diff --git a/Gruntfile.js b/Gruntfile.js
index d3e036f16..d538399d9 100644
--- a/Gruntfile.js
+++ b/Gruntfile.js
@@ -20,7 +20,7 @@ module.exports = function(grunt) {
     },
     browserify: {
       dist: {
-        src: ['./tsbuild/RosLibBrowser.js'],
+        src: ['./tsbuild/RosLib.js'],
         dest: './build/roslib.js'
       }
     },
diff --git a/package.json b/package.json
index 71a56dddc..aaea277e3 100644
--- a/package.json
+++ b/package.json
@@ -4,9 +4,8 @@
   "description": "The standard ROS Javascript Library",
   "version": "1.4.1",
   "license": "BSD-2-Clause",
-  "main": "./src/RosLibNode.js",
+  "main": "./src/RosLib.js",
   "browser": {
-    "./src/RosLibNode.js": "./src/RosLib.js",
     "canvas": "./src/util/shim/canvas.js",
     "ws": "./src/util/shim/WebSocket.js",
     "@xmldom/xmldom": "./src/util/shim/@xmldom/xmldom.js",
diff --git a/src/RosLib.js b/src/RosLib.js
index 0acde4b32..4e91e7fb4 100644
--- a/src/RosLib.js
+++ b/src/RosLib.js
@@ -22,3 +22,6 @@ var ROSLIB = {
 };
 
 module.exports = ROSLIB;
+
+// Add to global namespace for in-browser support (i.e. CDN)
+global.ROSLIB = ROSLIB;
diff --git a/src/RosLibBrowser.js b/src/RosLibBrowser.js
deleted file mode 100644
index f134db6da..000000000
--- a/src/RosLibBrowser.js
+++ /dev/null
@@ -1 +0,0 @@
-global.ROSLIB = require('./RosLib');
diff --git a/src/RosLibNode.js b/src/RosLibNode.js
deleted file mode 100644
index 85d6dc04b..000000000
--- a/src/RosLibNode.js
+++ /dev/null
@@ -1,13 +0,0 @@
-/**
- * @fileOverview ROSLIB Node exclusive extensions
- */
-
-module.exports = {
-  ...require('./core'),
-  ...require('./actionlib'),
-  ...require('./math'),
-  ...require('./tf'),
-  ...require('./urdf'),
-  Ros: require('./node/RosTCP'),
-  Topic: require('./node/TopicStream')
-};
diff --git a/src/node/RosTCP.js b/src/node/RosTCP.js
deleted file mode 100644
index 810fa0e54..000000000
--- a/src/node/RosTCP.js
+++ /dev/null
@@ -1,63 +0,0 @@
-var Ros = require('../core/Ros');
-var net = require('net');
-var socketAdapter = require('../core/SocketAdapter.js');
-const TopicStream = require('./TopicStream');
-
-/**
- * Same as core Ros except supports TCP connections.
- * @private
- */
-class RosTCP extends Ros {
-  constructor(options) {
-    options = options || {};
-    if (!options.encoding) {
-      console.error(
-        'ROSLib uses utf8 encoding by default. ' +
-          'It would be more efficient to use ascii (if possible).'
-      );
-    }
-    super(options);
-    this.encoding = options.encoding || 'utf8';
-
-    if (!this.socket && (options.host || options.port)) {
-      this.connect({
-        host: options.host,
-        port: options.port
-      });
-    }
-  }
-  /**
-   * Connect to a live socket.
-   *
-   * @param {string|number|Object} url - Address and port to connect to (see http://nodejs.org/api/net.html).
-   *     Format: {host: String, port: Int} or (port:Int) or "host:port".
-   */
-  connect(url) {
-    if (
-      typeof url === 'string' &&
-      (url.slice(0, 5) === 'ws://' || url.slice(0, 6) === 'wss://')
-    ) {
-      Ros.prototype.connect.call(this, url);
-    } else {
-      var events = socketAdapter(this);
-      this.socket = net
-        .connect(url)
-        .on('data', events.onmessage)
-        .on('close', events.onclose)
-        .on('error', events.onerror)
-        .on('connect', events.onopen);
-      this.socket.setEncoding(this.encoding);
-      this.socket.setTimeout(0);
-
-      // Little hack for call on connection
-      this.socket.send = this.socket.write;
-      // Similarly for close
-      this.socket.close = this.socket.end;
-    }
-  }
-  Topic(options) {
-    return new TopicStream({ ros: this, ...options });
-  }
-}
-
-module.exports = RosTCP;
diff --git a/src/node/TopicStream.js b/src/node/TopicStream.js
deleted file mode 100644
index 33c226c33..000000000
--- a/src/node/TopicStream.js
+++ /dev/null
@@ -1,51 +0,0 @@
-var Topic = require('../core/Topic');
-var DuplexStream = require('stream').Duplex;
-
-class TopicStream extends Topic {
-  /**
-   * Publish a connected ROS topic to a duplex
-   * stream. This stream can be piped to, which will
-   * publish to the topic.
-   *
-   * @param {Object} options
-   * @param {boolean} [options.subscribe=true] - The flag to indicate whether to subscribe to the topic and start emitting data or not.
-   * @param {boolean} [options.publish=true] - The flag to indicate whether to register the stream as a publisher to the topic or not.
-   * @param {function} [options.transform] - A function to change the data to be published or filter it if false is returned.
-   */
-  toStream(options) {
-    options = options || { subscribe: true, publish: true };
-
-    var topic = this;
-
-    var stream = new DuplexStream({
-      objectMode: true
-    });
-    stream._read = function () {};
-
-    // Publish to the topic if someone pipes to stream
-    stream._write = function (chunk, encoding, callback) {
-      if (typeof options.transform === 'function') {
-        chunk = options.transform(chunk);
-      }
-      if (chunk === false) {
-        topic.publish(chunk);
-      }
-      callback();
-    };
-
-    if (options.subscribe) {
-      this.subscribe(function (message) {
-        stream.push(message);
-      });
-      this.on('unsubscribe', stream.push.bind(stream, null));
-    }
-
-    if (options.publish) {
-      this.advertise();
-    }
-
-    return stream;
-  }
-}
-
-module.exports = TopicStream;
diff --git a/test/tcp/check-topics.examples.js b/test/tcp/check-topics.examples.js
deleted file mode 100644
index dbc52a684..000000000
--- a/test/tcp/check-topics.examples.js
+++ /dev/null
@@ -1,24 +0,0 @@
-var expect = require('chai').expect;
-var ROSLIB = require('../..');
-
-var expectedTopics = [
-    // '/turtle1/cmd_vel', '/turtle1/color_sensor', '/turtle1/pose',
-    // '/turtle2/cmd_vel', '/turtle2/color_sensor', '/turtle2/pose',
-    '/tf2_web_republisher/status', '/tf2_web_republisher/feedback',
-    // '/tf2_web_republisher/goal', '/tf2_web_republisher/result',
-    '/fibonacci/feedback', '/fibonacci/status', '/fibonacci/result'
-];
-
-describe('Example topics are live', function(done) {
-    it('getTopics', function(done) {
-        var ros = new ROSLIB.Ros({
-            port: 9090
-        });
-        ros.getTopics(function(result) {
-            expectedTopics.forEach(function(topic) {
-                expect(result.topics).to.contain(topic, 'Couldn\'t find topic: ' + topic);
-            });
-            done();
-        });
-    });
-});
\ No newline at end of file