roslib.js

(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);

},{}],2:[function(require,module,exports){
(function (process){(function (){
/*!
 * 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)}).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);
}

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 to = toObject(target);
	var symbols;

	for (var s = 1; s < arguments.length; s++) {
		from = Object(arguments[s]);

		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;
};

},{}],4:[function(require,module,exports){
// shim for using process in browser
var process = 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){
/**
 * @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 && this.ROSLIB || {
  REVISION : '1.0.1'
};

var assign = require('object-assign');

// Add core components
assign(ROSLIB, require('./core'));

assign(ROSLIB, require('./actionlib'));

assign(ROSLIB, require('./math'));

assign(ROSLIB, require('./tf'));

assign(ROSLIB, require('./urdf'));

module.exports = ROSLIB;

},{"./actionlib":11,"./core":20,"./math":25,"./tf":28,"./urdf":40,"object-assign":3}],6:[function(require,module,exports){
(function (global){(function (){
global.ROSLIB = require('./RosLib');
}).call(this)}).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})
},{"./RosLib":5}],7:[function(require,module,exports){
/**
 * @fileOverview
 * @author Russell Toris - rctoris@wpi.edu
 */

var Topic = require('../core/Topic');
var Message = require('../core/Message');
var EventEmitter2 = require('eventemitter2').EventEmitter2;

/**
 * An actionlib action client.
 *
 * Emits the following events:
 *  * 'timeout' - if a timeout occurred while sending a goal
 *  * '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'
 *   * timeout - the timeout length when connecting to the action server
 */
function ActionClient(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;
  this.goals = {};

  // flag to check if a status has been received
  var receivedStatus = false;

  // create the topics associated with actionlib
  this.feedbackListener = new Topic({
    ros : this.ros,
    name : this.serverName + '/feedback',
    messageType : this.actionName + 'Feedback'
  });

  this.statusListener = new Topic({
    ros : this.ros,
    name : this.serverName + '/status',
    messageType : 'actionlib_msgs/GoalStatusArray'
  });

  this.resultListener = new Topic({
    ros : this.ros,
    name : this.serverName + '/result',
    messageType : this.actionName + 'Result'
  });

  this.goalTopic = new Topic({
    ros : this.ros,
    name : this.serverName + '/goal',
    messageType : this.actionName + 'Goal'
  });

  this.cancelTopic = new Topic({
    ros : this.ros,
    name : this.serverName + '/cancel',
    messageType : 'actionlib_msgs/GoalID'
  });

  // advertise the goal and cancel topics
  this.goalTopic.advertise();
  this.cancelTopic.advertise();

  // subscribe to the status topic
  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
  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
  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 timeout specified, emit a 'timeout' event if the action server does not respond
  if (this.timeout) {
    setTimeout(function() {
      if (!receivedStatus) {
        that.emit('timeout');
      }
    }, this.timeout);
  }
}

ActionClient.prototype.__proto__ = EventEmitter2.prototype;

/**
 * Cancel all goals associated with this ActionClient.
 */
ActionClient.prototype.cancel = function() {
  var date = new Date();
  var cancelMessage = new Message({
    stamp: {
      secs : Math.floor(date * 1e-3),
      nsecs : date % 1000 * 1000000
    }
  });
  this.cancelTopic.publish(cancelMessage);
};

/**
 * 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":12,"../core/Topic":19,"eventemitter2":2}],8:[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":12,"../core/Topic":19,"eventemitter2":2}],9:[function(require,module,exports){
/**
 * @fileOverview
 * @author Russell Toris - rctoris@wpi.edu
 */

var Message = require('../core/Message');
var EventEmitter2 = require('eventemitter2').EventEmitter2;

/**
 * An actionlib goal goal is associated with an action server.
 *
 * Emits the following events:
 *  * 'timeout' - if a timeout occurred while sending a goal
 *
 *  @constructor
 *  @param object with following keys:
 *   * actionClient - the ROSLIB.ActionClient to use with this goal
 *   * goalMessage - The JSON object containing the goal for the action server
 */
function Goal(options) {
  var that = this;
  this.actionClient = options.actionClient;
  this.goalMessage = options.goalMessage;
  this.isFinished = false;

  // Used to create random IDs
  var date = new Date();

  // Create a random ID
  this.goalID = options.goalID || 'goal_' + Math.random() + '_' + date.getTime();
  // Fill in the goal message
  this.goalMessage = new Message({
    goal_id : {
      stamp : {
        secs : Math.floor(date * 1e-3),
        nsecs : date % 1000 * 1000000
      },
      id : this.goalID
    },
    goal : this.goalMessage
  });

  this.on('status', function(status) {
    that.status = status;
  });

  this.on('result', function(result) {
    that.isFinished = true;
    that.result = result;
  });

  this.on('feedback', function(feedback) {
    that.feedback = feedback;
  });

  // Add the goal
  this.actionClient.goals[this.goalID] = this;
}

Goal.prototype.__proto__ = EventEmitter2.prototype;

/**
 * Send the goal to the action server.
 *
 * @param timeout (optional) - a timeout length for the goal's result
 */
Goal.prototype.send = function(timeout) {
  var that = this;
  that.actionClient.goalTopic.publish(that.goalMessage);
  if (timeout) {
    setTimeout(function() {
      if (!that.isFinished) {
        that.emit('timeout');
      }
    }, timeout);
  }
};

/**
 * Cancel the current goal.
 */
Goal.prototype.cancel = function() {
  var date = new Date();
  var cancelMessage = new Message({
    stamp: {
      secs : Math.floor(date * 1e-3),
      nsecs : date % 1000 * 1000000
    },
    id : this.goalID
  });
  this.actionClient.cancelTopic.publish(cancelMessage);
};

module.exports = Goal;
},{"../core/Message":12,"eventemitter2":2}],10:[function(require,module,exports){
/**
 * @fileOverview
 * @author Laura Lindzey - lindzey@gmail.com
 */

var Topic = require('../core/Topic');
var Message = require('../core/Message');
var EventEmitter2 = require('eventemitter2').EventEmitter2;

/**
 * An actionlib action server client.
 *
 * Emits the following events:
 *  * 'goal' - goal sent by action client
 *  * 'cancel' - action client has canceled the request
 *
 *  @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 SimpleActionServer(options) {
    var that = this;
    options = options || {};
    this.ros = options.ros;
    this.serverName = options.serverName;
    this.actionName = options.actionName;

    // create and advertise publishers
    this.feedbackPublisher = new Topic({
        ros : this.ros,
        name : this.serverName + '/feedback',
        messageType : this.actionName + 'Feedback'
    });
    this.feedbackPublisher.advertise();

    var statusPublisher = new Topic({
        ros : this.ros,
        name : this.serverName + '/status',
        messageType : 'actionlib_msgs/GoalStatusArray'
    });
    statusPublisher.advertise();

    this.resultPublisher = new Topic({
        ros : this.ros,
        name : this.serverName + '/result',
        messageType : this.actionName + 'Result'
    });
    this.resultPublisher.advertise();

    // create and subscribe to listeners
    var goalListener = new Topic({
        ros : this.ros,
        name : this.serverName + '/goal',
        messageType : this.actionName + 'Goal'
    });

    var cancelListener = new Topic({
        ros : this.ros,
        name : this.serverName + '/cancel',
        messageType : 'actionlib_msgs/GoalID'
    });

    // Track the goals and their status in order to publish status...
    this.statusMessage = new Message({
        header : {
            stamp : {secs : 0, nsecs : 100},
            frame_id : ''
        },
        status_list : []
    });

    // needed for handling preemption prompted by a new goal being received
    this.currentGoal = null; // currently tracked goal
    this.nextGoal = null; // the one that'll be preempting

    goalListener.subscribe(function(goalMessage) {
        
    if(that.currentGoal) {
            that.nextGoal = goalMessage;
            // needs to happen AFTER rest is set up
            that.emit('cancel');
    } else {
            that.statusMessage.status_list = [{goal_id : goalMessage.goal_id, status : 1}];
            that.currentGoal = goalMessage;
            that.emit('goal', goalMessage.goal);
    }
    });

    // helper function for determing ordering of timestamps
    // returns t1 < t2
    var isEarlier = function(t1, t2) {
        if(t1.secs > t2.secs) {
            return false;
        } else if(t1.secs < t2.secs) {
            return true;
        } else if(t1.nsecs < t2.nsecs) {
            return true;
        } else {
            return false;
        }
    };

    // TODO: this may be more complicated than necessary, since I'm
    // not sure if the callbacks can ever wind up with a scenario
    // where we've been preempted by a next goal, it hasn't finished
    // processing, and then we get a cancel message
    cancelListener.subscribe(function(cancelMessage) {

        // cancel ALL goals if both empty
        if(cancelMessage.stamp.secs === 0 && cancelMessage.stamp.secs === 0 && cancelMessage.id === '') {
            that.nextGoal = null;
            if(that.currentGoal) {
                that.emit('cancel');
            }
        } else { // treat id and stamp independently
            if(that.currentGoal && cancelMessage.id === that.currentGoal.goal_id.id) {
                that.emit('cancel');
            } else if(that.nextGoal && cancelMessage.id === that.nextGoal.goal_id.id) {
                that.nextGoal = null;
            }

            if(that.nextGoal && isEarlier(that.nextGoal.goal_id.stamp,
                                          cancelMessage.stamp)) {
                that.nextGoal = null;
            }
            if(that.currentGoal && isEarlier(that.currentGoal.goal_id.stamp,
                                             cancelMessage.stamp)) {
                
                that.emit('cancel');
            }
        }
    });

    // publish status at pseudo-fixed rate; required for clients to know they've connected
    var statusInterval = setInterval( function() {
        var currentTime = new Date();
        var secs = Math.floor(currentTime.getTime()/1000);
        var nsecs = Math.round(1000000000*(currentTime.getTime()/1000-secs));
        that.statusMessage.header.stamp.secs = secs;
        that.statusMessage.header.stamp.nsecs = nsecs;
        statusPublisher.publish(that.statusMessage);
    }, 500); // publish every 500ms
    statusInterval.unref(); // ensure the statusInterval doesn't prevent node from closing

}

SimpleActionServer.prototype.__proto__ = EventEmitter2.prototype;

/**
*  Set action state to succeeded and return to client
*/

SimpleActionServer.prototype.setSucceeded = function(result2) {
    

    var resultMessage = new Message({
        status : {goal_id : this.currentGoal.goal_id, status : 3},
        result : result2
    });
    this.resultPublisher.publish(resultMessage);

    this.statusMessage.status_list = [];
    if(this.nextGoal) {
        this.currentGoal = this.nextGoal;
        this.nextGoal = null;
        this.emit('goal', this.currentGoal.goal);
    } else {
        this.currentGoal = null;
    }
};

/**
*  Function to send feedback
*/

SimpleActionServer.prototype.sendFeedback = function(feedback2) {

    var feedbackMessage = new Message({
        status : {goal_id : this.currentGoal.goal_id, status : 1},
        feedback : feedback2
    });
    this.feedbackPublisher.publish(feedbackMessage);
};

/**
*  Set action state to aborted and return to client
*/

SimpleActionServer.prototype.setAborted = function(result2) {
    

    var resultMessage = new Message({
        status : {goal_id : this.currentGoal.goal_id, status : 4},
        result : result2
    });
    this.resultPublisher.publish(resultMessage);

    this.statusMessage.status_list = [];
    if(this.nextGoal) {
        this.currentGoal = this.nextGoal;
        this.nextGoal = null;
        this.emit('goal', this.currentGoal.goal);
    } else {
        this.currentGoal = null;
    }
};

/**
*  Handle case where client requests preemption
*/

SimpleActionServer.prototype.setPreempted = function() {

    this.statusMessage.status_list = [];
    var resultMessage = new Message({
        status : {goal_id : this.currentGoal.goal_id, status : 2},
    });
    this.resultPublisher.publish(resultMessage);

    if(this.nextGoal) {
        this.currentGoal = this.nextGoal;
        this.nextGoal = null;
        this.emit('goal', this.currentGoal.goal);
    } else {
        this.currentGoal = null;
    }
};

module.exports = SimpleActionServer;
},{"../core/Message":12,"../core/Topic":19,"eventemitter2":2}],11:[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":14,"../mixin":26,"./ActionClient":7,"./ActionListener":8,"./Goal":9,"./SimpleActionServer":10}],12:[function(require,module,exports){
/**
 * @fileoverview
 * @author Brandon Alexander - baalexander@gmail.com
 */

var assign = require('object-assign');

/**
 * Message objects are used for publishing and subscribing to and from topics.
 *
 * @constructor
 * @param values - object matching the fields defined in the .msg definition file
 */
function Message(values) {
  assign(this, values);
}

module.exports = Message;
},{"object-assign":3}],13:[function(require,module,exports){
/**
 * @fileoverview
 * @author Brandon Alexander - baalexander@gmail.com
 */

var Service = require('./Service');
var ServiceRequest = require('./ServiceRequest');

/**
 * A ROS parameter.
 *
 * @constructor
 * @param options - possible keys include:
 *   * ros - the ROSLIB.Ros connection handle
 *   * name - the param name, like max_vel_x
 */
function Param(options) {
  options = options || {};
  this.ros = options.ros;
  this.name = options.name;
}

/**
 * Fetches the value of the param.
 *
 * @param callback - function with the following params:
 *  * value - the value of the param from ROS.
 */
Param.prototype.get = function(callback) {
  var paramClient = new Service({
    ros : this.ros,
    name : '/rosapi/get_param',
    serviceType : 'rosapi/GetParam'
  });

  var request = new ServiceRequest({
    name : this.name
  });

  paramClient.callService(request, function(result) {
    var value = JSON.parse(result.value);
    callback(value);
  });
};

/**
 * Sets the value of the param in ROS.
 *
 * @param value - value to set param to.
 */
Param.prototype.set = function(value, callback) {
  var paramClient = new Service({
    ros : this.ros,
    name : '/rosapi/set_param',
    serviceType : 'rosapi/SetParam'
  });

  var request = new ServiceRequest({
    name : this.name,
    value : JSON.stringify(value)
  });

  paramClient.callService(request, callback);
};

/**
 * Delete this parameter on the ROS server.
 */
Param.prototype.delete = function(callback) {
  var paramClient = new Service({
    ros : this.ros,
    name : '/rosapi/delete_param',
    serviceType : 'rosapi/DeleteParam'
  });

  var request = new ServiceRequest({
    name : this.name
  });

  paramClient.callService(request, callback);
};

module.exports = Param;
},{"./Service":15,"./ServiceRequest":16}],14:[function(require,module,exports){
/**
 * @fileoverview
 * @author Brandon Alexander - baalexander@gmail.com
 */

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('eventemitter2').EventEmitter2;

/**
 * Manages connection to the server and all interactions with ROS.
 *
 * Emits the following events:
 *  * 'error' - there was an error with ROS
 *  * 'connection' - connected to the WebSocket server
 *  * 'close' - disconnected to the WebSocket server
 *  * <topicName> - a message came from rosbridge with the given topic name
 *  * <serviceID> - a service response came from rosbridge with the given ID
 *
 * @constructor
 * @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;
  }
  else {
    this.groovyCompatibility = options.groovyCompatibility;
  }

  // Sets unlimited event listeners.
  this.setMaxListeners(0);

  // begin by checking if a URL was given
  if (options.url) {
    this.connect(options.url);
  }
}

Ros.prototype.__proto__ = EventEmitter2.prototype;

/**
 * Connect to the specified WebSocket.
 *
 * @param url - WebSocket URL or RTCDataChannel label for Rosbridge
 */
Ros.prototype.connect = function(url) {
  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();
  }

};

/**
 * Disconnect from the WebSocket server.
 */
Ros.prototype.close = function() {
  if (this.socket) {
    this.socket.close();
  }
};

/**
 * Sends an authorization request to the server.
 *
 * @param mac - MAC (hash) string given by the trusted source.
 * @param client - IP of the client.
 * @param dest - IP of the destination.
 * @param rand - Random string given by the trusted source.
 * @param t - Time of the authorization request.
 * @param level - User level as a string given by the client.
 * @param end - End time of the client's session.
 */
Ros.prototype.authenticate = function(mac, client, dest, rand, t, level, end) {
  // create the request
  var auth = {
    op : 'auth',
    mac : mac,
    client : client,
    dest : dest,
    rand : rand,
    t : t,
    level : level,
    end : end
  };
  // send the request
  this.callOnConnection(auth);
};

/**
 * Sends the message over the WebSocket, but queues the message up if not yet
 * connected.
 */
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() {
      emitter(messageJson);
    });
  } else {
    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);
    });
  }
};

/**
 * Retrieves list of topics in ROS as an array.
 *
 * @param callback function with params:
 *   * topics - Array of topic names
 */
Ros.prototype.getTopics = function(callback, failedCallback) {
  var topicsClient = new Service({
    ros : this,
    name : '/rosapi/topics',
    serviceType : 'rosapi/Topics'
  });

  var request = new ServiceRequest();
  if (typeof failedCallback === 'function'){
    topicsClient.callService(request,
      function(result) {
        callback(result);
      },
      function(message){
        failedCallback(message);
      }
    );
  }else{
    topicsClient.callService(request, function(result) {
      callback(result);
    });
  }
};

/**
 * Retrieves Topics in ROS as an array as specific type
 *
 * @param topicType topic type to find:
 * @param callback function with params:
 *   * topics - Array of topic names
 */
Ros.prototype.getTopicsForType = function(topicType, callback, failedCallback) {
  var topicsForTypeClient = new Service({
    ros : this,
    name : '/rosapi/topics_for_type',
    serviceType : 'rosapi/TopicsForType'
  });

  var request = new ServiceRequest({
    type: topicType
  });
  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);
    });
  }
};

/**
 * Retrieves list of active service names in ROS.
 *
 * @param callback - function with the following params:
 *   * services - array of service names
 */
Ros.prototype.getServices = function(callback, failedCallback) {
  var servicesClient = new Service({
    ros : this,
    name : '/rosapi/services',
    serviceType : 'rosapi/Services'
  });

  var request = new ServiceRequest();
  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);
    });
  }
};

/**
 * Retrieves list of services in ROS as an array as specific type
 *
 * @param serviceType service type to find:
 * @param callback function with params:
 *   * topics - Array of service names
 */
Ros.prototype.getServicesForType = function(serviceType, callback, failedCallback) {
  var servicesForTypeClient = new Service({
    ros : this,
    name : '/rosapi/services_for_type',
    serviceType : 'rosapi/ServicesForType'
  });

  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);
    });
  }
};

/**
 * 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);
    });
  }
};

/**
 * Retrieves list of active node names in ROS.
 *
 * @param callback - function with the following params:
 *   * nodes - array of node names
 */
Ros.prototype.getNodes = function(callback, failedCallback) {
  var nodesClient = new Service({
    ros : this,
    name : '/rosapi/nodes',
    serviceType : 'rosapi/Nodes'
  });

  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);
    });
  }
};

/**
  * 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);
    });
  }
};

/**
 * Retrieves list of param names from the ROS Parameter Server.
 *
 * @param callback function with params:
 *  * params - array of param names.
 */
Ros.prototype.getParams = function(callback, failedCallback) {
  var paramsClient = new Service({
    ros : this,
    name : '/rosapi/get_param_names',
    serviceType : 'rosapi/GetParamNames'
  });
  var request = new ServiceRequest();
  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, failedCallback) {
  var topicTypeClient = new Service({
    ros : this,
    name : '/rosapi/topic_type',
    serviceType : 'rosapi/TopicType'
  });
  var request = new ServiceRequest({
    topic: topic
  });

  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);
    });
  }
};

/**
 * Retrieves a detail of ROS message.
 *
 * @param callback - function with params:
 *   * details - Array of the message detail
 * @param message - String of a topic type
 */
Ros.prototype.getMessageDetails = function(message, callback, failedCallback) {
  var messageDetailClient = new Service({
    ros : this,
    name : '/rosapi/message_details',
    serviceType : 'rosapi/MessageDetails'
  });
  var request = new ServiceRequest({
    type: message
  });

  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);
    });
  }
};

/**
 * Decode a typedefs into a dictionary like `rosmsg show foo/bar`
 *
 * @param defs - array of type_def dictionary
 */
Ros.prototype.decodeTypeDefs = function(defs) {
  var that = this;

  // calls itself recursively to resolve type definition using hints.
  var decodeTypeDefsRec = function(theType, hints) {
    var typeDefDict = {};
    for (var i = 0; i < theType.fieldnames.length; i++) {
      var arrayLen = theType.fieldarraylen[i];
      var fieldName = theType.fieldnames[i];
      var fieldType = theType.fieldtypes[i];
      if (fieldType.indexOf('/') === -1) { // check the fieldType includes '/' or not
        if (arrayLen === -1) {
          typeDefDict[fieldName] = fieldType;
        }
        else {
          typeDefDict[fieldName] = [fieldType];
        }
      }
      else {
        // lookup the name
        var sub = false;
        for (var j = 0; j < hints.length; j++) {
          if (hints[j].type.toString() === fieldType.toString()) {
            sub = hints[j];
            break;
          }
        }
        if (sub) {
          var subResult = decodeTypeDefsRec(sub, hints);
          if (arrayLen === -1) {
          }
          else {
            typeDefDict[fieldName] = [subResult];
          }
        }
        else {
          that.emit('error', 'Cannot find ' + fieldType + ' in decodeTypeDefs');
        }
      }
    }
    return typeDefDict;
  };

  return decodeTypeDefsRec(defs[0], defs);
};


module.exports = Ros;

},{"../util/workerSocket":47,"./Service":15,"./ServiceRequest":16,"./SocketAdapter.js":18,"eventemitter2":2,"object-assign":3,"ws":42}],15:[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.
 *
 * @constructor
 * @params options - possible keys include:
 *   * ros - the ROSLIB.Ros connection handle
 *   * name - the service name, like /add_two_ints
 *   * serviceType - the service type, like 'rospy_tutorials/AddTwoInts'
 */
function Service(options) {
  options = 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. Does nothing if this service is currently advertised.
 *
 * @param request - the ROSLIB.ServiceRequest to send
 * @param callback - function with params:
 *   * response - the response from the service request
 * @param failedCallback - the callback function when the service call failed (optional). Params:
 *   * 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) {
    this.ros.once(serviceCallId, function(message) {
      if (message.result !== undefined && message.result === false) {
        if (typeof failedCallback === 'function') {
          failedCallback(message.values);
        }
      } else if (typeof callback === 'function') {
        callback(new ServiceResponse(message.values));
      }
    });
  }

  var call = {
    op : 'call_service',
    id : serviceCallId,
    service : this.name,
    type: this.serviceType,
    args : request
  };
  this.ros.callOnConnection(call);
};

/**
 * 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":16,"./ServiceResponse":17,"eventemitter2":2}],16:[function(require,module,exports){
/**
 * @fileoverview
 * @author Brandon Alexander - balexander@willowgarage.com
 */

var assign = require('object-assign');

/**
 * A ServiceRequest is passed into the service call.
 *
 * @constructor
 * @param values - object matching the fields defined in the .srv definition file
 */
function ServiceRequest(values) {
  assign(this, values);
}

module.exports = ServiceRequest;
},{"object-assign":3}],17:[function(require,module,exports){
/**
 * @fileoverview
 * @author Brandon Alexander - balexander@willowgarage.com
 */

var assign = require('object-assign');

/**
 * A ServiceResponse is returned from the service call.
 *
 * @constructor
 * @param values - object matching the fields defined in the .srv definition file
 */
function ServiceResponse(values) {
  assign(this, values);
}

module.exports = ServiceResponse;
},{"object-assign":3}],18:[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 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) {
    if (message.op === 'publish') {
      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;
      client.emit('connection', event);
    },

    /**
     * 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;
      client.emit('close', event);
    },

    /**
     * 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);
    },

    /**
     * Parses message responses from rosbridge and sends to the appropriate
     * topic, service, or param.
     *
     * @param message - the raw JSON message from rosbridge.
     * @memberof SocketAdapter
     */
    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 {
        var message = JSON.parse(typeof data === 'string' ? data : data.data);
        handlePng(message, handleMessage);
      }
    }
  };
}

module.exports = SocketAdapter;

},{"../util/cborTypedArrayTags":41,"../util/decompressPng":44,"cbor-js":1}],19:[function(require,module,exports){
/**
 * @fileoverview
 * @author Brandon Alexander - baalexander@gmail.com
 */

var EventEmitter2 = require('eventemitter2').EventEmitter2;
var Message = require('./Message');

/**
 * Publish and/or subscribe to a topic in ROS.
 *
 * Emits the following events:
 *  * 'warning' - if there are any warning during the Topic creation
 *  * 'message' - the message data from rosbridge
 *
 * @constructor
 * @param options - object with following keys:
 *   * 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' 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 || {};
  this.ros = options.ros;
  this.name = options.name;
  this.messageType = options.messageType;
  this.isAdvertised = false;
  this.compression = options.compression || 'none';
  this.throttle_rate = options.throttle_rate || 0;
  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;


  var that = this;

  this.ros.on('connection', function() {
      that.wasRosConnected = true;
  });

  this.wasRosConnected = this.ros.isConnected;

  // If the connection is closed, advertise/subscribe when we reconnect
  this.ros.on('close', function() {
      if (that.wasRosConnected) {
          if (that.isAdvertised) {
              that.advertiseId = 'advertise:' + that.name + ':' + (++that.ros.idCounter);
              that.ros.callOnConnection({
                  op: 'advertise',
                  id: that.advertiseId,
                  type: that.messageType,
                  topic: that.name,
                  latch: that.latch,
                  queue_size: that.queue_size
              });

              if (that.lastPublishedMessage) {
                  that.ros.idCounter++;

                  that.ros.callOnConnection({
                      op: 'publish',
                      id: 'publish:' + that.name + ':' + that.ros.idCounter,
                      topic: that.name,
                      msg: that.lastPublishedMessage,
                      latch: that.latch
                  });
              }
          }

          if (that.subscribeId) {
              that.subscribeId = 'subscribe:' + that.name + ':' + (++that.ros.idCounter);
              that.ros.callOnConnection({
                  op: 'subscribe',
                  id: that.subscribeId,
                  type: that.messageType,
                  topic: that.name,
                  compression: that.compression,
                  throttle_rate: that.throttle_rate,
                  queue_length: that.queue_length
              });
          }
      }
      that.wasRosConnected = false;
  });



  // Check for valid compression types
  if (this.compression && this.compression !== 'png' &&
    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
  if (this.throttle_rate < 0) {
    this.emit('warning', this.throttle_rate + ' is not allowed. Set to 0');
    this.throttle_rate = 0;
  }

  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));
  };
}
Topic.prototype.__proto__ = EventEmitter2.prototype;

/**
 * Every time a message is published for the given topic, the callback
 * will be called with the message object.
 *
 * @param callback - function with the following params:
 *   * message - the published message
 */
Topic.prototype.subscribe = function(callback) {
  if (typeof callback === 'function') {
    this.on('message', callback);
  }

  if (this.subscribeId) { return; }
  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
  });
};

/**
 * Unregisters as a subscriber for the topic. Unsubscribing stop remove
 * all subscribe callbacks. To remove a call back, you must explicitly
 * pass the callback function in.
 *
 * @param callback - the optional callback to unregister, if
 *     * provided and other listeners are registered the topic won't
 *     * unsubscribe, just stop emitting to the passed listener
 */
Topic.prototype.unsubscribe = function(callback) {
  if (callback) {
    this.off('message', callback);
    // If there is any other callbacks still subscribed don't unsubscribe
    if (this.listeners('message').length) { return; }
  }
  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',
    id: this.subscribeId,
    topic: this.name
  });
  this.subscribeId = null;
};


/**
 * Registers as a publisher for the topic.
 */
Topic.prototype.advertise = function() {
  if (this.isAdvertised) {
    return;
  }
  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 = true;

  if(!this.reconnect_on_close) {
    var that = this;
    this.ros.on('close', function() {
      that.isAdvertised = false;
    });
  }
};

/**
 * Unregisters as a publisher for the topic.
 */
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',
    id: this.advertiseId,
    topic: this.name
  });
  this.isAdvertised = false;
};

/**
 * Publish the message.
 *
 * @param message - A ROSLIB.Message object.
 */
Topic.prototype.publish = function(message) {
  if (!this.isAdvertised) {
    this.advertise();
  }

  this.ros.idCounter++;
  var call = {
    op: 'publish',
    id: 'publish:' + this.name + ':' + this.ros.idCounter,
    topic: this.name,
    msg: message,
    latch: this.latch
  };
  this.ros.callOnConnection(call);

  if (this.latch) {
      this.lastPublishedMessage = message;
  }
};

module.exports = Topic;

},{"./Message":12,"eventemitter2":2}],20:[function(require,module,exports){
var mixin = require('../mixin');

var core = module.exports = {
    Ros: require('./Ros'),
    Topic: require('./Topic'),
    Message: require('./Message'),
    Param: require('./Param'),
    Service: require('./Service'),
    ServiceRequest: require('./ServiceRequest'),
    ServiceResponse: require('./ServiceResponse')
};

mixin(core.Ros, ['Param', 'Service', 'Topic'], core);

},{"../mixin":26,"./Message":12,"./Param":13,"./Ros":14,"./Service":15,"./ServiceRequest":16,"./ServiceResponse":17,"./Topic":19}],21:[function(require,module,exports){
/**
 * @fileoverview
 * @author David Gossow - dgossow@willowgarage.com
 */

var Vector3 = require('./Vector3');
var Quaternion = require('./Quaternion');

/**
 * A Pose in 3D space. Values are copied into this object.
 *
 *  @constructor
 *  @param options - object with following keys:
 *   * position - the Vector3 describing the position
 *   * orientation - the ROSLIB.Quaternion describing the orientation
 */
function Pose(options) {
  options = options || {};
  // copy the values into this object if they exist
  this.position = new Vector3(options.position);
  this.orientation = new Quaternion(options.orientation);
}

/**
 * Apply a transform against this pose.
 *
 * @param tf the transform
 */
Pose.prototype.applyTransform = function(tf) {
  this.position.multiplyQuaternion(tf.rotation);
  this.position.add(tf.translation);
  var tmp = tf.rotation.clone();
  tmp.multiply(this.orientation);
  this.orientation = tmp;
};

/**
 * Clone a copy of this pose.
 *
 * @returns the cloned pose
 */
Pose.prototype.clone = function() {
  return new Pose(this);
};

/**
 * 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":22,"./Vector3":24}],22:[function(require,module,exports){
/**
 * @fileoverview
 * @author David Gossow - dgossow@willowgarage.com
 */

/**
 * A Quaternion.
 *
 *  @constructor
 *  @param options - object with following keys:
 *   * x - the x value
 *   * y - the y value
 *   * z - the z value
 *   * w - the w value
 */
function Quaternion(options) {
  options = options || {};
  this.x = options.x || 0;
  this.y = options.y || 0;
  this.z = options.z || 0;
  this.w = (typeof options.w === 'number') ? options.w : 1;
}

/**
 * Perform a conjugation on this quaternion.
 */
Quaternion.prototype.conjugate = function() {
  this.x *= -1;
  this.y *= -1;
  this.z *= -1;
};

/**
 * Return the norm of this quaternion.
 */
Quaternion.prototype.norm = function() {
  return Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w);
};

/**
 * Perform a normalization on this quaternion.
 */
Quaternion.prototype.normalize = function() {
  var l = Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w);
  if (l === 0) {
    this.x = 0;
    this.y = 0;
    this.z = 0;
    this.w = 1;
  } else {
    l = 1 / l;
    this.x = this.x * l;
    this.y = this.y * l;
    this.z = this.z * l;
    this.w = this.w * l;
  }
};

/**
 * Convert this quaternion into its inverse.
 */
Quaternion.prototype.invert = function() {
  this.conjugate();
  this.normalize();
};

/**
 * Set the values of this quaternion to the product of itself and the given quaternion.
 *
 * @param q the quaternion to multiply with
 */
Quaternion.prototype.multiply = function(q) {
  var newX = this.x * q.w + this.y * q.z - this.z * q.y + this.w * q.x;
  var newY = -this.x * q.z + this.y * q.w + this.z * q.x + this.w * q.y;
  var newZ = this.x * q.y - this.y * q.x + this.z * q.w + this.w * q.z;
  var newW = -this.x * q.x - this.y * q.y - this.z * q.z + this.w * q.w;
  this.x = newX;
  this.y = newY;
  this.z = newZ;
  this.w = newW;
};

/**
 * Clone a copy of this quaternion.
 *
 * @returns the cloned quaternion
 */
Quaternion.prototype.clone = function() {
  return new Quaternion(this);
};

module.exports = Quaternion;

},{}],23:[function(require,module,exports){
/**
 * @fileoverview
 * @author David Gossow - dgossow@willowgarage.com
 */

var Vector3 = require('./Vector3');
var Quaternion = require('./Quaternion');

/**
 * A Transform in 3-space. Values are copied into this object.
 *
 *  @constructor
 *  @param options - object with following keys:
 *   * translation - the Vector3 describing the translation
 *   * rotation - the ROSLIB.Quaternion describing the rotation
 */
function Transform(options) {
  options = options || {};
  // Copy the values into this object if they exist
  this.translation = new Vector3(options.translation);
  this.rotation = new Quaternion(options.rotation);
}

/**
 * Clone a copy of this transform.
 *
 * @returns the cloned transform
 */
Transform.prototype.clone = function() {
  return new Transform(this);
};

module.exports = Transform;
},{"./Quaternion":22,"./Vector3":24}],24:[function(require,module,exports){
/**
 * @fileoverview
 * @author David Gossow - dgossow@willowgarage.com
 */

/**
 * A 3D vector.
 *
 *  @constructor
 *  @param options - object with following keys:
 *   * x - the x value
 *   * y - the y value
 *   * z - the z value
 */
function Vector3(options) {
  options = options || {};
  this.x = options.x || 0;
  this.y = options.y || 0;
  this.z = options.z || 0;
}

/**
 * Set the values of this vector to the sum of itself and the given vector.
 *
 * @param v the vector to add with
 */
Vector3.prototype.add = function(v) {
  this.x += v.x;
  this.y += v.y;
  this.z += v.z;
};

/**
 * Set the values of this vector to the difference of itself and the given vector.
 *
 * @param v the vector to subtract with
 */
Vector3.prototype.subtract = function(v) {
  this.x -= v.x;
  this.y -= v.y;
  this.z -= v.z;
};

/**
 * Multiply the given Quaternion with this vector.
 *
 * @param q - the quaternion to multiply with
 */
Vector3.prototype.multiplyQuaternion = function(q) {
  var ix = q.w * this.x + q.y * this.z - q.z * this.y;
  var iy = q.w * this.y + q.z * this.x - q.x * this.z;
  var iz = q.w * this.z + q.x * this.y - q.y * this.x;
  var iw = -q.x * this.x - q.y * this.y - q.z * this.z;
  this.x = ix * q.w + iw * -q.x + iy * -q.z - iz * -q.y;
  this.y = iy * q.w + iw * -q.y + iz * -q.x - ix * -q.z;
  this.z = iz * q.w + iw * -q.z + ix * -q.y - iy * -q.x;
};

/**
 * Clone a copy of this vector.
 *
 * @returns the cloned vector
 */
Vector3.prototype.clone = function() {
  return new Vector3(this);
};

module.exports = Vector3;
},{}],25:[function(require,module,exports){
module.exports = {
    Pose: require('./Pose'),
    Quaternion: require('./Quaternion'),
    Transform: require('./Transform'),
    Vector3: require('./Vector3')
};

},{"./Pose":21,"./Quaternion":22,"./Transform":23,"./Vector3":24}],26:[function(require,module,exports){
/**
 * Mixin a feature to the core/Ros prototype.
 * For example, mixin(Ros, ['Topic'], {Topic: <Topic>})
 * will add a topic bound to any Ros instances so a user
 * can call `var topic = ros.Topic({name: '/foo'});`
 *
 * @author Graeme Yeates - github.com/megawac
 */
module.exports = function(Ros, classes, features) {
    classes.forEach(function(className) {
        var Class = features[className];
        Ros.prototype[className] = function(options) {
            options.ros = this;
            return new Class(options);
        };
    });
};

},{}],27:[function(require,module,exports){
/**
 * @fileoverview
 * @author David Gossow - dgossow@willowgarage.com
 */

var ActionClient = require('../actionlib/ActionClient');
var Goal = require('../actionlib/Goal');

var Service = require('../core/Service.js');
var ServiceRequest = require('../core/ServiceRequest.js');

var Transform = require('../math/Transform');

/**
 * A TF Client that listens to TFs from tf2_web_republisher.
 *
 *  @constructor
 *  @param options - object with following keys:
 *   * ros - the ROSLIB.Ros connection handle
 *   * fixedFrame - the fixed frame, like /base_link
 *   * angularThres - the angular threshold for the TF republisher
 *   * transThres - the translation threshold for the TF republisher
 *   * rate - the rate for the TF republisher
 *   * 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 || {};
  this.ros = options.ros;
  this.fixedFrame = options.fixedFrame || '/base_link';
  this.angularThres = options.angularThres || 2.0;
  this.transThres = options.transThres || 0.01;
  this.rate = options.rate || 10.0;
  this.updateDelay = options.updateDelay || 50;
  var seconds = options.topicTimeout || 2.0;
  var secs = Math.floor(seconds);
  var nsecs = Math.floor((seconds - secs) * 1000000000);
  this.topicTimeout = {
    secs: secs,
    nsecs: nsecs
  };
  this.serverName = options.serverName || '/tf2_web_republisher';
  this.repubServiceName = options.repubServiceName || '/republish_tfs';

  this.currentGoal = false;
  this.currentTopic = false;
  this.frameInfos = {};
  this.republisherUpdateRequested = false;

  // Create an Action client
  this.actionClient = this.ros.ActionClient({
    serverName : this.serverName,
    actionName : 'tf2_web_republisher/TFSubscriptionAction',
    omitStatus : true,
    omitResult : true
  });

  // Create a Service client
  this.serviceClient = this.ros.Service({
    name: this.repubServiceName,
    serviceType: 'tf2_web_republisher/RepublishTFs'
  });
}

/**
 * Process the incoming TF message and send them out using the callback
 * functions.
 *
 * @param tf - the TF message from the server
 */
TFClient.prototype.processTFArray = function(tf) {
  var that = this;
  tf.transforms.forEach(function(transform) {
    var frameID = transform.child_frame_id;
    if (frameID[0] === '/')
    {
      frameID = frameID.substring(1);
    }
    var info = this.frameInfos[frameID];
    if (info) {
      info.transform = new Transform({
        translation : transform.transform.translation,
        rotation : transform.transform.rotation
      });
      info.cbs.forEach(function(cb) {
        cb(info.transform);
      });
    }
  }, this);
};

/**
 * Create and send a new goal (or service request) to the tf2_web_republisher
 * based on the current list of TFs.
 */
TFClient.prototype.updateGoal = function() {
  var goalMessage = {
    source_frames : Object.keys(this.frameInfos),
    target_frame : this.fixedFrame,
    angular_thres : this.angularThres,
    trans_thres : this.transThres,
    rate : this.rate
  };

  // if we're running in groovy compatibility mode (the default)
  // then use the action interface to tf2_web_republisher
  if(this.ros.groovyCompatibility) {
    if (this.currentGoal) {
      this.currentGoal.cancel();
    }
    this.currentGoal = new Goal({
      actionClient : this.actionClient,
      goalMessage : goalMessage
    });

    this.currentGoal.on('feedback', this.processTFArray.bind(this));
    this.currentGoal.send();
  }
  else {
    // otherwise, use the service interface
    // The service interface has the same parameters as the action,
    // plus the timeout
    goalMessage.timeout = this.topicTimeout;
    var request = new ServiceRequest(goalMessage);

    this.serviceClient.callService(request, this.processResponse.bind(this));
  }

  this.republisherUpdateRequested = false;
};

/**
 * Process the service response and subscribe to the tf republisher
 * topic
 *
 * @param response the service response containing the topic name
 */
TFClient.prototype.processResponse = function(response) {
  // if we subscribed to a topic before, unsubscribe so
  // the republisher stops publishing it
  if (this.currentTopic) {
    this.currentTopic.unsubscribe();
  }

  this.currentTopic = this.ros.Topic({
    name: response.topic_name,
    messageType: 'tf2_web_republisher/TFArray'
  });
  this.currentTopic.subscribe(this.processTFArray.bind(this));
};

/**
 * Subscribe to the given TF frame.
 *
 * @param frameID - the TF frame to subscribe to
 * @param callback - function with params:
 *   * transform - the transform data
 */
TFClient.prototype.subscribe = function(frameID, callback) {
  // remove leading slash, if it's there
  if (frameID[0] === '/')
  {
    frameID = frameID.substring(1);
  }
  // if there is no callback registered for the given frame, create emtpy callback list
  if (!this.frameInfos[frameID]) {
    this.frameInfos[frameID] = {
      cbs: []
    };
    if (!this.republisherUpdateRequested) {
      setTimeout(this.updateGoal.bind(this), this.updateDelay);
      this.republisherUpdateRequested = true;
    }
  }
  // if we already have a transform, call back immediately
  else if (this.frameInfos[frameID].transform) {
    callback(this.frameInfos[frameID].transform);
  }
  this.frameInfos[frameID].cbs.push(callback);
};

/**
 * Unsubscribe from the given TF frame.
 *
 * @param frameID - the TF frame to unsubscribe from
 * @param callback - the callback function to remove
 */
TFClient.prototype.unsubscribe = function(frameID, callback) {
  // remove leading slash, if it's there
  if (frameID[0] === '/')
  {
    frameID = frameID.substring(1);
  }
  var info = this.frameInfos[frameID];
  for (var cbs = info && info.cbs || [], idx = cbs.length; idx--;) {
    if (cbs[idx] === callback) {
      cbs.splice(idx, 1);
    }
  }
  if (!callback || cbs.length === 0) {
    delete this.frameInfos[frameID];
  }
};

/**
 * 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":7,"../actionlib/Goal":9,"../core/Service.js":15,"../core/ServiceRequest.js":16,"../math/Transform":23}],28:[function(require,module,exports){
var Ros = require('../core/Ros');
var mixin = require('../mixin');

var tf = module.exports = {
    TFClient: require('./TFClient')
};

mixin(Ros, ['TFClient'], tf);
},{"../core/Ros":14,"../mixin":26,"./TFClient":27}],29:[function(require,module,exports){
/**
 * @fileOverview 
 * @author Benjamin Pitzer - ben.pitzer@gmail.com
 * @author Russell Toris - rctoris@wpi.edu
 */

var Vector3 = require('../math/Vector3');
var UrdfTypes = require('./UrdfTypes');

/**
 * A Box element in a URDF.
 *
 * @constructor
 * @param options - object with following keys:
 *  * xml - the XML element to parse
 */
function UrdfBox(options) {
  this.dimension = null;
  this.type = UrdfTypes.URDF_BOX;

  // Parse the xml string
  var xyz = options.xml.getAttribute('size').split(' ');
  this.dimension = new Vector3({
    x : parseFloat(xyz[0]),
    y : parseFloat(xyz[1]),
    z : parseFloat(xyz[2])
  });
}

module.exports = UrdfBox;
},{"../math/Vector3":24,"./UrdfTypes":38}],30:[function(require,module,exports){
/**
 * @fileOverview 
 * @author Benjamin Pitzer - ben.pitzer@gmail.com
 * @author Russell Toris - rctoris@wpi.edu
 */

/**
 * A Color element in a URDF.
 *
 * @constructor
 * @param options - object with following keys:
 *  * xml - the XML element to parse
 */
function UrdfColor(options) {
  // Parse the xml string
  var rgba = options.xml.getAttribute('rgba').split(' ');
  this.r = parseFloat(rgba[0]);
  this.g = parseFloat(rgba[1]);
  this.b = parseFloat(rgba[2]);
  this.a = parseFloat(rgba[3]);
}

module.exports = UrdfColor;
},{}],31:[function(require,module,exports){
/**
 * @fileOverview 
 * @author Benjamin Pitzer - ben.pitzer@gmail.com
 * @author Russell Toris - rctoris@wpi.edu
 */

var UrdfTypes = require('./UrdfTypes');

/**
 * A Cylinder element in a URDF.
 *
 * @constructor
 * @param options - object with following keys:
 *  * xml - the XML element to parse
 */
function UrdfCylinder(options) {
  this.type = UrdfTypes.URDF_CYLINDER;
  this.length = parseFloat(options.xml.getAttribute('length'));
  this.radius = parseFloat(options.xml.getAttribute('radius'));
}

module.exports = UrdfCylinder;
},{"./UrdfTypes":38}],32:[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.
 *
 * @constructor
 * @param options - object with following keys:
 *  * xml - the XML element to parse
 */
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;

},{"../math/Pose":21,"../math/Quaternion":22,"../math/Vector3":24}],33:[function(require,module,exports){
/**
 * @fileOverview 
 * @author Benjamin Pitzer - ben.pitzer@gmail.com
 * @author Russell Toris - rctoris@wpi.edu
 */

var UrdfVisual = require('./UrdfVisual');

/**
 * A Link element in a URDF.
 *
 * @constructor
 * @param options - object with following keys:
 *  * xml - the XML element to parse
 */
function UrdfLink(options) {
  this.name = options.xml.getAttribute('name');
  this.visuals = [];
  var visuals = options.xml.getElementsByTagName('visual');

  for( var i=0; i<visuals.length; i++ ) {
    this.visuals.push( new UrdfVisual({
      xml : visuals[i]
    }) );
  }
}

module.exports = UrdfLink;
},{"./UrdfVisual":39}],34:[function(require,module,exports){
/**
 * @fileOverview 
 * @author Benjamin Pitzer - ben.pitzer@gmail.com
 * @author Russell Toris - rctoris@wpi.edu
 */

var UrdfColor = require('./UrdfColor');

/**
 * A Material element in a URDF.
 *
 * @constructor
 * @param options - object with following keys:
 *  * xml - the XML element to parse
 */
function UrdfMaterial(options) {
  this.textureFilename = null;
  this.color = null;

  this.name = options.xml.getAttribute('name');

  // Texture
  var textures = options.xml.getElementsByTagName('texture');
  if (textures.length > 0) {
    this.textureFilename = textures[0].getAttribute('filename');
  }

  // Color
  var colors = options.xml.getElementsByTagName('color');
  if (colors.length > 0) {
    // Parse the RBGA string
    this.color = new UrdfColor({
      xml : colors[0]
    });
  }
}

UrdfMaterial.prototype.isLink = function() {
  return this.color === null && this.textureFilename === null;
};

var assign = require('object-assign');

UrdfMaterial.prototype.assign = function(obj) {
    return assign(this, obj);
};

module.exports = UrdfMaterial;

},{"./UrdfColor":30,"object-assign":3}],35:[function(require,module,exports){
/**
 * @fileOverview 
 * @author Benjamin Pitzer - ben.pitzer@gmail.com
 * @author Russell Toris - rctoris@wpi.edu
 */

var Vector3 = require('../math/Vector3');
var UrdfTypes = require('./UrdfTypes');

/**
 * A Mesh element in a URDF.
 *
 * @constructor
 * @param options - object with following keys:
 *  * xml - the XML element to parse
 */
function UrdfMesh(options) {
  this.scale = null;

  this.type = UrdfTypes.URDF_MESH;
  this.filename = options.xml.getAttribute('filename');

  // Check for a scale
  var scale = options.xml.getAttribute('scale');
  if (scale) {
    // Get the XYZ
    var xyz = scale.split(' ');
    this.scale = new Vector3({
      x : parseFloat(xyz[0]),
      y : parseFloat(xyz[1]),
      z : parseFloat(xyz[2])
    });
  }
}

module.exports = UrdfMesh;
},{"../math/Vector3":24,"./UrdfTypes":38}],36:[function(require,module,exports){
/**
 * @fileOverview 
 * @author Benjamin Pitzer - ben.pitzer@gmail.com
 * @author Russell Toris - rctoris@wpi.edu
 */

var UrdfMaterial = require('./UrdfMaterial');
var UrdfLink = require('./UrdfLink');
var UrdfJoint = require('./UrdfJoint');
var DOMParser = require('xmldom').DOMParser;

// See https://developer.mozilla.org/docs/XPathResult#Constants
var XPATH_FIRST_ORDERED_NODE_TYPE = 9;

/**
 * A URDF Model can be used to parse a given URDF into the appropriate elements.
 *
 * @constructor
 * @param options - object with following keys:
 *  * xml - the XML element to parse
 *  * string - the XML element to parse as a string
 */
function UrdfModel(options) {
  options = options || {};
  var xmlDoc = options.xml;
  var string = options.string;
  this.materials = {};
  this.links = {};
  this.joints = {};

  // Check if we are using a string or an XML element
  if (string) {
    // Parse the string
    var parser = new DOMParser();
    xmlDoc = parser.parseFromString(string, 'text/xml');
  }

  // Initialize the model with the given XML node.
  // Get the robot tag
  var robotXml = xmlDoc.documentElement;

  // Get the robot name
  this.name = robotXml.getAttribute('name');

  // Parse all the visual elements we need
  for (var nodes = robotXml.childNodes, i = 0; i < nodes.length; i++) {
    var node = nodes[i];
    if (node.tagName === 'material') {
      var material = new UrdfMaterial({
        xml : node
      });
      // Make sure this is unique
      if (this.materials[material.name] !== void 0) {
        if( this.materials[material.name].isLink() ) {
          this.materials[material.name].assign( material );
        } else {
          console.warn('Material ' + material.name + 'is not unique.');
        }
      } else {
        this.materials[material.name] = material;
      }
    } else if (node.tagName === 'link') {
      var link = new UrdfLink({
        xml : node
      });
      // Make sure this is unique
      if (this.links[link.name] !== void 0) {
        console.warn('Link ' + link.name + ' is not unique.');
      } else {
        // Check for a material
        for( var j=0; j<link.visuals.length; j++ )
        {
          var mat = link.visuals[j].material; 
          if ( mat !== null ) {
            if (this.materials[mat.name] !== void 0) {
              link.visuals[j].material = this.materials[mat.name];
            } else {
              this.materials[mat.name] = mat;
            }
          }
        }

        // Add the link
        this.links[link.name] = link;
      }
    } else if (node.tagName === 'joint') {
      var joint = new UrdfJoint({
        xml : node
      });
      this.joints[joint.name] = joint;
    }
  }
}

module.exports = UrdfModel;

},{"./UrdfJoint":32,"./UrdfLink":33,"./UrdfMaterial":34,"xmldom":45}],37:[function(require,module,exports){
/**
 * @fileOverview 
 * @author Benjamin Pitzer - ben.pitzer@gmail.com
 * @author Russell Toris - rctoris@wpi.edu
 */

var UrdfTypes = require('./UrdfTypes');

/**
 * A Sphere element in a URDF.
 *
 * @constructor
 * @param options - object with following keys:
 *  * xml - the XML element to parse
 */
function UrdfSphere(options) {
  this.type = UrdfTypes.URDF_SPHERE;
  this.radius = parseFloat(options.xml.getAttribute('radius'));
}

module.exports = UrdfSphere;
},{"./UrdfTypes":38}],38:[function(require,module,exports){
module.exports = {
	URDF_SPHERE : 0,
	URDF_BOX : 1,
	URDF_CYLINDER : 2,
	URDF_MESH : 3
};

},{}],39:[function(require,module,exports){
/**
 * @fileOverview 
 * @author Benjamin Pitzer - ben.pitzer@gmail.com
 * @author Russell Toris - rctoris@wpi.edu
 */

var Pose = require('../math/Pose');
var Vector3 = require('../math/Vector3');
var Quaternion = require('../math/Quaternion');

var UrdfCylinder = require('./UrdfCylinder');
var UrdfBox = require('./UrdfBox');
var UrdfMaterial = require('./UrdfMaterial');
var UrdfMesh = require('./UrdfMesh');
var UrdfSphere = require('./UrdfSphere');

/**
 * A Visual element in a URDF.
 *
 * @constructor
 * @param options - object with following keys:
 *  * xml - the XML element to parse
 */
function UrdfVisual(options) {
  var xml = options.xml;
  this.origin = null;
  this.geometry = null;
  this.material = null;

  // Origin
  var origins = 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
    });
  }

  // Geometry
  var geoms = xml.getElementsByTagName('geometry');
  if (geoms.length > 0) {
    var geom = geoms[0];
    var shape = null;
    // Check for the shape
    for (var i = 0; i < geom.childNodes.length; i++) {
      var node = geom.childNodes[i];
      if (node.nodeType === 1) {
        shape = node;
        break;
      }
    }
    // Check the type
    var type = shape.nodeName;
    if (type === 'sphere') {
      this.geometry = new UrdfSphere({
        xml : shape
      });
    } else if (type === 'box') {
      this.geometry = new UrdfBox({
        xml : shape
      });
    } else if (type === 'cylinder') {
      this.geometry = new UrdfCylinder({
        xml : shape
      });
    } else if (type === 'mesh') {
      this.geometry = new UrdfMesh({
        xml : shape
      });
    } else {
      console.warn('Unknown geometry type ' + type);
    }
  }

  // Material
  var materials = xml.getElementsByTagName('material');
  if (materials.length > 0) {
    this.material = new UrdfMaterial({
      xml : materials[0]
    });
  }
}

module.exports = UrdfVisual;
},{"../math/Pose":21,"../math/Quaternion":22,"../math/Vector3":24,"./UrdfBox":29,"./UrdfCylinder":31,"./UrdfMaterial":34,"./UrdfMesh":35,"./UrdfSphere":37}],40:[function(require,module,exports){
module.exports = require('object-assign')({
    UrdfBox: require('./UrdfBox'),
    UrdfColor: require('./UrdfColor'),
    UrdfCylinder: require('./UrdfCylinder'),
    UrdfLink: require('./UrdfLink'),
    UrdfMaterial: require('./UrdfMaterial'),
    UrdfMesh: require('./UrdfMesh'),
    UrdfModel: require('./UrdfModel'),
    UrdfSphere: require('./UrdfSphere'),
    UrdfVisual: require('./UrdfVisual')
}, require('./UrdfTypes'));

},{"./UrdfBox":29,"./UrdfColor":30,"./UrdfCylinder":31,"./UrdfLink":33,"./UrdfMaterial":34,"./UrdfMesh":35,"./UrdfModel":36,"./UrdfSphere":37,"./UrdfTypes":38,"./UrdfVisual":39,"object-assign":3}],41:[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
};

/**
 * 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;
}

},{}],42:[function(require,module,exports){
module.exports = (typeof window !== 'undefined' && typeof window.WebSocket !== 'undefined') ? window.WebSocket : WebSocket;

},{}],43:[function(require,module,exports){
/* global document */
module.exports = function Canvas() {
	return document.createElement('canvas');
};
},{}],44:[function(require,module,exports){
/**
 * @fileOverview
 * @author Graeme Yeates - github.com/megawac
 */

/**
 * 6RS Changes - This shim could not work in a webworker.  Add guards around
 * accessing the window object, and disable decompressing messages sent as PNGs
 */

'use strict';

var Canvas = require('canvas');
var Image;
if (typeof Canvas !== 'undefined' && typeof Canvas.Image !== 'undefined') {
  Image = Canvas.Image;
} else if (typeof window !== 'undefined' && window.Image !== 'undefined') {
  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) {
  if (!Image) {
    callback('Cannot decompress PNGs in this environment');
  }
  // 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":43}],45:[function(require,module,exports){
/**
 * 6RS Changes - This shim could not work in a webworker.  Protect against accessing
 * the window
 */

exports.DOMImplementation =
  typeof window !== 'undefined' && window.DOMImplementation;
exports.XMLSerializer = typeof window !== 'undefined' && window.XMLSerializer;
exports.DOMParser = typeof window !== 'undefined' && window.DOMParser;

},{}],46:[function(require,module,exports){
/**
 This software is released under the MIT license:

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.
*/

// Internalized version of https://github.com/browserify/webworkify.
// webworkify does not support Webpack 5, and hasn't had an update since Nov 13, 2017 (as of this comment).
// See the issue here: https://github.com/browserify/webworkify/issues/43
// And the patch applied here: https://github.com/browserify/webworkify/issues/43#issuecomment-843085544

// Do not run jshint over this file.  While we could update this file to match roslibs standards,
// it's safer to leave it as-is except for the required patch.
/* jshint ignore:start */

var stringify = JSON.stringify;

module.exports = function (fn, options) {
    var bundleFn = arguments[3];
    var sources = arguments[4];
    var cache = arguments[5];

    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;
};

/* jshint ignore:end */

},{}],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;

},{"./webworkify":46,"./workerSocketImpl":48}],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":42}]},{},[6]);