ROS-REP.md

@@ -26,18 +26,15 @@ situations.
 Rationale
 =========
 
-There are a lot of developers around the world using ROS in contexts involving interactions with human partners.
-As such there are also many different implementations which
-are similiar but not exactly compatible. A short list of existing known
-bridges and implementations follows:
+ROS is widely used in the context of human-robot interactions (HRI). However, to date, not a single effort has been successful at coming up with broadly accepted interfaces and pipelines for that domain, as found in other parts of the ROS ecosystem (for manipulation or 2D navigation for instance). As a result, many different implementations of common tasks (skeleton tracking, face recognition, speech processing, etc) cohabit, and while they achieve similar goals, they are not generally compatible, hampering the code reusability, experiment replicability, and general sharing of knowledge.
 
-- ...
-- ...
+In order to address this issue, the ROS4HRI project aims at:
+- creating an adequate set of ROS messages and services to describe the software interactions relevant to the HRI domain;
+- identifying state-of-the-art algorithms relevant to HRI, and with available open-source implementations;
+- developping specific ROS wrappers for these modules, as needed;
+- structuring the whole "ROS for HRI" space by formalising above interfaces and pipeline into an official REP.
 
-Due to a lack of common interfaces the majority of the above packages
-cannot be used together. By implementing common interfaces elements of
-each package can be used in conjunction with elements of a different
-package. This will allow much better collaboration between projects and
+This will allow much better collaboration between projects and
 allow a reduction in duplicate efforts to implement the same
 functionality.