From 870a4038ebeb751be41a8fd0e311753ad1977f40 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?S=C3=A9verin=20Lemaignan?=
 <severin.lemaignan@pal-robotics.com>
Date: Tue, 16 Nov 2021 22:08:05 +0100
Subject: [PATCH] update generated ROS nodes; replace respeaker by released
 node

---
 spring-mock-ws/fetch_released_nodes.sh        |   7 +
 spring-mock-ws/src/activityreco/package.xml   |   4 +-
 spring-mock-ws/src/asr/package.xml            |   4 +-
 spring-mock-ws/src/body2dpose/package.xml     |   4 +-
 spring-mock-ws/src/demographics/package.xml   |   4 +-
 .../src/dialoguemanager/package.xml           |   4 +-
 spring-mock-ws/src/facedetection/package.xml  |   4 +-
 .../src/facerecognition/package.xml           |   4 +-
 spring-mock-ws/src/fformation/package.xml     |   4 +-
 .../src/fisheyestereorgbhead/package.xml      |   4 +-
 .../src/highlevelplanner/package.xml          |   4 +-
 .../src/interactionmanager/package.xml        |   4 +-
 spring-mock-ws/src/maskdetection/package.xml  |   4 +-
 .../src/multipeopletracker/package.xml        |   4 +-
 .../src/nonverbalbehaviours/package.xml       |   4 +-
 .../package.xml                               |   4 +-
 spring-mock-ws/src/occupancymap/package.xml   |   4 +-
 spring-mock-ws/src/orbslam/package.xml        |   4 +-
 .../src/people3dtracker/package.xml           |   4 +-
 spring-mock-ws/src/personmanager/package.xml  |   4 +-
 .../src/respeakeraudio/CMakeLists.txt         | 205 ---------------
 spring-mock-ws/src/respeakeraudio/package.xml |  58 -----
 .../src/respeakeraudio/src/main.cpp           |  34 ---
 .../src/rgbdcamera_info/package.xml           |   4 +-
 .../src/robotfunctionallayer/package.xml      |   4 +-
 spring-mock-ws/src/robotgui/package.xml       |   4 +-
 .../src/robotnonverbalbehaviours/package.xml  |   4 +-
 .../src/robotutterances/package.xml           |   4 +-
 spring-mock-ws/src/rosopenpose/package.xml    |   4 +-
 .../src/sceneunderstanding/package.xml        |   4 +-
 .../src/semanticmapping/package.xml           |   4 +-
 .../src/soundlocalisation/package.xml         |   4 +-
 .../src/speakerrecognition/package.xml        |   4 +-
 .../src/speechdiarization/package.xml         |   4 +-
 .../src/speechsynthesis/package.xml           |   4 +-
 .../src/springarchitecture/CMakeLists.txt     |  88 ++-----
 .../launch/start_all.launch                   | 170 +++++--------
 .../launch/start_all_but_BIU.launch           | 218 +++++-----------
 .../launch/start_all_but_CVUT.launch          | 218 +++++-----------
 .../launch/start_all_but_ERM.launch           | 229 +++++------------
 .../launch/start_all_but_HWU.launch           | 209 ++++------------
 .../launch/start_all_but_INRIA.launch         | 215 ++++------------
 .../launch/start_all_but_Other.launch         | 236 +++++-------------
 .../launch/start_all_but_PAL.launch           | 208 ++++-----------
 .../launch/start_all_but_UNITN.launch         | 188 ++++----------
 .../src/springarchitecture/package.xml        |  92 +++----
 spring-mock-ws/src/userattention/package.xml  |   4 +-
 spring-mock-ws/src/usergaze/package.xml       |   4 +-
 .../src/visualslam3dmap/package.xml           |   4 +-
 49 files changed, 650 insertions(+), 1861 deletions(-)
 create mode 100644 spring-mock-ws/fetch_released_nodes.sh
 delete mode 100644 spring-mock-ws/src/respeakeraudio/CMakeLists.txt
 delete mode 100644 spring-mock-ws/src/respeakeraudio/package.xml
 delete mode 100644 spring-mock-ws/src/respeakeraudio/src/main.cpp

diff --git a/spring-mock-ws/fetch_released_nodes.sh b/spring-mock-ws/fetch_released_nodes.sh
new file mode 100644
index 0000000..35a9c64
--- /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 bf5bd38..052673b 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 1c9cf8c..d957de0 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 9a11338..cfc9b4d 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 537b8bc..747158e 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 333608c..135823a 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 3269f39..5790d1f 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 876b26a..ae68035 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 e84e290..a6d688f 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 c989bf3..33c2461 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 75197dd..c405f90 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 038510e..21b027d 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 4032a6f..348deae 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 003348c..e7e837a 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 d6f2b25..6ee823f 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 1bccc63..2a03aa9 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 c4a6f17..0f1e427 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 81be8bf..d711b31 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 8e8aca4..ecbcbc1 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 7a0f00f..6c6f869 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 263722e..0000000
--- 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 53ba9a1..0000000
--- 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 3d9c39d..0000000
--- 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 4969b4a..bf564db 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 136d53c..b1af87e 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 5d4c99a..932e10b 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 c8a561c..075c18c 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 7d4faa3..2942b8e 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 3a75ade..67bc4dc 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 2989ec1..25fbd0c 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 19e61dc..309ad68 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 1782d95..276d265 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 bbe0bb8..0d72c94 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 af451ff..2ce65db 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 ef63e85..1440813 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 fe0c393..a8769af 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 8045007..39f9c05 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 895b479..076c46b 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 caa7829..d687c2f 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 82a8d9a..e139db7 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 9cae1b1..347a1ed 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 d14cdaa..80c97fd 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 c88d251..c9d92ab 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 2e46cd4..54c650b 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 3cd4984..6dda696 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 7141cea..87bdc6c 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 cc1822e..754d256 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 be35b07..b3c7040 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 bc44500..34e0fd1 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:  -->
-- 
GitLab