From 854cb4280df69dc1e441b9f90baeabf9d04d510e Mon Sep 17 00:00:00 2001
From: Stefano Bernagozzi <stefano.bernagozzi@iit.it>
Date: Tue, 10 Jun 2025 12:52:58 +0200
Subject: [PATCH 1/3] first commit of high-level-models-full for UC3 example

Signed-off-by: Stefano Bernagozzi <stefano.bernagozzi@iit.it>
---
 .../high-level-models-full/README.md          |   3 +
 .../bt_plugins/ROS2Action.scxml               |  60 +++++
 .../bt_plugins/ROS2Condition.scxml            |  40 ++++
 .../bt_policies/Policy.xml                    | 207 ++++++++++++++++++
 .../components/AllowedToMoveComponent.scxml   |  44 ++++
 .../components/BatteryComponent.scxml         |  38 ++++
 .../components/BlackboardComponent.scxml      | 111 ++++++++++
 .../components/NarrateComponent.scxml         |  74 +++++++
 .../components/NavigationComponent.scxml      | 142 ++++++++++++
 .../components/NotifyUserComponent.scxml      |  56 +++++
 .../PeopleDetectorFilterComponent.scxml       |  34 +++
 .../components/SchedulerComponent.scxml       |  41 ++++
 .../TimerCheckForPeopleComponent.scxml        |  46 ++++
 .../components/TimerComponent.scxml           |  54 +++++
 .../components/TurnBackManagerComponent.scxml | 141 ++++++++++++
 .../high-level-models-full/main.xml           |  95 ++++++++
 .../properties/properties.jani                | 137 ++++++++++++
 .../properties/properties.xml                 |  42 ++++
 .../allowed_to_move_interfaces/CMakeLists.txt |  33 +++
 .../allowed_to_move_interfaces/package.xml    |  21 ++
 .../srv/IsAllowedToMove.srv                   |   4 +
 .../srv/SetAllowedToMove.srv                  |   4 +
 .../blackboard_interfaces/CMakeLists.txt      |  41 ++++
 .../blackboard_interfaces/package.xml         |  22 ++
 .../srv/GetDoubleBlackboard.srv               |   5 +
 .../srv/GetIntBlackboard.srv                  |   5 +
 .../srv/GetStringBlackboard.srv               |   5 +
 .../srv/SetAllIntsWithPrefixBlackboard.srv    |   5 +
 .../srv/SetDoubleBlackboard.srv               |   5 +
 .../srv/SetIntBlackboard.srv                  |   5 +
 .../srv/SetStringBlackboard.srv               |   5 +
 .../bt_interfaces_dummy/CMakeLists.txt        |  37 ++++
 .../msg/ActionResponse.msg                    |   4 +
 .../msg/ConditionResponse.msg                 |   3 +
 .../bt_interfaces_dummy/package.xml           |  21 ++
 .../bt_interfaces_dummy/srv/HaltAction.srv    |   2 +
 .../bt_interfaces_dummy/srv/ReloadTree.srv    |   3 +
 .../bt_interfaces_dummy/srv/TickAction.srv    |   3 +
 .../bt_interfaces_dummy/srv/TickCondition.srv |   3 +
 .../CMakeLists.txt                            |  15 ++
 .../hardware_monitor_interfaces/package.xml   |  18 ++
 .../srv/HasFaults.srv                         |   5 +
 .../log_interfaces/CMakeLists.txt             |  37 ++++
 .../ros_interfaces/log_interfaces/package.xml |  21 ++
 .../log_interfaces/srv/AddToLog.srv           |   4 +
 .../manage_service_interfaces/CMakeLists.txt  |  33 +++
 .../manage_service_interfaces/package.xml     |  21 ++
 .../srv/StartService.srv                      |   3 +
 .../srv/StopService.srv                       |   3 +
 .../narrate_interfaces/CMakeLists.txt         |  34 +++
 .../narrate_interfaces/package.xml            |  21 ++
 .../narrate_interfaces/srv/IsDone.srv         |   4 +
 .../narrate_interfaces/srv/Narrate.srv        |   4 +
 .../narrate_interfaces/srv/Stop.srv           |   3 +
 .../navigation_interfaces/CMakeLists.txt      |  44 ++++
 .../action/GoToPoi.action                     |   6 +
 .../msg/NavigationStatus.msg                  |  11 +
 .../navigation_interfaces/package.xml         |  22 ++
 .../srv/CheckNearToPoi.srv                    |   7 +
 .../srv/GetNavigationStatus.srv               |   5 +
 .../srv/GoToPoiByName.srv                     |   4 +
 .../srv/StopNavigation.srv                    |   3 +
 .../navigation_interfaces/srv/TurnBack.srv    |   3 +
 .../notify_user_interfaces/CMakeLists.txt     |  34 +++
 .../notify_user_interfaces/package.xml        |  21 ++
 .../srv/NotifyUserCharged.srv                 |   3 +
 .../notify_user_interfaces/srv/StartAlarm.srv |   3 +
 .../notify_user_interfaces/srv/StopAlarm.srv  |   3 +
 .../other_interfaces/CMakeLists.txt           |  35 +++
 .../other_interfaces/package.xml              |  22 ++
 .../srv/RpcWithoutParameters.srv              |   3 +
 .../CMakeLists.txt                            |  41 ++++
 .../msg/FilterStatus.msg                      |   7 +
 .../package.xml                               |  22 ++
 .../srv/GetFilterTimeout.srv                  |   4 +
 .../srv/SetFilterTimeout.srv                  |   4 +
 .../scheduler_interfaces/CMakeLists.txt       |  50 +++++
 .../scheduler_interfaces/package.xml          |  22 ++
 .../scheduler_interfaces/srv/EndTour.srv      |   3 +
 .../srv/GetAvailableCommands.srv              |   4 +
 .../srv/GetCurrentAction.srv                  |   6 +
 .../srv/GetCurrentCommand.srv                 |   4 +
 .../srv/GetCurrentLanguage.srv                |   4 +
 .../srv/GetCurrentPoi.srv                     |   5 +
 .../scheduler_interfaces/srv/Reset.srv        |   3 +
 .../scheduler_interfaces/srv/SetCommand.srv   |   4 +
 .../scheduler_interfaces/srv/SetLanguage.srv  |   4 +
 .../scheduler_interfaces/srv/SetPoi.srv       |   4 +
 .../scheduler_interfaces/srv/UpdateAction.srv |   4 +
 .../scheduler_interfaces/srv/UpdatePoi.srv    |   3 +
 .../time_interfaces/CMakeLists.txt            |  40 ++++
 .../time_interfaces/package.xml               |  21 ++
 .../time_interfaces/srv/IsMuseumClosing.srv   |   4 +
 .../time_interfaces/srv/ReloadConfigFile.srv  |   3 +
 .../time_interfaces/srv/StartTourTimer.srv    |   3 +
 .../time_interfaces/srv/StopTourTimer.srv     |   3 +
 .../CMakeLists.txt                            |  33 +++
 .../package.xml                               |  21 ++
 .../srv/IsTimerActive.srv                     |   4 +
 .../srv/StartTimer.srv                        |   3 +
 .../CMakeLists.txt                            |  47 ++++
 .../turn_back_manager_interfaces/package.xml  |  22 ++
 .../srv/GetMaxConsecutiveFalses.srv           |   4 +
 .../srv/GetMaxTurnBacks.srv                   |   4 +
 .../srv/GetTurnBacksCounter.srv               |   4 +
 .../srv/IncreaseTurnBacksCounter.srv          |   3 +
 .../srv/IsAllowedToContinue.srv               |   5 +
 .../srv/IsAllowedToTurnBack.srv               |   4 +
 .../srv/ResetCounters.srv                     |   3 +
 .../srv/SetMaxConsecutiveFalses.srv           |   4 +
 .../srv/SetMaxTurnBacks.srv                   |   4 +
 .../skills/AlarmBatteryLowSkill.scxml         |  65 ++++++
 .../skills/ArePeoplePresentSkill.scxml        |  52 +++++
 .../skills/BatteryChargingSkill.scxml         |  45 ++++
 .../skills/BatteryLevelSkill.scxml            |  45 ++++
 .../skills/CheckIfFirstPoiSkill.scxml         |  53 +++++
 .../skills/CheckIfStartSkill.scxml            |  48 ++++
 .../skills/CheckNetworkSkill.scxml            |  47 ++++
 .../skills/DialogSkill.scxml                  | 122 +++++++++++
 .../skills/GoToChargingStationSkill.scxml     | 103 +++++++++
 .../skills/GoToPoiActionSkill.scxml           | 113 ++++++++++
 .../skills/HardwareFaultSkill.scxml           |  94 ++++++++
 .../skills/IsAllowedToMoveSkill.scxml         |  50 +++++
 .../skills/IsAllowedToTurnBackSkill.scxml     |  97 ++++++++
 .../skills/IsAtChargingStationSkill.scxml     |  83 +++++++
 .../skills/IsAtCurrentPoiSkill.scxml          | 108 +++++++++
 .../skills/IsCheckingForPeopleSkill.scxml     |  73 ++++++
 .../skills/IsMaximumDurationSkill.scxml       |  73 ++++++
 .../skills/IsMuseumClosingSkill.scxml         |  51 +++++
 .../skills/IsPoiDone1Skill.scxml              |  68 ++++++
 .../skills/IsPoiDone2Skill.scxml              |  68 ++++++
 .../skills/IsTimerDoneSkill.scxml             |  68 ++++++
 .../skills/IsWarningDurationSkill.scxml       |  71 ++++++
 .../skills/NarratePoiSkill.scxml              | 107 +++++++++
 .../skills/NetworkStatusChangedSkill.scxml    |  43 ++++
 .../skills/NetworkUpSkill.scxml               |  41 ++++
 .../skills/NotifyChargedSkill.scxml           |  70 ++++++
 .../skills/PeopleLeftSkill.scxml              | 100 +++++++++
 .../skills/ResetCountersSkill.scxml           |  70 ++++++
 .../skills/ResetSkill.scxml                   | 111 ++++++++++
 .../skills/ResetTourAndFlagsSkill.scxml       |  72 ++++++
 .../skills/ResetTourSkill.scxml               |  57 +++++
 .../skills/RunTimerSkill.scxml                |  73 ++++++
 .../skills/SayByeSkill.scxml                  | 141 ++++++++++++
 .../skills/SayDurationExceededSkill.scxml     | 191 ++++++++++++++++
 .../skills/SayFollowMeSkill.scxml             | 126 +++++++++++
 .../skills/SayPeopleLeftSkill.scxml           | 126 +++++++++++
 .../skills/SayWarningDurationSkill.scxml      | 146 ++++++++++++
 .../skills/SayWhileNavigatingSkill.scxml      | 119 ++++++++++
 .../skills/SetCurrentPoiDoneSkill.scxml       |  80 +++++++
 .../skills/SetNavigationPositionSkill.scxml   | 119 ++++++++++
 .../skills/SetNotTurningSkill.scxml           |  52 +++++
 .../skills/SetPoi1Skill.scxml                 |  54 +++++
 .../skills/SetPoi2Skill.scxml                 |  59 +++++
 .../skills/SetTurnedSkill.scxml               |  89 ++++++++
 .../skills/SetTurningSkill.scxml              |  63 ++++++
 .../skills/StartServiceSkill.scxml            |  58 +++++
 .../skills/StartTourTimerSkill.scxml          |  92 ++++++++
 .../skills/StopAndTurnBackSkill.scxml         | 120 ++++++++++
 .../skills/StopServiceSkill.scxml             |  62 ++++++
 .../skills/StopTourTimerSkill.scxml           |  62 ++++++
 .../skills/UpdatePoiSkill.scxml               |  62 ++++++
 .../skills/VisitorsFollowingRobotSkill.scxml  |  55 +++++
 .../skills/WaitSkill.scxml                    |  58 +++++
 .../skills/high_level_template.scxml          |  70 ++++++
 165 files changed, 6838 insertions(+)
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/README.md
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/bt_plugins/ROS2Action.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/bt_plugins/ROS2Condition.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/bt_policies/Policy.xml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/components/AllowedToMoveComponent.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/components/BatteryComponent.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/components/BlackboardComponent.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/components/NarrateComponent.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/components/NavigationComponent.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/components/NotifyUserComponent.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/components/PeopleDetectorFilterComponent.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/components/SchedulerComponent.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/components/TimerCheckForPeopleComponent.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/components/TimerComponent.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/components/TurnBackManagerComponent.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/main.xml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/properties/properties.jani
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/properties/properties.xml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/allowed_to_move_interfaces/CMakeLists.txt
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/allowed_to_move_interfaces/package.xml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/allowed_to_move_interfaces/srv/IsAllowedToMove.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/allowed_to_move_interfaces/srv/SetAllowedToMove.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/CMakeLists.txt
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/package.xml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/srv/GetDoubleBlackboard.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/srv/GetIntBlackboard.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/srv/GetStringBlackboard.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/srv/SetAllIntsWithPrefixBlackboard.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/srv/SetDoubleBlackboard.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/srv/SetIntBlackboard.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/srv/SetStringBlackboard.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/bt_interfaces_dummy/CMakeLists.txt
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/bt_interfaces_dummy/msg/ActionResponse.msg
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/bt_interfaces_dummy/msg/ConditionResponse.msg
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/bt_interfaces_dummy/package.xml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/bt_interfaces_dummy/srv/HaltAction.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/bt_interfaces_dummy/srv/ReloadTree.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/bt_interfaces_dummy/srv/TickAction.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/bt_interfaces_dummy/srv/TickCondition.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/hardware_monitor_interfaces/CMakeLists.txt
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/hardware_monitor_interfaces/package.xml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/hardware_monitor_interfaces/srv/HasFaults.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/log_interfaces/CMakeLists.txt
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/log_interfaces/package.xml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/log_interfaces/srv/AddToLog.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/manage_service_interfaces/CMakeLists.txt
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/manage_service_interfaces/package.xml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/manage_service_interfaces/srv/StartService.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/manage_service_interfaces/srv/StopService.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/narrate_interfaces/CMakeLists.txt
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/narrate_interfaces/package.xml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/narrate_interfaces/srv/IsDone.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/narrate_interfaces/srv/Narrate.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/narrate_interfaces/srv/Stop.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/CMakeLists.txt
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/action/GoToPoi.action
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/msg/NavigationStatus.msg
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/package.xml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/srv/CheckNearToPoi.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/srv/GetNavigationStatus.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/srv/GoToPoiByName.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/srv/StopNavigation.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/srv/TurnBack.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/notify_user_interfaces/CMakeLists.txt
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/notify_user_interfaces/package.xml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/notify_user_interfaces/srv/NotifyUserCharged.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/notify_user_interfaces/srv/StartAlarm.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/notify_user_interfaces/srv/StopAlarm.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/other_interfaces/CMakeLists.txt
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/other_interfaces/package.xml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/other_interfaces/srv/RpcWithoutParameters.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/people_detector_filter_interfaces/CMakeLists.txt
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/people_detector_filter_interfaces/msg/FilterStatus.msg
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/people_detector_filter_interfaces/package.xml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/people_detector_filter_interfaces/srv/GetFilterTimeout.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/people_detector_filter_interfaces/srv/SetFilterTimeout.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/CMakeLists.txt
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/package.xml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/EndTour.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/GetAvailableCommands.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/GetCurrentAction.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/GetCurrentCommand.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/GetCurrentLanguage.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/GetCurrentPoi.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/Reset.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/SetCommand.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/SetLanguage.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/SetPoi.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/UpdateAction.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/UpdatePoi.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/time_interfaces/CMakeLists.txt
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/time_interfaces/package.xml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/time_interfaces/srv/IsMuseumClosing.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/time_interfaces/srv/ReloadConfigFile.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/time_interfaces/srv/StartTourTimer.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/time_interfaces/srv/StopTourTimer.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/timer_check_for_people_interfaces/CMakeLists.txt
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/timer_check_for_people_interfaces/package.xml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/timer_check_for_people_interfaces/srv/IsTimerActive.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/timer_check_for_people_interfaces/srv/StartTimer.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/CMakeLists.txt
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/package.xml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/GetMaxConsecutiveFalses.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/GetMaxTurnBacks.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/GetTurnBacksCounter.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/IncreaseTurnBacksCounter.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/IsAllowedToContinue.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/IsAllowedToTurnBack.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/ResetCounters.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/SetMaxConsecutiveFalses.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/SetMaxTurnBacks.srv
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/AlarmBatteryLowSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/ArePeoplePresentSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/BatteryChargingSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/BatteryLevelSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/CheckIfFirstPoiSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/CheckIfStartSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/CheckNetworkSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/DialogSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/GoToChargingStationSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/GoToPoiActionSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/HardwareFaultSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/IsAllowedToMoveSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/IsAllowedToTurnBackSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/IsAtChargingStationSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/IsAtCurrentPoiSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/IsCheckingForPeopleSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/IsMaximumDurationSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/IsMuseumClosingSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/IsPoiDone1Skill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/IsPoiDone2Skill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/IsTimerDoneSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/IsWarningDurationSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/NarratePoiSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/NetworkStatusChangedSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/NetworkUpSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/NotifyChargedSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/PeopleLeftSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/ResetCountersSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/ResetSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/ResetTourAndFlagsSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/ResetTourSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/RunTimerSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/SayByeSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/SayDurationExceededSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/SayFollowMeSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/SayPeopleLeftSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/SayWarningDurationSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/SayWhileNavigatingSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/SetCurrentPoiDoneSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/SetNavigationPositionSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/SetNotTurningSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/SetPoi1Skill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/SetPoi2Skill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/SetTurnedSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/SetTurningSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/StartServiceSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/StartTourTimerSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/StopAndTurnBackSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/StopServiceSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/StopTourTimerSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/UpdatePoiSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/VisitorsFollowingRobotSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/WaitSkill.scxml
 create mode 100644 examples/UC3-museum-guide/high-level-models-full/skills/high_level_template.scxml

diff --git a/examples/UC3-museum-guide/high-level-models-full/README.md b/examples/UC3-museum-guide/high-level-models-full/README.md
new file mode 100644
index 0000000..b8e6d3a
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/README.md
@@ -0,0 +1,3 @@
+# Museum guide (high-level model)
+
+This folder contains all the elements specifying a UC3-inspired model in the high-level/ROS SCXML format.
diff --git a/examples/UC3-museum-guide/high-level-models-full/bt_plugins/ROS2Action.scxml b/examples/UC3-museum-guide/high-level-models-full/bt_plugins/ROS2Action.scxml
new file mode 100644
index 0000000..0fdc9a6
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/bt_plugins/ROS2Action.scxml
@@ -0,0 +1,60 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+    initial="idle"
+    version="1.0"
+    name="ROS2Action"
+    model_src=""
+    xmlns="http://www.w3.org/2005/07/scxml">
+
+    <bt_declare_port_in key="service_name" type="string" />
+
+    <datamodel>
+        <data id="SKILL_SUCCESS" type="int8" expr="0" />
+        <data id="SKILL_FAILURE" type="int8" expr="1" />
+        <data id="SKILL_RUNNING" type="int8" expr="2" />
+    </datamodel>
+
+    <ros_service_client type="bt_interfaces_dummy/TickAction"  name="srv_name_tick">
+        <service_name>
+            <bt_get_input key="service_name" />
+        </service_name>
+    </ros_service_client>
+    <!-- <ros_service_client type="bt_interfaces_dummy/HaltAction"  name="srv_name_halt">
+        <service_name>
+            <bt_get_input key="service_name" />
+        </service_name>
+    </ros_service_client> -->
+
+
+    <state id="idle">
+        <bt_tick target="handle_response_tick">
+            <ros_service_send_request name="srv_name_tick"/>
+        </bt_tick>
+        <bt_halt target="idle">
+            <bt_return_halted />
+        </bt_halt>
+
+        <!-- <transition event="bt_halt" target="handle_response_halt">
+            <ros_service_send_request name="srv_name_halt"/>
+        </transition> -->
+    </state>
+
+    <state id="handle_response_tick">
+        <ros_service_handle_response name="srv_name_tick" cond="_res.status == SKILL_SUCCESS" target="idle" >
+            <bt_return_status status="SUCCESS" />
+        </ros_service_handle_response>
+        <ros_service_handle_response name="srv_name_tick" cond="_res.status == SKILL_FAILURE" target="idle" >
+            <bt_return_status status="FAILURE" />
+        </ros_service_handle_response>
+        <ros_service_handle_response name="srv_name_tick" cond="_res.status == SKILL_RUNNING" target="idle" >
+            <bt_return_status status="RUNNING" />
+        </ros_service_handle_response>
+    </state>
+
+    <!-- <state id="handle_response_halt">
+        <ros_service_handle_response name="srv_name_halt" target="idle" >
+            <send event="bt_halt_response" />
+        </ros_service_handle_response>
+    </state> -->
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/bt_plugins/ROS2Condition.scxml b/examples/UC3-museum-guide/high-level-models-full/bt_plugins/ROS2Condition.scxml
new file mode 100644
index 0000000..31185b0
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/bt_plugins/ROS2Condition.scxml
@@ -0,0 +1,40 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+    initial="idle"
+    version="1.0"
+    name="ROS2Condition"
+    model_src=""
+    xmlns="http://www.w3.org/2005/07/scxml">
+
+    <bt_declare_port_in key="service_name" type="string" />
+
+    <datamodel>
+        <data id="SKILL_SUCCESS" type="int8" expr="0" />
+        <data id="SKILL_FAILURE" type="int8" expr="1" />
+    </datamodel>
+
+    <ros_service_client type="bt_interfaces_dummy/TickCondition" name="srv_name">
+        <service_name>
+            <bt_get_input key="service_name" />
+        </service_name>
+    </ros_service_client>
+
+    <state id="idle">
+        <bt_tick target="handle_response">
+            <ros_service_send_request name="srv_name"/>
+        </bt_tick>
+        <bt_halt target="idle">
+            <bt_return_halted />
+        </bt_halt>
+    </state>
+
+    <state id="handle_response">
+        <ros_service_handle_response name="srv_name" cond="_res.status == SKILL_SUCCESS" target="idle" >
+            <bt_return_status status="SUCCESS" />
+        </ros_service_handle_response>
+        <ros_service_handle_response name="srv_name" cond="_res.status == SKILL_FAILURE" target="idle" >
+            <bt_return_status status="FAILURE" />
+        </ros_service_handle_response>
+    </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/bt_policies/Policy.xml b/examples/UC3-museum-guide/high-level-models-full/bt_policies/Policy.xml
new file mode 100644
index 0000000..3b922a5
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/bt_policies/Policy.xml
@@ -0,0 +1,207 @@
+<?xml version='1.0' encoding='utf-8'?>
+<root BTCPP_format="3" main_tree_to_execute="BehaviorTree">
+  <BehaviorTree ID="BatteryManagement">
+    <ReactiveSequence>
+      <ReactiveFallback>
+        <ROS2Condition name="BatteryLevel" interface="ROS2SERVICE" isMonitored="false" />
+        <ReactiveFallback>
+          <ReactiveSequence>
+            <Inverter>
+              <ROS2Condition name="BatteryCharging" interface="ROS2SERVICE" isMonitored="false" />
+            </Inverter>
+            <Parallel failure_threshold="1" success_threshold="2">
+              <ReactiveFallback>
+                <ROS2Condition name="IsAtChargingStation" interface="ROS2SERVICE" isMonitored="false" />
+                <Sequence>
+                  <ROS2Action name="SayBye" interface="ROS2SERVICE" isMonitored="false" />
+                  <ROS2Action name="ResetTour" interface="ROS2SERVICE" isMonitored="false" />
+                  <ROS2Action name="GoToChargingStation" interface="ROS2SERVICE" isMonitored="false" />
+                </Sequence>
+              </ReactiveFallback>
+              <ROS2Action name="AlarmBatteryLow" interface="ROS2SERVICE" isMonitored="false" />
+            </Parallel>
+          </ReactiveSequence>
+          <ROS2Action name="Wait" interface="ROS2SERVICE" isMonitored="false" />
+        </ReactiveFallback>
+      </ReactiveFallback>
+      <Parallel failure_threshold="1" success_threshold="2">
+        <ROS2Action name="NotifyCharged" interface="ROS2SERVICE" isMonitored="false" />
+        <ROS2Condition name="IsAllowedToMove" interface="ROS2SERVICE" isMonitored="false" />
+      </Parallel>
+    </ReactiveSequence>
+  </BehaviorTree>
+
+  <BehaviorTree ID="BehaviorTree">
+    <ReactiveSequence>
+      <SubTree ID="BatteryManagement" __shared_blackboard="false" />
+      <!-- <SubTree ID="NetworkManagement" /> -->
+      <Sequence>
+        <SubTree ID="MuseumHours" />
+        <SubTree ID="PoiScheduler" __shared_blackboard="false" />
+        <SubTree ID="GoToPoi" __shared_blackboard="false" />
+        <SubTree ID="CheckArtworkAndExplain" __shared_blackboard="false" />
+      </Sequence>
+    </ReactiveSequence>
+  </BehaviorTree>
+
+  <BehaviorTree ID="CheckArtworkAndExplain">
+    <Sequence>
+      <ROS2Action name="NarratePoi" interface="ROS2SERVICE" isMonitored="false" />
+      <!-- <ROS2Action name="Dialog" interface="ROS2SERVICE" isMonitored="false" /> -->
+      <ROS2Action name="SetCurrentPoiDone" interface="ROS2SERVICE" isMonitored="false" />
+      <ROS2Action name="ResetCounters" interface="ROS2SERVICE" isMonitored="false" />
+      <ROS2Action name="SetNavigationPosition" interface="ROS2SERVICE" isMonitored="false" />
+    </Sequence>
+  </BehaviorTree>
+
+  <BehaviorTree ID="GoToPoi">
+    <ReactiveFallback>
+      <ROS2Condition name="IsAtCurrentPoi" interface="ROS2SERVICE" isMonitored="false" />
+      <ReactiveSequence>
+        <SubTree ID="PeopleFollowing" />
+        <ReactiveSequence>
+          <ROS2Action name="SetNotTurning" interface="ROS2SERVICE" isMonitored="false" />
+          <Parallel failure_threshold="1" success_threshold="2">
+            <ROS2Action name="GoToPoiAction" interface="ROS2SERVICE" isMonitored="false" />
+            <ROS2Action name="SayWhileNavigating" interface="ROS2SERVICE" isMonitored="false" />
+          </Parallel>
+        </ReactiveSequence>
+      </ReactiveSequence>
+    </ReactiveFallback>
+  </BehaviorTree>
+
+  <BehaviorTree ID="MuseumHours">
+    <Fallback>
+      <Inverter>
+        <ROS2Condition name="CheckIfStart" interface="ROS2SERVICE" isMonitored="false" />
+      </Inverter>
+      <Inverter>
+        <ROS2Condition name="IsMuseumClosing" interface="ROS2SERVICE" isMonitored="false" />
+      </Inverter>
+    </Fallback>
+  </BehaviorTree>
+
+  <!-- <BehaviorTree ID="NetworkManagement">
+    <ReactiveFallback>
+      <Inverter>
+        <ROS2Condition name="NetworkStatusChanged" interface="ROS2SERVICE" isMonitored="false" />
+      </Inverter>
+      <ReactiveFallback>
+        <ReactiveSequence>
+          <ROS2Condition name="NetworkUp" interface="ROS2SERVICE" isMonitored="false" />
+          <ROS2Action name="StopService" interface="ROS2SERVICE" isMonitored="false" />
+        </ReactiveSequence>
+        <ROS2Action name="StartService" interface="ROS2SERVICE" isMonitored="false" />
+      </ReactiveFallback>
+    </ReactiveFallback>
+  </BehaviorTree> -->
+
+  <BehaviorTree ID="PeopleFollowing">
+    <ReactiveFallback>
+      <ROS2Condition name="CheckIfStart" interface="ROS2SERVICE" isMonitored="false" />
+      <Inverter>
+        <ROS2Condition name="IsAllowedToTurnBack" interface="ROS2SERVICE" isMonitored="false" />
+      </Inverter>
+      <ROS2Condition name="VisitorsFollowingRobot" interface="ROS2SERVICE" isMonitored="false" />
+      <ReactiveSequence>
+        <ReactiveFallback>
+          <ROS2Condition name="IsCheckingForPeople" interface="ROS2SERVICE" isMonitored="false" />
+          <ReactiveSequence>
+            <ROS2Action name="SetTurning" interface="ROS2SERVICE" isMonitored="false" />
+            <ROS2Action name="StopAndTurnBack" interface="ROS2SERVICE" isMonitored="false" />
+            <ROS2Action name="SetTurned" interface="ROS2SERVICE" isMonitored="false" />
+          </ReactiveSequence>
+        </ReactiveFallback>
+        <ROS2Action name="RunTimer" interface="ROS2SERVICE" isMonitored="false" />
+        <ROS2Action name="SayFollowMe" interface="ROS2SERVICE" isMonitored="false" />
+        <ROS2Action name="Wait" interface="ROS2SERVICE" isMonitored="false" />
+      </ReactiveSequence>
+    </ReactiveFallback>
+  </BehaviorTree>
+
+  <BehaviorTree ID="PeopleLeaving">
+    <ReactiveFallback>
+      <ROS2Condition name="ArePeoplePresent" interface="ROS2SERVICE" isMonitored="false" />
+      <ReactiveSequence>
+        <ROS2Action name="SayPeopleLeft" interface="ROS2SERVICE" isMonitored="false" />
+        <ROS2Action name="PeopleLeft" interface="ROS2SERVICE" isMonitored="false" />
+      </ReactiveSequence>
+    </ReactiveFallback>
+  </BehaviorTree>
+
+  <BehaviorTree ID="PoiScheduler">
+        <Fallback>
+            <Sequence>
+                <Inverter>
+                    <Condition ID="ROS2Condition" interface="ROS2SERVICE" isMonitored="false" name="IsPoiDone0" />
+                </Inverter>
+                <Action ID="ROS2Action" interface="ROS2SERVICE" isMonitored="false" name="SetPoi0" />
+            </Sequence>
+            <Sequence>
+                <Inverter>
+                    <Condition ID="ROS2Condition" interface="ROS2SERVICE" isMonitored="false" name="IsPoiDone1" />
+                </Inverter>
+                <Action ID="ROS2Action" interface="ROS2SERVICE" isMonitored="false" name="SetPoi1" />
+            </Sequence>
+            <Sequence>
+                <Inverter>
+                    <Condition ID="ROS2Condition" interface="ROS2SERVICE" isMonitored="false" name="IsPoiDone2" />
+                </Inverter>
+                <Action ID="ROS2Action" interface="ROS2SERVICE" isMonitored="false" name="SetPoi2" />
+            </Sequence>
+            <Sequence>
+                <Inverter>
+                    <Condition ID="ROS2Condition" interface="ROS2SERVICE" isMonitored="false" name="IsPoiDone3" />
+                </Inverter>
+                <Action ID="ROS2Action" interface="ROS2SERVICE" isMonitored="false" name="SetPoi3" />
+            </Sequence>
+            <Sequence>
+                <Inverter>
+                    <Condition ID="ROS2Condition" interface="ROS2SERVICE" isMonitored="false" name="IsPoiDone4" />
+                </Inverter>
+                <Action ID="ROS2Action" interface="ROS2SERVICE" isMonitored="false" name="SetPoi4" />
+            </Sequence>
+            <Sequence>
+                <Inverter>
+                    <Condition ID="ROS2Condition" interface="ROS2SERVICE" isMonitored="false" name="IsPoiDone5" />
+                </Inverter>
+                <Action ID="ROS2Action" interface="ROS2SERVICE" isMonitored="false" name="SetPoi5" />
+            </Sequence>
+            <ROS2Action name="ResetTourAndFlags" interface="ROS2SERVICE" isMonitored="false" />
+        </Fallback>
+    </BehaviorTree>
+
+  <BehaviorTree ID="TourDuration">
+    <Fallback>
+      <ReactiveSequence>
+        <ROS2Condition name="CheckIfStart" interface="ROS2SERVICE" isMonitored="false" />
+        <ROS2Action name="StopTourTimer" interface="ROS2SERVICE" isMonitored="false" />
+      </ReactiveSequence>
+      <ReactiveSequence>
+        <ROS2Condition name="CheckIfFirstPoi" interface="ROS2SERVICE" isMonitored="false" />
+        <ROS2Action name="StartTourTimer" interface="ROS2SERVICE" isMonitored="false" />
+      </ReactiveSequence>
+      <Inverter>
+        <ROS2Condition name="IsWarningDuration" interface="ROS2SERVICE" isMonitored="false" />
+      </Inverter>
+      <Sequence>
+        <ROS2Action name="SayDurationWarning" interface="ROS2SERVICE" isMonitored="false" />
+        <ROS2Condition name="IsMaximumDuration" interface="ROS2SERVICE" isMonitored="false" />
+        <ROS2Action name="SayDurationExceeded" interface="ROS2SERVICE" isMonitored="false" />
+      </Sequence>
+    </Fallback>
+  </BehaviorTree>
+
+  
+  <TreeNodesModel>
+    <Action ID="ROS2Action">
+      <input_port name="interface" type="std::string" />
+      <input_port name="isMonitored" type="std::string" />
+    </Action>
+    <Condition ID="ROS2Condition">
+      <input_port name="interface" type="std::string" />
+      <input_port name="isMonitored" type="std::string" />
+    </Condition>
+  </TreeNodesModel>
+
+</root>
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/components/AllowedToMoveComponent.scxml b/examples/UC3-museum-guide/high-level-models-full/components/AllowedToMoveComponent.scxml
new file mode 100644
index 0000000..a7ddf06
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/components/AllowedToMoveComponent.scxml
@@ -0,0 +1,44 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml xmlns="http://www.w3.org/2005/07/scxml"
+       version="1.0"
+       initial="idle"
+       name="AllowedToMoveComponent"
+       datamodel="ecmascript">
+
+  <datamodel>
+    <data id="is_robot_allowed_to_move" type="boolean" expr="false"/>
+    <data id="temp_is_allowed_to_move_request" type="boolean" expr="false"/>
+  </datamodel>
+
+  <ros_service_server service_name="/AllowedToMoveComponent/SetAllowedToMove" type="allowed_to_move_interfaces/SetAllowedToMove"/>
+  <ros_service_server service_name="/AllowedToMoveComponent/IsAllowedToMove" type="allowed_to_move_interfaces/IsAllowedToMove"/>
+
+  <state id="idle">
+    <ros_service_handle_request name="/AllowedToMoveComponent/SetAllowedToMove" target="HandleSetAllowedToMove">
+      <assign location="temp_is_allowed_to_move_request" expr="_req.is_allowed_to_move"/>
+    </ros_service_handle_request>
+
+    <ros_service_handle_request name="/AllowedToMoveComponent/IsAllowedToMove" target="HandleIsAllowedToMove"/>
+  </state>
+
+  <state id="HandleSetAllowedToMove">
+    <onentry>
+      <assign location="is_robot_allowed_to_move" expr="temp_is_allowed_to_move_request"/>
+      <ros_service_send_response name="/AllowedToMoveComponent/SetAllowedToMove">
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="HandleIsAllowedToMove">
+    <onentry>
+      <ros_service_send_response name="/AllowedToMoveComponent/IsAllowedToMove">
+        <field name="is_ok" expr="true"/>
+        <field name="is_allowed_to_move" expr="is_robot_allowed_to_move"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/components/BatteryComponent.scxml b/examples/UC3-museum-guide/high-level-models-full/components/BatteryComponent.scxml
new file mode 100644
index 0000000..d503225
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/components/BatteryComponent.scxml
@@ -0,0 +1,38 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  version="1.0"
+  xmlns="..."
+  datamodel="ecmascript"
+  name="BatteryComponent"
+  initial="idle">
+
+	<datamodel>
+		<data id="percentage" type="int32" expr="100" />
+    <!-- <data id="timer_duration" type="int32" expr="1000" /> --> <!--Timer duration in milliseconds -->
+	</datamodel>
+
+  <ros_topic_publisher topic="/BatteryComponent/battery_status" type="sensor_msgs/BatteryState" />
+
+  <ros_time_rate name="control_timer" rate_hz="1.0" />
+
+  <state id="idle">
+    <onentry>
+      <!-- <send event="timer_expired" delayexpr="timer_duration + 'ms'" /> -->
+      <!-- <if cond="percentage &gt; 0" >
+				<assign location="percentage" expr="percentage - 1" />
+			</if> -->
+      <ros_topic_publish name="/BatteryComponent/battery_status">
+        <field name="data" expr="percentage" />
+        <field name="power_supply_status" expr="3" /> <!-- Assuming 3 means not charging -->
+      </ros_topic_publish>
+    </onentry>
+    <!-- <transition event="timer_expired" target="idle"/> -->
+    <ros_rate_callback name="control_timer" target="idle">
+      <if cond="percentage &gt; 0" >
+				<assign location="percentage" expr="percentage - 1" />
+			</if>
+    </ros_rate_callback>
+    <!-- <transition target="idle"/> -->
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/components/BlackboardComponent.scxml b/examples/UC3-museum-guide/high-level-models-full/components/BlackboardComponent.scxml
new file mode 100644
index 0000000..582edf8
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/components/BlackboardComponent.scxml
@@ -0,0 +1,111 @@
+<scxml
+  version="1.0"
+  xmlns="..."
+  datamodel="ecmascript"
+  name="BlackboardComponent"
+  initial="idle">
+
+	<datamodel>
+		<data id="isCheckingForPeople" type="int32" expr="0" />
+		<!-- <data id="field_name" type="string" expr="" /> -->
+		<data id="field_name" type="int32" expr="0" />
+    <data id="value" type="int32" expr="0" />
+		<!-- <data id="saved_field_name_1" type="string" expr='"PoiDone1"' />
+		<data id="saved_field_name_2" type="string" expr='"PoiDone2"' /> -->
+    <data id="saved_field_name_0" type="int32" expr="0" />
+		<data id="saved_field_name_1" type="int32" expr="1" />
+		<data id="saved_field_name_2" type="int32" expr="2" />
+    <data id="saved_field_name_3" type="int32" expr="3" />
+    <data id="saved_field_name_4" type="int32" expr="4" />
+    <data id="saved_field_name_5" type="int32" expr="5" />
+    <data id="saved_value_0" type="int32" expr="0" />
+		<data id="saved_value_1" type="int32" expr="0" />
+		<data id="saved_value_2" type="int32" expr="0" />
+    <data id="saved_value_3" type="int32" expr="0" />
+    <data id="saved_value_4" type="int32" expr="0" />
+    <data id="saved_value_5" type="int32" expr="0" />
+	</datamodel>
+
+  <ros_service_server service_name="/BlackboardComponent/GetInt" type="blackboard_interfaces/GetIntBlackboard"/>
+  <ros_service_server service_name="/BlackboardComponent/SetInt" type="blackboard_interfaces/SetIntBlackboard"/>
+  <ros_topic_publisher topic="/BlackboardComponent/Poi1Done" type="std_msgs/Int32" />
+
+  <state id="idle">
+    <!-- <onentry>
+      <ros_topic_publish name="/BlackboardComponent/Poi1Done">
+        <field name="data" expr="saved_value_1"/>
+      </ros_topic_publish>
+    </onentry> -->
+    <ros_service_handle_request name="/BlackboardComponent/GetInt" target="GetInt">
+      <assign location="field_name" expr="_req.field_name"/>
+    </ros_service_handle_request>
+    <ros_service_handle_request name="/BlackboardComponent/SetInt" target="SetInt">
+      <assign location="field_name" expr="_req.field_name"/>
+      <assign location="value" expr="_req.value"/>
+    </ros_service_handle_request>
+  </state>
+
+  <state id="GetInt">
+    <onentry>
+      <if cond="field_name == saved_field_name_0">
+        <ros_service_send_response name="/BlackboardComponent/GetInt">
+          <field name="value" expr="saved_value_0"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      <elseif cond="field_name == saved_field_name_1"/>
+        <ros_service_send_response name="/BlackboardComponent/GetInt">
+          <field name="value" expr="saved_value_1"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      <elseif cond="field_name == saved_field_name_2"/>
+        <ros_service_send_response name="/BlackboardComponent/GetInt">
+          <field name="value" expr="saved_value_2"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>      
+      <elseif cond="field_name == saved_field_name_3"/>
+        <ros_service_send_response name="/BlackboardComponent/GetInt">
+          <field name="value" expr="saved_value_3"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      <elseif cond="field_name == saved_field_name_4"/>
+        <ros_service_send_response name="/BlackboardComponent/GetInt">
+          <field name="value" expr="saved_value_4"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      <elseif cond="field_name == saved_field_name_5"/>
+        <ros_service_send_response name="/BlackboardComponent/GetInt">
+          <field name="value" expr="saved_value_5"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      <else />
+        <ros_service_send_response name="/BlackboardComponent/GetInt">
+          <field name="value" expr="0"/>
+          <field name="is_ok" expr="false"/>
+        </ros_service_send_response>
+      </if>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="SetInt">
+    <onentry>
+      <if cond="field_name == saved_field_name_1">
+        <ros_service_send_response name="/BlackboardComponent/SetInt">
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+        <assign location="saved_value_1" expr="value"/>
+      <elseif cond="field_name == saved_field_name_2"/>
+        <ros_service_send_response name="/BlackboardComponent/SetInt">
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+        <assign location="saved_value_2" expr="value"/>
+      <else />
+        <ros_service_send_response name="/BlackboardComponent/SetInt">
+          <field name="is_ok" expr="false"/>
+        </ros_service_send_response>
+      </if>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/components/NarrateComponent.scxml b/examples/UC3-museum-guide/high-level-models-full/components/NarrateComponent.scxml
new file mode 100644
index 0000000..4da4b20
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/components/NarrateComponent.scxml
@@ -0,0 +1,74 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml xmlns="http://www.w3.org/2005/07/scxml"
+       version="1.0"
+       initial="idle"
+       name="NarrateComponent"
+       datamodel="ecmascript">
+
+  <datamodel>
+    <!-- store the requested command text -->
+    <data id="temp_command"    type="string"  expr="''"/>
+    <!-- track whether the narration has completed -->
+    <data id="is_done"         type="boolean" expr="true"/>
+    <!-- track whether a stop was requested -->
+    <data id="stopped"         type="boolean" expr="false"/>
+  </datamodel>
+
+  <!-- ROS service servers -->
+  <ros_service_server service_name="/NarrateComponent/Narrate" type="narrate_interfaces/srv/Narrate"/>
+  <ros_service_server service_name="/NarrateComponent/IsDone" type="narrate_interfaces/srv/IsDone"/>
+  <ros_service_server service_name="/NarrateComponent/Stop" type="narrate_interfaces/srv/Stop"/>
+
+  <state id="idle">
+    <!-- handle a new narrate request -->
+    <ros_service_handle_request name="/NarrateComponent/Narrate" target="HandleNarrate">
+      <assign location="temp_command" expr="_req.command"/>
+    </ros_service_handle_request>
+
+    <!-- handle an is_done query -->
+    <ros_service_handle_request name="/NarrateComponent/IsDone" target="HandleIsDone"/>
+
+    <!-- handle a stop request -->
+    <ros_service_handle_request name="/NarrateComponent/Stop" target="HandleStop">
+      <assign location="stopped" expr="true"/>
+    </ros_service_handle_request>
+  </state>
+
+  <state id="HandleNarrate">
+    <onentry>
+      <!-- respond OK to the client -->
+      <ros_service_send_response name="/NarrateComponent/Narrate">
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+      <!-- reset flags for a new narration cycle -->
+      <assign location="is_done" expr="false"/>
+      <assign location="stopped" expr="false"/>
+      <!-- here you could <send> an internal event to start the thread/task -->
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="HandleIsDone">
+    <onentry>
+      <!-- reply with the current completion flag -->
+      <ros_service_send_response name="/NarrateComponent/IsDone">
+        <field name="is_ok"   expr="true"/>
+        <field name="is_done" expr="is_done"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="HandleStop">
+    <onentry>
+      <!-- acknowledge the stop command -->
+      <ros_service_send_response name="/NarrateComponent/Stop">
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+      <!-- set the stopped flag so the running task can observe it -->
+      <assign location="stopped" expr="true"/>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/components/NavigationComponent.scxml b/examples/UC3-museum-guide/high-level-models-full/components/NavigationComponent.scxml
new file mode 100644
index 0000000..2b96afe
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/components/NavigationComponent.scxml
@@ -0,0 +1,142 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml initial="idle" version="1.0" name="NavigationComponent" model_src="" xmlns="http://www.w3.org/2005/07/scxml">
+
+    <ros_action_server name="act_srv" action_name="/NavigationComponent/GoToPoi" type="navigation_interfaces_dummy/GoToPoi" />
+    <ros_time_rate name="control_timer_3" rate_hz="10.0" />
+
+    <!--The action thread is a self-contained scxml entry, that will be translated to n. FSMs, depending on n_threads.-->
+    <ros_action_thread name="act_srv" n_threads="1" initial="idle">
+        <datamodel>
+            <data id="GOAL_REACHED" type="int32" expr="4" />
+            <data id="ABORTED" type="int32" expr="5" />
+            <data id="MOVING" type="int32" expr="2" />
+            <data id="IDLE" type="int32" expr="0" />
+            <!-- ID of the thread instance -->
+            <!-- Goal fields -->
+            <data id="goal_id" type="int32" expr="0" />
+            <!-- <data id="poi_name" type="string" expr="" /> -->
+            <data id="poi_number" type="int32" expr="0" />
+            <!-- Exec fields -->
+            <data id="status" type="int32" expr="0" />
+            <data id="counter" type="int32" expr="0" />
+            <data id="counter_max" type="int32" expr="60" />
+        </datamodel>
+
+        <state id="idle">
+            <onentry>
+                <assign location="goal_id" expr="0" />
+                <assign location="status" expr="0" />
+                <!-- Signal meant to tell the server the thread is now available -->
+                <ros_action_thread_free name="act_srv" />
+            </onentry>
+            <ros_action_handle_thread_start name="act_srv" target="execute">
+                <assign location="goal_id" expr="_action.goal_id" />
+                <!-- <assign location="poi_name" expr="_goal.poi_name" /> -->
+                <assign location="poi_number" expr="_goal.poi_number" />
+            </ros_action_handle_thread_start>
+        </state>
+
+        <state id="execute">
+            <onentry>
+                <if cond="counter == counter_max">
+                    <assign location="status" expr="GOAL_REACHED" />
+                    <assign location="counter" expr="0" />
+                <else />
+                    <assign location="counter" expr="counter + 1" />
+                    <assign location="status" expr="MOVING" />
+                </if>
+            </onentry>
+            <!-- <ros_action_handle_cancel name="act_srv" target="idle" cond="_event.goal_id == goal_id" >
+                <assign location="counter" expr="0" />
+                <assign location="status" expr="ABORTED" />
+            </ros_action_handle_cancel> -->
+            <ros_rate_callback name="control_timer_3" target="execute">
+                <ros_action_feedback name="act_srv" goal_id="goal_id">
+                    <field name="status" expr="status" />
+                </ros_action_feedback>
+            </ros_rate_callback>
+            <transition cond="status == GOAL_REACHED" target="idle">
+                <ros_action_succeed name="act_srv" goal_id="goal_id">
+                    <field name="is_ok" expr="true" />
+                </ros_action_succeed>
+            </transition>
+            <!-- <transition target="execute">
+                <ros_action_feedback name="act_srv" goal_id="goal_id">
+                    <field name="status" expr="status" />
+                </ros_action_feedback>
+            </transition> -->
+        </state>
+    </ros_action_thread>
+
+    <datamodel>
+        <!-- Goal fields -->
+        <data id="goal_id" type="int32" expr="0" />
+        <!-- <data id="poi_name" type="string" expr="" /> -->
+        <data id="poi_number" type="int32" expr="0" />
+        <!-- Keep track of which thread is in use -->
+        <data id="thread_0_busy" type="bool" expr="false" />
+        <data id="thread_to_start" type="int32" expr="-1" />
+        <data id="thread_to_stop" type="int32" expr="-1" />
+    </datamodel>
+
+    <state id="idle">
+        <ros_action_handle_goal name="act_srv" target="check_goal">
+            <assign location="goal_id" expr="_action.goal_id" />
+            <!-- <assign location="poi_name" expr="_goal.poi_name" /> -->
+            <assign location="poi_number" expr="_goal.poi_number" />
+        </ros_action_handle_goal>
+        <!-- <ros_action_handle_cancel name="act_srv" target="cancel_goal">
+            <assign location="goal_id" expr="_action.goal_id" />
+        </ros_action_handle_cancel> -->
+        <ros_action_handle_thread_free name="act_srv" target="idle">
+            <if cond="_event.data.thread_id == 0">
+                <assign location="thread_0_busy" expr="false" />
+            </if>
+        </ros_action_handle_thread_free>
+    </state>
+
+    <state id="check_goal">
+        <onentry>
+            <if cond="thread_0_busy == false">
+                <assign location="thread_0_busy" expr="true" />
+                <assign location="thread_to_start" expr="0" />
+            <else />
+                <assign location="thread_to_start" expr="-1" />
+            </if>
+        </onentry>
+        <transition target="idle">
+            <if cond="thread_to_start >= 0">
+                <ros_action_accept_goal name="act_srv" goal_id="goal_id" />
+                <!-- The thread ID is appended as an additional param in the send event.
+                It will be handled on the thread side -->
+                <ros_action_start_thread name="act_srv" thread_id="thread_to_start" goal_id="goal_id">
+                    <!-- <field name="poi_name" expr="poi_name" /> -->
+                    <field name="poi_number" expr="poi_number" />
+                </ros_action_start_thread>
+            <else />
+                <ros_action_reject_goal name="act_srv" goal_id="goal_id" />
+            </if>
+        </transition>
+    </state>
+
+    <!-- <state id="cancel_goal">
+        <onentry>
+            <if cond="thread_0_busy == false">
+                <assign location="thread_0_busy" expr="true" />
+                <assign location="thread_to_stop" expr="-1" />
+            <else />
+                <assign location="thread_to_stop" expr="0" />
+            </if>
+        </onentry>
+        <transition target="idle">
+            <if cond="thread_to_stop >= 0">
+                <ros_action_cancel_goal name="act_srv" goal_id="goal_id" />
+                <ros_action_stop_thread name="act_srv" thread_id="thread_to_stop" goal_id="goal_id">
+                </ros_action_stop_thread>
+            <else />
+                <ros_action_reject_goal name="act_srv" goal_id="goal_id" />
+            </if>
+        </transition>
+    </state> -->
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/components/NotifyUserComponent.scxml b/examples/UC3-museum-guide/high-level-models-full/components/NotifyUserComponent.scxml
new file mode 100644
index 0000000..ee659e3
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/components/NotifyUserComponent.scxml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  version="1.0"
+  xmlns="..."
+  datamodel="ecmascript"
+  name="NotifyUserComponent"
+  initial="idle">
+
+	<datamodel>
+    <data id="alarm_active" type="bool" expr="false" />
+	</datamodel>
+
+  <ros_service_server service_name="/NotifyUserComponent/StartAlarm" type="notify_user_interfaces_dummy/StartAlarm"/>
+  <!-- <ros_service_server service_name="/NotifyUserComponent/StopAlarm" type="notify_user_interfaces_dummy/StopAlarm"/> -->
+  <ros_topic_publisher topic="/NotifyUserComponent/alarm" type="std_msgs/Bool" />
+
+  <state id="idle">
+    <onentry>
+      <ros_topic_publish name="/NotifyUserComponent/alarm">
+        <field name="data" expr="false" />
+      </ros_topic_publish>
+    </onentry>
+    <ros_service_handle_request name="/NotifyUserComponent/StartAlarm" target="active">
+      <assign location="alarm_active" expr="true"/>
+      <ros_service_send_response name="/NotifyUserComponent/StartAlarm">
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </ros_service_handle_request>
+    <ros_service_handle_request name="/NotifyUserComponent/StopAlarm" target="idle">
+      <assign location="alarm_active" expr="false"/>
+      <ros_service_send_response name="/NotifyUserComponent/StopAlarm">
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </ros_service_handle_request>
+  </state>
+
+  <state id="active">
+    <onentry>
+      <ros_topic_publish name="/NotifyUserComponent/alarm">
+        <field name="data" expr="true" />
+      </ros_topic_publish>
+    </onentry>
+    <ros_service_handle_request name="/NotifyUserComponent/StopAlarm" target="idle">
+      <assign location="alarm_active" expr="false"/>
+      <ros_service_send_response name="/NotifyUserComponent/StopAlarm">
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </ros_service_handle_request>
+    <ros_service_handle_request name="/NotifyUserComponent/StartAlarm" target="active">
+      <ros_service_send_response name="/NotifyUserComponent/StartAlarm">
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </ros_service_handle_request>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/components/PeopleDetectorFilterComponent.scxml b/examples/UC3-museum-guide/high-level-models-full/components/PeopleDetectorFilterComponent.scxml
new file mode 100644
index 0000000..16db203
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/components/PeopleDetectorFilterComponent.scxml
@@ -0,0 +1,34 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  version="1.0"
+  xmlns="..."
+  datamodel="ecmascript"
+  name="PeopleDetectorFilterComponent"
+  initial="idle">
+
+	<datamodel>
+		<data id="is_followed" type="bool" expr="true" />
+		<data id="counter" type="int32" expr="0" />
+	</datamodel>
+
+  <ros_topic_publisher topic="/PeopleDetectorFilterComponent/is_followed" type="std_msgs/Bool" />
+  <ros_time_rate name="control_timer_2" rate_hz="1.0" />
+
+  <state id="idle">
+    <onentry>
+      <assign location="is_followed" expr="(counter % 2) == 1"/>
+      <assign location="counter" expr="counter + 1"/>
+      <ros_topic_publish name="/PeopleDetectorFilterComponent/is_followed">
+        <!-- <script>
+          random = (Math.floor(Math.random() * 100)) % 2;
+          is_followed = random === 1;
+        </script> -->
+        <field name="data" expr="is_followed" />
+      </ros_topic_publish>
+  </onentry>
+  <ros_rate_callback name="control_timer_2" target="idle">
+  </ros_rate_callback>
+    <!-- <transition target="idle"/> -->
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/components/SchedulerComponent.scxml b/examples/UC3-museum-guide/high-level-models-full/components/SchedulerComponent.scxml
new file mode 100644
index 0000000..a242796
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/components/SchedulerComponent.scxml
@@ -0,0 +1,41 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  version="1.0"
+  xmlns="..."
+  datamodel="ecmascript"
+  name="SchedulerComponent"
+  initial="idle">
+
+	<datamodel>
+    <data id="current_poi_number" type="int32" expr="1" />
+		<!-- <data id="current_poi_name" type="string" expr="poi1" /> -->
+	</datamodel>
+
+  <ros_service_server service_name="/SchedulerComponent/GetCurrentPoi" type="scheduler_interfaces_dummy/GetCurrentPoi"/>
+  <ros_service_server service_name="/SchedulerComponent/SetPoi" type="scheduler_interfaces_dummy/SetPoi"/>
+  <ros_topic_publisher topic="/SchedulerComponent/PoiNumber" type="std_msgs/Int32" />
+
+  <state id="idle">
+    <onentry>
+      <ros_topic_publish name="/SchedulerComponent/PoiNumber">
+        <field name="data" expr="current_poi_number"/>
+      </ros_topic_publish>
+    </onentry>
+    <ros_service_handle_request name="/SchedulerComponent/GetCurrentPoi" target="idle">
+      <ros_service_send_response name="/SchedulerComponent/GetCurrentPoi">
+        <field name="poi_number" expr="current_poi_number"/>
+        <!-- <field name="poi_name" expr="current_poi_name"/> -->
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </ros_service_handle_request>
+
+    <ros_service_handle_request name="/SchedulerComponent/SetPoi" target="idle">
+      <assign location="current_poi_number" expr="_req.poi_number"/>
+      <ros_service_send_response name="/SchedulerComponent/SetPoi">
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </ros_service_handle_request>
+
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/components/TimerCheckForPeopleComponent.scxml b/examples/UC3-museum-guide/high-level-models-full/components/TimerCheckForPeopleComponent.scxml
new file mode 100644
index 0000000..c441e8c
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/components/TimerCheckForPeopleComponent.scxml
@@ -0,0 +1,46 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml xmlns="http://www.w3.org/2005/07/scxml"
+       version="1.0"
+       name="TimerCheckForPeopleComponent"
+       initial="idle"
+       datamodel="ecmascript">
+
+  <datamodel>
+    <!-- response fields -->
+    <data id="res_is_ok"       type="boolean" expr="false"/>
+    <data id="res_error_msg"   type="string"  expr="''"/>
+    <data id="res_is_active"   type="boolean" expr="false"/>
+  </datamodel>
+
+  <!-- ROS service servers -->
+  <ros_service_server service_name="/TimerCheckForPeopleComponent/StartTimer" type="timer_check_for_people_interfaces/srv/StartTimer"/>
+  <ros_service_server service_name="/TimerCheckForPeopleComponent/IsTimerActive" type="timer_check_for_people_interfaces/srv/IsTimerActive"/>
+  
+  <state id="idle">
+    <!-- handle StartTimer -->
+    <ros_service_handle_request name="/TimerCheckForPeopleComponent/StartTimer" target="HandleStartTimer"/>
+    <!-- handle IsTimerActive -->
+    <ros_service_handle_request name="/TimerCheckForPeopleComponent/IsTimerActive" target="HandleIsTimerActive"/>
+  </state>
+
+  <state id="HandleStartTimer">
+    <onentry>
+      <ros_service_send_response name="/TimerCheckForPeopleComponent/StartTimer">
+        <field name="is_ok"     expr="_result.is_ok"/>
+        <field name="error_msg" expr="_result.error_msg"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="HandleIsTimerActive">
+    <onentry>
+      <ros_service_send_response name="/TimerCheckForPeopleComponent/IsTimerActive">
+        <field name="is_active" expr="_result.is_active"/>
+        <field name="is_ok"     expr="_result.is_ok"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/components/TimerComponent.scxml b/examples/UC3-museum-guide/high-level-models-full/components/TimerComponent.scxml
new file mode 100644
index 0000000..edc244e
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/components/TimerComponent.scxml
@@ -0,0 +1,54 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml version="1.0" xmlns="..." datamodel="ecmascript" name="TimerComponent" initial="idle">
+
+	<datamodel>
+    <data id="timer_active" type="bool" expr="false" />
+    <!-- <data id="timer_duration" type="int32" expr="30000" /> --> <!-- Timer duration in milliseconds -->
+    <data id="counter" type="int32" expr="0" />
+    <data id="counter_max" type="int32" expr="30000" />
+	</datamodel>
+
+  <ros_service_server service_name="/TimerComponent/StartTimer" type="timer_interfaces_dummy/StartTimer"/>
+  <ros_service_server service_name="/TimerComponent/IsTimerActive" type="timer_interfaces_dummy/IsTimerActive"/>
+
+  <state id="idle">
+    <ros_service_handle_request name="/TimerComponent/StartTimer" target="active">
+      <assign location="timer_active" expr="true"/>
+      <ros_service_send_response name="/TimerComponent/StartTimer">
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </ros_service_handle_request>
+    <ros_service_handle_request name="/TimerComponent/IsTimerActive" target="idle">
+      <ros_service_send_response name="/TimerComponent/IsTimerActive">
+        <field name="is_ok" expr="true"/>
+        <field name="is_active" expr="timer_active"/>
+      </ros_service_send_response>
+    </ros_service_handle_request>
+  </state>
+
+  <state id="active">
+    <onentry>
+      <!-- <send event="timer_expired" delayexpr="timer_duration + 'ms'" /> -->
+      <assign location="counter" expr="counter+1"/>
+    </onentry>
+    <ros_service_handle_request name="/TimerComponent/IsTimerActive" target="active">
+      <ros_service_send_response name="/TimerComponent/IsTimerActive">
+        <field name="is_ok" expr="true"/>
+        <field name="is_active" expr="timer_active"/>
+      </ros_service_send_response>
+    </ros_service_handle_request>
+
+    <ros_service_handle_request name="/TimerComponent/StartTimer" target="active">
+      <ros_service_send_response name="/TimerComponent/StartTimer">
+        <field name="is_ok" expr="false"/> <!-- Can not start another timer if one is already active -->
+      </ros_service_send_response>
+    </ros_service_handle_request>
+    <!-- <transition event="timer_expired" target="idle">
+      <assign location="timer_active" expr="false"/>
+    </transition> -->
+    <transition cond="counter == counter_max" target="idle">
+      <assign location="timer_active" expr="false"/>
+      <assign location="counter" expr="0"/>
+    </transition>
+  </state>
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/components/TurnBackManagerComponent.scxml b/examples/UC3-museum-guide/high-level-models-full/components/TurnBackManagerComponent.scxml
new file mode 100644
index 0000000..0e5a3e2
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/components/TurnBackManagerComponent.scxml
@@ -0,0 +1,141 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml xmlns="http://www.w3.org/2005/07/scxml"
+       version="1.0"
+       name="TurnBackManagerComponent"
+       initial="idle"
+       datamodel="ecmascript">
+
+  <datamodel>
+    <!-- request fields -->
+    <data id="req_max"                 type="number"  expr="0"/>
+    <!-- response fields -->
+    <data id="res_is_ok"               type="boolean" expr="false"/>
+    <data id="res_error_msg"           type="string"  expr="''"/>
+    <data id="res_max"                 type="number"  expr="0"/>
+    <data id="res_counter"             type="number"  expr="0"/>
+    <data id="res_is_allowed"          type="boolean" expr="false"/>
+  </datamodel>
+
+  <!-- ROS service servers -->
+  <ros_service_server service_name="/TurnBackManagerComponent/SetMaxTurnBacks" type="turn_back_manager_interfaces/srv/SetMaxTurnBacks"/>
+  <ros_service_server service_name="/TurnBackManagerComponent/GetMaxTurnBacks" type="turn_back_manager_interfaces/srv/GetMaxTurnBacks"/>
+  <ros_service_server service_name="/TurnBackManagerComponent/SetMaxConsecutiveFalses" type="turn_back_manager_interfaces/srv/SetMaxConsecutiveFalses"/>
+  <ros_service_server service_name="/TurnBackManagerComponent/GetMaxConsecutiveFalses" type="turn_back_manager_interfaces/srv/GetMaxConsecutiveFalses"/>
+  <ros_service_server service_name="/TurnBackManagerComponent/ResetCounters" type="turn_back_manager_interfaces/srv/ResetCounters"/>
+  <ros_service_server service_name="/TurnBackManagerComponent/IncreaseTurnBacksCounter" type="turn_back_manager_interfaces/srv/IncreaseTurnBacksCounter"/>
+  <ros_service_server service_name="/TurnBackManagerComponent/GetTurnBacksCounter" type="turn_back_manager_interfaces/srv/GetTurnBacksCounter"/>
+  <ros_service_server service_name="/TurnBackManagerComponent/IsAllowedToContinue" type="turn_back_manager_interfaces/srv/IsAllowedToContinue"/>
+  <ros_service_server service_name="/TurnBackManagerComponent/IsAllowedToTurnBack" type="turn_back_manager_interfaces/srv/IsAllowedToTurnBack"/>
+
+  <state id="idle">
+    <!-- SetMaxTurnBacks -->
+    <ros_service_handle_request name="/TurnBackManagerComponent/SetMaxTurnBacks" target="HandleSetMaxTurnBacks">
+      <assign location="req_max" expr="_req.max"/>
+    </ros_service_handle_request>
+    <!-- GetMaxTurnBacks -->
+    <ros_service_handle_request name="/TurnBackManagerComponent/GetMaxTurnBacks" target="HandleGetMaxTurnBacks"/>
+    <!-- SetMaxConsecutiveFalses -->
+    <ros_service_handle_request name="/TurnBackManagerComponent/SetMaxConsecutiveFalses" target="HandleSetMaxConsecutiveFalses">
+      <assign location="req_max" expr="_req.max"/>
+    </ros_service_handle_request>
+    <!-- GetMaxConsecutiveFalses -->
+    <ros_service_handle_request name="/TurnBackManagerComponent/GetMaxConsecutiveFalses" target="HandleGetMaxConsecutiveFalses"/>
+    <!-- ResetCounters -->
+    <ros_service_handle_request name="/TurnBackManagerComponent/ResetCounters" target="HandleResetCounters"/>
+    <!-- IncreaseTurnBacksCounter -->
+    <ros_service_handle_request name="/TurnBackManagerComponent/IncreaseTurnBacksCounter" target="HandleIncreaseTurnBacksCounter"/>
+    <!-- GetTurnBacksCounter -->
+    <ros_service_handle_request name="/TurnBackManagerComponent/GetTurnBacksCounter" target="HandleGetTurnBacksCounter"/>
+    <!-- IsAllowedToContinue -->
+    <ros_service_handle_request name="/TurnBackManagerComponent/IsAllowedToContinue" target="HandleIsAllowedToContinue"/>
+    <!-- IsAllowedToTurnBack -->
+    <ros_service_handle_request name="/TurnBackManagerComponent/IsAllowedToTurnBack" target="HandleIsAllowedToTurnBack"/>
+  </state>
+
+  <state id="HandleSetMaxTurnBacks">
+    <onentry>
+      <ros_service_send_response name="/TurnBackManagerComponent/SetMaxTurnBacks">
+        <field name="is_ok" expr="_result.is_ok"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="HandleGetMaxTurnBacks">
+    <onentry>
+      <ros_service_send_response name="/TurnBackManagerComponent/GetMaxTurnBacks">
+        <field name="max"   expr="_result.max"/>
+        <field name="is_ok" expr="_result.is_ok"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="HandleSetMaxConsecutiveFalses">
+    <onentry>
+      <ros_service_send_response name="/TurnBackManagerComponent/SetMaxConsecutiveFalses">
+        <field name="is_ok" expr="_result.is_ok"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="HandleGetMaxConsecutiveFalses">
+    <onentry>
+      <ros_service_send_response name="/TurnBackManagerComponent/GetMaxConsecutiveFalses">
+        <field name="max"   expr="_result.max"/>
+        <field name="is_ok" expr="_result.is_ok"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="HandleResetCounters">
+    <onentry>
+      <ros_service_send_response name="/TurnBackManagerComponent/ResetCounters">
+        <field name="is_ok" expr="_result.is_ok"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="HandleIncreaseTurnBacksCounter">
+    <onentry>
+      <ros_service_send_response name="/TurnBackManagerComponent/IncreaseTurnBacksCounter">
+        <field name="is_ok" expr="_result.is_ok"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="HandleGetTurnBacksCounter">
+    <onentry>
+      <ros_service_send_response name="/TurnBackManagerComponent/GetTurnBacksCounter">
+        <field name="counter" expr="_result.counter"/>
+        <field name="is_ok"    expr="_result.is_ok"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="HandleIsAllowedToContinue">
+    <onentry>
+      <ros_service_send_response name="/TurnBackManagerComponent/IsAllowedToContinue">
+        <field name="is_allowed" expr="_result.is_allowed"/>
+        <field name="is_ok"      expr="_result.is_ok"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="HandleIsAllowedToTurnBack">
+    <onentry>
+      <ros_service_send_response name="/TurnBackManagerComponent/IsAllowedToTurnBack">
+        <field name="is_allowed" expr="_result.is_allowed"/>
+        <field name="is_ok"      expr="_result.is_ok"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/main.xml b/examples/UC3-museum-guide/high-level-models-full/main.xml
new file mode 100644
index 0000000..fb9c797
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/main.xml
@@ -0,0 +1,95 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<convince_mc_tc>
+    <mc_parameters>
+        <max_time value="100" unit="s" />
+        <bt_tick_rate value="10.0" />
+        <bt_tick_if_not_running value="true" />
+    </mc_parameters>
+
+    <behavior_tree>
+        <input type="bt.cpp-xml" src="./bt_policies/Policy.xml" />
+        <input type="bt-plugin-ros-scxml" src="./bt_plugins/ROS2Condition.scxml" />
+        <input type="bt-plugin-ros-scxml" src="./bt_plugins/ROS2Action.scxml" />
+    </behavior_tree>
+
+
+
+    <node_models>
+        <input type="ros-scxml" src="./components/AllowedToMoveComponent.scxml" />
+        <input type="ros-scxml" src="./components/BatteryComponent.scxml" />
+        <input type="ros-scxml" src="./components/BlackboardComponent.scxml" />
+        <input type="ros-scxml" src="./components/CheckNetworkComponent.scxml" />
+        <!-- <input type="ros-scxml" src="./components/ManagePeopleDetectorComponent.scxml" /> -->
+        <input type="ros-scxml" src="./components/NarrateComponent.scxml" />
+        <input type="ros-scxml" src="./components/NavigationComponent.scxml" />
+        <input type="ros-scxml" src="./components/NotifyUserComponent.scxml" />
+        <input type="ros-scxml" src="./components/PeopleDetectorFilterComponent.scxml" />
+        <input type="ros-scxml" src="./components/SchedulerComponent.scxml" />
+        <input type="ros-scxml" src="./components/TimerCheckForPeopleComponent.scxml" />
+        <input type="ros-scxml" src="./components/TimerComponent.scxml" />
+        <input type="ros-scxml" src="./components/TurnBackManagerComponent.scxml" />
+
+
+
+        <input type="ros-scxml" id="AlarmBatteryLowSkill" src="../Skills/AlarmBatteryLowSkill.scxml" />
+        <input type="ros-scxml" id="ArePeoplePresentSkill" src="../Skills/ArePeoplePresentSkill.scxml" />
+        <input type="ros-scxml" id="BatteryChargingSkill" src="../Skills/BatteryChargingSkill.scxml" />
+        <input type="ros-scxml" id="BatteryLevelSkill" src="../Skills/BatteryLevelSkill.scxml" />
+        <input type="ros-scxml" id="CheckIfStartSkill" src="../Skills/CheckIfStartSkill.scxml" />
+        <input type="ros-scxml" id="CheckIfFirstPoiSkill" src="../Skills/CheckIfFirstPoiSkill.scxml" />
+        <input type="ros-scxml" id="GoToChargingStationSkill" src="../Skills/GoToChargingStationSkill.scxml" />
+        <input type="ros-scxml" id="GoToPoiActionSkill" src="../Skills/GoToPoiActionSkill.scxml" />
+        <input type="ros-scxml" id="IsAllowedToMoveSkill" src="../Skills/IsAllowedToMoveSkill.scxml" />
+        <input type="ros-scxml" id="IsAllowedToTurnBackSkill" src="../Skills/IsAllowedToTurnBackSkill.scxml" />
+        <input type="ros-scxml" id="IsAtChargingStationSkill" src="../Skills/IsAtChargingStationSkill.scxml" />
+        <input type="ros-scxml" id="IsAtCurrentPoiSkill" src="../Skills/IsAtCurrentPoiSkill.scxml" />
+        <input type="ros-scxml" id="IsCheckingForPeopleSkill" src="../Skills/IsCheckingForPeopleSkill.scxml" />
+        <input type="ros-scxml" id="IsMaximumDurationSkill" src="../Skills/IsMaximumDurationSkill.scxml" />
+        <input type="ros-scxml" id="IsMuseumClosingSkill" src="../Skills/IsMuseumClosingSkill.scxml" />
+        <input type="ros-scxml" id="IsPoiDone0Skill" src="../Skills/IsPoiDone0Skill.scxml" />
+        <input type="ros-scxml" id="IsPoiDone1Skill" src="../Skills/IsPoiDone1Skill.scxml" />
+        <input type="ros-scxml" id="IsPoiDone2Skill" src="../Skills/IsPoiDone2Skill.scxml" />
+        <input type="ros-scxml" id="IsPoiDone3Skill" src="../Skills/IsPoiDone3Skill.scxml" />
+        <input type="ros-scxml" id="IsPoiDone4Skill" src="../Skills/IsPoiDone4Skill.scxml" />
+        <input type="ros-scxml" id="IsPoiDone5Skill" src="../Skills/IsPoiDone5Skill.scxml" />
+        <input type="ros-scxml" id="IsWarningDurationSkill" src="../Skills/IsWarningDurationSkill.scxml" />
+        <input type="ros-scxml" id="NarratePoiSkill" src="../Skills/NarratePoiSkill.scxml" />
+        <!-- <input type="ros-scxml" id="NetworkStatusChangeSkill" src="../Skills/NetworkStatusChangeSkill.scxml" />
+        <input type="ros-scxml" id="NetworkUpSkill" src="../Skills/NetworkUpSkill.scxml" /> -->
+        <input type="ros-scxml" id="NotifyChargedSkill" src="../Skills/NotifyChargedSkill.scxml" />
+        <input type="ros-scxml" id="PeopleLeftSkill" src="../Skills/PeopleLeftSkill.scxml" />
+        <input type="ros-scxml" id="ResetCountersSkill" src="../Skills/ResetCounterSkill.scxml" />
+        <input type="ros-scxml" id="ResetTourAndFlagsSkill" src="../Skills/ResetTourAndFlagSkill.scxml" />
+        <input type="ros-scxml" id="ResetTourSkill" src="../Skills/ResetTourSkill.scxml" />
+        <input type="ros-scxml" id="RunTimerSkill" src="../Skills/RunTimerSkill.scxml" />
+        <input type="ros-scxml" id="SayByeSkill" src="../Skills/SayByeSkill.scxml" />
+        <input type="ros-scxml" id="SayDurationExceededSkill" src="../Skills/SayDurationExceededSkill.scxml" />
+        <input type="ros-scxml" id="SayFollowMeSkill" src="../Skills/SayFollowMeSkill.scxml" />
+        <input type="ros-scxml" id="SayPeopleLeftSkill" src="../Skills/SayPeopleLeftSkill.scxml" />
+        <input type="ros-scxml" id="SayWarningDurationSkill" src="../Skills/SayWarningDurationSkill.scxml" />
+        <input type="ros-scxml" id="SayWhileNavigatingSkill" src="../Skills/SayWhileNavigatingSkill.scxml" />
+        <input type="ros-scxml" id="SetCurrentPoiDoneSkill" src="../Skills/SetCurrentPoiDoneSkill.scxml" />
+        <input type="ros-scxml" id="SetNavigationPositionSkill" src="../Skills/SetNavigationPositionSkill.scxml" />
+        <input type="ros-scxml" id="SetNotTurningSkill" src="../Skills/SetNotTurningSkill.scxml" />
+        <input type="ros-scxml" id="SetPoiDone0Skill" src="../Skills/SetPoiDone0Skill.scxml" />
+        <input type="ros-scxml" id="SetPoiDone1Skill" src="../Skills/SetPoiDone1Skill.scxml" />
+        <input type="ros-scxml" id="SetPoiDone2Skill" src="../Skills/SetPoiDone2Skill.scxml" />
+        <input type="ros-scxml" id="SetPoiDone3Skill" src="../Skills/SetPoiDone3Skill.scxml" />
+        <input type="ros-scxml" id="SetPoiDone4Skill" src="../Skills/SetPoiDone4Skill.scxml" />
+        <input type="ros-scxml" id="SetPoiDone5Skill" src="../Skills/SetPoiDone5Skill.scxml" />
+        <input type="ros-scxml" id="SetTurnedSkill" src="../Skills/SetTurnedSkill.scxml" />
+        <input type="ros-scxml" id="SetTurningSkill" src="../Skills/SetTurningSkill.scxml" />
+        <!-- <input type="ros-scxml" id="StartServiceSkill" src="../Skills/StartServiceSkill.scxml" /> -->
+        <input type="ros-scxml" id="StartTourTimerSkill" src="../Skills/StartTourAndTimerSkill.scxml" />
+        <input type="ros-scxml" id="StopAndTurnBackSkill" src="../Skills/StopAndTurnBackSkill.scxml" />
+        <!-- <input type="ros-scxml" id="StopServiceSkill" src="../Skills/StopServiceSkill.scxml" /> -->
+        <input type="ros-scxml" id="StopTourTimerSkill" src="../Skills/StopTourTimerSkill.scxml" />
+        <input type="ros-scxml" id="VisitorsFollowingRobotSkill" src="../Skills/VisitorsFollowingRobotSkill.scxml" />
+        <input type="ros-scxml" id="WaitSkill" src="../Skills/WaitSkill.scxml" />
+    </node_models>
+
+    <properties>
+        <!-- <input type="xml" src="./Properties/properties.xml" /> -->
+        <input type="jani" src="./properties/properties.jani" />
+    </properties>
+</convince_mc_tc>
diff --git a/examples/UC3-museum-guide/high-level-models-full/properties/properties.jani b/examples/UC3-museum-guide/high-level-models-full/properties/properties.jani
new file mode 100644
index 0000000..9ef1d89
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/properties/properties.jani
@@ -0,0 +1,137 @@
+{
+    "properties": [
+        {
+            "name": "tree_success",
+            "expression": {
+                "op": "filter",
+                "fun": "values",
+                "values": {
+                "op": "Pmin",
+                "exp": {
+                    "op": "F",
+                    "exp": {
+                    "comment": "1: SUCCESS, 2: FAILURE, 3: RUNNING",
+                    "op": "=",
+                    "left": "bt_1000_response__status",
+                    "right": 1
+                    }
+                }
+                },
+                "states": {
+                "op": "initial"
+                }
+            }
+        },
+        {
+            "name": "battery_alarm_response_1",
+            "expression": {
+                "op": "filter",
+                "fun": "values",
+                "values": {
+                "op": "Pmin",
+                "exp": {
+                    "op": "G",
+                    "exp": {
+                    "op": "⇒",
+                    "left": "topic_NotifyUserComponent__alarm_msg__ros_fields__data",
+                    "right": {
+                        "op": "≤",
+                        "left": "topic_BatteryComponent__battery_level_msg__ros_fields__data",
+                        "right": 30
+                    }
+                    }
+                }
+                },
+                "states": {
+                "op": "initial"
+                }
+            }
+        },
+        {
+            "name": "battery_alarm_response_2",
+            "expression": {
+                "op": "filter",
+                "fun": "values",
+                "values": {
+                "op": "Pmin",
+                "exp": {
+                    "op": "U",
+                    "left": {
+                        "op": "∨",
+                        "left": {
+                            "op": "¬",
+                            "exp": "topic_BatteryComponent__battery_level_msg.valid"
+                        },
+                        "right": {
+                            "op": "≥",
+                            "left": "topic_BatteryComponent__battery_level_msg__ros_fields__data",
+                            "right": 25
+                        }
+                    },
+                    "right": {
+                        "op": "∧",
+                        "left": "topic_NotifyUserComponent__alarm_msg__ros_fields__data",
+                        "right": "topic_NotifyUserComponent__alarm_msg.valid"
+                    }
+                }
+                },
+                "states": {
+                "op": "initial"
+                }
+            }
+        },
+        {
+            "name": "no_alarm_if_battery_high",
+            "expression": {
+                "op": "filter",
+                "fun": "values",
+                "values": {
+                "op": "Pmin",
+                "exp": {
+                    "op": "G",
+                    "exp": {
+                    "op": "⇒",
+                    "left": {
+                        "op": ">",
+                        "left": "topic_BatteryComponent__battery_level_msg__ros_fields__data",
+                        "right": 30
+                    }, 
+                    "right": {
+                        "op": "¬",
+                        "exp": "topic_NotifyUserComponent__alarm_msg__ros_fields__data"
+                    }
+                    }
+                }
+                },
+                "states": {
+                "op": "initial"
+                }
+            }
+        },
+        {
+            "name": "battery_recurrence",
+            "expression": {
+                "op": "filter",
+                "fun": "values",
+                "values": {
+                "op": "Pmin",
+                "exp": {
+                    "op": "G",
+                    "exp": {
+                    "op": "⇒",
+                    "left": {
+                        "op": ">",
+                        "left": "topic_clock_msg__ros_fields__sec",
+                        "right": 50
+                    }, 
+                    "right": "topic_BatteryComponent__battery_level_msg.valid"
+                    }
+                }
+                },
+                "states": {
+                "op": "initial"
+                }
+            }
+        }
+    ]
+}
diff --git a/examples/UC3-museum-guide/high-level-models-full/properties/properties.xml b/examples/UC3-museum-guide/high-level-models-full/properties/properties.xml
new file mode 100644
index 0000000..1c004ca
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/properties/properties.xml
@@ -0,0 +1,42 @@
+<?xml version="1.1" encoding="UTF-8" ?>
+<properties>
+  <ports>
+    <!-- NOTE: Each ROS communication protocol gives rise to a type of port -->
+    <!-- NOTE: Each element inside a port defines a new state or event variable -->
+    <ros_topic topic="/BatteryComponent/battery_level" type="std_msgs/Int32">
+      <!-- Battery level -->
+      <!-- NOTE: State variables need a default value to be initialized when the system starts. Each successive communication updates their value. -->
+      <state_var id="battery_level" type="int32" field="data" expr="100"/>
+      <!-- Battery level published (event) -->
+      <!-- NOTE: Event variables are Boolean variables that are only true in the instant the communication happens, false otherwise. -->
+      <event_var id="battery_level_published"/>
+    </ros_topic>
+
+    <!-- NOTE: Service ports must specify if they are for the request or respond event -->
+    <ros_service service_name="/NotifyUserComponent/StartAlarm" type="notify_user_interfaces_dummy/StartAlarm" event="request">
+      <!-- Alarm (event) -->
+      <event_var id="alarm"/>
+    </ros_service>
+
+    <!-- TODO: Support ROS action ports -->
+  </ports>
+
+  <!-- NOTE: Property specification patterns as in [ps-patterns.wikidot.com] -->
+  <!-- TODO: Make a list of all the patterns we need and their respective xml formats -->
+  <guarantees>
+    <property id="battery_alarm_response_1" pattern="precedence" event="alarm" after="battery_level <= 30"/>
+    <!-- NOTE: Optionally properties can be expressed explicitly in a given logic -->
+    <!-- <property id="battery_alarm_response_1" logic="pmtl" expr="{ alarm: true } -> P { battery_level <= 30 }"/> -->
+    <property id="battery_alarm_response_2" pattern="response" event="battery_level <= 30" response="alarm" within="6200" time_unit="ms" />
+    <property id="no_alarm_if_battery_high" pattern="absence" event="alarm" before="battery_level == 30"/>
+    <property id="battery_recurrence" pattern="recurrence" variant="globally" event="battery_level_published" within="3" time_unit="s"/>
+    <!-- NOTE: Optionally properties can be expressed explicitly in a given logic -->
+    <!-- NOTE: In this case, though, times have to be specified according to some format - here we use the "short" time units -->
+    <!-- <property id="battery_recurrence" logic="pmtl" expr="(P[5s:] true) -> P[:3s] { battery_level_published: true }"/> -->
+  </guarantees>
+
+  <assumes>
+    <!-- NOTE: Same format as guarantees -->
+    <!-- <property ... /> -->
+  </assumes>
+</properties>
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/allowed_to_move_interfaces/CMakeLists.txt b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/allowed_to_move_interfaces/CMakeLists.txt
new file mode 100644
index 0000000..6691291
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/allowed_to_move_interfaces/CMakeLists.txt
@@ -0,0 +1,33 @@
+cmake_minimum_required(VERSION 3.8)
+project(allowed_to_move_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+rosidl_generate_interfaces(allowed_to_move_interfaces
+"srv/IsAllowedToMove.srv"
+"srv/SetAllowedToMove.srv"
+LIBRARY_NAME allowed_to_move_interfaces 
+)
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/allowed_to_move_interfaces/package.xml b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/allowed_to_move_interfaces/package.xml
new file mode 100644
index 0000000..9f9cf17
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/allowed_to_move_interfaces/package.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>allowed_to_move_interfaces</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="stefano.bernagozzi@iit.it">ste</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/allowed_to_move_interfaces/srv/IsAllowedToMove.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/allowed_to_move_interfaces/srv/IsAllowedToMove.srv
new file mode 100644
index 0000000..7113036
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/allowed_to_move_interfaces/srv/IsAllowedToMove.srv
@@ -0,0 +1,4 @@
+---
+bool is_ok
+bool is_allowed_to_move
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/allowed_to_move_interfaces/srv/SetAllowedToMove.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/allowed_to_move_interfaces/srv/SetAllowedToMove.srv
new file mode 100644
index 0000000..0bcd5bc
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/allowed_to_move_interfaces/srv/SetAllowedToMove.srv
@@ -0,0 +1,4 @@
+bool is_allowed_to_move
+---
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/CMakeLists.txt b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/CMakeLists.txt
new file mode 100644
index 0000000..2c38856
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/CMakeLists.txt
@@ -0,0 +1,41 @@
+cmake_minimum_required(VERSION 3.8)
+project(blackboard_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(sensor_msgs REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+rosidl_generate_interfaces(blackboard_interfaces
+"srv/GetDoubleBlackboard.srv"
+"srv/SetDoubleBlackboard.srv"
+"srv/SetIntBlackboard.srv"
+"srv/GetIntBlackboard.srv"
+"srv/GetStringBlackboard.srv"
+"srv/SetStringBlackboard.srv"
+"srv/SetAllIntsWithPrefixBlackboard.srv"
+DEPENDENCIES sensor_msgs
+LIBRARY_NAME blackboard_interfaces 
+)
+ament_export_dependencies( sensor_msgs)
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/package.xml b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/package.xml
new file mode 100644
index 0000000..fc739d0
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/package.xml
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>blackboard_interfaces</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="stefano.bernagozzi@iit.it">ste</maintainer>
+  <license>TODO: License declaration</license>
+  <depend>sensor_msgs</depend>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/srv/GetDoubleBlackboard.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/srv/GetDoubleBlackboard.srv
new file mode 100644
index 0000000..0f5f32c
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/srv/GetDoubleBlackboard.srv
@@ -0,0 +1,5 @@
+string field_name
+---
+float64 value 
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/srv/GetIntBlackboard.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/srv/GetIntBlackboard.srv
new file mode 100644
index 0000000..1a14bcc
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/srv/GetIntBlackboard.srv
@@ -0,0 +1,5 @@
+string field_name
+---
+int32 value 
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/srv/GetStringBlackboard.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/srv/GetStringBlackboard.srv
new file mode 100644
index 0000000..b37d7bd
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/srv/GetStringBlackboard.srv
@@ -0,0 +1,5 @@
+string field_name
+---
+string value 
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/srv/SetAllIntsWithPrefixBlackboard.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/srv/SetAllIntsWithPrefixBlackboard.srv
new file mode 100644
index 0000000..5c22c45
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/srv/SetAllIntsWithPrefixBlackboard.srv
@@ -0,0 +1,5 @@
+string field_name
+int32 value 
+---
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/srv/SetDoubleBlackboard.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/srv/SetDoubleBlackboard.srv
new file mode 100644
index 0000000..e089996
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/srv/SetDoubleBlackboard.srv
@@ -0,0 +1,5 @@
+string field_name
+float64 value 
+---
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/srv/SetIntBlackboard.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/srv/SetIntBlackboard.srv
new file mode 100644
index 0000000..5c22c45
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/srv/SetIntBlackboard.srv
@@ -0,0 +1,5 @@
+string field_name
+int32 value 
+---
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/srv/SetStringBlackboard.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/srv/SetStringBlackboard.srv
new file mode 100644
index 0000000..7f154f6
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/blackboard_interfaces/srv/SetStringBlackboard.srv
@@ -0,0 +1,5 @@
+string field_name
+string value 
+---
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/bt_interfaces_dummy/CMakeLists.txt b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/bt_interfaces_dummy/CMakeLists.txt
new file mode 100644
index 0000000..d5c0407
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/bt_interfaces_dummy/CMakeLists.txt
@@ -0,0 +1,37 @@
+cmake_minimum_required(VERSION 3.8)
+project(bt_interfaces_dummy)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+"srv/TickAction.srv"
+"msg/ActionResponse.msg"
+"msg/ConditionResponse.msg"
+"srv/HaltAction.srv"
+"srv/TickCondition.srv"
+"srv/ReloadTree.srv"
+LIBRARY_NAME ${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/bt_interfaces_dummy/msg/ActionResponse.msg b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/bt_interfaces_dummy/msg/ActionResponse.msg
new file mode 100644
index 0000000..02a2b3e
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/bt_interfaces_dummy/msg/ActionResponse.msg
@@ -0,0 +1,4 @@
+int8 SKILL_SUCCESS=0
+int8 SKILL_FAILURE=1
+int8 SKILL_RUNNING=2
+int8 status
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/bt_interfaces_dummy/msg/ConditionResponse.msg b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/bt_interfaces_dummy/msg/ConditionResponse.msg
new file mode 100644
index 0000000..23894c4
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/bt_interfaces_dummy/msg/ConditionResponse.msg
@@ -0,0 +1,3 @@
+int8 SKILL_SUCCESS=0
+int8 SKILL_FAILURE=1
+int8 status
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/bt_interfaces_dummy/package.xml b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/bt_interfaces_dummy/package.xml
new file mode 100644
index 0000000..8ceb38e
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/bt_interfaces_dummy/package.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>bt_interfaces_dummy</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="stefano.bernagozzi@iit.it">ste</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/bt_interfaces_dummy/srv/HaltAction.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/bt_interfaces_dummy/srv/HaltAction.srv
new file mode 100644
index 0000000..22724de
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/bt_interfaces_dummy/srv/HaltAction.srv
@@ -0,0 +1,2 @@
+---
+bool is_ok
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/bt_interfaces_dummy/srv/ReloadTree.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/bt_interfaces_dummy/srv/ReloadTree.srv
new file mode 100644
index 0000000..6b2fc3b
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/bt_interfaces_dummy/srv/ReloadTree.srv
@@ -0,0 +1,3 @@
+---
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/bt_interfaces_dummy/srv/TickAction.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/bt_interfaces_dummy/srv/TickAction.srv
new file mode 100644
index 0000000..dc9eed6
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/bt_interfaces_dummy/srv/TickAction.srv
@@ -0,0 +1,3 @@
+---
+int8 status
+bool is_ok
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/bt_interfaces_dummy/srv/TickCondition.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/bt_interfaces_dummy/srv/TickCondition.srv
new file mode 100644
index 0000000..dc9eed6
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/bt_interfaces_dummy/srv/TickCondition.srv
@@ -0,0 +1,3 @@
+---
+int8 status
+bool is_ok
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/hardware_monitor_interfaces/CMakeLists.txt b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/hardware_monitor_interfaces/CMakeLists.txt
new file mode 100644
index 0000000..7dd4b57
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/hardware_monitor_interfaces/CMakeLists.txt
@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.8)
+project(hardware_monitor_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "srv/HasFaults.srv"
+)
+
+ament_package()
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/hardware_monitor_interfaces/package.xml b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/hardware_monitor_interfaces/package.xml
new file mode 100644
index 0000000..74ec5f8
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/hardware_monitor_interfaces/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>hardware_monitor_interfaces</name>
+  <version>0.0.0</version>
+  <description>Dummy interfaces for hardware monitor component</description>
+  <maintainer email="user@todo.todo">user</maintainer>
+  <license>TODO</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/hardware_monitor_interfaces/srv/HasFaults.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/hardware_monitor_interfaces/srv/HasFaults.srv
new file mode 100644
index 0000000..a568c85
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/hardware_monitor_interfaces/srv/HasFaults.srv
@@ -0,0 +1,5 @@
+# Request
+---
+# Response
+bool has_fault   # true se c'è almeno un fault hardware
+bool is_ok       # true se la chiamata è andata a buon fine
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/log_interfaces/CMakeLists.txt b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/log_interfaces/CMakeLists.txt
new file mode 100644
index 0000000..246895c
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/log_interfaces/CMakeLists.txt
@@ -0,0 +1,37 @@
+cmake_minimum_required(VERSION 3.8)
+set (CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+ 
+project(log_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+rosidl_generate_interfaces(log_interfaces
+"srv/AddToLog.srv"
+LIBRARY_NAME log_interfaces 
+)
+ament_export_dependencies( sensor_msgs)
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/log_interfaces/package.xml b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/log_interfaces/package.xml
new file mode 100644
index 0000000..6235a89
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/log_interfaces/package.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>log_interfaces</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="sofia.faraci@iit.it">sf</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/log_interfaces/srv/AddToLog.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/log_interfaces/srv/AddToLog.srv
new file mode 100644
index 0000000..cb5c5ec
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/log_interfaces/srv/AddToLog.srv
@@ -0,0 +1,4 @@
+string text
+---
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/manage_service_interfaces/CMakeLists.txt b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/manage_service_interfaces/CMakeLists.txt
new file mode 100644
index 0000000..0d6dea5
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/manage_service_interfaces/CMakeLists.txt
@@ -0,0 +1,33 @@
+cmake_minimum_required(VERSION 3.8)
+project(manage_service_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+rosidl_generate_interfaces(manage_service_interfaces
+"srv/StartService.srv"
+"srv/StopService.srv"
+LIBRARY_NAME manage_service_interfaces 
+)
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/manage_service_interfaces/package.xml b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/manage_service_interfaces/package.xml
new file mode 100644
index 0000000..7bd9a56
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/manage_service_interfaces/package.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>manage_service_interfaces</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="stefano.bernagozzi@iit.it">ste</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/manage_service_interfaces/srv/StartService.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/manage_service_interfaces/srv/StartService.srv
new file mode 100644
index 0000000..6b2fc3b
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/manage_service_interfaces/srv/StartService.srv
@@ -0,0 +1,3 @@
+---
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/manage_service_interfaces/srv/StopService.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/manage_service_interfaces/srv/StopService.srv
new file mode 100644
index 0000000..6b2fc3b
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/manage_service_interfaces/srv/StopService.srv
@@ -0,0 +1,3 @@
+---
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/narrate_interfaces/CMakeLists.txt b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/narrate_interfaces/CMakeLists.txt
new file mode 100644
index 0000000..ccfa83d
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/narrate_interfaces/CMakeLists.txt
@@ -0,0 +1,34 @@
+cmake_minimum_required(VERSION 3.8)
+project(narrate_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+rosidl_generate_interfaces(narrate_interfaces
+"srv/Narrate.srv"
+"srv/IsDone.srv"
+"srv/Stop.srv"
+LIBRARY_NAME narrate_interfaces 
+)
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/narrate_interfaces/package.xml b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/narrate_interfaces/package.xml
new file mode 100644
index 0000000..c43884a
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/narrate_interfaces/package.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>narrate_interfaces</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="stefano.bernagozzi@iit.it">ste</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/narrate_interfaces/srv/IsDone.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/narrate_interfaces/srv/IsDone.srv
new file mode 100644
index 0000000..9990326
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/narrate_interfaces/srv/IsDone.srv
@@ -0,0 +1,4 @@
+---
+bool is_done
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/narrate_interfaces/srv/Narrate.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/narrate_interfaces/srv/Narrate.srv
new file mode 100644
index 0000000..26d340f
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/narrate_interfaces/srv/Narrate.srv
@@ -0,0 +1,4 @@
+string command
+---
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/narrate_interfaces/srv/Stop.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/narrate_interfaces/srv/Stop.srv
new file mode 100644
index 0000000..6b2fc3b
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/narrate_interfaces/srv/Stop.srv
@@ -0,0 +1,3 @@
+---
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/CMakeLists.txt b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/CMakeLists.txt
new file mode 100644
index 0000000..6772a99
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/CMakeLists.txt
@@ -0,0 +1,44 @@
+cmake_minimum_required(VERSION 3.8)
+set (CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+project(navigation_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(sensor_msgs REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+rosidl_generate_interfaces(navigation_interfaces
+"srv/GoToPoiByName.srv"
+"srv/GetNavigationStatus.srv"
+"msg/NavigationStatus.msg"
+"srv/StopNavigation.srv"
+"srv/CheckNearToPoi.srv"
+"srv/TurnBack.srv"
+"action/GoToPoi.action"
+DEPENDENCIES sensor_msgs
+LIBRARY_NAME navigation_interfaces 
+)
+ament_export_dependencies( sensor_msgs)
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/action/GoToPoi.action b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/action/GoToPoi.action
new file mode 100644
index 0000000..94e328c
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/action/GoToPoi.action
@@ -0,0 +1,6 @@
+string poi_name
+---
+bool is_ok
+string error_msg
+---
+NavigationStatus status
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/msg/NavigationStatus.msg b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/msg/NavigationStatus.msg
new file mode 100644
index 0000000..ad885ab
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/msg/NavigationStatus.msg
@@ -0,0 +1,11 @@
+int8 NAVIGATION_STATUS_IDLE=0
+int8 NAVIGATION_STATUS_PREPARING_BEFORE_MOVE=1
+int8 NAVIGATION_STATUS_MOVING=2
+int8 NAVIGATION_STATUS_WAITING_OBSTACLE=3
+int8 NAVIGATION_STATUS_GOAL_REACHED=4
+int8 NAVIGATION_STATUS_ABORTED=5
+int8 NAVIGATION_STATUS_FAILING=6
+int8 NAVIGATION_STATUS_PAUSED=7
+int8 NAVIGATION_STATUS_THINKING=8
+int8 NAVIGATION_STATUS_ERROR=9
+int8 status
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/package.xml b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/package.xml
new file mode 100644
index 0000000..7a4f3a4
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/package.xml
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>navigation_interfaces</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="stefano.bernagozzi@iit.it">ste</maintainer>
+  <license>TODO: License declaration</license>
+  <depend>sensor_msgs</depend>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/srv/CheckNearToPoi.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/srv/CheckNearToPoi.srv
new file mode 100644
index 0000000..ac1dcd6
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/srv/CheckNearToPoi.srv
@@ -0,0 +1,7 @@
+string poi_name
+float64 distance
+float64 angle
+---
+bool is_near
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/srv/GetNavigationStatus.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/srv/GetNavigationStatus.srv
new file mode 100644
index 0000000..5a51af4
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/srv/GetNavigationStatus.srv
@@ -0,0 +1,5 @@
+---
+NavigationStatus status
+string current_goal
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/srv/GoToPoiByName.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/srv/GoToPoiByName.srv
new file mode 100644
index 0000000..e142bb4
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/srv/GoToPoiByName.srv
@@ -0,0 +1,4 @@
+string poi_name
+---
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/srv/StopNavigation.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/srv/StopNavigation.srv
new file mode 100644
index 0000000..6b2fc3b
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/srv/StopNavigation.srv
@@ -0,0 +1,3 @@
+---
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/srv/TurnBack.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/srv/TurnBack.srv
new file mode 100644
index 0000000..6b2fc3b
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/navigation_interfaces/srv/TurnBack.srv
@@ -0,0 +1,3 @@
+---
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/notify_user_interfaces/CMakeLists.txt b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/notify_user_interfaces/CMakeLists.txt
new file mode 100644
index 0000000..c613381
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/notify_user_interfaces/CMakeLists.txt
@@ -0,0 +1,34 @@
+cmake_minimum_required(VERSION 3.8)
+project(notify_user_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+rosidl_generate_interfaces(notify_user_interfaces
+"srv/NotifyUserCharged.srv"
+"srv/StartAlarm.srv"
+"srv/StopAlarm.srv"
+LIBRARY_NAME notify_user_interfaces 
+)
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/notify_user_interfaces/package.xml b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/notify_user_interfaces/package.xml
new file mode 100644
index 0000000..17585a3
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/notify_user_interfaces/package.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>notify_user_interfaces</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="stefano.bernagozzi@iit.it">ste</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/notify_user_interfaces/srv/NotifyUserCharged.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/notify_user_interfaces/srv/NotifyUserCharged.srv
new file mode 100644
index 0000000..6b2fc3b
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/notify_user_interfaces/srv/NotifyUserCharged.srv
@@ -0,0 +1,3 @@
+---
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/notify_user_interfaces/srv/StartAlarm.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/notify_user_interfaces/srv/StartAlarm.srv
new file mode 100644
index 0000000..6b2fc3b
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/notify_user_interfaces/srv/StartAlarm.srv
@@ -0,0 +1,3 @@
+---
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/notify_user_interfaces/srv/StopAlarm.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/notify_user_interfaces/srv/StopAlarm.srv
new file mode 100644
index 0000000..6b2fc3b
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/notify_user_interfaces/srv/StopAlarm.srv
@@ -0,0 +1,3 @@
+---
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/other_interfaces/CMakeLists.txt b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/other_interfaces/CMakeLists.txt
new file mode 100644
index 0000000..7855522
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/other_interfaces/CMakeLists.txt
@@ -0,0 +1,35 @@
+cmake_minimum_required(VERSION 3.8)
+project(other_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(sensor_msgs REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+rosidl_generate_interfaces(other_interfaces
+"srv/RpcWithoutParameters.srv"
+DEPENDENCIES sensor_msgs
+LIBRARY_NAME other_interfaces 
+)
+ament_export_dependencies( sensor_msgs)
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/other_interfaces/package.xml b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/other_interfaces/package.xml
new file mode 100644
index 0000000..410cd73
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/other_interfaces/package.xml
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>other_interfaces</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="stefano.bernagozzi@iit.it">ste</maintainer>
+  <license>TODO: License declaration</license>
+  <depend>sensor_msgs</depend>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/other_interfaces/srv/RpcWithoutParameters.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/other_interfaces/srv/RpcWithoutParameters.srv
new file mode 100644
index 0000000..6b2fc3b
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/other_interfaces/srv/RpcWithoutParameters.srv
@@ -0,0 +1,3 @@
+---
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/people_detector_filter_interfaces/CMakeLists.txt b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/people_detector_filter_interfaces/CMakeLists.txt
new file mode 100644
index 0000000..149849b
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/people_detector_filter_interfaces/CMakeLists.txt
@@ -0,0 +1,41 @@
+cmake_minimum_required(VERSION 3.8)
+set (CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+ 
+project(people_detector_filter_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(sensor_msgs REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+rosidl_generate_interfaces(people_detector_filter_interfaces
+"msg/FilterStatus.msg"
+"srv/SetFilterTimeout.srv"
+"srv/GetFilterTimeout.srv"
+DEPENDENCIES sensor_msgs
+LIBRARY_NAME people_detector_filter_interfaces 
+)
+ament_export_dependencies( sensor_msgs)
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/people_detector_filter_interfaces/msg/FilterStatus.msg b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/people_detector_filter_interfaces/msg/FilterStatus.msg
new file mode 100644
index 0000000..b3fcfe9
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/people_detector_filter_interfaces/msg/FilterStatus.msg
@@ -0,0 +1,7 @@
+int8 FILTER_STATUS_NEUTRAL_TURN_BACK_REACHED=-2
+int8 FILTER_STATUS_NEUTRAL_TURNING_BACK=-1
+int8 FILTER_STATUS_FALSE=0
+int8 FILTER_STATUS_TRUE=1
+int8 FILTER_STATUS_NEUTRAL_TURNING=2
+int8 FILTER_STATUS_NEUTRAL_NAV_STATUS=3
+int8 status
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/people_detector_filter_interfaces/package.xml b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/people_detector_filter_interfaces/package.xml
new file mode 100644
index 0000000..3522330
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/people_detector_filter_interfaces/package.xml
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>people_detector_filter_interfaces</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="sofia.faraci@iit.it">sf</maintainer>
+  <license>TODO: License declaration</license>
+  <depend>sensor_msgs</depend>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/people_detector_filter_interfaces/srv/GetFilterTimeout.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/people_detector_filter_interfaces/srv/GetFilterTimeout.srv
new file mode 100644
index 0000000..28a896c
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/people_detector_filter_interfaces/srv/GetFilterTimeout.srv
@@ -0,0 +1,4 @@
+---
+int32 timeout
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/people_detector_filter_interfaces/srv/SetFilterTimeout.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/people_detector_filter_interfaces/srv/SetFilterTimeout.srv
new file mode 100644
index 0000000..db83d91
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/people_detector_filter_interfaces/srv/SetFilterTimeout.srv
@@ -0,0 +1,4 @@
+int32 timeout
+---
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/CMakeLists.txt b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/CMakeLists.txt
new file mode 100644
index 0000000..1b389b6
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/CMakeLists.txt
@@ -0,0 +1,50 @@
+cmake_minimum_required(VERSION 3.8)
+set (CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+ 
+project(scheduler_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(sensor_msgs REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+rosidl_generate_interfaces(scheduler_interfaces
+"srv/UpdatePoi.srv"
+"srv/GetCurrentPoi.srv"
+"srv/Reset.srv"
+"srv/EndTour.srv"
+"srv/UpdateAction.srv"
+"srv/GetCurrentAction.srv"
+"srv/SetLanguage.srv"
+"srv/GetCurrentLanguage.srv"
+"srv/SetCommand.srv"
+"srv/GetCurrentCommand.srv"
+"srv/GetAvailableCommands.srv"
+"srv/SetPoi.srv"
+DEPENDENCIES sensor_msgs
+LIBRARY_NAME scheduler_interfaces 
+)
+ament_export_dependencies( sensor_msgs)
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/package.xml b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/package.xml
new file mode 100644
index 0000000..0b40830
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/package.xml
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>scheduler_interfaces</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="stefano.bernagozzi@iit.it">ste</maintainer>
+  <license>TODO: License declaration</license>
+  <depend>sensor_msgs</depend>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/EndTour.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/EndTour.srv
new file mode 100644
index 0000000..6b2fc3b
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/EndTour.srv
@@ -0,0 +1,3 @@
+---
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/GetAvailableCommands.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/GetAvailableCommands.srv
new file mode 100644
index 0000000..6d87e44
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/GetAvailableCommands.srv
@@ -0,0 +1,4 @@
+---
+string[] commands
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/GetCurrentAction.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/GetCurrentAction.srv
new file mode 100644
index 0000000..6a230ea
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/GetCurrentAction.srv
@@ -0,0 +1,6 @@
+---
+bool is_blocking
+string param
+string type
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/GetCurrentCommand.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/GetCurrentCommand.srv
new file mode 100644
index 0000000..0107b4e
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/GetCurrentCommand.srv
@@ -0,0 +1,4 @@
+---
+string command
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/GetCurrentLanguage.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/GetCurrentLanguage.srv
new file mode 100644
index 0000000..47ebd4e
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/GetCurrentLanguage.srv
@@ -0,0 +1,4 @@
+---
+string language
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/GetCurrentPoi.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/GetCurrentPoi.srv
new file mode 100644
index 0000000..9d35fed
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/GetCurrentPoi.srv
@@ -0,0 +1,5 @@
+---
+string poi_name
+int32 poi_number
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/Reset.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/Reset.srv
new file mode 100644
index 0000000..6b2fc3b
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/Reset.srv
@@ -0,0 +1,3 @@
+---
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/SetCommand.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/SetCommand.srv
new file mode 100644
index 0000000..26d340f
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/SetCommand.srv
@@ -0,0 +1,4 @@
+string command
+---
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/SetLanguage.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/SetLanguage.srv
new file mode 100644
index 0000000..5fa3e86
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/SetLanguage.srv
@@ -0,0 +1,4 @@
+string language
+---
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/SetPoi.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/SetPoi.srv
new file mode 100644
index 0000000..863c610
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/SetPoi.srv
@@ -0,0 +1,4 @@
+int32 poi_number
+---
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/UpdateAction.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/UpdateAction.srv
new file mode 100644
index 0000000..2001f4b
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/UpdateAction.srv
@@ -0,0 +1,4 @@
+---
+bool done_with_poi
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/UpdatePoi.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/UpdatePoi.srv
new file mode 100644
index 0000000..6b2fc3b
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/scheduler_interfaces/srv/UpdatePoi.srv
@@ -0,0 +1,3 @@
+---
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/time_interfaces/CMakeLists.txt b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/time_interfaces/CMakeLists.txt
new file mode 100644
index 0000000..ec6971f
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/time_interfaces/CMakeLists.txt
@@ -0,0 +1,40 @@
+cmake_minimum_required(VERSION 3.8)
+set (CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+ 
+project(time_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+rosidl_generate_interfaces(time_interfaces
+"srv/StartTourTimer.srv"
+"srv/StopTourTimer.srv"
+"srv/ReloadConfigFile.srv"
+"srv/IsMuseumClosing.srv"
+LIBRARY_NAME time_interfaces 
+)
+ament_export_dependencies( sensor_msgs)
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/time_interfaces/package.xml b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/time_interfaces/package.xml
new file mode 100644
index 0000000..9dd3371
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/time_interfaces/package.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>time_interfaces</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="sofia.faraci@iit.it">sf</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/time_interfaces/srv/IsMuseumClosing.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/time_interfaces/srv/IsMuseumClosing.srv
new file mode 100644
index 0000000..efbce5b
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/time_interfaces/srv/IsMuseumClosing.srv
@@ -0,0 +1,4 @@
+---
+bool is_closing
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/time_interfaces/srv/ReloadConfigFile.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/time_interfaces/srv/ReloadConfigFile.srv
new file mode 100644
index 0000000..6b2fc3b
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/time_interfaces/srv/ReloadConfigFile.srv
@@ -0,0 +1,3 @@
+---
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/time_interfaces/srv/StartTourTimer.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/time_interfaces/srv/StartTourTimer.srv
new file mode 100644
index 0000000..6b2fc3b
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/time_interfaces/srv/StartTourTimer.srv
@@ -0,0 +1,3 @@
+---
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/time_interfaces/srv/StopTourTimer.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/time_interfaces/srv/StopTourTimer.srv
new file mode 100644
index 0000000..6b2fc3b
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/time_interfaces/srv/StopTourTimer.srv
@@ -0,0 +1,3 @@
+---
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/timer_check_for_people_interfaces/CMakeLists.txt b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/timer_check_for_people_interfaces/CMakeLists.txt
new file mode 100644
index 0000000..ba031de
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/timer_check_for_people_interfaces/CMakeLists.txt
@@ -0,0 +1,33 @@
+cmake_minimum_required(VERSION 3.8)
+project(timer_check_for_people_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+rosidl_generate_interfaces(timer_check_for_people_interfaces
+"srv/StartTimer.srv"
+"srv/IsTimerActive.srv"
+LIBRARY_NAME timer_check_for_people_interfaces 
+)
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/timer_check_for_people_interfaces/package.xml b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/timer_check_for_people_interfaces/package.xml
new file mode 100644
index 0000000..74e7904
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/timer_check_for_people_interfaces/package.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>timer_check_for_people_interfaces</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="stefano.bernagozzi@iit.it">ste</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/timer_check_for_people_interfaces/srv/IsTimerActive.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/timer_check_for_people_interfaces/srv/IsTimerActive.srv
new file mode 100644
index 0000000..ec93b89
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/timer_check_for_people_interfaces/srv/IsTimerActive.srv
@@ -0,0 +1,4 @@
+---
+bool is_ok
+bool is_active
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/timer_check_for_people_interfaces/srv/StartTimer.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/timer_check_for_people_interfaces/srv/StartTimer.srv
new file mode 100644
index 0000000..6b2fc3b
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/timer_check_for_people_interfaces/srv/StartTimer.srv
@@ -0,0 +1,3 @@
+---
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/CMakeLists.txt b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/CMakeLists.txt
new file mode 100644
index 0000000..bd44352
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/CMakeLists.txt
@@ -0,0 +1,47 @@
+cmake_minimum_required(VERSION 3.8)
+set (CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+ 
+project(turn_back_manager_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(sensor_msgs REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+rosidl_generate_interfaces(turn_back_manager_interfaces
+"srv/ResetCounters.srv"
+"srv/SetMaxTurnBacks.srv"
+"srv/GetMaxTurnBacks.srv"
+"srv/SetMaxConsecutiveFalses.srv"
+"srv/GetMaxConsecutiveFalses.srv"
+"srv/IncreaseTurnBacksCounter.srv"
+"srv/GetTurnBacksCounter.srv"
+"srv/IsAllowedToTurnBack.srv"
+"srv/IsAllowedToContinue.srv"
+DEPENDENCIES sensor_msgs
+LIBRARY_NAME turn_back_manager_interfaces 
+)
+ament_export_dependencies( sensor_msgs)
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/package.xml b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/package.xml
new file mode 100644
index 0000000..8a7f063
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/package.xml
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>turn_back_manager_interfaces</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="sofia.faraci@iit.it">sf</maintainer>
+  <license>TODO: License declaration</license>
+  <depend>sensor_msgs</depend>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/GetMaxConsecutiveFalses.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/GetMaxConsecutiveFalses.srv
new file mode 100644
index 0000000..1c21bc9
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/GetMaxConsecutiveFalses.srv
@@ -0,0 +1,4 @@
+---
+int32 max
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/GetMaxTurnBacks.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/GetMaxTurnBacks.srv
new file mode 100644
index 0000000..1c21bc9
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/GetMaxTurnBacks.srv
@@ -0,0 +1,4 @@
+---
+int32 max
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/GetTurnBacksCounter.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/GetTurnBacksCounter.srv
new file mode 100644
index 0000000..392911a
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/GetTurnBacksCounter.srv
@@ -0,0 +1,4 @@
+---
+int32 counter
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/IncreaseTurnBacksCounter.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/IncreaseTurnBacksCounter.srv
new file mode 100644
index 0000000..6b2fc3b
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/IncreaseTurnBacksCounter.srv
@@ -0,0 +1,3 @@
+---
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/IsAllowedToContinue.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/IsAllowedToContinue.srv
new file mode 100644
index 0000000..df39ec3
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/IsAllowedToContinue.srv
@@ -0,0 +1,5 @@
+---
+bool is_allowed
+bool is_ok
+bool result
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/IsAllowedToTurnBack.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/IsAllowedToTurnBack.srv
new file mode 100644
index 0000000..98a9cf9
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/IsAllowedToTurnBack.srv
@@ -0,0 +1,4 @@
+---
+bool is_allowed
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/ResetCounters.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/ResetCounters.srv
new file mode 100644
index 0000000..6b2fc3b
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/ResetCounters.srv
@@ -0,0 +1,3 @@
+---
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/SetMaxConsecutiveFalses.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/SetMaxConsecutiveFalses.srv
new file mode 100644
index 0000000..1215278
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/SetMaxConsecutiveFalses.srv
@@ -0,0 +1,4 @@
+int32 max
+---
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/SetMaxTurnBacks.srv b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/SetMaxTurnBacks.srv
new file mode 100644
index 0000000..1215278
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/ros_interfaces/turn_back_manager_interfaces/srv/SetMaxTurnBacks.srv
@@ -0,0 +1,4 @@
+int32 max
+---
+bool is_ok
+string error_msg
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/AlarmBatteryLowSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/AlarmBatteryLowSkill.scxml
new file mode 100644
index 0000000..50a275c
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/AlarmBatteryLowSkill.scxml
@@ -0,0 +1,65 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+    version="1.0"
+    xmlns="..."
+    datamodel="ecmascript"
+    name="AlarmBatteryLowSkill"
+    initial="idle"> 
+
+    <!-- AlarmSkill is a server for tick from the ROS2Action plugin-->
+    <ros_service_server service_name="/AlarmSkill/tick" type ="bt_interfaces_dummy/TickAction"/>
+    <!-- AlarmSkill is a server for halt from the ROS2Action plugin-->
+    <ros_service_server service_name="/AlarmSkill/halt" type ="bt_interfaces_dummy/HaltAction"/>
+    <!-- AlarmSkill is a client for StartAlarm from the NotifyUserComponent -->
+    <ros_service_client service_name="/NotifyUserComponent/StartAlarm" type ="notify_user_interfaces/StartAlarm"/>
+    <!-- AlarmSkill is a client for StopAlarm from the NotifyUserComponent -->
+    <ros_service_client service_name="/NotifyUserComponent/StopAlarm" type ="notify_user_interfaces/StopAlarm"/>
+
+    <datamodel>
+        <data id="SKILL_SUCCESS" type="int8" expr="0" />
+        <data id="SKILL_FAILURE" type="int8" expr="1" />
+        <data id="SKILL_RUNNING" type="int8" expr="2" />
+    </datamodel>
+
+    <state id="idle">
+        <ros_service_handle_request name="/AlarmSkill/tick" target="startAlarm">
+            <ros_service_send_request name="/NotifyUserComponent/StartAlarm"/>
+        </ros_service_handle_request>
+        <ros_service_handle_request name="/AlarmSkill/halt" target="stopAlarm">
+            <ros_service_send_request name="/NotifyUserComponent/StopAlarm"/>
+        </ros_service_handle_request>
+
+    </state>
+
+    <state id="startAlarm">
+        <ros_service_handle_response name="/NotifyUserComponent/StartAlarm" cond="_res.is_ok" target="idle">
+            <ros_service_send_response name="/AlarmSkill/tick">
+                <field name="status" expr="SKILL_SUCCESS"/>
+                <field name="is_ok" expr="true"/>
+            </ros_service_send_response>
+        </ros_service_handle_response>
+        <!-- <ros_service_handle_response name="/NotifyUserComponent/StartAlarm" cond="!(_res.is_ok)" target="idle"> -->
+        <ros_service_handle_response name="/NotifyUserComponent/StartAlarm" cond="(_res.is_ok) == false" target="idle">
+            <ros_service_send_response name="/AlarmSkill/tick">
+                <field name="status" expr="SKILL_FAILURE"/>
+                <field name="is_ok" expr="true"/>
+            </ros_service_send_response>
+        </ros_service_handle_response>
+        <ros_service_handle_request name="/AlarmSkill/halt" target="stopAlarm">
+            <ros_service_send_request name="/NotifyUserComponent/StopAlarm"/>
+        </ros_service_handle_request>
+        <ros_service_handle_request name="/AlarmSkill/tick" target="startAlarm">
+            <ros_service_send_response name="/AlarmSkill/tick">
+                <field name="status" expr="SKILL_RUNNING"/>
+                <field name="is_ok" expr="true"/>
+            </ros_service_send_response>
+        </ros_service_handle_request>
+    </state>
+
+    <state id="stopAlarm">
+        <ros_service_handle_response name="/NotifyUserComponent/stopAlarm" target="idle">
+            <ros_service_send_response name="/AlarmSkill/halt"/>
+        </ros_service_handle_response>
+        <ros_service_handle_request name="/AlarmSkill/halt" target="stopAlarm"/>
+    </state>
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/ArePeoplePresentSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/ArePeoplePresentSkill.scxml
new file mode 100644
index 0000000..2e09659
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/ArePeoplePresentSkill.scxml
@@ -0,0 +1,52 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  xmlns="http://www.w3.org/2005/07/scxml"
+  version="1.0"
+  name="ArePeoplePresentSkill"
+  datamodel="ecmascript"
+  initial="idle">
+
+
+  <datamodel>
+    <data id="m_result"      type="string"  expr="''"/>
+    <data id="m_is_allowed"  type="boolean" expr="false"/>
+    <data id="SKILL_SUCCESS" type="int8"    expr="0"/>
+    <data id="SKILL_FAILURE" type="int8"    expr="1"/>
+  </datamodel>
+
+  <!-- TickCondition server -->
+  <ros_service_server service_name="/ArePeoplePresentSkill/tick"  type="bt_interfaces_dummy/TickCondition"/>
+
+  <!-- Client to TurnBackManagerComponent -->
+  <ros_service_client service_name="/TurnBackManagerComponent/IsAllowedToContinue" type="turn_back_manager_interfaces/IsAllowedToContinue"/>
+
+
+  <state id="idle">
+    <ros_service_handle_request name="/ArePeoplePresentSkill/tick" target="getStatus">
+      <ros_service_send_request name="/TurnBackManagerComponent/IsAllowedToContinue"/>
+    </ros_service_handle_request>
+  </state>
+
+  <state id="getStatus">
+    <ros_service_handle_response name="/TurnBackManagerComponent/IsAllowedToContinue" target="decide">
+      <assign location="m_result"     expr="_res.is_ok"/>
+      <assign location="m_is_allowed" expr="_res.is_allowed"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="decide">
+    <onentry>
+      <if cond="m_result && m_is_allowed">
+        <ros_service_send_response name="/ArePeoplePresentSkill/tick">
+          <field name="status" expr="SKILL_SUCCESS"/>
+        </ros_service_send_response>
+      <else/>
+        <ros_service_send_response name="/ArePeoplePresentSkill/tick">
+          <field name="status" expr="SKILL_FAILURE"/>
+        </ros_service_send_response>
+      </if>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/BatteryChargingSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/BatteryChargingSkill.scxml
new file mode 100644
index 0000000..d876a32
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/BatteryChargingSkill.scxml
@@ -0,0 +1,45 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml 
+  initial="idle" 
+  version="1.0" 
+  name="BatteryChargingSkill"
+  datamodel="ecmascript"
+  xmlns="http://www.w3.org/2005/07/scxml">
+
+    <datamodel>
+        <data id="battery_status" type="int32" expr="100" />
+        <data id="SKILL_SUCCESS" type="int8" expr="0" />
+        <data id="SKILL_FAILURE" type="int8" expr="1" />
+    </datamodel>
+
+    <!-- BatteryChargingSkill is a server for tick from the ROS2Condition plugin-->
+    <ros_service_server service_name="/BatteryChargingSkill/tick" type ="bt_interfaces_dummy/TickCondition"/>
+    <!-- BatteryChargingSkill is a subscriber for the /battery_level topic from the BatteryComponent-->
+    <ros_topic_subscriber topic="/RobotComponent/readBatteryStatus" type="sensor_msgs/BatteryState" />
+
+    <state id="idle">
+        <ros_service_handle_request name="/BatteryChargingSkill/tick" target="checkStatus"/>
+        <ros_topic_callback name="/RobotComponent/readBatteryStatus" target="idle">
+            <assign location="battery_status" expr="_msg.power_supply_status" />
+        </ros_topic_callback>
+    </state>
+
+    <state id="checkStatus">
+        <onentry>
+            <if cond="battery_status == 1"><!-- Assuming 1 means charging --> 
+                <ros_service_send_response name="/BatteryChargingSkill/tick">
+                    <field name="status" expr="SKILL_SUCCESS"/>
+                    <field name="is_ok" expr="true"/>
+                </ros_service_send_response>
+            <else/>
+                <ros_service_send_response name="/BatteryChargingSkill/tick">
+                    <field name="status" expr="SKILL_FAILURE"/>
+                    <field name="is_ok" expr="true"/>
+                </ros_service_send_response>
+            </if>
+        </onentry>
+        <ros_service_handle_request name="/BatteryChargingSkill/tick" target="checkStatus"/>
+        <transition target="idle" />
+    </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/BatteryLevelSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/BatteryLevelSkill.scxml
new file mode 100644
index 0000000..64a6363
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/BatteryLevelSkill.scxml
@@ -0,0 +1,45 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml 
+  initial="idle" 
+  version="1.0" 
+  name="BatteryLevelSkill"
+  datamodel="ecmascript"
+  xmlns="http://www.w3.org/2005/07/scxml">
+
+    <datamodel>
+        <data id="percentage" type="int32" expr="100" />
+        <data id="SKILL_SUCCESS" type="int8" expr="0" />
+        <data id="SKILL_FAILURE" type="int8" expr="1" />
+    </datamodel>
+
+    <!-- BatteryLevelSkill is a server for tick from the ROS2Condition plugin-->
+    <ros_service_server service_name="/BatteryLevelSkill/tick" type ="bt_interfaces_dummy/TickCondition"/>
+    <!-- BatteryLevelSkill is a subscriber for the /battery_level topic from the BatteryComponent-->
+    <ros_topic_subscriber topic="/BatteryComponent/battery_level" type="sensor_msgs/BatteryState" />
+
+    <state id="idle">
+        <ros_service_handle_request name="/BatteryLevelSkill/tick" target="checkLevel"/>
+        <ros_topic_callback name="/BatteryComponent/battery_level" target="idle">
+            <assign location="percentage" expr="_msg.percentage" />
+        </ros_topic_callback>
+    </state>
+
+    <state id="checkLevel">
+        <onentry>
+            <if cond="percentage &gt; 30"> 
+                <ros_service_send_response name="/BatteryLevelSkill/tick">
+                    <field name="status" expr="SKILL_SUCCESS"/>
+                    <field name="is_ok" expr="true"/>
+                </ros_service_send_response>
+            <else/>
+                <ros_service_send_response name="/BatteryLevelSkill/tick">
+                    <field name="status" expr="SKILL_FAILURE"/>
+                    <field name="is_ok" expr="true"/>
+                </ros_service_send_response>
+            </if>
+        </onentry>
+        <ros_service_handle_request name="/BatteryLevelSkill/tick" target="checkLevel"/>
+        <transition target="idle" />
+    </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/CheckIfFirstPoiSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/CheckIfFirstPoiSkill.scxml
new file mode 100644
index 0000000..83d17b8
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/CheckIfFirstPoiSkill.scxml
@@ -0,0 +1,53 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml xmlns="http://www.w3.org/2005/07/scxml"
+       version="1.0"
+       name="CheckIfFirstPoiSkill"
+       datamodel="ecmascript"
+       initial="idle">
+
+  <datamodel> 
+    <data id="FIRST_POI"     type="int32" expr="1"/>
+    <data id="m_poi_name"    type="string" expr="''"/>
+    <data id="m_poi_number"  type="int32"  expr="0"/>
+    <data id="SKILL_SUCCESS" type="int8"   expr="0"/>
+    <data id="SKILL_FAILURE" type="int8"   expr="1"/>
+  </datamodel>
+
+
+
+  <!-- TickCondition server -->
+  <ros_service_server service_name="/CheckIfFirstPoiSkill/tick" type="bt_interfaces_dummy/TickCondition"/>
+
+  <!-- Client for SchedulerComponent.GetCurrentPoi -->
+  <ros_service_server service_name="/SchedulerComponent/GetCurrentPoi" type="scheduler_interfaces/GetCurrentPoi"/>
+
+
+  <state id="idle">
+    <ros_service_handle_request name="/CheckIfFirstPoiSkill/tick" target="getPoi">
+      <ros_service_send_request name="/SchedulerComponent/GetCurrentPoi"/>
+    </ros_service_handle_request>
+  </state>
+
+  <state id="getPoi">
+    <ros_service_handle_response name="/SchedulerComponent/GetCurrentPoi" target="decide">
+      <assign location="m_poi_name"   expr="_res.poi_name"/>
+      <assign location="m_poi_number" expr="_res.poi_number"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="decide">
+    <onentry>
+      <if cond="m_poi_number == FIRST_POI">
+        <ros_service_send_response name="/CheckIfFirstPoiSkill/tick">
+          <field name="status" expr="SKILL_SUCCESS"/>
+        </ros_service_send_response>
+      <else/>
+        <ros_service_send_response name="/CheckIfFirstPoiSkill/tick">
+          <field name="status" expr="SKILL_FAILURE"/>
+        </ros_service_send_response>
+      </if>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/CheckIfStartSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/CheckIfStartSkill.scxml
new file mode 100644
index 0000000..9c5b121
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/CheckIfStartSkill.scxml
@@ -0,0 +1,48 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml xmlns="http://www.w3.org/2005/07/scxml"
+       version="1.0"
+       name="CheckIfStartSkill"
+       datamodel="ecmascript"
+       initial="idle">
+
+  <datamodel>
+    <data id="START_POI"     type="int32" expr="0"/>
+    <data id="m_poi_number"  type="int32" expr="0"/>
+    <data id="SKILL_SUCCESS" type="int8"  expr="0"/> 
+    <data id="SKILL_FAILURE" type="int8"  expr="1"/>
+  </datamodel>
+
+  <!-- TickCondition server -->
+  <ros_service_server service_name="/CheckIfStartSkill/tick" type="bt_interfaces_dummy/TickCondition"/>
+
+  <!-- Client for SchedulerComponent.GetCurrentPoi -->
+  <ros_service_client service_name="/SchedulerComponent/GetCurrentPoi" type="scheduler_interfaces/GetCurrentPoi"/>
+
+  <state id="idle">
+    <ros_service_handle_request name="/CheckIfStartSkill/tick" target="getPoi">
+      <ros_service_send_request name="/SchedulerComponent/GetCurrentPoi"/>
+    </ros_service_handle_request>
+  </state>
+
+  <state id="getPoi">
+    <ros_service_handle_response name="/SchedulerComponent/GetCurrentPoi" target="decide">
+      <assign location="m_poi_number" expr="_res.poi_number"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="decide">
+    <onentry>
+      <if cond="m_poi_number == START_POI">
+        <ros_service_send_response name="/CheckIfStartSkill/tick">
+          <field name="status" expr="SKILL_SUCCESS"/>
+        </ros_service_send_response>
+      <else/>
+        <ros_service_send_response name="/CheckIfStartSkill/tick">
+          <field name="status" expr="SKILL_FAILURE"/>
+        </ros_service_send_response>
+      </if>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/CheckNetworkSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/CheckNetworkSkill.scxml
new file mode 100644
index 0000000..9fcc854
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/CheckNetworkSkill.scxml
@@ -0,0 +1,47 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  xmlns="http://www.w3.org/2005/07/scxml"
+  version="1.0"
+  name="CheckNetworkSkill"
+  datamodel="ecmascript"
+  initial="idle">
+
+  <datamodel>
+    <!-- Network status variable - initialized to false (no network) -->
+    <data id="network_status" type="boolean" expr="false"/>
+    <!-- Provided by C++ DataModel -->
+    <data id="SKILL_SUCCESS" type="int8" expr="0"/>
+    <data id="SKILL_FAILURE" type="int8" expr="1"/>
+  </datamodel>
+
+  <!-- Condition skill: TickCondition server -->
+  <ros_service_server service_name="/CheckNetworkSkill/tick" type="bt_interfaces_dummy/TickCondition"/>
+
+  <!-- Add network status subscriber -->
+  <ros_topic_subscriber topic="/NetworkComponent/status" type="network_interfaces/NetworkStatus"/>
+
+  <state id="idle">
+    <!-- Update network status when message arrives -->
+    <ros_topic_callback name="/NetworkComponent/status" target="idle">
+      <assign location="network_status" expr="_msg.data"/>
+    </ros_topic_callback>
+    
+    <ros_service_handle_request name="/CheckNetworkSkill/tick" target="levelCheck"/>
+  </state>
+
+  <state id="levelCheck">
+    <onentry>
+      <if cond="network_status">
+        <ros_service_send_response name="/CheckNetworkSkill/tick">
+          <field name="status" expr="SKILL_SUCCESS"/>
+        </ros_service_send_response>
+      <else/>
+        <ros_service_send_response name="/CheckNetworkSkill/tick">
+          <field name="status" expr="SKILL_FAILURE"/>
+        </ros_service_send_response>
+      </if>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/DialogSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/DialogSkill.scxml
new file mode 100644
index 0000000..6adc697
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/DialogSkill.scxml
@@ -0,0 +1,122 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  xmlns="http://www.w3.org/2005/07/scxml"
+  version="1.0"
+  name="DialogSkill"
+  datamodel="ecmascript"
+  initial="idle">
+
+  <datamodel>
+    <data id="STATUS_DONE"    type="int16"  expr="2"/>
+    <data id="m_language"     type="string" expr="''"/>
+    <data id="m_state"        type="int16"  expr="0"/>
+    <data id="m_error_count"  type="int8"   expr="0"/>
+    <data id="MAX_RETRIES"    type="int8"   expr="3"/>
+    <data id="SKILL_SUCCESS"  type="int8"   expr="0"/>
+    <data id="SKILL_FAILURE"  type="int8"   expr="1"/>
+    <data id="SKILL_RUNNING"  type="int8"   expr="2"/>
+  </datamodel>
+
+
+  <!-- ROS2 service servers for tick and halt -->
+  <ros_service_server service_name="/DialogSkill/tick" type="bt_interfaces_dummy/TickAction"/>
+  <ros_service_server service_name="/DialogSkill/halt" type="bt_interfaces_dummy/HaltAction"/>
+
+  <!-- ROS2 service clients - allineati con dialog_interfaces -->
+  <ros_service_client service_name="/SchedulerComponent/GetCurrentLanguage" type="scheduler_interfaces/GetCurrentLanguage"/>
+  <ros_service_client service_name="/DialogComponent/SetLanguage" type="dialog_interfaces/SetLanguage"/>
+  <ros_service_client service_name="/DialogComponent/EnableDialog" type="dialog_interfaces/EnableDialog"/>
+  <ros_service_client service_name="/DialogComponent/GetState" type="dialog_interfaces/GetState"/>
+
+  <state id="idle">
+    <onentry>
+      <!-- Reset error counter on new execution -->
+      <assign location="m_error_count" expr="0"/>
+    </onentry>
+    <!-- tick request -->
+    <ros_service_handle_request name="/DialogSkill/tick" target="getLanguage">
+      <ros_service_send_request name="/SchedulerComponent/GetCurrentLanguage"/>
+    </ros_service_handle_request>
+    <!-- halt request -->
+    <ros_service_handle_request name="/DialogSkill/halt" target="disableDialog">
+      <ros_service_send_request name="/DialogComponent/EnableDialog"/>
+    </ros_service_handle_request>
+  </state>
+
+  <state id="getLanguage">
+    <!-- Success case -->
+    <ros_service_handle_response name="/SchedulerComponent/GetCurrentLanguage" target="setLanguage">
+      <assign location="m_language" expr="_res.language"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="setLanguage">
+    <onentry>
+      <ros_service_send_request name="/DialogComponent/SetLanguage"/>
+    </onentry>
+    <!-- Procede automaticamente dopo aver inviato la richiesta -->
+    <ros_service_handle_response name="/DialogComponent/SetLanguage" target="enableDialog"/>
+  </state>
+
+  <state id="enableDialog">
+    <onentry>
+      <ros_service_send_request name="/DialogComponent/EnableDialog"/>
+    </onentry>
+    <!-- Procede a running dopo aver abilitato il dialogo -->
+    <ros_service_handle_response name="/DialogComponent/EnableDialog" target="running"/>
+  </state>
+
+  <state id="running">
+    <onentry>
+      <ros_service_send_response name="/DialogSkill/tick">
+        <field name="status" expr="SKILL_RUNNING"/>
+      </ros_service_send_response>
+    </onentry>
+    <!-- Poll for completion -->
+    <ros_service_handle_request name="/DialogSkill/tick" target="checkState">
+      <ros_service_send_request name="/DialogComponent/GetState"/>
+    </ros_service_handle_request>
+    <!-- Allow halt while running -->
+    <ros_service_handle_request name="/DialogSkill/halt" target="disableDialog">
+      <ros_service_send_request name="/DialogComponent/EnableDialog"/>
+    </ros_service_handle_request>
+  </state>
+
+  <state id="checkState">
+    <!-- Riceve la risposta con il campo 'state' come int16 -->
+    <ros_service_handle_response name="/DialogComponent/GetState" target="decide">
+      <assign location="m_state" expr="_res.state"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="decide">
+    <onentry>
+      <if cond="m_state == STATUS_DONE">
+        <ros_service_send_response name="/DialogSkill/tick">
+          <field name="status" expr="SKILL_SUCCESS"/>
+        </ros_service_send_response>
+      <else/>
+        <ros_service_send_response name="/DialogSkill/tick">
+          <field name="status" expr="SKILL_RUNNING"/>
+        </ros_service_send_response>
+      </if>
+    </onentry>
+    <transition cond="m_state == STATUS_DONE" target="idle"/>
+    <transition cond="m_state != STATUS_DONE" target="running"/>
+  </state>
+
+  <state id="disableDialog">
+    <onentry>
+      <ros_service_send_request name="/DialogComponent/EnableDialog"/>
+    </onentry>
+    <ros_service_handle_response name="/DialogComponent/EnableDialog" target="halted"/>
+  </state>
+
+  <state id="halted">
+    <onentry>
+      <ros_service_send_response name="/DialogSkill/halt"/>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/GoToChargingStationSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/GoToChargingStationSkill.scxml
new file mode 100644
index 0000000..b698a71
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/GoToChargingStationSkill.scxml
@@ -0,0 +1,103 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  xmlns="http://www.w3.org/2005/07/scxml"
+  version="1.0"
+  name="GoToChargingStationSkill"
+  datamodel="ecmascript"
+  initial="idle">
+
+  <datamodel>
+    <data id="NAV_STATUS_MOVING"       type="int8"   expr="2"/>
+    <data id="charging_station"        type="string" expr="'charging_station'"/>
+    <data id="distance"                type="float32" expr="0.5"/>
+    <data id="m_status"                type="int8"   expr="0"/>
+    <data id="m_is_near"               type="boolean" expr="false"/>
+    <data id="SKILL_SUCCESS"           type="int8"   expr="0"/>
+    <data id="SKILL_FAILURE"           type="int8"   expr="1"/>
+    <data id="SKILL_RUNNING"           type="int8"   expr="2"/>
+  </datamodel>
+
+  <!-- Action skill: tick + halt servers -->
+  <ros_service_server service_name="/GoToChargingStationSkill/tick" type="bt_interfaces_dummy/TickAction"/>
+  <ros_service_server service_name="/GoToChargingStationSkill/halt" type="bt_interfaces_dummy/HaltAction"/>
+
+  <!-- Clients for navigation calls -->
+  <ros_action_client name="go_to_poi_action" action_name="/NavigationComponent/GoToPoi" type="navigation_interfaces/GoToPoi" />
+
+
+  <state id="idle">
+    <ros_service_handle_request name="/GoToChargingStationSkill/tick" target="sendGoal">
+      <ros_service_send_response name="/GoToChargingStationSkill/tick">
+        <field name="status" expr="SKILL_RUNNING"/>
+      </ros_service_send_response>
+      <ros_action_send_goal name="go_to_poi_action">
+        <field name="poi_name" expr="charging_station"/>
+      </ros_action_send_goal>
+    </ros_service_handle_request>
+    <ros_service_handle_request name="/GoToChargingStationSkill/halt" target="idle">
+      <ros_service_send_response name="/GoToChargingStationSkill/halt">
+      </ros_service_send_response>
+    </ros_service_handle_request>
+  </state>
+
+  <state id="goalResponse">
+      <ros_action_handle_goal_response name="go_to_poi_action" accept="wait_result" reject="send_failure" />
+      <ros_service_handle_request name="/GoToPoiActionSkill/tick" target="goalResponse">
+          <ros_service_send_response name="/GoToPoiActionSkill/tick">
+              <field name="is_ok" expr="true"/>
+              <field name="status" expr="SKILL_RUNNING"/>
+          </ros_service_send_response>
+      </ros_service_handle_request>
+      <ros_service_handle_request name="/GoToPoiActionSkill/halt" target="idle">
+          <ros_service_send_response name="/GoToPoiActionSkill/halt">
+              <field name="is_ok" expr="true"/>
+          </ros_service_send_response>
+      </ros_service_handle_request>
+  </state>
+
+  <state id="wait_result">
+      <ros_service_handle_request name="/GoToPoiActionSkill/tick" target="wait_result">
+          <ros_service_send_response name="/GoToPoiActionSkill/tick">
+              <field name="is_ok" expr="true"/>
+              <field name="status" expr="SKILL_RUNNING"/>
+          </ros_service_send_response>
+      </ros_service_handle_request>
+      <ros_action_handle_feedback name="go_to_poi_action" target="wait_result">
+          <assign location="status" expr="_feedback.status" />
+      </ros_action_handle_feedback>
+      <ros_action_handle_success_result name="go_to_poi_action" target="goal_done">
+          <assign location="result" expr="_wrapped_result.result.is_ok" />
+      </ros_action_handle_success_result>
+      <ros_service_handle_request name="/GoToPoiActionSkill/halt" target="idle">
+          <ros_service_send_response name="/GoToPoiActionSkill/halt">
+              <field name="is_ok" expr="true"/>
+          </ros_service_send_response>
+      </ros_service_handle_request>
+  </state>
+
+  <state id="goal_done">
+      <ros_service_handle_request name="/GoToPoiActionSkill/tick" target="idle">
+          <ros_service_send_response name="/GoToPoiActionSkill/tick">
+              <field name="is_ok" expr="true"/>
+              <field name="status" expr="SKILL_SUCCESS"/>
+          </ros_service_send_response>
+      </ros_service_handle_request>
+      <ros_service_handle_request name="/GoToPoiActionSkill/halt" target="idle">
+          <ros_service_send_response name="/GoToPoiActionSkill/halt">
+              <field name="is_ok" expr="true"/>
+          </ros_service_send_response>
+      </ros_service_handle_request>
+  </state>  
+
+  <state id="send_failure">
+      <onentry>
+          <ros_service_send_response name="/GoToPoiActionSkill/tick">
+              <field name="is_ok" expr="true"/>
+              <field name="status" expr="SKILL_FAILURE"/>
+          </ros_service_send_response>
+      </onentry>
+      <transition target="idle" />
+  </state>
+
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/GoToPoiActionSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/GoToPoiActionSkill.scxml
new file mode 100644
index 0000000..a6b6a40
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/GoToPoiActionSkill.scxml
@@ -0,0 +1,113 @@
+<scxml version="1.0" xmlns="..." datamodel="ecmascript" name="GoToPoiActionSkill" initial="idle"> 
+
+    <datamodel>
+        <data id="poi_name" type="string" expr="''"/>
+        <data id="status" type="int32" expr="0"/>
+        <data id="result" type="bool" expr="true"/>
+        <data id="SKILL_SUCCESS" type="int8" expr="0" />
+        <data id="SKILL_FAILURE" type="int8" expr="1" />
+        <data id="SKILL_RUNNING" type="int8" expr="2" />
+    </datamodel>
+
+    <!-- GoToPoiActionSkill is a server for tick from the ROS2Action plugin-->
+    <ros_service_server service_name="/GoToPoiActionSkill/tick" type ="bt_interfaces_dummy/TickAction"/>
+    <!-- GoToPoiActionSkill is a client for GetCurrentPoi from the SchedulerComponent -->
+    <ros_service_server service_name="/GoToPoiActionSkill/halt" type="bt_interfaces_dummy/HaltAction"/>
+
+    <ros_service_client service_name="/SchedulerComponent/GetCurrentPoi" type ="scheduler_interfaces/GetCurrentPoi"/>
+    <!-- GoToPoiActionSkill is a client for GoToPoi action from the Navigation Component -->
+    <ros_action_client name="go_to_poi_action" action_name="/NavigationComponent/GoToPoi" type="navigation_interfaces/GoToPoi" />
+
+    <state id="idle">
+        <ros_service_handle_request name="/GoToPoiActionSkill/tick" target="getPoi">
+            <ros_service_send_request name="/SchedulerComponent/GetCurrentPoi"/>
+        </ros_service_handle_request>
+        <ros_service_handle_request name="/GoToPoiActionSkill/halt" target="idle">
+            <ros_service_send_response name="/GoToPoiActionSkill/halt">
+            </ros_service_send_response>
+        </ros_service_handle_request>
+    </state>
+
+    <state id="getPoi">
+        <ros_service_handle_response name="/SchedulerComponent/GetCurrentPoi" target="goalResponse"> 
+            <assign location="poi_name" expr="_res.poi_name" />
+            <ros_action_send_goal name="go_to_poi_action">
+                <field name="poi_name" expr="poi_name"/>
+            </ros_action_send_goal>
+            <ros_service_send_response name="/GoToPoiActionSkill/tick">
+                <field name="is_ok" expr="true"/>
+                <field name="status" expr="SKILL_RUNNING"/>
+            </ros_service_send_response>
+        </ros_service_handle_response>
+            <ros_service_handle_request name="/GoToPoiActionSkill/halt" target="getCurrentPoiResponseHalt">
+        </ros_service_handle_request>
+    </state>
+    
+    <state id = "getCurrentPoiResponseHalt" >
+        <ros_service_handle_response name="/SchedulerComponent/GetCurrentPoi" target="idle">
+            <ros_service_send_response name="/GoToPoiActionSkill/halt">
+                <field name="is_ok" expr="true"/>
+            </ros_service_send_response>
+        </ros_service_handle_response>
+    </state>
+    
+    <state id="goalResponse">
+        <ros_action_handle_goal_response name="go_to_poi_action" accept="wait_result" reject="send_failure" />
+        <ros_service_handle_request name="/GoToPoiActionSkill/tick" target="goalResponse">
+            <ros_service_send_response name="/GoToPoiActionSkill/tick">
+                <field name="is_ok" expr="true"/>
+                <field name="status" expr="SKILL_RUNNING"/>
+            </ros_service_send_response>
+        </ros_service_handle_request>
+        <ros_service_handle_request name="/GoToPoiActionSkill/halt" target="idle">
+            <ros_service_send_response name="/GoToPoiActionSkill/halt">
+                <field name="is_ok" expr="true"/>
+            </ros_service_send_response>
+        </ros_service_handle_request>
+    </state>
+
+    <state id="wait_result">
+        <ros_service_handle_request name="/GoToPoiActionSkill/tick" target="wait_result">
+            <ros_service_send_response name="/GoToPoiActionSkill/tick">
+                <field name="is_ok" expr="true"/>
+                <field name="status" expr="SKILL_RUNNING"/>
+            </ros_service_send_response>
+        </ros_service_handle_request>
+        <ros_action_handle_feedback name="go_to_poi_action" target="wait_result">
+            <assign location="status" expr="_feedback.status" />
+        </ros_action_handle_feedback>
+        <ros_action_handle_success_result name="go_to_poi_action" target="goal_done">
+            <assign location="result" expr="_wrapped_result.result.is_ok" />
+        </ros_action_handle_success_result>
+        <ros_service_handle_request name="/GoToPoiActionSkill/halt" target="idle">
+            <ros_service_send_response name="/GoToPoiActionSkill/halt">
+                <field name="is_ok" expr="true"/>
+            </ros_service_send_response>
+        </ros_service_handle_request>
+    </state>
+
+    <state id="goal_done">
+        <ros_service_handle_request name="/GoToPoiActionSkill/tick" target="idle">
+            <ros_service_send_response name="/GoToPoiActionSkill/tick">
+                <field name="is_ok" expr="true"/>
+                <field name="status" expr="SKILL_SUCCESS"/>
+            </ros_service_send_response>
+        </ros_service_handle_request>
+        <ros_service_handle_request name="/GoToPoiActionSkill/halt" target="idle">
+            <ros_service_send_response name="/GoToPoiActionSkill/halt">
+                <field name="is_ok" expr="true"/>
+            </ros_service_send_response>
+        </ros_service_handle_request>
+    </state>  
+
+    <state id="send_failure">
+        <onentry>
+            <ros_service_send_response name="/GoToPoiActionSkill/tick">
+                <field name="is_ok" expr="true"/>
+                <field name="status" expr="SKILL_FAILURE"/>
+            </ros_service_send_response>
+        </onentry>
+        <transition target="idle" />
+    </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/HardwareFaultSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/HardwareFaultSkill.scxml
new file mode 100644
index 0000000..f4b626d
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/HardwareFaultSkill.scxml
@@ -0,0 +1,94 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml xmlns="http://www.w3.org/2005/07/scxml"
+       version="1.0"
+       name="HardwareFaultSkill"
+       datamodel="ecmascript"
+       initial="idle">
+
+  <datamodel>
+    <!-- Value returned by the hardware monitoring component -->
+    <data id="m_has_fault"   type="boolean" expr="false"/>
+
+    <!-- Behavior Tree return constants -->
+    <data id="SKILL_SUCCESS" type="int8"    expr="0"/> <!-- No fault detected -->
+    <data id="SKILL_FAILURE" type="int8"    expr="1"/> <!-- Fault detected -->
+  </datamodel>
+
+  <!-- TickCondition server - provides the skill interface to the behavior tree -->
+  <ros_service_server service_name="/HardwareFaultSkill/tick" type="bt_interfaces_dummy/TickCondition"/>
+
+  <!-- Client to the hardware monitoring component -->
+  <ros_service_client service_name="/HardwareMonitorComponent/HasFaults" type="hardware_monitor_interfaces/HasFaults"/>
+
+  <!-- =========== States =========== -->
+
+  <state id="idle">
+    <!-- On tick request, query the hardware monitoring component -->
+    <ros_service_handle_request name="/HardwareFaultSkill/tick" target="query">
+      <ros_service_send_request name="/HardwareMonitorComponent/HasFaults"/>
+    </ros_service_handle_request>
+  </state>
+
+  <state id="query">
+    <!-- Receive response and proceed to decision making -->
+    <ros_service_handle_response name="/HardwareMonitorComponent/HasFaults" target="decide">
+        <assign location="m_has_fault" expr="_res.has_fault"/>
+        <!-- Debug logging -->
+        <log expr="'Hardware fault status: ' + m_has_fault"/>
+    </ros_service_handle_response>
+    <!-- Handle service errors (e.g., component not available) -->
+    <ros_service_handle_error name="/HardwareMonitorComponent/HasFaults" target="service_error"/>
+    <!-- Timeout protection - fail after 5 seconds if no response -->
+    <transition target="timeout_error" after="5s"/>
+  </state>
+
+  <state id="timeout_error">
+    <onentry>
+        <!-- Return failure due to timeout -->
+        <ros_service_send_response name="/HardwareFaultSkill/tick">
+            <field name="status" expr="SKILL_FAILURE"/>
+        </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="decide">
+    <!-- Decision logic based on fault status -->
+    <transition cond="m_has_fault == false" target="success"/>
+    <transition cond="m_has_fault == true" target="failure"/>
+  </state>
+
+  <state id="success">
+    <onentry>
+      <!-- No hardware faults detected - return success -->
+      <ros_service_send_response name="/HardwareFaultSkill/tick">
+        <field name="status" expr="SKILL_SUCCESS"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="failure">
+    <onentry>
+      <!-- Hardware fault detected - return failure -->
+      <ros_service_send_response name="/HardwareFaultSkill/tick">
+        <field name="status" expr="SKILL_FAILURE"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="service_error">
+    <onentry>
+      <!-- Service communication error - treat as failure for safety -->
+      <ros_service_send_response name="/HardwareFaultSkill/tick">
+        <field name="status" expr="SKILL_FAILURE"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+
+
+
+</scxml>  </state>  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/IsAllowedToMoveSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/IsAllowedToMoveSkill.scxml
new file mode 100644
index 0000000..ef2d6df
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/IsAllowedToMoveSkill.scxml
@@ -0,0 +1,50 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  xmlns="http://www.w3.org/2005/07/scxml"
+  version="1.0"
+  name="IsAllowedToMoveSkill"
+  datamodel="ecmascript"
+  initial="idle">
+
+  <datamodel>
+    <data id="m_is_allowed_to_move" type="boolean" expr="false"/>
+    <data id="SKILL_SUCCESS"        type="int8"   expr="0"/>
+    <data id="SKILL_FAILURE"        type="int8"   expr="1"/>
+  </datamodel>
+
+  <!-- Condition skill: tick server only -->
+  <ros_service_server service_name="/IsAllowedToMoveSkill/tick" type="bt_interfaces_dummy/TickCondition"/>
+
+  <!-- Client for AllowedToMoveComponent.IsAllowedToMove -->
+  <ros_service_client service_name="/AllowedToMoveComponent/IsAllowedToMove" type="allowed_to_move_interfaces/IsAllowedToMove"/>
+
+  <state id="idle">
+    <ros_service_handle_request name="/IsAllowedToMoveSkill/tick" target="query">
+      <ros_service_send_request name="/AllowedToMoveComponent/IsAllowedToMove"/>
+    </ros_service_handle_request>
+  </state>
+
+  <state id="query">
+    <ros_service_handle_response name="/AllowedToMoveComponent/IsAllowedToMove" target="decide">
+      <assign location="m_is_allowed_to_move" expr="_res.is_allowed_to_move"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="decide">
+    <onentry>
+      <if cond="m_is_allowed_to_move">
+        <ros_service_send_response name="/IsAllowedToMoveSkill/tick">
+          <field name="status" expr="SKILL_SUCCESS"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      <else/>
+        <ros_service_send_response name="/IsAllowedToMoveSkill/tick">
+          <field name="status" expr="SKILL_FAILURE"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      </if>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
\ No newline at end of file
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/IsAllowedToTurnBackSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/IsAllowedToTurnBackSkill.scxml
new file mode 100644
index 0000000..4ec4b8c
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/IsAllowedToTurnBackSkill.scxml
@@ -0,0 +1,97 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  xmlns="http://www.w3.org/2005/07/scxml"
+  version="1.0"
+  name="IsAllowedToTurnBackSkill"
+  datamodel="ecmascript"
+  initial="idle">
+
+  <datamodel>
+    <data id="m_result"        type="string"  expr="''"/>
+    <data id="m_is_allowed"    type="boolean" expr="false"/>
+    <data id="m_value"         type="string"  expr="''"/>
+    <data id="m_name"          type="string"  expr="'turnBackState'"/>
+    <data id="SUCCESS_RESULT"  type="string"  expr="'SUCCESS'"/>
+    <data id="NOT_TURNING"     type="string"  expr="'not_turning'"/>
+    <data id="SKILL_SUCCESS"   type="int8"    expr="0"/>
+    <data id="SKILL_FAILURE"   type="int8"    expr="1"/>
+  </datamodel>
+
+  <!-- Condition skill: tick server only -->
+  <ros_service_server service_name="/IsAllowedToTurnBackSkill/tick" type="bt_interfaces_dummy/TickCondition"/>
+
+  <!-- Clients -->
+  <ros_service_client service_name="/TurnBackManagerComponent/IsAllowedToTurnBack" type="turnbackmanager_interfaces/IsAllowedToTurnBack"/>
+  <ros_service_client service_name="/BlackboardComponent/GetString" type="blackboard_interfaces/GetStringBlackboard"/>
+
+  <!-- Check if turn back is allowed by manager -->
+  <state id="idle">
+    <ros_service_handle_request name="/IsAllowedToTurnBackSkill/tick" target="getAllowed">
+      <ros_service_send_request name="/TurnBackManagerComponent/IsAllowedToTurnBack"/>
+    </ros_service_handle_request>
+  </state>
+
+  <!-- Receive permission response from manager -->
+  <state id="getAllowed">
+    <ros_service_handle_response name="/TurnBackManagerComponent/IsAllowedToTurnBack" target="evaluateAllowed">
+      <assign location="m_result"     expr="_res.result"/>
+      <assign location="m_is_allowed" expr="_res.is_allowed"/>
+    </ros_service_handle_response>
+  </state>
+
+  <!-- Evaluate manager's response -->
+  <state id="evaluateAllowed">
+    <!-- Service call failed -->
+    <transition cond="m_result != SUCCESS_RESULT" target="failure"/>
+    <!-- Explicitly allowed by manager -->
+    <transition cond="m_is_allowed" target="success"/>
+    <!-- Not explicitly allowed, check current turning state -->
+    <transition target="getTurning"/>
+  </state>
+
+  <!-- Query blackboard for current turning state -->
+  <state id="getTurning">
+    <onentry>
+      <ros_service_send_request name="/BlackboardComponent/GetString">
+        <field name="field_name" expr="m_name"/>
+      </ros_service_send_request>
+    </onentry>
+    <ros_service_handle_response name="/BlackboardComponent/GetString" target="evaluateTurning">
+      <assign location="m_result" expr="_res.result"/>
+      <assign location="m_value"  expr="_res.value"/>
+    </ros_service_handle_response>
+  </state>
+
+  <!-- Evaluate blackboard turning state -->
+  <state id="evaluateTurning">
+    <!-- Blackboard query failed -->
+    <transition cond="m_result != SUCCESS_RESULT" target="failure"/>
+    <!-- Currently not turning, so turn back not allowed -->
+    <transition cond="m_value == NOT_TURNING" target="failure"/>
+    <!-- Currently turning, so turn back is allowed -->
+    <transition target="success"/>
+  </state>
+
+  <!-- Return failure result -->
+  <state id="failure">
+    <onentry>
+      <ros_service_send_response name="/IsAllowedToTurnBackSkill/tick">
+        <field name="status" expr="SKILL_FAILURE"/>
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <!-- Return success result -->
+  <state id="success">
+    <onentry>
+      <ros_service_send_response name="/IsAllowedToTurnBackSkill/tick">
+        <field name="status" expr="SKILL_SUCCESS"/>
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/IsAtChargingStationSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/IsAtChargingStationSkill.scxml
new file mode 100644
index 0000000..fbc6c57
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/IsAtChargingStationSkill.scxml
@@ -0,0 +1,83 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  xmlns="http://www.w3.org/2005/07/scxml"
+  version="1.0"
+  name="IsAtChargingStationSkill"
+  datamodel="ecmascript"
+  initial="idle">
+
+  <datamodel>
+    <data id="NAV_STATUS_MOVING" type="int8"    expr="2"/>
+    <data id="charging_station"  type="string"  expr="'charging_station'"/>
+    <data id="distance"          type="float32" expr="0.5"/>
+    <data id="m_status"          type="int8"    expr="0"/>
+    <data id="m_is_near"         type="boolean" expr="false"/>
+    <data id="SKILL_SUCCESS"     type="int8"    expr="0"/>
+    <data id="SKILL_FAILURE"     type="int8"    expr="1"/>
+  </datamodel>
+
+  <!-- Condition skill: tick server only -->
+  <ros_service_server service_name="/IsAtChargingStationSkill/tick" type="bt_interfaces_dummy/TickCondition"/>
+
+  <!-- Clients for navigation -->
+  <ros_service_client service_name="/NavigationComponent/GetNavigationStatus" type="navigation_interfaces/GetNavigationStatus"/>
+  <ros_service_client service_name="/NavigationComponent/CheckNearToPoi" type="navigation_interfaces/CheckNearToPoi"/>
+
+  <state id="idle">
+    <ros_service_handle_request name="/IsAtChargingStationSkill/tick" target="getStatus">
+      <ros_service_send_request name="/NavigationComponent/GetNavigationStatus"/>
+    </ros_service_handle_request>
+  </state>
+
+  <state id="getStatus">
+    <ros_service_handle_response name="/NavigationComponent/GetNavigationStatus" target="decideStatus">
+      <assign location="m_status" expr="_res.status"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="decideStatus">
+    <onentry>
+      <if cond="_res.result!='SKILL_SUCCESS'">
+        <ros_service_send_response name="/IsAtChargingStationSkill/tick">
+          <field name="status" expr="SKILL_FAILURE"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      <elseif cond="m_status == NAV_STATUS_MOVING"/>
+        <ros_service_send_response name="/IsAtChargingStationSkill/tick">
+          <field name="status" expr="SKILL_FAILURE"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      <else/>
+        <ros_service_send_request name="/NavigationComponent/CheckNearToPoi">
+          <field name="poi_name"  expr="charging_station"/>
+          <field name="distance"  expr="distance"/>
+        </ros_service_send_request>
+      </if>
+    </onentry>
+    <transition target="checkProximity"/>
+  </state>
+
+  <state id="checkProximity">
+    <ros_service_handle_response name="/NavigationComponent/CheckNearToPoi" target="finalize">
+      <assign location="m_is_near" expr="_res.is_near"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="finalize">
+    <onentry>
+      <if cond="m_is_near">
+        <ros_service_send_response name="/IsAtChargingStationSkill/tick">
+          <field name="status" expr="SKILL_SUCCESS"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      <else/>
+        <ros_service_send_response name="/IsAtChargingStationSkill/tick">
+          <field name="status" expr="SKILL_FAILURE"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      </if>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/IsAtCurrentPoiSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/IsAtCurrentPoiSkill.scxml
new file mode 100644
index 0000000..780e42a
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/IsAtCurrentPoiSkill.scxml
@@ -0,0 +1,108 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  xmlns="http://www.w3.org/2005/07/scxml"
+  version="1.0"
+  name="IsAtCurrentPoiSkill"
+  datamodel="ecmascript"
+  initial="idle">
+
+  <datamodel>
+    <data id="NAV_STATUS_MOVING" type="int8"    expr="2"/>
+    <data id="distance"          type="float32" expr="0.5"/>
+    <data id="m_poi_name"        type="string"  expr="''"/>
+    <data id="m_poi_result"      type="string"  expr="''"/>
+    <data id="m_nav_result"      type="string"  expr="''"/>
+    <data id="m_status"          type="int8"    expr="0"/>
+    <data id="m_is_near"         type="boolean" expr="false"/>
+    <data id="SUCCESS_RESULT"    type="string"  expr="'SUCCESS'"/>
+    <data id="SKILL_SUCCESS"     type="int8"    expr="0"/>
+    <data id="SKILL_FAILURE"     type="int8"    expr="1"/>
+  </datamodel>
+
+  <!-- Condition skill: tick server only -->
+  <ros_service_server service_name="/IsAtCurrentPoiSkill/tick" type="bt_interfaces_dummy/TickCondition"/>
+
+  <!-- Clients -->
+  <ros_service_client service_name="/SchedulerComponent/GetCurrentPoi" type="scheduler_interfaces/GetCurrentPoi"/>
+  <ros_service_client service_name="/NavigationComponent/GetNavigationStatus" type="navigation_interfaces/GetNavigationStatus"/>
+  <ros_service_client service_name="/NavigationComponent/CheckNearToPoi" type="navigation_interfaces/CheckNearToPoi"/>
+
+  <state id="idle">
+    <ros_service_handle_request name="/IsAtCurrentPoiSkill/tick" target="getPoi">
+      <ros_service_send_request name="/SchedulerComponent/GetCurrentPoi"/>
+    </ros_service_handle_request>
+  </state>
+
+  <state id="getPoi">
+    <ros_service_handle_response name="/SchedulerComponent/GetCurrentPoi" target="evaluatePoi">
+      <assign location="m_poi_name"   expr="_res.poi_name"/>
+      <assign location="m_poi_result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="evaluatePoi">
+    <!-- GetCurrentPoi failed -->
+    <transition cond="m_poi_result != SUCCESS_RESULT" target="failure"/>
+    <!-- GetCurrentPoi succeeded, check navigation status -->
+    <transition target="getStatus"/>
+  </state>
+
+  <state id="getStatus">
+    <onentry>
+      <ros_service_send_request name="/NavigationComponent/GetNavigationStatus"/>
+    </onentry>
+    <ros_service_handle_response name="/NavigationComponent/GetNavigationStatus" target="evaluateStatus">
+      <assign location="m_status"     expr="_res.status"/>
+      <assign location="m_nav_result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="evaluateStatus">
+    <!-- GetNavigationStatus failed -->
+    <transition cond="m_nav_result != SUCCESS_RESULT" target="failure"/>
+    <!-- Robot is moving, not at POI -->
+    <transition cond="m_status == NAV_STATUS_MOVING" target="failure"/>
+    <!-- Robot not moving, check proximity -->
+    <transition target="checkNear"/>
+  </state>
+
+  <state id="checkNear">
+    <onentry>
+      <ros_service_send_request name="/NavigationComponent/CheckNearToPoi">
+        <field name="poi_name" expr="m_poi_name"/>
+        <field name="distance" expr="distance"/>
+      </ros_service_send_request>
+    </onentry>
+    <ros_service_handle_response name="/NavigationComponent/CheckNearToPoi" target="finalize">
+      <assign location="m_is_near" expr="_res.is_near"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="finalize">
+    <onentry>
+      <if cond="m_is_near">
+        <ros_service_send_response name="/IsAtCurrentPoiSkill/tick">
+          <field name="status" expr="SKILL_SUCCESS"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      <else/>
+        <ros_service_send_response name="/IsAtCurrentPoiSkill/tick">
+          <field name="status" expr="SKILL_FAILURE"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      </if>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="failure">
+    <onentry>
+      <ros_service_send_response name="/IsAtCurrentPoiSkill/tick">
+        <field name="status" expr="SKILL_FAILURE"/>
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/IsCheckingForPeopleSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/IsCheckingForPeopleSkill.scxml
new file mode 100644
index 0000000..cda9c7f
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/IsCheckingForPeopleSkill.scxml
@@ -0,0 +1,73 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  xmlns="http://www.w3.org/2005/07/scxml"
+  version="1.0"
+  name="IsCheckingForPeopleSkill"
+  datamodel="ecmascript"
+  initial="idle">
+
+  <datamodel>
+    <data id="m_name"         type="string"  expr="'isCheckingForPeople'"/>
+    <data id="m_value"        type="int32"   expr="0"/>
+    <data id="m_result"       type="string"  expr="''"/>
+    <data id="SUCCESS_RESULT" type="string"  expr="'SUCCESS'"/>
+    <data id="SKILL_SUCCESS"  type="int8"    expr="0"/>
+    <data id="SKILL_FAILURE"  type="int8"    expr="1"/>
+  </datamodel>
+
+  <!-- Condition skill: tick server only -->
+  <ros_service_server service_name="/IsCheckingForPeopleSkill/tick" type="bt_interfaces_dummy/TickCondition"/>
+
+  <!-- Client for Blackboard GetInt -->
+  <ros_service_client service_name="/BlackboardComponent/GetInt" type="blackboard_interfaces/GetIntBlackboard"/>
+
+  <state id="idle">
+    <ros_service_handle_request name="/IsCheckingForPeopleSkill/tick" target="query">
+      <ros_service_send_request name="/BlackboardComponent/GetInt">
+        <field name="field_name" expr="m_name"/>
+      </ros_service_send_request>
+    </ros_service_handle_request>
+  </state>
+
+  <state id="query">
+    <ros_service_handle_response name="/BlackboardComponent/GetInt" target="evaluate">
+      <assign location="m_value"  expr="_res.value"/>
+      <assign location="m_result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="evaluate">
+    <!-- Service call failed -->
+    <transition cond="m_result != SUCCESS_RESULT" target="failure"/>
+    <!-- Check if currently checking for people -->
+    <transition target="decide"/>
+  </state>
+
+  <state id="decide">
+    <onentry>
+      <if cond="m_value != 0">
+        <ros_service_send_response name="/IsCheckingForPeopleSkill/tick">
+          <field name="status" expr="SKILL_SUCCESS"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      <else/>
+        <ros_service_send_response name="/IsCheckingForPeopleSkill/tick">
+          <field name="status" expr="SKILL_FAILURE"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      </if>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="failure">
+    <onentry>
+      <ros_service_send_response name="/IsCheckingForPeopleSkill/tick">
+        <field name="status" expr="SKILL_FAILURE"/>
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/IsMaximumDurationSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/IsMaximumDurationSkill.scxml
new file mode 100644
index 0000000..876dba5
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/IsMaximumDurationSkill.scxml
@@ -0,0 +1,73 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  xmlns="http://www.w3.org/2005/07/scxml"
+  version="1.0"
+  name="IsMaximumDurationSkill"
+  datamodel="ecmascript"
+  initial="idle">
+
+  <!-- Condition skill: tick server only -->
+  <ros_service_server service_name="/IsMaximumDurationSkill/tick" type="bt_interfaces_dummy/TickCondition"/>
+
+  <!-- Client for Blackboard GetInt -->
+  <ros_service_client service_name="/BlackboardComponent/GetInt" type="blackboard_interfaces/GetIntBlackboard"/>
+
+  <datamodel>
+    <data id="m_name"         type="string" expr="'TourDurationExceededFlag'"/>
+    <data id="m_value"        type="int32"  expr="0"/>
+    <data id="m_result"       type="string" expr="''"/>
+    <data id="SUCCESS_RESULT" type="string" expr="'SUCCESS'"/>
+    <data id="SKILL_SUCCESS"  type="int8"   expr="0"/>
+    <data id="SKILL_FAILURE"  type="int8"   expr="1"/>
+  </datamodel>
+
+  <state id="idle">
+    <ros_service_handle_request name="/IsMaximumDurationSkill/tick" target="queryFlag">
+      <ros_service_send_request name="/BlackboardComponent/GetInt">
+        <field name="field_name" expr="m_name"/>
+      </ros_service_send_request>
+    </ros_service_handle_request>
+  </state>
+
+  <state id="queryFlag">
+    <ros_service_handle_response name="/BlackboardComponent/GetInt" target="evaluate">
+      <assign location="m_value"  expr="_res.value"/>
+      <assign location="m_result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="evaluate">
+    <!-- Service call failed -->
+    <transition cond="m_result != SUCCESS_RESULT" target="failure"/>
+    <!-- Service succeeded, check the flag value -->
+    <transition target="decide"/>
+  </state>
+
+  <state id="decide">
+    <onentry>
+      <if cond="m_value != 0">
+        <ros_service_send_response name="/IsMaximumDurationSkill/tick">
+          <field name="status" expr="SKILL_SUCCESS"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      <else/>
+        <ros_service_send_response name="/IsMaximumDurationSkill/tick">
+          <field name="status" expr="SKILL_FAILURE"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      </if>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="failure">
+    <onentry>
+      <ros_service_send_response name="/IsMaximumDurationSkill/tick">
+        <field name="status" expr="SKILL_FAILURE"/>
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/IsMuseumClosingSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/IsMuseumClosingSkill.scxml
new file mode 100644
index 0000000..37bbda5
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/IsMuseumClosingSkill.scxml
@@ -0,0 +1,51 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  xmlns="http://www.w3.org/2005/07/scxml"
+  version="1.0"
+  name="IsMuseumClosingSkill"
+  datamodel="ecmascript"
+  initial="idle">
+
+
+  <datamodel>
+    <data id="m_is_closing"  type="boolean" expr="false"/>
+    <data id="SKILL_SUCCESS" type="int8"   expr="0"/>
+    <data id="SKILL_FAILURE" type="int8"   expr="1"/>
+  </datamodel>
+
+  <!-- Condition skill: tick server only -->
+  <ros_service_server service_name="/IsMuseumClosingSkill/tick" type="bt_interfaces_dummy/TickCondition"/>
+
+  <!-- Client for TimeComponent.IsMuseumClosing -->
+  <ros_service_client service_name="/TimeComponent/IsMuseumClosing" type="time_interfaces/IsMuseumClosing"/>
+
+  <state id="idle">
+    <ros_service_handle_request name="/IsMuseumClosingSkill/tick" target="queryClosing">
+      <ros_service_send_request name="/TimeComponent/IsMuseumClosing"/>
+    </ros_service_handle_request>
+  </state>
+
+  <state id="queryClosing">
+    <ros_service_handle_response name="/TimeComponent/IsMuseumClosing" target="decide">
+      <assign location="m_is_closing" expr="_res.is_closing"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="decide">
+    <onentry>
+      <if cond="m_is_closing">
+        <ros_service_send_response name="/IsMuseumClosingSkill/tick">
+          <field name="status" expr="SKILL_SUCCESS"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      <else/>
+        <ros_service_send_response name="/IsMuseumClosingSkill/tick">
+          <field name="status" expr="SKILL_FAILURE"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      </if>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/IsPoiDone1Skill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/IsPoiDone1Skill.scxml
new file mode 100644
index 0000000..f8d78d1
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/IsPoiDone1Skill.scxml
@@ -0,0 +1,68 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  xmlns="http://www.w3.org/2005/07/scxml"
+  version="1.0"
+  name="IsPoiDone1Skill"
+  datamodel="ecmascript"
+  initial="idle">
+
+  <datamodel>
+    <data id="key"            type="int32"  expr="1"/>
+    <data id="value"          type="int32"  expr="0"/>
+    <data id="m_result"       type="string" expr="''"/>
+    <data id="SUCCESS_RESULT" type="string" expr="'SUCCESS'"/>
+    <data id="SKILL_SUCCESS"  type="int8"   expr="0"/>
+    <data id="SKILL_FAILURE"  type="int8"   expr="1"/>
+  </datamodel>
+
+  <ros_service_server service_name="/IsPoiDone1Skill/tick" type="bt_interfaces_dummy/TickCondition"/>
+  <ros_service_client service_name="/BlackboardComponent/GetInt" type="blackboard_interfaces/GetIntBlackboard"/>
+
+  <state id="idle">
+    <ros_service_handle_request name="/IsPoiDone1Skill/tick" target="checkInt">
+      <ros_service_send_request name="/BlackboardComponent/GetInt">
+        <field name="field_name" expr="key"/>
+      </ros_service_send_request>
+    </ros_service_handle_request>
+  </state>
+
+  <state id="checkInt">
+    <ros_service_handle_response name="/BlackboardComponent/GetInt" target="evaluate">
+      <assign location="value"    expr="_res.value"/>
+      <assign location="m_result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="evaluate">
+    <transition cond="m_result != SUCCESS_RESULT" target="failure"/>
+    <transition target="decide"/>
+  </state>
+
+  <state id="decide">
+    <onentry>
+      <if cond="value == 1">
+        <ros_service_send_response name="/IsPoiDone1Skill/tick">
+          <field name="status" expr="SKILL_SUCCESS"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      <else/>
+        <ros_service_send_response name="/IsPoiDone1Skill/tick">
+          <field name="status" expr="SKILL_FAILURE"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      </if>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="failure">
+    <onentry>
+      <ros_service_send_response name="/IsPoiDone1Skill/tick">
+        <field name="status" expr="SKILL_FAILURE"/>
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/IsPoiDone2Skill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/IsPoiDone2Skill.scxml
new file mode 100644
index 0000000..02857df
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/IsPoiDone2Skill.scxml
@@ -0,0 +1,68 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  xmlns="http://www.w3.org/2005/07/scxml"
+  version="1.0"
+  name="IsPoiDone2Skill"
+  datamodel="ecmascript"
+  initial="idle">
+
+  <datamodel>
+    <data id="key"            type="int32"  expr="2"/>
+    <data id="value"          type="int32"  expr="0"/>
+    <data id="m_result"       type="string" expr="''"/>
+    <data id="SUCCESS_RESULT" type="string" expr="'SUCCESS'"/>
+    <data id="SKILL_SUCCESS"  type="int8"   expr="0"/>
+    <data id="SKILL_FAILURE"  type="int8"   expr="1"/>
+  </datamodel>
+
+  <ros_service_server service_name="/IsPoiDone2Skill/tick" type="bt_interfaces_dummy/TickCondition"/>
+  <ros_service_client service_name="/BlackboardComponent/GetInt" type="blackboard_interfaces/GetIntBlackboard"/>
+
+  <state id="idle">
+    <ros_service_handle_request name="/IsPoiDone2Skill/tick" target="checkInt">
+      <ros_service_send_request name="/BlackboardComponent/GetInt">
+        <field name="field_name" expr="key"/>
+      </ros_service_send_request>
+    </ros_service_handle_request>
+  </state>
+
+  <state id="checkInt">
+    <ros_service_handle_response name="/BlackboardComponent/GetInt" target="evaluate">
+      <assign location="value"    expr="_res.value"/>
+      <assign location="m_result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="evaluate">
+    <transition cond="m_result != SUCCESS_RESULT" target="failure"/>
+    <transition target="decide"/>
+  </state>
+
+  <state id="decide">
+    <onentry>
+      <if cond="value == 1">
+        <ros_service_send_response name="/IsPoiDone2Skill/tick">
+          <field name="status" expr="SKILL_SUCCESS"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      <else/>
+        <ros_service_send_response name="/IsPoiDone2Skill/tick">
+          <field name="status" expr="SKILL_FAILURE"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      </if>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="failure">
+    <onentry>
+      <ros_service_send_response name="/IsPoiDone2Skill/tick">
+        <field name="status" expr="SKILL_FAILURE"/>
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/IsTimerDoneSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/IsTimerDoneSkill.scxml
new file mode 100644
index 0000000..02857df
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/IsTimerDoneSkill.scxml
@@ -0,0 +1,68 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  xmlns="http://www.w3.org/2005/07/scxml"
+  version="1.0"
+  name="IsPoiDone2Skill"
+  datamodel="ecmascript"
+  initial="idle">
+
+  <datamodel>
+    <data id="key"            type="int32"  expr="2"/>
+    <data id="value"          type="int32"  expr="0"/>
+    <data id="m_result"       type="string" expr="''"/>
+    <data id="SUCCESS_RESULT" type="string" expr="'SUCCESS'"/>
+    <data id="SKILL_SUCCESS"  type="int8"   expr="0"/>
+    <data id="SKILL_FAILURE"  type="int8"   expr="1"/>
+  </datamodel>
+
+  <ros_service_server service_name="/IsPoiDone2Skill/tick" type="bt_interfaces_dummy/TickCondition"/>
+  <ros_service_client service_name="/BlackboardComponent/GetInt" type="blackboard_interfaces/GetIntBlackboard"/>
+
+  <state id="idle">
+    <ros_service_handle_request name="/IsPoiDone2Skill/tick" target="checkInt">
+      <ros_service_send_request name="/BlackboardComponent/GetInt">
+        <field name="field_name" expr="key"/>
+      </ros_service_send_request>
+    </ros_service_handle_request>
+  </state>
+
+  <state id="checkInt">
+    <ros_service_handle_response name="/BlackboardComponent/GetInt" target="evaluate">
+      <assign location="value"    expr="_res.value"/>
+      <assign location="m_result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="evaluate">
+    <transition cond="m_result != SUCCESS_RESULT" target="failure"/>
+    <transition target="decide"/>
+  </state>
+
+  <state id="decide">
+    <onentry>
+      <if cond="value == 1">
+        <ros_service_send_response name="/IsPoiDone2Skill/tick">
+          <field name="status" expr="SKILL_SUCCESS"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      <else/>
+        <ros_service_send_response name="/IsPoiDone2Skill/tick">
+          <field name="status" expr="SKILL_FAILURE"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      </if>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="failure">
+    <onentry>
+      <ros_service_send_response name="/IsPoiDone2Skill/tick">
+        <field name="status" expr="SKILL_FAILURE"/>
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/IsWarningDurationSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/IsWarningDurationSkill.scxml
new file mode 100644
index 0000000..e196a20
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/IsWarningDurationSkill.scxml
@@ -0,0 +1,71 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  xmlns="http://www.w3.org/2005/07/scxml"
+  version="1.0"
+  name="IsWarningDurationSkill"
+  datamodel="ecmascript"
+  initial="idle">
+
+  <datamodel>
+    <data id="m_name"         type="string" expr="'TourDurationWarningFlag'"/>
+    <data id="m_value"        type="int32"  expr="0"/>
+    <data id="m_result"       type="string" expr="''"/>
+    <data id="SUCCESS_RESULT" type="string" expr="'SUCCESS'"/>
+    <data id="SKILL_SUCCESS"  type="int8"   expr="0"/>
+    <data id="SKILL_FAILURE"  type="int8"   expr="1"/>
+  </datamodel>
+
+  <!-- Condition skill: tick server only -->
+  <ros_service_server service_name="/IsWarningDurationSkill/tick" type="bt_interfaces_dummy/TickCondition"/>
+
+  <!-- Client for Blackboard GetInt -->
+  <ros_service_client service_name="/BlackboardComponent/GetInt" type="blackboard_interfaces/GetIntBlackboard"/>
+  
+  <state id="idle">
+    <ros_service_handle_request name="/IsWarningDurationSkill/tick" target="queryFlag">
+      <ros_service_send_request name="/BlackboardComponent/GetInt">
+        <field name="field_name" expr="m_name"/>
+      </ros_service_send_request>
+    </ros_service_handle_request>
+  </state>
+
+  <state id="queryFlag">
+    <ros_service_handle_response name="/BlackboardComponent/GetInt" target="evaluate">
+      <assign location="m_value"  expr="_res.value"/>
+      <assign location="m_result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="evaluate">
+    <transition cond="m_result != SUCCESS_RESULT" target="failure"/>
+    <transition target="decide"/>
+  </state>
+
+  <state id="decide">
+    <onentry>
+      <if cond="m_value != 0">
+        <ros_service_send_response name="/IsWarningDurationSkill/tick">
+          <field name="status" expr="SKILL_SUCCESS"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      <else/>
+        <ros_service_send_response name="/IsWarningDurationSkill/tick">
+          <field name="status" expr="SKILL_FAILURE"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      </if>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="failure">
+    <onentry>
+      <ros_service_send_response name="/IsWarningDurationSkill/tick">
+        <field name="status" expr="SKILL_FAILURE"/>
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/NarratePoiSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/NarratePoiSkill.scxml
new file mode 100644
index 0000000..618cc03
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/NarratePoiSkill.scxml
@@ -0,0 +1,107 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  xmlns="http://www.w3.org/2005/07/scxml"
+  version="1.0"
+  name="NarratePoiSkill"
+  datamodel="ecmascript"
+  initial="idle">
+
+  <datamodel>
+    <data id="m_command"      type="string"  expr="'explainRoom'"/>
+    <data id="m_is_done"      type="boolean" expr="false"/>
+    <data id="m_result"       type="string"  expr="''"/>
+    <data id="SUCCESS_RESULT" type="string"  expr="'SUCCESS'"/>
+    <data id="SKILL_SUCCESS"  type="int8"    expr="0"/>
+    <data id="SKILL_FAILURE"  type="int8"    expr="1"/>
+    <data id="SKILL_RUNNING"  type="int8"    expr="2"/>
+  </datamodel>
+  
+  <!-- Action skill: tick + halt servers -->
+  <ros_service_server service_name="/NarratePoiSkill/tick" type="bt_interfaces_dummy/TickAction"/>
+  <ros_service_server service_name="/NarratePoiSkill/halt" type="bt_interfaces_dummy/HaltAction"/>
+
+  <!-- Clients for NarrateComponent -->
+  <ros_service_client service_name="/NarrateComponent/Narrate" type="narrate_interfaces/Narrate"/>
+  <ros_service_client service_name="/NarrateComponent/Stop" type="narrate_interfaces/Stop"/>
+  <ros_service_client service_name="/NarrateComponent/IsDone" type="narrate_interfaces/IsDone"/>
+
+  <state id="idle">
+    <ros_service_handle_request name="/NarratePoiSkill/tick" target="start">
+      <ros_service_send_request name="/NarrateComponent/Narrate">
+        <field name="command" expr="m_command"/>
+      </ros_service_send_request>
+    </ros_service_handle_request>
+    <ros_service_handle_request name="/NarratePoiSkill/halt" target="halted"/>
+  </state>
+
+  <state id="start">
+    <ros_service_handle_response name="/NarrateComponent/Narrate" target="evaluateStart">
+      <assign location="m_result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="evaluateStart">
+    <transition cond="m_result != SUCCESS_RESULT" target="failure"/>
+    <transition target="running"/>
+  </state>
+
+  <state id="running">
+    <onentry>
+      <ros_service_send_response name="/NarratePoiSkill/tick">
+        <field name="status" expr="SKILL_RUNNING"/>
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </onentry>
+    <ros_service_handle_request name="/NarratePoiSkill/tick" target="check">
+      <ros_service_send_request name="/NarrateComponent/IsDone"/>
+    </ros_service_handle_request>
+    <ros_service_handle_request name="/NarratePoiSkill/halt" target="stop">
+      <ros_service_send_request name="/NarrateComponent/Stop"/>
+    </ros_service_handle_request>
+  </state>
+
+  <state id="check">
+    <ros_service_handle_response name="/NarrateComponent/IsDone" target="evaluateCheck">
+      <assign location="m_is_done" expr="_res.is_done"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="evaluateCheck">
+    <transition cond="m_is_done" target="success"/>
+    <transition target="running"/>
+  </state>
+
+  <state id="stop">
+    <ros_service_handle_response name="/NarrateComponent/Stop" target="halted"/>
+  </state>
+
+  <state id="success">
+    <onentry>
+      <ros_service_send_response name="/NarratePoiSkill/tick">
+        <field name="status" expr="SKILL_SUCCESS"/>
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="failure">
+    <onentry>
+      <ros_service_send_response name="/NarratePoiSkill/tick">
+        <field name="status" expr="SKILL_FAILURE"/>
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="halted">
+    <onentry>
+      <ros_service_send_response name="/NarratePoiSkill/halt">
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/NetworkStatusChangedSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/NetworkStatusChangedSkill.scxml
new file mode 100644
index 0000000..2335edb
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/NetworkStatusChangedSkill.scxml
@@ -0,0 +1,43 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  xmlns="http://www.w3.org/2005/07/scxml"
+  version="1.0"
+  name="NetworkStatusChangedSkill"
+  datamodel="ecmascript"
+  initial="idle">
+
+
+  <datamodel>
+    <!-- Provided by C++ DataModel -->
+    <data id="m_edge_detected" type="boolean" expr="false"/>
+    <data id="SKILL_SUCCESS"    type="int8"   expr="0"/>
+    <data id="SKILL_FAILURE"    type="int8"   expr="1"/>
+  </datamodel>
+
+  <!-- Condition skill: tick server only -->
+  <ros_service_server service_name="/NetworkStatusChangedSkill/tick" type="bt_interfaces_dummy/TickCondition"/>
+  
+  <state id="idle">
+    <ros_service_handle_request
+      name="/NetworkStatusChangedSkill/tick"
+      target="edgeDetected"/>
+  </state>
+
+  <state id="edgeDetected">
+    <onentry>
+      <if cond="m_edge_detected">
+        <ros_service_send_response name="/NetworkStatusChangedSkill/tick">
+          <field name="status" expr="SKILL_SUCCESS"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      <else/>
+        <ros_service_send_response name="/NetworkStatusChangedSkill/tick">
+          <field name="status" expr="SKILL_FAILURE"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      </if>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/NetworkUpSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/NetworkUpSkill.scxml
new file mode 100644
index 0000000..d809ee5
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/NetworkUpSkill.scxml
@@ -0,0 +1,41 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  xmlns="http://www.w3.org/2005/07/scxml"
+  version="1.0"
+  name="NetworkUpSkill"
+  datamodel="ecmascript"
+  initial="idle">
+
+
+  <datamodel>
+    <!-- Provided by C++ DataModel -->
+    <data id="m_status"      type="boolean" expr="false"/>
+    <data id="SKILL_SUCCESS" type="int8"    expr="0"/>
+    <data id="SKILL_FAILURE" type="int8"    expr="1"/>
+  </datamodel>
+
+  <!-- Condition skill: tick server only -->
+  <ros_service_server service_name="/NetworkUpSkill/tick" type="bt_interfaces_dummy/TickCondition"/>
+
+  <state id="idle">
+    <ros_service_handle_request name="/NetworkUpSkill/tick" target="decide"/>
+  </state>
+
+  <state id="decide">
+    <onentry>
+      <if cond="m_status">
+        <ros_service_send_response name="/NetworkUpSkill/tick">
+          <field name="status" expr="SKILL_SUCCESS"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      <else/>
+        <ros_service_send_response name="/NetworkUpSkill/tick">
+          <field name="status" expr="SKILL_FAILURE"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      </if>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/NotifyChargedSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/NotifyChargedSkill.scxml
new file mode 100644
index 0000000..2782cff
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/NotifyChargedSkill.scxml
@@ -0,0 +1,70 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  xmlns="http://www.w3.org/2005/07/scxml"
+  version="1.0"
+  name="NotifyChargedSkill"
+  datamodel="ecmascript"
+  initial="idle">
+
+  <datamodel>
+    <data id="m_result"       type="boolean" expr="false"/>
+    <data id="SUCCESS_RESULT" type="string"   expr="'SUCCESS'"/>
+    <data id="SKILL_SUCCESS"  type="int8"     expr="0"/>
+    <data id="SKILL_FAILURE"  type="int8"     expr="1"/>
+  </datamodel>
+
+  <!-- Action skill: tick + halt servers -->
+  <ros_service_server service_name="/NotifyChargedSkill/tick" type="bt_interfaces/srv/TickAction"/>
+  <ros_service_server service_name="/NotifyChargedSkill/halt" type="bt_interfaces/srv/HaltAction"/>
+
+  <!-- Client for NotifyUserComponent.NotifyUserCharged -->
+  <ros_service_client service_name="/NotifyUserComponent/NotifyUserCharged" type="notify_user_interfaces/srv/NotifyUserCharged"/>
+
+  <state id="idle">
+    <ros_service_handle_request name="/NotifyChargedSkill/tick" target="startNotify">
+      <ros_service_send_request name="/NotifyUserComponent/NotifyUserCharged"/>
+    </ros_service_handle_request>
+    <ros_service_handle_request name="/NotifyChargedSkill/halt" target="halted"/>
+  </state>
+
+  <state id="startNotify">
+    <ros_service_handle_response name="/NotifyUserComponent/NotifyUserCharged" target="evaluate">
+      <assign location="m_result" expr="_res.is_ok"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="evaluate">
+    <transition cond="!m_result" target="failure"/>
+    <transition target="decide"/>
+  </state>
+
+  <state id="decide">
+    <onentry>
+      <ros_service_send_response name="/NotifyChargedSkill/tick">
+        <field name="status" expr="m_result ? SKILL_SUCCESS : SKILL_FAILURE"/>
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="failure">
+    <onentry>
+      <ros_service_send_response name="/NotifyChargedSkill/tick">
+        <field name="status" expr="SKILL_FAILURE"/>
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="halted">
+    <onentry>
+      <ros_service_send_response name="/NotifyChargedSkill/halt">
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/PeopleLeftSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/PeopleLeftSkill.scxml
new file mode 100644
index 0000000..69ec15d
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/PeopleLeftSkill.scxml
@@ -0,0 +1,100 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  xmlns="http://www.w3.org/2005/07/scxml"
+  version="1.0"
+  name="PeopleLeftSkill"
+  datamodel="ecmascript"
+  initial="idle">
+
+  <datamodel>
+    <data id="m_result"       type="string" expr="''"/>
+    <data id="SUCCESS_RESULT" type="string" expr="'SUCCESS'"/>
+    <data id="SKILL_SUCCESS"  type="int8"   expr="0"/>
+    <data id="SKILL_FAILURE"  type="int8"   expr="1"/>
+  </datamodel>
+
+  <!-- Clients for resetting tour, counters, and timer -->
+  <ros_service_client service_name="/SchedulerComponent/Reset" type="scheduler_interfaces_dummy/Reset"/>
+  <ros_service_client service_name="/TurnBackManagerComponent/ResetCounters" type="turnbackmanager_interfaces_dummy/ResetCounters"/>
+  <ros_service_client service_name="/TimeComponent/StopTourTimer" type="time_interfaces_dummy/StopTourTimer"/>
+
+  <!-- Action skill: tick + halt servers -->
+  <ros_service_server service_name="/PeopleLeftSkill/tick" type="bt_interfaces_dummy/TickAction"/>
+  <ros_service_server service_name="/PeopleLeftSkill/halt" type="bt_interfaces_dummy/HaltAction"/>
+
+  <state id="idle">
+    <ros_service_handle_request name="/PeopleLeftSkill/tick" target="resetTour">
+      <ros_service_send_request name="/SchedulerComponent/Reset"/>
+    </ros_service_handle_request>
+    <ros_service_handle_request name="/PeopleLeftSkill/halt" target="halted"/>
+  </state>
+
+  <state id="resetTour">
+    <ros_service_handle_response name="/SchedulerComponent/Reset" target="evaluateReset">
+      <assign location="m_result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="evaluateReset">
+    <transition cond="m_result != SUCCESS_RESULT" target="failure"/>
+    <transition target="resetCounters"/>
+  </state>
+
+  <state id="resetCounters">
+    <onentry>
+      <ros_service_send_request name="/TurnBackManagerComponent/ResetCounters"/>
+    </onentry>
+    <ros_service_handle_response name="/TurnBackManagerComponent/ResetCounters" target="evaluateCounters">
+      <assign location="m_result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="evaluateCounters">
+    <transition cond="m_result != SUCCESS_RESULT" target="failure"/>
+    <transition target="stopTimer"/>
+  </state>
+
+  <state id="stopTimer">
+    <onentry>
+      <ros_service_send_request name="/TimeComponent/StopTourTimer"/>
+    </onentry>
+    <ros_service_handle_response name="/TimeComponent/StopTourTimer" target="evaluateTimer">
+      <assign location="m_result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="evaluateTimer">
+    <transition cond="m_result != SUCCESS_RESULT" target="failure"/>
+    <transition target="success"/>
+  </state>
+
+  <state id="success">
+    <onentry>
+      <ros_service_send_response name="/PeopleLeftSkill/tick">
+        <field name="status" expr="SKILL_SUCCESS"/>
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="failure">
+    <onentry>
+      <ros_service_send_response name="/PeopleLeftSkill/tick">
+        <field name="status" expr="SKILL_FAILURE"/>
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="halted">
+    <onentry>
+      <ros_service_send_response name="/PeopleLeftSkill/halt">
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/ResetCountersSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/ResetCountersSkill.scxml
new file mode 100644
index 0000000..28e6caf
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/ResetCountersSkill.scxml
@@ -0,0 +1,70 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  xmlns="http://www.w3.org/2005/07/scxml"
+  version="1.0"
+  name="ResetCountersSkill"
+  datamodel="ecmascript"
+  initial="idle">
+
+  <datamodel>
+    <data id="m_result"       type="string" expr="''"/>
+    <data id="SUCCESS_RESULT" type="string" expr="'SUCCESS'"/>
+    <data id="SKILL_SUCCESS"  type="int8"   expr="0"/>
+    <data id="SKILL_FAILURE"  type="int8"   expr="1"/>
+  </datamodel>
+
+  <!-- Action skill: tick + halt servers -->
+  <ros_service_server service_name="/ResetCountersSkill/tick" type="bt_interfaces_dummy/TickAction"/>
+  <ros_service_server service_name="/ResetCountersSkill/halt" type="bt_interfaces_dummy/HaltAction"/>
+
+  <!-- Client for TurnBackManagerComponent.ResetCounters -->
+  <ros_service_client service_name="/TurnBackManagerComponent/ResetCounters" type="turnbackmanager_interfaces/ResetCounters"/>
+
+  <state id="idle">
+    <ros_service_handle_request name="/ResetCountersSkill/tick" target="resetCounters">
+      <ros_service_send_request name="/TurnBackManagerComponent/ResetCounters"/>
+    </ros_service_handle_request>
+    <ros_service_handle_request name="/ResetCountersSkill/halt" target="halted"/>
+  </state>
+
+  <state id="resetCounters">
+    <ros_service_handle_response name="/TurnBackManagerComponent/ResetCounters" target="evaluate">
+      <assign location="m_result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="evaluate">
+    <transition cond="m_result != SUCCESS_RESULT" target="failure"/>
+    <transition target="success"/>
+  </state>
+
+  <state id="success">
+    <onentry>
+      <ros_service_send_response name="/ResetCountersSkill/tick">
+        <field name="status" expr="SKILL_SUCCESS"/>
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="failure">
+    <onentry>
+      <ros_service_send_response name="/ResetCountersSkill/tick">
+        <field name="status" expr="SKILL_FAILURE"/>
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="halted">
+    <onentry>
+      <ros_service_send_response name="/ResetCountersSkill/halt">
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/ResetSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/ResetSkill.scxml
new file mode 100644
index 0000000..24d009a
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/ResetSkill.scxml
@@ -0,0 +1,111 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  xmlns="http://www.w3.org/2005/07/scxml"
+  version="1.0"
+  name="ResetSkill"
+  datamodel="ecmascript"
+  initial="idle">
+
+  <datamodel>
+    <data id="poi_number"     type="int32"  expr="1"/>
+    <data id="poi_name_1"     type="string" expr="'1'"/>
+    <data id="poi_name_2"     type="string" expr="'2'"/>
+    <data id="value"          type="int32"  expr="0"/>
+    <data id="m_result"       type="string" expr="''"/>
+    <data id="SUCCESS_RESULT" type="string" expr="'SUCCESS'"/>
+    <data id="SKILL_SUCCESS"  type="int8"   expr="0"/>
+    <data id="SKILL_FAILURE"  type="int8"   expr="1"/>
+  </datamodel>
+
+  <!-- Action skill: tick + halt servers -->
+  <ros_service_server service_name="/ResetSkill/tick" type="bt_interfaces_dummy/TickAction"/>
+  <ros_service_server service_name="/ResetSkill/halt" type="bt_interfaces_dummy/HaltAction"/>
+
+  <!-- Clients -->
+  <ros_service_client service_name="/SchedulerComponent/SetPoi" type="scheduler_interfaces/SetPoi"/>
+  <ros_service_client service_name="/BlackboardComponent/SetInt" type="blackboard_interfaces/SetIntBlackboard"/>
+
+  <state id="idle">
+    <ros_service_handle_request name="/ResetSkill/tick" target="setCurrentPoi">
+      <ros_service_send_request name="/SchedulerComponent/SetPoi">
+        <field name="poi_number" expr="poi_number"/>
+      </ros_service_send_request>
+    </ros_service_handle_request>
+    <ros_service_handle_request name="/ResetSkill/halt" target="halted"/>
+  </state>
+
+  <state id="setCurrentPoi">
+    <ros_service_handle_response name="/SchedulerComponent/SetPoi" target="evaluateSetPoi">
+      <assign location="m_result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="evaluateSetPoi">
+    <transition cond="m_result != SUCCESS_RESULT" target="failure"/>
+    <transition target="setInt1"/>
+  </state>
+
+  <state id="setInt1">
+    <onentry>
+      <ros_service_send_request name="/BlackboardComponent/SetInt">
+        <field name="field_name" expr="poi_name_1"/>
+        <field name="value" expr="value"/>
+      </ros_service_send_request>
+    </onentry>
+    <ros_service_handle_response name="/BlackboardComponent/SetInt" target="evaluateInt1">
+      <assign location="m_result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="evaluateInt1">
+    <transition cond="m_result != SUCCESS_RESULT" target="failure"/>
+    <transition target="setInt2"/>
+  </state>
+
+  <state id="setInt2">
+    <onentry>
+      <ros_service_send_request name="/BlackboardComponent/SetInt">
+        <field name="field_name" expr="poi_name_2"/>
+        <field name="value" expr="value"/>
+      </ros_service_send_request>
+    </onentry>
+    <ros_service_handle_response name="/BlackboardComponent/SetInt" target="evaluateInt2">
+      <assign location="m_result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="evaluateInt2">
+    <transition cond="m_result != SUCCESS_RESULT" target="failure"/>
+    <transition target="success"/>
+  </state>
+
+  <state id="success">
+    <onentry>
+      <ros_service_send_response name="/ResetSkill/tick">
+        <field name="status" expr="SKILL_SUCCESS"/>
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="failure">
+    <onentry>
+      <ros_service_send_response name="/ResetSkill/tick">
+        <field name="status" expr="SKILL_FAILURE"/>
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="halted">
+    <onentry>
+      <ros_service_send_response name="/ResetSkill/halt">
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/ResetTourAndFlagsSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/ResetTourAndFlagsSkill.scxml
new file mode 100644
index 0000000..0b0e101
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/ResetTourAndFlagsSkill.scxml
@@ -0,0 +1,72 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  xmlns="http://www.w3.org/2005/07/scxml"
+  version="1.0"
+  name="ResetTourAndFlagsSkill"
+  datamodel="ecmascript"
+  initial="idle">
+
+  <!-- Action skill: tick + halt servers -->
+  <ros_service_server service_name="/ResetTourAndFlagsSkill/tick" type="bt_interfaces_dummy/TickAction"/>
+  <ros_service_server service_name="/ResetTourAndFlagsSkill/halt" type="bt_interfaces_dummy/HaltAction"/>
+
+  <!-- Clients for Reset and Blackboard set-all-ints -->
+  <ros_service_client service_name="/SchedulerComponent/Reset" type="scheduler_interfaces/Reset"/>
+  <ros_service_client service_name="/BlackboardComponent/SetAllIntsWithPrefix" type="blackboard_interfaces/SetAllIntsWithPrefix"/>
+
+  <datamodel>
+    <data id="m_name"        type="string" expr="'PoiDone'"/>
+    <data id="m_value"       type="int32"  expr="0"/>
+    <data id="m_result"      type="string" expr="''"/>
+    <data id="SKILL_SUCCESS" type="int8"   expr="0"/>
+    <data id="SKILL_FAILURE" type="int8"   expr="1"/>
+  </datamodel>
+
+  <state id="idle">
+    <ros_service_handle_request name="/ResetTourAndFlagsSkill/tick" target="resetTour">
+      <ros_service_send_request name="/SchedulerComponent/Reset"/>
+    </ros_service_handle_request>
+    <ros_service_handle_request name="/ResetTourAndFlagsSkill/halt" target="halted"/>
+  </state>
+
+  <state id="resetTour">
+    <ros_service_handle_response name="/SchedulerComponent/Reset" target="setFlags">
+      <assign location="m_result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="setFlags">
+    <onentry>
+      <ros_service_send_request name="/BlackboardComponent/SetAllIntsWithPrefix">
+        <field name="field_name" expr="m_name"/>
+        <field name="value"      expr="m_value"/>
+      </ros_service_send_request>
+    </onentry>
+    <ros_service_handle_response name="/BlackboardComponent/SetAllIntsWithPrefix" target="decide">
+      <assign location="m_result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="decide">
+    <onentry>
+      <if cond="m_result=='SKILL_SUCCESS'">
+        <ros_service_send_response name="/ResetTourAndFlagsSkill/tick">
+          <field name="status" expr="SKILL_SUCCESS"/> 
+        </ros_service_send_response>
+      <else/>
+        <ros_service_send_response name="/ResetTourAndFlagsSkill/tick">
+          <field name="status" expr="SKILL_FAILURE"/>
+        </ros_service_send_response>
+      </if>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="halted">
+    <onentry>
+      <ros_service_send_response name="/ResetTourAndFlagsSkill/halt"/>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/ResetTourSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/ResetTourSkill.scxml
new file mode 100644
index 0000000..0dc0a10
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/ResetTourSkill.scxml
@@ -0,0 +1,57 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  xmlns="http://www.w3.org/2005/07/scxml"
+  version="1.0"
+  name="ResetTourSkill"
+  datamodel="ecmascript"
+  initial="idle">
+
+  <datamodel>
+    <data id="m_result"      type="string" expr="''"/>
+    <data id="SKILL_SUCCESS" type="int8"   expr="0"/>
+    <data id="SKILL_FAILURE" type="int8"   expr="1"/>
+  </datamodel>
+
+  <!-- Action skill: tick + halt servers -->
+  <ros_service_server service_name="/ResetTourSkill/tick" type="bt_interfaces_dummy/TickAction"/>
+  <ros_service_server service_name="/ResetTourSkill/halt" type="bt_interfaces_dummy/HaltAction"/>
+
+  <!-- Client for Reset -->
+  <ros_service_client service_name="/SchedulerComponent/Reset" type="scheduler_interfaces/Reset"/>
+
+  <state id="idle">
+    <ros_service_handle_request name="/ResetTourSkill/tick" target="resetTour">
+      <ros_service_send_request name="/SchedulerComponent/Reset"/>
+    </ros_service_handle_request>
+    <ros_service_handle_request name="/ResetTourSkill/halt" target="halted"/>
+  </state>
+
+  <state id="resetTour">
+    <ros_service_handle_response name="/SchedulerComponent/Reset" target="decide">
+      <assign location="m_result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="decide">
+    <onentry>
+      <if cond="m_result=='SKILL_SUCCESS'">
+        <ros_service_send_response name="/ResetTourSkill/tick">
+          <field name="status" expr="SKILL_SUCCESS"/>
+        </ros_service_send_response>
+      <else/>
+        <ros_service_send_response name="/ResetTourSkill/tick">
+          <field name="status" expr="SKILL_FAILURE"/>
+        </ros_service_send_response>
+      </if>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="halted">
+    <onentry>
+      <ros_service_send_response name="/ResetTourSkill/halt"/>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/RunTimerSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/RunTimerSkill.scxml
new file mode 100644
index 0000000..a5a2bee
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/RunTimerSkill.scxml
@@ -0,0 +1,73 @@
+<scxml
+    version="1.0"
+    xmlns="..."
+    datamodel="ecmascript"
+    name="RunTimerSkill"
+    initial="idle"> 
+
+    <datamodel>
+        <data id="timer_active" type="bool" expr="false" />
+        <data id="SKILL_SUCCESS" type="int8" expr="0" />
+        <data id="SKILL_FAILURE" type="int8" expr="1" />
+        <data id="SKILL_RUNNING" type="int8" expr="2" />
+    </datamodel>
+
+    <!-- RunTimerSkill is a server for tick from the ROS2Action plugin-->
+    <ros_service_server service_name="/RunTimerSkill/tick" type ="bt_interfaces_dummy/TickAction"/>
+    <!-- RunTimerSkill is a server for halt from the ROS2Action plugin-->
+    <!-- <ros_service_server service_name="/RunTimerSkill/halt" type ="bt_interface/HaltAction"/> -->
+    <!-- RunTimerSkill is a client for IsTimerActive from the TimerCheckForPeopleComponent -->
+    <ros_service_client service_name="/TimerCheckForPeopleComponent/IsTimerActive" type ="timer_check_for_people_interfaces/IsTimerActive"/>
+    <!-- RunTimerSkill is a client for StartTimer from the TimerCheckForPeopleComponent -->
+    <ros_service_client service_name="/TimerCheckForPeopleComponent/StartTimer" type ="timer_check_for_people_interfaces/StartTimer"/>
+
+    <state id="idle">
+        <ros_service_handle_request name="/RunTimerSkill/tick" target="isTimerActive">
+            <ros_service_send_request name="/TimerCheckForPeopleComponent/IsTimerActive"/>
+        </ros_service_handle_request>
+        <!-- <ros_service_handle_request name="/RunTimerSkill/halt" target="idle">
+            <ros_service_send_response name="/RunTimerSkill/halt"/>
+        </ros_service_handle_request> -->
+
+    </state>
+
+    <state id="isTimerActive">
+        <ros_service_handle_response name="/TimerCheckForPeopleComponent/IsTimerActive" cond="(_res.is_ok) == false " target="idle">
+            <ros_service_send_response name="/RunTimerSkill/tick">
+                <field name="status" expr="SKILL_FAILURE"/>
+                <field name="is_ok" expr="true"/>
+            </ros_service_send_response>
+        </ros_service_handle_response>
+        <ros_service_handle_response name="/TimerCheckForPeopleComponent/IsTimerActive" cond="_res.is_active " target="idle">
+            <ros_service_send_response name="/RunTimerSkill/tick">
+                <field name="status" expr="SKILL_RUNNING"/>
+                <field name="is_ok" expr="true"/>
+            </ros_service_send_response>
+        </ros_service_handle_response>
+        <ros_service_handle_response name="/TimerCheckForPeopleComponent/IsTimerActive" cond="(_res.is_active) == false" target="startTimer">
+            <ros_service_send_request name="/TimerCheckForPeopleComponent/StartTimer"/>
+        </ros_service_handle_response>
+        <!-- <ros_service_handle_request name="/RunTimerSkill/halt" target="idle">
+            <ros_service_send_response name="/RunTimerSkill/halt"/>
+        </ros_service_handle_request> -->
+
+    </state>
+
+    <state id="startTimer">
+        <ros_service_handle_response name="/TimerCheckForPeopleComponent/StartTimer" cond="_res.is_ok" target="idle">
+            <ros_service_send_response name="/RunTimerSkill/tick">
+                <field name="status" expr="SKILL_SUCCESS"/>
+                <field name="is_ok" expr="true"/>
+            </ros_service_send_response>
+        </ros_service_handle_response>
+        <ros_service_handle_response name="/TimerCheckForPeopleComponent/StartTimer" cond="(_res.is_ok) == false" target="idle">
+            <ros_service_send_response name="/RunTimerSkill/tick">
+                <field name="status" expr="SKILL_FAILURE"/>
+                <field name="is_ok" expr="true"/>
+            </ros_service_send_response>
+        </ros_service_handle_response>
+        <!-- <ros_service_handle_request name="/RunTimerSkill/halt" target="idle">
+            <ros_service_send_response name="/RunTimerSkill/halt"/>
+        </ros_service_handle_request> -->
+    </state>
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/SayByeSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/SayByeSkill.scxml
new file mode 100644
index 0000000..3d2eff1
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/SayByeSkill.scxml
@@ -0,0 +1,141 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  xmlns="http://www.w3.org/2005/07/scxml"
+  version="1.0"
+  name="SayByeSkill"
+  datamodel="ecmascript"
+  initial="idle">
+
+  <datamodel>
+    <data id="m_command"      type="string"  expr="'sayBye'"/>
+    <data id="m_param"        type="string"  expr="''"/>
+    <data id="m_is_speaking"  type="boolean" expr="false"/>
+    <data id="m_result"       type="string"  expr="''"/>
+    <data id="SUCCESS_RESULT" type="string"  expr="'SUCCESS'"/>
+    <data id="SKILL_SUCCESS"  type="int8"    expr="0"/>
+    <data id="SKILL_FAILURE"  type="int8"    expr="1"/>
+    <data id="SKILL_RUNNING"  type="int8"    expr="2"/>
+  </datamodel>
+
+  <!-- Action skill: tick + halt servers -->
+  <ros_service_server service_name="/SayByeSkill/tick" type="bt_interfaces_dummy/TickAction"/>
+  <ros_service_server service_name="/SayByeSkill/halt" type="bt_interfaces_dummy/HaltAction"/>
+
+  <!-- Clients -->
+  <ros_service_client service_name="/SchedulerComponent/SetCommand" type="scheduler_interfaces/SetCommand"/>
+  <ros_service_client service_name="/SchedulerComponent/GetCurrentAction" type="scheduler_interfaces/GetCurrentAction"/>
+  <ros_service_client service_name="/TextToSpeechComponent/Speak" type="text_to_speech_interfaces/Speak"/>
+  <ros_service_client service_name="/TextToSpeechComponent/IsSpeaking" type="text_to_speech_interfaces/IsSpeaking"/>
+
+  <state id="idle">
+    <ros_service_handle_request name="/SayByeSkill/tick" target="setCmd">
+      <ros_service_send_request name="/SchedulerComponent/SetCommand">
+        <field name="command" expr="m_command"/>
+      </ros_service_send_request>
+    </ros_service_handle_request>
+    <ros_service_handle_request name="/SayByeSkill/halt" target="halted"/>
+  </state>
+
+  <state id="setCmd">
+    <ros_service_handle_response name="/SchedulerComponent/SetCommand" target="evaluateSetCmd">
+      <assign location="m_result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="evaluateSetCmd">
+    <transition cond="m_result != SUCCESS_RESULT" target="failure"/>
+    <transition target="getText"/>
+  </state>
+
+  <state id="getText">
+    <onentry>
+      <ros_service_send_request name="/SchedulerComponent/GetCurrentAction"/>
+    </onentry>
+    <ros_service_handle_response name="/SchedulerComponent/GetCurrentAction" target="evaluateGetText">
+      <assign location="m_param"  expr="_res.param"/>
+      <assign location="m_result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="evaluateGetText">
+    <transition cond="m_result != SUCCESS_RESULT" target="failure"/>
+    <transition target="startSpeak"/>
+  </state>
+
+  <state id="startSpeak">
+    <onentry>
+      <ros_service_send_response name="/SayByeSkill/tick">
+        <field name="status" expr="SKILL_RUNNING"/>
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+      <ros_service_send_request name="/TextToSpeechComponent/Speak">
+        <field name="text" expr="m_param"/>
+      </ros_service_send_request>
+    </onentry>
+    <ros_service_handle_response name="/TextToSpeechComponent/Speak" target="evaluateSpeak">
+      <assign location="m_result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="evaluateSpeak">
+    <transition cond="m_result != SUCCESS_RESULT" target="failure"/>
+    <transition target="waitSpeaking"/>
+  </state>
+
+  <state id="waitSpeaking">
+    <ros_service_handle_request name="/SayByeSkill/tick" target="checkSpeak">
+      <ros_service_send_request name="/TextToSpeechComponent/IsSpeaking"/>
+    </ros_service_handle_request>
+    <ros_service_handle_request name="/SayByeSkill/halt" target="halted"/>
+  </state>
+
+  <state id="checkSpeak">
+    <ros_service_handle_response name="/TextToSpeechComponent/IsSpeaking" target="evaluateCheck">
+      <assign location="m_is_speaking" expr="_res.is_speaking"/>
+      <assign location="m_result"      expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="evaluateCheck">
+    <transition cond="m_result != SUCCESS_RESULT" target="failure"/>
+    <transition target="decideCheck"/>
+  </state>
+
+  <state id="decideCheck">
+    <onentry>
+      <if cond="m_is_speaking">
+        <ros_service_send_response name="/SayByeSkill/tick">
+          <field name="status" expr="SKILL_RUNNING"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      <else/>
+        <ros_service_send_response name="/SayByeSkill/tick">
+          <field name="status" expr="SKILL_SUCCESS"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      </if>
+    </onentry>
+    <transition cond="m_is_speaking" target="waitSpeaking"/>
+    <transition target="idle"/>
+  </state>
+
+  <state id="failure">
+    <onentry>
+      <ros_service_send_response name="/SayByeSkill/tick">
+        <field name="status" expr="SKILL_FAILURE"/>
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="halted">
+    <onentry>
+      <ros_service_send_response name="/SayByeSkill/halt">
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/SayDurationExceededSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/SayDurationExceededSkill.scxml
new file mode 100644
index 0000000..bbd3a58
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/SayDurationExceededSkill.scxml
@@ -0,0 +1,191 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  xmlns="http://www.w3.org/2005/07/scxml"
+  version="1.0"
+  name="SayDurationExceededSkill"
+  datamodel="ecmascript"
+  initial="idle">
+
+  <datamodel>
+    <data id="m_name"         type="string"  expr="'SaidExceededFlag'"/>
+    <data id="m_value"        type="int32"   expr="0"/>
+    <data id="m_command"      type="string"  expr="'sayDurationExceeded'"/>
+    <data id="m_param"        type="string"  expr="''"/>
+    <data id="m_is_speaking"  type="boolean" expr="false"/>
+    <data id="m_result"       type="string"  expr="''"/>
+    <data id="SUCCESS_RESULT" type="string"  expr="'SUCCESS'"/>
+    <data id="SKILL_SUCCESS"  type="int8"    expr="0"/>
+    <data id="SKILL_FAILURE"  type="int8"    expr="1"/>
+    <data id="SKILL_RUNNING"  type="int8"    expr="2"/>
+  </datamodel>
+
+  <!-- Action skill: tick + halt servers -->
+  <ros_service_server service_name="/SayDurationExceededSkill/tick" type="bt_interfaces_dummy/TickAction"/>
+  <ros_service_server service_name="/SayDurationExceededSkill/halt" type="bt_interfaces_dummy/HaltAction"/>
+
+  <!-- Clients -->
+  <ros_service_client service_name="/BlackboardComponent/GetInt" type="blackboard_interfaces/GetIntBlackboard"/>
+  <ros_service_client service_name="/SchedulerComponent/SetCommand" type="scheduler_interfaces/SetCommand"/>
+  <ros_service_client service_name="/SchedulerComponent/GetCurrentAction" type="scheduler_interfaces/GetCurrentAction"/>
+  <ros_service_client service_name="/TextToSpeechComponent/Speak" type="text_to_speech_interfaces/Speak"/>
+  <ros_service_client service_name="/BlackboardComponent/SetInt" type="blackboard_interfaces/SetIntBlackboard"/>
+  <ros_service_client service_name="/TextToSpeechComponent/IsSpeaking" type="text_to_speech_interfaces/IsSpeaking"/>
+
+  <state id="idle">
+    <ros_service_handle_request name="/SayDurationExceededSkill/tick" target="queryFlag">
+      <ros_service_send_request name="/BlackboardComponent/GetInt">
+        <field name="field_name" expr="m_name"/>
+      </ros_service_send_request>
+    </ros_service_handle_request>
+    <ros_service_handle_request name="/SayDurationExceededSkill/halt" target="halted"/>
+  </state>
+
+  <state id="queryFlag">
+    <ros_service_handle_response name="/BlackboardComponent/GetInt" target="evaluateQuery">
+      <assign location="m_value"  expr="_res.value"/>
+      <assign location="m_result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="evaluateQuery">
+    <transition cond="m_result != SUCCESS_RESULT" target="failure"/>
+    <transition target="checkFlag"/>
+  </state>
+
+  <state id="checkFlag">
+    <transition cond="m_value != 0" target="success"/>
+    <transition target="setCmd"/>
+  </state>
+
+  <state id="setCmd">
+    <onentry>
+      <ros_service_send_request name="/SchedulerComponent/SetCommand">
+        <field name="command" expr="m_command"/>
+      </ros_service_send_request>
+    </onentry>
+    <ros_service_handle_response name="/SchedulerComponent/SetCommand" target="evaluateSetCmd">
+      <assign location="m_result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="evaluateSetCmd">
+    <transition cond="m_result != SUCCESS_RESULT" target="failure"/>
+    <transition target="getText"/>
+  </state>
+
+  <state id="getText">
+    <onentry>
+      <ros_service_send_request name="/SchedulerComponent/GetCurrentAction"/>
+    </onentry>
+    <ros_service_handle_response name="/SchedulerComponent/GetCurrentAction" target="evaluateGetText">
+      <assign location="m_param"  expr="_res.param"/>
+      <assign location="m_result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="evaluateGetText">
+    <transition cond="m_result != SUCCESS_RESULT" target="failure"/>
+    <transition target="startSpeak"/>
+  </state>
+
+  <state id="startSpeak">
+    <onentry>
+      <ros_service_send_response name="/SayDurationExceededSkill/tick">
+        <field name="status" expr="SKILL_RUNNING"/>
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+      <ros_service_send_request name="/TextToSpeechComponent/Speak">
+        <field name="text" expr="m_param"/>
+      </ros_service_send_request>
+    </onentry>
+    <ros_service_handle_response name="/TextToSpeechComponent/Speak" target="evaluateSpeak">
+      <assign location="m_result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="evaluateSpeak">
+    <transition cond="m_result != SUCCESS_RESULT" target="failure"/>
+    <transition target="waitSpeak"/>
+  </state>
+
+  <state id="waitSpeak">
+    <ros_service_handle_request name="/SayDurationExceededSkill/tick" target="checkSpeak">
+      <ros_service_send_request name="/TextToSpeechComponent/IsSpeaking"/>
+    </ros_service_handle_request>
+    <ros_service_handle_request name="/SayDurationExceededSkill/halt" target="halted"/>
+  </state>
+
+  <state id="checkSpeak">
+    <ros_service_handle_response name="/TextToSpeechComponent/IsSpeaking" target="evaluateCheck">
+      <assign location="m_is_speaking" expr="_res.is_speaking"/>
+      <assign location="m_result"      expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="evaluateCheck">
+    <transition cond="m_result != SUCCESS_RESULT" target="failure"/>
+    <transition target="decideCheck"/>
+  </state>
+
+  <state id="decideCheck">
+    <transition cond="m_is_speaking" target="running"/>
+    <transition target="setFlag"/>
+  </state>
+
+  <state id="running">
+    <onentry>
+      <ros_service_send_response name="/SayDurationExceededSkill/tick">
+        <field name="status" expr="SKILL_RUNNING"/>
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="waitSpeak"/>
+  </state>
+
+  <state id="setFlag">
+    <onentry>
+      <ros_service_send_request name="/BlackboardComponent/SetInt">
+        <field name="field_name" expr="m_name"/>
+        <field name="value" expr="1"/>
+      </ros_service_send_request>
+    </onentry>
+    <ros_service_handle_response name="/BlackboardComponent/SetInt" target="evaluateSetFlag">
+      <assign location="m_result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="evaluateSetFlag">
+    <transition cond="m_result != SUCCESS_RESULT" target="failure"/>
+    <transition target="success"/>
+  </state>
+
+  <state id="success">
+    <onentry>
+      <ros_service_send_response name="/SayDurationExceededSkill/tick">
+        <field name="status" expr="SKILL_SUCCESS"/>
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="failure">
+    <onentry>
+      <ros_service_send_response name="/SayDurationExceededSkill/tick">
+        <field name="status" expr="SKILL_FAILURE"/>
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="halted">
+    <onentry>
+      <ros_service_send_response name="/SayDurationExceededSkill/halt">
+        <field name="is_ok" expr="true"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/SayFollowMeSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/SayFollowMeSkill.scxml
new file mode 100644
index 0000000..97daf74
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/SayFollowMeSkill.scxml
@@ -0,0 +1,126 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  xmlns="http://www.w3.org/2005/07/scxml"
+  version="1.0"
+  name="SayFollowMeSkill"
+  datamodel="ecmascript"
+  initial="idle">
+
+  <datamodel>
+    <data id="m_command"     type="string"  expr="'sayFollowMe'"/>
+    <data id="m_param"       type="string"  expr="''"/>
+    <data id="m_is_speaking" type="boolean" expr="false"/>
+    <data id="m_result"      type="string"  expr="''"/>
+    <data id="SKILL_SUCCESS" type="int8"    expr="0"/>
+    <data id="SKILL_FAILURE" type="int8"    expr="1"/>
+    <data id="SKILL_RUNNING" type="int8"    expr="2"/>
+  </datamodel>
+
+  <!-- Action skill: tick + halt servers -->
+  <ros_service_server service_name="/SayFollowMeSkill/tick" type="bt_interfaces_dummy/TickAction"/>
+  <ros_service_server service_name="/SayFollowMeSkill/halt" type="bt_interfaces_dummy/HaltAction"/>
+
+  <!-- Clients -->
+  <ros_service_client service_name="/SchedulerComponent/SetCommand" type="scheduler_interfaces/SetCommand"/>
+  <ros_service_client service_name="/SchedulerComponent/GetCurrentAction" type="scheduler_interfaces/GetCurrentAction"/>
+  <ros_service_client service_name="/TextToSpeechComponent/Speak" type="text_to_speech_interfaces/Speak"/>
+  <ros_service_client service_name="/TextToSpeechComponent/IsSpeaking" type="text_to_speech_interfaces/IsSpeaking"/>
+
+  <state id="idle">
+    <ros_service_handle_request name="/SayFollowMeSkill/tick" target="setCommand">
+      <ros_service_send_request name="/SchedulerComponent/SetCommand">
+        <field name="command" expr="m_command"/>
+      </ros_service_send_request>
+    </ros_service_handle_request>
+    <ros_service_handle_request name="/SayFollowMeSkill/halt" target="halted"/>
+  </state>
+
+  <state id="setCommand">
+    <ros_service_handle_response name="/SchedulerComponent/SetCommand" target="onSetCommand">
+      <assign location="m_result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="onSetCommand">
+    <onentry>
+      <if cond="m_result=='SKILL_SUCCESS'">
+        <ros_service_send_request name="/SchedulerComponent/GetCurrentAction"/>
+      <else/>
+        <ros_service_send_response name="/SayFollowMeSkill/tick">
+          <field name="status" expr="SKILL_FAILURE"/>
+        </ros_service_send_response>
+      </if>
+    </onentry>
+    <transition cond="m_result=='SKILL_SUCCESS'" target="getText"/>
+    <transition cond="m_result!='SKILL_SUCCESS'" target="idle"/>
+  </state>
+
+  <state id="getText">
+    <ros_service_handle_response name="/SchedulerComponent/GetCurrentAction" target="talk">
+      <assign location="m_param" expr="_res.param"/>
+    </ros_service_handle_response>
+    <ros_service_handle_response name="/SchedulerComponent/GetCurrentAction" cond="_res.result!='SKILL_SUCCESS'" target="failure"/>
+  </state>
+
+  <state id="talk">
+    <onentry>
+      <ros_service_send_response name="/SayFollowMeSkill/tick">
+        <field name="status" expr="SKILL_RUNNING"/>
+      </ros_service_send_response>
+      <ros_service_send_request name="/TextToSpeechComponent/Speak">
+        <field name="text" expr="m_param"/>
+      </ros_service_send_request>
+    </onentry>
+    <transition target="waitSpeaking"/>
+  </state>
+
+  <state id="waitSpeaking">
+    <ros_service_handle_request name="/SayFollowMeSkill/tick" target="checkSpeaking">
+      <ros_service_send_request name="/TextToSpeechComponent/IsSpeaking"/>
+    </ros_service_handle_request>
+    <ros_service_handle_request name="/SayFollowMeSkill/halt" target="halted"/>
+    <ros_service_handle_response name="/TextToSpeechComponent/Speak" cond="_res.result!='SKILL_SUCCESS'" target="failure"/>
+  </state>
+
+  <state id="checkSpeaking">
+    <ros_service_handle_response name="/TextToSpeechComponent/IsSpeaking" target="onCheck">
+      <assign location="m_is_speaking" expr="_res.is_speaking"/>
+    </ros_service_handle_response>
+    <ros_service_handle_response name="/TextToSpeechComponent/IsSpeaking" cond="_res.result!='SKILL_SUCCESS'" target="failure"/>
+  </state>
+
+  <state id="onCheck">
+    <onentry>
+      <if cond="m_is_speaking">
+        <ros_service_send_response name="/SayFollowMeSkill/tick">
+          <field name="status" expr="SKILL_RUNNING"/>
+        </ros_service_send_response>
+      <else/>
+        <ros_service_send_response name="/SayFollowMeSkill/tick">
+          <field name="status" expr="SKILL_SUCCESS"/>
+        </ros_service_send_response>
+      </if>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="failure">
+    <onentry>
+      <ros_service_send_response name="/SayFollowMeSkill/tick">
+        <field name="status" expr="SKILL_FAILURE"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="halted">
+    <onentry>
+      <assign location="m_is_speaking" expr="false"/>
+      <assign location="m_result" expr="''"/>
+      <assign location="m_param" expr="''"/>
+      <ros_service_send_response name="/SayFollowMeSkill/halt"/>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/SayPeopleLeftSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/SayPeopleLeftSkill.scxml
new file mode 100644
index 0000000..53b33fd
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/SayPeopleLeftSkill.scxml
@@ -0,0 +1,126 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  xmlns="http://www.w3.org/2005/07/scxml"
+  version="1.0"
+  name="SayPeopleLeftSkill"
+  datamodel="ecmascript"
+  initial="idle">
+
+  <datamodel>
+    <data id="m_command"     type="string"  expr="'sayPeopleLeft'"/>
+    <data id="m_param"       type="string"  expr="''"/>
+    <data id="m_is_speaking" type="boolean" expr="false"/>
+    <data id="m_result"      type="string"  expr="''"/>
+    <data id="SKILL_SUCCESS" type="int8"    expr="0"/>
+    <data id="SKILL_FAILURE" type="int8"    expr="1"/>
+    <data id="SKILL_RUNNING" type="int8"    expr="2"/>
+  </datamodel>
+
+  <!-- Action skill: tick + halt servers -->
+  <ros_service_server service_name="/SayPeopleLeftSkill/tick" type="bt_interfaces_dummy/TickAction"/>
+  <ros_service_server service_name="/SayPeopleLeftSkill/halt" type="bt_interfaces_dummy/HaltAction"/>
+
+  <!-- Clients -->
+  <ros_service_client service_name="/SchedulerComponent/SetCommand" type="scheduler_interfaces/SetCommand"/>
+  <ros_service_client service_name="/SchedulerComponent/GetCurrentAction" type="scheduler_interfaces/GetCurrentAction"/>
+  <ros_service_client service_name="/TextToSpeechComponent/Speak" type="text_to_speech_interfaces/Speak"/>
+  <ros_service_client service_name="/TextToSpeechComponent/IsSpeaking" type="text_to_speech_interfaces/IsSpeaking"/>
+
+  <state id="idle">
+    <ros_service_handle_request name="/SayPeopleLeftSkill/tick" target="setCommand">
+      <ros_service_send_request name="/SchedulerComponent/SetCommand">
+        <field name="command" expr="m_command"/>
+      </ros_service_send_request>
+    </ros_service_handle_request>
+    <ros_service_handle_request name="/SayPeopleLeftSkill/halt" target="halted"/>
+  </state>
+
+  <state id="setCommand">
+    <ros_service_handle_response name="/SchedulerComponent/SetCommand" target="onSetCommand">
+      <assign location="m_result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="onSetCommand">
+    <onentry>
+      <if cond="m_result=='SKILL_SUCCESS'">
+        <ros_service_send_request name="/SchedulerComponent/GetCurrentAction"/>
+      <else/>
+        <ros_service_send_response name="/SayPeopleLeftSkill/tick">
+          <field name="status" expr="SKILL_FAILURE"/>
+        </ros_service_send_response>
+      </if>
+    </onentry>
+    <transition cond="m_result=='SKILL_SUCCESS'" target="getText"/>
+    <transition cond="m_result!='SKILL_SUCCESS'" target="idle"/>
+  </state>
+
+  <state id="getText">
+    <ros_service_handle_response name="/SchedulerComponent/GetCurrentAction" target="talk">
+      <assign location="m_param" expr="_res.param"/>
+    </ros_service_handle_response>
+    <ros_service_handle_response name="/SchedulerComponent/GetCurrentAction" cond="_res.result!='SKILL_SUCCESS'" target="failure"/>
+  </state>
+
+  <state id="talk">
+    <onentry>
+      <ros_service_send_response name="/SayPeopleLeftSkill/tick">
+        <field name="status" expr="SKILL_RUNNING"/>
+      </ros_service_send_response>
+      <ros_service_send_request name="/TextToSpeechComponent/Speak">
+        <field name="text" expr="m_param"/>
+      </ros_service_send_request>
+    </onentry>
+    <transition target="waitSpeaking"/>
+  </state>
+
+  <state id="waitSpeaking">
+    <ros_service_handle_request name="/SayPeopleLeftSkill/tick" target="checkSpeaking">
+      <ros_service_send_request name="/TextToSpeechComponent/IsSpeaking"/>
+    </ros_service_handle_request>
+    <ros_service_handle_request name="/SayPeopleLeftSkill/halt" target="halted"/>
+    <ros_service_handle_response name="/TextToSpeechComponent/Speak" cond="_res.result!='SKILL_SUCCESS'" target="failure"/>
+  </state>
+
+  <state id="checkSpeaking">
+    <ros_service_handle_response name="/TextToSpeechComponent/IsSpeaking" target="onCheck">
+      <assign location="m_is_speaking" expr="_res.is_speaking"/>
+    </ros_service_handle_response>
+    <ros_service_handle_response name="/TextToSpeechComponent/IsSpeaking" cond="_res.result!='SKILL_SUCCESS'" target="failure"/>
+  </state>
+
+  <state id="onCheck">
+    <onentry>
+      <if cond="m_is_speaking">
+        <ros_service_send_response name="/SayPeopleLeftSkill/tick">
+          <field name="status" expr="SKILL_RUNNING"/>
+        </ros_service_send_response>
+      <else/>
+        <ros_service_send_response name="/SayPeopleLeftSkill/tick">
+          <field name="status" expr="SKILL_SUCCESS"/>
+        </ros_service_send_response>
+      </if>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="failure">
+    <onentry>
+      <ros_service_send_response name="/SayPeopleLeftSkill/tick">
+        <field name="status" expr="SKILL_FAILURE"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="halted">
+    <onentry>
+      <assign location="m_is_speaking" expr="false"/>
+      <assign location="m_result" expr="''"/>
+      <assign location="m_param" expr="''"/>
+      <ros_service_send_response name="/SayPeopleLeftSkill/halt"/>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/SayWarningDurationSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/SayWarningDurationSkill.scxml
new file mode 100644
index 0000000..4a2c55a
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/SayWarningDurationSkill.scxml
@@ -0,0 +1,146 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml xmlns="http://www.w3.org/2005/07/scxml"
+       version="1.0"
+       name="SayWarningDurationSkill"
+       datamodel="ecmascript"
+       initial="idle">
+
+  <datamodel>
+    <data id="m_name"        type="string"  expr="'SaidWarningFlag'"/>
+    <data id="m_value"       type="int32"   expr="0"/>
+    <data id="m_command"     type="string"  expr="'sayDurationWarning'"/>
+    <data id="m_param"       type="string"  expr="''"/>
+    <data id="m_is_speaking" type="boolean" expr="false"/>
+    <data id="m_result"      type="string"  expr="''"/>
+    <data id="SKILL_SUCCESS" type="int8"    expr="0"/>
+    <data id="SKILL_FAILURE" type="int8"    expr="1"/>
+    <data id="SKILL_RUNNING" type="int8"    expr="2"/>
+  </datamodel>
+
+  <!-- Action skill: tick + halt servers -->
+  <ros_service_server service_name="/SayWarningDurationSkill/tick" type="bt_interfaces_dummy/TickAction"/>
+  <ros_service_server service_name="/SayWarningDurationSkill/halt" type="bt_interfaces_dummy/HaltAction"/>
+
+  <!-- Clients -->
+  <ros_service_client service_name="/BlackboardComponent/GetInt" type="blackboard_interfaces/GetIntBlackboard"/>
+  <ros_service_client service_name="/SchedulerComponent/SetCommand" type="scheduler_interfaces/SetCommand"/>
+  <ros_service_client service_name="/SchedulerComponent/GetCurrentAction" type="scheduler_interfaces/GetCurrentAction"/>
+  <ros_service_client service_name="/TextToSpeechComponent/Speak" type="text_to_speech_interfaces/Speak"/>
+  <ros_service_client service_name="/TextToSpeechComponent/IsSpeaking" type="text_to_speech_interfaces/IsSpeaking"/>
+
+  <state id="idle">
+    <onentry/>
+    <transition event="CMD_TICK" target="getFlag"/>
+    <transition event="CMD_HALT" target="halted"/>
+  </state>
+
+  <state id="getFlag">
+    <onentry>
+      <send event="BlackboardComponent.GetInt.Call">
+        <param name="field_name" expr="m_name"/>
+      </send>
+    </onentry>
+    <transition event="BlackboardComponent.GetInt.Return" target="checkFlag">
+      <assign location="m_value"  expr="_event.data.value"/>
+    </transition>
+  </state>
+
+  <state id="checkFlag">
+    <onentry>
+      <if cond="m_value!=0">
+        <assign location="m_result" expr="'SKILL_SUCCESS'"/>
+      <else/>
+        <assign location="m_result" expr="'SETCMD'"/>
+      </if>
+    </onentry>
+    <transition cond="m_result=='SKILL_SUCCESS'" target="finalize_success"/>
+    <transition cond="m_result=='SETCMD'" target="setCommand"/>
+  </state>
+
+  <state id="setCommand">
+    <onentry>
+      <send event="SchedulerComponent.SetCommand.Call">
+        <param name="command" expr="m_command"/>
+      </send>
+    </onentry>
+    <transition event="SchedulerComponent.SetCommand.Return" cond="_event.data.result=='SKILL_SUCCESS'" target="getText"/>
+    <transition event="SchedulerComponent.SetCommand.Return" cond="_event.data.result!='SKILL_SUCCESS'" target="finalize_failure"/>
+  </state>
+
+  <state id="getText">
+    <onentry>
+      <send event="SchedulerComponent.GetCurrentAction.Call"/>
+    </onentry>
+    <transition event="SchedulerComponent.GetCurrentAction.Return" cond="_event.data.result=='SKILL_SUCCESS'" target="talk">
+      <assign location="m_param" expr="_event.data.param"/>
+    </transition>
+    <transition event="SchedulerComponent.GetCurrentAction.Return" cond="_event.data.result!='SKILL_SUCCESS'" target="finalize_failure"/>
+  </state>
+
+  <state id="talk">
+    <onentry>
+      <send event="TextToSpeechComponent.Speak.Call">
+        <param name="text" expr="m_param"/>
+      </send>
+    </onentry>
+    <transition event="TextToSpeechComponent.Speak.Return" target="speaking"/>
+  </state>
+
+  <state id="speaking">
+    <onentry>
+      <send event="TICK_RESPONSE"><param name="status" expr="SKILL_RUNNING"/></send>
+    </onentry>
+    <transition event="CMD_TICK" target="checkSpeaking"/>
+    <transition event="CMD_HALT" target="halted"/>
+  </state>
+
+  <state id="checkSpeaking">
+    <onentry>
+      <send event="TextToSpeechComponent.IsSpeaking.Call"/>
+    </onentry>
+    <transition event="TextToSpeechComponent.IsSpeaking.Return" target="onCheck">
+      <assign location="m_is_speaking" expr="_event.data.is_speaking"/>
+    </transition>
+  </state>
+
+  <state id="onCheck">
+    <onentry>
+      <if cond="m_is_speaking">
+        <assign location="m_result" expr="'RUNNING'"/>
+      <else/>
+        <assign location="m_result" expr="'SKILL_SUCCESS'"/>
+      </if>
+    </onentry>
+    <transition cond="m_result=='RUNNING'" target="finalize_running"/>
+    <transition cond="m_result=='SKILL_SUCCESS'" target="finalize_success"/>
+  </state>
+
+  <state id="finalize_success">
+    <onentry>
+      <send event="TICK_RESPONSE"><param name="status" expr="SKILL_SUCCESS"/></send>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="finalize_running">
+    <onentry>
+      <send event="TICK_RESPONSE"><param name="status" expr="SKILL_RUNNING"/></send>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="finalize_failure">
+    <onentry>
+      <send event="TICK_RESPONSE"><param name="status" expr="SKILL_FAILURE"/></send>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="halted">
+    <onentry>
+      <send event="HALT_RESPONSE"/>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/SayWhileNavigatingSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/SayWhileNavigatingSkill.scxml
new file mode 100644
index 0000000..7f31120
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/SayWhileNavigatingSkill.scxml
@@ -0,0 +1,119 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  xmlns="http://www.w3.org/2005/07/scxml"
+  version="1.0"
+  name="SayWhileNavigatingSkill"
+  datamodel="ecmascript"
+  initial="idle">
+
+  <datamodel>
+    <data id="m_command"    type="string"  expr="'sayWhileNavigating'"/>
+    <data id="m_counter"    type="int32"   expr="0"/>
+    <data id="m_is_done"    type="boolean" expr="false"/>
+    <data id="m_result"     type="string"  expr="''"/>
+    <data id="SKILL_SUCCESS" type="int8"   expr="0"/>
+    <data id="SKILL_FAILURE" type="int8"   expr="1"/>
+    <data id="SKILL_RUNNING" type="int8"   expr="2"/>
+  </datamodel>
+
+  <!-- Action skill: tick + halt servers -->
+  <ros_service_server service_name="/SayWhileNavigatingSkill/tick" type="bt_interfaces_dummy/TickAction"/>
+  <ros_service_server service_name="/SayWhileNavigatingSkill/halt" type="bt_interfaces_dummy/HaltAction"/>
+
+  <!-- Clients -->
+  <ros_service_client service_name="/TurnBackManagerComponent/GetTurnBacksCounter" type="turnbackmanager_interfaces/GetTurnBacksCounter"/>
+  <ros_service_client service_name="/NarrateComponent/Narrate" type="narrate_interfaces/Narrate"/>
+  <ros_service_client service_name="/NarrateComponent/IsDone" type="narrate_interfaces/IsDone"/>
+  <ros_service_client service_name="/NarrateComponent/Stop" type="narrate_interfaces/Stop"/>
+
+  <state id="idle">
+    <ros_service_handle_request name="/SayWhileNavigatingSkill/tick" target="getCount">
+      <ros_service_send_request name="/TurnBackManagerComponent/GetTurnBacksCounter"/>
+    </ros_service_handle_request>
+    <ros_service_handle_request name="/SayWhileNavigatingSkill/halt" target="stopNarration"/>
+  </state>
+
+  <state id="getCount">
+    <ros_service_handle_response name="/TurnBackManagerComponent/GetTurnBacksCounter" target="decideCount">
+      <assign location="m_counter" expr="_res.counter"/>
+      <assign location="m_result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="decideCount">
+    <transition cond="m_result!='SKILL_SUCCESS'" target="fail"/>
+    <transition cond="m_counter!=0" target="success"/>
+    <transition cond="m_result=='SKILL_SUCCESS' && m_counter==0" target="startNarration"/>
+  </state>
+
+  <state id="fail">
+    <onentry>
+      <ros_service_send_response name="/SayWhileNavigatingSkill/tick">
+        <field name="status" expr="SKILL_FAILURE"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="success">
+    <onentry>
+      <ros_service_send_response name="/SayWhileNavigatingSkill/tick">
+        <field name="status" expr="SKILL_SUCCESS"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="startNarration">
+    <onentry>
+      <ros_service_send_request name="/NarrateComponent/Narrate">
+        <field name="command" expr="m_command"/>
+      </ros_service_send_request>
+    </onentry>
+    <ros_service_handle_response name="/NarrateComponent/Narrate" cond="_res.result=='SKILL_SUCCESS'" target="running"/>
+    <ros_service_handle_response name="/NarrateComponent/Narrate" cond="_res.result!='SKILL_SUCCESS'" target="fail"/>
+  </state>
+
+  <state id="running">
+    <onentry>
+      <ros_service_send_response name="/SayWhileNavigatingSkill/tick">
+        <field name="status" expr="SKILL_RUNNING"/>
+      </ros_service_send_response>
+    </onentry>
+    <ros_service_handle_request name="/SayWhileNavigatingSkill/tick" target="checkDone">
+      <ros_service_send_request name="/NarrateComponent/IsDone"/>
+    </ros_service_handle_request>
+    <ros_service_handle_request name="/SayWhileNavigatingSkill/halt" target="stopNarration"/>
+  </state>
+
+  <state id="checkDone">
+    <ros_service_handle_response name="/NarrateComponent/IsDone" target="onCheck">
+      <assign location="m_is_done" expr="_res.is_done"/>
+    </ros_service_handle_response>
+    <ros_service_handle_response name="/NarrateComponent/IsDone" cond="_res.result!='SKILL_SUCCESS'" target="fail"/>
+  </state>
+
+  <state id="onCheck">
+    <transition cond="m_is_done" target="success"/>
+    <transition cond="!m_is_done" target="running"/>
+  </state>
+
+  <state id="stopNarration">
+    <onentry>
+      <ros_service_send_request name="/NarrateComponent/Stop"/>
+    </onentry>
+    <ros_service_handle_response name="/NarrateComponent/Stop" target="halted"/>
+    <!-- Gestire anche il caso di errore se necessario -->
+  </state>
+
+  <state id="halted">
+    <onentry>
+      <assign location="m_counter" expr="0"/>
+      <assign location="m_is_done" expr="false"/>
+      <assign location="m_result" expr="''"/>
+      <ros_service_send_response name="/SayWhileNavigatingSkill/halt"/>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/SetCurrentPoiDoneSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/SetCurrentPoiDoneSkill.scxml
new file mode 100644
index 0000000..02b4a7e
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/SetCurrentPoiDoneSkill.scxml
@@ -0,0 +1,80 @@
+<scxml version="1.0" xmlns="..." datamodel="ecmascript" name="SetCurrentPoiDoneSkill" initial="idle"> 
+
+    <datamodel>
+        <data id="poi_number" type="int32" expr="0"/>
+        <!-- <data id="poi_name" type="string" expr=""/> -->
+        <!-- <data id="field_name" type="string" expr='"PoiDone"'/>
+        <data id="field_name_init" type="string" expr='"PoiDone"'/> -->
+        <data id="value" type="int32" expr="1"/>
+        <data id="SKILL_SUCCESS" type="int8" expr="0" />
+        <data id="SKILL_FAILURE" type="int8" expr="1" />
+        <data id="SKILL_RUNNING" type="int8" expr="2" />
+    </datamodel>
+
+    <!-- SetCurrentPoiDoneSkill is a server for tick from the ROS2Action plugin-->
+    <ros_service_server service_name="/SetCurrentPoiDoneSkill/tick" type ="bt_interfaces_dummy/TickAction"/>
+    <!-- SetCurrentPoiDoneSkill is a server for halt from the ROS2Action plugin-->
+    <ros_service_server service_name="/SetCurrentPoiDoneSkill/halt" type="bt_interfaces_dummy/HaltAction"/>
+    <!-- SetCurrentPoiDoneSkill is a client for GetCurrentPoi from the SchedulerComponent -->
+    <ros_service_client service_name="/SchedulerComponent/GetCurrentPoi" type ="scheduler_interfaces/GetCurrentPoi"/>
+    <!-- SetCurrentPoiDoneSkill is a client for SetInt from the BlackboardComponent -->
+    <ros_service_client service_name="/BlackboardComponent/SetInt" type ="blackboard_interfaces/SetIntBlackboard"/>
+
+    <state id="idle">
+        <ros_service_handle_request name="/SetCurrentPoiDoneSkill/tick" target="getCurrentPoi">
+            <ros_service_send_request name="/SchedulerComponent/GetCurrentPoi"/>
+        </ros_service_handle_request>
+        <!-- Decommentare e correggere -->
+        <ros_service_handle_request name="/SetCurrentPoiDoneSkill/halt" target="halted"/>
+    </state>
+
+    <state id="getCurrentPoi">
+        <ros_service_handle_response name="/SchedulerComponent/GetCurrentPoi" cond="_res.is_ok" target="setInt">
+            <assign location="poi_number" expr="_res.poi_number"/>
+            <!-- <assign location="poi_name" expr="_res.poi_name"/> -->
+            <!-- <script>
+                field_name = field_name_init + poi_number;
+            </script> -->
+            <ros_service_send_request name="/BlackboardComponent/SetInt">
+                <!-- Correggere da poi_number a stringa appropriata -->
+                <field name="field_name" expr="'PoiDone' + poi_number"/>
+                <field name="value" expr="value"/>
+            </ros_service_send_request>
+        </ros_service_handle_response>
+        <ros_service_handle_response name="/SchedulerComponent/GetCurrentPoi" cond="(_res.is_ok) == false" target="idle">
+            <ros_service_send_response name="/SetCurrentPoiDoneSkill/tick">
+                <field name="status" expr="SKILL_FAILURE"/>
+                <field name="is_ok" expr="true"/>
+            </ros_service_send_response>
+        </ros_service_handle_response>
+        <!-- Aggiungere gestione halt -->
+        <ros_service_handle_request name="/SetCurrentPoiDoneSkill/halt" target="halted"/>
+    </state>
+
+    <state id="setInt">
+        <ros_service_handle_response name="/BlackboardComponent/SetInt" cond="_res.is_ok" target="idle">
+            <ros_service_send_response name="/SetCurrentPoiDoneSkill/tick">
+                <field name="status" expr="SKILL_SUCCESS"/>
+                <field name="is_ok" expr="true"/>
+            </ros_service_send_response>
+        </ros_service_handle_response>
+        <ros_service_handle_response name="/BlackboardComponent/SetInt" cond="(_res.is_ok) == false" target="idle">
+            <ros_service_send_response name="/SetCurrentPoiDoneSkill/tick">
+                <field name="status" expr="SKILL_FAILURE"/>
+                <field name="is_ok" expr="true"/>
+            </ros_service_send_response>
+        </ros_service_handle_response>
+        <!-- Aggiungere gestione halt -->
+        <ros_service_handle_request name="/SetCurrentPoiDoneSkill/halt" target="halted"/>
+    </state>
+
+    <state id="halted">
+        <onentry>
+            <assign location="poi_number" expr="0"/>
+            <assign location="value" expr="1"/>
+            <ros_service_send_response name="/SetCurrentPoiDoneSkill/halt"/>
+        </onentry>
+        <transition target="idle"/>
+    </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/SetNavigationPositionSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/SetNavigationPositionSkill.scxml
new file mode 100644
index 0000000..4156c28
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/SetNavigationPositionSkill.scxml
@@ -0,0 +1,119 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  xmlns="http://www.w3.org/2005/07/scxml"
+  version="1.0"
+  name="SetNavigationPositionSkill"
+  datamodel="ecmascript"
+  initial="idle">
+
+  <datamodel>
+    <data id="DANCE_NAME"          expr="'navigationPosition'"/>
+    <data id="is_dancing"  type="boolean" expr="false"/>
+    <data id="result"      type="string"  expr="''"/>
+    <data id="SKILL_SUCCESS" type="int8" expr="0"/>
+    <data id="SKILL_FAILURE" type="int8" expr="1"/>
+    <data id="SKILL_RUNNING" type="int8" expr="2"/>
+  </datamodel>
+
+  <!-- Tick / halt servers (Behaviour-Tree plugin) -->
+  <ros_service_server service_name="/SetNavigationPositionSkill/tick"  type="bt_interfaces_dummy/TickAction"/>
+  <ros_service_server service_name="/SetNavigationPositionSkill/halt" type="bt_interfaces_dummy/HaltAction"/>
+
+  <!-- Clients used by this skill -->
+  <ros_service_client service_name="/ExecuteDanceComponent/ExecuteDance" type="execute_dance_interfaces/ExecuteDance"/>
+  <ros_service_client service_name="/ExecuteDanceComponent/IsDancing"   type="execute_dance_interfaces/IsDancing"/>
+
+  <!-- ============ STATES ============ -->
+
+  <!-- Waiting for a tick/halt -->
+  <state id="idle">
+    <ros_service_handle_request name="/SetNavigationPositionSkill/tick" target="executeDance">
+      <ros_service_send_request name="/ExecuteDanceComponent/ExecuteDance">
+        <field name="dance_name" expr="DANCE_NAME"/>
+      </ros_service_send_request>
+    </ros_service_handle_request>
+
+    <ros_service_handle_request name="/SetNavigationPositionSkill/halt" target="halted"/>
+  </state>
+
+  <!-- First service reply (start dance) -->
+  <state id="executeDance">
+    <ros_service_handle_response name="/ExecuteDanceComponent/ExecuteDance" target="afterExecute">
+      <assign location="result" expr="_res.result"/>
+    </ros_service_handle_response>
+    <!-- Aggiungere gestione halt -->
+    <ros_service_handle_request name="/SetNavigationPositionSkill/halt" target="halted"/>
+  </state>
+
+  <state id="afterExecute">
+    <onentry>
+      <if cond="result == 'SKILL_SUCCESS'">
+        <!-- Tell BT this skill is running -->
+        <ros_service_send_response name="/SetNavigationPositionSkill/tick">
+          <field name="status" expr="SKILL_RUNNING"/>
+        </ros_service_send_response>
+      <else/>
+        <ros_service_send_response name="/SetNavigationPositionSkill/tick">
+          <field name="status" expr="SKILL_FAILURE"/>
+        </ros_service_send_response>
+      </if>
+    </onentry>
+    <transition cond="result == 'SKILL_SUCCESS'"  target="wait_dance_done"/>
+    <transition cond="result != 'SKILL_SUCCESS'"  target="idle"/>
+  </state>
+
+  <!-- Running loop: check IsDancing until finished -->
+  <state id="wait_dance_done">
+    <ros_service_handle_request name="/SetNavigationPositionSkill/tick" target="queryDancing">
+      <ros_service_send_request name="/ExecuteDanceComponent/IsDancing"/>
+    </ros_service_handle_request>
+    <ros_service_handle_request name="/SetNavigationPositionSkill/halt" target="halted"/>
+  </state>
+
+  <state id="queryDancing">
+    <ros_service_handle_response name="/ExecuteDanceComponent/IsDancing" target="onQuery">
+      <assign location="is_dancing" expr="_res.is_dancing"/>
+    </ros_service_handle_response>
+    <ros_service_handle_response name="/ExecuteDanceComponent/IsDancing" cond="_res.result!='SKILL_SUCCESS'" target="failure"/>
+    <!-- Aggiungere gestione halt -->
+    <ros_service_handle_request name="/SetNavigationPositionSkill/halt" target="halted"/>
+  </state>
+
+  <state id="onQuery">
+    <onentry>
+      <if cond="is_dancing">
+        <!-- still running -->
+        <ros_service_send_response name="/SetNavigationPositionSkill/tick">
+          <field name="status" expr="SKILL_RUNNING"/>
+        </ros_service_send_response>
+      <else/>
+        <!-- done -->
+        <ros_service_send_response name="/SetNavigationPositionSkill/tick">
+          <field name="status" expr="SKILL_SUCCESS"/>
+        </ros_service_send_response>
+      </if>
+    </onentry>
+    <transition cond="is_dancing"   target="wait_dance_done"/>
+    <transition cond="!is_dancing"  target="idle"/>
+  </state>
+
+  <!-- Halt simply acknowledges -->
+  <state id="halted">
+    <onentry>
+      <assign location="is_dancing" expr="false"/>
+      <assign location="result" expr="''"/>
+      <ros_service_send_response name="/SetNavigationPositionSkill/halt"/>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="failure">
+    <onentry>
+      <ros_service_send_response name="/SetNavigationPositionSkill/tick">
+        <field name="status" expr="SKILL_FAILURE"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/SetNotTurningSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/SetNotTurningSkill.scxml
new file mode 100644
index 0000000..bf5b9fd
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/SetNotTurningSkill.scxml
@@ -0,0 +1,52 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  xmlns="http://www.w3.org/2005/07/scxml"
+  version="1.0"
+  name="SetNotTurningSkill"
+  datamodel="ecmascript"
+  initial="idle">
+
+  <datamodel>
+    <data id="FIELD_NAME" expr="'turnBackState'"/>
+    <data id="VALUE_STR"  expr="'not_turning'"/>
+    <data id="SKILL_SUCCESS" type="int8" expr="0"/>
+    <data id="SKILL_FAILURE" type="int8" expr="1"/>
+    <data id="SKILL_RUNNING" type="int8" expr="2"/>
+  </datamodel>
+
+  <ros_service_server service_name="/SetNotTurningSkill/tick"  type="bt_interfaces_dummy/TickAction"/>
+  <ros_service_server service_name="/SetNotTurningSkill/halt"  type="bt_interfaces_dummy/HaltAction"/>
+
+  <ros_service_client service_name="/BlackboardComponent/SetString" type="blackboard_interfaces/SetString"/>
+
+  <state id="idle">
+    <ros_service_handle_request name="/SetNotTurningSkill/tick" target="setString">
+      <ros_service_send_request name="/BlackboardComponent/SetString">
+        <field name="field_name" expr="FIELD_NAME"/>
+        <field name="value"      expr="VALUE_STR"/>
+      </ros_service_send_request>
+    </ros_service_handle_request>
+    <ros_service_handle_request name="/SetNotTurningSkill/halt" target="halted"/>
+  </state>
+
+  <state id="setString">
+    <ros_service_handle_response name="/BlackboardComponent/SetString" target="reply"/>
+    <ros_service_handle_request name="/SetNotTurningSkill/halt" target="halted"/>
+  </state>
+
+  <state id="reply">
+    <onentry>
+      <ros_service_send_response name="/SetNotTurningSkill/tick">
+        <field name="status" expr="SKILL_SUCCESS"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="halted">
+    <onentry>
+      <ros_service_send_response name="/SetNotTurningSkill/halt"/>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/SetPoi1Skill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/SetPoi1Skill.scxml
new file mode 100644
index 0000000..cbe6512
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/SetPoi1Skill.scxml
@@ -0,0 +1,54 @@
+<scxml
+    version="1.0"
+    xmlns="..."
+    datamodel="ecmascript"
+    name="SetPoi1Skill"
+    initial="idle"> 
+
+    <datamodel>
+        <data id="poi_number" type="int32" expr="1"/>
+        <data id="SKILL_SUCCESS" type="int8" expr="0" />
+        <data id="SKILL_FAILURE" type="int8" expr="1" />
+        <data id="SKILL_RUNNING" type="int8" expr="2" />
+    </datamodel>
+
+    <!-- SetPoiSkill is a server for tick from the ROS2Action plugin-->
+    <ros_service_server service_name="/SetPoi1Skill/tick" type ="bt_interfaces_dummy/TickAction"/>
+    <!-- SetPoiSkill is a server for halt from the ROS2Action plugin-->
+    <ros_service_server service_name="/SetPoi1Skill/halt" type="bt_interfaces_dummy/HaltAction"/>
+    <!-- SetPoiSkill is a client for SetPoi from the SchedulerComponent -->
+    <ros_service_client service_name="/SchedulerComponent/SetPoi" type ="scheduler_interfaces/SetPoi"/>
+
+    <state id="idle">
+        <ros_service_handle_request name="/SetPoi1Skill/tick" target="setPoi">
+            <ros_service_send_request name="/SchedulerComponent/SetPoi">
+                <field name="poi_number" expr="poi_number"/>
+            </ros_service_send_request>
+        </ros_service_handle_request>
+        <ros_service_handle_request name="/SetPoi1Skill/halt" target="halted"/>
+    </state>
+
+    <state id="setPoi">
+        <ros_service_handle_response name="/SchedulerComponent/SetPoi" cond="_res.is_ok" target="idle">
+            <ros_service_send_response name="/SetPoi1Skill/tick">
+                <field name="status" expr="SKILL_SUCCESS"/>
+                <field name="is_ok" expr="true"/>
+            </ros_service_send_response>
+        </ros_service_handle_response>
+        <ros_service_handle_response name="/SchedulerComponent/SetPoi" cond="(_res.is_ok) == false" target="idle">
+            <ros_service_send_response name="/SetPoi1Skill/tick">
+                <field name="status" expr="SKILL_FAILURE"/>
+                <field name="is_ok" expr="true"/>
+            </ros_service_send_response>
+        </ros_service_handle_response>
+        <ros_service_handle_request name="/SetPoi1Skill/halt" target="halted"/>
+    </state>
+
+    <state id="halted">
+        <onentry>
+            <assign location="poi_number" expr="1"/>
+            <ros_service_send_response name="/SetPoi1Skill/halt"/>
+        </onentry>
+        <transition target="idle"/>
+    </state>
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/SetPoi2Skill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/SetPoi2Skill.scxml
new file mode 100644
index 0000000..0ac4b82
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/SetPoi2Skill.scxml
@@ -0,0 +1,59 @@
+<scxml
+    version="1.0"
+    xmlns="..."
+    datamodel="ecmascript"
+    name="SetPoi2Skill"
+    initial="idle"> 
+
+    <datamodel>
+        <data id="poi_number" type="int32" expr="2"/>
+        <data id="SKILL_SUCCESS" type="int8" expr="0" />
+        <data id="SKILL_FAILURE" type="int8" expr="1" />
+        <data id="SKILL_RUNNING" type="int8" expr="2" />
+    </datamodel>
+
+    <!-- SetPoiSkill is a server for tick from the ROS2Action plugin-->
+    <ros_service_server service_name="/SetPoi2Skill/tick" type ="bt_interfaces_dummy/TickAction"/>
+    <!-- SetPoiSkill is a server for halt from the ROS2Action plugin-->
+    <ros_service_server service_name="/SetPoi2Skill/halt" type="bt_interfaces_dummy/HaltAction"/>
+    <!-- SetPoiSkill is a client for SetPoi from the SchedulerComponent -->
+    <ros_service_client service_name="/SchedulerComponent/SetPoi" type ="scheduler_interfaces/SetPoi"/>
+
+    <state id="idle">
+        <ros_service_handle_request name="/SetPoi2Skill/tick" target="setPoi">
+            <ros_service_send_request name="/SchedulerComponent/SetPoi">
+                <field name="poi_number" expr="poi_number"/>
+            </ros_service_send_request>
+        </ros_service_handle_request>
+        <!-- Decommentare e correggere -->
+        <ros_service_handle_request name="/SetPoi2Skill/halt" target="halted"/>
+    </state>
+
+    <state id="setPoi">
+        <ros_service_handle_response name="/SchedulerComponent/SetPoi" cond="_res.is_ok" target="idle">
+            <ros_service_send_response name="/SetPoi2Skill/tick">
+                <field name="status" expr="SKILL_SUCCESS"/>
+                <field name="is_ok" expr="true"/>
+            </ros_service_send_response>
+        </ros_service_handle_response>
+        <ros_service_handle_response name="/SchedulerComponent/SetPoi" cond="(_res.is_ok) == false" target="idle">
+            <ros_service_send_response name="/SetPoi2Skill/tick">
+                <field name="status" expr="SKILL_FAILURE"/>
+                <field name="is_ok" expr="true"/>
+            </ros_service_send_response>
+        </ros_service_handle_response>
+        <!-- <ros_service_handle_request name="/SetPoiSkill/halt" target="idle">
+            <ros_service_send_response name="/SetPoiSkill/halt"/>
+        </ros_service_handle_request> -->
+        <!-- Aggiungere gestione halt -->
+        <ros_service_handle_request name="/SetPoi2Skill/halt" target="halted"/>
+    </state>
+
+    <state id="halted">
+        <onentry>
+            <assign location="poi_number" expr="2"/>
+            <ros_service_send_response name="/SetPoi2Skill/halt"/>
+        </onentry>
+        <transition target="idle"/>
+    </state>
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/SetTurnedSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/SetTurnedSkill.scxml
new file mode 100644
index 0000000..34d93d4
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/SetTurnedSkill.scxml
@@ -0,0 +1,89 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  xmlns="http://www.w3.org/2005/07/scxml"
+  version="1.0"
+  name="SetTurnedSkill"
+  datamodel="ecmascript"
+  initial="idle">
+
+  <datamodel>
+    <data id="FIELD_NAME" expr="'turnBackState'"/>
+    <data id="VALUE_STR"  expr="'turned'"/>
+    <data id="result"     expr="''"/>
+    <data id="SKILL_SUCCESS" type="int8" expr="0"/>
+    <data id="SKILL_FAILURE" type="int8" expr="1"/>
+    <data id="SKILL_RUNNING" type="int8" expr="2"/>
+  </datamodel>
+
+  <ros_service_server service_name="/SetTurnedSkill/tick"  type="bt_interfaces_dummy/TickAction"/>
+  <ros_service_server service_name="/SetTurnedSkill/halt"  type="bt_interfaces_dummy/HaltAction"/>
+
+  <ros_service_client service_name="/BlackboardComponent/SetString" type="blackboard_interfaces/SetString"/>
+  <ros_service_client service_name="/TurnBackManagerComponent/IncreaseTurnBacksCounter" type="turn_back_manager_interfaces/IncreaseTurnBacksCounter"/>
+
+  <state id="idle">
+    <ros_service_handle_request name="/SetTurnedSkill/tick" target="setString">
+      <ros_service_send_request name="/BlackboardComponent/SetString">
+        <field name="field_name" expr="FIELD_NAME"/>
+        <field name="value"      expr="VALUE_STR"/>
+      </ros_service_send_request>
+    </ros_service_handle_request>
+    <ros_service_handle_request name="/SetTurnedSkill/halt" target="halted"/>
+  </state>
+
+  <state id="setString">
+    <ros_service_handle_response name="/BlackboardComponent/SetString" target="afterSet">
+      <assign location="result" expr="_res.result"/>
+    </ros_service_handle_response>
+    <!-- Aggiungere gestione halt -->
+    <ros_service_handle_request name="/SetTurnedSkill/halt" target="halted"/>
+  </state>
+
+  <state id="afterSet">
+    <onentry>
+      <if cond="result=='SKILL_SUCCESS'">
+        <ros_service_send_request name="/TurnBackManagerComponent/IncreaseTurnBacksCounter"/>
+      <else/>
+        <ros_service_send_response name="/SetTurnedSkill/tick">
+          <field name="status" expr="SKILL_FAILURE"/>
+        </ros_service_send_response>
+      </if>
+    </onentry>
+    <transition cond="result=='SKILL_SUCCESS'" target="waitInc"/>
+    <transition cond="result!='SKILL_SUCCESS'" target="idle"/>
+    <!-- Aggiungere gestione halt -->
+    <ros_service_handle_request name="/SetTurnedSkill/halt" target="halted"/>
+  </state>
+
+  <state id="waitInc">
+    <ros_service_handle_response name="/TurnBackManagerComponent/IncreaseTurnBacksCounter" target="reply">
+      <assign location="result" expr="_res.result"/>
+    </ros_service_handle_response>
+    <!-- Aggiungere gestione halt -->
+    <ros_service_handle_request name="/SetTurnedSkill/halt" target="halted"/>
+  </state>
+
+  <state id="reply">
+    <onentry>
+      <if cond="result=='SKILL_SUCCESS'">
+        <ros_service_send_response name="/SetTurnedSkill/tick">
+          <field name="status" expr="SKILL_SUCCESS"/>
+        </ros_service_send_response>
+      <else/>
+        <ros_service_send_response name="/SetTurnedSkill/tick">
+          <field name="status" expr="SKILL_FAILURE"/>
+        </ros_service_send_response>
+      </if>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="halted">
+    <onentry>
+      <assign location="result" expr="''"/>
+      <ros_service_send_response name="/SetTurnedSkill/halt"/>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/SetTurningSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/SetTurningSkill.scxml
new file mode 100644
index 0000000..648a3be
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/SetTurningSkill.scxml
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  xmlns="http://www.w3.org/2005/07/scxml"
+  version="1.0"
+  name="SetTurningSkill"
+  datamodel="ecmascript"
+  initial="idle">
+
+  <datamodel>
+    <data id="FIELD_NAME" expr="'turnBackState'"/>
+    <data id="VALUE_STR"  expr="'turning'"/>
+    <data id="result"     expr="''"/>
+    <data id="SKILL_SUCCESS" type="int8" expr="0"/>
+    <data id="SKILL_FAILURE" type="int8" expr="1"/>
+    <data id="SKILL_RUNNING" type="int8" expr="2"/>
+  </datamodel>
+
+  <ros_service_server service_name="/SetTurningSkill/tick"  type="bt_interfaces_dummy/TickAction"/>
+  <ros_service_server service_name="/SetTurningSkill/halt"  type="bt_interfaces_dummy/HaltAction"/>
+
+  <ros_service_client service_name="/BlackboardComponent/SetString" type="blackboard_interfaces/SetString"/>
+
+  <state id="idle">
+    <ros_service_handle_request name="/SetTurningSkill/tick" target="setString">
+      <ros_service_send_request name="/BlackboardComponent/SetString">
+        <field name="field_name" expr="FIELD_NAME"/>
+        <field name="value"      expr="VALUE_STR"/>
+      </ros_service_send_request>
+    </ros_service_handle_request>
+    <ros_service_handle_request name="/SetTurningSkill/halt" target="halted"/>
+  </state>
+
+  <state id="setString">
+    <ros_service_handle_response name="/BlackboardComponent/SetString" target="reply">
+      <assign location="result" expr="_res.result"/>
+    </ros_service_handle_response>
+    <ros_service_handle_request name="/SetTurningSkill/halt" target="halted"/>
+  </state>
+
+  <state id="reply">
+    <onentry>
+      <if cond="result=='SKILL_SUCCESS'">
+        <ros_service_send_response name="/SetTurningSkill/tick">
+          <field name="status" expr="SKILL_SUCCESS"/>
+        </ros_service_send_response>
+      <else/>
+        <ros_service_send_response name="/SetTurningSkill/tick">
+          <field name="status" expr="SKILL_FAILURE"/>
+        </ros_service_send_response>
+      </if>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="halted">
+    <onentry>
+      <assign location="result" expr="''"/>
+      <ros_service_send_response name="/SetTurningSkill/halt"/>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/StartServiceSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/StartServiceSkill.scxml
new file mode 100644
index 0000000..8f630f8
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/StartServiceSkill.scxml
@@ -0,0 +1,58 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml xmlns="http://www.w3.org/2005/07/scxml"
+       version="1.0"
+       name="StartServiceSkill"
+       datamodel="ecmascript"
+       initial="idle">
+
+  <datamodel>
+    <data id="result"          expr="''"/>
+    <data id="SKILL_SUCCESS"   expr="0"/>
+    <data id="SKILL_FAILURE"   expr="1"/>
+    <data id="SKILL_RUNNING"   expr="2"/>
+  </datamodel>
+
+  <!-- Tick / halt servers -->
+  <ros_service_server service_name="/StartServiceSkill/tick"  type="bt_interfaces_dummy/TickAction"/>
+  <ros_service_server service_name="/StartServiceSkill/halt"  type="bt_interfaces_dummy/HaltAction"/>
+
+  <!-- Client used -->
+  <ros_service_client service_name="/ManagePeopleDetectorComponent/StartService"
+                      type="manage_service_interfaces/StartService"/>
+
+  <state id="idle">
+    <ros_service_handle_request name="/StartServiceSkill/tick" target="callStart">
+      <ros_service_send_request name="/ManagePeopleDetectorComponent/StartService"/>
+    </ros_service_handle_request>
+    <ros_service_handle_request name="/StartServiceSkill/halt" target="halted"/>
+  </state>
+
+  <state id="callStart">
+    <ros_service_handle_response name="/ManagePeopleDetectorComponent/StartService" target="reply">
+      <assign location="result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="reply">
+    <onentry>
+      <if cond="result == 'SKILL_SUCCESS'">
+        <ros_service_send_response name="/StartServiceSkill/tick">
+          <field name="status" expr="SKILL_SUCCESS"/>
+        </ros_service_send_response>
+      <else/>
+        <ros_service_send_response name="/StartServiceSkill/tick">
+          <field name="status" expr="SKILL_FAILURE"/>
+        </ros_service_send_response>
+      </if>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="halted">
+    <onentry>
+      <ros_service_send_response name="/StartServiceSkill/halt"/>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/StartTourTimerSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/StartTourTimerSkill.scxml
new file mode 100644
index 0000000..530a136
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/StartTourTimerSkill.scxml
@@ -0,0 +1,92 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml xmlns="http://www.w3.org/2005/07/scxml"
+       version="1.0"
+       name="StartTourTimerSkill"
+       datamodel="ecmascript"
+       initial="idle">
+
+  <datamodel>
+    <data id="result"          expr="''"/>
+    <data id="SKILL_SUCCESS"   expr="0"/>
+    <data id="SKILL_FAILURE"   expr="1"/>
+    <data id="FLAG_WARN" expr="'SaidWarningFlag'"/>
+    <data id="FLAG_EXC"  expr="'SaidExceededFlag'"/>
+  </datamodel>
+
+  <ros_service_server service_name="/StartTourTimerSkill/tick"  type="bt_interfaces_dummy/TickAction"/>
+  <ros_service_server service_name="/StartTourTimerSkill/halt"  type="bt_interfaces_dummy/HaltAction"/>
+
+  <ros_service_client service_name="/TimeComponent/StartTourTimer"      type="time_interfaces/StartTourTimer"/>
+  <ros_service_client service_name="/BlackboardComponent/SetInt"        type="blackboard_interfaces/SetInt"/>
+
+  <state id="idle">
+    <ros_service_handle_request name="/StartTourTimerSkill/tick" target="startTimer">
+      <ros_service_send_request name="/TimeComponent/StartTourTimer"/>
+    </ros_service_handle_request>
+    <ros_service_handle_request name="/StartTourTimerSkill/halt" target="halted"/>
+  </state>
+
+  <state id="startTimer">
+    <ros_service_handle_response name="/TimeComponent/StartTourTimer" target="afterTimer">
+      <assign location="result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="afterTimer">
+    <transition cond="result == 'SKILL_SUCCESS'" target="resetWarn"/>
+    <transition cond="result != 'SKILL_SUCCESS'" target="failReply"/>
+  </state>
+
+  <state id="resetWarn">
+    <onentry>
+      <ros_service_send_request name="/BlackboardComponent/SetInt">
+        <field name="field_name" expr="FLAG_WARN"/>
+        <field name="value"      expr="0"/>
+      </ros_service_send_request>
+    </onentry>
+    <ros_service_handle_response name="/BlackboardComponent/SetInt" target="resetExc"/>
+  </state>
+
+  <state id="resetExc">
+    <onentry>
+      <ros_service_send_request name="/BlackboardComponent/SetInt">
+        <field name="field_name" expr="FLAG_EXC"/>
+        <field name="value"      expr="0"/>
+      </ros_service_send_request>
+    </onentry>
+    <ros_service_handle_response name="/BlackboardComponent/SetInt" target="checkResetResult">
+      <assign location="result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="checkResetResult">
+    <transition cond="result == 'SKILL_SUCCESS'" target="successReply"/>
+    <transition cond="result != 'SKILL_SUCCESS'" target="failReply"/>
+  </state>
+
+  <state id="successReply">
+    <onentry>
+      <ros_service_send_response name="/StartTourTimerSkill/tick">
+        <field name="status" expr="SKILL_SUCCESS"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="failReply">
+    <onentry>
+      <ros_service_send_response name="/StartTourTimerSkill/tick">
+        <field name="status" expr="SKILL_FAILURE"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="halted">
+    <onentry>
+      <ros_service_send_response name="/StartTourTimerSkill/halt"/>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/StopAndTurnBackSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/StopAndTurnBackSkill.scxml
new file mode 100644
index 0000000..7b8cb79
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/StopAndTurnBackSkill.scxml
@@ -0,0 +1,120 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml xmlns="http://www.w3.org/2005/07/scxml"
+       version="1.0"
+       name="StopAndTurnBackSkill"
+       datamodel="ecmascript"
+       initial="idle">
+
+  <datamodel>
+    <data id="status"        expr="0"/>
+    <data id="result"        expr="''"/>
+    <data id="NAV_MOVING"    expr="2"/>
+    <data id="NAV_REACHED"   expr="4"/>
+    <data id="BB_FIELD"      expr="'isCheckingForPeople'"/>
+    <data id="SKILL_SUCCESS" expr="0"/>
+    <data id="SKILL_FAILURE" expr="1"/>
+    <data id="SKILL_RUNNING" expr="2"/>
+  </datamodel>
+
+  <!-- Corretti i nomi dei servizi -->
+  <ros_service_server service_name="/StopAndTurnBackSkill/tick"  type="bt_interfaces_dummy/TickAction"/>
+  <ros_service_server service_name="/StopAndTurnBackSkill/halt"  type="bt_interfaces_dummy/HaltAction"/>
+
+  <!-- Clients -->
+  <ros_service_client service_name="/NavigationComponent/TurnBack"          type="navigation_interfaces/TurnBack"/>
+  <ros_service_client service_name="/NavigationComponent/GetNavigationStatus" type="navigation_interfaces/GetNavigationStatus"/>
+  <ros_service_client service_name="/NavigationComponent/StopNavigation"    type="navigation_interfaces/StopNavigation"/>
+  <ros_service_client service_name="/BlackboardComponent/SetInt"            type="blackboard_interfaces/SetInt"/>
+
+  <state id="idle">
+    <ros_service_handle_request name="/StopAndTurnBackSkill/tick" target="callTurnBack">
+      <ros_service_send_request name="/NavigationComponent/TurnBack"/>
+    </ros_service_handle_request>
+    <ros_service_handle_request name="/StopAndTurnBackSkill/halt" target="callStopNav">
+      <ros_service_send_request name="/NavigationComponent/StopNavigation"/>
+    </ros_service_handle_request>
+  </state>
+
+  <state id="callTurnBack">
+    <ros_service_handle_response name="/NavigationComponent/TurnBack" target="afterTurnBack">
+      <assign location="result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="afterTurnBack">
+    <transition cond="result == 'SKILL_SUCCESS'" target="getStatus"/>
+    <transition cond="result != 'SKILL_SUCCESS'" target="failReply"/>
+  </state>
+
+  <state id="getStatus">
+    <onentry>
+      <ros_service_send_request name="/NavigationComponent/GetNavigationStatus"/>
+    </onentry>
+    <ros_service_handle_response name="/NavigationComponent/GetNavigationStatus" target="evalStatus">
+      <assign location="status" expr="_res.status"/>
+    </ros_service_handle_response>
+    <ros_service_handle_request name="/StopAndTurnBackSkill/halt" target="callStopNav">
+      <ros_service_send_request name="/NavigationComponent/StopNavigation"/>
+    </ros_service_handle_request>
+  </state>
+
+  <state id="evalStatus">
+    <transition cond="status == NAV_MOVING" target="runningReply"/>
+    <transition cond="status == NAV_REACHED" target="setBBFlag"/>
+    <transition cond="status != NAV_MOVING && status != NAV_REACHED" target="failReply"/>
+  </state>
+
+  <state id="runningReply">
+    <onentry>
+      <ros_service_send_response name="/StopAndTurnBackSkill/tick">
+        <field name="status" expr="SKILL_RUNNING"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="setBBFlag">
+    <onentry>
+      <ros_service_send_request name="/BlackboardComponent/SetInt">
+        <field name="field_name" expr="BB_FIELD"/>
+        <field name="value"      expr="1"/>
+      </ros_service_send_request>
+    </onentry>
+    <ros_service_handle_response name="/BlackboardComponent/SetInt" target="done">
+      <assign location="result" expr="_res.result"/>
+    </ros_service_handle_response>
+    <ros_service_handle_request name="/StopAndTurnBackSkill/halt" target="callStopNav">
+      <ros_service_send_request name="/NavigationComponent/StopNavigation"/>
+    </ros_service_handle_request>
+  </state>
+
+  <state id="done">
+    <onentry>
+      <ros_service_send_response name="/StopAndTurnBackSkill/tick">
+        <field name="status" expr="result == 'SKILL_SUCCESS' ? SKILL_SUCCESS : SKILL_FAILURE"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="failReply">
+    <onentry>
+      <ros_service_send_response name="/StopAndTurnBackSkill/tick">
+        <field name="status" expr="SKILL_FAILURE"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="callStopNav">
+    <ros_service_handle_response name="/NavigationComponent/StopNavigation" target="halted"/>
+  </state>
+
+  <state id="halted">
+    <onentry>
+      <ros_service_send_response name="/StopAndTurnBackSkill/halt"/>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/StopServiceSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/StopServiceSkill.scxml
new file mode 100644
index 0000000..d721bdc
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/StopServiceSkill.scxml
@@ -0,0 +1,62 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml xmlns="http://www.w3.org/2005/07/scxml"
+       version="1.0"
+       name="StopServiceSkill"
+       datamodel="ecmascript"
+       initial="idle">
+
+  <datamodel>
+    <data id="result" expr="''"/>
+    <data id="SKILL_SUCCESS" expr="0"/>
+    <data id="SKILL_FAILURE" expr="1"/>
+  </datamodel>
+
+  <ros_service_server service_name="/StopServiceSkill/tick"  type="bt_interfaces_dummy/TickAction"/>
+  <ros_service_server service_name="/StopServiceSkill/halt"  type="bt_interfaces_dummy/HaltAction"/>
+
+  <ros_service_client service_name="/ManagePeopleDetectorComponent/StopService" type="manage_people_detector_interfaces/StopService"/>
+
+  <state id="idle">
+    <ros_service_handle_request name="/StopServiceSkill/tick" target="callStop">
+      <ros_service_send_request name="/ManagePeopleDetectorComponent/StopService"/>
+    </ros_service_handle_request>
+    <ros_service_handle_request name="/StopServiceSkill/halt" target="halted"/>
+  </state>
+
+  <state id="callStop">
+    <ros_service_handle_response name="/ManagePeopleDetectorComponent/StopService" target="checkResult">
+      <assign location="result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="checkResult">
+    <transition cond="result == 'SKILL_SUCCESS'" target="replySuccess"/>
+    <transition cond="result != 'SKILL_SUCCESS'" target="replyFailure"/>
+  </state>
+
+  <state id="replySuccess">
+    <onentry>
+      <ros_service_send_response name="/StopServiceSkill/tick">
+        <field name="status" expr="SKILL_SUCCESS"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="replyFailure">
+    <onentry>
+      <ros_service_send_response name="/StopServiceSkill/tick">
+        <field name="status" expr="SKILL_FAILURE"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="halted">
+    <onentry>
+      <ros_service_send_response name="/StopServiceSkill/halt"/>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/StopTourTimerSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/StopTourTimerSkill.scxml
new file mode 100644
index 0000000..4cb83a4
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/StopTourTimerSkill.scxml
@@ -0,0 +1,62 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml xmlns="http://www.w3.org/2005/07/scxml"
+       version="1.0"
+       name="StopTourTimerSkill"
+       datamodel="ecmascript"
+       initial="idle">
+
+  <datamodel>
+    <data id="result" expr="''"/>
+    <data id="SKILL_SUCCESS" expr="0"/>
+    <data id="SKILL_FAILURE" expr="1"/>
+  </datamodel>
+
+  <ros_service_server service_name="/StopTourTimerSkill/tick"  type="bt_interfaces_dummy/TickAction"/>
+  <ros_service_server service_name="/StopTourTimerSkill/halt"  type="bt_interfaces_dummy/HaltAction"/>
+
+  <ros_service_client service_name="/TimeComponent/StopTourTimer" type="time_interfaces/StopTourTimer"/>
+
+  <state id="idle">
+    <ros_service_handle_request name="/StopTourTimerSkill/tick" target="callStop">
+      <ros_service_send_request name="/TimeComponent/StopTourTimer"/>
+    </ros_service_handle_request>
+    <ros_service_handle_request name="/StopTourTimerSkill/halt" target="halted"/>
+  </state>
+
+  <state id="callStop">
+    <ros_service_handle_response name="/TimeComponent/StopTourTimer" target="checkResult">
+      <assign location="result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="checkResult">
+    <transition cond="result == 'SKILL_SUCCESS'" target="replySuccess"/>
+    <transition cond="result != 'SKILL_SUCCESS'" target="replyFailure"/>
+  </state>
+
+  <state id="replySuccess">
+    <onentry>
+      <ros_service_send_response name="/StopTourTimerSkill/tick">
+        <field name="status" expr="SKILL_SUCCESS"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="replyFailure">
+    <onentry>
+      <ros_service_send_response name="/StopTourTimerSkill/tick">
+        <field name="status" expr="SKILL_FAILURE"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="halted">
+    <onentry>
+      <ros_service_send_response name="/StopTourTimerSkill/halt"/>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/UpdatePoiSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/UpdatePoiSkill.scxml
new file mode 100644
index 0000000..03d21b1
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/UpdatePoiSkill.scxml
@@ -0,0 +1,62 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml xmlns="http://www.w3.org/2005/07/scxml"
+       version="1.0"
+       name="UpdatePoiSkill"
+       datamodel="ecmascript"
+       initial="idle">
+
+  <datamodel>
+    <data id="result" expr="''"/>
+    <data id="SKILL_SUCCESS" expr="0"/>
+    <data id="SKILL_FAILURE" expr="1"/>
+  </datamodel>
+
+  <ros_service_server service_name="/UpdatePoiSkill/tick"  type="bt_interfaces_dummy/TickAction"/>
+  <ros_service_server service_name="/UpdatePoiSkill/halt"  type="bt_interfaces_dummy/HaltAction"/>
+
+  <ros_service_client service_name="/SchedulerComponent/UpdatePoi" type="scheduler_interfaces/UpdatePoi"/>
+
+  <state id="idle">
+    <ros_service_handle_request name="/UpdatePoiSkill/tick" target="callUpdate">
+      <ros_service_send_request name="/SchedulerComponent/UpdatePoi"/>
+    </ros_service_handle_request>
+    <ros_service_handle_request name="/UpdatePoiSkill/halt" target="halted"/>
+  </state>
+
+  <state id="callUpdate">
+    <ros_service_handle_response name="/SchedulerComponent/UpdatePoi" target="decideResult">
+      <assign location="result" expr="_res.result"/>
+    </ros_service_handle_response>
+  </state>
+
+  <state id="decideResult">
+    <transition cond="result == 'SKILL_SUCCESS'" target="success"/>
+    <transition cond="result != 'SKILL_SUCCESS'" target="failure"/>
+  </state>
+
+  <state id="success">
+    <onentry>
+      <ros_service_send_response name="/UpdatePoiSkill/tick">
+        <field name="status" expr="SKILL_SUCCESS"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="failure">
+    <onentry>
+      <ros_service_send_response name="/UpdatePoiSkill/tick">
+        <field name="status" expr="SKILL_FAILURE"/>
+      </ros_service_send_response>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+  <state id="halted">
+    <onentry>
+      <ros_service_send_response name="/UpdatePoiSkill/halt"/>
+    </onentry>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/VisitorsFollowingRobotSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/VisitorsFollowingRobotSkill.scxml
new file mode 100644
index 0000000..d762a11
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/VisitorsFollowingRobotSkill.scxml
@@ -0,0 +1,55 @@
+<scxml 
+  initial="idle" 
+  version="1.0" 
+  name="VisitorsFollowingRobotSkill"
+  datamodel="ecmascript"
+  xmlns="http://www.w3.org/2005/07/scxml">
+
+    <datamodel>
+        <data id="is_followed" type="bool" expr="false" />
+        <data id="SKILL_SUCCESS" type="int8" expr="0" />
+        <data id="SKILL_FAILURE" type="int8" expr="1" />
+    </datamodel>
+
+    <!-- VisitorsFollowingRobotSkill is a server for tick from the ROS2Condition plugin-->
+    <ros_service_server service_name="/VisitorsFollowingRobotSkill/tick" type ="bt_interfaces_dummy/TickCondition"/>
+    <!-- VisitorsFollowingRobotSkill is a server for halt from the ROS2Condition plugin-->
+    <ros_service_server service_name="/VisitorsFollowingRobotSkill/halt" type="bt_interfaces_dummy/HaltCondition"/>
+    <!-- VisitorsFollowingRobotSkill is a subscriber for the /is_followed topic from the PeopleDetectorFilterComponent-->
+    <ros_topic_subscriber topic="/PeopleDetectorFilterComponent/is_followed" type="std_msgs/Bool" />
+
+    <state id="idle">
+        <ros_service_handle_request name="/VisitorsFollowingRobotSkill/tick" target="areFollowing"/>
+        <ros_service_handle_request name="/VisitorsFollowingRobotSkill/halt" target="halted"/>
+        <ros_topic_callback name="/PeopleDetectorFilterComponent/is_followed" target="idle">
+            <if cond="_msg &amp;&amp; typeof _msg.data === 'boolean'">
+                <assign location="is_followed" expr="_msg.data" />
+            </if>
+        </ros_topic_callback>
+    </state>
+
+    <state id="areFollowing">
+        <onentry>
+            <if cond="is_followed"> 
+                <ros_service_send_response name="/VisitorsFollowingRobotSkill/tick">
+                    <field name="status" expr="SKILL_SUCCESS"/>
+                    <field name="is_ok" expr="true"/>
+                </ros_service_send_response>
+            <else/>
+                <ros_service_send_response name="/VisitorsFollowingRobotSkill/tick">
+                    <field name="status" expr="SKILL_FAILURE"/>
+                    <field name="is_ok" expr="true"/>
+                </ros_service_send_response>
+            </if>
+        </onentry>
+        <transition target="idle" />
+    </state>
+
+    <state id="halted">
+        <onentry>
+            <ros_service_send_response name="/VisitorsFollowingRobotSkill/halt"/>
+        </onentry>
+        <transition target="idle"/>
+    </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/WaitSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/WaitSkill.scxml
new file mode 100644
index 0000000..9cd236d
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/WaitSkill.scxml
@@ -0,0 +1,58 @@
+<scxml
+    version="1.0"
+    xmlns="http://www.w3.org/2005/07/scxml"
+    datamodel="ecmascript"
+    name="WaitSkill"
+    initial="idle"> 
+
+    <datamodel>
+        <data id="SKILL_SUCCESS" type="int8" expr="0" />
+        <data id="SKILL_FAILURE" type="int8" expr="1" />
+        <data id="SKILL_RUNNING" type="int8" expr="2" />
+        <data id="wait_time_ms" expr="5000" />
+        <data id="start_time" expr="0" />
+    </datamodel>
+
+    <!-- WaitSkill is a server for tick from the ROS2Action plugin-->
+    <ros_service_server service_name="/WaitSkill/tick" type="bt_interfaces_dummy/TickAction"/>
+    <!-- WaitSkill is a server for halt from the ROS2Action plugin-->
+    <ros_service_server service_name="/WaitSkill/halt" type="bt_interfaces_dummy/HaltAction"/>
+
+    <state id="idle">
+        <ros_service_handle_request name="/WaitSkill/tick" target="startWait"/>
+        <ros_service_handle_request name="/WaitSkill/halt" target="halted"/>
+    </state>
+
+    <state id="startWait">
+        <onentry>
+            <assign location="start_time" expr="Date.now()"/>
+        </onentry>
+        <ros_service_handle_request name="/WaitSkill/tick" target="checkWait"/>
+        <ros_service_handle_request name="/WaitSkill/halt" target="halted"/>
+    </state>
+
+    <state id="checkWait">
+        <onentry>
+            <if cond="(Date.now() - start_time) >= wait_time_ms">
+                <ros_service_send_response name="/WaitSkill/tick">
+                    <field name="status" expr="SKILL_SUCCESS"/>
+                    <field name="is_ok" expr="true"/>
+                </ros_service_send_response>
+            <else/>
+                <ros_service_send_response name="/WaitSkill/tick">
+                    <field name="status" expr="SKILL_RUNNING"/>
+                    <field name="is_ok" expr="true"/>
+                </ros_service_send_response>
+            </if>
+        </onentry>
+        <transition target="idle"/>
+    </state>
+
+    <state id="halted">
+        <onentry>
+            <ros_service_send_response name="/WaitSkill/halt"/>
+        </onentry>
+        <transition target="idle"/>
+    </state>
+
+</scxml>
diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/high_level_template.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/high_level_template.scxml
new file mode 100644
index 0000000..f6e1f34
--- /dev/null
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/high_level_template.scxml
@@ -0,0 +1,70 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml
+  xmlns="http://www.w3.org/2005/07/scxml"
+  initial="idle"
+  version="1.0"
+  name="{{SkillName}}"
+  datamodel="ecmascript">
+
+  <!-- DATAMODEL -->
+  <datamodel>
+    <data id="{{var}}" type="{{type}}" expr="{{initial_value}}"/>
+    <data id="SKILL_SUCCESS" type="int8" expr="0"/>
+    <data id="SKILL_FAILURE" type="int8" expr="1"/>
+  </datamodel>
+
+  <!-- ROS2 service server / topic subscriber -->
+  <ros_service_server
+    service_name="/{{SkillName}}/tick"
+    type="bt_interfaces_dummy/TickCondition"/>
+  <ros_topic_subscriber
+    topic="{{topic}}"
+    type="{{msg_type}}"/>
+
+  <!-- stato idle: raccoglie messaggi e salva in {{var}} -->
+  <state id="idle">
+    <ros_service_handle_request
+      name="/{{SkillName}}/tick"
+      target="check"/>
+    <ros_topic_callback
+      name="{{topic}}"
+      target="idle">
+      <assign location="{{var}}" expr="{{msg_expr}}"/>
+    </ros_topic_callback>
+  </state>
+
+  <!-- stato check: onentry esegue il test e invia la risposta -->
+  <state id="check">
+    <onentry>
+      <if cond="{{var}} {{op}} {{threshold}}">
+        <ros_service_send_response name="/{{SkillName}}/tick">
+          <field name="status" expr="SKILL_SUCCESS"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      <else/>
+        <ros_service_send_response name="/{{SkillName}}/tick">
+          <field name="status" expr="SKILL_FAILURE"/>
+          <field name="is_ok" expr="true"/>
+        </ros_service_send_response>
+      </if>
+    </onentry>
+    <ros_service_handle_request
+      name="/{{SkillName}}/tick"
+      target="check"/>
+    <transition target="idle"/>
+  </state>
+
+</scxml>
+
+
+<!-- Example about how to run model2code -->
+<!-- model2code   --input_filename /workspace/UC3/model-high-level/Skills/AlarmBatteryLowSkill.scxml   --model_filename /workspace/UC3/parser-and-code-generator/specifications/full-model.xml   --interface_filename /workspace/UC3/parser-and-code-generator/specifications/interfaces.xml   --template_path /workspace/UC3/template_skill   --output_path /workspace/UC3/temp-test/skills/alarm_battery_low_skill/generated   --verbose_mode -->
+
+model2code \
+  --input_filename /home/user1/UC3/model-high-level/Skills/AlarmBatteryLowSkill.scxml \
+  --model_filename /home/user1/UC3/parser-and-code-generator/specifications/full-model.xml \
+  --interface_filename /home/user1/UC3/parser-and-code-generator/specifications/interfaces.xml \
+  --template_path /home/user1/UC3/template_skill \
+  --output_path /home/user1/UC3/src/skills/alarm_battery_low_skill/ \
+  --verbose_mode
+

From f18c602811264bc444c84845b158114f8eccc20e Mon Sep 17 00:00:00 2001
From: Stefano Bernagozzi <stefano.bernagozzi@iit.it>
Date: Tue, 10 Jun 2025 13:23:07 +0200
Subject: [PATCH 2/3] removed leftover

Signed-off-by: Stefano Bernagozzi <stefano.bernagozzi@iit.it>
---
 .../high-level-models-full/skills/PeopleLeftSkill.scxml     | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/examples/UC3-museum-guide/high-level-models-full/skills/PeopleLeftSkill.scxml b/examples/UC3-museum-guide/high-level-models-full/skills/PeopleLeftSkill.scxml
index 69ec15d..4fec6eb 100644
--- a/examples/UC3-museum-guide/high-level-models-full/skills/PeopleLeftSkill.scxml
+++ b/examples/UC3-museum-guide/high-level-models-full/skills/PeopleLeftSkill.scxml
@@ -14,9 +14,9 @@
   </datamodel>
 
   <!-- Clients for resetting tour, counters, and timer -->
-  <ros_service_client service_name="/SchedulerComponent/Reset" type="scheduler_interfaces_dummy/Reset"/>
-  <ros_service_client service_name="/TurnBackManagerComponent/ResetCounters" type="turnbackmanager_interfaces_dummy/ResetCounters"/>
-  <ros_service_client service_name="/TimeComponent/StopTourTimer" type="time_interfaces_dummy/StopTourTimer"/>
+  <ros_service_client service_name="/SchedulerComponent/Reset" type="scheduler_interfaces/Reset"/>
+  <ros_service_client service_name="/TurnBackManagerComponent/ResetCounters" type="turnbackmanager_interfaces/ResetCounters"/>
+  <ros_service_client service_name="/TimeComponent/StopTourTimer" type="time_interfaces/StopTourTimer"/>
 
   <!-- Action skill: tick + halt servers -->
   <ros_service_server service_name="/PeopleLeftSkill/tick" type="bt_interfaces_dummy/TickAction"/>

From e620c79e8463d8ab0d2128a91ccee8d7a3fe83c1 Mon Sep 17 00:00:00 2001
From: Stefano Bernagozzi <stefano.bernagozzi@iit.it>
Date: Thu, 12 Jun 2025 14:28:35 +0000
Subject: [PATCH 3/3] updated main

Signed-off-by: Stefano Bernagozzi <stefano.bernagozzi@iit.it>
---
 .../high-level-models-full/main.xml           | 111 +++++++++---------
 1 file changed, 55 insertions(+), 56 deletions(-)

diff --git a/examples/UC3-museum-guide/high-level-models-full/main.xml b/examples/UC3-museum-guide/high-level-models-full/main.xml
index fb9c797..5d611bd 100644
--- a/examples/UC3-museum-guide/high-level-models-full/main.xml
+++ b/examples/UC3-museum-guide/high-level-models-full/main.xml
@@ -18,7 +18,6 @@
         <input type="ros-scxml" src="./components/AllowedToMoveComponent.scxml" />
         <input type="ros-scxml" src="./components/BatteryComponent.scxml" />
         <input type="ros-scxml" src="./components/BlackboardComponent.scxml" />
-        <input type="ros-scxml" src="./components/CheckNetworkComponent.scxml" />
         <!-- <input type="ros-scxml" src="./components/ManagePeopleDetectorComponent.scxml" /> -->
         <input type="ros-scxml" src="./components/NarrateComponent.scxml" />
         <input type="ros-scxml" src="./components/NavigationComponent.scxml" />
@@ -31,61 +30,61 @@
 
 
 
-        <input type="ros-scxml" id="AlarmBatteryLowSkill" src="../Skills/AlarmBatteryLowSkill.scxml" />
-        <input type="ros-scxml" id="ArePeoplePresentSkill" src="../Skills/ArePeoplePresentSkill.scxml" />
-        <input type="ros-scxml" id="BatteryChargingSkill" src="../Skills/BatteryChargingSkill.scxml" />
-        <input type="ros-scxml" id="BatteryLevelSkill" src="../Skills/BatteryLevelSkill.scxml" />
-        <input type="ros-scxml" id="CheckIfStartSkill" src="../Skills/CheckIfStartSkill.scxml" />
-        <input type="ros-scxml" id="CheckIfFirstPoiSkill" src="../Skills/CheckIfFirstPoiSkill.scxml" />
-        <input type="ros-scxml" id="GoToChargingStationSkill" src="../Skills/GoToChargingStationSkill.scxml" />
-        <input type="ros-scxml" id="GoToPoiActionSkill" src="../Skills/GoToPoiActionSkill.scxml" />
-        <input type="ros-scxml" id="IsAllowedToMoveSkill" src="../Skills/IsAllowedToMoveSkill.scxml" />
-        <input type="ros-scxml" id="IsAllowedToTurnBackSkill" src="../Skills/IsAllowedToTurnBackSkill.scxml" />
-        <input type="ros-scxml" id="IsAtChargingStationSkill" src="../Skills/IsAtChargingStationSkill.scxml" />
-        <input type="ros-scxml" id="IsAtCurrentPoiSkill" src="../Skills/IsAtCurrentPoiSkill.scxml" />
-        <input type="ros-scxml" id="IsCheckingForPeopleSkill" src="../Skills/IsCheckingForPeopleSkill.scxml" />
-        <input type="ros-scxml" id="IsMaximumDurationSkill" src="../Skills/IsMaximumDurationSkill.scxml" />
-        <input type="ros-scxml" id="IsMuseumClosingSkill" src="../Skills/IsMuseumClosingSkill.scxml" />
-        <input type="ros-scxml" id="IsPoiDone0Skill" src="../Skills/IsPoiDone0Skill.scxml" />
-        <input type="ros-scxml" id="IsPoiDone1Skill" src="../Skills/IsPoiDone1Skill.scxml" />
-        <input type="ros-scxml" id="IsPoiDone2Skill" src="../Skills/IsPoiDone2Skill.scxml" />
-        <input type="ros-scxml" id="IsPoiDone3Skill" src="../Skills/IsPoiDone3Skill.scxml" />
-        <input type="ros-scxml" id="IsPoiDone4Skill" src="../Skills/IsPoiDone4Skill.scxml" />
-        <input type="ros-scxml" id="IsPoiDone5Skill" src="../Skills/IsPoiDone5Skill.scxml" />
-        <input type="ros-scxml" id="IsWarningDurationSkill" src="../Skills/IsWarningDurationSkill.scxml" />
-        <input type="ros-scxml" id="NarratePoiSkill" src="../Skills/NarratePoiSkill.scxml" />
-        <!-- <input type="ros-scxml" id="NetworkStatusChangeSkill" src="../Skills/NetworkStatusChangeSkill.scxml" />
-        <input type="ros-scxml" id="NetworkUpSkill" src="../Skills/NetworkUpSkill.scxml" /> -->
-        <input type="ros-scxml" id="NotifyChargedSkill" src="../Skills/NotifyChargedSkill.scxml" />
-        <input type="ros-scxml" id="PeopleLeftSkill" src="../Skills/PeopleLeftSkill.scxml" />
-        <input type="ros-scxml" id="ResetCountersSkill" src="../Skills/ResetCounterSkill.scxml" />
-        <input type="ros-scxml" id="ResetTourAndFlagsSkill" src="../Skills/ResetTourAndFlagSkill.scxml" />
-        <input type="ros-scxml" id="ResetTourSkill" src="../Skills/ResetTourSkill.scxml" />
-        <input type="ros-scxml" id="RunTimerSkill" src="../Skills/RunTimerSkill.scxml" />
-        <input type="ros-scxml" id="SayByeSkill" src="../Skills/SayByeSkill.scxml" />
-        <input type="ros-scxml" id="SayDurationExceededSkill" src="../Skills/SayDurationExceededSkill.scxml" />
-        <input type="ros-scxml" id="SayFollowMeSkill" src="../Skills/SayFollowMeSkill.scxml" />
-        <input type="ros-scxml" id="SayPeopleLeftSkill" src="../Skills/SayPeopleLeftSkill.scxml" />
-        <input type="ros-scxml" id="SayWarningDurationSkill" src="../Skills/SayWarningDurationSkill.scxml" />
-        <input type="ros-scxml" id="SayWhileNavigatingSkill" src="../Skills/SayWhileNavigatingSkill.scxml" />
-        <input type="ros-scxml" id="SetCurrentPoiDoneSkill" src="../Skills/SetCurrentPoiDoneSkill.scxml" />
-        <input type="ros-scxml" id="SetNavigationPositionSkill" src="../Skills/SetNavigationPositionSkill.scxml" />
-        <input type="ros-scxml" id="SetNotTurningSkill" src="../Skills/SetNotTurningSkill.scxml" />
-        <input type="ros-scxml" id="SetPoiDone0Skill" src="../Skills/SetPoiDone0Skill.scxml" />
-        <input type="ros-scxml" id="SetPoiDone1Skill" src="../Skills/SetPoiDone1Skill.scxml" />
-        <input type="ros-scxml" id="SetPoiDone2Skill" src="../Skills/SetPoiDone2Skill.scxml" />
-        <input type="ros-scxml" id="SetPoiDone3Skill" src="../Skills/SetPoiDone3Skill.scxml" />
-        <input type="ros-scxml" id="SetPoiDone4Skill" src="../Skills/SetPoiDone4Skill.scxml" />
-        <input type="ros-scxml" id="SetPoiDone5Skill" src="../Skills/SetPoiDone5Skill.scxml" />
-        <input type="ros-scxml" id="SetTurnedSkill" src="../Skills/SetTurnedSkill.scxml" />
-        <input type="ros-scxml" id="SetTurningSkill" src="../Skills/SetTurningSkill.scxml" />
-        <!-- <input type="ros-scxml" id="StartServiceSkill" src="../Skills/StartServiceSkill.scxml" /> -->
-        <input type="ros-scxml" id="StartTourTimerSkill" src="../Skills/StartTourAndTimerSkill.scxml" />
-        <input type="ros-scxml" id="StopAndTurnBackSkill" src="../Skills/StopAndTurnBackSkill.scxml" />
-        <!-- <input type="ros-scxml" id="StopServiceSkill" src="../Skills/StopServiceSkill.scxml" /> -->
-        <input type="ros-scxml" id="StopTourTimerSkill" src="../Skills/StopTourTimerSkill.scxml" />
-        <input type="ros-scxml" id="VisitorsFollowingRobotSkill" src="../Skills/VisitorsFollowingRobotSkill.scxml" />
-        <input type="ros-scxml" id="WaitSkill" src="../Skills/WaitSkill.scxml" />
+        <input type="ros-scxml" id="AlarmBatteryLowSkill" src="./skills/AlarmBatteryLowSkill.scxml" />
+        <input type="ros-scxml" id="ArePeoplePresentSkill" src="./skills/ArePeoplePresentSkill.scxml" />
+        <input type="ros-scxml" id="BatteryChargingSkill" src="./skills/BatteryChargingSkill.scxml" />
+        <input type="ros-scxml" id="BatteryLevelSkill" src="./skills/BatteryLevelSkill.scxml" />
+        <input type="ros-scxml" id="CheckIfStartSkill" src="./skills/CheckIfStartSkill.scxml" />
+        <input type="ros-scxml" id="CheckIfFirstPoiSkill" src="./skills/CheckIfFirstPoiSkill.scxml" />
+        <input type="ros-scxml" id="GoToChargingStationSkill" src="./skills/GoToChargingStationSkill.scxml" />
+        <input type="ros-scxml" id="GoToPoiActionSkill" src="./skills/GoToPoiActionSkill.scxml" />
+        <input type="ros-scxml" id="IsAllowedToMoveSkill" src="./skills/IsAllowedToMoveSkill.scxml" />
+        <input type="ros-scxml" id="IsAllowedToTurnBackSkill" src="./skills/IsAllowedToTurnBackSkill.scxml" />
+        <input type="ros-scxml" id="IsAtChargingStationSkill" src="./skills/IsAtChargingStationSkill.scxml" />
+        <input type="ros-scxml" id="IsAtCurrentPoiSkill" src="./skills/IsAtCurrentPoiSkill.scxml" />
+        <input type="ros-scxml" id="IsCheckingForPeopleSkill" src="./skills/IsCheckingForPeopleSkill.scxml" />
+        <input type="ros-scxml" id="IsMaximumDurationSkill" src="./skills/IsMaximumDurationSkill.scxml" />
+        <input type="ros-scxml" id="IsMuseumClosingSkill" src="./skills/IsMuseumClosingSkill.scxml" />
+        <input type="ros-scxml" id="IsPoiDone0Skill" src="./skills/IsPoiDone0Skill.scxml" />
+        <input type="ros-scxml" id="IsPoiDone1Skill" src="./skills/IsPoiDone1Skill.scxml" />
+        <input type="ros-scxml" id="IsPoiDone2Skill" src="./skills/IsPoiDone2Skill.scxml" />
+        <input type="ros-scxml" id="IsPoiDone3Skill" src="./skills/IsPoiDone3Skill.scxml" />
+        <input type="ros-scxml" id="IsPoiDone4Skill" src="./skills/IsPoiDone4Skill.scxml" />
+        <input type="ros-scxml" id="IsPoiDone5Skill" src="./skills/IsPoiDone5Skill.scxml" />
+        <input type="ros-scxml" id="IsWarningDurationSkill" src="./skills/IsWarningDurationSkill.scxml" />
+        <input type="ros-scxml" id="NarratePoiSkill" src="./skills/NarratePoiSkill.scxml" />
+        <!-- <input type="ros-scxml" id="NetworkStatusChangeSkill" src="./skills/NetworkStatusChangeSkill.scxml" />
+        <input type="ros-scxml" id="NetworkUpSkill" src="./skills/NetworkUpSkill.scxml" /> -->
+        <input type="ros-scxml" id="NotifyChargedSkill" src="./skills/NotifyChargedSkill.scxml" />
+        <input type="ros-scxml" id="PeopleLeftSkill" src="./skills/PeopleLeftSkill.scxml" />
+        <input type="ros-scxml" id="ResetCountersSkill" src="./skills/ResetCounterSkill.scxml" />
+        <input type="ros-scxml" id="ResetTourAndFlagsSkill" src="./skills/ResetTourAndFlagSkill.scxml" />
+        <input type="ros-scxml" id="ResetTourSkill" src="./skills/ResetTourSkill.scxml" />
+        <input type="ros-scxml" id="RunTimerSkill" src="./skills/RunTimerSkill.scxml" />
+        <input type="ros-scxml" id="SayByeSkill" src="./skills/SayByeSkill.scxml" />
+        <input type="ros-scxml" id="SayDurationExceededSkill" src="./skills/SayDurationExceededSkill.scxml" />
+        <input type="ros-scxml" id="SayFollowMeSkill" src="./skills/SayFollowMeSkill.scxml" />
+        <input type="ros-scxml" id="SayPeopleLeftSkill" src="./skills/SayPeopleLeftSkill.scxml" />
+        <input type="ros-scxml" id="SayWarningDurationSkill" src="./skills/SayWarningDurationSkill.scxml" />
+        <input type="ros-scxml" id="SayWhileNavigatingSkill" src="./skills/SayWhileNavigatingSkill.scxml" />
+        <input type="ros-scxml" id="SetCurrentPoiDoneSkill" src="./skills/SetCurrentPoiDoneSkill.scxml" />
+        <input type="ros-scxml" id="SetNavigationPositionSkill" src="./skills/SetNavigationPositionSkill.scxml" />
+        <input type="ros-scxml" id="SetNotTurningSkill" src="./skills/SetNotTurningSkill.scxml" />
+        <input type="ros-scxml" id="SetPoiDone0Skill" src="./skills/SetPoiDone0Skill.scxml" />
+        <input type="ros-scxml" id="SetPoiDone1Skill" src="./skills/SetPoiDone1Skill.scxml" />
+        <input type="ros-scxml" id="SetPoiDone2Skill" src="./skills/SetPoiDone2Skill.scxml" />
+        <input type="ros-scxml" id="SetPoiDone3Skill" src="./skills/SetPoiDone3Skill.scxml" />
+        <input type="ros-scxml" id="SetPoiDone4Skill" src="./skills/SetPoiDone4Skill.scxml" />
+        <input type="ros-scxml" id="SetPoiDone5Skill" src="./skills/SetPoiDone5Skill.scxml" />
+        <input type="ros-scxml" id="SetTurnedSkill" src="./skills/SetTurnedSkill.scxml" />
+        <input type="ros-scxml" id="SetTurningSkill" src="./skills/SetTurningSkill.scxml" />
+        <!-- <input type="ros-scxml" id="StartServiceSkill" src="./skills/StartServiceSkill.scxml" /> -->
+        <input type="ros-scxml" id="StartTourTimerSkill" src="./skills/StartTourAndTimerSkill.scxml" />
+        <input type="ros-scxml" id="StopAndTurnBackSkill" src="./skills/StopAndTurnBackSkill.scxml" />
+        <!-- <input type="ros-scxml" id="StopServiceSkill" src="./skills/StopServiceSkill.scxml" /> -->
+        <input type="ros-scxml" id="StopTourTimerSkill" src="./skills/StopTourTimerSkill.scxml" />
+        <input type="ros-scxml" id="VisitorsFollowingRobotSkill" src="./skills/VisitorsFollowingRobotSkill.scxml" />
+        <input type="ros-scxml" id="WaitSkill" src="./skills/WaitSkill.scxml" />
     </node_models>
 
     <properties>