diff --git a/build/roslib.js b/build/roslib.js
index 1316351e2..dbd155d31 100644
--- a/build/roslib.js
+++ b/build/roslib.js
@@ -69,7 +69,7 @@ assign(ROSLIB, require('./urdf'));
 
 module.exports = ROSLIB;
 
-},{"./actionlib":7,"./core":16,"./math":21,"./tf":24,"./urdf":36,"object-assign":1}],3:[function(require,module,exports){
+},{"./actionlib":8,"./core":17,"./math":22,"./tf":25,"./urdf":37,"object-assign":1}],3:[function(require,module,exports){
 (function (global){
 global.ROSLIB = require('./RosLib');
 }).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})
@@ -207,7 +207,96 @@ ActionClient.prototype.cancel = function() {
 
 module.exports = ActionClient;
 
-},{"../core/Message":8,"../core/Topic":15,"eventemitter2":37}],5:[function(require,module,exports){
+},{"../core/Message":9,"../core/Topic":16,"eventemitter2":38}],5:[function(require,module,exports){
+/**
+ * @fileOverview
+ * @author Justin Young - justin@oodar.com.au
+ * @author Russell Toris - rctoris@wpi.edu
+ */
+
+var Topic = require('../core/Topic');
+var Message = require('../core/Message');
+var EventEmitter2 = require('eventemitter2').EventEmitter2;
+
+/**
+ * An actionlib action listener
+ *
+ * Emits the following events:
+ *  * 'status' - the status messages received from the action server
+ *  * 'feedback' -  the feedback messages received from the action server
+ *  * 'result' - the result returned from the action server
+ *
+ *  @constructor
+ *  @param options - object with following keys:
+ *   * ros - the ROSLIB.Ros connection handle
+ *   * serverName - the action server name, like /fibonacci
+ *   * actionName - the action message name, like 'actionlib_tutorials/FibonacciAction'
+ */
+function ActionListener(options) {
+  var that = this;
+  options = options || {};
+  this.ros = options.ros;
+  this.serverName = options.serverName;
+  this.actionName = options.actionName;
+  this.timeout = options.timeout;
+  this.omitFeedback = options.omitFeedback;
+  this.omitStatus = options.omitStatus;
+  this.omitResult = options.omitResult;
+
+
+  // create the topics associated with actionlib
+  var goalListener = new Topic({
+    ros : this.ros,
+    name : this.serverName + '/goal',
+    messageType : this.actionName + 'Goal'
+  });
+
+  var feedbackListener = new Topic({
+    ros : this.ros,
+    name : this.serverName + '/feedback',
+    messageType : this.actionName + 'Feedback'
+  });
+
+  var statusListener = new Topic({
+    ros : this.ros,
+    name : this.serverName + '/status',
+    messageType : 'actionlib_msgs/GoalStatusArray'
+  });
+
+  var resultListener = new Topic({
+    ros : this.ros,
+    name : this.serverName + '/result',
+    messageType : this.actionName + 'Result'
+  });
+
+  goalListener.subscribe(function(goalMessage) {
+      that.emit('goal', goalMessage);
+  });
+
+  statusListener.subscribe(function(statusMessage) {
+      statusMessage.status_list.forEach(function(status) {
+          that.emit('status', status);
+      });
+  });
+
+  feedbackListener.subscribe(function(feedbackMessage) {
+      that.emit('status', feedbackMessage.status);
+      that.emit('feedback', feedbackMessage.feedback);
+  });
+
+  // subscribe to the result topic
+  resultListener.subscribe(function(resultMessage) {
+      that.emit('status', resultMessage.status);
+      that.emit('result', resultMessage.result);
+  });
+
+}
+
+ActionListener.prototype.__proto__ = EventEmitter2.prototype;
+
+module.exports = ActionListener;
+
+},{"../core/Message":9,"../core/Topic":16,"eventemitter2":38}],6:[function(require,module,exports){
 /**
  * @fileOverview
  * @author Russell Toris - rctoris@wpi.edu
@@ -297,7 +386,7 @@ Goal.prototype.cancel = function() {
 };
 
 module.exports = Goal;
-},{"../core/Message":8,"eventemitter2":37}],6:[function(require,module,exports){
+},{"../core/Message":9,"eventemitter2":38}],7:[function(require,module,exports){
 /**
  * @fileOverview
  * @author Laura Lindzey - lindzey@gmail.com
@@ -506,18 +595,20 @@ SimpleActionServer.prototype.setPreempted = function() {
 };
 
 module.exports = SimpleActionServer;
-},{"../core/Message":8,"../core/Topic":15,"eventemitter2":37}],7:[function(require,module,exports){
+},{"../core/Message":9,"../core/Topic":16,"eventemitter2":38}],8:[function(require,module,exports){
 var Ros = require('../core/Ros');
 var mixin = require('../mixin');
 
 var action = module.exports = {
     ActionClient: require('./ActionClient'),
+    ActionListener: require('./ActionListener'),
     Goal: require('./Goal'),
     SimpleActionServer: require('./SimpleActionServer')
 };
 
 mixin(Ros, ['ActionClient', 'SimpleActionServer'], action);
-},{"../core/Ros":10,"../mixin":22,"./ActionClient":4,"./Goal":5,"./SimpleActionServer":6}],8:[function(require,module,exports){
+
+},{"../core/Ros":11,"../mixin":23,"./ActionClient":4,"./ActionListener":5,"./Goal":6,"./SimpleActionServer":7}],9:[function(require,module,exports){
 /**
  * @fileoverview
  * @author Brandon Alexander - baalexander@gmail.com
@@ -536,7 +627,7 @@ function Message(values) {
 }
 
 module.exports = Message;
-},{"object-assign":1}],9:[function(require,module,exports){
+},{"object-assign":1}],10:[function(require,module,exports){
 /**
  * @fileoverview
  * @author Brandon Alexander - baalexander@gmail.com
@@ -620,7 +711,7 @@ Param.prototype.delete = function(callback) {
 };
 
 module.exports = Param;
-},{"./Service":11,"./ServiceRequest":12}],10:[function(require,module,exports){
+},{"./Service":12,"./ServiceRequest":13}],11:[function(require,module,exports){
 /**
  * @fileoverview
  * @author Brandon Alexander - baalexander@gmail.com
@@ -649,6 +740,8 @@ var EventEmitter2 = require('eventemitter2').EventEmitter2;
  * @param options - possible keys include: <br>
  *   * url (optional) - (can be specified later with `connect`) the WebSocket URL for rosbridge or the node server url to connect using socket.io (if socket.io exists in the page) <br>
  *   * groovyCompatibility - don't use interfaces that changed after the last groovy release or rosbridge_suite and related tools (defaults to true)
+ *   * transportLibrary (optional) - one of 'websocket' (default), 'socket.io' or RTCPeerConnection instance controlling how the connection is created in `connect`.
+ *   * transportOptions (optional) - the options to use use when creating a connection. Currently only used if `transportLibrary` is RTCPeerConnection.
  */
 function Ros(options) {
   options = options || {};
@@ -656,6 +749,7 @@ function Ros(options) {
   this.idCounter = 0;
   this.isConnected = false;
   this.transportLibrary = options.transportLibrary || 'websocket';
+  this.transportOptions = options.transportOptions || {};
 
   if (typeof options.groovyCompatibility === 'undefined') {
     this.groovyCompatibility = true;
@@ -678,7 +772,7 @@ Ros.prototype.__proto__ = EventEmitter2.prototype;
 /**
  * Connect to the specified WebSocket.
  *
- * @param url - WebSocket URL for Rosbridge
+ * @param url - WebSocket URL or RTCDataChannel label for Rosbridge
  */
 Ros.prototype.connect = function(url) {
   if (this.transportLibrary === 'socket.io') {
@@ -687,7 +781,9 @@ Ros.prototype.connect = function(url) {
     this.socket.on('data', this.socket.onmessage);
     this.socket.on('close', this.socket.onclose);
     this.socket.on('error', this.socket.onerror);
-  } else {
+  } else if (this.transportLibrary.constructor.name === 'RTCPeerConnection') {
+    this.socket = assign(this.transportLibrary.createDataChannel(url, this.transportOptions), socketAdapter(this));
+  }else {
     this.socket = assign(new WebSocket(url), socketAdapter(this));
   }
 
@@ -1090,7 +1186,7 @@ Ros.prototype.decodeTypeDefs = function(defs) {
 
 module.exports = Ros;
 
-},{"./Service":11,"./ServiceRequest":12,"./SocketAdapter.js":14,"eventemitter2":37,"object-assign":1,"ws":38}],11:[function(require,module,exports){
+},{"./Service":12,"./ServiceRequest":13,"./SocketAdapter.js":15,"eventemitter2":38,"object-assign":1,"ws":39}],12:[function(require,module,exports){
 /**
  * @fileoverview
  * @author Brandon Alexander - baalexander@gmail.com
@@ -1208,7 +1304,7 @@ Service.prototype._serviceResponse = function(rosbridgeRequest) {
 };
 
 module.exports = Service;
-},{"./ServiceRequest":12,"./ServiceResponse":13,"eventemitter2":37}],12:[function(require,module,exports){
+},{"./ServiceRequest":13,"./ServiceResponse":14,"eventemitter2":38}],13:[function(require,module,exports){
 /**
  * @fileoverview
  * @author Brandon Alexander - balexander@willowgarage.com
@@ -1227,7 +1323,7 @@ function ServiceRequest(values) {
 }
 
 module.exports = ServiceRequest;
-},{"object-assign":1}],13:[function(require,module,exports){
+},{"object-assign":1}],14:[function(require,module,exports){
 /**
  * @fileoverview
  * @author Brandon Alexander - balexander@willowgarage.com
@@ -1246,7 +1342,7 @@ function ServiceResponse(values) {
 }
 
 module.exports = ServiceResponse;
-},{"object-assign":1}],14:[function(require,module,exports){
+},{"object-assign":1}],15:[function(require,module,exports){
 /**
  * Socket event handling utilities for handling events on either
  * WebSocket and TCP sockets
@@ -1359,7 +1455,7 @@ function SocketAdapter(client) {
 
 module.exports = SocketAdapter;
 
-},{"../util/decompressPng":40,"ws":38}],15:[function(require,module,exports){
+},{"../util/decompressPng":41,"ws":39}],16:[function(require,module,exports){
 /**
  * @fileoverview
  * @author Brandon Alexander - baalexander@gmail.com
@@ -1529,7 +1625,7 @@ Topic.prototype.publish = function(message) {
 
 module.exports = Topic;
 
-},{"./Message":8,"eventemitter2":37}],16:[function(require,module,exports){
+},{"./Message":9,"eventemitter2":38}],17:[function(require,module,exports){
 var mixin = require('../mixin');
 
 var core = module.exports = {
@@ -1544,7 +1640,7 @@ var core = module.exports = {
 
 mixin(core.Ros, ['Param', 'Service', 'Topic'], core);
 
-},{"../mixin":22,"./Message":8,"./Param":9,"./Ros":10,"./Service":11,"./ServiceRequest":12,"./ServiceResponse":13,"./Topic":15}],17:[function(require,module,exports){
+},{"../mixin":23,"./Message":9,"./Param":10,"./Ros":11,"./Service":12,"./ServiceRequest":13,"./ServiceResponse":14,"./Topic":16}],18:[function(require,module,exports){
 /**
  * @fileoverview
  * @author David Gossow - dgossow@willowgarage.com
@@ -1591,7 +1687,7 @@ Pose.prototype.clone = function() {
 };
 
 module.exports = Pose;
-},{"./Quaternion":18,"./Vector3":20}],18:[function(require,module,exports){
+},{"./Quaternion":19,"./Vector3":21}],19:[function(require,module,exports){
 /**
  * @fileoverview
  * @author David Gossow - dgossow@willowgarage.com
@@ -1685,7 +1781,7 @@ Quaternion.prototype.clone = function() {
 
 module.exports = Quaternion;
 
-},{}],19:[function(require,module,exports){
+},{}],20:[function(require,module,exports){
 /**
  * @fileoverview
  * @author David Gossow - dgossow@willowgarage.com
@@ -1719,7 +1815,7 @@ Transform.prototype.clone = function() {
 };
 
 module.exports = Transform;
-},{"./Quaternion":18,"./Vector3":20}],20:[function(require,module,exports){
+},{"./Quaternion":19,"./Vector3":21}],21:[function(require,module,exports){
 /**
  * @fileoverview
  * @author David Gossow - dgossow@willowgarage.com
@@ -1788,7 +1884,7 @@ Vector3.prototype.clone = function() {
 };
 
 module.exports = Vector3;
-},{}],21:[function(require,module,exports){
+},{}],22:[function(require,module,exports){
 module.exports = {
     Pose: require('./Pose'),
     Quaternion: require('./Quaternion'),
@@ -1796,7 +1892,7 @@ module.exports = {
     Vector3: require('./Vector3')
 };
 
-},{"./Pose":17,"./Quaternion":18,"./Transform":19,"./Vector3":20}],22:[function(require,module,exports){
+},{"./Pose":18,"./Quaternion":19,"./Transform":20,"./Vector3":21}],23:[function(require,module,exports){
 /**
  * Mixin a feature to the core/Ros prototype.
  * For example, mixin(Ros, ['Topic'], {Topic: <Topic>})
@@ -1815,7 +1911,7 @@ module.exports = function(Ros, classes, features) {
     });
 };
 
-},{}],23:[function(require,module,exports){
+},{}],24:[function(require,module,exports){
 /**
  * @fileoverview
  * @author David Gossow - dgossow@willowgarage.com
@@ -2026,7 +2122,7 @@ TFClient.prototype.unsubscribe = function(frameID, callback) {
 
 module.exports = TFClient;
 
-},{"../actionlib/ActionClient":4,"../actionlib/Goal":5,"../core/Service.js":11,"../core/ServiceRequest.js":12,"../math/Transform":19}],24:[function(require,module,exports){
+},{"../actionlib/ActionClient":4,"../actionlib/Goal":6,"../core/Service.js":12,"../core/ServiceRequest.js":13,"../math/Transform":20}],25:[function(require,module,exports){
 var Ros = require('../core/Ros');
 var mixin = require('../mixin');
 
@@ -2035,7 +2131,7 @@ var tf = module.exports = {
 };
 
 mixin(Ros, ['TFClient'], tf);
-},{"../core/Ros":10,"../mixin":22,"./TFClient":23}],25:[function(require,module,exports){
+},{"../core/Ros":11,"../mixin":23,"./TFClient":24}],26:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -2066,7 +2162,7 @@ function UrdfBox(options) {
 }
 
 module.exports = UrdfBox;
-},{"../math/Vector3":20,"./UrdfTypes":34}],26:[function(require,module,exports){
+},{"../math/Vector3":21,"./UrdfTypes":35}],27:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -2090,7 +2186,7 @@ function UrdfColor(options) {
 }
 
 module.exports = UrdfColor;
-},{}],27:[function(require,module,exports){
+},{}],28:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -2113,7 +2209,7 @@ function UrdfCylinder(options) {
 }
 
 module.exports = UrdfCylinder;
-},{"./UrdfTypes":34}],28:[function(require,module,exports){
+},{"./UrdfTypes":35}],29:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author David V. Lu!!  davidvlu@gmail.com
@@ -2139,7 +2235,7 @@ function UrdfJoint(options) {
 
 module.exports = UrdfJoint;
 
-},{}],29:[function(require,module,exports){
+},{}],30:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -2168,7 +2264,7 @@ function UrdfLink(options) {
 }
 
 module.exports = UrdfLink;
-},{"./UrdfVisual":35}],30:[function(require,module,exports){
+},{"./UrdfVisual":36}],31:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -2218,7 +2314,7 @@ UrdfMaterial.prototype.assign = function(obj) {
 
 module.exports = UrdfMaterial;
 
-},{"./UrdfColor":26,"object-assign":1}],31:[function(require,module,exports){
+},{"./UrdfColor":27,"object-assign":1}],32:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -2255,7 +2351,7 @@ function UrdfMesh(options) {
 }
 
 module.exports = UrdfMesh;
-},{"../math/Vector3":20,"./UrdfTypes":34}],32:[function(require,module,exports){
+},{"../math/Vector3":21,"./UrdfTypes":35}],33:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -2352,7 +2448,7 @@ function UrdfModel(options) {
 
 module.exports = UrdfModel;
 
-},{"./UrdfJoint":28,"./UrdfLink":29,"./UrdfMaterial":30,"xmldom":41}],33:[function(require,module,exports){
+},{"./UrdfJoint":29,"./UrdfLink":30,"./UrdfMaterial":31,"xmldom":42}],34:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -2374,7 +2470,7 @@ function UrdfSphere(options) {
 }
 
 module.exports = UrdfSphere;
-},{"./UrdfTypes":34}],34:[function(require,module,exports){
+},{"./UrdfTypes":35}],35:[function(require,module,exports){
 module.exports = {
 	URDF_SPHERE : 0,
 	URDF_BOX : 1,
@@ -2382,7 +2478,7 @@ module.exports = {
 	URDF_MESH : 3
 };
 
-},{}],35:[function(require,module,exports){
+},{}],36:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -2511,7 +2607,7 @@ function UrdfVisual(options) {
 }
 
 module.exports = UrdfVisual;
-},{"../math/Pose":17,"../math/Quaternion":18,"../math/Vector3":20,"./UrdfBox":25,"./UrdfCylinder":27,"./UrdfMaterial":30,"./UrdfMesh":31,"./UrdfSphere":33}],36:[function(require,module,exports){
+},{"../math/Pose":18,"../math/Quaternion":19,"../math/Vector3":21,"./UrdfBox":26,"./UrdfCylinder":28,"./UrdfMaterial":31,"./UrdfMesh":32,"./UrdfSphere":34}],37:[function(require,module,exports){
 module.exports = require('object-assign')({
     UrdfBox: require('./UrdfBox'),
     UrdfColor: require('./UrdfColor'),
@@ -2524,22 +2620,22 @@ module.exports = require('object-assign')({
     UrdfVisual: require('./UrdfVisual')
 }, require('./UrdfTypes'));
 
-},{"./UrdfBox":25,"./UrdfColor":26,"./UrdfCylinder":27,"./UrdfLink":29,"./UrdfMaterial":30,"./UrdfMesh":31,"./UrdfModel":32,"./UrdfSphere":33,"./UrdfTypes":34,"./UrdfVisual":35,"object-assign":1}],37:[function(require,module,exports){
+},{"./UrdfBox":26,"./UrdfColor":27,"./UrdfCylinder":28,"./UrdfLink":30,"./UrdfMaterial":31,"./UrdfMesh":32,"./UrdfModel":33,"./UrdfSphere":34,"./UrdfTypes":35,"./UrdfVisual":36,"object-assign":1}],38:[function(require,module,exports){
 (function (global){
 module.exports = {
 	EventEmitter2: global.EventEmitter2
 };
 }).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})
-},{}],38:[function(require,module,exports){
+},{}],39:[function(require,module,exports){
 (function (global){
 module.exports = global.WebSocket;
 }).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})
-},{}],39:[function(require,module,exports){
+},{}],40:[function(require,module,exports){
 /* global document */
 module.exports = function Canvas() {
 	return document.createElement('canvas');
 };
-},{}],40:[function(require,module,exports){
+},{}],41:[function(require,module,exports){
 (function (global){
 /**
  * @fileOverview
@@ -2598,7 +2694,7 @@ function decompressPng(data, callback) {
 
 module.exports = decompressPng;
 }).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})
-},{"canvas":39}],41:[function(require,module,exports){
+},{"canvas":40}],42:[function(require,module,exports){
 (function (global){
 exports.DOMImplementation = global.DOMImplementation;
 exports.XMLSerializer = global.XMLSerializer;
diff --git a/build/roslib.min.js b/build/roslib.min.js
index 1365c5180..f026445f4 100644
--- a/build/roslib.min.js
+++ b/build/roslib.min.js
@@ -1 +1 @@
-!function a(b,c,d){function e(g,h){if(!c[g]){if(!b[g]){var i="function"==typeof require&&require;if(!h&&i)return i(g,!0);if(f)return f(g,!0);var j=new Error("Cannot find module '"+g+"'");throw j.code="MODULE_NOT_FOUND",j}var k=c[g]={exports:{}};b[g][0].call(k.exports,function(a){var c=b[g][1][a];return e(c?c:a)},k,k.exports,a,b,c,d)}return c[g].exports}for(var f="function"==typeof require&&require,g=0;g<d.length;g++)e(d[g]);return e}({1:[function(a,b,c){"use strict";function d(a){if(null===a||void 0===a)throw new TypeError("Object.assign cannot be called with null or undefined");return Object(a)}var e=Object.prototype.hasOwnProperty,f=Object.prototype.propertyIsEnumerable;b.exports=Object.assign||function(a,b){for(var c,g,h=d(a),i=1;i<arguments.length;i++){c=Object(arguments[i]);for(var j in c)e.call(c,j)&&(h[j]=c[j]);if(Object.getOwnPropertySymbols){g=Object.getOwnPropertySymbols(c);for(var k=0;k<g.length;k++)f.call(c,g[k])&&(h[g[k]]=c[g[k]])}}return h}},{}],2:[function(a,b,c){var d=this.ROSLIB||{REVISION:"0.19.0-SNAPSHOT"},e=a("object-assign");e(d,a("./core")),e(d,a("./actionlib")),e(d,a("./math")),e(d,a("./tf")),e(d,a("./urdf")),b.exports=d},{"./actionlib":7,"./core":16,"./math":21,"./tf":24,"./urdf":36,"object-assign":1}],3:[function(a,b,c){(function(b){b.ROSLIB=a("./RosLib")}).call(this,"undefined"!=typeof global?global:"undefined"!=typeof self?self:"undefined"!=typeof window?window:{})},{"./RosLib":2}],4:[function(a,b,c){function d(a){var b=this;a=a||{},this.ros=a.ros,this.serverName=a.serverName,this.actionName=a.actionName,this.timeout=a.timeout,this.omitFeedback=a.omitFeedback,this.omitStatus=a.omitStatus,this.omitResult=a.omitResult,this.goals={};var c=!1,d=new e({ros:this.ros,name:this.serverName+"/feedback",messageType:this.actionName+"Feedback"}),f=new e({ros:this.ros,name:this.serverName+"/status",messageType:"actionlib_msgs/GoalStatusArray"}),g=new e({ros:this.ros,name:this.serverName+"/result",messageType:this.actionName+"Result"});this.goalTopic=new e({ros:this.ros,name:this.serverName+"/goal",messageType:this.actionName+"Goal"}),this.cancelTopic=new e({ros:this.ros,name:this.serverName+"/cancel",messageType:"actionlib_msgs/GoalID"}),this.goalTopic.advertise(),this.cancelTopic.advertise(),this.omitStatus||f.subscribe(function(a){c=!0,a.status_list.forEach(function(a){var c=b.goals[a.goal_id.id];c&&c.emit("status",a)})}),this.omitFeedback||d.subscribe(function(a){var c=b.goals[a.status.goal_id.id];c&&(c.emit("status",a.status),c.emit("feedback",a.feedback))}),this.omitResult||g.subscribe(function(a){var c=b.goals[a.status.goal_id.id];c&&(c.emit("status",a.status),c.emit("result",a.result))}),this.timeout&&setTimeout(function(){c||b.emit("timeout")},this.timeout)}var e=a("../core/Topic"),f=a("../core/Message"),g=a("eventemitter2").EventEmitter2;d.prototype.__proto__=g.prototype,d.prototype.cancel=function(){var a=new f;this.cancelTopic.publish(a)},b.exports=d},{"../core/Message":8,"../core/Topic":15,eventemitter2:37}],5:[function(a,b,c){function d(a){var b=this;this.actionClient=a.actionClient,this.goalMessage=a.goalMessage,this.isFinished=!1;var c=new Date;this.goalID="goal_"+Math.random()+"_"+c.getTime(),this.goalMessage=new e({goal_id:{stamp:{secs:0,nsecs:0},id:this.goalID},goal:this.goalMessage}),this.on("status",function(a){b.status=a}),this.on("result",function(a){b.isFinished=!0,b.result=a}),this.on("feedback",function(a){b.feedback=a}),this.actionClient.goals[this.goalID]=this}var e=a("../core/Message"),f=a("eventemitter2").EventEmitter2;d.prototype.__proto__=f.prototype,d.prototype.send=function(a){var b=this;b.actionClient.goalTopic.publish(b.goalMessage),a&&setTimeout(function(){b.isFinished||b.emit("timeout")},a)},d.prototype.cancel=function(){var a=new e({id:this.goalID});this.actionClient.cancelTopic.publish(a)},b.exports=d},{"../core/Message":8,eventemitter2:37}],6:[function(a,b,c){function d(a){var b=this;a=a||{},this.ros=a.ros,this.serverName=a.serverName,this.actionName=a.actionName,this.feedbackPublisher=new e({ros:this.ros,name:this.serverName+"/feedback",messageType:this.actionName+"Feedback"}),this.feedbackPublisher.advertise();var c=new e({ros:this.ros,name:this.serverName+"/status",messageType:"actionlib_msgs/GoalStatusArray"});c.advertise(),this.resultPublisher=new e({ros:this.ros,name:this.serverName+"/result",messageType:this.actionName+"Result"}),this.resultPublisher.advertise();var d=new e({ros:this.ros,name:this.serverName+"/goal",messageType:this.actionName+"Goal"}),g=new e({ros:this.ros,name:this.serverName+"/cancel",messageType:"actionlib_msgs/GoalID"});this.statusMessage=new f({header:{stamp:{secs:0,nsecs:100},frame_id:""},status_list:[]}),this.currentGoal=null,this.nextGoal=null,d.subscribe(function(a){b.currentGoal?(b.nextGoal=a,b.emit("cancel")):(b.statusMessage.status_list=[{goal_id:a.goal_id,status:1}],b.currentGoal=a,b.emit("goal",a.goal))});var h=function(a,b){return a.secs>b.secs?!1:a.secs<b.secs?!0:a.nsecs<b.nsecs?!0:!1};g.subscribe(function(a){0===a.stamp.secs&&0===a.stamp.secs&&""===a.id?(b.nextGoal=null,b.currentGoal&&b.emit("cancel")):(b.currentGoal&&a.id===b.currentGoal.goal_id.id?b.emit("cancel"):b.nextGoal&&a.id===b.nextGoal.goal_id.id&&(b.nextGoal=null),b.nextGoal&&h(b.nextGoal.goal_id.stamp,a.stamp)&&(b.nextGoal=null),b.currentGoal&&h(b.currentGoal.goal_id.stamp,a.stamp)&&b.emit("cancel"))});setInterval(function(){var a=new Date,d=Math.floor(a.getTime()/1e3),e=Math.round(1e9*(a.getTime()/1e3-d));b.statusMessage.header.stamp.secs=d,b.statusMessage.header.stamp.nsecs=e,c.publish(b.statusMessage)},500)}var e=a("../core/Topic"),f=a("../core/Message"),g=a("eventemitter2").EventEmitter2;d.prototype.__proto__=g.prototype,d.prototype.setSucceeded=function(a){var b=new f({status:{goal_id:this.currentGoal.goal_id,status:3},result:a});this.resultPublisher.publish(b),this.statusMessage.status_list=[],this.nextGoal?(this.currentGoal=this.nextGoal,this.nextGoal=null,this.emit("goal",this.currentGoal.goal)):this.currentGoal=null},d.prototype.sendFeedback=function(a){var b=new f({status:{goal_id:this.currentGoal.goal_id,status:1},feedback:a});this.feedbackPublisher.publish(b)},d.prototype.setPreempted=function(){this.statusMessage.status_list=[];var a=new f({status:{goal_id:this.currentGoal.goal_id,status:2}});this.resultPublisher.publish(a),this.nextGoal?(this.currentGoal=this.nextGoal,this.nextGoal=null,this.emit("goal",this.currentGoal.goal)):this.currentGoal=null},b.exports=d},{"../core/Message":8,"../core/Topic":15,eventemitter2:37}],7:[function(a,b,c){var d=a("../core/Ros"),e=a("../mixin"),f=b.exports={ActionClient:a("./ActionClient"),Goal:a("./Goal"),SimpleActionServer:a("./SimpleActionServer")};e(d,["ActionClient","SimpleActionServer"],f)},{"../core/Ros":10,"../mixin":22,"./ActionClient":4,"./Goal":5,"./SimpleActionServer":6}],8:[function(a,b,c){function d(a){e(this,a)}var e=a("object-assign");b.exports=d},{"object-assign":1}],9:[function(a,b,c){function d(a){a=a||{},this.ros=a.ros,this.name=a.name}var e=a("./Service"),f=a("./ServiceRequest");d.prototype.get=function(a){var b=new e({ros:this.ros,name:"/rosapi/get_param",serviceType:"rosapi/GetParam"}),c=new f({name:this.name});b.callService(c,function(b){var c=JSON.parse(b.value);a(c)})},d.prototype.set=function(a,b){var c=new e({ros:this.ros,name:"/rosapi/set_param",serviceType:"rosapi/SetParam"}),d=new f({name:this.name,value:JSON.stringify(a)});c.callService(d,b)},d.prototype["delete"]=function(a){var b=new e({ros:this.ros,name:"/rosapi/delete_param",serviceType:"rosapi/DeleteParam"}),c=new f({name:this.name});b.callService(c,a)},b.exports=d},{"./Service":11,"./ServiceRequest":12}],10:[function(a,b,c){function d(a){a=a||{},this.socket=null,this.idCounter=0,this.isConnected=!1,this.transportLibrary=a.transportLibrary||"websocket","undefined"==typeof a.groovyCompatibility?this.groovyCompatibility=!0:this.groovyCompatibility=a.groovyCompatibility,this.setMaxListeners(0),a.url&&this.connect(a.url)}var e=a("ws"),f=a("./SocketAdapter.js"),g=a("./Service"),h=a("./ServiceRequest"),i=a("object-assign"),j=a("eventemitter2").EventEmitter2;d.prototype.__proto__=j.prototype,d.prototype.connect=function(a){"socket.io"===this.transportLibrary?(this.socket=i(io(a,{"force new connection":!0}),f(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)):this.socket=i(new e(a),f(this))},d.prototype.close=function(){this.socket&&this.socket.close()},d.prototype.authenticate=function(a,b,c,d,e,f,g){var h={op:"auth",mac:a,client:b,dest:c,rand:d,t:e,level:f,end:g};this.callOnConnection(h)},d.prototype.callOnConnection=function(a){var b=this,c=JSON.stringify(a),d=null;d="socket.io"===this.transportLibrary?function(a){b.socket.emit("operation",a)}:function(a){b.socket.send(a)},this.isConnected?d(c):b.once("connection",function(){d(c)})},d.prototype.getTopics=function(a,b){var c=new g({ros:this,name:"/rosapi/topics",serviceType:"rosapi/Topics"}),d=new h;"function"==typeof b?c.callService(d,function(b){a(b.topics)},function(a){b(a)}):c.callService(d,function(b){a(b.topics)})},d.prototype.getTopicsForType=function(a,b,c){var d=new g({ros:this,name:"/rosapi/topics_for_type",serviceType:"rosapi/TopicsForType"}),e=new h({type:a});"function"==typeof c?d.callService(e,function(a){b(a.topics)},function(a){c(a)}):d.callService(e,function(a){b(a.topics)})},d.prototype.getServices=function(a,b){var c=new g({ros:this,name:"/rosapi/services",serviceType:"rosapi/Services"}),d=new h;"function"==typeof b?c.callService(d,function(b){a(b.services)},function(a){b(a)}):c.callService(d,function(b){a(b.services)})},d.prototype.getServicesForType=function(a,b,c){var d=new g({ros:this,name:"/rosapi/services_for_type",serviceType:"rosapi/ServicesForType"}),e=new h({type:a});"function"==typeof c?d.callService(e,function(a){b(a.services)},function(a){c(a)}):d.callService(e,function(a){b(a.services)})},d.prototype.getNodes=function(a,b){var c=new g({ros:this,name:"/rosapi/nodes",serviceType:"rosapi/Nodes"}),d=new h;"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.getParams=function(a,b){var c=new g({ros:this,name:"/rosapi/get_param_names",serviceType:"rosapi/GetParamNames"}),d=new h;"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 g({ros:this,name:"/rosapi/topic_type",serviceType:"rosapi/TopicType"}),e=new h({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 g({ros:this,name:"/rosapi/service_type",serviceType:"rosapi/ServiceType"}),e=new h({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 g({ros:this,name:"/rosapi/message_details",serviceType:"rosapi/MessageDetails"}),e=new h({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(-1===i.indexOf("/"))-1===g?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);-1===g||(e[h]=[l])}else b.emit("error","Cannot find "+i+" in decodeTypeDefs")}}return e};return c(a[0],a)},b.exports=d},{"./Service":11,"./ServiceRequest":12,"./SocketAdapter.js":14,eventemitter2:37,"object-assign":1,ws:38}],11:[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,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":12,"./ServiceResponse":13,eventemitter2:37}],12:[function(a,b,c){function d(a){e(this,a)}var e=a("object-assign");b.exports=d},{"object-assign":1}],13:[function(a,b,c){function d(a){e(this,a)}var e=a("object-assign");b.exports=d},{"object-assign":1}],14:[function(a,b,c){"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)}function c(a,b){"png"===a.op?e(a.data,b):b(a)}function d(a,b){if(!f)throw"Cannot process BSON encoded message without BSON header.";var c=new FileReader;c.onload=function(){var a=new Uint8Array(this.result),c=f.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{var e=JSON.parse("string"==typeof a?a:a.data);c(e,b)}}}}var e=a("../util/decompressPng"),f=(a("ws"),null);"undefined"!=typeof bson&&(f=bson().BSON),b.exports=d},{"../util/decompressPng":40,ws:38}],15:[function(a,b,c){function d(a){a=a||{},this.ros=a.ros,this.name=a.name,this.messageType=a.messageType,this.isAdvertised=!1,this.compression=a.compression||"none",this.throttle_rate=a.throttle_rate||0,this.latch=a.latch||!1,this.queue_size=a.queue_size||100,this.queue_length=a.queue_length||0,this.compression&&"png"!==this.compression&&"none"!==this.compression&&this.emit("warning",this.compression+" compression is not supported. No compression will be used."),this.throttle_rate<0&&(this.emit("warning",this.throttle_rate+" is not allowed. Set to 0"),this.throttle_rate=0);var b=this;this._messageCallback=function(a){b.emit("message",new f(a))}}var e=a("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.ros.callOnConnection({op:"subscribe",id:this.subscribeId,type:this.messageType,topic:this.name,compression:this.compression,throttle_rate:this.throttle_rate,queue_length:this.queue_length}))},d.prototype.unsubscribe=function(a){a&&(this.off("message",a),this.listeners("message").length)||this.subscribeId&&(this.ros.off(this.name,this._messageCallback),this.emit("unsubscribe"),this.ros.callOnConnection({op:"unsubscribe",id:this.subscribeId,topic:this.name}),this.subscribeId=null)},d.prototype.advertise=function(){this.isAdvertised||(this.advertiseId="advertise:"+this.name+":"+ ++this.ros.idCounter,this.ros.callOnConnection({op:"advertise",id:this.advertiseId,type:this.messageType,topic:this.name,latch:this.latch,queue_size:this.queue_size}),this.isAdvertised=!0)},d.prototype.unadvertise=function(){this.isAdvertised&&(this.emit("unadvertise"),this.ros.callOnConnection({op:"unadvertise",id:this.advertiseId,topic:this.name}),this.isAdvertised=!1)},d.prototype.publish=function(a){this.isAdvertised||this.advertise(),this.ros.idCounter++;var b={op:"publish",id:"publish:"+this.name+":"+this.ros.idCounter,topic:this.name,msg:a,latch:this.latch};this.ros.callOnConnection(b)},b.exports=d},{"./Message":8,eventemitter2:37}],16:[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":22,"./Message":8,"./Param":9,"./Ros":10,"./Service":11,"./ServiceRequest":12,"./ServiceResponse":13,"./Topic":15}],17:[function(a,b,c){function d(a){a=a||{},this.position=new e(a.position),this.orientation=new f(a.orientation)}var e=a("./Vector3"),f=a("./Quaternion");d.prototype.applyTransform=function(a){this.position.multiplyQuaternion(a.rotation),this.position.add(a.translation);var b=a.rotation.clone();b.multiply(this.orientation),this.orientation=b},d.prototype.clone=function(){return new d(this)},b.exports=d},{"./Quaternion":18,"./Vector3":20}],18:[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},{}],19:[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":18,"./Vector3":20}],20:[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},{}],21:[function(a,b,c){b.exports={Pose:a("./Pose"),Quaternion:a("./Quaternion"),Transform:a("./Transform"),Vector3:a("./Vector3")}},{"./Pose":17,"./Quaternion":18,"./Transform":19,"./Vector3":20}],22:[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)}})}},{}],23:[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]},b.exports=d},{"../actionlib/ActionClient":4,"../actionlib/Goal":5,"../core/Service.js":11,"../core/ServiceRequest.js":12,"../math/Transform":19}],24:[function(a,b,c){var d=a("../core/Ros"),e=a("../mixin"),f=b.exports={TFClient:a("./TFClient")};e(d,["TFClient"],f)},{"../core/Ros":10,"../mixin":22,"./TFClient":23}],25:[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":20,"./UrdfTypes":34}],26:[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},{}],27:[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":34}],28:[function(a,b,c){function d(a){this.name=a.xml.getAttribute("name"),this.type=a.xml.getAttribute("type");var b=a.xml.getElementsByTagName("limit");b.length>0&&(this.minval=parseFloat(b[0].getAttribute("lower")),this.maxval=parseFloat(b[0].getAttribute("upper")))}b.exports=d},{}],29:[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":35}],30:[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 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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":17,"../math/Quaternion":18,"../math/Vector3":20,"./UrdfBox":25,"./UrdfCylinder":27,"./UrdfMaterial":30,"./UrdfMesh":31,"./UrdfSphere":33}],36:[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":25,"./UrdfColor":26,"./UrdfCylinder":27,"./UrdfLink":29,"./UrdfMaterial":30,"./UrdfMesh":31,"./UrdfModel":32,"./UrdfSphere":33,"./UrdfTypes":34,"./UrdfVisual":35,"object-assign":1}],37:[function(a,b,c){(function(a){b.exports={EventEmitter2:a.EventEmitter2}}).call(this,"undefined"!=typeof global?global:"undefined"!=typeof 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e({goal_id:{stamp:{secs:0,nsecs:0},id:this.goalID},goal:this.goalMessage}),this.on("status",function(a){b.status=a}),this.on("result",function(a){b.isFinished=!0,b.result=a}),this.on("feedback",function(a){b.feedback=a}),this.actionClient.goals[this.goalID]=this}var e=a("../core/Message"),f=a("eventemitter2").EventEmitter2;d.prototype.__proto__=f.prototype,d.prototype.send=function(a){var b=this;b.actionClient.goalTopic.publish(b.goalMessage),a&&setTimeout(function(){b.isFinished||b.emit("timeout")},a)},d.prototype.cancel=function(){var a=new e({id:this.goalID});this.actionClient.cancelTopic.publish(a)},b.exports=d},{"../core/Message":9,eventemitter2:38}],7:[function(a,b,c){function d(a){var b=this;a=a||{},this.ros=a.ros,this.serverName=a.serverName,this.actionName=a.actionName,this.feedbackPublisher=new e({ros:this.ros,name:this.serverName+"/feedback",messageType:this.actionName+"Feedback"}),this.feedbackPublisher.advertise();var c=new e({ros:this.ros,name:this.serverName+"/status",messageType:"actionlib_msgs/GoalStatusArray"});c.advertise(),this.resultPublisher=new e({ros:this.ros,name:this.serverName+"/result",messageType:this.actionName+"Result"}),this.resultPublisher.advertise();var d=new e({ros:this.ros,name:this.serverName+"/goal",messageType:this.actionName+"Goal"}),g=new e({ros:this.ros,name:this.serverName+"/cancel",messageType:"actionlib_msgs/GoalID"});this.statusMessage=new f({header:{stamp:{secs:0,nsecs:100},frame_id:""},status_list:[]}),this.currentGoal=null,this.nextGoal=null,d.subscribe(function(a){b.currentGoal?(b.nextGoal=a,b.emit("cancel")):(b.statusMessage.status_list=[{goal_id:a.goal_id,status:1}],b.currentGoal=a,b.emit("goal",a.goal))});var h=function(a,b){return 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d=a("../core/Ros"),e=a("../mixin"),f=b.exports={ActionClient:a("./ActionClient"),ActionListener:a("./ActionListener"),Goal:a("./Goal"),SimpleActionServer:a("./SimpleActionServer")};e(d,["ActionClient","SimpleActionServer"],f)},{"../core/Ros":11,"../mixin":23,"./ActionClient":4,"./ActionListener":5,"./Goal":6,"./SimpleActionServer":7}],9:[function(a,b,c){function d(a){e(this,a)}var e=a("object-assign");b.exports=d},{"object-assign":1}],10:[function(a,b,c){function d(a){a=a||{},this.ros=a.ros,this.name=a.name}var e=a("./Service"),f=a("./ServiceRequest");d.prototype.get=function(a){var b=new e({ros:this.ros,name:"/rosapi/get_param",serviceType:"rosapi/GetParam"}),c=new f({name:this.name});b.callService(c,function(b){var c=JSON.parse(b.value);a(c)})},d.prototype.set=function(a,b){var c=new e({ros:this.ros,name:"/rosapi/set_param",serviceType:"rosapi/SetParam"}),d=new f({name:this.name,value:JSON.stringify(a)});c.callService(d,b)},d.prototype["delete"]=function(a){var b=new 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connection":!0}),f(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)):"RTCPeerConnection"===this.transportLibrary.constructor.name?this.socket=i(this.transportLibrary.createDataChannel(a,this.transportOptions),f(this)):this.socket=i(new e(a),f(this))},d.prototype.close=function(){this.socket&&this.socket.close()},d.prototype.authenticate=function(a,b,c,d,e,f,g){var h={op:"auth",mac:a,client:b,dest:c,rand:d,t:e,level:f,end:g};this.callOnConnection(h)},d.prototype.callOnConnection=function(a){var b=this,c=JSON.stringify(a),d=null;d="socket.io"===this.transportLibrary?function(a){b.socket.emit("operation",a)}:function(a){b.socket.send(a)},this.isConnected?d(c):b.once("connection",function(){d(c)})},d.prototype.getTopics=function(a,b){var c=new g({ros:this,name:"/rosapi/topics",serviceType:"rosapi/Topics"}),d=new h;"function"==typeof b?c.callService(d,function(b){a(b.topics)},function(a){b(a)}):c.callService(d,function(b){a(b.topics)})},d.prototype.getTopicsForType=function(a,b,c){var d=new g({ros:this,name:"/rosapi/topics_for_type",serviceType:"rosapi/TopicsForType"}),e=new h({type:a});"function"==typeof c?d.callService(e,function(a){b(a.topics)},function(a){c(a)}):d.callService(e,function(a){b(a.topics)})},d.prototype.getServices=function(a,b){var c=new g({ros:this,name:"/rosapi/services",serviceType:"rosapi/Services"}),d=new h;"function"==typeof b?c.callService(d,function(b){a(b.services)},function(a){b(a)}):c.callService(d,function(b){a(b.services)})},d.prototype.getServicesForType=function(a,b,c){var d=new g({ros:this,name:"/rosapi/services_for_type",serviceType:"rosapi/ServicesForType"}),e=new h({type:a});"function"==typeof c?d.callService(e,function(a){b(a.services)},function(a){c(a)}):d.callService(e,function(a){b(a.services)})},d.prototype.getNodes=function(a,b){var c=new g({ros:this,name:"/rosapi/nodes",serviceType:"rosapi/Nodes"}),d=new h;"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.getParams=function(a,b){var c=new g({ros:this,name:"/rosapi/get_param_names",serviceType:"rosapi/GetParamNames"}),d=new h;"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 g({ros:this,name:"/rosapi/topic_type",serviceType:"rosapi/TopicType"}),e=new h({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 g({ros:this,name:"/rosapi/service_type",serviceType:"rosapi/ServiceType"}),e=new h({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 g({ros:this,name:"/rosapi/message_details",serviceType:"rosapi/MessageDetails"}),e=new h({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(-1===i.indexOf("/"))-1===g?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);-1===g||(e[h]=[l])}else b.emit("error","Cannot find "+i+" in decodeTypeDefs")}}return e};return c(a[0],a)},b.exports=d},{"./Service":12,"./ServiceRequest":13,"./SocketAdapter.js":15,eventemitter2:38,"object-assign":1,ws:39}],12:[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,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":13,"./ServiceResponse":14,eventemitter2:38}],13:[function(a,b,c){function d(a){e(this,a)}var e=a("object-assign");b.exports=d},{"object-assign":1}],14:[function(a,b,c){function d(a){e(this,a)}var e=a("object-assign");b.exports=d},{"object-assign":1}],15:[function(a,b,c){"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)}function c(a,b){"png"===a.op?e(a.data,b):b(a)}function d(a,b){if(!f)throw"Cannot process BSON encoded message without BSON header.";var c=new FileReader;c.onload=function(){var a=new Uint8Array(this.result),c=f.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{var e=JSON.parse("string"==typeof a?a:a.data);c(e,b)}}}}var e=a("../util/decompressPng"),f=(a("ws"),null);"undefined"!=typeof bson&&(f=bson().BSON),b.exports=d},{"../util/decompressPng":41,ws:39}],16:[function(a,b,c){function d(a){a=a||{},this.ros=a.ros,this.name=a.name,this.messageType=a.messageType,this.isAdvertised=!1,this.compression=a.compression||"none",this.throttle_rate=a.throttle_rate||0,this.latch=a.latch||!1,this.queue_size=a.queue_size||100,this.queue_length=a.queue_length||0,this.compression&&"png"!==this.compression&&"none"!==this.compression&&this.emit("warning",this.compression+" compression is not supported. No compression will be used."),this.throttle_rate<0&&(this.emit("warning",this.throttle_rate+" is not allowed. Set to 0"),this.throttle_rate=0);var b=this;this._messageCallback=function(a){b.emit("message",new f(a))}}var e=a("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.ros.callOnConnection({op:"subscribe",id:this.subscribeId,type:this.messageType,topic:this.name,compression:this.compression,throttle_rate:this.throttle_rate,queue_length:this.queue_length}))},d.prototype.unsubscribe=function(a){a&&(this.off("message",a),this.listeners("message").length)||this.subscribeId&&(this.ros.off(this.name,this._messageCallback),this.emit("unsubscribe"),this.ros.callOnConnection({op:"unsubscribe",id:this.subscribeId,topic:this.name}),this.subscribeId=null)},d.prototype.advertise=function(){this.isAdvertised||(this.advertiseId="advertise:"+this.name+":"+ ++this.ros.idCounter,this.ros.callOnConnection({op:"advertise",id:this.advertiseId,type:this.messageType,topic:this.name,latch:this.latch,queue_size:this.queue_size}),this.isAdvertised=!0)},d.prototype.unadvertise=function(){this.isAdvertised&&(this.emit("unadvertise"),this.ros.callOnConnection({op:"unadvertise",id:this.advertiseId,topic:this.name}),this.isAdvertised=!1)},d.prototype.publish=function(a){this.isAdvertised||this.advertise(),this.ros.idCounter++;var b={op:"publish",id:"publish:"+this.name+":"+this.ros.idCounter,topic:this.name,msg:a,latch:this.latch};this.ros.callOnConnection(b)},b.exports=d},{"./Message":9,eventemitter2:38}],17:[function(a,b,c){var d=a("../mixin"),e=b.exports={Ros:a("./Ros"),Topic:a("./Topic"),Message:a("./Message"),Param:a("./Param"),Service:a("./Service"),ServiceRequest:a("./ServiceRequest"),ServiceResponse:a("./ServiceResponse")};d(e.Ros,["Param","Service","Topic"],e)},{"../mixin":23,"./Message":9,"./Param":10,"./Ros":11,"./Service":12,"./ServiceRequest":13,"./ServiceResponse":14,"./Topic":16}],18:[function(a,b,c){function d(a){a=a||{},this.position=new e(a.position),this.orientation=new f(a.orientation)}var e=a("./Vector3"),f=a("./Quaternion");d.prototype.applyTransform=function(a){this.position.multiplyQuaternion(a.rotation),this.position.add(a.translation);var b=a.rotation.clone();b.multiply(this.orientation),this.orientation=b},d.prototype.clone=function(){return new d(this)},b.exports=d},{"./Quaternion":19,"./Vector3":21}],19:[function(a,b,c){function d(a){a=a||{},this.x=a.x||0,this.y=a.y||0,this.z=a.z||0,this.w="number"==typeof a.w?a.w:1}d.prototype.conjugate=function(){this.x*=-1,this.y*=-1,this.z*=-1},d.prototype.norm=function(){return Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w)},d.prototype.normalize=function(){var a=Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w);0===a?(this.x=0,this.y=0,this.z=0,this.w=1):(a=1/a,this.x=this.x*a,this.y=this.y*a,this.z=this.z*a,this.w=this.w*a)},d.prototype.invert=function(){this.conjugate(),this.normalize()},d.prototype.multiply=function(a){var b=this.x*a.w+this.y*a.z-this.z*a.y+this.w*a.x,c=-this.x*a.z+this.y*a.w+this.z*a.x+this.w*a.y,d=this.x*a.y-this.y*a.x+this.z*a.w+this.w*a.z,e=-this.x*a.x-this.y*a.y-this.z*a.z+this.w*a.w;this.x=b,this.y=c,this.z=d,this.w=e},d.prototype.clone=function(){return new d(this)},b.exports=d},{}],20:[function(a,b,c){function d(a){a=a||{},this.translation=new e(a.translation),this.rotation=new f(a.rotation)}var e=a("./Vector3"),f=a("./Quaternion");d.prototype.clone=function(){return new d(this)},b.exports=d},{"./Quaternion":19,"./Vector3":21}],21:[function(a,b,c){function d(a){a=a||{},this.x=a.x||0,this.y=a.y||0,this.z=a.z||0}d.prototype.add=function(a){this.x+=a.x,this.y+=a.y,this.z+=a.z},d.prototype.subtract=function(a){this.x-=a.x,this.y-=a.y,this.z-=a.z},d.prototype.multiplyQuaternion=function(a){var b=a.w*this.x+a.y*this.z-a.z*this.y,c=a.w*this.y+a.z*this.x-a.x*this.z,d=a.w*this.z+a.x*this.y-a.y*this.x,e=-a.x*this.x-a.y*this.y-a.z*this.z;this.x=b*a.w+e*-a.x+c*-a.z-d*-a.y,this.y=c*a.w+e*-a.y+d*-a.x-b*-a.z,this.z=d*a.w+e*-a.z+b*-a.y-c*-a.x},d.prototype.clone=function(){return new d(this)},b.exports=d},{}],22:[function(a,b,c){b.exports={Pose:a("./Pose"),Quaternion:a("./Quaternion"),Transform:a("./Transform"),Vector3:a("./Vector3")}},{"./Pose":18,"./Quaternion":19,"./Transform":20,"./Vector3":21}],23:[function(a,b,c){b.exports=function(a,b,c){b.forEach(function(b){var d=c[b];a.prototype[b]=function(a){return a.ros=this,new d(a)}})}},{}],24:[function(a,b,c){function d(a){a=a||{},this.ros=a.ros,this.fixedFrame=a.fixedFrame||"/base_link",this.angularThres=a.angularThres||2,this.transThres=a.transThres||.01,this.rate=a.rate||10,this.updateDelay=a.updateDelay||50;var b=a.topicTimeout||2,c=Math.floor(b),d=Math.floor(1e9*(b-c));this.topicTimeout={secs:c,nsecs:d},this.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]},b.exports=d},{"../actionlib/ActionClient":4,"../actionlib/Goal":6,"../core/Service.js":12,"../core/ServiceRequest.js":13,"../math/Transform":20}],25:[function(a,b,c){var d=a("../core/Ros"),e=a("../mixin"),f=b.exports={TFClient:a("./TFClient")};e(d,["TFClient"],f)},{"../core/Ros":11,"../mixin":23,"./TFClient":24}],26:[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":21,"./UrdfTypes":35}],27:[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},{}],28:[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":35}],29:[function(a,b,c){function d(a){this.name=a.xml.getAttribute("name"),this.type=a.xml.getAttribute("type");var b=a.xml.getElementsByTagName("limit");b.length>0&&(this.minval=parseFloat(b[0].getAttribute("lower")),this.maxval=parseFloat(b[0].getAttribute("upper")))}b.exports=d},{}],30:[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":36}],31:[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":27,"object-assign":1}],32:[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":21,"./UrdfTypes":35}],33:[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":29,"./UrdfLink":30,"./UrdfMaterial":31,xmldom:42}],34:[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":35}],35:[function(a,b,c){b.exports={URDF_SPHERE:0,URDF_BOX:1,URDF_CYLINDER:2,URDF_MESH:3}},{}],36:[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":18,"../math/Quaternion":19,"../math/Vector3":21,"./UrdfBox":26,"./UrdfCylinder":28,"./UrdfMaterial":31,"./UrdfMesh":32,"./UrdfSphere":34}],37:[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":26,"./UrdfColor":27,"./UrdfCylinder":28,"./UrdfLink":30,"./UrdfMaterial":31,"./UrdfMesh":32,"./UrdfModel":33,"./UrdfSphere":34,"./UrdfTypes":35,"./UrdfVisual":36,"object-assign":1}],38:[function(a,b,c){(function(a){b.exports={EventEmitter2:a.EventEmitter2}}).call(this,"undefined"!=typeof global?global:"undefined"!=typeof self?self:"undefined"!=typeof window?window:{})},{}],39:[function(a,b,c){(function(a){b.exports=a.WebSocket}).call(this,"undefined"!=typeof global?global:"undefined"!=typeof self?self:"undefined"!=typeof window?window:{})},{}],40:[function(a,b,c){b.exports=function(){return document.createElement("canvas")}},{}],41:[function(a,b,c){(function(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||c.Image;b.exports=d}).call(this,"undefined"!=typeof global?global:"undefined"!=typeof self?self:"undefined"!=typeof window?window:{})},{canvas:40}],42:[function(a,b,c){(function(a){c.DOMImplementation=a.DOMImplementation,c.XMLSerializer=a.XMLSerializer,c.DOMParser=a.DOMParser}).call(this,"undefined"!=typeof global?global:"undefined"!=typeof self?self:"undefined"!=typeof window?window:{})},{}]},{},[3]);
\ No newline at end of file
diff --git a/src/core/Ros.js b/src/core/Ros.js
index f1883b617..abaeeb7bb 100644
--- a/src/core/Ros.js
+++ b/src/core/Ros.js
@@ -26,6 +26,8 @@ var EventEmitter2 = require('eventemitter2').EventEmitter2;
  * @param options - possible keys include: <br>
  *   * url (optional) - (can be specified later with `connect`) the WebSocket URL for rosbridge or the node server url to connect using socket.io (if socket.io exists in the page) <br>
  *   * groovyCompatibility - don't use interfaces that changed after the last groovy release or rosbridge_suite and related tools (defaults to true)
+ *   * transportLibrary (optional) - one of 'websocket' (default), 'socket.io' or RTCPeerConnection instance controlling how the connection is created in `connect`.
+ *   * transportOptions (optional) - the options to use use when creating a connection. Currently only used if `transportLibrary` is RTCPeerConnection.
  */
 function Ros(options) {
   options = options || {};
@@ -33,6 +35,7 @@ function Ros(options) {
   this.idCounter = 0;
   this.isConnected = false;
   this.transportLibrary = options.transportLibrary || 'websocket';
+  this.transportOptions = options.transportOptions || {};
 
   if (typeof options.groovyCompatibility === 'undefined') {
     this.groovyCompatibility = true;
@@ -55,7 +58,7 @@ Ros.prototype.__proto__ = EventEmitter2.prototype;
 /**
  * Connect to the specified WebSocket.
  *
- * @param url - WebSocket URL for Rosbridge
+ * @param url - WebSocket URL or RTCDataChannel label for Rosbridge
  */
 Ros.prototype.connect = function(url) {
   if (this.transportLibrary === 'socket.io') {
@@ -64,7 +67,9 @@ Ros.prototype.connect = function(url) {
     this.socket.on('data', this.socket.onmessage);
     this.socket.on('close', this.socket.onclose);
     this.socket.on('error', this.socket.onerror);
-  } else {
+  } else if (this.transportLibrary.constructor.name === 'RTCPeerConnection') {
+    this.socket = assign(this.transportLibrary.createDataChannel(url, this.transportOptions), socketAdapter(this));
+  }else {
     this.socket = assign(new WebSocket(url), socketAdapter(this));
   }