diff --git a/scxml_converter/src/scxml_converter/scxml_entries/scxml_executable_entries.py b/scxml_converter/src/scxml_converter/scxml_entries/scxml_executable_entries.py
index 16345ebf..50202649 100644
--- a/scxml_converter/src/scxml_converter/scxml_entries/scxml_executable_entries.py
+++ b/scxml_converter/src/scxml_converter/scxml_entries/scxml_executable_entries.py
@@ -122,6 +122,18 @@ def __init__(self, event: str, params: Optional[List[ScxmlParam]] = None):
     def get_tag_name() -> str:
         return "send"
 
+    def from_xml_tree(xml_tree: ET.Element) -> "ScxmlSend":
+        """Create a ScxmlSend object from an XML tree."""
+        assert xml_tree.tag == ScxmlSend.get_tag_name(), \
+            f"Error: SCXML send: XML tag name is not {ScxmlSend.get_tag_name()}."
+        event = xml_tree.attrib["event"]
+        params = []
+        for param_xml in xml_tree:
+            params.append(ScxmlParam.from_xml_tree(param_xml))
+        if len(params) == 0:
+            params = None
+        return ScxmlSend(event, params)
+
     def check_validity(self) -> bool:
         valid_event = isinstance(self._event, str) and len(self._event) > 0
         valid_params = True
@@ -160,6 +172,16 @@ def __init__(self, name: str, expr: str):
     def get_tag_name() -> str:
         return "assign"
 
+    def from_xml_tree(xml_tree: ET.Element) -> "ScxmlAssign":
+        """Create a ScxmlAssign object from an XML tree."""
+        assert xml_tree.tag == ScxmlAssign.get_tag_name(), \
+            f"Error: SCXML assign: XML tag name is not {ScxmlAssign.get_tag_name()}."
+        name = xml_tree.attrib.get("location")
+        assert name is not None and len(name) > 0, "Error: SCXML assign: name is not valid."
+        expr = xml_tree.attrib.get("expr")
+        assert expr is not None and len(expr) > 0, "Error: SCXML assign: expr is not valid."
+        return ScxmlAssign(name, expr)
+
     def check_validity(self) -> bool:
         # TODO: Check that the location to assign exists in the data-model
         valid_name = isinstance(self.name, str) and len(self.name) > 0
diff --git a/scxml_converter/src/scxml_converter/scxml_entries/scxml_param.py b/scxml_converter/src/scxml_converter/scxml_entries/scxml_param.py
index ece3a45e..ceb734e0 100644
--- a/scxml_converter/src/scxml_converter/scxml_entries/scxml_param.py
+++ b/scxml_converter/src/scxml_converter/scxml_entries/scxml_param.py
@@ -24,17 +24,36 @@
 
 class ScxmlParam:
     """This class represents a single parameter."""
+
     def __init__(self, name: str, *, expr: Optional[str] = None, location: Optional[str] = None):
         self._name = name
         self._expr = expr
         self._location = location
 
+    def get_tag_name() -> str:
+        return "param"
+
+    def from_xml_tree(xml_tree: ET.Element) -> "ScxmlParam":
+        """Create a ScxmlParam object from an XML tree."""
+        assert xml_tree.tag == ScxmlParam.get_tag_name(), \
+            f"Error: SCXML param: XML tag name is not {ScxmlParam.get_tag_name()}."
+        name = xml_tree.attrib.get("name")
+        assert name is not None and len(name) > 0, "Error: SCXML param: name is not valid."
+        expr = xml_tree.attrib.get("expr")
+        location = xml_tree.attrib.get("location")
+        assert not (expr is not None and location is not None), \
+            "Error: SCXML param: expr and location are both set."
+        assert expr is not None or location is not None, \
+            "Error: SCXML param: expr and location are both unset."
+        return ScxmlParam(name, expr=expr, location=location)
+
     def check_validity(self) -> bool:
         valid_name = len(self._name) > 0
         if not valid_name:
             print("Error: SCXML param: name is not valid")
         valid_expr = isinstance(self._expr, str) and len(self._expr) > 0 and self._location is None
-        valid_location = isinstance(self._location, str) and len(self._location) > 0 and self._expr is None
+        valid_location = isinstance(self._location, str) and len(
+            self._location) > 0 and self._expr is None
         # Print possible errors
         if self._expr is not None:
             if not isinstance(self._expr, str) or len(self._expr) == 0:
@@ -51,7 +70,7 @@ def check_validity(self) -> bool:
 
     def as_xml(self) -> ET.Element:
         assert self.check_validity(), "SCXML: found invalid param."
-        xml_param = ET.Element('param', {"name": self._name})
+        xml_param = ET.Element(ScxmlParam.get_tag_name(), {"name": self._name})
         if self._expr is not None:
             xml_param.set("expr", self._expr)
         if self._location is not None:
diff --git a/scxml_converter/src/scxml_converter/scxml_entries/scxml_ros_entries.py b/scxml_converter/src/scxml_converter/scxml_entries/scxml_ros_entries.py
index 881bb51d..cd1a48f8 100644
--- a/scxml_converter/src/scxml_converter/scxml_entries/scxml_ros_entries.py
+++ b/scxml_converter/src/scxml_converter/scxml_entries/scxml_ros_entries.py
@@ -180,6 +180,12 @@ def __init__(self, timer: RosTimeRate, target: str, body: Optional[ScxmlExecutio
         self._body = body
         assert self.check_validity(), "Error: SCXML rate callback: invalid parameters."
 
+    def get_tag_name() -> str:
+        return "ros_rate_callback"
+
+    def from_xml_tree(xml_tree: ET.Element) -> ScxmlTransition:
+        raise NotImplementedError("Not implemented yet.")
+
     def check_validity(self) -> bool:
         valid_timer = isinstance(self._timer_name, str) and len(self._timer_name) > 0
         valid_target = isinstance(self._target, str) and len(self._target) > 0
@@ -213,6 +219,12 @@ def __init__(
         self._body = body
         assert self.check_validity(), "Error: SCXML topic callback: invalid parameters."
 
+    def get_tag_name() -> str:
+        return "ros_topic_callback"
+
+    def from_xml_tree(xml_tree: ET.Element) -> ScxmlTransition:
+        raise NotImplementedError("Not implemented yet.")
+
     def check_validity(self) -> bool:
         valid_topic = isinstance(self._topic, str) and len(self._topic) > 0
         valid_target = isinstance(self._target, str) and len(self._target) > 0
@@ -243,6 +255,19 @@ def __init__(self, name: str, expr: str):
         self._expr = expr
         assert self.check_validity(), "Error: SCXML topic publish field: invalid parameters."
 
+    def get_tag_name() -> str:
+        return "field"
+
+    def from_xml_tree(xml_tree: ET.Element) -> "RosField":
+        """Create a RosField object from an XML tree."""
+        assert xml_tree.tag == RosField.get_tag_name(), \
+            f"Error: SCXML topic publish field: XML tag name is not {RosField.get_tag_name()}"
+        name = xml_tree.attrib.get("name")
+        expr = xml_tree.attrib.get("expr")
+        assert name is not None and expr is not None, \
+            "Error: SCXML topic publish field: 'name' or 'expr' attribute not found in input xml."
+        return RosField(name, expr)
+
     def check_validity(self) -> bool:
         valid_name = isinstance(self._name, str) and len(self._name) > 0
         valid_expr = isinstance(self._expr, str) and len(self._expr) > 0
@@ -254,21 +279,41 @@ def check_validity(self) -> bool:
 
     def as_xml(self) -> ET.Element:
         assert self.check_validity(), "Error: SCXML topic publish field: invalid parameters."
-        xml_field = ET.Element("field", {"name": self._name, "expr": self._expr})
+        xml_field = ET.Element(RosField.get_tag_name(), {"name": self._name, "expr": self._expr})
         return xml_field
 
 
 class RosTopicPublish(ScxmlSend):
     """Object representing the shipping of a ROS msg through a topic."""
 
-    def __init__(self, topic: RosTopicPublisher, fields: Optional[List[RosField]] = None):
-        self._topic = topic.get_topic_name()
+    def __init__(self, topic: Union[RosTopicPublisher, str],
+                 fields: Optional[List[RosField]] = None):
+        if isinstance(topic, RosTopicPublisher):
+            self._topic = topic.get_topic_name()
+        else:
+            # Used for generating ROS entries from xml file
+            assert isinstance(topic, str), "Error: SCXML topic publish: invalid topic type."
+            self._topic = topic
         self._fields = fields
         assert self.check_validity(), "Error: SCXML topic publish: invalid parameters."
 
     def get_tag_name() -> str:
         return "ros_topic_publish"
 
+    def from_xml_tree(xml_tree: ET.Element) -> ScxmlSend:
+        """Create a RosTopicPublish object from an XML tree."""
+        assert xml_tree.tag == RosTopicPublish.get_tag_name(), \
+            f"Error: SCXML topic publish: XML tag name is not {RosTopicPublish.get_tag_name()}"
+        topic_name = xml_tree.attrib.get("topic")
+        assert topic_name is not None, \
+            "Error: SCXML topic publish: 'topic' attribute not found in input xml."
+        fields = []
+        for field_xml in xml_tree:
+            fields.append(RosField.from_xml_tree(field_xml))
+        if len(fields) == 0:
+            fields = None
+        return RosTopicPublish(topic_name, fields)
+
     def check_validity(self) -> bool:
         valid_topic = isinstance(self._topic, str) and len(self._topic) > 0
         valid_fields = self._fields is None or \