diff --git a/tracetools/scripts/setup-lttng.sh b/tracetools/scripts/setup-lttng.sh
new file mode 100755
index 0000000..e5b6c6a
--- /dev/null
+++ b/tracetools/scripts/setup-lttng.sh
@@ -0,0 +1,37 @@
+#!/bin/bash
+
+# set up ust ros2 events
+for event in \
+  ros2:rcl_init
+do
+	lttng enable-event -c ros2 -u $event
+done
+
+# process context
+lttng add-context -c ros2 -u \
+  -t vpid -t procname \
+  -t vtid -t perf:thread:instructions \
+  -t perf:thread:cycles -t perf:thread:cpu-cycles
+
+#kernel
+lttng enable-channel --kernel kchan --subbuf-size=8M
+
+# # network
+# for event in net_dev_queue netif_receive_skb net_if_receive_skb
+# do
+#     lttng enable-event --kernel --channel=kchan $event
+# done
+
+# other kernel stuff
+for event in sched_switch sched_waking sched_pi_setprio sched_process_fork sched_process_exit sched_process_free sched_wakeup\
+    irq_softirq_entry irq_softirq_raise irq_softirq_exit irq_handler_entry irq_handler_exit\
+    lttng_statedump_process_state lttng_statedump_start lttng_statedump_end lttng_statedump_network_interface lttng_statedump_block_device\
+    block_rq_complete block_rq_insert block_rq_issue\
+    block_bio_frontmerge sched_migrate sched_migrate_task power_cpu_frequency\
+    net_dev_queue netif_receive_skb net_if_receive_skb\
+    timer_hrtimer_start timer_hrtimer_cancel timer_hrtimer_expire_entry timer_hrtimer_expire_exit
+do
+    lttng enable-event --kernel --channel=kchan $event
+done
+
+# lttng enable-event -k --syscall --all
diff --git a/tracetools/scripts/trace.sh b/tracetools/scripts/trace.sh
new file mode 100755
index 0000000..68dc29d
--- /dev/null
+++ b/tracetools/scripts/trace.sh
@@ -0,0 +1,90 @@
+#!/bin/bash
+## Helper script for ROS tracing
+## Christophe Bedard
+## see: https://github.com/bosch-robotics-cr/tracetools/blob/devel/scripts/example-run-script.sh
+## Call this by providing these arguments:
+##  1. a session name [optional; 'ros2' will be used]
+##  2. a wait time before killing and stopping (in seconds)
+##  3. a roslaunch/rosrun command
+## ex: ./trace.sh 3 roslaunch tracecompass_ros_testcases pub_sub.launch
+
+source ./${BASH_SOURCE%/*}/../../../../install/local_setup.bash
+
+## Parameters
+
+# if no parameters were given, exit with error 
+if [ -z "$1" ] ; then
+    echo "Error: no parameters were given!"
+    exit 1
+elif [ "$1" == "-h" ] ; then
+    echo -e "ROS tracing helper script.\n" \
+    "Provide 3 arguments:\n" \
+        "1. the lttng session name [optional; 'ros2' will be used]\n" \
+        "2. the wait time before killing and stopping (in seconds)\n" \
+        "3. the ros2 run command\n" \
+    "Example: ./trace.sh ros-trace 3 ros2 run tracetools tracetools_status"
+    exit 0
+fi
+
+# session name
+session_name="$1"
+case "$session_name" in
+    ''|*[!0-9]*) # not a number: good
+    shift
+    ;;
+    *) # number: so use a default session name
+    session_name="ros2"
+    ;;
+esac
+
+# wait time (seconds) before killing and stopping
+sleep_time="$1"
+case "$sleep_time" in
+    ''|*[!0-9]*) # not a number: error!
+    echo "Error: not a valid sleep time!"
+    exit 1
+    ;;
+    *) # number: good
+    shift
+    ;;
+esac
+
+# command from remaining arguments
+if [ -z "$1" ] ; then
+    echo "Error: no command was given!"
+    exit 1
+fi
+launch_cmd="$@"
+launch_cmd+=" &"
+
+## Trace
+
+# create lttng session (and set output to traces/ directory)
+lttng create $session_name --output=./${BASH_SOURCE%/*}/../traces/$session_name/
+
+# enable events
+./${BASH_SOURCE%/*}/setup-lttng.sh
+
+# start
+lttng start
+
+# preload UST library
+export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/liblttng-ust-cyg-profile.so
+
+# launch
+eval "$launch_cmd"
+
+# wait a bit and kill
+echo "waiting $sleep_time..."
+sleep $sleep_time
+echo "killing"
+kill $!
+
+# wait again for everything to shutdown
+echo "waiting for shutdown..."
+sleep 2
+echo "stopping"
+
+# stop & destroy
+lttng stop
+lttng destroy