diff --git a/build/roslib.js b/build/roslib.js
index 970aa2de9..e616608fd 100644
--- a/build/roslib.js
+++ b/build/roslib.js
@@ -2397,6 +2397,210 @@ exports.clearImmediate = typeof clearImmediate === "function" ? clearImmediate :
 };
 }).call(this)}).call(this,require("timers").setImmediate,require("timers").clearImmediate)
 },{"process/browser.js":4,"timers":5}],6:[function(require,module,exports){
+function webpackBootstrapFunc (modules) {
+/******/  // The module cache
+/******/  var installedModules = {};
+
+/******/  // The require function
+/******/  function __webpack_require__(moduleId) {
+
+/******/    // Check if module is in cache
+/******/    if(installedModules[moduleId])
+/******/      return installedModules[moduleId].exports;
+
+/******/    // Create a new module (and put it into the cache)
+/******/    var module = installedModules[moduleId] = {
+/******/      i: moduleId,
+/******/      l: false,
+/******/      exports: {}
+/******/    };
+
+/******/    // Execute the module function
+/******/    modules[moduleId].call(module.exports, module, module.exports, __webpack_require__);
+
+/******/    // Flag the module as loaded
+/******/    module.l = true;
+
+/******/    // Return the exports of the module
+/******/    return module.exports;
+/******/  }
+
+/******/  // expose the modules object (__webpack_modules__)
+/******/  __webpack_require__.m = modules;
+
+/******/  // expose the module cache
+/******/  __webpack_require__.c = installedModules;
+
+/******/  // identity function for calling harmony imports with the correct context
+/******/  __webpack_require__.i = function(value) { return value; };
+
+/******/  // define getter function for harmony exports
+/******/  __webpack_require__.d = function(exports, name, getter) {
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+/******/      Object.defineProperty(exports, name, {
+/******/        configurable: false,
+/******/        enumerable: true,
+/******/        get: getter
+/******/      });
+/******/    }
+/******/  };
+
+/******/  // define __esModule on exports
+/******/  __webpack_require__.r = function(exports) {
+/******/    Object.defineProperty(exports, '__esModule', { value: true });
+/******/  };
+
+/******/  // getDefaultExport function for compatibility with non-harmony modules
+/******/  __webpack_require__.n = function(module) {
+/******/    var getter = module && module.__esModule ?
+/******/      function getDefault() { return module['default']; } :
+/******/      function getModuleExports() { return module; };
+/******/    __webpack_require__.d(getter, 'a', getter);
+/******/    return getter;
+/******/  };
+
+/******/  // Object.prototype.hasOwnProperty.call
+/******/  __webpack_require__.o = function(object, property) { return Object.prototype.hasOwnProperty.call(object, property); };
+
+/******/  // __webpack_public_path__
+/******/  __webpack_require__.p = "/";
+
+/******/  // on error function for async loading
+/******/  __webpack_require__.oe = function(err) { console.error(err); throw err; };
+
+  var f = __webpack_require__(__webpack_require__.s = ENTRY_MODULE)
+  return f.default || f // try to call default if defined to also support babel esmodule exports
+}
+
+var moduleNameReqExp = '[\\.|\\-|\\+|\\w|\/|@]+'
+var dependencyRegExp = '\\(\\s*(\/\\*.*?\\*\/)?\\s*.*?(' + moduleNameReqExp + ').*?\\)' // additional chars when output.pathinfo is true
+
+// http://stackoverflow.com/a/2593661/130442
+function quoteRegExp (str) {
+  return (str + '').replace(/[.?*+^$[\]\\(){}|-]/g, '\\$&')
+}
+
+function isNumeric(n) {
+  return !isNaN(1 * n); // 1 * n converts integers, integers as string ("123"), 1e3 and "1e3" to integers and strings to NaN
+}
+
+function getModuleDependencies (sources, module, queueName) {
+  var retval = {}
+  retval[queueName] = []
+
+  var fnString = module.toString()
+  var wrapperSignature = fnString.match(/^function\s?\w*\(\w+,\s*\w+,\s*(\w+)\)/)
+  if (!wrapperSignature) return retval
+  var webpackRequireName = wrapperSignature[1]
+
+  // main bundle deps
+  var re = new RegExp('(\\\\n|\\W)' + quoteRegExp(webpackRequireName) + dependencyRegExp, 'g')
+  var match
+  while ((match = re.exec(fnString))) {
+    if (match[3] === 'dll-reference') continue
+    retval[queueName].push(match[3])
+  }
+
+  // dll deps
+  re = new RegExp('\\(' + quoteRegExp(webpackRequireName) + '\\("(dll-reference\\s(' + moduleNameReqExp + '))"\\)\\)' + dependencyRegExp, 'g')
+  while ((match = re.exec(fnString))) {
+    if (!sources[match[2]]) {
+      retval[queueName].push(match[1])
+      sources[match[2]] = __webpack_require__(match[1]).m
+    }
+    retval[match[2]] = retval[match[2]] || []
+    retval[match[2]].push(match[4])
+  }
+
+  // convert 1e3 back to 1000 - this can be important after uglify-js converted 1000 to 1e3
+  var keys = Object.keys(retval);
+  for (var i = 0; i < keys.length; i++) {
+    for (var j = 0; j < retval[keys[i]].length; j++) {
+      if (isNumeric(retval[keys[i]][j])) {
+        retval[keys[i]][j] = 1 * retval[keys[i]][j];
+      }
+    }
+  }
+
+  return retval
+}
+
+function hasValuesInQueues (queues) {
+  var keys = Object.keys(queues)
+  return keys.reduce(function (hasValues, key) {
+    return hasValues || queues[key].length > 0
+  }, false)
+}
+
+function getRequiredModules (sources, moduleId) {
+  var modulesQueue = {
+    main: [moduleId]
+  }
+  var requiredModules = {
+    main: []
+  }
+  var seenModules = {
+    main: {}
+  }
+
+  while (hasValuesInQueues(modulesQueue)) {
+    var queues = Object.keys(modulesQueue)
+    for (var i = 0; i < queues.length; i++) {
+      var queueName = queues[i]
+      var queue = modulesQueue[queueName]
+      var moduleToCheck = queue.pop()
+      seenModules[queueName] = seenModules[queueName] || {}
+      if (seenModules[queueName][moduleToCheck] || !sources[queueName][moduleToCheck]) continue
+      seenModules[queueName][moduleToCheck] = true
+      requiredModules[queueName] = requiredModules[queueName] || []
+      requiredModules[queueName].push(moduleToCheck)
+      var newModules = getModuleDependencies(sources, sources[queueName][moduleToCheck], queueName)
+      var newModulesKeys = Object.keys(newModules)
+      for (var j = 0; j < newModulesKeys.length; j++) {
+        modulesQueue[newModulesKeys[j]] = modulesQueue[newModulesKeys[j]] || []
+        modulesQueue[newModulesKeys[j]] = modulesQueue[newModulesKeys[j]].concat(newModules[newModulesKeys[j]])
+      }
+    }
+  }
+
+  return requiredModules
+}
+
+module.exports = function (moduleId, options) {
+  options = options || {}
+  var sources = {
+    main: __webpack_modules__
+  }
+
+  var requiredModules = options.all ? { main: Object.keys(sources.main) } : getRequiredModules(sources, moduleId)
+
+  var src = ''
+
+  Object.keys(requiredModules).filter(function (m) { return m !== 'main' }).forEach(function (module) {
+    var entryModule = 0
+    while (requiredModules[module][entryModule]) {
+      entryModule++
+    }
+    requiredModules[module].push(entryModule)
+    sources[module][entryModule] = '(function(module, exports, __webpack_require__) { module.exports = __webpack_require__; })'
+    src = src + 'var ' + module + ' = (' + webpackBootstrapFunc.toString().replace('ENTRY_MODULE', JSON.stringify(entryModule)) + ')({' + requiredModules[module].map(function (id) { return '' + JSON.stringify(id) + ': ' + sources[module][id].toString() }).join(',') + '});\n'
+  })
+
+  src = src + 'new ((' + webpackBootstrapFunc.toString().replace('ENTRY_MODULE', JSON.stringify(moduleId)) + ')({' + requiredModules.main.map(function (id) { return '' + JSON.stringify(id) + ': ' + sources.main[id].toString() }).join(',') + '}))(self);'
+
+  var blob = new window.Blob([src], { type: 'text/javascript' })
+  if (options.bare) { return blob }
+
+  var URL = window.URL || window.webkitURL || window.mozURL || window.msURL
+
+  var workerUrl = URL.createObjectURL(blob)
+  var worker = new window.Worker(workerUrl)
+  worker.objectURL = workerUrl
+
+  return worker
+}
+
+},{}],7:[function(require,module,exports){
 var bundleFn = arguments[3];
 var sources = arguments[4];
 var cache = arguments[5];
@@ -2478,7 +2682,7 @@ module.exports = function (fn, options) {
     return worker;
 };
 
-},{}],7:[function(require,module,exports){
+},{}],8:[function(require,module,exports){
 /**
  * @fileOverview
  * @author Russell Toris - rctoris@wpi.edu
@@ -2508,11 +2712,11 @@ assign(ROSLIB, require('./urdf'));
 
 module.exports = ROSLIB;
 
-},{"./actionlib":13,"./core":22,"./math":27,"./tf":30,"./urdf":42,"object-assign":3}],8:[function(require,module,exports){
+},{"./actionlib":14,"./core":23,"./math":28,"./tf":31,"./urdf":43,"object-assign":3}],9:[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":7}],9:[function(require,module,exports){
+},{"./RosLib":8}],10:[function(require,module,exports){
 /**
  * @fileOverview
  * @author Russell Toris - rctoris@wpi.edu
@@ -2657,7 +2861,7 @@ ActionClient.prototype.dispose = function() {
 
 module.exports = ActionClient;
 
-},{"../core/Message":14,"../core/Topic":21,"eventemitter2":2}],10:[function(require,module,exports){
+},{"../core/Message":15,"../core/Topic":22,"eventemitter2":2}],11:[function(require,module,exports){
 /**
  * @fileOverview
  * @author Justin Young - justin@oodar.com.au
@@ -2746,7 +2950,7 @@ ActionListener.prototype.__proto__ = EventEmitter2.prototype;
 
 module.exports = ActionListener;
 
-},{"../core/Message":14,"../core/Topic":21,"eventemitter2":2}],11:[function(require,module,exports){
+},{"../core/Message":15,"../core/Topic":22,"eventemitter2":2}],12:[function(require,module,exports){
 /**
  * @fileOverview
  * @author Russell Toris - rctoris@wpi.edu
@@ -2836,7 +3040,7 @@ Goal.prototype.cancel = function() {
 };
 
 module.exports = Goal;
-},{"../core/Message":14,"eventemitter2":2}],12:[function(require,module,exports){
+},{"../core/Message":15,"eventemitter2":2}],13:[function(require,module,exports){
 /**
  * @fileOverview
  * @author Laura Lindzey - lindzey@gmail.com
@@ -3066,7 +3270,7 @@ SimpleActionServer.prototype.setPreempted = function() {
 };
 
 module.exports = SimpleActionServer;
-},{"../core/Message":14,"../core/Topic":21,"eventemitter2":2}],13:[function(require,module,exports){
+},{"../core/Message":15,"../core/Topic":22,"eventemitter2":2}],14:[function(require,module,exports){
 var Ros = require('../core/Ros');
 var mixin = require('../mixin');
 
@@ -3079,7 +3283,7 @@ var action = module.exports = {
 
 mixin(Ros, ['ActionClient', 'SimpleActionServer'], action);
 
-},{"../core/Ros":16,"../mixin":28,"./ActionClient":9,"./ActionListener":10,"./Goal":11,"./SimpleActionServer":12}],14:[function(require,module,exports){
+},{"../core/Ros":17,"../mixin":29,"./ActionClient":10,"./ActionListener":11,"./Goal":12,"./SimpleActionServer":13}],15:[function(require,module,exports){
 /**
  * @fileoverview
  * @author Brandon Alexander - baalexander@gmail.com
@@ -3098,7 +3302,7 @@ function Message(values) {
 }
 
 module.exports = Message;
-},{"object-assign":3}],15:[function(require,module,exports){
+},{"object-assign":3}],16:[function(require,module,exports){
 /**
  * @fileoverview
  * @author Brandon Alexander - baalexander@gmail.com
@@ -3182,7 +3386,7 @@ Param.prototype.delete = function(callback) {
 };
 
 module.exports = Param;
-},{"./Service":17,"./ServiceRequest":18}],16:[function(require,module,exports){
+},{"./Service":18,"./ServiceRequest":19}],17:[function(require,module,exports){
 /**
  * @fileoverview
  * @author Brandon Alexander - baalexander@gmail.com
@@ -3884,7 +4088,7 @@ Ros.prototype.getTopicsAndRawTypes = function(callback, failedCallback) {
 
 module.exports = Ros;
 
-},{"../util/workerSocket":48,"./Service":17,"./ServiceRequest":18,"./SocketAdapter.js":20,"eventemitter2":2,"object-assign":3,"ws":45}],17:[function(require,module,exports){
+},{"../util/workerSocket":49,"./Service":18,"./ServiceRequest":19,"./SocketAdapter.js":21,"eventemitter2":2,"object-assign":3,"ws":46}],18:[function(require,module,exports){
 /**
  * @fileoverview
  * @author Brandon Alexander - baalexander@gmail.com
@@ -4009,7 +4213,7 @@ Service.prototype._serviceResponse = function(rosbridgeRequest) {
 
 module.exports = Service;
 
-},{"./ServiceRequest":18,"./ServiceResponse":19,"eventemitter2":2}],18:[function(require,module,exports){
+},{"./ServiceRequest":19,"./ServiceResponse":20,"eventemitter2":2}],19:[function(require,module,exports){
 /**
  * @fileoverview
  * @author Brandon Alexander - balexander@willowgarage.com
@@ -4028,7 +4232,7 @@ function ServiceRequest(values) {
 }
 
 module.exports = ServiceRequest;
-},{"object-assign":3}],19:[function(require,module,exports){
+},{"object-assign":3}],20:[function(require,module,exports){
 /**
  * @fileoverview
  * @author Brandon Alexander - balexander@willowgarage.com
@@ -4047,7 +4251,7 @@ function ServiceResponse(values) {
 }
 
 module.exports = ServiceResponse;
-},{"object-assign":3}],20:[function(require,module,exports){
+},{"object-assign":3}],21:[function(require,module,exports){
 /**
  * Socket event handling utilities for handling events on either
  * WebSocket and TCP sockets
@@ -4180,7 +4384,7 @@ function SocketAdapter(client) {
 
 module.exports = SocketAdapter;
 
-},{"../util/cborTypedArrayTags":43,"../util/decompressPng":47,"cbor-js":1}],21:[function(require,module,exports){
+},{"../util/cborTypedArrayTags":44,"../util/decompressPng":48,"cbor-js":1}],22:[function(require,module,exports){
 /**
  * @fileoverview
  * @author Brandon Alexander - baalexander@gmail.com
@@ -4390,7 +4594,7 @@ Topic.prototype.publish = function(message) {
 
 module.exports = Topic;
 
-},{"./Message":14,"eventemitter2":2}],22:[function(require,module,exports){
+},{"./Message":15,"eventemitter2":2}],23:[function(require,module,exports){
 var mixin = require('../mixin');
 
 var core = module.exports = {
@@ -4405,7 +4609,7 @@ var core = module.exports = {
 
 mixin(core.Ros, ['Param', 'Service', 'Topic'], core);
 
-},{"../mixin":28,"./Message":14,"./Param":15,"./Ros":16,"./Service":17,"./ServiceRequest":18,"./ServiceResponse":19,"./Topic":21}],23:[function(require,module,exports){
+},{"../mixin":29,"./Message":15,"./Param":16,"./Ros":17,"./Service":18,"./ServiceRequest":19,"./ServiceResponse":20,"./Topic":22}],24:[function(require,module,exports){
 /**
  * @fileoverview
  * @author David Gossow - dgossow@willowgarage.com
@@ -4478,7 +4682,7 @@ Pose.prototype.getInverse = function() {
 };
 
 module.exports = Pose;
-},{"./Quaternion":24,"./Vector3":26}],24:[function(require,module,exports){
+},{"./Quaternion":25,"./Vector3":27}],25:[function(require,module,exports){
 /**
  * @fileoverview
  * @author David Gossow - dgossow@willowgarage.com
@@ -4572,7 +4776,7 @@ Quaternion.prototype.clone = function() {
 
 module.exports = Quaternion;
 
-},{}],25:[function(require,module,exports){
+},{}],26:[function(require,module,exports){
 /**
  * @fileoverview
  * @author David Gossow - dgossow@willowgarage.com
@@ -4606,7 +4810,7 @@ Transform.prototype.clone = function() {
 };
 
 module.exports = Transform;
-},{"./Quaternion":24,"./Vector3":26}],26:[function(require,module,exports){
+},{"./Quaternion":25,"./Vector3":27}],27:[function(require,module,exports){
 /**
  * @fileoverview
  * @author David Gossow - dgossow@willowgarage.com
@@ -4675,7 +4879,7 @@ Vector3.prototype.clone = function() {
 };
 
 module.exports = Vector3;
-},{}],27:[function(require,module,exports){
+},{}],28:[function(require,module,exports){
 module.exports = {
     Pose: require('./Pose'),
     Quaternion: require('./Quaternion'),
@@ -4683,7 +4887,7 @@ module.exports = {
     Vector3: require('./Vector3')
 };
 
-},{"./Pose":23,"./Quaternion":24,"./Transform":25,"./Vector3":26}],28:[function(require,module,exports){
+},{"./Pose":24,"./Quaternion":25,"./Transform":26,"./Vector3":27}],29:[function(require,module,exports){
 /**
  * Mixin a feature to the core/Ros prototype.
  * For example, mixin(Ros, ['Topic'], {Topic: <Topic>})
@@ -4702,7 +4906,7 @@ module.exports = function(Ros, classes, features) {
     });
 };
 
-},{}],29:[function(require,module,exports){
+},{}],30:[function(require,module,exports){
 /**
  * @fileoverview
  * @author David Gossow - dgossow@willowgarage.com
@@ -4937,7 +5141,7 @@ TFClient.prototype.dispose = function() {
 
 module.exports = TFClient;
 
-},{"../actionlib/ActionClient":9,"../actionlib/Goal":11,"../core/Service.js":17,"../core/ServiceRequest.js":18,"../core/Topic.js":21,"../math/Transform":25}],30:[function(require,module,exports){
+},{"../actionlib/ActionClient":10,"../actionlib/Goal":12,"../core/Service.js":18,"../core/ServiceRequest.js":19,"../core/Topic.js":22,"../math/Transform":26}],31:[function(require,module,exports){
 var Ros = require('../core/Ros');
 var mixin = require('../mixin');
 
@@ -4946,7 +5150,7 @@ var tf = module.exports = {
 };
 
 mixin(Ros, ['TFClient'], tf);
-},{"../core/Ros":16,"../mixin":28,"./TFClient":29}],31:[function(require,module,exports){
+},{"../core/Ros":17,"../mixin":29,"./TFClient":30}],32:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -4977,7 +5181,7 @@ function UrdfBox(options) {
 }
 
 module.exports = UrdfBox;
-},{"../math/Vector3":26,"./UrdfTypes":40}],32:[function(require,module,exports){
+},{"../math/Vector3":27,"./UrdfTypes":41}],33:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -5001,7 +5205,7 @@ function UrdfColor(options) {
 }
 
 module.exports = UrdfColor;
-},{}],33:[function(require,module,exports){
+},{}],34:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -5024,7 +5228,7 @@ function UrdfCylinder(options) {
 }
 
 module.exports = UrdfCylinder;
-},{"./UrdfTypes":40}],34:[function(require,module,exports){
+},{"./UrdfTypes":41}],35:[function(require,module,exports){
 /**
  * @fileOverview
  * @author David V. Lu!!  davidvlu@gmail.com
@@ -5117,7 +5321,7 @@ function UrdfJoint(options) {
 
 module.exports = UrdfJoint;
 
-},{"../math/Pose":23,"../math/Quaternion":24,"../math/Vector3":26}],35:[function(require,module,exports){
+},{"../math/Pose":24,"../math/Quaternion":25,"../math/Vector3":27}],36:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -5146,7 +5350,7 @@ function UrdfLink(options) {
 }
 
 module.exports = UrdfLink;
-},{"./UrdfVisual":41}],36:[function(require,module,exports){
+},{"./UrdfVisual":42}],37:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -5196,7 +5400,7 @@ UrdfMaterial.prototype.assign = function(obj) {
 
 module.exports = UrdfMaterial;
 
-},{"./UrdfColor":32,"object-assign":3}],37:[function(require,module,exports){
+},{"./UrdfColor":33,"object-assign":3}],38:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -5233,7 +5437,7 @@ function UrdfMesh(options) {
 }
 
 module.exports = UrdfMesh;
-},{"../math/Vector3":26,"./UrdfTypes":40}],38:[function(require,module,exports){
+},{"../math/Vector3":27,"./UrdfTypes":41}],39:[function(require,module,exports){
 /**
  * @fileOverview
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -5330,7 +5534,7 @@ function UrdfModel(options) {
 
 module.exports = UrdfModel;
 
-},{"./UrdfJoint":34,"./UrdfLink":35,"./UrdfMaterial":36,"@xmldom/xmldom":44}],39:[function(require,module,exports){
+},{"./UrdfJoint":35,"./UrdfLink":36,"./UrdfMaterial":37,"@xmldom/xmldom":45}],40:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -5352,7 +5556,7 @@ function UrdfSphere(options) {
 }
 
 module.exports = UrdfSphere;
-},{"./UrdfTypes":40}],40:[function(require,module,exports){
+},{"./UrdfTypes":41}],41:[function(require,module,exports){
 module.exports = {
 	URDF_SPHERE : 0,
 	URDF_BOX : 1,
@@ -5360,7 +5564,7 @@ module.exports = {
 	URDF_MESH : 3
 };
 
-},{}],41:[function(require,module,exports){
+},{}],42:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -5491,7 +5695,7 @@ function UrdfVisual(options) {
 }
 
 module.exports = UrdfVisual;
-},{"../math/Pose":23,"../math/Quaternion":24,"../math/Vector3":26,"./UrdfBox":31,"./UrdfCylinder":33,"./UrdfMaterial":36,"./UrdfMesh":37,"./UrdfSphere":39}],42:[function(require,module,exports){
+},{"../math/Pose":24,"../math/Quaternion":25,"../math/Vector3":27,"./UrdfBox":32,"./UrdfCylinder":34,"./UrdfMaterial":37,"./UrdfMesh":38,"./UrdfSphere":40}],43:[function(require,module,exports){
 module.exports = require('object-assign')({
     UrdfBox: require('./UrdfBox'),
     UrdfColor: require('./UrdfColor'),
@@ -5504,7 +5708,7 @@ module.exports = require('object-assign')({
     UrdfVisual: require('./UrdfVisual')
 }, require('./UrdfTypes'));
 
-},{"./UrdfBox":31,"./UrdfColor":32,"./UrdfCylinder":33,"./UrdfLink":35,"./UrdfMaterial":36,"./UrdfMesh":37,"./UrdfModel":38,"./UrdfSphere":39,"./UrdfTypes":40,"./UrdfVisual":41,"object-assign":3}],43:[function(require,module,exports){
+},{"./UrdfBox":32,"./UrdfColor":33,"./UrdfCylinder":34,"./UrdfLink":36,"./UrdfMaterial":37,"./UrdfMesh":38,"./UrdfModel":39,"./UrdfSphere":40,"./UrdfTypes":41,"./UrdfVisual":42,"object-assign":3}],44:[function(require,module,exports){
 'use strict';
 
 var UPPER32 = Math.pow(2, 32);
@@ -5624,20 +5828,20 @@ if (typeof module !== 'undefined' && module.exports) {
   module.exports = cborTypedArrayTagger;
 }
 
-},{}],44:[function(require,module,exports){
+},{}],45:[function(require,module,exports){
 exports.DOMImplementation = window.DOMImplementation;
 exports.XMLSerializer = window.XMLSerializer;
 exports.DOMParser = window.DOMParser;
 
-},{}],45:[function(require,module,exports){
+},{}],46:[function(require,module,exports){
 module.exports = typeof window !== 'undefined' ? window.WebSocket : WebSocket;
 
-},{}],46:[function(require,module,exports){
+},{}],47:[function(require,module,exports){
 /* global document */
 module.exports = function Canvas() {
 	return document.createElement('canvas');
 };
-},{}],47:[function(require,module,exports){
+},{}],48:[function(require,module,exports){
 /**
  * @fileOverview
  * @author Graeme Yeates - github.com/megawac
@@ -5695,8 +5899,13 @@ function decompressPng(data, callback) {
 
 module.exports = decompressPng;
 
-},{"canvas":46}],48:[function(require,module,exports){
-var work = require('webworkify');
+},{"canvas":47}],49:[function(require,module,exports){
+try {
+    var work = require('webworkify');
+} catch(ReferenceError) {
+    // webworkify raises ReferenceError when required inside webpack
+    var work = require('webworkify-webpack');
+}
 var workerSocketImpl = require('./workerSocketImpl');
 
 function WorkerSocket(uri) {
@@ -5741,7 +5950,7 @@ WorkerSocket.prototype.close = function() {
 
 module.exports = WorkerSocket;
 
-},{"./workerSocketImpl":49,"webworkify":6}],49:[function(require,module,exports){
+},{"./workerSocketImpl":50,"webworkify":7,"webworkify-webpack":6}],50:[function(require,module,exports){
 var WebSocket = WebSocket || require('ws');
 
 module.exports = function(self) {
@@ -5791,4 +6000,4 @@ module.exports = function(self) {
   });
 };
 
-},{"ws":45}]},{},[8]);
+},{"ws":46}]},{},[9]);
diff --git a/build/roslib.min.js b/build/roslib.min.js
index 70af4ed6c..113d7cdee 100644
--- a/build/roslib.min.js
+++ b/build/roslib.min.js
@@ -1 +1 @@
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s(e,t){return!(e.secs>t.secs)&&(e.secs<t.secs||e.nsecs<t.nsecs)}e.subscribe(function(e){0===e.stamp.secs&&0===e.stamp.secs&&""===e.id?(i.nextGoal=null,i.currentGoal&&i.emit("cancel")):(i.currentGoal&&e.id===i.currentGoal.goal_id.id?i.emit("cancel"):i.nextGoal&&e.id===i.nextGoal.goal_id.id&&(i.nextGoal=null),i.nextGoal&&s(i.nextGoal.goal_id.stamp,e.stamp)&&(i.nextGoal=null),i.currentGoal&&s(i.currentGoal.goal_id.stamp,e.stamp)&&i.emit("cancel"))});setInterval(function(){var e=new Date,t=Math.floor(e.getTime()/1e3),e=Math.round(1e9*(e.getTime()/1e3-t));i.statusMessage.header.stamp.secs=t,i.statusMessage.header.stamp.nsecs=e,n.publish(i.statusMessage)},500)}n.prototype.__proto__=e.prototype,n.prototype.setSucceeded=function(e){e=new o({status:{goal_id:this.currentGoal.goal_id,status:3},result:e});this.resultPublisher.publish(e),this.statusMessage.status_list=[],this.nextGoal?(this.currentGoal=this.nextGoal,this.nextGoal=null,this.emit("goal",this.currentGoal.goal)):this.currentGoal=null},n.prototype.setAborted=function(e){e=new o({status:{goal_id:this.currentGoal.goal_id,status:4},result:e});this.resultPublisher.publish(e),this.statusMessage.status_list=[],this.nextGoal?(this.currentGoal=this.nextGoal,this.nextGoal=null,this.emit("goal",this.currentGoal.goal)):this.currentGoal=null},n.prototype.sendFeedback=function(e){e=new o({status:{goal_id:this.currentGoal.goal_id,status:1},feedback:e});this.feedbackPublisher.publish(e)},n.prototype.setPreempted=function(){this.statusMessage.status_list=[];var e=new o({status:{goal_id:this.currentGoal.goal_id,status:2}});this.resultPublisher.publish(e),this.nextGoal?(this.currentGoal=this.nextGoal,this.nextGoal=null,this.emit("goal",this.currentGoal.goal)):this.currentGoal=null},t.exports=n},{"../core/Message":14,"../core/Topic":21,eventemitter2:2}],13:[function(e,t,i){var n=e("../core/Ros");e("../mixin")(n,["ActionClient","SimpleActionServer"],t.exports={ActionClient:e("./ActionClient"),ActionListener:e("./ActionListener"),Goal:e("./Goal"),SimpleActionServer:e("./SimpleActionServer")})},{"../core/Ros":16,"../mixin":28,"./ActionClient":9,"./ActionListener":10,"./Goal":11,"./SimpleActionServer":12}],14:[function(e,t,i){var n=e("object-assign");t.exports=function(e){n(this,e)}},{"object-assign":3}],15:[function(e,t,i){var n=e("./Service"),s=e("./ServiceRequest");function r(e){this.ros=(e=e||{}).ros,this.name=e.name}r.prototype.get=function(t){var e=new n({ros:this.ros,name:"/rosapi/get_param",serviceType:"rosapi/GetParam"}),i=new s({name:this.name});e.callService(i,function(e){e=JSON.parse(e.value);t(e)})},r.prototype.set=function(e,t){var i=new n({ros:this.ros,name:"/rosapi/set_param",serviceType:"rosapi/SetParam"}),e=new s({name:this.name,value:JSON.stringify(e)});i.callService(e,t)},r.prototype.delete=function(e){var t=new n({ros:this.ros,name:"/rosapi/delete_param",serviceType:"rosapi/DeleteParam"}),i=new s({name:this.name});t.callService(i,e)},t.exports=r},{"./Service":17,"./ServiceRequest":18}],16:[function(e,t,i){var n=e("ws"),s=e("../util/workerSocket"),r=e("./SocketAdapter.js"),o=e("./Service"),a=e("./ServiceRequest"),c=e("object-assign"),e=e("eventemitter2").EventEmitter2;function l(e){e=e||{};var t=this;this.socket=null,this.idCounter=0,this.isConnected=!1,this.transportLibrary=e.transportLibrary||"websocket",this.transportOptions=e.transportOptions||{},this._sendFunc=function(e){t.sendEncodedMessage(e)},void 0===e.groovyCompatibility?this.groovyCompatibility=!0:this.groovyCompatibility=e.groovyCompatibility,this.setMaxListeners(0),e.url&&this.connect(e.url)}l.prototype.__proto__=e.prototype,l.prototype.connect=function(e){if("socket.io"===this.transportLibrary)this.socket=c(io(e,{"force new connection":!0}),r(this)),this.socket.on("connect",this.socket.onopen),this.socket.on("data",this.socket.onmessage),this.socket.on("close",this.socket.onclose),this.socket.on("error",this.socket.onerror);else if("RTCPeerConnection"===this.transportLibrary.constructor.name)this.socket=c(this.transportLibrary.createDataChannel(e,this.transportOptions),r(this));else if("websocket"===this.transportLibrary){var t;this.socket&&this.socket.readyState!==n.CLOSED||((t=new n(e)).binaryType="arraybuffer",this.socket=c(t,r(this)))}else{if("workersocket"!==this.transportLibrary)throw"Unknown transportLibrary: "+this.transportLibrary.toString();this.socket=c(new s(e),r(this))}},l.prototype.close=function(){this.socket&&this.socket.close()},l.prototype.authenticate=function(e,t,i,n,s,r,o){this.callOnConnection({op:"auth",mac:e,client:t,dest:i,rand:n,t:s,level:r,end:o})},l.prototype.sendEncodedMessage=function(e){var t=null,i=this,t="socket.io"===this.transportLibrary?function(e){i.socket.emit("operation",e)}:function(e){i.socket.send(e)};this.isConnected?t(e):i.once("connection",function(){t(e)})},l.prototype.callOnConnection=function(e){this.transportOptions.encoder?this.transportOptions.encoder(e,this._sendFunc):this._sendFunc(JSON.stringify(e))},l.prototype.setStatusLevel=function(e,t){this.callOnConnection({op:"set_level",level:e,id:t})},l.prototype.getActionServers=function(t,i){var e=new o({ros:this,name:"/rosapi/action_servers",serviceType:"rosapi/GetActionServers"}),n=new a({});"function"==typeof i?e.callService(n,function(e){t(e.action_servers)},function(e){i(e)}):e.callService(n,function(e){t(e.action_servers)})},l.prototype.getTopics=function(t,i){var e=new o({ros:this,name:"/rosapi/topics",serviceType:"rosapi/Topics"}),n=new a;"function"==typeof i?e.callService(n,function(e){t(e)},function(e){i(e)}):e.callService(n,function(e){t(e)})},l.prototype.getTopicsForType=function(e,t,i){var n=new o({ros:this,name:"/rosapi/topics_for_type",serviceType:"rosapi/TopicsForType"}),e=new a({type:e});"function"==typeof i?n.callService(e,function(e){t(e.topics)},function(e){i(e)}):n.callService(e,function(e){t(e.topics)})},l.prototype.getServices=function(t,i){var e=new o({ros:this,name:"/rosapi/services",serviceType:"rosapi/Services"}),n=new a;"function"==typeof i?e.callService(n,function(e){t(e.services)},function(e){i(e)}):e.callService(n,function(e){t(e.services)})},l.prototype.getServicesForType=function(e,t,i){var n=new o({ros:this,name:"/rosapi/services_for_type",serviceType:"rosapi/ServicesForType"}),e=new a({type:e});"function"==typeof i?n.callService(e,function(e){t(e.services)},function(e){i(e)}):n.callService(e,function(e){t(e.services)})},l.prototype.getServiceRequestDetails=function(e,t,i){var n=new o({ros:this,name:"/rosapi/service_request_details",serviceType:"rosapi/ServiceRequestDetails"}),e=new a({type:e});"function"==typeof i?n.callService(e,function(e){t(e)},function(e){i(e)}):n.callService(e,function(e){t(e)})},l.prototype.getServiceResponseDetails=function(e,t,i){var n=new o({ros:this,name:"/rosapi/service_response_details",serviceType:"rosapi/ServiceResponseDetails"}),e=new a({type:e});"function"==typeof i?n.callService(e,function(e){t(e)},function(e){i(e)}):n.callService(e,function(e){t(e)})},l.prototype.getNodes=function(t,i){var e=new o({ros:this,name:"/rosapi/nodes",serviceType:"rosapi/Nodes"}),n=new a;"function"==typeof i?e.callService(n,function(e){t(e.nodes)},function(e){i(e)}):e.callService(n,function(e){t(e.nodes)})},l.prototype.getNodeDetails=function(e,t,i){var n=new o({ros:this,name:"/rosapi/node_details",serviceType:"rosapi/NodeDetails"}),e=new a({node:e});"function"==typeof i?n.callService(e,function(e){t(e.subscribing,e.publishing,e.services)},function(e){i(e)}):n.callService(e,function(e){t(e)})},l.prototype.getParams=function(t,i){var e=new o({ros:this,name:"/rosapi/get_param_names",serviceType:"rosapi/GetParamNames"}),n=new a;"function"==typeof i?e.callService(n,function(e){t(e.names)},function(e){i(e)}):e.callService(n,function(e){t(e.names)})},l.prototype.getTopicType=function(e,t,i){var n=new o({ros:this,name:"/rosapi/topic_type",serviceType:"rosapi/TopicType"}),e=new a({topic:e});"function"==typeof i?n.callService(e,function(e){t(e.type)},function(e){i(e)}):n.callService(e,function(e){t(e.type)})},l.prototype.getServiceType=function(e,t,i){var n=new o({ros:this,name:"/rosapi/service_type",serviceType:"rosapi/ServiceType"}),e=new a({service:e});"function"==typeof i?n.callService(e,function(e){t(e.type)},function(e){i(e)}):n.callService(e,function(e){t(e.type)})},l.prototype.getMessageDetails=function(e,t,i){var n=new o({ros:this,name:"/rosapi/message_details",serviceType:"rosapi/MessageDetails"}),e=new a({type:e});"function"==typeof i?n.callService(e,function(e){t(e.typedefs)},function(e){i(e)}):n.callService(e,function(e){t(e.typedefs)})},l.prototype.decodeTypeDefs=function(e){var u=this,h=function(e,t){for(var i={},n=0;n<e.fieldnames.length;n++){var s=e.fieldarraylen[n],r=e.fieldnames[n],o=e.fieldtypes[n];if(-1===o.indexOf("/"))i[r]=-1===s?o:[o];else{for(var a,c=!1,l=0;l<t.length;l++)if(t[l].type.toString()===o.toString()){c=t[l];break}c?(a=h(c,t),-1===s||(i[r]=[a])):u.emit("error","Cannot find "+o+" in decodeTypeDefs")}}return i};return h(e[0],e)},l.prototype.getTopicsAndRawTypes=function(t,i){var e=new o({ros:this,name:"/rosapi/topics_and_raw_types",serviceType:"rosapi/TopicsAndRawTypes"}),n=new a;"function"==typeof i?e.callService(n,function(e){t(e)},function(e){i(e)}):e.callService(n,function(e){t(e)})},t.exports=l},{"../util/workerSocket":48,"./Service":17,"./ServiceRequest":18,"./SocketAdapter.js":20,eventemitter2:2,"object-assign":3,ws:45}],17:[function(e,t,i){var s=e("./ServiceResponse"),e=(e("./ServiceRequest"),e("eventemitter2").EventEmitter2);function n(e){this.ros=(e=e||{}).ros,this.name=e.name,this.serviceType=e.serviceType,this.isAdvertised=!1,this._serviceCallback=null}n.prototype.__proto__=e.prototype,n.prototype.callService=function(e,t,i){var n;this.isAdvertised||(n="call_service:"+this.name+":"+ ++this.ros.idCounter,(t||i)&&this.ros.once(n,function(e){void 0!==e.result&&!1===e.result?"function"==typeof i&&i(e.values):"function"==typeof t&&t(new s(e.values))}),e={op:"call_service",id:n,service:this.name,type:this.serviceType,args:e},this.ros.callOnConnection(e))},n.prototype.advertise=function(e){this.isAdvertised||"function"!=typeof e||(this._serviceCallback=e,this.ros.on(this.name,this._serviceResponse.bind(this)),this.ros.callOnConnection({op:"advertise_service",type:this.serviceType,service:this.name}),this.isAdvertised=!0)},n.prototype.unadvertise=function(){this.isAdvertised&&(this.ros.callOnConnection({op:"unadvertise_service",service:this.name}),this.isAdvertised=!1)},n.prototype._serviceResponse=function(e){var t={},i=this._serviceCallback(e.args,t),i={op:"service_response",service:this.name,values:new s(t),result:i};e.id&&(i.id=e.id),this.ros.callOnConnection(i)},t.exports=n},{"./ServiceRequest":18,"./ServiceResponse":19,eventemitter2:2}],18:[function(e,t,i){var n=e("object-assign");t.exports=function(e){n(this,e)}},{"object-assign":3}],19:[function(e,t,i){var n=e("object-assign");t.exports=function(e){n(this,e)}},{"object-assign":3}],20:[function(e,t,i){"use strict";var r=e("../util/decompressPng"),o=e("cbor-js"),a=e("../util/cborTypedArrayTags"),c=null;"undefined"!=typeof bson&&(c=bson().BSON),t.exports=function(t){var i=null;function n(e){"publish"===e.op?t.emit(e.topic,e.msg):"service_response"===e.op?t.emit(e.id,e):"call_service"===e.op?t.emit(e.service,e):"status"===e.op&&(e.id?t.emit("status:"+e.id,e):t.emit("status",e))}function s(e,t){"png"===e.op?r(e.data,t):t(e)}return t.transportOptions.decoder&&(i=t.transportOptions.decoder),{onopen:function(e){t.isConnected=!0,t.emit("connection",e)},onclose:function(e){t.isConnected=!1,t.emit("close",e)},onerror:function(e){t.emit("error",e)},onmessage:function(e){i?i(e.data,function(e){n(e)}):"undefined"!=typeof Blob&&e.data instanceof Blob?function(e,t){if(!c)throw"Cannot process BSON encoded message without BSON header.";var i=new FileReader;i.onload=function(){var e=new Uint8Array(this.result),e=c.deserialize(e);t(e)},i.readAsArrayBuffer(e)}(e.data,function(e){s(e,n)}):e.data instanceof ArrayBuffer?n(o.decode(e.data,a)):s(JSON.parse("string"==typeof e?e:e.data),n)}}}},{"../util/cborTypedArrayTags":43,"../util/decompressPng":47,"cbor-js":1}],21:[function(e,t,i){var n=e("eventemitter2").EventEmitter2,s=e("./Message");function r(e){this.ros=(e=e||{}).ros,this.name=e.name,this.messageType=e.messageType,this.isAdvertised=!1,this.compression=e.compression||"none",this.throttle_rate=e.throttle_rate||0,this.latch=e.latch||!1,this.queue_size=e.queue_size||100,this.queue_length=e.queue_length||0,this.reconnect_on_close=void 0===e.reconnect_on_close||e.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 t=this;this.reconnect_on_close?this.callForSubscribeAndAdvertise=function(e){t.ros.callOnConnection(e),t.waitForReconnect=!1,t.reconnectFunc=function(){t.waitForReconnect||(t.waitForReconnect=!0,t.ros.callOnConnection(e),t.ros.once("connection",function(){t.waitForReconnect=!1}))},t.ros.on("close",t.reconnectFunc)}:this.callForSubscribeAndAdvertise=this.ros.callOnConnection,this._messageCallback=function(e){t.emit("message",new s(e))}}r.prototype.__proto__=n.prototype,r.prototype.subscribe=function(e){"function"==typeof e&&this.on("message",e),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}))},r.prototype.unsubscribe=function(e){e&&(this.off("message",e),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)},r.prototype.advertise=function(){var e;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||(e=this).ros.on("close",function(){e.isAdvertised=!1}))},r.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)},r.prototype.publish=function(e){this.isAdvertised||this.advertise(),this.ros.idCounter++;e={op:"publish",id:"publish:"+this.name+":"+this.ros.idCounter,topic:this.name,msg:e,latch:this.latch};this.ros.callOnConnection(e)},t.exports=r},{"./Message":14,eventemitter2:2}],22:[function(e,t,i){var n=e("../mixin"),e=t.exports={Ros:e("./Ros"),Topic:e("./Topic"),Message:e("./Message"),Param:e("./Param"),Service:e("./Service"),ServiceRequest:e("./ServiceRequest"),ServiceResponse:e("./ServiceResponse")};n(e.Ros,["Param","Service","Topic"],e)},{"../mixin":28,"./Message":14,"./Param":15,"./Ros":16,"./Service":17,"./ServiceRequest":18,"./ServiceResponse":19,"./Topic":21}],23:[function(e,t,i){var n=e("./Vector3"),s=e("./Quaternion");function r(e){this.position=new n((e=e||{}).position),this.orientation=new s(e.orientation)}r.prototype.applyTransform=function(e){this.position.multiplyQuaternion(e.rotation),this.position.add(e.translation);e=e.rotation.clone();e.multiply(this.orientation),this.orientation=e},r.prototype.clone=function(){return new r(this)},r.prototype.multiply=function(e){e=e.clone();return e.applyTransform({rotation:this.orientation,translation:this.position}),e},r.prototype.getInverse=function(){var e=this.clone();return e.orientation.invert(),e.position.multiplyQuaternion(e.orientation),e.position.x*=-1,e.position.y*=-1,e.position.z*=-1,e},t.exports=r},{"./Quaternion":24,"./Vector3":26}],24:[function(e,t,i){function n(e){this.x=(e=e||{}).x||0,this.y=e.y||0,this.z=e.z||0,this.w="number"==typeof e.w?e.w:1}n.prototype.conjugate=function(){this.x*=-1,this.y*=-1,this.z*=-1},n.prototype.norm=function(){return Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w)},n.prototype.normalize=function(){var e=Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w);0===e?(this.x=0,this.y=0,this.z=0,this.w=1):(this.x=this.x*(e=1/e),this.y=this.y*e,this.z=this.z*e,this.w=this.w*e)},n.prototype.invert=function(){this.conjugate(),this.normalize()},n.prototype.multiply=function(e){var t=this.x*e.w+this.y*e.z-this.z*e.y+this.w*e.x,i=-this.x*e.z+this.y*e.w+this.z*e.x+this.w*e.y,n=this.x*e.y-this.y*e.x+this.z*e.w+this.w*e.z,e=-this.x*e.x-this.y*e.y-this.z*e.z+this.w*e.w;this.x=t,this.y=i,this.z=n,this.w=e},n.prototype.clone=function(){return new n(this)},t.exports=n},{}],25:[function(e,t,i){var n=e("./Vector3"),s=e("./Quaternion");function r(e){this.translation=new n((e=e||{}).translation),this.rotation=new s(e.rotation)}r.prototype.clone=function(){return new r(this)},t.exports=r},{"./Quaternion":24,"./Vector3":26}],26:[function(e,t,i){function n(e){this.x=(e=e||{}).x||0,this.y=e.y||0,this.z=e.z||0}n.prototype.add=function(e){this.x+=e.x,this.y+=e.y,this.z+=e.z},n.prototype.subtract=function(e){this.x-=e.x,this.y-=e.y,this.z-=e.z},n.prototype.multiplyQuaternion=function(e){var t=e.w*this.x+e.y*this.z-e.z*this.y,i=e.w*this.y+e.z*this.x-e.x*this.z,n=e.w*this.z+e.x*this.y-e.y*this.x,s=-e.x*this.x-e.y*this.y-e.z*this.z;this.x=t*e.w+s*-e.x+i*-e.z-n*-e.y,this.y=i*e.w+s*-e.y+n*-e.x-t*-e.z,this.z=n*e.w+s*-e.z+t*-e.y-i*-e.x},n.prototype.clone=function(){return new n(this)},t.exports=n},{}],27:[function(e,t,i){t.exports={Pose:e("./Pose"),Quaternion:e("./Quaternion"),Transform:e("./Transform"),Vector3:e("./Vector3")}},{"./Pose":23,"./Quaternion":24,"./Transform":25,"./Vector3":26}],28:[function(e,t,i){t.exports=function(i,e,n){e.forEach(function(e){var t=n[e];i.prototype[e]=function(e){return e.ros=this,new t(e)}})}},{}],29:[function(e,t,i){var n=e("../actionlib/ActionClient"),s=e("../actionlib/Goal"),r=e("../core/Service.js"),o=e("../core/ServiceRequest.js"),a=e("../core/Topic.js"),c=e("../math/Transform");function l(e){this.ros=(e=e||{}).ros,this.fixedFrame=e.fixedFrame||"/base_link",this.angularThres=e.angularThres||2,this.transThres=e.transThres||.01,this.rate=e.rate||10,this.updateDelay=e.updateDelay||50;var t=e.topicTimeout||2,i=Math.floor(t),t=Math.floor(1e9*(t-i));this.topicTimeout={secs:i,nsecs:t},this.serverName=e.serverName||"/tf2_web_republisher",this.repubServiceName=e.repubServiceName||"/republish_tfs",this.currentGoal=!1,this.currentTopic=!1,this.frameInfos={},this.republisherUpdateRequested=!1,this._subscribeCB=null,this._isDisposed=!1,this.actionClient=new n({ros:e.ros,serverName:this.serverName,actionName:"tf2_web_republisher/TFSubscriptionAction",omitStatus:!0,omitResult:!0}),this.serviceClient=new r({ros:e.ros,name:this.repubServiceName,serviceType:"tf2_web_republisher/RepublishTFs"})}l.prototype.processTFArray=function(e){e.transforms.forEach(function(e){var t=e.child_frame_id;"/"===t[0]&&(t=t.substring(1));var i=this.frameInfos[t];i&&(i.transform=new c({translation:e.transform.translation,rotation:e.transform.rotation}),i.cbs.forEach(function(e){e(i.transform)}))},this)},l.prototype.updateGoal=function(){var e={source_frames:Object.keys(this.frameInfos),target_frame:this.fixedFrame,angular_thres:this.angularThres,trans_thres:this.transThres,rate:this.rate};this.ros.groovyCompatibility?(this.currentGoal&&this.currentGoal.cancel(),this.currentGoal=new s({actionClient:this.actionClient,goalMessage:e}),this.currentGoal.on("feedback",this.processTFArray.bind(this)),this.currentGoal.send()):(e.timeout=this.topicTimeout,e=new o(e),this.serviceClient.callService(e,this.processResponse.bind(this))),this.republisherUpdateRequested=!1},l.prototype.processResponse=function(e){this._isDisposed||(this.currentTopic&&this.currentTopic.unsubscribe(this._subscribeCB),this.currentTopic=new 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this.frameInfos[e]},l.prototype.dispose=function(){this._isDisposed=!0,this.actionClient.dispose(),this.currentTopic&&this.currentTopic.unsubscribe(this._subscribeCB)},t.exports=l},{"../actionlib/ActionClient":9,"../actionlib/Goal":11,"../core/Service.js":17,"../core/ServiceRequest.js":18,"../core/Topic.js":21,"../math/Transform":25}],30:[function(e,t,i){var n=e("../core/Ros");e("../mixin")(n,["TFClient"],t.exports={TFClient:e("./TFClient")})},{"../core/Ros":16,"../mixin":28,"./TFClient":29}],31:[function(e,t,i){var n=e("../math/Vector3"),s=e("./UrdfTypes");t.exports=function(e){this.dimension=null,this.type=s.URDF_BOX,e=e.xml.getAttribute("size").split(" "),this.dimension=new n({x:parseFloat(e[0]),y:parseFloat(e[1]),z:parseFloat(e[2])})}},{"../math/Vector3":26,"./UrdfTypes":40}],32:[function(e,t,i){t.exports=function(e){e=e.xml.getAttribute("rgba").split(" "),this.r=parseFloat(e[0]),this.g=parseFloat(e[1]),this.b=parseFloat(e[2]),this.a=parseFloat(e[3])}},{}],33:[function(e,t,i){var n=e("./UrdfTypes");t.exports=function(e){this.type=n.URDF_CYLINDER,this.length=parseFloat(e.xml.getAttribute("length")),this.radius=parseFloat(e.xml.getAttribute("radius"))}},{"./UrdfTypes":40}],34:[function(e,t,i){var c=e("../math/Pose"),l=e("../math/Vector3"),u=e("../math/Quaternion");t.exports=function(e){this.name=e.xml.getAttribute("name"),this.type=e.xml.getAttribute("type");var t=e.xml.getElementsByTagName("parent");0<t.length&&(this.parent=t[0].getAttribute("link"));var i=e.xml.getElementsByTagName("child");0<i.length&&(this.child=i[0].getAttribute("link"));var n=e.xml.getElementsByTagName("limit");0<n.length&&(this.minval=parseFloat(n[0].getAttribute("lower")),this.maxval=parseFloat(n[0].getAttribute("upper")));var s,r,o,a=e.xml.getElementsByTagName("origin");0===a.length?this.origin=new c:(r=a[0].getAttribute("xyz"),s=new l,r&&(r=r.split(" "),s=new l({x:parseFloat(r[0]),y:parseFloat(r[1]),z:parseFloat(r[2])})),o=a[0].getAttribute("rpy"),t=new u,o&&(o=o.split(" 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o({ros:this,name:"/rosapi/services_for_type",serviceType:"rosapi/ServicesForType"}),e=new a({type:e});"function"==typeof i?n.callService(e,function(e){t(e.services)},function(e){i(e)}):n.callService(e,function(e){t(e.services)})},l.prototype.getServiceRequestDetails=function(e,t,i){var n=new o({ros:this,name:"/rosapi/service_request_details",serviceType:"rosapi/ServiceRequestDetails"}),e=new a({type:e});"function"==typeof i?n.callService(e,function(e){t(e)},function(e){i(e)}):n.callService(e,function(e){t(e)})},l.prototype.getServiceResponseDetails=function(e,t,i){var n=new o({ros:this,name:"/rosapi/service_response_details",serviceType:"rosapi/ServiceResponseDetails"}),e=new a({type:e});"function"==typeof i?n.callService(e,function(e){t(e)},function(e){i(e)}):n.callService(e,function(e){t(e)})},l.prototype.getNodes=function(t,i){var e=new o({ros:this,name:"/rosapi/nodes",serviceType:"rosapi/Nodes"}),n=new a;"function"==typeof i?e.callService(n,function(e){t(e.nodes)},function(e){i(e)}):e.callService(n,function(e){t(e.nodes)})},l.prototype.getNodeDetails=function(e,t,i){var n=new o({ros:this,name:"/rosapi/node_details",serviceType:"rosapi/NodeDetails"}),e=new a({node:e});"function"==typeof i?n.callService(e,function(e){t(e.subscribing,e.publishing,e.services)},function(e){i(e)}):n.callService(e,function(e){t(e)})},l.prototype.getParams=function(t,i){var e=new o({ros:this,name:"/rosapi/get_param_names",serviceType:"rosapi/GetParamNames"}),n=new a;"function"==typeof i?e.callService(n,function(e){t(e.names)},function(e){i(e)}):e.callService(n,function(e){t(e.names)})},l.prototype.getTopicType=function(e,t,i){var n=new o({ros:this,name:"/rosapi/topic_type",serviceType:"rosapi/TopicType"}),e=new a({topic:e});"function"==typeof i?n.callService(e,function(e){t(e.type)},function(e){i(e)}):n.callService(e,function(e){t(e.type)})},l.prototype.getServiceType=function(e,t,i){var n=new o({ros:this,name:"/rosapi/service_type",serviceType:"rosapi/ServiceType"}),e=new a({service:e});"function"==typeof i?n.callService(e,function(e){t(e.type)},function(e){i(e)}):n.callService(e,function(e){t(e.type)})},l.prototype.getMessageDetails=function(e,t,i){var n=new o({ros:this,name:"/rosapi/message_details",serviceType:"rosapi/MessageDetails"}),e=new a({type:e});"function"==typeof i?n.callService(e,function(e){t(e.typedefs)},function(e){i(e)}):n.callService(e,function(e){t(e.typedefs)})},l.prototype.decodeTypeDefs=function(e){var u=this,h=function(e,t){for(var i={},n=0;n<e.fieldnames.length;n++){var r=e.fieldarraylen[n],s=e.fieldnames[n],o=e.fieldtypes[n];if(-1===o.indexOf("/"))i[s]=-1===r?o:[o];else{for(var a,c=!1,l=0;l<t.length;l++)if(t[l].type.toString()===o.toString()){c=t[l];break}c?(a=h(c,t),-1===r||(i[s]=[a])):u.emit("error","Cannot find "+o+" in decodeTypeDefs")}}return i};return h(e[0],e)},l.prototype.getTopicsAndRawTypes=function(t,i){var e=new o({ros:this,name:"/rosapi/topics_and_raw_types",serviceType:"rosapi/TopicsAndRawTypes"}),n=new a;"function"==typeof i?e.callService(n,function(e){t(e)},function(e){i(e)}):e.callService(n,function(e){t(e)})},t.exports=l},{"../util/workerSocket":49,"./Service":18,"./ServiceRequest":19,"./SocketAdapter.js":21,eventemitter2:2,"object-assign":3,ws:46}],18:[function(e,t,i){var r=e("./ServiceResponse"),e=(e("./ServiceRequest"),e("eventemitter2").EventEmitter2);function n(e){this.ros=(e=e||{}).ros,this.name=e.name,this.serviceType=e.serviceType,this.isAdvertised=!1,this._serviceCallback=null}n.prototype.__proto__=e.prototype,n.prototype.callService=function(e,t,i){var n;this.isAdvertised||(n="call_service:"+this.name+":"+ ++this.ros.idCounter,(t||i)&&this.ros.once(n,function(e){void 0!==e.result&&!1===e.result?"function"==typeof i&&i(e.values):"function"==typeof t&&t(new r(e.values))}),e={op:"call_service",id:n,service:this.name,type:this.serviceType,args:e},this.ros.callOnConnection(e))},n.prototype.advertise=function(e){this.isAdvertised||"function"!=typeof e||(this._serviceCallback=e,this.ros.on(this.name,this._serviceResponse.bind(this)),this.ros.callOnConnection({op:"advertise_service",type:this.serviceType,service:this.name}),this.isAdvertised=!0)},n.prototype.unadvertise=function(){this.isAdvertised&&(this.ros.callOnConnection({op:"unadvertise_service",service:this.name}),this.isAdvertised=!1)},n.prototype._serviceResponse=function(e){var t={},i=this._serviceCallback(e.args,t),i={op:"service_response",service:this.name,values:new r(t),result:i};e.id&&(i.id=e.id),this.ros.callOnConnection(i)},t.exports=n},{"./ServiceRequest":19,"./ServiceResponse":20,eventemitter2:2}],19:[function(e,t,i){var n=e("object-assign");t.exports=function(e){n(this,e)}},{"object-assign":3}],20:[function(e,t,i){var n=e("object-assign");t.exports=function(e){n(this,e)}},{"object-assign":3}],21:[function(e,t,i){"use strict";var s=e("../util/decompressPng"),o=e("cbor-js"),a=e("../util/cborTypedArrayTags"),c=null;"undefined"!=typeof bson&&(c=bson().BSON),t.exports=function(t){var i=null;function n(e){"publish"===e.op?t.emit(e.topic,e.msg):"service_response"===e.op?t.emit(e.id,e):"call_service"===e.op?t.emit(e.service,e):"status"===e.op&&(e.id?t.emit("status:"+e.id,e):t.emit("status",e))}function r(e,t){"png"===e.op?s(e.data,t):t(e)}return t.transportOptions.decoder&&(i=t.transportOptions.decoder),{onopen:function(e){t.isConnected=!0,t.emit("connection",e)},onclose:function(e){t.isConnected=!1,t.emit("close",e)},onerror:function(e){t.emit("error",e)},onmessage:function(e){i?i(e.data,function(e){n(e)}):"undefined"!=typeof Blob&&e.data instanceof Blob?function(e,t){if(!c)throw"Cannot process BSON encoded message without BSON header.";var i=new FileReader;i.onload=function(){var e=new Uint8Array(this.result),e=c.deserialize(e);t(e)},i.readAsArrayBuffer(e)}(e.data,function(e){r(e,n)}):e.data instanceof ArrayBuffer?n(o.decode(e.data,a)):r(JSON.parse("string"==typeof e?e:e.data),n)}}}},{"../util/cborTypedArrayTags":44,"../util/decompressPng":48,"cbor-js":1}],22:[function(e,t,i){var n=e("eventemitter2").EventEmitter2,r=e("./Message");function s(e){this.ros=(e=e||{}).ros,this.name=e.name,this.messageType=e.messageType,this.isAdvertised=!1,this.compression=e.compression||"none",this.throttle_rate=e.throttle_rate||0,this.latch=e.latch||!1,this.queue_size=e.queue_size||100,this.queue_length=e.queue_length||0,this.reconnect_on_close=void 0===e.reconnect_on_close||e.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 t=this;this.reconnect_on_close?this.callForSubscribeAndAdvertise=function(e){t.ros.callOnConnection(e),t.waitForReconnect=!1,t.reconnectFunc=function(){t.waitForReconnect||(t.waitForReconnect=!0,t.ros.callOnConnection(e),t.ros.once("connection",function(){t.waitForReconnect=!1}))},t.ros.on("close",t.reconnectFunc)}:this.callForSubscribeAndAdvertise=this.ros.callOnConnection,this._messageCallback=function(e){t.emit("message",new r(e))}}s.prototype.__proto__=n.prototype,s.prototype.subscribe=function(e){"function"==typeof e&&this.on("message",e),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}))},s.prototype.unsubscribe=function(e){e&&(this.off("message",e),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)},s.prototype.advertise=function(){var e;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||(e=this).ros.on("close",function(){e.isAdvertised=!1}))},s.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)},s.prototype.publish=function(e){this.isAdvertised||this.advertise(),this.ros.idCounter++;e={op:"publish",id:"publish:"+this.name+":"+this.ros.idCounter,topic:this.name,msg:e,latch:this.latch};this.ros.callOnConnection(e)},t.exports=s},{"./Message":15,eventemitter2:2}],23:[function(e,t,i){var n=e("../mixin"),e=t.exports={Ros:e("./Ros"),Topic:e("./Topic"),Message:e("./Message"),Param:e("./Param"),Service:e("./Service"),ServiceRequest:e("./ServiceRequest"),ServiceResponse:e("./ServiceResponse")};n(e.Ros,["Param","Service","Topic"],e)},{"../mixin":29,"./Message":15,"./Param":16,"./Ros":17,"./Service":18,"./ServiceRequest":19,"./ServiceResponse":20,"./Topic":22}],24:[function(e,t,i){var n=e("./Vector3"),r=e("./Quaternion");function s(e){this.position=new n((e=e||{}).position),this.orientation=new r(e.orientation)}s.prototype.applyTransform=function(e){this.position.multiplyQuaternion(e.rotation),this.position.add(e.translation);e=e.rotation.clone();e.multiply(this.orientation),this.orientation=e},s.prototype.clone=function(){return new s(this)},s.prototype.multiply=function(e){e=e.clone();return e.applyTransform({rotation:this.orientation,translation:this.position}),e},s.prototype.getInverse=function(){var e=this.clone();return e.orientation.invert(),e.position.multiplyQuaternion(e.orientation),e.position.x*=-1,e.position.y*=-1,e.position.z*=-1,e},t.exports=s},{"./Quaternion":25,"./Vector3":27}],25:[function(e,t,i){function n(e){this.x=(e=e||{}).x||0,this.y=e.y||0,this.z=e.z||0,this.w="number"==typeof e.w?e.w:1}n.prototype.conjugate=function(){this.x*=-1,this.y*=-1,this.z*=-1},n.prototype.norm=function(){return Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w)},n.prototype.normalize=function(){var e=Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w);0===e?(this.x=0,this.y=0,this.z=0,this.w=1):(this.x=this.x*(e=1/e),this.y=this.y*e,this.z=this.z*e,this.w=this.w*e)},n.prototype.invert=function(){this.conjugate(),this.normalize()},n.prototype.multiply=function(e){var t=this.x*e.w+this.y*e.z-this.z*e.y+this.w*e.x,i=-this.x*e.z+this.y*e.w+this.z*e.x+this.w*e.y,n=this.x*e.y-this.y*e.x+this.z*e.w+this.w*e.z,e=-this.x*e.x-this.y*e.y-this.z*e.z+this.w*e.w;this.x=t,this.y=i,this.z=n,this.w=e},n.prototype.clone=function(){return new n(this)},t.exports=n},{}],26:[function(e,t,i){var n=e("./Vector3"),r=e("./Quaternion");function s(e){this.translation=new n((e=e||{}).translation),this.rotation=new r(e.rotation)}s.prototype.clone=function(){return new s(this)},t.exports=s},{"./Quaternion":25,"./Vector3":27}],27:[function(e,t,i){function n(e){this.x=(e=e||{}).x||0,this.y=e.y||0,this.z=e.z||0}n.prototype.add=function(e){this.x+=e.x,this.y+=e.y,this.z+=e.z},n.prototype.subtract=function(e){this.x-=e.x,this.y-=e.y,this.z-=e.z},n.prototype.multiplyQuaternion=function(e){var t=e.w*this.x+e.y*this.z-e.z*this.y,i=e.w*this.y+e.z*this.x-e.x*this.z,n=e.w*this.z+e.x*this.y-e.y*this.x,r=-e.x*this.x-e.y*this.y-e.z*this.z;this.x=t*e.w+r*-e.x+i*-e.z-n*-e.y,this.y=i*e.w+r*-e.y+n*-e.x-t*-e.z,this.z=n*e.w+r*-e.z+t*-e.y-i*-e.x},n.prototype.clone=function(){return new n(this)},t.exports=n},{}],28:[function(e,t,i){t.exports={Pose:e("./Pose"),Quaternion:e("./Quaternion"),Transform:e("./Transform"),Vector3:e("./Vector3")}},{"./Pose":24,"./Quaternion":25,"./Transform":26,"./Vector3":27}],29:[function(e,t,i){t.exports=function(i,e,n){e.forEach(function(e){var t=n[e];i.prototype[e]=function(e){return e.ros=this,new t(e)}})}},{}],30:[function(e,t,i){var n=e("../actionlib/ActionClient"),r=e("../actionlib/Goal"),s=e("../core/Service.js"),o=e("../core/ServiceRequest.js"),a=e("../core/Topic.js"),c=e("../math/Transform");function l(e){this.ros=(e=e||{}).ros,this.fixedFrame=e.fixedFrame||"/base_link",this.angularThres=e.angularThres||2,this.transThres=e.transThres||.01,this.rate=e.rate||10,this.updateDelay=e.updateDelay||50;var t=e.topicTimeout||2,i=Math.floor(t),t=Math.floor(1e9*(t-i));this.topicTimeout={secs:i,nsecs:t},this.serverName=e.serverName||"/tf2_web_republisher",this.repubServiceName=e.repubServiceName||"/republish_tfs",this.currentGoal=!1,this.currentTopic=!1,this.frameInfos={},this.republisherUpdateRequested=!1,this._subscribeCB=null,this._isDisposed=!1,this.actionClient=new n({ros:e.ros,serverName:this.serverName,actionName:"tf2_web_republisher/TFSubscriptionAction",omitStatus:!0,omitResult:!0}),this.serviceClient=new s({ros:e.ros,name:this.repubServiceName,serviceType:"tf2_web_republisher/RepublishTFs"})}l.prototype.processTFArray=function(e){e.transforms.forEach(function(e){var t=e.child_frame_id;"/"===t[0]&&(t=t.substring(1));var i=this.frameInfos[t];i&&(i.transform=new c({translation:e.transform.translation,rotation:e.transform.rotation}),i.cbs.forEach(function(e){e(i.transform)}))},this)},l.prototype.updateGoal=function(){var e={source_frames:Object.keys(this.frameInfos),target_frame:this.fixedFrame,angular_thres:this.angularThres,trans_thres:this.transThres,rate:this.rate};this.ros.groovyCompatibility?(this.currentGoal&&this.currentGoal.cancel(),this.currentGoal=new r({actionClient:this.actionClient,goalMessage:e}),this.currentGoal.on("feedback",this.processTFArray.bind(this)),this.currentGoal.send()):(e.timeout=this.topicTimeout,e=new o(e),this.serviceClient.callService(e,this.processResponse.bind(this))),this.republisherUpdateRequested=!1},l.prototype.processResponse=function(e){this._isDisposed||(this.currentTopic&&this.currentTopic.unsubscribe(this._subscribeCB),this.currentTopic=new a({ros:this.ros,name:e.topic_name,messageType:"tf2_web_republisher/TFArray"}),this._subscribeCB=this.processTFArray.bind(this),this.currentTopic.subscribe(this._subscribeCB))},l.prototype.subscribe=function(e,t){"/"===e[0]&&(e=e.substring(1)),this.frameInfos[e]?this.frameInfos[e].transform&&t(this.frameInfos[e].transform):(this.frameInfos[e]={cbs:[]},this.republisherUpdateRequested||(setTimeout(this.updateGoal.bind(this),this.updateDelay),this.republisherUpdateRequested=!0)),this.frameInfos[e].cbs.push(t)},l.prototype.unsubscribe=function(e,t){"/"===e[0]&&(e=e.substring(1));for(var i=this.frameInfos[e],n=i&&i.cbs||[],r=n.length;r--;)n[r]===t&&n.splice(r,1);t&&0!==n.length||delete this.frameInfos[e]},l.prototype.dispose=function(){this._isDisposed=!0,this.actionClient.dispose(),this.currentTopic&&this.currentTopic.unsubscribe(this._subscribeCB)},t.exports=l},{"../actionlib/ActionClient":10,"../actionlib/Goal":12,"../core/Service.js":18,"../core/ServiceRequest.js":19,"../core/Topic.js":22,"../math/Transform":26}],31:[function(e,t,i){var n=e("../core/Ros");e("../mixin")(n,["TFClient"],t.exports={TFClient:e("./TFClient")})},{"../core/Ros":17,"../mixin":29,"./TFClient":30}],32:[function(e,t,i){var n=e("../math/Vector3"),r=e("./UrdfTypes");t.exports=function(e){this.dimension=null,this.type=r.URDF_BOX,e=e.xml.getAttribute("size").split(" "),this.dimension=new n({x:parseFloat(e[0]),y:parseFloat(e[1]),z:parseFloat(e[2])})}},{"../math/Vector3":27,"./UrdfTypes":41}],33:[function(e,t,i){t.exports=function(e){e=e.xml.getAttribute("rgba").split(" "),this.r=parseFloat(e[0]),this.g=parseFloat(e[1]),this.b=parseFloat(e[2]),this.a=parseFloat(e[3])}},{}],34:[function(e,t,i){var n=e("./UrdfTypes");t.exports=function(e){this.type=n.URDF_CYLINDER,this.length=parseFloat(e.xml.getAttribute("length")),this.radius=parseFloat(e.xml.getAttribute("radius"))}},{"./UrdfTypes":41}],35:[function(e,t,i){var c=e("../math/Pose"),l=e("../math/Vector3"),u=e("../math/Quaternion");t.exports=function(e){this.name=e.xml.getAttribute("name"),this.type=e.xml.getAttribute("type");var t=e.xml.getElementsByTagName("parent");0<t.length&&(this.parent=t[0].getAttribute("link"));var i=e.xml.getElementsByTagName("child");0<i.length&&(this.child=i[0].getAttribute("link"));var n=e.xml.getElementsByTagName("limit");0<n.length&&(this.minval=parseFloat(n[0].getAttribute("lower")),this.maxval=parseFloat(n[0].getAttribute("upper")));var r,s,o,a=e.xml.getElementsByTagName("origin");0===a.length?this.origin=new c:(s=a[0].getAttribute("xyz"),r=new l,s&&(s=s.split(" "),r=new l({x:parseFloat(s[0]),y:parseFloat(s[1]),z:parseFloat(s[2])})),o=a[0].getAttribute("rpy"),t=new u,o&&(o=o.split(" "),i=parseFloat(o[0])/2,n=parseFloat(o[1])/2,e=parseFloat(o[2])/2,s=Math.sin(i)*Math.cos(n)*Math.cos(e)-Math.cos(i)*Math.sin(n)*Math.sin(e),a=Math.cos(i)*Math.sin(n)*Math.cos(e)+Math.sin(i)*Math.cos(n)*Math.sin(e),o=Math.cos(i)*Math.cos(n)*Math.sin(e)-Math.sin(i)*Math.sin(n)*Math.cos(e),e=Math.cos(i)*Math.cos(n)*Math.cos(e)+Math.sin(i)*Math.sin(n)*Math.sin(e),(t=new u({x:s,y:a,z:o,w:e})).normalize()),this.origin=new c({position:r,orientation:t}))}},{"../math/Pose":24,"../math/Quaternion":25,"../math/Vector3":27}],36:[function(e,t,i){var n=e("./UrdfVisual");t.exports=function(e){this.name=e.xml.getAttribute("name"),this.visuals=[];for(var t=e.xml.getElementsByTagName("visual"),i=0;i<t.length;i++)this.visuals.push(new n({xml:t[i]}))}},{"./UrdfVisual":42}],37:[function(e,t,i){var n=e("./UrdfColor");function r(e){this.textureFilename=null,this.color=null,this.name=e.xml.getAttribute("name");var 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\ No newline at end of file