Added markdown overview of architecture

spring-architecture.md

+# SPRING architecture
+
+**Version:** 0.3.1
+
+EU H2020 SPRING architecture
+
+## Overview of modules
+
+| **Node** | **id** | **Partner** | **Status** |
+|----------|--------|-------------|------------|
+| [robot_behavior](#robot_behavior) | robot_behavior | INRIA | mock-up |
+| [Sound source localisation](#soundsourcelocalisation) | soundsourcelocalisation | BIU | mock-up |
+| [Robot functional layer](#robotfunctionallayer) | robotfunctionallayer | PAL | mock-up |
+| [Voice speech matching](#voicespeechmatching) | voicespeechmatching | BIU | mock-up |
+| [Soft biometrics](#softbiometrics) | softbiometrics | UNITN | mock-up |
+| [User attention estimation](#userattentionestimation) | userattentionestimation | UNITN | mock-up |
+| [ hri_msgs](#hri_msgs) | hri_msgs | Other | released (version 0.1.1) (dependency) |
+| [Speech synthesis](#speechsynthesis) | speechsynthesis | PAL | mock-up |
+| [ROS openpose](#rosopenpose) | rosopenpose | INRIA | mock-up |
+| [Robot GUI](#robotgui) | robotgui | ERM | mock-up |
+| [interaction_manager](#interaction_manager) | interaction_manager | HWU | mock-up |
+| [Object detection/identification/localisation](#objectdetectionidentificationlocalisation) | objectdetectionidentificationlocalisation | CVUT | mock-up |
+| [Depth estimation from monocular](#depthestimationfrommonocular) | depthestimationfrommonocular | UNITN | mock-up |
+| [Scene understanding](#sceneunderstanding) | sceneunderstanding | HWU | mock-up |
+| [Occupancy map](#occupancymap) | occupancymap | CVUT | mock-up |
+| [dialogue arbiter](#dialoguearbiter) | dialoguearbiter | HWU | mock-up |
+| [People 3D tracker](#people3dtracker) | people3dtracker | INRIA | mock-up |
+| [Speaker identification](#speakeridentification) | speakeridentification | BIU | mock-up |
+| [Person re-identification](#personreidentification) | personreidentification | UNITN | mock-up |
+| [ORB SLAM](#orbslam) | orbslam | PAL | mock-up |
+| [hri_fullbody](#hri_fullbody) | hri_fullbody | PAL | mock-up |
+| [RGB head](#rgbhead) | rgbhead | PAL | mock-up |
+| [Multi-people body tracker](#multipeoplebodytracker) | multipeoplebodytracker | INRIA | mock-up |
+| [RGB-D + camera_info](#rgbdcamera_info) | rgbdcamera_info | PAL | mock-up |
+| [Activity reco](#activityreco) | activityreco | UNITN | mock-up |
+| [Face detection](#facedetection) | facedetection | UNITN | mock-up |
+| [ spring_msgs](#spring_msgs) | spring_msgs | Other | released (version 0.0.2) (dependency) |
+| [Mask detection](#maskdetection) | maskdetection | UNITN | mock-up |
+| [plan_actions](#plan_actions) | plan_actions | HWU | mock-up |
+| [Person manager](#personmanager) | personmanager | INRIA | mock-up |
+| [Non-verbal behaviours](#nonverbalbehaviours) | nonverbalbehaviours | UNITN | mock-up |
+| [User visual focus](#uservisualfocus) | uservisualfocus | UNITN | mock-up |
+| [Speech analysis](#speechanalysis) | speechanalysis | BIU | mock-up |
+| [Visual SLAM + 3D map](#visualslam3dmap) | visualslam3dmap | CVUT | mock-up |
+| [Semantic mapping](#semanticmapping) | semanticmapping | CVUT | mock-up |
+| [Fisheye](#fisheye) | fisheye | PAL | mock-up |
+| [F-formation](#fformation) | fformation | UNITN | mock-up |
+| [respeaker_ros](#respeaker_ros) | respeaker_ros | PAL | released (version master) |
+| [ASR](#asr) | asr | BIU | mock-up |
+| [Body 2D pose](#body2dpose) | body2dpose | UNITN | mock-up |
+
+## Detailed description
+
+
+
+### robot_behavior { #robot_behavior }
+
+Node *robot_behavior* (id: `robot_behavior`) is overseen by INRIA.
+
+REPO: https://gitlab.inria.fr/spring/wp6_robot_behavior/robot_behavior/-/tree/devel/src/robot_behavior
+
+The code is primarily developed at INRIA by Timothée Wintz.
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `status` (undefined)
+ - Input: `look at` (undefined)
+ - Input: `following/nav goals` (undefined)
+ - Input: `occupancy map` (undefined)
+ - Input: `/h/i/groups [hri_msgs/GroupsStamped]` (topic)
+
+ - Output: `status` (undefined)
+ - Output: `low-level actions` (undefined)
+
+#### Dependencies
+
+- `std_msgs/Empty`
+- `hri_msgs/GroupsStamped`
+
+
+### Sound source localisation { #soundsourcelocalisation }
+
+Node *Sound source localisation* (id: `soundsourcelocalisation`) is overseen by BIU.
+
+
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `/h/v/*/audio [audio_common_msgs/AudioData]` (topic)
+
+ - Output: `output` (undefined)
+ - Output: `source angle` (undefined)
+ - Output: `tracking information` (undefined)
+ - Output: `tf: /voice_id` (tf)
+
+#### Dependencies
+
+- `std_msgs/Empty`
+- `tf/transform_broadcaster`
+- `audio_common_msgs/AudioData`
+
+
+### Robot functional layer { #robotfunctionallayer }
+
+Node *Robot functional layer* (id: `robotfunctionallayer`) is overseen by PAL.
+
+
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `input` (undefined)
+
+
+#### Dependencies
+
+- `std_msgs/Empty`
+
+
+### Voice speech matching { #voicespeechmatching }
+
+Node *Voice speech matching* (id: `voicespeechmatching`) is overseen by BIU.
+
+
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `/h/v/*/audio [audio_common_msgs/AudioData]` (topic)
+ - Input: `/audio/speech_streams [array of std_msgs/String]` (topic)
+
+ - Output: `/h/v/*/speech [std_msgs/String]` (topic)
+
+#### Dependencies
+
+- `std_msgs/String`
+- `audio_common_msgs/AudioData`
+- `array of std_msgs/String`
+
+
+### Soft biometrics { #softbiometrics }
+
+Node *Soft biometrics* (id: `softbiometrics`) is overseen by UNITN.
+
+
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `/h/f/*/roi [hri_msgs/RegionOfInterestStamped]` (topic)
+
+ - Output: `/h/f/*/demographics [hri_msgs/AgeAndGender]` (topic)
+
+#### Dependencies
+
+- `hri_msgs/AgeAndGender`
+- `hri_msgs/RegionOfInterestStamped`
+
+
+### User attention estimation { #userattentionestimation }
+
+Node *User attention estimation* (id: `userattentionestimation`) is overseen by UNITN.
+
+
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `TF (faces)` (undefined)
+ - Input: `/h/f/*/roi [hri_msgs/RegionOfInterestStamped]` (topic)
+
+ - Output: `tf: /face_id_gaze` (tf)
+ - Output: `x,y + attention heatmap` (undefined)
+
+#### Dependencies
+
+- `std_msgs/Empty`
+- `tf/transform_broadcaster`
+- `hri_msgs/RegionOfInterestStamped`
+
+
+### Speech synthesis { #speechsynthesis }
+
+Node *Speech synthesis* (id: `speechsynthesis`) is overseen by PAL.
+
+
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `speech [std_msgs/String]` (undefined)
+
+ - Output: `/tts/feedback` (undefined)
+
+#### Dependencies
+
+- `std_msgs/Empty`
+
+
+### ROS openpose { #rosopenpose }
+
+Node *ROS openpose* (id: `rosopenpose`) is overseen by INRIA.
+
+
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `input` (undefined)
+
+ - Output: `output` (undefined)
+
+#### Dependencies
+
+- `std_msgs/Empty`
+
+
+### Robot GUI { #robotgui }
+
+Node *Robot GUI* (id: `robotgui`) is overseen by ERM.
+
+
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `additional support material` (undefined)
+ - Input: `/tts/feedback` (undefined)
+ - Input: `speech output` (undefined)
+ - Input: `/h/v/*/speech [std_msgs/String]` (topic)
+
+
+#### Dependencies
+
+- `std_msgs/Empty`
+- `std_msgs/String`
+
+
+### interaction_manager { #interaction_manager }
+
+Node *interaction_manager* (id: `interaction_manager`) is overseen by HWU.
+
+REPO: https://gitlab.inria.fr/spring/wp5_spoken_conversations/interaction/-/tree/spring_dev/interaction_manager
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `/h/p/personID` (undefined)
+ - Input: `semantic scene description` (undefined)
+ - Input: `input` (undefined)
+ - Input: `dialogue state` (undefined)
+ - Input: `robot state` (undefined)
+ - Input: `TF` (undefined)
+
+ - Output: `gestures` (undefined)
+ - Output: `who to look at` (undefined)
+ - Output: `verbal command` (undefined)
+ - Output: `nav goals` (undefined)
+ - Output: `active personID` (undefined)
+
+#### Dependencies
+
+- `std_msgs/Empty`
+
+
+### Object detection/identification/localisation { #objectdetectionidentificationlocalisation }
+
+Node *Object detection/identification/localisation* (id: `objectdetectionidentificationlocalisation`) is overseen by CVUT.
+
+
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `/camera_head/color/image_raw [sensor_msgs/Image]` (topic)
+
+ - Output: `/detected_objects [spring_msgs/DetectedObjectArray]` (topic)
+
+#### Dependencies
+
+- `spring_msgs/DetectedObjectArray`
+- `sensor_msgs/Image`
+
+
+### Depth estimation from monocular { #depthestimationfrommonocular }
+
+Node *Depth estimation from monocular* (id: `depthestimationfrommonocular`) is overseen by UNITN.
+
+
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `input` (undefined)
+
+ - Output: `depth` (undefined)
+
+#### Dependencies
+
+- `std_msgs/Empty`
+
+
+### Scene understanding { #sceneunderstanding }
+
+Node *Scene understanding* (id: `sceneunderstanding`) is overseen by HWU.
+
+
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `scene graph` (undefined)
+
+ - Output: `semantic description` (undefined)
+
+#### Dependencies
+
+- `std_msgs/Empty`
+
+
+### Occupancy map { #occupancymap }
+
+Node *Occupancy map* (id: `occupancymap`) is overseen by CVUT.
+
+
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `TF (bodies)` (undefined)
+ - Input: `dense 3d map` (undefined)
+
+ - Output: `/map_refined [nav_msgs/OccupancyGrid]` (topic)
+
+#### Dependencies
+
+- `std_msgs/Empty`
+- `nav_msgs/OccupancyGrid`
+
+
+### dialogue arbiter { #dialoguearbiter }
+
+Node *dialogue arbiter* (id: `dialoguearbiter`) is overseen by HWU.
+
+REPO: https://gitlab.inria.fr/spring/wp5_spoken_conversations/dialogue/-/tree/spring-dev/dialogue_arbiter
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `interaction messages` (undefined)
+ - Input: `/h/v/*/speech [std_msgs/String]` (topic)
+
+ - Output: `DialogueState` (undefined)
+ - Output: `next utterance` (undefined)
+
+#### Dependencies
+
+- `std_msgs/Empty`
+- `std_msgs/String`
+
+
+### People 3D tracker { #people3dtracker }
+
+Node *People 3D tracker* (id: `people3dtracker`) is overseen by INRIA.
+
+
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `feet position` (undefined)
+ - Input: `people RoIs` (undefined)
+ - Input: `ground plane` (undefined)
+
+ - Output: `tf: /body_id` (tf)
+
+#### Dependencies
+
+- `std_msgs/Empty`
+- `tf/transform_broadcaster`
+
+
+### Speaker identification { #speakeridentification }
+
+Node *Speaker identification* (id: `speakeridentification`) is overseen by BIU.
+
+- online services
+- not started yet
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `tracking information` (undefined)
+ - Input: `/audio/postprocess_audio_streams [audio_common_msgs/AudioData]` (topic)
+
+ - Output: `person_id_candidate [hri_msgs/IdsMatch]` (undefined)
+ - Output: `/h/v/*/audio [audio_common_msgs/AudioData]` (topic)
+
+#### Dependencies
+
+- `std_msgs/Empty`
+- `audio_common_msgs/AudioData`
+
+
+### Person re-identification { #personreidentification }
+
+Node *Person re-identification* (id: `personreidentification`) is overseen by UNITN.
+
+
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `/h/f/*/roi [hri_msgs/RegionOfInterestStamped]` (topic)
+
+ - Output: `person_id_candidate [hri_msgs/IdsMatch]` (undefined)
+
+#### Dependencies
+
+- `std_msgs/Empty`
+- `hri_msgs/RegionOfInterestStamped`
+
+
+### ORB SLAM { #orbslam }
+
+Node *ORB SLAM* (id: `orbslam`) is overseen by PAL.
+
+
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `/camera_torso/color/image_raw [sensor_msgs/Image]` (topic)
+
+ - Output: `tf: /odom` (tf)
+ - Output: `/map [nav_msgs/OccupancyGrid]` (topic)
+
+#### Dependencies
+
+- `tf/transform_broadcaster`
+- `nav_msgs/OccupancyGrid`
+- `sensor_msgs/Image`
+
+
+### hri_fullbody { #hri_fullbody }
+
+Node *hri_fullbody* (id: `hri_fullbody`) is overseen by PAL.
+
+
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `/camera_head/color/image_raw [sensor_msgs/Image]` (topic)
+ - Input: `/h/b/*/roi [hri_msgs/RegionOfInterestStamped]` (topic)
+
+ - Output: `/h/b/*/skeleton2d [hri_msgs/Skeleton2D]` (topic)
+ - Output: `tf: /full_body` (tf)
+ - Output: `/h/f/*/roi [hri_msgs/RegionOfInterestStamped]` (topic)
+
+#### Dependencies
+
+- `hri_msgs/Skeleton2D`
+- `tf/transform_broadcaster`
+- `sensor_msgs/Image`
+- `hri_msgs/RegionOfInterestStamped`
+
+
+### RGB head { #rgbhead }
+
+Node *RGB head* (id: `rgbhead`) is overseen by PAL.
+
+
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+
+ - Output: `/camera_head/color/image_raw [sensor_msgs/Image]` (topic)
+
+#### Dependencies
+
+- `sensor_msgs/Image`
+
+
+### Multi-people body tracker { #multipeoplebodytracker }
+
+Node *Multi-people body tracker* (id: `multipeoplebodytracker`) is overseen by INRIA.
+
+REPO (Docker): https://gitlab.inria.fr/spring/wp3_av_perception/docker-tracking
+
+This code is primarily developed at INRIA by Luis Gomez Camara.
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `/camera_head/color/image_raw [sensor_msgs/Image]` (topic)
+
+ - Output: `/h/b/*/roi [hri_msgs/RegionOfInterestStamped]` (topic)
+
+#### Dependencies
+
+- `sensor_msgs/Image`
+- `hri_msgs/RegionOfInterestStamped`
+
+
+### RGB-D + camera_info { #rgbdcamera_info }
+
+Node *RGB-D + camera_info* (id: `rgbdcamera_info`) is overseen by PAL.
+
+
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+
+ - Output: `/camera_torso/color/image_raw [sensor_msgs/Image]` (topic)
+
+#### Dependencies
+
+- `sensor_msgs/Image`
+
+
+### Activity reco { #activityreco }
+
+Node *Activity reco* (id: `activityreco`) is overseen by UNITN.
+
+
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `gaze direction` (undefined)
+ - Input: `TF (bodies)` (undefined)
+
+ - Output: `[?] output` (undefined)
+
+#### Dependencies
+
+- `std_msgs/Empty`
+
+
+### Face detection { #facedetection }
+
+Node *Face detection* (id: `facedetection`) is overseen by UNITN.
+
+
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `/camera_head/color/image_raw [sensor_msgs/Image]` (topic)
+
+ - Output: `/h/f/*/roi [hri_msgs/RegionOfInterestStamped]` (topic)
+
+#### Dependencies
+
+- `sensor_msgs/Image`
+- `hri_msgs/RegionOfInterestStamped`
+
+
+### Mask detection { #maskdetection }
+
+Node *Mask detection* (id: `maskdetection`) is overseen by UNITN.
+
+
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `/h/f/*/roi [hri_msgs/RegionOfInterestStamped]` (topic)
+
+ - Output: `/h/f/*/mask [std_msgs/Bool]` (topic)
+
+#### Dependencies
+
+- `hri_msgs/RegionOfInterestStamped`
+- `std_msgs/Bool`
+
+
+### plan_actions { #plan_actions }
+
+Node *plan_actions* (id: `plan_actions`) is overseen by HWU.
+
+REPO: https://gitlab.inria.fr/spring/wp5_spoken_conversations/plan_actions
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `dialogue state` (undefined)
+ - Input: `TF (persons)` (undefined)
+ - Input: `semantic scene description` (undefined)
+ - Input: `demographics` (undefined)
+
+ - Output: `interaction state` (undefined)
+ - Output: `output` (undefined)
+ - Output: `nav goals` (undefined)
+
+#### Dependencies
+
+- `std_msgs/Empty`
+
+
+### Person manager { #personmanager }
+
+Node *Person manager* (id: `personmanager`) is overseen by INRIA.
+
+PAL to write an initial temporary version, simply forwarding detected faces as persons.
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `TF (voices)` (undefined)
+ - Input: `TF (faces)` (undefined)
+ - Input: `candidate_matchs [hri_msgs/IdsMatch]` (undefined)
+ - Input: `/h/f/*/demographics [hri_msgs/AgeAndGender]` (topic)
+
+ - Output: `/h/p/*/face_id [std_msgs/String]` (topic)
+ - Output: `tf: /person_id` (tf)
+ - Output: `/h/p/*/voice_id [std_msgs/String]` (topic)
+ - Output: `/h/p/*/demographics [hri_msgs/AgeAndGender]` (topic)
+ - Output: `/humans/persons/*/body_id [std_msgs/String]` (topic)
+
+#### Dependencies
+
+- `std_msgs/String`
+- `tf/transform_broadcaster`
+- `std_msgs/Empty`
+- `hri_msgs/AgeAndGender`
+
+
+### Non-verbal behaviours { #nonverbalbehaviours }
+
+Node *Non-verbal behaviours* (id: `nonverbalbehaviours`) is overseen by UNITN.
+
+
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `/h/f/*/roi [hri_msgs/RegionOfInterestStamped]` (topic)
+ - Input: `/h/v/*/audio [audio_common_msgs/AudioData]` (topic)
+
+ - Output: `/h/f/*/expression [hri_msgs/Expression]` (topic)
+
+#### Dependencies
+
+- `hri_msgs/Expression`
+- `hri_msgs/RegionOfInterestStamped`
+- `audio_common_msgs/AudioData`
+
+
+### User visual focus { #uservisualfocus }
+
+Node *User visual focus* (id: `uservisualfocus`) is overseen by UNITN.
+
+
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `gaze direction` (undefined)
+ - Input: `attention` (undefined)
+ - Input: `depth` (undefined)
+ - Input: `scene` (undefined)
+
+ - Output: `who's looking at what?` (undefined)
+ - Output: `/h/i/gaze [hri_msgs/GazesStamped]` (topic)
+
+#### Dependencies
+
+- `std_msgs/Empty`
+- `hri_msgs/GazesStamped`
+
+
+### Speech analysis { #speechanalysis }
+
+Node *Speech analysis* (id: `speechanalysis`) is overseen by BIU.
+
+This node does:
+- speech echo cancelation,
+- speech enhancement,
+- speech separation and diarization
+
+REPO: https://gitlab.inria.fr/spring/wp3_av_perception/biu-ros_audio_retreiver
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `/audio/raw_audio [respeaker_ros/RawAudioData]` (topic)
+ - Input: `/audio/ego_audio [audio_common_msgs/AudioData]` (topic)
+ - Input: `sound localization` (undefined)
+
+ - Output: `/audio/postprocess_audio_streams -- cf output in node desc` (undefined)
+
+#### Dependencies
+
+- `std_msgs/Empty`
+- `respeaker_ros/RawAudioData`
+- `audio_common_msgs/AudioData`
+
+
+### Visual SLAM + 3D map { #visualslam3dmap }
+
+Node *Visual SLAM + 3D map* (id: `visualslam3dmap`) is overseen by CVUT.
+
+
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `/camera_head/color/image_head [sensor_msgs/Image]` (topic)
+ - Input: `/camera_torso/color/image_torso [sensor_msgs/Image]` (topic)
+ - Input: `localisation prior` (undefined)
+
+ - Output: `dense 3d map` (undefined)
+ - Output: `tf: /odom` (tf)
+
+#### Dependencies
+
+- `std_msgs/Empty`
+- `tf/transform_broadcaster`
+- `sensor_msgs/Image`
+
+
+### Semantic mapping { #semanticmapping }
+
+Node *Semantic mapping* (id: `semanticmapping`) is overseen by CVUT.
+
+
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `/detected_objects [spring_msgs/DetectedObjectArray]` (topic)
+ - Input: `dense 3d map` (undefined)
+
+ - Output: `scene graph` (undefined)
+
+#### Dependencies
+
+- `spring_msgs/DetectedObjectArray`
+- `std_msgs/Empty`
+
+
+### Fisheye { #fisheye }
+
+Node *Fisheye* (id: `fisheye`) is overseen by PAL.
+
+
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+
+ - Output: `/camera_head/color/image_raw [sensor_msgs/Image]` (topic)
+
+#### Dependencies
+
+- `sensor_msgs/Image`
+
+
+### F-formation { #fformation }
+
+Node *F-formation* (id: `fformation`) is overseen by UNITN.
+
+
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `/h/i/gaze [hri_msgs/GazesStamped]` (topic)
+ - Input: `tf: /person_id` (tf)
+
+ - Output: `/h/i/groups [hri_msgs/GroupsStamped]` (topic)
+
+#### Dependencies
+
+- `hri_msgs/GazesStamped`
+- `tf/transform_listener`
+- `hri_msgs/GroupsStamped`
+
+
+### respeaker_ros { #respeaker_ros }
+
+Node *respeaker_ros* (id: `respeaker_ros`) is overseen by PAL.
+
+REPO:git@gitlab.inria.fr:spring/wp7_ari/respeaker_ros.git BIN:respeaker_multichan_node.py
+
+#### Status
+
+**Current release: master** 
+
+#### Inputs/outputs
+
+
+ - Output: `/audio/raw_audio [respeaker_ros/RawAudioData]` (topic)
+ - Output: `/audio/ego_audio [audio_common_msgs/AudioData]` (topic)
+
+#### Dependencies
+
+- `respeaker_ros/RawAudioData`
+- `audio_common_msgs/AudioData`
+
+
+### ASR { #asr }
+
+Node *ASR* (id: `asr`) is overseen by BIU.
+
+REPO [TBC]: https://gitlab.inria.fr/spring/wp5_spoken_conversations/asr
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `/audio/postprocess_audio_streams [audio_common_msgs/AudioData]` (topic)
+
+ - Output: `/audio/speech_streams -- array of std_msgs/String` (undefined)
+
+#### Dependencies
+
+- `audio_common_msgs/AudioData`
+- `std_msgs/Empty`
+
+
+### Body 2D pose { #body2dpose }
+
+Node *Body 2D pose* (id: `body2dpose`) is overseen by UNITN.
+
+MOCK: Body 2D pose [openpose] is...
+
+#### Status
+
+**This node is currently auto-generated (mock-up)** 
+
+#### Inputs/outputs
+
+ - Input: `/h/b/*/roi [hri_msgs/RegionOfInterestStamped]` (topic)
+ - Input: `/camera_head/color/image_raw [sensor_msgs/Image]` (topic)
+
+ - Output: `/h/b/*/skeleton2d [hri_msgs/Skeleton2D]` (topic)
+
+#### Dependencies
+
+- `hri_msgs/Skeleton2D`
+- `hri_msgs/RegionOfInterestStamped`
+- `sensor_msgs/Image`
+
+
+
+### Non-executable dependency:  hri_msgs
+
+Module  hri_msgs (id: `hri_msgs`) is overseen by Other.
+
+REPO: git@gitlab:ros4hri/hri_msgs.git
+NOT EXECUTABLE
+
+
+#### Status
+
+**Current release: 0.1.1** 
+
+#### Dependencies
+
+
+
+
+
+### Non-executable dependency:  spring_msgs
+
+Module  spring_msgs (id: `spring_msgs`) is overseen by Other.
+
+REPO:git@gitlab.inria.fr:spring/wp7_ari/spring_msgs.git
+NOT EXECUTABLE
+
+
+#### Status
+
+**Current release: 0.0.2** 
+
+#### Dependencies
+
+
+
+
+