From 3d6a3c164a1536d433aabce0d0e988d5307bc2d3 Mon Sep 17 00:00:00 2001
From: Jan Paul Posma <janpaul123@users.noreply.github.com>
Date: Tue, 7 Jan 2020 18:33:09 -0800
Subject: [PATCH] Add cbor-raw compression (#351)

Add cbor-raw compression and a `getTopicsAndRawTypes` service function.

This is a companion PR to https://github.com/RobotWebTools/rosbridge_suite/pull/452.
Please see that PR for more details and motivation.
---
 build/roslib.js     | 50 +++++++++++++++++++++++++++----
 build/roslib.min.js |  4 +--
 src/core/Ros.js     | 71 ++++++++++++++++++++++++++++++++++++++++++---
 src/core/Topic.js   |  5 ++--
 4 files changed, 116 insertions(+), 14 deletions(-)

diff --git a/build/roslib.js b/build/roslib.js
index b7ce072b0..9c1aa0f98 100644
--- a/build/roslib.js
+++ b/build/roslib.js
@@ -2425,6 +2425,7 @@ Ros.prototype.getActionServers = function(callback, failedCallback) {
  *
  * @param callback function with params:
  *   * topics - Array of topic names
+ *   * types - Array of message type names
  */
 Ros.prototype.getTopics = function(callback, failedCallback) {
   var topicsClient = new Service({
@@ -2856,6 +2857,38 @@ Ros.prototype.decodeTypeDefs = function(defs) {
   return decodeTypeDefsRec(defs[0], defs);
 };
 
+/**
+ * Retrieves list of topics and their associated type definitions.
+ *
+ * @param callback function with params:
+ *   * topics - Array of topic names
+ *   * types - Array of message type names
+ *   * typedefs_full_text - Array of full definitions of message types, similar to `gendeps --cat`
+ */
+Ros.prototype.getTopicsAndRawTypes = function(callback, failedCallback) {
+  var topicsAndRawTypesClient = new Service({
+    ros : this,
+    name : '/rosapi/topics_and_raw_types',
+    serviceType : 'rosapi/TopicsAndRawTypes'
+  });
+
+  var request = new ServiceRequest();
+  if (typeof failedCallback === 'function'){
+    topicsAndRawTypesClient.callService(request,
+      function(result) {
+        callback(result);
+      },
+      function(message){
+        failedCallback(message);
+      }
+    );
+  }else{
+    topicsAndRawTypesClient.callService(request, function(result) {
+      callback(result);
+    });
+  }
+};
+
 
 module.exports = Ros;
 
@@ -3166,7 +3199,7 @@ var Message = require('./Message');
  *   * ros - the ROSLIB.Ros connection handle
  *   * name - the topic name, like /cmd_vel
  *   * messageType - the message type, like 'std_msgs/String'
- *   * compression - the type of compression to use, like 'png' or 'cbor'
+ *   * compression - the type of compression to use, like 'png', 'cbor', or 'cbor-raw'
  *   * 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
@@ -3188,7 +3221,8 @@ function Topic(options) {
 
   // Check for valid compression types
   if (this.compression && this.compression !== 'png' &&
-    this.compression !== 'cbor' && this.compression !== 'none') {
+    this.compression !== 'cbor' && this.compression !== 'cbor-raw' &&
+    this.compression !== 'none') {
     this.emit('warning', this.compression +
       ' compression is not supported. No compression will be used.');
     this.compression = 'none';
@@ -3677,6 +3711,7 @@ var Goal = require('../actionlib/Goal');
 
 var Service = require('../core/Service.js');
 var ServiceRequest = require('../core/ServiceRequest.js');
+var Topic = require('../core/Topic.js');
 
 var Transform = require('../math/Transform');
 
@@ -3721,7 +3756,8 @@ function TFClient(options) {
   this.republisherUpdateRequested = false;
 
   // Create an Action client
-  this.actionClient = this.ros.ActionClient({
+  this.actionClient = new ActionClient({
+    ros : options.ros,
     serverName : this.serverName,
     actionName : 'tf2_web_republisher/TFSubscriptionAction',
     omitStatus : true,
@@ -3729,7 +3765,8 @@ function TFClient(options) {
   });
 
   // Create a Service client
-  this.serviceClient = this.ros.Service({
+  this.serviceClient = new Service({
+    ros: options.ros,
     name: this.repubServiceName,
     serviceType: 'tf2_web_republisher/RepublishTFs'
   });
@@ -3815,7 +3852,8 @@ TFClient.prototype.processResponse = function(response) {
     this.currentTopic.unsubscribe();
   }
 
-  this.currentTopic = this.ros.Topic({
+  this.currentTopic = new Topic({
+    ros: this.ros,
     name: response.topic_name,
     messageType: 'tf2_web_republisher/TFArray'
   });
@@ -3887,7 +3925,7 @@ TFClient.prototype.dispose = function() {
 
 module.exports = TFClient;
 
-},{"../actionlib/ActionClient":8,"../actionlib/Goal":10,"../core/Service.js":16,"../core/ServiceRequest.js":17,"../math/Transform":24}],29:[function(require,module,exports){
+},{"../actionlib/ActionClient":8,"../actionlib/Goal":10,"../core/Service.js":16,"../core/ServiceRequest.js":17,"../core/Topic.js":20,"../math/Transform":24}],29:[function(require,module,exports){
 var Ros = require('../core/Ros');
 var mixin = require('../mixin');
 
diff --git a/build/roslib.min.js b/build/roslib.min.js
index 96c6e2679..b51529ee7 100644
--- a/build/roslib.min.js
+++ b/build/roslib.min.js
@@ -1,2 +1,2 @@
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b?c.callService(d,function(b){a(b.names)},function(a){b(a)}):c.callService(d,function(b){a(b.names)})},d.prototype.getTopicType=function(a,b,c){var d=new h({ros:this,name:"/rosapi/topic_type",serviceType:"rosapi/TopicType"}),e=new i({topic:a});"function"==typeof c?d.callService(e,function(a){b(a.type)},function(a){c(a)}):d.callService(e,function(a){b(a.type)})},d.prototype.getServiceType=function(a,b,c){var d=new h({ros:this,name:"/rosapi/service_type",serviceType:"rosapi/ServiceType"}),e=new i({service:a});"function"==typeof c?d.callService(e,function(a){b(a.type)},function(a){c(a)}):d.callService(e,function(a){b(a.type)})},d.prototype.getMessageDetails=function(a,b,c){var d=new h({ros:this,name:"/rosapi/message_details",serviceType:"rosapi/MessageDetails"}),e=new i({type:a});"function"==typeof c?d.callService(e,function(a){b(a.typedefs)},function(a){c(a)}):d.callService(e,function(a){b(a.typedefs)})},d.prototype.decodeTypeDefs=function(a){var b=this,c=function(a,d){for(var e={},f=0;f<a.fieldnames.length;f++){var g=a.fieldarraylen[f],h=a.fieldnames[f],i=a.fieldtypes[f];if(i.indexOf("/")===-1)g===-1?e[h]=i:e[h]=[i];else{for(var j=!1,k=0;k<d.length;k++)if(d[k].type.toString()===i.toString()){j=d[k];break}if(j){var l=c(j,d);g===-1||(e[h]=[l])}else b.emit("error","Cannot find "+i+" in decodeTypeDefs")}}return e};return c(a[0],a)},b.exports=d},{"../util/workerSocket":47,"./Service":16,"./ServiceRequest":17,"./SocketAdapter.js":19,eventemitter2:2,"object-assign":3,ws:43}],16:[function(a,b,c){function d(a){a=a||{},this.ros=a.ros,
-this.name=a.name,this.serviceType=a.serviceType,this.isAdvertised=!1,this._serviceCallback=null}var e=a("./ServiceResponse"),f=(a("./ServiceRequest"),a("eventemitter2").EventEmitter2);d.prototype.__proto__=f.prototype,d.prototype.callService=function(a,b,c){if(!this.isAdvertised){var d="call_service:"+this.name+":"+ ++this.ros.idCounter;(b||c)&&this.ros.once(d,function(a){void 0!==a.result&&a.result===!1?"function"==typeof c&&c(a.values):"function"==typeof b&&b(new e(a.values))});var f={op:"call_service",id:d,service:this.name,type:this.serviceType,args:a};this.ros.callOnConnection(f)}},d.prototype.advertise=function(a){this.isAdvertised||"function"!=typeof a||(this._serviceCallback=a,this.ros.on(this.name,this._serviceResponse.bind(this)),this.ros.callOnConnection({op:"advertise_service",type:this.serviceType,service:this.name}),this.isAdvertised=!0)},d.prototype.unadvertise=function(){this.isAdvertised&&(this.ros.callOnConnection({op:"unadvertise_service",service:this.name}),this.isAdvertised=!1)},d.prototype._serviceResponse=function(a){var b={},c=this._serviceCallback(a.args,b),d={op:"service_response",service:this.name,values:new e(b),result:c};a.id&&(d.id=a.id),this.ros.callOnConnection(d)},b.exports=d},{"./ServiceRequest":17,"./ServiceResponse":18,eventemitter2:2}],17:[function(a,b,c){function d(a){e(this,a)}var e=a("object-assign");b.exports=d},{"object-assign":3}],18:[function(a,b,c){function d(a){e(this,a)}var e=a("object-assign");b.exports=d},{"object-assign":3}],19:[function(a,b,c){"use strict";function d(a){function b(b){"publish"===b.op?a.emit(b.topic,b.msg):"service_response"===b.op?a.emit(b.id,b):"call_service"===b.op?a.emit(b.service,b):"status"===b.op&&(b.id?a.emit("status:"+b.id,b):a.emit("status",b))}function c(a,b){"png"===a.op?e(a.data,b):b(a)}function d(a,b){if(!h)throw"Cannot process BSON encoded message without BSON header.";var c=new FileReader;c.onload=function(){var a=new Uint8Array(this.result),c=h.deserialize(a);b(c)},c.readAsArrayBuffer(a)}return{onopen:function(b){a.isConnected=!0,a.emit("connection",b)},onclose:function(b){a.isConnected=!1,a.emit("close",b)},onerror:function(b){a.emit("error",b)},onmessage:function(a){if("undefined"!=typeof Blob&&a.data instanceof Blob)d(a.data,function(a){c(a,b)});else if(a.data instanceof ArrayBuffer){var e=f.decode(a.data,g);b(e)}else{var h=JSON.parse("string"==typeof a?a:a.data);c(h,b)}}}}var e=a("../util/decompressPng"),f=a("cbor-js"),g=a("../util/cborTypedArrayTags"),h=null;"undefined"!=typeof bson&&(h=bson().BSON),b.exports=d},{"../util/cborTypedArrayTags":42,"../util/decompressPng":45,"cbor-js":1}],20:[function(a,b,c){function d(a){a=a||{},this.ros=a.ros,this.name=a.name,this.messageType=a.messageType,this.isAdvertised=!1,this.compression=a.compression||"none",this.throttle_rate=a.throttle_rate||0,this.latch=a.latch||!1,this.queue_size=a.queue_size||100,this.queue_length=a.queue_length||0,this.reconnect_on_close=void 0===a.reconnect_on_close||a.reconnect_on_close,this.compression&&"png"!==this.compression&&"cbor"!==this.compression&&"none"!==this.compression&&(this.emit("warning",this.compression+" compression is not supported. No compression will be used."),this.compression="none"),this.throttle_rate<0&&(this.emit("warning",this.throttle_rate+" is not allowed. Set to 0"),this.throttle_rate=0);var b=this;this.reconnect_on_close?this.callForSubscribeAndAdvertise=function(a){b.ros.callOnConnection(a),b.waitForReconnect=!1,b.reconnectFunc=function(){b.waitForReconnect||(b.waitForReconnect=!0,b.ros.callOnConnection(a),b.ros.once("connection",function(){b.waitForReconnect=!1}))},b.ros.on("close",b.reconnectFunc)}:this.callForSubscribeAndAdvertise=this.ros.callOnConnection,this._messageCallback=function(a){b.emit("message",new f(a))}}var e=a("eventemitter2").EventEmitter2,f=a("./Message");d.prototype.__proto__=e.prototype,d.prototype.subscribe=function(a){"function"==typeof a&&this.on("message",a),this.subscribeId||(this.ros.on(this.name,this._messageCallback),this.subscribeId="subscribe:"+this.name+":"+ ++this.ros.idCounter,this.callForSubscribeAndAdvertise({op:"subscribe",id:this.subscribeId,type:this.messageType,topic:this.name,compression:this.compression,throttle_rate:this.throttle_rate,queue_length:this.queue_length}))},d.prototype.unsubscribe=function(a){a&&(this.off("message",a),this.listeners("message").length)||this.subscribeId&&(this.ros.off(this.name,this._messageCallback),this.reconnect_on_close&&this.ros.off("close",this.reconnectFunc),this.emit("unsubscribe"),this.ros.callOnConnection({op:"unsubscribe",id:this.subscribeId,topic:this.name}),this.subscribeId=null)},d.prototype.advertise=function(){if(!this.isAdvertised&&(this.advertiseId="advertise:"+this.name+":"+ ++this.ros.idCounter,this.callForSubscribeAndAdvertise({op:"advertise",id:this.advertiseId,type:this.messageType,topic:this.name,latch:this.latch,queue_size:this.queue_size}),this.isAdvertised=!0,!this.reconnect_on_close)){var a=this;this.ros.on("close",function(){a.isAdvertised=!1})}},d.prototype.unadvertise=function(){this.isAdvertised&&(this.reconnect_on_close&&this.ros.off("close",this.reconnectFunc),this.emit("unadvertise"),this.ros.callOnConnection({op:"unadvertise",id:this.advertiseId,topic:this.name}),this.isAdvertised=!1)},d.prototype.publish=function(a){this.isAdvertised||this.advertise(),this.ros.idCounter++;var b={op:"publish",id:"publish:"+this.name+":"+this.ros.idCounter,topic:this.name,msg:a,latch:this.latch};this.ros.callOnConnection(b)},b.exports=d},{"./Message":13,eventemitter2:2}],21:[function(a,b,c){var d=a("../mixin"),e=b.exports={Ros:a("./Ros"),Topic:a("./Topic"),Message:a("./Message"),Param:a("./Param"),Service:a("./Service"),ServiceRequest:a("./ServiceRequest"),ServiceResponse:a("./ServiceResponse")};d(e.Ros,["Param","Service","Topic"],e)},{"../mixin":27,"./Message":13,"./Param":14,"./Ros":15,"./Service":16,"./ServiceRequest":17,"./ServiceResponse":18,"./Topic":20}],22:[function(a,b,c){function d(a){a=a||{},this.position=new e(a.position),this.orientation=new f(a.orientation)}var e=a("./Vector3"),f=a("./Quaternion");d.prototype.applyTransform=function(a){this.position.multiplyQuaternion(a.rotation),this.position.add(a.translation);var b=a.rotation.clone();b.multiply(this.orientation),this.orientation=b},d.prototype.clone=function(){return new d(this)},d.prototype.multiply=function(a){var b=a.clone();return b.applyTransform({rotation:this.orientation,translation:this.position}),b},d.prototype.getInverse=function(){var a=this.clone();return a.orientation.invert(),a.position.multiplyQuaternion(a.orientation),a.position.x*=-1,a.position.y*=-1,a.position.z*=-1,a},b.exports=d},{"./Quaternion":23,"./Vector3":25}],23:[function(a,b,c){function d(a){a=a||{},this.x=a.x||0,this.y=a.y||0,this.z=a.z||0,this.w="number"==typeof a.w?a.w:1}d.prototype.conjugate=function(){this.x*=-1,this.y*=-1,this.z*=-1},d.prototype.norm=function(){return Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w)},d.prototype.normalize=function(){var a=Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w);0===a?(this.x=0,this.y=0,this.z=0,this.w=1):(a=1/a,this.x=this.x*a,this.y=this.y*a,this.z=this.z*a,this.w=this.w*a)},d.prototype.invert=function(){this.conjugate(),this.normalize()},d.prototype.multiply=function(a){var b=this.x*a.w+this.y*a.z-this.z*a.y+this.w*a.x,c=-this.x*a.z+this.y*a.w+this.z*a.x+this.w*a.y,d=this.x*a.y-this.y*a.x+this.z*a.w+this.w*a.z,e=-this.x*a.x-this.y*a.y-this.z*a.z+this.w*a.w;this.x=b,this.y=c,this.z=d,this.w=e},d.prototype.clone=function(){return new d(this)},b.exports=d},{}],24:[function(a,b,c){function d(a){a=a||{},this.translation=new e(a.translation),this.rotation=new f(a.rotation)}var e=a("./Vector3"),f=a("./Quaternion");d.prototype.clone=function(){return new d(this)},b.exports=d},{"./Quaternion":23,"./Vector3":25}],25:[function(a,b,c){function d(a){a=a||{},this.x=a.x||0,this.y=a.y||0,this.z=a.z||0}d.prototype.add=function(a){this.x+=a.x,this.y+=a.y,this.z+=a.z},d.prototype.subtract=function(a){this.x-=a.x,this.y-=a.y,this.z-=a.z},d.prototype.multiplyQuaternion=function(a){var b=a.w*this.x+a.y*this.z-a.z*this.y,c=a.w*this.y+a.z*this.x-a.x*this.z,d=a.w*this.z+a.x*this.y-a.y*this.x,e=-a.x*this.x-a.y*this.y-a.z*this.z;this.x=b*a.w+e*-a.x+c*-a.z-d*-a.y,this.y=c*a.w+e*-a.y+d*-a.x-b*-a.z,this.z=d*a.w+e*-a.z+b*-a.y-c*-a.x},d.prototype.clone=function(){return new d(this)},b.exports=d},{}],26:[function(a,b,c){b.exports={Pose:a("./Pose"),Quaternion:a("./Quaternion"),Transform:a("./Transform"),Vector3:a("./Vector3")}},{"./Pose":22,"./Quaternion":23,"./Transform":24,"./Vector3":25}],27:[function(a,b,c){b.exports=function(a,b,c){b.forEach(function(b){var d=c[b];a.prototype[b]=function(a){return a.ros=this,new d(a)}})}},{}],28:[function(a,b,c){function d(a){a=a||{},this.ros=a.ros,this.fixedFrame=a.fixedFrame||"/base_link",this.angularThres=a.angularThres||2,this.transThres=a.transThres||.01,this.rate=a.rate||10,this.updateDelay=a.updateDelay||50;var b=a.topicTimeout||2,c=Math.floor(b),d=Math.floor(1e9*(b-c));this.topicTimeout={secs:c,nsecs:d},this.serverName=a.serverName||"/tf2_web_republisher",this.repubServiceName=a.repubServiceName||"/republish_tfs",this.currentGoal=!1,this.currentTopic=!1,this.frameInfos={},this.republisherUpdateRequested=!1,this.actionClient=this.ros.ActionClient({serverName:this.serverName,actionName:"tf2_web_republisher/TFSubscriptionAction",omitStatus:!0,omitResult:!0}),this.serviceClient=this.ros.Service({name:this.repubServiceName,serviceType:"tf2_web_republisher/RepublishTFs"})}var e=(a("../actionlib/ActionClient"),a("../actionlib/Goal")),f=(a("../core/Service.js"),a("../core/ServiceRequest.js")),g=a("../math/Transform");d.prototype.processTFArray=function(a){a.transforms.forEach(function(a){var b=a.child_frame_id;"/"===b[0]&&(b=b.substring(1));var c=this.frameInfos[b];c&&(c.transform=new g({translation:a.transform.translation,rotation:a.transform.rotation}),c.cbs.forEach(function(a){a(c.transform)}))},this)},d.prototype.updateGoal=function(){var a={source_frames:Object.keys(this.frameInfos),target_frame:this.fixedFrame,angular_thres:this.angularThres,trans_thres:this.transThres,rate:this.rate};if(this.ros.groovyCompatibility)this.currentGoal&&this.currentGoal.cancel(),this.currentGoal=new e({actionClient:this.actionClient,goalMessage:a}),this.currentGoal.on("feedback",this.processTFArray.bind(this)),this.currentGoal.send();else{a.timeout=this.topicTimeout;var b=new f(a);this.serviceClient.callService(b,this.processResponse.bind(this))}this.republisherUpdateRequested=!1},d.prototype.processResponse=function(a){this.currentTopic&&this.currentTopic.unsubscribe(),this.currentTopic=this.ros.Topic({name:a.topic_name,messageType:"tf2_web_republisher/TFArray"}),this.currentTopic.subscribe(this.processTFArray.bind(this))},d.prototype.subscribe=function(a,b){"/"===a[0]&&(a=a.substring(1)),this.frameInfos[a]?this.frameInfos[a].transform&&b(this.frameInfos[a].transform):(this.frameInfos[a]={cbs:[]},this.republisherUpdateRequested||(setTimeout(this.updateGoal.bind(this),this.updateDelay),this.republisherUpdateRequested=!0)),this.frameInfos[a].cbs.push(b)},d.prototype.unsubscribe=function(a,b){"/"===a[0]&&(a=a.substring(1));for(var c=this.frameInfos[a],d=c&&c.cbs||[],e=d.length;e--;)d[e]===b&&d.splice(e,1);b&&0!==d.length||delete this.frameInfos[a]},d.prototype.dispose=function(){this.actionClient.dispose(),this.currentTopic&&this.currentTopic.unsubscribe()},b.exports=d},{"../actionlib/ActionClient":8,"../actionlib/Goal":10,"../core/Service.js":16,"../core/ServiceRequest.js":17,"../math/Transform":24}],29:[function(a,b,c){var d=a("../core/Ros"),e=a("../mixin"),f=b.exports={TFClient:a("./TFClient")};e(d,["TFClient"],f)},{"../core/Ros":15,"../mixin":27,"./TFClient":28}],30:[function(a,b,c){function d(a){this.dimension=null,this.type=f.URDF_BOX;var b=a.xml.getAttribute("size").split(" ");this.dimension=new e({x:parseFloat(b[0]),y:parseFloat(b[1]),z:parseFloat(b[2])})}var e=a("../math/Vector3"),f=a("./UrdfTypes");b.exports=d},{"../math/Vector3":25,"./UrdfTypes":39}],31:[function(a,b,c){function d(a){var b=a.xml.getAttribute("rgba").split(" ");this.r=parseFloat(b[0]),this.g=parseFloat(b[1]),this.b=parseFloat(b[2]),this.a=parseFloat(b[3])}b.exports=d},{}],32:[function(a,b,c){function d(a){this.type=e.URDF_CYLINDER,this.length=parseFloat(a.xml.getAttribute("length")),this.radius=parseFloat(a.xml.getAttribute("radius"))}var e=a("./UrdfTypes");b.exports=d},{"./UrdfTypes":39}],33:[function(a,b,c){function d(a){this.name=a.xml.getAttribute("name"),this.type=a.xml.getAttribute("type");var b=a.xml.getElementsByTagName("parent");b.length>0&&(this.parent=b[0].getAttribute("link"));var c=a.xml.getElementsByTagName("child");c.length>0&&(this.child=c[0].getAttribute("link"));var d=a.xml.getElementsByTagName("limit");d.length>0&&(this.minval=parseFloat(d[0].getAttribute("lower")),this.maxval=parseFloat(d[0].getAttribute("upper")));var h=a.xml.getElementsByTagName("origin");if(0===h.length)this.origin=new e;else{var i=h[0].getAttribute("xyz"),j=new f;i&&(i=i.split(" "),j=new f({x:parseFloat(i[0]),y:parseFloat(i[1]),z:parseFloat(i[2])}));var k=h[0].getAttribute("rpy"),l=new g;if(k){k=k.split(" ");var m=parseFloat(k[0]),n=parseFloat(k[1]),o=parseFloat(k[2]),p=m/2,q=n/2,r=o/2,s=Math.sin(p)*Math.cos(q)*Math.cos(r)-Math.cos(p)*Math.sin(q)*Math.sin(r),t=Math.cos(p)*Math.sin(q)*Math.cos(r)+Math.sin(p)*Math.cos(q)*Math.sin(r),u=Math.cos(p)*Math.cos(q)*Math.sin(r)-Math.sin(p)*Math.sin(q)*Math.cos(r),v=Math.cos(p)*Math.cos(q)*Math.cos(r)+Math.sin(p)*Math.sin(q)*Math.sin(r);l=new g({x:s,y:t,z:u,w:v}),l.normalize()}this.origin=new e({position:j,orientation:l})}}var e=a("../math/Pose"),f=a("../math/Vector3"),g=a("../math/Quaternion");b.exports=d},{"../math/Pose":22,"../math/Quaternion":23,"../math/Vector3":25}],34:[function(a,b,c){function d(a){this.name=a.xml.getAttribute("name"),this.visuals=[];for(var b=a.xml.getElementsByTagName("visual"),c=0;c<b.length;c++)this.visuals.push(new e({xml:b[c]}))}var e=a("./UrdfVisual");b.exports=d},{"./UrdfVisual":40}],35:[function(a,b,c){function d(a){this.textureFilename=null,this.color=null,this.name=a.xml.getAttribute("name");var b=a.xml.getElementsByTagName("texture");b.length>0&&(this.textureFilename=b[0].getAttribute("filename"));var c=a.xml.getElementsByTagName("color");c.length>0&&(this.color=new e({xml:c[0]}))}var e=a("./UrdfColor");d.prototype.isLink=function(){return null===this.color&&null===this.textureFilename};var f=a("object-assign");d.prototype.assign=function(a){return f(this,a)},b.exports=d},{"./UrdfColor":31,"object-assign":3}],36:[function(a,b,c){function d(a){this.scale=null,this.type=f.URDF_MESH,this.filename=a.xml.getAttribute("filename");var b=a.xml.getAttribute("scale");if(b){var c=b.split(" ");this.scale=new e({x:parseFloat(c[0]),y:parseFloat(c[1]),z:parseFloat(c[2])})}}var e=a("../math/Vector3"),f=a("./UrdfTypes");b.exports=d},{"../math/Vector3":25,"./UrdfTypes":39}],37:[function(a,b,c){function d(a){a=a||{};var b=a.xml,c=a.string;if(this.materials={},this.links={},this.joints={},c){var d=new h;b=d.parseFromString(c,"text/xml")}var i=b.documentElement;this.name=i.getAttribute("name");for(var j=i.childNodes,k=0;k<j.length;k++){var l=j[k];if("material"===l.tagName){var m=new e({xml:l});void 0!==this.materials[m.name]?this.materials[m.name].isLink()?this.materials[m.name].assign(m):console.warn("Material "+m.name+"is not unique."):this.materials[m.name]=m}else if("link"===l.tagName){var n=new f({xml:l});if(void 0!==this.links[n.name])console.warn("Link "+n.name+" is not unique.");else{for(var o=0;o<n.visuals.length;o++){var p=n.visuals[o].material;null!==p&&(void 0!==this.materials[p.name]?n.visuals[o].material=this.materials[p.name]:this.materials[p.name]=p)}this.links[n.name]=n}}else if("joint"===l.tagName){var q=new g({xml:l});this.joints[q.name]=q}}}var e=a("./UrdfMaterial"),f=a("./UrdfLink"),g=a("./UrdfJoint"),h=a("xmldom").DOMParser;b.exports=d},{"./UrdfJoint":33,"./UrdfLink":34,"./UrdfMaterial":35,xmldom:46}],38:[function(a,b,c){function 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h({ros:this,name:"/rosapi/service_response_details",serviceType:"rosapi/ServiceResponseDetails"}),e=new i({type:a});"function"==typeof c?d.callService(e,function(a){b(a)},function(a){c(a)}):d.callService(e,function(a){b(a)})},d.prototype.getNodes=function(a,b){var c=new h({ros:this,name:"/rosapi/nodes",serviceType:"rosapi/Nodes"}),d=new i;"function"==typeof b?c.callService(d,function(b){a(b.nodes)},function(a){b(a)}):c.callService(d,function(b){a(b.nodes)})},d.prototype.getNodeDetails=function(a,b,c){var d=new h({ros:this,name:"/rosapi/node_details",serviceType:"rosapi/NodeDetails"}),e=new i({node:a});"function"==typeof c?d.callService(e,function(a){b(a.subscribing,a.publishing,a.services)},function(a){c(a)}):d.callService(e,function(a){b(a)})},d.prototype.getParams=function(a,b){var c=new h({ros:this,name:"/rosapi/get_param_names",serviceType:"rosapi/GetParamNames"}),d=new i;"function"==typeof b?c.callService(d,function(b){a(b.names)},function(a){b(a)}):c.callService(d,function(b){a(b.names)})},d.prototype.getTopicType=function(a,b,c){var d=new h({ros:this,name:"/rosapi/topic_type",serviceType:"rosapi/TopicType"}),e=new i({topic:a});"function"==typeof c?d.callService(e,function(a){b(a.type)},function(a){c(a)}):d.callService(e,function(a){b(a.type)})},d.prototype.getServiceType=function(a,b,c){var d=new h({ros:this,name:"/rosapi/service_type",serviceType:"rosapi/ServiceType"}),e=new i({service:a});"function"==typeof c?d.callService(e,function(a){b(a.type)},function(a){c(a)}):d.callService(e,function(a){b(a.type)})},d.prototype.getMessageDetails=function(a,b,c){var d=new h({ros:this,name:"/rosapi/message_details",serviceType:"rosapi/MessageDetails"}),e=new i({type:a});"function"==typeof c?d.callService(e,function(a){b(a.typedefs)},function(a){c(a)}):d.callService(e,function(a){b(a.typedefs)})},d.prototype.decodeTypeDefs=function(a){var b=this,c=function(a,d){for(var e={},f=0;f<a.fieldnames.length;f++){var g=a.fieldarraylen[f],h=a.fieldnames[f],i=a.fieldtypes[f];if(i.indexOf("/")===-1)g===-1?e[h]=i:e[h]=[i];else{for(var j=!1,k=0;k<d.length;k++)if(d[k].type.toString()===i.toString()){j=d[k];break}if(j){var l=c(j,d);g===-1||(e[h]=[l])}else b.emit("error","Cannot find "+i+" in decodeTypeDefs")}}return e};return c(a[0],a)},d.prototype.getTopicsAndRawTypes=function(a,b){var c=new h({ros:this,name:"/rosapi/topics_and_raw_types",serviceType:"rosapi/TopicsAndRawTypes"}),d=new i;"function"==typeof b?c.callService(d,function(b){
+a(b)},function(a){b(a)}):c.callService(d,function(b){a(b)})},b.exports=d},{"../util/workerSocket":47,"./Service":16,"./ServiceRequest":17,"./SocketAdapter.js":19,eventemitter2:2,"object-assign":3,ws:43}],16:[function(a,b,c){function d(a){a=a||{},this.ros=a.ros,this.name=a.name,this.serviceType=a.serviceType,this.isAdvertised=!1,this._serviceCallback=null}var e=a("./ServiceResponse"),f=(a("./ServiceRequest"),a("eventemitter2").EventEmitter2);d.prototype.__proto__=f.prototype,d.prototype.callService=function(a,b,c){if(!this.isAdvertised){var d="call_service:"+this.name+":"+ ++this.ros.idCounter;(b||c)&&this.ros.once(d,function(a){void 0!==a.result&&a.result===!1?"function"==typeof c&&c(a.values):"function"==typeof b&&b(new e(a.values))});var f={op:"call_service",id:d,service:this.name,type:this.serviceType,args:a};this.ros.callOnConnection(f)}},d.prototype.advertise=function(a){this.isAdvertised||"function"!=typeof a||(this._serviceCallback=a,this.ros.on(this.name,this._serviceResponse.bind(this)),this.ros.callOnConnection({op:"advertise_service",type:this.serviceType,service:this.name}),this.isAdvertised=!0)},d.prototype.unadvertise=function(){this.isAdvertised&&(this.ros.callOnConnection({op:"unadvertise_service",service:this.name}),this.isAdvertised=!1)},d.prototype._serviceResponse=function(a){var b={},c=this._serviceCallback(a.args,b),d={op:"service_response",service:this.name,values:new e(b),result:c};a.id&&(d.id=a.id),this.ros.callOnConnection(d)},b.exports=d},{"./ServiceRequest":17,"./ServiceResponse":18,eventemitter2:2}],17:[function(a,b,c){function d(a){e(this,a)}var e=a("object-assign");b.exports=d},{"object-assign":3}],18:[function(a,b,c){function d(a){e(this,a)}var e=a("object-assign");b.exports=d},{"object-assign":3}],19:[function(a,b,c){"use strict";function d(a){function b(b){"publish"===b.op?a.emit(b.topic,b.msg):"service_response"===b.op?a.emit(b.id,b):"call_service"===b.op?a.emit(b.service,b):"status"===b.op&&(b.id?a.emit("status:"+b.id,b):a.emit("status",b))}function c(a,b){"png"===a.op?e(a.data,b):b(a)}function d(a,b){if(!h)throw"Cannot process BSON encoded message without BSON header.";var c=new FileReader;c.onload=function(){var a=new Uint8Array(this.result),c=h.deserialize(a);b(c)},c.readAsArrayBuffer(a)}return{onopen:function(b){a.isConnected=!0,a.emit("connection",b)},onclose:function(b){a.isConnected=!1,a.emit("close",b)},onerror:function(b){a.emit("error",b)},onmessage:function(a){if("undefined"!=typeof Blob&&a.data instanceof Blob)d(a.data,function(a){c(a,b)});else if(a.data instanceof ArrayBuffer){var e=f.decode(a.data,g);b(e)}else{var h=JSON.parse("string"==typeof a?a:a.data);c(h,b)}}}}var e=a("../util/decompressPng"),f=a("cbor-js"),g=a("../util/cborTypedArrayTags"),h=null;"undefined"!=typeof bson&&(h=bson().BSON),b.exports=d},{"../util/cborTypedArrayTags":42,"../util/decompressPng":45,"cbor-js":1}],20:[function(a,b,c){function d(a){a=a||{},this.ros=a.ros,this.name=a.name,this.messageType=a.messageType,this.isAdvertised=!1,this.compression=a.compression||"none",this.throttle_rate=a.throttle_rate||0,this.latch=a.latch||!1,this.queue_size=a.queue_size||100,this.queue_length=a.queue_length||0,this.reconnect_on_close=void 0===a.reconnect_on_close||a.reconnect_on_close,this.compression&&"png"!==this.compression&&"cbor"!==this.compression&&"cbor-raw"!==this.compression&&"none"!==this.compression&&(this.emit("warning",this.compression+" compression is not supported. No compression will be used."),this.compression="none"),this.throttle_rate<0&&(this.emit("warning",this.throttle_rate+" is not allowed. Set to 0"),this.throttle_rate=0);var b=this;this.reconnect_on_close?this.callForSubscribeAndAdvertise=function(a){b.ros.callOnConnection(a),b.waitForReconnect=!1,b.reconnectFunc=function(){b.waitForReconnect||(b.waitForReconnect=!0,b.ros.callOnConnection(a),b.ros.once("connection",function(){b.waitForReconnect=!1}))},b.ros.on("close",b.reconnectFunc)}:this.callForSubscribeAndAdvertise=this.ros.callOnConnection,this._messageCallback=function(a){b.emit("message",new f(a))}}var e=a("eventemitter2").EventEmitter2,f=a("./Message");d.prototype.__proto__=e.prototype,d.prototype.subscribe=function(a){"function"==typeof a&&this.on("message",a),this.subscribeId||(this.ros.on(this.name,this._messageCallback),this.subscribeId="subscribe:"+this.name+":"+ ++this.ros.idCounter,this.callForSubscribeAndAdvertise({op:"subscribe",id:this.subscribeId,type:this.messageType,topic:this.name,compression:this.compression,throttle_rate:this.throttle_rate,queue_length:this.queue_length}))},d.prototype.unsubscribe=function(a){a&&(this.off("message",a),this.listeners("message").length)||this.subscribeId&&(this.ros.off(this.name,this._messageCallback),this.reconnect_on_close&&this.ros.off("close",this.reconnectFunc),this.emit("unsubscribe"),this.ros.callOnConnection({op:"unsubscribe",id:this.subscribeId,topic:this.name}),this.subscribeId=null)},d.prototype.advertise=function(){if(!this.isAdvertised&&(this.advertiseId="advertise:"+this.name+":"+ ++this.ros.idCounter,this.callForSubscribeAndAdvertise({op:"advertise",id:this.advertiseId,type:this.messageType,topic:this.name,latch:this.latch,queue_size:this.queue_size}),this.isAdvertised=!0,!this.reconnect_on_close)){var a=this;this.ros.on("close",function(){a.isAdvertised=!1})}},d.prototype.unadvertise=function(){this.isAdvertised&&(this.reconnect_on_close&&this.ros.off("close",this.reconnectFunc),this.emit("unadvertise"),this.ros.callOnConnection({op:"unadvertise",id:this.advertiseId,topic:this.name}),this.isAdvertised=!1)},d.prototype.publish=function(a){this.isAdvertised||this.advertise(),this.ros.idCounter++;var b={op:"publish",id:"publish:"+this.name+":"+this.ros.idCounter,topic:this.name,msg:a,latch:this.latch};this.ros.callOnConnection(b)},b.exports=d},{"./Message":13,eventemitter2:2}],21:[function(a,b,c){var d=a("../mixin"),e=b.exports={Ros:a("./Ros"),Topic:a("./Topic"),Message:a("./Message"),Param:a("./Param"),Service:a("./Service"),ServiceRequest:a("./ServiceRequest"),ServiceResponse:a("./ServiceResponse")};d(e.Ros,["Param","Service","Topic"],e)},{"../mixin":27,"./Message":13,"./Param":14,"./Ros":15,"./Service":16,"./ServiceRequest":17,"./ServiceResponse":18,"./Topic":20}],22:[function(a,b,c){function d(a){a=a||{},this.position=new e(a.position),this.orientation=new f(a.orientation)}var e=a("./Vector3"),f=a("./Quaternion");d.prototype.applyTransform=function(a){this.position.multiplyQuaternion(a.rotation),this.position.add(a.translation);var b=a.rotation.clone();b.multiply(this.orientation),this.orientation=b},d.prototype.clone=function(){return new d(this)},d.prototype.multiply=function(a){var b=a.clone();return b.applyTransform({rotation:this.orientation,translation:this.position}),b},d.prototype.getInverse=function(){var a=this.clone();return a.orientation.invert(),a.position.multiplyQuaternion(a.orientation),a.position.x*=-1,a.position.y*=-1,a.position.z*=-1,a},b.exports=d},{"./Quaternion":23,"./Vector3":25}],23:[function(a,b,c){function d(a){a=a||{},this.x=a.x||0,this.y=a.y||0,this.z=a.z||0,this.w="number"==typeof a.w?a.w:1}d.prototype.conjugate=function(){this.x*=-1,this.y*=-1,this.z*=-1},d.prototype.norm=function(){return Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w)},d.prototype.normalize=function(){var a=Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w);0===a?(this.x=0,this.y=0,this.z=0,this.w=1):(a=1/a,this.x=this.x*a,this.y=this.y*a,this.z=this.z*a,this.w=this.w*a)},d.prototype.invert=function(){this.conjugate(),this.normalize()},d.prototype.multiply=function(a){var b=this.x*a.w+this.y*a.z-this.z*a.y+this.w*a.x,c=-this.x*a.z+this.y*a.w+this.z*a.x+this.w*a.y,d=this.x*a.y-this.y*a.x+this.z*a.w+this.w*a.z,e=-this.x*a.x-this.y*a.y-this.z*a.z+this.w*a.w;this.x=b,this.y=c,this.z=d,this.w=e},d.prototype.clone=function(){return new d(this)},b.exports=d},{}],24:[function(a,b,c){function d(a){a=a||{},this.translation=new e(a.translation),this.rotation=new f(a.rotation)}var e=a("./Vector3"),f=a("./Quaternion");d.prototype.clone=function(){return new d(this)},b.exports=d},{"./Quaternion":23,"./Vector3":25}],25:[function(a,b,c){function d(a){a=a||{},this.x=a.x||0,this.y=a.y||0,this.z=a.z||0}d.prototype.add=function(a){this.x+=a.x,this.y+=a.y,this.z+=a.z},d.prototype.subtract=function(a){this.x-=a.x,this.y-=a.y,this.z-=a.z},d.prototype.multiplyQuaternion=function(a){var b=a.w*this.x+a.y*this.z-a.z*this.y,c=a.w*this.y+a.z*this.x-a.x*this.z,d=a.w*this.z+a.x*this.y-a.y*this.x,e=-a.x*this.x-a.y*this.y-a.z*this.z;this.x=b*a.w+e*-a.x+c*-a.z-d*-a.y,this.y=c*a.w+e*-a.y+d*-a.x-b*-a.z,this.z=d*a.w+e*-a.z+b*-a.y-c*-a.x},d.prototype.clone=function(){return new d(this)},b.exports=d},{}],26:[function(a,b,c){b.exports={Pose:a("./Pose"),Quaternion:a("./Quaternion"),Transform:a("./Transform"),Vector3:a("./Vector3")}},{"./Pose":22,"./Quaternion":23,"./Transform":24,"./Vector3":25}],27:[function(a,b,c){b.exports=function(a,b,c){b.forEach(function(b){var d=c[b];a.prototype[b]=function(a){return a.ros=this,new d(a)}})}},{}],28:[function(a,b,c){function d(a){a=a||{},this.ros=a.ros,this.fixedFrame=a.fixedFrame||"/base_link",this.angularThres=a.angularThres||2,this.transThres=a.transThres||.01,this.rate=a.rate||10,this.updateDelay=a.updateDelay||50;var b=a.topicTimeout||2,c=Math.floor(b),d=Math.floor(1e9*(b-c));this.topicTimeout={secs:c,nsecs:d},this.serverName=a.serverName||"/tf2_web_republisher",this.repubServiceName=a.repubServiceName||"/republish_tfs",this.currentGoal=!1,this.currentTopic=!1,this.frameInfos={},this.republisherUpdateRequested=!1,this.actionClient=new e({ros:a.ros,serverName:this.serverName,actionName:"tf2_web_republisher/TFSubscriptionAction",omitStatus:!0,omitResult:!0}),this.serviceClient=new g({ros:a.ros,name:this.repubServiceName,serviceType:"tf2_web_republisher/RepublishTFs"})}var e=a("../actionlib/ActionClient"),f=a("../actionlib/Goal"),g=a("../core/Service.js"),h=a("../core/ServiceRequest.js"),i=a("../core/Topic.js"),j=a("../math/Transform");d.prototype.processTFArray=function(a){a.transforms.forEach(function(a){var b=a.child_frame_id;"/"===b[0]&&(b=b.substring(1));var c=this.frameInfos[b];c&&(c.transform=new j({translation:a.transform.translation,rotation:a.transform.rotation}),c.cbs.forEach(function(a){a(c.transform)}))},this)},d.prototype.updateGoal=function(){var a={source_frames:Object.keys(this.frameInfos),target_frame:this.fixedFrame,angular_thres:this.angularThres,trans_thres:this.transThres,rate:this.rate};if(this.ros.groovyCompatibility)this.currentGoal&&this.currentGoal.cancel(),this.currentGoal=new f({actionClient:this.actionClient,goalMessage:a}),this.currentGoal.on("feedback",this.processTFArray.bind(this)),this.currentGoal.send();else{a.timeout=this.topicTimeout;var b=new h(a);this.serviceClient.callService(b,this.processResponse.bind(this))}this.republisherUpdateRequested=!1},d.prototype.processResponse=function(a){this.currentTopic&&this.currentTopic.unsubscribe(),this.currentTopic=new i({ros:this.ros,name:a.topic_name,messageType:"tf2_web_republisher/TFArray"}),this.currentTopic.subscribe(this.processTFArray.bind(this))},d.prototype.subscribe=function(a,b){"/"===a[0]&&(a=a.substring(1)),this.frameInfos[a]?this.frameInfos[a].transform&&b(this.frameInfos[a].transform):(this.frameInfos[a]={cbs:[]},this.republisherUpdateRequested||(setTimeout(this.updateGoal.bind(this),this.updateDelay),this.republisherUpdateRequested=!0)),this.frameInfos[a].cbs.push(b)},d.prototype.unsubscribe=function(a,b){"/"===a[0]&&(a=a.substring(1));for(var c=this.frameInfos[a],d=c&&c.cbs||[],e=d.length;e--;)d[e]===b&&d.splice(e,1);b&&0!==d.length||delete this.frameInfos[a]},d.prototype.dispose=function(){this.actionClient.dispose(),this.currentTopic&&this.currentTopic.unsubscribe()},b.exports=d},{"../actionlib/ActionClient":8,"../actionlib/Goal":10,"../core/Service.js":16,"../core/ServiceRequest.js":17,"../core/Topic.js":20,"../math/Transform":24}],29:[function(a,b,c){var d=a("../core/Ros"),e=a("../mixin"),f=b.exports={TFClient:a("./TFClient")};e(d,["TFClient"],f)},{"../core/Ros":15,"../mixin":27,"./TFClient":28}],30:[function(a,b,c){function d(a){this.dimension=null,this.type=f.URDF_BOX;var b=a.xml.getAttribute("size").split(" ");this.dimension=new e({x:parseFloat(b[0]),y:parseFloat(b[1]),z:parseFloat(b[2])})}var e=a("../math/Vector3"),f=a("./UrdfTypes");b.exports=d},{"../math/Vector3":25,"./UrdfTypes":39}],31:[function(a,b,c){function d(a){var b=a.xml.getAttribute("rgba").split(" ");this.r=parseFloat(b[0]),this.g=parseFloat(b[1]),this.b=parseFloat(b[2]),this.a=parseFloat(b[3])}b.exports=d},{}],32:[function(a,b,c){function d(a){this.type=e.URDF_CYLINDER,this.length=parseFloat(a.xml.getAttribute("length")),this.radius=parseFloat(a.xml.getAttribute("radius"))}var e=a("./UrdfTypes");b.exports=d},{"./UrdfTypes":39}],33:[function(a,b,c){function d(a){this.name=a.xml.getAttribute("name"),this.type=a.xml.getAttribute("type");var b=a.xml.getElementsByTagName("parent");b.length>0&&(this.parent=b[0].getAttribute("link"));var c=a.xml.getElementsByTagName("child");c.length>0&&(this.child=c[0].getAttribute("link"));var d=a.xml.getElementsByTagName("limit");d.length>0&&(this.minval=parseFloat(d[0].getAttribute("lower")),this.maxval=parseFloat(d[0].getAttribute("upper")));var h=a.xml.getElementsByTagName("origin");if(0===h.length)this.origin=new e;else{var i=h[0].getAttribute("xyz"),j=new f;i&&(i=i.split(" "),j=new f({x:parseFloat(i[0]),y:parseFloat(i[1]),z:parseFloat(i[2])}));var k=h[0].getAttribute("rpy"),l=new g;if(k){k=k.split(" ");var m=parseFloat(k[0]),n=parseFloat(k[1]),o=parseFloat(k[2]),p=m/2,q=n/2,r=o/2,s=Math.sin(p)*Math.cos(q)*Math.cos(r)-Math.cos(p)*Math.sin(q)*Math.sin(r),t=Math.cos(p)*Math.sin(q)*Math.cos(r)+Math.sin(p)*Math.cos(q)*Math.sin(r),u=Math.cos(p)*Math.cos(q)*Math.sin(r)-Math.sin(p)*Math.sin(q)*Math.cos(r),v=Math.cos(p)*Math.cos(q)*Math.cos(r)+Math.sin(p)*Math.sin(q)*Math.sin(r);l=new g({x:s,y:t,z:u,w:v}),l.normalize()}this.origin=new e({position:j,orientation:l})}}var e=a("../math/Pose"),f=a("../math/Vector3"),g=a("../math/Quaternion");b.exports=d},{"../math/Pose":22,"../math/Quaternion":23,"../math/Vector3":25}],34:[function(a,b,c){function d(a){this.name=a.xml.getAttribute("name"),this.visuals=[];for(var b=a.xml.getElementsByTagName("visual"),c=0;c<b.length;c++)this.visuals.push(new e({xml:b[c]}))}var e=a("./UrdfVisual");b.exports=d},{"./UrdfVisual":40}],35:[function(a,b,c){function d(a){this.textureFilename=null,this.color=null,this.name=a.xml.getAttribute("name");var b=a.xml.getElementsByTagName("texture");b.length>0&&(this.textureFilename=b[0].getAttribute("filename"));var c=a.xml.getElementsByTagName("color");c.length>0&&(this.color=new e({xml:c[0]}))}var e=a("./UrdfColor");d.prototype.isLink=function(){return null===this.color&&null===this.textureFilename};var f=a("object-assign");d.prototype.assign=function(a){return f(this,a)},b.exports=d},{"./UrdfColor":31,"object-assign":3}],36:[function(a,b,c){function d(a){this.scale=null,this.type=f.URDF_MESH,this.filename=a.xml.getAttribute("filename");var b=a.xml.getAttribute("scale");if(b){var c=b.split(" ");this.scale=new e({x:parseFloat(c[0]),y:parseFloat(c[1]),z:parseFloat(c[2])})}}var e=a("../math/Vector3"),f=a("./UrdfTypes");b.exports=d},{"../math/Vector3":25,"./UrdfTypes":39}],37:[function(a,b,c){function d(a){a=a||{};var b=a.xml,c=a.string;if(this.materials={},this.links={},this.joints={},c){var d=new h;b=d.parseFromString(c,"text/xml")}var i=b.documentElement;this.name=i.getAttribute("name");for(var j=i.childNodes,k=0;k<j.length;k++){var l=j[k];if("material"===l.tagName){var m=new e({xml:l});void 0!==this.materials[m.name]?this.materials[m.name].isLink()?this.materials[m.name].assign(m):console.warn("Material "+m.name+"is not unique."):this.materials[m.name]=m}else if("link"===l.tagName){var n=new f({xml:l});if(void 0!==this.links[n.name])console.warn("Link "+n.name+" is not unique.");else{for(var o=0;o<n.visuals.length;o++){var p=n.visuals[o].material;null!==p&&(void 0!==this.materials[p.name]?n.visuals[o].material=this.materials[p.name]:this.materials[p.name]=p)}this.links[n.name]=n}}else if("joint"===l.tagName){var q=new g({xml:l});this.joints[q.name]=q}}}var e=a("./UrdfMaterial"),f=a("./UrdfLink"),g=a("./UrdfJoint"),h=a("xmldom").DOMParser;b.exports=d},{"./UrdfJoint":33,"./UrdfLink":34,"./UrdfMaterial":35,xmldom:46}],38:[function(a,b,c){function d(a){this.type=e.URDF_SPHERE,this.radius=parseFloat(a.xml.getAttribute("radius"))}var e=a("./UrdfTypes");b.exports=d},{"./UrdfTypes":39}],39:[function(a,b,c){b.exports={URDF_SPHERE:0,URDF_BOX:1,URDF_CYLINDER:2,URDF_MESH:3}},{}],40:[function(a,b,c){function d(a){var b=a.xml;this.origin=null,this.geometry=null,this.material=null;var c=b.getElementsByTagName("origin");if(0===c.length)this.origin=new e;else{var d=c[0].getAttribute("xyz"),m=new f;d&&(d=d.split(" "),m=new f({x:parseFloat(d[0]),y:parseFloat(d[1]),z:parseFloat(d[2])}));var n=c[0].getAttribute("rpy"),o=new g;if(n){n=n.split(" ");var p=parseFloat(n[0]),q=parseFloat(n[1]),r=parseFloat(n[2]),s=p/2,t=q/2,u=r/2,v=Math.sin(s)*Math.cos(t)*Math.cos(u)-Math.cos(s)*Math.sin(t)*Math.sin(u),w=Math.cos(s)*Math.sin(t)*Math.cos(u)+Math.sin(s)*Math.cos(t)*Math.sin(u),x=Math.cos(s)*Math.cos(t)*Math.sin(u)-Math.sin(s)*Math.sin(t)*Math.cos(u),y=Math.cos(s)*Math.cos(t)*Math.cos(u)+Math.sin(s)*Math.sin(t)*Math.sin(u);o=new g({x:v,y:w,z:x,w:y}),o.normalize()}this.origin=new e({position:m,orientation:o})}var z=b.getElementsByTagName("geometry");if(z.length>0){for(var A=z[0],B=null,C=0;C<A.childNodes.length;C++){var D=A.childNodes[C];if(1===D.nodeType){B=D;break}}var E=B.nodeName;"sphere"===E?this.geometry=new l({xml:B}):"box"===E?this.geometry=new i({xml:B}):"cylinder"===E?this.geometry=new h({xml:B}):"mesh"===E?this.geometry=new k({xml:B}):console.warn("Unknown geometry type "+E)}var F=b.getElementsByTagName("material");F.length>0&&(this.material=new j({xml:F[0]}))}var e=a("../math/Pose"),f=a("../math/Vector3"),g=a("../math/Quaternion"),h=a("./UrdfCylinder"),i=a("./UrdfBox"),j=a("./UrdfMaterial"),k=a("./UrdfMesh"),l=a("./UrdfSphere");b.exports=d},{"../math/Pose":22,"../math/Quaternion":23,"../math/Vector3":25,"./UrdfBox":30,"./UrdfCylinder":32,"./UrdfMaterial":35,"./UrdfMesh":36,"./UrdfSphere":38}],41:[function(a,b,c){b.exports=a("object-assign")({UrdfBox:a("./UrdfBox"),UrdfColor:a("./UrdfColor"),UrdfCylinder:a("./UrdfCylinder"),UrdfLink:a("./UrdfLink"),UrdfMaterial:a("./UrdfMaterial"),UrdfMesh:a("./UrdfMesh"),UrdfModel:a("./UrdfModel"),UrdfSphere:a("./UrdfSphere"),UrdfVisual:a("./UrdfVisual")},a("./UrdfTypes"))},{"./UrdfBox":30,"./UrdfColor":31,"./UrdfCylinder":32,"./UrdfLink":34,"./UrdfMaterial":35,"./UrdfMesh":36,"./UrdfModel":37,"./UrdfSphere":38,"./UrdfTypes":39,"./UrdfVisual":40,"object-assign":3}],42:[function(a,b,c){"use strict";function d(){j||(j=!0,console.warn("CBOR 64-bit integer array values may lose precision. No further warnings."))}function e(a){d();for(var b=a.byteLength,c=a.byteOffset,e=b/8,f=a.buffer.slice(c,c+b),g=new Uint32Array(f),h=new Array(e),j=0;j<e;j++){var k=2*j,l=g[k],m=g[k+1];h[j]=l+i*m}return h}function f(a){d();for(var b=a.byteLength,c=a.byteOffset,e=b/8,f=a.buffer.slice(c,c+b),g=new Uint32Array(f),h=new Int32Array(f),j=new Array(e),k=0;k<e;k++){var l=2*k,m=g[l],n=h[l+1];j[k]=m+i*n}return j}function g(a,b){var c=a.byteLength,d=a.byteOffset,e=a.buffer.slice(d,d+c);return new b(e)}function h(a,b){if(b in k){var c=k[b];return g(a,c)}return b in l?l[b](a):a}var i=Math.pow(2,32),j=!1,k={64:Uint8Array,69:Uint16Array,70:Uint32Array,72:Int8Array,77:Int16Array,78:Int32Array,85:Float32Array,86:Float64Array},l={71:e,79:f};"undefined"!=typeof b&&b.exports&&(b.exports=h)},{}],43:[function(a,b,c){b.exports="undefined"!=typeof window?window.WebSocket:WebSocket},{}],44:[function(a,b,c){b.exports=function(){return document.createElement("canvas")}},{}],45:[function(a,b,c){"use strict";function d(a,b){var c=new f;c.onload=function(){var a=new e,d=a.getContext("2d");a.width=c.width,a.height=c.height,d.imageSmoothingEnabled=!1,d.webkitImageSmoothingEnabled=!1,d.mozImageSmoothingEnabled=!1,d.drawImage(c,0,0);for(var f=d.getImageData(0,0,c.width,c.height).data,g="",h=0;h<f.length;h+=4)g+=String.fromCharCode(f[h],f[h+1],f[h+2]);b(JSON.parse(g))},c.src="data:image/png;base64,"+a}var e=a("canvas"),f=e.Image||window.Image;b.exports=d},{canvas:44}],46:[function(a,b,c){c.DOMImplementation=window.DOMImplementation,c.XMLSerializer=window.XMLSerializer,c.DOMParser=window.DOMParser},{}],47:[function(a,b,c){function d(a){this.socket_=e(f),this.socket_.addEventListener("message",this.handleWorkerMessage_.bind(this)),this.socket_.postMessage({uri:a})}var e=a("webworkify"),f=a("./workerSocketImpl");d.prototype.handleWorkerMessage_=function(a){var b=a.data;if(b instanceof ArrayBuffer||"string"==typeof b)this.onmessage(a);else{var c=b.type;if("close"===c)this.onclose(null);else if("open"===c)this.onopen(null);else{if("error"!==c)throw"Unknown message from workersocket";this.onerror(null)}}},d.prototype.send=function(a){this.socket_.postMessage(a)},d.prototype.close=function(){this.socket_.postMessage({close:!0})},b.exports=d},{"./workerSocketImpl":48,webworkify:5}],48:[function(a,b,c){var d=d||a("ws");b.exports=function(a){function b(b){var c=b.data;c instanceof ArrayBuffer?a.postMessage(c,[c]):a.postMessage(c)}function c(b){a.postMessage({type:b.type})}var e=null;a.addEventListener("message",function(a){var f=a.data;if("string"==typeof f)e.send(f);else if(f.hasOwnProperty("close"))e.close(),e=null;else{if(!f.hasOwnProperty("uri"))throw"Unknown message to WorkerSocket";var g=f.uri;e=new d(g),e.binaryType="arraybuffer",e.onmessage=b,e.onclose=c,e.onopen=c,e.onerror=c}})}},{ws:43}]},{},[7]);
\ No newline at end of file
diff --git a/src/core/Ros.js b/src/core/Ros.js
index 6fb3e648e..fa4ca73f7 100644
--- a/src/core/Ros.js
+++ b/src/core/Ros.js
@@ -162,7 +162,10 @@ Ros.prototype.setStatusLevel = function(level, id){
 /**
  * Retrieves Action Servers in ROS as an array of string
  *
+ * @param callback function with params:
  *   * actionservers - Array of action server names
+ * @param failedCallback - the callback function when the service call failed (optional). Params:
+ *   * error - the error message reported by ROS
  */
 Ros.prototype.getActionServers = function(callback, failedCallback) {
   var getActionServers = new Service({
@@ -193,6 +196,9 @@ Ros.prototype.getActionServers = function(callback, failedCallback) {
  *
  * @param callback function with params:
  *   * topics - Array of topic names
+ *   * types - Array of message type names
+ * @param failedCallback - the callback function when the service call failed (optional). Params:
+ *   * error - the error message reported by ROS
  */
 Ros.prototype.getTopics = function(callback, failedCallback) {
   var topicsClient = new Service({
@@ -221,9 +227,11 @@ Ros.prototype.getTopics = function(callback, failedCallback) {
 /**
  * Retrieves Topics in ROS as an array as specific type
  *
- * @param topicType topic type to find:
+ * @param topicType topic type to find
  * @param callback function with params:
  *   * topics - Array of topic names
+ * @param failedCallback - the callback function when the service call failed (optional). Params:
+ *   * error - the error message reported by ROS
  */
 Ros.prototype.getTopicsForType = function(topicType, callback, failedCallback) {
   var topicsForTypeClient = new Service({
@@ -256,6 +264,8 @@ Ros.prototype.getTopicsForType = function(topicType, callback, failedCallback) {
  *
  * @param callback - function with the following params:
  *   * services - array of service names
+ * @param failedCallback - the callback function when the service call failed (optional). Params:
+ *   * error - the error message reported by ROS
  */
 Ros.prototype.getServices = function(callback, failedCallback) {
   var servicesClient = new Service({
@@ -284,9 +294,11 @@ Ros.prototype.getServices = function(callback, failedCallback) {
 /**
  * Retrieves list of services in ROS as an array as specific type
  *
- * @param serviceType service type to find:
+ * @param serviceType service type to find
  * @param callback function with params:
  *   * topics - Array of service names
+ * @param failedCallback - the callback function when the service call failed (optional). Params:
+ *   * error - the error message reported by ROS
  */
 Ros.prototype.getServicesForType = function(serviceType, callback, failedCallback) {
   var servicesForTypeClient = new Service({
@@ -320,6 +332,8 @@ Ros.prototype.getServicesForType = function(serviceType, callback, failedCallbac
  * @param service name of service:
  * @param callback - function with params:
  *   * type - String of the service type
+ * @param failedCallback - the callback function when the service call failed (optional). Params:
+ *   * error - the error message reported by ROS
  */
 Ros.prototype.getServiceRequestDetails = function(type, callback, failedCallback) {
   var serviceTypeClient = new Service({
@@ -350,9 +364,11 @@ Ros.prototype.getServiceRequestDetails = function(type, callback, failedCallback
 /**
  * Retrieves a detail of ROS service request.
  *
- * @param service name of service:
+ * @param service name of service
  * @param callback - function with params:
  *   * type - String of the service type
+ * @param failedCallback - the callback function when the service call failed (optional). Params:
+ *   * error - the error message reported by ROS
  */
 Ros.prototype.getServiceResponseDetails = function(type, callback, failedCallback) {
   var serviceTypeClient = new Service({
@@ -385,6 +401,8 @@ Ros.prototype.getServiceResponseDetails = function(type, callback, failedCallbac
  *
  * @param callback - function with the following params:
  *   * nodes - array of node names
+ * @param failedCallback - the callback function when the service call failed (optional). Params:
+ *   * error - the error message reported by ROS
  */
 Ros.prototype.getNodes = function(callback, failedCallback) {
   var nodesClient = new Service({
@@ -418,6 +436,8 @@ Ros.prototype.getNodes = function(callback, failedCallback) {
   *   * publications - array of published topic names
   *   * subscriptions - array of subscribed topic names
   *   * services - array of service names hosted
+  * @param failedCallback - the callback function when the service call failed (optional). Params:
+ *   * error - the error message reported by ROS
   */
 Ros.prototype.getNodeDetails = function(node, callback, failedCallback) {
   var nodesClient = new Service({
@@ -450,6 +470,8 @@ Ros.prototype.getNodeDetails = function(node, callback, failedCallback) {
  *
  * @param callback function with params:
  *  * params - array of param names.
+ * @param failedCallback - the callback function when the service call failed (optional). Params:
+ *   * error - the error message reported by ROS
  */
 Ros.prototype.getParams = function(callback, failedCallback) {
   var paramsClient = new Service({
@@ -480,6 +502,8 @@ Ros.prototype.getParams = function(callback, failedCallback) {
  * @param topic name of the topic:
  * @param callback - function with params:
  *   * type - String of the topic type
+ * @param failedCallback - the callback function when the service call failed (optional). Params:
+ *   * error - the error message reported by ROS
  */
 Ros.prototype.getTopicType = function(topic, callback, failedCallback) {
   var topicTypeClient = new Service({
@@ -513,6 +537,8 @@ Ros.prototype.getTopicType = function(topic, callback, failedCallback) {
  * @param service name of service:
  * @param callback - function with params:
  *   * type - String of the service type
+ * @param failedCallback - the callback function when the service call failed (optional). Params:
+ *   * error - the error message reported by ROS
  */
 Ros.prototype.getServiceType = function(service, callback, failedCallback) {
   var serviceTypeClient = new Service({
@@ -543,9 +569,11 @@ Ros.prototype.getServiceType = function(service, callback, failedCallback) {
 /**
  * Retrieves a detail of ROS message.
  *
+ * @param message - String of a topic type
  * @param callback - function with params:
  *   * details - Array of the message detail
- * @param message - String of a topic type
+ * @param failedCallback - the callback function when the service call failed (optional). Params:
+ *   * error - the error message reported by ROS
  */
 Ros.prototype.getMessageDetails = function(message, callback, failedCallback) {
   var messageDetailClient = new Service({
@@ -624,5 +652,40 @@ Ros.prototype.decodeTypeDefs = function(defs) {
   return decodeTypeDefsRec(defs[0], defs);
 };
 
+/**
+ * Retrieves list of topics and their associated type definitions.
+ *
+ * @param callback function with params:
+ *   * topics - Array of topic names
+ *   * types - Array of message type names
+ *   * typedefs_full_text - Array of full definitions of message types, similar to `gendeps --cat`
+ * @param failedCallback - the callback function when the service call failed (optional). Params:
+ *   * error - the error message reported by ROS
+ *
+ */
+Ros.prototype.getTopicsAndRawTypes = function(callback, failedCallback) {
+  var topicsAndRawTypesClient = new Service({
+    ros : this,
+    name : '/rosapi/topics_and_raw_types',
+    serviceType : 'rosapi/TopicsAndRawTypes'
+  });
+
+  var request = new ServiceRequest();
+  if (typeof failedCallback === 'function'){
+    topicsAndRawTypesClient.callService(request,
+      function(result) {
+        callback(result);
+      },
+      function(message){
+        failedCallback(message);
+      }
+    );
+  }else{
+    topicsAndRawTypesClient.callService(request, function(result) {
+      callback(result);
+    });
+  }
+};
+
 
 module.exports = Ros;
diff --git a/src/core/Topic.js b/src/core/Topic.js
index a231755a4..c06103d06 100644
--- a/src/core/Topic.js
+++ b/src/core/Topic.js
@@ -18,7 +18,7 @@ var Message = require('./Message');
  *   * ros - the ROSLIB.Ros connection handle
  *   * name - the topic name, like /cmd_vel
  *   * messageType - the message type, like 'std_msgs/String'
- *   * compression - the type of compression to use, like 'png' or 'cbor'
+ *   * compression - the type of compression to use, like 'png', 'cbor', or 'cbor-raw'
  *   * 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
@@ -40,7 +40,8 @@ function Topic(options) {
 
   // Check for valid compression types
   if (this.compression && this.compression !== 'png' &&
-    this.compression !== 'cbor' && this.compression !== 'none') {
+    this.compression !== 'cbor' && this.compression !== 'cbor-raw' &&
+    this.compression !== 'none') {
     this.emit('warning', this.compression +
       ' compression is not supported. No compression will be used.');
     this.compression = 'none';