diff --git a/spring-mock-ws/.gitignore b/spring-mock-ws/.gitignore
deleted file mode 100644
index 55ac8f6d4a684d4c3ae4c1694c3ade76cd5a96e3..0000000000000000000000000000000000000000
--- a/spring-mock-ws/.gitignore
+++ /dev/null
@@ -1,4 +0,0 @@
-build/
-devel/
-logs/
-.catkin_tools/
diff --git a/spring-mock-ws/README.md b/spring-mock-ws/README.md
deleted file mode 100644
index 0768b7893c2b99a136536415d7462be94eb7c9a7..0000000000000000000000000000000000000000
--- a/spring-mock-ws/README.md
+++ /dev/null
@@ -1,13 +0,0 @@
-SPRING mock ROS nodes
-=====================
-
-This directory is a ROS workspace. It can be build with eg `catkin build`.
-
-All the nodes in this directory have been automatically generated by
-[Boxology](https://github.com/severin-lemaignan/boxology) using the [SPRING
-reference architecture](../architecture.json).
-
-**The ROS nodes do not perform any particular action. Their only purpose is to
-provide a complete mock SPRING architecture.**
-
-
diff --git a/spring-mock-ws/fetch_released_nodes.sh b/spring-mock-ws/fetch_released_nodes.sh
index 8b99af9eeda8131f04bf43c1b562dfddb697244d..9cc7a898911d7ccc7530005deb4e81fe4b1a9a75 100644
--- a/spring-mock-ws/fetch_released_nodes.sh
+++ b/spring-mock-ws/fetch_released_nodes.sh
@@ -28,5 +28,5 @@ then
 else 
 
     echo "Cloning respeaker_ros (ROS node: respeaker_ros), branch: master to src/ ..."
-    git clone --depth 1 --branch master git@gitlab.inria.fr:spring/wp7_ari/respeaker_ros.git src/respeaker_ros;
+    git clone --depth 1 --branch master git@gitlab.inria.fr:spring/wp7_ari/respeaker_ros.git BIN:respeaker_multichan_node.py src/respeaker_ros;
 fi
diff --git a/spring-mock-ws/src/activityreco/src/main.cpp b/spring-mock-ws/src/activityreco/src/main.cpp
index a6ea5919430fa54ad7fb41da1f18be1eba9ae6a6..c887305b7c243b477866e9d90cd8e5e78dafce1e 100644
--- a/spring-mock-ws/src/activityreco/src/main.cpp
+++ b/spring-mock-ws/src/activityreco/src/main.cpp
@@ -29,10 +29,10 @@ class ActivityReco {
    public:
     ActivityReco(ros::NodeHandle* nh) {
 
-        // ATTENTION: this topic is not defined in the architecture design
-        tfbodies_sub_ = nh->subscribe("tfbodies", 1, &ActivityReco::tfbodiesCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
         gazedirection_sub_ = nh->subscribe("gazedirection", 1, &ActivityReco::gazedirectionCallback, this);
+        // ATTENTION: this topic is not defined in the architecture design
+        tfbodies_sub_ = nh->subscribe("tfbodies", 1, &ActivityReco::tfbodiesCallback, this);
 
         // ATTENTION: this topic is not defined in the architecture design
         output_pub_ = nh->advertise<std_msgs::Empty>("output", 1);
@@ -41,17 +41,17 @@ class ActivityReco {
     ~ActivityReco() {}
 
    private:
-    void tfbodiesCallback(const std_msgs::Empty::ConstPtr& msg)
+    void gazedirectionCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("activityreco: received message: " << msg);
     }
-    void gazedirectionCallback(const std_msgs::Empty::ConstPtr& msg)
+    void tfbodiesCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("activityreco: received message: " << msg);
     }
 
-    ros::Subscriber tfbodies_sub_;
     ros::Subscriber gazedirection_sub_;
+    ros::Subscriber tfbodies_sub_;
 
     ros::Publisher output_pub_;
 
diff --git a/spring-mock-ws/src/asr/package.xml b/spring-mock-ws/src/asr/package.xml
index f9e396a2287904fef773701e03a9a9d8aa568f2e..c8ae774e48118e8bc537ca22285ff15b112d630e 100644
--- a/spring-mock-ws/src/asr/package.xml
+++ b/spring-mock-ws/src/asr/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>asr</name>
-    <version>1.0.0</version>
-    <description>ASR (BIU) . Auto-generated by Boxology 1.3.2.</description>
+    <version>0.0.1</version>
+    <description>ASR (BIU) REPO [TBC]: https://gitlab.inria.fr/spring/wp5_spoken_conversations/asr. Auto-generated by Boxology 1.3.2.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/asr/src/main.cpp b/spring-mock-ws/src/asr/src/main.cpp
index 7b7c334afdbbe0eb24d03eb326ddc4c249321cb4..7ffee0301f887ceb8cded2542428dd4de668e8fb 100644
--- a/spring-mock-ws/src/asr/src/main.cpp
+++ b/spring-mock-ws/src/asr/src/main.cpp
@@ -24,28 +24,29 @@
 #include "ros/ros.h"
 #include "std_msgs/String.h"
 #include "audio_common_msgs/AudioData.h"
-#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
 
 class Asr {
    public:
     Asr(ros::NodeHandle* nh) {
 
-        voice_audio_sub_ = nh->subscribe("voice_audio", 1, &Asr::voice_audioCallback, this);
+        postprocess_audio_streams_sub_ = nh->subscribe("postprocess_audio_streams", 1, &Asr::postprocess_audio_streamsCallback, this);
 
-        voice_speech_pub_ = nh->advertise<std_msgs::String>("voice_speech", 1);
+        // ATTENTION: this topic is not defined in the architecture design
+        audiospeech_streamsarrayofstd_msgsstring_pub_ = nh->advertise<std_msgs::Empty>("audiospeech_streamsarrayofstd_msgsstring", 1);
     }
 
     ~Asr() {}
 
    private:
-    void voice_audioCallback(const audio_common_msgs::AudioData::ConstPtr& msg)
+    void postprocess_audio_streamsCallback(const audio_common_msgs::AudioData::ConstPtr& msg)
     {
         ROS_INFO_STREAM("asr: received message: " << msg);
     }
 
-    ros::Subscriber voice_audio_sub_;
+    ros::Subscriber postprocess_audio_streams_sub_;
 
-    ros::Publisher voice_speech_pub_;
+    ros::Publisher audiospeech_streamsarrayofstd_msgsstring_pub_;
 
 };
 
diff --git a/spring-mock-ws/src/body2dpose/package.xml b/spring-mock-ws/src/body2dpose/package.xml
index 20924c2eb99af0147776d668468e0e48f4bdbc2f..9ca181347cdfcf1ed258e64860b9ed59ecc662b0 100644
--- a/spring-mock-ws/src/body2dpose/package.xml
+++ b/spring-mock-ws/src/body2dpose/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>body2dpose</name>
-    <version>1.0.0</version>
-    <description>Body 2D pose (UNITN) . Auto-generated by Boxology 1.3.2.</description>
+    <version>0.0.1</version>
+    <description>Body 2D pose (UNITN) MOCK: Body 2D pose [openpose] is.... Auto-generated by Boxology 1.3.2.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/body2dpose/src/main.cpp b/spring-mock-ws/src/body2dpose/src/main.cpp
index 6fc66562f639491ed50b6aab5608b307e0418dd9..1328cf6412aa2cbf97b5a0345d711a9c50649569 100644
--- a/spring-mock-ws/src/body2dpose/src/main.cpp
+++ b/spring-mock-ws/src/body2dpose/src/main.cpp
@@ -24,15 +24,15 @@
 #include "ros/ros.h"
 #include "std_msgs/String.h"
 #include "hri_msgs/Skeleton2D.h"
-#include "sensor_msgs/Image.h"
 #include "hri_msgs/RegionOfInterestStamped.h"
+#include "sensor_msgs/Image.h"
 
 class Body2dPose {
    public:
     Body2dPose(ros::NodeHandle* nh) {
 
-        image_raw_sub_ = nh->subscribe("image_raw", 1, &Body2dPose::image_rawCallback, this);
         body_roi_sub_ = nh->subscribe("body_roi", 1, &Body2dPose::body_roiCallback, this);
+        image_raw_sub_ = nh->subscribe("image_raw", 1, &Body2dPose::image_rawCallback, this);
 
         body_skeleton2d_pub_ = nh->advertise<hri_msgs::Skeleton2D>("body_skeleton2d", 1);
     }
@@ -40,17 +40,17 @@ class Body2dPose {
     ~Body2dPose() {}
 
    private:
-    void image_rawCallback(const sensor_msgs::Image::ConstPtr& msg)
+    void body_roiCallback(const hri_msgs::RegionOfInterestStamped::ConstPtr& msg)
     {
         ROS_INFO_STREAM("body2dpose: received message: " << msg);
     }
-    void body_roiCallback(const hri_msgs::RegionOfInterestStamped::ConstPtr& msg)
+    void image_rawCallback(const sensor_msgs::Image::ConstPtr& msg)
     {
         ROS_INFO_STREAM("body2dpose: received message: " << msg);
     }
 
-    ros::Subscriber image_raw_sub_;
     ros::Subscriber body_roi_sub_;
+    ros::Subscriber image_raw_sub_;
 
     ros::Publisher body_skeleton2d_pub_;
 
diff --git a/spring-mock-ws/src/dialoguemanager/CMakeLists.txt b/spring-mock-ws/src/dialoguearbiter/CMakeLists.txt
similarity index 97%
rename from spring-mock-ws/src/dialoguemanager/CMakeLists.txt
rename to spring-mock-ws/src/dialoguearbiter/CMakeLists.txt
index 8942669d231215e9346f39d2473d725aa75f17cd..26e47783216c5e59a18d6c3eb9fc4c7ffc8d07ef 100644
--- a/spring-mock-ws/src/dialoguemanager/CMakeLists.txt
+++ b/spring-mock-ws/src/dialoguearbiter/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.0.2)
-project(dialoguemanager)
+project(dialoguearbiter)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
 add_compile_options(-std=c++11)
@@ -103,7 +103,7 @@ find_package(catkin REQUIRED COMPONENTS
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
 #  INCLUDE_DIRS include
-#  LIBRARIES dialoguemanager
+#  LIBRARIES dialoguearbiter
 #  CATKIN_DEPENDS roscpp
 #  DEPENDS system_lib
 )
@@ -119,7 +119,7 @@ include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/dialoguemanager.cpp
+#   src/${PROJECT_NAME}/dialoguearbiter.cpp
 # )
 
 ## Add cmake target dependencies of the library
@@ -194,7 +194,7 @@ install(TARGETS ${PROJECT_NAME}_node
 #############
 
 ## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_dialoguemanager.cpp)
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_dialoguearbiter.cpp)
 # if(TARGET ${PROJECT_NAME}-test)
 #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
 # endif()
diff --git a/spring-mock-ws/src/highlevelplanner/package.xml b/spring-mock-ws/src/dialoguearbiter/package.xml
similarity index 89%
rename from spring-mock-ws/src/highlevelplanner/package.xml
rename to spring-mock-ws/src/dialoguearbiter/package.xml
index 5f2dc00d6c414e7e93230300132ff85e7264b925..64d730516bc66f13f36603882789565b56c53099 100644
--- a/spring-mock-ws/src/highlevelplanner/package.xml
+++ b/spring-mock-ws/src/dialoguearbiter/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
-    <name>highlevelplanner</name>
-    <version>1.0.0</version>
-    <description>High-level planner (HWU) . Auto-generated by Boxology 1.3.2.</description>
+    <name>dialoguearbiter</name>
+    <version>spring_dev</version>
+    <description>dialogue arbiter (HWU) REPO: https://gitlab.inria.fr/spring/wp5_spoken_conversations/dialogue/-/tree/spring-dev/dialogue_arbiter. Auto-generated by Boxology 1.3.2.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/dialoguemanager/src/main.cpp b/spring-mock-ws/src/dialoguearbiter/src/main.cpp
similarity index 82%
rename from spring-mock-ws/src/dialoguemanager/src/main.cpp
rename to spring-mock-ws/src/dialoguearbiter/src/main.cpp
index 392614fd96db7e411f22b2a08817224b9f41478a..1673c1d4f604ad7e6e160d49c63ab86438b94d13 100644
--- a/spring-mock-ws/src/dialoguemanager/src/main.cpp
+++ b/spring-mock-ws/src/dialoguearbiter/src/main.cpp
@@ -23,16 +23,16 @@
 
 #include "ros/ros.h"
 #include "std_msgs/String.h"
-#include "std_msgs/String.h"
 #include "std_msgs/Empty.h"
+#include "std_msgs/String.h"
 
-class DialogueManager {
+class DialogueArbiter {
    public:
-    DialogueManager(ros::NodeHandle* nh) {
+    DialogueArbiter(ros::NodeHandle* nh) {
 
-        voice_speech_sub_ = nh->subscribe("voice_speech", 1, &DialogueManager::voice_speechCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
-        interactionmessages_sub_ = nh->subscribe("interactionmessages", 1, &DialogueManager::interactionmessagesCallback, this);
+        interactionmessages_sub_ = nh->subscribe("interactionmessages", 1, &DialogueArbiter::interactionmessagesCallback, this);
+        voice_speech_sub_ = nh->subscribe("voice_speech", 1, &DialogueArbiter::voice_speechCallback, this);
 
         // ATTENTION: this topic is not defined in the architecture design
         dialoguestate_pub_ = nh->advertise<std_msgs::Empty>("dialoguestate", 1);
@@ -40,20 +40,20 @@ class DialogueManager {
         nextutterance_pub_ = nh->advertise<std_msgs::Empty>("nextutterance", 1);
     }
 
-    ~DialogueManager() {}
+    ~DialogueArbiter() {}
 
    private:
-    void voice_speechCallback(const std_msgs::String::ConstPtr& msg)
+    void interactionmessagesCallback(const std_msgs::Empty::ConstPtr& msg)
     {
-        ROS_INFO_STREAM("dialoguemanager: received message: " << msg);
+        ROS_INFO_STREAM("dialoguearbiter: received message: " << msg);
     }
-    void interactionmessagesCallback(const std_msgs::Empty::ConstPtr& msg)
+    void voice_speechCallback(const std_msgs::String::ConstPtr& msg)
     {
-        ROS_INFO_STREAM("dialoguemanager: received message: " << msg);
+        ROS_INFO_STREAM("dialoguearbiter: received message: " << msg);
     }
 
-    ros::Subscriber voice_speech_sub_;
     ros::Subscriber interactionmessages_sub_;
+    ros::Subscriber voice_speech_sub_;
 
     ros::Publisher dialoguestate_pub_;
     ros::Publisher nextutterance_pub_;
@@ -61,16 +61,16 @@ class DialogueManager {
 };
 
 int main(int argc, char** argv) {
-    ros::init(argc, argv, "dialoguemanager");
+    ros::init(argc, argv, "dialoguearbiter");
 
     // Initialize node parameters from launch file or command line.
     // Use a private node handle so that multiple instances of the node can be
     // run simultaneously while using different parameters.
     ros::NodeHandle private_node_handle_("~");
 
-    auto dialoguemanager = DialogueManager(&private_node_handle_);
+    auto dialoguearbiter = DialogueArbiter(&private_node_handle_);
 
-    ROS_INFO("Node dialoguemanager launched and ready.");
+    ROS_INFO("Node dialoguearbiter launched and ready.");
     ros::spin();
     return 0;
 }
diff --git a/spring-mock-ws/src/fformation/src/main.cpp b/spring-mock-ws/src/fformation/src/main.cpp
index daccaeac55032e76eab31c66960e73fea007feba..aa77cd683d7a4ef554da939a5f86f79da1183ed8 100644
--- a/spring-mock-ws/src/fformation/src/main.cpp
+++ b/spring-mock-ws/src/fformation/src/main.cpp
@@ -23,8 +23,8 @@
 
 #include "ros/ros.h"
 #include "std_msgs/String.h"
-#include "tf/transform_listener.h"
 #include "hri_msgs/GazesStamped.h"
+#include "tf/transform_listener.h"
 #include "hri_msgs/GroupsStamped.h"
 
 class Fformation {
diff --git a/spring-mock-ws/src/soundlocalisation/CMakeLists.txt b/spring-mock-ws/src/fisheye/CMakeLists.txt
similarity index 97%
rename from spring-mock-ws/src/soundlocalisation/CMakeLists.txt
rename to spring-mock-ws/src/fisheye/CMakeLists.txt
index 95763aee542e6baefa4176e96eb57048421781d8..0b28e3ace3b1d8ee2cf384fa41733bcb0a6a30f5 100644
--- a/spring-mock-ws/src/soundlocalisation/CMakeLists.txt
+++ b/spring-mock-ws/src/fisheye/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.0.2)
-project(soundlocalisation)
+project(fisheye)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
 add_compile_options(-std=c++11)
@@ -9,8 +9,7 @@ add_compile_options(-std=c++11)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
   roscpp
-  audio_common_msgs
-  tf
+  sensor_msgs
 )
 
 ## System dependencies are found with CMake's conventions
@@ -104,7 +103,7 @@ find_package(catkin REQUIRED COMPONENTS
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
 #  INCLUDE_DIRS include
-#  LIBRARIES soundlocalisation
+#  LIBRARIES fisheye
 #  CATKIN_DEPENDS roscpp
 #  DEPENDS system_lib
 )
@@ -120,7 +119,7 @@ include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/soundlocalisation.cpp
+#   src/${PROJECT_NAME}/fisheye.cpp
 # )
 
 ## Add cmake target dependencies of the library
@@ -195,7 +194,7 @@ install(TARGETS ${PROJECT_NAME}_node
 #############
 
 ## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_soundlocalisation.cpp)
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_fisheye.cpp)
 # if(TARGET ${PROJECT_NAME}-test)
 #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
 # endif()
diff --git a/spring-mock-ws/src/dialoguemanager/package.xml b/spring-mock-ws/src/fisheye/package.xml
similarity index 93%
rename from spring-mock-ws/src/dialoguemanager/package.xml
rename to spring-mock-ws/src/fisheye/package.xml
index 077b2bbd6ead9e7043b771aeb279ae09d29e481f..091b9039a79de4f273292f2c153e1cbce496cd69 100644
--- a/spring-mock-ws/src/dialoguemanager/package.xml
+++ b/spring-mock-ws/src/fisheye/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
-    <name>dialoguemanager</name>
+    <name>fisheye</name>
     <version>1.0.0</version>
-    <description>Dialogue manager (HWU) . Auto-generated by Boxology 1.3.2.</description>
+    <description>Fisheye (PAL) . Auto-generated by Boxology 1.3.2.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
@@ -50,7 +50,7 @@
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
   <exec_depend>roscpp</exec_depend>
-  <depend>std_msgs</depend>
+  <depend>sensor_msgs</depend>
 
   <export>
 
diff --git a/spring-mock-ws/src/soundlocalisation/src/main.cpp b/spring-mock-ws/src/fisheye/src/main.cpp
similarity index 69%
rename from spring-mock-ws/src/soundlocalisation/src/main.cpp
rename to spring-mock-ws/src/fisheye/src/main.cpp
index d8234e2098049707c39e9d93ba7a3bd3894471bc..66e7515071ccd26fa6465b1f0f07bb1265764fc5 100644
--- a/spring-mock-ws/src/soundlocalisation/src/main.cpp
+++ b/spring-mock-ws/src/fisheye/src/main.cpp
@@ -23,41 +23,36 @@
 
 #include "ros/ros.h"
 #include "std_msgs/String.h"
-#include "tf/transform_broadcaster.h"
-#include "audio_common_msgs/AudioData.h"
+#include "sensor_msgs/Image.h"
 
-class SoundLocalisation {
+class Fisheye {
    public:
-    SoundLocalisation(ros::NodeHandle* nh) {
+    Fisheye(ros::NodeHandle* nh) {
 
-        voice_audio_sub_ = nh->subscribe("voice_audio", 1, &SoundLocalisation::voice_audioCallback, this);
 
+        image_raw_pub_ = nh->advertise<sensor_msgs::Image>("image_raw", 1);
     }
 
-    ~SoundLocalisation() {}
+    ~Fisheye() {}
 
    private:
-    void voice_audioCallback(const audio_common_msgs::AudioData::ConstPtr& msg)
-    {
-        ROS_INFO_STREAM("soundlocalisation: received message: " << msg);
-    }
 
-    ros::Subscriber voice_audio_sub_;
 
+    ros::Publisher image_raw_pub_;
 
 };
 
 int main(int argc, char** argv) {
-    ros::init(argc, argv, "soundlocalisation");
+    ros::init(argc, argv, "fisheye");
 
     // Initialize node parameters from launch file or command line.
     // Use a private node handle so that multiple instances of the node can be
     // run simultaneously while using different parameters.
     ros::NodeHandle private_node_handle_("~");
 
-    auto soundlocalisation = SoundLocalisation(&private_node_handle_);
+    auto fisheye = Fisheye(&private_node_handle_);
 
-    ROS_INFO("Node soundlocalisation launched and ready.");
+    ROS_INFO("Node fisheye launched and ready.");
     ros::spin();
     return 0;
 }
diff --git a/spring-mock-ws/src/hri_fullbody/src/main.cpp b/spring-mock-ws/src/hri_fullbody/src/main.cpp
index 49e35265f4e913dcfc05c3726be9581990e9fd13..62bcf515ad66b123267f52c5435753b5a1c037f4 100644
--- a/spring-mock-ws/src/hri_fullbody/src/main.cpp
+++ b/spring-mock-ws/src/hri_fullbody/src/main.cpp
@@ -23,8 +23,8 @@
 
 #include "ros/ros.h"
 #include "std_msgs/String.h"
-#include "tf/transform_broadcaster.h"
 #include "hri_msgs/Skeleton2D.h"
+#include "tf/transform_broadcaster.h"
 #include "sensor_msgs/Image.h"
 #include "hri_msgs/RegionOfInterestStamped.h"
 
diff --git a/spring-mock-ws/src/interaction_manager/CMakeLists.txt b/spring-mock-ws/src/interaction_manager/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4afe6494cda1b8e049b69bad9b35e033a4d3fd5b
--- /dev/null
+++ b/spring-mock-ws/src/interaction_manager/CMakeLists.txt
@@ -0,0 +1,203 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(interaction_manager)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  std_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES interaction_manager
+#  CATKIN_DEPENDS roscpp
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/interaction_manager.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+add_executable(${PROJECT_NAME}_node src/main.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(${PROJECT_NAME}_node
+   ${catkin_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+install(TARGETS ${PROJECT_NAME}_node
+   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_interaction_manager.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/spring-mock-ws/src/interactionmanager/package.xml b/spring-mock-ws/src/interaction_manager/package.xml
similarity index 89%
rename from spring-mock-ws/src/interactionmanager/package.xml
rename to spring-mock-ws/src/interaction_manager/package.xml
index d885bb0006448af99273ba5912143455068cf736..ca13d5110ebba4bf5fa3890c1f5af27c4ee6d1d8 100644
--- a/spring-mock-ws/src/interactionmanager/package.xml
+++ b/spring-mock-ws/src/interaction_manager/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
-    <name>interactionmanager</name>
-    <version>1.0.0</version>
-    <description>Interaction manager (HWU) . Auto-generated by Boxology 1.3.2.</description>
+    <name>interaction_manager</name>
+    <version>spring_dev</version>
+    <description>interaction_manager (HWU) REPO: https://gitlab.inria.fr/spring/wp5_spoken_conversations/interaction/-/tree/spring_dev/interaction_manager. Auto-generated by Boxology 1.3.2.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/interactionmanager/src/main.cpp b/spring-mock-ws/src/interaction_manager/src/main.cpp
similarity index 77%
rename from spring-mock-ws/src/interactionmanager/src/main.cpp
rename to spring-mock-ws/src/interaction_manager/src/main.cpp
index 6469cbe7eb93195e903b8efa96903c67a959c9cf..0f655179bd9789fd876424138ba171d506da4d0d 100644
--- a/spring-mock-ws/src/interactionmanager/src/main.cpp
+++ b/spring-mock-ws/src/interaction_manager/src/main.cpp
@@ -25,23 +25,25 @@
 #include "std_msgs/String.h"
 #include "std_msgs/Empty.h"
 
-class InteractionManager {
+class Interaction_manager {
    public:
-    InteractionManager(ros::NodeHandle* nh) {
+    Interaction_manager(ros::NodeHandle* nh) {
 
         // ATTENTION: this topic is not defined in the architecture design
-        semanticscenedescription_sub_ = nh->subscribe("semanticscenedescription", 1, &InteractionManager::semanticscenedescriptionCallback, this);
+        hppersonid_sub_ = nh->subscribe("hppersonid", 1, &Interaction_manager::hppersonidCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
-        input_sub_ = nh->subscribe("input", 1, &InteractionManager::inputCallback, this);
+        semanticscenedescription_sub_ = nh->subscribe("semanticscenedescription", 1, &Interaction_manager::semanticscenedescriptionCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
-        dialoguestate_sub_ = nh->subscribe("dialoguestate", 1, &InteractionManager::dialoguestateCallback, this);
+        input_sub_ = nh->subscribe("input", 1, &Interaction_manager::inputCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
-        robotstate_sub_ = nh->subscribe("robotstate", 1, &InteractionManager::robotstateCallback, this);
+        dialoguestate_sub_ = nh->subscribe("dialoguestate", 1, &Interaction_manager::dialoguestateCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
-        hppersonid_sub_ = nh->subscribe("hppersonid", 1, &InteractionManager::hppersonidCallback, this);
+        robotstate_sub_ = nh->subscribe("robotstate", 1, &Interaction_manager::robotstateCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
-        tf_sub_ = nh->subscribe("tf", 1, &InteractionManager::tfCallback, this);
+        tf_sub_ = nh->subscribe("tf", 1, &Interaction_manager::tfCallback, this);
 
+        // ATTENTION: this topic is not defined in the architecture design
+        gestures_pub_ = nh->advertise<std_msgs::Empty>("gestures", 1);
         // ATTENTION: this topic is not defined in the architecture design
         whotolookat_pub_ = nh->advertise<std_msgs::Empty>("whotolookat", 1);
         // ATTENTION: this topic is not defined in the architecture design
@@ -50,64 +52,62 @@ class InteractionManager {
         navgoals_pub_ = nh->advertise<std_msgs::Empty>("navgoals", 1);
         // ATTENTION: this topic is not defined in the architecture design
         activepersonid_pub_ = nh->advertise<std_msgs::Empty>("activepersonid", 1);
-        // ATTENTION: this topic is not defined in the architecture design
-        gestures_pub_ = nh->advertise<std_msgs::Empty>("gestures", 1);
     }
 
-    ~InteractionManager() {}
+    ~Interaction_manager() {}
 
    private:
+    void hppersonidCallback(const std_msgs::Empty::ConstPtr& msg)
+    {
+        ROS_INFO_STREAM("interaction_manager: received message: " << msg);
+    }
     void semanticscenedescriptionCallback(const std_msgs::Empty::ConstPtr& msg)
     {
-        ROS_INFO_STREAM("interactionmanager: received message: " << msg);
+        ROS_INFO_STREAM("interaction_manager: received message: " << msg);
     }
     void inputCallback(const std_msgs::Empty::ConstPtr& msg)
     {
-        ROS_INFO_STREAM("interactionmanager: received message: " << msg);
+        ROS_INFO_STREAM("interaction_manager: received message: " << msg);
     }
     void dialoguestateCallback(const std_msgs::Empty::ConstPtr& msg)
     {
-        ROS_INFO_STREAM("interactionmanager: received message: " << msg);
+        ROS_INFO_STREAM("interaction_manager: received message: " << msg);
     }
     void robotstateCallback(const std_msgs::Empty::ConstPtr& msg)
     {
-        ROS_INFO_STREAM("interactionmanager: received message: " << msg);
-    }
-    void hppersonidCallback(const std_msgs::Empty::ConstPtr& msg)
-    {
-        ROS_INFO_STREAM("interactionmanager: received message: " << msg);
+        ROS_INFO_STREAM("interaction_manager: received message: " << msg);
     }
     void tfCallback(const std_msgs::Empty::ConstPtr& msg)
     {
-        ROS_INFO_STREAM("interactionmanager: received message: " << msg);
+        ROS_INFO_STREAM("interaction_manager: received message: " << msg);
     }
 
+    ros::Subscriber hppersonid_sub_;
     ros::Subscriber semanticscenedescription_sub_;
     ros::Subscriber input_sub_;
     ros::Subscriber dialoguestate_sub_;
     ros::Subscriber robotstate_sub_;
-    ros::Subscriber hppersonid_sub_;
     ros::Subscriber tf_sub_;
 
+    ros::Publisher gestures_pub_;
     ros::Publisher whotolookat_pub_;
     ros::Publisher verbalcommand_pub_;
     ros::Publisher navgoals_pub_;
     ros::Publisher activepersonid_pub_;
-    ros::Publisher gestures_pub_;
 
 };
 
 int main(int argc, char** argv) {
-    ros::init(argc, argv, "interactionmanager");
+    ros::init(argc, argv, "interaction_manager");
 
     // Initialize node parameters from launch file or command line.
     // Use a private node handle so that multiple instances of the node can be
     // run simultaneously while using different parameters.
     ros::NodeHandle private_node_handle_("~");
 
-    auto interactionmanager = InteractionManager(&private_node_handle_);
+    auto interaction_manager = Interaction_manager(&private_node_handle_);
 
-    ROS_INFO("Node interactionmanager launched and ready.");
+    ROS_INFO("Node interaction_manager launched and ready.");
     ros::spin();
     return 0;
 }
diff --git a/spring-mock-ws/src/maskdetection/src/main.cpp b/spring-mock-ws/src/maskdetection/src/main.cpp
index 0e28d35a074cdcd4788b29211b34ea58f65b02c7..54730ffcfc7c1e19d9d5fd92602fd7a08c4820cb 100644
--- a/spring-mock-ws/src/maskdetection/src/main.cpp
+++ b/spring-mock-ws/src/maskdetection/src/main.cpp
@@ -23,8 +23,8 @@
 
 #include "ros/ros.h"
 #include "std_msgs/String.h"
-#include "std_msgs/Bool.h"
 #include "hri_msgs/RegionOfInterestStamped.h"
+#include "std_msgs/Bool.h"
 
 class MaskDetection {
    public:
diff --git a/spring-mock-ws/src/multipeoplebodytracker/package.xml b/spring-mock-ws/src/multipeoplebodytracker/package.xml
index b1ecc3d8791a05af3efc629954740006a65b3196..8a49f92849f0cfe98cce4961282f62393af3269b 100644
--- a/spring-mock-ws/src/multipeoplebodytracker/package.xml
+++ b/spring-mock-ws/src/multipeoplebodytracker/package.xml
@@ -1,8 +1,10 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>multipeoplebodytracker</name>
-    <version>1.0.0</version>
-    <description>Multi-people body tracker (INRIA) . Auto-generated by Boxology 1.3.2.</description>
+    <version>devel</version>
+    <description>Multi-people body tracker (INRIA) REPO (Docker): https://gitlab.inria.fr/spring/wp3_av_perception/docker-tracking
+
+This code is primarily developed at INRIA by Luis Gomez Camara.. Auto-generated by Boxology 1.3.2.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/multipeoplebodytracker/src/main.cpp b/spring-mock-ws/src/multipeoplebodytracker/src/main.cpp
index e26eceac029f0f1c47f8d5abb91eb91f9ada0393..02a902b968a52808d1cc12fc3d3f8eb1d2d45624 100644
--- a/spring-mock-ws/src/multipeoplebodytracker/src/main.cpp
+++ b/spring-mock-ws/src/multipeoplebodytracker/src/main.cpp
@@ -23,8 +23,8 @@
 
 #include "ros/ros.h"
 #include "std_msgs/String.h"
-#include "hri_msgs/RegionOfInterestStamped.h"
 #include "sensor_msgs/Image.h"
+#include "hri_msgs/RegionOfInterestStamped.h"
 
 class MultipeopleBodyTracker {
    public:
diff --git a/spring-mock-ws/src/nonverbalbehaviours/src/main.cpp b/spring-mock-ws/src/nonverbalbehaviours/src/main.cpp
index abab5666947a5d944cafd92a5d8473f40bf22fd7..879c79ebcc48bf22bb58e47be75207ba3ddde8f7 100644
--- a/spring-mock-ws/src/nonverbalbehaviours/src/main.cpp
+++ b/spring-mock-ws/src/nonverbalbehaviours/src/main.cpp
@@ -24,15 +24,15 @@
 #include "ros/ros.h"
 #include "std_msgs/String.h"
 #include "hri_msgs/Expression.h"
-#include "audio_common_msgs/AudioData.h"
 #include "hri_msgs/RegionOfInterestStamped.h"
+#include "audio_common_msgs/AudioData.h"
 
 class NonverbalBehaviours {
    public:
     NonverbalBehaviours(ros::NodeHandle* nh) {
 
-        voice_audio_sub_ = nh->subscribe("voice_audio", 1, &NonverbalBehaviours::voice_audioCallback, this);
         face_roi_sub_ = nh->subscribe("face_roi", 1, &NonverbalBehaviours::face_roiCallback, this);
+        voice_audio_sub_ = nh->subscribe("voice_audio", 1, &NonverbalBehaviours::voice_audioCallback, this);
 
         face_expression_pub_ = nh->advertise<hri_msgs::Expression>("face_expression", 1);
     }
@@ -40,17 +40,17 @@ class NonverbalBehaviours {
     ~NonverbalBehaviours() {}
 
    private:
-    void voice_audioCallback(const audio_common_msgs::AudioData::ConstPtr& msg)
+    void face_roiCallback(const hri_msgs::RegionOfInterestStamped::ConstPtr& msg)
     {
         ROS_INFO_STREAM("nonverbalbehaviours: received message: " << msg);
     }
-    void face_roiCallback(const hri_msgs::RegionOfInterestStamped::ConstPtr& msg)
+    void voice_audioCallback(const audio_common_msgs::AudioData::ConstPtr& msg)
     {
         ROS_INFO_STREAM("nonverbalbehaviours: received message: " << msg);
     }
 
-    ros::Subscriber voice_audio_sub_;
     ros::Subscriber face_roi_sub_;
+    ros::Subscriber voice_audio_sub_;
 
     ros::Publisher face_expression_pub_;
 
diff --git a/spring-mock-ws/src/objectdetectionidentificationlocalisation/src/main.cpp b/spring-mock-ws/src/objectdetectionidentificationlocalisation/src/main.cpp
index dfcb497ecfe8bc4fb58d3ea3a32f8077cd38cbac..f48bff11eff4ee88eacd9ac38b008a8d9aa346e0 100644
--- a/spring-mock-ws/src/objectdetectionidentificationlocalisation/src/main.cpp
+++ b/spring-mock-ws/src/objectdetectionidentificationlocalisation/src/main.cpp
@@ -23,8 +23,8 @@
 
 #include "ros/ros.h"
 #include "std_msgs/String.h"
-#include "sensor_msgs/Image.h"
 #include "spring_msgs/DetectedObjectArray.h"
+#include "sensor_msgs/Image.h"
 
 class ObjectDetectionidentificationlocalisation {
    public:
diff --git a/spring-mock-ws/src/occupancymap/src/main.cpp b/spring-mock-ws/src/occupancymap/src/main.cpp
index a94ca666064677eec70ba6af2bf7320ab503ca6d..28588ae7690c07be992192290fed533b3687d535 100644
--- a/spring-mock-ws/src/occupancymap/src/main.cpp
+++ b/spring-mock-ws/src/occupancymap/src/main.cpp
@@ -30,10 +30,10 @@ class OccupancyMap {
    public:
     OccupancyMap(ros::NodeHandle* nh) {
 
-        // ATTENTION: this topic is not defined in the architecture design
-        dense3dmap_sub_ = nh->subscribe("dense3dmap", 1, &OccupancyMap::dense3dmapCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
         tfbodies_sub_ = nh->subscribe("tfbodies", 1, &OccupancyMap::tfbodiesCallback, this);
+        // ATTENTION: this topic is not defined in the architecture design
+        dense3dmap_sub_ = nh->subscribe("dense3dmap", 1, &OccupancyMap::dense3dmapCallback, this);
 
         map_refined_pub_ = nh->advertise<nav_msgs::OccupancyGrid>("map_refined", 1);
     }
@@ -41,17 +41,17 @@ class OccupancyMap {
     ~OccupancyMap() {}
 
    private:
-    void dense3dmapCallback(const std_msgs::Empty::ConstPtr& msg)
+    void tfbodiesCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("occupancymap: received message: " << msg);
     }
-    void tfbodiesCallback(const std_msgs::Empty::ConstPtr& msg)
+    void dense3dmapCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("occupancymap: received message: " << msg);
     }
 
-    ros::Subscriber dense3dmap_sub_;
     ros::Subscriber tfbodies_sub_;
+    ros::Subscriber dense3dmap_sub_;
 
     ros::Publisher map_refined_pub_;
 
diff --git a/spring-mock-ws/src/people3dtracker/src/main.cpp b/spring-mock-ws/src/people3dtracker/src/main.cpp
index c804d2aa65a0465389d1b3ab9041d86672242e9e..4718fea8f3107abaadb295f4cbe75ee6823376d3 100644
--- a/spring-mock-ws/src/people3dtracker/src/main.cpp
+++ b/spring-mock-ws/src/people3dtracker/src/main.cpp
@@ -31,18 +31,18 @@ class People3dTracker {
     People3dTracker(ros::NodeHandle* nh) {
 
         // ATTENTION: this topic is not defined in the architecture design
-        groundplane_sub_ = nh->subscribe("groundplane", 1, &People3dTracker::groundplaneCallback, this);
+        feetposition_sub_ = nh->subscribe("feetposition", 1, &People3dTracker::feetpositionCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
         peoplerois_sub_ = nh->subscribe("peoplerois", 1, &People3dTracker::peopleroisCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
-        feetposition_sub_ = nh->subscribe("feetposition", 1, &People3dTracker::feetpositionCallback, this);
+        groundplane_sub_ = nh->subscribe("groundplane", 1, &People3dTracker::groundplaneCallback, this);
 
     }
 
     ~People3dTracker() {}
 
    private:
-    void groundplaneCallback(const std_msgs::Empty::ConstPtr& msg)
+    void feetpositionCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("people3dtracker: received message: " << msg);
     }
@@ -50,14 +50,14 @@ class People3dTracker {
     {
         ROS_INFO_STREAM("people3dtracker: received message: " << msg);
     }
-    void feetpositionCallback(const std_msgs::Empty::ConstPtr& msg)
+    void groundplaneCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("people3dtracker: received message: " << msg);
     }
 
-    ros::Subscriber groundplane_sub_;
-    ros::Subscriber peoplerois_sub_;
     ros::Subscriber feetposition_sub_;
+    ros::Subscriber peoplerois_sub_;
+    ros::Subscriber groundplane_sub_;
 
 
 };
diff --git a/spring-mock-ws/src/personmanager/package.xml b/spring-mock-ws/src/personmanager/package.xml
index 7a2d7e26131d99f8d135fc9d54a75f4de2d1d0d6..fc0112aad53fd6c35eb560d17a36f5869829ce0c 100644
--- a/spring-mock-ws/src/personmanager/package.xml
+++ b/spring-mock-ws/src/personmanager/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>personmanager</name>
-    <version>1.0.0</version>
-    <description>Person manager (INRIA) . Auto-generated by Boxology 1.3.2.</description>
+    <version>0.0.1</version>
+    <description>Person manager (INRIA) PAL to write an initial temporary version, simply forwarding detected faces as persons.. Auto-generated by Boxology 1.3.2.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/personmanager/src/main.cpp b/spring-mock-ws/src/personmanager/src/main.cpp
index fefda8a6201aa03ca0f00da17859bc7450f6d37d..c66368787923a0dcdbc8aba8b4ae441d35fb9436 100644
--- a/spring-mock-ws/src/personmanager/src/main.cpp
+++ b/spring-mock-ws/src/personmanager/src/main.cpp
@@ -23,9 +23,9 @@
 
 #include "ros/ros.h"
 #include "std_msgs/String.h"
+#include "std_msgs/String.h"
 #include "tf/transform_broadcaster.h"
 #include "std_msgs/Empty.h"
-#include "std_msgs/String.h"
 #include "hri_msgs/AgeAndGender.h"
 
 class PersonManager {
@@ -40,10 +40,10 @@ class PersonManager {
         candidate_matchshri_msgsidsmatch_sub_ = nh->subscribe("candidate_matchshri_msgsidsmatch", 1, &PersonManager::candidate_matchshri_msgsidsmatchCallback, this);
         face_demographics_sub_ = nh->subscribe("face_demographics", 1, &PersonManager::face_demographicsCallback, this);
 
-        person_body_id_pub_ = nh->advertise<std_msgs::String>("person_body_id", 1);
-        person_voice_id_pub_ = nh->advertise<std_msgs::String>("person_voice_id", 1);
         person_face_id_pub_ = nh->advertise<std_msgs::String>("person_face_id", 1);
+        person_voice_id_pub_ = nh->advertise<std_msgs::String>("person_voice_id", 1);
         person_demographics_pub_ = nh->advertise<hri_msgs::AgeAndGender>("person_demographics", 1);
+        body_id_pub_ = nh->advertise<std_msgs::String>("body_id", 1);
     }
 
     ~PersonManager() {}
@@ -71,10 +71,10 @@ class PersonManager {
     ros::Subscriber candidate_matchshri_msgsidsmatch_sub_;
     ros::Subscriber face_demographics_sub_;
 
-    ros::Publisher person_body_id_pub_;
-    ros::Publisher person_voice_id_pub_;
     ros::Publisher person_face_id_pub_;
+    ros::Publisher person_voice_id_pub_;
     ros::Publisher person_demographics_pub_;
+    ros::Publisher body_id_pub_;
 
 };
 
diff --git a/spring-mock-ws/src/personreidentification/src/main.cpp b/spring-mock-ws/src/personreidentification/src/main.cpp
index df23823119c373661fde6497ba00126188e2e89a..bad8058fcf218b304a183d2f3dd24300f6a1e0dd 100644
--- a/spring-mock-ws/src/personreidentification/src/main.cpp
+++ b/spring-mock-ws/src/personreidentification/src/main.cpp
@@ -23,8 +23,8 @@
 
 #include "ros/ros.h"
 #include "std_msgs/String.h"
-#include "hri_msgs/RegionOfInterestStamped.h"
 #include "std_msgs/Empty.h"
+#include "hri_msgs/RegionOfInterestStamped.h"
 
 class PersonReidentification {
    public:
diff --git a/spring-mock-ws/src/highlevelplanner/CMakeLists.txt b/spring-mock-ws/src/plan_actions/CMakeLists.txt
similarity index 97%
rename from spring-mock-ws/src/highlevelplanner/CMakeLists.txt
rename to spring-mock-ws/src/plan_actions/CMakeLists.txt
index c3559f83fae3f24de5c3d504501a982894c10c59..2f2a0392c868275f7425574f937b51db52814e33 100644
--- a/spring-mock-ws/src/highlevelplanner/CMakeLists.txt
+++ b/spring-mock-ws/src/plan_actions/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.0.2)
-project(highlevelplanner)
+project(plan_actions)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
 add_compile_options(-std=c++11)
@@ -103,7 +103,7 @@ find_package(catkin REQUIRED COMPONENTS
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
 #  INCLUDE_DIRS include
-#  LIBRARIES highlevelplanner
+#  LIBRARIES plan_actions
 #  CATKIN_DEPENDS roscpp
 #  DEPENDS system_lib
 )
@@ -119,7 +119,7 @@ include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/highlevelplanner.cpp
+#   src/${PROJECT_NAME}/plan_actions.cpp
 # )
 
 ## Add cmake target dependencies of the library
@@ -194,7 +194,7 @@ install(TARGETS ${PROJECT_NAME}_node
 #############
 
 ## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_highlevelplanner.cpp)
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_plan_actions.cpp)
 # if(TARGET ${PROJECT_NAME}-test)
 #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
 # endif()
diff --git a/spring-mock-ws/src/robotnonverbalbehaviours/package.xml b/spring-mock-ws/src/plan_actions/package.xml
similarity index 91%
rename from spring-mock-ws/src/robotnonverbalbehaviours/package.xml
rename to spring-mock-ws/src/plan_actions/package.xml
index d7fb5948fc0e034ed7527ac92fc077f0e6de5893..3ec7ae7883defa741485fb6b747021ac84fefa49 100644
--- a/spring-mock-ws/src/robotnonverbalbehaviours/package.xml
+++ b/spring-mock-ws/src/plan_actions/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
-    <name>robotnonverbalbehaviours</name>
-    <version>1.0.0</version>
-    <description>Robot non-verbal behaviours (INRIA) . Auto-generated by Boxology 1.3.2.</description>
+    <name>plan_actions</name>
+    <version>spring_dev</version>
+    <description>plan_actions (HWU) REPO: https://gitlab.inria.fr/spring/wp5_spoken_conversations/plan_actions. Auto-generated by Boxology 1.3.2.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
@@ -50,7 +50,6 @@
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
   <exec_depend>roscpp</exec_depend>
-  <depend>hri_msgs</depend>
   <depend>std_msgs</depend>
 
   <export>
diff --git a/spring-mock-ws/src/highlevelplanner/src/main.cpp b/spring-mock-ws/src/plan_actions/src/main.cpp
similarity index 77%
rename from spring-mock-ws/src/highlevelplanner/src/main.cpp
rename to spring-mock-ws/src/plan_actions/src/main.cpp
index 73702a87aa84405e9dd80fcb353fdefda4bf2647..42021e4207f6b30ef28fdf72508bea9e41e5f237 100644
--- a/spring-mock-ws/src/highlevelplanner/src/main.cpp
+++ b/spring-mock-ws/src/plan_actions/src/main.cpp
@@ -25,69 +25,69 @@
 #include "std_msgs/String.h"
 #include "std_msgs/Empty.h"
 
-class HighlevelPlanner {
+class Plan_actions {
    public:
-    HighlevelPlanner(ros::NodeHandle* nh) {
+    Plan_actions(ros::NodeHandle* nh) {
 
         // ATTENTION: this topic is not defined in the architecture design
-        semanticscenedescription_sub_ = nh->subscribe("semanticscenedescription", 1, &HighlevelPlanner::semanticscenedescriptionCallback, this);
+        dialoguestate_sub_ = nh->subscribe("dialoguestate", 1, &Plan_actions::dialoguestateCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
-        demographics_sub_ = nh->subscribe("demographics", 1, &HighlevelPlanner::demographicsCallback, this);
+        tfpersons_sub_ = nh->subscribe("tfpersons", 1, &Plan_actions::tfpersonsCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
-        dialoguestate_sub_ = nh->subscribe("dialoguestate", 1, &HighlevelPlanner::dialoguestateCallback, this);
+        semanticscenedescription_sub_ = nh->subscribe("semanticscenedescription", 1, &Plan_actions::semanticscenedescriptionCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
-        tfpersons_sub_ = nh->subscribe("tfpersons", 1, &HighlevelPlanner::tfpersonsCallback, this);
+        demographics_sub_ = nh->subscribe("demographics", 1, &Plan_actions::demographicsCallback, this);
 
+        // ATTENTION: this topic is not defined in the architecture design
+        interactionstate_pub_ = nh->advertise<std_msgs::Empty>("interactionstate", 1);
         // ATTENTION: this topic is not defined in the architecture design
         output_pub_ = nh->advertise<std_msgs::Empty>("output", 1);
         // ATTENTION: this topic is not defined in the architecture design
         navgoals_pub_ = nh->advertise<std_msgs::Empty>("navgoals", 1);
-        // ATTENTION: this topic is not defined in the architecture design
-        interactionstate_pub_ = nh->advertise<std_msgs::Empty>("interactionstate", 1);
     }
 
-    ~HighlevelPlanner() {}
+    ~Plan_actions() {}
 
    private:
-    void semanticscenedescriptionCallback(const std_msgs::Empty::ConstPtr& msg)
+    void dialoguestateCallback(const std_msgs::Empty::ConstPtr& msg)
     {
-        ROS_INFO_STREAM("highlevelplanner: received message: " << msg);
+        ROS_INFO_STREAM("plan_actions: received message: " << msg);
     }
-    void demographicsCallback(const std_msgs::Empty::ConstPtr& msg)
+    void tfpersonsCallback(const std_msgs::Empty::ConstPtr& msg)
     {
-        ROS_INFO_STREAM("highlevelplanner: received message: " << msg);
+        ROS_INFO_STREAM("plan_actions: received message: " << msg);
     }
-    void dialoguestateCallback(const std_msgs::Empty::ConstPtr& msg)
+    void semanticscenedescriptionCallback(const std_msgs::Empty::ConstPtr& msg)
     {
-        ROS_INFO_STREAM("highlevelplanner: received message: " << msg);
+        ROS_INFO_STREAM("plan_actions: received message: " << msg);
     }
-    void tfpersonsCallback(const std_msgs::Empty::ConstPtr& msg)
+    void demographicsCallback(const std_msgs::Empty::ConstPtr& msg)
     {
-        ROS_INFO_STREAM("highlevelplanner: received message: " << msg);
+        ROS_INFO_STREAM("plan_actions: received message: " << msg);
     }
 
-    ros::Subscriber semanticscenedescription_sub_;
-    ros::Subscriber demographics_sub_;
     ros::Subscriber dialoguestate_sub_;
     ros::Subscriber tfpersons_sub_;
+    ros::Subscriber semanticscenedescription_sub_;
+    ros::Subscriber demographics_sub_;
 
+    ros::Publisher interactionstate_pub_;
     ros::Publisher output_pub_;
     ros::Publisher navgoals_pub_;
-    ros::Publisher interactionstate_pub_;
 
 };
 
 int main(int argc, char** argv) {
-    ros::init(argc, argv, "highlevelplanner");
+    ros::init(argc, argv, "plan_actions");
 
     // Initialize node parameters from launch file or command line.
     // Use a private node handle so that multiple instances of the node can be
     // run simultaneously while using different parameters.
     ros::NodeHandle private_node_handle_("~");
 
-    auto highlevelplanner = HighlevelPlanner(&private_node_handle_);
+    auto plan_actions = Plan_actions(&private_node_handle_);
 
-    ROS_INFO("Node highlevelplanner launched and ready.");
+    ROS_INFO("Node plan_actions launched and ready.");
     ros::spin();
     return 0;
 }
diff --git a/spring-mock-ws/src/interactionmanager/CMakeLists.txt b/spring-mock-ws/src/robot_behavior/CMakeLists.txt
similarity index 97%
rename from spring-mock-ws/src/interactionmanager/CMakeLists.txt
rename to spring-mock-ws/src/robot_behavior/CMakeLists.txt
index 8ef9ffca195bd6a4747364eae8afb2e363a66e66..1b0eeedb62e7b73d35a500da971bcba420473361 100644
--- a/spring-mock-ws/src/interactionmanager/CMakeLists.txt
+++ b/spring-mock-ws/src/robot_behavior/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.0.2)
-project(interactionmanager)
+project(robot_behavior)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
 add_compile_options(-std=c++11)
@@ -9,6 +9,7 @@ add_compile_options(-std=c++11)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
   roscpp
+  hri_msgs
   std_msgs
 )
 
@@ -103,7 +104,7 @@ find_package(catkin REQUIRED COMPONENTS
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
 #  INCLUDE_DIRS include
-#  LIBRARIES interactionmanager
+#  LIBRARIES robot_behavior
 #  CATKIN_DEPENDS roscpp
 #  DEPENDS system_lib
 )
@@ -119,7 +120,7 @@ include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/interactionmanager.cpp
+#   src/${PROJECT_NAME}/robot_behavior.cpp
 # )
 
 ## Add cmake target dependencies of the library
@@ -194,7 +195,7 @@ install(TARGETS ${PROJECT_NAME}_node
 #############
 
 ## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_interactionmanager.cpp)
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_robot_behavior.cpp)
 # if(TARGET ${PROJECT_NAME}-test)
 #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
 # endif()
diff --git a/spring-mock-ws/src/robot_behavior/package.xml b/spring-mock-ws/src/robot_behavior/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bed077d9f0ad8c418b4041698468ccd5c9b0dd06
--- /dev/null
+++ b/spring-mock-ws/src/robot_behavior/package.xml
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<package format="3">
+    <name>robot_behavior</name>
+    <version>devel</version>
+    <description>robot_behavior (INRIA) 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.. Auto-generated by Boxology 1.3.2.</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="todo@example.com">TODO</maintainer>
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>BSD</license>
+
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/NAME</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <exec_depend>roscpp</exec_depend>
+  <depend>hri_msgs</depend>
+  <depend>std_msgs</depend>
+
+  <export>
+
+  </export>
+</package>
diff --git a/spring-mock-ws/src/robotnonverbalbehaviours/src/main.cpp b/spring-mock-ws/src/robot_behavior/src/main.cpp
similarity index 72%
rename from spring-mock-ws/src/robotnonverbalbehaviours/src/main.cpp
rename to spring-mock-ws/src/robot_behavior/src/main.cpp
index 4b021088dfacc333ef9748f1421cf016877b9c22..bb000e2edc295f6e86fb9dd14bb5765d0b19341b 100644
--- a/spring-mock-ws/src/robotnonverbalbehaviours/src/main.cpp
+++ b/spring-mock-ws/src/robot_behavior/src/main.cpp
@@ -26,72 +26,72 @@
 #include "std_msgs/Empty.h"
 #include "hri_msgs/GroupsStamped.h"
 
-class RobotNonverbalBehaviours {
+class Robot_behavior {
    public:
-    RobotNonverbalBehaviours(ros::NodeHandle* nh) {
+    Robot_behavior(ros::NodeHandle* nh) {
 
         // ATTENTION: this topic is not defined in the architecture design
-        lookat_sub_ = nh->subscribe("lookat", 1, &RobotNonverbalBehaviours::lookatCallback, this);
+        status_sub_ = nh->subscribe("status", 1, &Robot_behavior::statusCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
-        followingnavgoals_sub_ = nh->subscribe("followingnavgoals", 1, &RobotNonverbalBehaviours::followingnavgoalsCallback, this);
+        lookat_sub_ = nh->subscribe("lookat", 1, &Robot_behavior::lookatCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
-        status_sub_ = nh->subscribe("status", 1, &RobotNonverbalBehaviours::statusCallback, this);
+        followingnavgoals_sub_ = nh->subscribe("followingnavgoals", 1, &Robot_behavior::followingnavgoalsCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
-        occupancymap_sub_ = nh->subscribe("occupancymap", 1, &RobotNonverbalBehaviours::occupancymapCallback, this);
-        groups_sub_ = nh->subscribe("groups", 1, &RobotNonverbalBehaviours::groupsCallback, this);
+        occupancymap_sub_ = nh->subscribe("occupancymap", 1, &Robot_behavior::occupancymapCallback, this);
+        groups_sub_ = nh->subscribe("groups", 1, &Robot_behavior::groupsCallback, this);
 
-        // ATTENTION: this topic is not defined in the architecture design
-        lowlevelactions_pub_ = nh->advertise<std_msgs::Empty>("lowlevelactions", 1);
         // ATTENTION: this topic is not defined in the architecture design
         status_pub_ = nh->advertise<std_msgs::Empty>("status", 1);
+        // ATTENTION: this topic is not defined in the architecture design
+        lowlevelactions_pub_ = nh->advertise<std_msgs::Empty>("lowlevelactions", 1);
     }
 
-    ~RobotNonverbalBehaviours() {}
+    ~Robot_behavior() {}
 
    private:
-    void lookatCallback(const std_msgs::Empty::ConstPtr& msg)
+    void statusCallback(const std_msgs::Empty::ConstPtr& msg)
     {
-        ROS_INFO_STREAM("robotnonverbalbehaviours: received message: " << msg);
+        ROS_INFO_STREAM("robot_behavior: received message: " << msg);
     }
-    void followingnavgoalsCallback(const std_msgs::Empty::ConstPtr& msg)
+    void lookatCallback(const std_msgs::Empty::ConstPtr& msg)
     {
-        ROS_INFO_STREAM("robotnonverbalbehaviours: received message: " << msg);
+        ROS_INFO_STREAM("robot_behavior: received message: " << msg);
     }
-    void statusCallback(const std_msgs::Empty::ConstPtr& msg)
+    void followingnavgoalsCallback(const std_msgs::Empty::ConstPtr& msg)
     {
-        ROS_INFO_STREAM("robotnonverbalbehaviours: received message: " << msg);
+        ROS_INFO_STREAM("robot_behavior: received message: " << msg);
     }
     void occupancymapCallback(const std_msgs::Empty::ConstPtr& msg)
     {
-        ROS_INFO_STREAM("robotnonverbalbehaviours: received message: " << msg);
+        ROS_INFO_STREAM("robot_behavior: received message: " << msg);
     }
     void groupsCallback(const hri_msgs::GroupsStamped::ConstPtr& msg)
     {
-        ROS_INFO_STREAM("robotnonverbalbehaviours: received message: " << msg);
+        ROS_INFO_STREAM("robot_behavior: received message: " << msg);
     }
 
+    ros::Subscriber status_sub_;
     ros::Subscriber lookat_sub_;
     ros::Subscriber followingnavgoals_sub_;
-    ros::Subscriber status_sub_;
     ros::Subscriber occupancymap_sub_;
     ros::Subscriber groups_sub_;
 
-    ros::Publisher lowlevelactions_pub_;
     ros::Publisher status_pub_;
+    ros::Publisher lowlevelactions_pub_;
 
 };
 
 int main(int argc, char** argv) {
-    ros::init(argc, argv, "robotnonverbalbehaviours");
+    ros::init(argc, argv, "robot_behavior");
 
     // Initialize node parameters from launch file or command line.
     // Use a private node handle so that multiple instances of the node can be
     // run simultaneously while using different parameters.
     ros::NodeHandle private_node_handle_("~");
 
-    auto robotnonverbalbehaviours = RobotNonverbalBehaviours(&private_node_handle_);
+    auto robot_behavior = Robot_behavior(&private_node_handle_);
 
-    ROS_INFO("Node robotnonverbalbehaviours launched and ready.");
+    ROS_INFO("Node robot_behavior launched and ready.");
     ros::spin();
     return 0;
 }
diff --git a/spring-mock-ws/src/robotgui/src/main.cpp b/spring-mock-ws/src/robotgui/src/main.cpp
index 9c4a4f05e4be68a3e416e459adf8398224c7c53d..2bc92ad4fb143975e02e4ce49792a73c64bcc4e7 100644
--- a/spring-mock-ws/src/robotgui/src/main.cpp
+++ b/spring-mock-ws/src/robotgui/src/main.cpp
@@ -30,40 +30,40 @@ class RobotGui {
    public:
     RobotGui(ros::NodeHandle* nh) {
 
+        // ATTENTION: this topic is not defined in the architecture design
+        additionalsupportmaterial_sub_ = nh->subscribe("additionalsupportmaterial", 1, &RobotGui::additionalsupportmaterialCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
         ttsfeedback_sub_ = nh->subscribe("ttsfeedback", 1, &RobotGui::ttsfeedbackCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
         speechoutput_sub_ = nh->subscribe("speechoutput", 1, &RobotGui::speechoutputCallback, this);
         voice_speech_sub_ = nh->subscribe("voice_speech", 1, &RobotGui::voice_speechCallback, this);
-        // ATTENTION: this topic is not defined in the architecture design
-        additionalsupportmaterial_sub_ = nh->subscribe("additionalsupportmaterial", 1, &RobotGui::additionalsupportmaterialCallback, this);
 
     }
 
     ~RobotGui() {}
 
    private:
-    void ttsfeedbackCallback(const std_msgs::Empty::ConstPtr& msg)
+    void additionalsupportmaterialCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("robotgui: received message: " << msg);
     }
-    void speechoutputCallback(const std_msgs::Empty::ConstPtr& msg)
+    void ttsfeedbackCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("robotgui: received message: " << msg);
     }
-    void voice_speechCallback(const std_msgs::String::ConstPtr& msg)
+    void speechoutputCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("robotgui: received message: " << msg);
     }
-    void additionalsupportmaterialCallback(const std_msgs::Empty::ConstPtr& msg)
+    void voice_speechCallback(const std_msgs::String::ConstPtr& msg)
     {
         ROS_INFO_STREAM("robotgui: received message: " << msg);
     }
 
+    ros::Subscriber additionalsupportmaterial_sub_;
     ros::Subscriber ttsfeedback_sub_;
     ros::Subscriber speechoutput_sub_;
     ros::Subscriber voice_speech_sub_;
-    ros::Subscriber additionalsupportmaterial_sub_;
 
 
 };
diff --git a/spring-mock-ws/src/robotnonverbalbehaviours/CMakeLists.txt b/spring-mock-ws/src/robotnonverbalbehaviours/CMakeLists.txt
deleted file mode 100644
index 93d5ba76f704ffe2f1d7f2fc0b49243d6d234dfc..0000000000000000000000000000000000000000
--- a/spring-mock-ws/src/robotnonverbalbehaviours/CMakeLists.txt
+++ /dev/null
@@ -1,204 +0,0 @@
-cmake_minimum_required(VERSION 3.0.2)
-project(robotnonverbalbehaviours)
-
-## Compile as C++11, supported in ROS Kinetic and newer
-add_compile_options(-std=c++11)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  hri_msgs
-  std_msgs
-)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend tag for "message_generation"
-##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-##     but can be declared for certainty nonetheless:
-##     * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs  # Or other packages containing msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-##   * add "dynamic_reconfigure" to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * uncomment the "generate_dynamic_reconfigure_options" section below
-##     and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-#   cfg/DynReconf1.cfg
-#   cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES robotnonverbalbehaviours
-#  CATKIN_DEPENDS roscpp
-#  DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(include)
-include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
-
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/robotnonverbalbehaviours.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-add_executable(${PROJECT_NAME}_node src/main.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-target_link_libraries(${PROJECT_NAME}_node
-   ${catkin_LIBRARIES}
-)
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# catkin_install_python(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
-install(TARGETS ${PROJECT_NAME}_node
-   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
-## Mark libraries for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
-# install(TARGETS ${PROJECT_NAME}
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_robotnonverbalbehaviours.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
diff --git a/spring-mock-ws/src/semanticmapping/src/main.cpp b/spring-mock-ws/src/semanticmapping/src/main.cpp
index a5b2cbb5f395f04ad2924ba99e758bb130235875..089ca34e6d9d4feb958510267521ede1e4fd4e53 100644
--- a/spring-mock-ws/src/semanticmapping/src/main.cpp
+++ b/spring-mock-ws/src/semanticmapping/src/main.cpp
@@ -23,16 +23,16 @@
 
 #include "ros/ros.h"
 #include "std_msgs/String.h"
-#include "std_msgs/Empty.h"
 #include "spring_msgs/DetectedObjectArray.h"
+#include "std_msgs/Empty.h"
 
 class SemanticMapping {
    public:
     SemanticMapping(ros::NodeHandle* nh) {
 
+        detected_objects_sub_ = nh->subscribe("detected_objects", 1, &SemanticMapping::detected_objectsCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
         dense3dmap_sub_ = nh->subscribe("dense3dmap", 1, &SemanticMapping::dense3dmapCallback, this);
-        detected_objects_sub_ = nh->subscribe("detected_objects", 1, &SemanticMapping::detected_objectsCallback, this);
 
         // ATTENTION: this topic is not defined in the architecture design
         scenegraph_pub_ = nh->advertise<std_msgs::Empty>("scenegraph", 1);
@@ -41,17 +41,17 @@ class SemanticMapping {
     ~SemanticMapping() {}
 
    private:
-    void dense3dmapCallback(const std_msgs::Empty::ConstPtr& msg)
+    void detected_objectsCallback(const spring_msgs::DetectedObjectArray::ConstPtr& msg)
     {
         ROS_INFO_STREAM("semanticmapping: received message: " << msg);
     }
-    void detected_objectsCallback(const spring_msgs::DetectedObjectArray::ConstPtr& msg)
+    void dense3dmapCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("semanticmapping: received message: " << msg);
     }
 
-    ros::Subscriber dense3dmap_sub_;
     ros::Subscriber detected_objects_sub_;
+    ros::Subscriber dense3dmap_sub_;
 
     ros::Publisher scenegraph_pub_;
 
diff --git a/spring-mock-ws/src/soundsourcelocalisation/CMakeLists.txt b/spring-mock-ws/src/soundsourcelocalisation/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a9aa4751812d3270541c15fb4116ef8145763942
--- /dev/null
+++ b/spring-mock-ws/src/soundsourcelocalisation/CMakeLists.txt
@@ -0,0 +1,205 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(soundsourcelocalisation)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  audio_common_msgs
+  std_msgs
+  tf
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES soundsourcelocalisation
+#  CATKIN_DEPENDS roscpp
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/soundsourcelocalisation.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+add_executable(${PROJECT_NAME}_node src/main.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(${PROJECT_NAME}_node
+   ${catkin_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+install(TARGETS ${PROJECT_NAME}_node
+   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_soundsourcelocalisation.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/spring-mock-ws/src/speakerrecognition/package.xml b/spring-mock-ws/src/soundsourcelocalisation/package.xml
similarity index 93%
rename from spring-mock-ws/src/speakerrecognition/package.xml
rename to spring-mock-ws/src/soundsourcelocalisation/package.xml
index 34e61460a106f582bd79509cc7566c7feef566b1..9e5aa3ad38faaffff53ca55e694668babda4f350 100644
--- a/spring-mock-ws/src/speakerrecognition/package.xml
+++ b/spring-mock-ws/src/soundsourcelocalisation/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
-    <name>speakerrecognition</name>
+    <name>soundsourcelocalisation</name>
     <version>1.0.0</version>
-    <description>Speaker recognition (BIU) . Auto-generated by Boxology 1.3.2.</description>
+    <description>Sound source localisation (BIU) . Auto-generated by Boxology 1.3.2.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
@@ -52,6 +52,7 @@
   <exec_depend>roscpp</exec_depend>
   <depend>audio_common_msgs</depend>
   <depend>std_msgs</depend>
+  <depend>tf</depend>
 
   <export>
 
diff --git a/spring-mock-ws/src/speechdiarization/src/main.cpp b/spring-mock-ws/src/soundsourcelocalisation/src/main.cpp
similarity index 55%
rename from spring-mock-ws/src/speechdiarization/src/main.cpp
rename to spring-mock-ws/src/soundsourcelocalisation/src/main.cpp
index be679d31041c48d779d41558d903f68eb95f069c..247c0fa06884483135eceb0d27fca96920337a2f 100644
--- a/spring-mock-ws/src/speechdiarization/src/main.cpp
+++ b/spring-mock-ws/src/soundsourcelocalisation/src/main.cpp
@@ -23,43 +23,51 @@
 
 #include "ros/ros.h"
 #include "std_msgs/String.h"
-#include "respeaker_ros/RawAudioData.h"
+#include "std_msgs/Empty.h"
+#include "tf/transform_broadcaster.h"
 #include "audio_common_msgs/AudioData.h"
 
-class SpeechDiarization {
+class SoundSourceLocalisation {
    public:
-    SpeechDiarization(ros::NodeHandle* nh) {
+    SoundSourceLocalisation(ros::NodeHandle* nh) {
 
-        raw_audio_sub_ = nh->subscribe("raw_audio", 1, &SpeechDiarization::raw_audioCallback, this);
+        voice_audio_sub_ = nh->subscribe("voice_audio", 1, &SoundSourceLocalisation::voice_audioCallback, this);
 
-        voice_audio_pub_ = nh->advertise<audio_common_msgs::AudioData>("voice_audio", 1);
+        // ATTENTION: this topic is not defined in the architecture design
+        output_pub_ = nh->advertise<std_msgs::Empty>("output", 1);
+        // ATTENTION: this topic is not defined in the architecture design
+        sourceangle_pub_ = nh->advertise<std_msgs::Empty>("sourceangle", 1);
+        // ATTENTION: this topic is not defined in the architecture design
+        trackinginformation_pub_ = nh->advertise<std_msgs::Empty>("trackinginformation", 1);
     }
 
-    ~SpeechDiarization() {}
+    ~SoundSourceLocalisation() {}
 
    private:
-    void raw_audioCallback(const respeaker_ros::RawAudioData::ConstPtr& msg)
+    void voice_audioCallback(const audio_common_msgs::AudioData::ConstPtr& msg)
     {
-        ROS_INFO_STREAM("speechdiarization: received message: " << msg);
+        ROS_INFO_STREAM("soundsourcelocalisation: received message: " << msg);
     }
 
-    ros::Subscriber raw_audio_sub_;
+    ros::Subscriber voice_audio_sub_;
 
-    ros::Publisher voice_audio_pub_;
+    ros::Publisher output_pub_;
+    ros::Publisher sourceangle_pub_;
+    ros::Publisher trackinginformation_pub_;
 
 };
 
 int main(int argc, char** argv) {
-    ros::init(argc, argv, "speechdiarization");
+    ros::init(argc, argv, "soundsourcelocalisation");
 
     // Initialize node parameters from launch file or command line.
     // Use a private node handle so that multiple instances of the node can be
     // run simultaneously while using different parameters.
     ros::NodeHandle private_node_handle_("~");
 
-    auto speechdiarization = SpeechDiarization(&private_node_handle_);
+    auto soundsourcelocalisation = SoundSourceLocalisation(&private_node_handle_);
 
-    ROS_INFO("Node speechdiarization launched and ready.");
+    ROS_INFO("Node soundsourcelocalisation launched and ready.");
     ros::spin();
     return 0;
 }
diff --git a/spring-mock-ws/src/speakerrecognition/CMakeLists.txt b/spring-mock-ws/src/speakeridentification/CMakeLists.txt
similarity index 97%
rename from spring-mock-ws/src/speakerrecognition/CMakeLists.txt
rename to spring-mock-ws/src/speakeridentification/CMakeLists.txt
index 186aeb8a9f1f2497bce76a6ed4220e16c4378ad4..6765744c6daa2109bce8ad74658b6162de965629 100644
--- a/spring-mock-ws/src/speakerrecognition/CMakeLists.txt
+++ b/spring-mock-ws/src/speakeridentification/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.0.2)
-project(speakerrecognition)
+project(speakeridentification)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
 add_compile_options(-std=c++11)
@@ -104,7 +104,7 @@ find_package(catkin REQUIRED COMPONENTS
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
 #  INCLUDE_DIRS include
-#  LIBRARIES speakerrecognition
+#  LIBRARIES speakeridentification
 #  CATKIN_DEPENDS roscpp
 #  DEPENDS system_lib
 )
@@ -120,7 +120,7 @@ include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/speakerrecognition.cpp
+#   src/${PROJECT_NAME}/speakeridentification.cpp
 # )
 
 ## Add cmake target dependencies of the library
@@ -195,7 +195,7 @@ install(TARGETS ${PROJECT_NAME}_node
 #############
 
 ## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_speakerrecognition.cpp)
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_speakeridentification.cpp)
 # if(TARGET ${PROJECT_NAME}-test)
 #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
 # endif()
diff --git a/spring-mock-ws/src/speechdiarization/package.xml b/spring-mock-ws/src/speakeridentification/package.xml
similarity index 91%
rename from spring-mock-ws/src/speechdiarization/package.xml
rename to spring-mock-ws/src/speakeridentification/package.xml
index 203edce9a6677bcb7adfd23c778f7437cb1f21ff..2443a2d3e819fec1b323e2213fd2b17ae70b3455 100644
--- a/spring-mock-ws/src/speechdiarization/package.xml
+++ b/spring-mock-ws/src/speakeridentification/package.xml
@@ -1,8 +1,9 @@
 <?xml version="1.0"?>
 <package format="3">
-    <name>speechdiarization</name>
-    <version>1.0.0</version>
-    <description>Speech diarization (BIU) . Auto-generated by Boxology 1.3.2.</description>
+    <name>speakeridentification</name>
+    <version>0.0.1</version>
+    <description>Speaker identification (BIU) - online services
+- not started yet. Auto-generated by Boxology 1.3.2.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
@@ -51,7 +52,7 @@
   <buildtool_depend>catkin</buildtool_depend>
   <exec_depend>roscpp</exec_depend>
   <depend>audio_common_msgs</depend>
-  <depend>respeaker_ros</depend>
+  <depend>std_msgs</depend>
 
   <export>
 
diff --git a/spring-mock-ws/src/speakeridentification/src/main.cpp b/spring-mock-ws/src/speakeridentification/src/main.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..697beadb240ef705b6989f61d7f74fe6bb93ed39
--- /dev/null
+++ b/spring-mock-ws/src/speakeridentification/src/main.cpp
@@ -0,0 +1,75 @@
+/*
+ Copyright 2021-2025, SPRING Consortium
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
+
+
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
+#include "audio_common_msgs/AudioData.h"
+
+class SpeakerIdentification {
+   public:
+    SpeakerIdentification(ros::NodeHandle* nh) {
+
+        // ATTENTION: this topic is not defined in the architecture design
+        trackinginformation_sub_ = nh->subscribe("trackinginformation", 1, &SpeakerIdentification::trackinginformationCallback, this);
+        postprocess_audio_streams_sub_ = nh->subscribe("postprocess_audio_streams", 1, &SpeakerIdentification::postprocess_audio_streamsCallback, this);
+
+        // ATTENTION: this topic is not defined in the architecture design
+        person_id_candidatehri_msgsidsmatch_pub_ = nh->advertise<std_msgs::Empty>("person_id_candidatehri_msgsidsmatch", 1);
+        voice_audio_pub_ = nh->advertise<audio_common_msgs::AudioData>("voice_audio", 1);
+    }
+
+    ~SpeakerIdentification() {}
+
+   private:
+    void trackinginformationCallback(const std_msgs::Empty::ConstPtr& msg)
+    {
+        ROS_INFO_STREAM("speakeridentification: received message: " << msg);
+    }
+    void postprocess_audio_streamsCallback(const audio_common_msgs::AudioData::ConstPtr& msg)
+    {
+        ROS_INFO_STREAM("speakeridentification: received message: " << msg);
+    }
+
+    ros::Subscriber trackinginformation_sub_;
+    ros::Subscriber postprocess_audio_streams_sub_;
+
+    ros::Publisher person_id_candidatehri_msgsidsmatch_pub_;
+    ros::Publisher voice_audio_pub_;
+
+};
+
+int main(int argc, char** argv) {
+    ros::init(argc, argv, "speakeridentification");
+
+    // Initialize node parameters from launch file or command line.
+    // Use a private node handle so that multiple instances of the node can be
+    // run simultaneously while using different parameters.
+    ros::NodeHandle private_node_handle_("~");
+
+    auto speakeridentification = SpeakerIdentification(&private_node_handle_);
+
+    ROS_INFO("Node speakeridentification launched and ready.");
+    ros::spin();
+    return 0;
+}
diff --git a/spring-mock-ws/src/speechdiarization/CMakeLists.txt b/spring-mock-ws/src/speechanalysis/CMakeLists.txt
similarity index 97%
rename from spring-mock-ws/src/speechdiarization/CMakeLists.txt
rename to spring-mock-ws/src/speechanalysis/CMakeLists.txt
index 44be11dfac7e337992e8532d3ca559edc360c71f..df5cffaa355d5eb48676d83ce40717800cec7824 100644
--- a/spring-mock-ws/src/speechdiarization/CMakeLists.txt
+++ b/spring-mock-ws/src/speechanalysis/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.0.2)
-project(speechdiarization)
+project(speechanalysis)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
 add_compile_options(-std=c++11)
@@ -11,6 +11,7 @@ find_package(catkin REQUIRED COMPONENTS
   roscpp
   audio_common_msgs
   respeaker_ros
+  std_msgs
 )
 
 ## System dependencies are found with CMake's conventions
@@ -104,7 +105,7 @@ find_package(catkin REQUIRED COMPONENTS
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
 #  INCLUDE_DIRS include
-#  LIBRARIES speechdiarization
+#  LIBRARIES speechanalysis
 #  CATKIN_DEPENDS roscpp
 #  DEPENDS system_lib
 )
@@ -120,7 +121,7 @@ include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/speechdiarization.cpp
+#   src/${PROJECT_NAME}/speechanalysis.cpp
 # )
 
 ## Add cmake target dependencies of the library
@@ -195,7 +196,7 @@ install(TARGETS ${PROJECT_NAME}_node
 #############
 
 ## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_speechdiarization.cpp)
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_speechanalysis.cpp)
 # if(TARGET ${PROJECT_NAME}-test)
 #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
 # endif()
diff --git a/spring-mock-ws/src/speechanalysis/package.xml b/spring-mock-ws/src/speechanalysis/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1d2357b41b40d4126c69ae46dc825bb32794be63
--- /dev/null
+++ b/spring-mock-ws/src/speechanalysis/package.xml
@@ -0,0 +1,65 @@
+<?xml version="1.0"?>
+<package format="3">
+    <name>speechanalysis</name>
+    <version>0.0.1</version>
+    <description>Speech analysis (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. Auto-generated by Boxology 1.3.2.</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="todo@example.com">TODO</maintainer>
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>BSD</license>
+
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/NAME</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <exec_depend>roscpp</exec_depend>
+  <depend>audio_common_msgs</depend>
+  <depend>respeaker_ros</depend>
+  <depend>std_msgs</depend>
+
+  <export>
+
+  </export>
+</package>
diff --git a/spring-mock-ws/src/speechanalysis/src/main.cpp b/spring-mock-ws/src/speechanalysis/src/main.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..99ae2e531ad40dbbefcb18905aef79c5f8ed5be2
--- /dev/null
+++ b/spring-mock-ws/src/speechanalysis/src/main.cpp
@@ -0,0 +1,80 @@
+/*
+ Copyright 2021-2025, SPRING Consortium
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
+
+
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
+#include "respeaker_ros/RawAudioData.h"
+#include "audio_common_msgs/AudioData.h"
+
+class SpeechAnalysis {
+   public:
+    SpeechAnalysis(ros::NodeHandle* nh) {
+
+        raw_audio_sub_ = nh->subscribe("raw_audio", 1, &SpeechAnalysis::raw_audioCallback, this);
+        ego_audio_sub_ = nh->subscribe("ego_audio", 1, &SpeechAnalysis::ego_audioCallback, this);
+        // ATTENTION: this topic is not defined in the architecture design
+        soundlocalization_sub_ = nh->subscribe("soundlocalization", 1, &SpeechAnalysis::soundlocalizationCallback, this);
+
+        // ATTENTION: this topic is not defined in the architecture design
+        audiopostprocess_audio_streamscfoutputinnodedesc_pub_ = nh->advertise<std_msgs::Empty>("audiopostprocess_audio_streamscfoutputinnodedesc", 1);
+    }
+
+    ~SpeechAnalysis() {}
+
+   private:
+    void raw_audioCallback(const respeaker_ros::RawAudioData::ConstPtr& msg)
+    {
+        ROS_INFO_STREAM("speechanalysis: received message: " << msg);
+    }
+    void ego_audioCallback(const audio_common_msgs::AudioData::ConstPtr& msg)
+    {
+        ROS_INFO_STREAM("speechanalysis: received message: " << msg);
+    }
+    void soundlocalizationCallback(const std_msgs::Empty::ConstPtr& msg)
+    {
+        ROS_INFO_STREAM("speechanalysis: received message: " << msg);
+    }
+
+    ros::Subscriber raw_audio_sub_;
+    ros::Subscriber ego_audio_sub_;
+    ros::Subscriber soundlocalization_sub_;
+
+    ros::Publisher audiopostprocess_audio_streamscfoutputinnodedesc_pub_;
+
+};
+
+int main(int argc, char** argv) {
+    ros::init(argc, argv, "speechanalysis");
+
+    // Initialize node parameters from launch file or command line.
+    // Use a private node handle so that multiple instances of the node can be
+    // run simultaneously while using different parameters.
+    ros::NodeHandle private_node_handle_("~");
+
+    auto speechanalysis = SpeechAnalysis(&private_node_handle_);
+
+    ROS_INFO("Node speechanalysis launched and ready.");
+    ros::spin();
+    return 0;
+}
diff --git a/spring-mock-ws/src/springarchitecture/CMakeLists.txt b/spring-mock-ws/src/springarchitecture/CMakeLists.txt
index fafb1254914843d04f088266d483014ac8952351..4857669eea030692e1a25a50f67b2bf5a568ea02 100644
--- a/spring-mock-ws/src/springarchitecture/CMakeLists.txt
+++ b/spring-mock-ws/src/springarchitecture/CMakeLists.txt
@@ -3,44 +3,46 @@ project(springarchitecture)
 
 
 find_package(catkin REQUIRED COMPONENTS
-    rgbhead
-    speechdiarization
+    robot_behavior
+    soundsourcelocalisation
+    robotfunctionallayer
+    voicespeechmatching
+    softbiometrics
+    userattentionestimation
+    hri_msgs
+    speechsynthesis
+    rosopenpose
+    robotgui
+    interaction_manager
+    objectdetectionidentificationlocalisation
+    depthestimationfrommonocular
+    sceneunderstanding
+    occupancymap
+    dialoguearbiter
+    people3dtracker
+    speakeridentification
     personreidentification
-    maskdetection
-    rgbdcamera_info
     orbslam
-    objectdetectionidentificationlocalisation
+    hri_fullbody
+    rgbhead
     multipeoplebodytracker
-    hri_msgs
+    rgbdcamera_info
+    activityreco
+    facedetection
     spring_msgs
-    robotfunctionallayer
+    maskdetection
+    plan_actions
     personmanager
-    depthestimationfrommonocular
-    occupancymap
-    userattentionestimation
-    respeaker_ros
-    dialoguemanager
-    body2dpose
-    hri_fullbody
-    speechsynthesis
-    soundlocalisation
-    robotnonverbalbehaviours
-    highlevelplanner
     nonverbalbehaviours
-    fformation
-    facedetection
-    activityreco
     uservisualfocus
-    softbiometrics
-    sceneunderstanding
-    rosopenpose
-    asr
-    people3dtracker
+    speechanalysis
     visualslam3dmap
-    robotgui
-    speakerrecognition
     semanticmapping
-    interactionmanager
+    fisheye
+    fformation
+    respeaker_ros
+    asr
+    body2dpose
 )
 
 catkin_package()
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all.launch b/spring-mock-ws/src/springarchitecture/launch/start_all.launch
index 8fad914abde3964d24299febcee08506e343a729..2012890e2d0eb73fc3d1aacedbf38c8c4f7365a5 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all.launch
@@ -1,103 +1,99 @@
 <launch>
 
-    <!-- launching RGB head (rgbhead) -->
-    <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    <!-- launching robot_behavior (robot_behavior) -->
+    <node pkg="robot_behavior" name="robot_behavior" type="node" output="screen">
+        <remap from="groups" to="/humans/interactions/groups"/>
     </node>
-
-    <!-- launching Speech diarization (speechdiarization) -->
-    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
-        <remap from="raw_audio" to="/audio/raw_audio"/>
-        <remap from="voice_audio_info" to="/humans/voices/TEST_ID_VOICE/audio_info"/>
+    
+    <!-- launching Sound source localisation (soundsourcelocalisation) -->
+    <node pkg="soundsourcelocalisation" name="soundsourcelocalisation" type="node" output="screen">
         <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
     </node>
-
-    <!-- launching Person re-identification (personreidentification) -->
-    <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
+    
+    <!-- launching Robot functional layer (robotfunctionallayer) -->
+    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+    </node>
+    
+    <!-- launching Voice speech matching (voicespeechmatching) -->
+    <node pkg="voicespeechmatching" name="voicespeechmatching" type="node" output="screen">
+        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+        <remap from="speech_streams" to="/audio/speech_streams"/>
+        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+    </node>
+    
+    <!-- launching Soft biometrics (softbiometrics) -->
+    <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
         <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+        <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
     </node>
-
-    <!-- launching Mask detection (maskdetection) -->
-    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+    
+    <!-- launching User attention estimation (userattentionestimation) -->
+    <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
         <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
-        <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
     </node>
-
-    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
-    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
-        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+    
+    <!-- launching Speech synthesis (speechsynthesis) -->
+    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
     </node>
-
-    <!-- launching ORB SLAM (orbslam) -->
-    <node pkg="orbslam" name="orbslam" type="node" output="screen">
-        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
-        <remap from="map" to="/map"/>
+    
+    <!-- launching ROS openpose (rosopenpose) -->
+    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
     </node>
-
+    
+    <!-- launching Robot GUI (robotgui) -->
+    <node pkg="robotgui" name="robotgui" type="node" output="screen">
+        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+    </node>
+    
+    <!-- launching interaction_manager (interaction_manager) -->
+    <node pkg="interaction_manager" name="interaction_manager" type="node" output="screen">
+    </node>
+    
     <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
     <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
         <remap from="image_raw" to="/camera_head/color/image_raw"/>
         <remap from="detected_objects" to="/detected_objects"/>
     </node>
-
-    <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
-    <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
-    </node>
-
-    <!-- launching  hri_msgs (hri_msgs) -->
-    <node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
-    </node>
-
-    <!-- launching  spring_msgs (spring_msgs) -->
-    <node pkg="spring_msgs" name="spring_msgs" type="node" output="screen">
-    </node>
-
-    <!-- launching Robot functional layer (robotfunctionallayer) -->
-    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
-    </node>
-
-    <!-- launching Person manager (personmanager) -->
-    <node pkg="personmanager" name="personmanager" type="node" output="screen">
-        <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
-        <remap from="person_body_id" to="/humans/persons/TEST_ID_PERSON/body_id"/>
-        <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
-        <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
-        <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
-    </node>
-
+    
     <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
     <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
     </node>
-
+    
+    <!-- launching Scene understanding (sceneunderstanding) -->
+    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+    </node>
+    
     <!-- launching Occupancy map (occupancymap) -->
     <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
         <remap from="map_refined" to="/map_refined"/>
     </node>
-
-    <!-- launching User attention estimation (userattentionestimation) -->
-    <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+    
+    <!-- launching dialogue arbiter (dialoguearbiter) -->
+    <node pkg="dialoguearbiter" name="dialoguearbiter" type="node" output="screen">
+        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
     </node>
-
-    <!-- launching respeaker_ros (respeaker_ros) -->
-    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
-        <remap from="raw_audio" to="/audio/raw_audio"/>
+    
+    <!-- launching People 3D tracker (people3dtracker) -->
+    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
     </node>
-
-    <!-- launching Dialogue manager (dialoguemanager) -->
-    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
-        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+    
+    <!-- launching Speaker identification (speakeridentification) -->
+    <node pkg="speakeridentification" name="speakeridentification" type="node" output="screen">
+        <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
+        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
     </node>
-
-    <!-- launching Body 2D pose (body2dpose) -->
-    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
-        <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+    
+    <!-- launching Person re-identification (personreidentification) -->
+    <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
     </node>
-
+    
+    <!-- launching ORB SLAM (orbslam) -->
+    <node pkg="orbslam" name="orbslam" type="node" output="screen">
+        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+        <remap from="map" to="/map"/>
+    </node>
+    
     <!-- launching hri_fullbody (hri_fullbody) -->
     <node pkg="hri_fullbody" name="hri_fullbody" type="node" output="screen">
         <remap from="image_raw" to="/camera_head/color/image_raw"/>
@@ -105,101 +101,109 @@
         <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
         <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
     </node>
-
-    <!-- launching Speech synthesis (speechsynthesis) -->
-    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
-    </node>
-
-    <!-- launching Sound localisation (soundlocalisation) -->
-    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
-        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
-    </node>
-
-    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
-    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
-        <remap from="groups" to="/humans/interactions/groups"/>
+    
+    <!-- launching RGB head (rgbhead) -->
+    <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
     </node>
-
-    <!-- launching High-level planner (highlevelplanner) -->
-    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+    
+    <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
+    <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
     </node>
-
-    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
-    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
-        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
-        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
-        <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
+    
+    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
     </node>
-
-    <!-- launching F-formation (fformation) -->
-    <node pkg="fformation" name="fformation" type="node" output="screen">
-        <remap from="gaze" to="/humans/interactions/gaze"/>
-        <remap from="groups" to="/humans/interactions/groups"/>
+    
+    <!-- launching Activity reco (activityreco) -->
+    <node pkg="activityreco" name="activityreco" type="node" output="screen">
     </node>
-
+    
     <!-- launching Face detection (facedetection) -->
     <node pkg="facedetection" name="facedetection" type="node" output="screen">
         <remap from="image_raw" to="/camera_head/color/image_raw"/>
         <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
     </node>
-
-    <!-- launching Activity reco (activityreco) -->
-    <node pkg="activityreco" name="activityreco" type="node" output="screen">
-    </node>
-
-    <!-- launching User visual focus (uservisualfocus) -->
-    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
-        <remap from="gaze" to="/humans/interactions/gaze"/>
-    </node>
-
-    <!-- launching Soft biometrics (softbiometrics) -->
-    <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
+    
+    <!-- launching Mask detection (maskdetection) -->
+    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
         <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
-        <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
+        <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
     </node>
-
-    <!-- launching Scene understanding (sceneunderstanding) -->
-    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+    
+    <!-- launching plan_actions (plan_actions) -->
+    <node pkg="plan_actions" name="plan_actions" type="node" output="screen">
     </node>
-
-    <!-- launching ROS openpose (rosopenpose) -->
-    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+    
+    <!-- launching Person manager (personmanager) -->
+    <node pkg="personmanager" name="personmanager" type="node" output="screen">
+        <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
+        <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
+        <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
+        <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
+        <remap from="body_id" to="/humans/persons/*/body_id"/>
     </node>
-
-    <!-- launching ASR (asr) -->
-    <node pkg="asr" name="asr" type="node" output="screen">
+    
+    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
         <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
-        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+        <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
     </node>
-
-    <!-- launching People 3D tracker (people3dtracker) -->
-    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+    
+    <!-- launching User visual focus (uservisualfocus) -->
+    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+        <remap from="gaze" to="/humans/interactions/gaze"/>
     </node>
-
+    
+    <!-- launching Speech analysis (speechanalysis) -->
+    <node pkg="speechanalysis" name="speechanalysis" type="node" output="screen">
+        <remap from="raw_audio" to="/audio/raw_audio"/>
+        <remap from="ego_audio" to="/audio/ego_audio"/>
+    </node>
+    
     <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
     <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
         <remap from="image_head" to="/camera_head/color/image_head"/>
         <remap from="image_torso" to="/camera_torso/color/image_torso"/>
     </node>
-
-    <!-- launching Robot GUI (robotgui) -->
-    <node pkg="robotgui" name="robotgui" type="node" output="screen">
-        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
-    </node>
-
-    <!-- launching Speaker recognition (speakerrecognition) -->
-    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
-        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
-    </node>
-
+    
     <!-- launching Semantic mapping (semanticmapping) -->
     <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
         <remap from="detected_objects" to="/detected_objects"/>
     </node>
-
-    <!-- launching Interaction manager (interactionmanager) -->
-    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+    
+    <!-- launching Fisheye (fisheye) -->
+    <node pkg="fisheye" name="fisheye" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
     </node>
-
+    
+    <!-- launching F-formation (fformation) -->
+    <node pkg="fformation" name="fformation" type="node" output="screen">
+        <remap from="gaze" to="/humans/interactions/gaze"/>
+        <remap from="groups" to="/humans/interactions/groups"/>
+    </node>
+    
+    <!-- launching respeaker_ros (respeaker_ros) -->
+    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+        <remap from="raw_audio" to="/audio/raw_audio"/>
+        <remap from="ego_audio" to="/audio/ego_audio"/>
+    </node>
+    
+    <!-- launching ASR (asr) -->
+    <node pkg="asr" name="asr" type="node" output="screen">
+        <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
+    </node>
+    
+    <!-- launching Body 2D pose (body2dpose) -->
+    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+        <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+    </node>
+    
 
 </launch>
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_BIU.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_BIU.launch
index 0036c0a6705e23a94652ba5bab8e78c1270e14de..3de036293b2bd7c377ea8c0fde2db282475e4c9f 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all_but_BIU.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all_but_BIU.launch
@@ -1,95 +1,80 @@
 <launch>
     <!-- this launch file starts all SPRING nodes except for BIU nodes. -->
 
-    <!-- launching RGB head (rgbhead) -->
-    <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    <!-- launching robot_behavior (robot_behavior) -->
+    <node pkg="robot_behavior" name="robot_behavior" type="node" output="screen">
+        <remap from="groups" to="/humans/interactions/groups"/>
     </node>
     
-    <!-- launching Person re-identification (personreidentification) -->
-    <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+    <!-- launching Robot functional layer (robotfunctionallayer) -->
+    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
     </node>
     
-    <!-- launching Mask detection (maskdetection) -->
-    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+    <!-- launching Soft biometrics (softbiometrics) -->
+    <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
         <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
-        <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
-    </node>
-    
-    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
-    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
-        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
-    </node>
-    
-    <!-- launching ORB SLAM (orbslam) -->
-    <node pkg="orbslam" name="orbslam" type="node" output="screen">
-        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
-        <remap from="map" to="/map"/>
+        <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
     </node>
     
-    <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
-    <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="detected_objects" to="/detected_objects"/>
+    <!-- launching User attention estimation (userattentionestimation) -->
+    <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
     </node>
     
-    <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
-    <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+    <!-- launching Speech synthesis (speechsynthesis) -->
+    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
     </node>
     
-    <!-- launching  hri_msgs (hri_msgs) -->
-    <node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
+    <!-- launching ROS openpose (rosopenpose) -->
+    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
     </node>
     
-    <!-- launching  spring_msgs (spring_msgs) -->
-    <node pkg="spring_msgs" name="spring_msgs" type="node" output="screen">
+    <!-- launching Robot GUI (robotgui) -->
+    <node pkg="robotgui" name="robotgui" type="node" output="screen">
+        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
     </node>
     
-    <!-- launching Robot functional layer (robotfunctionallayer) -->
-    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+    <!-- launching interaction_manager (interaction_manager) -->
+    <node pkg="interaction_manager" name="interaction_manager" type="node" output="screen">
     </node>
     
-    <!-- launching Person manager (personmanager) -->
-    <node pkg="personmanager" name="personmanager" type="node" output="screen">
-        <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
-        <remap from="person_body_id" to="/humans/persons/TEST_ID_PERSON/body_id"/>
-        <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
-        <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
-        <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
+    <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+    <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="detected_objects" to="/detected_objects"/>
     </node>
     
     <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
     <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
     </node>
     
+    <!-- launching Scene understanding (sceneunderstanding) -->
+    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+    </node>
+    
     <!-- launching Occupancy map (occupancymap) -->
     <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
         <remap from="map_refined" to="/map_refined"/>
     </node>
     
-    <!-- launching User attention estimation (userattentionestimation) -->
-    <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+    <!-- launching dialogue arbiter (dialoguearbiter) -->
+    <node pkg="dialoguearbiter" name="dialoguearbiter" type="node" output="screen">
+        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
     </node>
     
-    <!-- launching respeaker_ros (respeaker_ros) -->
-    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
-        <remap from="raw_audio" to="/audio/raw_audio"/>
+    <!-- launching People 3D tracker (people3dtracker) -->
+    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
     </node>
     
-    <!-- launching Dialogue manager (dialoguemanager) -->
-    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
-        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+    <!-- launching Person re-identification (personreidentification) -->
+    <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
     </node>
     
-    <!-- launching Body 2D pose (body2dpose) -->
-    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
-        <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+    <!-- launching ORB SLAM (orbslam) -->
+    <node pkg="orbslam" name="orbslam" type="node" output="screen">
+        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+        <remap from="map" to="/map"/>
     </node>
     
     <!-- launching hri_fullbody (hri_fullbody) -->
@@ -100,30 +85,24 @@
         <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
     </node>
     
-    <!-- launching Speech synthesis (speechsynthesis) -->
-    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
-    </node>
-    
-    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
-    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
-        <remap from="groups" to="/humans/interactions/groups"/>
+    <!-- launching RGB head (rgbhead) -->
+    <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
     </node>
     
-    <!-- launching High-level planner (highlevelplanner) -->
-    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+    <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
+    <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
     </node>
     
-    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
-    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
-        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
-        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
-        <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
+    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
     </node>
     
-    <!-- launching F-formation (fformation) -->
-    <node pkg="fformation" name="fformation" type="node" output="screen">
-        <remap from="gaze" to="/humans/interactions/gaze"/>
-        <remap from="groups" to="/humans/interactions/groups"/>
+    <!-- launching Activity reco (activityreco) -->
+    <node pkg="activityreco" name="activityreco" type="node" output="screen">
     </node>
     
     <!-- launching Face detection (facedetection) -->
@@ -132,31 +111,35 @@
         <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
     </node>
     
-    <!-- launching Activity reco (activityreco) -->
-    <node pkg="activityreco" name="activityreco" type="node" output="screen">
+    <!-- launching Mask detection (maskdetection) -->
+    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+        <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
     </node>
     
-    <!-- launching User visual focus (uservisualfocus) -->
-    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
-        <remap from="gaze" to="/humans/interactions/gaze"/>
+    <!-- launching plan_actions (plan_actions) -->
+    <node pkg="plan_actions" name="plan_actions" type="node" output="screen">
     </node>
     
-    <!-- launching Soft biometrics (softbiometrics) -->
-    <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+    <!-- launching Person manager (personmanager) -->
+    <node pkg="personmanager" name="personmanager" type="node" output="screen">
         <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
+        <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
+        <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
+        <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
+        <remap from="body_id" to="/humans/persons/*/body_id"/>
     </node>
     
-    <!-- launching Scene understanding (sceneunderstanding) -->
-    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
-    </node>
-    
-    <!-- launching ROS openpose (rosopenpose) -->
-    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+        <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
     </node>
     
-    <!-- launching People 3D tracker (people3dtracker) -->
-    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+    <!-- launching User visual focus (uservisualfocus) -->
+    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+        <remap from="gaze" to="/humans/interactions/gaze"/>
     </node>
     
     <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
@@ -165,18 +148,33 @@
         <remap from="image_torso" to="/camera_torso/color/image_torso"/>
     </node>
     
-    <!-- launching Robot GUI (robotgui) -->
-    <node pkg="robotgui" name="robotgui" type="node" output="screen">
-        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
-    </node>
-    
     <!-- launching Semantic mapping (semanticmapping) -->
     <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
         <remap from="detected_objects" to="/detected_objects"/>
     </node>
     
-    <!-- launching Interaction manager (interactionmanager) -->
-    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+    <!-- launching Fisheye (fisheye) -->
+    <node pkg="fisheye" name="fisheye" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    </node>
+    
+    <!-- launching F-formation (fformation) -->
+    <node pkg="fformation" name="fformation" type="node" output="screen">
+        <remap from="gaze" to="/humans/interactions/gaze"/>
+        <remap from="groups" to="/humans/interactions/groups"/>
+    </node>
+    
+    <!-- launching respeaker_ros (respeaker_ros) -->
+    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+        <remap from="raw_audio" to="/audio/raw_audio"/>
+        <remap from="ego_audio" to="/audio/ego_audio"/>
+    </node>
+    
+    <!-- launching Body 2D pose (body2dpose) -->
+    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+        <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
     </node>
     
 
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_CVUT.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_CVUT.launch
index 7c811942139759e9e10573fe276f6e7b7703e3f2..80cbff0d6ab09f065ca0cb699a653f7de97150db 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all_but_CVUT.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all_but_CVUT.launch
@@ -1,91 +1,87 @@
 <launch>
     <!-- this launch file starts all SPRING nodes except for CVUT nodes. -->
 
-    <!-- launching RGB head (rgbhead) -->
-    <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    <!-- launching robot_behavior (robot_behavior) -->
+    <node pkg="robot_behavior" name="robot_behavior" type="node" output="screen">
+        <remap from="groups" to="/humans/interactions/groups"/>
     </node>
     
-    <!-- launching Speech diarization (speechdiarization) -->
-    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
-        <remap from="raw_audio" to="/audio/raw_audio"/>
-        <remap from="voice_audio_info" to="/humans/voices/TEST_ID_VOICE/audio_info"/>
+    <!-- launching Sound source localisation (soundsourcelocalisation) -->
+    <node pkg="soundsourcelocalisation" name="soundsourcelocalisation" type="node" output="screen">
         <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
     </node>
     
-    <!-- launching Person re-identification (personreidentification) -->
-    <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+    <!-- launching Robot functional layer (robotfunctionallayer) -->
+    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
     </node>
     
-    <!-- launching Mask detection (maskdetection) -->
-    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+    <!-- launching Voice speech matching (voicespeechmatching) -->
+    <node pkg="voicespeechmatching" name="voicespeechmatching" type="node" output="screen">
+        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+        <remap from="speech_streams" to="/audio/speech_streams"/>
+        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+    </node>
+    
+    <!-- launching Soft biometrics (softbiometrics) -->
+    <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
         <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
-        <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
+        <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
     </node>
     
-    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
-    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
-        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+    <!-- launching User attention estimation (userattentionestimation) -->
+    <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
     </node>
     
-    <!-- launching ORB SLAM (orbslam) -->
-    <node pkg="orbslam" name="orbslam" type="node" output="screen">
-        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
-        <remap from="map" to="/map"/>
+    <!-- launching Speech synthesis (speechsynthesis) -->
+    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
     </node>
     
-    <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
-    <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+    <!-- launching ROS openpose (rosopenpose) -->
+    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
     </node>
     
-    <!-- launching  hri_msgs (hri_msgs) -->
-    <node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
+    <!-- launching Robot GUI (robotgui) -->
+    <node pkg="robotgui" name="robotgui" type="node" output="screen">
+        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
     </node>
     
-    <!-- launching  spring_msgs (spring_msgs) -->
-    <node pkg="spring_msgs" name="spring_msgs" type="node" output="screen">
+    <!-- launching interaction_manager (interaction_manager) -->
+    <node pkg="interaction_manager" name="interaction_manager" type="node" output="screen">
     </node>
     
-    <!-- launching Robot functional layer (robotfunctionallayer) -->
-    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+    <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+    <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
     </node>
     
-    <!-- launching Person manager (personmanager) -->
-    <node pkg="personmanager" name="personmanager" type="node" output="screen">
-        <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
-        <remap from="person_body_id" to="/humans/persons/TEST_ID_PERSON/body_id"/>
-        <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
-        <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
-        <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
+    <!-- launching Scene understanding (sceneunderstanding) -->
+    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
     </node>
     
-    <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
-    <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
+    <!-- launching dialogue arbiter (dialoguearbiter) -->
+    <node pkg="dialoguearbiter" name="dialoguearbiter" type="node" output="screen">
+        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
     </node>
     
-    <!-- launching User attention estimation (userattentionestimation) -->
-    <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+    <!-- launching People 3D tracker (people3dtracker) -->
+    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
     </node>
     
-    <!-- launching respeaker_ros (respeaker_ros) -->
-    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
-        <remap from="raw_audio" to="/audio/raw_audio"/>
+    <!-- launching Speaker identification (speakeridentification) -->
+    <node pkg="speakeridentification" name="speakeridentification" type="node" output="screen">
+        <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
+        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
     </node>
     
-    <!-- launching Dialogue manager (dialoguemanager) -->
-    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
-        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+    <!-- launching Person re-identification (personreidentification) -->
+    <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
     </node>
     
-    <!-- launching Body 2D pose (body2dpose) -->
-    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
-        <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+    <!-- launching ORB SLAM (orbslam) -->
+    <node pkg="orbslam" name="orbslam" type="node" output="screen">
+        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+        <remap from="map" to="/map"/>
     </node>
     
     <!-- launching hri_fullbody (hri_fullbody) -->
@@ -96,35 +92,24 @@
         <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
     </node>
     
-    <!-- launching Speech synthesis (speechsynthesis) -->
-    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
-    </node>
-    
-    <!-- launching Sound localisation (soundlocalisation) -->
-    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
-        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
-    </node>
-    
-    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
-    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
-        <remap from="groups" to="/humans/interactions/groups"/>
+    <!-- launching RGB head (rgbhead) -->
+    <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
     </node>
     
-    <!-- launching High-level planner (highlevelplanner) -->
-    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+    <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
+    <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
     </node>
     
-    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
-    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
-        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
-        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
-        <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
+    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
     </node>
     
-    <!-- launching F-formation (fformation) -->
-    <node pkg="fformation" name="fformation" type="node" output="screen">
-        <remap from="gaze" to="/humans/interactions/gaze"/>
-        <remap from="groups" to="/humans/interactions/groups"/>
+    <!-- launching Activity reco (activityreco) -->
+    <node pkg="activityreco" name="activityreco" type="node" output="screen">
     </node>
     
     <!-- launching Face detection (facedetection) -->
@@ -133,51 +118,70 @@
         <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
     </node>
     
-    <!-- launching Activity reco (activityreco) -->
-    <node pkg="activityreco" name="activityreco" type="node" output="screen">
+    <!-- launching Mask detection (maskdetection) -->
+    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+        <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
     </node>
     
-    <!-- launching User visual focus (uservisualfocus) -->
-    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
-        <remap from="gaze" to="/humans/interactions/gaze"/>
+    <!-- launching plan_actions (plan_actions) -->
+    <node pkg="plan_actions" name="plan_actions" type="node" output="screen">
     </node>
     
-    <!-- launching Soft biometrics (softbiometrics) -->
-    <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+    <!-- launching Person manager (personmanager) -->
+    <node pkg="personmanager" name="personmanager" type="node" output="screen">
         <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
+        <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
+        <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
+        <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
+        <remap from="body_id" to="/humans/persons/*/body_id"/>
     </node>
     
-    <!-- launching Scene understanding (sceneunderstanding) -->
-    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+        <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
     </node>
     
-    <!-- launching ROS openpose (rosopenpose) -->
-    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+    <!-- launching User visual focus (uservisualfocus) -->
+    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+        <remap from="gaze" to="/humans/interactions/gaze"/>
     </node>
     
-    <!-- launching ASR (asr) -->
-    <node pkg="asr" name="asr" type="node" output="screen">
-        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
-        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+    <!-- launching Speech analysis (speechanalysis) -->
+    <node pkg="speechanalysis" name="speechanalysis" type="node" output="screen">
+        <remap from="raw_audio" to="/audio/raw_audio"/>
+        <remap from="ego_audio" to="/audio/ego_audio"/>
     </node>
     
-    <!-- launching People 3D tracker (people3dtracker) -->
-    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+    <!-- launching Fisheye (fisheye) -->
+    <node pkg="fisheye" name="fisheye" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
     </node>
     
-    <!-- launching Robot GUI (robotgui) -->
-    <node pkg="robotgui" name="robotgui" type="node" output="screen">
-        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+    <!-- launching F-formation (fformation) -->
+    <node pkg="fformation" name="fformation" type="node" output="screen">
+        <remap from="gaze" to="/humans/interactions/gaze"/>
+        <remap from="groups" to="/humans/interactions/groups"/>
     </node>
     
-    <!-- launching Speaker recognition (speakerrecognition) -->
-    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
-        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+    <!-- launching respeaker_ros (respeaker_ros) -->
+    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+        <remap from="raw_audio" to="/audio/raw_audio"/>
+        <remap from="ego_audio" to="/audio/ego_audio"/>
+    </node>
+    
+    <!-- launching ASR (asr) -->
+    <node pkg="asr" name="asr" type="node" output="screen">
+        <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
     </node>
     
-    <!-- launching Interaction manager (interactionmanager) -->
-    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+    <!-- launching Body 2D pose (body2dpose) -->
+    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+        <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
     </node>
     
 
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_ERM.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_ERM.launch
index 6d4b5193047235ef3898dead3b26cacc797948c0..7c29a56d97a6043e2b3e44feac524f428a8f3fe4 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all_but_ERM.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all_but_ERM.launch
@@ -1,102 +1,93 @@
 <launch>
     <!-- this launch file starts all SPRING nodes except for ERM nodes. -->
 
-    <!-- launching RGB head (rgbhead) -->
-    <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    <!-- launching robot_behavior (robot_behavior) -->
+    <node pkg="robot_behavior" name="robot_behavior" type="node" output="screen">
+        <remap from="groups" to="/humans/interactions/groups"/>
     </node>
     
-    <!-- launching Speech diarization (speechdiarization) -->
-    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
-        <remap from="raw_audio" to="/audio/raw_audio"/>
-        <remap from="voice_audio_info" to="/humans/voices/TEST_ID_VOICE/audio_info"/>
+    <!-- launching Sound source localisation (soundsourcelocalisation) -->
+    <node pkg="soundsourcelocalisation" name="soundsourcelocalisation" type="node" output="screen">
         <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
     </node>
     
-    <!-- launching Person re-identification (personreidentification) -->
-    <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
-    </node>
-    
-    <!-- launching Mask detection (maskdetection) -->
-    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
-        <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
-    </node>
-    
-    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
-    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
-        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+    <!-- launching Robot functional layer (robotfunctionallayer) -->
+    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
     </node>
     
-    <!-- launching ORB SLAM (orbslam) -->
-    <node pkg="orbslam" name="orbslam" type="node" output="screen">
-        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
-        <remap from="map" to="/map"/>
+    <!-- launching Voice speech matching (voicespeechmatching) -->
+    <node pkg="voicespeechmatching" name="voicespeechmatching" type="node" output="screen">
+        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+        <remap from="speech_streams" to="/audio/speech_streams"/>
+        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
     </node>
     
-    <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
-    <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="detected_objects" to="/detected_objects"/>
+    <!-- launching Soft biometrics (softbiometrics) -->
+    <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+        <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
     </node>
     
-    <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
-    <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+    <!-- launching User attention estimation (userattentionestimation) -->
+    <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
     </node>
     
-    <!-- launching  hri_msgs (hri_msgs) -->
-    <node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
+    <!-- launching Speech synthesis (speechsynthesis) -->
+    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
     </node>
     
-    <!-- launching  spring_msgs (spring_msgs) -->
-    <node pkg="spring_msgs" name="spring_msgs" type="node" output="screen">
+    <!-- launching ROS openpose (rosopenpose) -->
+    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
     </node>
     
-    <!-- launching Robot functional layer (robotfunctionallayer) -->
-    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+    <!-- launching interaction_manager (interaction_manager) -->
+    <node pkg="interaction_manager" name="interaction_manager" type="node" output="screen">
     </node>
     
-    <!-- launching Person manager (personmanager) -->
-    <node pkg="personmanager" name="personmanager" type="node" output="screen">
-        <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
-        <remap from="person_body_id" to="/humans/persons/TEST_ID_PERSON/body_id"/>
-        <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
-        <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
-        <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
+    <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+    <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="detected_objects" to="/detected_objects"/>
     </node>
     
     <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
     <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
     </node>
     
+    <!-- launching Scene understanding (sceneunderstanding) -->
+    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+    </node>
+    
     <!-- launching Occupancy map (occupancymap) -->
     <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
         <remap from="map_refined" to="/map_refined"/>
     </node>
     
-    <!-- launching User attention estimation (userattentionestimation) -->
-    <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+    <!-- launching dialogue arbiter (dialoguearbiter) -->
+    <node pkg="dialoguearbiter" name="dialoguearbiter" type="node" output="screen">
+        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
     </node>
     
-    <!-- launching respeaker_ros (respeaker_ros) -->
-    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
-        <remap from="raw_audio" to="/audio/raw_audio"/>
+    <!-- launching People 3D tracker (people3dtracker) -->
+    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
     </node>
     
-    <!-- launching Dialogue manager (dialoguemanager) -->
-    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
-        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+    <!-- launching Speaker identification (speakeridentification) -->
+    <node pkg="speakeridentification" name="speakeridentification" type="node" output="screen">
+        <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
+        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
     </node>
     
-    <!-- launching Body 2D pose (body2dpose) -->
-    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
-        <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+    <!-- launching Person re-identification (personreidentification) -->
+    <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+    </node>
+    
+    <!-- launching ORB SLAM (orbslam) -->
+    <node pkg="orbslam" name="orbslam" type="node" output="screen">
+        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+        <remap from="map" to="/map"/>
     </node>
     
     <!-- launching hri_fullbody (hri_fullbody) -->
@@ -107,35 +98,24 @@
         <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
     </node>
     
-    <!-- launching Speech synthesis (speechsynthesis) -->
-    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
-    </node>
-    
-    <!-- launching Sound localisation (soundlocalisation) -->
-    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
-        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
-    </node>
-    
-    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
-    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
-        <remap from="groups" to="/humans/interactions/groups"/>
+    <!-- launching RGB head (rgbhead) -->
+    <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
     </node>
     
-    <!-- launching High-level planner (highlevelplanner) -->
-    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+    <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
+    <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
     </node>
     
-    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
-    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
-        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
-        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
-        <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
+    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
     </node>
     
-    <!-- launching F-formation (fformation) -->
-    <node pkg="fformation" name="fformation" type="node" output="screen">
-        <remap from="gaze" to="/humans/interactions/gaze"/>
-        <remap from="groups" to="/humans/interactions/groups"/>
+    <!-- launching Activity reco (activityreco) -->
+    <node pkg="activityreco" name="activityreco" type="node" output="screen">
     </node>
     
     <!-- launching Face detection (facedetection) -->
@@ -144,37 +124,41 @@
         <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
     </node>
     
-    <!-- launching Activity reco (activityreco) -->
-    <node pkg="activityreco" name="activityreco" type="node" output="screen">
+    <!-- launching Mask detection (maskdetection) -->
+    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+        <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
     </node>
     
-    <!-- launching User visual focus (uservisualfocus) -->
-    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
-        <remap from="gaze" to="/humans/interactions/gaze"/>
+    <!-- launching plan_actions (plan_actions) -->
+    <node pkg="plan_actions" name="plan_actions" type="node" output="screen">
     </node>
     
-    <!-- launching Soft biometrics (softbiometrics) -->
-    <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+    <!-- launching Person manager (personmanager) -->
+    <node pkg="personmanager" name="personmanager" type="node" output="screen">
         <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
+        <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
+        <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
+        <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
+        <remap from="body_id" to="/humans/persons/*/body_id"/>
     </node>
     
-    <!-- launching Scene understanding (sceneunderstanding) -->
-    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
-    </node>
-    
-    <!-- launching ROS openpose (rosopenpose) -->
-    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+        <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
     </node>
     
-    <!-- launching ASR (asr) -->
-    <node pkg="asr" name="asr" type="node" output="screen">
-        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
-        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+    <!-- launching User visual focus (uservisualfocus) -->
+    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+        <remap from="gaze" to="/humans/interactions/gaze"/>
     </node>
     
-    <!-- launching People 3D tracker (people3dtracker) -->
-    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+    <!-- launching Speech analysis (speechanalysis) -->
+    <node pkg="speechanalysis" name="speechanalysis" type="node" output="screen">
+        <remap from="raw_audio" to="/audio/raw_audio"/>
+        <remap from="ego_audio" to="/audio/ego_audio"/>
     </node>
     
     <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
@@ -183,18 +167,38 @@
         <remap from="image_torso" to="/camera_torso/color/image_torso"/>
     </node>
     
-    <!-- launching Speaker recognition (speakerrecognition) -->
-    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
-        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
-    </node>
-    
     <!-- launching Semantic mapping (semanticmapping) -->
     <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
         <remap from="detected_objects" to="/detected_objects"/>
     </node>
     
-    <!-- launching Interaction manager (interactionmanager) -->
-    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+    <!-- launching Fisheye (fisheye) -->
+    <node pkg="fisheye" name="fisheye" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    </node>
+    
+    <!-- launching F-formation (fformation) -->
+    <node pkg="fformation" name="fformation" type="node" output="screen">
+        <remap from="gaze" to="/humans/interactions/gaze"/>
+        <remap from="groups" to="/humans/interactions/groups"/>
+    </node>
+    
+    <!-- launching respeaker_ros (respeaker_ros) -->
+    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+        <remap from="raw_audio" to="/audio/raw_audio"/>
+        <remap from="ego_audio" to="/audio/ego_audio"/>
+    </node>
+    
+    <!-- launching ASR (asr) -->
+    <node pkg="asr" name="asr" type="node" output="screen">
+        <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
+    </node>
+    
+    <!-- launching Body 2D pose (body2dpose) -->
+    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+        <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
     </node>
     
 
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_HWU.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_HWU.launch
index 26d80d8592d90dc693f3a675ad9ebfa315b1fec9..5cfdcc642fbf89dfd97e470b6b10bd0d1f4e8ec6 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all_but_HWU.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all_but_HWU.launch
@@ -1,71 +1,55 @@
 <launch>
     <!-- this launch file starts all SPRING nodes except for HWU nodes. -->
 
-    <!-- launching RGB head (rgbhead) -->
-    <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    <!-- launching robot_behavior (robot_behavior) -->
+    <node pkg="robot_behavior" name="robot_behavior" type="node" output="screen">
+        <remap from="groups" to="/humans/interactions/groups"/>
     </node>
     
-    <!-- launching Speech diarization (speechdiarization) -->
-    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
-        <remap from="raw_audio" to="/audio/raw_audio"/>
-        <remap from="voice_audio_info" to="/humans/voices/TEST_ID_VOICE/audio_info"/>
+    <!-- launching Sound source localisation (soundsourcelocalisation) -->
+    <node pkg="soundsourcelocalisation" name="soundsourcelocalisation" type="node" output="screen">
         <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
     </node>
     
-    <!-- launching Person re-identification (personreidentification) -->
-    <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
-    </node>
-    
-    <!-- launching Mask detection (maskdetection) -->
-    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
-        <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
-    </node>
-    
-    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
-    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
-        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+    <!-- launching Robot functional layer (robotfunctionallayer) -->
+    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
     </node>
     
-    <!-- launching ORB SLAM (orbslam) -->
-    <node pkg="orbslam" name="orbslam" type="node" output="screen">
-        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
-        <remap from="map" to="/map"/>
+    <!-- launching Voice speech matching (voicespeechmatching) -->
+    <node pkg="voicespeechmatching" name="voicespeechmatching" type="node" output="screen">
+        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+        <remap from="speech_streams" to="/audio/speech_streams"/>
+        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
     </node>
     
-    <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
-    <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="detected_objects" to="/detected_objects"/>
+    <!-- launching Soft biometrics (softbiometrics) -->
+    <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+        <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
     </node>
     
-    <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
-    <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+    <!-- launching User attention estimation (userattentionestimation) -->
+    <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
     </node>
     
-    <!-- launching  hri_msgs (hri_msgs) -->
-    <node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
+    <!-- launching Speech synthesis (speechsynthesis) -->
+    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
     </node>
     
-    <!-- launching  spring_msgs (spring_msgs) -->
-    <node pkg="spring_msgs" name="spring_msgs" type="node" output="screen">
+    <!-- launching ROS openpose (rosopenpose) -->
+    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
     </node>
     
-    <!-- launching Robot functional layer (robotfunctionallayer) -->
-    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+    <!-- launching Robot GUI (robotgui) -->
+    <node pkg="robotgui" name="robotgui" type="node" output="screen">
+        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
     </node>
     
-    <!-- launching Person manager (personmanager) -->
-    <node pkg="personmanager" name="personmanager" type="node" output="screen">
-        <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
-        <remap from="person_body_id" to="/humans/persons/TEST_ID_PERSON/body_id"/>
-        <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
-        <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
-        <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
+    <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+    <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="detected_objects" to="/detected_objects"/>
     </node>
     
     <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
@@ -77,21 +61,25 @@
         <remap from="map_refined" to="/map_refined"/>
     </node>
     
-    <!-- launching User attention estimation (userattentionestimation) -->
-    <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+    <!-- launching People 3D tracker (people3dtracker) -->
+    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
     </node>
     
-    <!-- launching respeaker_ros (respeaker_ros) -->
-    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
-        <remap from="raw_audio" to="/audio/raw_audio"/>
+    <!-- launching Speaker identification (speakeridentification) -->
+    <node pkg="speakeridentification" name="speakeridentification" type="node" output="screen">
+        <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
+        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
     </node>
     
-    <!-- launching Body 2D pose (body2dpose) -->
-    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
-        <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+    <!-- launching Person re-identification (personreidentification) -->
+    <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+    </node>
+    
+    <!-- launching ORB SLAM (orbslam) -->
+    <node pkg="orbslam" name="orbslam" type="node" output="screen">
+        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+        <remap from="map" to="/map"/>
     </node>
     
     <!-- launching hri_fullbody (hri_fullbody) -->
@@ -102,31 +90,24 @@
         <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
     </node>
     
-    <!-- launching Speech synthesis (speechsynthesis) -->
-    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
-    </node>
-    
-    <!-- launching Sound localisation (soundlocalisation) -->
-    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
-        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+    <!-- launching RGB head (rgbhead) -->
+    <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
     </node>
     
-    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
-    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
-        <remap from="groups" to="/humans/interactions/groups"/>
+    <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
+    <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
     </node>
     
-    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
-    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
-        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
-        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
-        <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
+    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
     </node>
     
-    <!-- launching F-formation (fformation) -->
-    <node pkg="fformation" name="fformation" type="node" output="screen">
-        <remap from="gaze" to="/humans/interactions/gaze"/>
-        <remap from="groups" to="/humans/interactions/groups"/>
+    <!-- launching Activity reco (activityreco) -->
+    <node pkg="activityreco" name="activityreco" type="node" output="screen">
     </node>
     
     <!-- launching Face detection (facedetection) -->
@@ -135,33 +116,37 @@
         <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
     </node>
     
-    <!-- launching Activity reco (activityreco) -->
-    <node pkg="activityreco" name="activityreco" type="node" output="screen">
-    </node>
-    
-    <!-- launching User visual focus (uservisualfocus) -->
-    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
-        <remap from="gaze" to="/humans/interactions/gaze"/>
+    <!-- launching Mask detection (maskdetection) -->
+    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+        <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
     </node>
     
-    <!-- launching Soft biometrics (softbiometrics) -->
-    <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+    <!-- launching Person manager (personmanager) -->
+    <node pkg="personmanager" name="personmanager" type="node" output="screen">
         <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
+        <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
+        <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
+        <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
+        <remap from="body_id" to="/humans/persons/*/body_id"/>
     </node>
     
-    <!-- launching ROS openpose (rosopenpose) -->
-    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+        <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
     </node>
     
-    <!-- launching ASR (asr) -->
-    <node pkg="asr" name="asr" type="node" output="screen">
-        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
-        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+    <!-- launching User visual focus (uservisualfocus) -->
+    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+        <remap from="gaze" to="/humans/interactions/gaze"/>
     </node>
     
-    <!-- launching People 3D tracker (people3dtracker) -->
-    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+    <!-- launching Speech analysis (speechanalysis) -->
+    <node pkg="speechanalysis" name="speechanalysis" type="node" output="screen">
+        <remap from="raw_audio" to="/audio/raw_audio"/>
+        <remap from="ego_audio" to="/audio/ego_audio"/>
     </node>
     
     <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
@@ -170,19 +155,38 @@
         <remap from="image_torso" to="/camera_torso/color/image_torso"/>
     </node>
     
-    <!-- launching Robot GUI (robotgui) -->
-    <node pkg="robotgui" name="robotgui" type="node" output="screen">
-        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+    <!-- launching Semantic mapping (semanticmapping) -->
+    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+        <remap from="detected_objects" to="/detected_objects"/>
     </node>
     
-    <!-- launching Speaker recognition (speakerrecognition) -->
-    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
-        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+    <!-- launching Fisheye (fisheye) -->
+    <node pkg="fisheye" name="fisheye" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
     </node>
     
-    <!-- launching Semantic mapping (semanticmapping) -->
-    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
-        <remap from="detected_objects" to="/detected_objects"/>
+    <!-- launching F-formation (fformation) -->
+    <node pkg="fformation" name="fformation" type="node" output="screen">
+        <remap from="gaze" to="/humans/interactions/gaze"/>
+        <remap from="groups" to="/humans/interactions/groups"/>
+    </node>
+    
+    <!-- launching respeaker_ros (respeaker_ros) -->
+    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+        <remap from="raw_audio" to="/audio/raw_audio"/>
+        <remap from="ego_audio" to="/audio/ego_audio"/>
+    </node>
+    
+    <!-- launching ASR (asr) -->
+    <node pkg="asr" name="asr" type="node" output="screen">
+        <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
+    </node>
+    
+    <!-- launching Body 2D pose (body2dpose) -->
+    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+        <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
     </node>
     
 
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_INRIA.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_INRIA.launch
index 8f48e164f3e75bc82a8aa0a9804dd1a3d7e79f14..3e653b37f3ba38d90daa0659ae84093219791790 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all_but_INRIA.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all_but_INRIA.launch
@@ -1,38 +1,44 @@
 <launch>
     <!-- this launch file starts all SPRING nodes except for INRIA nodes. -->
 
-    <!-- launching RGB head (rgbhead) -->
-    <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    <!-- launching Sound source localisation (soundsourcelocalisation) -->
+    <node pkg="soundsourcelocalisation" name="soundsourcelocalisation" type="node" output="screen">
+        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
     </node>
     
-    <!-- launching Speech diarization (speechdiarization) -->
-    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
-        <remap from="raw_audio" to="/audio/raw_audio"/>
-        <remap from="voice_audio_info" to="/humans/voices/TEST_ID_VOICE/audio_info"/>
+    <!-- launching Robot functional layer (robotfunctionallayer) -->
+    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+    </node>
+    
+    <!-- launching Voice speech matching (voicespeechmatching) -->
+    <node pkg="voicespeechmatching" name="voicespeechmatching" type="node" output="screen">
         <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+        <remap from="speech_streams" to="/audio/speech_streams"/>
+        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
     </node>
     
-    <!-- launching Person re-identification (personreidentification) -->
-    <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
+    <!-- launching Soft biometrics (softbiometrics) -->
+    <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
         <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+        <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
     </node>
     
-    <!-- launching Mask detection (maskdetection) -->
-    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+    <!-- launching User attention estimation (userattentionestimation) -->
+    <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
         <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
-        <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
     </node>
     
-    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
-    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
-        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+    <!-- launching Speech synthesis (speechsynthesis) -->
+    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
     </node>
     
-    <!-- launching ORB SLAM (orbslam) -->
-    <node pkg="orbslam" name="orbslam" type="node" output="screen">
-        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
-        <remap from="map" to="/map"/>
+    <!-- launching Robot GUI (robotgui) -->
+    <node pkg="robotgui" name="robotgui" type="node" output="screen">
+        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+    </node>
+    
+    <!-- launching interaction_manager (interaction_manager) -->
+    <node pkg="interaction_manager" name="interaction_manager" type="node" output="screen">
     </node>
     
     <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
@@ -41,47 +47,39 @@
         <remap from="detected_objects" to="/detected_objects"/>
     </node>
     
-    <!-- launching  hri_msgs (hri_msgs) -->
-    <node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
-    </node>
-    
-    <!-- launching  spring_msgs (spring_msgs) -->
-    <node pkg="spring_msgs" name="spring_msgs" type="node" output="screen">
-    </node>
-    
-    <!-- launching Robot functional layer (robotfunctionallayer) -->
-    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
-    </node>
-    
     <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
     <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
     </node>
     
+    <!-- launching Scene understanding (sceneunderstanding) -->
+    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+    </node>
+    
     <!-- launching Occupancy map (occupancymap) -->
     <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
         <remap from="map_refined" to="/map_refined"/>
     </node>
     
-    <!-- launching User attention estimation (userattentionestimation) -->
-    <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+    <!-- launching dialogue arbiter (dialoguearbiter) -->
+    <node pkg="dialoguearbiter" name="dialoguearbiter" type="node" output="screen">
+        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
     </node>
     
-    <!-- launching respeaker_ros (respeaker_ros) -->
-    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
-        <remap from="raw_audio" to="/audio/raw_audio"/>
+    <!-- launching Speaker identification (speakeridentification) -->
+    <node pkg="speakeridentification" name="speakeridentification" type="node" output="screen">
+        <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
+        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
     </node>
     
-    <!-- launching Dialogue manager (dialoguemanager) -->
-    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
-        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+    <!-- launching Person re-identification (personreidentification) -->
+    <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
     </node>
     
-    <!-- launching Body 2D pose (body2dpose) -->
-    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
-        <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+    <!-- launching ORB SLAM (orbslam) -->
+    <node pkg="orbslam" name="orbslam" type="node" output="screen">
+        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+        <remap from="map" to="/map"/>
     </node>
     
     <!-- launching hri_fullbody (hri_fullbody) -->
@@ -92,30 +90,18 @@
         <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
     </node>
     
-    <!-- launching Speech synthesis (speechsynthesis) -->
-    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
-    </node>
-    
-    <!-- launching Sound localisation (soundlocalisation) -->
-    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
-        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
-    </node>
-    
-    <!-- launching High-level planner (highlevelplanner) -->
-    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+    <!-- launching RGB head (rgbhead) -->
+    <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
     </node>
     
-    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
-    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
-        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
-        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
-        <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
+    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
     </node>
     
-    <!-- launching F-formation (fformation) -->
-    <node pkg="fformation" name="fformation" type="node" output="screen">
-        <remap from="gaze" to="/humans/interactions/gaze"/>
-        <remap from="groups" to="/humans/interactions/groups"/>
+    <!-- launching Activity reco (activityreco) -->
+    <node pkg="activityreco" name="activityreco" type="node" output="screen">
     </node>
     
     <!-- launching Face detection (facedetection) -->
@@ -124,29 +110,32 @@
         <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
     </node>
     
-    <!-- launching Activity reco (activityreco) -->
-    <node pkg="activityreco" name="activityreco" type="node" output="screen">
+    <!-- launching Mask detection (maskdetection) -->
+    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+        <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
     </node>
     
-    <!-- launching User visual focus (uservisualfocus) -->
-    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
-        <remap from="gaze" to="/humans/interactions/gaze"/>
+    <!-- launching plan_actions (plan_actions) -->
+    <node pkg="plan_actions" name="plan_actions" type="node" output="screen">
     </node>
     
-    <!-- launching Soft biometrics (softbiometrics) -->
-    <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
+    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
         <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
-        <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
+        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+        <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
     </node>
     
-    <!-- launching Scene understanding (sceneunderstanding) -->
-    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+    <!-- launching User visual focus (uservisualfocus) -->
+    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+        <remap from="gaze" to="/humans/interactions/gaze"/>
     </node>
     
-    <!-- launching ASR (asr) -->
-    <node pkg="asr" name="asr" type="node" output="screen">
-        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
-        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+    <!-- launching Speech analysis (speechanalysis) -->
+    <node pkg="speechanalysis" name="speechanalysis" type="node" output="screen">
+        <remap from="raw_audio" to="/audio/raw_audio"/>
+        <remap from="ego_audio" to="/audio/ego_audio"/>
     </node>
     
     <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
@@ -155,23 +144,38 @@
         <remap from="image_torso" to="/camera_torso/color/image_torso"/>
     </node>
     
-    <!-- launching Robot GUI (robotgui) -->
-    <node pkg="robotgui" name="robotgui" type="node" output="screen">
-        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+    <!-- launching Semantic mapping (semanticmapping) -->
+    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+        <remap from="detected_objects" to="/detected_objects"/>
     </node>
     
-    <!-- launching Speaker recognition (speakerrecognition) -->
-    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
-        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+    <!-- launching Fisheye (fisheye) -->
+    <node pkg="fisheye" name="fisheye" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
     </node>
     
-    <!-- launching Semantic mapping (semanticmapping) -->
-    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
-        <remap from="detected_objects" to="/detected_objects"/>
+    <!-- launching F-formation (fformation) -->
+    <node pkg="fformation" name="fformation" type="node" output="screen">
+        <remap from="gaze" to="/humans/interactions/gaze"/>
+        <remap from="groups" to="/humans/interactions/groups"/>
+    </node>
+    
+    <!-- launching respeaker_ros (respeaker_ros) -->
+    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+        <remap from="raw_audio" to="/audio/raw_audio"/>
+        <remap from="ego_audio" to="/audio/ego_audio"/>
     </node>
     
-    <!-- launching Interaction manager (interactionmanager) -->
-    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+    <!-- launching ASR (asr) -->
+    <node pkg="asr" name="asr" type="node" output="screen">
+        <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
+    </node>
+    
+    <!-- launching Body 2D pose (body2dpose) -->
+    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+        <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
     </node>
     
 
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_Other.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_Other.launch
index 61a9dc25007ad4209e2b2ec4d56adec6b25a6691..e761a51125ba8797e9ffe40337001fe5a3f54e9d 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all_but_Other.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all_but_Other.launch
@@ -1,94 +1,98 @@
 <launch>
     <!-- this launch file starts all SPRING nodes except for Other nodes. -->
 
-    <!-- launching RGB head (rgbhead) -->
-    <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    <!-- launching robot_behavior (robot_behavior) -->
+    <node pkg="robot_behavior" name="robot_behavior" type="node" output="screen">
+        <remap from="groups" to="/humans/interactions/groups"/>
     </node>
     
-    <!-- launching Speech diarization (speechdiarization) -->
-    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
-        <remap from="raw_audio" to="/audio/raw_audio"/>
-        <remap from="voice_audio_info" to="/humans/voices/TEST_ID_VOICE/audio_info"/>
+    <!-- launching Sound source localisation (soundsourcelocalisation) -->
+    <node pkg="soundsourcelocalisation" name="soundsourcelocalisation" type="node" output="screen">
         <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
     </node>
     
-    <!-- launching Person re-identification (personreidentification) -->
-    <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+    <!-- launching Robot functional layer (robotfunctionallayer) -->
+    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
     </node>
     
-    <!-- launching Mask detection (maskdetection) -->
-    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+    <!-- launching Voice speech matching (voicespeechmatching) -->
+    <node pkg="voicespeechmatching" name="voicespeechmatching" type="node" output="screen">
+        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+        <remap from="speech_streams" to="/audio/speech_streams"/>
+        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+    </node>
+    
+    <!-- launching Soft biometrics (softbiometrics) -->
+    <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
         <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
-        <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
+        <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
     </node>
     
-    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
-    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
-        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+    <!-- launching User attention estimation (userattentionestimation) -->
+    <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
     </node>
     
-    <!-- launching ORB SLAM (orbslam) -->
-    <node pkg="orbslam" name="orbslam" type="node" output="screen">
-        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
-        <remap from="map" to="/map"/>
+    <!-- launching Speech synthesis (speechsynthesis) -->
+    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
     </node>
     
-    <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
-    <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="detected_objects" to="/detected_objects"/>
+    <!-- launching ROS openpose (rosopenpose) -->
+    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
     </node>
     
-    <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
-    <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+    <!-- launching Robot GUI (robotgui) -->
+    <node pkg="robotgui" name="robotgui" type="node" output="screen">
+        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
     </node>
     
-    <!-- launching Robot functional layer (robotfunctionallayer) -->
-    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+    <!-- launching interaction_manager (interaction_manager) -->
+    <node pkg="interaction_manager" name="interaction_manager" type="node" output="screen">
     </node>
     
-    <!-- launching Person manager (personmanager) -->
-    <node pkg="personmanager" name="personmanager" type="node" output="screen">
-        <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
-        <remap from="person_body_id" to="/humans/persons/TEST_ID_PERSON/body_id"/>
-        <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
-        <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
-        <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
+    <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+    <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="detected_objects" to="/detected_objects"/>
     </node>
     
     <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
     <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
     </node>
     
+    <!-- launching Scene understanding (sceneunderstanding) -->
+    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+    </node>
+    
     <!-- launching Occupancy map (occupancymap) -->
     <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
         <remap from="map_refined" to="/map_refined"/>
     </node>
     
-    <!-- launching User attention estimation (userattentionestimation) -->
-    <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+    <!-- launching dialogue arbiter (dialoguearbiter) -->
+    <node pkg="dialoguearbiter" name="dialoguearbiter" type="node" output="screen">
+        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
     </node>
     
-    <!-- launching respeaker_ros (respeaker_ros) -->
-    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
-        <remap from="raw_audio" to="/audio/raw_audio"/>
+    <!-- launching People 3D tracker (people3dtracker) -->
+    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
     </node>
     
-    <!-- launching Dialogue manager (dialoguemanager) -->
-    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
-        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+    <!-- launching Speaker identification (speakeridentification) -->
+    <node pkg="speakeridentification" name="speakeridentification" type="node" output="screen">
+        <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
+        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
     </node>
     
-    <!-- launching Body 2D pose (body2dpose) -->
-    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
-        <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+    <!-- launching Person re-identification (personreidentification) -->
+    <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+    </node>
+    
+    <!-- launching ORB SLAM (orbslam) -->
+    <node pkg="orbslam" name="orbslam" type="node" output="screen">
+        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+        <remap from="map" to="/map"/>
     </node>
     
     <!-- launching hri_fullbody (hri_fullbody) -->
@@ -99,35 +103,24 @@
         <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
     </node>
     
-    <!-- launching Speech synthesis (speechsynthesis) -->
-    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
-    </node>
-    
-    <!-- launching Sound localisation (soundlocalisation) -->
-    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
-        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
-    </node>
-    
-    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
-    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
-        <remap from="groups" to="/humans/interactions/groups"/>
+    <!-- launching RGB head (rgbhead) -->
+    <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
     </node>
     
-    <!-- launching High-level planner (highlevelplanner) -->
-    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+    <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
+    <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
     </node>
     
-    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
-    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
-        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
-        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
-        <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
+    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
     </node>
     
-    <!-- launching F-formation (fformation) -->
-    <node pkg="fformation" name="fformation" type="node" output="screen">
-        <remap from="gaze" to="/humans/interactions/gaze"/>
-        <remap from="groups" to="/humans/interactions/groups"/>
+    <!-- launching Activity reco (activityreco) -->
+    <node pkg="activityreco" name="activityreco" type="node" output="screen">
     </node>
     
     <!-- launching Face detection (facedetection) -->
@@ -136,37 +129,41 @@
         <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
     </node>
     
-    <!-- launching Activity reco (activityreco) -->
-    <node pkg="activityreco" name="activityreco" type="node" output="screen">
+    <!-- launching Mask detection (maskdetection) -->
+    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+        <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
     </node>
     
-    <!-- launching User visual focus (uservisualfocus) -->
-    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
-        <remap from="gaze" to="/humans/interactions/gaze"/>
+    <!-- launching plan_actions (plan_actions) -->
+    <node pkg="plan_actions" name="plan_actions" type="node" output="screen">
     </node>
     
-    <!-- launching Soft biometrics (softbiometrics) -->
-    <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+    <!-- launching Person manager (personmanager) -->
+    <node pkg="personmanager" name="personmanager" type="node" output="screen">
         <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
+        <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
+        <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
+        <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
+        <remap from="body_id" to="/humans/persons/*/body_id"/>
     </node>
     
-    <!-- launching Scene understanding (sceneunderstanding) -->
-    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
-    </node>
-    
-    <!-- launching ROS openpose (rosopenpose) -->
-    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+        <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
     </node>
     
-    <!-- launching ASR (asr) -->
-    <node pkg="asr" name="asr" type="node" output="screen">
-        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
-        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+    <!-- launching User visual focus (uservisualfocus) -->
+    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+        <remap from="gaze" to="/humans/interactions/gaze"/>
     </node>
     
-    <!-- launching People 3D tracker (people3dtracker) -->
-    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+    <!-- launching Speech analysis (speechanalysis) -->
+    <node pkg="speechanalysis" name="speechanalysis" type="node" output="screen">
+        <remap from="raw_audio" to="/audio/raw_audio"/>
+        <remap from="ego_audio" to="/audio/ego_audio"/>
     </node>
     
     <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
@@ -175,23 +172,38 @@
         <remap from="image_torso" to="/camera_torso/color/image_torso"/>
     </node>
     
-    <!-- launching Robot GUI (robotgui) -->
-    <node pkg="robotgui" name="robotgui" type="node" output="screen">
-        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+    <!-- launching Semantic mapping (semanticmapping) -->
+    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+        <remap from="detected_objects" to="/detected_objects"/>
     </node>
     
-    <!-- launching Speaker recognition (speakerrecognition) -->
-    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
-        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+    <!-- launching Fisheye (fisheye) -->
+    <node pkg="fisheye" name="fisheye" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
     </node>
     
-    <!-- launching Semantic mapping (semanticmapping) -->
-    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
-        <remap from="detected_objects" to="/detected_objects"/>
+    <!-- launching F-formation (fformation) -->
+    <node pkg="fformation" name="fformation" type="node" output="screen">
+        <remap from="gaze" to="/humans/interactions/gaze"/>
+        <remap from="groups" to="/humans/interactions/groups"/>
+    </node>
+    
+    <!-- launching respeaker_ros (respeaker_ros) -->
+    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+        <remap from="raw_audio" to="/audio/raw_audio"/>
+        <remap from="ego_audio" to="/audio/ego_audio"/>
+    </node>
+    
+    <!-- launching ASR (asr) -->
+    <node pkg="asr" name="asr" type="node" output="screen">
+        <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
     </node>
     
-    <!-- launching Interaction manager (interactionmanager) -->
-    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+    <!-- launching Body 2D pose (body2dpose) -->
+    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+        <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
     </node>
     
 
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_PAL.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_PAL.launch
index 551bdcd4ac57d66c9935eb33000655e6d1d642da..62b0e72ff4e2803924dfa7b91a7c8c6073a0654e 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all_but_PAL.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all_but_PAL.launch
@@ -1,104 +1,94 @@
 <launch>
     <!-- this launch file starts all SPRING nodes except for PAL nodes. -->
 
-    <!-- launching Speech diarization (speechdiarization) -->
-    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
-        <remap from="raw_audio" to="/audio/raw_audio"/>
-        <remap from="voice_audio_info" to="/humans/voices/TEST_ID_VOICE/audio_info"/>
+    <!-- launching robot_behavior (robot_behavior) -->
+    <node pkg="robot_behavior" name="robot_behavior" type="node" output="screen">
+        <remap from="groups" to="/humans/interactions/groups"/>
+    </node>
+    
+    <!-- launching Sound source localisation (soundsourcelocalisation) -->
+    <node pkg="soundsourcelocalisation" name="soundsourcelocalisation" type="node" output="screen">
         <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
     </node>
     
-    <!-- launching Person re-identification (personreidentification) -->
-    <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+    <!-- launching Voice speech matching (voicespeechmatching) -->
+    <node pkg="voicespeechmatching" name="voicespeechmatching" type="node" output="screen">
+        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+        <remap from="speech_streams" to="/audio/speech_streams"/>
+        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
     </node>
     
-    <!-- launching Mask detection (maskdetection) -->
-    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+    <!-- launching Soft biometrics (softbiometrics) -->
+    <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
         <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
-        <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
+        <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
     </node>
     
-    <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
-    <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="detected_objects" to="/detected_objects"/>
+    <!-- launching User attention estimation (userattentionestimation) -->
+    <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
     </node>
     
-    <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
-    <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+    <!-- launching ROS openpose (rosopenpose) -->
+    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
     </node>
     
-    <!-- launching  hri_msgs (hri_msgs) -->
-    <node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
+    <!-- launching Robot GUI (robotgui) -->
+    <node pkg="robotgui" name="robotgui" type="node" output="screen">
+        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
     </node>
     
-    <!-- launching  spring_msgs (spring_msgs) -->
-    <node pkg="spring_msgs" name="spring_msgs" type="node" output="screen">
+    <!-- launching interaction_manager (interaction_manager) -->
+    <node pkg="interaction_manager" name="interaction_manager" type="node" output="screen">
     </node>
     
-    <!-- launching Person manager (personmanager) -->
-    <node pkg="personmanager" name="personmanager" type="node" output="screen">
-        <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
-        <remap from="person_body_id" to="/humans/persons/TEST_ID_PERSON/body_id"/>
-        <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
-        <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
-        <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
+    <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+    <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="detected_objects" to="/detected_objects"/>
     </node>
     
     <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
     <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
     </node>
     
+    <!-- launching Scene understanding (sceneunderstanding) -->
+    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+    </node>
+    
     <!-- launching Occupancy map (occupancymap) -->
     <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
         <remap from="map_refined" to="/map_refined"/>
     </node>
     
-    <!-- launching User attention estimation (userattentionestimation) -->
-    <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
-    </node>
-    
-    <!-- launching Dialogue manager (dialoguemanager) -->
-    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+    <!-- launching dialogue arbiter (dialoguearbiter) -->
+    <node pkg="dialoguearbiter" name="dialoguearbiter" type="node" output="screen">
         <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
     </node>
     
-    <!-- launching Body 2D pose (body2dpose) -->
-    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
-        <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+    <!-- launching People 3D tracker (people3dtracker) -->
+    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
     </node>
     
-    <!-- launching Sound localisation (soundlocalisation) -->
-    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+    <!-- launching Speaker identification (speakeridentification) -->
+    <node pkg="speakeridentification" name="speakeridentification" type="node" output="screen">
+        <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
         <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
     </node>
     
-    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
-    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
-        <remap from="groups" to="/humans/interactions/groups"/>
-    </node>
-    
-    <!-- launching High-level planner (highlevelplanner) -->
-    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+    <!-- launching Person re-identification (personreidentification) -->
+    <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
     </node>
     
-    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
-    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
-        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
-        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
-        <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
+    <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
+    <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
     </node>
     
-    <!-- launching F-formation (fformation) -->
-    <node pkg="fformation" name="fformation" type="node" output="screen">
-        <remap from="gaze" to="/humans/interactions/gaze"/>
-        <remap from="groups" to="/humans/interactions/groups"/>
+    <!-- launching Activity reco (activityreco) -->
+    <node pkg="activityreco" name="activityreco" type="node" output="screen">
     </node>
     
     <!-- launching Face detection (facedetection) -->
@@ -107,37 +97,41 @@
         <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
     </node>
     
-    <!-- launching Activity reco (activityreco) -->
-    <node pkg="activityreco" name="activityreco" type="node" output="screen">
+    <!-- launching Mask detection (maskdetection) -->
+    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+        <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
     </node>
     
-    <!-- launching User visual focus (uservisualfocus) -->
-    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
-        <remap from="gaze" to="/humans/interactions/gaze"/>
+    <!-- launching plan_actions (plan_actions) -->
+    <node pkg="plan_actions" name="plan_actions" type="node" output="screen">
     </node>
     
-    <!-- launching Soft biometrics (softbiometrics) -->
-    <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+    <!-- launching Person manager (personmanager) -->
+    <node pkg="personmanager" name="personmanager" type="node" output="screen">
         <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
+        <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
+        <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
+        <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
+        <remap from="body_id" to="/humans/persons/*/body_id"/>
     </node>
     
-    <!-- launching Scene understanding (sceneunderstanding) -->
-    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
-    </node>
-    
-    <!-- launching ROS openpose (rosopenpose) -->
-    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+        <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
     </node>
     
-    <!-- launching ASR (asr) -->
-    <node pkg="asr" name="asr" type="node" output="screen">
-        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
-        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+    <!-- launching User visual focus (uservisualfocus) -->
+    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+        <remap from="gaze" to="/humans/interactions/gaze"/>
     </node>
     
-    <!-- launching People 3D tracker (people3dtracker) -->
-    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+    <!-- launching Speech analysis (speechanalysis) -->
+    <node pkg="speechanalysis" name="speechanalysis" type="node" output="screen">
+        <remap from="raw_audio" to="/audio/raw_audio"/>
+        <remap from="ego_audio" to="/audio/ego_audio"/>
     </node>
     
     <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
@@ -146,23 +140,27 @@
         <remap from="image_torso" to="/camera_torso/color/image_torso"/>
     </node>
     
-    <!-- launching Robot GUI (robotgui) -->
-    <node pkg="robotgui" name="robotgui" type="node" output="screen">
-        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+    <!-- launching Semantic mapping (semanticmapping) -->
+    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+        <remap from="detected_objects" to="/detected_objects"/>
     </node>
     
-    <!-- launching Speaker recognition (speakerrecognition) -->
-    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
-        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+    <!-- launching F-formation (fformation) -->
+    <node pkg="fformation" name="fformation" type="node" output="screen">
+        <remap from="gaze" to="/humans/interactions/gaze"/>
+        <remap from="groups" to="/humans/interactions/groups"/>
     </node>
     
-    <!-- launching Semantic mapping (semanticmapping) -->
-    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
-        <remap from="detected_objects" to="/detected_objects"/>
+    <!-- launching ASR (asr) -->
+    <node pkg="asr" name="asr" type="node" output="screen">
+        <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
     </node>
     
-    <!-- launching Interaction manager (interactionmanager) -->
-    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+    <!-- launching Body 2D pose (body2dpose) -->
+    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+        <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
     </node>
     
 
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_UNITN.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_UNITN.launch
index d2dc2a96897a21c9158af2821e508cf6d1800646..445c46ab13a60c614207953d1e3cd65a346a48e6 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all_but_UNITN.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all_but_UNITN.launch
@@ -1,60 +1,52 @@
 <launch>
     <!-- this launch file starts all SPRING nodes except for UNITN nodes. -->
 
-    <!-- launching RGB head (rgbhead) -->
-    <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    <!-- launching robot_behavior (robot_behavior) -->
+    <node pkg="robot_behavior" name="robot_behavior" type="node" output="screen">
+        <remap from="groups" to="/humans/interactions/groups"/>
     </node>
     
-    <!-- launching Speech diarization (speechdiarization) -->
-    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
-        <remap from="raw_audio" to="/audio/raw_audio"/>
-        <remap from="voice_audio_info" to="/humans/voices/TEST_ID_VOICE/audio_info"/>
+    <!-- launching Sound source localisation (soundsourcelocalisation) -->
+    <node pkg="soundsourcelocalisation" name="soundsourcelocalisation" type="node" output="screen">
         <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
     </node>
     
-    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
-    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
-        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+    <!-- launching Robot functional layer (robotfunctionallayer) -->
+    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
     </node>
     
-    <!-- launching ORB SLAM (orbslam) -->
-    <node pkg="orbslam" name="orbslam" type="node" output="screen">
-        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
-        <remap from="map" to="/map"/>
+    <!-- launching Voice speech matching (voicespeechmatching) -->
+    <node pkg="voicespeechmatching" name="voicespeechmatching" type="node" output="screen">
+        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+        <remap from="speech_streams" to="/audio/speech_streams"/>
+        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
     </node>
     
-    <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
-    <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="detected_objects" to="/detected_objects"/>
+    <!-- launching Speech synthesis (speechsynthesis) -->
+    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
     </node>
     
-    <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
-    <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+    <!-- launching ROS openpose (rosopenpose) -->
+    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
     </node>
     
-    <!-- launching  hri_msgs (hri_msgs) -->
-    <node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
+    <!-- launching Robot GUI (robotgui) -->
+    <node pkg="robotgui" name="robotgui" type="node" output="screen">
+        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
     </node>
     
-    <!-- launching  spring_msgs (spring_msgs) -->
-    <node pkg="spring_msgs" name="spring_msgs" type="node" output="screen">
+    <!-- launching interaction_manager (interaction_manager) -->
+    <node pkg="interaction_manager" name="interaction_manager" type="node" output="screen">
     </node>
     
-    <!-- launching Robot functional layer (robotfunctionallayer) -->
-    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+    <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+    <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="detected_objects" to="/detected_objects"/>
     </node>
     
-    <!-- launching Person manager (personmanager) -->
-    <node pkg="personmanager" name="personmanager" type="node" output="screen">
-        <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
-        <remap from="person_body_id" to="/humans/persons/TEST_ID_PERSON/body_id"/>
-        <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
-        <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
-        <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
+    <!-- launching Scene understanding (sceneunderstanding) -->
+    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
     </node>
     
     <!-- launching Occupancy map (occupancymap) -->
@@ -62,14 +54,25 @@
         <remap from="map_refined" to="/map_refined"/>
     </node>
     
-    <!-- launching respeaker_ros (respeaker_ros) -->
-    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
-        <remap from="raw_audio" to="/audio/raw_audio"/>
+    <!-- launching dialogue arbiter (dialoguearbiter) -->
+    <node pkg="dialoguearbiter" name="dialoguearbiter" type="node" output="screen">
+        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
     </node>
     
-    <!-- launching Dialogue manager (dialoguemanager) -->
-    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
-        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+    <!-- launching People 3D tracker (people3dtracker) -->
+    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+    </node>
+    
+    <!-- launching Speaker identification (speakeridentification) -->
+    <node pkg="speakeridentification" name="speakeridentification" type="node" output="screen">
+        <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
+        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+    </node>
+    
+    <!-- launching ORB SLAM (orbslam) -->
+    <node pkg="orbslam" name="orbslam" type="node" output="screen">
+        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+        <remap from="map" to="/map"/>
     </node>
     
     <!-- launching hri_fullbody (hri_fullbody) -->
@@ -80,40 +83,39 @@
         <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
     </node>
     
-    <!-- launching Speech synthesis (speechsynthesis) -->
-    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
-    </node>
-    
-    <!-- launching Sound localisation (soundlocalisation) -->
-    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
-        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
-    </node>
-    
-    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
-    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
-        <remap from="groups" to="/humans/interactions/groups"/>
+    <!-- launching RGB head (rgbhead) -->
+    <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
     </node>
     
-    <!-- launching High-level planner (highlevelplanner) -->
-    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+    <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
+    <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
     </node>
     
-    <!-- launching Scene understanding (sceneunderstanding) -->
-    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
     </node>
     
-    <!-- launching ROS openpose (rosopenpose) -->
-    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+    <!-- launching plan_actions (plan_actions) -->
+    <node pkg="plan_actions" name="plan_actions" type="node" output="screen">
     </node>
     
-    <!-- launching ASR (asr) -->
-    <node pkg="asr" name="asr" type="node" output="screen">
-        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
-        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+    <!-- launching Person manager (personmanager) -->
+    <node pkg="personmanager" name="personmanager" type="node" output="screen">
+        <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
+        <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
+        <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
+        <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
+        <remap from="body_id" to="/humans/persons/*/body_id"/>
     </node>
     
-    <!-- launching People 3D tracker (people3dtracker) -->
-    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+    <!-- launching Speech analysis (speechanalysis) -->
+    <node pkg="speechanalysis" name="speechanalysis" type="node" output="screen">
+        <remap from="raw_audio" to="/audio/raw_audio"/>
+        <remap from="ego_audio" to="/audio/ego_audio"/>
     </node>
     
     <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
@@ -122,23 +124,25 @@
         <remap from="image_torso" to="/camera_torso/color/image_torso"/>
     </node>
     
-    <!-- launching Robot GUI (robotgui) -->
-    <node pkg="robotgui" name="robotgui" type="node" output="screen">
-        <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+    <!-- launching Semantic mapping (semanticmapping) -->
+    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+        <remap from="detected_objects" to="/detected_objects"/>
     </node>
     
-    <!-- launching Speaker recognition (speakerrecognition) -->
-    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
-        <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+    <!-- launching Fisheye (fisheye) -->
+    <node pkg="fisheye" name="fisheye" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
     </node>
     
-    <!-- launching Semantic mapping (semanticmapping) -->
-    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
-        <remap from="detected_objects" to="/detected_objects"/>
+    <!-- launching respeaker_ros (respeaker_ros) -->
+    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+        <remap from="raw_audio" to="/audio/raw_audio"/>
+        <remap from="ego_audio" to="/audio/ego_audio"/>
     </node>
     
-    <!-- launching Interaction manager (interactionmanager) -->
-    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+    <!-- launching ASR (asr) -->
+    <node pkg="asr" name="asr" type="node" output="screen">
+        <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
     </node>
     
 
diff --git a/spring-mock-ws/src/springarchitecture/package.xml b/spring-mock-ws/src/springarchitecture/package.xml
index a89c6d01ce1e7990b2e472a8d33ac7abf1d12e53..d0d8490196ee62390dfb8769e3d17b9702e428e7 100644
--- a/spring-mock-ws/src/springarchitecture/package.xml
+++ b/spring-mock-ws/src/springarchitecture/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>springarchitecture</name>
-    <version>0.1.1</version>
+    <version>0.3.2</version>
     <description>EU H2020 SPRING architecture. Auto-generated by Boxology 1.3.2.</description>
 
     <maintainer email="todo@example.com">TODO</maintainer>
@@ -9,44 +9,46 @@
     <license>BSD</license>
 
     <buildtool_depend>catkin</buildtool_depend>
-    <depend>rgbhead</depend>
-    <depend>speechdiarization</depend>
+    <depend>robot_behavior</depend>
+    <depend>soundsourcelocalisation</depend>
+    <depend>robotfunctionallayer</depend>
+    <depend>voicespeechmatching</depend>
+    <depend>softbiometrics</depend>
+    <depend>userattentionestimation</depend>
+    <depend>hri_msgs</depend>
+    <depend>speechsynthesis</depend>
+    <depend>rosopenpose</depend>
+    <depend>robotgui</depend>
+    <depend>interaction_manager</depend>
+    <depend>objectdetectionidentificationlocalisation</depend>
+    <depend>depthestimationfrommonocular</depend>
+    <depend>sceneunderstanding</depend>
+    <depend>occupancymap</depend>
+    <depend>dialoguearbiter</depend>
+    <depend>people3dtracker</depend>
+    <depend>speakeridentification</depend>
     <depend>personreidentification</depend>
-    <depend>maskdetection</depend>
-    <depend>rgbdcamera_info</depend>
     <depend>orbslam</depend>
-    <depend>objectdetectionidentificationlocalisation</depend>
+    <depend>hri_fullbody</depend>
+    <depend>rgbhead</depend>
     <depend>multipeoplebodytracker</depend>
-    <depend>hri_msgs</depend>
+    <depend>rgbdcamera_info</depend>
+    <depend>activityreco</depend>
+    <depend>facedetection</depend>
     <depend>spring_msgs</depend>
-    <depend>robotfunctionallayer</depend>
+    <depend>maskdetection</depend>
+    <depend>plan_actions</depend>
     <depend>personmanager</depend>
-    <depend>depthestimationfrommonocular</depend>
-    <depend>occupancymap</depend>
-    <depend>userattentionestimation</depend>
-    <depend>respeaker_ros</depend>
-    <depend>dialoguemanager</depend>
-    <depend>body2dpose</depend>
-    <depend>hri_fullbody</depend>
-    <depend>speechsynthesis</depend>
-    <depend>soundlocalisation</depend>
-    <depend>robotnonverbalbehaviours</depend>
-    <depend>highlevelplanner</depend>
     <depend>nonverbalbehaviours</depend>
-    <depend>fformation</depend>
-    <depend>facedetection</depend>
-    <depend>activityreco</depend>
     <depend>uservisualfocus</depend>
-    <depend>softbiometrics</depend>
-    <depend>sceneunderstanding</depend>
-    <depend>rosopenpose</depend>
-    <depend>asr</depend>
-    <depend>people3dtracker</depend>
+    <depend>speechanalysis</depend>
     <depend>visualslam3dmap</depend>
-    <depend>robotgui</depend>
-    <depend>speakerrecognition</depend>
     <depend>semanticmapping</depend>
-    <depend>interactionmanager</depend>
+    <depend>fisheye</depend>
+    <depend>fformation</depend>
+    <depend>respeaker_ros</depend>
+    <depend>asr</depend>
+    <depend>body2dpose</depend>
 
     <export>
 
diff --git a/spring-mock-ws/src/userattentionestimation/src/main.cpp b/spring-mock-ws/src/userattentionestimation/src/main.cpp
index 30335936d4682a8ff6c7b6f756a25837af725743..1684b791e3e90260eaa805687fe2074a91d85f9f 100644
--- a/spring-mock-ws/src/userattentionestimation/src/main.cpp
+++ b/spring-mock-ws/src/userattentionestimation/src/main.cpp
@@ -23,8 +23,8 @@
 
 #include "ros/ros.h"
 #include "std_msgs/String.h"
-#include "tf/transform_broadcaster.h"
 #include "std_msgs/Empty.h"
+#include "tf/transform_broadcaster.h"
 #include "hri_msgs/RegionOfInterestStamped.h"
 
 class UserAttentionEstimation {
diff --git a/spring-mock-ws/src/uservisualfocus/src/main.cpp b/spring-mock-ws/src/uservisualfocus/src/main.cpp
index 3a6b40dfa092d743c4ae7a8be043179817b9bf4b..34d4c79a10039f0ff4008e560d0e4e57ada787c0 100644
--- a/spring-mock-ws/src/uservisualfocus/src/main.cpp
+++ b/spring-mock-ws/src/uservisualfocus/src/main.cpp
@@ -30,11 +30,11 @@ class UserVisualFocus {
    public:
     UserVisualFocus(ros::NodeHandle* nh) {
 
-        // ATTENTION: this topic is not defined in the architecture design
-        attention_sub_ = nh->subscribe("attention", 1, &UserVisualFocus::attentionCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
         gazedirection_sub_ = nh->subscribe("gazedirection", 1, &UserVisualFocus::gazedirectionCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
+        attention_sub_ = nh->subscribe("attention", 1, &UserVisualFocus::attentionCallback, this);
+        // ATTENTION: this topic is not defined in the architecture design
         depth_sub_ = nh->subscribe("depth", 1, &UserVisualFocus::depthCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
         scene_sub_ = nh->subscribe("scene", 1, &UserVisualFocus::sceneCallback, this);
@@ -47,11 +47,11 @@ class UserVisualFocus {
     ~UserVisualFocus() {}
 
    private:
-    void attentionCallback(const std_msgs::Empty::ConstPtr& msg)
+    void gazedirectionCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("uservisualfocus: received message: " << msg);
     }
-    void gazedirectionCallback(const std_msgs::Empty::ConstPtr& msg)
+    void attentionCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("uservisualfocus: received message: " << msg);
     }
@@ -64,8 +64,8 @@ class UserVisualFocus {
         ROS_INFO_STREAM("uservisualfocus: received message: " << msg);
     }
 
-    ros::Subscriber attention_sub_;
     ros::Subscriber gazedirection_sub_;
+    ros::Subscriber attention_sub_;
     ros::Subscriber depth_sub_;
     ros::Subscriber scene_sub_;
 
diff --git a/spring-mock-ws/src/visualslam3dmap/src/main.cpp b/spring-mock-ws/src/visualslam3dmap/src/main.cpp
index 531826c964bc2c41fef15c363a338951b8bcb475..1a1391588b99bdc657ec3136db9220d43e1bf48e 100644
--- a/spring-mock-ws/src/visualslam3dmap/src/main.cpp
+++ b/spring-mock-ws/src/visualslam3dmap/src/main.cpp
@@ -31,10 +31,10 @@ class VisualSlam3dMap {
    public:
     VisualSlam3dMap(ros::NodeHandle* nh) {
 
-        // ATTENTION: this topic is not defined in the architecture design
-        localisationprior_sub_ = nh->subscribe("localisationprior", 1, &VisualSlam3dMap::localisationpriorCallback, this);
         image_head_sub_ = nh->subscribe("image_head", 1, &VisualSlam3dMap::image_headCallback, this);
         image_torso_sub_ = nh->subscribe("image_torso", 1, &VisualSlam3dMap::image_torsoCallback, this);
+        // ATTENTION: this topic is not defined in the architecture design
+        localisationprior_sub_ = nh->subscribe("localisationprior", 1, &VisualSlam3dMap::localisationpriorCallback, this);
 
         // ATTENTION: this topic is not defined in the architecture design
         dense3dmap_pub_ = nh->advertise<std_msgs::Empty>("dense3dmap", 1);
@@ -43,22 +43,22 @@ class VisualSlam3dMap {
     ~VisualSlam3dMap() {}
 
    private:
-    void localisationpriorCallback(const std_msgs::Empty::ConstPtr& msg)
+    void image_headCallback(const sensor_msgs::Image::ConstPtr& msg)
     {
         ROS_INFO_STREAM("visualslam3dmap: received message: " << msg);
     }
-    void image_headCallback(const sensor_msgs::Image::ConstPtr& msg)
+    void image_torsoCallback(const sensor_msgs::Image::ConstPtr& msg)
     {
         ROS_INFO_STREAM("visualslam3dmap: received message: " << msg);
     }
-    void image_torsoCallback(const sensor_msgs::Image::ConstPtr& msg)
+    void localisationpriorCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("visualslam3dmap: received message: " << msg);
     }
 
-    ros::Subscriber localisationprior_sub_;
     ros::Subscriber image_head_sub_;
     ros::Subscriber image_torso_sub_;
+    ros::Subscriber localisationprior_sub_;
 
     ros::Publisher dense3dmap_pub_;
 
diff --git a/spring-mock-ws/src/voicespeechmatching/CMakeLists.txt b/spring-mock-ws/src/voicespeechmatching/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c4834e4bd20db44d278e26d2047c8a47da76617f
--- /dev/null
+++ b/spring-mock-ws/src/voicespeechmatching/CMakeLists.txt
@@ -0,0 +1,205 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(voicespeechmatching)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  array of std_msgs
+  audio_common_msgs
+  std_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES voicespeechmatching
+#  CATKIN_DEPENDS roscpp
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/voicespeechmatching.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+add_executable(${PROJECT_NAME}_node src/main.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(${PROJECT_NAME}_node
+   ${catkin_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+install(TARGETS ${PROJECT_NAME}_node
+   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_voicespeechmatching.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/spring-mock-ws/src/soundlocalisation/package.xml b/spring-mock-ws/src/voicespeechmatching/package.xml
similarity index 92%
rename from spring-mock-ws/src/soundlocalisation/package.xml
rename to spring-mock-ws/src/voicespeechmatching/package.xml
index 0fa5e7567d448845f0f5d8c76ca8f61a76618cbb..8d6d2961293c269e413c2bcd81942ef46446adaf 100644
--- a/spring-mock-ws/src/soundlocalisation/package.xml
+++ b/spring-mock-ws/src/voicespeechmatching/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
-    <name>soundlocalisation</name>
+    <name>voicespeechmatching</name>
     <version>1.0.0</version>
-    <description>Sound localisation (BIU) . Auto-generated by Boxology 1.3.2.</description>
+    <description>Voice speech matching (BIU) . Auto-generated by Boxology 1.3.2.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
@@ -50,8 +50,9 @@
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
   <exec_depend>roscpp</exec_depend>
+  <depend>array of std_msgs</depend>
   <depend>audio_common_msgs</depend>
-  <depend>tf</depend>
+  <depend>std_msgs</depend>
 
   <export>
 
diff --git a/spring-mock-ws/src/speakerrecognition/src/main.cpp b/spring-mock-ws/src/voicespeechmatching/src/main.cpp
similarity index 62%
rename from spring-mock-ws/src/speakerrecognition/src/main.cpp
rename to spring-mock-ws/src/voicespeechmatching/src/main.cpp
index 25e830d6b51a17b696bb09fce3163a7d680518d1..27bdbf87b32a55cc6394f534df8fba5edc0f01ae 100644
--- a/spring-mock-ws/src/speakerrecognition/src/main.cpp
+++ b/spring-mock-ws/src/voicespeechmatching/src/main.cpp
@@ -23,44 +23,50 @@
 
 #include "ros/ros.h"
 #include "std_msgs/String.h"
-#include "std_msgs/Empty.h"
+#include "std_msgs/String.h"
 #include "audio_common_msgs/AudioData.h"
+#include "array of std_msgs/String.h"
 
-class SpeakerRecognition {
+class VoiceSpeechMatching {
    public:
-    SpeakerRecognition(ros::NodeHandle* nh) {
+    VoiceSpeechMatching(ros::NodeHandle* nh) {
 
-        voice_audio_sub_ = nh->subscribe("voice_audio", 1, &SpeakerRecognition::voice_audioCallback, this);
+        voice_audio_sub_ = nh->subscribe("voice_audio", 1, &VoiceSpeechMatching::voice_audioCallback, this);
+        speech_streams_sub_ = nh->subscribe("speech_streams", 1, &VoiceSpeechMatching::speech_streamsCallback, this);
 
-        // ATTENTION: this topic is not defined in the architecture design
-        person_id_candidatehri_msgsidsmatch_pub_ = nh->advertise<std_msgs::Empty>("person_id_candidatehri_msgsidsmatch", 1);
+        voice_speech_pub_ = nh->advertise<std_msgs::String>("voice_speech", 1);
     }
 
-    ~SpeakerRecognition() {}
+    ~VoiceSpeechMatching() {}
 
    private:
     void voice_audioCallback(const audio_common_msgs::AudioData::ConstPtr& msg)
     {
-        ROS_INFO_STREAM("speakerrecognition: received message: " << msg);
+        ROS_INFO_STREAM("voicespeechmatching: received message: " << msg);
+    }
+    void speech_streamsCallback(const array of std_msgs::String::ConstPtr& msg)
+    {
+        ROS_INFO_STREAM("voicespeechmatching: received message: " << msg);
     }
 
     ros::Subscriber voice_audio_sub_;
+    ros::Subscriber speech_streams_sub_;
 
-    ros::Publisher person_id_candidatehri_msgsidsmatch_pub_;
+    ros::Publisher voice_speech_pub_;
 
 };
 
 int main(int argc, char** argv) {
-    ros::init(argc, argv, "speakerrecognition");
+    ros::init(argc, argv, "voicespeechmatching");
 
     // Initialize node parameters from launch file or command line.
     // Use a private node handle so that multiple instances of the node can be
     // run simultaneously while using different parameters.
     ros::NodeHandle private_node_handle_("~");
 
-    auto speakerrecognition = SpeakerRecognition(&private_node_handle_);
+    auto voicespeechmatching = VoiceSpeechMatching(&private_node_handle_);
 
-    ROS_INFO("Node speakerrecognition launched and ready.");
+    ROS_INFO("Node voicespeechmatching launched and ready.");
     ros::spin();
     return 0;
 }