diff --git a/README.md b/README.md
index fb464b3ff7eb326d0e0f05796c02ca09c88d2f12..54c1abef461a9c25ae64b3638dc4223ab8ca56d9 100644
--- a/README.md
+++ b/README.md
@@ -5,8 +5,15 @@ architecture, as well as mock ROS nodes for all the architecture modules.
 
 ![Screenshot of the architecture, displayed in Boxology](doc/architecture-boxology.png)
 
+You can view a textual version of the architecture here:
+[spring-architecture.md](spring-architecture.md).
+
 The [architecture.json](architecture.json) file contains the details of the
-nodes and interfaces in `json` format, and can be visualised with [the SPRING branch of Boxology](https://github.com/severin-lemaignan/boxology/tree/spring). You can [download a binary for Linux here](https://github.com/severin-lemaignan/boxology/releases), or compile it yourself. Note that Boxology tends to crash often! Ctrl+S is your friend!
+nodes and interfaces in `json` format, and can be visualised with [the SPRING
+branch of Boxology](https://github.com/severin-lemaignan/boxology/tree/spring).
+You can [download a binary for Linux
+here](https://github.com/severin-lemaignan/boxology/releases), or compile it
+yourself. Note that Boxology tends to crash often! Ctrl+S is your friend!
 
 
 ## Running the mock nodes
diff --git a/spring-architecture.md b/spring-architecture.md
index 13c28715c42923b4581bc7c8e5580ae5baab6bf6..6a09adc77450991773ab093a1dce4981d9415dc5 100644
--- a/spring-architecture.md
+++ b/spring-architecture.md
@@ -1,6 +1,6 @@
 # SPRING architecture
 
-**Version:** 0.3.1
+**Version:** 0.3.2
 
 EU H2020 SPRING architecture
 
@@ -8,46 +8,46 @@ EU H2020 SPRING architecture
 
 | **Node** | **id** | **Partner** | **Status** |
 |----------|--------|-------------|------------|
-| [robot_behavior](#robot_behavior) | robot_behavior | INRIA | mock-up |
-| [Sound source localisation](#soundsourcelocalisation) | soundsourcelocalisation | BIU | mock-up |
-| [Robot functional layer](#robotfunctionallayer) | robotfunctionallayer | PAL | mock-up |
-| [Voice speech matching](#voicespeechmatching) | voicespeechmatching | BIU | mock-up |
-| [Soft biometrics](#softbiometrics) | softbiometrics | UNITN | mock-up |
-| [User attention estimation](#userattentionestimation) | userattentionestimation | UNITN | mock-up |
-| [ hri_msgs](#hri_msgs) | hri_msgs | Other | released (version 0.1.1) (dependency) |
-| [Speech synthesis](#speechsynthesis) | speechsynthesis | PAL | mock-up |
-| [ROS openpose](#rosopenpose) | rosopenpose | INRIA | mock-up |
-| [Robot GUI](#robotgui) | robotgui | ERM | mock-up |
-| [interaction_manager](#interaction_manager) | interaction_manager | HWU | mock-up |
-| [Object detection/identification/localisation](#objectdetectionidentificationlocalisation) | objectdetectionidentificationlocalisation | CVUT | mock-up |
+| [ASR](#asr) | asr | BIU | mock-up |
 | [Depth estimation from monocular](#depthestimationfrommonocular) | depthestimationfrommonocular | UNITN | mock-up |
-| [Scene understanding](#sceneunderstanding) | sceneunderstanding | HWU | mock-up |
-| [Occupancy map](#occupancymap) | occupancymap | CVUT | mock-up |
-| [dialogue arbiter](#dialoguearbiter) | dialoguearbiter | HWU | mock-up |
-| [People 3D tracker](#people3dtracker) | people3dtracker | INRIA | mock-up |
-| [Speaker identification](#speakeridentification) | speakeridentification | BIU | mock-up |
-| [Person re-identification](#personreidentification) | personreidentification | UNITN | mock-up |
-| [ORB SLAM](#orbslam) | orbslam | PAL | mock-up |
+| [Multi-people body tracker](#multipeoplebodytracker) | multipeoplebodytracker | INRIA | mock-up |
 | [hri_fullbody](#hri_fullbody) | hri_fullbody | PAL | mock-up |
+| [Sound source localisation](#soundsourcelocalisation) | soundsourcelocalisation | BIU | mock-up |
 | [RGB head](#rgbhead) | rgbhead | PAL | mock-up |
-| [Multi-people body tracker](#multipeoplebodytracker) | multipeoplebodytracker | INRIA | mock-up |
-| [RGB-D + camera_info](#rgbdcamera_info) | rgbdcamera_info | PAL | mock-up |
 | [Activity reco](#activityreco) | activityreco | UNITN | mock-up |
 | [Face detection](#facedetection) | facedetection | UNITN | mock-up |
 | [ spring_msgs](#spring_msgs) | spring_msgs | Other | released (version 0.0.2) (dependency) |
+| [Robot GUI](#robotgui) | robotgui | ERM | mock-up |
+| [respeaker_ros](#respeaker_ros) | respeaker_ros | PAL | released (version master) |
+| [Person re-identification](#personreidentification) | personreidentification | UNITN | mock-up |
+| [ORB SLAM](#orbslam) | orbslam | PAL | mock-up |
+| [People 3D tracker](#people3dtracker) | people3dtracker | INRIA | mock-up |
+| [Fisheye](#fisheye) | fisheye | PAL | mock-up |
+| [F-formation](#fformation) | fformation | UNITN | mock-up |
+| [Robot functional layer](#robotfunctionallayer) | robotfunctionallayer | PAL | mock-up |
+| [robot_behavior](#robot_behavior) | robot_behavior | INRIA | mock-up |
+| [User attention estimation](#userattentionestimation) | userattentionestimation | UNITN | mock-up |
+| [RGB-D + camera_info](#rgbdcamera_info) | rgbdcamera_info | PAL | mock-up |
+| [Non-verbal behaviours](#nonverbalbehaviours) | nonverbalbehaviours | UNITN | mock-up |
+| [Speaker identification](#speakeridentification) | speakeridentification | BIU | mock-up |
 | [Mask detection](#maskdetection) | maskdetection | UNITN | mock-up |
+| [Semantic mapping](#semanticmapping) | semanticmapping | CVUT | mock-up |
+| [Speech analysis](#speechanalysis) | speechanalysis | BIU | mock-up |
+| [Soft biometrics](#softbiometrics) | softbiometrics | UNITN | mock-up |
+| [Occupancy map](#occupancymap) | occupancymap | CVUT | mock-up |
+| [dialogue arbiter](#dialoguearbiter) | dialoguearbiter | HWU | mock-up |
 | [plan_actions](#plan_actions) | plan_actions | HWU | mock-up |
-| [Person manager](#personmanager) | personmanager | INRIA | mock-up |
-| [Non-verbal behaviours](#nonverbalbehaviours) | nonverbalbehaviours | UNITN | mock-up |
 | [User visual focus](#uservisualfocus) | uservisualfocus | UNITN | mock-up |
-| [Speech analysis](#speechanalysis) | speechanalysis | BIU | mock-up |
+| [ hri_msgs](#hri_msgs) | hri_msgs | Other | released (version 0.1.1) (dependency) |
+| [Speech synthesis](#speechsynthesis) | speechsynthesis | PAL | mock-up |
+| [Scene understanding](#sceneunderstanding) | sceneunderstanding | HWU | mock-up |
+| [ROS openpose](#rosopenpose) | rosopenpose | INRIA | mock-up |
 | [Visual SLAM + 3D map](#visualslam3dmap) | visualslam3dmap | CVUT | mock-up |
-| [Semantic mapping](#semanticmapping) | semanticmapping | CVUT | mock-up |
-| [Fisheye](#fisheye) | fisheye | PAL | mock-up |
-| [F-formation](#fformation) | fformation | UNITN | mock-up |
-| [respeaker_ros](#respeaker_ros) | respeaker_ros | PAL | released (version master) |
-| [ASR](#asr) | asr | BIU | mock-up |
+| [Object detection/identification/localisation](#objectdetectionidentificationlocalisation) | objectdetectionidentificationlocalisation | CVUT | mock-up |
 | [Body 2D pose](#body2dpose) | body2dpose | UNITN | mock-up |
+| [interaction_manager](#interaction_manager) | interaction_manager | HWU | mock-up |
+| [Person manager](#personmanager) | personmanager | INRIA | mock-up |
+| [Voice speech matching](#voicespeechmatching) | voicespeechmatching | BIU | mock-up |
 
 ## Detailed description
 
@@ -55,13 +55,11 @@ EU H2020 SPRING architecture
 
 ---
 
-### robot_behavior
-
-Node *robot_behavior* (id: `robot_behavior`) is overseen by INRIA.
+### asr
 
-REPO: https://gitlab.inria.fr/spring/wp6_robot_behavior/robot_behavior/-/tree/devel/src/robot_behavior
+Node *ASR* (id: `asr`) is overseen by BIU.
 
-The code is primarily developed at INRIA by Timothée Wintz.
+REPO [TBC]: https://gitlab.inria.fr/spring/wp5_spoken_conversations/asr
 
 #### Status
 
@@ -69,26 +67,21 @@ The code is primarily developed at INRIA by Timothée Wintz.
 
 #### Inputs/outputs
 
- - Input: `status` (undefined)
- - Input: `look at` (undefined)
- - Input: `following/nav goals` (undefined)
- - Input: `occupancy map` (undefined)
- - Input: `/h/i/groups [hri_msgs/GroupsStamped]` (topic)
+ - Input: `/audio/postprocess_audio_streams [audio_common_msgs/AudioData]` (topic)
 
- - Output: `status` (undefined)
- - Output: `low-level actions` (undefined)
+ - Output: `/audio/speech_streams -- array of std_msgs/String` (undefined)
 
 #### Dependencies
 
+- `audio_common_msgs/AudioData`
 - `std_msgs/Empty`
-- `hri_msgs/GroupsStamped`
 
 
 ---
 
-### soundsourcelocalisation
+### depthestimationfrommonocular
 
-Node *Sound source localisation* (id: `soundsourcelocalisation`) is overseen by BIU.
+Node *Depth estimation from monocular* (id: `depthestimationfrommonocular`) is overseen by UNITN.
 
 
 
@@ -98,27 +91,24 @@ Node *Sound source localisation* (id: `soundsourcelocalisation`) is overseen by
 
 #### Inputs/outputs
 
- - Input: `/h/v/*/audio [audio_common_msgs/AudioData]` (topic)
+ - Input: `input` (undefined)
 
- - Output: `output` (undefined)
- - Output: `source angle` (undefined)
- - Output: `tracking information` (undefined)
- - Output: `tf: /voice_id` (tf)
+ - Output: `depth` (undefined)
 
 #### Dependencies
 
 - `std_msgs/Empty`
-- `tf/transform_broadcaster`
-- `audio_common_msgs/AudioData`
 
 
 ---
 
-### robotfunctionallayer
+### multipeoplebodytracker
 
-Node *Robot functional layer* (id: `robotfunctionallayer`) is overseen by PAL.
+Node *Multi-people body tracker* (id: `multipeoplebodytracker`) is overseen by INRIA.
 
+REPO (Docker): https://gitlab.inria.fr/spring/wp3_av_perception/docker-tracking
 
+This code is primarily developed at INRIA by Luis Gomez Camara.
 
 #### Status
 
@@ -126,19 +116,21 @@ Node *Robot functional layer* (id: `robotfunctionallayer`) is overseen by PAL.
 
 #### Inputs/outputs
 
- - Input: `input` (undefined)
+ - Input: `/camera_head/color/image_raw [sensor_msgs/Image]` (topic)
 
+ - Output: `/h/b/*/roi [hri_msgs/RegionOfInterestStamped]` (topic)
 
 #### Dependencies
 
-- `std_msgs/Empty`
+- `sensor_msgs/Image`
+- `hri_msgs/RegionOfInterestStamped`
 
 
 ---
 
-### voicespeechmatching
+### hri_fullbody
 
-Node *Voice speech matching* (id: `voicespeechmatching`) is overseen by BIU.
+Node *hri_fullbody* (id: `hri_fullbody`) is overseen by PAL.
 
 
 
@@ -148,23 +140,26 @@ Node *Voice speech matching* (id: `voicespeechmatching`) is overseen by BIU.
 
 #### Inputs/outputs
 
- - Input: `/h/v/*/audio [audio_common_msgs/AudioData]` (topic)
- - Input: `/audio/speech_streams [array of std_msgs/String]` (topic)
+ - Input: `/camera_head/color/image_raw [sensor_msgs/Image]` (topic)
+ - Input: `/h/b/*/roi [hri_msgs/RegionOfInterestStamped]` (topic)
 
- - Output: `/h/v/*/speech [std_msgs/String]` (topic)
+ - Output: `tf: /full_body` (tf)
+ - Output: `/h/b/*/skeleton2d [hri_msgs/Skeleton2D]` (topic)
+ - Output: `/h/f/*/roi [hri_msgs/RegionOfInterestStamped]` (topic)
 
 #### Dependencies
 
-- `std_msgs/String`
-- `audio_common_msgs/AudioData`
-- `array of std_msgs/String`
+- `tf/transform_broadcaster`
+- `hri_msgs/Skeleton2D`
+- `sensor_msgs/Image`
+- `hri_msgs/RegionOfInterestStamped`
 
 
 ---
 
-### softbiometrics
+### soundsourcelocalisation
 
-Node *Soft biometrics* (id: `softbiometrics`) is overseen by UNITN.
+Node *Sound source localisation* (id: `soundsourcelocalisation`) is overseen by BIU.
 
 
 
@@ -174,21 +169,25 @@ Node *Soft biometrics* (id: `softbiometrics`) is overseen by UNITN.
 
 #### Inputs/outputs
 
- - Input: `/h/f/*/roi [hri_msgs/RegionOfInterestStamped]` (topic)
+ - Input: `/h/v/*/audio [audio_common_msgs/AudioData]` (topic)
 
- - Output: `/h/f/*/demographics [hri_msgs/AgeAndGender]` (topic)
+ - Output: `source angle` (undefined)
+ - Output: `tracking information` (undefined)
+ - Output: `tf: /voice_id` (tf)
+ - Output: `output` (undefined)
 
 #### Dependencies
 
-- `hri_msgs/AgeAndGender`
-- `hri_msgs/RegionOfInterestStamped`
+- `std_msgs/Empty`
+- `tf/transform_broadcaster`
+- `audio_common_msgs/AudioData`
 
 
 ---
 
-### userattentionestimation
+### rgbhead
 
-Node *User attention estimation* (id: `userattentionestimation`) is overseen by UNITN.
+Node *RGB head* (id: `rgbhead`) is overseen by PAL.
 
 
 
@@ -198,24 +197,19 @@ Node *User attention estimation* (id: `userattentionestimation`) is overseen by
 
 #### Inputs/outputs
 
- - Input: `TF (faces)` (undefined)
- - Input: `/h/f/*/roi [hri_msgs/RegionOfInterestStamped]` (topic)
 
- - Output: `tf: /face_id_gaze` (tf)
- - Output: `x,y + attention heatmap` (undefined)
+ - Output: `/camera_head/color/image_raw [sensor_msgs/Image]` (topic)
 
 #### Dependencies
 
-- `std_msgs/Empty`
-- `tf/transform_broadcaster`
-- `hri_msgs/RegionOfInterestStamped`
+- `sensor_msgs/Image`
 
 
 ---
 
-### speechsynthesis
+### activityreco
 
-Node *Speech synthesis* (id: `speechsynthesis`) is overseen by PAL.
+Node *Activity reco* (id: `activityreco`) is overseen by UNITN.
 
 
 
@@ -225,9 +219,10 @@ Node *Speech synthesis* (id: `speechsynthesis`) is overseen by PAL.
 
 #### Inputs/outputs
 
- - Input: `speech [std_msgs/String]` (undefined)
+ - Input: `gaze direction` (undefined)
+ - Input: `TF (bodies)` (undefined)
 
- - Output: `/tts/feedback` (undefined)
+ - Output: `[?] output` (undefined)
 
 #### Dependencies
 
@@ -236,9 +231,9 @@ Node *Speech synthesis* (id: `speechsynthesis`) is overseen by PAL.
 
 ---
 
-### rosopenpose
+### facedetection
 
-Node *ROS openpose* (id: `rosopenpose`) is overseen by INRIA.
+Node *Face detection* (id: `facedetection`) is overseen by UNITN.
 
 
 
@@ -248,13 +243,14 @@ Node *ROS openpose* (id: `rosopenpose`) is overseen by INRIA.
 
 #### Inputs/outputs
 
- - Input: `input` (undefined)
+ - Input: `/camera_head/color/image_raw [sensor_msgs/Image]` (topic)
 
- - Output: `output` (undefined)
+ - Output: `/h/f/*/roi [hri_msgs/RegionOfInterestStamped]` (topic)
 
 #### Dependencies
 
-- `std_msgs/Empty`
+- `sensor_msgs/Image`
+- `hri_msgs/RegionOfInterestStamped`
 
 
 ---
@@ -285,41 +281,34 @@ Node *Robot GUI* (id: `robotgui`) is overseen by ERM.
 
 ---
 
-### interaction_manager
+### respeaker_ros
 
-Node *interaction_manager* (id: `interaction_manager`) is overseen by HWU.
+Node *respeaker_ros* (id: `respeaker_ros`) is overseen by PAL.
 
-REPO: https://gitlab.inria.fr/spring/wp5_spoken_conversations/interaction/-/tree/spring_dev/interaction_manager
+REPO:git@gitlab.inria.fr:spring/wp7_ari/respeaker_ros.git
+BIN:respeaker_multichan_node.py
 
 #### Status
 
-**This node is currently auto-generated (mock-up)** 
+**Current release: master** 
 
 #### Inputs/outputs
 
- - Input: `/h/p/personID` (undefined)
- - Input: `semantic scene description` (undefined)
- - Input: `input` (undefined)
- - Input: `dialogue state` (undefined)
- - Input: `robot state` (undefined)
- - Input: `TF` (undefined)
 
- - Output: `gestures` (undefined)
- - Output: `who to look at` (undefined)
- - Output: `verbal command` (undefined)
- - Output: `nav goals` (undefined)
- - Output: `active personID` (undefined)
+ - Output: `/audio/raw_audio [respeaker_ros/RawAudioData]` (topic)
+ - Output: `/audio/ego_audio [audio_common_msgs/AudioData]` (topic)
 
 #### Dependencies
 
-- `std_msgs/Empty`
+- `respeaker_ros/RawAudioData`
+- `audio_common_msgs/AudioData`
 
 
 ---
 
-### objectdetectionidentificationlocalisation
+### personreidentification
 
-Node *Object detection/identification/localisation* (id: `objectdetectionidentificationlocalisation`) is overseen by CVUT.
+Node *Person re-identification* (id: `personreidentification`) is overseen by UNITN.
 
 
 
@@ -329,21 +318,21 @@ Node *Object detection/identification/localisation* (id: `objectdetectionidentif
 
 #### Inputs/outputs
 
- - Input: `/camera_head/color/image_raw [sensor_msgs/Image]` (topic)
+ - Input: `/h/f/*/roi [hri_msgs/RegionOfInterestStamped]` (topic)
 
- - Output: `/detected_objects [spring_msgs/DetectedObjectArray]` (topic)
+ - Output: `person_id_candidate [hri_msgs/IdsMatch]` (undefined)
 
 #### Dependencies
 
-- `spring_msgs/DetectedObjectArray`
-- `sensor_msgs/Image`
+- `std_msgs/Empty`
+- `hri_msgs/RegionOfInterestStamped`
 
 
 ---
 
-### depthestimationfrommonocular
+### orbslam
 
-Node *Depth estimation from monocular* (id: `depthestimationfrommonocular`) is overseen by UNITN.
+Node *ORB SLAM* (id: `orbslam`) is overseen by PAL.
 
 
 
@@ -353,20 +342,23 @@ Node *Depth estimation from monocular* (id: `depthestimationfrommonocular`) is o
 
 #### Inputs/outputs
 
- - Input: `input` (undefined)
+ - Input: `/camera_torso/color/image_raw [sensor_msgs/Image]` (topic)
 
- - Output: `depth` (undefined)
+ - Output: `tf: /odom` (tf)
+ - Output: `/map [nav_msgs/OccupancyGrid]` (topic)
 
 #### Dependencies
 
-- `std_msgs/Empty`
+- `tf/transform_broadcaster`
+- `sensor_msgs/Image`
+- `nav_msgs/OccupancyGrid`
 
 
 ---
 
-### sceneunderstanding
+### people3dtracker
 
-Node *Scene understanding* (id: `sceneunderstanding`) is overseen by HWU.
+Node *People 3D tracker* (id: `people3dtracker`) is overseen by INRIA.
 
 
 
@@ -376,20 +368,23 @@ Node *Scene understanding* (id: `sceneunderstanding`) is overseen by HWU.
 
 #### Inputs/outputs
 
- - Input: `scene graph` (undefined)
+ - Input: `feet position` (undefined)
+ - Input: `people RoIs` (undefined)
+ - Input: `ground plane` (undefined)
 
- - Output: `semantic description` (undefined)
+ - Output: `tf: /body_id` (tf)
 
 #### Dependencies
 
 - `std_msgs/Empty`
+- `tf/transform_broadcaster`
 
 
 ---
 
-### occupancymap
+### fisheye
 
-Node *Occupancy map* (id: `occupancymap`) is overseen by CVUT.
+Node *Fisheye* (id: `fisheye`) is overseen by PAL.
 
 
 
@@ -399,24 +394,21 @@ Node *Occupancy map* (id: `occupancymap`) is overseen by CVUT.
 
 #### Inputs/outputs
 
- - Input: `TF (bodies)` (undefined)
- - Input: `dense 3d map` (undefined)
 
- - Output: `/map_refined [nav_msgs/OccupancyGrid]` (topic)
+ - Output: `/camera_head/color/image_raw [sensor_msgs/Image]` (topic)
 
 #### Dependencies
 
-- `std_msgs/Empty`
-- `nav_msgs/OccupancyGrid`
+- `sensor_msgs/Image`
 
 
 ---
 
-### dialoguearbiter
+### fformation
+
+Node *F-formation* (id: `fformation`) is overseen by UNITN.
 
-Node *dialogue arbiter* (id: `dialoguearbiter`) is overseen by HWU.
 
-REPO: https://gitlab.inria.fr/spring/wp5_spoken_conversations/dialogue/-/tree/spring-dev/dialogue_arbiter
 
 #### Status
 
@@ -424,23 +416,23 @@ REPO: https://gitlab.inria.fr/spring/wp5_spoken_conversations/dialogue/-/tree/sp
 
 #### Inputs/outputs
 
- - Input: `interaction messages` (undefined)
- - Input: `/h/v/*/speech [std_msgs/String]` (topic)
+ - Input: `tf: /person_id` (tf)
+ - Input: `/h/i/gaze [hri_msgs/GazesStamped]` (topic)
 
- - Output: `DialogueState` (undefined)
- - Output: `next utterance` (undefined)
+ - Output: `/h/i/groups [hri_msgs/GroupsStamped]` (topic)
 
 #### Dependencies
 
-- `std_msgs/Empty`
-- `std_msgs/String`
+- `tf/transform_listener`
+- `hri_msgs/GazesStamped`
+- `hri_msgs/GroupsStamped`
 
 
 ---
 
-### people3dtracker
+### robotfunctionallayer
 
-Node *People 3D tracker* (id: `people3dtracker`) is overseen by INRIA.
+Node *Robot functional layer* (id: `robotfunctionallayer`) is overseen by PAL.
 
 
 
@@ -450,26 +442,23 @@ Node *People 3D tracker* (id: `people3dtracker`) is overseen by INRIA.
 
 #### Inputs/outputs
 
- - Input: `feet position` (undefined)
- - Input: `people RoIs` (undefined)
- - Input: `ground plane` (undefined)
+ - Input: `input` (undefined)
 
- - Output: `tf: /body_id` (tf)
 
 #### Dependencies
 
 - `std_msgs/Empty`
-- `tf/transform_broadcaster`
 
 
 ---
 
-### speakeridentification
+### robot_behavior
 
-Node *Speaker identification* (id: `speakeridentification`) is overseen by BIU.
+Node *robot_behavior* (id: `robot_behavior`) is overseen by INRIA.
 
-- online services
-- not started yet
+REPO: https://gitlab.inria.fr/spring/wp6_robot_behavior/robot_behavior/-/tree/devel/src/robot_behavior
+
+The code is primarily developed at INRIA by Timothée Wintz.
 
 #### Status
 
@@ -477,23 +466,26 @@ Node *Speaker identification* (id: `speakeridentification`) is overseen by BIU.
 
 #### Inputs/outputs
 
- - Input: `tracking information` (undefined)
- - Input: `/audio/postprocess_audio_streams [audio_common_msgs/AudioData]` (topic)
+ - Input: `look at` (undefined)
+ - Input: `following/nav goals` (undefined)
+ - Input: `occupancy map` (undefined)
+ - Input: `status` (undefined)
+ - Input: `/h/i/groups [hri_msgs/GroupsStamped]` (topic)
 
- - Output: `person_id_candidate [hri_msgs/IdsMatch]` (undefined)
- - Output: `/h/v/*/audio [audio_common_msgs/AudioData]` (topic)
+ - Output: `status` (undefined)
+ - Output: `low-level actions` (undefined)
 
 #### Dependencies
 
 - `std_msgs/Empty`
-- `audio_common_msgs/AudioData`
+- `hri_msgs/GroupsStamped`
 
 
 ---
 
-### personreidentification
+### userattentionestimation
 
-Node *Person re-identification* (id: `personreidentification`) is overseen by UNITN.
+Node *User attention estimation* (id: `userattentionestimation`) is overseen by UNITN.
 
 
 
@@ -503,21 +495,24 @@ Node *Person re-identification* (id: `personreidentification`) is overseen by UN
 
 #### Inputs/outputs
 
+ - Input: `TF (faces)` (undefined)
  - Input: `/h/f/*/roi [hri_msgs/RegionOfInterestStamped]` (topic)
 
- - Output: `person_id_candidate [hri_msgs/IdsMatch]` (undefined)
+ - Output: `tf: /face_id_gaze` (tf)
+ - Output: `x,y + attention heatmap` (undefined)
 
 #### Dependencies
 
+- `tf/transform_broadcaster`
 - `std_msgs/Empty`
 - `hri_msgs/RegionOfInterestStamped`
 
 
 ---
 
-### orbslam
+### rgbdcamera_info
 
-Node *ORB SLAM* (id: `orbslam`) is overseen by PAL.
+Node *RGB-D + camera_info* (id: `rgbdcamera_info`) is overseen by PAL.
 
 
 
@@ -527,23 +522,19 @@ Node *ORB SLAM* (id: `orbslam`) is overseen by PAL.
 
 #### Inputs/outputs
 
- - Input: `/camera_torso/color/image_raw [sensor_msgs/Image]` (topic)
 
- - Output: `tf: /odom` (tf)
- - Output: `/map [nav_msgs/OccupancyGrid]` (topic)
+ - Output: `/camera_torso/color/image_raw [sensor_msgs/Image]` (topic)
 
 #### Dependencies
 
-- `tf/transform_broadcaster`
-- `nav_msgs/OccupancyGrid`
 - `sensor_msgs/Image`
 
 
 ---
 
-### hri_fullbody
+### nonverbalbehaviours
 
-Node *hri_fullbody* (id: `hri_fullbody`) is overseen by PAL.
+Node *Non-verbal behaviours* (id: `nonverbalbehaviours`) is overseen by UNITN.
 
 
 
@@ -553,28 +544,26 @@ Node *hri_fullbody* (id: `hri_fullbody`) is overseen by PAL.
 
 #### Inputs/outputs
 
- - Input: `/camera_head/color/image_raw [sensor_msgs/Image]` (topic)
- - Input: `/h/b/*/roi [hri_msgs/RegionOfInterestStamped]` (topic)
+ - Input: `/h/v/*/audio [audio_common_msgs/AudioData]` (topic)
+ - Input: `/h/f/*/roi [hri_msgs/RegionOfInterestStamped]` (topic)
 
- - Output: `/h/b/*/skeleton2d [hri_msgs/Skeleton2D]` (topic)
- - Output: `tf: /full_body` (tf)
- - Output: `/h/f/*/roi [hri_msgs/RegionOfInterestStamped]` (topic)
+ - Output: `/h/f/*/expression [hri_msgs/Expression]` (topic)
 
 #### Dependencies
 
-- `hri_msgs/Skeleton2D`
-- `tf/transform_broadcaster`
-- `sensor_msgs/Image`
+- `hri_msgs/Expression`
+- `audio_common_msgs/AudioData`
 - `hri_msgs/RegionOfInterestStamped`
 
 
 ---
 
-### rgbhead
-
-Node *RGB head* (id: `rgbhead`) is overseen by PAL.
+### speakeridentification
 
+Node *Speaker identification* (id: `speakeridentification`) is overseen by BIU.
 
+- online services
+- not started yet
 
 #### Status
 
@@ -582,23 +571,25 @@ Node *RGB head* (id: `rgbhead`) is overseen by PAL.
 
 #### Inputs/outputs
 
+ - Input: `/audio/postprocess_audio_streams [audio_common_msgs/AudioData]` (topic)
+ - Input: `tracking information` (undefined)
 
- - Output: `/camera_head/color/image_raw [sensor_msgs/Image]` (topic)
+ - Output: `person_id_candidate [hri_msgs/IdsMatch]` (undefined)
+ - Output: `/h/v/*/audio [audio_common_msgs/AudioData]` (topic)
 
 #### Dependencies
 
-- `sensor_msgs/Image`
+- `audio_common_msgs/AudioData`
+- `std_msgs/Empty`
 
 
 ---
 
-### multipeoplebodytracker
+### maskdetection
 
-Node *Multi-people body tracker* (id: `multipeoplebodytracker`) is overseen by INRIA.
+Node *Mask detection* (id: `maskdetection`) is overseen by UNITN.
 
-REPO (Docker): https://gitlab.inria.fr/spring/wp3_av_perception/docker-tracking
 
-This code is primarily developed at INRIA by Luis Gomez Camara.
 
 #### Status
 
@@ -606,23 +597,53 @@ This code is primarily developed at INRIA by Luis Gomez Camara.
 
 #### Inputs/outputs
 
- - Input: `/camera_head/color/image_raw [sensor_msgs/Image]` (topic)
+ - Input: `/h/f/*/roi [hri_msgs/RegionOfInterestStamped]` (topic)
 
- - Output: `/h/b/*/roi [hri_msgs/RegionOfInterestStamped]` (topic)
+ - Output: `/h/f/*/mask [std_msgs/Bool]` (topic)
 
 #### Dependencies
 
-- `sensor_msgs/Image`
+- `std_msgs/Bool`
 - `hri_msgs/RegionOfInterestStamped`
 
 
 ---
 
-### rgbdcamera_info
+### semanticmapping
+
+Node *Semantic mapping* (id: `semanticmapping`) is overseen by CVUT.
+
+
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `dense 3d map` (undefined)
+ - Input: `/detected_objects [spring_msgs/DetectedObjectArray]` (topic)
+
+ - Output: `scene graph` (undefined)
+
+#### Dependencies
+
+- `std_msgs/Empty`
+- `spring_msgs/DetectedObjectArray`
+
+
+---
+
+### speechanalysis
 
-Node *RGB-D + camera_info* (id: `rgbdcamera_info`) is overseen by PAL.
+Node *Speech analysis* (id: `speechanalysis`) is overseen by BIU.
 
+This node does:
+- speech echo cancelation,
+- speech enhancement,
+- speech separation and diarization
 
+REPO: https://gitlab.inria.fr/spring/wp3_av_perception/biu-ros_audio_retreiver
 
 #### Status
 
@@ -630,19 +651,24 @@ Node *RGB-D + camera_info* (id: `rgbdcamera_info`) is overseen by PAL.
 
 #### Inputs/outputs
 
+ - Input: `sound localization` (undefined)
+ - Input: `/audio/raw_audio [respeaker_ros/RawAudioData]` (topic)
+ - Input: `/audio/ego_audio [audio_common_msgs/AudioData]` (topic)
 
- - Output: `/camera_torso/color/image_raw [sensor_msgs/Image]` (topic)
+ - Output: `/audio/postprocess_audio_streams -- cf output in node desc` (undefined)
 
 #### Dependencies
 
-- `sensor_msgs/Image`
+- `std_msgs/Empty`
+- `respeaker_ros/RawAudioData`
+- `audio_common_msgs/AudioData`
 
 
 ---
 
-### activityreco
+### softbiometrics
 
-Node *Activity reco* (id: `activityreco`) is overseen by UNITN.
+Node *Soft biometrics* (id: `softbiometrics`) is overseen by UNITN.
 
 
 
@@ -652,21 +678,21 @@ Node *Activity reco* (id: `activityreco`) is overseen by UNITN.
 
 #### Inputs/outputs
 
- - Input: `gaze direction` (undefined)
- - Input: `TF (bodies)` (undefined)
+ - Input: `/h/f/*/roi [hri_msgs/RegionOfInterestStamped]` (topic)
 
- - Output: `[?] output` (undefined)
+ - Output: `/h/f/*/demographics [hri_msgs/AgeAndGender]` (topic)
 
 #### Dependencies
 
-- `std_msgs/Empty`
+- `hri_msgs/AgeAndGender`
+- `hri_msgs/RegionOfInterestStamped`
 
 
 ---
 
-### facedetection
+### occupancymap
 
-Node *Face detection* (id: `facedetection`) is overseen by UNITN.
+Node *Occupancy map* (id: `occupancymap`) is overseen by CVUT.
 
 
 
@@ -676,23 +702,24 @@ Node *Face detection* (id: `facedetection`) is overseen by UNITN.
 
 #### Inputs/outputs
 
- - Input: `/camera_head/color/image_raw [sensor_msgs/Image]` (topic)
+ - Input: `TF (bodies)` (undefined)
+ - Input: `dense 3d map` (undefined)
 
- - Output: `/h/f/*/roi [hri_msgs/RegionOfInterestStamped]` (topic)
+ - Output: `/map_refined [nav_msgs/OccupancyGrid]` (topic)
 
 #### Dependencies
 
-- `sensor_msgs/Image`
-- `hri_msgs/RegionOfInterestStamped`
+- `std_msgs/Empty`
+- `nav_msgs/OccupancyGrid`
 
 
 ---
 
-### maskdetection
-
-Node *Mask detection* (id: `maskdetection`) is overseen by UNITN.
+### dialoguearbiter
 
+Node *dialogue arbiter* (id: `dialoguearbiter`) is overseen by HWU.
 
+REPO: https://gitlab.inria.fr/spring/wp5_spoken_conversations/dialogue/-/tree/spring-dev/dialogue_arbiter
 
 #### Status
 
@@ -700,14 +727,16 @@ Node *Mask detection* (id: `maskdetection`) is overseen by UNITN.
 
 #### Inputs/outputs
 
- - Input: `/h/f/*/roi [hri_msgs/RegionOfInterestStamped]` (topic)
+ - Input: `interaction messages` (undefined)
+ - Input: `/h/v/*/speech [std_msgs/String]` (topic)
 
- - Output: `/h/f/*/mask [std_msgs/Bool]` (topic)
+ - Output: `next utterance` (undefined)
+ - Output: `DialogueState` (undefined)
 
 #### Dependencies
 
-- `hri_msgs/RegionOfInterestStamped`
-- `std_msgs/Bool`
+- `std_msgs/Empty`
+- `std_msgs/String`
 
 
 ---
@@ -724,10 +753,10 @@ REPO: https://gitlab.inria.fr/spring/wp5_spoken_conversations/plan_actions
 
 #### Inputs/outputs
 
- - Input: `dialogue state` (undefined)
  - Input: `TF (persons)` (undefined)
  - Input: `semantic scene description` (undefined)
  - Input: `demographics` (undefined)
+ - Input: `dialogue state` (undefined)
 
  - Output: `interaction state` (undefined)
  - Output: `output` (undefined)
@@ -740,11 +769,11 @@ REPO: https://gitlab.inria.fr/spring/wp5_spoken_conversations/plan_actions
 
 ---
 
-### personmanager
+### uservisualfocus
+
+Node *User visual focus* (id: `uservisualfocus`) is overseen by UNITN.
 
-Node *Person manager* (id: `personmanager`) is overseen by INRIA.
 
-PAL to write an initial temporary version, simply forwarding detected faces as persons.
 
 #### Status
 
@@ -752,30 +781,25 @@ PAL to write an initial temporary version, simply forwarding detected faces as p
 
 #### Inputs/outputs
 
- - Input: `TF (voices)` (undefined)
- - Input: `TF (faces)` (undefined)
- - Input: `candidate_matchs [hri_msgs/IdsMatch]` (undefined)
- - Input: `/h/f/*/demographics [hri_msgs/AgeAndGender]` (topic)
+ - Input: `attention` (undefined)
+ - Input: `scene` (undefined)
+ - Input: `gaze direction` (undefined)
+ - Input: `depth` (undefined)
 
- - Output: `/h/p/*/face_id [std_msgs/String]` (topic)
- - Output: `tf: /person_id` (tf)
- - Output: `/h/p/*/voice_id [std_msgs/String]` (topic)
- - Output: `/h/p/*/demographics [hri_msgs/AgeAndGender]` (topic)
- - Output: `/humans/persons/*/body_id [std_msgs/String]` (topic)
+ - Output: `who's looking at what?` (undefined)
+ - Output: `/h/i/gaze [hri_msgs/GazesStamped]` (topic)
 
 #### Dependencies
 
-- `std_msgs/String`
-- `tf/transform_broadcaster`
 - `std_msgs/Empty`
-- `hri_msgs/AgeAndGender`
+- `hri_msgs/GazesStamped`
 
 
 ---
 
-### nonverbalbehaviours
+### speechsynthesis
 
-Node *Non-verbal behaviours* (id: `nonverbalbehaviours`) is overseen by UNITN.
+Node *Speech synthesis* (id: `speechsynthesis`) is overseen by PAL.
 
 
 
@@ -785,23 +809,20 @@ Node *Non-verbal behaviours* (id: `nonverbalbehaviours`) is overseen by UNITN.
 
 #### Inputs/outputs
 
- - Input: `/h/f/*/roi [hri_msgs/RegionOfInterestStamped]` (topic)
- - Input: `/h/v/*/audio [audio_common_msgs/AudioData]` (topic)
+ - Input: `speech [std_msgs/String]` (undefined)
 
- - Output: `/h/f/*/expression [hri_msgs/Expression]` (topic)
+ - Output: `/tts/feedback` (undefined)
 
 #### Dependencies
 
-- `hri_msgs/Expression`
-- `hri_msgs/RegionOfInterestStamped`
-- `audio_common_msgs/AudioData`
+- `std_msgs/Empty`
 
 
 ---
 
-### uservisualfocus
+### sceneunderstanding
 
-Node *User visual focus* (id: `uservisualfocus`) is overseen by UNITN.
+Node *Scene understanding* (id: `sceneunderstanding`) is overseen by HWU.
 
 
 
@@ -811,32 +832,22 @@ Node *User visual focus* (id: `uservisualfocus`) is overseen by UNITN.
 
 #### Inputs/outputs
 
- - Input: `gaze direction` (undefined)
- - Input: `attention` (undefined)
- - Input: `depth` (undefined)
- - Input: `scene` (undefined)
+ - Input: `scene graph` (undefined)
 
- - Output: `who's looking at what?` (undefined)
- - Output: `/h/i/gaze [hri_msgs/GazesStamped]` (topic)
+ - Output: `semantic description` (undefined)
 
 #### Dependencies
 
 - `std_msgs/Empty`
-- `hri_msgs/GazesStamped`
 
 
 ---
 
-### speechanalysis
+### rosopenpose
 
-Node *Speech analysis* (id: `speechanalysis`) is overseen by BIU.
+Node *ROS openpose* (id: `rosopenpose`) is overseen by INRIA.
 
-This node does:
-- speech echo cancelation,
-- speech enhancement,
-- speech separation and diarization
 
-REPO: https://gitlab.inria.fr/spring/wp3_av_perception/biu-ros_audio_retreiver
 
 #### Status
 
@@ -844,17 +855,13 @@ REPO: https://gitlab.inria.fr/spring/wp3_av_perception/biu-ros_audio_retreiver
 
 #### Inputs/outputs
 
- - Input: `/audio/raw_audio [respeaker_ros/RawAudioData]` (topic)
- - Input: `/audio/ego_audio [audio_common_msgs/AudioData]` (topic)
- - Input: `sound localization` (undefined)
+ - Input: `input` (undefined)
 
- - Output: `/audio/postprocess_audio_streams -- cf output in node desc` (undefined)
+ - Output: `output` (undefined)
 
 #### Dependencies
 
 - `std_msgs/Empty`
-- `respeaker_ros/RawAudioData`
-- `audio_common_msgs/AudioData`
 
 
 ---
@@ -880,16 +887,16 @@ Node *Visual SLAM + 3D map* (id: `visualslam3dmap`) is overseen by CVUT.
 
 #### Dependencies
 
+- `sensor_msgs/Image`
 - `std_msgs/Empty`
 - `tf/transform_broadcaster`
-- `sensor_msgs/Image`
 
 
 ---
 
-### semanticmapping
+### objectdetectionidentificationlocalisation
 
-Node *Semantic mapping* (id: `semanticmapping`) is overseen by CVUT.
+Node *Object detection/identification/localisation* (id: `objectdetectionidentificationlocalisation`) is overseen by CVUT.
 
 
 
@@ -899,24 +906,23 @@ Node *Semantic mapping* (id: `semanticmapping`) is overseen by CVUT.
 
 #### Inputs/outputs
 
- - Input: `/detected_objects [spring_msgs/DetectedObjectArray]` (topic)
- - Input: `dense 3d map` (undefined)
+ - Input: `/camera_head/color/image_raw [sensor_msgs/Image]` (topic)
 
- - Output: `scene graph` (undefined)
+ - Output: `/detected_objects [spring_msgs/DetectedObjectArray]` (topic)
 
 #### Dependencies
 
+- `sensor_msgs/Image`
 - `spring_msgs/DetectedObjectArray`
-- `std_msgs/Empty`
 
 
 ---
 
-### fisheye
-
-Node *Fisheye* (id: `fisheye`) is overseen by PAL.
+### body2dpose
 
+Node *Body 2D pose* (id: `body2dpose`) is overseen by UNITN.
 
+MOCK: Body 2D pose [openpose] is...
 
 #### Status
 
@@ -924,21 +930,25 @@ Node *Fisheye* (id: `fisheye`) is overseen by PAL.
 
 #### Inputs/outputs
 
+ - Input: `/h/b/*/roi [hri_msgs/RegionOfInterestStamped]` (topic)
+ - Input: `/camera_head/color/image_raw [sensor_msgs/Image]` (topic)
 
- - Output: `/camera_head/color/image_raw [sensor_msgs/Image]` (topic)
+ - Output: `/h/b/*/skeleton2d [hri_msgs/Skeleton2D]` (topic)
 
 #### Dependencies
 
+- `hri_msgs/RegionOfInterestStamped`
 - `sensor_msgs/Image`
+- `hri_msgs/Skeleton2D`
 
 
 ---
 
-### fformation
-
-Node *F-formation* (id: `fformation`) is overseen by UNITN.
+### interaction_manager
 
+Node *interaction_manager* (id: `interaction_manager`) is overseen by HWU.
 
+REPO: https://gitlab.inria.fr/spring/wp5_spoken_conversations/interaction/-/tree/spring_dev/interaction_manager
 
 #### Status
 
@@ -946,49 +956,31 @@ Node *F-formation* (id: `fformation`) is overseen by UNITN.
 
 #### Inputs/outputs
 
- - Input: `/h/i/gaze [hri_msgs/GazesStamped]` (topic)
- - Input: `tf: /person_id` (tf)
-
- - Output: `/h/i/groups [hri_msgs/GroupsStamped]` (topic)
-
-#### Dependencies
-
-- `hri_msgs/GazesStamped`
-- `tf/transform_listener`
-- `hri_msgs/GroupsStamped`
-
-
----
-
-### respeaker_ros
-
-Node *respeaker_ros* (id: `respeaker_ros`) is overseen by PAL.
-
-REPO:git@gitlab.inria.fr:spring/wp7_ari/respeaker_ros.git BIN:respeaker_multichan_node.py
-
-#### Status
-
-**Current release: master** 
-
-#### Inputs/outputs
-
+ - Input: `semantic scene description` (undefined)
+ - Input: `input` (undefined)
+ - Input: `dialogue state` (undefined)
+ - Input: `robot state` (undefined)
+ - Input: `TF` (undefined)
+ - Input: `/h/p/personID` (undefined)
 
- - Output: `/audio/raw_audio [respeaker_ros/RawAudioData]` (topic)
- - Output: `/audio/ego_audio [audio_common_msgs/AudioData]` (topic)
+ - Output: `who to look at` (undefined)
+ - Output: `verbal command` (undefined)
+ - Output: `nav goals` (undefined)
+ - Output: `active personID` (undefined)
+ - Output: `gestures` (undefined)
 
 #### Dependencies
 
-- `respeaker_ros/RawAudioData`
-- `audio_common_msgs/AudioData`
+- `std_msgs/Empty`
 
 
 ---
 
-### asr
+### personmanager
 
-Node *ASR* (id: `asr`) is overseen by BIU.
+Node *Person manager* (id: `personmanager`) is overseen by INRIA.
 
-REPO [TBC]: https://gitlab.inria.fr/spring/wp5_spoken_conversations/asr
+PAL to write an initial temporary version, simply forwarding detected faces as persons.
 
 #### Status
 
@@ -996,23 +988,32 @@ REPO [TBC]: https://gitlab.inria.fr/spring/wp5_spoken_conversations/asr
 
 #### Inputs/outputs
 
- - Input: `/audio/postprocess_audio_streams [audio_common_msgs/AudioData]` (topic)
+ - Input: `TF (voices)` (undefined)
+ - Input: `TF (faces)` (undefined)
+ - Input: `candidate_matchs [hri_msgs/IdsMatch]` (undefined)
+ - Input: `/h/f/*/demographics [hri_msgs/AgeAndGender]` (topic)
 
- - Output: `/audio/speech_streams -- array of std_msgs/String` (undefined)
+ - Output: `tf: /person_id` (tf)
+ - Output: `/humans/persons/*/body_id [std_msgs/String]` (topic)
+ - Output: `/h/p/*/voice_id [std_msgs/String]` (topic)
+ - Output: `/h/p/*/demographics [hri_msgs/AgeAndGender]` (topic)
+ - Output: `/h/p/*/face_id [std_msgs/String]` (topic)
 
 #### Dependencies
 
-- `audio_common_msgs/AudioData`
+- `tf/transform_broadcaster`
+- `std_msgs/String`
 - `std_msgs/Empty`
+- `hri_msgs/AgeAndGender`
 
 
 ---
 
-### body2dpose
+### voicespeechmatching
+
+Node *Voice speech matching* (id: `voicespeechmatching`) is overseen by BIU.
 
-Node *Body 2D pose* (id: `body2dpose`) is overseen by UNITN.
 
-MOCK: Body 2D pose [openpose] is...
 
 #### Status
 
@@ -1020,30 +1021,29 @@ MOCK: Body 2D pose [openpose] is...
 
 #### Inputs/outputs
 
- - Input: `/h/b/*/roi [hri_msgs/RegionOfInterestStamped]` (topic)
- - Input: `/camera_head/color/image_raw [sensor_msgs/Image]` (topic)
+ - Input: `/audio/speech_streams [std_msgs/String]` (topic)
+ - Input: `/h/v/*/audio [audio_common_msgs/AudioData]` (topic)
 
- - Output: `/h/b/*/skeleton2d [hri_msgs/Skeleton2D]` (topic)
+ - Output: `/h/v/*/speech [std_msgs/String]` (topic)
 
 #### Dependencies
 
-- `hri_msgs/Skeleton2D`
-- `hri_msgs/RegionOfInterestStamped`
-- `sensor_msgs/Image`
+- `std_msgs/String`
+- `audio_common_msgs/AudioData`
 
 
 
-### Non-executable dependency:  hri_msgs
+### Non-executable dependency:  spring_msgs
 
-Module  hri_msgs (id: `hri_msgs`) is overseen by Other.
+Module  spring_msgs (id: `spring_msgs`) is overseen by Other.
 
-REPO: git@gitlab:ros4hri/hri_msgs.git
+REPO:git@gitlab.inria.fr:spring/wp7_ari/spring_msgs.git
 NOT EXECUTABLE
 
 
 #### Status
 
-**Current release: 0.1.1** 
+**Current release: 0.0.2** 
 
 #### Dependencies
 
@@ -1051,17 +1051,17 @@ NOT EXECUTABLE
 
 
 
-### Non-executable dependency:  spring_msgs
+### Non-executable dependency:  hri_msgs
 
-Module  spring_msgs (id: `spring_msgs`) is overseen by Other.
+Module  hri_msgs (id: `hri_msgs`) is overseen by Other.
 
-REPO:git@gitlab.inria.fr:spring/wp7_ari/spring_msgs.git
+REPO: git@gitlab:ros4hri/hri_msgs.git
 NOT EXECUTABLE
 
 
 #### Status
 
-**Current release: 0.0.2** 
+**Current release: 0.1.1** 
 
 #### Dependencies