diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst
index 7b6c04cbcb2..36bf2adb8b8 100644
--- a/common/math/arithmetic/CHANGELOG.rst
+++ b/common/math/arithmetic/CHANGELOG.rst
@@ -21,6 +21,20 @@ Changelog for package arithmetic
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+3.4.2 (2024-08-05)
+------------------
+* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki
+
 3.4.1 (2024-07-30)
 ------------------
 * Merge branch 'master' into doc/open_scenario_support
diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml
index 4776b1d86b7..f533b05d41f 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>3.4.1</version>
+  <version>3.4.2</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 0ee3efa0b45..96ce8ab8d52 100644
--- a/common/math/geometry/CHANGELOG.rst
+++ b/common/math/geometry/CHANGELOG.rst
@@ -21,6 +21,20 @@ Changelog for package geometry
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+3.4.2 (2024-08-05)
+------------------
+* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki
+
 3.4.1 (2024-07-30)
 ------------------
 * Merge branch 'master' into doc/open_scenario_support
diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml
index 255a568654e..dbfe14571f1 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>3.4.1</version>
+  <version>3.4.2</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 570387706e8..b6ce0b2ba89 100644
--- a/common/scenario_simulator_exception/CHANGELOG.rst
+++ b/common/scenario_simulator_exception/CHANGELOG.rst
@@ -21,6 +21,20 @@ Changelog for package scenario_simulator_exception
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+3.4.2 (2024-08-05)
+------------------
+* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki
+
 3.4.1 (2024-07-30)
 ------------------
 * Merge branch 'master' into doc/open_scenario_support
diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml
index 3dff5760fb1..431d38cbf2d 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>3.4.1</version>
+  <version>3.4.2</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 0b2782b93da..e43c26c2ef6 100644
--- a/common/simple_junit/CHANGELOG.rst
+++ b/common/simple_junit/CHANGELOG.rst
@@ -21,6 +21,20 @@ Changelog for package junit_exporter
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+3.4.2 (2024-08-05)
+------------------
+* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki
+
 3.4.1 (2024-07-30)
 ------------------
 * Merge branch 'master' into doc/open_scenario_support
diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml
index d4b9277a8b0..6386b24a4a0 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>3.4.1</version>
+  <version>3.4.2</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 fe49cc3ea4d..6149898fb8c 100644
--- a/common/status_monitor/CHANGELOG.rst
+++ b/common/status_monitor/CHANGELOG.rst
@@ -21,6 +21,20 @@ Changelog for package status_monitor
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+3.4.2 (2024-08-05)
+------------------
+* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki
+
 3.4.1 (2024-07-30)
 ------------------
 * Merge branch 'master' into doc/open_scenario_support
diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml
index ade3b68ce5a..556364b8c62 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>3.4.1</version>
+  <version>3.4.2</version>
   <description>none</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>
diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst
index 09953844e4f..f2690904d67 100644
--- a/external/concealer/CHANGELOG.rst
+++ b/external/concealer/CHANGELOG.rst
@@ -21,6 +21,20 @@ Changelog for package concealer
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+3.4.2 (2024-08-05)
+------------------
+* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki
+
 3.4.1 (2024-07-30)
 ------------------
 * Merge branch 'master' into doc/open_scenario_support
diff --git a/external/concealer/package.xml b/external/concealer/package.xml
index 140b51e594f..79c73bc9be2 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>3.4.1</version>
+  <version>3.4.2</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 b8da66880fe..f938dc27fa1 100644
--- a/external/embree_vendor/CHANGELOG.rst
+++ b/external/embree_vendor/CHANGELOG.rst
@@ -24,6 +24,20 @@ Changelog for package embree_vendor
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+3.4.2 (2024-08-05)
+------------------
+* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki
+
 3.4.1 (2024-07-30)
 ------------------
 * Merge branch 'master' into doc/open_scenario_support
diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml
index 17206d671a3..15568e6da44 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>3.4.1</version>
+  <version>3.4.2</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 09a29d4f889..abdc07a51be 100644
--- a/map/kashiwanoha_map/CHANGELOG.rst
+++ b/map/kashiwanoha_map/CHANGELOG.rst
@@ -21,6 +21,20 @@ Changelog for package kashiwanoha_map
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+3.4.2 (2024-08-05)
+------------------
+* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki
+
 3.4.1 (2024-07-30)
 ------------------
 * Merge branch 'master' into doc/open_scenario_support
diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml
index cfceebfce25..6ef23698055 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>3.4.1</version>
+  <version>3.4.2</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 d3a2ba16657..dbdbd51742d 100644
--- a/map/simple_cross_map/CHANGELOG.rst
+++ b/map/simple_cross_map/CHANGELOG.rst
@@ -9,6 +9,20 @@ Changelog for package simple_cross_map
 * Merge branch 'master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+3.4.2 (2024-08-05)
+------------------
+* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki
+
 3.4.1 (2024-07-30)
 ------------------
 * Merge branch 'master' into doc/open_scenario_support
diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml
index 1d3ba40ee26..7a08689d18a 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>3.4.1</version>
+  <version>3.4.2</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 88ee30ed5c0..ee2ea566a0a 100644
--- a/mock/cpp_mock_scenarios/CHANGELOG.rst
+++ b/mock/cpp_mock_scenarios/CHANGELOG.rst
@@ -21,6 +21,20 @@ Changelog for package cpp_mock_scenarios
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+3.4.2 (2024-08-05)
+------------------
+* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki
+
 3.4.1 (2024-07-30)
 ------------------
 * Merge branch 'master' into doc/open_scenario_support
diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml
index f971dad5d0e..84f86210815 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>3.4.1</version>
+  <version>3.4.2</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 5584f01a717..fc47e7693bb 100644
--- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst
+++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst
@@ -21,6 +21,20 @@ Changelog for package openscenario_experimental_catalog
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+3.4.2 (2024-08-05)
+------------------
+* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki
+
 3.4.1 (2024-07-30)
 ------------------
 * Merge branch 'master' into doc/open_scenario_support
diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml
index 4a8fda2841c..8e3160af2e6 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>3.4.1</version>
+  <version>3.4.2</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 633d6a844ec..5e8546533e3 100644
--- a/openscenario/openscenario_interpreter/CHANGELOG.rst
+++ b/openscenario/openscenario_interpreter/CHANGELOG.rst
@@ -32,6 +32,28 @@ Changelog for package openscenario_interpreter
 * add publish_empty_context parameter
 * Contributors: Masaya Kataoka
 
+3.4.2 (2024-08-05)
+------------------
+* Merge branch 'master' into doc/longitudinal-control
+* Merge pull request `#1321 <https://github.com/tier4/scenario_simulator_v2/issues/1321>`_ from tier4/feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* feat: Enhance IMU sensor configuration and initialization
+  - Added frame_id to ImuSensorConfiguration
+  - Separated noise standard deviations for orientation, twist, and acceleration
+  - Updated ImuSensorBase and ImuSensor classes for new noise distributions
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* feat(simple_sensor_simulator, imu): add gravity vector, tidy up
+* feat(simulator_core, api, zmq): add attachImuSensor, add update imu sensors
+* Contributors: Dawid Moszynski, Koki Suzuki, Kotaro Yoshimoto, Masaya Kataoka, SzymonParapura, koki suzuki
+
 3.4.1 (2024-07-30)
 ------------------
 * Merge branch 'master' into doc/open_scenario_support
diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml
index 4959c10deef..00d7949643c 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>3.4.1</version>
+  <version>3.4.2</version>
   <description>OpenSCENARIO 1.2.0 interpreter package for Autoware</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>
diff --git a/openscenario/openscenario_interpreter_example/CHANGELOG.rst b/openscenario/openscenario_interpreter_example/CHANGELOG.rst
index 430a037ac03..6a6b0242dc8 100644
--- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst
+++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst
@@ -21,6 +21,20 @@ Changelog for package openscenario_interpreter_example
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+3.4.2 (2024-08-05)
+------------------
+* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki
+
 3.4.1 (2024-07-30)
 ------------------
 * Merge branch 'master' into doc/open_scenario_support
diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml
index 4c9b91216db..06c82717359 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>3.4.1</version>
+  <version>3.4.2</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 96cd09eb6ea..1c8ae389b5c 100644
--- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst
+++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst
@@ -21,6 +21,20 @@ Changelog for package openscenario_interpreter_msgs
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+3.4.2 (2024-08-05)
+------------------
+* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki
+
 3.4.1 (2024-07-30)
 ------------------
 * Merge branch 'master' into doc/open_scenario_support
diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml
index b18a3f7a9ba..697d6261d74 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>3.4.1</version>
+  <version>3.4.2</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 e1de288583e..5b9c6ab78ad 100644
--- a/openscenario/openscenario_preprocessor/CHANGELOG.rst
+++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst
@@ -21,6 +21,20 @@ Changelog for package openscenario_preprocessor
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+3.4.2 (2024-08-05)
+------------------
+* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki
+
 3.4.1 (2024-07-30)
 ------------------
 * Merge branch 'master' into doc/open_scenario_support
diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml
index ff3cce230d6..a1bcfe5d27d 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>3.4.1</version>
+  <version>3.4.2</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 45a0949520f..d85a9885d89 100644
--- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst
+++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst
@@ -21,6 +21,20 @@ Changelog for package openscenario_preprocessor_msgs
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+3.4.2 (2024-08-05)
+------------------
+* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki
+
 3.4.1 (2024-07-30)
 ------------------
 * Merge branch 'master' into doc/open_scenario_support
diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml
index b9b00b6a039..6efd1246130 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>3.4.1</version>
+  <version>3.4.2</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 6c2760604c4..f5447823350 100644
--- a/openscenario/openscenario_utility/CHANGELOG.rst
+++ b/openscenario/openscenario_utility/CHANGELOG.rst
@@ -24,6 +24,20 @@ Changelog for package openscenario_utility
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+3.4.2 (2024-08-05)
+------------------
+* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki
+
 3.4.1 (2024-07-30)
 ------------------
 * Merge branch 'master' into doc/open_scenario_support
diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml
index ab2e12c6b85..01b23b31e5f 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>3.4.1</version>
+  <version>3.4.2</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 8eeea4a1c84..8e1f1f599ec 100644
--- a/openscenario/openscenario_validator/CHANGELOG.rst
+++ b/openscenario/openscenario_validator/CHANGELOG.rst
@@ -10,6 +10,20 @@ Changelog for package openscenario_validator
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+3.4.2 (2024-08-05)
+------------------
+* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki
+
 3.4.1 (2024-07-30)
 ------------------
 * Merge branch 'master' into doc/open_scenario_support
diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml
index 30348686cdc..bd21a92e59f 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>3.4.1</version>
+  <version>3.4.2</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 474305a1de6..b3e1b9e5c14 100644
--- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst
+++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst
@@ -21,6 +21,20 @@ Changelog for package openscenario_visualization
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+3.4.2 (2024-08-05)
+------------------
+* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki
+
 3.4.1 (2024-07-30)
 ------------------
 * Merge branch 'master' into doc/open_scenario_support
diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml
index f140c14f106..fd3e3bb1708 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>3.4.1</version>
+  <version>3.4.2</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 448b4c17643..3c00a040c3f 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 +21,20 @@ Changelog for package real_time_factor_control_rviz_plugin
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+3.4.2 (2024-08-05)
+------------------
+* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki
+
 3.4.1 (2024-07-30)
 ------------------
 * Merge branch 'master' into doc/open_scenario_support
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 ed803ceac17..115f07ed1c1 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>3.4.1</version>
+  <version>3.4.2</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 6410f0674ed..b263feb86c0 100644
--- a/scenario_simulator_v2/CHANGELOG.rst
+++ b/scenario_simulator_v2/CHANGELOG.rst
@@ -21,6 +21,20 @@ Changelog for package scenario_simulator_v2
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+3.4.2 (2024-08-05)
+------------------
+* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki
+
 3.4.1 (2024-07-30)
 ------------------
 * Merge branch 'master' into doc/open_scenario_support
diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml
index cee69b01c8b..0f087fc6af4 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>3.4.1</version>
+  <version>3.4.2</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 a09ba91219f..c8f6ccd7f2b 100644
--- a/simulation/behavior_tree_plugin/CHANGELOG.rst
+++ b/simulation/behavior_tree_plugin/CHANGELOG.rst
@@ -21,6 +21,20 @@ Changelog for package behavior_tree_plugin
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+3.4.2 (2024-08-05)
+------------------
+* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki
+
 3.4.1 (2024-07-30)
 ------------------
 * Merge branch 'master' into doc/open_scenario_support
diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml
index aca3bfd10bc..77bf5abe99b 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>3.4.1</version>
+  <version>3.4.2</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 025faac304e..6fdde310518 100644
--- a/simulation/do_nothing_plugin/CHANGELOG.rst
+++ b/simulation/do_nothing_plugin/CHANGELOG.rst
@@ -21,6 +21,20 @@ Changelog for package do_nothing_plugin
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+3.4.2 (2024-08-05)
+------------------
+* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki
+
 3.4.1 (2024-07-30)
 ------------------
 * Merge branch 'master' into doc/open_scenario_support
diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml
index 0307a928e56..c2bc7f89c43 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>3.4.1</version>
+  <version>3.4.2</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 f2a45f9d25b..b5f73466cc9 100644
--- a/simulation/simple_sensor_simulator/CHANGELOG.rst
+++ b/simulation/simple_sensor_simulator/CHANGELOG.rst
@@ -21,6 +21,31 @@ Changelog for package simple_sensor_simulator
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+3.4.2 (2024-08-05)
+------------------
+* Merge branch 'master' into doc/longitudinal-control
+* Merge pull request `#1321 <https://github.com/tier4/scenario_simulator_v2/issues/1321>`_ from tier4/feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* feat: Enhance IMU sensor configuration and initialization
+  - Added frame_id to ImuSensorConfiguration
+  - Separated noise standard deviations for orientation, twist, and acceleration
+  - Updated ImuSensorBase and ImuSensor classes for new noise distributions
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Fix an issue with an invalid namespace imu_link
+* Fix an issue with an invalid namespace imu_link
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* feat(simple_sensor_simulator, imu): add gravity vector, tidy up
+* feat(simulator_core, api, zmq): add attachImuSensor, add update imu sensors
+* feat(simple_sensor_simulator): add imu_sensor
+* Contributors: Dawid Moszynski, Koki Suzuki, Kotaro Yoshimoto, Masaya Kataoka, SzymonParapura, koki suzuki
+
 3.4.1 (2024-07-30)
 ------------------
 * Merge branch 'master' into doc/open_scenario_support
diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml
index 9a96c82d724..90bb8780465 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>3.4.1</version>
+  <version>3.4.2</version>
   <description>simple_sensor_simulator package</description>
 
   <maintainer email="masaya.kataoka@tier4.jp">masaya kataoka</maintainer>
diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst
index 187a8a14b90..1ffa0eab9da 100644
--- a/simulation/simulation_interface/CHANGELOG.rst
+++ b/simulation/simulation_interface/CHANGELOG.rst
@@ -21,6 +21,29 @@ Changelog for package simulation_interface
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+3.4.2 (2024-08-05)
+------------------
+* Merge branch 'master' into doc/longitudinal-control
+* Merge pull request `#1321 <https://github.com/tier4/scenario_simulator_v2/issues/1321>`_ from tier4/feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* feat: Enhance IMU sensor configuration and initialization
+  - Added frame_id to ImuSensorConfiguration
+  - Separated noise standard deviations for orientation, twist, and acceleration
+  - Updated ImuSensorBase and ImuSensor classes for new noise distributions
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* feat(simple_sensor_simulator, imu): add gravity vector, tidy up
+* feat(simulator_core, api, zmq): add attachImuSensor, add update imu sensors
+* feat(simple_sensor_simulator): add imu_sensor
+* Contributors: Dawid Moszynski, Koki Suzuki, Kotaro Yoshimoto, Masaya Kataoka, SzymonParapura, koki suzuki
+
 3.4.1 (2024-07-30)
 ------------------
 * Merge branch 'master' into doc/open_scenario_support
diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml
index d6d2668063d..885589fd270 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>3.4.1</version>
+  <version>3.4.2</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 b2979f9d273..e3e93704b38 100644
--- a/simulation/traffic_simulator/CHANGELOG.rst
+++ b/simulation/traffic_simulator/CHANGELOG.rst
@@ -21,6 +21,23 @@ Changelog for package traffic_simulator
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+3.4.2 (2024-08-05)
+------------------
+* Merge branch 'master' into doc/longitudinal-control
+* Merge pull request `#1321 <https://github.com/tier4/scenario_simulator_v2/issues/1321>`_ from tier4/feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* feat(simulator_core, api, zmq): add attachImuSensor, add update imu sensors
+* Contributors: Dawid Moszynski, Koki Suzuki, Kotaro Yoshimoto, Masaya Kataoka, SzymonParapura, koki suzuki
+
 3.4.1 (2024-07-30)
 ------------------
 * Merge branch 'master' into doc/open_scenario_support
diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml
index 585537d7a8a..b2c8b089034 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>3.4.1</version>
+  <version>3.4.2</version>
   <description>control traffic flow</description>
 
   <maintainer email="masaya.kataoka@tier4.jp">masaya kataoka</maintainer>
diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst
index 0a0876b5856..4c0b74852aa 100644
--- a/simulation/traffic_simulator_msgs/CHANGELOG.rst
+++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst
@@ -21,6 +21,20 @@ Changelog for package openscenario_msgs
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+3.4.2 (2024-08-05)
+------------------
+* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki
+
 3.4.1 (2024-07-30)
 ------------------
 * Merge branch 'master' into doc/open_scenario_support
diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml
index 29d83e0fd73..2c1dedb6696 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>3.4.1</version>
+  <version>3.4.2</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 d5aa32cb2f2..6a1299f1137 100644
--- a/test_runner/random_test_runner/CHANGELOG.rst
+++ b/test_runner/random_test_runner/CHANGELOG.rst
@@ -21,6 +21,20 @@ Changelog for package random_test_runner
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+3.4.2 (2024-08-05)
+------------------
+* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki
+
 3.4.1 (2024-07-30)
 ------------------
 * Merge branch 'master' into doc/open_scenario_support
diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml
index 06bc95d02c7..bf4e1a5bcc6 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>3.4.1</version>
+  <version>3.4.2</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 71adb8b8e11..d4fef8eb21c 100644
--- a/test_runner/scenario_test_runner/CHANGELOG.rst
+++ b/test_runner/scenario_test_runner/CHANGELOG.rst
@@ -35,6 +35,20 @@ Changelog for package scenario_test_runner
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+3.4.2 (2024-08-05)
+------------------
+* Merge commit 'c1cab6eb1ece2df58982f50a78fef5a5ecaa7234' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Merge branch 'master' into doc/longitudinal-control
+* Merge branch 'master' into feat/RJD-1199-add-imu-sensor-to-simple-sensor-simulator
+* Contributors: Masaya Kataoka, SzymonParapura, koki suzuki
+
 3.4.1 (2024-07-30)
 ------------------
 * Merge branch 'master' into doc/open_scenario_support
diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml
index 80a6d8ba53c..f88e0c3572f 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>3.4.1</version>
+  <version>3.4.2</version>
   <description>scenario test runner package</description>
   <maintainer email="tatsuya.yamasaki@tier4.jp">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>