It may be a good idea to review the definition of "navigation".
Considering the expansion of the features of service robots of these days, the current definition of "navigation" in this document is too limited.
This document only defines navigation as navigating another agent to the indicated goal point. These days, there are some other "navigation" tasks that robots can do.

Some arrows in Figure B.1 are not aligned to the destination boxes.

The description of "person detection" component says "Detects number of people", but Figure 8.14 shows the flow that firstly returns if there are people.
There is a conflict between them.

In Table 8.48, there is one he/she expression in the second sentence.
For diversity perspective, it should be replaced with "user" like the other parts.

Paragraphs in p.10 and p.36 are identical.
The duplicated one in p.36 should be simplified and moved into following four sections.

Titles of Table 8.39 and 8.40 are different from those in their rdfs:label columns. They should be fixed.

It is hard to understand the steps for HRI Engine to choose appropriate sub HRI Engine.
There should be more specific explanation.

There is a lack of definitions of vocabularies to define parameters of RoIS component functions and it causes insufficience in some of the use cases.
More vocabularies should be defined.

(This issue is identical to ROSO11-4, and the resolution in RoSO 1.1 RTF is expected to be reflected into RoIS 2.0 FTF.)

As 'hasTimeLimit' is defined in RoSO 1.0 FTF, descriptions of RoIS components to be updated with it.

The current document already defines the events detected from environments by functional components and the actions caused in the environments by functional components.
However, there is a lack of definitions of vocabulary to describe the events notified to services and the actions requested from services.
Therefore, it is currently impossible to describe relationships between the environment, components, and services.

(This issue is identical to ROSO11-2, and the resolution in RoSO 1.1 RTF is expected to be reflected into RoIS 2.0 FTF.)

Relationships between function/component and event/action are not described.
To describe them, vocabularies such as 'detects' and 'causes' have to be defined.

(This issue is identical to ROSO11-3, and the resolution in RoSO 1.1 RTF is expected to be reflected into RoIS 2.0 FTF.)

Relationship among Robotic Service and Service Robot including the viewpoint of Robotic Interaction Service to be described in the overview section.