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.

Explanation of "navigation" component to be revised but needs further discussion regarding RoIS extension.

As the RoIS extension (in RFI phase) discusses mobility components, including Navigation, the revision of such components is deferred to the RoIS extension or future RoIS RTFs.

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

*Figure B.1 replaced to align some arrows on the destination boxes. *

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.

Description of "person detection" modified to avoid inconsistency.

The first sentence of the description is modified by deleting "number of". As shown in Figure 8.14, the component does not detect "the number of persons" but "existence of persons" as its primary functionality, even though it reports the number of detected persons in event messages.

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.

Replace "he/she" with "user."

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

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

Editorial fix of the inconsistent table titles.

Fix the table titles with those described in the rdfs:label columns in the table, replacing ‘Functional’ to ‘Interaction’ editorially.

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.)

Adoption of updates in RoSO 1.1 RTF to be merged to ROIS2-2

As well as ROIS2-3, this issue is the adoption of updates in RoSO 1.1 RTF so to be merged to ROIS2-2.

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

Use of sub-engines to be explained.

It is difficult to understand the steps for HRI Engine to choose appropriate sub HRI Engine.
The architecture between applications and hierarchical engines is being discussed in RoIS extension and, therefore, will be deferred to the next RTF for further consideration.

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

Synchronization with RoSO 1.0 FTF and RoSO 1.1 RTF updates

The definition of 'hasTimeLimit' is slightly modified in RoSO 1.0 FTF, the definition in Table 8.40 should be updated to synchronize with the revision.
Such kind of synchronization can be merged under ROIS2-4.

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

Robotic interaction service to be explained in overview.

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

As RoSO proposed to extend RoIS by supporting its definition with ontology, the overview of the RoIS and related sentences to be written not to limit the service fields and component functions.

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.)

Adoption of updates in RoSO 1.1 RTF on repationships between function/component, event/action and parameters.

Changes in RoSO 1.1 RTF to be adopted to RoIS 2.0 FTF.

ROSO11-2 (CommandExecution/executes, EventNotification/notifies) can be used to describe relationships between components and events.
RoSO11-4 (parameters) updates example descriptions of RoIS components.

Table 8.40 is replaced with that in attached pdf to reflect changes in RoSO 1.1 RTF.

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.)

Adoption of updates in RoSO 1.1 RTF on repationships between function/component and event/action to be merged to ROIS2-2

This issue is to be merged with ROIS2-2.
The terms 'detects' and 'causes' have already been adopted in the RoSO 1.0 FTF, and then being updated with 'notifies' and 'executes.'
As both ROIS2-2 and ROIS2-3 are the adoption of those updates in RoSO 1.1 RTF, this issue is to be merged with ROIS2-2.

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

Duplicated descriptions for profiles to be moved into following subsections.

Paragraphs in p.10 and p.36 are identical. The duplicated one on p.36 (8.3.1 overview) to be simplified and detailed descriptions to be moved into the following four sections.