From 84d707d5398b7a80f55bd0df9c6d14d4cc7495b5 Mon Sep 17 00:00:00 2001
From: Matt Vollrath <matt@endpoint.com>
Date: Thu, 24 Jan 2019 17:58:11 -0800
Subject: [PATCH] Update builds for 1.0.0 (#316)

---
 build/roslib.js     | 750 ++++++++++++++++++++++++++++++++++++++++----
 build/roslib.min.js |   4 +-
 2 files changed, 688 insertions(+), 66 deletions(-)

diff --git a/build/roslib.js b/build/roslib.js
index 2193da849..ba67ba393 100644
--- a/build/roslib.js
+++ b/build/roslib.js
@@ -1,4 +1,412 @@
-(function e(t,n,r){function s(o,u){if(!n[o]){if(!t[o]){var a=typeof require=="function"&&require;if(!u&&a)return a(o,!0);if(i)return i(o,!0);var f=new Error("Cannot find module '"+o+"'");throw f.code="MODULE_NOT_FOUND",f}var l=n[o]={exports:{}};t[o][0].call(l.exports,function(e){var n=t[o][1][e];return s(n?n:e)},l,l.exports,e,t,n,r)}return n[o].exports}var i=typeof require=="function"&&require;for(var o=0;o<r.length;o++)s(r[o]);return s})({1:[function(require,module,exports){
+(function(){function r(e,n,t){function o(i,f){if(!n[i]){if(!e[i]){var c="function"==typeof require&&require;if(!f&&c)return c(i,!0);if(u)return u(i,!0);var a=new Error("Cannot find module '"+i+"'");throw a.code="MODULE_NOT_FOUND",a}var p=n[i]={exports:{}};e[i][0].call(p.exports,function(r){var n=e[i][1][r];return o(n||r)},p,p.exports,r,e,n,t)}return n[i].exports}for(var u="function"==typeof require&&require,i=0;i<t.length;i++)o(t[i]);return o}return r})()({1:[function(require,module,exports){
+/*
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2014 Patrick Gansterer <paroga@paroga.com>
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+(function(global, undefined) { "use strict";
+var POW_2_24 = Math.pow(2, -24),
+    POW_2_32 = Math.pow(2, 32),
+    POW_2_53 = Math.pow(2, 53);
+
+function encode(value) {
+  var data = new ArrayBuffer(256);
+  var dataView = new DataView(data);
+  var lastLength;
+  var offset = 0;
+
+  function ensureSpace(length) {
+    var newByteLength = data.byteLength;
+    var requiredLength = offset + length;
+    while (newByteLength < requiredLength)
+      newByteLength *= 2;
+    if (newByteLength !== data.byteLength) {
+      var oldDataView = dataView;
+      data = new ArrayBuffer(newByteLength);
+      dataView = new DataView(data);
+      var uint32count = (offset + 3) >> 2;
+      for (var i = 0; i < uint32count; ++i)
+        dataView.setUint32(i * 4, oldDataView.getUint32(i * 4));
+    }
+
+    lastLength = length;
+    return dataView;
+  }
+  function write() {
+    offset += lastLength;
+  }
+  function writeFloat64(value) {
+    write(ensureSpace(8).setFloat64(offset, value));
+  }
+  function writeUint8(value) {
+    write(ensureSpace(1).setUint8(offset, value));
+  }
+  function writeUint8Array(value) {
+    var dataView = ensureSpace(value.length);
+    for (var i = 0; i < value.length; ++i)
+      dataView.setUint8(offset + i, value[i]);
+    write();
+  }
+  function writeUint16(value) {
+    write(ensureSpace(2).setUint16(offset, value));
+  }
+  function writeUint32(value) {
+    write(ensureSpace(4).setUint32(offset, value));
+  }
+  function writeUint64(value) {
+    var low = value % POW_2_32;
+    var high = (value - low) / POW_2_32;
+    var dataView = ensureSpace(8);
+    dataView.setUint32(offset, high);
+    dataView.setUint32(offset + 4, low);
+    write();
+  }
+  function writeTypeAndLength(type, length) {
+    if (length < 24) {
+      writeUint8(type << 5 | length);
+    } else if (length < 0x100) {
+      writeUint8(type << 5 | 24);
+      writeUint8(length);
+    } else if (length < 0x10000) {
+      writeUint8(type << 5 | 25);
+      writeUint16(length);
+    } else if (length < 0x100000000) {
+      writeUint8(type << 5 | 26);
+      writeUint32(length);
+    } else {
+      writeUint8(type << 5 | 27);
+      writeUint64(length);
+    }
+  }
+  
+  function encodeItem(value) {
+    var i;
+
+    if (value === false)
+      return writeUint8(0xf4);
+    if (value === true)
+      return writeUint8(0xf5);
+    if (value === null)
+      return writeUint8(0xf6);
+    if (value === undefined)
+      return writeUint8(0xf7);
+  
+    switch (typeof value) {
+      case "number":
+        if (Math.floor(value) === value) {
+          if (0 <= value && value <= POW_2_53)
+            return writeTypeAndLength(0, value);
+          if (-POW_2_53 <= value && value < 0)
+            return writeTypeAndLength(1, -(value + 1));
+        }
+        writeUint8(0xfb);
+        return writeFloat64(value);
+
+      case "string":
+        var utf8data = [];
+        for (i = 0; i < value.length; ++i) {
+          var charCode = value.charCodeAt(i);
+          if (charCode < 0x80) {
+            utf8data.push(charCode);
+          } else if (charCode < 0x800) {
+            utf8data.push(0xc0 | charCode >> 6);
+            utf8data.push(0x80 | charCode & 0x3f);
+          } else if (charCode < 0xd800) {
+            utf8data.push(0xe0 | charCode >> 12);
+            utf8data.push(0x80 | (charCode >> 6)  & 0x3f);
+            utf8data.push(0x80 | charCode & 0x3f);
+          } else {
+            charCode = (charCode & 0x3ff) << 10;
+            charCode |= value.charCodeAt(++i) & 0x3ff;
+            charCode += 0x10000;
+
+            utf8data.push(0xf0 | charCode >> 18);
+            utf8data.push(0x80 | (charCode >> 12)  & 0x3f);
+            utf8data.push(0x80 | (charCode >> 6)  & 0x3f);
+            utf8data.push(0x80 | charCode & 0x3f);
+          }
+        }
+
+        writeTypeAndLength(3, utf8data.length);
+        return writeUint8Array(utf8data);
+
+      default:
+        var length;
+        if (Array.isArray(value)) {
+          length = value.length;
+          writeTypeAndLength(4, length);
+          for (i = 0; i < length; ++i)
+            encodeItem(value[i]);
+        } else if (value instanceof Uint8Array) {
+          writeTypeAndLength(2, value.length);
+          writeUint8Array(value);
+        } else {
+          var keys = Object.keys(value);
+          length = keys.length;
+          writeTypeAndLength(5, length);
+          for (i = 0; i < length; ++i) {
+            var key = keys[i];
+            encodeItem(key);
+            encodeItem(value[key]);
+          }
+        }
+    }
+  }
+  
+  encodeItem(value);
+
+  if ("slice" in data)
+    return data.slice(0, offset);
+  
+  var ret = new ArrayBuffer(offset);
+  var retView = new DataView(ret);
+  for (var i = 0; i < offset; ++i)
+    retView.setUint8(i, dataView.getUint8(i));
+  return ret;
+}
+
+function decode(data, tagger, simpleValue) {
+  var dataView = new DataView(data);
+  var offset = 0;
+  
+  if (typeof tagger !== "function")
+    tagger = function(value) { return value; };
+  if (typeof simpleValue !== "function")
+    simpleValue = function() { return undefined; };
+
+  function read(value, length) {
+    offset += length;
+    return value;
+  }
+  function readArrayBuffer(length) {
+    return read(new Uint8Array(data, offset, length), length);
+  }
+  function readFloat16() {
+    var tempArrayBuffer = new ArrayBuffer(4);
+    var tempDataView = new DataView(tempArrayBuffer);
+    var value = readUint16();
+
+    var sign = value & 0x8000;
+    var exponent = value & 0x7c00;
+    var fraction = value & 0x03ff;
+    
+    if (exponent === 0x7c00)
+      exponent = 0xff << 10;
+    else if (exponent !== 0)
+      exponent += (127 - 15) << 10;
+    else if (fraction !== 0)
+      return fraction * POW_2_24;
+    
+    tempDataView.setUint32(0, sign << 16 | exponent << 13 | fraction << 13);
+    return tempDataView.getFloat32(0);
+  }
+  function readFloat32() {
+    return read(dataView.getFloat32(offset), 4);
+  }
+  function readFloat64() {
+    return read(dataView.getFloat64(offset), 8);
+  }
+  function readUint8() {
+    return read(dataView.getUint8(offset), 1);
+  }
+  function readUint16() {
+    return read(dataView.getUint16(offset), 2);
+  }
+  function readUint32() {
+    return read(dataView.getUint32(offset), 4);
+  }
+  function readUint64() {
+    return readUint32() * POW_2_32 + readUint32();
+  }
+  function readBreak() {
+    if (dataView.getUint8(offset) !== 0xff)
+      return false;
+    offset += 1;
+    return true;
+  }
+  function readLength(additionalInformation) {
+    if (additionalInformation < 24)
+      return additionalInformation;
+    if (additionalInformation === 24)
+      return readUint8();
+    if (additionalInformation === 25)
+      return readUint16();
+    if (additionalInformation === 26)
+      return readUint32();
+    if (additionalInformation === 27)
+      return readUint64();
+    if (additionalInformation === 31)
+      return -1;
+    throw "Invalid length encoding";
+  }
+  function readIndefiniteStringLength(majorType) {
+    var initialByte = readUint8();
+    if (initialByte === 0xff)
+      return -1;
+    var length = readLength(initialByte & 0x1f);
+    if (length < 0 || (initialByte >> 5) !== majorType)
+      throw "Invalid indefinite length element";
+    return length;
+  }
+
+  function appendUtf16data(utf16data, length) {
+    for (var i = 0; i < length; ++i) {
+      var value = readUint8();
+      if (value & 0x80) {
+        if (value < 0xe0) {
+          value = (value & 0x1f) <<  6
+                | (readUint8() & 0x3f);
+          length -= 1;
+        } else if (value < 0xf0) {
+          value = (value & 0x0f) << 12
+                | (readUint8() & 0x3f) << 6
+                | (readUint8() & 0x3f);
+          length -= 2;
+        } else {
+          value = (value & 0x0f) << 18
+                | (readUint8() & 0x3f) << 12
+                | (readUint8() & 0x3f) << 6
+                | (readUint8() & 0x3f);
+          length -= 3;
+        }
+      }
+
+      if (value < 0x10000) {
+        utf16data.push(value);
+      } else {
+        value -= 0x10000;
+        utf16data.push(0xd800 | (value >> 10));
+        utf16data.push(0xdc00 | (value & 0x3ff));
+      }
+    }
+  }
+
+  function decodeItem() {
+    var initialByte = readUint8();
+    var majorType = initialByte >> 5;
+    var additionalInformation = initialByte & 0x1f;
+    var i;
+    var length;
+
+    if (majorType === 7) {
+      switch (additionalInformation) {
+        case 25:
+          return readFloat16();
+        case 26:
+          return readFloat32();
+        case 27:
+          return readFloat64();
+      }
+    }
+
+    length = readLength(additionalInformation);
+    if (length < 0 && (majorType < 2 || 6 < majorType))
+      throw "Invalid length";
+
+    switch (majorType) {
+      case 0:
+        return length;
+      case 1:
+        return -1 - length;
+      case 2:
+        if (length < 0) {
+          var elements = [];
+          var fullArrayLength = 0;
+          while ((length = readIndefiniteStringLength(majorType)) >= 0) {
+            fullArrayLength += length;
+            elements.push(readArrayBuffer(length));
+          }
+          var fullArray = new Uint8Array(fullArrayLength);
+          var fullArrayOffset = 0;
+          for (i = 0; i < elements.length; ++i) {
+            fullArray.set(elements[i], fullArrayOffset);
+            fullArrayOffset += elements[i].length;
+          }
+          return fullArray;
+        }
+        return readArrayBuffer(length);
+      case 3:
+        var utf16data = [];
+        if (length < 0) {
+          while ((length = readIndefiniteStringLength(majorType)) >= 0)
+            appendUtf16data(utf16data, length);
+        } else
+          appendUtf16data(utf16data, length);
+        return String.fromCharCode.apply(null, utf16data);
+      case 4:
+        var retArray;
+        if (length < 0) {
+          retArray = [];
+          while (!readBreak())
+            retArray.push(decodeItem());
+        } else {
+          retArray = new Array(length);
+          for (i = 0; i < length; ++i)
+            retArray[i] = decodeItem();
+        }
+        return retArray;
+      case 5:
+        var retObject = {};
+        for (i = 0; i < length || length < 0 && !readBreak(); ++i) {
+          var key = decodeItem();
+          retObject[key] = decodeItem();
+        }
+        return retObject;
+      case 6:
+        return tagger(decodeItem(), length);
+      case 7:
+        switch (length) {
+          case 20:
+            return false;
+          case 21:
+            return true;
+          case 22:
+            return null;
+          case 23:
+            return undefined;
+          default:
+            return simpleValue(length);
+        }
+    }
+  }
+
+  var ret = decodeItem();
+  if (offset !== data.byteLength)
+    throw "Remaining bytes";
+  return ret;
+}
+
+var obj = { encode: encode, decode: decode };
+
+if (typeof define === "function" && define.amd)
+  define("cbor/cbor", obj);
+else if (typeof module !== 'undefined' && module.exports)
+  module.exports = obj;
+else if (!global.CBOR)
+  global.CBOR = obj;
+
+})(this);
+
+},{}],2:[function(require,module,exports){
 /*!
  * EventEmitter2
  * https://github.com/hij1nx/EventEmitter2
@@ -722,7 +1130,7 @@
   }
 }();
 
-},{}],2:[function(require,module,exports){
+},{}],3:[function(require,module,exports){
 /*
 object-assign
 (c) Sindre Sorhus
@@ -814,7 +1222,7 @@ module.exports = shouldUseNative() ? Object.assign : function (target, source) {
 	return to;
 };
 
-},{}],3:[function(require,module,exports){
+},{}],4:[function(require,module,exports){
 /**
  * @fileOverview
  * @author Russell Toris - rctoris@wpi.edu
@@ -826,7 +1234,7 @@ module.exports = shouldUseNative() ? Object.assign : function (target, source) {
  * If you use nodejs, this is the variable you get when you require('roslib')
  */
 var ROSLIB = this.ROSLIB || {
-  REVISION : '0.20.0'
+  REVISION : '1.0.0'
 };
 
 var assign = require('object-assign');
@@ -844,11 +1252,11 @@ assign(ROSLIB, require('./urdf'));
 
 module.exports = ROSLIB;
 
-},{"./actionlib":9,"./core":18,"./math":23,"./tf":26,"./urdf":38,"object-assign":2}],4:[function(require,module,exports){
+},{"./actionlib":10,"./core":19,"./math":24,"./tf":27,"./urdf":39,"object-assign":3}],5:[function(require,module,exports){
 (function (global){
 global.ROSLIB = require('./RosLib');
 }).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})
-},{"./RosLib":3}],5:[function(require,module,exports){
+},{"./RosLib":4}],6:[function(require,module,exports){
 /**
  * @fileOverview
  * @author Russell Toris - rctoris@wpi.edu
@@ -993,7 +1401,7 @@ ActionClient.prototype.dispose = function() {
 
 module.exports = ActionClient;
 
-},{"../core/Message":10,"../core/Topic":17,"eventemitter2":1}],6:[function(require,module,exports){
+},{"../core/Message":11,"../core/Topic":18,"eventemitter2":2}],7:[function(require,module,exports){
 /**
  * @fileOverview
  * @author Justin Young - justin@oodar.com.au
@@ -1082,7 +1490,7 @@ ActionListener.prototype.__proto__ = EventEmitter2.prototype;
 
 module.exports = ActionListener;
 
-},{"../core/Message":10,"../core/Topic":17,"eventemitter2":1}],7:[function(require,module,exports){
+},{"../core/Message":11,"../core/Topic":18,"eventemitter2":2}],8:[function(require,module,exports){
 /**
  * @fileOverview
  * @author Russell Toris - rctoris@wpi.edu
@@ -1172,7 +1580,7 @@ Goal.prototype.cancel = function() {
 };
 
 module.exports = Goal;
-},{"../core/Message":10,"eventemitter2":1}],8:[function(require,module,exports){
+},{"../core/Message":11,"eventemitter2":2}],9:[function(require,module,exports){
 /**
  * @fileOverview
  * @author Laura Lindzey - lindzey@gmail.com
@@ -1381,7 +1789,7 @@ SimpleActionServer.prototype.setPreempted = function() {
 };
 
 module.exports = SimpleActionServer;
-},{"../core/Message":10,"../core/Topic":17,"eventemitter2":1}],9:[function(require,module,exports){
+},{"../core/Message":11,"../core/Topic":18,"eventemitter2":2}],10:[function(require,module,exports){
 var Ros = require('../core/Ros');
 var mixin = require('../mixin');
 
@@ -1394,7 +1802,7 @@ var action = module.exports = {
 
 mixin(Ros, ['ActionClient', 'SimpleActionServer'], action);
 
-},{"../core/Ros":12,"../mixin":24,"./ActionClient":5,"./ActionListener":6,"./Goal":7,"./SimpleActionServer":8}],10:[function(require,module,exports){
+},{"../core/Ros":13,"../mixin":25,"./ActionClient":6,"./ActionListener":7,"./Goal":8,"./SimpleActionServer":9}],11:[function(require,module,exports){
 /**
  * @fileoverview
  * @author Brandon Alexander - baalexander@gmail.com
@@ -1413,7 +1821,7 @@ function Message(values) {
 }
 
 module.exports = Message;
-},{"object-assign":2}],11:[function(require,module,exports){
+},{"object-assign":3}],12:[function(require,module,exports){
 /**
  * @fileoverview
  * @author Brandon Alexander - baalexander@gmail.com
@@ -1497,7 +1905,7 @@ Param.prototype.delete = function(callback) {
 };
 
 module.exports = Param;
-},{"./Service":13,"./ServiceRequest":14}],12:[function(require,module,exports){
+},{"./Service":14,"./ServiceRequest":15}],13:[function(require,module,exports){
 /**
  * @fileoverview
  * @author Brandon Alexander - baalexander@gmail.com
@@ -1569,8 +1977,12 @@ Ros.prototype.connect = function(url) {
     this.socket.on('error', this.socket.onerror);
   } else if (this.transportLibrary.constructor.name === 'RTCPeerConnection') {
     this.socket = assign(this.transportLibrary.createDataChannel(url, this.transportOptions), socketAdapter(this));
-  }else {
-    this.socket = assign(new WebSocket(url), socketAdapter(this));
+  } else {
+    if (!this.socket || this.socket.readyState === WebSocket.CLOSED) {
+      var sock = new WebSocket(url);
+      sock.binaryType = 'arraybuffer';
+      this.socket = assign(sock, socketAdapter(this));
+    }
   }
 
 };
@@ -2118,7 +2530,7 @@ Ros.prototype.decodeTypeDefs = function(defs) {
 
 module.exports = Ros;
 
-},{"./Service":13,"./ServiceRequest":14,"./SocketAdapter.js":16,"eventemitter2":1,"object-assign":2,"ws":39}],13:[function(require,module,exports){
+},{"./Service":14,"./ServiceRequest":15,"./SocketAdapter.js":17,"eventemitter2":2,"object-assign":3,"ws":41}],14:[function(require,module,exports){
 /**
  * @fileoverview
  * @author Brandon Alexander - baalexander@gmail.com
@@ -2148,7 +2560,8 @@ function Service(options) {
 }
 Service.prototype.__proto__ = EventEmitter2.prototype;
 /**
- * Calls the service. Returns the service response in the callback.
+ * Calls the service. Returns the service response in the
+ * callback. Does nothing if this service is currently advertised.
  *
  * @param request - the ROSLIB.ServiceRequest to send
  * @param callback - function with params:
@@ -2179,17 +2592,22 @@ Service.prototype.callService = function(request, callback, failedCallback) {
     op : 'call_service',
     id : serviceCallId,
     service : this.name,
+    type: this.serviceType,
     args : request
   };
   this.ros.callOnConnection(call);
 };
 
 /**
- * Every time a message is published for the given topic, the callback
- * will be called with the message object.
+ * Advertise the service. This turns the Service object from a client
+ * into a server. The callback will be called with every request
+ * that's made on this service.
  *
- * @param callback - function with the following params:
- *   * message - the published message
+ * @param callback - This works similarly to the callback for a C++ service and should take the following params:
+ *   * request - the service request
+ *   * response - an empty dictionary. Take care not to overwrite this. Instead, only modify the values within.
+ *   It should return true if the service has finished successfully,
+ *   i.e. without any fatal errors.
  */
 Service.prototype.advertise = function(callback) {
   if (this.isAdvertised || typeof callback !== 'function') {
@@ -2236,7 +2654,8 @@ Service.prototype._serviceResponse = function(rosbridgeRequest) {
 };
 
 module.exports = Service;
-},{"./ServiceRequest":14,"./ServiceResponse":15,"eventemitter2":1}],14:[function(require,module,exports){
+
+},{"./ServiceRequest":15,"./ServiceResponse":16,"eventemitter2":2}],15:[function(require,module,exports){
 /**
  * @fileoverview
  * @author Brandon Alexander - balexander@willowgarage.com
@@ -2255,7 +2674,7 @@ function ServiceRequest(values) {
 }
 
 module.exports = ServiceRequest;
-},{"object-assign":2}],15:[function(require,module,exports){
+},{"object-assign":3}],16:[function(require,module,exports){
 /**
  * @fileoverview
  * @author Brandon Alexander - balexander@willowgarage.com
@@ -2274,7 +2693,7 @@ function ServiceResponse(values) {
 }
 
 module.exports = ServiceResponse;
-},{"object-assign":2}],16:[function(require,module,exports){
+},{"object-assign":3}],17:[function(require,module,exports){
 /**
  * Socket event handling utilities for handling events on either
  * WebSocket and TCP sockets
@@ -2286,6 +2705,8 @@ module.exports = ServiceResponse;
 'use strict';
 
 var decompressPng = require('../util/decompressPng');
+var CBOR = require('cbor-js');
+var typedArrayTagger = require('../util/cborTypedArrayTags');
 var WebSocket = require('ws');
 var BSON = null;
 if(typeof bson !== 'undefined'){
@@ -2383,6 +2804,9 @@ function SocketAdapter(client) {
         decodeBSON(data.data, function (message) {
           handlePng(message, handleMessage);
         });
+      } else if (data.data instanceof ArrayBuffer) {
+        var decoded = CBOR.decode(data.data, typedArrayTagger);
+        handleMessage(decoded);
       } else {
         var message = JSON.parse(typeof data === 'string' ? data : data.data);
         handlePng(message, handleMessage);
@@ -2393,7 +2817,7 @@ function SocketAdapter(client) {
 
 module.exports = SocketAdapter;
 
-},{"../util/decompressPng":41,"ws":39}],17:[function(require,module,exports){
+},{"../util/cborTypedArrayTags":40,"../util/decompressPng":43,"cbor-js":1,"ws":41}],18:[function(require,module,exports){
 /**
  * @fileoverview
  * @author Brandon Alexander - baalexander@gmail.com
@@ -2414,7 +2838,7 @@ var Message = require('./Message');
  *   * ros - the ROSLIB.Ros connection handle
  *   * name - the topic name, like /cmd_vel
  *   * messageType - the message type, like 'std_msgs/String'
- *   * compression - the type of compression to use, like 'png'
+ *   * compression - the type of compression to use, like 'png' or 'cbor'
  *   * throttle_rate - the rate (in ms in between messages) at which to throttle the topics
  *   * queue_size - the queue created at bridge side for re-publishing webtopics (defaults to 100)
  *   * latch - latch the topic when publishing
@@ -2436,9 +2860,10 @@ function Topic(options) {
 
   // Check for valid compression types
   if (this.compression && this.compression !== 'png' &&
-    this.compression !== 'none') {
+    this.compression !== 'cbor' && this.compression !== 'none') {
     this.emit('warning', this.compression +
       ' compression is not supported. No compression will be used.');
+    this.compression = 'none';
   }
 
   // Check if throttle rate is negative
@@ -2601,7 +3026,7 @@ Topic.prototype.publish = function(message) {
 
 module.exports = Topic;
 
-},{"./Message":10,"eventemitter2":1}],18:[function(require,module,exports){
+},{"./Message":11,"eventemitter2":2}],19:[function(require,module,exports){
 var mixin = require('../mixin');
 
 var core = module.exports = {
@@ -2616,7 +3041,7 @@ var core = module.exports = {
 
 mixin(core.Ros, ['Param', 'Service', 'Topic'], core);
 
-},{"../mixin":24,"./Message":10,"./Param":11,"./Ros":12,"./Service":13,"./ServiceRequest":14,"./ServiceResponse":15,"./Topic":17}],19:[function(require,module,exports){
+},{"../mixin":25,"./Message":11,"./Param":12,"./Ros":13,"./Service":14,"./ServiceRequest":15,"./ServiceResponse":16,"./Topic":18}],20:[function(require,module,exports){
 /**
  * @fileoverview
  * @author David Gossow - dgossow@willowgarage.com
@@ -2662,8 +3087,34 @@ Pose.prototype.clone = function() {
   return new Pose(this);
 };
 
+/**
+ * Multiplies this pose with another pose without altering this pose.
+ *
+ * @returns Result of multiplication.
+ */
+Pose.prototype.multiply = function(pose) {
+  var p = pose.clone();
+  p.applyTransform({ rotation: this.orientation, translation: this.position });
+  return p;
+};
+
+/**
+ * Computes the inverse of this pose.
+ *
+ * @returns Inverse of pose.
+ */
+Pose.prototype.getInverse = function() {
+  var inverse = this.clone();
+  inverse.orientation.invert();
+  inverse.position.multiplyQuaternion(inverse.orientation);
+  inverse.position.x *= -1;
+  inverse.position.y *= -1;
+  inverse.position.z *= -1;
+  return inverse;
+};
+
 module.exports = Pose;
-},{"./Quaternion":20,"./Vector3":22}],20:[function(require,module,exports){
+},{"./Quaternion":21,"./Vector3":23}],21:[function(require,module,exports){
 /**
  * @fileoverview
  * @author David Gossow - dgossow@willowgarage.com
@@ -2757,7 +3208,7 @@ Quaternion.prototype.clone = function() {
 
 module.exports = Quaternion;
 
-},{}],21:[function(require,module,exports){
+},{}],22:[function(require,module,exports){
 /**
  * @fileoverview
  * @author David Gossow - dgossow@willowgarage.com
@@ -2791,7 +3242,7 @@ Transform.prototype.clone = function() {
 };
 
 module.exports = Transform;
-},{"./Quaternion":20,"./Vector3":22}],22:[function(require,module,exports){
+},{"./Quaternion":21,"./Vector3":23}],23:[function(require,module,exports){
 /**
  * @fileoverview
  * @author David Gossow - dgossow@willowgarage.com
@@ -2860,7 +3311,7 @@ Vector3.prototype.clone = function() {
 };
 
 module.exports = Vector3;
-},{}],23:[function(require,module,exports){
+},{}],24:[function(require,module,exports){
 module.exports = {
     Pose: require('./Pose'),
     Quaternion: require('./Quaternion'),
@@ -2868,7 +3319,7 @@ module.exports = {
     Vector3: require('./Vector3')
 };
 
-},{"./Pose":19,"./Quaternion":20,"./Transform":21,"./Vector3":22}],24:[function(require,module,exports){
+},{"./Pose":20,"./Quaternion":21,"./Transform":22,"./Vector3":23}],25:[function(require,module,exports){
 /**
  * Mixin a feature to the core/Ros prototype.
  * For example, mixin(Ros, ['Topic'], {Topic: <Topic>})
@@ -2887,7 +3338,7 @@ module.exports = function(Ros, classes, features) {
     });
 };
 
-},{}],25:[function(require,module,exports){
+},{}],26:[function(require,module,exports){
 /**
  * @fileoverview
  * @author David Gossow - dgossow@willowgarage.com
@@ -3108,7 +3559,7 @@ TFClient.prototype.dispose = function() {
 
 module.exports = TFClient;
 
-},{"../actionlib/ActionClient":5,"../actionlib/Goal":7,"../core/Service.js":13,"../core/ServiceRequest.js":14,"../math/Transform":21}],26:[function(require,module,exports){
+},{"../actionlib/ActionClient":6,"../actionlib/Goal":8,"../core/Service.js":14,"../core/ServiceRequest.js":15,"../math/Transform":22}],27:[function(require,module,exports){
 var Ros = require('../core/Ros');
 var mixin = require('../mixin');
 
@@ -3117,7 +3568,7 @@ var tf = module.exports = {
 };
 
 mixin(Ros, ['TFClient'], tf);
-},{"../core/Ros":12,"../mixin":24,"./TFClient":25}],27:[function(require,module,exports){
+},{"../core/Ros":13,"../mixin":25,"./TFClient":26}],28:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -3148,7 +3599,7 @@ function UrdfBox(options) {
 }
 
 module.exports = UrdfBox;
-},{"../math/Vector3":22,"./UrdfTypes":36}],28:[function(require,module,exports){
+},{"../math/Vector3":23,"./UrdfTypes":37}],29:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -3172,7 +3623,7 @@ function UrdfColor(options) {
 }
 
 module.exports = UrdfColor;
-},{}],29:[function(require,module,exports){
+},{}],30:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -3195,12 +3646,16 @@ function UrdfCylinder(options) {
 }
 
 module.exports = UrdfCylinder;
-},{"./UrdfTypes":36}],30:[function(require,module,exports){
+},{"./UrdfTypes":37}],31:[function(require,module,exports){
 /**
  * @fileOverview
  * @author David V. Lu!!  davidvlu@gmail.com
  */
 
+var Pose = require('../math/Pose');
+var Vector3 = require('../math/Vector3');
+var Quaternion = require('../math/Quaternion');
+
 /**
  * A Joint element in a URDF.
  *
@@ -3227,11 +3682,64 @@ function UrdfJoint(options) {
     this.minval = parseFloat( limits[0].getAttribute('lower') );
     this.maxval = parseFloat( limits[0].getAttribute('upper') );
   }
+
+  // Origin
+  var origins = options.xml.getElementsByTagName('origin');
+  if (origins.length === 0) {
+    // use the identity as the default
+    this.origin = new Pose();
+  } else {
+    // Check the XYZ
+    var xyz = origins[0].getAttribute('xyz');
+    var position = new Vector3();
+    if (xyz) {
+      xyz = xyz.split(' ');
+      position = new Vector3({
+        x : parseFloat(xyz[0]),
+        y : parseFloat(xyz[1]),
+        z : parseFloat(xyz[2])
+      });
+    }
+
+    // Check the RPY
+    var rpy = origins[0].getAttribute('rpy');
+    var orientation = new Quaternion();
+    if (rpy) {
+      rpy = rpy.split(' ');
+      // Convert from RPY
+      var roll = parseFloat(rpy[0]);
+      var pitch = parseFloat(rpy[1]);
+      var yaw = parseFloat(rpy[2]);
+      var phi = roll / 2.0;
+      var the = pitch / 2.0;
+      var psi = yaw / 2.0;
+      var x = Math.sin(phi) * Math.cos(the) * Math.cos(psi) - Math.cos(phi) * Math.sin(the)
+          * Math.sin(psi);
+      var y = Math.cos(phi) * Math.sin(the) * Math.cos(psi) + Math.sin(phi) * Math.cos(the)
+          * Math.sin(psi);
+      var z = Math.cos(phi) * Math.cos(the) * Math.sin(psi) - Math.sin(phi) * Math.sin(the)
+          * Math.cos(psi);
+      var w = Math.cos(phi) * Math.cos(the) * Math.cos(psi) + Math.sin(phi) * Math.sin(the)
+          * Math.sin(psi);
+
+      orientation = new Quaternion({
+        x : x,
+        y : y,
+        z : z,
+        w : w
+      });
+      orientation.normalize();
+    }
+    this.origin = new Pose({
+      position : position,
+      orientation : orientation
+    });
+  }
 }
 
 module.exports = UrdfJoint;
 
-},{}],31:[function(require,module,exports){
+},{"../math/Pose":20,"../math/Quaternion":21,"../math/Vector3":23}],32:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -3260,7 +3768,7 @@ function UrdfLink(options) {
 }
 
 module.exports = UrdfLink;
-},{"./UrdfVisual":37}],32:[function(require,module,exports){
+},{"./UrdfVisual":38}],33:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -3310,7 +3818,7 @@ UrdfMaterial.prototype.assign = function(obj) {
 
 module.exports = UrdfMaterial;
 
-},{"./UrdfColor":28,"object-assign":2}],33:[function(require,module,exports){
+},{"./UrdfColor":29,"object-assign":3}],34:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -3347,7 +3855,7 @@ function UrdfMesh(options) {
 }
 
 module.exports = UrdfMesh;
-},{"../math/Vector3":22,"./UrdfTypes":36}],34:[function(require,module,exports){
+},{"../math/Vector3":23,"./UrdfTypes":37}],35:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -3444,7 +3952,7 @@ function UrdfModel(options) {
 
 module.exports = UrdfModel;
 
-},{"./UrdfJoint":30,"./UrdfLink":31,"./UrdfMaterial":32,"xmldom":42}],35:[function(require,module,exports){
+},{"./UrdfJoint":31,"./UrdfLink":32,"./UrdfMaterial":33,"xmldom":44}],36:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -3466,7 +3974,7 @@ function UrdfSphere(options) {
 }
 
 module.exports = UrdfSphere;
-},{"./UrdfTypes":36}],36:[function(require,module,exports){
+},{"./UrdfTypes":37}],37:[function(require,module,exports){
 module.exports = {
 	URDF_SPHERE : 0,
 	URDF_BOX : 1,
@@ -3474,7 +3982,7 @@ module.exports = {
 	URDF_MESH : 3
 };
 
-},{}],37:[function(require,module,exports){
+},{}],38:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -3603,7 +4111,7 @@ function UrdfVisual(options) {
 }
 
 module.exports = UrdfVisual;
-},{"../math/Pose":19,"../math/Quaternion":20,"../math/Vector3":22,"./UrdfBox":27,"./UrdfCylinder":29,"./UrdfMaterial":32,"./UrdfMesh":33,"./UrdfSphere":35}],38:[function(require,module,exports){
+},{"../math/Pose":20,"../math/Quaternion":21,"../math/Vector3":23,"./UrdfBox":28,"./UrdfCylinder":30,"./UrdfMaterial":33,"./UrdfMesh":34,"./UrdfSphere":36}],39:[function(require,module,exports){
 module.exports = require('object-assign')({
     UrdfBox: require('./UrdfBox'),
     UrdfColor: require('./UrdfColor'),
@@ -3616,17 +4124,132 @@ module.exports = require('object-assign')({
     UrdfVisual: require('./UrdfVisual')
 }, require('./UrdfTypes'));
 
-},{"./UrdfBox":27,"./UrdfColor":28,"./UrdfCylinder":29,"./UrdfLink":31,"./UrdfMaterial":32,"./UrdfMesh":33,"./UrdfModel":34,"./UrdfSphere":35,"./UrdfTypes":36,"./UrdfVisual":37,"object-assign":2}],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 : {})
-},{}],40:[function(require,module,exports){
+},{"./UrdfBox":28,"./UrdfColor":29,"./UrdfCylinder":30,"./UrdfLink":32,"./UrdfMaterial":33,"./UrdfMesh":34,"./UrdfModel":35,"./UrdfSphere":36,"./UrdfTypes":37,"./UrdfVisual":38,"object-assign":3}],40:[function(require,module,exports){
+'use strict';
+
+var UPPER32 = Math.pow(2, 32);
+
+var warnedPrecision = false;
+function warnPrecision() {
+  if (!warnedPrecision) {
+    warnedPrecision = true;
+    console.warn('CBOR 64-bit integer array values may lose precision. No further warnings.');
+  }
+}
+
+/**
+ * Unpacks 64-bit unsigned integer from byte array.
+ * @param {Uint8Array} bytes
+*/
+function decodeUint64LE(bytes) {
+  warnPrecision();
+
+  var byteLen = bytes.byteLength;
+  var arrLen = byteLen / 8;
+
+  var buffer = bytes.buffer.slice(-byteLen);
+  var uint32View = new Uint32Array(buffer);
+
+  var arr = new Array(arrLen);
+  for (var i = 0; i < arrLen; i++) {
+    var si = i * 2;
+    var lo = uint32View[si];
+    var hi = uint32View[si+1];
+    arr[i] = lo + UPPER32 * hi;
+  }
+
+  return arr;
+}
+
+/**
+ * Unpacks 64-bit signed integer from byte array.
+ * @param {Uint8Array} bytes
+*/
+function decodeInt64LE(bytes) {
+  warnPrecision();
+
+  var byteLen = bytes.byteLength;
+  var arrLen = byteLen / 8;
+
+  var buffer = bytes.buffer.slice(-byteLen);
+  var uint32View = new Uint32Array(buffer);
+  var int32View = new Int32Array(buffer);
+
+  var arr = new Array(arrLen);
+  for (var i = 0; i < arrLen; i++) {
+    var si = i * 2;
+    var lo = uint32View[si];
+    var hi = int32View[si+1];
+    arr[i] = lo + UPPER32 * hi;
+  }
+
+  return arr;
+}
+
+/**
+ * Unpacks typed array from byte array.
+ * @param {Uint8Array} bytes
+ * @param {type} ArrayType - desired output array type
+*/
+function decodeNativeArray(bytes, ArrayType) {
+  var byteLen = bytes.byteLength;
+  var buffer = bytes.buffer.slice(-byteLen);
+  return new ArrayType(buffer);
+}
+
+/**
+ * Support a subset of draft CBOR typed array tags:
+ *   <https://tools.ietf.org/html/draft-ietf-cbor-array-tags-00>
+ * Only support little-endian tags for now.
+ */
+var nativeArrayTypes = {
+  64: Uint8Array,
+  69: Uint16Array,
+  70: Uint32Array,
+  72: Int8Array,
+  77: Int16Array,
+  78: Int32Array,
+  85: Float32Array,
+  86: Float64Array
+};
+
+/**
+ * We can also decode 64-bit integer arrays, since ROS has these types.
+ */
+var conversionArrayTypes = {
+  71: decodeUint64LE,
+  79: decodeInt64LE
+};
+
+/**
+ * Handles CBOR typed array tags during decoding.
+ * @param {Uint8Array} data
+ * @param {Number} tag
+ */
+function cborTypedArrayTagger(data, tag) {
+  if (tag in nativeArrayTypes) {
+    var arrayType = nativeArrayTypes[tag];
+    return decodeNativeArray(data, arrayType);
+  }
+  if (tag in conversionArrayTypes) {
+    return conversionArrayTypes[tag](data);
+  }
+  return data;
+}
+
+if (typeof module !== 'undefined' && module.exports) {
+  module.exports = cborTypedArrayTagger;
+}
+
+},{}],41:[function(require,module,exports){
+module.exports = window.WebSocket;
+
+},{}],42:[function(require,module,exports){
 /* global document */
 module.exports = function Canvas() {
 	return document.createElement('canvas');
 };
-},{}],41:[function(require,module,exports){
-(function (global){
+},{}],43:[function(require,module,exports){
 /**
  * @fileOverview
  * @author Graeme Yeates - github.com/megawac
@@ -3635,7 +4258,7 @@ module.exports = function Canvas() {
 'use strict';
 
 var Canvas = require('canvas');
-var Image = Canvas.Image || global.Image;
+var Image = Canvas.Image || window.Image;
 
 /**
  * If a message was compressed as a PNG image (a compression hack since
@@ -3683,11 +4306,10 @@ function decompressPng(data, callback) {
 }
 
 module.exports = decompressPng;
-}).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})
-},{"canvas":40}],42:[function(require,module,exports){
-(function (global){
-exports.DOMImplementation = global.DOMImplementation;
-exports.XMLSerializer = global.XMLSerializer;
-exports.DOMParser = global.DOMParser;
-}).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})
-},{}]},{},[4]);
+
+},{"canvas":42}],44:[function(require,module,exports){
+exports.DOMImplementation = window.DOMImplementation;
+exports.XMLSerializer = window.XMLSerializer;
+exports.DOMParser = window.DOMParser;
+
+},{}]},{},[5]);
diff --git a/build/roslib.min.js b/build/roslib.min.js
index 71176ee00..d6efd9f18 100644
--- a/build/roslib.min.js
+++ b/build/roslib.min.js
@@ -1,2 +1,2 @@
-!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){!function(a){function d(){this._events={},this._conf&&e.call(this,this._conf)}function e(b){b?(this._conf=b,b.delimiter&&(this.delimiter=b.delimiter),this._events.maxListeners=b.maxListeners!==a?b.maxListeners:k,b.wildcard&&(this.wildcard=b.wildcard),b.newListener&&(this.newListener=b.newListener),b.verboseMemoryLeak&&(this.verboseMemoryLeak=b.verboseMemoryLeak),this.wildcard&&(this.listenerTree={})):this._events.maxListeners=k}function f(a,b){var c="(node) warning: possible EventEmitter memory leak detected. %d listeners added. Use emitter.setMaxListeners() to increase limit.";this.verboseMemoryLeak?(c+=" Event name: %s.",console.error(c,a,b)):console.error(c,a),console.trace&&console.trace()}function g(a){this._events={},this.newListener=!1,this.verboseMemoryLeak=!1,e.call(this,a)}function h(a,b,c,d){if(!c)return[];var e,f,g,i,j,k,l,m=[],n=b.length,o=b[d],p=b[d+1];if(d===n&&c._listeners){if("function"==typeof c._listeners)return a&&a.push(c._listeners),[c];for(e=0,f=c._listeners.length;e<f;e++)a&&a.push(c._listeners[e]);return[c]}if("*"===o||"**"===o||c[o]){if("*"===o){for(g in c)"_listeners"!==g&&c.hasOwnProperty(g)&&(m=m.concat(h(a,b,c[g],d+1)));return m}if("**"===o){l=d+1===n||d+2===n&&"*"===p,l&&c._listeners&&(m=m.concat(h(a,b,c,n)));for(g in c)"_listeners"!==g&&c.hasOwnProperty(g)&&("*"===g||"**"===g?(c[g]._listeners&&!l&&(m=m.concat(h(a,b,c[g],n))),m=m.concat(h(a,b,c[g],d))):m=g===p?m.concat(h(a,b,c[g],d+2)):m.concat(h(a,b,c[g],d)));return 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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)},d.prototype.dispose=function(){this.goalTopic.unadvertise(),this.cancelTopic.unadvertise(),this.omitStatus||this.statusListener.unsubscribe(),this.omitFeedback||this.feedbackListener.unsubscribe(),this.omitResult||this.resultListener.unsubscribe()},b.exports=d},{"../core/Message":10,"../core/Topic":17,eventemitter2:1}],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.timeout=a.timeout,this.omitFeedback=a.omitFeedback,this.omitStatus=a.omitStatus,this.omitResult=a.omitResult;var c=new e({ros:this.ros,name:this.serverName+"/goal",messageType:this.actionName+"Goal"}),d=new e({ros:this.ros,name:this.serverName+"/feedback",messageType:this.actionName+"Feedback"}),f=new 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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)&&(a.secs<b.secs||a.nsecs<b.nsecs)};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 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g({ros:this,name:"/rosapi/action_servers",serviceType:"rosapi/GetActionServers"}),d=new h({});"function"==typeof b?c.callService(d,function(b){a(b.action_servers)},function(a){b(a)}):c.callService(d,function(b){a(b.action_servers)})},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)},function(a){b(a)}):c.callService(d,function(b){a(b)})},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.getServiceRequestDetails=function(a,b,c){var d=new g({ros:this,name:"/rosapi/service_request_details",serviceType:"rosapi/ServiceRequestDetails"}),e=new h({type:a});"function"==typeof c?d.callService(e,function(a){b(a)},function(a){c(a)}):d.callService(e,function(a){b(a)})},d.prototype.getServiceResponseDetails=function(a,b,c){var d=new g({ros:this,name:"/rosapi/service_response_details",serviceType:"rosapi/ServiceResponseDetails"}),e=new h({type:a});"function"==typeof c?d.callService(e,function(a){b(a)},function(a){c(a)}):d.callService(e,function(a){b(a)})},d.prototype.getNodes=function(a,b){var c=new 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.getNodeDetails=function(a,b,c){var d=new g({ros:this,name:"/rosapi/node_details",serviceType:"rosapi/NodeDetails"}),e=new h({node:a});"function"==typeof c?d.callService(e,function(a){b(a.subscribing,a.publishing,a.services)},function(a){c(a)}):d.callService(e,function(a){b(a)})},d.prototype.getParams=function(a,b){var c=new 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(i.indexOf("/")===-1)g===-1?e[h]=i:e[h]=[i];else{for(var j=!1,k=0;k<d.length;k++)if(d[k].type.toString()===i.toString()){j=d[k];break}if(j){var l=c(j,d);g===-1||(e[h]=[l])}else b.emit("error","Cannot find "+i+" in decodeTypeDefs")}}return e};return c(a[0],a)},b.exports=d},{"./Service":13,"./ServiceRequest":14,"./SocketAdapter.js":16,eventemitter2:1,"object-assign":2,ws:39}],13:[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":14,"./ServiceResponse":15,eventemitter2:1}],14:[function(a,b,c){function d(a){e(this,a)}var e=a("object-assign");b.exports=d},{"object-assign":2}],15:[function(a,b,c){function d(a){e(this,a)}var e=a("object-assign");b.exports=d},{"object-assign":2}],16:[function(a,b,c){"use strict";function d(a){function b(b){"publish"===b.op?a.emit(b.topic,b.msg):"service_response"===b.op?a.emit(b.id,b):"call_service"===b.op?a.emit(b.service,b):"status"===b.op&&(b.id?a.emit("status:"+b.id,b):a.emit("status",b))}function c(a,b){"png"===a.op?e(a.data,b):b(a)}function d(a,b){if(!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}],17:[function(a,b,c){function d(a){a=a||{},this.ros=a.ros,this.name=a.name,this.messageType=a.messageType,this.isAdvertised=!1,this.compression=a.compression||"none",this.throttle_rate=a.throttle_rate||0,this.latch=a.latch||!1,this.queue_size=a.queue_size||100,this.queue_length=a.queue_length||0,this.reconnect_on_close=a.reconnect_on_close||!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.reconnect_on_close?this.callForSubscribeAndAdvertise=function(a){b.ros.callOnConnection(a),b.waitForReconnect=!1,b.reconnectFunc=function(){b.waitForReconnect||(b.waitForReconnect=!0,b.ros.callOnConnection(a),b.ros.once("connection",function(){b.waitForReconnect=!1}))},b.ros.on("close",b.reconnectFunc)}:this.callForSubscribeAndAdvertise=this.ros.callOnConnection,this._messageCallback=function(a){b.emit("message",new f(a))}}var e=a("eventemitter2").EventEmitter2,f=a("./Message");d.prototype.__proto__=e.prototype,d.prototype.subscribe=function(a){"function"==typeof a&&this.on("message",a),this.subscribeId||(this.ros.on(this.name,this._messageCallback),this.subscribeId="subscribe:"+this.name+":"+ ++this.ros.idCounter,this.callForSubscribeAndAdvertise({op:"subscribe",id:this.subscribeId,type:this.messageType,topic:this.name,compression:this.compression,throttle_rate:this.throttle_rate,queue_length:this.queue_length}))},d.prototype.unsubscribe=function(a){a&&(this.off("message",a),this.listeners("message").length)||this.subscribeId&&(this.ros.off(this.name,this._messageCallback),this.reconnect_on_close&&this.ros.off("close",this.reconnectFunc),this.emit("unsubscribe"),this.ros.callOnConnection({op:"unsubscribe",id:this.subscribeId,topic:this.name}),this.subscribeId=null)},d.prototype.advertise=function(){if(!this.isAdvertised&&(this.advertiseId="advertise:"+this.name+":"+ ++this.ros.idCounter,this.callForSubscribeAndAdvertise({op:"advertise",id:this.advertiseId,type:this.messageType,topic:this.name,latch:this.latch,queue_size:this.queue_size}),this.isAdvertised=!0,!this.reconnect_on_close)){var a=this;this.ros.on("close",function(){a.isAdvertised=!1})}},d.prototype.unadvertise=function(){this.isAdvertised&&(this.reconnect_on_close&&this.ros.off("close",this.reconnectFunc),this.emit("unadvertise"),this.ros.callOnConnection({op:"unadvertise",id:this.advertiseId,topic:this.name}),this.isAdvertised=!1)},d.prototype.publish=function(a){this.isAdvertised||this.advertise(),this.ros.idCounter++;var b={op:"publish",id:"publish:"+this.name+":"+this.ros.idCounter,topic:this.name,msg:a,latch:this.latch};this.ros.callOnConnection(b)},b.exports=d},{"./Message":10,eventemitter2:1}],18:[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":24,"./Message":10,"./Param":11,"./Ros":12,"./Service":13,"./ServiceRequest":14,"./ServiceResponse":15,"./Topic":17}],19:[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":20,"./Vector3":22}],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,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},{}],21:[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":20,"./Vector3":22}],22:[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},{}],23:[function(a,b,c){b.exports={Pose:a("./Pose"),Quaternion:a("./Quaternion"),Transform:a("./Transform"),Vector3:a("./Vector3")}},{"./Pose":19,"./Quaternion":20,"./Transform":21,"./Vector3":22}],24:[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)}})}},{}],25:[function(a,b,c){function d(a){a=a||{},this.ros=a.ros,this.fixedFrame=a.fixedFrame||"/base_link",this.angularThres=a.angularThres||2,this.transThres=a.transThres||.01,this.rate=a.rate||10,this.updateDelay=a.updateDelay||50;var b=a.topicTimeout||2,c=Math.floor(b),d=Math.floor(1e9*(b-c));this.topicTimeout={secs:c,nsecs:d},this.serverName=a.serverName||"/tf2_web_republisher",this.repubServiceName=a.repubServiceName||"/republish_tfs",this.currentGoal=!1,this.currentTopic=!1,this.frameInfos={},this.republisherUpdateRequested=!1,this.actionClient=this.ros.ActionClient({serverName:this.serverName,actionName:"tf2_web_republisher/TFSubscriptionAction",omitStatus:!0,omitResult:!0}),this.serviceClient=this.ros.Service({name:this.repubServiceName,serviceType:"tf2_web_republisher/RepublishTFs"})}var e=(a("../actionlib/ActionClient"),a("../actionlib/Goal")),f=(a("../core/Service.js"),a("../core/ServiceRequest.js")),g=a("../math/Transform");d.prototype.processTFArray=function(a){a.transforms.forEach(function(a){var b=a.child_frame_id;"/"===b[0]&&(b=b.substring(1));var c=this.frameInfos[b];c&&(c.transform=new g({translation:a.transform.translation,rotation:a.transform.rotation}),c.cbs.forEach(function(a){a(c.transform)}))},this)},d.prototype.updateGoal=function(){var a={source_frames:Object.keys(this.frameInfos),target_frame:this.fixedFrame,angular_thres:this.angularThres,trans_thres:this.transThres,rate:this.rate};if(this.ros.groovyCompatibility)this.currentGoal&&this.currentGoal.cancel(),this.currentGoal=new e({actionClient:this.actionClient,goalMessage:a}),this.currentGoal.on("feedback",this.processTFArray.bind(this)),this.currentGoal.send();else{a.timeout=this.topicTimeout;var b=new f(a);this.serviceClient.callService(b,this.processResponse.bind(this))}this.republisherUpdateRequested=!1},d.prototype.processResponse=function(a){this.currentTopic&&this.currentTopic.unsubscribe(),this.currentTopic=this.ros.Topic({name:a.topic_name,messageType:"tf2_web_republisher/TFArray"}),this.currentTopic.subscribe(this.processTFArray.bind(this))},d.prototype.subscribe=function(a,b){"/"===a[0]&&(a=a.substring(1)),this.frameInfos[a]?this.frameInfos[a].transform&&b(this.frameInfos[a].transform):(this.frameInfos[a]={cbs:[]},this.republisherUpdateRequested||(setTimeout(this.updateGoal.bind(this),this.updateDelay),this.republisherUpdateRequested=!0)),this.frameInfos[a].cbs.push(b)},d.prototype.unsubscribe=function(a,b){"/"===a[0]&&(a=a.substring(1));for(var c=this.frameInfos[a],d=c&&c.cbs||[],e=d.length;e--;)d[e]===b&&d.splice(e,1);b&&0!==d.length||delete this.frameInfos[a]},d.prototype.dispose=function(){this.actionClient.dispose(),this.currentTopic&&this.currentTopic.unsubscribe()},b.exports=d},{"../actionlib/ActionClient":5,"../actionlib/Goal":7,"../core/Service.js":13,"../core/ServiceRequest.js":14,"../math/Transform":21}],26:[function(a,b,c){var d=a("../core/Ros"),e=a("../mixin"),f=b.exports={TFClient:a("./TFClient")};e(d,["TFClient"],f)},{"../core/Ros":12,"../mixin":24,"./TFClient":25}],27:[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":22,"./UrdfTypes":36}],28:[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},{}],29:[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":36}],30:[function(a,b,c){function d(a){this.name=a.xml.getAttribute("name"),this.type=a.xml.getAttribute("type");var b=a.xml.getElementsByTagName("parent");b.length>0&&(this.parent=b[0].getAttribute("link"));var c=a.xml.getElementsByTagName("child");c.length>0&&(this.child=c[0].getAttribute("link"));var d=a.xml.getElementsByTagName("limit");d.length>0&&(this.minval=parseFloat(d[0].getAttribute("lower")),this.maxval=parseFloat(d[0].getAttribute("upper")))}b.exports=d},{}],31:[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":37}],32:[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":28,"object-assign":2}],33:[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":22,"./UrdfTypes":36}],34:[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 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d(a){if(null===a||void 0===a)throw new TypeError("Object.assign cannot be called with null or undefined");return Object(a)}function e(){try{if(!Object.assign)return!1;var a=new String("abc");if(a[5]="de","5"===Object.getOwnPropertyNames(a)[0])return!1;for(var b={},c=0;c<10;c++)b["_"+String.fromCharCode(c)]=c;var d=Object.getOwnPropertyNames(b).map(function(a){return b[a]});if("0123456789"!==d.join(""))return!1;var e={};return"abcdefghijklmnopqrst".split("").forEach(function(a){e[a]=a}),"abcdefghijklmnopqrst"===Object.keys(Object.assign({},e)).join("")}catch(f){return!1}}var f=Object.getOwnPropertySymbols,g=Object.prototype.hasOwnProperty,h=Object.prototype.propertyIsEnumerable;b.exports=e()?Object.assign:function(a,b){for(var c,e,i=d(a),j=1;j<arguments.length;j++){c=Object(arguments[j]);for(var k in c)g.call(c,k)&&(i[k]=c[k]);if(f){e=f(c);for(var l=0;l<e.length;l++)h.call(c,e[l])&&(i[e[l]]=c[e[l]])}}return i}},{}],4:[function(a,b,c){var d=this.ROSLIB||{REVISION:"1.0.0"},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":10,"./core":19,"./math":24,"./tf":27,"./urdf":39,"object-assign":3}],5:[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":4}],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.timeout=a.timeout,this.omitFeedback=a.omitFeedback,this.omitStatus=a.omitStatus,this.omitResult=a.omitResult,this.goals={};var c=!1;this.feedbackListener=new e({ros:this.ros,name:this.serverName+"/feedback",messageType:this.actionName+"Feedback"}),this.statusListener=new e({ros:this.ros,name:this.serverName+"/status",messageType:"actionlib_msgs/GoalStatusArray"}),this.resultListener=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||this.statusListener.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||this.feedbackListener.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||this.resultListener.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)},d.prototype.dispose=function(){this.goalTopic.unadvertise(),this.cancelTopic.unadvertise(),this.omitStatus||this.statusListener.unsubscribe(),this.omitFeedback||this.feedbackListener.unsubscribe(),this.omitResult||this.resultListener.unsubscribe()},b.exports=d},{"../core/Message":11,"../core/Topic":18,eventemitter2:2}],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.timeout=a.timeout,this.omitFeedback=a.omitFeedback,this.omitStatus=a.omitStatus,this.omitResult=a.omitResult;var c=new e({ros:this.ros,name:this.serverName+"/goal",messageType:this.actionName+"Goal"}),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"});c.subscribe(function(a){b.emit("goal",a)}),f.subscribe(function(a){a.status_list.forEach(function(a){b.emit("status",a)})}),d.subscribe(function(a){b.emit("status",a.status),b.emit("feedback",a.feedback)}),g.subscribe(function(a){b.emit("status",a.status),b.emit("result",a.result)})}var e=a("../core/Topic"),f=(a("../core/Message"),a("eventemitter2").EventEmitter2);d.prototype.__proto__=f.prototype,b.exports=d},{"../core/Message":11,"../core/Topic":18,eventemitter2:2}],8:[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":11,eventemitter2:2}],9:[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)&&(a.secs<b.secs||a.nsecs<b.nsecs)};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":11,"../core/Topic":18,eventemitter2:2}],10:[function(a,b,c){var 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":13,"../mixin":25,"./ActionClient":6,"./ActionListener":7,"./Goal":8,"./SimpleActionServer":9}],11:[function(a,b,c){function d(a){e(this,a)}var e=a("object-assign");b.exports=d},{"object-assign":3}],12:[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":14,"./ServiceRequest":15}],13:[function(a,b,c){function d(a){a=a||{},this.socket=null,this.idCounter=0,this.isConnected=!1,this.transportLibrary=a.transportLibrary||"websocket",this.transportOptions=a.transportOptions||{},"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){if("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);else if("RTCPeerConnection"===this.transportLibrary.constructor.name)this.socket=i(this.transportLibrary.createDataChannel(a,this.transportOptions),f(this));else if(!this.socket||this.socket.readyState===e.CLOSED){var b=new e(a);b.binaryType="arraybuffer",this.socket=i(b,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.setStatusLevel=function(a,b){var c={op:"set_level",level:a,id:b};this.callOnConnection(c)},d.prototype.getActionServers=function(a,b){var c=new g({ros:this,name:"/rosapi/action_servers",serviceType:"rosapi/GetActionServers"}),d=new h({});"function"==typeof b?c.callService(d,function(b){a(b.action_servers)},function(a){b(a)}):c.callService(d,function(b){a(b.action_servers)})},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)},function(a){b(a)}):c.callService(d,function(b){a(b)})},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.getServiceRequestDetails=function(a,b,c){var d=new g({ros:this,name:"/rosapi/service_request_details",serviceType:"rosapi/ServiceRequestDetails"}),e=new h({type:a});"function"==typeof c?d.callService(e,function(a){b(a)},function(a){c(a)}):d.callService(e,function(a){b(a)})},d.prototype.getServiceResponseDetails=function(a,b,c){var d=new g({ros:this,name:"/rosapi/service_response_details",serviceType:"rosapi/ServiceResponseDetails"}),e=new h({type:a});"function"==typeof c?d.callService(e,function(a){b(a)},function(a){c(a)}):d.callService(e,function(a){b(a)})},d.prototype.getNodes=function(a,b){var c=new 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.getNodeDetails=function(a,b,c){var d=new g({ros:this,name:"/rosapi/node_details",serviceType:"rosapi/NodeDetails"}),e=new h({node:a});"function"==typeof c?d.callService(e,function(a){b(a.subscribing,a.publishing,a.services)},function(a){c(a)}):d.callService(e,function(a){b(a)})},d.prototype.getParams=function(a,b){var c=new 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(i.indexOf("/")===-1)g===-1?e[h]=i:e[h]=[i];else{for(var j=!1,k=0;k<d.length;k++)if(d[k].type.toString()===i.toString()){j=d[k];break}if(j){var l=c(j,d);g===-1||(e[h]=[l])}else b.emit("error","Cannot find "+i+" in decodeTypeDefs")}}return e};return c(a[0],a)},b.exports=d},{"./Service":14,"./ServiceRequest":15,"./SocketAdapter.js":17,eventemitter2:2,"object-assign":3,ws:41}],14:[function(a,b,c){function d(a){a=a||{},this.ros=a.ros,this.name=a.name,this.serviceType=a.serviceType,this.isAdvertised=!1,this._serviceCallback=null}var e=a("./ServiceResponse"),f=(a("./ServiceRequest"),a("eventemitter2").EventEmitter2);d.prototype.__proto__=f.prototype,d.prototype.callService=function(a,b,c){if(!this.isAdvertised){var d="call_service:"+this.name+":"+ ++this.ros.idCounter;(b||c)&&this.ros.once(d,function(a){void 0!==a.result&&a.result===!1?"function"==typeof c&&c(a.values):"function"==typeof b&&b(new e(a.values))});var f={op:"call_service",id:d,service:this.name,type:this.serviceType,args:a};this.ros.callOnConnection(f)}},d.prototype.advertise=function(a){this.isAdvertised||"function"!=typeof a||(this._serviceCallback=a,this.ros.on(this.name,this._serviceResponse.bind(this)),this.ros.callOnConnection({op:"advertise_service",type:this.serviceType,service:this.name}),this.isAdvertised=!0)},d.prototype.unadvertise=function(){this.isAdvertised&&(this.ros.callOnConnection({op:"unadvertise_service",service:this.name}),this.isAdvertised=!1)},d.prototype._serviceResponse=function(a){var b={},c=this._serviceCallback(a.args,b),d={op:"service_response",service:this.name,values:new e(b),result:c};a.id&&(d.id=a.id),this.ros.callOnConnection(d)},b.exports=d},{"./ServiceRequest":15,"./ServiceResponse":16,eventemitter2:2}],15:[function(a,b,c){function d(a){e(this,a)}var e=a("object-assign");b.exports=d},{"object-assign":3}],16:[function(a,b,c){function d(a){e(this,a)}var e=a("object-assign");b.exports=d},{"object-assign":3}],17:[function(a,b,c){"use strict";function d(a){function b(b){"publish"===b.op?a.emit(b.topic,b.msg):"service_response"===b.op?a.emit(b.id,b):"call_service"===b.op?a.emit(b.service,b):"status"===b.op&&(b.id?a.emit("status:"+b.id,b):a.emit("status",b))}function c(a,b){"png"===a.op?e(a.data,b):b(a)}function d(a,b){if(!h)throw"Cannot process BSON encoded message without BSON header.";var c=new FileReader;c.onload=function(){var a=new Uint8Array(this.result),c=h.deserialize(a);b(c)},c.readAsArrayBuffer(a)}return{onopen:function(b){a.isConnected=!0,a.emit("connection",b)},onclose:function(b){a.isConnected=!1,a.emit("close",b)},onerror:function(b){a.emit("error",b)},onmessage:function(a){if("undefined"!=typeof Blob&&a.data instanceof Blob)d(a.data,function(a){c(a,b)});else if(a.data instanceof ArrayBuffer){var e=f.decode(a.data,g);b(e)}else{var h=JSON.parse("string"==typeof a?a:a.data);c(h,b)}}}}var e=a("../util/decompressPng"),f=a("cbor-js"),g=a("../util/cborTypedArrayTags"),h=(a("ws"),null);"undefined"!=typeof bson&&(h=bson().BSON),b.exports=d},{"../util/cborTypedArrayTags":40,"../util/decompressPng":43,"cbor-js":1,ws:41}],18:[function(a,b,c){function d(a){a=a||{},this.ros=a.ros,this.name=a.name,this.messageType=a.messageType,this.isAdvertised=!1,this.compression=a.compression||"none",this.throttle_rate=a.throttle_rate||0,this.latch=a.latch||!1,this.queue_size=a.queue_size||100,this.queue_length=a.queue_length||0,this.reconnect_on_close=a.reconnect_on_close||!0,this.compression&&"png"!==this.compression&&"cbor"!==this.compression&&"none"!==this.compression&&(this.emit("warning",this.compression+" compression is not supported. No compression will be used."),this.compression="none"),this.throttle_rate<0&&(this.emit("warning",this.throttle_rate+" is not allowed. Set to 0"),this.throttle_rate=0);var b=this;this.reconnect_on_close?this.callForSubscribeAndAdvertise=function(a){b.ros.callOnConnection(a),b.waitForReconnect=!1,b.reconnectFunc=function(){b.waitForReconnect||(b.waitForReconnect=!0,b.ros.callOnConnection(a),b.ros.once("connection",function(){b.waitForReconnect=!1}))},b.ros.on("close",b.reconnectFunc)}:this.callForSubscribeAndAdvertise=this.ros.callOnConnection,
+this._messageCallback=function(a){b.emit("message",new f(a))}}var e=a("eventemitter2").EventEmitter2,f=a("./Message");d.prototype.__proto__=e.prototype,d.prototype.subscribe=function(a){"function"==typeof a&&this.on("message",a),this.subscribeId||(this.ros.on(this.name,this._messageCallback),this.subscribeId="subscribe:"+this.name+":"+ ++this.ros.idCounter,this.callForSubscribeAndAdvertise({op:"subscribe",id:this.subscribeId,type:this.messageType,topic:this.name,compression:this.compression,throttle_rate:this.throttle_rate,queue_length:this.queue_length}))},d.prototype.unsubscribe=function(a){a&&(this.off("message",a),this.listeners("message").length)||this.subscribeId&&(this.ros.off(this.name,this._messageCallback),this.reconnect_on_close&&this.ros.off("close",this.reconnectFunc),this.emit("unsubscribe"),this.ros.callOnConnection({op:"unsubscribe",id:this.subscribeId,topic:this.name}),this.subscribeId=null)},d.prototype.advertise=function(){if(!this.isAdvertised&&(this.advertiseId="advertise:"+this.name+":"+ ++this.ros.idCounter,this.callForSubscribeAndAdvertise({op:"advertise",id:this.advertiseId,type:this.messageType,topic:this.name,latch:this.latch,queue_size:this.queue_size}),this.isAdvertised=!0,!this.reconnect_on_close)){var a=this;this.ros.on("close",function(){a.isAdvertised=!1})}},d.prototype.unadvertise=function(){this.isAdvertised&&(this.reconnect_on_close&&this.ros.off("close",this.reconnectFunc),this.emit("unadvertise"),this.ros.callOnConnection({op:"unadvertise",id:this.advertiseId,topic:this.name}),this.isAdvertised=!1)},d.prototype.publish=function(a){this.isAdvertised||this.advertise(),this.ros.idCounter++;var b={op:"publish",id:"publish:"+this.name+":"+this.ros.idCounter,topic:this.name,msg:a,latch:this.latch};this.ros.callOnConnection(b)},b.exports=d},{"./Message":11,eventemitter2:2}],19:[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":25,"./Message":11,"./Param":12,"./Ros":13,"./Service":14,"./ServiceRequest":15,"./ServiceResponse":16,"./Topic":18}],20:[function(a,b,c){function d(a){a=a||{},this.position=new e(a.position),this.orientation=new f(a.orientation)}var e=a("./Vector3"),f=a("./Quaternion");d.prototype.applyTransform=function(a){this.position.multiplyQuaternion(a.rotation),this.position.add(a.translation);var b=a.rotation.clone();b.multiply(this.orientation),this.orientation=b},d.prototype.clone=function(){return new d(this)},d.prototype.multiply=function(a){var b=a.clone();return b.applyTransform({rotation:this.orientation,translation:this.position}),b},d.prototype.getInverse=function(){var a=this.clone();return a.orientation.invert(),a.position.multiplyQuaternion(a.orientation),a.position.x*=-1,a.position.y*=-1,a.position.z*=-1,a},b.exports=d},{"./Quaternion":21,"./Vector3":23}],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,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},{}],22:[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":21,"./Vector3":23}],23:[function(a,b,c){function d(a){a=a||{},this.x=a.x||0,this.y=a.y||0,this.z=a.z||0}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},{}],24:[function(a,b,c){b.exports={Pose:a("./Pose"),Quaternion:a("./Quaternion"),Transform:a("./Transform"),Vector3:a("./Vector3")}},{"./Pose":20,"./Quaternion":21,"./Transform":22,"./Vector3":23}],25:[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)}})}},{}],26:[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 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f(a);this.serviceClient.callService(b,this.processResponse.bind(this))}this.republisherUpdateRequested=!1},d.prototype.processResponse=function(a){this.currentTopic&&this.currentTopic.unsubscribe(),this.currentTopic=this.ros.Topic({name:a.topic_name,messageType:"tf2_web_republisher/TFArray"}),this.currentTopic.subscribe(this.processTFArray.bind(this))},d.prototype.subscribe=function(a,b){"/"===a[0]&&(a=a.substring(1)),this.frameInfos[a]?this.frameInfos[a].transform&&b(this.frameInfos[a].transform):(this.frameInfos[a]={cbs:[]},this.republisherUpdateRequested||(setTimeout(this.updateGoal.bind(this),this.updateDelay),this.republisherUpdateRequested=!0)),this.frameInfos[a].cbs.push(b)},d.prototype.unsubscribe=function(a,b){"/"===a[0]&&(a=a.substring(1));for(var c=this.frameInfos[a],d=c&&c.cbs||[],e=d.length;e--;)d[e]===b&&d.splice(e,1);b&&0!==d.length||delete this.frameInfos[a]},d.prototype.dispose=function(){this.actionClient.dispose(),this.currentTopic&&this.currentTopic.unsubscribe()},b.exports=d},{"../actionlib/ActionClient":6,"../actionlib/Goal":8,"../core/Service.js":14,"../core/ServiceRequest.js":15,"../math/Transform":22}],27:[function(a,b,c){var d=a("../core/Ros"),e=a("../mixin"),f=b.exports={TFClient:a("./TFClient")};e(d,["TFClient"],f)},{"../core/Ros":13,"../mixin":25,"./TFClient":26}],28:[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":23,"./UrdfTypes":37}],29:[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},{}],30:[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":37}],31:[function(a,b,c){function d(a){this.name=a.xml.getAttribute("name"),this.type=a.xml.getAttribute("type");var b=a.xml.getElementsByTagName("parent");b.length>0&&(this.parent=b[0].getAttribute("link"));var c=a.xml.getElementsByTagName("child");c.length>0&&(this.child=c[0].getAttribute("link"));var d=a.xml.getElementsByTagName("limit");d.length>0&&(this.minval=parseFloat(d[0].getAttribute("lower")),this.maxval=parseFloat(d[0].getAttribute("upper")));var h=a.xml.getElementsByTagName("origin");if(0===h.length)this.origin=new e;else{var i=h[0].getAttribute("xyz"),j=new f;i&&(i=i.split(" "),j=new f({x:parseFloat(i[0]),y:parseFloat(i[1]),z:parseFloat(i[2])}));var k=h[0].getAttribute("rpy"),l=new g;if(k){k=k.split(" ");var m=parseFloat(k[0]),n=parseFloat(k[1]),o=parseFloat(k[2]),p=m/2,q=n/2,r=o/2,s=Math.sin(p)*Math.cos(q)*Math.cos(r)-Math.cos(p)*Math.sin(q)*Math.sin(r),t=Math.cos(p)*Math.sin(q)*Math.cos(r)+Math.sin(p)*Math.cos(q)*Math.sin(r),u=Math.cos(p)*Math.cos(q)*Math.sin(r)-Math.sin(p)*Math.sin(q)*Math.cos(r),v=Math.cos(p)*Math.cos(q)*Math.cos(r)+Math.sin(p)*Math.sin(q)*Math.sin(r);l=new g({x:s,y:t,z:u,w:v}),l.normalize()}this.origin=new e({position:j,orientation:l})}}var e=a("../math/Pose"),f=a("../math/Vector3"),g=a("../math/Quaternion");b.exports=d},{"../math/Pose":20,"../math/Quaternion":21,"../math/Vector3":23}],32:[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":38}],33:[function(a,b,c){function d(a){this.textureFilename=null,this.color=null,this.name=a.xml.getAttribute("name");var 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