature/push-latest-docker-tag
+* Contributors: Masaya Kataoka
+
+12.0.0 (2025-02-25)
+-------------------
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Contributors: Tatsuya Yamasaki
+
+11.1.0 (2025-02-21)
+-------------------
+* Merge branch 'master' into feature/execution_time
+* Merge remote-tracking branch 'origin/master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 11.0.0 (2025-02-20)
 -------------------
 * Merge pull request `#1531 <https://github.com/tier4/scenario_simulator_v2/issues/1531>`_ from tier4/refactor/lanelet_wrapper_route
diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml
index 1ad5da85cd2..6b88c56d2f9 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>11.0.0</version>
+  <version>12.1.0</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 e047a82cada..790d15c3633 100644
--- a/simulation/do_nothing_plugin/CHANGELOG.rst
+++ b/simulation/do_nothing_plugin/CHANGELOG.rst
@@ -21,6 +21,46 @@ Changelog for package do_nothing_plugin
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+12.1.0 (2025-03-05)
+-------------------
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit
+
+12.0.2 (2025-03-04)
+-------------------
+* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper
+* Contributors: ぐるぐる
+
+12.0.1 (2025-02-26)
+-------------------
+* Merge branch 'master' into feature/push-latest-docker-tag
+* Contributors: Masaya Kataoka
+
+12.0.0 (2025-02-25)
+-------------------
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Contributors: Tatsuya Yamasaki
+
+11.1.0 (2025-02-21)
+-------------------
+* Merge branch 'master' into feature/execution_time
+* Merge remote-tracking branch 'origin/master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 11.0.0 (2025-02-20)
 -------------------
 * Merge branch 'master' into refactor/lanelet_wrapper_route
diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml
index b4e3d00ec3c..0c0af76af87 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>11.0.0</version>
+  <version>12.1.0</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 8ad3f44fd9c..0a02bec380a 100644
--- a/simulation/simple_sensor_simulator/CHANGELOG.rst
+++ b/simulation/simple_sensor_simulator/CHANGELOG.rst
@@ -21,6 +21,67 @@ Changelog for package simple_sensor_simulator
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+12.1.0 (2025-03-05)
+-------------------
+* Merge pull request `#1532 <https://github.com/tier4/scenario_simulator_v2/issues/1532>`_ from tier4/feature/simple_sensor_simulator/new-noise-model
+  Feature/simple sensor simulator/new noise model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Add some comments for cspell to ignore false-positive warnings
+* Add new document `Parameters.md`
+* Cleanup parameter file
+* Add parameters to maintain backward compatibility
+* Update `DetectionSensor` to read seed from parameter file if model version is 2
+* Organize the parameter file structure to be more reasonable
+* Rename parameter `phi` to `autocorrelation_coefficient`
+* Rename parameter `tp` to `true_positive`
+* Cleanup
+* updated config, currected the modeling of bernoulli distribution noises to Markov process.
+  rename rho to phi
+  update description.
+* Add array size check to local function `parameters`
+* Update `DetectionSensor` to switch noise models according to parameter
+* Add new local function `parameter` and `parameters`
+* Add new parameter `ellipse_y_radiuses`
+* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model
+* Cleanup
+* Add parameters for new noise model
+* Add experimental noise model `noise_v2`
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, xtk8532704, yamacir-kit
+
+12.0.2 (2025-03-04)
+-------------------
+* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper
+* Contributors: ぐるぐる
+
+12.0.1 (2025-02-26)
+-------------------
+* Merge branch 'master' into feature/push-latest-docker-tag
+* Contributors: Masaya Kataoka
+
+12.0.0 (2025-02-25)
+-------------------
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Contributors: Tatsuya Yamasaki
+
+11.1.0 (2025-02-21)
+-------------------
+* Merge branch 'master' into feature/execution_time
+* Merge remote-tracking branch 'origin/master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 11.0.0 (2025-02-20)
 -------------------
 * Merge branch 'master' into refactor/lanelet_wrapper_route
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 474837afa06..819514bff8f 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
@@ -17,6 +17,7 @@
 
 #include <simulation_api_schema.pb.h>
 
+#include <concealer/get_parameter.hpp>
 #include <geometry/plane.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 #include <memory>
@@ -24,7 +25,9 @@
 #include <queue>
 #include <random>
 #include <rclcpp/rclcpp.hpp>
+#include <scenario_simulator_exception/exception.hpp>
 #include <string>
+#include <unordered_map>
 #include <utility>
 #include <vector>
 
@@ -74,11 +77,80 @@ class DetectionSensor : public DetectionSensorBase
 
   const typename rclcpp::Publisher<U>::SharedPtr ground_truth_objects_publisher;
 
+  int noise_model_version;
+
   std::default_random_engine random_engine_;
 
   std::queue<std::pair<std::vector<traffic_simulator_msgs::EntityStatus>, double>>
     unpublished_detected_entities, unpublished_ground_truth_entities;
 
+  struct NoiseOutput
+  {
+    double simulation_time, distance_noise, yaw_noise;
+
+    bool true_positive, flip;
+
+    explicit NoiseOutput(double simulation_time = 0.0) : simulation_time(simulation_time) {}
+  };
+
+  std::unordered_map<std::string, NoiseOutput> noise_outputs;
+
+  template <typename Message, typename std::enable_if_t<std::is_same_v<Message, T>, int> = 0>
+  auto delay() const
+  {
+    static const auto override_legacy_configuration = concealer::getParameter<bool>(
+      detected_objects_publisher->get_topic_name() + std::string(".override_legacy_configuration"));
+    if (override_legacy_configuration) {
+      static const auto delay = concealer::getParameter<double>(
+        detected_objects_publisher->get_topic_name() + std::string(".delay"));
+      return delay;
+    } else {
+      return configuration_.object_recognition_delay();
+    }
+  }
+
+  template <typename Message, typename std::enable_if_t<std::is_same_v<Message, U>, int> = 0>
+  auto delay() const
+  {
+    static const auto override_legacy_configuration = concealer::getParameter<bool>(
+      ground_truth_objects_publisher->get_topic_name() +
+      std::string(".override_legacy_configuration"));
+    if (override_legacy_configuration) {
+      static const auto delay = concealer::getParameter<double>(
+        ground_truth_objects_publisher->get_topic_name() + std::string(".delay"));
+      return delay;
+    } else {
+      return configuration_.object_recognition_ground_truth_delay();
+    }
+  }
+
+  auto range() const
+  {
+    static const auto override_legacy_configuration = concealer::getParameter<bool>(
+      detected_objects_publisher->get_topic_name() + std::string(".override_legacy_configuration"));
+    if (override_legacy_configuration) {
+      static const auto range = concealer::getParameter<double>(
+        detected_objects_publisher->get_topic_name() + std::string(".range"), 300.0);
+      return range;
+    } else {
+      return configuration_.range();
+    }
+  }
+
+  auto detect_all_objects_in_range() const
+  {
+    // cspell: ignore occlusionless
+    static const auto override_legacy_configuration = concealer::getParameter<bool>(
+      detected_objects_publisher->get_topic_name() + std::string(".override_legacy_configuration"));
+    if (override_legacy_configuration) {
+      static const auto occlusionless = concealer::getParameter<bool>(
+        detected_objects_publisher->get_topic_name() + std::string(".occlusionless"));
+      return occlusionless;
+    } else {
+      return configuration_.detect_all_objects_in_range();
+    }
+  }
+
 public:
   explicit DetectionSensor(
     const double current_simulation_time,
@@ -88,7 +160,34 @@ class DetectionSensor : public DetectionSensorBase
   : DetectionSensorBase(current_simulation_time, configuration),
     detected_objects_publisher(publisher),
     ground_truth_objects_publisher(ground_truth_publisher),
-    random_engine_(configuration.random_seed())
+    noise_model_version(concealer::getParameter<int>(
+      detected_objects_publisher->get_topic_name() + std::string(".noise.model.version"))),
+    random_engine_([this]() {
+      if (const auto seed = [this]() -> std::random_device::result_type {
+            switch (noise_model_version) {
+              default:
+                [[fallthrough]];
+              case 1:
+                return configuration_.random_seed();
+              case 2:
+                return concealer::getParameter<int>(
+                  detected_objects_publisher->get_topic_name() + std::string(".seed"));
+            }
+          }();
+          seed) {
+        if (std::random_device::min() <= seed and seed <= std::random_device::max()) {
+          return seed;
+        } else {
+          throw common::scenario_simulator_exception::Error(
+            "The value of parameter ",
+            std::quoted(detected_objects_publisher->get_topic_name() + std::string(".seed")),
+            " must be greater than or equal to ", std::random_device::min(),
+            " and less than or equal to ", std::random_device::max());
+        }
+      } else {
+        return std::random_device()();
+      }
+    }())
   {
   }
 
diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml
index f10a0cb0a42..1bc7c2b7934 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>11.0.0</version>
+  <version>12.1.0</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 da114db12b9..8b1b78666ae 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
@@ -25,10 +25,12 @@
 #include <geometry/vector3/hypot.hpp>
 #include <memory>
 #include <random>
+#include <scenario_simulator_exception/exception.hpp>
 #include <simple_sensor_simulator/exception.hpp>
 #include <simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp>
 #include <simulation_interface/conversions.hpp>
 #include <string>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #include <vector>
 
 namespace simple_sensor_simulator
@@ -279,9 +281,9 @@ auto DetectionSensor<autoware_perception_msgs::msg::DetectedObjects>::update(
 
     auto is_in_range = [&](const auto & status) {
       return not isEgoEntityStatusToWhichThisSensorIsAttached(status) and
-             distance(status.pose(), ego_entity_status->pose()) <= configuration_.range() and
+             distance(status.pose(), ego_entity_status->pose()) <= range() and
              isOnOrAboveEgoPlane(status.pose(), ego_entity_status->pose()) and
-             (configuration_.detect_all_objects_in_range() or
+             (detect_all_objects_in_range() or
               std::find(
                 lidar_detected_entities.begin(), lidar_detected_entities.end(), status.name()) !=
                 lidar_detected_entities.end());
@@ -291,12 +293,26 @@ auto DetectionSensor<autoware_perception_msgs::msg::DetectedObjects>::update(
        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.
+       simulator publishes, copy 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());
+    auto noise_v1 = [&](auto detected_entities, [[maybe_unused]] auto simulation_time) {
+      static const auto override_legacy_configuration = concealer::getParameter<bool>(
+        detected_objects_publisher->get_topic_name() +
+        std::string(".override_legacy_configuration"));
+
+      static const auto standard_deviation =
+        override_legacy_configuration ? concealer::getParameter<double>(
+                                          detected_objects_publisher->get_topic_name() +
+                                          std::string(".noise.v1.position.standard_deviation"))
+                                      : configuration_.pos_noise_stddev();
+
+      static const auto missing_probability = override_legacy_configuration
+                                                ? concealer::getParameter<double>(
+                                                    detected_objects_publisher->get_topic_name() +
+                                                    std::string(".noise.v1.missing_probability"))
+                                                : configuration_.probability_of_lost();
+
+      auto position_noise_distribution = std::normal_distribution<>(0.0, standard_deviation);
 
       for (auto && detected_entity : detected_entities) {
         detected_entity.mutable_pose()->mutable_position()->set_x(
@@ -309,14 +325,193 @@ auto DetectionSensor<autoware_perception_msgs::msg::DetectedObjects>::update(
         std::remove_if(
           detected_entities.begin(), detected_entities.end(),
           [this](auto &&) {
-            return std::uniform_real_distribution()(random_engine_) <
-                   configuration_.probability_of_lost();
+            return std::uniform_real_distribution()(random_engine_) < missing_probability;
           }),
         detected_entities.end());
 
       return detected_entities;
     };
 
+    auto noise_v2 = [&](const auto & detected_entities, auto simulation_time) {
+      auto noised_detected_entities = std::decay_t<decltype(detected_entities)>();
+
+      for (auto detected_entity : detected_entities) {
+        auto [noise_output, success] =
+          noise_outputs.emplace(detected_entity.name(), simulation_time);
+
+        const auto x =
+          detected_entity.pose().position().x() - ego_entity_status->pose().position().x();
+        const auto y =
+          detected_entity.pose().position().y() - ego_entity_status->pose().position().y();
+        const auto speed = std::hypot(
+          detected_entity.action_status().twist().linear().x(),
+          detected_entity.action_status().twist().linear().y());
+        const auto interval =
+          simulation_time - std::exchange(noise_output->second.simulation_time, simulation_time);
+
+        auto parameter = [this](const auto & name) {
+          return concealer::getParameter<double>(
+            detected_objects_publisher->get_topic_name() + std::string(".noise.v2.") + name);
+        };
+
+        auto parameters = [this](const auto & name) {
+          const auto full_name =
+            detected_objects_publisher->get_topic_name() + std::string(".noise.v2.") + name;
+          const auto parameters = concealer::getParameter<std::vector<double>>(full_name);
+          static const auto size = parameters.size();
+          if (parameters.size() != size) {
+            throw common::Error(
+              "The sizes of the arrays given to the parameters of noise model version 2 must be "
+              "the same. The parameter ",
+              std::quoted(full_name), " is an array of size ", parameters.size(),
+              ", and the other arrays are of size ", size, ".");
+          } else {
+            return parameters;
+          }
+        };
+
+        /*
+           We use AR(1) model to model the autocorrelation coefficients `phi`
+           for `distance_noise` and `yaw_noise` with Gaussian distribution, by
+           the following formula:
+
+             noise(prev_noise) = mean + phi * (prev_noise - mean) + N(0, 1 - phi^2) * standard_deviation
+        */
+        // cspell: ignore autoregressive
+        auto autoregressive_noise = [this](
+                                      auto previous_noise, auto mean, auto standard_deviation,
+                                      auto autocorrelation_coefficient) {
+          return mean + autocorrelation_coefficient * (previous_noise - mean) +
+                 std::normal_distribution<double>(
+                   0, standard_deviation *
+                        std::sqrt(1 - std::pow(autocorrelation_coefficient, 2)))(random_engine_);
+        };
+
+        /*
+           We use Markov process to model the autocorrelation coefficients
+           `phi` for `flip` and `true_positive` with Bernoulli distribution, by
+           the transition matrix:
+
+             | p_00 p_01 | == | p0 + phi * p1   p1 (1 - phi)  |
+             | p_10 p_11 | == | p0 (1 - phi)    p1 - phi * p0 |
+        */
+        auto markov_process_noise =
+          [this](bool previous_noise, auto rate, auto autocorrelation_coefficient) {
+            return std::uniform_real_distribution<double>()(random_engine_) <
+                   (previous_noise ? 1.0 : 0.0) * autocorrelation_coefficient +
+                     (1 - autocorrelation_coefficient) * rate;
+          };
+
+        /*
+           We use `phi` for the above autocorrelation coefficients `phi`, which
+           is calculated from the time_interval `dt` by the following formula:
+
+             phi(dt) = amplitude * exp(-decay * dt) + offset
+        */
+        auto autocorrelation_coefficient = [&](const std::string & name) {
+          static const auto amplitude = parameter(name + ".autocorrelation_coefficient.amplitude");
+          static const auto decay = parameter(name + ".autocorrelation_coefficient.decay");
+          static const auto offset = parameter(name + ".autocorrelation_coefficient.offset");
+          return std::clamp(amplitude * std::exp(-decay * interval) + offset, 0.0, 1.0);
+        };
+
+        auto selector = [&](const std::string & name) {
+          static const auto ellipse_y_radii = parameters("ellipse_y_radii");
+          return [&, ellipse_normalized_x_radius = parameter(name + ".ellipse_normalized_x_radius"),
+                  values = parameters(name + ".values")]() {
+            /*
+               If the parameter `<topic-name>.noise.v2.ellipse_y_radii`
+               contains the value 0.0, division by zero will occur here.
+               However, in that case, the distance will be NaN, which correctly
+               expresses the meaning that "the distance cannot be defined", and
+               this function will work without any problems (zero will be
+               returned).
+            */
+            const auto distance = std::hypot(x / ellipse_normalized_x_radius, y);
+            for (auto i = std::size_t(0); i < ellipse_y_radii.size(); ++i) {
+              if (distance < ellipse_y_radii[i]) {
+                return values[i];
+              }
+            }
+            return 0.0;
+          };
+        };
+
+        noise_output->second.distance_noise = [&]() {
+          static const auto mean = selector("distance.mean");
+          static const auto standard_deviation = selector("distance.standard_deviation");
+          return autoregressive_noise(
+            noise_output->second.distance_noise, mean(), standard_deviation(),
+            autocorrelation_coefficient("distance"));
+        }();
+
+        noise_output->second.yaw_noise = [&]() {
+          static const auto mean = selector("yaw.mean");
+          static const auto standard_deviation = selector("yaw.standard_deviation");
+          return autoregressive_noise(
+            noise_output->second.yaw_noise, mean(), standard_deviation(),
+            autocorrelation_coefficient("yaw"));
+        }();
+
+        noise_output->second.flip = [&]() {
+          static const auto speed_threshold = parameter("yaw_flip.speed_threshold");
+          static const auto rate = parameter("yaw_flip.rate");
+          return speed < speed_threshold and
+                 markov_process_noise(
+                   noise_output->second.flip, rate, autocorrelation_coefficient("yaw_flip"));
+        }();
+
+        noise_output->second.true_positive = [&]() {
+          static const auto rate = selector("true_positive.rate");
+          return markov_process_noise(
+            noise_output->second.true_positive, rate(),
+            autocorrelation_coefficient("true_positive"));
+        }();
+
+        if (noise_output->second.true_positive) {
+          const auto angle = std::atan2(y, x);
+
+          const auto yaw_rotated_orientation =
+            tf2::Quaternion(
+              detected_entity.pose().orientation().x(), detected_entity.pose().orientation().y(),
+              detected_entity.pose().orientation().z(), detected_entity.pose().orientation().w()) *
+            tf2::Quaternion(
+              tf2::Vector3(0, 0, 1),
+              noise_output->second.yaw_noise + (noise_output->second.flip ? M_PI : 0.0));
+
+          detected_entity.mutable_pose()->mutable_position()->set_x(
+            detected_entity.pose().position().x() +
+            noise_output->second.distance_noise * std::cos(angle));
+          detected_entity.mutable_pose()->mutable_position()->set_y(
+            detected_entity.pose().position().y() +
+            noise_output->second.distance_noise * std::sin(angle));
+          detected_entity.mutable_pose()->mutable_orientation()->set_x(
+            yaw_rotated_orientation.getX());
+          detected_entity.mutable_pose()->mutable_orientation()->set_y(
+            yaw_rotated_orientation.getY());
+          detected_entity.mutable_pose()->mutable_orientation()->set_z(
+            yaw_rotated_orientation.getZ());
+          detected_entity.mutable_pose()->mutable_orientation()->set_w(
+            yaw_rotated_orientation.getW());
+
+          noised_detected_entities.push_back(detected_entity);
+        }
+      }
+
+      return noised_detected_entities;
+    };
+
+    auto noise = [&](auto &&... xs) {
+      switch (noise_model_version) {
+        default:
+          [[fallthrough]];
+        case 1:
+          return noise_v1(std::forward<decltype(xs)>(xs)...);
+        case 2:
+          return noise_v2(std::forward<decltype(xs)>(xs)...);
+      }
+    };
+
     auto make_detected_objects = [&](const auto & detected_entities) {
       auto detected_objects = autoware_perception_msgs::msg::DetectedObjects();
       detected_objects.header.stamp = current_ros_time;
@@ -348,7 +543,7 @@ auto DetectionSensor<autoware_perception_msgs::msg::DetectedObjects>::update(
 
     if (
       current_simulation_time - unpublished_detected_entities.front().second >=
-      configuration_.object_recognition_delay()) {
+      delay<autoware_perception_msgs::msg::DetectedObjects>()) {
       const auto modified_detected_entities =
         std::apply(noise, unpublished_detected_entities.front());
       detected_objects_publisher->publish(make_detected_objects(modified_detected_entities));
@@ -359,7 +554,7 @@ auto DetectionSensor<autoware_perception_msgs::msg::DetectedObjects>::update(
 
     if (
       current_simulation_time - unpublished_ground_truth_entities.front().second >=
-      configuration_.object_recognition_ground_truth_delay()) {
+      delay<autoware_perception_msgs::msg::TrackedObjects>()) {
       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 49040ca46a2..0fe99f5b141 100644
--- a/simulation/simulation_interface/CHANGELOG.rst
+++ b/simulation/simulation_interface/CHANGELOG.rst
@@ -21,6 +21,46 @@ Changelog for package simulation_interface
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+12.1.0 (2025-03-05)
+-------------------
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit
+
+12.0.2 (2025-03-04)
+-------------------
+* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper
+* Contributors: ぐるぐる
+
+12.0.1 (2025-02-26)
+-------------------
+* Merge branch 'master' into feature/push-latest-docker-tag
+* Contributors: Masaya Kataoka
+
+12.0.0 (2025-02-25)
+-------------------
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Contributors: Tatsuya Yamasaki
+
+11.1.0 (2025-02-21)
+-------------------
+* Merge branch 'master' into feature/execution_time
+* Merge remote-tracking branch 'origin/master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 11.0.0 (2025-02-20)
 -------------------
 * Merge branch 'master' into refactor/lanelet_wrapper_route
diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml
index 5075a3821e8..7098263d017 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>11.0.0</version>
+  <version>12.1.0</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 ef445a47244..07534ad4957 100644
--- a/simulation/traffic_simulator/CHANGELOG.rst
+++ b/simulation/traffic_simulator/CHANGELOG.rst
@@ -21,6 +21,58 @@ Changelog for package traffic_simulator
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+12.1.0 (2025-03-05)
+-------------------
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit
+
+12.0.2 (2025-03-04)
+-------------------
+* Merge pull request `#1539 <https://github.com/tier4/scenario_simulator_v2/issues/1539>`_ from tier4/RJD-1057/reorgnize-ostream-helper
+  RJD-1057: Reorganize ostream operators
+* fix: add missing ")" and structured output
+* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper
+* Update ostream helper
+  Co-authored-by: Dawid Moszynski <dawid.moszynski@robotec.ai>
+  Co-authored-by: Mateusz Palczuk <mateusz.palczuk@robotec.ai>
+* Contributors: Kotaro Yoshimoto, f0reachARR, ぐるぐる
+
+12.0.1 (2025-02-26)
+-------------------
+* Merge branch 'master' into feature/push-latest-docker-tag
+* Contributors: Masaya Kataoka
+
+12.0.0 (2025-02-25)
+-------------------
+* Merge pull request `#1533 <https://github.com/tier4/scenario_simulator_v2/issues/1533>`_ from tier4/refactor/lanelet_wrapper_bound
+  HdMapUtils refactor lanelet_wrapper::lanelet_map::leftBound rightBound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* remove hdmap_utils from `distanceToLaneBound`
+* remove hdmap_utils from `distanceToLeftLaneBound` and `distanceToRightLaneBound`
+* move `getLeftBound` and `getRightBound` methods
+* Add toPolygon function
+* Contributors: Masaya Kataoka, Tatsuya Yamasaki, abco20
+
+11.1.0 (2025-02-21)
+-------------------
+* Merge branch 'master' into feature/execution_time
+* Merge remote-tracking branch 'origin/master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 11.0.0 (2025-02-20)
 -------------------
 * Merge pull request `#1531 <https://github.com/tier4/scenario_simulator_v2/issues/1531>`_ from tier4/refactor/lanelet_wrapper_route
diff --git a/simulation/traffic_simulator/CMakeLists.txt b/simulation/traffic_simulator/CMakeLists.txt
index 628b1bf3a79..ad1edaf38f6 100644
--- a/simulation/traffic_simulator/CMakeLists.txt
+++ b/simulation/traffic_simulator/CMakeLists.txt
@@ -46,6 +46,7 @@ ament_auto_add_library(traffic_simulator SHARED
   src/entity/vehicle_entity.cpp
   src/hdmap_utils/hdmap_utils.cpp
   src/helper/helper.cpp
+  src/helper/ostream_helpers.cpp
   src/job/job.cpp
   src/job/job_list.cpp
   src/lanelet_wrapper/distance.cpp
diff --git a/simulation/traffic_simulator/include/traffic_simulator/data_type/lanelet_pose.hpp b/simulation/traffic_simulator/include/traffic_simulator/data_type/lanelet_pose.hpp
index d8c8e3e2725..e7e6c324edd 100644
--- a/simulation/traffic_simulator/include/traffic_simulator/data_type/lanelet_pose.hpp
+++ b/simulation/traffic_simulator/include/traffic_simulator/data_type/lanelet_pose.hpp
@@ -22,6 +22,7 @@
 #include <scenario_simulator_exception/exception.hpp>
 #include <traffic_simulator/data_type/routing_configuration.hpp>
 #include <traffic_simulator/data_type/routing_graph_type.hpp>
+#include <traffic_simulator/helper/ostream_helpers.hpp>
 #include <traffic_simulator_msgs/msg/lanelet_pose.hpp>
 
 namespace traffic_simulator
@@ -80,6 +81,26 @@ class CanonicalizedLaneletPose
   DEFINE_COMPARISON_OPERATOR(>)
 #undef DEFINE_COMPARISON_OPERATOR
 
+  friend std::ostream & operator<<(std::ostream & os, const CanonicalizedLaneletPose & obj)
+  {
+    os << "CanonicalizedLaneletPose(\n";
+    os << obj.lanelet_pose_ << "\n";
+    if (obj.lanelet_poses_.size() == 1) {
+      os << "  alternative from lanelet_poses_: " << obj.lanelet_poses_.front() << "\n";
+    } else if (obj.lanelet_poses_.size() > 1) {
+      os << "  lanelet_poses_: [\n";
+      for (const auto & pose : obj.lanelet_poses_) {
+        os << "    - " << pose << "\n";
+      }
+      os << "  ]\n";
+    }
+    os << "  map_pose_: " << obj.map_pose_ << "\n";
+    os << "  consider_pose_by_road_slope_: "
+       << (CanonicalizedLaneletPose::consider_pose_by_road_slope_ ? "true" : "false") << "\n";
+    os << ")";
+    return os;
+  }
+
 private:
   auto adjustOrientationAndOzPosition() -> void;
   LaneletPose lanelet_pose_;
diff --git a/simulation/traffic_simulator/include/traffic_simulator/helper/helper.hpp b/simulation/traffic_simulator/include/traffic_simulator/helper/helper.hpp
index b856e909ec9..58ae3b67f2a 100644
--- a/simulation/traffic_simulator/include/traffic_simulator/helper/helper.hpp
+++ b/simulation/traffic_simulator/include/traffic_simulator/helper/helper.hpp
@@ -153,17 +153,6 @@ const simulation_api_schema::DetectionSensorConfiguration constructDetectionSens
 }  // namespace helper
 }  // namespace traffic_simulator
 
-std::ostream & operator<<(
-  std::ostream & os, const traffic_simulator_msgs::msg::LaneletPose & lanelet_pose);
-
-std::ostream & operator<<(std::ostream & os, const geometry_msgs::msg::Point & point);
-
-std::ostream & operator<<(std::ostream & os, const geometry_msgs::msg::Vector3 & vector);
-
-std::ostream & operator<<(std::ostream & os, const geometry_msgs::msg::Quaternion & quat);
-
-std::ostream & operator<<(std::ostream & os, const geometry_msgs::msg::Pose & pose);
-
 template <typename T>
 auto operator+(const std::vector<T> & v0, const std::vector<T> & v1) -> decltype(auto)
 {
@@ -189,5 +178,4 @@ auto sortAndUnique(const std::vector<T> & data) -> std::vector<T>
   ret.erase(std::unique(ret.begin(), ret.end()), ret.end());
   return ret;
 }
-
 #endif  // TRAFFIC_SIMULATOR__HELPER__HELPER_HPP_
diff --git a/simulation/traffic_simulator/include/traffic_simulator/helper/ostream_helpers.hpp b/simulation/traffic_simulator/include/traffic_simulator/helper/ostream_helpers.hpp
new file mode 100644
index 00000000000..868719a068d
--- /dev/null
+++ b/simulation/traffic_simulator/include/traffic_simulator/helper/ostream_helpers.hpp
@@ -0,0 +1,60 @@
+// Copyright 2015 TIER IV, Inc. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef TRAFFIC_SIMULATOR_HELPER__OSTREAM_HELPERS_HPP_
+#define TRAFFIC_SIMULATOR_HELPER__OSTREAM_HELPERS_HPP_
+
+#include <geometry_msgs/msg/point.hpp>
+#include <geometry_msgs/msg/pose.hpp>
+#include <geometry_msgs/msg/quaternion.hpp>
+#include <geometry_msgs/msg/vector3.hpp>
+#include <traffic_simulator_msgs/msg/axle.hpp>
+#include <traffic_simulator_msgs/msg/axles.hpp>
+#include <traffic_simulator_msgs/msg/bounding_box.hpp>
+#include <traffic_simulator_msgs/msg/entity_subtype.hpp>
+#include <traffic_simulator_msgs/msg/lanelet_pose.hpp>
+#include <traffic_simulator_msgs/msg/performance.hpp>
+#include <traffic_simulator_msgs/msg/vehicle_parameters.hpp>
+
+namespace traffic_simulator
+{
+std::ostream & operator<<(std::ostream & os, const geometry_msgs::msg::Point & point);
+
+std::ostream & operator<<(std::ostream & os, const geometry_msgs::msg::Vector3 & vector);
+
+std::ostream & operator<<(std::ostream & os, const geometry_msgs::msg::Quaternion & quat);
+
+std::ostream & operator<<(std::ostream & os, const geometry_msgs::msg::Pose & pose);
+
+std::ostream & operator<<(
+  std::ostream & os, const traffic_simulator_msgs::msg::LaneletPose & ll_pose);
+
+std::ostream & operator<<(
+  std::ostream & os, const traffic_simulator_msgs::msg::EntitySubtype & subtype);
+
+std::ostream & operator<<(std::ostream & os, const traffic_simulator_msgs::msg::Axle & axle);
+
+std::ostream & operator<<(std::ostream & os, const traffic_simulator_msgs::msg::Axles & axles);
+
+std::ostream & operator<<(
+  std::ostream & os, const traffic_simulator_msgs::msg::BoundingBox & bounding_box);
+
+std::ostream & operator<<(
+  std::ostream & os, const traffic_simulator_msgs::msg::Performance & performance);
+
+std::ostream & operator<<(
+  std::ostream & os, const traffic_simulator_msgs::msg::VehicleParameters & params);
+}  // namespace traffic_simulator
+
+#endif  // TRAFFIC_SIMULATOR_HELPER__OSTREAM_HELPERS_HPP_
diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml
index 1f393017b12..cb6af4cfd98 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>11.0.0</version>
+  <version>12.1.0</version>
   <description>control traffic flow</description>
 
   <maintainer email="masaya.kataoka@tier4.jp">masaya kataoka</maintainer>
diff --git a/simulation/traffic_simulator/src/helper/helper.cpp b/simulation/traffic_simulator/src/helper/helper.cpp
index 2f59b8ad2c6..361b5b603e7 100644
--- a/simulation/traffic_simulator/src/helper/helper.cpp
+++ b/simulation/traffic_simulator/src/helper/helper.cpp
@@ -186,38 +186,3 @@ const simulation_api_schema::LidarConfiguration constructLidarConfiguration(
 
 }  // namespace helper
 }  // namespace traffic_simulator
-
-std::ostream & operator<<(
-  std::ostream & os, const traffic_simulator_msgs::msg::LaneletPose & lanelet_pose)
-{
-  os << "lanelet id : " << lanelet_pose.lanelet_id << "\ns : " << lanelet_pose.s;
-  return os;
-}
-
-std::ostream & operator<<(std::ostream & os, const geometry_msgs::msg::Point & point)
-{
-  os << "x : " << point.x << ",y : " << point.y << ",z : " << point.z << std::endl;
-  return os;
-}
-
-std::ostream & operator<<(std::ostream & os, const geometry_msgs::msg::Vector3 & vector)
-{
-  os << "x : " << vector.x << ",y : " << vector.y << ",z : " << vector.z << std::endl;
-  return os;
-}
-
-std::ostream & operator<<(std::ostream & os, const geometry_msgs::msg::Quaternion & quat)
-{
-  os << "x : " << quat.x << ",y : " << quat.y << ",z : " << quat.z << ",w : " << quat.w
-     << std::endl;
-  return os;
-}
-
-std::ostream & operator<<(std::ostream & os, const geometry_msgs::msg::Pose & pose)
-{
-  os << "position : " << std::endl;
-  os << pose.position << std::endl;
-  os << "orientation : " << std::endl;
-  os << pose.orientation << std::endl;
-  return os;
-}
diff --git a/simulation/traffic_simulator/src/helper/ostream_helpers.cpp b/simulation/traffic_simulator/src/helper/ostream_helpers.cpp
new file mode 100644
index 00000000000..c98269dfa0c
--- /dev/null
+++ b/simulation/traffic_simulator/src/helper/ostream_helpers.cpp
@@ -0,0 +1,133 @@
+// Copyright 2015 TIER IV, Inc. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <traffic_simulator/helper/ostream_helpers.hpp>
+
+namespace traffic_simulator
+{
+// basic ros types
+std::ostream & operator<<(std::ostream & os, const geometry_msgs::msg::Point & point)
+{
+  os << "Point(x: " << point.x << ", y: " << point.y << ", z: " << point.z << ")";
+  return os;
+}
+
+std::ostream & operator<<(std::ostream & os, const geometry_msgs::msg::Vector3 & vector)
+{
+  os << "Vector3(x: " << vector.x << ", y: " << vector.y << ", z: " << vector.z << ")";
+  return os;
+}
+
+std::ostream & operator<<(std::ostream & os, const geometry_msgs::msg::Quaternion & quat)
+{
+  os << "Quaternion(x: " << quat.x << ", y: " << quat.y << ", z: " << quat.z << ", w: " << quat.w
+     << ")";
+  return os;
+}
+
+std::ostream & operator<<(std::ostream & os, const geometry_msgs::msg::Pose & pose)
+{
+  os << "Pose(\n";
+  os << "  position: " << pose.position << "\n";
+  os << "  orientation: " << pose.orientation << "\n";
+  os << ")";
+  return os;
+}
+
+// traffic_simulator_msgs
+std::ostream & operator<<(
+  std::ostream & os, const traffic_simulator_msgs::msg::LaneletPose & lanelet_pose)
+{
+  os << "LaneletPose(lanelet_id: " << lanelet_pose.lanelet_id << ", s: " << lanelet_pose.s
+     << ", offset: " << lanelet_pose.offset << ", rpy: " << lanelet_pose.rpy << ")";
+  return os;
+}
+
+std::ostream & operator<<(
+  std::ostream & os, const traffic_simulator_msgs::msg::EntitySubtype & subtype)
+{
+  using EntitySubtype = traffic_simulator_msgs::msg::EntitySubtype;
+  static const std::unordered_map<uint8_t, std::string> entity_names = {
+    {EntitySubtype::UNKNOWN, "UNKNOWN"}, {EntitySubtype::CAR, "CAR"},
+    {EntitySubtype::TRUCK, "TRUCK"},     {EntitySubtype::BUS, "BUS"},
+    {EntitySubtype::TRAILER, "TRAILER"}, {EntitySubtype::MOTORCYCLE, "MOTORCYCLE"},
+    {EntitySubtype::BICYCLE, "BICYCLE"}, {EntitySubtype::PEDESTRIAN, "PEDESTRIAN"}};
+
+  os << "EntitySubtype(";
+  if (const auto & it = entity_names.find(subtype.value); it != entity_names.end()) {
+    os << it->second;
+  } else {
+    os << "UNKNOWN(" << static_cast<int>(subtype.value) << ")";
+  }
+  os << ")";
+  return os;
+}
+
+std::ostream & operator<<(std::ostream & os, const traffic_simulator_msgs::msg::Axle & axle)
+{
+  os << "Axle(\n";
+  os << "  max_steering: " << axle.max_steering << "\n";
+  os << "  wheel_diameter: " << axle.wheel_diameter << "\n";
+  os << "  track_width: " << axle.track_width << "\n";
+  os << "  position_x: " << axle.position_x << "\n";
+  os << "  position_z: " << axle.position_z << "\n";
+  os << ")";
+  return os;
+}
+
+std::ostream & operator<<(std::ostream & os, const traffic_simulator_msgs::msg::Axles & axles)
+{
+  os << "Axles(\n";
+  os << "  front_axle: " << axles.front_axle << "\n";
+  os << "  rear_axle: " << axles.rear_axle << "\n";
+  os << ")";
+  return os;
+}
+
+std::ostream & operator<<(
+  std::ostream & os, const traffic_simulator_msgs::msg::BoundingBox & bounding_box)
+{
+  os << "BoundingBox(\n";
+  os << "  center: " << bounding_box.center << "\n";
+  os << "  dimensions: " << bounding_box.dimensions << "\n";
+  os << ")";
+  return os;
+}
+
+std::ostream & operator<<(
+  std::ostream & os, const traffic_simulator_msgs::msg::Performance & performance)
+{
+  os << "Performance(\n";
+  os << "  max_acceleration: " << performance.max_acceleration << "\n";
+  os << "  max_acceleration_rate: " << performance.max_acceleration_rate << "\n";
+  os << "  max_deceleration: " << performance.max_deceleration << "\n";
+  os << "  max_deceleration_rate: " << performance.max_deceleration_rate << "\n";
+  os << "  max_speed: " << performance.max_speed << "\n";
+  os << ")";
+  return os;
+}
+
+std::ostream & operator<<(
+  std::ostream & os, const traffic_simulator_msgs::msg::VehicleParameters & params)
+{
+  os << "VehicleParameters(\n";
+  os << "  name: " << params.name << "\n";
+  os << "  subtype: " << params.subtype << "\n";
+  os << "  bounding_box: " << params.bounding_box << "\n";
+  os << "  performance: " << params.performance << "\n";
+  os << "  axles: " << params.axles << "\n";
+  os << ")";
+  return os;
+}
+}  // namespace traffic_simulator
diff --git a/simulation/traffic_simulator/test/src/helper/test_helper.cpp b/simulation/traffic_simulator/test/src/helper/test_helper.cpp
index 4ddfdfa28e1..1c26bf5ea1c 100644
--- a/simulation/traffic_simulator/test/src/helper/test_helper.cpp
+++ b/simulation/traffic_simulator/test/src/helper/test_helper.cpp
@@ -18,6 +18,7 @@
 #include <regex>
 #include <scenario_simulator_exception/exception.hpp>
 #include <traffic_simulator/helper/helper.hpp>
+#include <traffic_simulator/helper/ostream_helpers.hpp>
 
 #include "../expect_eq_macros.hpp"
 
@@ -43,6 +44,8 @@ TEST(helper, constructActionStatus)
  */
 TEST(helper, constructLaneletPose)
 {
+  using traffic_simulator::operator<<;
+
   const auto actual_lanelet_pose =
     traffic_simulator_msgs::build<traffic_simulator::LaneletPose>()
       .lanelet_id(11LL)
@@ -56,7 +59,9 @@ TEST(helper, constructLaneletPose)
   std::stringstream ss;
   ss << result_lanelet_pose;
   EXPECT_LANELET_POSE_EQ(result_lanelet_pose, actual_lanelet_pose);
-  EXPECT_STREQ(ss.str().c_str(), "lanelet id : 11\ns : 13");
+  EXPECT_STREQ(
+    ss.str().c_str(),
+    "LaneletPose(lanelet_id: 11, s: 13, offset: 17, rpy: Vector3(x: 19, y: 23, z: 29))");
 }
 
 /**
diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst
index 23fdc04e60b..4cd7fd58eb8 100644
--- a/simulation/traffic_simulator_msgs/CHANGELOG.rst
+++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst
@@ -21,6 +21,46 @@ Changelog for package openscenario_msgs
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+12.1.0 (2025-03-05)
+-------------------
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit
+
+12.0.2 (2025-03-04)
+-------------------
+* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper
+* Contributors: ぐるぐる
+
+12.0.1 (2025-02-26)
+-------------------
+* Merge branch 'master' into feature/push-latest-docker-tag
+* Contributors: Masaya Kataoka
+
+12.0.0 (2025-02-25)
+-------------------
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Contributors: Tatsuya Yamasaki
+
+11.1.0 (2025-02-21)
+-------------------
+* Merge branch 'master' into feature/execution_time
+* Merge remote-tracking branch 'origin/master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 11.0.0 (2025-02-20)
 -------------------
 * Merge branch 'master' into refactor/lanelet_wrapper_route
diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml
index ae4e5c1feaa..3998f67e463 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>11.0.0</version>
+  <version>12.1.0</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 c65cdfe45a9..babe4e344ba 100644
--- a/test_runner/random_test_runner/CHANGELOG.rst
+++ b/test_runner/random_test_runner/CHANGELOG.rst
@@ -21,6 +21,46 @@ Changelog for package random_test_runner
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+12.1.0 (2025-03-05)
+-------------------
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, yamacir-kit
+
+12.0.2 (2025-03-04)
+-------------------
+* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper
+* Contributors: ぐるぐる
+
+12.0.1 (2025-02-26)
+-------------------
+* Merge branch 'master' into feature/push-latest-docker-tag
+* Contributors: Masaya Kataoka
+
+12.0.0 (2025-02-25)
+-------------------
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Contributors: Tatsuya Yamasaki
+
+11.1.0 (2025-02-21)
+-------------------
+* Merge branch 'master' into feature/execution_time
+* Merge remote-tracking branch 'origin/master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 11.0.0 (2025-02-20)
 -------------------
 * Merge branch 'master' into refactor/lanelet_wrapper_route
diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml
index 3cd961cd8fe..9421ae8fcbb 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>11.0.0</version>
+  <version>12.1.0</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 4c18dbfe07f..51b3bcd6e6c 100644
--- a/test_runner/scenario_test_runner/CHANGELOG.rst
+++ b/test_runner/scenario_test_runner/CHANGELOG.rst
@@ -35,6 +35,82 @@ Changelog for package scenario_test_runner
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+12.1.0 (2025-03-05)
+-------------------
+* Merge pull request `#1532 <https://github.com/tier4/scenario_simulator_v2/issues/1532>`_ from tier4/feature/simple_sensor_simulator/new-noise-model
+  Feature/simple sensor simulator/new noise model
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Update the parameter file to read from any named node
+* Merge branch 'master' into feature/simple_sensor_simulator/new-noise-model
+* Add some comments for cspell to ignore false-positive warnings
+* Add new document `Parameters.md`
+* Cleanup parameter file
+* Add parameters to maintain backward compatibility
+* Organize the parameter file structure to be more reasonable
+* Rename parameter `phi` to `autocorrelation_coefficient`
+* Rename parameter `tp` to `true_positive`
+* Cleanup
+* updated config, currected the modeling of bernoulli distribution noises to Markov process.
+  rename rho to phi
+  update description.
+* Add array size check to local function `parameters`
+* Update `DetectionSensor` to switch noise models according to parameter
+* Add new local function `parameter` and `parameters`
+* Add new parameter `ellipse_y_radiuses`
+* Merge remote-tracking branch 'origin/master' into feature/simple_sensor_simulator/new-noise-model
+* Add parameters for new noise model
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki, xtk8532704, yamacir-kit
+
+12.0.2 (2025-03-04)
+-------------------
+* Merge branch 'master' into RJD-1057/reorgnize-ostream-helper
+* Contributors: ぐるぐる
+
+12.0.1 (2025-02-26)
+-------------------
+* Merge branch 'master' into feature/push-latest-docker-tag
+* Contributors: Masaya Kataoka
+
+12.0.0 (2025-02-25)
+-------------------
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Merge branch 'master' into refactor/lanelet_wrapper_bound
+* Contributors: Tatsuya Yamasaki
+
+11.1.0 (2025-02-21)
+-------------------
+* Merge pull request `#1517 <https://github.com/tier4/scenario_simulator_v2/issues/1517>`_ from tier4/feature/execution_time
+* Revert "Revert "Revert "chore: modify scenario threshold for test"""
+  This reverts commit 7d343c55b229f3c1eb4aabb28340b4dfd7f9ff98.
+* Merge branch 'master' into feature/execution_time
+* Revert "Revert "chore: modify scenario threshold for test""
+  This reverts commit 603273f93910854a0fdd228dfef0aee537fb6398.
+* Revert "chore: modify scenario threshold for test"
+  This reverts commit 30e525ccdce49cc2f13d21f9fa9b9b15f58ccbbb.
+* Merge remote-tracking branch 'origin/master' into feature/execution_time
+* chore: modify scenario threshold for test
+* Merge branch 'master' into feature/execution_time
+* chore: use seconds as time unit in execution_time topics
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Revert "chore: change scenario condition for test"
+  This reverts commit 868aae6e9077d8f9c2e58d3431d01e300b1f1c70.
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* chore: change scenario condition for test
+* chore: move execution_time_test.yaml into optional_workflow.txt
+* Merge branch 'master' into feature/execution_time
+* Merge branch 'master' into feature/execution_time
+* feat: add execution_time_test.yaml into test scenario line-up
+* Merge branch 'master' into feature/execution_time
+* chore: update threshold for update time in execution_time_test.yaml
+* refactor: use anchor and aliases in execution_time_test.yaml
+* feat: add execution_time_test.yaml
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 11.0.0 (2025-02-20)
 -------------------
 * Merge branch 'master' into refactor/lanelet_wrapper_route
diff --git a/test_runner/scenario_test_runner/config/optional_workflow.txt b/test_runner/scenario_test_runner/config/optional_workflow.txt
new file mode 100644
index 00000000000..10542919b4e
--- /dev/null
+++ b/test_runner/scenario_test_runner/config/optional_workflow.txt
@@ -0,0 +1 @@
+$(find-pkg-share scenario_test_runner)/scenario/execution_time_test.yaml
diff --git a/test_runner/scenario_test_runner/config/parameters.yaml b/test_runner/scenario_test_runner/config/parameters.yaml
index 93d35b0fd37..f05412ce17d 100644
--- a/test_runner/scenario_test_runner/config/parameters.yaml
+++ b/test_runner/scenario_test_runner/config/parameters.yaml
@@ -1,129 +1,187 @@
-simulation:
-  AutowareUniverse:
-    ros__parameters:
-      /localization/kinematic_state:
-        version: 20240605 # architecture_type suffix (mandatory)
-        seed: 0 # If 0 is specified, a random seed value will be generated for each run.
-        nav_msgs::msg::Odometry:
+# cspell: ignore occlusionless
+
+/**:
+  ros__parameters:
+    /localization/kinematic_state:
+      version: 20240605 # architecture_type suffix (mandatory)
+      seed: 0 # If 0 is specified, a random seed value will be generated for each run.
+      nav_msgs::msg::Odometry:
+        pose:
           pose:
-            pose:
-              position:
-                # The data members of geometry_msgs::msg::Pose.position are x,
-                # y, z, which are world coordinates in
-                # `/localization/kinematic_state`. However, applying error to a
-                # position in world coordinates is unintuitive and tricky, so
-                # we accept the parameters as the entity's local coordinates.
-                # local_x, local_y, local_z express that. The simulator
-                # calculates the error in the local coordinates. It then
-                # transforms the error to the world coordinates, adds the error
-                # to the true position (world coordinates), and publishes it as
-                # `/localization/kinematic_state`.
-                local_x:
-                  error:
-                    additive:
-                      mean: 0.0
-                      standard_deviation: 0.0
-                    multiplicative:
-                      mean: 0.0
-                      standard_deviation: 0.0
-                local_y:
-                  error:
-                    additive:
-                      mean: 0.0
-                      standard_deviation: 0.0
-                    multiplicative:
-                      mean: 0.0
-                      standard_deviation: 0.0
-                local_z:
-                  error:
-                    additive:
-                      mean: 0.0
-                      standard_deviation: 0.0
-                    multiplicative:
-                      mean: 0.0
-                      standard_deviation: 0.0
-              orientation:
-                # The type of geometry_msgs::msg::Pose.orientation is
-                # Quaternion, and the actual orientation data members are x, y,
-                # z, and w. However, applying error to Quaternions can be
-                # unintuitive and tricky, so we accept the parameters as Euler
-                # angles here. The simulator internally converts Quaternion to
-                # Euler angles and applies the error to them. It then converts
-                # the error-applied Euler angles back to Quaternion and
-                # publishes them as `/localization/kinematic_state`.
-                r:
-                  error:
-                    additive:
-                      mean: 0.0
-                      standard_deviation: 0.0
-                    multiplicative:
-                      mean: 0.0
-                      standard_deviation: 0.0
-                p:
-                  error:
-                    additive:
-                      mean: 0.0
-                      standard_deviation: 0.0
-                    multiplicative:
-                      mean: 0.0
-                      standard_deviation: 0.0
-                y:
-                  error:
-                    additive:
-                      mean: 0.0
-                      standard_deviation: 0.0
-                    multiplicative:
-                      mean: 0.0
-                      standard_deviation: 0.0
+            position:
+              # The data members of geometry_msgs::msg::Pose.position are x, y,
+              # z, which are world coordinates in
+              # `/localization/kinematic_state`. However, applying error to a
+              # position in world coordinates is unintuitive and tricky, so we
+              # accept the parameters as the entity's local coordinates.
+              # local_x, local_y, local_z express that. The simulator
+              # calculates the error in the local coordinates. It then
+              # transforms the error to the world coordinates, adds the error
+              # to the true position (world coordinates), and publishes it as
+              # `/localization/kinematic_state`.
+              local_x:
+                error:
+                  additive:
+                    mean: 0.0
+                    standard_deviation: 0.0
+                  multiplicative:
+                    mean: 0.0
+                    standard_deviation: 0.0
+              local_y:
+                error:
+                  additive:
+                    mean: 0.0
+                    standard_deviation: 0.0
+                  multiplicative:
+                    mean: 0.0
+                    standard_deviation: 0.0
+              local_z:
+                error:
+                  additive:
+                    mean: 0.0
+                    standard_deviation: 0.0
+                  multiplicative:
+                    mean: 0.0
+                    standard_deviation: 0.0
+            orientation:
+              # The type of geometry_msgs::msg::Pose.orientation is Quaternion,
+              # and the actual orientation data members are x, y, z, and w.
+              # However, applying error to Quaternions can be unintuitive and
+              # tricky, so we accept the parameters as Euler angles here. The
+              # simulator internally converts Quaternion to Euler angles and
+              # applies the error to them. It then converts the error-applied
+              # Euler angles back to Quaternion and publishes them as
+              # `/localization/kinematic_state`.
+              r:
+                error:
+                  additive:
+                    mean: 0.0
+                    standard_deviation: 0.0
+                  multiplicative:
+                    mean: 0.0
+                    standard_deviation: 0.0
+              p:
+                error:
+                  additive:
+                    mean: 0.0
+                    standard_deviation: 0.0
+                  multiplicative:
+                    mean: 0.0
+                    standard_deviation: 0.0
+              y:
+                error:
+                  additive:
+                    mean: 0.0
+                    standard_deviation: 0.0
+                  multiplicative:
+                    mean: 0.0
+                    standard_deviation: 0.0
+        twist:
           twist:
-            twist:
-              linear:
-                x:
-                  error:
-                    additive:
-                      mean: 0.0
-                      standard_deviation: 0.0
-                    multiplicative:
-                      mean: 0.0
-                      standard_deviation: 0.0
-                y:
-                  error:
-                    additive:
-                      mean: 0.0
-                      standard_deviation: 0.0
-                    multiplicative:
-                      mean: 0.0
-                      standard_deviation: 0.0
-                z:
-                  error:
-                    additive:
-                      mean: 0.0
-                      standard_deviation: 0.0
-                    multiplicative:
-                      mean: 0.0
-                      standard_deviation: 0.0
-              angular:
-                x:
-                  error:
-                    additive:
-                      mean: 0.0
-                      standard_deviation: 0.0
-                    multiplicative:
-                      mean: 0.0
-                      standard_deviation: 0.0
-                y:
-                  error:
-                    additive:
-                      mean: 0.0
-                      standard_deviation: 0.0
-                    multiplicative:
-                      mean: 0.0
-                      standard_deviation: 0.0
-                z:
-                  error:
-                    additive:
-                      mean: 0.0
-                      standard_deviation: 0.0
-                    multiplicative:
-                      mean: 0.0
-                      standard_deviation: 0.0
+            linear:
+              x:
+                error:
+                  additive:
+                    mean: 0.0
+                    standard_deviation: 0.0
+                  multiplicative:
+                    mean: 0.0
+                    standard_deviation: 0.0
+              y:
+                error:
+                  additive:
+                    mean: 0.0
+                    standard_deviation: 0.0
+                  multiplicative:
+                    mean: 0.0
+                    standard_deviation: 0.0
+              z:
+                error:
+                  additive:
+                    mean: 0.0
+                    standard_deviation: 0.0
+                  multiplicative:
+                    mean: 0.0
+                    standard_deviation: 0.0
+            angular:
+              x:
+                error:
+                  additive:
+                    mean: 0.0
+                    standard_deviation: 0.0
+                  multiplicative:
+                    mean: 0.0
+                    standard_deviation: 0.0
+              y:
+                error:
+                  additive:
+                    mean: 0.0
+                    standard_deviation: 0.0
+                  multiplicative:
+                    mean: 0.0
+                    standard_deviation: 0.0
+              z:
+                error:
+                  additive:
+                    mean: 0.0
+                    standard_deviation: 0.0
+                  multiplicative:
+                    mean: 0.0
+                    standard_deviation: 0.0
+    /perception/object_recognition/detection/objects:
+      version: 20240605 # architecture_type suffix (mandatory)
+      seed: 0 # If 0 is specified, a random seed value will be generated for each run.
+      override_legacy_configuration: false
+      delay: 0.0 # This parameter is used only if `override_legacy_configuration` is true. If it is false, the value of `detectedObjectPublishingDelay` in `ObjectController.Properties` in the scenario file is used.
+      range: 300.0 # This parameter is used only if `override_legacy_configuration` is true. If it is false, the value of `detectionSensorRange` in `ObjectController.Properties` in the scenario file is used.
+      occlusionless: false # This parameter is used only if `override_legacy_configuration` is true. If it is false, the value of `isClairvoyant` in `ObjectController.Properties` in the scenario file is used.
+      noise:
+        model:
+          version: 1 # Any of [1, 2].
+        v1: # This clause is used only if `model.version` is 1.
+          position:
+            standard_deviation: 0.0 # This parameter is used only if `override_legacy_configuration` is true. If it is false, the value of `detectedObjectPositionStandardDeviation` in `ObjectController.Properties` in the scenario file is used.
+          missing_probability: 0.0 # This parameter is used only if `override_legacy_configuration` is true. If it is false, the value of `detectedObjectMissingProbability` in `ObjectController.Properties` in the scenario file is used.
+        v2: # This clause is used only if `model.version` is 2.
+          ellipse_y_radii: [10.0, 20.0, 40.0, 60.0, 80.0, 120.0, 150.0, 180.0, 1000.0]
+          distance:
+            autocorrelation_coefficient:
+              amplitude: 0.0
+              decay: 0.0
+              offset: 0.0
+            mean:
+              ellipse_normalized_x_radius: 1.0
+              values: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+            standard_deviation:
+              ellipse_normalized_x_radius: 1.0
+              values: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+          yaw:
+            autocorrelation_coefficient:
+              amplitude: 0.0
+              decay: 0.0
+              offset: 0.0
+            mean:
+              ellipse_normalized_x_radius: 1.0
+              values: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+            standard_deviation:
+              ellipse_normalized_x_radius: 1.0
+              values: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+          yaw_flip:
+            autocorrelation_coefficient:
+              amplitude: 0.0
+              decay: 0.0
+              offset: 0.0
+            speed_threshold: 0.1
+            rate: 0.0
+          true_positive:
+            autocorrelation_coefficient:
+              amplitude: 0.0
+              decay: 0.0
+              offset: 0.0
+            rate:
+              ellipse_normalized_x_radius: 1.0
+              values: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
+    /perception/object_recognition/ground_truth/objects:
+      version: 20240605 # architecture_type suffix (mandatory)
+      override_legacy_configuration: false
+      delay: 0.0  # This parameter is used only if `override_legacy_configuration` is true. If it is false, the value of `detectedObjectGroundTruthPublishingDelay` in `ObjectController.Properties` in the scenario file is used.
diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml
index a88820be66d..9868fd53f5d 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>11.0.0</version>
+  <version>12.1.0</version>
   <description>scenario test runner package</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>
diff --git a/test_runner/scenario_test_runner/scenario/execution_time_test.yaml b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml
new file mode 100644
index 00000000000..4b6917f3459
--- /dev/null
+++ b/test_runner/scenario_test_runner/scenario/execution_time_test.yaml
@@ -0,0 +1,201 @@
+OpenSCENARIO:
+  FileHeader:
+    author: 'Kotaro Yoshimoto'
+    date: '2025-01-28T18:06:53+09:00'
+    description: 'scenario for execution time test'
+    revMajor: 1
+    revMinor: 3
+  ParameterDeclarations:
+    ParameterDeclaration: []
+  CatalogLocations:
+    VehicleCatalog:
+      Directory:
+        path: $(ros2 pkg prefix --share openscenario_experimental_catalog)/vehicle
+  RoadNetwork:
+    LogicFile:
+      filepath: $(ros2 pkg prefix --share kashiwanoha_map)/map
+  Entities:
+    ScenarioObject:
+      - name: Car1
+        CatalogReference: &SAMPLE_VEHICLE
+          catalogName: sample_vehicle
+          entryName: sample_vehicle
+      - name: Car2
+        CatalogReference: *SAMPLE_VEHICLE
+      - name: Car3
+        CatalogReference: *SAMPLE_VEHICLE
+      - name: Car4
+        CatalogReference: *SAMPLE_VEHICLE
+      - name: Car5
+        CatalogReference: *SAMPLE_VEHICLE
+      - name: Car6
+        CatalogReference: *SAMPLE_VEHICLE
+  Storyboard:
+    Init:
+      Actions:
+        Private:
+          - entityRef: Car1
+            PrivateAction:
+              - TeleportAction:
+                  Position:
+                    LanePosition: &DEFAULT_LANE_POSITION
+                      roadId: ''
+                      laneId: 34513
+                      s: 0
+                      offset: 0
+                      Orientation: &DEFAULT_ORIENTATION
+                        type: relative
+                        h: 0
+                        p: 0
+                        r: 0
+          - entityRef: Car2
+            PrivateAction:
+              - TeleportAction:
+                  Position:
+                    LanePosition:
+                      <<: *DEFAULT_LANE_POSITION
+                      s: 5
+          - entityRef: Car3
+            PrivateAction:
+              - TeleportAction:
+                  Position:
+                    LanePosition:
+                      <<: *DEFAULT_LANE_POSITION
+                      s: 10
+          - entityRef: Car4
+            PrivateAction:
+              - TeleportAction:
+                  Position:
+                    LanePosition:
+                      <<: *DEFAULT_LANE_POSITION
+                      s: 15
+          - entityRef: Car5
+            PrivateAction:
+              - TeleportAction:
+                  Position:
+                    LanePosition:
+                      <<: *DEFAULT_LANE_POSITION
+                      s: 20
+          - entityRef: Car6
+            PrivateAction:
+              - TeleportAction:
+                  Position:
+                    LanePosition:
+                      <<: *DEFAULT_LANE_POSITION
+                      s: 25
+    Story:
+      - name: ''
+        Act:
+          - name: _EndCondition
+            ManeuverGroup:
+              - maximumExecutionCount: 1
+                name: ''
+                Actors:
+                  selectTriggeringEntities: false
+                  EntityRef:
+                    - entityRef: Car1
+                Maneuver:
+                  - name: ''
+                    Event:
+                      - name: ''
+                        priority: parallel
+                        StartTrigger:
+                          ConditionGroup:
+                            - Condition:
+                                - name: ''
+                                  delay: 0
+                                  conditionEdge: none
+                                  ByEntityCondition:
+                                    TriggeringEntities:
+                                      triggeringEntitiesRule: any
+                                      EntityRef:
+                                        - entityRef: Car1
+                                    EntityCondition:
+                                      ReachPositionCondition:
+                                        Position:
+                                          LanePosition:
+                                            <<: *DEFAULT_LANE_POSITION
+                                            s: 40
+                                        tolerance: 0.5
+                        Action:
+                          - name: ''
+                            UserDefinedAction:
+                              CustomCommandAction:
+                                type: exitSuccess
+                      - name: ''
+                        priority: parallel
+                        StartTrigger:
+                          ConditionGroup:
+                            - Condition:
+                                - name: ''
+                                  delay: 0
+                                  conditionEdge: none
+                                  ByValueCondition:
+                                    SimulationTimeCondition:
+                                      value: 60
+                                      rule: greaterThan
+                            - Condition:
+                                - name: 'evaluate time checker'
+                                  delay: 0
+                                  conditionEdge: none
+                                  ByValueCondition:
+                                    UserDefinedValueCondition:
+                                      name: /simulation/interpreter/execution_time/evaluate
+                                      rule: greaterThan
+                                      value: 0.001
+                                - name: 'avoid startup'
+                                  delay: 0
+                                  conditionEdge: none
+                                  ByValueCondition:
+                                    SimulationTimeCondition:
+                                      value: 1
+                                      rule: greaterThan
+                            - Condition:
+                                - name: 'update time checker'
+                                  delay: 0
+                                  conditionEdge: none
+                                  ByValueCondition:
+                                    UserDefinedValueCondition:
+                                      name: /simulation/interpreter/execution_time/update
+                                      rule: greaterThan
+                                      value: 0.005
+                                - name: 'avoid startup'
+                                  delay: 0
+                                  conditionEdge: none
+                                  ByValueCondition:
+                                    SimulationTimeCondition:
+                                      value: 1
+                                      rule: greaterThan
+                            - Condition:
+                                - name: 'output time checker'
+                                  delay: 0
+                                  conditionEdge: none
+                                  ByValueCondition:
+                                    UserDefinedValueCondition:
+                                      name: /simulation/interpreter/execution_time/output
+                                      rule: greaterThan
+                                      value: 0.001
+                                - name: 'avoid startup'
+                                  delay: 0
+                                  conditionEdge: none
+                                  ByValueCondition:
+                                    SimulationTimeCondition:
+                                      value: 1
+                                      rule: greaterThan
+                        Action:
+                          - name: ''
+                            UserDefinedAction:
+                              CustomCommandAction:
+                                type: exitFailure
+            StartTrigger:
+              ConditionGroup:
+                - Condition:
+                    - name: ''
+                      delay: 0
+                      conditionEdge: none
+                      ByValueCondition:
+                        SimulationTimeCondition:
+                          value: 0
+                          rule: greaterThan
+    StopTrigger:
+      ConditionGroup: []