diff --git a/spring-mock-ws/fetch_released_nodes.sh b/spring-mock-ws/fetch_released_nodes.sh
index 02eaff454222beaa000fd60319d4146c44806686..a951836f671b0fb5a2bf45047a41c893042c8aa8 100644
--- a/spring-mock-ws/fetch_released_nodes.sh
+++ b/spring-mock-ws/fetch_released_nodes.sh
@@ -3,6 +3,15 @@
 # This script clone all the SPRING ROS nodes that are marked as released in the
 # architecture design.
 
+if cd src/hri_msgs; 
+then
+    echo "hri_msgs: pulling latest changes from 0.1.1...";
+    git pull origin 0.1.1; 
+else 
+
+    echo "Cloning  hri_msgs (ROS node: hri_msgs), branch: 0.1.1 to src/ ..."
+    git clone --depth 1 --branch 0.1.1  git@gitlab:ros4hri/hri_msgs.git src/hri_msgs;
+fi
 if cd src/respeaker_ros; 
 then
     echo "respeaker_ros: pulling latest changes from master...";
diff --git a/spring-mock-ws/src/activityreco/package.xml b/spring-mock-ws/src/activityreco/package.xml
index a181589b34c251645439cfc5891a0974836bacfb..82d60ce42ec976f79662900fbeaae984bb6f554f 100644
--- a/spring-mock-ws/src/activityreco/package.xml
+++ b/spring-mock-ws/src/activityreco/package.xml
@@ -2,7 +2,7 @@
 <package format="3">
     <name>activityreco</name>
     <version>1.0.0</version>
-    <description>Activity reco (UNITN) . Auto-generated by Boxology 1.1.0.</description>
+    <description>Activity reco (UNITN) . Auto-generated by Boxology 1.3.1.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/activityreco/src/main.cpp b/spring-mock-ws/src/activityreco/src/main.cpp
index a6ea5919430fa54ad7fb41da1f18be1eba9ae6a6..c887305b7c243b477866e9d90cd8e5e78dafce1e 100644
--- a/spring-mock-ws/src/activityreco/src/main.cpp
+++ b/spring-mock-ws/src/activityreco/src/main.cpp
@@ -29,10 +29,10 @@ class ActivityReco {
    public:
     ActivityReco(ros::NodeHandle* nh) {
 
-        // ATTENTION: this topic is not defined in the architecture design
-        tfbodies_sub_ = nh->subscribe("tfbodies", 1, &ActivityReco::tfbodiesCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
         gazedirection_sub_ = nh->subscribe("gazedirection", 1, &ActivityReco::gazedirectionCallback, this);
+        // ATTENTION: this topic is not defined in the architecture design
+        tfbodies_sub_ = nh->subscribe("tfbodies", 1, &ActivityReco::tfbodiesCallback, this);
 
         // ATTENTION: this topic is not defined in the architecture design
         output_pub_ = nh->advertise<std_msgs::Empty>("output", 1);
@@ -41,17 +41,17 @@ class ActivityReco {
     ~ActivityReco() {}
 
    private:
-    void tfbodiesCallback(const std_msgs::Empty::ConstPtr& msg)
+    void gazedirectionCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("activityreco: received message: " << msg);
     }
-    void gazedirectionCallback(const std_msgs::Empty::ConstPtr& msg)
+    void tfbodiesCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("activityreco: received message: " << msg);
     }
 
-    ros::Subscriber tfbodies_sub_;
     ros::Subscriber gazedirection_sub_;
+    ros::Subscriber tfbodies_sub_;
 
     ros::Publisher output_pub_;
 
diff --git a/spring-mock-ws/src/asr/package.xml b/spring-mock-ws/src/asr/package.xml
index 27262c543baea7f5cbeb8f9675a0ddd495eaf6b0..db019b2cfac9483d2f6261606a13f96d6e518c1d 100644
--- a/spring-mock-ws/src/asr/package.xml
+++ b/spring-mock-ws/src/asr/package.xml
@@ -2,7 +2,7 @@
 <package format="3">
     <name>asr</name>
     <version>1.0.0</version>
-    <description>ASR (BIU) . Auto-generated by Boxology 1.1.0.</description>
+    <description>ASR (BIU) . Auto-generated by Boxology 1.3.1.</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 c44a85624c30e84a3779aca836d8ba6e54762208..e53f394f5d23910ce716ad8156813f791d6b425f 100644
--- a/spring-mock-ws/src/body2dpose/package.xml
+++ b/spring-mock-ws/src/body2dpose/package.xml
@@ -2,7 +2,7 @@
 <package format="3">
     <name>body2dpose</name>
     <version>1.0.0</version>
-    <description>Body 2D pose (UNITN) . Auto-generated by Boxology 1.1.0.</description>
+    <description>Body 2D pose (UNITN) . Auto-generated by Boxology 1.3.1.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/body2dpose/src/main.cpp b/spring-mock-ws/src/body2dpose/src/main.cpp
index 91cb3810988f722745a2411ed2f8f90b24d367fe..6fc66562f639491ed50b6aab5608b307e0418dd9 100644
--- a/spring-mock-ws/src/body2dpose/src/main.cpp
+++ b/spring-mock-ws/src/body2dpose/src/main.cpp
@@ -23,9 +23,9 @@
 
 #include "ros/ros.h"
 #include "std_msgs/String.h"
+#include "hri_msgs/Skeleton2D.h"
 #include "sensor_msgs/Image.h"
 #include "hri_msgs/RegionOfInterestStamped.h"
-#include "hri_msgs/Skeleton2D.h"
 
 class Body2dPose {
    public:
diff --git a/spring-mock-ws/src/demographics/CMakeLists.txt b/spring-mock-ws/src/demographics/CMakeLists.txt
deleted file mode 100644
index 7b1bcdc2c55ed438efce8b22cda738679602cd81..0000000000000000000000000000000000000000
--- a/spring-mock-ws/src/demographics/CMakeLists.txt
+++ /dev/null
@@ -1,205 +0,0 @@
-cmake_minimum_required(VERSION 3.0.2)
-project(demographics)
-
-## Compile as C++11, supported in ROS Kinetic and newer
-add_compile_options(-std=c++11)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  hri_msgs
-)
-
-## 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 demographics
-#  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/${PROJECT_NAME}/demographics.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${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_demographics.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/demographics/package.xml b/spring-mock-ws/src/demographics/package.xml
deleted file mode 100644
index 2f9e3b04c1b6e9af8cd97cc208d4f07bf14debcf..0000000000000000000000000000000000000000
--- a/spring-mock-ws/src/demographics/package.xml
+++ /dev/null
@@ -1,58 +0,0 @@
-<?xml version="1.0"?>
-<package format="3">
-    <name>demographics</name>
-    <version>1.0.0</version>
-    <description>Demographics (UNITN) . Auto-generated by Boxology 1.1.0.</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>
-  <exec_depend>roscpp</exec_depend>
-  <depend>hri_msgs</depend>
-
-  <export>
-
-  </export>
-</package>
diff --git a/spring-mock-ws/src/demographics/src/main.cpp b/spring-mock-ws/src/demographics/src/main.cpp
deleted file mode 100644
index 0bce1b8585675303d518d12652d5e8a61ae2f926..0000000000000000000000000000000000000000
--- a/spring-mock-ws/src/demographics/src/main.cpp
+++ /dev/null
@@ -1,65 +0,0 @@
-/*
- Copyright 2021-2025, SPRING Consortium
-
- Permission is hereby granted, free of charge, to any person obtaining a copy
- of this software and associated documentation files (the "Software"), to deal
- in the Software without restriction, including without limitation the rights
- to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- copies of the Software, and to permit persons to whom the Software is
- furnished to do so, subject to the following conditions:
-
- The above copyright notice and this permission notice shall be included in all
- copies or substantial portions of the Software.
-
- THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
- SOFTWARE.
-*/
-
-
-#include "ros/ros.h"
-#include "std_msgs/String.h"
-#include "hri_msgs/AgeAndGender.h"
-#include "hri_msgs/RegionOfInterestStamped.h"
-
-class Demographics {
-   public:
-    Demographics(ros::NodeHandle* nh) {
-
-        face_roi_sub_ = nh->subscribe("face_roi", 1, &Demographics::face_roiCallback, this);
-
-        face_demographics_pub_ = nh->advertise<hri_msgs::AgeAndGender>("face_demographics", 1);
-    }
-
-    ~Demographics() {}
-
-   private:
-    void face_roiCallback(const hri_msgs::RegionOfInterestStamped::ConstPtr& msg)
-    {
-        ROS_INFO_STREAM("demographics: received message: " << msg);
-    }
-
-    ros::Subscriber face_roi_sub_;
-
-    ros::Publisher face_demographics_pub_;
-
-};
-
-int main(int argc, char** argv) {
-    ros::init(argc, argv, "demographics");
-
-    // Initialize node parameters from launch file or command line.
-    // Use a private node handle so that multiple instances of the node can be
-    // run simultaneously while using different parameters.
-    ros::NodeHandle private_node_handle_("~");
-
-    auto demographics = Demographics(&private_node_handle_);
-
-    ROS_INFO("Node demographics launched and ready.");
-    ros::spin();
-    return 0;
-}
diff --git a/spring-mock-ws/src/dialoguemanager/package.xml b/spring-mock-ws/src/dialoguemanager/package.xml
index 227a407e7dbd77ef1f1529d77637b17e88bed970..7483c32945f0d74e7ec8fe334fd5ba8d9d1c5425 100644
--- a/spring-mock-ws/src/dialoguemanager/package.xml
+++ b/spring-mock-ws/src/dialoguemanager/package.xml
@@ -2,7 +2,7 @@
 <package format="3">
     <name>dialoguemanager</name>
     <version>1.0.0</version>
-    <description>Dialogue manager (HWU) . Auto-generated by Boxology 1.1.0.</description>
+    <description>Dialogue manager (HWU) . Auto-generated by Boxology 1.3.1.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/dialoguemanager/src/main.cpp b/spring-mock-ws/src/dialoguemanager/src/main.cpp
index 8dcfaae9ad8e38f640e3ab8602caba1bbe7baec5..c5859845cd4e0441409bc91181fd0f144f29c7dc 100644
--- a/spring-mock-ws/src/dialoguemanager/src/main.cpp
+++ b/spring-mock-ws/src/dialoguemanager/src/main.cpp
@@ -29,34 +29,34 @@ class DialogueManager {
    public:
     DialogueManager(ros::NodeHandle* nh) {
 
-        // ATTENTION: this topic is not defined in the architecture design
-        interactionmessages_sub_ = nh->subscribe("interactionmessages", 1, &DialogueManager::interactionmessagesCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
         speech_sub_ = nh->subscribe("speech", 1, &DialogueManager::speechCallback, this);
-
         // ATTENTION: this topic is not defined in the architecture design
-        dialoguestate_pub_ = nh->advertise<std_msgs::Empty>("dialoguestate", 1);
+        interactionmessages_sub_ = nh->subscribe("interactionmessages", 1, &DialogueManager::interactionmessagesCallback, this);
+
         // ATTENTION: this topic is not defined in the architecture design
         nextutterance_pub_ = nh->advertise<std_msgs::Empty>("nextutterance", 1);
+        // ATTENTION: this topic is not defined in the architecture design
+        dialoguestate_pub_ = nh->advertise<std_msgs::Empty>("dialoguestate", 1);
     }
 
     ~DialogueManager() {}
 
    private:
-    void interactionmessagesCallback(const std_msgs::Empty::ConstPtr& msg)
+    void speechCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("dialoguemanager: received message: " << msg);
     }
-    void speechCallback(const std_msgs::Empty::ConstPtr& msg)
+    void interactionmessagesCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("dialoguemanager: received message: " << msg);
     }
 
-    ros::Subscriber interactionmessages_sub_;
     ros::Subscriber speech_sub_;
+    ros::Subscriber interactionmessages_sub_;
 
-    ros::Publisher dialoguestate_pub_;
     ros::Publisher nextutterance_pub_;
+    ros::Publisher dialoguestate_pub_;
 
 };
 
diff --git a/spring-mock-ws/src/facedetection/package.xml b/spring-mock-ws/src/facedetection/package.xml
index 099c9cb68917c9396dc3f274ff44d566a340e90b..6766c11d84c4d3744a8d834ba6bcf1b56db1711d 100644
--- a/spring-mock-ws/src/facedetection/package.xml
+++ b/spring-mock-ws/src/facedetection/package.xml
@@ -2,7 +2,7 @@
 <package format="3">
     <name>facedetection</name>
     <version>1.0.0</version>
-    <description>Face detection (UNITN) . Auto-generated by Boxology 1.1.0.</description>
+    <description>Face detection (UNITN) . Auto-generated by Boxology 1.3.1.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/facedetection/src/main.cpp b/spring-mock-ws/src/facedetection/src/main.cpp
index 60f8bd371b4b3e93e155d4ec063b06620fe057b5..e6157ba2656b21ba6ae81f767efccf0befbc77cb 100644
--- a/spring-mock-ws/src/facedetection/src/main.cpp
+++ b/spring-mock-ws/src/facedetection/src/main.cpp
@@ -23,8 +23,8 @@
 
 #include "ros/ros.h"
 #include "std_msgs/String.h"
-#include "sensor_msgs/Image.h"
 #include "hri_msgs/RegionOfInterestStamped.h"
+#include "sensor_msgs/Image.h"
 
 class FaceDetection {
    public:
diff --git a/spring-mock-ws/src/facerecognition/CMakeLists.txt b/spring-mock-ws/src/facerecognition/CMakeLists.txt
deleted file mode 100644
index 653c624846c9b27a10f0d365fef55d4f8d4092cf..0000000000000000000000000000000000000000
--- a/spring-mock-ws/src/facerecognition/CMakeLists.txt
+++ /dev/null
@@ -1,206 +0,0 @@
-cmake_minimum_required(VERSION 3.0.2)
-project(facerecognition)
-
-## Compile as C++11, supported in ROS Kinetic and newer
-add_compile_options(-std=c++11)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  hri_msgs
-  std_msgs
-)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend tag for "message_generation"
-##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-##     but can be declared for certainty nonetheless:
-##     * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs  # Or other packages containing msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-##   * add "dynamic_reconfigure" to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * uncomment the "generate_dynamic_reconfigure_options" section below
-##     and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-#   cfg/DynReconf1.cfg
-#   cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES facerecognition
-#  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/${PROJECT_NAME}/facerecognition.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${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_facerecognition.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/facerecognition/package.xml b/spring-mock-ws/src/facerecognition/package.xml
deleted file mode 100644
index 8ed74f73fd9e6aaa3602aeb98108c8f3bd4dff96..0000000000000000000000000000000000000000
--- a/spring-mock-ws/src/facerecognition/package.xml
+++ /dev/null
@@ -1,59 +0,0 @@
-<?xml version="1.0"?>
-<package format="3">
-    <name>facerecognition</name>
-    <version>1.0.0</version>
-    <description>Face recognition (UNITN) . Auto-generated by Boxology 1.1.0.</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>
-  <exec_depend>roscpp</exec_depend>
-  <depend>hri_msgs</depend>
-  <depend>std_msgs</depend>
-
-  <export>
-
-  </export>
-</package>
diff --git a/spring-mock-ws/src/facerecognition/src/main.cpp b/spring-mock-ws/src/facerecognition/src/main.cpp
deleted file mode 100644
index 54d0d85abd58b72027699be20a77648fc93fb6d3..0000000000000000000000000000000000000000
--- a/spring-mock-ws/src/facerecognition/src/main.cpp
+++ /dev/null
@@ -1,66 +0,0 @@
-/*
- Copyright 2021-2025, SPRING Consortium
-
- Permission is hereby granted, free of charge, to any person obtaining a copy
- of this software and associated documentation files (the "Software"), to deal
- in the Software without restriction, including without limitation the rights
- to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- copies of the Software, and to permit persons to whom the Software is
- furnished to do so, subject to the following conditions:
-
- The above copyright notice and this permission notice shall be included in all
- copies or substantial portions of the Software.
-
- THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
- SOFTWARE.
-*/
-
-
-#include "ros/ros.h"
-#include "std_msgs/String.h"
-#include "hri_msgs/RegionOfInterestStamped.h"
-#include "std_msgs/Empty.h"
-
-class FaceRecognition {
-   public:
-    FaceRecognition(ros::NodeHandle* nh) {
-
-        face_roi_sub_ = nh->subscribe("face_roi", 1, &FaceRecognition::face_roiCallback, this);
-
-        // ATTENTION: this topic is not defined in the architecture design
-        personid_pub_ = nh->advertise<std_msgs::Empty>("personid", 1);
-    }
-
-    ~FaceRecognition() {}
-
-   private:
-    void face_roiCallback(const hri_msgs::RegionOfInterestStamped::ConstPtr& msg)
-    {
-        ROS_INFO_STREAM("facerecognition: received message: " << msg);
-    }
-
-    ros::Subscriber face_roi_sub_;
-
-    ros::Publisher personid_pub_;
-
-};
-
-int main(int argc, char** argv) {
-    ros::init(argc, argv, "facerecognition");
-
-    // Initialize node parameters from launch file or command line.
-    // Use a private node handle so that multiple instances of the node can be
-    // run simultaneously while using different parameters.
-    ros::NodeHandle private_node_handle_("~");
-
-    auto facerecognition = FaceRecognition(&private_node_handle_);
-
-    ROS_INFO("Node facerecognition launched and ready.");
-    ros::spin();
-    return 0;
-}
diff --git a/spring-mock-ws/src/fformation/CMakeLists.txt b/spring-mock-ws/src/fformation/CMakeLists.txt
index 3a85f8782404f5196c11cc98f0b1415f449e1621..af68214dbb818fcdf7ea502b13fef3c1c1718853 100644
--- a/spring-mock-ws/src/fformation/CMakeLists.txt
+++ b/spring-mock-ws/src/fformation/CMakeLists.txt
@@ -10,6 +10,7 @@ add_compile_options(-std=c++11)
 find_package(catkin REQUIRED COMPONENTS
   roscpp
   hri_msgs
+  std_msgs
   tf
 )
 
diff --git a/spring-mock-ws/src/fformation/package.xml b/spring-mock-ws/src/fformation/package.xml
index 7d87b4ce88ad8184ce4a4bb509f67aa02a6c3398..c9ddbe015501e4a1d02fd3ab72f162b5b29d9619 100644
--- a/spring-mock-ws/src/fformation/package.xml
+++ b/spring-mock-ws/src/fformation/package.xml
@@ -2,7 +2,7 @@
 <package format="3">
     <name>fformation</name>
     <version>1.0.0</version>
-    <description>F-formation (UNITN) . Auto-generated by Boxology 1.1.0.</description>
+    <description>F-formation (UNITN) . Auto-generated by Boxology 1.3.1.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
@@ -51,6 +51,7 @@
   <buildtool_depend>catkin</buildtool_depend>
   <exec_depend>roscpp</exec_depend>
   <depend>hri_msgs</depend>
+  <depend>std_msgs</depend>
   <depend>tf</depend>
 
   <export>
diff --git a/spring-mock-ws/src/fformation/src/main.cpp b/spring-mock-ws/src/fformation/src/main.cpp
index 0f61ff9f020e79c9183999ed14c5715a7f543c11..23fd5a58328d95e3ec3c457a8b1577de552bdbee 100644
--- a/spring-mock-ws/src/fformation/src/main.cpp
+++ b/spring-mock-ws/src/fformation/src/main.cpp
@@ -24,12 +24,15 @@
 #include "ros/ros.h"
 #include "std_msgs/String.h"
 #include "tf/transform_listener.h"
+#include "std_msgs/Empty.h"
 #include "hri_msgs/GroupsStamped.h"
 
 class Fformation {
    public:
     Fformation(ros::NodeHandle* nh) {
 
+        // ATTENTION: this topic is not defined in the architecture design
+        whoslookingatwho_sub_ = nh->subscribe("whoslookingatwho", 1, &Fformation::whoslookingatwhoCallback, this);
 
         groups_pub_ = nh->advertise<hri_msgs::GroupsStamped>("groups", 1);
     }
@@ -37,7 +40,12 @@ class Fformation {
     ~Fformation() {}
 
    private:
+    void whoslookingatwhoCallback(const std_msgs::Empty::ConstPtr& msg)
+    {
+        ROS_INFO_STREAM("fformation: received message: " << msg);
+    }
 
+    ros::Subscriber whoslookingatwho_sub_;
 
     ros::Publisher groups_pub_;
 
diff --git a/spring-mock-ws/src/fisheyestereorgbhead/CMakeLists.txt b/spring-mock-ws/src/fisheyestereorgbhead/CMakeLists.txt
deleted file mode 100644
index 7567a0fb126394800156112ab1b01b942ad62479..0000000000000000000000000000000000000000
--- a/spring-mock-ws/src/fisheyestereorgbhead/CMakeLists.txt
+++ /dev/null
@@ -1,205 +0,0 @@
-cmake_minimum_required(VERSION 3.0.2)
-project(fisheyestereorgbhead)
-
-## 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
-  sensor_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 fisheyestereorgbhead
-#  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/${PROJECT_NAME}/fisheyestereorgbhead.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${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_fisheyestereorgbhead.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/fisheyestereorgbhead/package.xml b/spring-mock-ws/src/fisheyestereorgbhead/package.xml
deleted file mode 100644
index 8649710b633736e93cb9b43af71a0469f231beff..0000000000000000000000000000000000000000
--- a/spring-mock-ws/src/fisheyestereorgbhead/package.xml
+++ /dev/null
@@ -1,58 +0,0 @@
-<?xml version="1.0"?>
-<package format="3">
-    <name>fisheyestereorgbhead</name>
-    <version>1.0.0</version>
-    <description>Fisheye stereo + RGB head (PAL) . Auto-generated by Boxology 1.1.0.</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>
-  <exec_depend>roscpp</exec_depend>
-  <depend>sensor_msgs</depend>
-
-  <export>
-
-  </export>
-</package>
diff --git a/spring-mock-ws/src/fisheyestereorgbhead/src/main.cpp b/spring-mock-ws/src/fisheyestereorgbhead/src/main.cpp
deleted file mode 100644
index b87ca44f926247a4f544706a7acff4fd56d4f4c3..0000000000000000000000000000000000000000
--- a/spring-mock-ws/src/fisheyestereorgbhead/src/main.cpp
+++ /dev/null
@@ -1,58 +0,0 @@
-/*
- Copyright 2021-2025, SPRING Consortium
-
- Permission is hereby granted, free of charge, to any person obtaining a copy
- of this software and associated documentation files (the "Software"), to deal
- in the Software without restriction, including without limitation the rights
- to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- copies of the Software, and to permit persons to whom the Software is
- furnished to do so, subject to the following conditions:
-
- The above copyright notice and this permission notice shall be included in all
- copies or substantial portions of the Software.
-
- THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
- SOFTWARE.
-*/
-
-
-#include "ros/ros.h"
-#include "std_msgs/String.h"
-#include "sensor_msgs/Image.h"
-
-class FisheyeStereoRgbHead {
-   public:
-    FisheyeStereoRgbHead(ros::NodeHandle* nh) {
-
-
-        image_raw_pub_ = nh->advertise<sensor_msgs::Image>("image_raw", 1);
-    }
-
-    ~FisheyeStereoRgbHead() {}
-
-   private:
-
-
-    ros::Publisher image_raw_pub_;
-
-};
-
-int main(int argc, char** argv) {
-    ros::init(argc, argv, "fisheyestereorgbhead");
-
-    // Initialize node parameters from launch file or command line.
-    // Use a private node handle so that multiple instances of the node can be
-    // run simultaneously while using different parameters.
-    ros::NodeHandle private_node_handle_("~");
-
-    auto fisheyestereorgbhead = FisheyeStereoRgbHead(&private_node_handle_);
-
-    ROS_INFO("Node fisheyestereorgbhead launched and ready.");
-    ros::spin();
-    return 0;
-}
diff --git a/spring-mock-ws/src/highlevelplanner/package.xml b/spring-mock-ws/src/highlevelplanner/package.xml
index 2bf1de2800dcf900960622fd32d96ea49eea3a9a..b5bf126399a200ca63d84b6d5e5d304e6d0352eb 100644
--- a/spring-mock-ws/src/highlevelplanner/package.xml
+++ b/spring-mock-ws/src/highlevelplanner/package.xml
@@ -2,7 +2,7 @@
 <package format="3">
     <name>highlevelplanner</name>
     <version>1.0.0</version>
-    <description>High-level planner (HWU) . Auto-generated by Boxology 1.1.0.</description>
+    <description>High-level planner (HWU) . Auto-generated by Boxology 1.3.1.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/highlevelplanner/src/main.cpp b/spring-mock-ws/src/highlevelplanner/src/main.cpp
index bc526aad4914f2e1b66d1ab17227797f7d3a5939..73702a87aa84405e9dd80fcb353fdefda4bf2647 100644
--- a/spring-mock-ws/src/highlevelplanner/src/main.cpp
+++ b/spring-mock-ws/src/highlevelplanner/src/main.cpp
@@ -29,31 +29,31 @@ class HighlevelPlanner {
    public:
     HighlevelPlanner(ros::NodeHandle* nh) {
 
-        // ATTENTION: this topic is not defined in the architecture design
-        demographics_sub_ = nh->subscribe("demographics", 1, &HighlevelPlanner::demographicsCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
         semanticscenedescription_sub_ = nh->subscribe("semanticscenedescription", 1, &HighlevelPlanner::semanticscenedescriptionCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
+        demographics_sub_ = nh->subscribe("demographics", 1, &HighlevelPlanner::demographicsCallback, this);
+        // ATTENTION: this topic is not defined in the architecture design
         dialoguestate_sub_ = nh->subscribe("dialoguestate", 1, &HighlevelPlanner::dialoguestateCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
         tfpersons_sub_ = nh->subscribe("tfpersons", 1, &HighlevelPlanner::tfpersonsCallback, this);
 
-        // ATTENTION: this topic is not defined in the architecture design
-        interactionstate_pub_ = nh->advertise<std_msgs::Empty>("interactionstate", 1);
         // ATTENTION: this topic is not defined in the architecture design
         output_pub_ = nh->advertise<std_msgs::Empty>("output", 1);
         // ATTENTION: this topic is not defined in the architecture design
         navgoals_pub_ = nh->advertise<std_msgs::Empty>("navgoals", 1);
+        // ATTENTION: this topic is not defined in the architecture design
+        interactionstate_pub_ = nh->advertise<std_msgs::Empty>("interactionstate", 1);
     }
 
     ~HighlevelPlanner() {}
 
    private:
-    void demographicsCallback(const std_msgs::Empty::ConstPtr& msg)
+    void semanticscenedescriptionCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("highlevelplanner: received message: " << msg);
     }
-    void semanticscenedescriptionCallback(const std_msgs::Empty::ConstPtr& msg)
+    void demographicsCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("highlevelplanner: received message: " << msg);
     }
@@ -66,14 +66,14 @@ class HighlevelPlanner {
         ROS_INFO_STREAM("highlevelplanner: received message: " << msg);
     }
 
-    ros::Subscriber demographics_sub_;
     ros::Subscriber semanticscenedescription_sub_;
+    ros::Subscriber demographics_sub_;
     ros::Subscriber dialoguestate_sub_;
     ros::Subscriber tfpersons_sub_;
 
-    ros::Publisher interactionstate_pub_;
     ros::Publisher output_pub_;
     ros::Publisher navgoals_pub_;
+    ros::Publisher interactionstate_pub_;
 
 };
 
diff --git a/spring-mock-ws/src/interactionmanager/package.xml b/spring-mock-ws/src/interactionmanager/package.xml
index 8a6a094901661955f16efedc2dbb84e6d209f309..99b0068fa93c1c1b9c11f412d040d33b4cbc3a55 100644
--- a/spring-mock-ws/src/interactionmanager/package.xml
+++ b/spring-mock-ws/src/interactionmanager/package.xml
@@ -2,7 +2,7 @@
 <package format="3">
     <name>interactionmanager</name>
     <version>1.0.0</version>
-    <description>Interaction manager (HWU) . Auto-generated by Boxology 1.1.0.</description>
+    <description>Interaction manager (HWU) . Auto-generated by Boxology 1.3.1.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/interactionmanager/src/main.cpp b/spring-mock-ws/src/interactionmanager/src/main.cpp
index 9fb430a3c87ec47aa11776b2a098e81967599b99..104a72d8da21f4c21f2f71a32e6b0121a91edf71 100644
--- a/spring-mock-ws/src/interactionmanager/src/main.cpp
+++ b/spring-mock-ws/src/interactionmanager/src/main.cpp
@@ -29,26 +29,26 @@ class InteractionManager {
    public:
     InteractionManager(ros::NodeHandle* nh) {
 
-        // ATTENTION: this topic is not defined in the architecture design
-        input_sub_ = nh->subscribe("input", 1, &InteractionManager::inputCallback, this);
-        // ATTENTION: this topic is not defined in the architecture design
-        hppersonid_sub_ = nh->subscribe("hppersonid", 1, &InteractionManager::hppersonidCallback, this);
-        // ATTENTION: this topic is not defined in the architecture design
-        tf_sub_ = nh->subscribe("tf", 1, &InteractionManager::tfCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
         semanticscenedescription_sub_ = nh->subscribe("semanticscenedescription", 1, &InteractionManager::semanticscenedescriptionCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
+        input_sub_ = nh->subscribe("input", 1, &InteractionManager::inputCallback, this);
+        // ATTENTION: this topic is not defined in the architecture design
         dialoguestate_sub_ = nh->subscribe("dialoguestate", 1, &InteractionManager::dialoguestateCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
         robotstate_sub_ = nh->subscribe("robotstate", 1, &InteractionManager::robotstateCallback, this);
+        // ATTENTION: this topic is not defined in the architecture design
+        hppersonid_sub_ = nh->subscribe("hppersonid", 1, &InteractionManager::hppersonidCallback, this);
+        // ATTENTION: this topic is not defined in the architecture design
+        tf_sub_ = nh->subscribe("tf", 1, &InteractionManager::tfCallback, this);
 
+        // ATTENTION: this topic is not defined in the architecture design
+        verbalcommand_pub_ = nh->advertise<std_msgs::Empty>("verbalcommand", 1);
         // ATTENTION: this topic is not defined in the architecture design
         navgoals_pub_ = nh->advertise<std_msgs::Empty>("navgoals", 1);
         // ATTENTION: this topic is not defined in the architecture design
         activepersonid_pub_ = nh->advertise<std_msgs::Empty>("activepersonid", 1);
         // ATTENTION: this topic is not defined in the architecture design
-        verbalcommand_pub_ = nh->advertise<std_msgs::Empty>("verbalcommand", 1);
-        // ATTENTION: this topic is not defined in the architecture design
         gestures_pub_ = nh->advertise<std_msgs::Empty>("gestures", 1);
         // ATTENTION: this topic is not defined in the architecture design
         whotolookat_pub_ = nh->advertise<std_msgs::Empty>("whotolookat", 1);
@@ -57,41 +57,41 @@ class InteractionManager {
     ~InteractionManager() {}
 
    private:
-    void inputCallback(const std_msgs::Empty::ConstPtr& msg)
+    void semanticscenedescriptionCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("interactionmanager: received message: " << msg);
     }
-    void hppersonidCallback(const std_msgs::Empty::ConstPtr& msg)
+    void inputCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("interactionmanager: received message: " << msg);
     }
-    void tfCallback(const std_msgs::Empty::ConstPtr& msg)
+    void dialoguestateCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("interactionmanager: received message: " << msg);
     }
-    void semanticscenedescriptionCallback(const std_msgs::Empty::ConstPtr& msg)
+    void robotstateCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("interactionmanager: received message: " << msg);
     }
-    void dialoguestateCallback(const std_msgs::Empty::ConstPtr& msg)
+    void hppersonidCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("interactionmanager: received message: " << msg);
     }
-    void robotstateCallback(const std_msgs::Empty::ConstPtr& msg)
+    void tfCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("interactionmanager: received message: " << msg);
     }
 
-    ros::Subscriber input_sub_;
-    ros::Subscriber hppersonid_sub_;
-    ros::Subscriber tf_sub_;
     ros::Subscriber semanticscenedescription_sub_;
+    ros::Subscriber input_sub_;
     ros::Subscriber dialoguestate_sub_;
     ros::Subscriber robotstate_sub_;
+    ros::Subscriber hppersonid_sub_;
+    ros::Subscriber tf_sub_;
 
+    ros::Publisher verbalcommand_pub_;
     ros::Publisher navgoals_pub_;
     ros::Publisher activepersonid_pub_;
-    ros::Publisher verbalcommand_pub_;
     ros::Publisher gestures_pub_;
     ros::Publisher whotolookat_pub_;
 
diff --git a/spring-mock-ws/src/maskdetection/package.xml b/spring-mock-ws/src/maskdetection/package.xml
index 2081072fe61b2b58a238e64b7019284e0804d7d4..92145550f82579075eadd95b98992ec79fb4ba90 100644
--- a/spring-mock-ws/src/maskdetection/package.xml
+++ b/spring-mock-ws/src/maskdetection/package.xml
@@ -2,7 +2,7 @@
 <package format="3">
     <name>maskdetection</name>
     <version>1.0.0</version>
-    <description>Mask detection (UNITN) . Auto-generated by Boxology 1.1.0.</description>
+    <description>Mask detection (UNITN) . Auto-generated by Boxology 1.3.1.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/maskdetection/src/main.cpp b/spring-mock-ws/src/maskdetection/src/main.cpp
index 9d22397ae19e19388bfeb915606c2a12c9400208..0e28d35a074cdcd4788b29211b34ea58f65b02c7 100644
--- a/spring-mock-ws/src/maskdetection/src/main.cpp
+++ b/spring-mock-ws/src/maskdetection/src/main.cpp
@@ -23,14 +23,14 @@
 
 #include "ros/ros.h"
 #include "std_msgs/String.h"
-#include "hri_msgs/RegionOfInterestStamped.h"
 #include "std_msgs/Bool.h"
+#include "hri_msgs/RegionOfInterestStamped.h"
 
 class MaskDetection {
    public:
     MaskDetection(ros::NodeHandle* nh) {
 
-        roi_sub_ = nh->subscribe("roi", 1, &MaskDetection::roiCallback, this);
+        face_roi_sub_ = nh->subscribe("face_roi", 1, &MaskDetection::face_roiCallback, this);
 
         face_mask_pub_ = nh->advertise<std_msgs::Bool>("face_mask", 1);
     }
@@ -38,12 +38,12 @@ class MaskDetection {
     ~MaskDetection() {}
 
    private:
-    void roiCallback(const hri_msgs::RegionOfInterestStamped::ConstPtr& msg)
+    void face_roiCallback(const hri_msgs::RegionOfInterestStamped::ConstPtr& msg)
     {
         ROS_INFO_STREAM("maskdetection: received message: " << msg);
     }
 
-    ros::Subscriber roi_sub_;
+    ros::Subscriber face_roi_sub_;
 
     ros::Publisher face_mask_pub_;
 
diff --git a/spring-mock-ws/src/multipeopletracker/CMakeLists.txt b/spring-mock-ws/src/multipeopletracker/CMakeLists.txt
deleted file mode 100644
index bdee97182aa7cbdca2205df5a9e2b20c4194d8f1..0000000000000000000000000000000000000000
--- a/spring-mock-ws/src/multipeopletracker/CMakeLists.txt
+++ /dev/null
@@ -1,206 +0,0 @@
-cmake_minimum_required(VERSION 3.0.2)
-project(multipeopletracker)
-
-## Compile as C++11, supported in ROS Kinetic and newer
-add_compile_options(-std=c++11)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  hri_msgs
-  sensor_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 multipeopletracker
-#  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/${PROJECT_NAME}/multipeopletracker.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${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_multipeopletracker.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/multipeopletracker/package.xml b/spring-mock-ws/src/multipeopletracker/package.xml
deleted file mode 100644
index 4a01e70b3f82987b694ae4b70c05dee730e8010b..0000000000000000000000000000000000000000
--- a/spring-mock-ws/src/multipeopletracker/package.xml
+++ /dev/null
@@ -1,59 +0,0 @@
-<?xml version="1.0"?>
-<package format="3">
-    <name>multipeopletracker</name>
-    <version>1.0.0</version>
-    <description>Multi-people tracker (INRIA) . Auto-generated by Boxology 1.1.0.</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>
-  <exec_depend>roscpp</exec_depend>
-  <depend>hri_msgs</depend>
-  <depend>sensor_msgs</depend>
-
-  <export>
-
-  </export>
-</package>
diff --git a/spring-mock-ws/src/multipeopletracker/src/main.cpp b/spring-mock-ws/src/multipeopletracker/src/main.cpp
deleted file mode 100644
index 4f4f4abbd988e6a3b5a563050f3f5d0a3c15c597..0000000000000000000000000000000000000000
--- a/spring-mock-ws/src/multipeopletracker/src/main.cpp
+++ /dev/null
@@ -1,65 +0,0 @@
-/*
- Copyright 2021-2025, SPRING Consortium
-
- Permission is hereby granted, free of charge, to any person obtaining a copy
- of this software and associated documentation files (the "Software"), to deal
- in the Software without restriction, including without limitation the rights
- to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- copies of the Software, and to permit persons to whom the Software is
- furnished to do so, subject to the following conditions:
-
- The above copyright notice and this permission notice shall be included in all
- copies or substantial portions of the Software.
-
- THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
- SOFTWARE.
-*/
-
-
-#include "ros/ros.h"
-#include "std_msgs/String.h"
-#include "sensor_msgs/Image.h"
-#include "hri_msgs/RegionOfInterestStamped.h"
-
-class MultipeopleTracker {
-   public:
-    MultipeopleTracker(ros::NodeHandle* nh) {
-
-        image_raw_sub_ = nh->subscribe("image_raw", 1, &MultipeopleTracker::image_rawCallback, this);
-
-        body_roi_pub_ = nh->advertise<hri_msgs::RegionOfInterestStamped>("body_roi", 1);
-    }
-
-    ~MultipeopleTracker() {}
-
-   private:
-    void image_rawCallback(const sensor_msgs::Image::ConstPtr& msg)
-    {
-        ROS_INFO_STREAM("multipeopletracker: received message: " << msg);
-    }
-
-    ros::Subscriber image_raw_sub_;
-
-    ros::Publisher body_roi_pub_;
-
-};
-
-int main(int argc, char** argv) {
-    ros::init(argc, argv, "multipeopletracker");
-
-    // Initialize node parameters from launch file or command line.
-    // Use a private node handle so that multiple instances of the node can be
-    // run simultaneously while using different parameters.
-    ros::NodeHandle private_node_handle_("~");
-
-    auto multipeopletracker = MultipeopleTracker(&private_node_handle_);
-
-    ROS_INFO("Node multipeopletracker launched and ready.");
-    ros::spin();
-    return 0;
-}
diff --git a/spring-mock-ws/src/nonverbalbehaviours/CMakeLists.txt b/spring-mock-ws/src/nonverbalbehaviours/CMakeLists.txt
index dcb3091f6e0b98f0cd3f4764030f10318f78ab53..8bc248a9e551bce48a88b8b50140165202d7ff37 100644
--- a/spring-mock-ws/src/nonverbalbehaviours/CMakeLists.txt
+++ b/spring-mock-ws/src/nonverbalbehaviours/CMakeLists.txt
@@ -9,6 +9,7 @@ add_compile_options(-std=c++11)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
   roscpp
+  hri_msgs
   std_msgs
 )
 
diff --git a/spring-mock-ws/src/nonverbalbehaviours/package.xml b/spring-mock-ws/src/nonverbalbehaviours/package.xml
index 0e1891ac607d80f3e10f8ed6e9eec3bdb8ad3d0a..bce384f54b4e0faafa91800040d005f19f382bcc 100644
--- a/spring-mock-ws/src/nonverbalbehaviours/package.xml
+++ b/spring-mock-ws/src/nonverbalbehaviours/package.xml
@@ -2,7 +2,7 @@
 <package format="3">
     <name>nonverbalbehaviours</name>
     <version>1.0.0</version>
-    <description>Non-verbal behaviours (UNITN) . Auto-generated by Boxology 1.1.0.</description>
+    <description>Non-verbal behaviours (UNITN) . Auto-generated by Boxology 1.3.1.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
@@ -50,6 +50,7 @@
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
   <exec_depend>roscpp</exec_depend>
+  <depend>hri_msgs</depend>
   <depend>std_msgs</depend>
 
   <export>
diff --git a/spring-mock-ws/src/nonverbalbehaviours/src/main.cpp b/spring-mock-ws/src/nonverbalbehaviours/src/main.cpp
index 97f6f1cbbecc4bcc547ce8fb8019c1ce93c1bcce..0e41dfe58c7a98fefbd5d9a0120d52738fffa10e 100644
--- a/spring-mock-ws/src/nonverbalbehaviours/src/main.cpp
+++ b/spring-mock-ws/src/nonverbalbehaviours/src/main.cpp
@@ -24,43 +24,36 @@
 #include "ros/ros.h"
 #include "std_msgs/String.h"
 #include "std_msgs/Empty.h"
+#include "hri_msgs/Expression.h"
+#include "hri_msgs/RegionOfInterestStamped.h"
 
 class NonverbalBehaviours {
    public:
     NonverbalBehaviours(ros::NodeHandle* nh) {
 
         // ATTENTION: this topic is not defined in the architecture design
-        voices_sub_ = nh->subscribe("voices", 1, &NonverbalBehaviours::voicesCallback, this);
-        // ATTENTION: this topic is not defined in the architecture design
-        facevoicemapping_sub_ = nh->subscribe("facevoicemapping", 1, &NonverbalBehaviours::facevoicemappingCallback, this);
-        // ATTENTION: this topic is not defined in the architecture design
-        faces_sub_ = nh->subscribe("faces", 1, &NonverbalBehaviours::facesCallback, this);
+        voicesfuture_sub_ = nh->subscribe("voicesfuture", 1, &NonverbalBehaviours::voicesfutureCallback, this);
+        face_roi_sub_ = nh->subscribe("face_roi", 1, &NonverbalBehaviours::face_roiCallback, this);
 
-        // ATTENTION: this topic is not defined in the architecture design
-        hppersonidexpression_pub_ = nh->advertise<std_msgs::Empty>("hppersonidexpression", 1);
+        face_expression_pub_ = nh->advertise<hri_msgs::Expression>("face_expression", 1);
     }
 
     ~NonverbalBehaviours() {}
 
    private:
-    void voicesCallback(const std_msgs::Empty::ConstPtr& msg)
-    {
-        ROS_INFO_STREAM("nonverbalbehaviours: received message: " << msg);
-    }
-    void facevoicemappingCallback(const std_msgs::Empty::ConstPtr& msg)
+    void voicesfutureCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("nonverbalbehaviours: received message: " << msg);
     }
-    void facesCallback(const std_msgs::Empty::ConstPtr& msg)
+    void face_roiCallback(const hri_msgs::RegionOfInterestStamped::ConstPtr& msg)
     {
         ROS_INFO_STREAM("nonverbalbehaviours: received message: " << msg);
     }
 
-    ros::Subscriber voices_sub_;
-    ros::Subscriber facevoicemapping_sub_;
-    ros::Subscriber faces_sub_;
+    ros::Subscriber voicesfuture_sub_;
+    ros::Subscriber face_roi_sub_;
 
-    ros::Publisher hppersonidexpression_pub_;
+    ros::Publisher face_expression_pub_;
 
 };
 
diff --git a/spring-mock-ws/src/objectdetectionidentificationlocalisation/package.xml b/spring-mock-ws/src/objectdetectionidentificationlocalisation/package.xml
index 3967d70fcd49cc39b04f0886eaf093734dea90de..c9cadae241aa2cddcd788f859f03e81946012cf4 100644
--- a/spring-mock-ws/src/objectdetectionidentificationlocalisation/package.xml
+++ b/spring-mock-ws/src/objectdetectionidentificationlocalisation/package.xml
@@ -2,7 +2,7 @@
 <package format="3">
     <name>objectdetectionidentificationlocalisation</name>
     <version>1.0.0</version>
-    <description>Object detection/identification/localisation (CVUT) . Auto-generated by Boxology 1.1.0.</description>
+    <description>Object detection/identification/localisation (CVUT) . Auto-generated by Boxology 1.3.1.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/objectdetectionidentificationlocalisation/src/main.cpp b/spring-mock-ws/src/objectdetectionidentificationlocalisation/src/main.cpp
index 942e7703ab511e72a6fcd93a746e0a61a26f86ea..9131a0b4a0257241e217ba661d046f5a022ea75b 100644
--- a/spring-mock-ws/src/objectdetectionidentificationlocalisation/src/main.cpp
+++ b/spring-mock-ws/src/objectdetectionidentificationlocalisation/src/main.cpp
@@ -23,8 +23,8 @@
 
 #include "ros/ros.h"
 #include "std_msgs/String.h"
-#include "std_msgs/Empty.h"
 #include "sensor_msgs/Image.h"
+#include "std_msgs/Empty.h"
 
 class ObjectDetectionidentificationlocalisation {
    public:
diff --git a/spring-mock-ws/src/occupancymap/package.xml b/spring-mock-ws/src/occupancymap/package.xml
index 4cd50997162c56bd25cf4a2fa10bccd26bcd9cc3..b4fe2f6a632bd3f13c78b84637d31078aee5e1e5 100644
--- a/spring-mock-ws/src/occupancymap/package.xml
+++ b/spring-mock-ws/src/occupancymap/package.xml
@@ -2,7 +2,7 @@
 <package format="3">
     <name>occupancymap</name>
     <version>1.0.0</version>
-    <description>Occupancy map (CVUT) . Auto-generated by Boxology 1.1.0.</description>
+    <description>Occupancy map (CVUT) . Auto-generated by Boxology 1.3.1.</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 cb5eb7c05e5873c233bbdba087977d6cd824bba5..a8a871989ddb6503823d3dc00610ae286b0f3538 100644
--- a/spring-mock-ws/src/orbslam/package.xml
+++ b/spring-mock-ws/src/orbslam/package.xml
@@ -2,7 +2,7 @@
 <package format="3">
     <name>orbslam</name>
     <version>1.0.0</version>
-    <description>ORB SLAM (PAL) . Auto-generated by Boxology 1.1.0.</description>
+    <description>ORB SLAM (PAL) . Auto-generated by Boxology 1.3.1.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/orbslam/src/main.cpp b/spring-mock-ws/src/orbslam/src/main.cpp
index e4aa7407ed810261686057fd7360c66581205ece..480430e3869ee4c6fd79c01e16203803a08afef9 100644
--- a/spring-mock-ws/src/orbslam/src/main.cpp
+++ b/spring-mock-ws/src/orbslam/src/main.cpp
@@ -23,8 +23,8 @@
 
 #include "ros/ros.h"
 #include "std_msgs/String.h"
-#include "nav_msgs/OccupancyGrid.h"
 #include "tf/transform_broadcaster.h"
+#include "nav_msgs/OccupancyGrid.h"
 #include "sensor_msgs/Image.h"
 
 class OrbSlam {
diff --git a/spring-mock-ws/src/people3dtracker/package.xml b/spring-mock-ws/src/people3dtracker/package.xml
index ddbc11bc374c77581abc91628c65c7fb94a1b577..09ade3420e6ecd5ef55181668ca3a33fb15fecfb 100644
--- a/spring-mock-ws/src/people3dtracker/package.xml
+++ b/spring-mock-ws/src/people3dtracker/package.xml
@@ -2,7 +2,7 @@
 <package format="3">
     <name>people3dtracker</name>
     <version>1.0.0</version>
-    <description>People 3D tracker (INRIA) . Auto-generated by Boxology 1.1.0.</description>
+    <description>People 3D tracker (INRIA) . Auto-generated by Boxology 1.3.1.</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 24f94fed7240fc3f69cdfc4331f7a8004be97c07..4d2ec1a973cb49ef1f02898197779f07d4a178ca 100644
--- a/spring-mock-ws/src/personmanager/package.xml
+++ b/spring-mock-ws/src/personmanager/package.xml
@@ -2,7 +2,7 @@
 <package format="3">
     <name>personmanager</name>
     <version>1.0.0</version>
-    <description>Person manager (INRIA) . Auto-generated by Boxology 1.1.0.</description>
+    <description>Person manager (INRIA) . Auto-generated by Boxology 1.3.1.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/personmanager/src/main.cpp b/spring-mock-ws/src/personmanager/src/main.cpp
index d22100620e2f9e48b8fddac46cb87c2673cd87d7..f394450912566c43d1e926251397389595678ae8 100644
--- a/spring-mock-ws/src/personmanager/src/main.cpp
+++ b/spring-mock-ws/src/personmanager/src/main.cpp
@@ -30,14 +30,14 @@ class PersonManager {
    public:
     PersonManager(ros::NodeHandle* nh) {
 
-        // ATTENTION: this topic is not defined in the architecture design
-        tffaces_sub_ = nh->subscribe("tffaces", 1, &PersonManager::tffacesCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
         tfvoices_sub_ = nh->subscribe("tfvoices", 1, &PersonManager::tfvoicesCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
         matchers_sub_ = nh->subscribe("matchers", 1, &PersonManager::matchersCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
         demographics_sub_ = nh->subscribe("demographics", 1, &PersonManager::demographicsCallback, this);
+        // ATTENTION: this topic is not defined in the architecture design
+        tffaces_sub_ = nh->subscribe("tffaces", 1, &PersonManager::tffacesCallback, this);
 
         // ATTENTION: this topic is not defined in the architecture design
         hppersonid_pub_ = nh->advertise<std_msgs::Empty>("hppersonid", 1);
@@ -46,10 +46,6 @@ class PersonManager {
     ~PersonManager() {}
 
    private:
-    void tffacesCallback(const std_msgs::Empty::ConstPtr& msg)
-    {
-        ROS_INFO_STREAM("personmanager: received message: " << msg);
-    }
     void tfvoicesCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("personmanager: received message: " << msg);
@@ -62,11 +58,15 @@ class PersonManager {
     {
         ROS_INFO_STREAM("personmanager: received message: " << msg);
     }
+    void tffacesCallback(const std_msgs::Empty::ConstPtr& msg)
+    {
+        ROS_INFO_STREAM("personmanager: received message: " << msg);
+    }
 
-    ros::Subscriber tffaces_sub_;
     ros::Subscriber tfvoices_sub_;
     ros::Subscriber matchers_sub_;
     ros::Subscriber demographics_sub_;
+    ros::Subscriber tffaces_sub_;
 
     ros::Publisher hppersonid_pub_;
 
diff --git a/spring-mock-ws/src/rgbdcamera_info/package.xml b/spring-mock-ws/src/rgbdcamera_info/package.xml
index aeed3186f2d0fb7c48347db65d0f57f70f5f594d..bd0ff9b8fec9e26b4706e303c984afef95c07ae6 100644
--- a/spring-mock-ws/src/rgbdcamera_info/package.xml
+++ b/spring-mock-ws/src/rgbdcamera_info/package.xml
@@ -2,7 +2,7 @@
 <package format="3">
     <name>rgbdcamera_info</name>
     <version>1.0.0</version>
-    <description>RGB-D + camera_info (PAL) . Auto-generated by Boxology 1.1.0.</description>
+    <description>RGB-D + camera_info (PAL) . Auto-generated by Boxology 1.3.1.</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 767536b35d8c475a3ea8547e0b8121ad615ddd36..c80a6e412e62a635f2643d2980eb981f0244f08a 100644
--- a/spring-mock-ws/src/robotfunctionallayer/package.xml
+++ b/spring-mock-ws/src/robotfunctionallayer/package.xml
@@ -2,7 +2,7 @@
 <package format="3">
     <name>robotfunctionallayer</name>
     <version>1.0.0</version>
-    <description>Robot functional layer (PAL) . Auto-generated by Boxology 1.1.0.</description>
+    <description>Robot functional layer (PAL) . Auto-generated by Boxology 1.3.1.</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 453786670212f9ee1b811ae788eee17ddfe06144..290652144cf2086aeb2af7caad3c2ea509662422 100644
--- a/spring-mock-ws/src/robotgui/package.xml
+++ b/spring-mock-ws/src/robotgui/package.xml
@@ -2,7 +2,7 @@
 <package format="3">
     <name>robotgui</name>
     <version>1.0.0</version>
-    <description>Robot GUI (ERM) . Auto-generated by Boxology 1.1.0.</description>
+    <description>Robot GUI (ERM) . Auto-generated by Boxology 1.3.1.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/robotgui/src/main.cpp b/spring-mock-ws/src/robotgui/src/main.cpp
index dacc7b07de1f2c947e39e94440158289712eec5a..becb8d50301caa28832d4eb7ec4c0b8d9321fb41 100644
--- a/spring-mock-ws/src/robotgui/src/main.cpp
+++ b/spring-mock-ws/src/robotgui/src/main.cpp
@@ -30,11 +30,11 @@ class RobotGui {
     RobotGui(ros::NodeHandle* nh) {
 
         // ATTENTION: this topic is not defined in the architecture design
-        additionalsupportmaterial_sub_ = nh->subscribe("additionalsupportmaterial", 1, &RobotGui::additionalsupportmaterialCallback, this);
+        speechoutput_sub_ = nh->subscribe("speechoutput", 1, &RobotGui::speechoutputCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
         ttsfeedback_sub_ = nh->subscribe("ttsfeedback", 1, &RobotGui::ttsfeedbackCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
-        speechoutput_sub_ = nh->subscribe("speechoutput", 1, &RobotGui::speechoutputCallback, this);
+        additionalsupportmaterial_sub_ = nh->subscribe("additionalsupportmaterial", 1, &RobotGui::additionalsupportmaterialCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
         speechinput_sub_ = nh->subscribe("speechinput", 1, &RobotGui::speechinputCallback, this);
 
@@ -43,7 +43,7 @@ class RobotGui {
     ~RobotGui() {}
 
    private:
-    void additionalsupportmaterialCallback(const std_msgs::Empty::ConstPtr& msg)
+    void speechoutputCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("robotgui: received message: " << msg);
     }
@@ -51,7 +51,7 @@ class RobotGui {
     {
         ROS_INFO_STREAM("robotgui: received message: " << msg);
     }
-    void speechoutputCallback(const std_msgs::Empty::ConstPtr& msg)
+    void additionalsupportmaterialCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("robotgui: received message: " << msg);
     }
@@ -60,9 +60,9 @@ class RobotGui {
         ROS_INFO_STREAM("robotgui: received message: " << msg);
     }
 
-    ros::Subscriber additionalsupportmaterial_sub_;
-    ros::Subscriber ttsfeedback_sub_;
     ros::Subscriber speechoutput_sub_;
+    ros::Subscriber ttsfeedback_sub_;
+    ros::Subscriber additionalsupportmaterial_sub_;
     ros::Subscriber speechinput_sub_;
 
 
diff --git a/spring-mock-ws/src/robotnonverbalbehaviours/package.xml b/spring-mock-ws/src/robotnonverbalbehaviours/package.xml
index e406c5abd017883812f451f9df41d375f99f9def..3c92eeb01d5f3e3069b5db2766dbd3758bd708d5 100644
--- a/spring-mock-ws/src/robotnonverbalbehaviours/package.xml
+++ b/spring-mock-ws/src/robotnonverbalbehaviours/package.xml
@@ -2,7 +2,7 @@
 <package format="3">
     <name>robotnonverbalbehaviours</name>
     <version>1.0.0</version>
-    <description>Robot non-verbal behaviours (INRIA) . Auto-generated by Boxology 1.1.0.</description>
+    <description>Robot non-verbal behaviours (INRIA) . Auto-generated by Boxology 1.3.1.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/robotnonverbalbehaviours/src/main.cpp b/spring-mock-ws/src/robotnonverbalbehaviours/src/main.cpp
index fca33e45f1eecd926e000080e7cc5134eda21efd..78046d175a9c102e86ac0ee2c4301db70b00348d 100644
--- a/spring-mock-ws/src/robotnonverbalbehaviours/src/main.cpp
+++ b/spring-mock-ws/src/robotnonverbalbehaviours/src/main.cpp
@@ -29,16 +29,18 @@ class RobotNonverbalBehaviours {
    public:
     RobotNonverbalBehaviours(ros::NodeHandle* nh) {
 
-        // ATTENTION: this topic is not defined in the architecture design
-        followingnavgoals_sub_ = nh->subscribe("followingnavgoals", 1, &RobotNonverbalBehaviours::followingnavgoalsCallback, this);
-        // ATTENTION: this topic is not defined in the architecture design
-        hppersonid_sub_ = nh->subscribe("hppersonid", 1, &RobotNonverbalBehaviours::hppersonidCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
         status_sub_ = nh->subscribe("status", 1, &RobotNonverbalBehaviours::statusCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
         occupancymap_sub_ = nh->subscribe("occupancymap", 1, &RobotNonverbalBehaviours::occupancymapCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
         lookat_sub_ = nh->subscribe("lookat", 1, &RobotNonverbalBehaviours::lookatCallback, this);
+        // ATTENTION: this topic is not defined in the architecture design
+        groups_sub_ = nh->subscribe("groups", 1, &RobotNonverbalBehaviours::groupsCallback, this);
+        // ATTENTION: this topic is not defined in the architecture design
+        followingnavgoals_sub_ = nh->subscribe("followingnavgoals", 1, &RobotNonverbalBehaviours::followingnavgoalsCallback, this);
+        // ATTENTION: this topic is not defined in the architecture design
+        hppersonid_sub_ = nh->subscribe("hppersonid", 1, &RobotNonverbalBehaviours::hppersonidCallback, this);
 
         // ATTENTION: this topic is not defined in the architecture design
         lowlevelactions_pub_ = nh->advertise<std_msgs::Empty>("lowlevelactions", 1);
@@ -49,32 +51,37 @@ class RobotNonverbalBehaviours {
     ~RobotNonverbalBehaviours() {}
 
    private:
-    void followingnavgoalsCallback(const std_msgs::Empty::ConstPtr& msg)
+    void statusCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("robotnonverbalbehaviours: received message: " << msg);
     }
-    void hppersonidCallback(const std_msgs::Empty::ConstPtr& msg)
+    void occupancymapCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("robotnonverbalbehaviours: received message: " << msg);
     }
-    void statusCallback(const std_msgs::Empty::ConstPtr& msg)
+    void lookatCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("robotnonverbalbehaviours: received message: " << msg);
     }
-    void occupancymapCallback(const std_msgs::Empty::ConstPtr& msg)
+    void groupsCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("robotnonverbalbehaviours: received message: " << msg);
     }
-    void lookatCallback(const std_msgs::Empty::ConstPtr& msg)
+    void followingnavgoalsCallback(const std_msgs::Empty::ConstPtr& msg)
+    {
+        ROS_INFO_STREAM("robotnonverbalbehaviours: received message: " << msg);
+    }
+    void hppersonidCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("robotnonverbalbehaviours: received message: " << msg);
     }
 
-    ros::Subscriber followingnavgoals_sub_;
-    ros::Subscriber hppersonid_sub_;
     ros::Subscriber status_sub_;
     ros::Subscriber occupancymap_sub_;
     ros::Subscriber lookat_sub_;
+    ros::Subscriber groups_sub_;
+    ros::Subscriber followingnavgoals_sub_;
+    ros::Subscriber hppersonid_sub_;
 
     ros::Publisher lowlevelactions_pub_;
     ros::Publisher status_pub_;
diff --git a/spring-mock-ws/src/robotutterances/package.xml b/spring-mock-ws/src/robotutterances/package.xml
index f8dc8b746a75eb2cb417cc72ea3718033556fc25..773d4ff8b40c05dbcf8ac72c2b9f700e35057c4a 100644
--- a/spring-mock-ws/src/robotutterances/package.xml
+++ b/spring-mock-ws/src/robotutterances/package.xml
@@ -2,7 +2,7 @@
 <package format="3">
     <name>robotutterances</name>
     <version>1.0.0</version>
-    <description>Robot utterances (HWU) . Auto-generated by Boxology 1.1.0.</description>
+    <description>Robot utterances (HWU) . Auto-generated by Boxology 1.3.1.</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 0d31cc0b697abc56eae2d8f5830e050fc80127ab..f86881eff16a55e7f46e8b6d7cdbe198cf6c632a 100644
--- a/spring-mock-ws/src/rosopenpose/package.xml
+++ b/spring-mock-ws/src/rosopenpose/package.xml
@@ -2,7 +2,7 @@
 <package format="3">
     <name>rosopenpose</name>
     <version>1.0.0</version>
-    <description>ROS openpose (INRIA) . Auto-generated by Boxology 1.1.0.</description>
+    <description>ROS openpose (INRIA) . Auto-generated by Boxology 1.3.1.</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 7adb2b3665c79830b261a40da2f89b5081cec173..785497c60c27ecc54f8afbeb33bdbb94b7c172c3 100644
--- a/spring-mock-ws/src/sceneunderstanding/package.xml
+++ b/spring-mock-ws/src/sceneunderstanding/package.xml
@@ -2,7 +2,7 @@
 <package format="3">
     <name>sceneunderstanding</name>
     <version>1.0.0</version>
-    <description>Scene understanding (HWU) . Auto-generated by Boxology 1.1.0.</description>
+    <description>Scene understanding (HWU) . Auto-generated by Boxology 1.3.1.</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 f94066f12f3f09b5df1d01d5f67d8c09482c0f1d..ffb26083f1bf7ba7fe4fc9172959dc1903483908 100644
--- a/spring-mock-ws/src/semanticmapping/package.xml
+++ b/spring-mock-ws/src/semanticmapping/package.xml
@@ -2,7 +2,7 @@
 <package format="3">
     <name>semanticmapping</name>
     <version>1.0.0</version>
-    <description>Semantic mapping (CVUT) . Auto-generated by Boxology 1.1.0.</description>
+    <description>Semantic mapping (CVUT) . Auto-generated by Boxology 1.3.1.</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 72e71abb082b3bf901a6ca95da9fbd90641b4a28..f6aeca4c80d8a5045efddde1f5b3fcff313bc3a9 100644
--- a/spring-mock-ws/src/soundlocalisation/package.xml
+++ b/spring-mock-ws/src/soundlocalisation/package.xml
@@ -2,7 +2,7 @@
 <package format="3">
     <name>soundlocalisation</name>
     <version>1.0.0</version>
-    <description>Sound localisation (BIU) . Auto-generated by Boxology 1.1.0.</description>
+    <description>Sound localisation (BIU) . Auto-generated by Boxology 1.3.1.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/soundlocalisation/src/main.cpp b/spring-mock-ws/src/soundlocalisation/src/main.cpp
index f012923a5902ac3c2e9f455084116187f3443397..f43b64a01ac0ee7568881c8478909b9020b07c94 100644
--- a/spring-mock-ws/src/soundlocalisation/src/main.cpp
+++ b/spring-mock-ws/src/soundlocalisation/src/main.cpp
@@ -23,8 +23,8 @@
 
 #include "ros/ros.h"
 #include "std_msgs/String.h"
-#include "tf/transform_broadcaster.h"
 #include "std_msgs/Empty.h"
+#include "tf/transform_broadcaster.h"
 
 class SoundLocalisation {
    public:
diff --git a/spring-mock-ws/src/speakerrecognition/package.xml b/spring-mock-ws/src/speakerrecognition/package.xml
index 4d1c5b4e7130705d04fa8140bbd21b804424b312..a4a5da361d4645fc439118e13577a9368482e8cd 100644
--- a/spring-mock-ws/src/speakerrecognition/package.xml
+++ b/spring-mock-ws/src/speakerrecognition/package.xml
@@ -2,7 +2,7 @@
 <package format="3">
     <name>speakerrecognition</name>
     <version>1.0.0</version>
-    <description>Speaker recognition (BIU) . Auto-generated by Boxology 1.1.0.</description>
+    <description>Speaker recognition (BIU) . Auto-generated by Boxology 1.3.1.</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 054ef656e5317e8e26ae2314ef3eaaf294b8df8e..579ebcdbeb50e2f9f7680619687ed645569f75b9 100644
--- a/spring-mock-ws/src/speechdiarization/package.xml
+++ b/spring-mock-ws/src/speechdiarization/package.xml
@@ -2,7 +2,7 @@
 <package format="3">
     <name>speechdiarization</name>
     <version>1.0.0</version>
-    <description>Speech diarization (BIU) . Auto-generated by Boxology 1.1.0.</description>
+    <description>Speech diarization (BIU) . Auto-generated by Boxology 1.3.1.</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 29219238ab6b8957d62360228b9cbd00f16d19f4..acf6526e986321b123f859024d4b59b195fd079d 100644
--- a/spring-mock-ws/src/speechsynthesis/package.xml
+++ b/spring-mock-ws/src/speechsynthesis/package.xml
@@ -2,7 +2,7 @@
 <package format="3">
     <name>speechsynthesis</name>
     <version>1.0.0</version>
-    <description>Speech synthesis (PAL) . Auto-generated by Boxology 1.1.0.</description>
+    <description>Speech synthesis (PAL) . Auto-generated by Boxology 1.3.1.</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 83b43e3fc64a91b5d28064201597f9ff435af8e0..814303075a25575eb43b5b9357bfbb0b255cd591 100644
--- a/spring-mock-ws/src/springarchitecture/CMakeLists.txt
+++ b/spring-mock-ws/src/springarchitecture/CMakeLists.txt
@@ -3,41 +3,44 @@ project(springarchitecture)
 
 
 find_package(catkin REQUIRED COMPONENTS
-    sceneunderstanding
-    personmanager
-    speechsynthesis
-    visualslam3dmap
-    occupancymap
-    soundlocalisation
-    userattention
-    rgbdcamera_info
-    fformation
+    objectdetectionidentificationlocalisation
+    robotfunctionallayer
     people3dtracker
+    hri_msgs
+    people3dposeestimation
     asr
-    fisheyestereorgbhead
-    usergaze
-    speechdiarization
-    demographics
-    robotnonverbalbehaviours
-    nonverbalbehaviours
+    userattentionestimation
     interactionmanager
-    highlevelplanner
-    robotfunctionallayer
-    maskdetection
-    speakerrecognition
     body2dpose
-    robotgui
-    semanticmapping
-    activityreco
-    facedetection
+    robotnonverbalbehaviours
+    depthestimationfrommonocular
+    softbiometrics
+    rgbhead
+    personmanager
+    rgbdcamera_info
+    maskdetection
+    soundlocalisation
     respeaker_ros
-    multipeopletracker
-    robotutterances
-    objectdetectionidentificationlocalisation
-    dialoguemanager
     orbslam
+    speechdiarization
+    facedetection
+    occupancymap
+    robotutterances
     rosopenpose
-    facerecognition
+    personreidentification
+    highlevelplanner
+    multipeoplebodytracker
+    fformation
+    activityreco
+    nonverbalbehaviours
+    speakerrecognition
+    semanticmapping
+    robotgui
+    speechsynthesis
+    dialoguemanager
+    sceneunderstanding
+    visualslam3dmap
+    uservisualfocus
 )
 
 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 ece0ffd13b109b0d80952727470beac17fc5585f..1a082d239ffe8e92a8a6a19617efc8ba3113110a 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all.launch
@@ -1,165 +1,180 @@
 <launch>
 
-    <!-- launching Scene understanding (sceneunderstanding) -->
-    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+    <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+    <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
     </node>
 
-    <!-- launching Person manager (personmanager) -->
-    <node pkg="personmanager" name="personmanager" type="node" output="screen">
+    <!-- launching Robot functional layer (robotfunctionallayer) -->
+    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
     </node>
 
-    <!-- launching Speech synthesis (speechsynthesis) -->
-    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+    <!-- launching People 3D tracker (people3dtracker) -->
+    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
     </node>
 
-    <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
-    <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
-        <remap from="image_head" to="/camera_head/color/image_head"/>
-        <remap from="image_torso" to="/camera_torso/color/image_torso"/>
+    <!-- launching  hri_msgs (hri_msgs) -->
+    <node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
     </node>
 
-    <!-- launching Occupancy map (occupancymap) -->
-    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
-        <remap from="map_refined" to="/map_refined"/>
+    <!-- launching People 3D pose estimation (people3dposeestimation) -->
+    <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
     </node>
 
-    <!-- launching Sound localisation (soundlocalisation) -->
-    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+    <!-- launching ASR (asr) -->
+    <node pkg="asr" name="asr" type="node" output="screen">
     </node>
 
-    <!-- launching User attention (userattention) -->
-    <node pkg="userattention" name="userattention" type="node" output="screen">
+    <!-- launching User attention estimation (userattentionestimation) -->
+    <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
     </node>
 
-    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
-    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
-        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+    <!-- launching Interaction manager (interactionmanager) -->
+    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
     </node>
 
-    <!-- launching F-formation (fformation) -->
-    <node pkg="fformation" name="fformation" type="node" output="screen">
-        <remap from="groups" to="/h/i/groups"/>
+    <!-- launching Body 2D pose (body2dpose) -->
+    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+        <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
     </node>
 
-    <!-- launching People 3D tracker (people3dtracker) -->
-    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
     </node>
 
-    <!-- launching ASR (asr) -->
-    <node pkg="asr" name="asr" type="node" output="screen">
+    <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+    <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
     </node>
 
-    <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
-    <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
+    <!-- launching Soft biometrics (softbiometrics) -->
+    <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+        <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
+    </node>
+
+    <!-- launching RGB head (rgbhead) -->
+    <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
         <remap from="image_raw" to="/camera_head/color/image_raw"/>
     </node>
 
-    <!-- launching User gaze (usergaze) -->
-    <node pkg="usergaze" name="usergaze" type="node" output="screen">
+    <!-- launching Person manager (personmanager) -->
+    <node pkg="personmanager" name="personmanager" type="node" output="screen">
     </node>
 
-    <!-- launching Speech diarization (speechdiarization) -->
-    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
     </node>
 
-    <!-- launching Demographics (demographics) -->
-    <node pkg="demographics" name="demographics" type="node" output="screen">
+    <!-- launching Mask detection (maskdetection) -->
+    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
         <remap from="face_roi" to="/humans/faces/<id>/roi"/>
-        <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
+        <remap from="face_mask" to="/humans/faces/<id>/mask"/>
     </node>
 
-    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
-    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+    <!-- launching Sound localisation (soundlocalisation) -->
+    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
     </node>
 
-    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
-    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+    <!-- launching respeaker_ros (respeaker_ros) -->
+    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+        <remap from="raw_audio" to="/audio/raw_audio"/>
     </node>
 
-    <!-- launching Interaction manager (interactionmanager) -->
-    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+    <!-- launching ORB SLAM (orbslam) -->
+    <node pkg="orbslam" name="orbslam" type="node" output="screen">
+        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+        <remap from="map" to="/map"/>
     </node>
 
-    <!-- launching High-level planner (highlevelplanner) -->
-    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+    <!-- launching Speech diarization (speechdiarization) -->
+    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
     </node>
 
-    <!-- launching Robot functional layer (robotfunctionallayer) -->
-    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+    <!-- launching Face detection (facedetection) -->
+    <node pkg="facedetection" name="facedetection" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
     </node>
 
-    <!-- launching Mask detection (maskdetection) -->
-    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
-        <remap from="roi" to="/h/faces/*/roi"/>
-        <remap from="face_mask" to="/humans/faces/<id>/mask"/>
+    <!-- launching Occupancy map (occupancymap) -->
+    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+        <remap from="map_refined" to="/map_refined"/>
     </node>
 
-    <!-- launching Speaker recognition (speakerrecognition) -->
-    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+    <!-- launching Robot utterances (robotutterances) -->
+    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
     </node>
 
-    <!-- launching Body 2D pose (body2dpose) -->
-    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
-        <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
+    <!-- launching ROS openpose (rosopenpose) -->
+    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
     </node>
 
-    <!-- launching Robot GUI (robotgui) -->
-    <node pkg="robotgui" name="robotgui" type="node" output="screen">
+    <!-- launching Person re-identification (personreidentification) -->
+    <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
     </node>
 
-    <!-- launching Semantic mapping (semanticmapping) -->
-    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+    <!-- launching High-level planner (highlevelplanner) -->
+    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+    </node>
+
+    <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
+    <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+    </node>
+
+    <!-- launching F-formation (fformation) -->
+    <node pkg="fformation" name="fformation" type="node" output="screen">
+        <remap from="groups" to="/h/i/groups"/>
     </node>
 
     <!-- launching Activity reco (activityreco) -->
     <node pkg="activityreco" name="activityreco" type="node" output="screen">
     </node>
 
-    <!-- launching Face detection (facedetection) -->
-    <node pkg="facedetection" name="facedetection" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
         <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+        <remap from="face_expression" to="/humans/faces/<id>/expression"/>
     </node>
 
-    <!-- launching respeaker_ros (respeaker_ros) -->
-    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
-        <remap from="raw_audio" to="/audio/raw_audio"/>
+    <!-- launching Speaker recognition (speakerrecognition) -->
+    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
     </node>
 
-    <!-- launching Multi-people tracker (multipeopletracker) -->
-    <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+    <!-- launching Semantic mapping (semanticmapping) -->
+    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
     </node>
 
-    <!-- launching Robot utterances (robotutterances) -->
-    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+    <!-- launching Robot GUI (robotgui) -->
+    <node pkg="robotgui" name="robotgui" type="node" output="screen">
     </node>
 
-    <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
-    <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    <!-- launching Speech synthesis (speechsynthesis) -->
+    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
     </node>
 
     <!-- launching Dialogue manager (dialoguemanager) -->
     <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
     </node>
 
-    <!-- launching ORB SLAM (orbslam) -->
-    <node pkg="orbslam" name="orbslam" type="node" output="screen">
-        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
-        <remap from="map" to="/map"/>
+    <!-- launching Scene understanding (sceneunderstanding) -->
+    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
     </node>
 
-    <!-- launching ROS openpose (rosopenpose) -->
-    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+    <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+    <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+        <remap from="image_head" to="/camera_head/color/image_head"/>
+        <remap from="image_torso" to="/camera_torso/color/image_torso"/>
     </node>
 
-    <!-- launching Face recognition (facerecognition) -->
-    <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+    <!-- launching User visual focus (uservisualfocus) -->
+    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
     </node>
 
 
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_BIU.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_BIU.launch
index 00ec223b882373663860597c4d5bd4172e74c2c1..24c0b1c7c789590b62b404a522bb1307af08a970 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
@@ -1,150 +1,165 @@
 <launch>
     <!-- this launch file starts all SPRING nodes except for BIU nodes. -->
 
-    <!-- launching Scene understanding (sceneunderstanding) -->
-    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
-    </node>
-    
-    <!-- launching Person manager (personmanager) -->
-    <node pkg="personmanager" name="personmanager" type="node" output="screen">
+    <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+    <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
     </node>
     
-    <!-- launching Speech synthesis (speechsynthesis) -->
-    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+    <!-- launching Robot functional layer (robotfunctionallayer) -->
+    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
     </node>
     
-    <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
-    <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
-        <remap from="image_head" to="/camera_head/color/image_head"/>
-        <remap from="image_torso" to="/camera_torso/color/image_torso"/>
+    <!-- launching People 3D tracker (people3dtracker) -->
+    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
     </node>
     
-    <!-- launching Occupancy map (occupancymap) -->
-    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
-        <remap from="map_refined" to="/map_refined"/>
+    <!-- launching  hri_msgs (hri_msgs) -->
+    <node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
     </node>
     
-    <!-- launching User attention (userattention) -->
-    <node pkg="userattention" name="userattention" type="node" output="screen">
+    <!-- launching People 3D pose estimation (people3dposeestimation) -->
+    <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
     </node>
     
-    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
-    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
-        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+    <!-- launching User attention estimation (userattentionestimation) -->
+    <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
     </node>
     
-    <!-- launching F-formation (fformation) -->
-    <node pkg="fformation" name="fformation" type="node" output="screen">
-        <remap from="groups" to="/h/i/groups"/>
+    <!-- launching Interaction manager (interactionmanager) -->
+    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
     </node>
     
-    <!-- launching People 3D tracker (people3dtracker) -->
-    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+    <!-- launching Body 2D pose (body2dpose) -->
+    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+        <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
     </node>
     
-    <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
-    <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
     </node>
     
-    <!-- launching User gaze (usergaze) -->
-    <node pkg="usergaze" name="usergaze" type="node" output="screen">
+    <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+    <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
     </node>
     
-    <!-- launching Demographics (demographics) -->
-    <node pkg="demographics" name="demographics" type="node" output="screen">
+    <!-- launching Soft biometrics (softbiometrics) -->
+    <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
         <remap from="face_roi" to="/humans/faces/<id>/roi"/>
         <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
     </node>
     
-    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
-    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+    <!-- launching RGB head (rgbhead) -->
+    <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
     </node>
     
-    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
-    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+    <!-- launching Person manager (personmanager) -->
+    <node pkg="personmanager" name="personmanager" type="node" output="screen">
     </node>
     
-    <!-- launching Interaction manager (interactionmanager) -->
-    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
     </node>
     
-    <!-- launching High-level planner (highlevelplanner) -->
-    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+    <!-- launching Mask detection (maskdetection) -->
+    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+        <remap from="face_mask" to="/humans/faces/<id>/mask"/>
     </node>
     
-    <!-- launching Robot functional layer (robotfunctionallayer) -->
-    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+    <!-- launching respeaker_ros (respeaker_ros) -->
+    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+        <remap from="raw_audio" to="/audio/raw_audio"/>
     </node>
     
-    <!-- launching Mask detection (maskdetection) -->
-    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
-        <remap from="roi" to="/h/faces/*/roi"/>
-        <remap from="face_mask" to="/humans/faces/<id>/mask"/>
+    <!-- launching ORB SLAM (orbslam) -->
+    <node pkg="orbslam" name="orbslam" type="node" output="screen">
+        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+        <remap from="map" to="/map"/>
     </node>
     
-    <!-- launching Body 2D pose (body2dpose) -->
-    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+    <!-- launching Face detection (facedetection) -->
+    <node pkg="facedetection" name="facedetection" type="node" output="screen">
         <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
-        <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
     </node>
     
-    <!-- launching Robot GUI (robotgui) -->
-    <node pkg="robotgui" name="robotgui" type="node" output="screen">
+    <!-- launching Occupancy map (occupancymap) -->
+    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+        <remap from="map_refined" to="/map_refined"/>
     </node>
     
-    <!-- launching Semantic mapping (semanticmapping) -->
-    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+    <!-- launching Robot utterances (robotutterances) -->
+    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
     </node>
     
-    <!-- launching Activity reco (activityreco) -->
-    <node pkg="activityreco" name="activityreco" type="node" output="screen">
+    <!-- launching ROS openpose (rosopenpose) -->
+    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
     </node>
     
-    <!-- launching Face detection (facedetection) -->
-    <node pkg="facedetection" name="facedetection" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    <!-- launching Person re-identification (personreidentification) -->
+    <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
         <remap from="face_roi" to="/humans/faces/<id>/roi"/>
     </node>
     
-    <!-- launching respeaker_ros (respeaker_ros) -->
-    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
-        <remap from="raw_audio" to="/audio/raw_audio"/>
+    <!-- launching High-level planner (highlevelplanner) -->
+    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
     </node>
     
-    <!-- launching Multi-people tracker (multipeopletracker) -->
-    <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
+    <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
+    <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
         <remap from="image_raw" to="/camera_head/color/image_raw"/>
         <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
     </node>
     
-    <!-- launching Robot utterances (robotutterances) -->
-    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+    <!-- launching F-formation (fformation) -->
+    <node pkg="fformation" name="fformation" type="node" output="screen">
+        <remap from="groups" to="/h/i/groups"/>
     </node>
     
-    <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
-    <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    <!-- launching Activity reco (activityreco) -->
+    <node pkg="activityreco" name="activityreco" type="node" output="screen">
+    </node>
+    
+    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+        <remap from="face_expression" to="/humans/faces/<id>/expression"/>
+    </node>
+    
+    <!-- launching Semantic mapping (semanticmapping) -->
+    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+    </node>
+    
+    <!-- launching Robot GUI (robotgui) -->
+    <node pkg="robotgui" name="robotgui" type="node" output="screen">
+    </node>
+    
+    <!-- launching Speech synthesis (speechsynthesis) -->
+    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
     </node>
     
     <!-- launching Dialogue manager (dialoguemanager) -->
     <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
     </node>
     
-    <!-- launching ORB SLAM (orbslam) -->
-    <node pkg="orbslam" name="orbslam" type="node" output="screen">
-        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
-        <remap from="map" to="/map"/>
+    <!-- launching Scene understanding (sceneunderstanding) -->
+    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
     </node>
     
-    <!-- launching ROS openpose (rosopenpose) -->
-    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+    <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+    <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+        <remap from="image_head" to="/camera_head/color/image_head"/>
+        <remap from="image_torso" to="/camera_torso/color/image_torso"/>
     </node>
     
-    <!-- launching Face recognition (facerecognition) -->
-    <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+    <!-- launching User visual focus (uservisualfocus) -->
+    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
     </node>
     
 
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_CVUT.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_CVUT.launch
index 29cb4328cce43a3441bcfec365993a7e54a81b60..c07a9ed0e2340dd597fa53693edec41a65208d05 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
@@ -1,146 +1,161 @@
 <launch>
     <!-- this launch file starts all SPRING nodes except for CVUT nodes. -->
 
-    <!-- launching Scene understanding (sceneunderstanding) -->
-    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+    <!-- launching Robot functional layer (robotfunctionallayer) -->
+    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
     </node>
     
-    <!-- launching Person manager (personmanager) -->
-    <node pkg="personmanager" name="personmanager" type="node" output="screen">
+    <!-- launching People 3D tracker (people3dtracker) -->
+    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
     </node>
     
-    <!-- launching Speech synthesis (speechsynthesis) -->
-    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+    <!-- launching  hri_msgs (hri_msgs) -->
+    <node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
     </node>
     
-    <!-- launching Sound localisation (soundlocalisation) -->
-    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+    <!-- launching People 3D pose estimation (people3dposeestimation) -->
+    <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
     </node>
     
-    <!-- launching User attention (userattention) -->
-    <node pkg="userattention" name="userattention" type="node" output="screen">
+    <!-- launching ASR (asr) -->
+    <node pkg="asr" name="asr" type="node" output="screen">
     </node>
     
-    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
-    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
-        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+    <!-- launching User attention estimation (userattentionestimation) -->
+    <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
     </node>
     
-    <!-- launching F-formation (fformation) -->
-    <node pkg="fformation" name="fformation" type="node" output="screen">
-        <remap from="groups" to="/h/i/groups"/>
+    <!-- launching Interaction manager (interactionmanager) -->
+    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
     </node>
     
-    <!-- launching People 3D tracker (people3dtracker) -->
-    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+    <!-- launching Body 2D pose (body2dpose) -->
+    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+        <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
     </node>
     
-    <!-- launching 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">
+    </node>
+    
+    <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+    <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
+    </node>
+    
+    <!-- launching Soft biometrics (softbiometrics) -->
+    <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+        <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
     </node>
     
-    <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
-    <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
+    <!-- launching RGB head (rgbhead) -->
+    <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
         <remap from="image_raw" to="/camera_head/color/image_raw"/>
     </node>
     
-    <!-- launching User gaze (usergaze) -->
-    <node pkg="usergaze" name="usergaze" type="node" output="screen">
+    <!-- launching Person manager (personmanager) -->
+    <node pkg="personmanager" name="personmanager" type="node" output="screen">
     </node>
     
-    <!-- launching Speech diarization (speechdiarization) -->
-    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
     </node>
     
-    <!-- launching Demographics (demographics) -->
-    <node pkg="demographics" name="demographics" type="node" output="screen">
+    <!-- launching Mask detection (maskdetection) -->
+    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
         <remap from="face_roi" to="/humans/faces/<id>/roi"/>
-        <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
+        <remap from="face_mask" to="/humans/faces/<id>/mask"/>
     </node>
     
-    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
-    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+    <!-- launching Sound localisation (soundlocalisation) -->
+    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
     </node>
     
-    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
-    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+    <!-- launching respeaker_ros (respeaker_ros) -->
+    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+        <remap from="raw_audio" to="/audio/raw_audio"/>
     </node>
     
-    <!-- launching Interaction manager (interactionmanager) -->
-    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+    <!-- launching ORB SLAM (orbslam) -->
+    <node pkg="orbslam" name="orbslam" type="node" output="screen">
+        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+        <remap from="map" to="/map"/>
     </node>
     
-    <!-- launching High-level planner (highlevelplanner) -->
-    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+    <!-- launching Speech diarization (speechdiarization) -->
+    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
     </node>
     
-    <!-- launching Robot functional layer (robotfunctionallayer) -->
-    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+    <!-- launching Face detection (facedetection) -->
+    <node pkg="facedetection" name="facedetection" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
     </node>
     
-    <!-- launching Mask detection (maskdetection) -->
-    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
-        <remap from="roi" to="/h/faces/*/roi"/>
-        <remap from="face_mask" to="/humans/faces/<id>/mask"/>
+    <!-- launching Robot utterances (robotutterances) -->
+    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
     </node>
     
-    <!-- launching Speaker recognition (speakerrecognition) -->
-    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+    <!-- launching ROS openpose (rosopenpose) -->
+    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
     </node>
     
-    <!-- launching Body 2D pose (body2dpose) -->
-    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+    <!-- launching Person re-identification (personreidentification) -->
+    <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+    </node>
+    
+    <!-- launching High-level planner (highlevelplanner) -->
+    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+    </node>
+    
+    <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
+    <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
         <remap from="image_raw" to="/camera_head/color/image_raw"/>
         <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
-        <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
     </node>
     
-    <!-- launching Robot GUI (robotgui) -->
-    <node pkg="robotgui" name="robotgui" type="node" output="screen">
+    <!-- launching F-formation (fformation) -->
+    <node pkg="fformation" name="fformation" type="node" output="screen">
+        <remap from="groups" to="/h/i/groups"/>
     </node>
     
     <!-- launching Activity reco (activityreco) -->
     <node pkg="activityreco" name="activityreco" type="node" output="screen">
     </node>
     
-    <!-- launching Face detection (facedetection) -->
-    <node pkg="facedetection" name="facedetection" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
         <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+        <remap from="face_expression" to="/humans/faces/<id>/expression"/>
     </node>
     
-    <!-- launching respeaker_ros (respeaker_ros) -->
-    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
-        <remap from="raw_audio" to="/audio/raw_audio"/>
+    <!-- launching Speaker recognition (speakerrecognition) -->
+    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
     </node>
     
-    <!-- launching Multi-people tracker (multipeopletracker) -->
-    <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+    <!-- launching Robot GUI (robotgui) -->
+    <node pkg="robotgui" name="robotgui" type="node" output="screen">
     </node>
     
-    <!-- launching Robot utterances (robotutterances) -->
-    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+    <!-- launching Speech synthesis (speechsynthesis) -->
+    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
     </node>
     
     <!-- launching Dialogue manager (dialoguemanager) -->
     <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
     </node>
     
-    <!-- launching ORB SLAM (orbslam) -->
-    <node pkg="orbslam" name="orbslam" type="node" output="screen">
-        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
-        <remap from="map" to="/map"/>
-    </node>
-    
-    <!-- launching ROS openpose (rosopenpose) -->
-    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+    <!-- launching Scene understanding (sceneunderstanding) -->
+    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
     </node>
     
-    <!-- launching Face recognition (facerecognition) -->
-    <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+    <!-- launching User visual focus (uservisualfocus) -->
+    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
     </node>
     
 
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_ERM.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_ERM.launch
index 379a2c24fe4374c501fecc8aa697403e577b4ab1..920e78de7dc8413db1159f56e8ce7754a39ae7eb 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
@@ -1,162 +1,177 @@
 <launch>
     <!-- this launch file starts all SPRING nodes except for ERM nodes. -->
 
-    <!-- launching Scene understanding (sceneunderstanding) -->
-    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+    <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+    <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
     </node>
     
-    <!-- launching Person manager (personmanager) -->
-    <node pkg="personmanager" name="personmanager" type="node" output="screen">
+    <!-- launching Robot functional layer (robotfunctionallayer) -->
+    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
     </node>
     
-    <!-- launching Speech synthesis (speechsynthesis) -->
-    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+    <!-- launching People 3D tracker (people3dtracker) -->
+    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
     </node>
     
-    <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
-    <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
-        <remap from="image_head" to="/camera_head/color/image_head"/>
-        <remap from="image_torso" to="/camera_torso/color/image_torso"/>
+    <!-- launching  hri_msgs (hri_msgs) -->
+    <node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
     </node>
     
-    <!-- launching Occupancy map (occupancymap) -->
-    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
-        <remap from="map_refined" to="/map_refined"/>
+    <!-- launching People 3D pose estimation (people3dposeestimation) -->
+    <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
     </node>
     
-    <!-- launching Sound localisation (soundlocalisation) -->
-    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+    <!-- launching ASR (asr) -->
+    <node pkg="asr" name="asr" type="node" output="screen">
     </node>
     
-    <!-- launching User attention (userattention) -->
-    <node pkg="userattention" name="userattention" type="node" output="screen">
+    <!-- launching User attention estimation (userattentionestimation) -->
+    <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
     </node>
     
-    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
-    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
-        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+    <!-- launching Interaction manager (interactionmanager) -->
+    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
     </node>
     
-    <!-- launching F-formation (fformation) -->
-    <node pkg="fformation" name="fformation" type="node" output="screen">
-        <remap from="groups" to="/h/i/groups"/>
+    <!-- launching Body 2D pose (body2dpose) -->
+    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+        <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
     </node>
     
-    <!-- launching People 3D tracker (people3dtracker) -->
-    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
     </node>
     
-    <!-- launching ASR (asr) -->
-    <node pkg="asr" name="asr" type="node" output="screen">
+    <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+    <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
+    </node>
+    
+    <!-- launching Soft biometrics (softbiometrics) -->
+    <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+        <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
     </node>
     
-    <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
-    <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
+    <!-- launching RGB head (rgbhead) -->
+    <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
         <remap from="image_raw" to="/camera_head/color/image_raw"/>
     </node>
     
-    <!-- launching User gaze (usergaze) -->
-    <node pkg="usergaze" name="usergaze" type="node" output="screen">
+    <!-- launching Person manager (personmanager) -->
+    <node pkg="personmanager" name="personmanager" type="node" output="screen">
     </node>
     
-    <!-- launching Speech diarization (speechdiarization) -->
-    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
     </node>
     
-    <!-- launching Demographics (demographics) -->
-    <node pkg="demographics" name="demographics" type="node" output="screen">
+    <!-- launching Mask detection (maskdetection) -->
+    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
         <remap from="face_roi" to="/humans/faces/<id>/roi"/>
-        <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
+        <remap from="face_mask" to="/humans/faces/<id>/mask"/>
     </node>
     
-    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
-    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+    <!-- launching Sound localisation (soundlocalisation) -->
+    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
     </node>
     
-    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
-    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+    <!-- launching respeaker_ros (respeaker_ros) -->
+    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+        <remap from="raw_audio" to="/audio/raw_audio"/>
     </node>
     
-    <!-- launching Interaction manager (interactionmanager) -->
-    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+    <!-- launching ORB SLAM (orbslam) -->
+    <node pkg="orbslam" name="orbslam" type="node" output="screen">
+        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+        <remap from="map" to="/map"/>
     </node>
     
-    <!-- launching High-level planner (highlevelplanner) -->
-    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+    <!-- launching Speech diarization (speechdiarization) -->
+    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
     </node>
     
-    <!-- launching Robot functional layer (robotfunctionallayer) -->
-    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+    <!-- launching Face detection (facedetection) -->
+    <node pkg="facedetection" name="facedetection" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
     </node>
     
-    <!-- launching Mask detection (maskdetection) -->
-    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
-        <remap from="roi" to="/h/faces/*/roi"/>
-        <remap from="face_mask" to="/humans/faces/<id>/mask"/>
+    <!-- launching Occupancy map (occupancymap) -->
+    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+        <remap from="map_refined" to="/map_refined"/>
     </node>
     
-    <!-- launching Speaker recognition (speakerrecognition) -->
-    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+    <!-- launching Robot utterances (robotutterances) -->
+    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
     </node>
     
-    <!-- launching Body 2D pose (body2dpose) -->
-    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+    <!-- launching ROS openpose (rosopenpose) -->
+    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+    </node>
+    
+    <!-- launching Person re-identification (personreidentification) -->
+    <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+    </node>
+    
+    <!-- launching High-level planner (highlevelplanner) -->
+    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+    </node>
+    
+    <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
+    <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
         <remap from="image_raw" to="/camera_head/color/image_raw"/>
         <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
-        <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
     </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="groups" to="/h/i/groups"/>
     </node>
     
     <!-- launching Activity reco (activityreco) -->
     <node pkg="activityreco" name="activityreco" type="node" output="screen">
     </node>
     
-    <!-- launching Face detection (facedetection) -->
-    <node pkg="facedetection" name="facedetection" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
         <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+        <remap from="face_expression" to="/humans/faces/<id>/expression"/>
     </node>
     
-    <!-- launching respeaker_ros (respeaker_ros) -->
-    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
-        <remap from="raw_audio" to="/audio/raw_audio"/>
-    </node>
-    
-    <!-- launching Multi-people tracker (multipeopletracker) -->
-    <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+    <!-- launching Speaker recognition (speakerrecognition) -->
+    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
     </node>
     
-    <!-- launching Robot utterances (robotutterances) -->
-    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+    <!-- launching Semantic mapping (semanticmapping) -->
+    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
     </node>
     
-    <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
-    <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    <!-- launching Speech synthesis (speechsynthesis) -->
+    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
     </node>
     
     <!-- launching Dialogue manager (dialoguemanager) -->
     <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
     </node>
     
-    <!-- launching ORB SLAM (orbslam) -->
-    <node pkg="orbslam" name="orbslam" type="node" output="screen">
-        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
-        <remap from="map" to="/map"/>
+    <!-- launching Scene understanding (sceneunderstanding) -->
+    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
     </node>
     
-    <!-- launching ROS openpose (rosopenpose) -->
-    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+    <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+    <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+        <remap from="image_head" to="/camera_head/color/image_head"/>
+        <remap from="image_torso" to="/camera_torso/color/image_torso"/>
     </node>
     
-    <!-- launching Face recognition (facerecognition) -->
-    <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+    <!-- launching User visual focus (uservisualfocus) -->
+    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
     </node>
     
 
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_HWU.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_HWU.launch
index 33c685a4e171c1a8050657d9463ec3e58e1196af..20140b21f7bd7c1b27a32dbab800534dff82a67b 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
@@ -1,146 +1,161 @@
 <launch>
     <!-- this launch file starts all SPRING nodes except for HWU nodes. -->
 
-    <!-- launching Person manager (personmanager) -->
-    <node pkg="personmanager" name="personmanager" type="node" output="screen">
+    <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+    <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
     </node>
     
-    <!-- launching Speech synthesis (speechsynthesis) -->
-    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+    <!-- launching Robot functional layer (robotfunctionallayer) -->
+    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
     </node>
     
-    <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
-    <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
-        <remap from="image_head" to="/camera_head/color/image_head"/>
-        <remap from="image_torso" to="/camera_torso/color/image_torso"/>
+    <!-- launching People 3D tracker (people3dtracker) -->
+    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
     </node>
     
-    <!-- launching Occupancy map (occupancymap) -->
-    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
-        <remap from="map_refined" to="/map_refined"/>
+    <!-- launching  hri_msgs (hri_msgs) -->
+    <node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
     </node>
     
-    <!-- launching Sound localisation (soundlocalisation) -->
-    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+    <!-- launching People 3D pose estimation (people3dposeestimation) -->
+    <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
     </node>
     
-    <!-- launching User attention (userattention) -->
-    <node pkg="userattention" name="userattention" type="node" output="screen">
+    <!-- launching ASR (asr) -->
+    <node pkg="asr" name="asr" type="node" output="screen">
     </node>
     
-    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
-    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
-        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+    <!-- launching User attention estimation (userattentionestimation) -->
+    <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
     </node>
     
-    <!-- launching F-formation (fformation) -->
-    <node pkg="fformation" name="fformation" type="node" output="screen">
-        <remap from="groups" to="/h/i/groups"/>
+    <!-- launching Body 2D pose (body2dpose) -->
+    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+        <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
     </node>
     
-    <!-- launching People 3D tracker (people3dtracker) -->
-    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
     </node>
     
-    <!-- launching ASR (asr) -->
-    <node pkg="asr" name="asr" type="node" output="screen">
+    <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+    <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
+    </node>
+    
+    <!-- launching Soft biometrics (softbiometrics) -->
+    <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+        <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
     </node>
     
-    <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
-    <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
+    <!-- launching RGB head (rgbhead) -->
+    <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
         <remap from="image_raw" to="/camera_head/color/image_raw"/>
     </node>
     
-    <!-- launching User gaze (usergaze) -->
-    <node pkg="usergaze" name="usergaze" type="node" output="screen">
+    <!-- launching Person manager (personmanager) -->
+    <node pkg="personmanager" name="personmanager" type="node" output="screen">
     </node>
     
-    <!-- launching Speech diarization (speechdiarization) -->
-    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
     </node>
     
-    <!-- launching Demographics (demographics) -->
-    <node pkg="demographics" name="demographics" type="node" output="screen">
+    <!-- launching Mask detection (maskdetection) -->
+    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
         <remap from="face_roi" to="/humans/faces/<id>/roi"/>
-        <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
+        <remap from="face_mask" to="/humans/faces/<id>/mask"/>
     </node>
     
-    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
-    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+    <!-- launching Sound localisation (soundlocalisation) -->
+    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
     </node>
     
-    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
-    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+    <!-- launching respeaker_ros (respeaker_ros) -->
+    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+        <remap from="raw_audio" to="/audio/raw_audio"/>
     </node>
     
-    <!-- launching 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_raw" to="/camera_torso/color/image_raw"/>
+        <remap from="map" to="/map"/>
     </node>
     
-    <!-- launching Mask detection (maskdetection) -->
-    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
-        <remap from="roi" to="/h/faces/*/roi"/>
-        <remap from="face_mask" to="/humans/faces/<id>/mask"/>
+    <!-- launching Speech diarization (speechdiarization) -->
+    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
     </node>
     
-    <!-- launching Speaker recognition (speakerrecognition) -->
-    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+    <!-- launching Face detection (facedetection) -->
+    <node pkg="facedetection" name="facedetection" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
     </node>
     
-    <!-- launching Body 2D pose (body2dpose) -->
-    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
-        <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
+    <!-- launching Occupancy map (occupancymap) -->
+    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+        <remap from="map_refined" to="/map_refined"/>
     </node>
     
-    <!-- launching Robot GUI (robotgui) -->
-    <node pkg="robotgui" name="robotgui" type="node" output="screen">
+    <!-- launching ROS openpose (rosopenpose) -->
+    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
     </node>
     
-    <!-- launching Semantic mapping (semanticmapping) -->
-    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+    <!-- launching Person re-identification (personreidentification) -->
+    <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+    </node>
+    
+    <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
+    <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+    </node>
+    
+    <!-- launching F-formation (fformation) -->
+    <node pkg="fformation" name="fformation" type="node" output="screen">
+        <remap from="groups" to="/h/i/groups"/>
     </node>
     
     <!-- launching Activity reco (activityreco) -->
     <node pkg="activityreco" name="activityreco" type="node" output="screen">
     </node>
     
-    <!-- launching Face detection (facedetection) -->
-    <node pkg="facedetection" name="facedetection" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
         <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+        <remap from="face_expression" to="/humans/faces/<id>/expression"/>
     </node>
     
-    <!-- launching respeaker_ros (respeaker_ros) -->
-    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
-        <remap from="raw_audio" to="/audio/raw_audio"/>
+    <!-- launching Speaker recognition (speakerrecognition) -->
+    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
     </node>
     
-    <!-- launching Multi-people tracker (multipeopletracker) -->
-    <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+    <!-- launching Semantic mapping (semanticmapping) -->
+    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
     </node>
     
-    <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
-    <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    <!-- launching Robot GUI (robotgui) -->
+    <node pkg="robotgui" name="robotgui" type="node" output="screen">
     </node>
     
-    <!-- launching ORB SLAM (orbslam) -->
-    <node pkg="orbslam" name="orbslam" type="node" output="screen">
-        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
-        <remap from="map" to="/map"/>
+    <!-- launching Speech synthesis (speechsynthesis) -->
+    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
     </node>
     
-    <!-- launching ROS openpose (rosopenpose) -->
-    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+    <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+    <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+        <remap from="image_head" to="/camera_head/color/image_head"/>
+        <remap from="image_torso" to="/camera_torso/color/image_torso"/>
     </node>
     
-    <!-- launching Face recognition (facerecognition) -->
-    <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+    <!-- launching User visual focus (uservisualfocus) -->
+    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
     </node>
     
 
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_INRIA.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_INRIA.launch
index 9ef3a4221d34adb48e2534e121b4bf0aa49429f3..51a4c00d2c599babfd8e7fbddf201bbb0266136b 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
@@ -1,144 +1,159 @@
 <launch>
     <!-- this launch file starts all SPRING nodes except for INRIA nodes. -->
 
-    <!-- launching Scene understanding (sceneunderstanding) -->
-    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+    <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+    <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
     </node>
     
-    <!-- launching Speech synthesis (speechsynthesis) -->
-    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+    <!-- launching Robot functional layer (robotfunctionallayer) -->
+    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
     </node>
     
-    <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
-    <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
-        <remap from="image_head" to="/camera_head/color/image_head"/>
-        <remap from="image_torso" to="/camera_torso/color/image_torso"/>
+    <!-- launching  hri_msgs (hri_msgs) -->
+    <node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
     </node>
     
-    <!-- launching Occupancy map (occupancymap) -->
-    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
-        <remap from="map_refined" to="/map_refined"/>
+    <!-- launching People 3D pose estimation (people3dposeestimation) -->
+    <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
     </node>
     
-    <!-- launching Sound localisation (soundlocalisation) -->
-    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+    <!-- launching ASR (asr) -->
+    <node pkg="asr" name="asr" type="node" output="screen">
     </node>
     
-    <!-- launching User attention (userattention) -->
-    <node pkg="userattention" name="userattention" type="node" output="screen">
+    <!-- launching User attention estimation (userattentionestimation) -->
+    <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
     </node>
     
-    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
-    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
-        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+    <!-- launching Interaction manager (interactionmanager) -->
+    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
     </node>
     
-    <!-- launching F-formation (fformation) -->
-    <node pkg="fformation" name="fformation" type="node" output="screen">
-        <remap from="groups" to="/h/i/groups"/>
+    <!-- launching Body 2D pose (body2dpose) -->
+    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+        <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
     </node>
     
-    <!-- launching ASR (asr) -->
-    <node pkg="asr" name="asr" type="node" output="screen">
+    <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+    <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
     </node>
     
-    <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
-    <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    <!-- launching Soft biometrics (softbiometrics) -->
+    <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+        <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
     </node>
     
-    <!-- launching User gaze (usergaze) -->
-    <node pkg="usergaze" name="usergaze" type="node" output="screen">
+    <!-- launching RGB head (rgbhead) -->
+    <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
     </node>
     
-    <!-- launching Speech diarization (speechdiarization) -->
-    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
     </node>
     
-    <!-- launching Demographics (demographics) -->
-    <node pkg="demographics" name="demographics" type="node" output="screen">
+    <!-- launching Mask detection (maskdetection) -->
+    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
         <remap from="face_roi" to="/humans/faces/<id>/roi"/>
-        <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
+        <remap from="face_mask" to="/humans/faces/<id>/mask"/>
     </node>
     
-    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
-    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+    <!-- launching Sound localisation (soundlocalisation) -->
+    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
     </node>
     
-    <!-- launching Interaction manager (interactionmanager) -->
-    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+    <!-- launching respeaker_ros (respeaker_ros) -->
+    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+        <remap from="raw_audio" to="/audio/raw_audio"/>
     </node>
     
-    <!-- launching High-level planner (highlevelplanner) -->
-    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+    <!-- launching ORB SLAM (orbslam) -->
+    <node pkg="orbslam" name="orbslam" type="node" output="screen">
+        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+        <remap from="map" to="/map"/>
     </node>
     
-    <!-- launching Robot functional layer (robotfunctionallayer) -->
-    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+    <!-- launching Speech diarization (speechdiarization) -->
+    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
     </node>
     
-    <!-- launching Mask detection (maskdetection) -->
-    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
-        <remap from="roi" to="/h/faces/*/roi"/>
-        <remap from="face_mask" to="/humans/faces/<id>/mask"/>
+    <!-- launching Face detection (facedetection) -->
+    <node pkg="facedetection" name="facedetection" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
     </node>
     
-    <!-- launching Speaker recognition (speakerrecognition) -->
-    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+    <!-- launching Occupancy map (occupancymap) -->
+    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+        <remap from="map_refined" to="/map_refined"/>
     </node>
     
-    <!-- launching Body 2D pose (body2dpose) -->
-    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
-        <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
+    <!-- launching Robot utterances (robotutterances) -->
+    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
     </node>
     
-    <!-- launching Robot GUI (robotgui) -->
-    <node pkg="robotgui" name="robotgui" type="node" output="screen">
+    <!-- launching Person re-identification (personreidentification) -->
+    <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
     </node>
     
-    <!-- launching Semantic mapping (semanticmapping) -->
-    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+    <!-- launching High-level planner (highlevelplanner) -->
+    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+    </node>
+    
+    <!-- launching F-formation (fformation) -->
+    <node pkg="fformation" name="fformation" type="node" output="screen">
+        <remap from="groups" to="/h/i/groups"/>
     </node>
     
     <!-- launching Activity reco (activityreco) -->
     <node pkg="activityreco" name="activityreco" type="node" output="screen">
     </node>
     
-    <!-- launching Face detection (facedetection) -->
-    <node pkg="facedetection" name="facedetection" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
         <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+        <remap from="face_expression" to="/humans/faces/<id>/expression"/>
     </node>
     
-    <!-- launching respeaker_ros (respeaker_ros) -->
-    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
-        <remap from="raw_audio" to="/audio/raw_audio"/>
+    <!-- launching Speaker recognition (speakerrecognition) -->
+    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
     </node>
     
-    <!-- launching Robot utterances (robotutterances) -->
-    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+    <!-- launching Semantic mapping (semanticmapping) -->
+    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
     </node>
     
-    <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
-    <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    <!-- launching Robot GUI (robotgui) -->
+    <node pkg="robotgui" name="robotgui" type="node" output="screen">
+    </node>
+    
+    <!-- launching Speech synthesis (speechsynthesis) -->
+    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
     </node>
     
     <!-- launching Dialogue manager (dialoguemanager) -->
     <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
     </node>
     
-    <!-- launching ORB SLAM (orbslam) -->
-    <node pkg="orbslam" name="orbslam" type="node" output="screen">
-        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
-        <remap from="map" to="/map"/>
+    <!-- launching Scene understanding (sceneunderstanding) -->
+    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
     </node>
     
-    <!-- launching Face recognition (facerecognition) -->
-    <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+    <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+    <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+        <remap from="image_head" to="/camera_head/color/image_head"/>
+        <remap from="image_torso" to="/camera_torso/color/image_torso"/>
+    </node>
+    
+    <!-- launching User visual focus (uservisualfocus) -->
+    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
     </node>
     
 
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_Other.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_Other.launch
index 8c9d9944573c7f9bd3cfdff3667ba4ea2f47751f..7ed538952ad860f9f461e3fda61b3233627ddec2 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
@@ -1,166 +1,177 @@
 <launch>
     <!-- this launch file starts all SPRING nodes except for Other nodes. -->
 
-    <!-- launching Scene understanding (sceneunderstanding) -->
-    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+    <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+    <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
     </node>
     
-    <!-- launching Person manager (personmanager) -->
-    <node pkg="personmanager" name="personmanager" type="node" output="screen">
+    <!-- launching Robot functional layer (robotfunctionallayer) -->
+    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
     </node>
     
-    <!-- launching Speech synthesis (speechsynthesis) -->
-    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+    <!-- launching People 3D tracker (people3dtracker) -->
+    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
     </node>
     
-    <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
-    <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
-        <remap from="image_head" to="/camera_head/color/image_head"/>
-        <remap from="image_torso" to="/camera_torso/color/image_torso"/>
+    <!-- launching People 3D pose estimation (people3dposeestimation) -->
+    <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
     </node>
     
-    <!-- launching Occupancy map (occupancymap) -->
-    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
-        <remap from="map_refined" to="/map_refined"/>
+    <!-- launching ASR (asr) -->
+    <node pkg="asr" name="asr" type="node" output="screen">
     </node>
     
-    <!-- launching Sound localisation (soundlocalisation) -->
-    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+    <!-- launching User attention estimation (userattentionestimation) -->
+    <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
     </node>
     
-    <!-- launching User attention (userattention) -->
-    <node pkg="userattention" name="userattention" type="node" output="screen">
+    <!-- launching Interaction manager (interactionmanager) -->
+    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
     </node>
     
-    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
-    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
-        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+    <!-- launching Body 2D pose (body2dpose) -->
+    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+        <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
     </node>
     
-    <!-- launching F-formation (fformation) -->
-    <node pkg="fformation" name="fformation" type="node" output="screen">
-        <remap from="groups" to="/h/i/groups"/>
+    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
     </node>
     
-    <!-- launching People 3D tracker (people3dtracker) -->
-    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+    <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+    <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
     </node>
     
-    <!-- launching ASR (asr) -->
-    <node pkg="asr" name="asr" type="node" output="screen">
+    <!-- launching Soft biometrics (softbiometrics) -->
+    <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+        <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
     </node>
     
-    <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
-    <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
+    <!-- launching RGB head (rgbhead) -->
+    <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
         <remap from="image_raw" to="/camera_head/color/image_raw"/>
     </node>
     
-    <!-- launching User gaze (usergaze) -->
-    <node pkg="usergaze" name="usergaze" type="node" output="screen">
+    <!-- launching Person manager (personmanager) -->
+    <node pkg="personmanager" name="personmanager" type="node" output="screen">
     </node>
     
-    <!-- launching Speech diarization (speechdiarization) -->
-    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+    <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+    <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
     </node>
     
-    <!-- launching Demographics (demographics) -->
-    <node pkg="demographics" name="demographics" type="node" output="screen">
+    <!-- launching Mask detection (maskdetection) -->
+    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
         <remap from="face_roi" to="/humans/faces/<id>/roi"/>
-        <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
+        <remap from="face_mask" to="/humans/faces/<id>/mask"/>
     </node>
     
-    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
-    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+    <!-- launching Sound localisation (soundlocalisation) -->
+    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
     </node>
     
-    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
-    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+    <!-- launching respeaker_ros (respeaker_ros) -->
+    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+        <remap from="raw_audio" to="/audio/raw_audio"/>
     </node>
     
-    <!-- launching Interaction manager (interactionmanager) -->
-    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+    <!-- launching ORB SLAM (orbslam) -->
+    <node pkg="orbslam" name="orbslam" type="node" output="screen">
+        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+        <remap from="map" to="/map"/>
     </node>
     
-    <!-- launching High-level planner (highlevelplanner) -->
-    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+    <!-- launching Speech diarization (speechdiarization) -->
+    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
     </node>
     
-    <!-- launching Robot functional layer (robotfunctionallayer) -->
-    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+    <!-- launching Face detection (facedetection) -->
+    <node pkg="facedetection" name="facedetection" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
     </node>
     
-    <!-- launching Mask detection (maskdetection) -->
-    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
-        <remap from="roi" to="/h/faces/*/roi"/>
-        <remap from="face_mask" to="/humans/faces/<id>/mask"/>
+    <!-- launching Occupancy map (occupancymap) -->
+    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+        <remap from="map_refined" to="/map_refined"/>
     </node>
     
-    <!-- launching Speaker recognition (speakerrecognition) -->
-    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+    <!-- launching Robot utterances (robotutterances) -->
+    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
     </node>
     
-    <!-- launching Body 2D pose (body2dpose) -->
-    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
-        <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
+    <!-- launching ROS openpose (rosopenpose) -->
+    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
     </node>
     
-    <!-- launching Robot GUI (robotgui) -->
-    <node pkg="robotgui" name="robotgui" type="node" output="screen">
+    <!-- launching Person re-identification (personreidentification) -->
+    <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
     </node>
     
-    <!-- launching Semantic mapping (semanticmapping) -->
-    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+    <!-- launching High-level planner (highlevelplanner) -->
+    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+    </node>
+    
+    <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
+    <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+    </node>
+    
+    <!-- launching F-formation (fformation) -->
+    <node pkg="fformation" name="fformation" type="node" output="screen">
+        <remap from="groups" to="/h/i/groups"/>
     </node>
     
     <!-- launching Activity reco (activityreco) -->
     <node pkg="activityreco" name="activityreco" type="node" output="screen">
     </node>
     
-    <!-- launching Face detection (facedetection) -->
-    <node pkg="facedetection" name="facedetection" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
         <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+        <remap from="face_expression" to="/humans/faces/<id>/expression"/>
     </node>
     
-    <!-- launching respeaker_ros (respeaker_ros) -->
-    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
-        <remap from="raw_audio" to="/audio/raw_audio"/>
+    <!-- launching Speaker recognition (speakerrecognition) -->
+    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
     </node>
     
-    <!-- launching Multi-people tracker (multipeopletracker) -->
-    <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+    <!-- launching Semantic mapping (semanticmapping) -->
+    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
     </node>
     
-    <!-- launching Robot utterances (robotutterances) -->
-    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+    <!-- launching Robot GUI (robotgui) -->
+    <node pkg="robotgui" name="robotgui" type="node" output="screen">
     </node>
     
-    <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
-    <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    <!-- launching Speech synthesis (speechsynthesis) -->
+    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
     </node>
     
     <!-- launching Dialogue manager (dialoguemanager) -->
     <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
     </node>
     
-    <!-- launching ORB SLAM (orbslam) -->
-    <node pkg="orbslam" name="orbslam" type="node" output="screen">
-        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
-        <remap from="map" to="/map"/>
+    <!-- launching Scene understanding (sceneunderstanding) -->
+    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
     </node>
     
-    <!-- launching ROS openpose (rosopenpose) -->
-    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+    <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+    <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+        <remap from="image_head" to="/camera_head/color/image_head"/>
+        <remap from="image_torso" to="/camera_torso/color/image_torso"/>
     </node>
     
-    <!-- launching Face recognition (facerecognition) -->
-    <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+    <!-- launching User visual focus (uservisualfocus) -->
+    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
     </node>
     
 
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_PAL.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_PAL.launch
index 1b5313ce5ce26de278c0c8159d514c4d3b9778eb..4471e0b5508f1810c57ea727f006b965eb2f2d88 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
@@ -1,137 +1,148 @@
 <launch>
     <!-- this launch file starts all SPRING nodes except for PAL nodes. -->
 
-    <!-- launching Scene understanding (sceneunderstanding) -->
-    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+    <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+    <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
     </node>
     
-    <!-- launching Person manager (personmanager) -->
-    <node pkg="personmanager" name="personmanager" type="node" output="screen">
+    <!-- launching People 3D tracker (people3dtracker) -->
+    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
     </node>
     
-    <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
-    <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
-        <remap from="image_head" to="/camera_head/color/image_head"/>
-        <remap from="image_torso" to="/camera_torso/color/image_torso"/>
+    <!-- launching  hri_msgs (hri_msgs) -->
+    <node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
     </node>
     
-    <!-- launching Occupancy map (occupancymap) -->
-    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
-        <remap from="map_refined" to="/map_refined"/>
+    <!-- launching ASR (asr) -->
+    <node pkg="asr" name="asr" type="node" output="screen">
     </node>
     
-    <!-- launching Sound localisation (soundlocalisation) -->
-    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+    <!-- launching User attention estimation (userattentionestimation) -->
+    <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
     </node>
     
-    <!-- launching User attention (userattention) -->
-    <node pkg="userattention" name="userattention" type="node" output="screen">
+    <!-- launching Interaction manager (interactionmanager) -->
+    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
     </node>
     
-    <!-- launching F-formation (fformation) -->
-    <node pkg="fformation" name="fformation" type="node" output="screen">
-        <remap from="groups" to="/h/i/groups"/>
+    <!-- launching Body 2D pose (body2dpose) -->
+    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+        <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
     </node>
     
-    <!-- launching People 3D tracker (people3dtracker) -->
-    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
     </node>
     
-    <!-- launching ASR (asr) -->
-    <node pkg="asr" name="asr" type="node" output="screen">
+    <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+    <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
     </node>
     
-    <!-- launching User gaze (usergaze) -->
-    <node pkg="usergaze" name="usergaze" type="node" output="screen">
+    <!-- launching Soft biometrics (softbiometrics) -->
+    <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+        <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
     </node>
     
-    <!-- launching 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">
     </node>
     
-    <!-- launching Demographics (demographics) -->
-    <node pkg="demographics" name="demographics" type="node" output="screen">
+    <!-- launching Mask detection (maskdetection) -->
+    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
         <remap from="face_roi" to="/humans/faces/<id>/roi"/>
-        <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
+        <remap from="face_mask" to="/humans/faces/<id>/mask"/>
     </node>
     
-    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
-    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+    <!-- launching Sound localisation (soundlocalisation) -->
+    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
     </node>
     
-    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
-    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+    <!-- launching Speech diarization (speechdiarization) -->
+    <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
     </node>
     
-    <!-- launching Interaction manager (interactionmanager) -->
-    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+    <!-- launching Face detection (facedetection) -->
+    <node pkg="facedetection" name="facedetection" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
     </node>
     
-    <!-- launching High-level planner (highlevelplanner) -->
-    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+    <!-- launching Occupancy map (occupancymap) -->
+    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+        <remap from="map_refined" to="/map_refined"/>
     </node>
     
-    <!-- launching Mask detection (maskdetection) -->
-    <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
-        <remap from="roi" to="/h/faces/*/roi"/>
-        <remap from="face_mask" to="/humans/faces/<id>/mask"/>
+    <!-- launching Robot utterances (robotutterances) -->
+    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
     </node>
     
-    <!-- launching Speaker recognition (speakerrecognition) -->
-    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+    <!-- launching ROS openpose (rosopenpose) -->
+    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
     </node>
     
-    <!-- launching Body 2D pose (body2dpose) -->
-    <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
-        <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
+    <!-- launching Person re-identification (personreidentification) -->
+    <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
+        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
     </node>
     
-    <!-- launching Robot GUI (robotgui) -->
-    <node pkg="robotgui" name="robotgui" type="node" output="screen">
+    <!-- launching High-level planner (highlevelplanner) -->
+    <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
     </node>
     
-    <!-- launching Semantic mapping (semanticmapping) -->
-    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+    <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
+    <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+    </node>
+    
+    <!-- launching F-formation (fformation) -->
+    <node pkg="fformation" name="fformation" type="node" output="screen">
+        <remap from="groups" to="/h/i/groups"/>
     </node>
     
     <!-- launching Activity reco (activityreco) -->
     <node pkg="activityreco" name="activityreco" type="node" output="screen">
     </node>
     
-    <!-- launching Face detection (facedetection) -->
-    <node pkg="facedetection" name="facedetection" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+    <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
         <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+        <remap from="face_expression" to="/humans/faces/<id>/expression"/>
     </node>
     
-    <!-- launching Multi-people tracker (multipeopletracker) -->
-    <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+    <!-- launching Speaker recognition (speakerrecognition) -->
+    <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
     </node>
     
-    <!-- launching Robot utterances (robotutterances) -->
-    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+    <!-- launching Semantic mapping (semanticmapping) -->
+    <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
     </node>
     
-    <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
-    <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    <!-- launching Robot GUI (robotgui) -->
+    <node pkg="robotgui" name="robotgui" type="node" output="screen">
     </node>
     
     <!-- launching Dialogue manager (dialoguemanager) -->
     <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
     </node>
     
-    <!-- launching ROS openpose (rosopenpose) -->
-    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+    <!-- launching Scene understanding (sceneunderstanding) -->
+    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
     </node>
     
-    <!-- launching Face recognition (facerecognition) -->
-    <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
-        <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+    <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+    <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+        <remap from="image_head" to="/camera_head/color/image_head"/>
+        <remap from="image_torso" to="/camera_torso/color/image_torso"/>
+    </node>
+    
+    <!-- launching User visual focus (uservisualfocus) -->
+    <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
     </node>
     
 
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_UNITN.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_UNITN.launch
index 4af0c2447b3409dff5806a54f189d4062bc1ab15..65d262097b5d83828686d83427da097fbb3f0aa9 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
@@ -1,31 +1,46 @@
 <launch>
     <!-- this launch file starts all SPRING nodes except for UNITN nodes. -->
 
-    <!-- launching Scene understanding (sceneunderstanding) -->
-    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+    <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+    <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
     </node>
     
-    <!-- launching Person manager (personmanager) -->
-    <node pkg="personmanager" name="personmanager" type="node" output="screen">
+    <!-- launching Robot functional layer (robotfunctionallayer) -->
+    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
     </node>
     
-    <!-- launching Speech synthesis (speechsynthesis) -->
-    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+    <!-- launching People 3D tracker (people3dtracker) -->
+    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
     </node>
     
-    <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
-    <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
-        <remap from="image_head" to="/camera_head/color/image_head"/>
-        <remap from="image_torso" to="/camera_torso/color/image_torso"/>
+    <!-- launching  hri_msgs (hri_msgs) -->
+    <node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
     </node>
     
-    <!-- launching Occupancy map (occupancymap) -->
-    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
-        <remap from="map_refined" to="/map_refined"/>
+    <!-- launching People 3D pose estimation (people3dposeestimation) -->
+    <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
     </node>
     
-    <!-- launching Sound localisation (soundlocalisation) -->
-    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+    <!-- launching ASR (asr) -->
+    <node pkg="asr" name="asr" type="node" output="screen">
+    </node>
+    
+    <!-- launching Interaction manager (interactionmanager) -->
+    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+    </node>
+    
+    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+    </node>
+    
+    <!-- launching RGB head (rgbhead) -->
+    <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    </node>
+    
+    <!-- launching Person manager (personmanager) -->
+    <node pkg="personmanager" name="personmanager" type="node" output="screen">
     </node>
     
     <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
@@ -33,83 +48,76 @@
         <remap from="image_raw" to="/camera_torso/color/image_raw"/>
     </node>
     
-    <!-- launching People 3D tracker (people3dtracker) -->
-    <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+    <!-- launching Sound localisation (soundlocalisation) -->
+    <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
     </node>
     
-    <!-- launching ASR (asr) -->
-    <node pkg="asr" name="asr" type="node" output="screen">
+    <!-- launching respeaker_ros (respeaker_ros) -->
+    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+        <remap from="raw_audio" to="/audio/raw_audio"/>
     </node>
     
-    <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
-    <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    <!-- launching ORB SLAM (orbslam) -->
+    <node pkg="orbslam" name="orbslam" type="node" output="screen">
+        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+        <remap from="map" to="/map"/>
     </node>
     
     <!-- launching Speech diarization (speechdiarization) -->
     <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
     </node>
     
-    <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
-    <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+    <!-- launching Occupancy map (occupancymap) -->
+    <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+        <remap from="map_refined" to="/map_refined"/>
     </node>
     
-    <!-- launching Interaction manager (interactionmanager) -->
-    <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+    <!-- launching Robot utterances (robotutterances) -->
+    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+    </node>
+    
+    <!-- launching ROS openpose (rosopenpose) -->
+    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
     </node>
     
     <!-- launching High-level planner (highlevelplanner) -->
     <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
     </node>
     
-    <!-- launching Robot functional layer (robotfunctionallayer) -->
-    <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+    <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
+    <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
+        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+        <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
     </node>
     
     <!-- launching Speaker recognition (speakerrecognition) -->
     <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
     </node>
     
-    <!-- launching Robot GUI (robotgui) -->
-    <node pkg="robotgui" name="robotgui" type="node" output="screen">
-    </node>
-    
     <!-- launching Semantic mapping (semanticmapping) -->
     <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
     </node>
     
-    <!-- launching respeaker_ros (respeaker_ros) -->
-    <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
-        <remap from="raw_audio" to="/audio/raw_audio"/>
-    </node>
-    
-    <!-- launching Multi-people tracker (multipeopletracker) -->
-    <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
-        <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
-    </node>
-    
-    <!-- launching Robot utterances (robotutterances) -->
-    <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+    <!-- launching Robot GUI (robotgui) -->
+    <node pkg="robotgui" name="robotgui" type="node" output="screen">
     </node>
     
-    <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
-    <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
-        <remap from="image_raw" to="/camera_head/color/image_raw"/>
+    <!-- launching Speech synthesis (speechsynthesis) -->
+    <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
     </node>
     
     <!-- launching Dialogue manager (dialoguemanager) -->
     <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
     </node>
     
-    <!-- launching ORB SLAM (orbslam) -->
-    <node pkg="orbslam" name="orbslam" type="node" output="screen">
-        <remap from="image_raw" to="/camera_torso/color/image_raw"/>
-        <remap from="map" to="/map"/>
+    <!-- launching Scene understanding (sceneunderstanding) -->
+    <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
     </node>
     
-    <!-- launching ROS openpose (rosopenpose) -->
-    <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+    <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+    <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+        <remap from="image_head" to="/camera_head/color/image_head"/>
+        <remap from="image_torso" to="/camera_torso/color/image_torso"/>
     </node>
     
 
diff --git a/spring-mock-ws/src/springarchitecture/package.xml b/spring-mock-ws/src/springarchitecture/package.xml
index d53047dce9f922cc997dc7fbe07b6babf0117c42..b5669886c2ee8e738dad0ad2e90f84008ec64c85 100644
--- a/spring-mock-ws/src/springarchitecture/package.xml
+++ b/spring-mock-ws/src/springarchitecture/package.xml
@@ -2,48 +2,51 @@
 <package format="3">
     <name>springarchitecture</name>
     <version>0.1.0</version>
-    <description>EU H2020 SPRING architecture. Auto-generated by Boxology 1.1.0.</description>
+    <description>EU H2020 SPRING architecture. Auto-generated by Boxology 1.3.1.</description>
 
     <maintainer email="todo@example.com">TODO</maintainer>
 
     <license>BSD</license>
 
     <buildtool_depend>catkin</buildtool_depend>
-    <depend>sceneunderstanding</depend>
-    <depend>personmanager</depend>
-    <depend>speechsynthesis</depend>
-    <depend>visualslam3dmap</depend>
-    <depend>occupancymap</depend>
-    <depend>soundlocalisation</depend>
-    <depend>userattention</depend>
-    <depend>rgbdcamera_info</depend>
-    <depend>fformation</depend>
+    <depend>objectdetectionidentificationlocalisation</depend>
+    <depend>robotfunctionallayer</depend>
     <depend>people3dtracker</depend>
+    <depend>hri_msgs</depend>
+    <depend>people3dposeestimation</depend>
     <depend>asr</depend>
-    <depend>fisheyestereorgbhead</depend>
-    <depend>usergaze</depend>
-    <depend>speechdiarization</depend>
-    <depend>demographics</depend>
-    <depend>robotnonverbalbehaviours</depend>
-    <depend>nonverbalbehaviours</depend>
+    <depend>userattentionestimation</depend>
     <depend>interactionmanager</depend>
-    <depend>highlevelplanner</depend>
-    <depend>robotfunctionallayer</depend>
-    <depend>maskdetection</depend>
-    <depend>speakerrecognition</depend>
     <depend>body2dpose</depend>
-    <depend>robotgui</depend>
-    <depend>semanticmapping</depend>
-    <depend>activityreco</depend>
-    <depend>facedetection</depend>
+    <depend>robotnonverbalbehaviours</depend>
+    <depend>depthestimationfrommonocular</depend>
+    <depend>softbiometrics</depend>
+    <depend>rgbhead</depend>
+    <depend>personmanager</depend>
+    <depend>rgbdcamera_info</depend>
+    <depend>maskdetection</depend>
+    <depend>soundlocalisation</depend>
     <depend>respeaker_ros</depend>
-    <depend>multipeopletracker</depend>
-    <depend>robotutterances</depend>
-    <depend>objectdetectionidentificationlocalisation</depend>
-    <depend>dialoguemanager</depend>
     <depend>orbslam</depend>
+    <depend>speechdiarization</depend>
+    <depend>facedetection</depend>
+    <depend>occupancymap</depend>
+    <depend>robotutterances</depend>
     <depend>rosopenpose</depend>
-    <depend>facerecognition</depend>
+    <depend>personreidentification</depend>
+    <depend>highlevelplanner</depend>
+    <depend>multipeoplebodytracker</depend>
+    <depend>fformation</depend>
+    <depend>activityreco</depend>
+    <depend>nonverbalbehaviours</depend>
+    <depend>speakerrecognition</depend>
+    <depend>semanticmapping</depend>
+    <depend>robotgui</depend>
+    <depend>speechsynthesis</depend>
+    <depend>dialoguemanager</depend>
+    <depend>sceneunderstanding</depend>
+    <depend>visualslam3dmap</depend>
+    <depend>uservisualfocus</depend>
 
     <export>
 
diff --git a/spring-mock-ws/src/userattention/CMakeLists.txt b/spring-mock-ws/src/userattention/CMakeLists.txt
deleted file mode 100644
index 671332ba00d26f19e49abe5c4511b36c8f48aaf7..0000000000000000000000000000000000000000
--- a/spring-mock-ws/src/userattention/CMakeLists.txt
+++ /dev/null
@@ -1,205 +0,0 @@
-cmake_minimum_required(VERSION 3.0.2)
-project(userattention)
-
-## 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 userattention
-#  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/${PROJECT_NAME}/userattention.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${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_userattention.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/userattention/package.xml b/spring-mock-ws/src/userattention/package.xml
deleted file mode 100644
index bd24c5c0c4b7fe0f9da7d6cfacf59a9417b40503..0000000000000000000000000000000000000000
--- a/spring-mock-ws/src/userattention/package.xml
+++ /dev/null
@@ -1,58 +0,0 @@
-<?xml version="1.0"?>
-<package format="3">
-    <name>userattention</name>
-    <version>1.0.0</version>
-    <description>User attention (UNITN) . Auto-generated by Boxology 1.1.0.</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>
-  <exec_depend>roscpp</exec_depend>
-  <depend>std_msgs</depend>
-
-  <export>
-
-  </export>
-</package>
diff --git a/spring-mock-ws/src/userattention/src/main.cpp b/spring-mock-ws/src/userattention/src/main.cpp
deleted file mode 100644
index 9f98f8e1b637d76dbc8cbd495b917b7f6ff42106..0000000000000000000000000000000000000000
--- a/spring-mock-ws/src/userattention/src/main.cpp
+++ /dev/null
@@ -1,97 +0,0 @@
-/*
- Copyright 2021-2025, SPRING Consortium
-
- Permission is hereby granted, free of charge, to any person obtaining a copy
- of this software and associated documentation files (the "Software"), to deal
- in the Software without restriction, including without limitation the rights
- to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- copies of the Software, and to permit persons to whom the Software is
- furnished to do so, subject to the following conditions:
-
- The above copyright notice and this permission notice shall be included in all
- copies or substantial portions of the Software.
-
- THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
- SOFTWARE.
-*/
-
-
-#include "ros/ros.h"
-#include "std_msgs/String.h"
-#include "std_msgs/Empty.h"
-
-class UserAttention {
-   public:
-    UserAttention(ros::NodeHandle* nh) {
-
-        // ATTENTION: this topic is not defined in the architecture design
-        tfpersons_sub_ = nh->subscribe("tfpersons", 1, &UserAttention::tfpersonsCallback, this);
-        // ATTENTION: this topic is not defined in the architecture design
-        tfbodies_sub_ = nh->subscribe("tfbodies", 1, &UserAttention::tfbodiesCallback, this);
-        // ATTENTION: this topic is not defined in the architecture design
-        gazedirection_sub_ = nh->subscribe("gazedirection", 1, &UserAttention::gazedirectionCallback, this);
-        // ATTENTION: this topic is not defined in the architecture design
-        input_sub_ = nh->subscribe("input", 1, &UserAttention::inputCallback, this);
-        // ATTENTION: this topic is not defined in the architecture design
-        tffaces_sub_ = nh->subscribe("tffaces", 1, &UserAttention::tffacesCallback, this);
-
-        // ATTENTION: this topic is not defined in the architecture design
-        output_pub_ = nh->advertise<std_msgs::Empty>("output", 1);
-        // ATTENTION: this topic is not defined in the architecture design
-        currentattentiveperson_pub_ = nh->advertise<std_msgs::Empty>("currentattentiveperson", 1);
-    }
-
-    ~UserAttention() {}
-
-   private:
-    void tfpersonsCallback(const std_msgs::Empty::ConstPtr& msg)
-    {
-        ROS_INFO_STREAM("userattention: received message: " << msg);
-    }
-    void tfbodiesCallback(const std_msgs::Empty::ConstPtr& msg)
-    {
-        ROS_INFO_STREAM("userattention: received message: " << msg);
-    }
-    void gazedirectionCallback(const std_msgs::Empty::ConstPtr& msg)
-    {
-        ROS_INFO_STREAM("userattention: received message: " << msg);
-    }
-    void inputCallback(const std_msgs::Empty::ConstPtr& msg)
-    {
-        ROS_INFO_STREAM("userattention: received message: " << msg);
-    }
-    void tffacesCallback(const std_msgs::Empty::ConstPtr& msg)
-    {
-        ROS_INFO_STREAM("userattention: received message: " << msg);
-    }
-
-    ros::Subscriber tfpersons_sub_;
-    ros::Subscriber tfbodies_sub_;
-    ros::Subscriber gazedirection_sub_;
-    ros::Subscriber input_sub_;
-    ros::Subscriber tffaces_sub_;
-
-    ros::Publisher output_pub_;
-    ros::Publisher currentattentiveperson_pub_;
-
-};
-
-int main(int argc, char** argv) {
-    ros::init(argc, argv, "userattention");
-
-    // Initialize node parameters from launch file or command line.
-    // Use a private node handle so that multiple instances of the node can be
-    // run simultaneously while using different parameters.
-    ros::NodeHandle private_node_handle_("~");
-
-    auto userattention = UserAttention(&private_node_handle_);
-
-    ROS_INFO("Node userattention launched and ready.");
-    ros::spin();
-    return 0;
-}
diff --git a/spring-mock-ws/src/usergaze/CMakeLists.txt b/spring-mock-ws/src/usergaze/CMakeLists.txt
deleted file mode 100644
index 4d55bf21b286b05e1d0965f500b9c7c2e83345e3..0000000000000000000000000000000000000000
--- a/spring-mock-ws/src/usergaze/CMakeLists.txt
+++ /dev/null
@@ -1,205 +0,0 @@
-cmake_minimum_required(VERSION 3.0.2)
-project(usergaze)
-
-## 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 usergaze
-#  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/${PROJECT_NAME}/usergaze.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${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_usergaze.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/usergaze/package.xml b/spring-mock-ws/src/usergaze/package.xml
deleted file mode 100644
index 04cf803c8fc393080b47c33080e5d33cafc389ea..0000000000000000000000000000000000000000
--- a/spring-mock-ws/src/usergaze/package.xml
+++ /dev/null
@@ -1,58 +0,0 @@
-<?xml version="1.0"?>
-<package format="3">
-    <name>usergaze</name>
-    <version>1.0.0</version>
-    <description>User gaze (UNITN) . Auto-generated by Boxology 1.1.0.</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>
-  <exec_depend>roscpp</exec_depend>
-  <depend>std_msgs</depend>
-
-  <export>
-
-  </export>
-</package>
diff --git a/spring-mock-ws/src/usergaze/src/main.cpp b/spring-mock-ws/src/usergaze/src/main.cpp
deleted file mode 100644
index 6f6e81ae02c57b4989aab461ef717e4b10ac9e14..0000000000000000000000000000000000000000
--- a/spring-mock-ws/src/usergaze/src/main.cpp
+++ /dev/null
@@ -1,73 +0,0 @@
-/*
- Copyright 2021-2025, SPRING Consortium
-
- Permission is hereby granted, free of charge, to any person obtaining a copy
- of this software and associated documentation files (the "Software"), to deal
- in the Software without restriction, including without limitation the rights
- to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- copies of the Software, and to permit persons to whom the Software is
- furnished to do so, subject to the following conditions:
-
- The above copyright notice and this permission notice shall be included in all
- copies or substantial portions of the Software.
-
- THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
- SOFTWARE.
-*/
-
-
-#include "ros/ros.h"
-#include "std_msgs/String.h"
-#include "std_msgs/Empty.h"
-
-class UserGaze {
-   public:
-    UserGaze(ros::NodeHandle* nh) {
-
-        // ATTENTION: this topic is not defined in the architecture design
-        tffaces_sub_ = nh->subscribe("tffaces", 1, &UserGaze::tffacesCallback, this);
-        // ATTENTION: this topic is not defined in the architecture design
-        images_sub_ = nh->subscribe("images", 1, &UserGaze::imagesCallback, this);
-
-        // ATTENTION: this topic is not defined in the architecture design
-        gazedirection_pub_ = nh->advertise<std_msgs::Empty>("gazedirection", 1);
-    }
-
-    ~UserGaze() {}
-
-   private:
-    void tffacesCallback(const std_msgs::Empty::ConstPtr& msg)
-    {
-        ROS_INFO_STREAM("usergaze: received message: " << msg);
-    }
-    void imagesCallback(const std_msgs::Empty::ConstPtr& msg)
-    {
-        ROS_INFO_STREAM("usergaze: received message: " << msg);
-    }
-
-    ros::Subscriber tffaces_sub_;
-    ros::Subscriber images_sub_;
-
-    ros::Publisher gazedirection_pub_;
-
-};
-
-int main(int argc, char** argv) {
-    ros::init(argc, argv, "usergaze");
-
-    // Initialize node parameters from launch file or command line.
-    // Use a private node handle so that multiple instances of the node can be
-    // run simultaneously while using different parameters.
-    ros::NodeHandle private_node_handle_("~");
-
-    auto usergaze = UserGaze(&private_node_handle_);
-
-    ROS_INFO("Node usergaze launched and ready.");
-    ros::spin();
-    return 0;
-}
diff --git a/spring-mock-ws/src/visualslam3dmap/package.xml b/spring-mock-ws/src/visualslam3dmap/package.xml
index 188e2a61e276e6c24fe34185841b92e1974bc294..7c784455906144c3c96f71df495938275c263da8 100644
--- a/spring-mock-ws/src/visualslam3dmap/package.xml
+++ b/spring-mock-ws/src/visualslam3dmap/package.xml
@@ -2,7 +2,7 @@
 <package format="3">
     <name>visualslam3dmap</name>
     <version>1.0.0</version>
-    <description>Visual SLAM + 3D map (CVUT) . Auto-generated by Boxology 1.1.0.</description>
+    <description>Visual SLAM + 3D map (CVUT) . Auto-generated by Boxology 1.3.1.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/spring-mock-ws/src/visualslam3dmap/src/main.cpp b/spring-mock-ws/src/visualslam3dmap/src/main.cpp
index 531826c964bc2c41fef15c363a338951b8bcb475..1b09822439ef823ebeddeca7c286a67ce22de3ee 100644
--- a/spring-mock-ws/src/visualslam3dmap/src/main.cpp
+++ b/spring-mock-ws/src/visualslam3dmap/src/main.cpp
@@ -23,18 +23,18 @@
 
 #include "ros/ros.h"
 #include "std_msgs/String.h"
-#include "std_msgs/Empty.h"
-#include "tf/transform_broadcaster.h"
 #include "sensor_msgs/Image.h"
+#include "tf/transform_broadcaster.h"
+#include "std_msgs/Empty.h"
 
 class VisualSlam3dMap {
    public:
     VisualSlam3dMap(ros::NodeHandle* nh) {
 
-        // ATTENTION: this topic is not defined in the architecture design
-        localisationprior_sub_ = nh->subscribe("localisationprior", 1, &VisualSlam3dMap::localisationpriorCallback, this);
         image_head_sub_ = nh->subscribe("image_head", 1, &VisualSlam3dMap::image_headCallback, this);
         image_torso_sub_ = nh->subscribe("image_torso", 1, &VisualSlam3dMap::image_torsoCallback, this);
+        // ATTENTION: this topic is not defined in the architecture design
+        localisationprior_sub_ = nh->subscribe("localisationprior", 1, &VisualSlam3dMap::localisationpriorCallback, this);
 
         // ATTENTION: this topic is not defined in the architecture design
         dense3dmap_pub_ = nh->advertise<std_msgs::Empty>("dense3dmap", 1);
@@ -43,22 +43,22 @@ class VisualSlam3dMap {
     ~VisualSlam3dMap() {}
 
    private:
-    void localisationpriorCallback(const std_msgs::Empty::ConstPtr& msg)
+    void image_headCallback(const sensor_msgs::Image::ConstPtr& msg)
     {
         ROS_INFO_STREAM("visualslam3dmap: received message: " << msg);
     }
-    void image_headCallback(const sensor_msgs::Image::ConstPtr& msg)
+    void image_torsoCallback(const sensor_msgs::Image::ConstPtr& msg)
     {
         ROS_INFO_STREAM("visualslam3dmap: received message: " << msg);
     }
-    void image_torsoCallback(const sensor_msgs::Image::ConstPtr& msg)
+    void localisationpriorCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("visualslam3dmap: received message: " << msg);
     }
 
-    ros::Subscriber localisationprior_sub_;
     ros::Subscriber image_head_sub_;
     ros::Subscriber image_torso_sub_;
+    ros::Subscriber localisationprior_sub_;
 
     ros::Publisher dense3dmap_pub_;