diff --git a/src/lab_sim/objectives/errorcheckvectorsize.xml b/src/lab_sim/objectives/errorcheckvectorsize.xml
new file mode 100644
index 00000000..fdddb0b7
--- /dev/null
+++ b/src/lab_sim/objectives/errorcheckvectorsize.xml
@@ -0,0 +1,45 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root BTCPP_format="4" main_tree_to_execute="ErrorCheckVectorSize">
+  <!--//////////-->
+  <BehaviorTree
+    ID="ErrorCheckVectorSize"
+    _description="Assert that the input vector is the expected length, and if not show a UI error and return FAILURE"
+  >
+    <Control ID="Sequence">
+      <Action
+        ID="GetSizeOfVector"
+        vector_in="{vector}"
+        vector_size="{vector_size}"
+      />
+      <Decorator
+        ID="Precondition"
+        else="SUCCESS"
+        if="vector_size!=expected_vector_size"
+        name="Error Check "
+      >
+        <Control ID="Sequence">
+          <Action
+            ID="LogMessage"
+            log_level="error"
+            message="'Vector size is wrong'"
+          />
+          <Action ID="AlwaysFailure" />
+        </Control>
+      </Decorator>
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="ErrorCheckVectorSize">
+      <MetadataFields>
+        <Metadata runnable="false" />
+        <Metadata subcategory="Vector Handling" />
+      </MetadataFields>
+      <inout_port name="expected_vector_size" default="1" type="int">
+        The size the vector should be
+      </inout_port>
+      <inout_port name="vector" default="{vector}">
+        The input vector that is to be checked for size.
+      </inout_port>
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/lab_sim/objectives/example_file.txt b/src/lab_sim/objectives/example_file.txt
new file mode 100644
index 00000000..372433fb
--- /dev/null
+++ b/src/lab_sim/objectives/example_file.txt
@@ -0,0 +1,3 @@
+1) A robot may not injure a human being or, through inaction, allow a human being to come to harm; 
+2) A robot must obey orders from a human, except when they conflict with the First Law; and 
+3) A robot must protect its own existence, provided it doesn't conflict with the First or Second Law.
diff --git a/src/lab_sim/objectives/vector_and_string_example.xml b/src/lab_sim/objectives/vector_and_string_example.xml
new file mode 100644
index 00000000..9817340a
--- /dev/null
+++ b/src/lab_sim/objectives/vector_and_string_example.xml
@@ -0,0 +1,149 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root BTCPP_format="4" main_tree_to_execute="Vector and String Example">
+  <BehaviorTree
+    ID="Vector and String Example"
+    _description="Showcases creating, inserting, replacing, and removing strings from a vector, as well as reading strings from file and publishing them to ROS."
+    _favorite="false"
+  >
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action ID="ResetVector" vector="{my_vector}" name="Create the Vector" />
+      <Control ID="Sequence" name="Test Some Vector Operations">
+        <Action
+          ID="Script"
+          code="string1 := 'Copy and run the following command in your &quot;moveit_pro shell&quot; terminal, then rerun this Objective to get the secret message.'"
+        />
+        <Action
+          ID="CreateStringMessage"
+          data="{string1}"
+          string="{string_msg_in}"
+        />
+        <Action
+          ID="InsertInVector"
+          element="{string_msg_in}"
+          index="0"
+          input_vector="{my_vector}"
+          output_vector="{my_vector}"
+        />
+        <SubTree
+          ID="ErrorCheckVectorSize"
+          _collapsed="true"
+          expected_vector_size="1"
+          vector="{my_vector}"
+        />
+        <Action
+          ID="GetElementOfVector"
+          element="{string_msg_out}"
+          index="0"
+          vector_in="{my_vector}"
+        />
+        <Action
+          ID="UnpackStringMessage"
+          data="{string}"
+          string="{string_msg_out}"
+        />
+        <Action
+          ID="LogMessage"
+          message="ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default"
+          log_level="info"
+        />
+        <Action ID="LogMessage" message="{string}" log_level="info" />
+      </Control>
+      <Control ID="Sequence" name="Test Some Vector Operations">
+        <Action
+          ID="RemoveFromVector"
+          index="0"
+          input_vector="{my_vector}"
+          output_vector="{my_vector}"
+        />
+        <SubTree
+          ID="ErrorCheckVectorSize"
+          _collapsed="true"
+          expected_vector_size="0"
+          vector="{my_vector}"
+        />
+      </Control>
+      <Control ID="Sequence" name="Test Some Vector Operations">
+        <Action
+          ID="ReadTextFileAsString"
+          string_file_contents="{string2}"
+          text_filename="example_file.txt"
+        />
+        <Action
+          ID="CreateStringMessage"
+          data="{string2}"
+          string="{string_msg_in}"
+        />
+        <Action
+          ID="InsertInVector"
+          element="{string_msg_in}"
+          index="0"
+          input_vector="{my_vector}"
+          output_vector="{my_vector}"
+        />
+        <Action
+          ID="GetElementOfVector"
+          element="{string_msg_out}"
+          index="0"
+          vector_in="{my_vector}"
+        />
+        <Action
+          ID="PublishString"
+          queue_size="10"
+          use_best_effort="false"
+          message="{string_msg_out}"
+          topic="/secret_msg"
+        />
+        <SubTree
+          ID="ErrorCheckVectorSize"
+          _collapsed="true"
+          expected_vector_size="1"
+          vector="{my_vector}"
+        />
+      </Control>
+      <Control ID="Sequence" name="Test Some Vector Operations">
+        <Action
+          ID="Script"
+          code="string3 := 'Make sure you have INFO alert types enables in order to see the messages.'"
+        />
+        <Action
+          ID="CreateStringMessage"
+          data="{string3}"
+          string="{string_msg_in}"
+        />
+        <Action
+          ID="ReplaceInVector"
+          element="{string_msg_in}"
+          index="0"
+          input_vector="{my_vector}"
+          output_vector="{my_vector}"
+        />
+        <Action
+          ID="GetElementOfVector"
+          element="{string_msg_out}"
+          index="0"
+          vector_in="{my_vector}"
+        />
+        <Action
+          ID="UnpackStringMessage"
+          data="{string}"
+          string="{string_msg_out}"
+        />
+        <SubTree
+          ID="ErrorCheckVectorSize"
+          _collapsed="true"
+          expected_vector_size="1"
+          vector="{my_vector}"
+        />
+        <Action ID="LogMessage" message="{string}" log_level="warn" />
+      </Control>
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Vector and String Example">
+      <MetadataFields>
+        <Metadata subcategory="Vector Handling" />
+        <Metadata runnable="true" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>