From 5e888f9bdb4a66854a8b71734a5ddee1ed908192 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?S=C3=A9verin=20Lemaignan?=
 <severin.lemaignan@pal-robotics.com>
Date: Tue, 30 Nov 2021 12:42:44 +0100
Subject: [PATCH] [ros] template: change how includes are added in CMakeLists

This addresses some issues with -Werror=shadow and ROS headers
---
 .../src/activityreco/CMakeLists.txt           |   6 +-
 spring-mock-ws/src/asr/CMakeLists.txt         |   6 +-
 spring-mock-ws/src/body2dpose/CMakeLists.txt  |   6 +-
 spring-mock-ws/src/body2dpose/src/main.cpp    |   2 +-
 .../src/dialoguemanager/CMakeLists.txt        |   6 +-
 .../src/dialoguemanager/src/main.cpp          |  10 +-
 .../src/facedetection/CMakeLists.txt          |   6 +-
 spring-mock-ws/src/fformation/CMakeLists.txt  |   6 +-
 spring-mock-ws/src/fformation/src/main.cpp    |   2 +-
 .../src/highlevelplanner/CMakeLists.txt       |   6 +-
 .../src/highlevelplanner/src/main.cpp         |  26 +--
 .../src/interactionmanager/CMakeLists.txt     |   6 +-
 .../src/maskdetection/CMakeLists.txt          |   6 +-
 .../src/nonverbalbehaviours/CMakeLists.txt    |   6 +-
 .../CMakeLists.txt                            |   6 +-
 .../src/occupancymap/CMakeLists.txt           |   6 +-
 spring-mock-ws/src/occupancymap/src/main.cpp  |  10 +-
 spring-mock-ws/src/orbslam/CMakeLists.txt     |   6 +-
 spring-mock-ws/src/orbslam/src/main.cpp       |   2 +-
 .../src/people3dtracker/CMakeLists.txt        |   6 +-
 .../src/personmanager/CMakeLists.txt          |   6 +-
 .../src/rgbdcamera_info/CMakeLists.txt        |   6 +-
 .../src/robotfunctionallayer/CMakeLists.txt   |   6 +-
 spring-mock-ws/src/robotgui/CMakeLists.txt    |   6 +-
 .../robotnonverbalbehaviours/CMakeLists.txt   |   6 +-
 .../src/robotnonverbalbehaviours/src/main.cpp |  10 +-
 .../src/robotutterances/CMakeLists.txt        |   6 +-
 spring-mock-ws/src/rosopenpose/CMakeLists.txt |   6 +-
 .../src/sceneunderstanding/CMakeLists.txt     |   6 +-
 .../src/semanticmapping/CMakeLists.txt        |   6 +-
 .../src/soundlocalisation/CMakeLists.txt      |   6 +-
 .../src/speakerrecognition/CMakeLists.txt     |   6 +-
 .../src/speechdiarization/CMakeLists.txt      |   6 +-
 .../src/speechsynthesis/CMakeLists.txt        |   6 +-
 .../src/springarchitecture/CMakeLists.txt     |  56 ++---
 .../launch/start_all.launch                   | 196 +++++++++---------
 .../launch/start_all_but_BIU.launch           | 178 ++++++++--------
 .../launch/start_all_but_CVUT.launch          | 170 +++++++--------
 .../launch/start_all_but_ERM.launch           | 190 ++++++++---------
 .../launch/start_all_but_HWU.launch           | 172 +++++++--------
 .../launch/start_all_but_INRIA.launch         | 164 +++++++--------
 .../launch/start_all_but_Other.launch         | 194 ++++++++---------
 .../launch/start_all_but_PAL.launch           | 142 ++++++-------
 .../launch/start_all_but_UNITN.launch         | 124 +++++------
 .../src/springarchitecture/package.xml        |  56 ++---
 .../src/visualslam3dmap/CMakeLists.txt        |   6 +-
 .../src/visualslam3dmap/src/main.cpp          |  14 +-
 47 files changed, 915 insertions(+), 971 deletions(-)

diff --git a/spring-mock-ws/src/activityreco/CMakeLists.txt b/spring-mock-ws/src/activityreco/CMakeLists.txt
index a23b15a..7f887e6 100644
--- a/spring-mock-ws/src/activityreco/CMakeLists.txt
+++ b/spring-mock-ws/src/activityreco/CMakeLists.txt
@@ -114,10 +114,8 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/asr/CMakeLists.txt b/spring-mock-ws/src/asr/CMakeLists.txt
index ba82bc6..7dba964 100644
--- a/spring-mock-ws/src/asr/CMakeLists.txt
+++ b/spring-mock-ws/src/asr/CMakeLists.txt
@@ -114,10 +114,8 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/body2dpose/CMakeLists.txt b/spring-mock-ws/src/body2dpose/CMakeLists.txt
index 5efe0a5..2b55f60 100644
--- a/spring-mock-ws/src/body2dpose/CMakeLists.txt
+++ b/spring-mock-ws/src/body2dpose/CMakeLists.txt
@@ -115,10 +115,8 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/body2dpose/src/main.cpp b/spring-mock-ws/src/body2dpose/src/main.cpp
index 6fc6656..91cb381 100644
--- a/spring-mock-ws/src/body2dpose/src/main.cpp
+++ b/spring-mock-ws/src/body2dpose/src/main.cpp
@@ -23,9 +23,9 @@
 
 #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 "hri_msgs/Skeleton2D.h"
 
 class Body2dPose {
    public:
diff --git a/spring-mock-ws/src/dialoguemanager/CMakeLists.txt b/spring-mock-ws/src/dialoguemanager/CMakeLists.txt
index 404f1ed..8942669 100644
--- a/spring-mock-ws/src/dialoguemanager/CMakeLists.txt
+++ b/spring-mock-ws/src/dialoguemanager/CMakeLists.txt
@@ -114,10 +114,8 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/dialoguemanager/src/main.cpp b/spring-mock-ws/src/dialoguemanager/src/main.cpp
index c585984..c65be92 100644
--- a/spring-mock-ws/src/dialoguemanager/src/main.cpp
+++ b/spring-mock-ws/src/dialoguemanager/src/main.cpp
@@ -29,10 +29,10 @@ class DialogueManager {
    public:
     DialogueManager(ros::NodeHandle* nh) {
 
-        // ATTENTION: this topic is not defined in the architecture design
-        speech_sub_ = nh->subscribe("speech", 1, &DialogueManager::speechCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
         interactionmessages_sub_ = nh->subscribe("interactionmessages", 1, &DialogueManager::interactionmessagesCallback, this);
+        // ATTENTION: this topic is not defined in the architecture design
+        speech_sub_ = nh->subscribe("speech", 1, &DialogueManager::speechCallback, this);
 
         // ATTENTION: this topic is not defined in the architecture design
         nextutterance_pub_ = nh->advertise<std_msgs::Empty>("nextutterance", 1);
@@ -43,17 +43,17 @@ class DialogueManager {
     ~DialogueManager() {}
 
    private:
-    void speechCallback(const std_msgs::Empty::ConstPtr& msg)
+    void interactionmessagesCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("dialoguemanager: received message: " << msg);
     }
-    void interactionmessagesCallback(const std_msgs::Empty::ConstPtr& msg)
+    void speechCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("dialoguemanager: received message: " << msg);
     }
 
-    ros::Subscriber speech_sub_;
     ros::Subscriber interactionmessages_sub_;
+    ros::Subscriber speech_sub_;
 
     ros::Publisher nextutterance_pub_;
     ros::Publisher dialoguestate_pub_;
diff --git a/spring-mock-ws/src/facedetection/CMakeLists.txt b/spring-mock-ws/src/facedetection/CMakeLists.txt
index 5630430..fc1e24a 100644
--- a/spring-mock-ws/src/facedetection/CMakeLists.txt
+++ b/spring-mock-ws/src/facedetection/CMakeLists.txt
@@ -115,10 +115,8 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/fformation/CMakeLists.txt b/spring-mock-ws/src/fformation/CMakeLists.txt
index af68214..732eab3 100644
--- a/spring-mock-ws/src/fformation/CMakeLists.txt
+++ b/spring-mock-ws/src/fformation/CMakeLists.txt
@@ -116,10 +116,8 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/fformation/src/main.cpp b/spring-mock-ws/src/fformation/src/main.cpp
index 23fd5a5..2af965e 100644
--- a/spring-mock-ws/src/fformation/src/main.cpp
+++ b/spring-mock-ws/src/fformation/src/main.cpp
@@ -24,8 +24,8 @@
 #include "ros/ros.h"
 #include "std_msgs/String.h"
 #include "tf/transform_listener.h"
-#include "std_msgs/Empty.h"
 #include "hri_msgs/GroupsStamped.h"
+#include "std_msgs/Empty.h"
 
 class Fformation {
    public:
diff --git a/spring-mock-ws/src/highlevelplanner/CMakeLists.txt b/spring-mock-ws/src/highlevelplanner/CMakeLists.txt
index b69b7b3..c3559f8 100644
--- a/spring-mock-ws/src/highlevelplanner/CMakeLists.txt
+++ b/spring-mock-ws/src/highlevelplanner/CMakeLists.txt
@@ -114,10 +114,8 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/highlevelplanner/src/main.cpp b/spring-mock-ws/src/highlevelplanner/src/main.cpp
index 73702a8..622f509 100644
--- a/spring-mock-ws/src/highlevelplanner/src/main.cpp
+++ b/spring-mock-ws/src/highlevelplanner/src/main.cpp
@@ -29,51 +29,51 @@ class HighlevelPlanner {
    public:
     HighlevelPlanner(ros::NodeHandle* nh) {
 
-        // ATTENTION: this topic is not defined in the architecture design
-        semanticscenedescription_sub_ = nh->subscribe("semanticscenedescription", 1, &HighlevelPlanner::semanticscenedescriptionCallback, this);
-        // ATTENTION: this topic is not defined in the architecture design
-        demographics_sub_ = nh->subscribe("demographics", 1, &HighlevelPlanner::demographicsCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
         dialoguestate_sub_ = nh->subscribe("dialoguestate", 1, &HighlevelPlanner::dialoguestateCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
         tfpersons_sub_ = nh->subscribe("tfpersons", 1, &HighlevelPlanner::tfpersonsCallback, this);
-
         // ATTENTION: this topic is not defined in the architecture design
-        output_pub_ = nh->advertise<std_msgs::Empty>("output", 1);
+        semanticscenedescription_sub_ = nh->subscribe("semanticscenedescription", 1, &HighlevelPlanner::semanticscenedescriptionCallback, this);
+        // ATTENTION: this topic is not defined in the architecture design
+        demographics_sub_ = nh->subscribe("demographics", 1, &HighlevelPlanner::demographicsCallback, this);
+
         // 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);
+        // ATTENTION: this topic is not defined in the architecture design
+        output_pub_ = nh->advertise<std_msgs::Empty>("output", 1);
     }
 
     ~HighlevelPlanner() {}
 
    private:
-    void semanticscenedescriptionCallback(const std_msgs::Empty::ConstPtr& msg)
+    void dialoguestateCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("highlevelplanner: 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);
     }
-    void dialoguestateCallback(const std_msgs::Empty::ConstPtr& msg)
+    void semanticscenedescriptionCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("highlevelplanner: 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::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 output_pub_;
     ros::Publisher navgoals_pub_;
     ros::Publisher interactionstate_pub_;
+    ros::Publisher output_pub_;
 
 };
 
diff --git a/spring-mock-ws/src/interactionmanager/CMakeLists.txt b/spring-mock-ws/src/interactionmanager/CMakeLists.txt
index 3697c50..8ef9ffc 100644
--- a/spring-mock-ws/src/interactionmanager/CMakeLists.txt
+++ b/spring-mock-ws/src/interactionmanager/CMakeLists.txt
@@ -114,10 +114,8 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/maskdetection/CMakeLists.txt b/spring-mock-ws/src/maskdetection/CMakeLists.txt
index 6db3b6d..cb65a6f 100644
--- a/spring-mock-ws/src/maskdetection/CMakeLists.txt
+++ b/spring-mock-ws/src/maskdetection/CMakeLists.txt
@@ -115,10 +115,8 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/nonverbalbehaviours/CMakeLists.txt b/spring-mock-ws/src/nonverbalbehaviours/CMakeLists.txt
index 8bc248a..8662e61 100644
--- a/spring-mock-ws/src/nonverbalbehaviours/CMakeLists.txt
+++ b/spring-mock-ws/src/nonverbalbehaviours/CMakeLists.txt
@@ -115,10 +115,8 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/objectdetectionidentificationlocalisation/CMakeLists.txt b/spring-mock-ws/src/objectdetectionidentificationlocalisation/CMakeLists.txt
index 2af654d..0888f7d 100644
--- a/spring-mock-ws/src/objectdetectionidentificationlocalisation/CMakeLists.txt
+++ b/spring-mock-ws/src/objectdetectionidentificationlocalisation/CMakeLists.txt
@@ -115,10 +115,8 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/occupancymap/CMakeLists.txt b/spring-mock-ws/src/occupancymap/CMakeLists.txt
index c0d9e2f..6963409 100644
--- a/spring-mock-ws/src/occupancymap/CMakeLists.txt
+++ b/spring-mock-ws/src/occupancymap/CMakeLists.txt
@@ -115,10 +115,8 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/occupancymap/src/main.cpp b/spring-mock-ws/src/occupancymap/src/main.cpp
index 28588ae..a94ca66 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
-        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);
+        // ATTENTION: this topic is not defined in the architecture design
+        tfbodies_sub_ = nh->subscribe("tfbodies", 1, &OccupancyMap::tfbodiesCallback, this);
 
         map_refined_pub_ = nh->advertise<nav_msgs::OccupancyGrid>("map_refined", 1);
     }
@@ -41,17 +41,17 @@ class OccupancyMap {
     ~OccupancyMap() {}
 
    private:
-    void tfbodiesCallback(const std_msgs::Empty::ConstPtr& msg)
+    void dense3dmapCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("occupancymap: received message: " << msg);
     }
-    void dense3dmapCallback(const std_msgs::Empty::ConstPtr& msg)
+    void tfbodiesCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("occupancymap: received message: " << msg);
     }
 
-    ros::Subscriber tfbodies_sub_;
     ros::Subscriber dense3dmap_sub_;
+    ros::Subscriber tfbodies_sub_;
 
     ros::Publisher map_refined_pub_;
 
diff --git a/spring-mock-ws/src/orbslam/CMakeLists.txt b/spring-mock-ws/src/orbslam/CMakeLists.txt
index c2d5f4c..1a6fc82 100644
--- a/spring-mock-ws/src/orbslam/CMakeLists.txt
+++ b/spring-mock-ws/src/orbslam/CMakeLists.txt
@@ -116,10 +116,8 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/orbslam/src/main.cpp b/spring-mock-ws/src/orbslam/src/main.cpp
index 480430e..4fe2fc0 100644
--- a/spring-mock-ws/src/orbslam/src/main.cpp
+++ b/spring-mock-ws/src/orbslam/src/main.cpp
@@ -23,9 +23,9 @@
 
 #include "ros/ros.h"
 #include "std_msgs/String.h"
-#include "tf/transform_broadcaster.h"
 #include "nav_msgs/OccupancyGrid.h"
 #include "sensor_msgs/Image.h"
+#include "tf/transform_broadcaster.h"
 
 class OrbSlam {
    public:
diff --git a/spring-mock-ws/src/people3dtracker/CMakeLists.txt b/spring-mock-ws/src/people3dtracker/CMakeLists.txt
index 3dd4815..fef3fce 100644
--- a/spring-mock-ws/src/people3dtracker/CMakeLists.txt
+++ b/spring-mock-ws/src/people3dtracker/CMakeLists.txt
@@ -115,10 +115,8 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/personmanager/CMakeLists.txt b/spring-mock-ws/src/personmanager/CMakeLists.txt
index f7d36cf..cb57b74 100644
--- a/spring-mock-ws/src/personmanager/CMakeLists.txt
+++ b/spring-mock-ws/src/personmanager/CMakeLists.txt
@@ -115,10 +115,8 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/rgbdcamera_info/CMakeLists.txt b/spring-mock-ws/src/rgbdcamera_info/CMakeLists.txt
index 9356934..5d7d2a2 100644
--- a/spring-mock-ws/src/rgbdcamera_info/CMakeLists.txt
+++ b/spring-mock-ws/src/rgbdcamera_info/CMakeLists.txt
@@ -114,10 +114,8 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/robotfunctionallayer/CMakeLists.txt b/spring-mock-ws/src/robotfunctionallayer/CMakeLists.txt
index bd81831..5d69902 100644
--- a/spring-mock-ws/src/robotfunctionallayer/CMakeLists.txt
+++ b/spring-mock-ws/src/robotfunctionallayer/CMakeLists.txt
@@ -114,10 +114,8 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/robotgui/CMakeLists.txt b/spring-mock-ws/src/robotgui/CMakeLists.txt
index e866568..bbbc59e 100644
--- a/spring-mock-ws/src/robotgui/CMakeLists.txt
+++ b/spring-mock-ws/src/robotgui/CMakeLists.txt
@@ -114,10 +114,8 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/robotnonverbalbehaviours/CMakeLists.txt b/spring-mock-ws/src/robotnonverbalbehaviours/CMakeLists.txt
index d422142..c6b212b 100644
--- a/spring-mock-ws/src/robotnonverbalbehaviours/CMakeLists.txt
+++ b/spring-mock-ws/src/robotnonverbalbehaviours/CMakeLists.txt
@@ -114,10 +114,8 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/robotnonverbalbehaviours/src/main.cpp b/spring-mock-ws/src/robotnonverbalbehaviours/src/main.cpp
index 78046d1..6057e8e 100644
--- a/spring-mock-ws/src/robotnonverbalbehaviours/src/main.cpp
+++ b/spring-mock-ws/src/robotnonverbalbehaviours/src/main.cpp
@@ -38,9 +38,9 @@ class RobotNonverbalBehaviours {
         // ATTENTION: this topic is not defined in the architecture design
         groups_sub_ = nh->subscribe("groups", 1, &RobotNonverbalBehaviours::groupsCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
-        followingnavgoals_sub_ = nh->subscribe("followingnavgoals", 1, &RobotNonverbalBehaviours::followingnavgoalsCallback, this);
-        // ATTENTION: this topic is not defined in the architecture design
         hppersonid_sub_ = nh->subscribe("hppersonid", 1, &RobotNonverbalBehaviours::hppersonidCallback, this);
+        // ATTENTION: this topic is not defined in the architecture design
+        followingnavgoals_sub_ = nh->subscribe("followingnavgoals", 1, &RobotNonverbalBehaviours::followingnavgoalsCallback, this);
 
         // ATTENTION: this topic is not defined in the architecture design
         lowlevelactions_pub_ = nh->advertise<std_msgs::Empty>("lowlevelactions", 1);
@@ -67,11 +67,11 @@ class RobotNonverbalBehaviours {
     {
         ROS_INFO_STREAM("robotnonverbalbehaviours: received message: " << msg);
     }
-    void followingnavgoalsCallback(const std_msgs::Empty::ConstPtr& msg)
+    void hppersonidCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("robotnonverbalbehaviours: received message: " << msg);
     }
-    void hppersonidCallback(const std_msgs::Empty::ConstPtr& msg)
+    void followingnavgoalsCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("robotnonverbalbehaviours: received message: " << msg);
     }
@@ -80,8 +80,8 @@ class RobotNonverbalBehaviours {
     ros::Subscriber occupancymap_sub_;
     ros::Subscriber lookat_sub_;
     ros::Subscriber groups_sub_;
-    ros::Subscriber followingnavgoals_sub_;
     ros::Subscriber hppersonid_sub_;
+    ros::Subscriber followingnavgoals_sub_;
 
     ros::Publisher lowlevelactions_pub_;
     ros::Publisher status_pub_;
diff --git a/spring-mock-ws/src/robotutterances/CMakeLists.txt b/spring-mock-ws/src/robotutterances/CMakeLists.txt
index f38e64c..766f914 100644
--- a/spring-mock-ws/src/robotutterances/CMakeLists.txt
+++ b/spring-mock-ws/src/robotutterances/CMakeLists.txt
@@ -114,10 +114,8 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/rosopenpose/CMakeLists.txt b/spring-mock-ws/src/rosopenpose/CMakeLists.txt
index 0434fdc..62ea0a5 100644
--- a/spring-mock-ws/src/rosopenpose/CMakeLists.txt
+++ b/spring-mock-ws/src/rosopenpose/CMakeLists.txt
@@ -114,10 +114,8 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/sceneunderstanding/CMakeLists.txt b/spring-mock-ws/src/sceneunderstanding/CMakeLists.txt
index a422fd6..aaf6886 100644
--- a/spring-mock-ws/src/sceneunderstanding/CMakeLists.txt
+++ b/spring-mock-ws/src/sceneunderstanding/CMakeLists.txt
@@ -114,10 +114,8 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/semanticmapping/CMakeLists.txt b/spring-mock-ws/src/semanticmapping/CMakeLists.txt
index 44e6bcb..ed3e896 100644
--- a/spring-mock-ws/src/semanticmapping/CMakeLists.txt
+++ b/spring-mock-ws/src/semanticmapping/CMakeLists.txt
@@ -114,10 +114,8 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/soundlocalisation/CMakeLists.txt b/spring-mock-ws/src/soundlocalisation/CMakeLists.txt
index c0d620a..232221d 100644
--- a/spring-mock-ws/src/soundlocalisation/CMakeLists.txt
+++ b/spring-mock-ws/src/soundlocalisation/CMakeLists.txt
@@ -115,10 +115,8 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/speakerrecognition/CMakeLists.txt b/spring-mock-ws/src/speakerrecognition/CMakeLists.txt
index 7fb92ba..afbff81 100644
--- a/spring-mock-ws/src/speakerrecognition/CMakeLists.txt
+++ b/spring-mock-ws/src/speakerrecognition/CMakeLists.txt
@@ -114,10 +114,8 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/speechdiarization/CMakeLists.txt b/spring-mock-ws/src/speechdiarization/CMakeLists.txt
index 28daa46..739a775 100644
--- a/spring-mock-ws/src/speechdiarization/CMakeLists.txt
+++ b/spring-mock-ws/src/speechdiarization/CMakeLists.txt
@@ -114,10 +114,8 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/speechsynthesis/CMakeLists.txt b/spring-mock-ws/src/speechsynthesis/CMakeLists.txt
index 0562fc0..bd91fc8 100644
--- a/spring-mock-ws/src/speechsynthesis/CMakeLists.txt
+++ b/spring-mock-ws/src/speechsynthesis/CMakeLists.txt
@@ -114,10 +114,8 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/springarchitecture/CMakeLists.txt b/spring-mock-ws/src/springarchitecture/CMakeLists.txt
index 8143030..7252bd4 100644
--- a/spring-mock-ws/src/springarchitecture/CMakeLists.txt
+++ b/spring-mock-ws/src/springarchitecture/CMakeLists.txt
@@ -3,44 +3,44 @@ project(springarchitecture)
 
 
 find_package(catkin REQUIRED COMPONENTS
-    objectdetectionidentificationlocalisation
-    robotfunctionallayer
-    people3dtracker
-    hri_msgs
-    people3dposeestimation
     asr
-    userattentionestimation
+    speakerrecognition
+    hri_msgs
+    highlevelplanner
+    personreidentification
+    rgbdcamera_info
+    fformation
+    activityreco
+    nonverbalbehaviours
+    robotgui
+    maskdetection
+    speechsynthesis
+    uservisualfocus
+    speechdiarization
+    dialoguemanager
+    people3dtracker
+    personmanager
+    visualslam3dmap
+    robotfunctionallayer
     interactionmanager
-    body2dpose
+    objectdetectionidentificationlocalisation
     robotnonverbalbehaviours
-    depthestimationfrommonocular
+    body2dpose
+    occupancymap
     softbiometrics
     rgbhead
-    personmanager
-    rgbdcamera_info
-    maskdetection
-    soundlocalisation
+    userattentionestimation
+    depthestimationfrommonocular
+    semanticmapping
     respeaker_ros
     orbslam
-    speechdiarization
+    sceneunderstanding
+    people3dposeestimation
+    multipeoplebodytracker
     facedetection
-    occupancymap
     robotutterances
     rosopenpose
-    personreidentification
-    highlevelplanner
-    multipeoplebodytracker
-    fformation
-    activityreco
-    nonverbalbehaviours
-    speakerrecognition
-    semanticmapping
-    robotgui
-    speechsynthesis
-    dialoguemanager
-    sceneunderstanding
-    visualslam3dmap
-    uservisualfocus
+    soundlocalisation
 )
 
 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 1a082d2..caf715b 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all.launch
@@ -1,72 +1,48 @@
 <launch>
 
-    <!-- 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"/>
-    </node>
-
-    <!-- launching Robot functional layer (robotfunctionallayer) -->
-    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+    <!-- launching ASR (asr) -->
+    <node pkg="asr" name="asr" type="node" output="screen">
     </node>
 
-    <!-- launching People 3D tracker (people3dtracker) -->
-    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+    <!-- launching Speaker recognition (speakerrecognition) -->
+    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
     </node>
 
     <!-- launching  hri_msgs (hri_msgs) -->
     <node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
     </node>
 
-    <!-- launching People 3D pose estimation (people3dposeestimation) -->
-    <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
-    </node>
-
-    <!-- launching ASR (asr) -->
-    <node pkg="asr" name="asr" type="node" output="screen">
+    <!-- launching High-level planner (highlevelplanner) -->
+    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
     </node>
 
-    <!-- launching User attention estimation (userattentionestimation) -->
-    <node pkg="userattentionestimation" name="userattentionestimation" 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/<id>/roi"/>
     </node>
 
-    <!-- launching Interaction manager (interactionmanager) -->
-    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
-    </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/<id>/roi"/>
-        <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
+    <!-- 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 Robot non-verbal behaviours (robotnonverbalbehaviours) -->
-    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+    <!-- launching F-formation (fformation) -->
+    <node pkg="fformation" name="fformation" type="node" output="screen">
+        <remap from="groups" to="/h/i/groups"/>
     </node>
 
-    <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
-    <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
+    <!-- launching Activity reco (activityreco) -->
+    <node pkg="activityreco" name="activityreco" 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/<id>/roi"/>
-        <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
-    </node>
-
-    <!-- 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 Person manager (personmanager) -->
-    <node pkg="personmanager" name="personmanager" type="node" output="screen">
+        <remap from="face_expression" to="/humans/faces/<id>/expression"/>
     </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 GUI (robotgui) -->
+    <node pkg="robotgui" name="robotgui" type="node" output="screen">
     </node>
 
     <!-- launching Mask detection (maskdetection) -->
@@ -75,106 +51,130 @@
         <remap from="face_mask" to="/humans/faces/<id>/mask"/>
     </node>
 
-    <!-- launching Sound localisation (soundlocalisation) -->
-    <node pkg="soundlocalisation" name="soundlocalisation" 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 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 User visual focus (uservisualfocus) -->
+    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
     </node>
 
     <!-- launching Speech diarization (speechdiarization) -->
     <node pkg="speechdiarization" name="speechdiarization" 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/<id>/roi"/>
+    <!-- launching Dialogue manager (dialoguemanager) -->
+    <node pkg="dialoguemanager" name="dialoguemanager" 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"/>
+    <!-- launching People 3D tracker (people3dtracker) -->
+    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
     </node>
 
-    <!-- launching Robot utterances (robotutterances) -->
-    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+    <!-- launching Person manager (personmanager) -->
+    <node pkg="personmanager" name="personmanager" type="node" output="screen">
     </node>
 
-    <!-- launching ROS openpose (rosopenpose) -->
-    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+    <!-- 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 Person re-identification (personreidentification) -->
-    <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+    <!-- launching Robot functional layer (robotfunctionallayer) -->
+    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
     </node>
 
-    <!-- launching High-level planner (highlevelplanner) -->
-    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+    <!-- launching Interaction manager (interactionmanager) -->
+    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
     </node>
 
-    <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
-    <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" 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"/>
+    </node>
+
+    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+    </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/<id>/roi"/>
+        <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
     </node>
 
-    <!-- launching F-formation (fformation) -->
-    <node pkg="fformation" name="fformation" type="node" output="screen">
-        <remap from="groups" to="/h/i/groups"/>
+    <!-- launching Occupancy map (occupancymap) -->
+    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+        <remap from="map_refined" to="/map_refined"/>
     </node>
 
-    <!-- launching Activity reco (activityreco) -->
-    <node pkg="activityreco" name="activityreco" type="node" output="screen">
+    <!-- launching Soft biometrics (softbiometrics) -->
+    <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+        <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
     </node>
 
-    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
-    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" 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 User attention estimation (userattentionestimation) -->
+    <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
         <remap from="face_roi" to="/humans/faces/<id>/roi"/>
-        <remap from="face_expression" to="/humans/faces/<id>/expression"/>
     </node>
 
-    <!-- launching Speaker recognition (speakerrecognition) -->
-    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+    <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+    <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
     </node>
 
     <!-- launching Semantic mapping (semanticmapping) -->
     <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
     </node>
 
-    <!-- launching Robot GUI (robotgui) -->
-    <node pkg="robotgui" name="robotgui" type="node" output="screen">
-    </node>
-
-    <!-- launching Speech synthesis (speechsynthesis) -->
-    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+    <!-- launching respeaker_ros (respeaker_ros) -->
+    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+        <remap from="raw_audio" to="/audio/raw_audio"/>
     </node>
 
-    <!-- launching Dialogue manager (dialoguemanager) -->
-    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+    <!-- 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 Scene understanding (sceneunderstanding) -->
     <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
     </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"/>
+    <!-- launching People 3D pose estimation (people3dposeestimation) -->
+    <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
     </node>
 
-    <!-- launching User visual focus (uservisualfocus) -->
-    <node pkg="uservisualfocus" name="uservisualfocus" 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/<id>/roi"/>
+    </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/<id>/roi"/>
+    </node>
+
+    <!-- launching Robot utterances (robotutterances) -->
+    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+    </node>
+
+    <!-- launching ROS openpose (rosopenpose) -->
+    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+    </node>
+
+    <!-- launching Sound localisation (soundlocalisation) -->
+    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
     </node>
 
 
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 24c0b1c..87a3bfd 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
@@ -1,92 +1,97 @@
 <launch>
     <!-- this launch file starts all SPRING nodes except for BIU nodes. -->
 
-    <!-- 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"/>
+    <!-- launching  hri_msgs (hri_msgs) -->
+    <node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
     </node>
     
-    <!-- launching Robot functional layer (robotfunctionallayer) -->
-    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+    <!-- launching High-level planner (highlevelplanner) -->
+    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
     </node>
     
-    <!-- launching People 3D tracker (people3dtracker) -->
-    <node pkg="people3dtracker" name="people3dtracker" 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/<id>/roi"/>
     </node>
     
-    <!-- launching  hri_msgs (hri_msgs) -->
-    <node pkg="hri_msgs" name="hri_msgs" 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 People 3D pose estimation (people3dposeestimation) -->
-    <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
+    <!-- launching F-formation (fformation) -->
+    <node pkg="fformation" name="fformation" type="node" output="screen">
+        <remap from="groups" to="/h/i/groups"/>
     </node>
     
-    <!-- launching User attention estimation (userattentionestimation) -->
-    <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
+    <!-- launching Activity reco (activityreco) -->
+    <node pkg="activityreco" name="activityreco" type="node" output="screen">
+    </node>
+    
+    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
         <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+        <remap from="face_expression" to="/humans/faces/<id>/expression"/>
     </node>
     
-    <!-- launching Interaction manager (interactionmanager) -->
-    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+    <!-- launching Robot GUI (robotgui) -->
+    <node pkg="robotgui" name="robotgui" type="node" output="screen">
     </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/<id>/roi"/>
-        <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
+    <!-- launching Mask detection (maskdetection) -->
+    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+        <remap from="face_mask" to="/humans/faces/<id>/mask"/>
     </node>
     
-    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
-    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+    <!-- launching Speech synthesis (speechsynthesis) -->
+    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
     </node>
     
-    <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
-    <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
+    <!-- launching User visual focus (uservisualfocus) -->
+    <node pkg="uservisualfocus" name="uservisualfocus" 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/<id>/roi"/>
-        <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
+    <!-- launching Dialogue manager (dialoguemanager) -->
+    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
     </node>
     
-    <!-- launching RGB head (rgbhead) -->
-    <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    <!-- launching People 3D tracker (people3dtracker) -->
+    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
     </node>
     
     <!-- launching Person manager (personmanager) -->
     <node pkg="personmanager" name="personmanager" type="node" output="screen">
     </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 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 Mask detection (maskdetection) -->
-    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
-        <remap from="face_mask" to="/humans/faces/<id>/mask"/>
+    <!-- launching Robot functional layer (robotfunctionallayer) -->
+    <node pkg="robotfunctionallayer" name="robotfunctionallayer" 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 Interaction manager (interactionmanager) -->
+    <node pkg="interactionmanager" name="interactionmanager" 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 Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+    <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
     </node>
     
-    <!-- launching Face detection (facedetection) -->
-    <node pkg="facedetection" name="facedetection" type="node" output="screen">
+    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+    </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="face_roi" to="/humans/faces/<id>/roi"/>
+        <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+        <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
     </node>
     
     <!-- launching Occupancy map (occupancymap) -->
@@ -94,72 +99,67 @@
         <remap from="map_refined" to="/map_refined"/>
     </node>
     
-    <!-- launching Robot utterances (robotutterances) -->
-    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
-    </node>
-    
-    <!-- launching ROS openpose (rosopenpose) -->
-    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
-    </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/<id>/roi"/>
+        <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
     </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 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/<id>/roi"/>
+    <!-- launching User attention estimation (userattentionestimation) -->
+    <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
     </node>
     
-    <!-- launching F-formation (fformation) -->
-    <node pkg="fformation" name="fformation" type="node" output="screen">
-        <remap from="groups" to="/h/i/groups"/>
+    <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+    <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
     </node>
     
-    <!-- launching Activity reco (activityreco) -->
-    <node pkg="activityreco" name="activityreco" type="node" output="screen">
+    <!-- launching Semantic mapping (semanticmapping) -->
+    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
     </node>
     
-    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
-    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
-        <remap from="face_expression" to="/humans/faces/<id>/expression"/>
+    <!-- launching respeaker_ros (respeaker_ros) -->
+    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+        <remap from="raw_audio" to="/audio/raw_audio"/>
     </node>
     
-    <!-- launching Semantic mapping (semanticmapping) -->
-    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+    <!-- 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 Robot GUI (robotgui) -->
-    <node pkg="robotgui" name="robotgui" type="node" output="screen">
+    <!-- launching Scene understanding (sceneunderstanding) -->
+    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
     </node>
     
-    <!-- launching Speech synthesis (speechsynthesis) -->
-    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+    <!-- launching People 3D pose estimation (people3dposeestimation) -->
+    <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
     </node>
     
-    <!-- launching Dialogue manager (dialoguemanager) -->
-    <node pkg="dialoguemanager" name="dialoguemanager" 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/<id>/roi"/>
     </node>
     
-    <!-- launching Scene understanding (sceneunderstanding) -->
-    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+    <!-- 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/<id>/roi"/>
     </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"/>
+    <!-- launching Robot utterances (robotutterances) -->
+    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
     </node>
     
-    <!-- launching User visual focus (uservisualfocus) -->
-    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+    <!-- launching ROS openpose (rosopenpose) -->
+    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
     </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 c07a9ed..89670e4 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
@@ -1,35 +1,93 @@
 <launch>
     <!-- this launch file starts all SPRING nodes except for CVUT nodes. -->
 
-    <!-- launching Robot functional layer (robotfunctionallayer) -->
-    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+    <!-- launching ASR (asr) -->
+    <node pkg="asr" name="asr" type="node" output="screen">
     </node>
     
-    <!-- launching People 3D tracker (people3dtracker) -->
-    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+    <!-- launching Speaker recognition (speakerrecognition) -->
+    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
     </node>
     
     <!-- launching  hri_msgs (hri_msgs) -->
     <node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
     </node>
     
-    <!-- launching People 3D pose estimation (people3dposeestimation) -->
-    <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
+    <!-- launching High-level planner (highlevelplanner) -->
+    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
     </node>
     
-    <!-- launching ASR (asr) -->
-    <node pkg="asr" name="asr" 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/<id>/roi"/>
     </node>
     
-    <!-- launching User attention estimation (userattentionestimation) -->
-    <node pkg="userattentionestimation" name="userattentionestimation" 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 F-formation (fformation) -->
+    <node pkg="fformation" name="fformation" type="node" output="screen">
+        <remap from="groups" to="/h/i/groups"/>
+    </node>
+    
+    <!-- launching Activity reco (activityreco) -->
+    <node pkg="activityreco" name="activityreco" type="node" output="screen">
+    </node>
+    
+    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
         <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+        <remap from="face_expression" to="/humans/faces/<id>/expression"/>
+    </node>
+    
+    <!-- launching Robot GUI (robotgui) -->
+    <node pkg="robotgui" name="robotgui" type="node" output="screen">
+    </node>
+    
+    <!-- launching Mask detection (maskdetection) -->
+    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+        <remap from="face_mask" to="/humans/faces/<id>/mask"/>
+    </node>
+    
+    <!-- launching Speech synthesis (speechsynthesis) -->
+    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+    </node>
+    
+    <!-- launching User visual focus (uservisualfocus) -->
+    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+    </node>
+    
+    <!-- launching Speech diarization (speechdiarization) -->
+    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+    </node>
+    
+    <!-- launching Dialogue manager (dialoguemanager) -->
+    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+    </node>
+    
+    <!-- launching People 3D tracker (people3dtracker) -->
+    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+    </node>
+    
+    <!-- launching Person manager (personmanager) -->
+    <node pkg="personmanager" name="personmanager" type="node" output="screen">
+    </node>
+    
+    <!-- launching Robot functional layer (robotfunctionallayer) -->
+    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
     </node>
     
     <!-- launching Interaction manager (interactionmanager) -->
     <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
     </node>
     
+    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+    </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"/>
@@ -37,14 +95,6 @@
         <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
     </node>
     
-    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
-    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
-    </node>
-    
-    <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
-    <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" 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/<id>/roi"/>
@@ -56,23 +106,13 @@
         <remap from="image_raw" to="/camera_head/color/image_raw"/>
     </node>
     
-    <!-- launching Person manager (personmanager) -->
-    <node pkg="personmanager" name="personmanager" type="node" output="screen">
-    </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 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/<id>/roi"/>
-        <remap from="face_mask" to="/humans/faces/<id>/mask"/>
     </node>
     
-    <!-- launching Sound localisation (soundlocalisation) -->
-    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+    <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+    <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
     </node>
     
     <!-- launching respeaker_ros (respeaker_ros) -->
@@ -86,31 +126,12 @@
         <remap from="map" to="/map"/>
     </node>
     
-    <!-- launching Speech diarization (speechdiarization) -->
-    <node pkg="speechdiarization" name="speechdiarization" 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/<id>/roi"/>
-    </node>
-    
-    <!-- launching Robot utterances (robotutterances) -->
-    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
-    </node>
-    
-    <!-- launching ROS openpose (rosopenpose) -->
-    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
-    </node>
-    
-    <!-- launching Person re-identification (personreidentification) -->
-    <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+    <!-- launching Scene understanding (sceneunderstanding) -->
+    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
     </node>
     
-    <!-- launching High-level planner (highlevelplanner) -->
-    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+    <!-- launching People 3D pose estimation (people3dposeestimation) -->
+    <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
     </node>
     
     <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
@@ -119,43 +140,22 @@
         <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
     </node>
     
-    <!-- launching F-formation (fformation) -->
-    <node pkg="fformation" name="fformation" type="node" output="screen">
-        <remap from="groups" to="/h/i/groups"/>
-    </node>
-    
-    <!-- launching Activity reco (activityreco) -->
-    <node pkg="activityreco" name="activityreco" type="node" output="screen">
-    </node>
-    
-    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
-    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+    <!-- 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/<id>/roi"/>
-        <remap from="face_expression" to="/humans/faces/<id>/expression"/>
-    </node>
-    
-    <!-- launching Speaker recognition (speakerrecognition) -->
-    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
-    </node>
-    
-    <!-- launching Robot GUI (robotgui) -->
-    <node pkg="robotgui" name="robotgui" type="node" output="screen">
     </node>
     
-    <!-- launching Speech synthesis (speechsynthesis) -->
-    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
-    </node>
-    
-    <!-- launching Dialogue manager (dialoguemanager) -->
-    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+    <!-- launching Robot utterances (robotutterances) -->
+    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
     </node>
     
-    <!-- launching Scene understanding (sceneunderstanding) -->
-    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+    <!-- launching ROS openpose (rosopenpose) -->
+    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
     </node>
     
-    <!-- launching User visual focus (uservisualfocus) -->
-    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+    <!-- launching Sound localisation (soundlocalisation) -->
+    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
     </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 920e78d..44b85fc 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
@@ -1,104 +1,105 @@
 <launch>
     <!-- this launch file starts all SPRING nodes except for ERM nodes. -->
 
-    <!-- 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"/>
-    </node>
-    
-    <!-- launching Robot functional layer (robotfunctionallayer) -->
-    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+    <!-- launching ASR (asr) -->
+    <node pkg="asr" name="asr" type="node" output="screen">
     </node>
     
-    <!-- launching People 3D tracker (people3dtracker) -->
-    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+    <!-- launching Speaker recognition (speakerrecognition) -->
+    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
     </node>
     
     <!-- launching  hri_msgs (hri_msgs) -->
     <node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
     </node>
     
-    <!-- launching People 3D pose estimation (people3dposeestimation) -->
-    <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
+    <!-- launching High-level planner (highlevelplanner) -->
+    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
     </node>
     
-    <!-- launching ASR (asr) -->
-    <node pkg="asr" name="asr" 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/<id>/roi"/>
     </node>
     
-    <!-- launching User attention estimation (userattentionestimation) -->
-    <node pkg="userattentionestimation" name="userattentionestimation" 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 F-formation (fformation) -->
+    <node pkg="fformation" name="fformation" type="node" output="screen">
+        <remap from="groups" to="/h/i/groups"/>
+    </node>
+    
+    <!-- launching Activity reco (activityreco) -->
+    <node pkg="activityreco" name="activityreco" type="node" output="screen">
+    </node>
+    
+    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
         <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+        <remap from="face_expression" to="/humans/faces/<id>/expression"/>
     </node>
     
-    <!-- launching Interaction manager (interactionmanager) -->
-    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+    <!-- launching Mask detection (maskdetection) -->
+    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+        <remap from="face_mask" to="/humans/faces/<id>/mask"/>
     </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/<id>/roi"/>
-        <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
+    <!-- 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">
+    <!-- launching User visual focus (uservisualfocus) -->
+    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
     </node>
     
-    <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
-    <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
+    <!-- launching Speech diarization (speechdiarization) -->
+    <node pkg="speechdiarization" name="speechdiarization" 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/<id>/roi"/>
-        <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
+    <!-- launching Dialogue manager (dialoguemanager) -->
+    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
     </node>
     
-    <!-- launching RGB head (rgbhead) -->
-    <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    <!-- launching People 3D tracker (people3dtracker) -->
+    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
     </node>
     
     <!-- launching Person manager (personmanager) -->
     <node pkg="personmanager" name="personmanager" type="node" output="screen">
     </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 Mask detection (maskdetection) -->
-    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
-        <remap from="face_mask" to="/humans/faces/<id>/mask"/>
+    <!-- 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 Sound localisation (soundlocalisation) -->
-    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+    <!-- launching Robot functional layer (robotfunctionallayer) -->
+    <node pkg="robotfunctionallayer" name="robotfunctionallayer" 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 Interaction manager (interactionmanager) -->
+    <node pkg="interactionmanager" name="interactionmanager" 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 Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+    <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
     </node>
     
-    <!-- launching Speech diarization (speechdiarization) -->
-    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
     </node>
     
-    <!-- launching Face detection (facedetection) -->
-    <node pkg="facedetection" name="facedetection" type="node" output="screen">
+    <!-- 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="face_roi" to="/humans/faces/<id>/roi"/>
+        <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+        <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
     </node>
     
     <!-- launching Occupancy map (occupancymap) -->
@@ -106,72 +107,71 @@
         <remap from="map_refined" to="/map_refined"/>
     </node>
     
-    <!-- launching Robot utterances (robotutterances) -->
-    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+    <!-- launching Soft biometrics (softbiometrics) -->
+    <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+        <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
     </node>
     
-    <!-- launching ROS openpose (rosopenpose) -->
-    <node pkg="rosopenpose" name="rosopenpose" 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 Person re-identification (personreidentification) -->
-    <node pkg="personreidentification" name="personreidentification" 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/<id>/roi"/>
     </node>
     
-    <!-- launching High-level planner (highlevelplanner) -->
-    <node pkg="highlevelplanner" name="highlevelplanner" 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/<id>/roi"/>
+    <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+    <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
     </node>
     
-    <!-- launching F-formation (fformation) -->
-    <node pkg="fformation" name="fformation" type="node" output="screen">
-        <remap from="groups" to="/h/i/groups"/>
+    <!-- launching Semantic mapping (semanticmapping) -->
+    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
     </node>
     
-    <!-- launching Activity reco (activityreco) -->
-    <node pkg="activityreco" name="activityreco" type="node" output="screen">
+    <!-- launching respeaker_ros (respeaker_ros) -->
+    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+        <remap from="raw_audio" to="/audio/raw_audio"/>
     </node>
     
-    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
-    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
-        <remap from="face_expression" to="/humans/faces/<id>/expression"/>
+    <!-- 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 Speaker recognition (speakerrecognition) -->
-    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+    <!-- launching Scene understanding (sceneunderstanding) -->
+    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
     </node>
     
-    <!-- launching Semantic mapping (semanticmapping) -->
-    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+    <!-- launching People 3D pose estimation (people3dposeestimation) -->
+    <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
     </node>
     
-    <!-- launching Speech synthesis (speechsynthesis) -->
-    <node pkg="speechsynthesis" name="speechsynthesis" 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/<id>/roi"/>
     </node>
     
-    <!-- launching Dialogue manager (dialoguemanager) -->
-    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+    <!-- 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/<id>/roi"/>
     </node>
     
-    <!-- launching Scene understanding (sceneunderstanding) -->
-    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+    <!-- launching Robot utterances (robotutterances) -->
+    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
     </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"/>
+    <!-- launching ROS openpose (rosopenpose) -->
+    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
     </node>
     
-    <!-- launching User visual focus (uservisualfocus) -->
-    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+    <!-- launching Sound localisation (soundlocalisation) -->
+    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
     </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 20140b2..00667fe 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
@@ -1,100 +1,97 @@
 <launch>
     <!-- this launch file starts all SPRING nodes except for HWU nodes. -->
 
-    <!-- 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"/>
-    </node>
-    
-    <!-- launching Robot functional layer (robotfunctionallayer) -->
-    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+    <!-- launching ASR (asr) -->
+    <node pkg="asr" name="asr" type="node" output="screen">
     </node>
     
-    <!-- launching People 3D tracker (people3dtracker) -->
-    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+    <!-- launching Speaker recognition (speakerrecognition) -->
+    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
     </node>
     
     <!-- launching  hri_msgs (hri_msgs) -->
     <node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
     </node>
     
-    <!-- launching People 3D pose estimation (people3dposeestimation) -->
-    <node pkg="people3dposeestimation" name="people3dposeestimation" 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/<id>/roi"/>
     </node>
     
-    <!-- launching ASR (asr) -->
-    <node pkg="asr" name="asr" 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 User attention estimation (userattentionestimation) -->
-    <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+    <!-- launching F-formation (fformation) -->
+    <node pkg="fformation" name="fformation" type="node" output="screen">
+        <remap from="groups" to="/h/i/groups"/>
     </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/<id>/roi"/>
-        <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
+    <!-- launching Activity reco (activityreco) -->
+    <node pkg="activityreco" name="activityreco" type="node" output="screen">
     </node>
     
-    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
-    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" 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/<id>/roi"/>
+        <remap from="face_expression" to="/humans/faces/<id>/expression"/>
     </node>
     
-    <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
-    <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
+    <!-- launching Robot GUI (robotgui) -->
+    <node pkg="robotgui" name="robotgui" type="node" output="screen">
     </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/<id>/roi"/>
-        <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
+        <remap from="face_mask" to="/humans/faces/<id>/mask"/>
     </node>
     
-    <!-- launching RGB head (rgbhead) -->
-    <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    <!-- launching Speech synthesis (speechsynthesis) -->
+    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
     </node>
     
-    <!-- launching Person manager (personmanager) -->
-    <node pkg="personmanager" name="personmanager" type="node" output="screen">
+    <!-- launching User visual focus (uservisualfocus) -->
+    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
     </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 diarization (speechdiarization) -->
+    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
     </node>
     
-    <!-- launching Mask detection (maskdetection) -->
-    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
-        <remap from="face_mask" to="/humans/faces/<id>/mask"/>
+    <!-- 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 Person manager (personmanager) -->
+    <node pkg="personmanager" name="personmanager" 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 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 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 functional layer (robotfunctionallayer) -->
+    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
     </node>
     
-    <!-- launching Speech diarization (speechdiarization) -->
-    <node pkg="speechdiarization" name="speechdiarization" 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"/>
     </node>
     
-    <!-- launching Face detection (facedetection) -->
-    <node pkg="facedetection" name="facedetection" type="node" output="screen">
+    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+    </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="face_roi" to="/humans/faces/<id>/roi"/>
+        <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+        <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
     </node>
     
     <!-- launching Occupancy map (occupancymap) -->
@@ -102,60 +99,63 @@
         <remap from="map_refined" to="/map_refined"/>
     </node>
     
-    <!-- launching ROS openpose (rosopenpose) -->
-    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
-    </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/<id>/roi"/>
+        <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
     </node>
     
-    <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
-    <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" 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"/>
-        <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
     </node>
     
-    <!-- launching F-formation (fformation) -->
-    <node pkg="fformation" name="fformation" type="node" output="screen">
-        <remap from="groups" to="/h/i/groups"/>
+    <!-- launching User attention estimation (userattentionestimation) -->
+    <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
     </node>
     
-    <!-- launching Activity reco (activityreco) -->
-    <node pkg="activityreco" name="activityreco" type="node" output="screen">
+    <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+    <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
     </node>
     
-    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
-    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
-        <remap from="face_expression" to="/humans/faces/<id>/expression"/>
+    <!-- launching Semantic mapping (semanticmapping) -->
+    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
     </node>
     
-    <!-- launching Speaker recognition (speakerrecognition) -->
-    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+    <!-- launching respeaker_ros (respeaker_ros) -->
+    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+        <remap from="raw_audio" to="/audio/raw_audio"/>
     </node>
     
-    <!-- launching Semantic mapping (semanticmapping) -->
-    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+    <!-- 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 Robot GUI (robotgui) -->
-    <node pkg="robotgui" name="robotgui" type="node" output="screen">
+    <!-- launching People 3D pose estimation (people3dposeestimation) -->
+    <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
     </node>
     
-    <!-- launching Speech synthesis (speechsynthesis) -->
-    <node pkg="speechsynthesis" name="speechsynthesis" 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/<id>/roi"/>
     </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"/>
+    <!-- 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/<id>/roi"/>
     </node>
     
-    <!-- launching User visual focus (uservisualfocus) -->
-    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+    <!-- launching ROS openpose (rosopenpose) -->
+    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+    </node>
+    
+    <!-- launching Sound localisation (soundlocalisation) -->
+    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
     </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 51a4c00..ddc14c6 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
@@ -1,61 +1,49 @@
 <launch>
     <!-- this launch file starts all SPRING nodes except for INRIA nodes. -->
 
-    <!-- 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"/>
+    <!-- launching ASR (asr) -->
+    <node pkg="asr" name="asr" type="node" output="screen">
     </node>
     
-    <!-- launching Robot functional layer (robotfunctionallayer) -->
-    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+    <!-- launching Speaker recognition (speakerrecognition) -->
+    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
     </node>
     
     <!-- launching  hri_msgs (hri_msgs) -->
     <node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
     </node>
     
-    <!-- launching People 3D pose estimation (people3dposeestimation) -->
-    <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
-    </node>
-    
-    <!-- launching ASR (asr) -->
-    <node pkg="asr" name="asr" type="node" output="screen">
+    <!-- launching High-level planner (highlevelplanner) -->
+    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
     </node>
     
-    <!-- launching User attention estimation (userattentionestimation) -->
-    <node pkg="userattentionestimation" name="userattentionestimation" 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/<id>/roi"/>
     </node>
     
-    <!-- launching Interaction manager (interactionmanager) -->
-    <node pkg="interactionmanager" name="interactionmanager" 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 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/<id>/roi"/>
-        <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
+    <!-- launching F-formation (fformation) -->
+    <node pkg="fformation" name="fformation" type="node" output="screen">
+        <remap from="groups" to="/h/i/groups"/>
     </node>
     
-    <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
-    <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
+    <!-- launching Activity reco (activityreco) -->
+    <node pkg="activityreco" name="activityreco" 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/<id>/roi"/>
-        <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
-    </node>
-    
-    <!-- launching RGB head (rgbhead) -->
-    <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="face_expression" to="/humans/faces/<id>/expression"/>
     </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 GUI (robotgui) -->
+    <node pkg="robotgui" name="robotgui" type="node" output="screen">
     </node>
     
     <!-- launching Mask detection (maskdetection) -->
@@ -64,96 +52,108 @@
         <remap from="face_mask" to="/humans/faces/<id>/mask"/>
     </node>
     
-    <!-- launching Sound localisation (soundlocalisation) -->
-    <node pkg="soundlocalisation" name="soundlocalisation" 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 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 User visual focus (uservisualfocus) -->
+    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
     </node>
     
     <!-- launching Speech diarization (speechdiarization) -->
     <node pkg="speechdiarization" name="speechdiarization" 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/<id>/roi"/>
+    <!-- launching Dialogue manager (dialoguemanager) -->
+    <node pkg="dialoguemanager" name="dialoguemanager" 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"/>
+    <!-- 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 utterances (robotutterances) -->
-    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+    <!-- launching Robot functional layer (robotfunctionallayer) -->
+    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
     </node>
     
-    <!-- launching Person re-identification (personreidentification) -->
-    <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+    <!-- launching Interaction manager (interactionmanager) -->
+    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
     </node>
     
-    <!-- launching High-level planner (highlevelplanner) -->
-    <node pkg="highlevelplanner" name="highlevelplanner" 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"/>
     </node>
     
-    <!-- launching F-formation (fformation) -->
-    <node pkg="fformation" name="fformation" type="node" output="screen">
-        <remap from="groups" to="/h/i/groups"/>
+    <!-- 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/<id>/roi"/>
+        <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
     </node>
     
-    <!-- launching Activity reco (activityreco) -->
-    <node pkg="activityreco" name="activityreco" type="node" output="screen">
+    <!-- launching Occupancy map (occupancymap) -->
+    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+        <remap from="map_refined" to="/map_refined"/>
     </node>
     
-    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
-    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+    <!-- launching Soft biometrics (softbiometrics) -->
+    <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
         <remap from="face_roi" to="/humans/faces/<id>/roi"/>
-        <remap from="face_expression" to="/humans/faces/<id>/expression"/>
+        <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
     </node>
     
-    <!-- launching Speaker recognition (speakerrecognition) -->
-    <node pkg="speakerrecognition" name="speakerrecognition" 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 Semantic mapping (semanticmapping) -->
-    <node pkg="semanticmapping" name="semanticmapping" 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/<id>/roi"/>
     </node>
     
-    <!-- launching Robot GUI (robotgui) -->
-    <node pkg="robotgui" name="robotgui" type="node" output="screen">
+    <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+    <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
     </node>
     
-    <!-- launching Speech synthesis (speechsynthesis) -->
-    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+    <!-- launching Semantic mapping (semanticmapping) -->
+    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
     </node>
     
-    <!-- launching Dialogue manager (dialoguemanager) -->
-    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+    <!-- launching respeaker_ros (respeaker_ros) -->
+    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+        <remap from="raw_audio" to="/audio/raw_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 Scene understanding (sceneunderstanding) -->
     <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
     </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"/>
+    <!-- launching People 3D pose estimation (people3dposeestimation) -->
+    <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
     </node>
     
-    <!-- launching User visual focus (uservisualfocus) -->
-    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+    <!-- 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/<id>/roi"/>
+    </node>
+    
+    <!-- launching Robot utterances (robotutterances) -->
+    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+    </node>
+    
+    <!-- launching Sound localisation (soundlocalisation) -->
+    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
     </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 7ed5389..f5b522f 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
@@ -1,177 +1,177 @@
 <launch>
     <!-- this launch file starts all SPRING nodes except for Other nodes. -->
 
-    <!-- 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"/>
+    <!-- launching ASR (asr) -->
+    <node pkg="asr" name="asr" type="node" output="screen">
     </node>
     
-    <!-- launching Robot functional layer (robotfunctionallayer) -->
-    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+    <!-- launching Speaker recognition (speakerrecognition) -->
+    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
     </node>
     
-    <!-- launching People 3D tracker (people3dtracker) -->
-    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+    <!-- launching High-level planner (highlevelplanner) -->
+    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
     </node>
     
-    <!-- launching People 3D pose estimation (people3dposeestimation) -->
-    <node pkg="people3dposeestimation" name="people3dposeestimation" 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/<id>/roi"/>
     </node>
     
-    <!-- launching ASR (asr) -->
-    <node pkg="asr" name="asr" 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 User attention estimation (userattentionestimation) -->
-    <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+    <!-- launching F-formation (fformation) -->
+    <node pkg="fformation" name="fformation" type="node" output="screen">
+        <remap from="groups" to="/h/i/groups"/>
     </node>
     
-    <!-- launching Interaction manager (interactionmanager) -->
-    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+    <!-- launching Activity reco (activityreco) -->
+    <node pkg="activityreco" name="activityreco" type="node" output="screen">
     </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/<id>/roi"/>
-        <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
+    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+        <remap from="face_expression" to="/humans/faces/<id>/expression"/>
     </node>
     
-    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
-    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+    <!-- launching Robot GUI (robotgui) -->
+    <node pkg="robotgui" name="robotgui" type="node" output="screen">
     </node>
     
-    <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
-    <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
+    <!-- launching Mask detection (maskdetection) -->
+    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+        <remap from="face_mask" to="/humans/faces/<id>/mask"/>
     </node>
     
-    <!-- launching Soft biometrics (softbiometrics) -->
-    <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
-        <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
+    <!-- launching Speech synthesis (speechsynthesis) -->
+    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
     </node>
     
-    <!-- launching RGB head (rgbhead) -->
-    <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    <!-- launching User visual focus (uservisualfocus) -->
+    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
     </node>
     
-    <!-- launching Person manager (personmanager) -->
-    <node pkg="personmanager" name="personmanager" type="node" output="screen">
+    <!-- launching Speech diarization (speechdiarization) -->
+    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
     </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 Dialogue manager (dialoguemanager) -->
+    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
     </node>
     
-    <!-- launching Mask detection (maskdetection) -->
-    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
-        <remap from="face_mask" to="/humans/faces/<id>/mask"/>
+    <!-- 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 Person manager (personmanager) -->
+    <node pkg="personmanager" name="personmanager" 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 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 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 functional layer (robotfunctionallayer) -->
+    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
     </node>
     
-    <!-- launching Speech diarization (speechdiarization) -->
-    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+    <!-- launching Interaction manager (interactionmanager) -->
+    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
     </node>
     
-    <!-- launching Face detection (facedetection) -->
-    <node pkg="facedetection" name="facedetection" 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="face_roi" to="/humans/faces/<id>/roi"/>
     </node>
     
-    <!-- launching Occupancy map (occupancymap) -->
-    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
-        <remap from="map_refined" to="/map_refined"/>
+    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
     </node>
     
-    <!-- launching Robot utterances (robotutterances) -->
-    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+    <!-- 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/<id>/roi"/>
+        <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
     </node>
     
-    <!-- launching ROS openpose (rosopenpose) -->
-    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+    <!-- launching Occupancy map (occupancymap) -->
+    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+        <remap from="map_refined" to="/map_refined"/>
     </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/<id>/roi"/>
+        <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
     </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 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/<id>/roi"/>
+    <!-- launching User attention estimation (userattentionestimation) -->
+    <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
     </node>
     
-    <!-- launching F-formation (fformation) -->
-    <node pkg="fformation" name="fformation" type="node" output="screen">
-        <remap from="groups" to="/h/i/groups"/>
+    <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+    <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
     </node>
     
-    <!-- launching Activity reco (activityreco) -->
-    <node pkg="activityreco" name="activityreco" type="node" output="screen">
+    <!-- launching Semantic mapping (semanticmapping) -->
+    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
     </node>
     
-    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
-    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
-        <remap from="face_expression" to="/humans/faces/<id>/expression"/>
+    <!-- launching respeaker_ros (respeaker_ros) -->
+    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+        <remap from="raw_audio" to="/audio/raw_audio"/>
     </node>
     
-    <!-- launching Speaker recognition (speakerrecognition) -->
-    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+    <!-- 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 Semantic mapping (semanticmapping) -->
-    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+    <!-- launching Scene understanding (sceneunderstanding) -->
+    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
     </node>
     
-    <!-- launching Robot GUI (robotgui) -->
-    <node pkg="robotgui" name="robotgui" type="node" output="screen">
+    <!-- launching People 3D pose estimation (people3dposeestimation) -->
+    <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
     </node>
     
-    <!-- launching Speech synthesis (speechsynthesis) -->
-    <node pkg="speechsynthesis" name="speechsynthesis" 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/<id>/roi"/>
     </node>
     
-    <!-- launching Dialogue manager (dialoguemanager) -->
-    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+    <!-- 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/<id>/roi"/>
     </node>
     
-    <!-- launching Scene understanding (sceneunderstanding) -->
-    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+    <!-- launching Robot utterances (robotutterances) -->
+    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
     </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"/>
+    <!-- launching ROS openpose (rosopenpose) -->
+    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
     </node>
     
-    <!-- launching User visual focus (uservisualfocus) -->
-    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+    <!-- launching Sound localisation (soundlocalisation) -->
+    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
     </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 4471e0b..b6151b0 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
@@ -1,55 +1,44 @@
 <launch>
     <!-- this launch file starts all SPRING nodes except for PAL nodes. -->
 
-    <!-- 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"/>
+    <!-- launching ASR (asr) -->
+    <node pkg="asr" name="asr" type="node" output="screen">
     </node>
     
-    <!-- launching People 3D tracker (people3dtracker) -->
-    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+    <!-- launching Speaker recognition (speakerrecognition) -->
+    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
     </node>
     
     <!-- launching  hri_msgs (hri_msgs) -->
     <node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
     </node>
     
-    <!-- launching ASR (asr) -->
-    <node pkg="asr" name="asr" type="node" output="screen">
+    <!-- launching High-level planner (highlevelplanner) -->
+    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
     </node>
     
-    <!-- launching User attention estimation (userattentionestimation) -->
-    <node pkg="userattentionestimation" name="userattentionestimation" 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/<id>/roi"/>
     </node>
     
-    <!-- launching Interaction manager (interactionmanager) -->
-    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
-    </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/<id>/roi"/>
-        <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
-    </node>
-    
-    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
-    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+    <!-- launching F-formation (fformation) -->
+    <node pkg="fformation" name="fformation" type="node" output="screen">
+        <remap from="groups" to="/h/i/groups"/>
     </node>
     
-    <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
-    <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
+    <!-- launching Activity reco (activityreco) -->
+    <node pkg="activityreco" name="activityreco" 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/<id>/roi"/>
-        <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
+        <remap from="face_expression" to="/humans/faces/<id>/expression"/>
     </node>
     
-    <!-- launching Person manager (personmanager) -->
-    <node pkg="personmanager" name="personmanager" type="node" output="screen">
+    <!-- launching Robot GUI (robotgui) -->
+    <node pkg="robotgui" name="robotgui" type="node" output="screen">
     </node>
     
     <!-- launching Mask detection (maskdetection) -->
@@ -58,91 +47,102 @@
         <remap from="face_mask" to="/humans/faces/<id>/mask"/>
     </node>
     
-    <!-- launching Sound localisation (soundlocalisation) -->
-    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+    <!-- launching User visual focus (uservisualfocus) -->
+    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
     </node>
     
     <!-- launching Speech diarization (speechdiarization) -->
     <node pkg="speechdiarization" name="speechdiarization" 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/<id>/roi"/>
+    <!-- launching Dialogue manager (dialoguemanager) -->
+    <node pkg="dialoguemanager" name="dialoguemanager" 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"/>
+    <!-- launching People 3D tracker (people3dtracker) -->
+    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
     </node>
     
-    <!-- launching Robot utterances (robotutterances) -->
-    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+    <!-- launching Person manager (personmanager) -->
+    <node pkg="personmanager" name="personmanager" type="node" output="screen">
     </node>
     
-    <!-- launching ROS openpose (rosopenpose) -->
-    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+    <!-- 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 Person re-identification (personreidentification) -->
-    <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+    <!-- launching Interaction manager (interactionmanager) -->
+    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
     </node>
     
-    <!-- launching High-level planner (highlevelplanner) -->
-    <node pkg="highlevelplanner" name="highlevelplanner" 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"/>
     </node>
     
-    <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
-    <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
+    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+    </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/<id>/roi"/>
+        <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
     </node>
     
-    <!-- launching F-formation (fformation) -->
-    <node pkg="fformation" name="fformation" type="node" output="screen">
-        <remap from="groups" to="/h/i/groups"/>
+    <!-- launching Occupancy map (occupancymap) -->
+    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+        <remap from="map_refined" to="/map_refined"/>
     </node>
     
-    <!-- launching Activity reco (activityreco) -->
-    <node pkg="activityreco" name="activityreco" type="node" output="screen">
+    <!-- launching Soft biometrics (softbiometrics) -->
+    <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+        <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
     </node>
     
-    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
-    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" 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/<id>/roi"/>
-        <remap from="face_expression" to="/humans/faces/<id>/expression"/>
     </node>
     
-    <!-- launching Speaker recognition (speakerrecognition) -->
-    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+    <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+    <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
     </node>
     
     <!-- launching Semantic mapping (semanticmapping) -->
     <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
     </node>
     
-    <!-- launching Robot GUI (robotgui) -->
-    <node pkg="robotgui" name="robotgui" type="node" output="screen">
+    <!-- launching Scene understanding (sceneunderstanding) -->
+    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
     </node>
     
-    <!-- launching Dialogue manager (dialoguemanager) -->
-    <node pkg="dialoguemanager" name="dialoguemanager" 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/<id>/roi"/>
     </node>
     
-    <!-- launching Scene understanding (sceneunderstanding) -->
-    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+    <!-- 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/<id>/roi"/>
     </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"/>
+    <!-- launching Robot utterances (robotutterances) -->
+    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
     </node>
     
-    <!-- launching User visual focus (uservisualfocus) -->
-    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+    <!-- launching ROS openpose (rosopenpose) -->
+    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+    </node>
+    
+    <!-- launching Sound localisation (soundlocalisation) -->
+    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
     </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 65d2620..f01b69f 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
@@ -1,70 +1,72 @@
 <launch>
     <!-- this launch file starts all SPRING nodes except for UNITN nodes. -->
 
-    <!-- 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"/>
-    </node>
-    
-    <!-- launching Robot functional layer (robotfunctionallayer) -->
-    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+    <!-- launching ASR (asr) -->
+    <node pkg="asr" name="asr" type="node" output="screen">
     </node>
     
-    <!-- launching People 3D tracker (people3dtracker) -->
-    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+    <!-- launching Speaker recognition (speakerrecognition) -->
+    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
     </node>
     
     <!-- launching  hri_msgs (hri_msgs) -->
     <node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
     </node>
     
-    <!-- launching People 3D pose estimation (people3dposeestimation) -->
-    <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
+    <!-- launching High-level planner (highlevelplanner) -->
+    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
     </node>
     
-    <!-- launching ASR (asr) -->
-    <node pkg="asr" name="asr" 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 Interaction manager (interactionmanager) -->
-    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+    <!-- launching Robot GUI (robotgui) -->
+    <node pkg="robotgui" name="robotgui" type="node" output="screen">
     </node>
     
-    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
-    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+    <!-- launching Speech synthesis (speechsynthesis) -->
+    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
     </node>
     
-    <!-- launching RGB head (rgbhead) -->
-    <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    <!-- launching Speech diarization (speechdiarization) -->
+    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+    </node>
+    
+    <!-- launching Dialogue manager (dialoguemanager) -->
+    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+    </node>
+    
+    <!-- launching People 3D tracker (people3dtracker) -->
+    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
     </node>
     
     <!-- launching Person manager (personmanager) -->
     <node pkg="personmanager" name="personmanager" type="node" output="screen">
     </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 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 Sound localisation (soundlocalisation) -->
-    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+    <!-- launching Robot functional layer (robotfunctionallayer) -->
+    <node pkg="robotfunctionallayer" name="robotfunctionallayer" 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 Interaction manager (interactionmanager) -->
+    <node pkg="interactionmanager" name="interactionmanager" 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 Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+    <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
     </node>
     
-    <!-- launching Speech diarization (speechdiarization) -->
-    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
     </node>
     
     <!-- launching Occupancy map (occupancymap) -->
@@ -72,52 +74,50 @@
         <remap from="map_refined" to="/map_refined"/>
     </node>
     
-    <!-- launching Robot utterances (robotutterances) -->
-    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
-    </node>
-    
-    <!-- launching ROS openpose (rosopenpose) -->
-    <node pkg="rosopenpose" name="rosopenpose" 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 High-level planner (highlevelplanner) -->
-    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+    <!-- launching Semantic mapping (semanticmapping) -->
+    <node pkg="semanticmapping" name="semanticmapping" 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/<id>/roi"/>
+    <!-- launching respeaker_ros (respeaker_ros) -->
+    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+        <remap from="raw_audio" to="/audio/raw_audio"/>
     </node>
     
-    <!-- launching Speaker recognition (speakerrecognition) -->
-    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+    <!-- 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 Semantic mapping (semanticmapping) -->
-    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+    <!-- launching Scene understanding (sceneunderstanding) -->
+    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
     </node>
     
-    <!-- launching Robot GUI (robotgui) -->
-    <node pkg="robotgui" name="robotgui" type="node" output="screen">
+    <!-- launching People 3D pose estimation (people3dposeestimation) -->
+    <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
     </node>
     
-    <!-- launching Speech synthesis (speechsynthesis) -->
-    <node pkg="speechsynthesis" name="speechsynthesis" 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/<id>/roi"/>
     </node>
     
-    <!-- launching Dialogue manager (dialoguemanager) -->
-    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+    <!-- launching Robot utterances (robotutterances) -->
+    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
     </node>
     
-    <!-- launching Scene understanding (sceneunderstanding) -->
-    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+    <!-- launching ROS openpose (rosopenpose) -->
+    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
     </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"/>
+    <!-- launching Sound localisation (soundlocalisation) -->
+    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
     </node>
     
 
diff --git a/spring-mock-ws/src/springarchitecture/package.xml b/spring-mock-ws/src/springarchitecture/package.xml
index b566988..67bf161 100644
--- a/spring-mock-ws/src/springarchitecture/package.xml
+++ b/spring-mock-ws/src/springarchitecture/package.xml
@@ -9,44 +9,44 @@
     <license>BSD</license>
 
     <buildtool_depend>catkin</buildtool_depend>
-    <depend>objectdetectionidentificationlocalisation</depend>
-    <depend>robotfunctionallayer</depend>
-    <depend>people3dtracker</depend>
-    <depend>hri_msgs</depend>
-    <depend>people3dposeestimation</depend>
     <depend>asr</depend>
-    <depend>userattentionestimation</depend>
+    <depend>speakerrecognition</depend>
+    <depend>hri_msgs</depend>
+    <depend>highlevelplanner</depend>
+    <depend>personreidentification</depend>
+    <depend>rgbdcamera_info</depend>
+    <depend>fformation</depend>
+    <depend>activityreco</depend>
+    <depend>nonverbalbehaviours</depend>
+    <depend>robotgui</depend>
+    <depend>maskdetection</depend>
+    <depend>speechsynthesis</depend>
+    <depend>uservisualfocus</depend>
+    <depend>speechdiarization</depend>
+    <depend>dialoguemanager</depend>
+    <depend>people3dtracker</depend>
+    <depend>personmanager</depend>
+    <depend>visualslam3dmap</depend>
+    <depend>robotfunctionallayer</depend>
     <depend>interactionmanager</depend>
-    <depend>body2dpose</depend>
+    <depend>objectdetectionidentificationlocalisation</depend>
     <depend>robotnonverbalbehaviours</depend>
-    <depend>depthestimationfrommonocular</depend>
+    <depend>body2dpose</depend>
+    <depend>occupancymap</depend>
     <depend>softbiometrics</depend>
     <depend>rgbhead</depend>
-    <depend>personmanager</depend>
-    <depend>rgbdcamera_info</depend>
-    <depend>maskdetection</depend>
-    <depend>soundlocalisation</depend>
+    <depend>userattentionestimation</depend>
+    <depend>depthestimationfrommonocular</depend>
+    <depend>semanticmapping</depend>
     <depend>respeaker_ros</depend>
     <depend>orbslam</depend>
-    <depend>speechdiarization</depend>
+    <depend>sceneunderstanding</depend>
+    <depend>people3dposeestimation</depend>
+    <depend>multipeoplebodytracker</depend>
     <depend>facedetection</depend>
-    <depend>occupancymap</depend>
     <depend>robotutterances</depend>
     <depend>rosopenpose</depend>
-    <depend>personreidentification</depend>
-    <depend>highlevelplanner</depend>
-    <depend>multipeoplebodytracker</depend>
-    <depend>fformation</depend>
-    <depend>activityreco</depend>
-    <depend>nonverbalbehaviours</depend>
-    <depend>speakerrecognition</depend>
-    <depend>semanticmapping</depend>
-    <depend>robotgui</depend>
-    <depend>speechsynthesis</depend>
-    <depend>dialoguemanager</depend>
-    <depend>sceneunderstanding</depend>
-    <depend>visualslam3dmap</depend>
-    <depend>uservisualfocus</depend>
+    <depend>soundlocalisation</depend>
 
     <export>
 
diff --git a/spring-mock-ws/src/visualslam3dmap/CMakeLists.txt b/spring-mock-ws/src/visualslam3dmap/CMakeLists.txt
index f2c088f..015739d 100644
--- a/spring-mock-ws/src/visualslam3dmap/CMakeLists.txt
+++ b/spring-mock-ws/src/visualslam3dmap/CMakeLists.txt
@@ -116,10 +116,8 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/visualslam3dmap/src/main.cpp b/spring-mock-ws/src/visualslam3dmap/src/main.cpp
index 1b09822..3037c5e 100644
--- a/spring-mock-ws/src/visualslam3dmap/src/main.cpp
+++ b/spring-mock-ws/src/visualslam3dmap/src/main.cpp
@@ -23,18 +23,18 @@
 
 #include "ros/ros.h"
 #include "std_msgs/String.h"
-#include "sensor_msgs/Image.h"
 #include "tf/transform_broadcaster.h"
 #include "std_msgs/Empty.h"
+#include "sensor_msgs/Image.h"
 
 class VisualSlam3dMap {
    public:
     VisualSlam3dMap(ros::NodeHandle* nh) {
 
-        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);
+        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
         dense3dmap_pub_ = nh->advertise<std_msgs::Empty>("dense3dmap", 1);
@@ -43,22 +43,22 @@ class VisualSlam3dMap {
     ~VisualSlam3dMap() {}
 
    private:
-    void image_headCallback(const sensor_msgs::Image::ConstPtr& msg)
+    void localisationpriorCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("visualslam3dmap: received message: " << msg);
     }
-    void image_torsoCallback(const sensor_msgs::Image::ConstPtr& msg)
+    void image_headCallback(const sensor_msgs::Image::ConstPtr& msg)
     {
         ROS_INFO_STREAM("visualslam3dmap: received message: " << msg);
     }
-    void localisationpriorCallback(const std_msgs::Empty::ConstPtr& msg)
+    void image_torsoCallback(const sensor_msgs::Image::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_;
 
-- 
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