diff --git a/backend/js/ros_scripts.js b/backend/js/ros_scripts.js
index 86750f8..59078dc 100644
--- a/backend/js/ros_scripts.js
+++ b/backend/js/ros_scripts.js
@@ -30,7 +30,7 @@ ros.on('connection', function() {
   document.getElementById("ConnectionIPInput").value = ros.connectionName;
   document.getElementById("ConnectionIPLabel").innerHTML = 'Connection made at:';
   document.getElementById("rosbridgeconnection_badge").innerHTML = 'Connected';
-  document.getElementById("ConnectionButton").className = "btn btn-success"
+  document.getElementById("ConnectionButton").className = "btn btn-success";
 
   ros.nodes = Array();
   ros.topics = Array();
@@ -48,7 +48,7 @@ ros.on('close', function() {
   ros.topics = Array();
 });
 // Create a connection to the rosbridge WebSocket server.
-ros.connect(ros.connectionName);
+//ros.connect(ros.connectionName);
 
 
 ///////////////////////////////////////////////////////////////////////////////////
diff --git a/backend/js/update_guis.js b/backend/js/update_guis.js
index ae3549d..747b502 100644
--- a/backend/js/update_guis.js
+++ b/backend/js/update_guis.js
@@ -66,7 +66,6 @@ function updateTopicsGUI()
                 });
 
   var topics = ros.topics;
-  topics.sort()
 
   if(topics != null){
     var innerHTML = "";
diff --git a/coordinator/coordinator.html b/coordinator/coordinator.html
index cffdcda..75e0190 100644
--- a/coordinator/coordinator.html
+++ b/coordinator/coordinator.html
@@ -8,7 +8,7 @@
                 Teaching Mode
             </button>
             <button id="executionModeButton" type="button" onclick="triggerService('/aescape/mode/activateExecutionController')" class="btn btn-primary">
-                Execution Mode
+                Massage Mode
             </button>
             <button id="standbyModeButton" type="button" onclick="triggerService('/aescape/mode/activateStandbyController')" class="btn btn-primary">
                 Standby Mode
diff --git a/include/js/roslib.js b/include/js/roslib.js
index 645e59f..b7ce072 100644
--- a/include/js/roslib.js
+++ b/include/js/roslib.js
@@ -1,43 +1,1564 @@
-(function e(t,n,r){function s(o,u){if(!n[o]){if(!t[o]){var a=typeof require=="function"&&require;if(!u&&a)return a(o,!0);if(i)return i(o,!0);var f=new Error("Cannot find module '"+o+"'");throw f.code="MODULE_NOT_FOUND",f}var l=n[o]={exports:{}};t[o][0].call(l.exports,function(e){var n=t[o][1][e];return s(n?n:e)},l,l.exports,e,t,n,r)}return n[o].exports}var i=typeof require=="function"&&require;for(var o=0;o<r.length;o++)s(r[o]);return s})({1:[function(require,module,exports){
-'use strict';
+(function(){function r(e,n,t){function o(i,f){if(!n[i]){if(!e[i]){var c="function"==typeof require&&require;if(!f&&c)return c(i,!0);if(u)return u(i,!0);var a=new Error("Cannot find module '"+i+"'");throw a.code="MODULE_NOT_FOUND",a}var p=n[i]={exports:{}};e[i][0].call(p.exports,function(r){var n=e[i][1][r];return o(n||r)},p,p.exports,r,e,n,t)}return n[i].exports}for(var u="function"==typeof require&&require,i=0;i<t.length;i++)o(t[i]);return o}return r})()({1:[function(require,module,exports){
+/*
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2014 Patrick Gansterer <paroga@paroga.com>
+ *
+ * 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.
+ */
+
+(function(global, undefined) { "use strict";
+var POW_2_24 = Math.pow(2, -24),
+    POW_2_32 = Math.pow(2, 32),
+    POW_2_53 = Math.pow(2, 53);
+
+function encode(value) {
+  var data = new ArrayBuffer(256);
+  var dataView = new DataView(data);
+  var lastLength;
+  var offset = 0;
+
+  function ensureSpace(length) {
+    var newByteLength = data.byteLength;
+    var requiredLength = offset + length;
+    while (newByteLength < requiredLength)
+      newByteLength *= 2;
+    if (newByteLength !== data.byteLength) {
+      var oldDataView = dataView;
+      data = new ArrayBuffer(newByteLength);
+      dataView = new DataView(data);
+      var uint32count = (offset + 3) >> 2;
+      for (var i = 0; i < uint32count; ++i)
+        dataView.setUint32(i * 4, oldDataView.getUint32(i * 4));
+    }
+
+    lastLength = length;
+    return dataView;
+  }
+  function write() {
+    offset += lastLength;
+  }
+  function writeFloat64(value) {
+    write(ensureSpace(8).setFloat64(offset, value));
+  }
+  function writeUint8(value) {
+    write(ensureSpace(1).setUint8(offset, value));
+  }
+  function writeUint8Array(value) {
+    var dataView = ensureSpace(value.length);
+    for (var i = 0; i < value.length; ++i)
+      dataView.setUint8(offset + i, value[i]);
+    write();
+  }
+  function writeUint16(value) {
+    write(ensureSpace(2).setUint16(offset, value));
+  }
+  function writeUint32(value) {
+    write(ensureSpace(4).setUint32(offset, value));
+  }
+  function writeUint64(value) {
+    var low = value % POW_2_32;
+    var high = (value - low) / POW_2_32;
+    var dataView = ensureSpace(8);
+    dataView.setUint32(offset, high);
+    dataView.setUint32(offset + 4, low);
+    write();
+  }
+  function writeTypeAndLength(type, length) {
+    if (length < 24) {
+      writeUint8(type << 5 | length);
+    } else if (length < 0x100) {
+      writeUint8(type << 5 | 24);
+      writeUint8(length);
+    } else if (length < 0x10000) {
+      writeUint8(type << 5 | 25);
+      writeUint16(length);
+    } else if (length < 0x100000000) {
+      writeUint8(type << 5 | 26);
+      writeUint32(length);
+    } else {
+      writeUint8(type << 5 | 27);
+      writeUint64(length);
+    }
+  }
+  
+  function encodeItem(value) {
+    var i;
+
+    if (value === false)
+      return writeUint8(0xf4);
+    if (value === true)
+      return writeUint8(0xf5);
+    if (value === null)
+      return writeUint8(0xf6);
+    if (value === undefined)
+      return writeUint8(0xf7);
+  
+    switch (typeof value) {
+      case "number":
+        if (Math.floor(value) === value) {
+          if (0 <= value && value <= POW_2_53)
+            return writeTypeAndLength(0, value);
+          if (-POW_2_53 <= value && value < 0)
+            return writeTypeAndLength(1, -(value + 1));
+        }
+        writeUint8(0xfb);
+        return writeFloat64(value);
+
+      case "string":
+        var utf8data = [];
+        for (i = 0; i < value.length; ++i) {
+          var charCode = value.charCodeAt(i);
+          if (charCode < 0x80) {
+            utf8data.push(charCode);
+          } else if (charCode < 0x800) {
+            utf8data.push(0xc0 | charCode >> 6);
+            utf8data.push(0x80 | charCode & 0x3f);
+          } else if (charCode < 0xd800) {
+            utf8data.push(0xe0 | charCode >> 12);
+            utf8data.push(0x80 | (charCode >> 6)  & 0x3f);
+            utf8data.push(0x80 | charCode & 0x3f);
+          } else {
+            charCode = (charCode & 0x3ff) << 10;
+            charCode |= value.charCodeAt(++i) & 0x3ff;
+            charCode += 0x10000;
+
+            utf8data.push(0xf0 | charCode >> 18);
+            utf8data.push(0x80 | (charCode >> 12)  & 0x3f);
+            utf8data.push(0x80 | (charCode >> 6)  & 0x3f);
+            utf8data.push(0x80 | charCode & 0x3f);
+          }
+        }
+
+        writeTypeAndLength(3, utf8data.length);
+        return writeUint8Array(utf8data);
+
+      default:
+        var length;
+        if (Array.isArray(value)) {
+          length = value.length;
+          writeTypeAndLength(4, length);
+          for (i = 0; i < length; ++i)
+            encodeItem(value[i]);
+        } else if (value instanceof Uint8Array) {
+          writeTypeAndLength(2, value.length);
+          writeUint8Array(value);
+        } else {
+          var keys = Object.keys(value);
+          length = keys.length;
+          writeTypeAndLength(5, length);
+          for (i = 0; i < length; ++i) {
+            var key = keys[i];
+            encodeItem(key);
+            encodeItem(value[key]);
+          }
+        }
+    }
+  }
+  
+  encodeItem(value);
+
+  if ("slice" in data)
+    return data.slice(0, offset);
+  
+  var ret = new ArrayBuffer(offset);
+  var retView = new DataView(ret);
+  for (var i = 0; i < offset; ++i)
+    retView.setUint8(i, dataView.getUint8(i));
+  return ret;
+}
+
+function decode(data, tagger, simpleValue) {
+  var dataView = new DataView(data);
+  var offset = 0;
+  
+  if (typeof tagger !== "function")
+    tagger = function(value) { return value; };
+  if (typeof simpleValue !== "function")
+    simpleValue = function() { return undefined; };
+
+  function read(value, length) {
+    offset += length;
+    return value;
+  }
+  function readArrayBuffer(length) {
+    return read(new Uint8Array(data, offset, length), length);
+  }
+  function readFloat16() {
+    var tempArrayBuffer = new ArrayBuffer(4);
+    var tempDataView = new DataView(tempArrayBuffer);
+    var value = readUint16();
+
+    var sign = value & 0x8000;
+    var exponent = value & 0x7c00;
+    var fraction = value & 0x03ff;
+    
+    if (exponent === 0x7c00)
+      exponent = 0xff << 10;
+    else if (exponent !== 0)
+      exponent += (127 - 15) << 10;
+    else if (fraction !== 0)
+      return fraction * POW_2_24;
+    
+    tempDataView.setUint32(0, sign << 16 | exponent << 13 | fraction << 13);
+    return tempDataView.getFloat32(0);
+  }
+  function readFloat32() {
+    return read(dataView.getFloat32(offset), 4);
+  }
+  function readFloat64() {
+    return read(dataView.getFloat64(offset), 8);
+  }
+  function readUint8() {
+    return read(dataView.getUint8(offset), 1);
+  }
+  function readUint16() {
+    return read(dataView.getUint16(offset), 2);
+  }
+  function readUint32() {
+    return read(dataView.getUint32(offset), 4);
+  }
+  function readUint64() {
+    return readUint32() * POW_2_32 + readUint32();
+  }
+  function readBreak() {
+    if (dataView.getUint8(offset) !== 0xff)
+      return false;
+    offset += 1;
+    return true;
+  }
+  function readLength(additionalInformation) {
+    if (additionalInformation < 24)
+      return additionalInformation;
+    if (additionalInformation === 24)
+      return readUint8();
+    if (additionalInformation === 25)
+      return readUint16();
+    if (additionalInformation === 26)
+      return readUint32();
+    if (additionalInformation === 27)
+      return readUint64();
+    if (additionalInformation === 31)
+      return -1;
+    throw "Invalid length encoding";
+  }
+  function readIndefiniteStringLength(majorType) {
+    var initialByte = readUint8();
+    if (initialByte === 0xff)
+      return -1;
+    var length = readLength(initialByte & 0x1f);
+    if (length < 0 || (initialByte >> 5) !== majorType)
+      throw "Invalid indefinite length element";
+    return length;
+  }
+
+  function appendUtf16data(utf16data, length) {
+    for (var i = 0; i < length; ++i) {
+      var value = readUint8();
+      if (value & 0x80) {
+        if (value < 0xe0) {
+          value = (value & 0x1f) <<  6
+                | (readUint8() & 0x3f);
+          length -= 1;
+        } else if (value < 0xf0) {
+          value = (value & 0x0f) << 12
+                | (readUint8() & 0x3f) << 6
+                | (readUint8() & 0x3f);
+          length -= 2;
+        } else {
+          value = (value & 0x0f) << 18
+                | (readUint8() & 0x3f) << 12
+                | (readUint8() & 0x3f) << 6
+                | (readUint8() & 0x3f);
+          length -= 3;
+        }
+      }
+
+      if (value < 0x10000) {
+        utf16data.push(value);
+      } else {
+        value -= 0x10000;
+        utf16data.push(0xd800 | (value >> 10));
+        utf16data.push(0xdc00 | (value & 0x3ff));
+      }
+    }
+  }
+
+  function decodeItem() {
+    var initialByte = readUint8();
+    var majorType = initialByte >> 5;
+    var additionalInformation = initialByte & 0x1f;
+    var i;
+    var length;
+
+    if (majorType === 7) {
+      switch (additionalInformation) {
+        case 25:
+          return readFloat16();
+        case 26:
+          return readFloat32();
+        case 27:
+          return readFloat64();
+      }
+    }
+
+    length = readLength(additionalInformation);
+    if (length < 0 && (majorType < 2 || 6 < majorType))
+      throw "Invalid length";
+
+    switch (majorType) {
+      case 0:
+        return length;
+      case 1:
+        return -1 - length;
+      case 2:
+        if (length < 0) {
+          var elements = [];
+          var fullArrayLength = 0;
+          while ((length = readIndefiniteStringLength(majorType)) >= 0) {
+            fullArrayLength += length;
+            elements.push(readArrayBuffer(length));
+          }
+          var fullArray = new Uint8Array(fullArrayLength);
+          var fullArrayOffset = 0;
+          for (i = 0; i < elements.length; ++i) {
+            fullArray.set(elements[i], fullArrayOffset);
+            fullArrayOffset += elements[i].length;
+          }
+          return fullArray;
+        }
+        return readArrayBuffer(length);
+      case 3:
+        var utf16data = [];
+        if (length < 0) {
+          while ((length = readIndefiniteStringLength(majorType)) >= 0)
+            appendUtf16data(utf16data, length);
+        } else
+          appendUtf16data(utf16data, length);
+        return String.fromCharCode.apply(null, utf16data);
+      case 4:
+        var retArray;
+        if (length < 0) {
+          retArray = [];
+          while (!readBreak())
+            retArray.push(decodeItem());
+        } else {
+          retArray = new Array(length);
+          for (i = 0; i < length; ++i)
+            retArray[i] = decodeItem();
+        }
+        return retArray;
+      case 5:
+        var retObject = {};
+        for (i = 0; i < length || length < 0 && !readBreak(); ++i) {
+          var key = decodeItem();
+          retObject[key] = decodeItem();
+        }
+        return retObject;
+      case 6:
+        return tagger(decodeItem(), length);
+      case 7:
+        switch (length) {
+          case 20:
+            return false;
+          case 21:
+            return true;
+          case 22:
+            return null;
+          case 23:
+            return undefined;
+          default:
+            return simpleValue(length);
+        }
+    }
+  }
+
+  var ret = decodeItem();
+  if (offset !== data.byteLength)
+    throw "Remaining bytes";
+  return ret;
+}
+
+var obj = { encode: encode, decode: decode };
+
+if (typeof define === "function" && define.amd)
+  define("cbor/cbor", obj);
+else if (typeof module !== 'undefined' && module.exports)
+  module.exports = obj;
+else if (!global.CBOR)
+  global.CBOR = obj;
+
+})(this);
 
-function ToObject(val) {
-	if (val == null) {
+},{}],2:[function(require,module,exports){
+(function (process){
+/*!
+ * EventEmitter2
+ * https://github.com/hij1nx/EventEmitter2
+ *
+ * Copyright (c) 2013 hij1nx
+ * Licensed under the MIT license.
+ */
+;!function(undefined) {
+
+  var isArray = Array.isArray ? Array.isArray : function _isArray(obj) {
+    return Object.prototype.toString.call(obj) === "[object Array]";
+  };
+  var defaultMaxListeners = 10;
+
+  function init() {
+    this._events = {};
+    if (this._conf) {
+      configure.call(this, this._conf);
+    }
+  }
+
+  function configure(conf) {
+    if (conf) {
+      this._conf = conf;
+
+      conf.delimiter && (this.delimiter = conf.delimiter);
+      this._maxListeners = conf.maxListeners !== undefined ? conf.maxListeners : defaultMaxListeners;
+
+      conf.wildcard && (this.wildcard = conf.wildcard);
+      conf.newListener && (this.newListener = conf.newListener);
+      conf.verboseMemoryLeak && (this.verboseMemoryLeak = conf.verboseMemoryLeak);
+
+      if (this.wildcard) {
+        this.listenerTree = {};
+      }
+    } else {
+      this._maxListeners = defaultMaxListeners;
+    }
+  }
+
+  function logPossibleMemoryLeak(count, eventName) {
+    var errorMsg = '(node) warning: possible EventEmitter memory ' +
+        'leak detected. ' + count + ' listeners added. ' +
+        'Use emitter.setMaxListeners() to increase limit.';
+
+    if(this.verboseMemoryLeak){
+      errorMsg += ' Event name: ' + eventName + '.';
+    }
+
+    if(typeof process !== 'undefined' && process.emitWarning){
+      var e = new Error(errorMsg);
+      e.name = 'MaxListenersExceededWarning';
+      e.emitter = this;
+      e.count = count;
+      process.emitWarning(e);
+    } else {
+      console.error(errorMsg);
+
+      if (console.trace){
+        console.trace();
+      }
+    }
+  }
+
+  function EventEmitter(conf) {
+    this._events = {};
+    this.newListener = false;
+    this.verboseMemoryLeak = false;
+    configure.call(this, conf);
+  }
+  EventEmitter.EventEmitter2 = EventEmitter; // backwards compatibility for exporting EventEmitter property
+
+  //
+  // Attention, function return type now is array, always !
+  // It has zero elements if no any matches found and one or more
+  // elements (leafs) if there are matches
+  //
+  function searchListenerTree(handlers, type, tree, i) {
+    if (!tree) {
+      return [];
+    }
+    var listeners=[], leaf, len, branch, xTree, xxTree, isolatedBranch, endReached,
+        typeLength = type.length, currentType = type[i], nextType = type[i+1];
+    if (i === typeLength && tree._listeners) {
+      //
+      // If at the end of the event(s) list and the tree has listeners
+      // invoke those listeners.
+      //
+      if (typeof tree._listeners === 'function') {
+        handlers && handlers.push(tree._listeners);
+        return [tree];
+      } else {
+        for (leaf = 0, len = tree._listeners.length; leaf < len; leaf++) {
+          handlers && handlers.push(tree._listeners[leaf]);
+        }
+        return [tree];
+      }
+    }
+
+    if ((currentType === '*' || currentType === '**') || tree[currentType]) {
+      //
+      // If the event emitted is '*' at this part
+      // or there is a concrete match at this patch
+      //
+      if (currentType === '*') {
+        for (branch in tree) {
+          if (branch !== '_listeners' && tree.hasOwnProperty(branch)) {
+            listeners = listeners.concat(searchListenerTree(handlers, type, tree[branch], i+1));
+          }
+        }
+        return listeners;
+      } else if(currentType === '**') {
+        endReached = (i+1 === typeLength || (i+2 === typeLength && nextType === '*'));
+        if(endReached && tree._listeners) {
+          // The next element has a _listeners, add it to the handlers.
+          listeners = listeners.concat(searchListenerTree(handlers, type, tree, typeLength));
+        }
+
+        for (branch in tree) {
+          if (branch !== '_listeners' && tree.hasOwnProperty(branch)) {
+            if(branch === '*' || branch === '**') {
+              if(tree[branch]._listeners && !endReached) {
+                listeners = listeners.concat(searchListenerTree(handlers, type, tree[branch], typeLength));
+              }
+              listeners = listeners.concat(searchListenerTree(handlers, type, tree[branch], i));
+            } else if(branch === nextType) {
+              listeners = listeners.concat(searchListenerTree(handlers, type, tree[branch], i+2));
+            } else {
+              // No match on this one, shift into the tree but not in the type array.
+              listeners = listeners.concat(searchListenerTree(handlers, type, tree[branch], i));
+            }
+          }
+        }
+        return listeners;
+      }
+
+      listeners = listeners.concat(searchListenerTree(handlers, type, tree[currentType], i+1));
+    }
+
+    xTree = tree['*'];
+    if (xTree) {
+      //
+      // If the listener tree will allow any match for this part,
+      // then recursively explore all branches of the tree
+      //
+      searchListenerTree(handlers, type, xTree, i+1);
+    }
+
+    xxTree = tree['**'];
+    if(xxTree) {
+      if(i < typeLength) {
+        if(xxTree._listeners) {
+          // If we have a listener on a '**', it will catch all, so add its handler.
+          searchListenerTree(handlers, type, xxTree, typeLength);
+        }
+
+        // Build arrays of matching next branches and others.
+        for(branch in xxTree) {
+          if(branch !== '_listeners' && xxTree.hasOwnProperty(branch)) {
+            if(branch === nextType) {
+              // We know the next element will match, so jump twice.
+              searchListenerTree(handlers, type, xxTree[branch], i+2);
+            } else if(branch === currentType) {
+              // Current node matches, move into the tree.
+              searchListenerTree(handlers, type, xxTree[branch], i+1);
+            } else {
+              isolatedBranch = {};
+              isolatedBranch[branch] = xxTree[branch];
+              searchListenerTree(handlers, type, { '**': isolatedBranch }, i+1);
+            }
+          }
+        }
+      } else if(xxTree._listeners) {
+        // We have reached the end and still on a '**'
+        searchListenerTree(handlers, type, xxTree, typeLength);
+      } else if(xxTree['*'] && xxTree['*']._listeners) {
+        searchListenerTree(handlers, type, xxTree['*'], typeLength);
+      }
+    }
+
+    return listeners;
+  }
+
+  function growListenerTree(type, listener) {
+
+    type = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
+
+    //
+    // Looks for two consecutive '**', if so, don't add the event at all.
+    //
+    for(var i = 0, len = type.length; i+1 < len; i++) {
+      if(type[i] === '**' && type[i+1] === '**') {
+        return;
+      }
+    }
+
+    var tree = this.listenerTree;
+    var name = type.shift();
+
+    while (name !== undefined) {
+
+      if (!tree[name]) {
+        tree[name] = {};
+      }
+
+      tree = tree[name];
+
+      if (type.length === 0) {
+
+        if (!tree._listeners) {
+          tree._listeners = listener;
+        }
+        else {
+          if (typeof tree._listeners === 'function') {
+            tree._listeners = [tree._listeners];
+          }
+
+          tree._listeners.push(listener);
+
+          if (
+            !tree._listeners.warned &&
+            this._maxListeners > 0 &&
+            tree._listeners.length > this._maxListeners
+          ) {
+            tree._listeners.warned = true;
+            logPossibleMemoryLeak.call(this, tree._listeners.length, name);
+          }
+        }
+        return true;
+      }
+      name = type.shift();
+    }
+    return true;
+  }
+
+  // By default EventEmitters will print a warning if more than
+  // 10 listeners are added to it. This is a useful default which
+  // helps finding memory leaks.
+  //
+  // Obviously not all Emitters should be limited to 10. This function allows
+  // that to be increased. Set to zero for unlimited.
+
+  EventEmitter.prototype.delimiter = '.';
+
+  EventEmitter.prototype.setMaxListeners = function(n) {
+    if (n !== undefined) {
+      this._maxListeners = n;
+      if (!this._conf) this._conf = {};
+      this._conf.maxListeners = n;
+    }
+  };
+
+  EventEmitter.prototype.event = '';
+
+
+  EventEmitter.prototype.once = function(event, fn) {
+    return this._once(event, fn, false);
+  };
+
+  EventEmitter.prototype.prependOnceListener = function(event, fn) {
+    return this._once(event, fn, true);
+  };
+
+  EventEmitter.prototype._once = function(event, fn, prepend) {
+    this._many(event, 1, fn, prepend);
+    return this;
+  };
+
+  EventEmitter.prototype.many = function(event, ttl, fn) {
+    return this._many(event, ttl, fn, false);
+  }
+
+  EventEmitter.prototype.prependMany = function(event, ttl, fn) {
+    return this._many(event, ttl, fn, true);
+  }
+
+  EventEmitter.prototype._many = function(event, ttl, fn, prepend) {
+    var self = this;
+
+    if (typeof fn !== 'function') {
+      throw new Error('many only accepts instances of Function');
+    }
+
+    function listener() {
+      if (--ttl === 0) {
+        self.off(event, listener);
+      }
+      return fn.apply(this, arguments);
+    }
+
+    listener._origin = fn;
+
+    this._on(event, listener, prepend);
+
+    return self;
+  };
+
+  EventEmitter.prototype.emit = function() {
+
+    this._events || init.call(this);
+
+    var type = arguments[0];
+
+    if (type === 'newListener' && !this.newListener) {
+      if (!this._events.newListener) {
+        return false;
+      }
+    }
+
+    var al = arguments.length;
+    var args,l,i,j;
+    var handler;
+
+    if (this._all && this._all.length) {
+      handler = this._all.slice();
+      if (al > 3) {
+        args = new Array(al);
+        for (j = 0; j < al; j++) args[j] = arguments[j];
+      }
+
+      for (i = 0, l = handler.length; i < l; i++) {
+        this.event = type;
+        switch (al) {
+        case 1:
+          handler[i].call(this, type);
+          break;
+        case 2:
+          handler[i].call(this, type, arguments[1]);
+          break;
+        case 3:
+          handler[i].call(this, type, arguments[1], arguments[2]);
+          break;
+        default:
+          handler[i].apply(this, args);
+        }
+      }
+    }
+
+    if (this.wildcard) {
+      handler = [];
+      var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
+      searchListenerTree.call(this, handler, ns, this.listenerTree, 0);
+    } else {
+      handler = this._events[type];
+      if (typeof handler === 'function') {
+        this.event = type;
+        switch (al) {
+        case 1:
+          handler.call(this);
+          break;
+        case 2:
+          handler.call(this, arguments[1]);
+          break;
+        case 3:
+          handler.call(this, arguments[1], arguments[2]);
+          break;
+        default:
+          args = new Array(al - 1);
+          for (j = 1; j < al; j++) args[j - 1] = arguments[j];
+          handler.apply(this, args);
+        }
+        return true;
+      } else if (handler) {
+        // need to make copy of handlers because list can change in the middle
+        // of emit call
+        handler = handler.slice();
+      }
+    }
+
+    if (handler && handler.length) {
+      if (al > 3) {
+        args = new Array(al - 1);
+        for (j = 1; j < al; j++) args[j - 1] = arguments[j];
+      }
+      for (i = 0, l = handler.length; i < l; i++) {
+        this.event = type;
+        switch (al) {
+        case 1:
+          handler[i].call(this);
+          break;
+        case 2:
+          handler[i].call(this, arguments[1]);
+          break;
+        case 3:
+          handler[i].call(this, arguments[1], arguments[2]);
+          break;
+        default:
+          handler[i].apply(this, args);
+        }
+      }
+      return true;
+    } else if (!this._all && type === 'error') {
+      if (arguments[1] instanceof Error) {
+        throw arguments[1]; // Unhandled 'error' event
+      } else {
+        throw new Error("Uncaught, unspecified 'error' event.");
+      }
+      return false;
+    }
+
+    return !!this._all;
+  };
+
+  EventEmitter.prototype.emitAsync = function() {
+
+    this._events || init.call(this);
+
+    var type = arguments[0];
+
+    if (type === 'newListener' && !this.newListener) {
+        if (!this._events.newListener) { return Promise.resolve([false]); }
+    }
+
+    var promises= [];
+
+    var al = arguments.length;
+    var args,l,i,j;
+    var handler;
+
+    if (this._all) {
+      if (al > 3) {
+        args = new Array(al);
+        for (j = 1; j < al; j++) args[j] = arguments[j];
+      }
+      for (i = 0, l = this._all.length; i < l; i++) {
+        this.event = type;
+        switch (al) {
+        case 1:
+          promises.push(this._all[i].call(this, type));
+          break;
+        case 2:
+          promises.push(this._all[i].call(this, type, arguments[1]));
+          break;
+        case 3:
+          promises.push(this._all[i].call(this, type, arguments[1], arguments[2]));
+          break;
+        default:
+          promises.push(this._all[i].apply(this, args));
+        }
+      }
+    }
+
+    if (this.wildcard) {
+      handler = [];
+      var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
+      searchListenerTree.call(this, handler, ns, this.listenerTree, 0);
+    } else {
+      handler = this._events[type];
+    }
+
+    if (typeof handler === 'function') {
+      this.event = type;
+      switch (al) {
+      case 1:
+        promises.push(handler.call(this));
+        break;
+      case 2:
+        promises.push(handler.call(this, arguments[1]));
+        break;
+      case 3:
+        promises.push(handler.call(this, arguments[1], arguments[2]));
+        break;
+      default:
+        args = new Array(al - 1);
+        for (j = 1; j < al; j++) args[j - 1] = arguments[j];
+        promises.push(handler.apply(this, args));
+      }
+    } else if (handler && handler.length) {
+      handler = handler.slice();
+      if (al > 3) {
+        args = new Array(al - 1);
+        for (j = 1; j < al; j++) args[j - 1] = arguments[j];
+      }
+      for (i = 0, l = handler.length; i < l; i++) {
+        this.event = type;
+        switch (al) {
+        case 1:
+          promises.push(handler[i].call(this));
+          break;
+        case 2:
+          promises.push(handler[i].call(this, arguments[1]));
+          break;
+        case 3:
+          promises.push(handler[i].call(this, arguments[1], arguments[2]));
+          break;
+        default:
+          promises.push(handler[i].apply(this, args));
+        }
+      }
+    } else if (!this._all && type === 'error') {
+      if (arguments[1] instanceof Error) {
+        return Promise.reject(arguments[1]); // Unhandled 'error' event
+      } else {
+        return Promise.reject("Uncaught, unspecified 'error' event.");
+      }
+    }
+
+    return Promise.all(promises);
+  };
+
+  EventEmitter.prototype.on = function(type, listener) {
+    return this._on(type, listener, false);
+  };
+
+  EventEmitter.prototype.prependListener = function(type, listener) {
+    return this._on(type, listener, true);
+  };
+
+  EventEmitter.prototype.onAny = function(fn) {
+    return this._onAny(fn, false);
+  };
+
+  EventEmitter.prototype.prependAny = function(fn) {
+    return this._onAny(fn, true);
+  };
+
+  EventEmitter.prototype.addListener = EventEmitter.prototype.on;
+
+  EventEmitter.prototype._onAny = function(fn, prepend){
+    if (typeof fn !== 'function') {
+      throw new Error('onAny only accepts instances of Function');
+    }
+
+    if (!this._all) {
+      this._all = [];
+    }
+
+    // Add the function to the event listener collection.
+    if(prepend){
+      this._all.unshift(fn);
+    }else{
+      this._all.push(fn);
+    }
+
+    return this;
+  }
+
+  EventEmitter.prototype._on = function(type, listener, prepend) {
+    if (typeof type === 'function') {
+      this._onAny(type, listener);
+      return this;
+    }
+
+    if (typeof listener !== 'function') {
+      throw new Error('on only accepts instances of Function');
+    }
+    this._events || init.call(this);
+
+    // To avoid recursion in the case that type == "newListeners"! Before
+    // adding it to the listeners, first emit "newListeners".
+    this.emit('newListener', type, listener);
+
+    if (this.wildcard) {
+      growListenerTree.call(this, type, listener);
+      return this;
+    }
+
+    if (!this._events[type]) {
+      // Optimize the case of one listener. Don't need the extra array object.
+      this._events[type] = listener;
+    }
+    else {
+      if (typeof this._events[type] === 'function') {
+        // Change to array.
+        this._events[type] = [this._events[type]];
+      }
+
+      // If we've already got an array, just add
+      if(prepend){
+        this._events[type].unshift(listener);
+      }else{
+        this._events[type].push(listener);
+      }
+
+      // Check for listener leak
+      if (
+        !this._events[type].warned &&
+        this._maxListeners > 0 &&
+        this._events[type].length > this._maxListeners
+      ) {
+        this._events[type].warned = true;
+        logPossibleMemoryLeak.call(this, this._events[type].length, type);
+      }
+    }
+
+    return this;
+  }
+
+  EventEmitter.prototype.off = function(type, listener) {
+    if (typeof listener !== 'function') {
+      throw new Error('removeListener only takes instances of Function');
+    }
+
+    var handlers,leafs=[];
+
+    if(this.wildcard) {
+      var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
+      leafs = searchListenerTree.call(this, null, ns, this.listenerTree, 0);
+    }
+    else {
+      // does not use listeners(), so no side effect of creating _events[type]
+      if (!this._events[type]) return this;
+      handlers = this._events[type];
+      leafs.push({_listeners:handlers});
+    }
+
+    for (var iLeaf=0; iLeaf<leafs.length; iLeaf++) {
+      var leaf = leafs[iLeaf];
+      handlers = leaf._listeners;
+      if (isArray(handlers)) {
+
+        var position = -1;
+
+        for (var i = 0, length = handlers.length; i < length; i++) {
+          if (handlers[i] === listener ||
+            (handlers[i].listener && handlers[i].listener === listener) ||
+            (handlers[i]._origin && handlers[i]._origin === listener)) {
+            position = i;
+            break;
+          }
+        }
+
+        if (position < 0) {
+          continue;
+        }
+
+        if(this.wildcard) {
+          leaf._listeners.splice(position, 1);
+        }
+        else {
+          this._events[type].splice(position, 1);
+        }
+
+        if (handlers.length === 0) {
+          if(this.wildcard) {
+            delete leaf._listeners;
+          }
+          else {
+            delete this._events[type];
+          }
+        }
+
+        this.emit("removeListener", type, listener);
+
+        return this;
+      }
+      else if (handlers === listener ||
+        (handlers.listener && handlers.listener === listener) ||
+        (handlers._origin && handlers._origin === listener)) {
+        if(this.wildcard) {
+          delete leaf._listeners;
+        }
+        else {
+          delete this._events[type];
+        }
+
+        this.emit("removeListener", type, listener);
+      }
+    }
+
+    function recursivelyGarbageCollect(root) {
+      if (root === undefined) {
+        return;
+      }
+      var keys = Object.keys(root);
+      for (var i in keys) {
+        var key = keys[i];
+        var obj = root[key];
+        if ((obj instanceof Function) || (typeof obj !== "object") || (obj === null))
+          continue;
+        if (Object.keys(obj).length > 0) {
+          recursivelyGarbageCollect(root[key]);
+        }
+        if (Object.keys(obj).length === 0) {
+          delete root[key];
+        }
+      }
+    }
+    recursivelyGarbageCollect(this.listenerTree);
+
+    return this;
+  };
+
+  EventEmitter.prototype.offAny = function(fn) {
+    var i = 0, l = 0, fns;
+    if (fn && this._all && this._all.length > 0) {
+      fns = this._all;
+      for(i = 0, l = fns.length; i < l; i++) {
+        if(fn === fns[i]) {
+          fns.splice(i, 1);
+          this.emit("removeListenerAny", fn);
+          return this;
+        }
+      }
+    } else {
+      fns = this._all;
+      for(i = 0, l = fns.length; i < l; i++)
+        this.emit("removeListenerAny", fns[i]);
+      this._all = [];
+    }
+    return this;
+  };
+
+  EventEmitter.prototype.removeListener = EventEmitter.prototype.off;
+
+  EventEmitter.prototype.removeAllListeners = function(type) {
+    if (arguments.length === 0) {
+      !this._events || init.call(this);
+      return this;
+    }
+
+    if (this.wildcard) {
+      var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
+      var leafs = searchListenerTree.call(this, null, ns, this.listenerTree, 0);
+
+      for (var iLeaf=0; iLeaf<leafs.length; iLeaf++) {
+        var leaf = leafs[iLeaf];
+        leaf._listeners = null;
+      }
+    }
+    else if (this._events) {
+      this._events[type] = null;
+    }
+    return this;
+  };
+
+  EventEmitter.prototype.listeners = function(type) {
+    if (this.wildcard) {
+      var handlers = [];
+      var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
+      searchListenerTree.call(this, handlers, ns, this.listenerTree, 0);
+      return handlers;
+    }
+
+    this._events || init.call(this);
+
+    if (!this._events[type]) this._events[type] = [];
+    if (!isArray(this._events[type])) {
+      this._events[type] = [this._events[type]];
+    }
+    return this._events[type];
+  };
+
+  EventEmitter.prototype.eventNames = function(){
+    return Object.keys(this._events);
+  }
+
+  EventEmitter.prototype.listenerCount = function(type) {
+    return this.listeners(type).length;
+  };
+
+  EventEmitter.prototype.listenersAny = function() {
+
+    if(this._all) {
+      return this._all;
+    }
+    else {
+      return [];
+    }
+
+  };
+
+  if (typeof define === 'function' && define.amd) {
+     // AMD. Register as an anonymous module.
+    define(function() {
+      return EventEmitter;
+    });
+  } else if (typeof exports === 'object') {
+    // CommonJS
+    module.exports = EventEmitter;
+  }
+  else {
+    // Browser global.
+    window.EventEmitter2 = EventEmitter;
+  }
+}();
+
+}).call(this,require('_process'))
+},{"_process":4}],3:[function(require,module,exports){
+/*
+object-assign
+(c) Sindre Sorhus
+@license MIT
+*/
+
+'use strict';
+/* eslint-disable no-unused-vars */
+var getOwnPropertySymbols = Object.getOwnPropertySymbols;
+var hasOwnProperty = Object.prototype.hasOwnProperty;
+var propIsEnumerable = Object.prototype.propertyIsEnumerable;
+
+function toObject(val) {
+	if (val === null || val === undefined) {
 		throw new TypeError('Object.assign cannot be called with null or undefined');
 	}
 
 	return Object(val);
 }
 
-module.exports = Object.assign || function (target, source) {
+function shouldUseNative() {
+	try {
+		if (!Object.assign) {
+			return false;
+		}
+
+		// Detect buggy property enumeration order in older V8 versions.
+
+		// https://bugs.chromium.org/p/v8/issues/detail?id=4118
+		var test1 = new String('abc');  // eslint-disable-line no-new-wrappers
+		test1[5] = 'de';
+		if (Object.getOwnPropertyNames(test1)[0] === '5') {
+			return false;
+		}
+
+		// https://bugs.chromium.org/p/v8/issues/detail?id=3056
+		var test2 = {};
+		for (var i = 0; i < 10; i++) {
+			test2['_' + String.fromCharCode(i)] = i;
+		}
+		var order2 = Object.getOwnPropertyNames(test2).map(function (n) {
+			return test2[n];
+		});
+		if (order2.join('') !== '0123456789') {
+			return false;
+		}
+
+		// https://bugs.chromium.org/p/v8/issues/detail?id=3056
+		var test3 = {};
+		'abcdefghijklmnopqrst'.split('').forEach(function (letter) {
+			test3[letter] = letter;
+		});
+		if (Object.keys(Object.assign({}, test3)).join('') !==
+				'abcdefghijklmnopqrst') {
+			return false;
+		}
+
+		return true;
+	} catch (err) {
+		// We don't expect any of the above to throw, but better to be safe.
+		return false;
+	}
+}
+
+module.exports = shouldUseNative() ? Object.assign : function (target, source) {
 	var from;
-	var keys;
-	var to = ToObject(target);
+	var to = toObject(target);
+	var symbols;
 
 	for (var s = 1; s < arguments.length; s++) {
-		from = arguments[s];
-		keys = Object.keys(Object(from));
+		from = Object(arguments[s]);
 
-		for (var i = 0; i < keys.length; i++) {
-			to[keys[i]] = from[keys[i]];
+		for (var key in from) {
+			if (hasOwnProperty.call(from, key)) {
+				to[key] = from[key];
+			}
+		}
+
+		if (getOwnPropertySymbols) {
+			symbols = getOwnPropertySymbols(from);
+			for (var i = 0; i < symbols.length; i++) {
+				if (propIsEnumerable.call(from, symbols[i])) {
+					to[symbols[i]] = from[symbols[i]];
+				}
+			}
 		}
 	}
 
 	return to;
 };
 
-},{}],2:[function(require,module,exports){
-exports.XMLSerializer = XMLSerializer;
-exports.DOMParser = DOMParser;
-exports.implementation = document.implementation;
+},{}],4:[function(require,module,exports){
+// shim for using process in browser
+var process = module.exports = {};
 
-},{}],3:[function(require,module,exports){
+// cached from whatever global is present so that test runners that stub it
+// don't break things.  But we need to wrap it in a try catch in case it is
+// wrapped in strict mode code which doesn't define any globals.  It's inside a
+// function because try/catches deoptimize in certain engines.
+
+var cachedSetTimeout;
+var cachedClearTimeout;
+
+function defaultSetTimout() {
+    throw new Error('setTimeout has not been defined');
+}
+function defaultClearTimeout () {
+    throw new Error('clearTimeout has not been defined');
+}
+(function () {
+    try {
+        if (typeof setTimeout === 'function') {
+            cachedSetTimeout = setTimeout;
+        } else {
+            cachedSetTimeout = defaultSetTimout;
+        }
+    } catch (e) {
+        cachedSetTimeout = defaultSetTimout;
+    }
+    try {
+        if (typeof clearTimeout === 'function') {
+            cachedClearTimeout = clearTimeout;
+        } else {
+            cachedClearTimeout = defaultClearTimeout;
+        }
+    } catch (e) {
+        cachedClearTimeout = defaultClearTimeout;
+    }
+} ())
+function runTimeout(fun) {
+    if (cachedSetTimeout === setTimeout) {
+        //normal enviroments in sane situations
+        return setTimeout(fun, 0);
+    }
+    // if setTimeout wasn't available but was latter defined
+    if ((cachedSetTimeout === defaultSetTimout || !cachedSetTimeout) && setTimeout) {
+        cachedSetTimeout = setTimeout;
+        return setTimeout(fun, 0);
+    }
+    try {
+        // when when somebody has screwed with setTimeout but no I.E. maddness
+        return cachedSetTimeout(fun, 0);
+    } catch(e){
+        try {
+            // When we are in I.E. but the script has been evaled so I.E. doesn't trust the global object when called normally
+            return cachedSetTimeout.call(null, fun, 0);
+        } catch(e){
+            // same as above but when it's a version of I.E. that must have the global object for 'this', hopfully our context correct otherwise it will throw a global error
+            return cachedSetTimeout.call(this, fun, 0);
+        }
+    }
+
+
+}
+function runClearTimeout(marker) {
+    if (cachedClearTimeout === clearTimeout) {
+        //normal enviroments in sane situations
+        return clearTimeout(marker);
+    }
+    // if clearTimeout wasn't available but was latter defined
+    if ((cachedClearTimeout === defaultClearTimeout || !cachedClearTimeout) && clearTimeout) {
+        cachedClearTimeout = clearTimeout;
+        return clearTimeout(marker);
+    }
+    try {
+        // when when somebody has screwed with setTimeout but no I.E. maddness
+        return cachedClearTimeout(marker);
+    } catch (e){
+        try {
+            // When we are in I.E. but the script has been evaled so I.E. doesn't  trust the global object when called normally
+            return cachedClearTimeout.call(null, marker);
+        } catch (e){
+            // same as above but when it's a version of I.E. that must have the global object for 'this', hopfully our context correct otherwise it will throw a global error.
+            // Some versions of I.E. have different rules for clearTimeout vs setTimeout
+            return cachedClearTimeout.call(this, marker);
+        }
+    }
+
+
+
+}
+var queue = [];
+var draining = false;
+var currentQueue;
+var queueIndex = -1;
+
+function cleanUpNextTick() {
+    if (!draining || !currentQueue) {
+        return;
+    }
+    draining = false;
+    if (currentQueue.length) {
+        queue = currentQueue.concat(queue);
+    } else {
+        queueIndex = -1;
+    }
+    if (queue.length) {
+        drainQueue();
+    }
+}
+
+function drainQueue() {
+    if (draining) {
+        return;
+    }
+    var timeout = runTimeout(cleanUpNextTick);
+    draining = true;
+
+    var len = queue.length;
+    while(len) {
+        currentQueue = queue;
+        queue = [];
+        while (++queueIndex < len) {
+            if (currentQueue) {
+                currentQueue[queueIndex].run();
+            }
+        }
+        queueIndex = -1;
+        len = queue.length;
+    }
+    currentQueue = null;
+    draining = false;
+    runClearTimeout(timeout);
+}
+
+process.nextTick = function (fun) {
+    var args = new Array(arguments.length - 1);
+    if (arguments.length > 1) {
+        for (var i = 1; i < arguments.length; i++) {
+            args[i - 1] = arguments[i];
+        }
+    }
+    queue.push(new Item(fun, args));
+    if (queue.length === 1 && !draining) {
+        runTimeout(drainQueue);
+    }
+};
+
+// v8 likes predictible objects
+function Item(fun, array) {
+    this.fun = fun;
+    this.array = array;
+}
+Item.prototype.run = function () {
+    this.fun.apply(null, this.array);
+};
+process.title = 'browser';
+process.browser = true;
+process.env = {};
+process.argv = [];
+process.version = ''; // empty string to avoid regexp issues
+process.versions = {};
+
+function noop() {}
+
+process.on = noop;
+process.addListener = noop;
+process.once = noop;
+process.off = noop;
+process.removeListener = noop;
+process.removeAllListeners = noop;
+process.emit = noop;
+process.prependListener = noop;
+process.prependOnceListener = noop;
+
+process.listeners = function (name) { return [] }
+
+process.binding = function (name) {
+    throw new Error('process.binding is not supported');
+};
+
+process.cwd = function () { return '/' };
+process.chdir = function (dir) {
+    throw new Error('process.chdir is not supported');
+};
+process.umask = function() { return 0; };
+
+},{}],5:[function(require,module,exports){
+var bundleFn = arguments[3];
+var sources = arguments[4];
+var cache = arguments[5];
+
+var stringify = JSON.stringify;
+
+module.exports = function (fn, options) {
+    var wkey;
+    var cacheKeys = Object.keys(cache);
+
+    for (var i = 0, l = cacheKeys.length; i < l; i++) {
+        var key = cacheKeys[i];
+        var exp = cache[key].exports;
+        // Using babel as a transpiler to use esmodule, the export will always
+        // be an object with the default export as a property of it. To ensure
+        // the existing api and babel esmodule exports are both supported we
+        // check for both
+        if (exp === fn || exp && exp.default === fn) {
+            wkey = key;
+            break;
+        }
+    }
+
+    if (!wkey) {
+        wkey = Math.floor(Math.pow(16, 8) * Math.random()).toString(16);
+        var wcache = {};
+        for (var i = 0, l = cacheKeys.length; i < l; i++) {
+            var key = cacheKeys[i];
+            wcache[key] = key;
+        }
+        sources[wkey] = [
+            'function(require,module,exports){' + fn + '(self); }',
+            wcache
+        ];
+    }
+    var skey = Math.floor(Math.pow(16, 8) * Math.random()).toString(16);
+
+    var scache = {}; scache[wkey] = wkey;
+    sources[skey] = [
+        'function(require,module,exports){' +
+            // try to call default if defined to also support babel esmodule exports
+            'var f = require(' + stringify(wkey) + ');' +
+            '(f.default ? f.default : f)(self);' +
+        '}',
+        scache
+    ];
+
+    var workerSources = {};
+    resolveSources(skey);
+
+    function resolveSources(key) {
+        workerSources[key] = true;
+
+        for (var depPath in sources[key][1]) {
+            var depKey = sources[key][1][depPath];
+            if (!workerSources[depKey]) {
+                resolveSources(depKey);
+            }
+        }
+    }
+
+    var src = '(' + bundleFn + ')({'
+        + Object.keys(workerSources).map(function (key) {
+            return stringify(key) + ':['
+                + sources[key][0]
+                + ',' + stringify(sources[key][1]) + ']'
+            ;
+        }).join(',')
+        + '},{},[' + stringify(skey) + '])'
+    ;
+
+    var URL = window.URL || window.webkitURL || window.mozURL || window.msURL;
+
+    var blob = new Blob([src], { type: 'text/javascript' });
+    if (options && options.bare) { return blob; }
+    var workerUrl = URL.createObjectURL(blob);
+    var worker = new Worker(workerUrl);
+    worker.objectURL = workerUrl;
+    return worker;
+};
+
+},{}],6:[function(require,module,exports){
 /**
+ * @fileOverview
  * @author Russell Toris - rctoris@wpi.edu
  */
 
+/**
+ * If you use roslib in a browser, all the classes will be exported to a global variable called ROSLIB.
+ *
+ * If you use nodejs, this is the variable you get when you require('roslib')
+ */
 var ROSLIB = this.ROSLIB || {
-  REVISION : '0.15.0'
+  REVISION : '1.0.1'
 };
 
 var assign = require('object-assign');
@@ -55,18 +1576,19 @@ assign(ROSLIB, require('./urdf'));
 
 module.exports = ROSLIB;
 
-},{"./actionlib":8,"./core":17,"./math":22,"./tf":25,"./urdf":37,"object-assign":1}],4:[function(require,module,exports){
+},{"./actionlib":12,"./core":21,"./math":26,"./tf":29,"./urdf":41,"object-assign":3}],7:[function(require,module,exports){
 (function (global){
 global.ROSLIB = require('./RosLib');
 }).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})
-},{"./RosLib":3}],5:[function(require,module,exports){
+},{"./RosLib":6}],8:[function(require,module,exports){
 /**
+ * @fileOverview
  * @author Russell Toris - rctoris@wpi.edu
  */
 
 var Topic = require('../core/Topic');
 var Message = require('../core/Message');
-var EventEmitter2 = require('./../util/shim/EventEmitter2.js').EventEmitter2;
+var EventEmitter2 = require('eventemitter2').EventEmitter2;
 
 /**
  * An actionlib action client.
@@ -91,25 +1613,28 @@ function ActionClient(options) {
   this.serverName = options.serverName;
   this.actionName = options.actionName;
   this.timeout = options.timeout;
+  this.omitFeedback = options.omitFeedback;
+  this.omitStatus = options.omitStatus;
+  this.omitResult = options.omitResult;
   this.goals = {};
 
   // flag to check if a status has been received
   var receivedStatus = false;
 
   // create the topics associated with actionlib
-  var feedbackListener = new Topic({
+  this.feedbackListener = new Topic({
     ros : this.ros,
     name : this.serverName + '/feedback',
     messageType : this.actionName + 'Feedback'
   });
 
-  var statusListener = new Topic({
+  this.statusListener = new Topic({
     ros : this.ros,
     name : this.serverName + '/status',
     messageType : 'actionlib_msgs/GoalStatusArray'
   });
 
-  var resultListener = new Topic({
+  this.resultListener = new Topic({
     ros : this.ros,
     name : this.serverName + '/result',
     messageType : this.actionName + 'Result'
@@ -132,34 +1657,40 @@ function ActionClient(options) {
   this.cancelTopic.advertise();
 
   // subscribe to the status topic
-  statusListener.subscribe(function(statusMessage) {
-    receivedStatus = true;
-    statusMessage.status_list.forEach(function(status) {
-      var goal = that.goals[status.goal_id.id];
-      if (goal) {
-        goal.emit('status', status);
-      }
+  if (!this.omitStatus) {
+    this.statusListener.subscribe(function(statusMessage) {
+      receivedStatus = true;
+      statusMessage.status_list.forEach(function(status) {
+        var goal = that.goals[status.goal_id.id];
+        if (goal) {
+          goal.emit('status', status);
+        }
+      });
     });
-  });
+  }
 
   // subscribe the the feedback topic
-  feedbackListener.subscribe(function(feedbackMessage) {
-    var goal = that.goals[feedbackMessage.status.goal_id.id];
-    if (goal) {
-      goal.emit('status', feedbackMessage.status);
-      goal.emit('feedback', feedbackMessage.feedback);
-    }
-  });
+  if (!this.omitFeedback) {
+    this.feedbackListener.subscribe(function(feedbackMessage) {
+      var goal = that.goals[feedbackMessage.status.goal_id.id];
+      if (goal) {
+        goal.emit('status', feedbackMessage.status);
+        goal.emit('feedback', feedbackMessage.feedback);
+      }
+    });
+  }
 
   // subscribe to the result topic
-  resultListener.subscribe(function(resultMessage) {
-    var goal = that.goals[resultMessage.status.goal_id.id];
+  if (!this.omitResult) {
+    this.resultListener.subscribe(function(resultMessage) {
+      var goal = that.goals[resultMessage.status.goal_id.id];
 
-    if (goal) {
-      goal.emit('status', resultMessage.status);
-      goal.emit('result', resultMessage.result);
-    }
-  });
+      if (goal) {
+        goal.emit('status', resultMessage.status);
+        goal.emit('result', resultMessage.result);
+      }
+    });
+  }
 
   // If timeout specified, emit a 'timeout' event if the action server does not respond
   if (this.timeout) {
@@ -181,14 +1712,116 @@ ActionClient.prototype.cancel = function() {
   this.cancelTopic.publish(cancelMessage);
 };
 
-module.exports = ActionClient;
-},{"../core/Message":9,"../core/Topic":16,"./../util/shim/EventEmitter2.js":38}],6:[function(require,module,exports){
 /**
+ * Unsubscribe and unadvertise all topics associated with this ActionClient.
+ */
+ActionClient.prototype.dispose = function() {
+  this.goalTopic.unadvertise();
+  this.cancelTopic.unadvertise();
+  if (!this.omitStatus) {this.statusListener.unsubscribe();}
+  if (!this.omitFeedback) {this.feedbackListener.unsubscribe();}
+  if (!this.omitResult) {this.resultListener.unsubscribe();}
+};
+
+module.exports = ActionClient;
+
+},{"../core/Message":13,"../core/Topic":20,"eventemitter2":2}],9:[function(require,module,exports){
+/**
+ * @fileOverview
+ * @author Justin Young - justin@oodar.com.au
+ * @author Russell Toris - rctoris@wpi.edu
+ */
+
+var Topic = require('../core/Topic');
+var Message = require('../core/Message');
+var EventEmitter2 = require('eventemitter2').EventEmitter2;
+
+/**
+ * An actionlib action listener
+ *
+ * Emits the following events:
+ *  * 'status' - the status messages received from the action server
+ *  * 'feedback' -  the feedback messages received from the action server
+ *  * 'result' - the result returned from the action server
+ *
+ *  @constructor
+ *  @param options - object with following keys:
+ *   * ros - the ROSLIB.Ros connection handle
+ *   * serverName - the action server name, like /fibonacci
+ *   * actionName - the action message name, like 'actionlib_tutorials/FibonacciAction'
+ */
+function ActionListener(options) {
+  var that = this;
+  options = options || {};
+  this.ros = options.ros;
+  this.serverName = options.serverName;
+  this.actionName = options.actionName;
+  this.timeout = options.timeout;
+  this.omitFeedback = options.omitFeedback;
+  this.omitStatus = options.omitStatus;
+  this.omitResult = options.omitResult;
+
+
+  // create the topics associated with actionlib
+  var goalListener = new Topic({
+    ros : this.ros,
+    name : this.serverName + '/goal',
+    messageType : this.actionName + 'Goal'
+  });
+
+  var feedbackListener = new Topic({
+    ros : this.ros,
+    name : this.serverName + '/feedback',
+    messageType : this.actionName + 'Feedback'
+  });
+
+  var statusListener = new Topic({
+    ros : this.ros,
+    name : this.serverName + '/status',
+    messageType : 'actionlib_msgs/GoalStatusArray'
+  });
+
+  var resultListener = new Topic({
+    ros : this.ros,
+    name : this.serverName + '/result',
+    messageType : this.actionName + 'Result'
+  });
+
+  goalListener.subscribe(function(goalMessage) {
+      that.emit('goal', goalMessage);
+  });
+
+  statusListener.subscribe(function(statusMessage) {
+      statusMessage.status_list.forEach(function(status) {
+          that.emit('status', status);
+      });
+  });
+
+  feedbackListener.subscribe(function(feedbackMessage) {
+      that.emit('status', feedbackMessage.status);
+      that.emit('feedback', feedbackMessage.feedback);
+  });
+
+  // subscribe to the result topic
+  resultListener.subscribe(function(resultMessage) {
+      that.emit('status', resultMessage.status);
+      that.emit('result', resultMessage.result);
+  });
+
+}
+
+ActionListener.prototype.__proto__ = EventEmitter2.prototype;
+
+module.exports = ActionListener;
+
+},{"../core/Message":13,"../core/Topic":20,"eventemitter2":2}],10:[function(require,module,exports){
+/**
+ * @fileOverview
  * @author Russell Toris - rctoris@wpi.edu
  */
 
 var Message = require('../core/Message');
-var EventEmitter2 = require('./../util/shim/EventEmitter2.js').EventEmitter2;
+var EventEmitter2 = require('eventemitter2').EventEmitter2;
 
 /**
  * An actionlib goal goal is associated with an action server.
@@ -271,14 +1904,15 @@ Goal.prototype.cancel = function() {
 };
 
 module.exports = Goal;
-},{"../core/Message":9,"./../util/shim/EventEmitter2.js":38}],7:[function(require,module,exports){
+},{"../core/Message":13,"eventemitter2":2}],11:[function(require,module,exports){
 /**
+ * @fileOverview
  * @author Laura Lindzey - lindzey@gmail.com
  */
 
 var Topic = require('../core/Topic');
 var Message = require('../core/Message');
-var EventEmitter2 = require('./../util/shim/EventEmitter2.js').EventEmitter2;
+var EventEmitter2 = require('eventemitter2').EventEmitter2;
 
 /**
  * An actionlib action server client.
@@ -479,19 +2113,22 @@ SimpleActionServer.prototype.setPreempted = function() {
 };
 
 module.exports = SimpleActionServer;
-},{"../core/Message":9,"../core/Topic":16,"./../util/shim/EventEmitter2.js":38}],8:[function(require,module,exports){
+},{"../core/Message":13,"../core/Topic":20,"eventemitter2":2}],12:[function(require,module,exports){
 var Ros = require('../core/Ros');
 var mixin = require('../mixin');
 
 var action = module.exports = {
     ActionClient: require('./ActionClient'),
+    ActionListener: require('./ActionListener'),
     Goal: require('./Goal'),
     SimpleActionServer: require('./SimpleActionServer')
 };
 
 mixin(Ros, ['ActionClient', 'SimpleActionServer'], action);
-},{"../core/Ros":11,"../mixin":23,"./ActionClient":5,"./Goal":6,"./SimpleActionServer":7}],9:[function(require,module,exports){
+
+},{"../core/Ros":15,"../mixin":27,"./ActionClient":8,"./ActionListener":9,"./Goal":10,"./SimpleActionServer":11}],13:[function(require,module,exports){
 /**
+ * @fileoverview
  * @author Brandon Alexander - baalexander@gmail.com
  */
 
@@ -508,8 +2145,9 @@ function Message(values) {
 }
 
 module.exports = Message;
-},{"object-assign":1}],10:[function(require,module,exports){
+},{"object-assign":3}],14:[function(require,module,exports){
 /**
+ * @fileoverview
  * @author Brandon Alexander - baalexander@gmail.com
  */
 
@@ -591,19 +2229,21 @@ Param.prototype.delete = function(callback) {
 };
 
 module.exports = Param;
-},{"./Service":12,"./ServiceRequest":13}],11:[function(require,module,exports){
+},{"./Service":16,"./ServiceRequest":17}],15:[function(require,module,exports){
 /**
+ * @fileoverview
  * @author Brandon Alexander - baalexander@gmail.com
  */
 
-var WebSocket = require('./../util/shim/WebSocket.js');
+var WebSocket = require('ws');
+var WorkerSocket = require('../util/workerSocket');
 var socketAdapter = require('./SocketAdapter.js');
 
 var Service = require('./Service');
 var ServiceRequest = require('./ServiceRequest');
 
 var assign = require('object-assign');
-var EventEmitter2 = require('./../util/shim/EventEmitter2.js').EventEmitter2;
+var EventEmitter2 = require('eventemitter2').EventEmitter2;
 
 /**
  * Manages connection to the server and all interactions with ROS.
@@ -616,14 +2256,19 @@ var EventEmitter2 = require('./../util/shim/EventEmitter2.js').EventEmitter2;
  *  * <serviceID> - a service response came from rosbridge with the given ID
  *
  * @constructor
- * @param options - possible keys include:
- *   * url (optional) - the WebSocket URL for rosbridge (can be specified later with `connect`)
+ * @param options - possible keys include: <br>
+ *   * url (optional) - (can be specified later with `connect`) the WebSocket URL for rosbridge or the node server url to connect using socket.io (if socket.io exists in the page) <br>
+ *   * groovyCompatibility - don't use interfaces that changed after the last groovy release or rosbridge_suite and related tools (defaults to true)
+ *   * transportLibrary (optional) - one of 'websocket', 'workersocket' (default), 'socket.io' or RTCPeerConnection instance controlling how the connection is created in `connect`.
+ *   * transportOptions (optional) - the options to use use when creating a connection. Currently only used if `transportLibrary` is RTCPeerConnection.
  */
 function Ros(options) {
   options = options || {};
   this.socket = null;
   this.idCounter = 0;
   this.isConnected = false;
+  this.transportLibrary = options.transportLibrary || 'websocket';
+  this.transportOptions = options.transportOptions || {};
 
   if (typeof options.groovyCompatibility === 'undefined') {
     this.groovyCompatibility = true;
@@ -646,10 +2291,29 @@ Ros.prototype.__proto__ = EventEmitter2.prototype;
 /**
  * Connect to the specified WebSocket.
  *
- * @param url - WebSocket URL for Rosbridge
+ * @param url - WebSocket URL or RTCDataChannel label for Rosbridge
  */
 Ros.prototype.connect = function(url) {
-  this.socket = assign(new WebSocket(url), socketAdapter(this));
+  if (this.transportLibrary === 'socket.io') {
+    this.socket = assign(io(url, {'force new connection': true}), socketAdapter(this));
+    this.socket.on('connect', this.socket.onopen);
+    this.socket.on('data', this.socket.onmessage);
+    this.socket.on('close', this.socket.onclose);
+    this.socket.on('error', this.socket.onerror);
+  } else if (this.transportLibrary.constructor.name === 'RTCPeerConnection') {
+    this.socket = assign(this.transportLibrary.createDataChannel(url, this.transportOptions), socketAdapter(this));
+  } else if (this.transportLibrary === 'websocket') {
+    if (!this.socket || this.socket.readyState === WebSocket.CLOSED) {
+      var sock = new WebSocket(url);
+      sock.binaryType = 'arraybuffer';
+      this.socket = assign(sock, socketAdapter(this));
+    }
+  } else if (this.transportLibrary === 'workersocket') {
+    this.socket = assign(new WorkerSocket(url), socketAdapter(this));
+  } else {
+    throw 'Unknown transportLibrary: ' + this.transportLibrary.toString();
+  }
+
 };
 
 /**
@@ -695,13 +2359,64 @@ Ros.prototype.authenticate = function(mac, client, dest, rand, t, level, end) {
 Ros.prototype.callOnConnection = function(message) {
   var that = this;
   var messageJson = JSON.stringify(message);
+  var emitter = null;
+  if (this.transportLibrary === 'socket.io') {
+    emitter = function(msg){that.socket.emit('operation', msg);};
+  } else {
+    emitter = function(msg){that.socket.send(msg);};
+  }
 
   if (!this.isConnected) {
     that.once('connection', function() {
-      that.socket.send(messageJson);
+      emitter(messageJson);
     });
   } else {
-    that.socket.send(messageJson);
+    emitter(messageJson);
+  }
+};
+
+/**
+ * Sends a set_level request to the server
+ *
+ * @param level - Status level (none, error, warning, info)
+ * @param id - Optional: Operation ID to change status level on
+ */
+Ros.prototype.setStatusLevel = function(level, id){
+  var levelMsg = {
+    op: 'set_level',
+    level: level,
+    id: id
+  };
+
+  this.callOnConnection(levelMsg);
+};
+
+/**
+ * Retrieves Action Servers in ROS as an array of string
+ *
+ *   * actionservers - Array of action server names
+ */
+Ros.prototype.getActionServers = function(callback, failedCallback) {
+  var getActionServers = new Service({
+    ros : this,
+    name : '/rosapi/action_servers',
+    serviceType : 'rosapi/GetActionServers'
+  });
+
+  var request = new ServiceRequest({});
+  if (typeof failedCallback === 'function'){
+    getActionServers.callService(request,
+      function(result) {
+        callback(result.action_servers);
+      },
+      function(message){
+        failedCallback(message);
+      }
+    );
+  }else{
+    getActionServers.callService(request, function(result) {
+      callback(result.action_servers);
+    });
   }
 };
 
@@ -711,7 +2426,7 @@ Ros.prototype.callOnConnection = function(message) {
  * @param callback function with params:
  *   * topics - Array of topic names
  */
-Ros.prototype.getTopics = function(callback) {
+Ros.prototype.getTopics = function(callback, failedCallback) {
   var topicsClient = new Service({
     ros : this,
     name : '/rosapi/topics',
@@ -719,10 +2434,20 @@ Ros.prototype.getTopics = function(callback) {
   });
 
   var request = new ServiceRequest();
-
-  topicsClient.callService(request, function(result) {
-    callback(result.topics);
-  });
+  if (typeof failedCallback === 'function'){
+    topicsClient.callService(request,
+      function(result) {
+        callback(result);
+      },
+      function(message){
+        failedCallback(message);
+      }
+    );
+  }else{
+    topicsClient.callService(request, function(result) {
+      callback(result);
+    });
+  }
 };
 
 /**
@@ -732,7 +2457,7 @@ Ros.prototype.getTopics = function(callback) {
  * @param callback function with params:
  *   * topics - Array of topic names
  */
-Ros.prototype.getTopicsForType = function(topicType, callback) {
+Ros.prototype.getTopicsForType = function(topicType, callback, failedCallback) {
   var topicsForTypeClient = new Service({
     ros : this,
     name : '/rosapi/topics_for_type',
@@ -742,10 +2467,20 @@ Ros.prototype.getTopicsForType = function(topicType, callback) {
   var request = new ServiceRequest({
     type: topicType
   });
-
-  topicsForTypeClient.callService(request, function(result) {
-    callback(result.topics);
-  });
+  if (typeof failedCallback === 'function'){
+    topicsForTypeClient.callService(request,
+      function(result) {
+        callback(result.topics);
+      },
+      function(message){
+        failedCallback(message);
+      }
+    );
+  }else{
+    topicsForTypeClient.callService(request, function(result) {
+      callback(result.topics);
+    });
+  }
 };
 
 /**
@@ -754,7 +2489,7 @@ Ros.prototype.getTopicsForType = function(topicType, callback) {
  * @param callback - function with the following params:
  *   * services - array of service names
  */
-Ros.prototype.getServices = function(callback) {
+Ros.prototype.getServices = function(callback, failedCallback) {
   var servicesClient = new Service({
     ros : this,
     name : '/rosapi/services',
@@ -762,10 +2497,20 @@ Ros.prototype.getServices = function(callback) {
   });
 
   var request = new ServiceRequest();
-
-  servicesClient.callService(request, function(result) {
-    callback(result.services);
-  });
+  if (typeof failedCallback === 'function'){
+    servicesClient.callService(request,
+      function(result) {
+        callback(result.services);
+      },
+      function(message) {
+        failedCallback(message);
+      }
+    );
+  }else{
+    servicesClient.callService(request, function(result) {
+      callback(result.services);
+    });
+  }
 };
 
 /**
@@ -775,7 +2520,7 @@ Ros.prototype.getServices = function(callback) {
  * @param callback function with params:
  *   * topics - Array of service names
  */
-Ros.prototype.getServicesForType = function(serviceType, callback) {
+Ros.prototype.getServicesForType = function(serviceType, callback, failedCallback) {
   var servicesForTypeClient = new Service({
     ros : this,
     name : '/rosapi/services_for_type',
@@ -785,10 +2530,86 @@ Ros.prototype.getServicesForType = function(serviceType, callback) {
   var request = new ServiceRequest({
     type: serviceType
   });
+  if (typeof failedCallback === 'function'){
+    servicesForTypeClient.callService(request,
+      function(result) {
+        callback(result.services);
+      },
+      function(message) {
+        failedCallback(message);
+      }
+    );
+  }else{
+    servicesForTypeClient.callService(request, function(result) {
+      callback(result.services);
+    });
+  }
+};
 
-  servicesForTypeClient.callService(request, function(result) {
-    callback(result.services);
+/**
+ * Retrieves a detail of ROS service request.
+ *
+ * @param service name of service:
+ * @param callback - function with params:
+ *   * type - String of the service type
+ */
+Ros.prototype.getServiceRequestDetails = function(type, callback, failedCallback) {
+  var serviceTypeClient = new Service({
+    ros : this,
+    name : '/rosapi/service_request_details',
+    serviceType : 'rosapi/ServiceRequestDetails'
   });
+  var request = new ServiceRequest({
+    type: type
+  });
+
+  if (typeof failedCallback === 'function'){
+    serviceTypeClient.callService(request,
+      function(result) {
+        callback(result);
+      },
+      function(message){
+        failedCallback(message);
+      }
+    );
+  }else{
+    serviceTypeClient.callService(request, function(result) {
+      callback(result);
+    });
+  }
+};
+
+/**
+ * Retrieves a detail of ROS service request.
+ *
+ * @param service name of service:
+ * @param callback - function with params:
+ *   * type - String of the service type
+ */
+Ros.prototype.getServiceResponseDetails = function(type, callback, failedCallback) {
+  var serviceTypeClient = new Service({
+    ros : this,
+    name : '/rosapi/service_response_details',
+    serviceType : 'rosapi/ServiceResponseDetails'
+  });
+  var request = new ServiceRequest({
+    type: type
+  });
+
+  if (typeof failedCallback === 'function'){
+    serviceTypeClient.callService(request,
+      function(result) {
+        callback(result);
+      },
+      function(message){
+        failedCallback(message);
+      }
+    );
+  }else{
+    serviceTypeClient.callService(request, function(result) {
+      callback(result);
+    });
+  }
 };
 
 /**
@@ -797,7 +2618,7 @@ Ros.prototype.getServicesForType = function(serviceType, callback) {
  * @param callback - function with the following params:
  *   * nodes - array of node names
  */
-Ros.prototype.getNodes = function(callback) {
+Ros.prototype.getNodes = function(callback, failedCallback) {
   var nodesClient = new Service({
     ros : this,
     name : '/rosapi/nodes',
@@ -805,10 +2626,55 @@ Ros.prototype.getNodes = function(callback) {
   });
 
   var request = new ServiceRequest();
+  if (typeof failedCallback === 'function'){
+    nodesClient.callService(request,
+      function(result) {
+        callback(result.nodes);
+      },
+      function(message) {
+        failedCallback(message);
+      }
+    );
+  }else{
+    nodesClient.callService(request, function(result) {
+      callback(result.nodes);
+    });
+  }
+};
 
-  nodesClient.callService(request, function(result) {
-    callback(result.nodes);
+/**
+  * Retrieves list subscribed topics, publishing topics and services of a specific node
+  *
+  * @param node name of the node:
+  * @param callback - function with params:
+  *   * publications - array of published topic names
+  *   * subscriptions - array of subscribed topic names
+  *   * services - array of service names hosted
+  */
+Ros.prototype.getNodeDetails = function(node, callback, failedCallback) {
+  var nodesClient = new Service({
+    ros : this,
+    name : '/rosapi/node_details',
+    serviceType : 'rosapi/NodeDetails'
   });
+
+  var request = new ServiceRequest({
+    node: node
+  });
+  if (typeof failedCallback === 'function'){
+    nodesClient.callService(request,
+      function(result) {
+        callback(result.subscribing, result.publishing, result.services);
+      },
+      function(message) {
+        failedCallback(message);
+      }
+    );
+  } else {
+    nodesClient.callService(request, function(result) {
+      callback(result);
+    });
+  }
 };
 
 /**
@@ -817,26 +2683,37 @@ Ros.prototype.getNodes = function(callback) {
  * @param callback function with params:
  *  * params - array of param names.
  */
-Ros.prototype.getParams = function(callback) {
+Ros.prototype.getParams = function(callback, failedCallback) {
   var paramsClient = new Service({
     ros : this,
     name : '/rosapi/get_param_names',
     serviceType : 'rosapi/GetParamNames'
   });
-
   var request = new ServiceRequest();
-  paramsClient.callService(request, function(result) {
-    callback(result.names);
-  });
+  if (typeof failedCallback === 'function'){
+    paramsClient.callService(request,
+      function(result) {
+        callback(result.names);
+      },
+      function(message){
+        failedCallback(message);
+      }
+    );
+  }else{
+    paramsClient.callService(request, function(result) {
+      callback(result.names);
+    });
+  }
 };
 
 /**
  * Retrieves a type of ROS topic.
  *
+ * @param topic name of the topic:
  * @param callback - function with params:
  *   * type - String of the topic type
  */
-Ros.prototype.getTopicType = function(topic, callback) {
+Ros.prototype.getTopicType = function(topic, callback, failedCallback) {
   var topicTypeClient = new Service({
     ros : this,
     name : '/rosapi/topic_type',
@@ -845,9 +2722,54 @@ Ros.prototype.getTopicType = function(topic, callback) {
   var request = new ServiceRequest({
     topic: topic
   });
-  topicTypeClient.callService(request, function(result) {
-    callback(result.type);
+
+  if (typeof failedCallback === 'function'){
+    topicTypeClient.callService(request,
+      function(result) {
+        callback(result.type);
+      },
+      function(message){
+        failedCallback(message);
+      }
+    );
+  }else{
+    topicTypeClient.callService(request, function(result) {
+      callback(result.type);
+    });
+  }
+};
+
+/**
+ * Retrieves a type of ROS service.
+ *
+ * @param service name of service:
+ * @param callback - function with params:
+ *   * type - String of the service type
+ */
+Ros.prototype.getServiceType = function(service, callback, failedCallback) {
+  var serviceTypeClient = new Service({
+    ros : this,
+    name : '/rosapi/service_type',
+    serviceType : 'rosapi/ServiceType'
   });
+  var request = new ServiceRequest({
+    service: service
+  });
+
+  if (typeof failedCallback === 'function'){
+    serviceTypeClient.callService(request,
+      function(result) {
+        callback(result.type);
+      },
+      function(message){
+        failedCallback(message);
+      }
+    );
+  }else{
+    serviceTypeClient.callService(request, function(result) {
+      callback(result.type);
+    });
+  }
 };
 
 /**
@@ -857,7 +2779,7 @@ Ros.prototype.getTopicType = function(topic, callback) {
  *   * details - Array of the message detail
  * @param message - String of a topic type
  */
-Ros.prototype.getMessageDetails = function(message, callback) {
+Ros.prototype.getMessageDetails = function(message, callback, failedCallback) {
   var messageDetailClient = new Service({
     ros : this,
     name : '/rosapi/message_details',
@@ -866,9 +2788,21 @@ Ros.prototype.getMessageDetails = function(message, callback) {
   var request = new ServiceRequest({
     type: message
   });
-  messageDetailClient.callService(request, function(result) {
-    callback(result.typedefs);
-  });
+
+  if (typeof failedCallback === 'function'){
+    messageDetailClient.callService(request,
+      function(result) {
+        callback(result.typedefs);
+      },
+      function(message){
+        failedCallback(message);
+      }
+    );
+  }else{
+    messageDetailClient.callService(request, function(result) {
+      callback(result.typedefs);
+    });
+  }
 };
 
 /**
@@ -906,7 +2840,6 @@ Ros.prototype.decodeTypeDefs = function(defs) {
         if (sub) {
           var subResult = decodeTypeDefsRec(sub, hints);
           if (arrayLen === -1) {
-            typeDefDict[fieldName] = subResult;
           }
           else {
             typeDefDict[fieldName] = [subResult];
@@ -919,19 +2852,22 @@ Ros.prototype.decodeTypeDefs = function(defs) {
     }
     return typeDefDict;
   };
-  
+
   return decodeTypeDefsRec(defs[0], defs);
 };
 
 
 module.exports = Ros;
 
-},{"./../util/shim/EventEmitter2.js":38,"./../util/shim/WebSocket.js":39,"./Service":12,"./ServiceRequest":13,"./SocketAdapter.js":15,"object-assign":1}],12:[function(require,module,exports){
+},{"../util/workerSocket":47,"./Service":16,"./ServiceRequest":17,"./SocketAdapter.js":19,"eventemitter2":2,"object-assign":3,"ws":43}],16:[function(require,module,exports){
 /**
+ * @fileoverview
  * @author Brandon Alexander - baalexander@gmail.com
  */
 
 var ServiceResponse = require('./ServiceResponse');
+var ServiceRequest = require('./ServiceRequest');
+var EventEmitter2 = require('eventemitter2').EventEmitter2;
 
 /**
  * A ROS service client.
@@ -947,10 +2883,14 @@ function Service(options) {
   this.ros = options.ros;
   this.name = options.name;
   this.serviceType = options.serviceType;
-}
+  this.isAdvertised = false;
 
+  this._serviceCallback = null;
+}
+Service.prototype.__proto__ = EventEmitter2.prototype;
 /**
- * Calls the service. Returns the service response in the callback.
+ * Calls the service. Returns the service response in the
+ * callback. Does nothing if this service is currently advertised.
  *
  * @param request - the ROSLIB.ServiceRequest to send
  * @param callback - function with params:
@@ -959,6 +2899,10 @@ function Service(options) {
  *   * error - the error message reported by ROS
  */
 Service.prototype.callService = function(request, callback, failedCallback) {
+  if (this.isAdvertised) {
+    return;
+  }
+
   var serviceCallId = 'call_service:' + this.name + ':' + (++this.ros.idCounter);
 
   if (callback || failedCallback) {
@@ -977,14 +2921,72 @@ Service.prototype.callService = function(request, callback, failedCallback) {
     op : 'call_service',
     id : serviceCallId,
     service : this.name,
+    type: this.serviceType,
     args : request
   };
   this.ros.callOnConnection(call);
 };
 
-module.exports = Service;
-},{"./ServiceResponse":14}],13:[function(require,module,exports){
 /**
+ * Advertise the service. This turns the Service object from a client
+ * into a server. The callback will be called with every request
+ * that's made on this service.
+ *
+ * @param callback - This works similarly to the callback for a C++ service and should take the following params:
+ *   * request - the service request
+ *   * response - an empty dictionary. Take care not to overwrite this. Instead, only modify the values within.
+ *   It should return true if the service has finished successfully,
+ *   i.e. without any fatal errors.
+ */
+Service.prototype.advertise = function(callback) {
+  if (this.isAdvertised || typeof callback !== 'function') {
+    return;
+  }
+
+  this._serviceCallback = callback;
+  this.ros.on(this.name, this._serviceResponse.bind(this));
+  this.ros.callOnConnection({
+    op: 'advertise_service',
+    type: this.serviceType,
+    service: this.name
+  });
+  this.isAdvertised = true;
+};
+
+Service.prototype.unadvertise = function() {
+  if (!this.isAdvertised) {
+    return;
+  }
+  this.ros.callOnConnection({
+    op: 'unadvertise_service',
+    service: this.name
+  });
+  this.isAdvertised = false;
+};
+
+Service.prototype._serviceResponse = function(rosbridgeRequest) {
+  var response = {};
+  var success = this._serviceCallback(rosbridgeRequest.args, response);
+
+  var call = {
+    op: 'service_response',
+    service: this.name,
+    values: new ServiceResponse(response),
+    result: success
+  };
+
+  if (rosbridgeRequest.id) {
+    call.id = rosbridgeRequest.id;
+  }
+
+  this.ros.callOnConnection(call);
+};
+
+module.exports = Service;
+
+},{"./ServiceRequest":17,"./ServiceResponse":18,"eventemitter2":2}],17:[function(require,module,exports){
+/**
+ * @fileoverview
  * @author Brandon Alexander - balexander@willowgarage.com
  */
 
@@ -1001,8 +3003,9 @@ function ServiceRequest(values) {
 }
 
 module.exports = ServiceRequest;
-},{"object-assign":1}],14:[function(require,module,exports){
+},{"object-assign":3}],18:[function(require,module,exports){
 /**
+ * @fileoverview
  * @author Brandon Alexander - balexander@willowgarage.com
  */
 
@@ -1019,69 +3022,32 @@ function ServiceResponse(values) {
 }
 
 module.exports = ServiceResponse;
-},{"object-assign":1}],15:[function(require,module,exports){
-(function (global){
+},{"object-assign":3}],19:[function(require,module,exports){
 /**
  * Socket event handling utilities for handling events on either
  * WebSocket and TCP sockets
  *
  * Note to anyone reviewing this code: these functions are called
  * in the context of their parent object, unless bound
+ * @fileOverview
  */
 'use strict';
 
-var Canvas = require('./../util/shim/canvas.js');
-var Image = Canvas.Image || global.Image;
-var WebSocket = require('./../util/shim/WebSocket.js');
-
-/**
- * If a message was compressed as a PNG image (a compression hack since
- * gzipping over WebSockets * is not supported yet), this function places the
- * "image" in a canvas element then decodes the * "image" as a Base64 string.
- *
- * @param data - object containing the PNG data.
- * @param callback - function with params:
- *   * data - the uncompressed data
- */
-function decompressPng(data, callback) {
-  // Uncompresses the data before sending it through (use image/canvas to do so).
-  var image = new Image();
-  // When the image loads, extracts the raw data (JSON message).
-  image.onload = function() {
-    // Creates a local canvas to draw on.
-    var canvas = new Canvas();
-    var context = canvas.getContext('2d');
-
-    // Sets width and height.
-    canvas.width = image.width;
-    canvas.height = image.height;
-
-    // Prevents anti-aliasing and loosing data
-    context.imageSmoothingEnabled = false;
-    context.webkitImageSmoothingEnabled = false;
-    context.mozImageSmoothingEnabled = false;
-
-    // Puts the data into the image.
-    context.drawImage(image, 0, 0);
-    // Grabs the raw, uncompressed data.
-    var imageData = context.getImageData(0, 0, image.width, image.height).data;
-
-    // Constructs the JSON.
-    var jsonData = '';
-    for (var i = 0; i < imageData.length; i += 4) {
-      // RGB
-      jsonData += String.fromCharCode(imageData[i], imageData[i + 1], imageData[i + 2]);
-    }
-    callback(JSON.parse(jsonData));
-  };
-  // Sends the image data to load.
-  image.src = 'data:image/png;base64,' + data.data;
+var decompressPng = require('../util/decompressPng');
+var CBOR = require('cbor-js');
+var typedArrayTagger = require('../util/cborTypedArrayTags');
+var BSON = null;
+if(typeof bson !== 'undefined'){
+    BSON = bson().BSON;
 }
 
 /**
  * Events listeners for a WebSocket or TCP socket to a JavaScript
  * ROS Client. Sets up Messages for a given topic to trigger an
  * event on the ROS client.
+ *
+ * @namespace SocketAdapter
+ * @private
  */
 function SocketAdapter(client) {
   function handleMessage(message) {
@@ -1089,14 +3055,44 @@ function SocketAdapter(client) {
       client.emit(message.topic, message.msg);
     } else if (message.op === 'service_response') {
       client.emit(message.id, message);
+    } else if (message.op === 'call_service') {
+      client.emit(message.service, message);
+    } else if(message.op === 'status'){
+      if(message.id){
+        client.emit('status:'+message.id, message);
+      } else {
+        client.emit('status', message);
+      }
     }
   }
 
+  function handlePng(message, callback) {
+    if (message.op === 'png') {
+      decompressPng(message.data, callback);
+    } else {
+      callback(message);
+    }
+  }
+
+  function decodeBSON(data, callback) {
+    if (!BSON) {
+      throw 'Cannot process BSON encoded message without BSON header.';
+    }
+    var reader = new FileReader();
+    reader.onload  = function() {
+      var uint8Array = new Uint8Array(this.result);
+      var msg = BSON.deserialize(uint8Array);
+      callback(msg);
+    };
+    reader.readAsArrayBuffer(data);
+  }
+
   return {
     /**
      * Emits a 'connection' event on WebSocket connection.
      *
      * @param event - the argument to emit with the event.
+     * @memberof SocketAdapter
      */
     onopen: function onOpen(event) {
       client.isConnected = true;
@@ -1107,6 +3103,7 @@ function SocketAdapter(client) {
      * Emits a 'close' event on WebSocket disconnection.
      *
      * @param event - the argument to emit with the event.
+     * @memberof SocketAdapter
      */
     onclose: function onClose(event) {
       client.isConnected = false;
@@ -1117,6 +3114,7 @@ function SocketAdapter(client) {
      * Emits an 'error' event whenever there was an error.
      *
      * @param event - the argument to emit with the event.
+     * @memberof SocketAdapter
      */
     onerror: function onError(event) {
       client.emit('error', event);
@@ -1127,13 +3125,19 @@ function SocketAdapter(client) {
      * topic, service, or param.
      *
      * @param message - the raw JSON message from rosbridge.
+     * @memberof SocketAdapter
      */
-    onmessage: function onMessage(message) {
-      var data = JSON.parse(typeof message === 'string' ? message : message.data);
-      if (data.op === 'png') {
-        decompressPng(data, handleMessage);
+    onmessage: function onMessage(data) {
+      if (typeof Blob !== 'undefined' && data.data instanceof Blob) {
+        decodeBSON(data.data, function (message) {
+          handlePng(message, handleMessage);
+        });
+      } else if (data.data instanceof ArrayBuffer) {
+        var decoded = CBOR.decode(data.data, typedArrayTagger);
+        handleMessage(decoded);
       } else {
-        handleMessage(data);
+        var message = JSON.parse(typeof data === 'string' ? data : data.data);
+        handlePng(message, handleMessage);
       }
     }
   };
@@ -1141,13 +3145,13 @@ function SocketAdapter(client) {
 
 module.exports = SocketAdapter;
 
-}).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})
-},{"./../util/shim/WebSocket.js":39,"./../util/shim/canvas.js":40}],16:[function(require,module,exports){
+},{"../util/cborTypedArrayTags":42,"../util/decompressPng":45,"cbor-js":1}],20:[function(require,module,exports){
 /**
+ * @fileoverview
  * @author Brandon Alexander - baalexander@gmail.com
  */
 
-var EventEmitter2 = require('./../util/shim/EventEmitter2.js').EventEmitter2;
+var EventEmitter2 = require('eventemitter2').EventEmitter2;
 var Message = require('./Message');
 
 /**
@@ -1162,11 +3166,12 @@ var Message = require('./Message');
  *   * ros - the ROSLIB.Ros connection handle
  *   * name - the topic name, like /cmd_vel
  *   * messageType - the message type, like 'std_msgs/String'
- *   * compression - the type of compression to use, like 'png'
+ *   * compression - the type of compression to use, like 'png' or 'cbor'
  *   * throttle_rate - the rate (in ms in between messages) at which to throttle the topics
  *   * queue_size - the queue created at bridge side for re-publishing webtopics (defaults to 100)
  *   * latch - latch the topic when publishing
  *   * queue_length - the queue length at bridge side used when subscribing (defaults to 0, no queueing).
+ *   * reconnect_on_close - the flag to enable resubscription and readvertisement on close event(defaults to true).
  */
 function Topic(options) {
   options = options || {};
@@ -1179,12 +3184,14 @@ function Topic(options) {
   this.latch = options.latch || false;
   this.queue_size = options.queue_size || 100;
   this.queue_length = options.queue_length || 0;
+  this.reconnect_on_close = options.reconnect_on_close !== undefined ? options.reconnect_on_close : true;
 
   // Check for valid compression types
   if (this.compression && this.compression !== 'png' &&
-        this.compression !== 'none') {
+    this.compression !== 'cbor' && this.compression !== 'none') {
     this.emit('warning', this.compression +
       ' compression is not supported. No compression will be used.');
+    this.compression = 'none';
   }
 
   // Check if throttle rate is negative
@@ -1194,6 +3201,27 @@ function Topic(options) {
   }
 
   var that = this;
+  if (this.reconnect_on_close) {
+    this.callForSubscribeAndAdvertise = function(message) {
+      that.ros.callOnConnection(message);
+
+      that.waitForReconnect = false;
+      that.reconnectFunc = function() {
+        if(!that.waitForReconnect) {
+          that.waitForReconnect = true;
+          that.ros.callOnConnection(message);
+          that.ros.once('connection', function() {
+            that.waitForReconnect = false;
+          });
+        }
+      };
+      that.ros.on('close', that.reconnectFunc);
+    };
+  }
+  else {
+    this.callForSubscribeAndAdvertise = this.ros.callOnConnection;
+  }
+
   this._messageCallback = function(data) {
     that.emit('message', new Message(data));
   };
@@ -1215,7 +3243,8 @@ Topic.prototype.subscribe = function(callback) {
   if (this.subscribeId) { return; }
   this.ros.on(this.name, this._messageCallback);
   this.subscribeId = 'subscribe:' + this.name + ':' + (++this.ros.idCounter);
-  this.ros.callOnConnection({
+
+  this.callForSubscribeAndAdvertise({
     op: 'subscribe',
     id: this.subscribeId,
     type: this.messageType,
@@ -1244,6 +3273,9 @@ Topic.prototype.unsubscribe = function(callback) {
   if (!this.subscribeId) { return; }
   // Note: Don't call this.removeAllListeners, allow client to handle that themselves
   this.ros.off(this.name, this._messageCallback);
+  if(this.reconnect_on_close) {
+    this.ros.off('close', this.reconnectFunc);
+  }
   this.emit('unsubscribe');
   this.ros.callOnConnection({
     op: 'unsubscribe',
@@ -1253,6 +3285,7 @@ Topic.prototype.unsubscribe = function(callback) {
   this.subscribeId = null;
 };
 
+
 /**
  * Registers as a publisher for the topic.
  */
@@ -1261,7 +3294,7 @@ Topic.prototype.advertise = function() {
     return;
   }
   this.advertiseId = 'advertise:' + this.name + ':' + (++this.ros.idCounter);
-  this.ros.callOnConnection({
+  this.callForSubscribeAndAdvertise({
     op: 'advertise',
     id: this.advertiseId,
     type: this.messageType,
@@ -1270,6 +3303,13 @@ Topic.prototype.advertise = function() {
     queue_size: this.queue_size
   });
   this.isAdvertised = true;
+
+  if(!this.reconnect_on_close) {
+    var that = this;
+    this.ros.on('close', function() {
+      that.isAdvertised = false;
+    });
+  }
 };
 
 /**
@@ -1279,6 +3319,9 @@ Topic.prototype.unadvertise = function() {
   if (!this.isAdvertised) {
     return;
   }
+  if(this.reconnect_on_close) {
+    this.ros.off('close', this.reconnectFunc);
+  }
   this.emit('unadvertise');
   this.ros.callOnConnection({
     op: 'unadvertise',
@@ -1311,7 +3354,7 @@ Topic.prototype.publish = function(message) {
 
 module.exports = Topic;
 
-},{"./../util/shim/EventEmitter2.js":38,"./Message":9}],17:[function(require,module,exports){
+},{"./Message":13,"eventemitter2":2}],21:[function(require,module,exports){
 var mixin = require('../mixin');
 
 var core = module.exports = {
@@ -1326,8 +3369,9 @@ var core = module.exports = {
 
 mixin(core.Ros, ['Param', 'Service', 'Topic'], core);
 
-},{"../mixin":23,"./Message":9,"./Param":10,"./Ros":11,"./Service":12,"./ServiceRequest":13,"./ServiceResponse":14,"./Topic":16}],18:[function(require,module,exports){
+},{"../mixin":27,"./Message":13,"./Param":14,"./Ros":15,"./Service":16,"./ServiceRequest":17,"./ServiceResponse":18,"./Topic":20}],22:[function(require,module,exports){
 /**
+ * @fileoverview
  * @author David Gossow - dgossow@willowgarage.com
  */
 
@@ -1371,9 +3415,36 @@ Pose.prototype.clone = function() {
   return new Pose(this);
 };
 
-module.exports = Pose;
-},{"./Quaternion":19,"./Vector3":21}],19:[function(require,module,exports){
 /**
+ * Multiplies this pose with another pose without altering this pose.
+ *
+ * @returns Result of multiplication.
+ */
+Pose.prototype.multiply = function(pose) {
+  var p = pose.clone();
+  p.applyTransform({ rotation: this.orientation, translation: this.position });
+  return p;
+};
+
+/**
+ * Computes the inverse of this pose.
+ *
+ * @returns Inverse of pose.
+ */
+Pose.prototype.getInverse = function() {
+  var inverse = this.clone();
+  inverse.orientation.invert();
+  inverse.position.multiplyQuaternion(inverse.orientation);
+  inverse.position.x *= -1;
+  inverse.position.y *= -1;
+  inverse.position.z *= -1;
+  return inverse;
+};
+
+module.exports = Pose;
+},{"./Quaternion":23,"./Vector3":25}],23:[function(require,module,exports){
+/**
+ * @fileoverview
  * @author David Gossow - dgossow@willowgarage.com
  */
 
@@ -1465,8 +3536,9 @@ Quaternion.prototype.clone = function() {
 
 module.exports = Quaternion;
 
-},{}],20:[function(require,module,exports){
+},{}],24:[function(require,module,exports){
 /**
+ * @fileoverview
  * @author David Gossow - dgossow@willowgarage.com
  */
 
@@ -1498,8 +3570,9 @@ Transform.prototype.clone = function() {
 };
 
 module.exports = Transform;
-},{"./Quaternion":19,"./Vector3":21}],21:[function(require,module,exports){
+},{"./Quaternion":23,"./Vector3":25}],25:[function(require,module,exports){
 /**
+ * @fileoverview
  * @author David Gossow - dgossow@willowgarage.com
  */
 
@@ -1566,7 +3639,7 @@ Vector3.prototype.clone = function() {
 };
 
 module.exports = Vector3;
-},{}],22:[function(require,module,exports){
+},{}],26:[function(require,module,exports){
 module.exports = {
     Pose: require('./Pose'),
     Quaternion: require('./Quaternion'),
@@ -1574,7 +3647,7 @@ module.exports = {
     Vector3: require('./Vector3')
 };
 
-},{"./Pose":18,"./Quaternion":19,"./Transform":20,"./Vector3":21}],23:[function(require,module,exports){
+},{"./Pose":22,"./Quaternion":23,"./Transform":24,"./Vector3":25}],27:[function(require,module,exports){
 /**
  * Mixin a feature to the core/Ros prototype.
  * For example, mixin(Ros, ['Topic'], {Topic: <Topic>})
@@ -1593,8 +3666,9 @@ module.exports = function(Ros, classes, features) {
     });
 };
 
-},{}],24:[function(require,module,exports){
+},{}],28:[function(require,module,exports){
 /**
+ * @fileoverview
  * @author David Gossow - dgossow@willowgarage.com
  */
 
@@ -1619,6 +3693,9 @@ var Transform = require('../math/Transform');
  *   * updateDelay - the time (in ms) to wait after a new subscription
  *                   to update the TF republisher's list of TFs
  *   * topicTimeout - the timeout parameter for the TF republisher
+ *   * serverName (optional) - the name of the tf2_web_republisher server
+ *   * repubServiceName (optional) - the name of the republish_tfs service (non groovy compatibility mode only)
+ *   																 default: '/republish_tfs'
  */
 function TFClient(options) {
   options = options || {};
@@ -1635,6 +3712,8 @@ function TFClient(options) {
     secs: secs,
     nsecs: nsecs
   };
+  this.serverName = options.serverName || '/tf2_web_republisher';
+  this.repubServiceName = options.repubServiceName || '/republish_tfs';
 
   this.currentGoal = false;
   this.currentTopic = false;
@@ -1643,13 +3722,15 @@ function TFClient(options) {
 
   // Create an Action client
   this.actionClient = this.ros.ActionClient({
-    serverName : '/tf2_web_republisher',
-    actionName : 'tf2_web_republisher/TFSubscriptionAction'
+    serverName : this.serverName,
+    actionName : 'tf2_web_republisher/TFSubscriptionAction',
+    omitStatus : true,
+    omitResult : true
   });
 
   // Create a Service client
   this.serviceClient = this.ros.Service({
-    name: '/republish_tfs',
+    name: this.repubServiceName,
     serviceType: 'tf2_web_republisher/RepublishTFs'
   });
 }
@@ -1794,9 +3875,19 @@ TFClient.prototype.unsubscribe = function(frameID, callback) {
   }
 };
 
+/**
+ * Unsubscribe and unadvertise all topics associated with this TFClient.
+ */
+TFClient.prototype.dispose = function() {
+  this.actionClient.dispose();
+  if (this.currentTopic) {
+    this.currentTopic.unsubscribe();
+  }
+};
+
 module.exports = TFClient;
 
-},{"../actionlib/ActionClient":5,"../actionlib/Goal":6,"../core/Service.js":12,"../core/ServiceRequest.js":13,"../math/Transform":20}],25:[function(require,module,exports){
+},{"../actionlib/ActionClient":8,"../actionlib/Goal":10,"../core/Service.js":16,"../core/ServiceRequest.js":17,"../math/Transform":24}],29:[function(require,module,exports){
 var Ros = require('../core/Ros');
 var mixin = require('../mixin');
 
@@ -1805,8 +3896,9 @@ var tf = module.exports = {
 };
 
 mixin(Ros, ['TFClient'], tf);
-},{"../core/Ros":11,"../mixin":23,"./TFClient":24}],26:[function(require,module,exports){
+},{"../core/Ros":15,"../mixin":27,"./TFClient":28}],30:[function(require,module,exports){
 /**
+ * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
  * @author Russell Toris - rctoris@wpi.edu
  */
@@ -1835,8 +3927,9 @@ function UrdfBox(options) {
 }
 
 module.exports = UrdfBox;
-},{"../math/Vector3":21,"./UrdfTypes":35}],27:[function(require,module,exports){
+},{"../math/Vector3":25,"./UrdfTypes":39}],31:[function(require,module,exports){
 /**
+ * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
  * @author Russell Toris - rctoris@wpi.edu
  */
@@ -1858,8 +3951,9 @@ function UrdfColor(options) {
 }
 
 module.exports = UrdfColor;
-},{}],28:[function(require,module,exports){
+},{}],32:[function(require,module,exports){
 /**
+ * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
  * @author Russell Toris - rctoris@wpi.edu
  */
@@ -1880,11 +3974,16 @@ function UrdfCylinder(options) {
 }
 
 module.exports = UrdfCylinder;
-},{"./UrdfTypes":35}],29:[function(require,module,exports){
+},{"./UrdfTypes":39}],33:[function(require,module,exports){
 /**
+ * @fileOverview
  * @author David V. Lu!!  davidvlu@gmail.com
  */
 
+var Pose = require('../math/Pose');
+var Vector3 = require('../math/Vector3');
+var Quaternion = require('../math/Quaternion');
+
 /**
  * A Joint element in a URDF.
  *
@@ -1895,18 +3994,82 @@ module.exports = UrdfCylinder;
 function UrdfJoint(options) {
   this.name = options.xml.getAttribute('name');
   this.type = options.xml.getAttribute('type');
-  
+
+  var parents = options.xml.getElementsByTagName('parent');
+  if(parents.length > 0) {
+    this.parent = parents[0].getAttribute('link');
+  }
+
+  var children = options.xml.getElementsByTagName('child');
+  if(children.length > 0) {
+    this.child = children[0].getAttribute('link');
+  }
+
   var limits = options.xml.getElementsByTagName('limit');
   if (limits.length > 0) {
     this.minval = parseFloat( limits[0].getAttribute('lower') );
     this.maxval = parseFloat( limits[0].getAttribute('upper') );
   }
+
+  // Origin
+  var origins = options.xml.getElementsByTagName('origin');
+  if (origins.length === 0) {
+    // use the identity as the default
+    this.origin = new Pose();
+  } else {
+    // Check the XYZ
+    var xyz = origins[0].getAttribute('xyz');
+    var position = new Vector3();
+    if (xyz) {
+      xyz = xyz.split(' ');
+      position = new Vector3({
+        x : parseFloat(xyz[0]),
+        y : parseFloat(xyz[1]),
+        z : parseFloat(xyz[2])
+      });
+    }
+
+    // Check the RPY
+    var rpy = origins[0].getAttribute('rpy');
+    var orientation = new Quaternion();
+    if (rpy) {
+      rpy = rpy.split(' ');
+      // Convert from RPY
+      var roll = parseFloat(rpy[0]);
+      var pitch = parseFloat(rpy[1]);
+      var yaw = parseFloat(rpy[2]);
+      var phi = roll / 2.0;
+      var the = pitch / 2.0;
+      var psi = yaw / 2.0;
+      var x = Math.sin(phi) * Math.cos(the) * Math.cos(psi) - Math.cos(phi) * Math.sin(the)
+          * Math.sin(psi);
+      var y = Math.cos(phi) * Math.sin(the) * Math.cos(psi) + Math.sin(phi) * Math.cos(the)
+          * Math.sin(psi);
+      var z = Math.cos(phi) * Math.cos(the) * Math.sin(psi) - Math.sin(phi) * Math.sin(the)
+          * Math.cos(psi);
+      var w = Math.cos(phi) * Math.cos(the) * Math.cos(psi) + Math.sin(phi) * Math.sin(the)
+          * Math.sin(psi);
+
+      orientation = new Quaternion({
+        x : x,
+        y : y,
+        z : z,
+        w : w
+      });
+      orientation.normalize();
+    }
+    this.origin = new Pose({
+      position : position,
+      orientation : orientation
+    });
+  }
 }
 
 module.exports = UrdfJoint;
 
-},{}],30:[function(require,module,exports){
+},{"../math/Pose":22,"../math/Quaternion":23,"../math/Vector3":25}],34:[function(require,module,exports){
 /**
+ * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
  * @author Russell Toris - rctoris@wpi.edu
  */
@@ -1933,8 +4096,9 @@ function UrdfLink(options) {
 }
 
 module.exports = UrdfLink;
-},{"./UrdfVisual":36}],31:[function(require,module,exports){
+},{"./UrdfVisual":40}],35:[function(require,module,exports){
 /**
+ * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
  * @author Russell Toris - rctoris@wpi.edu
  */
@@ -1982,8 +4146,9 @@ UrdfMaterial.prototype.assign = function(obj) {
 
 module.exports = UrdfMaterial;
 
-},{"./UrdfColor":27,"object-assign":1}],32:[function(require,module,exports){
+},{"./UrdfColor":31,"object-assign":3}],36:[function(require,module,exports){
 /**
+ * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
  * @author Russell Toris - rctoris@wpi.edu
  */
@@ -2018,8 +4183,9 @@ function UrdfMesh(options) {
 }
 
 module.exports = UrdfMesh;
-},{"../math/Vector3":21,"./UrdfTypes":35}],33:[function(require,module,exports){
+},{"../math/Vector3":25,"./UrdfTypes":39}],37:[function(require,module,exports){
 /**
+ * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
  * @author Russell Toris - rctoris@wpi.edu
  */
@@ -2027,7 +4193,7 @@ module.exports = UrdfMesh;
 var UrdfMaterial = require('./UrdfMaterial');
 var UrdfLink = require('./UrdfLink');
 var UrdfJoint = require('./UrdfJoint');
-var DOMParser = require('xmlshim').DOMParser;
+var DOMParser = require('xmldom').DOMParser;
 
 // See https://developer.mozilla.org/docs/XPathResult#Constants
 var XPATH_FIRST_ORDERED_NODE_TYPE = 9;
@@ -2057,7 +4223,7 @@ function UrdfModel(options) {
 
   // Initialize the model with the given XML node.
   // Get the robot tag
-  var robotXml = xmlDoc.evaluate('//robot', xmlDoc, null, XPATH_FIRST_ORDERED_NODE_TYPE, null).singleNodeValue;
+  var robotXml = xmlDoc.documentElement;
 
   // Get the robot name
   this.name = robotXml.getAttribute('name');
@@ -2114,8 +4280,9 @@ function UrdfModel(options) {
 
 module.exports = UrdfModel;
 
-},{"./UrdfJoint":29,"./UrdfLink":30,"./UrdfMaterial":31,"xmlshim":2}],34:[function(require,module,exports){
+},{"./UrdfJoint":33,"./UrdfLink":34,"./UrdfMaterial":35,"xmldom":46}],38:[function(require,module,exports){
 /**
+ * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
  * @author Russell Toris - rctoris@wpi.edu
  */
@@ -2135,7 +4302,7 @@ function UrdfSphere(options) {
 }
 
 module.exports = UrdfSphere;
-},{"./UrdfTypes":35}],35:[function(require,module,exports){
+},{"./UrdfTypes":39}],39:[function(require,module,exports){
 module.exports = {
 	URDF_SPHERE : 0,
 	URDF_BOX : 1,
@@ -2143,8 +4310,9 @@ module.exports = {
 	URDF_MESH : 3
 };
 
-},{}],36:[function(require,module,exports){
+},{}],40:[function(require,module,exports){
 /**
+ * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
  * @author Russell Toris - rctoris@wpi.edu
  */
@@ -2271,7 +4439,7 @@ function UrdfVisual(options) {
 }
 
 module.exports = UrdfVisual;
-},{"../math/Pose":18,"../math/Quaternion":19,"../math/Vector3":21,"./UrdfBox":26,"./UrdfCylinder":28,"./UrdfMaterial":31,"./UrdfMesh":32,"./UrdfSphere":34}],37:[function(require,module,exports){
+},{"../math/Pose":22,"../math/Quaternion":23,"../math/Vector3":25,"./UrdfBox":30,"./UrdfCylinder":32,"./UrdfMaterial":35,"./UrdfMesh":36,"./UrdfSphere":38}],41:[function(require,module,exports){
 module.exports = require('object-assign')({
     UrdfBox: require('./UrdfBox'),
     UrdfColor: require('./UrdfColor'),
@@ -2284,19 +4452,291 @@ module.exports = require('object-assign')({
     UrdfVisual: require('./UrdfVisual')
 }, require('./UrdfTypes'));
 
-},{"./UrdfBox":26,"./UrdfColor":27,"./UrdfCylinder":28,"./UrdfLink":30,"./UrdfMaterial":31,"./UrdfMesh":32,"./UrdfModel":33,"./UrdfSphere":34,"./UrdfTypes":35,"./UrdfVisual":36,"object-assign":1}],38:[function(require,module,exports){
-(function (global){
-module.exports = {
-	EventEmitter2: global.EventEmitter2
+},{"./UrdfBox":30,"./UrdfColor":31,"./UrdfCylinder":32,"./UrdfLink":34,"./UrdfMaterial":35,"./UrdfMesh":36,"./UrdfModel":37,"./UrdfSphere":38,"./UrdfTypes":39,"./UrdfVisual":40,"object-assign":3}],42:[function(require,module,exports){
+'use strict';
+
+var UPPER32 = Math.pow(2, 32);
+
+var warnedPrecision = false;
+function warnPrecision() {
+  if (!warnedPrecision) {
+    warnedPrecision = true;
+    console.warn('CBOR 64-bit integer array values may lose precision. No further warnings.');
+  }
+}
+
+/**
+ * Unpacks 64-bit unsigned integer from byte array.
+ * @param {Uint8Array} bytes
+*/
+function decodeUint64LE(bytes) {
+  warnPrecision();
+
+  var byteLen = bytes.byteLength;
+  var offset = bytes.byteOffset;
+  var arrLen = byteLen / 8;
+
+  var buffer = bytes.buffer.slice(offset, offset + byteLen);
+  var uint32View = new Uint32Array(buffer);
+
+  var arr = new Array(arrLen);
+  for (var i = 0; i < arrLen; i++) {
+    var si = i * 2;
+    var lo = uint32View[si];
+    var hi = uint32View[si+1];
+    arr[i] = lo + UPPER32 * hi;
+  }
+
+  return arr;
+}
+
+/**
+ * Unpacks 64-bit signed integer from byte array.
+ * @param {Uint8Array} bytes
+*/
+function decodeInt64LE(bytes) {
+  warnPrecision();
+
+  var byteLen = bytes.byteLength;
+  var offset = bytes.byteOffset;
+  var arrLen = byteLen / 8;
+
+  var buffer = bytes.buffer.slice(offset, offset + byteLen);
+  var uint32View = new Uint32Array(buffer);
+  var int32View = new Int32Array(buffer);
+
+  var arr = new Array(arrLen);
+  for (var i = 0; i < arrLen; i++) {
+    var si = i * 2;
+    var lo = uint32View[si];
+    var hi = int32View[si+1];
+    arr[i] = lo + UPPER32 * hi;
+  }
+
+  return arr;
+}
+
+/**
+ * Unpacks typed array from byte array.
+ * @param {Uint8Array} bytes
+ * @param {type} ArrayType - desired output array type
+*/
+function decodeNativeArray(bytes, ArrayType) {
+  var byteLen = bytes.byteLength;
+  var offset = bytes.byteOffset;
+  var buffer = bytes.buffer.slice(offset, offset + byteLen);
+  return new ArrayType(buffer);
+}
+
+/**
+ * Support a subset of draft CBOR typed array tags:
+ *   <https://tools.ietf.org/html/draft-ietf-cbor-array-tags-00>
+ * Only support little-endian tags for now.
+ */
+var nativeArrayTypes = {
+  64: Uint8Array,
+  69: Uint16Array,
+  70: Uint32Array,
+  72: Int8Array,
+  77: Int16Array,
+  78: Int32Array,
+  85: Float32Array,
+  86: Float64Array
 };
-}).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})
-},{}],39:[function(require,module,exports){
-(function (global){
-module.exports = global.WebSocket;
-}).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})
-},{}],40:[function(require,module,exports){
+
+/**
+ * We can also decode 64-bit integer arrays, since ROS has these types.
+ */
+var conversionArrayTypes = {
+  71: decodeUint64LE,
+  79: decodeInt64LE
+};
+
+/**
+ * Handles CBOR typed array tags during decoding.
+ * @param {Uint8Array} data
+ * @param {Number} tag
+ */
+function cborTypedArrayTagger(data, tag) {
+  if (tag in nativeArrayTypes) {
+    var arrayType = nativeArrayTypes[tag];
+    return decodeNativeArray(data, arrayType);
+  }
+  if (tag in conversionArrayTypes) {
+    return conversionArrayTypes[tag](data);
+  }
+  return data;
+}
+
+if (typeof module !== 'undefined' && module.exports) {
+  module.exports = cborTypedArrayTagger;
+}
+
+},{}],43:[function(require,module,exports){
+module.exports = typeof window !== 'undefined' ? window.WebSocket : WebSocket;
+
+},{}],44:[function(require,module,exports){
 /* global document */
 module.exports = function Canvas() {
 	return document.createElement('canvas');
 };
-},{}]},{},[4]);
+},{}],45:[function(require,module,exports){
+/**
+ * @fileOverview
+ * @author Graeme Yeates - github.com/megawac
+ */
+
+'use strict';
+
+var Canvas = require('canvas');
+var Image = Canvas.Image || window.Image;
+
+/**
+ * If a message was compressed as a PNG image (a compression hack since
+ * gzipping over WebSockets * is not supported yet), this function places the
+ * "image" in a canvas element then decodes the * "image" as a Base64 string.
+ *
+ * @private
+ * @param data - object containing the PNG data.
+ * @param callback - function with params:
+ *   * data - the uncompressed data
+ */
+function decompressPng(data, callback) {
+  // Uncompresses the data before sending it through (use image/canvas to do so).
+  var image = new Image();
+  // When the image loads, extracts the raw data (JSON message).
+  image.onload = function() {
+    // Creates a local canvas to draw on.
+    var canvas = new Canvas();
+    var context = canvas.getContext('2d');
+
+    // Sets width and height.
+    canvas.width = image.width;
+    canvas.height = image.height;
+
+    // Prevents anti-aliasing and loosing data
+    context.imageSmoothingEnabled = false;
+    context.webkitImageSmoothingEnabled = false;
+    context.mozImageSmoothingEnabled = false;
+
+    // Puts the data into the image.
+    context.drawImage(image, 0, 0);
+    // Grabs the raw, uncompressed data.
+    var imageData = context.getImageData(0, 0, image.width, image.height).data;
+
+    // Constructs the JSON.
+    var jsonData = '';
+    for (var i = 0; i < imageData.length; i += 4) {
+      // RGB
+      jsonData += String.fromCharCode(imageData[i], imageData[i + 1], imageData[i + 2]);
+    }
+    callback(JSON.parse(jsonData));
+  };
+  // Sends the image data to load.
+  image.src = 'data:image/png;base64,' + data;
+}
+
+module.exports = decompressPng;
+
+},{"canvas":44}],46:[function(require,module,exports){
+exports.DOMImplementation = window.DOMImplementation;
+exports.XMLSerializer = window.XMLSerializer;
+exports.DOMParser = window.DOMParser;
+
+},{}],47:[function(require,module,exports){
+var work = require('webworkify');
+var workerSocketImpl = require('./workerSocketImpl');
+
+function WorkerSocket(uri) {
+  this.socket_ = work(workerSocketImpl);
+
+  this.socket_.addEventListener('message', this.handleWorkerMessage_.bind(this));
+
+  this.socket_.postMessage({
+    uri: uri,
+  });
+}
+
+WorkerSocket.prototype.handleWorkerMessage_ = function(ev) {
+  var data = ev.data;
+  if (data instanceof ArrayBuffer || typeof data === 'string') {
+    // binary or JSON message from rosbridge
+    this.onmessage(ev);
+  } else {
+    // control message from the wrapped WebSocket
+    var type = data.type;
+    if (type === 'close') {
+      this.onclose(null);
+    } else if (type === 'open') {
+      this.onopen(null);
+    } else if (type === 'error') {
+      this.onerror(null);
+    } else {
+      throw 'Unknown message from workersocket';
+    }
+  }
+};
+
+WorkerSocket.prototype.send = function(data) {
+  this.socket_.postMessage(data);
+};
+
+WorkerSocket.prototype.close = function() {
+  this.socket_.postMessage({
+    close: true
+  });
+};
+
+module.exports = WorkerSocket;
+
+},{"./workerSocketImpl":48,"webworkify":5}],48:[function(require,module,exports){
+var WebSocket = WebSocket || require('ws');
+
+module.exports = function(self) {
+  var socket = null;
+
+  function handleSocketMessage(ev) {
+    var data = ev.data;
+
+    if (data instanceof ArrayBuffer) {
+      // binary message, transfer for speed
+      self.postMessage(data, [data]);
+    } else {
+      // JSON message, copy string
+      self.postMessage(data);
+    }
+  }
+
+  function handleSocketControl(ev) {
+    self.postMessage({type: ev.type});
+  }
+
+  self.addEventListener('message', function(ev) {
+    var data = ev.data;
+
+    if (typeof data === 'string') {
+      // JSON message from ROSLIB
+      socket.send(data);
+    } else {
+      // control message
+      if (data.hasOwnProperty('close')) {
+        socket.close();
+        socket = null;
+      } else if (data.hasOwnProperty('uri')) {
+        var uri = data.uri;
+
+        socket = new WebSocket(uri);
+        socket.binaryType = 'arraybuffer';
+
+        socket.onmessage = handleSocketMessage;
+        socket.onclose = handleSocketControl;
+        socket.onopen = handleSocketControl;
+        socket.onerror = handleSocketControl;
+      } else {
+        throw 'Unknown message to WorkerSocket';
+      }
+    }
+  });
+};
+
+},{"ws":43}]},{},[7]);
diff --git a/include/js/roslib.min.js b/include/js/roslib.min.js
index 211b51d..96c6e26 100644
--- a/include/js/roslib.min.js
+++ b/include/js/roslib.min.js
@@ -1 +1,2 @@
-!function a(b,c,d){function e(g,h){if(!c[g]){if(!b[g]){var i="function"==typeof require&&require;if(!h&&i)return i(g,!0);if(f)return f(g,!0);var j=new Error("Cannot find module '"+g+"'");throw j.code="MODULE_NOT_FOUND",j}var k=c[g]={exports:{}};b[g][0].call(k.exports,function(a){var c=b[g][1][a];return e(c?c:a)},k,k.exports,a,b,c,d)}return c[g].exports}for(var f="function"==typeof require&&require,g=0;g<d.length;g++)e(d[g]);return e}({1:[function(a,b,c){"use strict";function d(a){if(null==a)throw new TypeError("Object.assign cannot be called with null or undefined");return Object(a)}b.exports=Object.assign||function(a,b){for(var c,e,f=d(a),g=1;g<arguments.length;g++){c=arguments[g],e=Object.keys(Object(c));for(var h=0;h<e.length;h++)f[e[h]]=c[e[h]]}return f}},{}],2:[function(a,b,c){c.XMLSerializer=XMLSerializer,c.DOMParser=DOMParser,c.implementation=document.implementation},{}],3:[function(a,b,c){var d=this.ROSLIB||{REVISION:"0.15.0"},e=a("object-assign");e(d,a("./core")),e(d,a("./actionlib")),e(d,a("./math")),e(d,a("./tf")),e(d,a("./urdf")),b.exports=d},{"./actionlib":8,"./core":17,"./math":22,"./tf":25,"./urdf":37,"object-assign":1}],4:[function(a,b,c){(function(b){b.ROSLIB=a("./RosLib")}).call(this,"undefined"!=typeof global?global:"undefined"!=typeof self?self:"undefined"!=typeof window?window:{})},{"./RosLib":3}],5:[function(a,b,c){function d(a){var b=this;a=a||{},this.ros=a.ros,this.serverName=a.serverName,this.actionName=a.actionName,this.timeout=a.timeout,this.goals={};var c=!1,d=new e({ros:this.ros,name:this.serverName+"/feedback",messageType:this.actionName+"Feedback"}),f=new e({ros:this.ros,name:this.serverName+"/status",messageType:"actionlib_msgs/GoalStatusArray"}),g=new e({ros:this.ros,name:this.serverName+"/result",messageType:this.actionName+"Result"});this.goalTopic=new e({ros:this.ros,name:this.serverName+"/goal",messageType:this.actionName+"Goal"}),this.cancelTopic=new e({ros:this.ros,name:this.serverName+"/cancel",messageType:"actionlib_msgs/GoalID"}),this.goalTopic.advertise(),this.cancelTopic.advertise(),f.subscribe(function(a){c=!0,a.status_list.forEach(function(a){var c=b.goals[a.goal_id.id];c&&c.emit("status",a)})}),d.subscribe(function(a){var c=b.goals[a.status.goal_id.id];c&&(c.emit("status",a.status),c.emit("feedback",a.feedback))}),g.subscribe(function(a){var c=b.goals[a.status.goal_id.id];c&&(c.emit("status",a.status),c.emit("result",a.result))}),this.timeout&&setTimeout(function(){c||b.emit("timeout")},this.timeout)}var e=a("../core/Topic"),f=a("../core/Message"),g=a("./../util/shim/EventEmitter2.js").EventEmitter2;d.prototype.__proto__=g.prototype,d.prototype.cancel=function(){var a=new f;this.cancelTopic.publish(a)},b.exports=d},{"../core/Message":9,"../core/Topic":16,"./../util/shim/EventEmitter2.js":38}],6:[function(a,b,c){function d(a){var b=this;this.actionClient=a.actionClient,this.goalMessage=a.goalMessage,this.isFinished=!1;var c=new Date;this.goalID="goal_"+Math.random()+"_"+c.getTime(),this.goalMessage=new e({goal_id:{stamp:{secs:0,nsecs:0},id:this.goalID},goal:this.goalMessage}),this.on("status",function(a){b.status=a}),this.on("result",function(a){b.isFinished=!0,b.result=a}),this.on("feedback",function(a){b.feedback=a}),this.actionClient.goals[this.goalID]=this}var e=a("../core/Message"),f=a("./../util/shim/EventEmitter2.js").EventEmitter2;d.prototype.__proto__=f.prototype,d.prototype.send=function(a){var b=this;b.actionClient.goalTopic.publish(b.goalMessage),a&&setTimeout(function(){b.isFinished||b.emit("timeout")},a)},d.prototype.cancel=function(){var a=new e({id:this.goalID});this.actionClient.cancelTopic.publish(a)},b.exports=d},{"../core/Message":9,"./../util/shim/EventEmitter2.js":38}],7:[function(a,b,c){function d(a){var b=this;a=a||{},this.ros=a.ros,this.serverName=a.serverName,this.actionName=a.actionName,this.feedbackPublisher=new e({ros:this.ros,name:this.serverName+"/feedback",messageType:this.actionName+"Feedback"}),this.feedbackPublisher.advertise();var c=new e({ros:this.ros,name:this.serverName+"/status",messageType:"actionlib_msgs/GoalStatusArray"});c.advertise(),this.resultPublisher=new e({ros:this.ros,name:this.serverName+"/result",messageType:this.actionName+"Result"}),this.resultPublisher.advertise();var d=new e({ros:this.ros,name:this.serverName+"/goal",messageType:this.actionName+"Goal"}),g=new e({ros:this.ros,name:this.serverName+"/cancel",messageType:"actionlib_msgs/GoalID"});this.statusMessage=new f({header:{stamp:{secs:0,nsecs:100},frame_id:""},status_list:[]}),this.currentGoal=null,this.nextGoal=null,d.subscribe(function(a){b.currentGoal?(b.nextGoal=a,b.emit("cancel")):(b.statusMessage.status_list=[{goal_id:a.goal_id,status:1}],b.currentGoal=a,b.emit("goal",a.goal))});var h=function(a,b){return a.secs>b.secs?!1:a.secs<b.secs?!0:a.nsecs<b.nsecs?!0:!1};g.subscribe(function(a){0===a.stamp.secs&&0===a.stamp.secs&&""===a.id?(b.nextGoal=null,b.currentGoal&&b.emit("cancel")):(b.currentGoal&&a.id===b.currentGoal.goal_id.id?b.emit("cancel"):b.nextGoal&&a.id===b.nextGoal.goal_id.id&&(b.nextGoal=null),b.nextGoal&&h(b.nextGoal.goal_id.stamp,a.stamp)&&(b.nextGoal=null),b.currentGoal&&h(b.currentGoal.goal_id.stamp,a.stamp)&&b.emit("cancel"))});setInterval(function(){var a=new Date,d=Math.floor(a.getTime()/1e3),e=Math.round(1e9*(a.getTime()/1e3-d));b.statusMessage.header.stamp.secs=d,b.statusMessage.header.stamp.nsecs=e,c.publish(b.statusMessage)},500)}var e=a("../core/Topic"),f=a("../core/Message"),g=a("./../util/shim/EventEmitter2.js").EventEmitter2;d.prototype.__proto__=g.prototype,d.prototype.setSucceeded=function(a){var b=new f({status:{goal_id:this.currentGoal.goal_id,status:3},result:a});this.resultPublisher.publish(b),this.statusMessage.status_list=[],this.nextGoal?(this.currentGoal=this.nextGoal,this.nextGoal=null,this.emit("goal",this.currentGoal.goal)):this.currentGoal=null},d.prototype.sendFeedback=function(a){var b=new f({status:{goal_id:this.currentGoal.goal_id,status:1},feedback:a});this.feedbackPublisher.publish(b)},d.prototype.setPreempted=function(){this.statusMessage.status_list=[];var a=new f({status:{goal_id:this.currentGoal.goal_id,status:2}});this.resultPublisher.publish(a),this.nextGoal?(this.currentGoal=this.nextGoal,this.nextGoal=null,this.emit("goal",this.currentGoal.goal)):this.currentGoal=null},b.exports=d},{"../core/Message":9,"../core/Topic":16,"./../util/shim/EventEmitter2.js":38}],8:[function(a,b,c){var d=a("../core/Ros"),e=a("../mixin"),f=b.exports={ActionClient:a("./ActionClient"),Goal:a("./Goal"),SimpleActionServer:a("./SimpleActionServer")};e(d,["ActionClient","SimpleActionServer"],f)},{"../core/Ros":11,"../mixin":23,"./ActionClient":5,"./Goal":6,"./SimpleActionServer":7}],9:[function(a,b,c){function d(a){e(this,a)}var e=a("object-assign");b.exports=d},{"object-assign":1}],10:[function(a,b,c){function d(a){a=a||{},this.ros=a.ros,this.name=a.name}var e=a("./Service"),f=a("./ServiceRequest");d.prototype.get=function(a){var b=new e({ros:this.ros,name:"/rosapi/get_param",serviceType:"rosapi/GetParam"}),c=new f({name:this.name});b.callService(c,function(b){var c=JSON.parse(b.value);a(c)})},d.prototype.set=function(a,b){var c=new e({ros:this.ros,name:"/rosapi/set_param",serviceType:"rosapi/SetParam"}),d=new f({name:this.name,value:JSON.stringify(a)});c.callService(d,b)},d.prototype["delete"]=function(a){var b=new e({ros:this.ros,name:"/rosapi/delete_param",serviceType:"rosapi/DeleteParam"}),c=new f({name:this.name});b.callService(c,a)},b.exports=d},{"./Service":12,"./ServiceRequest":13}],11:[function(a,b,c){function d(a){a=a||{},this.socket=null,this.idCounter=0,this.isConnected=!1,this.groovyCompatibility="undefined"==typeof a.groovyCompatibility?!0:a.groovyCompatibility,this.setMaxListeners(0),a.url&&this.connect(a.url)}var e=a("./../util/shim/WebSocket.js"),f=a("./SocketAdapter.js"),g=a("./Service"),h=a("./ServiceRequest"),i=a("object-assign"),j=a("./../util/shim/EventEmitter2.js").EventEmitter2;d.prototype.__proto__=j.prototype,d.prototype.connect=function(a){this.socket=i(new e(a),f(this))},d.prototype.close=function(){this.socket&&this.socket.close()},d.prototype.authenticate=function(a,b,c,d,e,f,g){var h={op:"auth",mac:a,client:b,dest:c,rand:d,t:e,level:f,end:g};this.callOnConnection(h)},d.prototype.callOnConnection=function(a){var b=this,c=JSON.stringify(a);this.isConnected?b.socket.send(c):b.once("connection",function(){b.socket.send(c)})},d.prototype.getTopics=function(a){var b=new g({ros:this,name:"/rosapi/topics",serviceType:"rosapi/Topics"}),c=new h;b.callService(c,function(b){a(b.topics)})},d.prototype.getTopicsForType=function(a,b){var c=new g({ros:this,name:"/rosapi/topics_for_type",serviceType:"rosapi/TopicsForType"}),d=new h({type:a});c.callService(d,function(a){b(a.topics)})},d.prototype.getServices=function(a){var b=new g({ros:this,name:"/rosapi/services",serviceType:"rosapi/Services"}),c=new h;b.callService(c,function(b){a(b.services)})},d.prototype.getServicesForType=function(a,b){var c=new g({ros:this,name:"/rosapi/services_for_type",serviceType:"rosapi/ServicesForType"}),d=new h({type:a});c.callService(d,function(a){b(a.services)})},d.prototype.getNodes=function(a){var b=new g({ros:this,name:"/rosapi/nodes",serviceType:"rosapi/Nodes"}),c=new h;b.callService(c,function(b){a(b.nodes)})},d.prototype.getParams=function(a){var b=new g({ros:this,name:"/rosapi/get_param_names",serviceType:"rosapi/GetParamNames"}),c=new h;b.callService(c,function(b){a(b.names)})},d.prototype.getTopicType=function(a,b){var c=new g({ros:this,name:"/rosapi/topic_type",serviceType:"rosapi/TopicType"}),d=new h({topic:a});c.callService(d,function(a){b(a.type)})},d.prototype.getMessageDetails=function(a,b){var c=new g({ros:this,name:"/rosapi/message_details",serviceType:"rosapi/MessageDetails"}),d=new h({type:a});c.callService(d,function(a){b(a.typedefs)})},d.prototype.decodeTypeDefs=function(a){var b=this,c=function(a,d){for(var e={},f=0;f<a.fieldnames.length;f++){var g=a.fieldarraylen[f],h=a.fieldnames[f],i=a.fieldtypes[f];if(-1===i.indexOf("/"))e[h]=-1===g?i:[i];else{for(var j=!1,k=0;k<d.length;k++)if(d[k].type.toString()===i.toString()){j=d[k];break}if(j){var l=c(j,d);e[h]=-1===g?l:[l]}else b.emit("error","Cannot find "+i+" in decodeTypeDefs")}}return e};return c(a[0],a)},b.exports=d},{"./../util/shim/EventEmitter2.js":38,"./../util/shim/WebSocket.js":39,"./Service":12,"./ServiceRequest":13,"./SocketAdapter.js":15,"object-assign":1}],12:[function(a,b,c){function d(a){a=a||{},this.ros=a.ros,this.name=a.name,this.serviceType=a.serviceType}var e=a("./ServiceResponse");d.prototype.callService=function(a,b,c){var d="call_service:"+this.name+":"+ ++this.ros.idCounter;(b||c)&&this.ros.once(d,function(a){void 0!==a.result&&a.result===!1?"function"==typeof c&&c(a.values):"function"==typeof b&&b(new e(a.values))});var f={op:"call_service",id:d,service:this.name,args:a};this.ros.callOnConnection(f)},b.exports=d},{"./ServiceResponse":14}],13:[function(a,b,c){function d(a){e(this,a)}var e=a("object-assign");b.exports=d},{"object-assign":1}],14:[function(a,b,c){function d(a){e(this,a)}var e=a("object-assign");b.exports=d},{"object-assign":1}],15:[function(a,b,c){(function(c){"use strict";function d(a,b){var c=new g;c.onload=function(){var a=new f,d=a.getContext("2d");a.width=c.width,a.height=c.height,d.imageSmoothingEnabled=!1,d.webkitImageSmoothingEnabled=!1,d.mozImageSmoothingEnabled=!1,d.drawImage(c,0,0);for(var e=d.getImageData(0,0,c.width,c.height).data,g="",h=0;h<e.length;h+=4)g+=String.fromCharCode(e[h],e[h+1],e[h+2]);b(JSON.parse(g))},c.src="data:image/png;base64,"+a.data}function e(a){function b(b){"publish"===b.op?a.emit(b.topic,b.msg):"service_response"===b.op&&a.emit(b.id,b)}return{onopen:function(b){a.isConnected=!0,a.emit("connection",b)},onclose:function(b){a.isConnected=!1,a.emit("close",b)},onerror:function(b){a.emit("error",b)},onmessage:function(a){var c=JSON.parse("string"==typeof a?a:a.data);"png"===c.op?d(c,b):b(c)}}}{var f=a("./../util/shim/canvas.js"),g=f.Image||c.Image;a("./../util/shim/WebSocket.js")}b.exports=e}).call(this,"undefined"!=typeof global?global:"undefined"!=typeof self?self:"undefined"!=typeof window?window:{})},{"./../util/shim/WebSocket.js":39,"./../util/shim/canvas.js":40}],16:[function(a,b,c){function d(a){a=a||{},this.ros=a.ros,this.name=a.name,this.messageType=a.messageType,this.isAdvertised=!1,this.compression=a.compression||"none",this.throttle_rate=a.throttle_rate||0,this.latch=a.latch||!1,this.queue_size=a.queue_size||100,this.queue_length=a.queue_length||0,this.compression&&"png"!==this.compression&&"none"!==this.compression&&this.emit("warning",this.compression+" compression is not supported. No compression will be used."),this.throttle_rate<0&&(this.emit("warning",this.throttle_rate+" is not allowed. Set to 0"),this.throttle_rate=0);var b=this;this._messageCallback=function(a){b.emit("message",new f(a))}}var e=a("./../util/shim/EventEmitter2.js").EventEmitter2,f=a("./Message");d.prototype.__proto__=e.prototype,d.prototype.subscribe=function(a){"function"==typeof a&&this.on("message",a),this.subscribeId||(this.ros.on(this.name,this._messageCallback),this.subscribeId="subscribe:"+this.name+":"+ ++this.ros.idCounter,this.ros.callOnConnection({op:"subscribe",id:this.subscribeId,type:this.messageType,topic:this.name,compression:this.compression,throttle_rate:this.throttle_rate,queue_length:this.queue_length}))},d.prototype.unsubscribe=function(a){a&&(this.off("message",a),this.listeners("message").length)||this.subscribeId&&(this.ros.off(this.name,this._messageCallback),this.emit("unsubscribe"),this.ros.callOnConnection({op:"unsubscribe",id:this.subscribeId,topic:this.name}),this.subscribeId=null)},d.prototype.advertise=function(){this.isAdvertised||(this.advertiseId="advertise:"+this.name+":"+ ++this.ros.idCounter,this.ros.callOnConnection({op:"advertise",id:this.advertiseId,type:this.messageType,topic:this.name,latch:this.latch,queue_size:this.queue_size}),this.isAdvertised=!0)},d.prototype.unadvertise=function(){this.isAdvertised&&(this.emit("unadvertise"),this.ros.callOnConnection({op:"unadvertise",id:this.advertiseId,topic:this.name}),this.isAdvertised=!1)},d.prototype.publish=function(a){this.isAdvertised||this.advertise(),this.ros.idCounter++;var b={op:"publish",id:"publish:"+this.name+":"+this.ros.idCounter,topic:this.name,msg:a,latch:this.latch};this.ros.callOnConnection(b)},b.exports=d},{"./../util/shim/EventEmitter2.js":38,"./Message":9}],17:[function(a,b,c){var d=a("../mixin"),e=b.exports={Ros:a("./Ros"),Topic:a("./Topic"),Message:a("./Message"),Param:a("./Param"),Service:a("./Service"),ServiceRequest:a("./ServiceRequest"),ServiceResponse:a("./ServiceResponse")};d(e.Ros,["Param","Service","Topic"],e)},{"../mixin":23,"./Message":9,"./Param":10,"./Ros":11,"./Service":12,"./ServiceRequest":13,"./ServiceResponse":14,"./Topic":16}],18:[function(a,b,c){function d(a){a=a||{},this.position=new e(a.position),this.orientation=new f(a.orientation)}var e=a("./Vector3"),f=a("./Quaternion");d.prototype.applyTransform=function(a){this.position.multiplyQuaternion(a.rotation),this.position.add(a.translation);var b=a.rotation.clone();b.multiply(this.orientation),this.orientation=b},d.prototype.clone=function(){return new d(this)},b.exports=d},{"./Quaternion":19,"./Vector3":21}],19:[function(a,b,c){function d(a){a=a||{},this.x=a.x||0,this.y=a.y||0,this.z=a.z||0,this.w="number"==typeof a.w?a.w:1}d.prototype.conjugate=function(){this.x*=-1,this.y*=-1,this.z*=-1},d.prototype.norm=function(){return Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w)},d.prototype.normalize=function(){var a=Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w);0===a?(this.x=0,this.y=0,this.z=0,this.w=1):(a=1/a,this.x=this.x*a,this.y=this.y*a,this.z=this.z*a,this.w=this.w*a)},d.prototype.invert=function(){this.conjugate(),this.normalize()},d.prototype.multiply=function(a){var b=this.x*a.w+this.y*a.z-this.z*a.y+this.w*a.x,c=-this.x*a.z+this.y*a.w+this.z*a.x+this.w*a.y,d=this.x*a.y-this.y*a.x+this.z*a.w+this.w*a.z,e=-this.x*a.x-this.y*a.y-this.z*a.z+this.w*a.w;this.x=b,this.y=c,this.z=d,this.w=e},d.prototype.clone=function(){return new d(this)},b.exports=d},{}],20:[function(a,b,c){function d(a){a=a||{},this.translation=new e(a.translation),this.rotation=new f(a.rotation)}var e=a("./Vector3"),f=a("./Quaternion");d.prototype.clone=function(){return new d(this)},b.exports=d},{"./Quaternion":19,"./Vector3":21}],21:[function(a,b,c){function d(a){a=a||{},this.x=a.x||0,this.y=a.y||0,this.z=a.z||0}d.prototype.add=function(a){this.x+=a.x,this.y+=a.y,this.z+=a.z},d.prototype.subtract=function(a){this.x-=a.x,this.y-=a.y,this.z-=a.z},d.prototype.multiplyQuaternion=function(a){var b=a.w*this.x+a.y*this.z-a.z*this.y,c=a.w*this.y+a.z*this.x-a.x*this.z,d=a.w*this.z+a.x*this.y-a.y*this.x,e=-a.x*this.x-a.y*this.y-a.z*this.z;this.x=b*a.w+e*-a.x+c*-a.z-d*-a.y,this.y=c*a.w+e*-a.y+d*-a.x-b*-a.z,this.z=d*a.w+e*-a.z+b*-a.y-c*-a.x},d.prototype.clone=function(){return new d(this)},b.exports=d},{}],22:[function(a,b,c){b.exports={Pose:a("./Pose"),Quaternion:a("./Quaternion"),Transform:a("./Transform"),Vector3:a("./Vector3")}},{"./Pose":18,"./Quaternion":19,"./Transform":20,"./Vector3":21}],23:[function(a,b,c){b.exports=function(a,b,c){b.forEach(function(b){var d=c[b];a.prototype[b]=function(a){return a.ros=this,new d(a)}})}},{}],24:[function(a,b,c){function d(a){a=a||{},this.ros=a.ros,this.fixedFrame=a.fixedFrame||"/base_link",this.angularThres=a.angularThres||2,this.transThres=a.transThres||.01,this.rate=a.rate||10,this.updateDelay=a.updateDelay||50;var b=a.topicTimeout||2,c=Math.floor(b),d=Math.floor(1e9*(b-c));this.topicTimeout={secs:c,nsecs:d},this.currentGoal=!1,this.currentTopic=!1,this.frameInfos={},this.republisherUpdateRequested=!1,this.actionClient=this.ros.ActionClient({serverName:"/tf2_web_republisher",actionName:"tf2_web_republisher/TFSubscriptionAction"}),this.serviceClient=this.ros.Service({name:"/republish_tfs",serviceType:"tf2_web_republisher/RepublishTFs"})}var e=(a("../actionlib/ActionClient"),a("../actionlib/Goal")),f=(a("../core/Service.js"),a("../core/ServiceRequest.js")),g=a("../math/Transform");d.prototype.processTFArray=function(a){a.transforms.forEach(function(a){var b=a.child_frame_id;"/"===b[0]&&(b=b.substring(1));var c=this.frameInfos[b];c&&(c.transform=new g({translation:a.transform.translation,rotation:a.transform.rotation}),c.cbs.forEach(function(a){a(c.transform)}))},this)},d.prototype.updateGoal=function(){var a={source_frames:Object.keys(this.frameInfos),target_frame:this.fixedFrame,angular_thres:this.angularThres,trans_thres:this.transThres,rate:this.rate};if(this.ros.groovyCompatibility)this.currentGoal&&this.currentGoal.cancel(),this.currentGoal=new e({actionClient:this.actionClient,goalMessage:a}),this.currentGoal.on("feedback",this.processTFArray.bind(this)),this.currentGoal.send();else{a.timeout=this.topicTimeout;var b=new f(a);this.serviceClient.callService(b,this.processResponse.bind(this))}this.republisherUpdateRequested=!1},d.prototype.processResponse=function(a){this.currentTopic&&this.currentTopic.unsubscribe(),this.currentTopic=this.ros.Topic({name:a.topic_name,messageType:"tf2_web_republisher/TFArray"}),this.currentTopic.subscribe(this.processTFArray.bind(this))},d.prototype.subscribe=function(a,b){"/"===a[0]&&(a=a.substring(1)),this.frameInfos[a]?this.frameInfos[a].transform&&b(this.frameInfos[a].transform):(this.frameInfos[a]={cbs:[]},this.republisherUpdateRequested||(setTimeout(this.updateGoal.bind(this),this.updateDelay),this.republisherUpdateRequested=!0)),this.frameInfos[a].cbs.push(b)},d.prototype.unsubscribe=function(a,b){"/"===a[0]&&(a=a.substring(1));for(var c=this.frameInfos[a],d=c&&c.cbs||[],e=d.length;e--;)d[e]===b&&d.splice(e,1);b&&0!==d.length||delete 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e({ros:this.ros,name:"/rosapi/delete_param",serviceType:"rosapi/DeleteParam"}),c=new f({name:this.name});b.callService(c,a)},b.exports=d},{"./Service":16,"./ServiceRequest":17}],15:[function(a,b,c){function d(a){a=a||{},this.socket=null,this.idCounter=0,this.isConnected=!1,this.transportLibrary=a.transportLibrary||"websocket",this.transportOptions=a.transportOptions||{},"undefined"==typeof a.groovyCompatibility?this.groovyCompatibility=!0:this.groovyCompatibility=a.groovyCompatibility,this.setMaxListeners(0),a.url&&this.connect(a.url)}var e=a("ws"),f=a("../util/workerSocket"),g=a("./SocketAdapter.js"),h=a("./Service"),i=a("./ServiceRequest"),j=a("object-assign"),k=a("eventemitter2").EventEmitter2;d.prototype.__proto__=k.prototype,d.prototype.connect=function(a){if("socket.io"===this.transportLibrary)this.socket=j(io(a,{"force new connection":!0}),g(this)),this.socket.on("connect",this.socket.onopen),this.socket.on("data",this.socket.onmessage),this.socket.on("close",this.socket.onclose),this.socket.on("error",this.socket.onerror);else if("RTCPeerConnection"===this.transportLibrary.constructor.name)this.socket=j(this.transportLibrary.createDataChannel(a,this.transportOptions),g(this));else if("websocket"===this.transportLibrary){if(!this.socket||this.socket.readyState===e.CLOSED){var b=new e(a);b.binaryType="arraybuffer",this.socket=j(b,g(this))}}else{if("workersocket"!==this.transportLibrary)throw"Unknown transportLibrary: "+this.transportLibrary.toString();this.socket=j(new f(a),g(this))}},d.prototype.close=function(){this.socket&&this.socket.close()},d.prototype.authenticate=function(a,b,c,d,e,f,g){var h={op:"auth",mac:a,client:b,dest:c,rand:d,t:e,level:f,end:g};this.callOnConnection(h)},d.prototype.callOnConnection=function(a){var b=this,c=JSON.stringify(a),d=null;d="socket.io"===this.transportLibrary?function(a){b.socket.emit("operation",a)}:function(a){b.socket.send(a)},this.isConnected?d(c):b.once("connection",function(){d(c)})},d.prototype.setStatusLevel=function(a,b){var c={op:"set_level",level:a,id:b};this.callOnConnection(c)},d.prototype.getActionServers=function(a,b){var c=new h({ros:this,name:"/rosapi/action_servers",serviceType:"rosapi/GetActionServers"}),d=new i({});"function"==typeof b?c.callService(d,function(b){a(b.action_servers)},function(a){b(a)}):c.callService(d,function(b){a(b.action_servers)})},d.prototype.getTopics=function(a,b){var c=new h({ros:this,name:"/rosapi/topics",serviceType:"rosapi/Topics"}),d=new i;"function"==typeof b?c.callService(d,function(b){a(b)},function(a){b(a)}):c.callService(d,function(b){a(b)})},d.prototype.getTopicsForType=function(a,b,c){var d=new h({ros:this,name:"/rosapi/topics_for_type",serviceType:"rosapi/TopicsForType"}),e=new i({type:a});"function"==typeof c?d.callService(e,function(a){b(a.topics)},function(a){c(a)}):d.callService(e,function(a){b(a.topics)})},d.prototype.getServices=function(a,b){var c=new h({ros:this,name:"/rosapi/services",serviceType:"rosapi/Services"}),d=new i;"function"==typeof b?c.callService(d,function(b){a(b.services)},function(a){b(a)}):c.callService(d,function(b){a(b.services)})},d.prototype.getServicesForType=function(a,b,c){var d=new h({ros:this,name:"/rosapi/services_for_type",serviceType:"rosapi/ServicesForType"}),e=new i({type:a});"function"==typeof c?d.callService(e,function(a){b(a.services)},function(a){c(a)}):d.callService(e,function(a){b(a.services)})},d.prototype.getServiceRequestDetails=function(a,b,c){var d=new h({ros:this,name:"/rosapi/service_request_details",serviceType:"rosapi/ServiceRequestDetails"}),e=new i({type:a});"function"==typeof c?d.callService(e,function(a){b(a)},function(a){c(a)}):d.callService(e,function(a){b(a)})},d.prototype.getServiceResponseDetails=function(a,b,c){var d=new h({ros:this,name:"/rosapi/service_response_details",serviceType:"rosapi/ServiceResponseDetails"}),e=new i({type:a});"function"==typeof c?d.callService(e,function(a){b(a)},function(a){c(a)}):d.callService(e,function(a){b(a)})},d.prototype.getNodes=function(a,b){var c=new h({ros:this,name:"/rosapi/nodes",serviceType:"rosapi/Nodes"}),d=new i;"function"==typeof b?c.callService(d,function(b){a(b.nodes)},function(a){b(a)}):c.callService(d,function(b){a(b.nodes)})},d.prototype.getNodeDetails=function(a,b,c){var d=new h({ros:this,name:"/rosapi/node_details",serviceType:"rosapi/NodeDetails"}),e=new i({node:a});"function"==typeof c?d.callService(e,function(a){b(a.subscribing,a.publishing,a.services)},function(a){c(a)}):d.callService(e,function(a){b(a)})},d.prototype.getParams=function(a,b){var c=new h({ros:this,name:"/rosapi/get_param_names",serviceType:"rosapi/GetParamNames"}),d=new i;"function"==typeof b?c.callService(d,function(b){a(b.names)},function(a){b(a)}):c.callService(d,function(b){a(b.names)})},d.prototype.getTopicType=function(a,b,c){var d=new h({ros:this,name:"/rosapi/topic_type",serviceType:"rosapi/TopicType"}),e=new i({topic:a});"function"==typeof c?d.callService(e,function(a){b(a.type)},function(a){c(a)}):d.callService(e,function(a){b(a.type)})},d.prototype.getServiceType=function(a,b,c){var d=new h({ros:this,name:"/rosapi/service_type",serviceType:"rosapi/ServiceType"}),e=new i({service:a});"function"==typeof c?d.callService(e,function(a){b(a.type)},function(a){c(a)}):d.callService(e,function(a){b(a.type)})},d.prototype.getMessageDetails=function(a,b,c){var d=new h({ros:this,name:"/rosapi/message_details",serviceType:"rosapi/MessageDetails"}),e=new i({type:a});"function"==typeof c?d.callService(e,function(a){b(a.typedefs)},function(a){c(a)}):d.callService(e,function(a){b(a.typedefs)})},d.prototype.decodeTypeDefs=function(a){var b=this,c=function(a,d){for(var e={},f=0;f<a.fieldnames.length;f++){var g=a.fieldarraylen[f],h=a.fieldnames[f],i=a.fieldtypes[f];if(i.indexOf("/")===-1)g===-1?e[h]=i:e[h]=[i];else{for(var j=!1,k=0;k<d.length;k++)if(d[k].type.toString()===i.toString()){j=d[k];break}if(j){var l=c(j,d);g===-1||(e[h]=[l])}else b.emit("error","Cannot find "+i+" in decodeTypeDefs")}}return e};return c(a[0],a)},b.exports=d},{"../util/workerSocket":47,"./Service":16,"./ServiceRequest":17,"./SocketAdapter.js":19,eventemitter2:2,"object-assign":3,ws:43}],16:[function(a,b,c){function d(a){a=a||{},this.ros=a.ros,
+this.name=a.name,this.serviceType=a.serviceType,this.isAdvertised=!1,this._serviceCallback=null}var e=a("./ServiceResponse"),f=(a("./ServiceRequest"),a("eventemitter2").EventEmitter2);d.prototype.__proto__=f.prototype,d.prototype.callService=function(a,b,c){if(!this.isAdvertised){var d="call_service:"+this.name+":"+ ++this.ros.idCounter;(b||c)&&this.ros.once(d,function(a){void 0!==a.result&&a.result===!1?"function"==typeof c&&c(a.values):"function"==typeof b&&b(new e(a.values))});var f={op:"call_service",id:d,service:this.name,type:this.serviceType,args:a};this.ros.callOnConnection(f)}},d.prototype.advertise=function(a){this.isAdvertised||"function"!=typeof a||(this._serviceCallback=a,this.ros.on(this.name,this._serviceResponse.bind(this)),this.ros.callOnConnection({op:"advertise_service",type:this.serviceType,service:this.name}),this.isAdvertised=!0)},d.prototype.unadvertise=function(){this.isAdvertised&&(this.ros.callOnConnection({op:"unadvertise_service",service:this.name}),this.isAdvertised=!1)},d.prototype._serviceResponse=function(a){var b={},c=this._serviceCallback(a.args,b),d={op:"service_response",service:this.name,values:new e(b),result:c};a.id&&(d.id=a.id),this.ros.callOnConnection(d)},b.exports=d},{"./ServiceRequest":17,"./ServiceResponse":18,eventemitter2:2}],17:[function(a,b,c){function d(a){e(this,a)}var e=a("object-assign");b.exports=d},{"object-assign":3}],18:[function(a,b,c){function d(a){e(this,a)}var e=a("object-assign");b.exports=d},{"object-assign":3}],19:[function(a,b,c){"use strict";function d(a){function b(b){"publish"===b.op?a.emit(b.topic,b.msg):"service_response"===b.op?a.emit(b.id,b):"call_service"===b.op?a.emit(b.service,b):"status"===b.op&&(b.id?a.emit("status:"+b.id,b):a.emit("status",b))}function c(a,b){"png"===a.op?e(a.data,b):b(a)}function d(a,b){if(!h)throw"Cannot process BSON encoded message without BSON header.";var c=new FileReader;c.onload=function(){var a=new Uint8Array(this.result),c=h.deserialize(a);b(c)},c.readAsArrayBuffer(a)}return{onopen:function(b){a.isConnected=!0,a.emit("connection",b)},onclose:function(b){a.isConnected=!1,a.emit("close",b)},onerror:function(b){a.emit("error",b)},onmessage:function(a){if("undefined"!=typeof Blob&&a.data instanceof Blob)d(a.data,function(a){c(a,b)});else if(a.data instanceof ArrayBuffer){var e=f.decode(a.data,g);b(e)}else{var h=JSON.parse("string"==typeof a?a:a.data);c(h,b)}}}}var e=a("../util/decompressPng"),f=a("cbor-js"),g=a("../util/cborTypedArrayTags"),h=null;"undefined"!=typeof bson&&(h=bson().BSON),b.exports=d},{"../util/cborTypedArrayTags":42,"../util/decompressPng":45,"cbor-js":1}],20:[function(a,b,c){function d(a){a=a||{},this.ros=a.ros,this.name=a.name,this.messageType=a.messageType,this.isAdvertised=!1,this.compression=a.compression||"none",this.throttle_rate=a.throttle_rate||0,this.latch=a.latch||!1,this.queue_size=a.queue_size||100,this.queue_length=a.queue_length||0,this.reconnect_on_close=void 0===a.reconnect_on_close||a.reconnect_on_close,this.compression&&"png"!==this.compression&&"cbor"!==this.compression&&"none"!==this.compression&&(this.emit("warning",this.compression+" compression is not supported. No compression will be used."),this.compression="none"),this.throttle_rate<0&&(this.emit("warning",this.throttle_rate+" is not allowed. Set to 0"),this.throttle_rate=0);var b=this;this.reconnect_on_close?this.callForSubscribeAndAdvertise=function(a){b.ros.callOnConnection(a),b.waitForReconnect=!1,b.reconnectFunc=function(){b.waitForReconnect||(b.waitForReconnect=!0,b.ros.callOnConnection(a),b.ros.once("connection",function(){b.waitForReconnect=!1}))},b.ros.on("close",b.reconnectFunc)}:this.callForSubscribeAndAdvertise=this.ros.callOnConnection,this._messageCallback=function(a){b.emit("message",new f(a))}}var e=a("eventemitter2").EventEmitter2,f=a("./Message");d.prototype.__proto__=e.prototype,d.prototype.subscribe=function(a){"function"==typeof a&&this.on("message",a),this.subscribeId||(this.ros.on(this.name,this._messageCallback),this.subscribeId="subscribe:"+this.name+":"+ ++this.ros.idCounter,this.callForSubscribeAndAdvertise({op:"subscribe",id:this.subscribeId,type:this.messageType,topic:this.name,compression:this.compression,throttle_rate:this.throttle_rate,queue_length:this.queue_length}))},d.prototype.unsubscribe=function(a){a&&(this.off("message",a),this.listeners("message").length)||this.subscribeId&&(this.ros.off(this.name,this._messageCallback),this.reconnect_on_close&&this.ros.off("close",this.reconnectFunc),this.emit("unsubscribe"),this.ros.callOnConnection({op:"unsubscribe",id:this.subscribeId,topic:this.name}),this.subscribeId=null)},d.prototype.advertise=function(){if(!this.isAdvertised&&(this.advertiseId="advertise:"+this.name+":"+ ++this.ros.idCounter,this.callForSubscribeAndAdvertise({op:"advertise",id:this.advertiseId,type:this.messageType,topic:this.name,latch:this.latch,queue_size:this.queue_size}),this.isAdvertised=!0,!this.reconnect_on_close)){var a=this;this.ros.on("close",function(){a.isAdvertised=!1})}},d.prototype.unadvertise=function(){this.isAdvertised&&(this.reconnect_on_close&&this.ros.off("close",this.reconnectFunc),this.emit("unadvertise"),this.ros.callOnConnection({op:"unadvertise",id:this.advertiseId,topic:this.name}),this.isAdvertised=!1)},d.prototype.publish=function(a){this.isAdvertised||this.advertise(),this.ros.idCounter++;var b={op:"publish",id:"publish:"+this.name+":"+this.ros.idCounter,topic:this.name,msg:a,latch:this.latch};this.ros.callOnConnection(b)},b.exports=d},{"./Message":13,eventemitter2:2}],21:[function(a,b,c){var d=a("../mixin"),e=b.exports={Ros:a("./Ros"),Topic:a("./Topic"),Message:a("./Message"),Param:a("./Param"),Service:a("./Service"),ServiceRequest:a("./ServiceRequest"),ServiceResponse:a("./ServiceResponse")};d(e.Ros,["Param","Service","Topic"],e)},{"../mixin":27,"./Message":13,"./Param":14,"./Ros":15,"./Service":16,"./ServiceRequest":17,"./ServiceResponse":18,"./Topic":20}],22:[function(a,b,c){function d(a){a=a||{},this.position=new e(a.position),this.orientation=new f(a.orientation)}var e=a("./Vector3"),f=a("./Quaternion");d.prototype.applyTransform=function(a){this.position.multiplyQuaternion(a.rotation),this.position.add(a.translation);var b=a.rotation.clone();b.multiply(this.orientation),this.orientation=b},d.prototype.clone=function(){return new d(this)},d.prototype.multiply=function(a){var b=a.clone();return b.applyTransform({rotation:this.orientation,translation:this.position}),b},d.prototype.getInverse=function(){var a=this.clone();return a.orientation.invert(),a.position.multiplyQuaternion(a.orientation),a.position.x*=-1,a.position.y*=-1,a.position.z*=-1,a},b.exports=d},{"./Quaternion":23,"./Vector3":25}],23:[function(a,b,c){function d(a){a=a||{},this.x=a.x||0,this.y=a.y||0,this.z=a.z||0,this.w="number"==typeof a.w?a.w:1}d.prototype.conjugate=function(){this.x*=-1,this.y*=-1,this.z*=-1},d.prototype.norm=function(){return Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w)},d.prototype.normalize=function(){var a=Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w);0===a?(this.x=0,this.y=0,this.z=0,this.w=1):(a=1/a,this.x=this.x*a,this.y=this.y*a,this.z=this.z*a,this.w=this.w*a)},d.prototype.invert=function(){this.conjugate(),this.normalize()},d.prototype.multiply=function(a){var b=this.x*a.w+this.y*a.z-this.z*a.y+this.w*a.x,c=-this.x*a.z+this.y*a.w+this.z*a.x+this.w*a.y,d=this.x*a.y-this.y*a.x+this.z*a.w+this.w*a.z,e=-this.x*a.x-this.y*a.y-this.z*a.z+this.w*a.w;this.x=b,this.y=c,this.z=d,this.w=e},d.prototype.clone=function(){return new d(this)},b.exports=d},{}],24:[function(a,b,c){function d(a){a=a||{},this.translation=new e(a.translation),this.rotation=new f(a.rotation)}var e=a("./Vector3"),f=a("./Quaternion");d.prototype.clone=function(){return new d(this)},b.exports=d},{"./Quaternion":23,"./Vector3":25}],25:[function(a,b,c){function d(a){a=a||{},this.x=a.x||0,this.y=a.y||0,this.z=a.z||0}d.prototype.add=function(a){this.x+=a.x,this.y+=a.y,this.z+=a.z},d.prototype.subtract=function(a){this.x-=a.x,this.y-=a.y,this.z-=a.z},d.prototype.multiplyQuaternion=function(a){var b=a.w*this.x+a.y*this.z-a.z*this.y,c=a.w*this.y+a.z*this.x-a.x*this.z,d=a.w*this.z+a.x*this.y-a.y*this.x,e=-a.x*this.x-a.y*this.y-a.z*this.z;this.x=b*a.w+e*-a.x+c*-a.z-d*-a.y,this.y=c*a.w+e*-a.y+d*-a.x-b*-a.z,this.z=d*a.w+e*-a.z+b*-a.y-c*-a.x},d.prototype.clone=function(){return new d(this)},b.exports=d},{}],26:[function(a,b,c){b.exports={Pose:a("./Pose"),Quaternion:a("./Quaternion"),Transform:a("./Transform"),Vector3:a("./Vector3")}},{"./Pose":22,"./Quaternion":23,"./Transform":24,"./Vector3":25}],27:[function(a,b,c){b.exports=function(a,b,c){b.forEach(function(b){var d=c[b];a.prototype[b]=function(a){return a.ros=this,new d(a)}})}},{}],28:[function(a,b,c){function d(a){a=a||{},this.ros=a.ros,this.fixedFrame=a.fixedFrame||"/base_link",this.angularThres=a.angularThres||2,this.transThres=a.transThres||.01,this.rate=a.rate||10,this.updateDelay=a.updateDelay||50;var b=a.topicTimeout||2,c=Math.floor(b),d=Math.floor(1e9*(b-c));this.topicTimeout={secs:c,nsecs:d},this.serverName=a.serverName||"/tf2_web_republisher",this.repubServiceName=a.repubServiceName||"/republish_tfs",this.currentGoal=!1,this.currentTopic=!1,this.frameInfos={},this.republisherUpdateRequested=!1,this.actionClient=this.ros.ActionClient({serverName:this.serverName,actionName:"tf2_web_republisher/TFSubscriptionAction",omitStatus:!0,omitResult:!0}),this.serviceClient=this.ros.Service({name:this.repubServiceName,serviceType:"tf2_web_republisher/RepublishTFs"})}var e=(a("../actionlib/ActionClient"),a("../actionlib/Goal")),f=(a("../core/Service.js"),a("../core/ServiceRequest.js")),g=a("../math/Transform");d.prototype.processTFArray=function(a){a.transforms.forEach(function(a){var b=a.child_frame_id;"/"===b[0]&&(b=b.substring(1));var c=this.frameInfos[b];c&&(c.transform=new g({translation:a.transform.translation,rotation:a.transform.rotation}),c.cbs.forEach(function(a){a(c.transform)}))},this)},d.prototype.updateGoal=function(){var a={source_frames:Object.keys(this.frameInfos),target_frame:this.fixedFrame,angular_thres:this.angularThres,trans_thres:this.transThres,rate:this.rate};if(this.ros.groovyCompatibility)this.currentGoal&&this.currentGoal.cancel(),this.currentGoal=new e({actionClient:this.actionClient,goalMessage:a}),this.currentGoal.on("feedback",this.processTFArray.bind(this)),this.currentGoal.send();else{a.timeout=this.topicTimeout;var b=new f(a);this.serviceClient.callService(b,this.processResponse.bind(this))}this.republisherUpdateRequested=!1},d.prototype.processResponse=function(a){this.currentTopic&&this.currentTopic.unsubscribe(),this.currentTopic=this.ros.Topic({name:a.topic_name,messageType:"tf2_web_republisher/TFArray"}),this.currentTopic.subscribe(this.processTFArray.bind(this))},d.prototype.subscribe=function(a,b){"/"===a[0]&&(a=a.substring(1)),this.frameInfos[a]?this.frameInfos[a].transform&&b(this.frameInfos[a].transform):(this.frameInfos[a]={cbs:[]},this.republisherUpdateRequested||(setTimeout(this.updateGoal.bind(this),this.updateDelay),this.republisherUpdateRequested=!0)),this.frameInfos[a].cbs.push(b)},d.prototype.unsubscribe=function(a,b){"/"===a[0]&&(a=a.substring(1));for(var c=this.frameInfos[a],d=c&&c.cbs||[],e=d.length;e--;)d[e]===b&&d.splice(e,1);b&&0!==d.length||delete this.frameInfos[a]},d.prototype.dispose=function(){this.actionClient.dispose(),this.currentTopic&&this.currentTopic.unsubscribe()},b.exports=d},{"../actionlib/ActionClient":8,"../actionlib/Goal":10,"../core/Service.js":16,"../core/ServiceRequest.js":17,"../math/Transform":24}],29:[function(a,b,c){var d=a("../core/Ros"),e=a("../mixin"),f=b.exports={TFClient:a("./TFClient")};e(d,["TFClient"],f)},{"../core/Ros":15,"../mixin":27,"./TFClient":28}],30:[function(a,b,c){function d(a){this.dimension=null,this.type=f.URDF_BOX;var b=a.xml.getAttribute("size").split(" ");this.dimension=new e({x:parseFloat(b[0]),y:parseFloat(b[1]),z:parseFloat(b[2])})}var e=a("../math/Vector3"),f=a("./UrdfTypes");b.exports=d},{"../math/Vector3":25,"./UrdfTypes":39}],31:[function(a,b,c){function d(a){var b=a.xml.getAttribute("rgba").split(" ");this.r=parseFloat(b[0]),this.g=parseFloat(b[1]),this.b=parseFloat(b[2]),this.a=parseFloat(b[3])}b.exports=d},{}],32:[function(a,b,c){function d(a){this.type=e.URDF_CYLINDER,this.length=parseFloat(a.xml.getAttribute("length")),this.radius=parseFloat(a.xml.getAttribute("radius"))}var e=a("./UrdfTypes");b.exports=d},{"./UrdfTypes":39}],33:[function(a,b,c){function d(a){this.name=a.xml.getAttribute("name"),this.type=a.xml.getAttribute("type");var b=a.xml.getElementsByTagName("parent");b.length>0&&(this.parent=b[0].getAttribute("link"));var c=a.xml.getElementsByTagName("child");c.length>0&&(this.child=c[0].getAttribute("link"));var d=a.xml.getElementsByTagName("limit");d.length>0&&(this.minval=parseFloat(d[0].getAttribute("lower")),this.maxval=parseFloat(d[0].getAttribute("upper")));var h=a.xml.getElementsByTagName("origin");if(0===h.length)this.origin=new e;else{var i=h[0].getAttribute("xyz"),j=new f;i&&(i=i.split(" "),j=new f({x:parseFloat(i[0]),y:parseFloat(i[1]),z:parseFloat(i[2])}));var k=h[0].getAttribute("rpy"),l=new g;if(k){k=k.split(" ");var m=parseFloat(k[0]),n=parseFloat(k[1]),o=parseFloat(k[2]),p=m/2,q=n/2,r=o/2,s=Math.sin(p)*Math.cos(q)*Math.cos(r)-Math.cos(p)*Math.sin(q)*Math.sin(r),t=Math.cos(p)*Math.sin(q)*Math.cos(r)+Math.sin(p)*Math.cos(q)*Math.sin(r),u=Math.cos(p)*Math.cos(q)*Math.sin(r)-Math.sin(p)*Math.sin(q)*Math.cos(r),v=Math.cos(p)*Math.cos(q)*Math.cos(r)+Math.sin(p)*Math.sin(q)*Math.sin(r);l=new g({x:s,y:t,z:u,w:v}),l.normalize()}this.origin=new e({position:j,orientation:l})}}var e=a("../math/Pose"),f=a("../math/Vector3"),g=a("../math/Quaternion");b.exports=d},{"../math/Pose":22,"../math/Quaternion":23,"../math/Vector3":25}],34:[function(a,b,c){function d(a){this.name=a.xml.getAttribute("name"),this.visuals=[];for(var b=a.xml.getElementsByTagName("visual"),c=0;c<b.length;c++)this.visuals.push(new e({xml:b[c]}))}var e=a("./UrdfVisual");b.exports=d},{"./UrdfVisual":40}],35:[function(a,b,c){function d(a){this.textureFilename=null,this.color=null,this.name=a.xml.getAttribute("name");var b=a.xml.getElementsByTagName("texture");b.length>0&&(this.textureFilename=b[0].getAttribute("filename"));var c=a.xml.getElementsByTagName("color");c.length>0&&(this.color=new e({xml:c[0]}))}var e=a("./UrdfColor");d.prototype.isLink=function(){return null===this.color&&null===this.textureFilename};var f=a("object-assign");d.prototype.assign=function(a){return f(this,a)},b.exports=d},{"./UrdfColor":31,"object-assign":3}],36:[function(a,b,c){function d(a){this.scale=null,this.type=f.URDF_MESH,this.filename=a.xml.getAttribute("filename");var b=a.xml.getAttribute("scale");if(b){var c=b.split(" ");this.scale=new e({x:parseFloat(c[0]),y:parseFloat(c[1]),z:parseFloat(c[2])})}}var e=a("../math/Vector3"),f=a("./UrdfTypes");b.exports=d},{"../math/Vector3":25,"./UrdfTypes":39}],37:[function(a,b,c){function d(a){a=a||{};var b=a.xml,c=a.string;if(this.materials={},this.links={},this.joints={},c){var d=new h;b=d.parseFromString(c,"text/xml")}var i=b.documentElement;this.name=i.getAttribute("name");for(var j=i.childNodes,k=0;k<j.length;k++){var l=j[k];if("material"===l.tagName){var m=new e({xml:l});void 0!==this.materials[m.name]?this.materials[m.name].isLink()?this.materials[m.name].assign(m):console.warn("Material "+m.name+"is not unique."):this.materials[m.name]=m}else if("link"===l.tagName){var n=new f({xml:l});if(void 0!==this.links[n.name])console.warn("Link "+n.name+" is not unique.");else{for(var o=0;o<n.visuals.length;o++){var p=n.visuals[o].material;null!==p&&(void 0!==this.materials[p.name]?n.visuals[o].material=this.materials[p.name]:this.materials[p.name]=p)}this.links[n.name]=n}}else if("joint"===l.tagName){var q=new g({xml:l});this.joints[q.name]=q}}}var e=a("./UrdfMaterial"),f=a("./UrdfLink"),g=a("./UrdfJoint"),h=a("xmldom").DOMParser;b.exports=d},{"./UrdfJoint":33,"./UrdfLink":34,"./UrdfMaterial":35,xmldom:46}],38:[function(a,b,c){function d(a){this.type=e.URDF_SPHERE,this.radius=parseFloat(a.xml.getAttribute("radius"))}var e=a("./UrdfTypes");b.exports=d},{"./UrdfTypes":39}],39:[function(a,b,c){b.exports={URDF_SPHERE:0,URDF_BOX:1,URDF_CYLINDER:2,URDF_MESH:3}},{}],40:[function(a,b,c){function d(a){var b=a.xml;this.origin=null,this.geometry=null,this.material=null;var c=b.getElementsByTagName("origin");if(0===c.length)this.origin=new e;else{var d=c[0].getAttribute("xyz"),m=new f;d&&(d=d.split(" "),m=new f({x:parseFloat(d[0]),y:parseFloat(d[1]),z:parseFloat(d[2])}));var n=c[0].getAttribute("rpy"),o=new g;if(n){n=n.split(" ");var p=parseFloat(n[0]),q=parseFloat(n[1]),r=parseFloat(n[2]),s=p/2,t=q/2,u=r/2,v=Math.sin(s)*Math.cos(t)*Math.cos(u)-Math.cos(s)*Math.sin(t)*Math.sin(u),w=Math.cos(s)*Math.sin(t)*Math.cos(u)+Math.sin(s)*Math.cos(t)*Math.sin(u),x=Math.cos(s)*Math.cos(t)*Math.sin(u)-Math.sin(s)*Math.sin(t)*Math.cos(u),y=Math.cos(s)*Math.cos(t)*Math.cos(u)+Math.sin(s)*Math.sin(t)*Math.sin(u);o=new g({x:v,y:w,z:x,w:y}),o.normalize()}this.origin=new e({position:m,orientation:o})}var z=b.getElementsByTagName("geometry");if(z.length>0){for(var A=z[0],B=null,C=0;C<A.childNodes.length;C++){var D=A.childNodes[C];if(1===D.nodeType){B=D;break}}var E=B.nodeName;"sphere"===E?this.geometry=new l({xml:B}):"box"===E?this.geometry=new i({xml:B}):"cylinder"===E?this.geometry=new h({xml:B}):"mesh"===E?this.geometry=new k({xml:B}):console.warn("Unknown geometry type "+E)}var F=b.getElementsByTagName("material");F.length>0&&(this.material=new j({xml:F[0]}))}var e=a("../math/Pose"),f=a("../math/Vector3"),g=a("../math/Quaternion"),h=a("./UrdfCylinder"),i=a("./UrdfBox"),j=a("./UrdfMaterial"),k=a("./UrdfMesh"),l=a("./UrdfSphere");b.exports=d},{"../math/Pose":22,"../math/Quaternion":23,"../math/Vector3":25,"./UrdfBox":30,"./UrdfCylinder":32,"./UrdfMaterial":35,"./UrdfMesh":36,"./UrdfSphere":38}],41:[function(a,b,c){b.exports=a("object-assign")({UrdfBox:a("./UrdfBox"),UrdfColor:a("./UrdfColor"),UrdfCylinder:a("./UrdfCylinder"),UrdfLink:a("./UrdfLink"),UrdfMaterial:a("./UrdfMaterial"),UrdfMesh:a("./UrdfMesh"),UrdfModel:a("./UrdfModel"),UrdfSphere:a("./UrdfSphere"),UrdfVisual:a("./UrdfVisual")},a("./UrdfTypes"))},{"./UrdfBox":30,"./UrdfColor":31,"./UrdfCylinder":32,"./UrdfLink":34,"./UrdfMaterial":35,"./UrdfMesh":36,"./UrdfModel":37,"./UrdfSphere":38,"./UrdfTypes":39,"./UrdfVisual":40,"object-assign":3}],42:[function(a,b,c){"use strict";function d(){j||(j=!0,console.warn("CBOR 64-bit integer array values may lose precision. No further warnings."))}function e(a){d();for(var b=a.byteLength,c=a.byteOffset,e=b/8,f=a.buffer.slice(c,c+b),g=new Uint32Array(f),h=new Array(e),j=0;j<e;j++){var k=2*j,l=g[k],m=g[k+1];h[j]=l+i*m}return h}function f(a){d();for(var b=a.byteLength,c=a.byteOffset,e=b/8,f=a.buffer.slice(c,c+b),g=new Uint32Array(f),h=new Int32Array(f),j=new Array(e),k=0;k<e;k++){var l=2*k,m=g[l],n=h[l+1];j[k]=m+i*n}return j}function g(a,b){var c=a.byteLength,d=a.byteOffset,e=a.buffer.slice(d,d+c);return new b(e)}function h(a,b){if(b in k){var c=k[b];return g(a,c)}return b in l?l[b](a):a}var i=Math.pow(2,32),j=!1,k={64:Uint8Array,69:Uint16Array,70:Uint32Array,72:Int8Array,77:Int16Array,78:Int32Array,85:Float32Array,86:Float64Array},l={71:e,79:f};"undefined"!=typeof b&&b.exports&&(b.exports=h)},{}],43:[function(a,b,c){b.exports="undefined"!=typeof window?window.WebSocket:WebSocket},{}],44:[function(a,b,c){b.exports=function(){return document.createElement("canvas")}},{}],45:[function(a,b,c){"use strict";function d(a,b){var c=new f;c.onload=function(){var a=new e,d=a.getContext("2d");a.width=c.width,a.height=c.height,d.imageSmoothingEnabled=!1,d.webkitImageSmoothingEnabled=!1,d.mozImageSmoothingEnabled=!1,d.drawImage(c,0,0);for(var f=d.getImageData(0,0,c.width,c.height).data,g="",h=0;h<f.length;h+=4)g+=String.fromCharCode(f[h],f[h+1],f[h+2]);b(JSON.parse(g))},c.src="data:image/png;base64,"+a}var e=a("canvas"),f=e.Image||window.Image;b.exports=d},{canvas:44}],46:[function(a,b,c){c.DOMImplementation=window.DOMImplementation,c.XMLSerializer=window.XMLSerializer,c.DOMParser=window.DOMParser},{}],47:[function(a,b,c){function d(a){this.socket_=e(f),this.socket_.addEventListener("message",this.handleWorkerMessage_.bind(this)),this.socket_.postMessage({uri:a})}var e=a("webworkify"),f=a("./workerSocketImpl");d.prototype.handleWorkerMessage_=function(a){var b=a.data;if(b instanceof ArrayBuffer||"string"==typeof b)this.onmessage(a);else{var c=b.type;if("close"===c)this.onclose(null);else if("open"===c)this.onopen(null);else{if("error"!==c)throw"Unknown message from workersocket";this.onerror(null)}}},d.prototype.send=function(a){this.socket_.postMessage(a)},d.prototype.close=function(){this.socket_.postMessage({close:!0})},b.exports=d},{"./workerSocketImpl":48,webworkify:5}],48:[function(a,b,c){var d=d||a("ws");b.exports=function(a){function b(b){var c=b.data;c instanceof ArrayBuffer?a.postMessage(c,[c]):a.postMessage(c)}function c(b){a.postMessage({type:b.type})}var e=null;a.addEventListener("message",function(a){var f=a.data;if("string"==typeof f)e.send(f);else if(f.hasOwnProperty("close"))e.close(),e=null;else{if(!f.hasOwnProperty("uri"))throw"Unknown message to WorkerSocket";var g=f.uri;e=new d(g),e.binaryType="arraybuffer",e.onmessage=b,e.onclose=c,e.onopen=c,e.onerror=c}})}},{ws:43}]},{},[7]);
\ No newline at end of file
diff --git a/index.html b/index.html
index 40cd3ff..af0e5b8 100644
--- a/index.html
+++ b/index.html
@@ -95,37 +95,7 @@ Tutorials can be found here: http://www.w3schools.com/bootstrap/default.asp
 
 
                 <div class="tab-pane" id="rosbridgeconnection">
-                    <div class="panel panel-default">
-                        <div class="panel-heading">
-                            Predefined ROSBridge Connections
-                        </div>
-                        <div class="panel-body">
-                            <!-- <button id="localhostButton" type="button" onclick="ros.attemptConnection('ws://localhost:9090')" class="btn btn-primary">
-                                localhost
-                                <script type="text/javascript">
-                                    document.getElementById("ConnectionIPInput").value = ros.connectionName;
-                                </script>
-                            </button>
-                            <button id="PhoebeButton" type="button" onclick="ros.attemptConnection('ws://phoebe.local:9090')" class="btn btn-primary">
-                                Phoebe
-                                <script type="text/javascript">
-                                    document.getElementById("ConnectionIPInput").value = ros.connectionName;
-                                </script>
-                            </button>
-                            <button id="TitanButton" type="button" onclick="ros.attemptConnection('ws://titan.local:9090')" class="btn btn-primary">
-                                Titan
-                                <script type="text/javascript">
-                                    document.getElementById("ConnectionIPInput").value = ros.connectionName;
-                                </script>
-                            </button> -->
-                            <button id="TitanButton1" type="button" onclick="ros.attemptConnection('ws://titan.aescape.co:9090')" class="btn btn-primary">
-                                titan.aescape.co
-                                <script type="text/javascript">
-                                    document.getElementById("ConnectionIPInput").value = ros.connectionName;
-                                </script>
-                            </button>
-                        </div>
-                    </div>
+
 
                     <div class="panel panel-default">
                         <div class="panel-body">
@@ -149,15 +119,49 @@ Tutorials can be found here: http://www.w3schools.com/bootstrap/default.asp
                                                     </script>
                                                 </button>
                                             </span>
-                       
-
                                         </div>
                                     </span>
                                 </div>
                             </form>
                         </div>
+                        <div class="panel panel-default">
+                            <div class="panel-heading">
+                                Predefined ROSBridge Connections
+                            </div>
+                            <div class="panel-body">
+                                <!-- <button id="localhostButton" type="button" onclick="ros.attemptConnection('ws://localhost:9090')" class="btn btn-primary">
+                                    localhost
+                                    <script type="text/javascript">
+                                        document.getElementById("ConnectionIPInput").value = ros.connectionName;
+                                    </script>
+                                </button>
+                                <button id="PhoebeButton" type="button" onclick="ros.attemptConnection('ws://phoebe.local:9090')" class="btn btn-primary">
+                                    Phoebe
+                                    <script type="text/javascript">
+                                        document.getElementById("ConnectionIPInput").value = ros.connectionName;
+                                    </script>
+                                </button>
+                                <button id="TitanButton" type="button" onclick="ros.attemptConnection('ws://titan.local:9090')" class="btn btn-primary">
+                                    Titan
+                                    <script type="text/javascript">
+                                        document.getElementById("ConnectionIPInput").value = ros.connectionName;
+                                    </script>
+                                </button> -->
+                                <button id="TitanButton" type="button" onclick="ros.attemptConnection('ws://titan.aescape.co:9090')" class="btn btn-primary">
+                                    titan.aescape.co
+                                    <script type="text/javascript">
+                                        document.getElementById("ConnectionIPInput").value = ros.connectionName;
+                                    </script>
+                                </button>
+                            </div>
+                        </div>
                     </div>
 
+                    <script type="text/javascript">
+                        // Create a connection to the rosbridge WebSocket server.
+                        ros.connect(ros.connectionName);
+                    </script>
+
                     <div class="panel panel-default">
                         <div class="panel-heading">
                             ROS Topics.