diff --git a/.gitignore b/.gitignore
index 39a72c4e4..34f59397d 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,3 +2,5 @@
 .vagrant
 doc
 node_modules
+*.out
+*.log
\ No newline at end of file
diff --git a/.travis.yml b/.travis.yml
index eb4450521..9af2efaca 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,8 +1,28 @@
 language: node_js
 node_js:
   - "0.10"
+addons:
+  firefox: "31.0" # 3.4->31.0
+os:
+  - linux
 before_install:
   # node-canvas dependency
   - sudo apt-get install libcairo2-dev libjpeg8-dev libpango1.0-dev libgif-dev build-essential g++
+  # ROS deps for examples
+  - sudo sh -c 'echo "deb http://packages.ros.org/ros-shadow-fixed/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'
+  - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+  - sudo apt-get update -qq
+  - sudo apt-get install ros-hydro-ros-base
+  - sudo apt-get install ros-hydro-rosbridge-server ros-hydro-tf2-web-republisher ros-hydro-common-tutorials ros-hydro-rospy-tutorials ros-hydro-actionlib-tutorials
+  - npm install -g grunt-cli karma-cli
+
+  # Set up Xfvb for Firefox headless testing
+  - "export DISPLAY=:99.0"
+  - "sh -e /etc/init.d/xvfb start"
 before_script:
-  - npm install -g grunt-cli
+  - source /opt/ros/hydro/setup.bash
+  - sh test/examples/setup_examples.sh
+script:
+  - rostopic list
+  - npm test
+  - npm run test-examples
diff --git a/Gruntfile.js b/Gruntfile.js
index 6bb733f19..a6390c07b 100644
--- a/Gruntfile.js
+++ b/Gruntfile.js
@@ -21,15 +21,19 @@ module.exports = function(grunt) {
       build: {
         configFile: './test/karma.conf.js',
         singleRun: true,
-        browsers: ['PhantomJS']
+        browsers: ['Firefox']
       }
     },
     mochaTest: {
+      options: {
+          reporter: 'spec',
+          timeout: 5000
+      },
       test: {
-        options: {
-          reporter: 'spec'
-        },
-        src: ['test/**/*.test.js']
+        src: ['test/*.test.js']
+      },
+      examples: {
+        src: ['test/examples/*.js']
       }
     },
     uglify: {
@@ -95,9 +99,8 @@ module.exports = function(grunt) {
 
 
   grunt.registerTask('dev', ['browserify', 'watch']);
-  grunt.registerTask('test', ['jshint', 'mochaTest', 'browserify', 'karma']);
+  grunt.registerTask('test', ['jshint', 'mochaTest:test', 'browserify', 'karma']);
   grunt.registerTask('build', ['test', 'uglify']);
   grunt.registerTask('build_and_watch', ['watch']);
   grunt.registerTask('doc', ['clean', 'jsdoc']);
 };
-
diff --git a/build/roslib.js b/build/roslib.js
index 17aaa2b61..6a5601847 100644
--- a/build/roslib.js
+++ b/build/roslib.js
@@ -1115,7 +1115,8 @@ function Topic(options) {
   this.queue_size = options.queue_size || 100;
 
   // Check for valid compression types
-  if (this.compression && this.compression !== 'png' && this.compression !== 'none') {
+  if (this.compression && this.compression !== 'png' &&
+        this.compression !== 'none') {
     this.emit('warning', this.compression +
       ' compression is not supported. No compression will be used.');
   }
@@ -1138,28 +1139,21 @@ Topic.prototype.__proto__ = EventEmitter2.prototype;
  */
 Topic.prototype.subscribe = function(callback) {
   var that = this;
-
-  this.on('message', function(message) {
-    callback(message);
-  });
-
+  this.on('message', callback);
   this.ros.on(this.name, function(data) {
     var message = new Message(data);
     that.emit('message', message);
   });
 
-  this.ros.idCounter++;
-  var subscribeId = 'subscribe:' + this.name + ':' + this.ros.idCounter;
-  var call = {
-    op : 'subscribe',
-    id : subscribeId,
-    type : this.messageType,
-    topic : this.name,
-    compression : this.compression,
-    throttle_rate : this.throttle_rate
-  };
-
-  this.ros.callOnConnection(call);
+  this.subscribeId = 'subscribe:' + this.name + ':' + (++this.ros.idCounter);
+  this.ros.callOnConnection({
+    op: 'subscribe',
+    id: this.subscribeId,
+    type: this.messageType,
+    topic: this.name,
+    compression: this.compression,
+    throttle_rate: this.throttle_rate
+  });
 };
 
 /**
@@ -1167,15 +1161,12 @@ Topic.prototype.subscribe = function(callback) {
  * all subscribe callbacks.
  */
 Topic.prototype.unsubscribe = function() {
-  this.ros.removeAllListeners([ this.name ]);
-  this.ros.idCounter++;
-  var unsubscribeId = 'unsubscribe:' + this.name + ':' + this.ros.idCounter;
-  var call = {
-    op : 'unsubscribe',
-    id : unsubscribeId,
-    topic : this.name
-  };
-  this.ros.callOnConnection(call);
+  this.ros.removeAllListeners([this.name]);
+  this.ros.callOnConnection({
+    op: 'unsubscribe',
+    id: this.subscribeId,
+    topic: this.name
+  });
 };
 
 /**
@@ -1185,17 +1176,15 @@ Topic.prototype.advertise = function() {
   if (this.isAdvertised) {
     return;
   }
-  this.ros.idCounter++;
-  this.advertiseId = 'advertise:' + this.name + ':' + this.ros.idCounter;
-  var call = {
-    op : 'advertise',
-    id : this.advertiseId,
-    type : this.messageType,
-    topic : this.name,
-    latch : this.latch,
-    queue_size : this.queue_size
-  };
-  this.ros.callOnConnection(call);
+  this.advertiseId = 'advertise:' + this.name + ':' + (++this.ros.idCounter);
+  this.ros.callOnConnection({
+    op: 'advertise',
+    id: this.advertiseId,
+    type: this.messageType,
+    topic: this.name,
+    latch: this.latch,
+    queue_size: this.queue_size
+  });
   this.isAdvertised = true;
 };
 
@@ -1206,13 +1195,11 @@ Topic.prototype.unadvertise = function() {
   if (!this.isAdvertised) {
     return;
   }
-  var unadvertiseId = this.advertiseId;
-  var call = {
-    op : 'unadvertise',
-    id : unadvertiseId,
-    topic : this.name
-  };
-  this.ros.callOnConnection(call);
+  this.ros.callOnConnection({
+    op: 'unadvertise',
+    id: this.advertiseId,
+    topic: this.name
+  });
   this.isAdvertised = false;
 };
 
@@ -1223,22 +1210,22 @@ Topic.prototype.unadvertise = function() {
  */
 Topic.prototype.publish = function(message) {
   if (!this.isAdvertised) {
-      this.advertise();
+    this.advertise();
   }
 
   this.ros.idCounter++;
-  var publishId = 'publish:' + this.name + ':' + this.ros.idCounter;
   var call = {
-    op : 'publish',
-    id : publishId,
-    topic : this.name,
-    msg : message,
-    latch : this.latch
+    op: 'publish',
+    id: 'publish:' + this.name + ':' + this.ros.idCounter,
+    topic: this.name,
+    msg: message,
+    latch: this.latch
   };
   this.ros.callOnConnection(call);
 };
 
 module.exports = Topic;
+
 },{"./Message":7,"eventemitter2":30}],14:[function(require,module,exports){
 /**
  * @author David Gossow - dgossow@willowgarage.com
diff --git a/examples/fibonacci.html b/examples/fibonacci.html
index 00962b3b2..f58084219 100644
--- a/examples/fibonacci.html
+++ b/examples/fibonacci.html
@@ -2,8 +2,8 @@
 <html>
 <head>
 <meta charset="utf-8" />
-<script src="\\cdn.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
-<script src="\\cdn.robotwebtools.org/roslibjs/current/roslib.js"></script>
+<script src="http://cdn.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
+<script src="../build/roslib.js"></script>
 
 <script>
   // Connecting to ROS
diff --git a/examples/fibonacci_server.html b/examples/fibonacci_server.html
index 0e118de68..8b517e30c 100644
--- a/examples/fibonacci_server.html
+++ b/examples/fibonacci_server.html
@@ -3,7 +3,7 @@
 <head>
 <meta charset="utf-8" />
 <script src="http://cdn.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
-<script src="http://cdn.robotwebtools.org/roslibjs/current/roslib.js"></script>
+<script src="../build/roslib.js"></script>
 
 <script>
   // Connecting to ROS
@@ -41,14 +41,14 @@
 
       if (that.canceled === true ) {
         console.log("Action server preempted");
-        
+
         that.fibonacciServer.setPreempted();
       }
       console.log(fibonacciSequence);
       //send feedback
       var feedback = { sequence: fibonacciSequence };
       that.fibonacciServer.sendFeedback(fibonacciSequence);
-    }      
+    }
 
     //send result
     var result = { sequence: fibonacciSequence};
diff --git a/examples/math.html b/examples/math.html
index 4e057a6db..e3a8f1a3d 100644
--- a/examples/math.html
+++ b/examples/math.html
@@ -3,7 +3,7 @@
 <head>
 <meta charset="utf-8" />
 <script src="http://cdn.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
-<script src="http://cdn.robotwebtools.org/roslibjs/current/roslib.js"></script>
+<script src="../build/roslib.js"></script>
 
 <script>
   // Let's start by adding some vectors.
diff --git a/examples/simple.html b/examples/simple.html
index f054a15a2..7e78110b9 100644
--- a/examples/simple.html
+++ b/examples/simple.html
@@ -3,7 +3,7 @@
 <head>
 <meta charset="utf-8" />
 <script src="http://cdn.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
-<script src="http://cdn.robotwebtools.org/roslibjs/current/roslib.js"></script>
+<script src="../build/roslib.js"></script>
 
 <script>
   // Connecting to ROS
@@ -48,7 +48,7 @@
     messageType : 'geometry_msgs/Twist'
   });
 
-  // Then we create the payload to be published. The object we pass in to ros.Message matches the 
+  // Then we create the payload to be published. The object we pass in to ros.Message matches the
   // fields defined in the geometry_msgs/Twist.msg definition.
   var twist = new ROSLIB.Message({
     linear : {
@@ -69,7 +69,7 @@
   //Subscribing to a Topic
   //----------------------
 
-  // Like when publishing a topic, we first create a Topic object with details of the topic's name 
+  // Like when publishing a topic, we first create a Topic object with details of the topic's name
   // and message type. Note that we can call publish or subscribe on the same topic object.
   var listener = new ROSLIB.Topic({
     ros : ros,
@@ -95,7 +95,7 @@
     serviceType : 'rospy_tutorials/AddTwoInts'
   });
 
-  // Then we create a Service Request. The object we pass in to ROSLIB.ServiceRequest matches the 
+  // Then we create a Service Request. The object we pass in to ROSLIB.ServiceRequest matches the
   // fields defined in the rospy_tutorials AddTwoInts.srv file.
   var request = new ROSLIB.ServiceRequest({
     a : 1,
diff --git a/examples/tf.html b/examples/tf.html
index ebdf5b926..8d54a9b13 100644
--- a/examples/tf.html
+++ b/examples/tf.html
@@ -3,7 +3,7 @@
 <head>
 <meta charset="utf-8" />
 <script src="http://cdn.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
-<script src="http://cdn.robotwebtools.org/roslibjs/current/roslib.js"></script>
+<script src="../build/roslib.js"></script>
 
 <script>
   // Connecting to ROS
diff --git a/examples/urdf.html b/examples/urdf.html
index 73112fa0e..f040badd4 100644
--- a/examples/urdf.html
+++ b/examples/urdf.html
@@ -3,11 +3,11 @@
 <head>
 <meta charset="utf-8" />
 <script src="http://cdn.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
-<script src="http://cdn.robotwebtools.org/roslibjs/current/roslib.js"></script>
+<script src="../build/roslib.js"></script>
 
 <script>
   /**
-   * Setup all visualization elements when the page is loaded. 
+   * Setup all visualization elements when the page is loaded.
    */
   function init() {
     // Connect to ROS.
@@ -20,13 +20,13 @@
       ros : ros,
       name : 'robot_description'
     });
-  
+
     param.get(function(param) {
       // Setup the loader for the URDF.
       var urdfModel = new ROSLIB.UrdfModel({
         string : param
       });
-      
+
       console.log(urdfModel);
     });
     // If there is an error on the backend, an 'error' emit will be emitted.
@@ -37,7 +37,7 @@
       document.getElementById('error').style.display = 'inline';
       console.log(error);
     });
-  
+
     // Find out exactly when we made a connection.
     ros.on('connection', function() {
       console.log('Connection made!');
@@ -46,7 +46,7 @@
       document.getElementById('closed').style.display = 'none';
       document.getElementById('connected').style.display = 'inline';
     });
-  
+
     ros.on('close', function() {
       console.log('Connection closed.');
       document.getElementById('connecting').style.display = 'none';
diff --git a/package.json b/package.json
index 790816451..d4e742000 100644
--- a/package.json
+++ b/package.json
@@ -13,7 +13,7 @@
     "grunt-mocha-test": "^0.11.0",
     "karma-chai": "^0.1.0",
     "karma-mocha": "^0.1.9",
-    "karma-phantomjs-launcher": "^0.1.4"
+    "karma-firefox-launcher": "~0.1.3"
   },
   "dependencies": {
     "canvas": "1.1.3",
@@ -36,6 +36,7 @@
   },
   "scripts": {
     "test": "grunt test",
+    "test-examples": "grunt mochaTest:examples && karma start test/examples/karma.conf.js",
     "publish": "grunt build"
   },
   "repository": {
diff --git a/test/examples/check-topics.examples.js b/test/examples/check-topics.examples.js
new file mode 100644
index 000000000..77e40e076
--- /dev/null
+++ b/test/examples/check-topics.examples.js
@@ -0,0 +1,24 @@
+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({
+            url: 'ws://localhost:9090'
+        });
+        ros.getTopics(function(topics) {
+            expectedTopics.forEach(function(topic) {
+                expect(topics).to.contain(topic, 'Couldn\'t find topic: ' + topic);
+            });
+            done();
+        });
+    });
+});
\ No newline at end of file
diff --git a/test/examples/fibonacci.example.js b/test/examples/fibonacci.example.js
new file mode 100644
index 000000000..45b98a32e
--- /dev/null
+++ b/test/examples/fibonacci.example.js
@@ -0,0 +1,51 @@
+var expect = require('chai').expect;
+var ROSLIB = require('../..');
+
+describe('Fibonacci Example', function() {
+    it('Fibonacci', function(done) {
+        this.timeout(8000);
+
+        var ros = new ROSLIB.Ros({
+            url: 'ws://localhost:9090'
+        });
+        // The ActionClient
+        // ----------------
+
+        var fibonacciClient = new ROSLIB.ActionClient({
+            ros: ros,
+            serverName: '/fibonacci',
+            actionName: 'actionlib_tutorials/FibonacciAction'
+        });
+
+        // Create a goal.
+        var goal = new ROSLIB.Goal({
+            actionClient: fibonacciClient,
+            goalMessage: {
+                order: 7
+            }
+        });
+
+        // Print out their output into the terminal.
+        var items = [
+            {"sequence": [0, 1, 1]},
+            {"sequence": [0, 1, 1, 2]},
+            {"sequence": [0, 1, 1, 2, 3]},
+            {"sequence": [0, 1, 1, 2, 3, 5]},
+            {"sequence": [0, 1, 1, 2, 3, 5, 8]},
+            {"sequence": [0, 1, 1, 2, 3, 5, 8, 13]},
+            {"sequence": [0, 1, 1, 2, 3, 5, 8, 13, 21]}
+        ];
+        goal.on('feedback', function(feedback) {
+            console.log('Feedback:', feedback);
+            expect(feedback).to.eql(items.shift());
+        });
+        goal.on('result', function(result) {
+            console.log('Result:', result);
+            expect(result).to.eql({"sequence": [0, 1, 1, 2, 3, 5, 8, 13, 21]});
+            done();
+        });
+
+        // Send the goal to the action server.
+        goal.send();
+    });
+});
\ No newline at end of file
diff --git a/test/examples/karma.conf.js b/test/examples/karma.conf.js
new file mode 100644
index 000000000..f023376b4
--- /dev/null
+++ b/test/examples/karma.conf.js
@@ -0,0 +1,63 @@
+module.exports = function(config) {
+	config.set({
+
+		// Base path, that will be used to resolve files and exclude
+		basePath: '',
+
+		// Testing frameworks
+		frameworks: ['mocha', 'chai'],
+
+		// List of files / patterns to load in the browser
+		files: [
+			"../../node_modules/eventemitter2/lib/eventemitter2.js",
+			"../../build/roslib.js",
+			"../require-shim.js",
+			"*.js"
+		],
+
+		// test results reporter to use
+		// possible values: 'dots', 'progress', 'junit'
+		reporters: ['progress'],
+
+
+		// web server port
+		port: 9876,
+
+
+		// cli runner port
+		runnerPort: 9200,
+
+
+		// enable / disable colors in the output (reporters and logs)
+		colors: true,
+
+
+		// level of logging
+		// possible values: LOG_DISABLE || LOG_ERROR || LOG_WARN || LOG_INFO || LOG_DEBUG
+		logLevel: "LOG_INFO",
+
+
+		// enable / disable watching file and executing tests whenever any file changes
+		autoWatch: true,
+
+
+		// Start these browsers, currently available:
+		// - Chrome
+		// - ChromeCanary
+		// - Firefox
+		// - Opera
+		// - Safari (only Mac)
+		// - PhantomJS
+		// - IE (only Windows)
+		browsers: ['Firefox'],
+
+
+		// If browser does not capture in given timeout [ms], kill it
+		captureTimeout: 60000,
+
+
+		// Continuous Integration mode
+		// if true, it capture browsers, run tests and exit
+		singleRun: true
+	});
+};
diff --git a/test/examples/setup_examples.sh b/test/examples/setup_examples.sh
new file mode 100644
index 000000000..7827c6943
--- /dev/null
+++ b/test/examples/setup_examples.sh
@@ -0,0 +1,23 @@
+if command -v rosrun 2>/dev/null; then
+    echo "Shutting everything down"
+    ps aux | grep ros | awk '{print $2}' | xargs kill -9
+    sleep 1
+
+    echo "Starting roscore and various examples in background processes"
+
+    nohup roscore > /dev/null 2>&1&
+    sleep 2
+    nohup roslaunch turtle_tf turtle_tf_demo.launch > /dev/null 2>&1&
+    nohup rosrun tf2_web_republisher tf2_web_republisher > /dev/null 2>&1&
+    nohup rosrun actionlib_tutorials fibonacci_server > /dev/null 2>&1&
+    nohup rosrun rospy_tutorials add_two_ints_server > /dev/null 2>&1&
+    nohup rostopic pub /listener std_msgs/String "Hello, World" > /dev/null 2>&1&
+    # wait a moment then start up bridge
+    sleep 3
+    nohup roslaunch rosbridge_server rosbridge_websocket.launch > /dev/null 2>&1&
+    sleep 3
+    echo "Ready for lift off"
+else
+    echo "Couldn't find ROS on path (try to source it)"
+    echo "source /opt/ros/indigo/setup.bash"
+fi
\ No newline at end of file
diff --git a/test/examples/tf.example.js b/test/examples/tf.example.js
new file mode 100644
index 000000000..59a560013
--- /dev/null
+++ b/test/examples/tf.example.js
@@ -0,0 +1,23 @@
+var expect = require('chai').expect;
+var ROSLIB = require('../..');
+
+describe('TF2 Republisher Example', function() {
+    it('tf republisher', function(done) {
+        var ros = new ROSLIB.Ros();
+        ros.connect('ws://localhost:9090');
+
+        var tfClient = new ROSLIB.TFClient({
+            ros: ros,
+            fixedFrame: 'world',
+            angularThres: 0.01,
+            transThres: 0.01
+        });
+
+        // Subscribe to a turtle.
+        tfClient.subscribe('turtle1', function(tf) {
+            expect(tf.rotation).to.be.eql(new ROSLIB.Quaternion());
+            expect(tf.translation).to.be.a.instanceof(ROSLIB.Vector3);
+            done();
+        });
+    });
+});
\ No newline at end of file
diff --git a/test/karma.conf.js b/test/karma.conf.js
index 808a8cfd5..c94a6dbe9 100644
--- a/test/karma.conf.js
+++ b/test/karma.conf.js
@@ -11,12 +11,17 @@ module.exports = function(config) {
 
     // List of files / patterns to load in the browser
     files: [
-      "../node_modules/eventemitter2/lib/eventemitter2.js",
-      "../build/roslib.js",
-      "./require-shim.js",
-      "*.test.js"
+      '../node_modules/eventemitter2/lib/eventemitter2.js',
+      '../build/roslib.js',
+      './require-shim.js',
+      '*.test.js'
     ],
 
+    client: {
+        mocha: {
+            timeout: 10000
+        }
+    },
 
     // test results reporter to use
     // possible values: 'dots', 'progress', 'junit'
@@ -37,7 +42,7 @@ module.exports = function(config) {
 
     // level of logging
     // possible values: LOG_DISABLE || LOG_ERROR || LOG_WARN || LOG_INFO || LOG_DEBUG
-    logLevel: "LOG_INFO",
+    logLevel: 'LOG_INFO',
 
 
     // enable / disable watching file and executing tests whenever any file changes
@@ -52,7 +57,7 @@ module.exports = function(config) {
     // - Safari (only Mac)
     // - PhantomJS
     // - IE (only Windows)
-    browsers: ['PhantomJS'],
+    browsers: ['Firefox'],
 
 
     // If browser does not capture in given timeout [ms], kill it
@@ -63,4 +68,4 @@ module.exports = function(config) {
     // if true, it capture browsers, run tests and exit
     singleRun: true
   });
-};
\ No newline at end of file
+};
diff --git a/test/math-examples.test.js b/test/math-examples.test.js
new file mode 100644
index 000000000..2990c6ab7
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+++ b/test/math-examples.test.js
@@ -0,0 +1,81 @@
+var expect = require('chai').expect;
+var ROSLIB = require('..');
+
+function clone(x) {
+    var y = {};
+    for (var prop in x) {
+        if (x.hasOwnProperty(prop)) {
+            y[prop] = typeof x[prop] === "object" ? clone(x[prop]) : x[prop];
+        }
+    }
+    return y;
+}
+
+describe('Math examples', function() {
+    var v1, q1, v2, q2;
+    var pos;
+    it('Vector3 example', function() {
+        // Let's start by adding some vectors.
+        v1 = new ROSLIB.Vector3({
+            x: 1,
+            y: 2,
+            z: 3
+        });
+        v2 = v1.clone();
+        expect(v1).not.equal(v2);
+        expect(v1).eql(v2);
+
+        v1.add(v2);
+        expect(clone(v1)).eql({
+            x: 2,
+            y: 4,
+            z: 6
+        });
+    });
+
+    it('Quaternion example', function() {
+        // Now let's play with some quaternions.
+        q1 = new ROSLIB.Quaternion({
+            x: 0.1,
+            y: 0.2,
+            z: 0.3,
+            w: 0.4
+        });
+        q2 = q1.clone();
+        expect(q1).not.equal(q2);
+        expect(q1).eql(q2);
+
+        q1.multiply(q2);
+        q1.invert();
+        expect(q1.x).to.be.within(-0.26667, -0.26666);
+        expect(q1.y).to.be.within(-0.53334, -0.53333);
+        expect(q1.z).to.be.within(-0.80000, -0.79999);
+        expect(q1.w).to.be.within(0.06666, 0.06667);
+    });
+
+    it('Pose example', function() {
+        // Let's copy the results into a pose.
+        pos = new ROSLIB.Pose({
+            position: v1,
+            orientation: q1
+        });
+        expect(clone(pos)).to.eql(clone({position: v1, orientation: q1}));
+    });
+
+    it('Transform example', function() {
+        // Finally, let's play with some transforms.
+        var tf = new ROSLIB.Transform({
+            translation: v2,
+            rotation: q2
+        });
+        pos.applyTransform(tf);
+        expect(pos.orientation.x).to.be.within(-0.1, -0.09999);
+        expect(pos.orientation.y).to.be.within(-0.20001, -0.20000);
+        expect(pos.orientation.z).to.be.within(-0.3, -0.3);
+        expect(pos.orientation.w).to.be.within(0.39999, 0.4);
+
+        expect(pos.position.x).to.be.within(1.6, 1.60001);
+        expect(pos.position.y).to.be.within(3.2, 3.20001);
+        expect(pos.position.z).to.be.within(4.8, 4.80001);
+    });
+});