diff --git a/external/concealer/include/concealer/field_operator_application_for_autoware_universe.hpp b/external/concealer/include/concealer/field_operator_application_for_autoware_universe.hpp
index e9d14665928..0202d488eb3 100644
--- a/external/concealer/include/concealer/field_operator_application_for_autoware_universe.hpp
+++ b/external/concealer/include/concealer/field_operator_application_for_autoware_universe.hpp
@@ -114,17 +114,17 @@ class FieldOperatorApplicationFor<AutowareUniverse>
   CONCEALER_PUBLIC explicit FieldOperatorApplicationFor(Ts &&... xs)
   : FieldOperatorApplication(std::forward<decltype(xs)>(xs)...),
     // clang-format off
-    getAckermannControlCommand("/control/command/control_cmd", *this),
-    getAutowareState("/api/iv_msgs/autoware/state", *this),
-    getCooperateStatusArray("/api/external/get/rtc_status", *this, [this](const auto & v) { latest_cooperate_status_array = v; }),
-    getEmergencyState("/api/external/get/emergency", *this, [this](const auto & v) { receiveEmergencyState(v); }),
+    getAckermannControlCommand("/control/command/control_cmd", rclcpp::QoS(1), *this),
+    getAutowareState("/api/iv_msgs/autoware/state", rclcpp::QoS(1), *this),
+    getCooperateStatusArray("/api/external/get/rtc_status", rclcpp::QoS(1), *this, [this](const auto & v) { latest_cooperate_status_array = v; }),
+    getEmergencyState("/api/external/get/emergency", rclcpp::QoS(1), *this, [this](const auto & v) { receiveEmergencyState(v); }),
 #if __has_include(<autoware_adapi_v1_msgs/msg/localization_initialization_state.hpp>)
-    getLocalizationState("/api/localization/initialization_state", *this),
+    getLocalizationState("/api/localization/initialization_state", rclcpp::QoS(1).transient_local(), *this),
 #endif
-    getMrmState("/api/fail_safe/mrm_state", *this, [this](const auto & v) { receiveMrmState(v); }),
-    getPathWithLaneId("/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id", *this),
-    getTrajectory("/api/iv_msgs/planning/scenario_planning/trajectory", *this),
-    getTurnIndicatorsCommandImpl("/control/command/turn_indicators_cmd", *this),
+    getMrmState("/api/fail_safe/mrm_state", rclcpp::QoS(1), *this, [this](const auto & v) { receiveMrmState(v); }),
+    getPathWithLaneId("/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id", rclcpp::QoS(1), *this),
+    getTrajectory("/api/iv_msgs/planning/scenario_planning/trajectory", rclcpp::QoS(1), *this),
+    getTurnIndicatorsCommandImpl("/control/command/turn_indicators_cmd", rclcpp::QoS(1), *this),
     requestClearRoute("/api/routing/clear_route", *this),
     requestCooperateCommands("/api/external/set/rtc_commands", *this),
     requestEngage("/api/external/set/engage", *this),
diff --git a/external/concealer/include/concealer/subscriber_wrapper.hpp b/external/concealer/include/concealer/subscriber_wrapper.hpp
index e8869fb86ce..8247a872e3a 100644
--- a/external/concealer/include/concealer/subscriber_wrapper.hpp
+++ b/external/concealer/include/concealer/subscriber_wrapper.hpp
@@ -41,10 +41,12 @@ class SubscriberWrapper
 
   template <typename NodeInterface>
   SubscriberWrapper(
-    const std::string & topic, NodeInterface & autoware_interface,
+    const std::string & topic, const rclcpp::QoS & quality_of_service,
+    NodeInterface & autoware_interface,
     const std::function<void(const MessageType &)> & callback = {})
   : subscription(autoware_interface.template create_subscription<MessageType>(
-      topic, 1, [this, callback](const typename MessageType::ConstSharedPtr message) {
+      topic, quality_of_service,
+      [this, callback](const typename MessageType::ConstSharedPtr message) {
         if constexpr (thread_safety == ThreadSafety::safe) {
           std::atomic_store(&current_value, message);
           if (current_value and callback) {
diff --git a/external/concealer/src/autoware_universe.cpp b/external/concealer/src/autoware_universe.cpp
index 6016eb0d322..dbecc8b51d9 100644
--- a/external/concealer/src/autoware_universe.cpp
+++ b/external/concealer/src/autoware_universe.cpp
@@ -17,11 +17,12 @@
 namespace concealer
 {
 AutowareUniverse::AutowareUniverse()
-: getAckermannControlCommand("/control/command/control_cmd", *this),
-  getGearCommandImpl("/control/command/gear_cmd", *this),
-  getTurnIndicatorsCommand("/control/command/turn_indicators_cmd", *this),
+: getAckermannControlCommand("/control/command/control_cmd", rclcpp::QoS(1), *this),
+  getGearCommandImpl("/control/command/gear_cmd", rclcpp::QoS(1), *this),
+  getTurnIndicatorsCommand("/control/command/turn_indicators_cmd", rclcpp::QoS(1), *this),
   getPathWithLaneId(
-    "/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id", *this),
+    "/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id", rclcpp::QoS(1),
+    *this),
   setAcceleration("/localization/acceleration", *this),
   setOdometry("/localization/kinematic_state", *this),
   setSteeringReport("/vehicle/status/steering_status", *this),
diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/user_defined_value_condition.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/user_defined_value_condition.hpp
index 585d6d9e273..7ca1707fd9e 100644
--- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/user_defined_value_condition.hpp
+++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/user_defined_value_condition.hpp
@@ -45,8 +45,6 @@ class UserDefinedValueCondition : private SimulatorCore::NonStandardOperation
 
   std::function<Object()> evaluate_value;
 
-  static uint64_t magic_subscription_counter;
-
 public:
   const String name;
 
diff --git a/openscenario/openscenario_interpreter/src/syntax/user_defined_value_condition.cpp b/openscenario/openscenario_interpreter/src/syntax/user_defined_value_condition.cpp
index fd99947d906..29d0424434d 100644
--- a/openscenario/openscenario_interpreter/src/syntax/user_defined_value_condition.cpp
+++ b/openscenario/openscenario_interpreter/src/syntax/user_defined_value_condition.cpp
@@ -33,47 +33,77 @@ namespace openscenario_interpreter
 inline namespace syntax
 {
 template <typename T>
-struct MagicSubscription : private rclcpp::Node, public T
+struct MagicSubscription : private T
 {
-  std::promise<void> promise;
+  struct Node : public rclcpp::Node
+  {
+    std::atomic_bool stop_requested = false;
 
-  std::thread thread;
+    std::mutex mutex;
 
-  std::exception_ptr thrown;
+    std::exception_ptr thrown;
 
-  typename rclcpp::Subscription<T>::SharedPtr subscription;
+    std::thread thread;
 
-public:
-  explicit MagicSubscription(const std::string & node_name, const std::string & topic_name)
-  : rclcpp::Node(node_name),
-    thread(
-      [this](auto future) {
-        while (rclcpp::ok() and
-               future.wait_for(std::chrono::milliseconds(1)) == std::future_status::timeout) {
+    explicit Node()
+    : rclcpp::Node("magic_subscription"), thread([this]() {
+        while (rclcpp::ok() and not stop_requested) {
           try {
             rclcpp::spin_some(get_node_base_interface());
           } catch (...) {
+            auto lock = std::lock_guard(mutex);
             thrown = std::current_exception();
           }
         }
-      },
-      std::move(promise.get_future())),
-    subscription(create_subscription<T>(topic_name, 1, [this](const typename T::SharedPtr message) {
-      static_cast<T &>(*this) = *message;
-    }))
+      })
+    {
+    }
+
+    ~Node()
+    {
+      if (thread.joinable() and not stop_requested.exchange(true)) {
+        thread.join();
+      }
+    }
+
+    auto rethrow()
+    {
+      if (auto lock = std::lock_guard(mutex); thrown) {
+        std::rethrow_exception(thrown);
+      }
+    }
+  };
+
+  static inline std::size_t count = 0;
+
+  static inline std::unique_ptr<Node> node = nullptr;
+
+  typename rclcpp::Subscription<T>::SharedPtr subscription;
+
+  explicit MagicSubscription(const std::string & topic_name)
   {
+    if (not count++) {
+      node = std::make_unique<Node>();
+    }
+
+    subscription = node->template create_subscription<T>(
+      topic_name, rclcpp::QoS(1).best_effort(),
+      [this](const typename T::SharedPtr message) { static_cast<T &>(*this) = *message; });
   }
 
   ~MagicSubscription()
   {
-    if (thread.joinable()) {
-      promise.set_value();
-      thread.join();
+    if (not --count) {
+      node.reset();
     }
   }
-};
 
-uint64_t UserDefinedValueCondition::magic_subscription_counter = 0;
+  auto get() const -> const auto &
+  {
+    node->rethrow();
+    return static_cast<const T &>(*this);
+  }
+};
 
 UserDefinedValueCondition::UserDefinedValueCondition(const pugi::xml_node & node, Scope & scope)
 : name(readAttribute<String>("name", node, scope)),
@@ -134,31 +164,29 @@ UserDefinedValueCondition::UserDefinedValueCondition(const pugi::xml_node & node
     using tier4_simulation_msgs::msg::UserDefinedValueType;
 
     evaluate_value =
-      [&, current_message = std::make_shared<MagicSubscription<UserDefinedValue>>(
-            result.str(1) + "_subscription_" + std::to_string(++magic_subscription_counter),
-            result.str(0))]() {
-        auto evaluate = [](const auto & user_defined_value) {
-          switch (user_defined_value.type.data) {
+      [this, subscriber = std::make_shared<MagicSubscription<UserDefinedValue>>(result.str(0))]() {
+        if (const auto message = subscriber->get(); message.value.empty()) {
+          return unspecified;
+        } else {
+          switch (message.type.data) {
             case UserDefinedValueType::BOOLEAN:
-              return make<Boolean>(user_defined_value.value);
+              return make<Boolean>(message.value);
             case UserDefinedValueType::DATE_TIME:
-              return make<String>(user_defined_value.value);
+              return make<String>(message.value);
             case UserDefinedValueType::DOUBLE:
-              return make<Double>(user_defined_value.value);
+              return make<Double>(message.value);
             case UserDefinedValueType::INTEGER:
-              return make<Integer>(user_defined_value.value);
+              return make<Integer>(message.value);
             case UserDefinedValueType::STRING:
-              return make<String>(user_defined_value.value);
+              return make<String>(message.value);
             case UserDefinedValueType::UNSIGNED_INT:
-              return make<UnsignedInt>(user_defined_value.value);
+              return make<UnsignedInt>(message.value);
             case UserDefinedValueType::UNSIGNED_SHORT:
-              return make<UnsignedShort>(user_defined_value.value);
+              return make<UnsignedShort>(message.value);
             default:
               return unspecified;
           }
-        };
-
-        return not current_message->value.empty() ? evaluate(*current_message) : unspecified;
+        }
       };
 #else
     throw SyntaxError(
diff --git a/test_runner/scenario_test_runner/scenario/ByValueCondition.UserDefinedValueCondition.yaml b/test_runner/scenario_test_runner/scenario/ByValueCondition.UserDefinedValueCondition.yaml
index 0b340721977..427fcce95df 100644
--- a/test_runner/scenario_test_runner/scenario/ByValueCondition.UserDefinedValueCondition.yaml
+++ b/test_runner/scenario_test_runner/scenario/ByValueCondition.UserDefinedValueCondition.yaml
@@ -8,7 +8,9 @@ OpenSCENARIO:
   ParameterDeclarations:
     ParameterDeclaration: []
   CatalogLocations:
-    CatalogLocation: []
+    VehicleCatalog:
+      Directory:
+        path: $(ros2 pkg prefix --share openscenario_experimental_catalog)/vehicle
   RoadNetwork:
     LogicFile:
       filepath: $(find-pkg-share kashiwanoha_map)/map
@@ -17,45 +19,32 @@ OpenSCENARIO:
   Entities:
     ScenarioObject:
       - name: ego
-        Vehicle:
+        CatalogReference:
+          catalogName: sample_vehicle
+          entryName: sample_vehicle
+        ObjectController:
+          Controller:
+            name: ''
+            Properties:
+              Property:
+                - name: isEgo
+                  value: 'true'
+      - name: barricade
+        MiscObject:
+          mass: 1.0
+          miscObjectCategory: obstacle
           name: ''
-          vehicleCategory: car
           BoundingBox:
             Center:
               x: 0
               y: 0
-              z: 1.25
+              z: 0
             Dimensions:
-              width: 2.25
-              length: 4.77
-              height: 2.5
-          Performance:
-            maxSpeed: 50
-            maxAcceleration: INF
-            maxDeceleration: INF
-          Axles:
-            FrontAxle:
-              maxSteering: 0.5236
-              wheelDiameter: 0.6
-              trackWidth: 4
-              positionX: 1
-              positionZ: 0.3
-            RearAxle:
-              maxSteering: 0.5236
-              wheelDiameter: 0.6
-              trackWidth: 4
-              positionX: 0
-              positionZ: 0.3
+              width: 10
+              length: 1
+              height: 10
           Properties:
             Property: []
-        ObjectController:
-          Controller:
-            name: ''
-            Properties:
-              Property:
-                - { name: isEgo,    value: 'true' }
-                - { name: maxJerk,  value:  1.5   }
-                - { name: minJerk,  value: -1.5   }
   Storyboard:
     Init:
       Actions:
@@ -69,33 +58,30 @@ OpenSCENARIO:
                       laneId: '34513'
                       s: 0
                       offset: 0
-                      Orientation:
+                      Orientation: &ORIENTATION_ZERO
                         type: relative
                         h: 0
                         p: 0
                         r: 0
               - RoutingAction:
                   AcquirePositionAction:
-                    Position:
+                    Position: &EGO_DESTINATION
                       LanePosition:
                         roadId: ''
                         laneId: '34507'
                         s: 50
                         offset: 0
-                        Orientation:
-                          type: relative
-                          h: 0
-                          p: 0
-                          r: 0
-              - LongitudinalAction:
-                  SpeedAction:
-                    SpeedActionDynamics:
-                      dynamicsDimension: time
-                      value: 0
-                      dynamicsShape: step
-                    SpeedActionTarget:
-                      AbsoluteTargetSpeed:
-                        value: 2.778
+                        Orientation: *ORIENTATION_ZERO
+          - entityRef: barricade
+            PrivateAction:
+              - TeleportAction:
+                  Position:
+                    LanePosition:
+                      roadId: ''
+                      laneId: 34513
+                      s: 20
+                      offset: 0
+                      Orientation: *ORIENTATION_ZERO
     Story:
       - name: ''
         Act:
@@ -120,7 +106,7 @@ OpenSCENARIO:
                                   conditionEdge: none
                                   ByValueCondition:
                                     SimulationTimeCondition:
-                                      value: 120
+                                      value: 180
                                       rule: greaterThan
                             - Condition:
                                 - name: ''
@@ -133,26 +119,8 @@ OpenSCENARIO:
                                         - entityRef: ego
                                     EntityCondition:
                                       ReachPositionCondition:
-                                        Position:
-                                          LanePosition:
-                                            roadId: ''
-                                            laneId: '34507'
-                                            s: 50
-                                            offset: 0
-                                            Orientation:
-                                              type: relative
-                                              h: 0
-                                              p: 0
-                                              r: 0
+                                        Position: *EGO_DESTINATION
                                         tolerance: 0.5
-                                - name: ''
-                                  delay: 0
-                                  conditionEdge: none
-                                  ByValueCondition:
-                                    UserDefinedValueCondition:
-                                      name: ego.currentState
-                                      rule: equalTo
-                                      value: ArrivedGoal
                         Action:
                           - name: ''
                             UserDefinedAction:
@@ -163,23 +131,178 @@ OpenSCENARIO:
                         StartTrigger:
                           ConditionGroup:
                             - Condition:
-                                - name: ''
+                                - &COUNT_UP
+                                  name: ''
                                   delay: 0
                                   conditionEdge: none
                                   ByValueCondition:
                                     UserDefinedValueCondition:
-                                      name: /count_up
-                                      value: 500
+                                      name: /count_up # ros2 run openscenario_interpreter_example count_up
+                                      value: 100
                                       rule: greaterThan
-                            # - Condition:
-                                - name: ''
-                                  delay: 0
-                                  conditionEdge: none
-                                  ByValueCondition:
-                                    UserDefinedValueCondition:
-                                      name: /timeout
-                                      value: true
-                                      rule: equalTo
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP # 10
+
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP # 20
+
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP # 30
+
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP # 40
+
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP # 50
+
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP # 60
+
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP # 70
+
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP # 80
+
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP # 90
+
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP # 100
+
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP # 110
+
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP # 120
+
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP # 130
+
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP # 140
+
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP
+                                - *COUNT_UP # 150
                         Action:
                           - name: ''
                             UserDefinedAction: