diff --git a/spring-mock-ws/fetch_released_nodes.sh b/spring-mock-ws/fetch_released_nodes.sh
new file mode 100644
index 0000000000000000000000000000000000000000..35a9c649920140ed26ab4b0b8fd4a0e60e1987a0
--- /dev/null
+++ b/spring-mock-ws/fetch_released_nodes.sh
@@ -0,0 +1,7 @@
+#! /usr/bin/sh
+
+# This script clone all the SPRING ROS nodes that are marked as released in the
+# architecture design.
+
+echo "Cloning respeaker_ros (ROS node: respeaker_ros), branch: master to src/ ..."
+git clone --depth 1 --branch master https://gitlab.inria.fr/spring/wp7_ari/respeaker_ros.git src/respeaker_ros
diff --git a/spring-mock-ws/src/activityreco/package.xml b/spring-mock-ws/src/activityreco/package.xml
index bf5bd3857119fba60a8beae1771cc71a81727a9c..052673b53db9b5fba374d66254d3efd92564a16d 100644
--- a/spring-mock-ws/src/activityreco/package.xml
+++ b/spring-mock-ws/src/activityreco/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>activityreco</name>
-    <version>0.0.1</version>
-    <description>Activity reco (UNITN) Activity reco. Auto-generated by Boxology 0.9.0.</description>
+    <version>1.0.0</version>
+    <description>Activity reco (UNITN) . Auto-generated by Boxology 1.0.0.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/asr/package.xml b/spring-mock-ws/src/asr/package.xml
index 1c9cf8c8b9ebb80dfcc65bc54bf8e23a096e3402..d957de01ae6ed7b1491b3fbe449a76401c275978 100644
--- a/spring-mock-ws/src/asr/package.xml
+++ b/spring-mock-ws/src/asr/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>asr</name>
-    <version>0.0.1</version>
-    <description>ASR (BIU) ASR. Auto-generated by Boxology 0.9.0.</description>
+    <version>1.0.0</version>
+    <description>ASR (BIU) . Auto-generated by Boxology 1.0.0.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/body2dpose/package.xml b/spring-mock-ws/src/body2dpose/package.xml
index 9a1133839012f9f7e1ec33c018d3857cb53e2147..cfc9b4d76df6db7f71452c172930ee28b4025405 100644
--- a/spring-mock-ws/src/body2dpose/package.xml
+++ b/spring-mock-ws/src/body2dpose/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>body2dpose</name>
-    <version>0.0.1</version>
-    <description>Body 2D pose  (UNITN) Body 2D pose [openpose]. Auto-generated by Boxology 0.9.0.</description>
+    <version>1.0.0</version>
+    <description>Body 2D pose (UNITN) . Auto-generated by Boxology 1.0.0.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/demographics/package.xml b/spring-mock-ws/src/demographics/package.xml
index 537b8bc9857733abec6cf1a15fbeef21379f63e9..747158ec63f9ca1e197e64869551f545bb0ea1fc 100644
--- a/spring-mock-ws/src/demographics/package.xml
+++ b/spring-mock-ws/src/demographics/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>demographics</name>
-    <version>0.0.1</version>
-    <description>Demographics  (UNITN) Demographics [age/gender]. Auto-generated by Boxology 0.9.0.</description>
+    <version>1.0.0</version>
+    <description>Demographics (UNITN) . Auto-generated by Boxology 1.0.0.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/dialoguemanager/package.xml b/spring-mock-ws/src/dialoguemanager/package.xml
index 333608c93dd4d68aa6fb29c591af995750521092..135823a244d4e4193a6779db9f5c7142598ba927 100644
--- a/spring-mock-ws/src/dialoguemanager/package.xml
+++ b/spring-mock-ws/src/dialoguemanager/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>dialoguemanager</name>
-    <version>0.0.1</version>
-    <description>Dialogue manager (HWU) Dialogue manager. Auto-generated by Boxology 0.9.0.</description>
+    <version>1.0.0</version>
+    <description>Dialogue manager (HWU) . Auto-generated by Boxology 1.0.0.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/facedetection/package.xml b/spring-mock-ws/src/facedetection/package.xml
index 3269f3979af45e50b6cc6849276ddf0dbe58ba33..5790d1f80b8d6f707602021c41e567024988011f 100644
--- a/spring-mock-ws/src/facedetection/package.xml
+++ b/spring-mock-ws/src/facedetection/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>facedetection</name>
-    <version>0.0.1</version>
-    <description>Face detection (UNITN) Face detection. Auto-generated by Boxology 0.9.0.</description>
+    <version>1.0.0</version>
+    <description>Face detection (UNITN) . Auto-generated by Boxology 1.0.0.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/facerecognition/package.xml b/spring-mock-ws/src/facerecognition/package.xml
index 876b26a50a0a1395dc6e9d95f69e5a2e0d0ff434..ae68035f414ae3c96638fb2a3f674df0eea06538 100644
--- a/spring-mock-ws/src/facerecognition/package.xml
+++ b/spring-mock-ws/src/facerecognition/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>facerecognition</name>
-    <version>0.0.1</version>
-    <description>Face recognition  (UNITN) Face recognition [TO CONFIRM UNITN]. Auto-generated by Boxology 0.9.0.</description>
+    <version>1.0.0</version>
+    <description>Face recognition (UNITN) . Auto-generated by Boxology 1.0.0.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/fformation/package.xml b/spring-mock-ws/src/fformation/package.xml
index e84e2904513627c5aca6feb6db36a113131f1fef..a6d688fb0deb72d8277f37cc7df589fdb359450c 100644
--- a/spring-mock-ws/src/fformation/package.xml
+++ b/spring-mock-ws/src/fformation/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>fformation</name>
-    <version>0.0.1</version>
-    <description>F-formation (UNITN) F-formation. Auto-generated by Boxology 0.9.0.</description>
+    <version>1.0.0</version>
+    <description>F-formation (UNITN) . Auto-generated by Boxology 1.0.0.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/fisheyestereorgbhead/package.xml b/spring-mock-ws/src/fisheyestereorgbhead/package.xml
index c989bf39909608e80c250c02d4ebe2086b8f1a1f..33c246103e5bc8b591d9ccedf24a83c517903b02 100644
--- a/spring-mock-ws/src/fisheyestereorgbhead/package.xml
+++ b/spring-mock-ws/src/fisheyestereorgbhead/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>fisheyestereorgbhead</name>
-    <version>0.0.1</version>
-    <description>Fisheye stereo + RGB head (PAL) Fisheye stereo + RGB head. Auto-generated by Boxology 0.9.0.</description>
+    <version>1.0.0</version>
+    <description>Fisheye stereo + RGB head (PAL) . Auto-generated by Boxology 1.0.0.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/highlevelplanner/package.xml b/spring-mock-ws/src/highlevelplanner/package.xml
index 75197dd35329b190e5096606cef137085452011c..c405f90338bd801ab47adc97e39b01bada8040b3 100644
--- a/spring-mock-ws/src/highlevelplanner/package.xml
+++ b/spring-mock-ws/src/highlevelplanner/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>highlevelplanner</name>
-    <version>0.0.1</version>
-    <description>High-level planner  (HWU) High-level planner [decision making]. Auto-generated by Boxology 0.9.0.</description>
+    <version>1.0.0</version>
+    <description>High-level planner (HWU) . Auto-generated by Boxology 1.0.0.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/interactionmanager/package.xml b/spring-mock-ws/src/interactionmanager/package.xml
index 038510e79c75438bbe37953979e4621b1d38de11..21b027d9169e580a3f2fc931017754c1693789d2 100644
--- a/spring-mock-ws/src/interactionmanager/package.xml
+++ b/spring-mock-ws/src/interactionmanager/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>interactionmanager</name>
-    <version>0.0.1</version>
-    <description>Interaction manager (HWU) Interaction manager. Auto-generated by Boxology 0.9.0.</description>
+    <version>1.0.0</version>
+    <description>Interaction manager (HWU) . Auto-generated by Boxology 1.0.0.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/maskdetection/package.xml b/spring-mock-ws/src/maskdetection/package.xml
index 4032a6f374dfdc88d6e30cb8e0fd3a180c8f0632..348deae548a6777223fc12f63505a9d1b58a6236 100644
--- a/spring-mock-ws/src/maskdetection/package.xml
+++ b/spring-mock-ws/src/maskdetection/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>maskdetection</name>
-    <version>0.0.1</version>
-    <description>Mask detection (UNITN) Mask detection. Auto-generated by Boxology 0.9.0.</description>
+    <version>1.0.0</version>
+    <description>Mask detection (UNITN) . Auto-generated by Boxology 1.0.0.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/multipeopletracker/package.xml b/spring-mock-ws/src/multipeopletracker/package.xml
index 003348c643a34e09db09ce07609e36effcd8a64a..e7e837a7a65b7e6342c5eb681d1a4ffa4a9cfd0f 100644
--- a/spring-mock-ws/src/multipeopletracker/package.xml
+++ b/spring-mock-ws/src/multipeopletracker/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>multipeopletracker</name>
-    <version>0.0.1</version>
-    <description>Multi-people tracker (INRIA) Multi-people tracker. Auto-generated by Boxology 0.9.0.</description>
+    <version>1.0.0</version>
+    <description>Multi-people tracker (INRIA) . Auto-generated by Boxology 1.0.0.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/nonverbalbehaviours/package.xml b/spring-mock-ws/src/nonverbalbehaviours/package.xml
index d6f2b25e8408b5fff5e5bf4bf580272086fe8abe..6ee823feefc853bb75770544f577a1254fa44381 100644
--- a/spring-mock-ws/src/nonverbalbehaviours/package.xml
+++ b/spring-mock-ws/src/nonverbalbehaviours/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>nonverbalbehaviours</name>
-    <version>0.0.1</version>
-    <description>Non-verbal behaviours (UNITN) Non-verbal behaviours. Auto-generated by Boxology 0.9.0.</description>
+    <version>1.0.0</version>
+    <description>Non-verbal behaviours (UNITN) . Auto-generated by Boxology 1.0.0.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/objectdetectionidentificationlocalisation/package.xml b/spring-mock-ws/src/objectdetectionidentificationlocalisation/package.xml
index 1bccc63fac04bb8f1b023cb6cc0117a01ccc90e8..2a03aa9290c049af93cad9b2e9c58593d3913c97 100644
--- a/spring-mock-ws/src/objectdetectionidentificationlocalisation/package.xml
+++ b/spring-mock-ws/src/objectdetectionidentificationlocalisation/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>objectdetectionidentificationlocalisation</name>
-    <version>0.0.1</version>
-    <description>Object detection/identification/localisation (CVUT) Object detection/identification/localisation. Auto-generated by Boxology 0.9.0.</description>
+    <version>1.0.0</version>
+    <description>Object detection/identification/localisation (CVUT) . Auto-generated by Boxology 1.0.0.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/occupancymap/package.xml b/spring-mock-ws/src/occupancymap/package.xml
index c4a6f17d8f6cf96b72a32c698b14ad9f724a0f3c..0f1e427badc04a27bb9d23ae3c40974c0568e4d0 100644
--- a/spring-mock-ws/src/occupancymap/package.xml
+++ b/spring-mock-ws/src/occupancymap/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>occupancymap</name>
-    <version>0.0.1</version>
-    <description>Occupancy map (CVUT) Occupancy map. Auto-generated by Boxology 0.9.0.</description>
+    <version>1.0.0</version>
+    <description>Occupancy map (CVUT) . Auto-generated by Boxology 1.0.0.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/orbslam/package.xml b/spring-mock-ws/src/orbslam/package.xml
index 81be8bf5258ccfd1e3f90b205d0cd8a2c05a8cb5..d711b3106d6f0a9af7c6ee82caf1b4f1e5dbfc2c 100644
--- a/spring-mock-ws/src/orbslam/package.xml
+++ b/spring-mock-ws/src/orbslam/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>orbslam</name>
-    <version>0.0.1</version>
-    <description>ORB SLAM (PAL) ORB SLAM. Auto-generated by Boxology 0.9.0.</description>
+    <version>1.0.0</version>
+    <description>ORB SLAM (PAL) . Auto-generated by Boxology 1.0.0.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/people3dtracker/package.xml b/spring-mock-ws/src/people3dtracker/package.xml
index 8e8aca4c6053a663cf2a00eb95782412ef18e105..ecbcbc14b52a3eb3fa04ad5fdd4d9e72a38c71b2 100644
--- a/spring-mock-ws/src/people3dtracker/package.xml
+++ b/spring-mock-ws/src/people3dtracker/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>people3dtracker</name>
-    <version>0.0.1</version>
-    <description>People 3D tracker  (INRIA) People 3D tracker [position/orientation]. Auto-generated by Boxology 0.9.0.</description>
+    <version>1.0.0</version>
+    <description>People 3D tracker (INRIA) . Auto-generated by Boxology 1.0.0.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/personmanager/package.xml b/spring-mock-ws/src/personmanager/package.xml
index 7a0f00f756b803f8402e2b200a233dbdc013fc2e..6c6f86957e8bdec51be46ca731f8ef25fa6ea928 100644
--- a/spring-mock-ws/src/personmanager/package.xml
+++ b/spring-mock-ws/src/personmanager/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>personmanager</name>
-    <version>0.0.1</version>
-    <description>Person manager (INRIA) Person manager. Auto-generated by Boxology 0.9.0.</description>
+    <version>1.0.0</version>
+    <description>Person manager (INRIA) . Auto-generated by Boxology 1.0.0.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/respeakeraudio/CMakeLists.txt b/spring-mock-ws/src/respeakeraudio/CMakeLists.txt
deleted file mode 100644
index 263722e637beb2f188467d3b71045006e05008eb..0000000000000000000000000000000000000000
--- a/spring-mock-ws/src/respeakeraudio/CMakeLists.txt
+++ /dev/null
@@ -1,205 +0,0 @@
-cmake_minimum_required(VERSION 3.0.2)
-project(respeakeraudio)
-
-## Compile as C++11, supported in ROS Kinetic and newer
-add_compile_options(-std=c++11)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  std_msgs
-)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend tag for "message_generation"
-##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-##     but can be declared for certainty nonetheless:
-##     * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs  # Or other packages containing msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-##   * add "dynamic_reconfigure" to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * uncomment the "generate_dynamic_reconfigure_options" section below
-##     and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-#   cfg/DynReconf1.cfg
-#   cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES respeakeraudio
-#  CATKIN_DEPENDS roscpp
-#  DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
-
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/respeakeraudio.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-add_executable(${PROJECT_NAME}_node src/main.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-target_link_libraries(${PROJECT_NAME}_node
-   ${catkin_LIBRARIES}
-)
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# catkin_install_python(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
-install(TARGETS ${PROJECT_NAME}_node
-   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
-## Mark libraries for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
-# install(TARGETS ${PROJECT_NAME}
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_respeakeraudio.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
diff --git a/spring-mock-ws/src/respeakeraudio/package.xml b/spring-mock-ws/src/respeakeraudio/package.xml
deleted file mode 100644
index 53ba9a1861bdffdc4c461cb396427cddf089e698..0000000000000000000000000000000000000000
--- a/spring-mock-ws/src/respeakeraudio/package.xml
+++ /dev/null
@@ -1,58 +0,0 @@
-<?xml version="1.0"?>
-<package format="3">
-    <name>respeakeraudio</name>
-    <version>0.0.1</version>
-    <description>reSpeaker audio (PAL) reSpeaker audio. Auto-generated by Boxology 0.9.0.</description>
-
-  <!-- One maintainer tag required, multiple allowed, one person per tag -->
-  <!-- Example:  -->
-  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="todo@example.com">TODO</maintainer>
-
-  <!-- One license tag required, multiple allowed, one license per tag -->
-  <!-- Commonly used license strings: -->
-  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
-  <license>BSD</license>
-
-
-
-  <!-- Url tags are optional, but multiple are allowed, one per tag -->
-  <!-- Optional attribute type can be: website, bugtracker, or repository -->
-  <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/NAME</url> -->
-
-
-  <!-- Author tags are optional, multiple are allowed, one per tag -->
-  <!-- Authors do not have to be maintainers, but could be -->
-  <!-- Example: -->
-  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
-
-
-  <!-- The *depend tags are used to specify dependencies -->
-  <!-- Dependencies can be catkin packages or system dependencies -->
-  <!-- Examples: -->
-  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
-  <!--   <depend>roscpp</depend> -->
-  <!--   Note that this is equivalent to the following: -->
-  <!--   <build_depend>roscpp</build_depend> -->
-  <!--   <exec_depend>roscpp</exec_depend> -->
-  <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
-  <!-- Use build_export_depend for packages you need in order to build against this package: -->
-  <!--   <build_export_depend>message_generation</build_export_depend> -->
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use exec_depend for packages you need at runtime: -->
-  <!--   <exec_depend>message_runtime</exec_depend> -->
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
-  <!-- Use doc_depend for packages you need only for building documentation: -->
-  <!--   <doc_depend>doxygen</doc_depend> -->
-  <buildtool_depend>catkin</buildtool_depend>
-  <depend>std_msgs</depend>
-  <exec_depend>roscpp</exec_depend>
-
-  <export>
-
-  </export>
-</package>
diff --git a/spring-mock-ws/src/respeakeraudio/src/main.cpp b/spring-mock-ws/src/respeakeraudio/src/main.cpp
deleted file mode 100644
index 3d9c39d4e0e4320e0d49d2e9f3c2356093e16453..0000000000000000000000000000000000000000
--- a/spring-mock-ws/src/respeakeraudio/src/main.cpp
+++ /dev/null
@@ -1,34 +0,0 @@
-#include <sstream>
-
-#include "ros/ros.h"
-#include "std_msgs/String.h"
-
-int main(int argc, char **argv) {
-    ros::init(argc, argv, "respeakeraudio");
-
-    ros::NodeHandle n;
-
-    ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
-
-    ros::Rate loop_rate(10);
-
-    int count = 0;
-    while (ros::ok()) {
-        std_msgs::String msg;
-
-        std::stringstream ss;
-        ss << "hello world " << count;
-        msg.data = ss.str();
-
-        ROS_INFO("%s", msg.data.c_str());
-
-        chatter_pub.publish(msg);
-
-        ros::spinOnce();
-
-        loop_rate.sleep();
-        ++count;
-    }
-
-    return 0;
-}
diff --git a/spring-mock-ws/src/rgbdcamera_info/package.xml b/spring-mock-ws/src/rgbdcamera_info/package.xml
index 4969b4ac0378aae95dd5c43c58557d86468cc776..bf564db1dfa80d5fc045bee9911a9fa3ca9d12f5 100644
--- a/spring-mock-ws/src/rgbdcamera_info/package.xml
+++ b/spring-mock-ws/src/rgbdcamera_info/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>rgbdcamera_info</name>
-    <version>0.0.1</version>
-    <description>RGB-D + camera_info (PAL) RGB-D + camera_info. Auto-generated by Boxology 0.9.0.</description>
+    <version>1.0.0</version>
+    <description>RGB-D + camera_info (PAL) . Auto-generated by Boxology 1.0.0.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/robotfunctionallayer/package.xml b/spring-mock-ws/src/robotfunctionallayer/package.xml
index 136d53cfca9f4e65cccddc28a14ba15ea9a304ae..b1af87ec4c77fb22558aa5b80b586972a908b5cc 100644
--- a/spring-mock-ws/src/robotfunctionallayer/package.xml
+++ b/spring-mock-ws/src/robotfunctionallayer/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>robotfunctionallayer</name>
-    <version>0.0.1</version>
-    <description>Robot functional layer (PAL) Robot functional layer. Auto-generated by Boxology 0.9.0.</description>
+    <version>1.0.0</version>
+    <description>Robot functional layer (PAL) . Auto-generated by Boxology 1.0.0.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/robotgui/package.xml b/spring-mock-ws/src/robotgui/package.xml
index 5d4c99a4968dba1694be7f98ed4c2ea0c0bdebb6..932e10b693ad7c1d9d12b751e2570d99956ea1dc 100644
--- a/spring-mock-ws/src/robotgui/package.xml
+++ b/spring-mock-ws/src/robotgui/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>robotgui</name>
-    <version>0.0.1</version>
-    <description>Robot GUI  (ERM) Robot GUI [tablet]. Auto-generated by Boxology 0.9.0.</description>
+    <version>1.0.0</version>
+    <description>Robot GUI (ERM) . Auto-generated by Boxology 1.0.0.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/robotnonverbalbehaviours/package.xml b/spring-mock-ws/src/robotnonverbalbehaviours/package.xml
index c8a561c1f9b01d22b3b229a52755d500e267dadb..075c18cbd890c2cca34928cade9fadf337a2425e 100644
--- a/spring-mock-ws/src/robotnonverbalbehaviours/package.xml
+++ b/spring-mock-ws/src/robotnonverbalbehaviours/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>robotnonverbalbehaviours</name>
-    <version>0.0.1</version>
-    <description>Robot non-verbal behaviours (INRIA) Robot non-verbal behaviours. Auto-generated by Boxology 0.9.0.</description>
+    <version>1.0.0</version>
+    <description>Robot non-verbal behaviours (INRIA) . Auto-generated by Boxology 1.0.0.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/robotutterances/package.xml b/spring-mock-ws/src/robotutterances/package.xml
index 7d4faa3e1a677f527cba84b2b749ac9fce52ff62..2942b8e674aebe952fa272de699bff83db2ea555 100644
--- a/spring-mock-ws/src/robotutterances/package.xml
+++ b/spring-mock-ws/src/robotutterances/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>robotutterances</name>
-    <version>0.0.1</version>
-    <description>Robot utterances  (HWU) Robot utterances [passthrough]. Auto-generated by Boxology 0.9.0.</description>
+    <version>1.0.0</version>
+    <description>Robot utterances (HWU) . Auto-generated by Boxology 1.0.0.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/rosopenpose/package.xml b/spring-mock-ws/src/rosopenpose/package.xml
index 3a75ade7662955994a9e9a0d9c2ef8e203242ab1..67bc4dca30cdf5bb9c2e406ed9ea26fcc46d2d2b 100644
--- a/spring-mock-ws/src/rosopenpose/package.xml
+++ b/spring-mock-ws/src/rosopenpose/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>rosopenpose</name>
-    <version>0.0.1</version>
-    <description>ROS openpose  (Other) ROS openpose [used by INRIA]. Auto-generated by Boxology 0.9.0.</description>
+    <version>1.0.0</version>
+    <description>ROS openpose (INRIA) . Auto-generated by Boxology 1.0.0.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/sceneunderstanding/package.xml b/spring-mock-ws/src/sceneunderstanding/package.xml
index 2989ec121d0350503efcf6ce83bef5ec043fa244..25fbd0c83a06e393e95157d10793a72001f38fd1 100644
--- a/spring-mock-ws/src/sceneunderstanding/package.xml
+++ b/spring-mock-ws/src/sceneunderstanding/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>sceneunderstanding</name>
-    <version>0.0.1</version>
-    <description>Scene understanding  (HWU) Scene understanding [internal HWU, to clarify]. Auto-generated by Boxology 0.9.0.</description>
+    <version>1.0.0</version>
+    <description>Scene understanding (HWU) . Auto-generated by Boxology 1.0.0.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/semanticmapping/package.xml b/spring-mock-ws/src/semanticmapping/package.xml
index 19e61dc97724caea3725b5706624ee3ad30f60bc..309ad684aa5e244714f87047535fbd60455b4622 100644
--- a/spring-mock-ws/src/semanticmapping/package.xml
+++ b/spring-mock-ws/src/semanticmapping/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>semanticmapping</name>
-    <version>0.0.1</version>
-    <description>Semantic mapping  (CVUT) Semantic mapping [resources permitting]. Auto-generated by Boxology 0.9.0.</description>
+    <version>1.0.0</version>
+    <description>Semantic mapping (CVUT) . Auto-generated by Boxology 1.0.0.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/soundlocalisation/package.xml b/spring-mock-ws/src/soundlocalisation/package.xml
index 1782d95797f1326b82220f39c5a1078036c36a6c..276d265df5bfd4d134f05686eaebd0f9c9ee88ef 100644
--- a/spring-mock-ws/src/soundlocalisation/package.xml
+++ b/spring-mock-ws/src/soundlocalisation/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>soundlocalisation</name>
-    <version>0.0.1</version>
-    <description>Sound localisation (BIU) Sound localisation. Auto-generated by Boxology 0.9.0.</description>
+    <version>1.0.0</version>
+    <description>Sound localisation (BIU) . Auto-generated by Boxology 1.0.0.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/speakerrecognition/package.xml b/spring-mock-ws/src/speakerrecognition/package.xml
index bbe0bb8766f3c98842d4f43312f37197162ef7a3..0d72c94bfead32943ff7cc1481f906dd1b792523 100644
--- a/spring-mock-ws/src/speakerrecognition/package.xml
+++ b/spring-mock-ws/src/speakerrecognition/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>speakerrecognition</name>
-    <version>0.0.1</version>
-    <description>Speaker recognition (BIU) Speaker recognition. Auto-generated by Boxology 0.9.0.</description>
+    <version>1.0.0</version>
+    <description>Speaker recognition (BIU) . Auto-generated by Boxology 1.0.0.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/speechdiarization/package.xml b/spring-mock-ws/src/speechdiarization/package.xml
index af451ff88092567a402b059159bc81731391b477..2ce65db0cbf361d37b28e403baa46bcf3cb47328 100644
--- a/spring-mock-ws/src/speechdiarization/package.xml
+++ b/spring-mock-ws/src/speechdiarization/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>speechdiarization</name>
-    <version>0.0.1</version>
-    <description>Speech diarization (BIU) Speech diarization. Auto-generated by Boxology 0.9.0.</description>
+    <version>1.0.0</version>
+    <description>Speech diarization (BIU) . Auto-generated by Boxology 1.0.0.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/speechsynthesis/package.xml b/spring-mock-ws/src/speechsynthesis/package.xml
index ef63e85000b8f16c9a02d71a20b31c8d94962a8b..144081377dc967a26086b6f4b383e3a8de1a7c6a 100644
--- a/spring-mock-ws/src/speechsynthesis/package.xml
+++ b/spring-mock-ws/src/speechsynthesis/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>speechsynthesis</name>
-    <version>0.0.1</version>
-    <description>Speech synthesis (PAL) Speech synthesis. Auto-generated by Boxology 0.9.0.</description>
+    <version>1.0.0</version>
+    <description>Speech synthesis (PAL) . Auto-generated by Boxology 1.0.0.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/springarchitecture/CMakeLists.txt b/spring-mock-ws/src/springarchitecture/CMakeLists.txt
index fe0c393bc80848c7ca2a6a254526560a014e5e55..a8769af56d4f99b9207b9fe59878352c09ca0c48 100644
--- a/spring-mock-ws/src/springarchitecture/CMakeLists.txt
+++ b/spring-mock-ws/src/springarchitecture/CMakeLists.txt
@@ -3,77 +3,41 @@ project(springarchitecture)
 
 
 find_package(catkin REQUIRED COMPONENTS
-
-    facerecognition
-
     speechsynthesis
-
-    nonverbalbehaviours
-
     objectdetectionidentificationlocalisation
-
+    activityreco
+    maskdetection
+    facerecognition
+    people3dtracker
+    highlevelplanner
+    multipeopletracker
+    speechdiarization
+    fisheyestereorgbhead
+    robotfunctionallayer
+    usergaze
     orbslam
-
-    sceneunderstanding
-
-    robotnonverbalbehaviours
-
-    robotgui
-
     dialoguemanager
-
-    usergaze
-
-    multipeopletracker
-
-    rosopenpose
-
+    robotnonverbalbehaviours
+    demographics
+    nonverbalbehaviours
     occupancymap
-
+    speakerrecognition
+    rgbdcamera_info
+    facedetection
+    rosopenpose
+    respeaker_ros
+    semanticmapping
+    robotgui
+    soundlocalisation
     robotutterances
-
     body2dpose
-
-    robotfunctionallayer
-
+    userattention
+    personmanager
     asr
-
-    visualslam3dmap
-
-    soundlocalisation
-
-    speakerrecognition
-
-    interactionmanager
-
-    respeakeraudio
-
-    facedetection
-
-    people3dtracker
-
+    sceneunderstanding
     fformation
-
-    highlevelplanner
-
-    maskdetection
-
-    demographics
-
-    rgbdcamera_info
-
-    personmanager
-
-    activityreco
-
-    userattention
-
-    speechdiarization
-
-    fisheyestereorgbhead
-
-    semanticmapping
-
+    interactionmanager
+    visualslam3dmap
 )
 
 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 8045007080f4bf735388d662d2f72bf68870ec0c..39f9c05e7c132e25b0686c1f36e720f80c0006c8 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all.launch
@@ -1,215 +1,179 @@
 <launch>
 
-    
-    <!-- launching Face recognition  (facerecognition) -->
-    <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
-        <remap from="image" to="$(arg image_topic)"/>
-    </node>
-
-    
     <!-- launching Speech synthesis (speechsynthesis) -->
     <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
 
-    
-    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
-    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+    <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+    <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
 
-    
-    <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
-    <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+    <!-- launching Activity reco (activityreco) -->
+    <node pkg="activityreco" name="activityreco" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
 
-    
-    <!-- launching ORB SLAM (orbslam) -->
-    <node pkg="orbslam" name="orbslam" type="node" output="screen">
+    <!-- launching Mask detection (maskdetection) -->
+    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
 
-    
-    <!-- launching Scene understanding  (sceneunderstanding) -->
-    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+    <!-- launching Face recognition (facerecognition) -->
+    <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
 
-    
-    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
-    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+    <!-- launching People 3D tracker (people3dtracker) -->
+    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
 
-    
-    <!-- launching Robot GUI  (robotgui) -->
-    <node pkg="robotgui" name="robotgui" type="node" output="screen">
+    <!-- launching High-level planner (highlevelplanner) -->
+    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
 
-    
-    <!-- launching Dialogue manager (dialoguemanager) -->
-    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+    <!-- launching Multi-people tracker (multipeopletracker) -->
+    <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
 
-    
-    <!-- launching User gaze (usergaze) -->
-    <node pkg="usergaze" name="usergaze" type="node" output="screen">
+    <!-- launching Speech diarization (speechdiarization) -->
+    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
 
-    
-    <!-- launching Multi-people tracker (multipeopletracker) -->
-    <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
+    <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
+    <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
 
-    
-    <!-- launching ROS openpose  (rosopenpose) -->
-    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+    <!-- launching Robot functional layer (robotfunctionallayer) -->
+    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
 
-    
-    <!-- launching Occupancy map (occupancymap) -->
-    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+    <!-- launching User gaze (usergaze) -->
+    <node pkg="usergaze" name="usergaze" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
 
-    
-    <!-- launching Robot utterances  (robotutterances) -->
-    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+    <!-- launching ORB SLAM (orbslam) -->
+    <node pkg="orbslam" name="orbslam" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
 
-    
-    <!-- launching Body 2D pose  (body2dpose) -->
-    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+    <!-- launching Dialogue manager (dialoguemanager) -->
+    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
 
-    
-    <!-- launching Robot functional layer (robotfunctionallayer) -->
-    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
 
-    
-    <!-- launching ASR (asr) -->
-    <node pkg="asr" name="asr" type="node" output="screen">
+    <!-- launching Demographics (demographics) -->
+    <node pkg="demographics" name="demographics" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
 
-    
-    <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
-    <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
 
-    
-    <!-- launching Sound localisation (soundlocalisation) -->
-    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+    <!-- launching Occupancy map (occupancymap) -->
+    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
 
-    
     <!-- launching Speaker recognition (speakerrecognition) -->
     <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </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" to="$(arg image_topic)"/>
     </node>
 
-    
-    <!-- launching reSpeaker audio (respeakeraudio) -->
-    <node pkg="respeakeraudio" name="respeakeraudio" type="node" output="screen">
+    <!-- launching Face detection (facedetection) -->
+    <node pkg="facedetection" name="facedetection" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
 
-    
-    <!-- launching Face detection (facedetection) -->
-    <node pkg="facedetection" name="facedetection" type="node" output="screen">
+    <!-- launching ROS openpose (rosopenpose) -->
+    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
 
-    
-    <!-- launching People 3D tracker  (people3dtracker) -->
-    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+    <!-- launching respeaker_ros (respeaker_ros) -->
+    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
 
-    
-    <!-- launching F-formation (fformation) -->
-    <node pkg="fformation" name="fformation" type="node" output="screen">
+    <!-- launching Semantic mapping (semanticmapping) -->
+    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
 
-    
-    <!-- launching High-level planner  (highlevelplanner) -->
-    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+    <!-- launching Robot GUI (robotgui) -->
+    <node pkg="robotgui" name="robotgui" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
 
-    
-    <!-- launching Mask detection (maskdetection) -->
-    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+    <!-- launching Sound localisation (soundlocalisation) -->
+    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
 
-    
-    <!-- launching Demographics  (demographics) -->
-    <node pkg="demographics" name="demographics" type="node" output="screen">
+    <!-- launching Robot utterances (robotutterances) -->
+    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
 
-    
-    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
-    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+    <!-- launching Body 2D pose (body2dpose) -->
+    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+        <remap from="image" to="$(arg image_topic)"/>
+    </node>
+
+    <!-- launching User attention (userattention) -->
+    <node pkg="userattention" name="userattention" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
 
-    
     <!-- launching Person manager (personmanager) -->
     <node pkg="personmanager" name="personmanager" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
 
-    
-    <!-- launching Activity reco (activityreco) -->
-    <node pkg="activityreco" name="activityreco" type="node" output="screen">
+    <!-- launching ASR (asr) -->
+    <node pkg="asr" name="asr" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
 
-    
-    <!-- launching User attention (userattention) -->
-    <node pkg="userattention" name="userattention" type="node" output="screen">
+    <!-- launching Scene understanding (sceneunderstanding) -->
+    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
 
-    
-    <!-- launching Speech diarization (speechdiarization) -->
-    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+    <!-- launching F-formation (fformation) -->
+    <node pkg="fformation" name="fformation" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
 
-    
-    <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
-    <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
+    <!-- launching Interaction manager (interactionmanager) -->
+    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
 
-    
-    <!-- launching Semantic mapping  (semanticmapping) -->
-    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+    <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+    <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
 
-    
 
 </launch>
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_BIU.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_BIU.launch
index 895b4794f9f4dd8318a433485486cf1e0362809d..076c46bde90c2e3e1d53883b367f4759c080defe 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
@@ -1,262 +1,160 @@
 <launch>
     <!-- this launch file starts all SPRING nodes except for BIU nodes. -->
 
-    
-    
-    <!-- launching Face recognition  (facerecognition) -->
-    <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
-        <remap from="image" to="$(arg image_topic)"/>
-    </node>
-    
-    
-    
-    
     <!-- launching Speech synthesis (speechsynthesis) -->
     <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
-    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
-        <remap from="image" to="$(arg image_topic)"/>
-    </node>
-    
-    
-    
-    
     <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
     <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching ORB SLAM (orbslam) -->
-    <node pkg="orbslam" name="orbslam" type="node" output="screen">
-        <remap from="image" to="$(arg image_topic)"/>
-    </node>
-    
-    
-    
-    
-    <!-- launching Scene understanding  (sceneunderstanding) -->
-    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+    <!-- launching Activity reco (activityreco) -->
+    <node pkg="activityreco" name="activityreco" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
-    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+    <!-- launching Mask detection (maskdetection) -->
+    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Robot GUI  (robotgui) -->
-    <node pkg="robotgui" name="robotgui" type="node" output="screen">
+    <!-- launching Face recognition (facerecognition) -->
+    <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Dialogue manager (dialoguemanager) -->
-    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+    <!-- launching People 3D tracker (people3dtracker) -->
+    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching User gaze (usergaze) -->
-    <node pkg="usergaze" name="usergaze" type="node" output="screen">
+    <!-- launching High-level planner (highlevelplanner) -->
+    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
     <!-- launching Multi-people tracker (multipeopletracker) -->
     <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching ROS openpose  (rosopenpose) -->
-    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+    <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
+    <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Occupancy map (occupancymap) -->
-    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+    <!-- launching Robot functional layer (robotfunctionallayer) -->
+    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Robot utterances  (robotutterances) -->
-    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+    <!-- launching User gaze (usergaze) -->
+    <node pkg="usergaze" name="usergaze" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Body 2D pose  (body2dpose) -->
-    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+    <!-- launching ORB SLAM (orbslam) -->
+    <node pkg="orbslam" name="orbslam" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Robot functional layer (robotfunctionallayer) -->
-    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+    <!-- launching Dialogue manager (dialoguemanager) -->
+    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    
-    
-    <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
-    <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    
-    
-    
-    
-    <!-- launching Interaction manager (interactionmanager) -->
-    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+    <!-- launching Demographics (demographics) -->
+    <node pkg="demographics" name="demographics" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching reSpeaker audio (respeakeraudio) -->
-    <node pkg="respeakeraudio" name="respeakeraudio" type="node" output="screen">
+    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
+    <!-- launching Occupancy map (occupancymap) -->
+    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+        <remap from="image" to="$(arg image_topic)"/>
+    </node>
     
-    
+    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+        <remap from="image" to="$(arg image_topic)"/>
+    </node>
     
     <!-- launching Face detection (facedetection) -->
     <node pkg="facedetection" name="facedetection" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching People 3D tracker  (people3dtracker) -->
-    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+    <!-- launching ROS openpose (rosopenpose) -->
+    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching F-formation (fformation) -->
-    <node pkg="fformation" name="fformation" type="node" output="screen">
+    <!-- launching respeaker_ros (respeaker_ros) -->
+    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </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">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Mask detection (maskdetection) -->
-    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+    <!-- launching Robot GUI (robotgui) -->
+    <node pkg="robotgui" name="robotgui" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Demographics  (demographics) -->
-    <node pkg="demographics" name="demographics" type="node" output="screen">
+    <!-- launching Robot utterances (robotutterances) -->
+    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
-    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+    <!-- launching Body 2D pose (body2dpose) -->
+    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
+    <!-- launching User attention (userattention) -->
+    <node pkg="userattention" name="userattention" type="node" output="screen">
+        <remap from="image" to="$(arg image_topic)"/>
+    </node>
     
     <!-- launching Person manager (personmanager) -->
     <node pkg="personmanager" name="personmanager" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Activity reco (activityreco) -->
-    <node pkg="activityreco" name="activityreco" type="node" output="screen">
+    <!-- launching Scene understanding (sceneunderstanding) -->
+    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching User attention (userattention) -->
-    <node pkg="userattention" name="userattention" type="node" output="screen">
+    <!-- launching F-formation (fformation) -->
+    <node pkg="fformation" name="fformation" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    
-    
-    <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
-    <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
+    <!-- launching Interaction manager (interactionmanager) -->
+    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Semantic mapping  (semanticmapping) -->
-    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+    <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+    <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
 
 </launch>
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 caa78290045f3ef685f3676dd83d083c9982f387..d687c2fbdfbddbd8f2cbf2df68c87dbdfddce824 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
@@ -1,262 +1,160 @@
 <launch>
     <!-- this launch file starts all SPRING nodes except for CVUT nodes. -->
 
-    
-    
-    <!-- launching Face recognition  (facerecognition) -->
-    <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
-        <remap from="image" to="$(arg image_topic)"/>
-    </node>
-    
-    
-    
-    
     <!-- launching Speech synthesis (speechsynthesis) -->
     <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
-    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+    <!-- launching Activity reco (activityreco) -->
+    <node pkg="activityreco" name="activityreco" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    
-    
-    <!-- launching ORB SLAM (orbslam) -->
-    <node pkg="orbslam" name="orbslam" type="node" output="screen">
+    <!-- launching Mask detection (maskdetection) -->
+    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Scene understanding  (sceneunderstanding) -->
-    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+    <!-- launching Face recognition (facerecognition) -->
+    <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
-    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+    <!-- launching People 3D tracker (people3dtracker) -->
+    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Robot GUI  (robotgui) -->
-    <node pkg="robotgui" name="robotgui" type="node" output="screen">
+    <!-- launching High-level planner (highlevelplanner) -->
+    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Dialogue manager (dialoguemanager) -->
-    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+    <!-- launching Multi-people tracker (multipeopletracker) -->
+    <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching User gaze (usergaze) -->
-    <node pkg="usergaze" name="usergaze" type="node" output="screen">
+    <!-- launching Speech diarization (speechdiarization) -->
+    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Multi-people tracker (multipeopletracker) -->
-    <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
+    <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
+    <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching ROS openpose  (rosopenpose) -->
-    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+    <!-- launching Robot functional layer (robotfunctionallayer) -->
+    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    
-    
-    <!-- launching Robot utterances  (robotutterances) -->
-    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+    <!-- launching User gaze (usergaze) -->
+    <node pkg="usergaze" name="usergaze" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Body 2D pose  (body2dpose) -->
-    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+    <!-- launching ORB SLAM (orbslam) -->
+    <node pkg="orbslam" name="orbslam" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Robot functional layer (robotfunctionallayer) -->
-    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+    <!-- launching Dialogue manager (dialoguemanager) -->
+    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching ASR (asr) -->
-    <node pkg="asr" name="asr" type="node" output="screen">
+    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    
-    
-    <!-- launching Sound localisation (soundlocalisation) -->
-    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+    <!-- launching Demographics (demographics) -->
+    <node pkg="demographics" name="demographics" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Speaker recognition (speakerrecognition) -->
-    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Interaction manager (interactionmanager) -->
-    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+    <!-- launching Speaker recognition (speakerrecognition) -->
+    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching reSpeaker audio (respeakeraudio) -->
-    <node pkg="respeakeraudio" name="respeakeraudio" 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" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
     <!-- launching Face detection (facedetection) -->
     <node pkg="facedetection" name="facedetection" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching People 3D tracker  (people3dtracker) -->
-    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+    <!-- launching ROS openpose (rosopenpose) -->
+    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching F-formation (fformation) -->
-    <node pkg="fformation" name="fformation" type="node" output="screen">
+    <!-- launching respeaker_ros (respeaker_ros) -->
+    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching High-level planner  (highlevelplanner) -->
-    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+    <!-- launching Robot GUI (robotgui) -->
+    <node pkg="robotgui" name="robotgui" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Mask detection (maskdetection) -->
-    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+    <!-- launching Sound localisation (soundlocalisation) -->
+    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Demographics  (demographics) -->
-    <node pkg="demographics" name="demographics" type="node" output="screen">
+    <!-- launching Robot utterances (robotutterances) -->
+    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
-    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+    <!-- launching Body 2D pose (body2dpose) -->
+    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
+    <!-- launching User attention (userattention) -->
+    <node pkg="userattention" name="userattention" type="node" output="screen">
+        <remap from="image" to="$(arg image_topic)"/>
+    </node>
     
     <!-- launching Person manager (personmanager) -->
     <node pkg="personmanager" name="personmanager" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Activity reco (activityreco) -->
-    <node pkg="activityreco" name="activityreco" type="node" output="screen">
+    <!-- launching ASR (asr) -->
+    <node pkg="asr" name="asr" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching User attention (userattention) -->
-    <node pkg="userattention" name="userattention" type="node" output="screen">
+    <!-- launching Scene understanding (sceneunderstanding) -->
+    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Speech diarization (speechdiarization) -->
-    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+    <!-- launching F-formation (fformation) -->
+    <node pkg="fformation" name="fformation" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
-    <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
+    <!-- launching Interaction manager (interactionmanager) -->
+    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    
 
 </launch>
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 82a8d9ab22b46d6eca606190057a776cdfe7e034..e139db7ffbf72ae42683346ebd15a4b6a4a261e8 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
@@ -1,280 +1,175 @@
 <launch>
     <!-- this launch file starts all SPRING nodes except for ERM nodes. -->
 
-    
-    
-    <!-- launching Face recognition  (facerecognition) -->
-    <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
-        <remap from="image" to="$(arg image_topic)"/>
-    </node>
-    
-    
-    
-    
     <!-- launching Speech synthesis (speechsynthesis) -->
     <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
-    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
-        <remap from="image" to="$(arg image_topic)"/>
-    </node>
-    
-    
-    
-    
     <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
     <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching ORB SLAM (orbslam) -->
-    <node pkg="orbslam" name="orbslam" type="node" output="screen">
+    <!-- launching Activity reco (activityreco) -->
+    <node pkg="activityreco" name="activityreco" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Scene understanding  (sceneunderstanding) -->
-    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+    <!-- launching Mask detection (maskdetection) -->
+    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
-    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+    <!-- launching Face recognition (facerecognition) -->
+    <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    
-    
-    <!-- launching Dialogue manager (dialoguemanager) -->
-    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+    <!-- launching People 3D tracker (people3dtracker) -->
+    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching User gaze (usergaze) -->
-    <node pkg="usergaze" name="usergaze" type="node" output="screen">
+    <!-- launching High-level planner (highlevelplanner) -->
+    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
     <!-- launching Multi-people tracker (multipeopletracker) -->
     <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching ROS openpose  (rosopenpose) -->
-    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+    <!-- launching Speech diarization (speechdiarization) -->
+    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Occupancy map (occupancymap) -->
-    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+    <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
+    <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </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">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Body 2D pose  (body2dpose) -->
-    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+    <!-- launching User gaze (usergaze) -->
+    <node pkg="usergaze" name="usergaze" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Robot functional layer (robotfunctionallayer) -->
-    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+    <!-- launching ORB SLAM (orbslam) -->
+    <node pkg="orbslam" name="orbslam" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching ASR (asr) -->
-    <node pkg="asr" name="asr" type="node" output="screen">
+    <!-- launching Dialogue manager (dialoguemanager) -->
+    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
-    <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Sound localisation (soundlocalisation) -->
-    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+    <!-- launching Demographics (demographics) -->
+    <node pkg="demographics" name="demographics" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Speaker recognition (speakerrecognition) -->
-    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Interaction manager (interactionmanager) -->
-    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+    <!-- launching Occupancy map (occupancymap) -->
+    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching reSpeaker audio (respeakeraudio) -->
-    <node pkg="respeakeraudio" name="respeakeraudio" type="node" output="screen">
+    <!-- launching Speaker recognition (speakerrecognition) -->
+    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
+    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+        <remap from="image" to="$(arg image_topic)"/>
+    </node>
     
     <!-- launching Face detection (facedetection) -->
     <node pkg="facedetection" name="facedetection" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching People 3D tracker  (people3dtracker) -->
-    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+    <!-- launching ROS openpose (rosopenpose) -->
+    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching F-formation (fformation) -->
-    <node pkg="fformation" name="fformation" type="node" output="screen">
+    <!-- launching respeaker_ros (respeaker_ros) -->
+    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </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">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Mask detection (maskdetection) -->
-    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+    <!-- launching Sound localisation (soundlocalisation) -->
+    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Demographics  (demographics) -->
-    <node pkg="demographics" name="demographics" type="node" output="screen">
+    <!-- launching Robot utterances (robotutterances) -->
+    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
-    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+    <!-- launching Body 2D pose (body2dpose) -->
+    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
+    <!-- launching User attention (userattention) -->
+    <node pkg="userattention" name="userattention" type="node" output="screen">
+        <remap from="image" to="$(arg image_topic)"/>
+    </node>
     
     <!-- launching Person manager (personmanager) -->
     <node pkg="personmanager" name="personmanager" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Activity reco (activityreco) -->
-    <node pkg="activityreco" name="activityreco" type="node" output="screen">
+    <!-- launching ASR (asr) -->
+    <node pkg="asr" name="asr" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching User attention (userattention) -->
-    <node pkg="userattention" name="userattention" type="node" output="screen">
+    <!-- launching Scene understanding (sceneunderstanding) -->
+    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Speech diarization (speechdiarization) -->
-    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+    <!-- launching F-formation (fformation) -->
+    <node pkg="fformation" name="fformation" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
-    <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
+    <!-- launching Interaction manager (interactionmanager) -->
+    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Semantic mapping  (semanticmapping) -->
-    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+    <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+    <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
 
 </launch>
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 9cae1b12c6cc02b769a62b11139eaed650035fde..347a1ed6c8e5c9112abec21b228005865f361ad5 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
@@ -1,256 +1,155 @@
 <launch>
     <!-- this launch file starts all SPRING nodes except for HWU nodes. -->
 
-    
-    
-    <!-- launching Face recognition  (facerecognition) -->
-    <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
-        <remap from="image" to="$(arg image_topic)"/>
-    </node>
-    
-    
-    
-    
     <!-- launching Speech synthesis (speechsynthesis) -->
     <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
-    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
-        <remap from="image" to="$(arg image_topic)"/>
-    </node>
-    
-    
-    
-    
     <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
     <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching ORB SLAM (orbslam) -->
-    <node pkg="orbslam" name="orbslam" type="node" output="screen">
+    <!-- launching Activity reco (activityreco) -->
+    <node pkg="activityreco" name="activityreco" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    
-    
-    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
-    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+    <!-- launching Mask detection (maskdetection) -->
+    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Robot GUI  (robotgui) -->
-    <node pkg="robotgui" name="robotgui" type="node" output="screen">
+    <!-- launching Face recognition (facerecognition) -->
+    <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    
-    
-    <!-- launching User gaze (usergaze) -->
-    <node pkg="usergaze" name="usergaze" type="node" output="screen">
+    <!-- launching People 3D tracker (people3dtracker) -->
+    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
     <!-- launching Multi-people tracker (multipeopletracker) -->
     <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching ROS openpose  (rosopenpose) -->
-    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
-        <remap from="image" to="$(arg image_topic)"/>
-    </node>
-    
-    
-    
-    
-    <!-- launching Occupancy map (occupancymap) -->
-    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+    <!-- launching Speech diarization (speechdiarization) -->
+    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    
-    
-    <!-- launching Body 2D pose  (body2dpose) -->
-    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+    <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
+    <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
     <!-- launching Robot functional layer (robotfunctionallayer) -->
     <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching ASR (asr) -->
-    <node pkg="asr" name="asr" type="node" output="screen">
+    <!-- launching User gaze (usergaze) -->
+    <node pkg="usergaze" name="usergaze" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
-    <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+    <!-- launching ORB SLAM (orbslam) -->
+    <node pkg="orbslam" name="orbslam" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Sound localisation (soundlocalisation) -->
-    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
+    <!-- launching Demographics (demographics) -->
+    <node pkg="demographics" name="demographics" type="node" output="screen">
+        <remap from="image" to="$(arg image_topic)"/>
+    </node>
     
+    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+        <remap from="image" to="$(arg image_topic)"/>
+    </node>
     
+    <!-- launching Occupancy map (occupancymap) -->
+    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+        <remap from="image" to="$(arg image_topic)"/>
+    </node>
     
     <!-- launching Speaker recognition (speakerrecognition) -->
     <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    
-    
-    <!-- launching reSpeaker audio (respeakeraudio) -->
-    <node pkg="respeakeraudio" name="respeakeraudio" 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" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
     <!-- launching Face detection (facedetection) -->
     <node pkg="facedetection" name="facedetection" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching People 3D tracker  (people3dtracker) -->
-    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
-        <remap from="image" to="$(arg image_topic)"/>
-    </node>
-    
-    
-    
-    
-    <!-- launching F-formation (fformation) -->
-    <node pkg="fformation" name="fformation" type="node" output="screen">
+    <!-- launching ROS openpose (rosopenpose) -->
+    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    
-    
-    <!-- launching Mask detection (maskdetection) -->
-    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+    <!-- launching respeaker_ros (respeaker_ros) -->
+    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Demographics  (demographics) -->
-    <node pkg="demographics" name="demographics" type="node" output="screen">
+    <!-- launching Semantic mapping (semanticmapping) -->
+    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
-    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+    <!-- launching Robot GUI (robotgui) -->
+    <node pkg="robotgui" name="robotgui" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Person manager (personmanager) -->
-    <node pkg="personmanager" name="personmanager" type="node" output="screen">
+    <!-- launching Sound localisation (soundlocalisation) -->
+    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Activity reco (activityreco) -->
-    <node pkg="activityreco" name="activityreco" type="node" output="screen">
+    <!-- launching Body 2D pose (body2dpose) -->
+    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
     <!-- launching User attention (userattention) -->
     <node pkg="userattention" name="userattention" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Speech diarization (speechdiarization) -->
-    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+    <!-- launching Person manager (personmanager) -->
+    <node pkg="personmanager" name="personmanager" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
-    <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
+    <!-- launching ASR (asr) -->
+    <node pkg="asr" name="asr" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Semantic mapping  (semanticmapping) -->
-    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+    <!-- launching F-formation (fformation) -->
+    <node pkg="fformation" name="fformation" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
+    <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+    <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+        <remap from="image" to="$(arg image_topic)"/>
+    </node>
     
 
 </launch>
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 d14cdaa3be5bd026fc83932bc57f7e91a73ea439..80c97fdc7252b8d5b51cf6076d2d625f8e24f345 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
@@ -1,262 +1,155 @@
 <launch>
     <!-- this launch file starts all SPRING nodes except for INRIA nodes. -->
 
-    
-    
-    <!-- launching Face recognition  (facerecognition) -->
-    <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
-        <remap from="image" to="$(arg image_topic)"/>
-    </node>
-    
-    
-    
-    
     <!-- launching Speech synthesis (speechsynthesis) -->
     <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
-    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
-        <remap from="image" to="$(arg image_topic)"/>
-    </node>
-    
-    
-    
-    
     <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
     <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching ORB SLAM (orbslam) -->
-    <node pkg="orbslam" name="orbslam" type="node" output="screen">
+    <!-- launching Activity reco (activityreco) -->
+    <node pkg="activityreco" name="activityreco" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Scene understanding  (sceneunderstanding) -->
-    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+    <!-- launching Mask detection (maskdetection) -->
+    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    
-    
-    <!-- launching Robot GUI  (robotgui) -->
-    <node pkg="robotgui" name="robotgui" type="node" output="screen">
+    <!-- launching Face recognition (facerecognition) -->
+    <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Dialogue manager (dialoguemanager) -->
-    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+    <!-- launching High-level planner (highlevelplanner) -->
+    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching User gaze (usergaze) -->
-    <node pkg="usergaze" name="usergaze" type="node" output="screen">
+    <!-- launching Speech diarization (speechdiarization) -->
+    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    
-    
-    <!-- launching ROS openpose  (rosopenpose) -->
-    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+    <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
+    <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Occupancy map (occupancymap) -->
-    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+    <!-- launching Robot functional layer (robotfunctionallayer) -->
+    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Robot utterances  (robotutterances) -->
-    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+    <!-- launching User gaze (usergaze) -->
+    <node pkg="usergaze" name="usergaze" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Body 2D pose  (body2dpose) -->
-    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+    <!-- launching ORB SLAM (orbslam) -->
+    <node pkg="orbslam" name="orbslam" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Robot functional layer (robotfunctionallayer) -->
-    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+    <!-- launching Dialogue manager (dialoguemanager) -->
+    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching ASR (asr) -->
-    <node pkg="asr" name="asr" type="node" output="screen">
+    <!-- launching Demographics (demographics) -->
+    <node pkg="demographics" name="demographics" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
-    <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Sound localisation (soundlocalisation) -->
-    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+    <!-- launching Occupancy map (occupancymap) -->
+    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
     <!-- launching Speaker recognition (speakerrecognition) -->
     <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Interaction manager (interactionmanager) -->
-    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
-        <remap from="image" to="$(arg image_topic)"/>
-    </node>
-    
-    
-    
-    
-    <!-- launching reSpeaker audio (respeakeraudio) -->
-    <node pkg="respeakeraudio" name="respeakeraudio" type="node" output="screen">
+    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
     <!-- launching Face detection (facedetection) -->
     <node pkg="facedetection" name="facedetection" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    
-    
-    <!-- launching F-formation (fformation) -->
-    <node pkg="fformation" name="fformation" type="node" output="screen">
+    <!-- launching respeaker_ros (respeaker_ros) -->
+    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </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">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Mask detection (maskdetection) -->
-    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+    <!-- launching Robot GUI (robotgui) -->
+    <node pkg="robotgui" name="robotgui" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Demographics  (demographics) -->
-    <node pkg="demographics" name="demographics" type="node" output="screen">
+    <!-- launching Sound localisation (soundlocalisation) -->
+    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
-    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+    <!-- launching Robot utterances (robotutterances) -->
+    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    
-    
-    <!-- launching Activity reco (activityreco) -->
-    <node pkg="activityreco" name="activityreco" type="node" output="screen">
+    <!-- launching Body 2D pose (body2dpose) -->
+    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
     <!-- launching User attention (userattention) -->
     <node pkg="userattention" name="userattention" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Speech diarization (speechdiarization) -->
-    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+    <!-- launching ASR (asr) -->
+    <node pkg="asr" name="asr" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
-    <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
+    <!-- launching Scene understanding (sceneunderstanding) -->
+    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Semantic mapping  (semanticmapping) -->
-    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+    <!-- launching F-formation (fformation) -->
+    <node pkg="fformation" name="fformation" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
+    <!-- launching Interaction manager (interactionmanager) -->
+    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+        <remap from="image" to="$(arg image_topic)"/>
+    </node>
     
+    <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+    <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+        <remap from="image" to="$(arg image_topic)"/>
+    </node>
     
 
 </launch>
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 c88d251eb2f6fcedbdd0c4bf2252165a2f1a3c36..c9d92ab6b135c0bacf0a9e3db05fdb22ebdfa0ce 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
@@ -1,280 +1,180 @@
 <launch>
     <!-- this launch file starts all SPRING nodes except for Other nodes. -->
 
-    
-    
-    <!-- launching Face recognition  (facerecognition) -->
-    <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
-        <remap from="image" to="$(arg image_topic)"/>
-    </node>
-    
-    
-    
-    
     <!-- launching Speech synthesis (speechsynthesis) -->
     <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
-    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
-        <remap from="image" to="$(arg image_topic)"/>
-    </node>
-    
-    
-    
-    
     <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
     <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching ORB SLAM (orbslam) -->
-    <node pkg="orbslam" name="orbslam" type="node" output="screen">
-        <remap from="image" to="$(arg image_topic)"/>
-    </node>
-    
-    
-    
-    
-    <!-- launching Scene understanding  (sceneunderstanding) -->
-    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+    <!-- launching Activity reco (activityreco) -->
+    <node pkg="activityreco" name="activityreco" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
-    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+    <!-- launching Mask detection (maskdetection) -->
+    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Robot GUI  (robotgui) -->
-    <node pkg="robotgui" name="robotgui" type="node" output="screen">
+    <!-- launching Face recognition (facerecognition) -->
+    <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Dialogue manager (dialoguemanager) -->
-    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+    <!-- launching People 3D tracker (people3dtracker) -->
+    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching User gaze (usergaze) -->
-    <node pkg="usergaze" name="usergaze" type="node" output="screen">
+    <!-- launching High-level planner (highlevelplanner) -->
+    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
     <!-- launching Multi-people tracker (multipeopletracker) -->
     <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    
-    
-    <!-- launching Occupancy map (occupancymap) -->
-    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
-        <remap from="image" to="$(arg image_topic)"/>
-    </node>
-    
-    
-    
-    
-    <!-- launching Robot utterances  (robotutterances) -->
-    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+    <!-- launching Speech diarization (speechdiarization) -->
+    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Body 2D pose  (body2dpose) -->
-    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+    <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
+    <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
     <!-- launching Robot functional layer (robotfunctionallayer) -->
     <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching ASR (asr) -->
-    <node pkg="asr" name="asr" type="node" output="screen">
+    <!-- launching User gaze (usergaze) -->
+    <node pkg="usergaze" name="usergaze" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
-    <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+    <!-- launching ORB SLAM (orbslam) -->
+    <node pkg="orbslam" name="orbslam" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Sound localisation (soundlocalisation) -->
-    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+    <!-- launching Dialogue manager (dialoguemanager) -->
+    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Speaker recognition (speakerrecognition) -->
-    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Interaction manager (interactionmanager) -->
-    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+    <!-- launching Demographics (demographics) -->
+    <node pkg="demographics" name="demographics" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching reSpeaker audio (respeakeraudio) -->
-    <node pkg="respeakeraudio" name="respeakeraudio" type="node" output="screen">
+    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
+    <!-- launching Occupancy map (occupancymap) -->
+    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+        <remap from="image" to="$(arg image_topic)"/>
+    </node>
     
+    <!-- launching Speaker recognition (speakerrecognition) -->
+    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+        <remap from="image" to="$(arg image_topic)"/>
+    </node>
     
+    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+        <remap from="image" to="$(arg image_topic)"/>
+    </node>
     
     <!-- launching Face detection (facedetection) -->
     <node pkg="facedetection" name="facedetection" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching People 3D tracker  (people3dtracker) -->
-    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+    <!-- launching ROS openpose (rosopenpose) -->
+    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching F-formation (fformation) -->
-    <node pkg="fformation" name="fformation" type="node" output="screen">
+    <!-- launching respeaker_ros (respeaker_ros) -->
+    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </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">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Mask detection (maskdetection) -->
-    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+    <!-- launching Robot GUI (robotgui) -->
+    <node pkg="robotgui" name="robotgui" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Demographics  (demographics) -->
-    <node pkg="demographics" name="demographics" type="node" output="screen">
+    <!-- launching Sound localisation (soundlocalisation) -->
+    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
-    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+    <!-- launching Robot utterances (robotutterances) -->
+    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
+    <!-- launching Body 2D pose (body2dpose) -->
+    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+        <remap from="image" to="$(arg image_topic)"/>
+    </node>
     
-    
+    <!-- launching User attention (userattention) -->
+    <node pkg="userattention" name="userattention" type="node" output="screen">
+        <remap from="image" to="$(arg image_topic)"/>
+    </node>
     
     <!-- launching Person manager (personmanager) -->
     <node pkg="personmanager" name="personmanager" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Activity reco (activityreco) -->
-    <node pkg="activityreco" name="activityreco" type="node" output="screen">
+    <!-- launching ASR (asr) -->
+    <node pkg="asr" name="asr" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching User attention (userattention) -->
-    <node pkg="userattention" name="userattention" type="node" output="screen">
+    <!-- launching Scene understanding (sceneunderstanding) -->
+    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Speech diarization (speechdiarization) -->
-    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+    <!-- launching F-formation (fformation) -->
+    <node pkg="fformation" name="fformation" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
-    <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
+    <!-- launching Interaction manager (interactionmanager) -->
+    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Semantic mapping  (semanticmapping) -->
-    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+    <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+    <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
 
 </launch>
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 2e46cd411e87b4da393674b43e3fe05ba73271e0..54c650bd023a4acbf9a60a4bc304cb4603391521 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
@@ -1,250 +1,150 @@
 <launch>
     <!-- this launch file starts all SPRING nodes except for PAL nodes. -->
 
-    
-    
-    <!-- launching Face recognition  (facerecognition) -->
-    <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
-        <remap from="image" to="$(arg image_topic)"/>
-    </node>
-    
-    
-    
-    
-    
-    
-    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
-    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
-        <remap from="image" to="$(arg image_topic)"/>
-    </node>
-    
-    
-    
-    
     <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
     <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    
-    
-    <!-- launching Scene understanding  (sceneunderstanding) -->
-    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+    <!-- launching Activity reco (activityreco) -->
+    <node pkg="activityreco" name="activityreco" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
-    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+    <!-- launching Mask detection (maskdetection) -->
+    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Robot GUI  (robotgui) -->
-    <node pkg="robotgui" name="robotgui" type="node" output="screen">
+    <!-- launching Face recognition (facerecognition) -->
+    <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Dialogue manager (dialoguemanager) -->
-    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+    <!-- launching People 3D tracker (people3dtracker) -->
+    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching User gaze (usergaze) -->
-    <node pkg="usergaze" name="usergaze" type="node" output="screen">
+    <!-- launching High-level planner (highlevelplanner) -->
+    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
     <!-- launching Multi-people tracker (multipeopletracker) -->
     <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching ROS openpose  (rosopenpose) -->
-    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+    <!-- launching Speech diarization (speechdiarization) -->
+    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Occupancy map (occupancymap) -->
-    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+    <!-- launching User gaze (usergaze) -->
+    <node pkg="usergaze" name="usergaze" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Robot utterances  (robotutterances) -->
-    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+    <!-- launching Dialogue manager (dialoguemanager) -->
+    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Body 2D pose  (body2dpose) -->
-    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    
-    
-    <!-- launching ASR (asr) -->
-    <node pkg="asr" name="asr" type="node" output="screen">
+    <!-- launching Demographics (demographics) -->
+    <node pkg="demographics" name="demographics" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
-    <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Sound localisation (soundlocalisation) -->
-    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+    <!-- launching Occupancy map (occupancymap) -->
+    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
     <!-- launching Speaker recognition (speakerrecognition) -->
     <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Interaction manager (interactionmanager) -->
-    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
-        <remap from="image" to="$(arg image_topic)"/>
-    </node>
-    
-    
-    
-    
-    
-    
     <!-- launching Face detection (facedetection) -->
     <node pkg="facedetection" name="facedetection" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching People 3D tracker  (people3dtracker) -->
-    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+    <!-- launching ROS openpose (rosopenpose) -->
+    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching F-formation (fformation) -->
-    <node pkg="fformation" name="fformation" type="node" output="screen">
+    <!-- launching Semantic mapping (semanticmapping) -->
+    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching High-level planner  (highlevelplanner) -->
-    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+    <!-- launching Robot GUI (robotgui) -->
+    <node pkg="robotgui" name="robotgui" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Mask detection (maskdetection) -->
-    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+    <!-- launching Sound localisation (soundlocalisation) -->
+    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Demographics  (demographics) -->
-    <node pkg="demographics" name="demographics" type="node" output="screen">
+    <!-- launching Robot utterances (robotutterances) -->
+    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
+    <!-- launching Body 2D pose (body2dpose) -->
+    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+        <remap from="image" to="$(arg image_topic)"/>
+    </node>
     
-    
-    
-    
+    <!-- launching User attention (userattention) -->
+    <node pkg="userattention" name="userattention" type="node" output="screen">
+        <remap from="image" to="$(arg image_topic)"/>
+    </node>
     
     <!-- launching Person manager (personmanager) -->
     <node pkg="personmanager" name="personmanager" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Activity reco (activityreco) -->
-    <node pkg="activityreco" name="activityreco" type="node" output="screen">
+    <!-- launching ASR (asr) -->
+    <node pkg="asr" name="asr" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching User attention (userattention) -->
-    <node pkg="userattention" name="userattention" type="node" output="screen">
+    <!-- launching Scene understanding (sceneunderstanding) -->
+    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Speech diarization (speechdiarization) -->
-    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+    <!-- launching F-formation (fformation) -->
+    <node pkg="fformation" name="fformation" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    
-    
-    <!-- launching Semantic mapping  (semanticmapping) -->
-    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+    <!-- launching Interaction manager (interactionmanager) -->
+    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
+    <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+    <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+        <remap from="image" to="$(arg image_topic)"/>
+    </node>
     
 
 </launch>
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 3cd498428bcd2de0c9939937fa856e41bf74f95d..6dda696dacf5e94586e9308b2e951aab43a688c3 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
@@ -1,226 +1,130 @@
 <launch>
     <!-- this launch file starts all SPRING nodes except for UNITN nodes. -->
 
-    
-    
-    
-    
     <!-- launching Speech synthesis (speechsynthesis) -->
     <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    
-    
     <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
     <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching ORB SLAM (orbslam) -->
-    <node pkg="orbslam" name="orbslam" type="node" output="screen">
-        <remap from="image" to="$(arg image_topic)"/>
-    </node>
-    
-    
-    
-    
-    <!-- launching Scene understanding  (sceneunderstanding) -->
-    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
-        <remap from="image" to="$(arg image_topic)"/>
-    </node>
-    
-    
-    
-    
-    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
-    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
-        <remap from="image" to="$(arg image_topic)"/>
-    </node>
-    
-    
-    
-    
-    <!-- launching Robot GUI  (robotgui) -->
-    <node pkg="robotgui" name="robotgui" type="node" output="screen">
+    <!-- launching People 3D tracker (people3dtracker) -->
+    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Dialogue manager (dialoguemanager) -->
-    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+    <!-- launching High-level planner (highlevelplanner) -->
+    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    
-    
     <!-- launching Multi-people tracker (multipeopletracker) -->
     <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching ROS openpose  (rosopenpose) -->
-    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
-        <remap from="image" to="$(arg image_topic)"/>
-    </node>
-    
-    
-    
-    
-    <!-- launching Occupancy map (occupancymap) -->
-    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+    <!-- launching Speech diarization (speechdiarization) -->
+    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Robot utterances  (robotutterances) -->
-    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+    <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
+    <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    
-    
     <!-- launching Robot functional layer (robotfunctionallayer) -->
     <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching ASR (asr) -->
-    <node pkg="asr" name="asr" type="node" output="screen">
+    <!-- launching ORB SLAM (orbslam) -->
+    <node pkg="orbslam" name="orbslam" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
-    <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+    <!-- launching Dialogue manager (dialoguemanager) -->
+    <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Sound localisation (soundlocalisation) -->
-    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
+    <!-- launching Occupancy map (occupancymap) -->
+    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+        <remap from="image" to="$(arg image_topic)"/>
+    </node>
     
     <!-- launching Speaker recognition (speakerrecognition) -->
     <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </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" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching reSpeaker audio (respeakeraudio) -->
-    <node pkg="respeakeraudio" name="respeakeraudio" type="node" output="screen">
+    <!-- launching ROS openpose (rosopenpose) -->
+    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    
-    
-    <!-- launching People 3D tracker  (people3dtracker) -->
-    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+    <!-- launching respeaker_ros (respeaker_ros) -->
+    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </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">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    
-    
-    
-    
-    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
-    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+    <!-- launching Robot GUI (robotgui) -->
+    <node pkg="robotgui" name="robotgui" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
+    <!-- launching Sound localisation (soundlocalisation) -->
+    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+        <remap from="image" to="$(arg image_topic)"/>
+    </node>
     
-    
+    <!-- launching Robot utterances (robotutterances) -->
+    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+        <remap from="image" to="$(arg image_topic)"/>
+    </node>
     
     <!-- launching Person manager (personmanager) -->
     <node pkg="personmanager" name="personmanager" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    
-    
-    
-    
-    <!-- launching Speech diarization (speechdiarization) -->
-    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+    <!-- launching ASR (asr) -->
+    <node pkg="asr" name="asr" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
-    <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
+    <!-- launching Scene understanding (sceneunderstanding) -->
+    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
-    
-    
-    <!-- launching Semantic mapping  (semanticmapping) -->
-    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+    <!-- launching Interaction manager (interactionmanager) -->
+    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
         <remap from="image" to="$(arg image_topic)"/>
     </node>
     
-    
+    <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+    <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+        <remap from="image" to="$(arg image_topic)"/>
+    </node>
     
 
 </launch>
diff --git a/spring-mock-ws/src/springarchitecture/package.xml b/spring-mock-ws/src/springarchitecture/package.xml
index 7141cea897a43fa53ffd484353d5ddbd1f0cf7a8..87bdc6c5ee8c12e142cbec83d496e6945530ddfc 100644
--- a/spring-mock-ws/src/springarchitecture/package.xml
+++ b/spring-mock-ws/src/springarchitecture/package.xml
@@ -1,85 +1,49 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>springarchitecture</name>
-    <version>0.0.1</version>
-    <description>EU H2020 SPRING architecture. Auto-generated by Boxology 0.9.0.</description>
+    <version>0.1.0</version>
+    <description>EU H2020 SPRING architecture. Auto-generated by Boxology 1.0.0.</description>
 
     <maintainer email="todo@example.com">TODO</maintainer>
 
     <license>BSD</license>
 
     <buildtool_depend>catkin</buildtool_depend>
-        
-    <depend>facerecognition</depend>
-        
     <depend>speechsynthesis</depend>
-        
-    <depend>nonverbalbehaviours</depend>
-        
     <depend>objectdetectionidentificationlocalisation</depend>
-        
+    <depend>activityreco</depend>
+    <depend>maskdetection</depend>
+    <depend>facerecognition</depend>
+    <depend>people3dtracker</depend>
+    <depend>highlevelplanner</depend>
+    <depend>multipeopletracker</depend>
+    <depend>speechdiarization</depend>
+    <depend>fisheyestereorgbhead</depend>
+    <depend>robotfunctionallayer</depend>
+    <depend>usergaze</depend>
     <depend>orbslam</depend>
-        
-    <depend>sceneunderstanding</depend>
-        
-    <depend>robotnonverbalbehaviours</depend>
-        
-    <depend>robotgui</depend>
-        
     <depend>dialoguemanager</depend>
-        
-    <depend>usergaze</depend>
-        
-    <depend>multipeopletracker</depend>
-        
-    <depend>rosopenpose</depend>
-        
+    <depend>robotnonverbalbehaviours</depend>
+    <depend>demographics</depend>
+    <depend>nonverbalbehaviours</depend>
     <depend>occupancymap</depend>
-        
+    <depend>speakerrecognition</depend>
+    <depend>rgbdcamera_info</depend>
+    <depend>facedetection</depend>
+    <depend>rosopenpose</depend>
+    <depend>respeaker_ros</depend>
+    <depend>semanticmapping</depend>
+    <depend>robotgui</depend>
+    <depend>soundlocalisation</depend>
     <depend>robotutterances</depend>
-        
     <depend>body2dpose</depend>
-        
-    <depend>robotfunctionallayer</depend>
-        
+    <depend>userattention</depend>
+    <depend>personmanager</depend>
     <depend>asr</depend>
-        
-    <depend>visualslam3dmap</depend>
-        
-    <depend>soundlocalisation</depend>
-        
-    <depend>speakerrecognition</depend>
-        
-    <depend>interactionmanager</depend>
-        
-    <depend>respeakeraudio</depend>
-        
-    <depend>facedetection</depend>
-        
-    <depend>people3dtracker</depend>
-        
+    <depend>sceneunderstanding</depend>
     <depend>fformation</depend>
-        
-    <depend>highlevelplanner</depend>
-        
-    <depend>maskdetection</depend>
-        
-    <depend>demographics</depend>
-        
-    <depend>rgbdcamera_info</depend>
-        
-    <depend>personmanager</depend>
-        
-    <depend>activityreco</depend>
-        
-    <depend>userattention</depend>
-        
-    <depend>speechdiarization</depend>
-        
-    <depend>fisheyestereorgbhead</depend>
-        
-    <depend>semanticmapping</depend>
-        
+    <depend>interactionmanager</depend>
+    <depend>visualslam3dmap</depend>
 
     <export>
 
diff --git a/spring-mock-ws/src/userattention/package.xml b/spring-mock-ws/src/userattention/package.xml
index cc1822ead5c088a9979b99722f8ab11316c08678..754d25641fca29f7d765a91985cf51a2ea1ba674 100644
--- a/spring-mock-ws/src/userattention/package.xml
+++ b/spring-mock-ws/src/userattention/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>userattention</name>
-    <version>0.0.1</version>
-    <description>User attention (UNITN) User attention. Auto-generated by Boxology 0.9.0.</description>
+    <version>1.0.0</version>
+    <description>User attention (UNITN) . Auto-generated by Boxology 1.0.0.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/usergaze/package.xml b/spring-mock-ws/src/usergaze/package.xml
index be35b07359627e2915821933630a82978d800a45..b3c70404c721afce8f4f2270593783e99d94eb47 100644
--- a/spring-mock-ws/src/usergaze/package.xml
+++ b/spring-mock-ws/src/usergaze/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>usergaze</name>
-    <version>0.0.1</version>
-    <description>User gaze (UNITN) User gaze. Auto-generated by Boxology 0.9.0.</description>
+    <version>1.0.0</version>
+    <description>User gaze (UNITN) . Auto-generated by Boxology 1.0.0.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/visualslam3dmap/package.xml b/spring-mock-ws/src/visualslam3dmap/package.xml
index bc44500ca5c99660cd9a9dbb9fc9f41681564b3e..34e0fd1c3577cf5288a9b310a80dead2e6317c11 100644
--- a/spring-mock-ws/src/visualslam3dmap/package.xml
+++ b/spring-mock-ws/src/visualslam3dmap/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
     <name>visualslam3dmap</name>
-    <version>0.0.1</version>
-    <description>Visual SLAM + 3D map (CVUT) Visual SLAM + 3D map. Auto-generated by Boxology 0.9.0.</description>
+    <version>1.0.0</version>
+    <description>Visual SLAM + 3D map (CVUT) . Auto-generated by Boxology 1.0.0.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->