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/utils/.jshintrc b/.jshintrc
similarity index 79%
rename from utils/.jshintrc
rename to .jshintrc
index d28b5b997..29d2df756 100644
--- a/utils/.jshintrc
+++ b/.jshintrc
@@ -1,7 +1,6 @@
 {
   "globals": {
-    "module": true,
-    "EventEmitter2" : true
+    "global": true
   },
   "curly": true,
   "eqeqeq": true,
@@ -13,9 +12,8 @@
   "undef": true,
   "boss": false,
   "eqnull": false,
-  "browser": true,
+  "node": true,
   "devel": true,
-  "es5": true,
   "strict": false,
   "trailing": true,
   "quotmark": "single",
diff --git a/.travis.yml b/.travis.yml
index e74cf63c9..9af2efaca 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,17 +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
 
-branches:
-  only:
-    - master
-    - develop
-
+  # Set up Xfvb for Firefox headless testing
+  - "export DISPLAY=:99.0"
+  - "sh -e /etc/init.d/xvfb start"
 before_script:
-  - npm install -g karma grunt-cli
-  - cd utils
-  - npm install .
-
+  - source /opt/ros/hydro/setup.bash
+  - sh test/examples/setup_examples.sh
 script:
-  - grunt build
+  - rostopic list
+  - npm test
+  - npm run test-examples
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
new file mode 100644
index 000000000..867ee1f43
--- /dev/null
+++ b/CONTRIBUTING.md
@@ -0,0 +1,52 @@
+roslibjs Build Setup
+====================
+
+[Grunt](http://gruntjs.com/) is used for building, including concatenating, minimizing, documenting, linting, and testing.
+
+### Install Grunt and its Dependencies
+
+ 1. Install [Node.js](http://nodejs.org/) for your environment
+ 2. Install the build task runner, [Grunt](http://gruntjs.com/)
+ 	
+ 	```sh
+	$ [sudo] npm install -g grunt
+ 	```
+
+ 3. Install the [Cario](http://cairographics.org/) graphics library
+ 	- [System specific instaructions](https://github.com/Automattic/node-canvas/wiki/_pages)
+ 4. Install the dependencies and build dependencies
+	
+	```sh
+	$ cd /path/to/roslibjs/
+   	$ [sudo] npm install
+	```
+	
+
+Easy installation for Ubuntu. `cd` to your local copy of this project.
+
+```sh
+# Install Node.js and NPM
+curl -sL https://deb.nodesource.com/setup | sudo bash -
+sudo apt-get install nodejs
+
+# Install Cario
+sudo apt-get install libcairo2-dev libjpeg8-dev libpango1.0-dev libgif-dev build-essential g++
+
+# Install this projects Deps
+sudo npm install
+```
+
+### Build with Grunt
+
+Before proceeding, please confirm you have installed the dependencies above.
+
+To run the build tasks:
+
+ 1. `cd /path/to/roslibjs/`
+ 2. `grunt build`
+
+`grunt build` will concatenate and minimize the files under src and replace roslib.js and roslib.min.js in the build directory. It will also run the linter and test cases. This is what [Travis CI](https://travis-ci.org/RobotWebTools/roslibjs) runs when a Pull Request is submitted.
+
+`grunt dev` will watch for any changes to any of the src/ files and automatically concatenate and minimize the files. This is ideal for those developing as you should only have to run `grunt dev` once.
+
+`grunt doc` will rebuild all JSDoc for the project.
diff --git a/utils/Gruntfile.js b/Gruntfile.js
similarity index 58%
rename from utils/Gruntfile.js
rename to Gruntfile.js
index edfa74493..a6390c07b 100644
--- a/utils/Gruntfile.js
+++ b/Gruntfile.js
@@ -2,10 +2,10 @@ module.exports = function(grunt) {
 
   grunt.initConfig({
     pkg: grunt.file.readJSON('package.json'),
-    concat: {
-      build: {
-        src  : ['../src/*.js', '../src/**/*.js'],
-        dest : '../build/roslib.js'
+    browserify: {
+      dist: {
+        src: ['./src/RosLibBrowser.js'],
+        dest: './build/roslib.js'
       }
     },
     jshint: {
@@ -14,14 +14,26 @@ module.exports = function(grunt) {
       },
       files: [
         'Gruntfile.js',
-        '../build/roslib.js'
+        './src/**/*.js'
       ]
     },
     karma: {
       build: {
-        configFile: '../test/karma.conf.js',
+        configFile: './test/karma.conf.js',
         singleRun: true,
-        browsers: ['PhantomJS']
+        browsers: ['Firefox']
+      }
+    },
+    mochaTest: {
+      options: {
+          reporter: 'spec',
+          timeout: 5000
+      },
+      test: {
+        src: ['test/*.test.js']
+      },
+      examples: {
+        src: ['test/examples/*.js']
       }
     },
     uglify: {
@@ -29,8 +41,8 @@ module.exports = function(grunt) {
         report: 'min'
       },
       build: {
-        src: '../build/roslib.js',
-        dest: '../build/roslib.min.js'
+        src: './build/roslib.js',
+        dest: './build/roslib.min.js'
       }
     },
     watch: {
@@ -42,7 +54,7 @@ module.exports = function(grunt) {
           '../src/*.js',
           '../src/**/*.js'
         ],
-        tasks: ['concat']
+        tasks: ['browserify']
       },
       build_and_watch: {
         options: {
@@ -51,8 +63,8 @@ module.exports = function(grunt) {
         files: [
           'Gruntfile.js',
           '.jshintrc',
-          '../src/*.js',
-          '../src/**/*.js'
+          './src/*.js',
+          './src/**/*.js'
         ],
         tasks: ['build']
       }
@@ -66,27 +78,29 @@ module.exports = function(grunt) {
     jsdoc: {
       doc: {
         src: [
-          '../src/*.js',
-          '../src/**/*.js'
+          './src/*.js',
+          './src/**/*.js'
         ],
         options: {
-          destination: '../doc'
+          destination: './doc'
         }
       }
     }
   });
 
-  grunt.loadNpmTasks('grunt-contrib-concat');
+  grunt.loadNpmTasks('grunt-browserify');
   grunt.loadNpmTasks('grunt-contrib-jshint');
   grunt.loadNpmTasks('grunt-contrib-watch');
   grunt.loadNpmTasks('grunt-contrib-uglify');
   grunt.loadNpmTasks('grunt-contrib-clean');
   grunt.loadNpmTasks('grunt-jsdoc');
   grunt.loadNpmTasks('grunt-karma');
+  grunt.loadNpmTasks('grunt-mocha-test');
+
 
-  grunt.registerTask('dev', ['concat', 'watch']);
-  grunt.registerTask('build', ['concat', 'jshint', 'karma', 'uglify']);
+  grunt.registerTask('dev', ['browserify', 'watch']);
+  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 f0f9e768e..6a5601847 100644
--- a/build/roslib.js
+++ b/build/roslib.js
@@ -1,21 +1,97 @@
+(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){
+'use strict';
+
+function ToObject(val) {
+	if (val == null) {
+		throw new TypeError('Object.assign cannot be called with null or undefined');
+	}
+
+	return Object(val);
+}
+
+module.exports = Object.assign || function (target, source) {
+	var pendingException;
+	var from;
+	var keys;
+	var to = ToObject(target);
+
+	for (var s = 1; s < arguments.length; s++) {
+		from = arguments[s];
+		keys = Object.keys(Object(from));
+
+		for (var i = 0; i < keys.length; i++) {
+			try {
+				to[keys[i]] = from[keys[i]];
+			} catch (err) {
+				if (pendingException === undefined) {
+					pendingException = err;
+				}
+			}
+		}
+	}
+
+	if (pendingException) {
+		throw pendingException;
+	}
+
+	return to;
+};
+
+},{}],2:[function(require,module,exports){
 /**
  * @author Russell Toris - rctoris@wpi.edu
  */
 
-var ROSLIB = ROSLIB || {
+var ROSLIB = this.ROSLIB || {
   REVISION : '0.10.0-SNAPSHOT'
 };
 
-//URDF types
-ROSLIB.URDF_SPHERE = 0;
-ROSLIB.URDF_BOX = 1;
-ROSLIB.URDF_CYLINDER = 2;
-ROSLIB.URDF_MESH = 3;
-
+ROSLIB.Ros = require('./core/Ros');
+ROSLIB.Topic = require('./core/Topic');
+ROSLIB.Message = require('./core/Message');
+ROSLIB.Param = require('./core/Param');
+ROSLIB.Service = require('./core/Service');
+ROSLIB.ServiceRequest = require('./core/ServiceRequest');
+ROSLIB.ServiceResponse = require('./core/ServiceResponse');
+
+ROSLIB.ActionClient = require('./actionlib/ActionClient');
+ROSLIB.Goal = require('./actionlib/Goal');
+ROSLIB.SimpleActionServer = require('./actionlib/SimpleActionServer');
+
+ROSLIB.Pose = require('./math/Pose');
+ROSLIB.Quaternion = require('./math/Quaternion');
+ROSLIB.Transform = require('./math/Transform');
+ROSLIB.Vector3 = require('./math/Vector3');
+
+ROSLIB.TFClient = require('./tf/TFClient');
+
+ROSLIB.UrdfBox = require('./urdf/UrdfBox');
+ROSLIB.UrdfColor = require('./urdf/UrdfColor');
+ROSLIB.UrdfCylinder = require('./urdf/UrdfCylinder');
+ROSLIB.UrdfLink = require('./urdf/UrdfLink');
+ROSLIB.UrdfMaterial = require('./urdf/UrdfMaterial');
+ROSLIB.UrdfMesh = require('./urdf/UrdfMesh');
+ROSLIB.UrdfModel = require('./urdf/UrdfModel');
+ROSLIB.UrdfSphere = require('./urdf/UrdfSphere');
+ROSLIB.UrdfVisual = require('./urdf/UrdfVisual');
+
+// Add URDF types
+require('object-assign')(ROSLIB, require('./urdf/UrdfTypes'));
+
+module.exports = ROSLIB;
+},{"./actionlib/ActionClient":4,"./actionlib/Goal":5,"./actionlib/SimpleActionServer":6,"./core/Message":7,"./core/Param":8,"./core/Ros":9,"./core/Service":10,"./core/ServiceRequest":11,"./core/ServiceResponse":12,"./core/Topic":13,"./math/Pose":14,"./math/Quaternion":15,"./math/Transform":16,"./math/Vector3":17,"./tf/TFClient":18,"./urdf/UrdfBox":19,"./urdf/UrdfColor":20,"./urdf/UrdfCylinder":21,"./urdf/UrdfLink":22,"./urdf/UrdfMaterial":23,"./urdf/UrdfMesh":24,"./urdf/UrdfModel":25,"./urdf/UrdfSphere":26,"./urdf/UrdfTypes":27,"./urdf/UrdfVisual":28,"object-assign":1}],3:[function(require,module,exports){
+(function (global){
+global.ROSLIB = require('./RosLib');
+}).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})
+},{"./RosLib":2}],4:[function(require,module,exports){
 /**
  * @author Russell Toris - rctoris@wpi.edu
  */
 
+var Topic = require('../core/Topic');
+var Message = require('../core/Message');
+var EventEmitter2 = require('eventemitter2').EventEmitter2;
+
 /**
  * An actionlib action client.
  *
@@ -32,7 +108,7 @@ ROSLIB.URDF_MESH = 3;
  *   * actionName - the action message name, like 'actionlib_tutorials/FibonacciAction'
  *   * timeout - the timeout length when connecting to the action server
  */
-ROSLIB.ActionClient = function(options) {
+function ActionClient(options) {
   var that = this;
   options = options || {};
   this.ros = options.ros;
@@ -45,31 +121,31 @@ ROSLIB.ActionClient = function(options) {
   var receivedStatus = false;
 
   // create the topics associated with actionlib
-  var feedbackListener = new ROSLIB.Topic({
+  var feedbackListener = new Topic({
     ros : this.ros,
     name : this.serverName + '/feedback',
     messageType : this.actionName + 'Feedback'
   });
 
-  var statusListener = new ROSLIB.Topic({
+  var statusListener = new Topic({
     ros : this.ros,
     name : this.serverName + '/status',
     messageType : 'actionlib_msgs/GoalStatusArray'
   });
 
-  var resultListener = new ROSLIB.Topic({
+  var resultListener = new Topic({
     ros : this.ros,
     name : this.serverName + '/result',
     messageType : this.actionName + 'Result'
   });
 
-  this.goalTopic = new ROSLIB.Topic({
+  this.goalTopic = new Topic({
     ros : this.ros,
     name : this.serverName + '/goal',
     messageType : this.actionName + 'Goal'
   });
 
-  this.cancelTopic = new ROSLIB.Topic({
+  this.cancelTopic = new Topic({
     ros : this.ros,
     name : this.serverName + '/cancel',
     messageType : 'actionlib_msgs/GoalID'
@@ -117,22 +193,27 @@ ROSLIB.ActionClient = function(options) {
       }
     }, this.timeout);
   }
-};
-ROSLIB.ActionClient.prototype.__proto__ = EventEmitter2.prototype;
+}
+
+ActionClient.prototype.__proto__ = EventEmitter2.prototype;
 
 /**
  * Cancel all goals associated with this ActionClient.
  */
-ROSLIB.ActionClient.prototype.cancel = function() {
-  var cancelMessage = new ROSLIB.Message();
+ActionClient.prototype.cancel = function() {
+  var cancelMessage = new Message();
   this.cancelTopic.publish(cancelMessage);
 };
 
-
+module.exports = ActionClient;
+},{"../core/Message":7,"../core/Topic":13,"eventemitter2":30}],5:[function(require,module,exports){
 /**
  * @author Russell Toris - rctoris@wpi.edu
  */
 
+var Message = require('../core/Message');
+var EventEmitter2 = require('eventemitter2').EventEmitter2;
+
 /**
  * An actionlib goal goal is associated with an action server.
  *
@@ -144,7 +225,7 @@ ROSLIB.ActionClient.prototype.cancel = function() {
  *   * actionClient - the ROSLIB.ActionClient to use with this goal
  *   * goalMessage - The JSON object containing the goal for the action server
  */
-ROSLIB.Goal = function(options) {
+function Goal(options) {
   var that = this;
   this.actionClient = options.actionClient;
   this.goalMessage = options.goalMessage;
@@ -156,7 +237,7 @@ ROSLIB.Goal = function(options) {
   // Create a random ID
   this.goalID = 'goal_' + Math.random() + '_' + date.getTime();
   // Fill in the goal message
-  this.goalMessage = new ROSLIB.Message({
+  this.goalMessage = new Message({
     goal_id : {
       stamp : {
         secs : 0,
@@ -182,15 +263,16 @@ ROSLIB.Goal = function(options) {
 
   // Add the goal
   this.actionClient.goals[this.goalID] = this;
-};
-ROSLIB.Goal.prototype.__proto__ = EventEmitter2.prototype;
+}
+
+Goal.prototype.__proto__ = EventEmitter2.prototype;
 
 /**
  * Send the goal to the action server.
  *
  * @param timeout (optional) - a timeout length for the goal's result
  */
-ROSLIB.Goal.prototype.send = function(timeout) {
+Goal.prototype.send = function(timeout) {
   var that = this;
   that.actionClient.goalTopic.publish(that.goalMessage);
   if (timeout) {
@@ -205,17 +287,23 @@ ROSLIB.Goal.prototype.send = function(timeout) {
 /**
  * Cancel the current goal.
  */
-ROSLIB.Goal.prototype.cancel = function() {
-  var cancelMessage = new ROSLIB.Message({
+Goal.prototype.cancel = function() {
+  var cancelMessage = new Message({
     id : this.goalID
   });
   this.actionClient.cancelTopic.publish(cancelMessage);
 };
 
+module.exports = Goal;
+},{"../core/Message":7,"eventemitter2":30}],6:[function(require,module,exports){
 /**
  * @author Laura Lindzey - lindzey@gmail.com
  */
 
+var Topic = require('../core/Topic');
+var Message = require('../core/Message');
+var EventEmitter2 = require('eventemitter2').EventEmitter2;
+
 /**
  * An actionlib action server client.
  *
@@ -230,7 +318,7 @@ ROSLIB.Goal.prototype.cancel = function() {
  *   * actionName - the action message name, like 'actionlib_tutorials/FibonacciAction'
  */
 
-ROSLIB.SimpleActionServer = function(options) {
+function SimpleActionServer(options) {
     var that = this;
     options = options || {};
     this.ros = options.ros;
@@ -238,21 +326,21 @@ ROSLIB.SimpleActionServer = function(options) {
     this.actionName = options.actionName;
 
     // create and advertise publishers
-    this.feedbackPublisher = new ROSLIB.Topic({
+    this.feedbackPublisher = new Topic({
         ros : this.ros,
         name : this.serverName + '/feedback',
         messageType : this.actionName + 'Feedback'
     });
     this.feedbackPublisher.advertise();
 
-    var statusPublisher = new ROSLIB.Topic({
+    var statusPublisher = new Topic({
         ros : this.ros,
         name : this.serverName + '/status',
         messageType : 'actionlib_msgs/GoalStatusArray'
     });
     statusPublisher.advertise();
 
-    this.resultPublisher = new ROSLIB.Topic({
+    this.resultPublisher = new Topic({
         ros : this.ros,
         name : this.serverName + '/result',
         messageType : this.actionName + 'Result'
@@ -260,20 +348,20 @@ ROSLIB.SimpleActionServer = function(options) {
     this.resultPublisher.advertise();
 
     // create and subscribe to listeners
-    var goalListener = new ROSLIB.Topic({
+    var goalListener = new Topic({
         ros : this.ros,
         name : this.serverName + '/goal',
         messageType : this.actionName + 'Goal'
     });
 
-    var cancelListener = new ROSLIB.Topic({
+    var cancelListener = new Topic({
         ros : this.ros,
         name : this.serverName + '/cancel',
         messageType : 'actionlib_msgs/GoalID'
     });
 
     // Track the goals and their status in order to publish status...
-    this.statusMessage = new ROSLIB.Message({
+    this.statusMessage = new Message({
         header : {
             stamp : {secs : 0, nsecs : 100},
             frame_id : ''
@@ -353,18 +441,18 @@ ROSLIB.SimpleActionServer = function(options) {
         statusPublisher.publish(that.statusMessage);
     }, 500); // publish every 500ms
 
-};
+}
 
-ROSLIB.SimpleActionServer.prototype.__proto__ = EventEmitter2.prototype;
+SimpleActionServer.prototype.__proto__ = EventEmitter2.prototype;
 
 /**
 *  Set action state to succeeded and return to client
 */
 
-ROSLIB.SimpleActionServer.prototype.setSucceeded = function(result2) {
+SimpleActionServer.prototype.setSucceeded = function(result2) {
     
 
-    var resultMessage = new ROSLIB.Message({
+    var resultMessage = new Message({
         status : {goal_id : this.currentGoal.goal_id, status : 3},
         result : result2
     });
@@ -384,9 +472,9 @@ ROSLIB.SimpleActionServer.prototype.setSucceeded = function(result2) {
 *  Function to send feedback
 */
 
-ROSLIB.SimpleActionServer.prototype.sendFeedback = function(feedback2) {
+SimpleActionServer.prototype.sendFeedback = function(feedback2) {
 
-    var feedbackMessage = new ROSLIB.Message({
+    var feedbackMessage = new Message({
         status : {goal_id : this.currentGoal.goal_id, status : 1},
         feedback : feedback2
     });
@@ -397,10 +485,10 @@ ROSLIB.SimpleActionServer.prototype.sendFeedback = function(feedback2) {
 *  Handle case where client requests preemption
 */
 
-ROSLIB.SimpleActionServer.prototype.setPreempted = function() {
+SimpleActionServer.prototype.setPreempted = function() {
 
     this.statusMessage.status_list = [];
-    var resultMessage = new ROSLIB.Message({
+    var resultMessage = new Message({
         status : {goal_id : this.currentGoal.goal_id, status : 2},
     });
     this.resultPublisher.publish(resultMessage);
@@ -414,29 +502,33 @@ ROSLIB.SimpleActionServer.prototype.setPreempted = function() {
     }
 };
 
+module.exports = SimpleActionServer;
+},{"../core/Message":7,"../core/Topic":13,"eventemitter2":30}],7:[function(require,module,exports){
 /**
  * @author Brandon Alexander - baalexander@gmail.com
  */
 
+var assign = require('object-assign');
+
 /**
  * Message objects are used for publishing and subscribing to and from topics.
  *
  * @constructor
  * @param values - object matching the fields defined in the .msg definition file
  */
-ROSLIB.Message = function(values) {
-  var that = this;
-  values = values || {};
-
-  Object.keys(values).forEach(function(name) {
-    that[name] = values[name];
-  });
-};
+function Message(values) {
+  assign(this, values);
+}
 
+module.exports = Message;
+},{"object-assign":1}],8:[function(require,module,exports){
 /**
  * @author Brandon Alexander - baalexander@gmail.com
  */
 
+var Service = require('./Service');
+var ServiceRequest = require('./ServiceRequest');
+
 /**
  * A ROS parameter.
  *
@@ -445,11 +537,11 @@ ROSLIB.Message = function(values) {
  *   * ros - the ROSLIB.Ros connection handle
  *   * name - the param name, like max_vel_x
  */
-ROSLIB.Param = function(options) {
+function Param(options) {
   options = options || {};
   this.ros = options.ros;
   this.name = options.name;
-};
+}
 
 /**
  * Fetches the value of the param.
@@ -457,14 +549,14 @@ ROSLIB.Param = function(options) {
  * @param callback - function with the following params:
  *  * value - the value of the param from ROS.
  */
-ROSLIB.Param.prototype.get = function(callback) {
-  var paramClient = new ROSLIB.Service({
+Param.prototype.get = function(callback) {
+  var paramClient = new Service({
     ros : this.ros,
     name : '/rosapi/get_param',
     serviceType : 'rosapi/GetParam'
   });
 
-  var request = new ROSLIB.ServiceRequest({
+  var request = new ServiceRequest({
     name : this.name
   });
 
@@ -479,14 +571,14 @@ ROSLIB.Param.prototype.get = function(callback) {
  *
  * @param value - value to set param to.
  */
-ROSLIB.Param.prototype.set = function(value) {
-  var paramClient = new ROSLIB.Service({
+Param.prototype.set = function(value) {
+  var paramClient = new Service({
     ros : this.ros,
     name : '/rosapi/set_param',
     serviceType : 'rosapi/SetParam'
   });
 
-  var request = new ROSLIB.ServiceRequest({
+  var request = new ServiceRequest({
     name : this.name,
     value : JSON.stringify(value)
   });
@@ -498,14 +590,14 @@ ROSLIB.Param.prototype.set = function(value) {
 /**
  * Delete this parameter on the ROS server.
  */
-ROSLIB.Param.prototype.delete = function() {
-  var paramClient = new ROSLIB.Service({
+Param.prototype.delete = function() {
+  var paramClient = new Service({
     ros : this.ros,
     name : '/rosapi/delete_param',
     serviceType : 'rosapi/DeleteParam'
   });
 
-  var request = new ROSLIB.ServiceRequest({
+  var request = new ServiceRequest({
     name : this.name
   });
 
@@ -513,10 +605,22 @@ ROSLIB.Param.prototype.delete = function() {
   });
 };
 
+module.exports = Param;
+},{"./Service":10,"./ServiceRequest":11}],9:[function(require,module,exports){
+(function (global){
 /**
  * @author Brandon Alexander - baalexander@gmail.com
  */
 
+var Canvas = require('canvas');
+var Image = Canvas.Image || global.Image;
+var EventEmitter2 = require('eventemitter2').EventEmitter2;
+var WebSocket = require('ws');
+
+var Service = require('./Service');
+var ServiceRequest = require('./ServiceRequest');
+
+
 /**
  * Manages connection to the server and all interactions with ROS.
  *
@@ -531,7 +635,7 @@ ROSLIB.Param.prototype.delete = function() {
  * @param options - possible keys include:
  *   * url (optional) - the WebSocket URL for rosbridge (can be specified later with `connect`)
  */
-ROSLIB.Ros = function(options) {
+function Ros(options) {
   options = options || {};
   var url = options.url;
   this.socket = null;
@@ -544,15 +648,16 @@ ROSLIB.Ros = function(options) {
   if (url) {
     this.connect(url);
   }
-};
-ROSLIB.Ros.prototype.__proto__ = EventEmitter2.prototype;
+}
+
+Ros.prototype.__proto__ = EventEmitter2.prototype;
 
 /**
  * Connect to the specified WebSocket.
  *
  * @param url - WebSocket URL for Rosbridge
  */
-ROSLIB.Ros.prototype.connect = function(url) {
+Ros.prototype.connect = function(url) {
   var that = this;
 
   /**
@@ -597,7 +702,7 @@ ROSLIB.Ros.prototype.connect = function(url) {
     // When the image loads, extracts the raw data (JSON message).
     image.onload = function() {
       // Creates a local canvas to draw on.
-      var canvas = document.createElement('canvas');
+      var canvas = new Canvas();
       var context = canvas.getContext('2d');
 
       // Sets width and height.
@@ -657,7 +762,7 @@ ROSLIB.Ros.prototype.connect = function(url) {
 /**
  * Disconnect from the WebSocket server.
  */
-ROSLIB.Ros.prototype.close = function() {
+Ros.prototype.close = function() {
   if (this.socket) {
     this.socket.close();
   }
@@ -674,7 +779,7 @@ ROSLIB.Ros.prototype.close = function() {
  * @param level - User level as a string given by the client.
  * @param end - End time of the client's session.
  */
-ROSLIB.Ros.prototype.authenticate = function(mac, client, dest, rand, t, level, end) {
+Ros.prototype.authenticate = function(mac, client, dest, rand, t, level, end) {
   // create the request
   var auth = {
     op : 'auth',
@@ -694,7 +799,7 @@ ROSLIB.Ros.prototype.authenticate = function(mac, client, dest, rand, t, level,
  * Sends the message over the WebSocket, but queues the message up if not yet
  * connected.
  */
-ROSLIB.Ros.prototype.callOnConnection = function(message) {
+Ros.prototype.callOnConnection = function(message) {
   var that = this;
   var messageJson = JSON.stringify(message);
 
@@ -713,14 +818,14 @@ ROSLIB.Ros.prototype.callOnConnection = function(message) {
  * @param callback function with params:
  *   * topics - Array of topic names
  */
-ROSLIB.Ros.prototype.getTopics = function(callback) {
-  var topicsClient = new ROSLIB.Service({
+Ros.prototype.getTopics = function(callback) {
+  var topicsClient = new Service({
     ros : this,
     name : '/rosapi/topics',
     serviceType : 'rosapi/Topics'
   });
 
-  var request = new ROSLIB.ServiceRequest();
+  var request = new ServiceRequest();
 
   topicsClient.callService(request, function(result) {
     callback(result.topics);
@@ -733,14 +838,14 @@ ROSLIB.Ros.prototype.getTopics = function(callback) {
  * @param callback - function with the following params:
  *   * services - array of service names
  */
-ROSLIB.Ros.prototype.getServices = function(callback) {
-  var servicesClient = new ROSLIB.Service({
+Ros.prototype.getServices = function(callback) {
+  var servicesClient = new Service({
     ros : this,
     name : '/rosapi/services',
     serviceType : 'rosapi/Services'
   });
 
-  var request = new ROSLIB.ServiceRequest();
+  var request = new ServiceRequest();
 
   servicesClient.callService(request, function(result) {
     callback(result.services);
@@ -753,14 +858,14 @@ ROSLIB.Ros.prototype.getServices = function(callback) {
  * @param callback - function with the following params:
  *   * nodes - array of node names
  */
-ROSLIB.Ros.prototype.getNodes = function(callback) {
-  var nodesClient = new ROSLIB.Service({
+Ros.prototype.getNodes = function(callback) {
+  var nodesClient = new Service({
     ros : this,
     name : '/rosapi/nodes',
     serviceType : 'rosapi/Nodes'
   });
 
-  var request = new ROSLIB.ServiceRequest();
+  var request = new ServiceRequest();
 
   nodesClient.callService(request, function(result) {
     callback(result.nodes);
@@ -773,14 +878,14 @@ ROSLIB.Ros.prototype.getNodes = function(callback) {
  * @param callback function with params:
  *  * params - array of param names.
  */
-ROSLIB.Ros.prototype.getParams = function(callback) {
-  var paramsClient = new ROSLIB.Service({
+Ros.prototype.getParams = function(callback) {
+  var paramsClient = new Service({
     ros : this,
     name : '/rosapi/get_param_names',
     serviceType : 'rosapi/GetParamNames'
   });
 
-  var request = new ROSLIB.ServiceRequest();
+  var request = new ServiceRequest();
   paramsClient.callService(request, function(result) {
     callback(result.names);
   });
@@ -792,13 +897,13 @@ ROSLIB.Ros.prototype.getParams = function(callback) {
  * @param callback - function with params:
  *   * type - String of the topic type
  */
-ROSLIB.Ros.prototype.getTopicType = function(topic, callback) {
-  var topicTypeClient = new ROSLIB.Service({
+Ros.prototype.getTopicType = function(topic, callback) {
+  var topicTypeClient = new Service({
     ros : this,
     name : '/rosapi/topic_type',
     serviceType : 'rosapi/TopicType'
   });
-  var request = new ROSLIB.ServiceRequest({
+  var request = new ServiceRequest({
     topic: topic
   });
   topicTypeClient.callService(request, function(result) {
@@ -813,13 +918,13 @@ ROSLIB.Ros.prototype.getTopicType = function(topic, callback) {
  *   * details - Array of the message detail
  * @param message - String of a topic type
  */
-ROSLIB.Ros.prototype.getMessageDetails = function(message, callback) {
-  var messageDetailClient = new ROSLIB.Service({
+Ros.prototype.getMessageDetails = function(message, callback) {
+  var messageDetailClient = new Service({
     ros : this,
     name : '/rosapi/message_details',
     serviceType : 'rosapi/MessageDetails'
   });
-  var request = new ROSLIB.ServiceRequest({
+  var request = new ServiceRequest({
     type: message
   });
   messageDetailClient.callService(request, function(result) {
@@ -832,7 +937,7 @@ ROSLIB.Ros.prototype.getMessageDetails = function(message, callback) {
  *
  * @param defs - array of type_def dictionary
  */
-ROSLIB.Ros.prototype.decodeTypeDefs = function(defs) {
+Ros.prototype.decodeTypeDefs = function(defs) {
   var that = this;
 
   // calls itself recursively to resolve type definition using hints.
@@ -879,10 +984,16 @@ ROSLIB.Ros.prototype.decodeTypeDefs = function(defs) {
   return decodeTypeDefsRec(defs[0], defs);
 };
 
+
+module.exports = Ros;
+}).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})
+},{"./Service":10,"./ServiceRequest":11,"canvas":32,"eventemitter2":30,"ws":31}],10:[function(require,module,exports){
 /**
  * @author Brandon Alexander - baalexander@gmail.com
  */
 
+var ServiceResponse = require('./ServiceResponse');
+
 /**
  * A ROS service client.
  *
@@ -892,12 +1003,12 @@ ROSLIB.Ros.prototype.decodeTypeDefs = function(defs) {
  *   * name - the service name, like /add_two_ints
  *   * serviceType - the service type, like 'rospy_tutorials/AddTwoInts'
  */
-ROSLIB.Service = function(options) {
+function Service(options) {
   options = options || {};
   this.ros = options.ros;
   this.name = options.name;
   this.serviceType = options.serviceType;
-};
+}
 
 /**
  * Calls the service. Returns the service response in the callback.
@@ -908,7 +1019,7 @@ ROSLIB.Service = function(options) {
  * @param failedCallback - the callback function when the service call failed (optional). Params:
  *   * error - the error message reported by ROS
  */
-ROSLIB.Service.prototype.callService = function(request, callback, failedCallback) {
+Service.prototype.callService = function(request, callback, failedCallback) {
   this.ros.idCounter++;
   var serviceCallId = 'call_service:' + this.name + ':' + this.ros.idCounter;
 
@@ -918,7 +1029,7 @@ ROSLIB.Service.prototype.callService = function(request, callback, failedCallbac
         failedCallback(message.values);
       }
     } else {
-      var response = new ROSLIB.ServiceResponse(message.values);
+      var response = new ServiceResponse(message.values);
       callback(response);
     }
   });
@@ -932,48 +1043,51 @@ ROSLIB.Service.prototype.callService = function(request, callback, failedCallbac
   this.ros.callOnConnection(call);
 };
 
+module.exports = Service;
+},{"./ServiceResponse":12}],11:[function(require,module,exports){
 /**
  * @author Brandon Alexander - balexander@willowgarage.com
  */
 
+var assign = require('object-assign');
+
 /**
  * A ServiceRequest is passed into the service call.
  *
  * @constructor
  * @param values - object matching the fields defined in the .srv definition file
  */
-ROSLIB.ServiceRequest = function(values) {
-  var that = this;
-  values = values || {};
-
-  Object.keys(values).forEach(function(name) {
-    that[name] = values[name];
-  });
-};
+function ServiceRequest(values) {
+  assign(this, values);
+}
 
+module.exports = ServiceRequest;
+},{"object-assign":1}],12:[function(require,module,exports){
 /**
  * @author Brandon Alexander - balexander@willowgarage.com
  */
 
+var assign = require('object-assign');
+
 /**
  * A ServiceResponse is returned from the service call.
  *
  * @constructor
  * @param values - object matching the fields defined in the .srv definition file
  */
-ROSLIB.ServiceResponse = function(values) {
-  var that = this;
-  values = values || {};
-
-  Object.keys(values).forEach(function(name) {
-    that[name] = values[name];
-  });
-};
+function ServiceResponse(values) {
+  assign(this, values);
+}
 
+module.exports = ServiceResponse;
+},{"object-assign":1}],13:[function(require,module,exports){
 /**
  * @author Brandon Alexander - baalexander@gmail.com
  */
 
+var EventEmitter2 = require('eventemitter2').EventEmitter2;
+var Message = require('./Message');
+
 /**
  * Publish and/or subscribe to a topic in ROS.
  *
@@ -989,7 +1103,7 @@ ROSLIB.ServiceResponse = function(values) {
  *   * compression - the type of compression to use, like 'png'
  *   * throttle_rate - the rate at which to throttle the topics
  */
-ROSLIB.Topic = function(options) {
+function Topic(options) {
   options = options || {};
   this.ros = options.ros;
   this.name = options.name;
@@ -1001,7 +1115,8 @@ ROSLIB.Topic = function(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.');
   }
@@ -1011,8 +1126,9 @@ ROSLIB.Topic = function(options) {
     this.emit('warning', this.throttle_rate + ' is not allowed. Set to 0');
     this.throttle_rate = 0;
   }
-};
-ROSLIB.Topic.prototype.__proto__ = EventEmitter2.prototype;
+}
+
+Topic.prototype.__proto__ = EventEmitter2.prototype;
 
 /**
  * Every time a message is published for the given topic, the callback
@@ -1021,83 +1137,69 @@ ROSLIB.Topic.prototype.__proto__ = EventEmitter2.prototype;
  * @param callback - function with the following params:
  *   * message - the published message
  */
-ROSLIB.Topic.prototype.subscribe = function(callback) {
+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 ROSLIB.Message(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
+  });
 };
 
 /**
  * Unregisters as a subscriber for the topic. Unsubscribing will remove
  * all subscribe callbacks.
  */
-ROSLIB.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);
+Topic.prototype.unsubscribe = function() {
+  this.ros.removeAllListeners([this.name]);
+  this.ros.callOnConnection({
+    op: 'unsubscribe',
+    id: this.subscribeId,
+    topic: this.name
+  });
 };
 
 /**
  * Registers as a publisher for the topic.
  */
-ROSLIB.Topic.prototype.advertise = function() {
+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;
 };
 
 /**
  * Unregisters as a publisher for the topic.
  */
-ROSLIB.Topic.prototype.unadvertise = function() {
+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;
 };
 
@@ -1106,27 +1208,32 @@ ROSLIB.Topic.prototype.unadvertise = function() {
  *
  * @param message - A ROSLIB.Message object.
  */
-ROSLIB.Topic.prototype.publish = function(message) {
+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
  */
 
+var Vector3 = require('./Vector3');
+var Quaternion = require('./Quaternion');
+
 /**
  * A Pose in 3D space. Values are copied into this object.
  *
@@ -1135,19 +1242,19 @@ ROSLIB.Topic.prototype.publish = function(message) {
  *   * position - the Vector3 describing the position
  *   * orientation - the ROSLIB.Quaternion describing the orientation
  */
-ROSLIB.Pose = function(options) {
+function Pose(options) {
   options = options || {};
   // copy the values into this object if they exist
-  this.position = new ROSLIB.Vector3(options.position);
-  this.orientation = new ROSLIB.Quaternion(options.orientation);
-};
+  this.position = new Vector3(options.position);
+  this.orientation = new Quaternion(options.orientation);
+}
 
 /**
  * Apply a transform against this pose.
  *
  * @param tf the transform
  */
-ROSLIB.Pose.prototype.applyTransform = function(tf) {
+Pose.prototype.applyTransform = function(tf) {
   this.position.multiplyQuaternion(tf.rotation);
   this.position.add(tf.translation);
   var tmp = tf.rotation.clone();
@@ -1160,10 +1267,12 @@ ROSLIB.Pose.prototype.applyTransform = function(tf) {
  *
  * @returns the cloned pose
  */
-ROSLIB.Pose.prototype.clone = function() {
-  return new ROSLIB.Pose(this);
+Pose.prototype.clone = function() {
+  return new Pose(this);
 };
 
+module.exports = Pose;
+},{"./Quaternion":15,"./Vector3":17}],15:[function(require,module,exports){
 /**
  * @author David Gossow - dgossow@willowgarage.com
  */
@@ -1178,18 +1287,18 @@ ROSLIB.Pose.prototype.clone = function() {
  *   * z - the z value
  *   * w - the w value
  */
-ROSLIB.Quaternion = function(options) {
+function Quaternion(options) {
   options = options || {};
   this.x = options.x || 0;
   this.y = options.y || 0;
   this.z = options.z || 0;
   this.w = options.w || 1;
-};
+}
 
 /**
  * Perform a conjugation on this quaternion.
  */
-ROSLIB.Quaternion.prototype.conjugate = function() {
+Quaternion.prototype.conjugate = function() {
   this.x *= -1;
   this.y *= -1;
   this.z *= -1;
@@ -1198,7 +1307,7 @@ ROSLIB.Quaternion.prototype.conjugate = function() {
 /**
  * Perform a normalization on this quaternion.
  */
-ROSLIB.Quaternion.prototype.normalize = function() {
+Quaternion.prototype.normalize = function() {
   var l = Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w);
   if (l === 0) {
     this.x = 0;
@@ -1217,7 +1326,7 @@ ROSLIB.Quaternion.prototype.normalize = function() {
 /**
  * Convert this quaternion into its inverse.
  */
-ROSLIB.Quaternion.prototype.invert = function() {
+Quaternion.prototype.invert = function() {
   this.conjugate();
   this.normalize();
 };
@@ -1227,7 +1336,7 @@ ROSLIB.Quaternion.prototype.invert = function() {
  *
  * @param q the quaternion to multiply with
  */
-ROSLIB.Quaternion.prototype.multiply = function(q) {
+Quaternion.prototype.multiply = function(q) {
   var newX = this.x * q.w + this.y * q.z - this.z * q.y + this.w * q.x;
   var newY = -this.x * q.z + this.y * q.w + this.z * q.x + this.w * q.y;
   var newZ = this.x * q.y - this.y * q.x + this.z * q.w + this.w * q.z;
@@ -1243,14 +1352,19 @@ ROSLIB.Quaternion.prototype.multiply = function(q) {
  *
  * @returns the cloned quaternion
  */
-ROSLIB.Quaternion.prototype.clone = function() {
-  return new ROSLIB.Quaternion(this);
+Quaternion.prototype.clone = function() {
+  return new Quaternion(this);
 };
 
+module.exports = Quaternion;
+},{}],16:[function(require,module,exports){
 /**
  * @author David Gossow - dgossow@willowgarage.com
  */
 
+var Vector3 = require('./Vector3');
+var Quaternion = require('./Quaternion');
+
 /**
  * A Transform in 3-space. Values are copied into this object.
  *
@@ -1259,22 +1373,24 @@ ROSLIB.Quaternion.prototype.clone = function() {
  *   * translation - the Vector3 describing the translation
  *   * rotation - the ROSLIB.Quaternion describing the rotation
  */
-ROSLIB.Transform = function(options) {
+function Transform(options) {
   options = options || {};
   // Copy the values into this object if they exist
-  this.translation = new ROSLIB.Vector3(options.translation);
-  this.rotation = new ROSLIB.Quaternion(options.rotation);
-};
+  this.translation = new Vector3(options.translation);
+  this.rotation = new Quaternion(options.rotation);
+}
 
 /**
  * Clone a copy of this transform.
  *
  * @returns the cloned transform
  */
-ROSLIB.Transform.prototype.clone = function() {
-  return new ROSLIB.Transform(this);
+Transform.prototype.clone = function() {
+  return new Transform(this);
 };
 
+module.exports = Transform;
+},{"./Quaternion":15,"./Vector3":17}],17:[function(require,module,exports){
 /**
  * @author David Gossow - dgossow@willowgarage.com
  */
@@ -1288,19 +1404,19 @@ ROSLIB.Transform.prototype.clone = function() {
  *   * y - the y value
  *   * z - the z value
  */
-ROSLIB.Vector3 = function(options) {
+function Vector3(options) {
   options = options || {};
   this.x = options.x || 0;
   this.y = options.y || 0;
   this.z = options.z || 0;
-};
+}
 
 /**
  * Set the values of this vector to the sum of itself and the given vector.
  *
  * @param v the vector to add with
  */
-ROSLIB.Vector3.prototype.add = function(v) {
+Vector3.prototype.add = function(v) {
   this.x += v.x;
   this.y += v.y;
   this.z += v.z;
@@ -1311,7 +1427,7 @@ ROSLIB.Vector3.prototype.add = function(v) {
  *
  * @param v the vector to subtract with
  */
-ROSLIB.Vector3.prototype.subtract = function(v) {
+Vector3.prototype.subtract = function(v) {
   this.x -= v.x;
   this.y -= v.y;
   this.z -= v.z;
@@ -1322,7 +1438,7 @@ ROSLIB.Vector3.prototype.subtract = function(v) {
  *
  * @param q - the quaternion to multiply with
  */
-ROSLIB.Vector3.prototype.multiplyQuaternion = function(q) {
+Vector3.prototype.multiplyQuaternion = function(q) {
   var ix = q.w * this.x + q.y * this.z - q.z * this.y;
   var iy = q.w * this.y + q.z * this.x - q.x * this.z;
   var iz = q.w * this.z + q.x * this.y - q.y * this.x;
@@ -1337,14 +1453,20 @@ ROSLIB.Vector3.prototype.multiplyQuaternion = function(q) {
  *
  * @returns the cloned vector
  */
-ROSLIB.Vector3.prototype.clone = function() {
-  return new ROSLIB.Vector3(this);
+Vector3.prototype.clone = function() {
+  return new Vector3(this);
 };
 
+module.exports = Vector3;
+},{}],18:[function(require,module,exports){
 /**
  * @author David Gossow - dgossow@willowgarage.com
  */
 
+var ActionClient = require('../actionlib/ActionClient');
+var Goal = require('../actionlib/Goal');
+var Transform = require('../math/Transform');
+
 /**
  * A TF Client that listens to TFs from tf2_web_republisher.
  *
@@ -1357,7 +1479,7 @@ ROSLIB.Vector3.prototype.clone = function() {
  *   * rate - the rate for the TF republisher
  *   * goalUpdateDelay - the goal update delay for the TF republisher
  */
-ROSLIB.TFClient = function(options) {
+function TFClient(options) {
   options = options || {};
   this.ros = options.ros;
   this.fixedFrame = options.fixedFrame || '/base_link';
@@ -1371,12 +1493,12 @@ ROSLIB.TFClient = function(options) {
   this.goalUpdateRequested = false;
 
   // Create an ActionClient
-  this.actionClient = new ROSLIB.ActionClient({
+  this.actionClient = new ActionClient({
     ros : this.ros,
     serverName : '/tf2_web_republisher',
     actionName : 'tf2_web_republisher/TFSubscriptionAction'
   });
-};
+}
 
 /**
  * Process the incoming TF message and send them out using the callback
@@ -1384,7 +1506,7 @@ ROSLIB.TFClient = function(options) {
  *
  * @param tf - the TF message from the server
  */
-ROSLIB.TFClient.prototype.processFeedback = function(tf) {
+TFClient.prototype.processFeedback = function(tf) {
   var that = this;
   tf.transforms.forEach(function(transform) {
     var frameID = transform.child_frame_id;
@@ -1393,7 +1515,7 @@ ROSLIB.TFClient.prototype.processFeedback = function(tf) {
     }
     var info = that.frameInfos[frameID];
     if (info !== undefined) {
-      info.transform = new ROSLIB.Transform({
+      info.transform = new Transform({
         translation : transform.transform.translation,
         rotation : transform.transform.rotation
       });
@@ -1408,7 +1530,7 @@ ROSLIB.TFClient.prototype.processFeedback = function(tf) {
  * Create and send a new goal to the tf2_web_republisher based on the current
  * list of TFs.
  */
-ROSLIB.TFClient.prototype.updateGoal = function() {
+TFClient.prototype.updateGoal = function() {
   // Anytime the list of frames changes, we will need to send a new goal.
   if (this.currentGoal) {
     this.currentGoal.cancel();
@@ -1426,7 +1548,7 @@ ROSLIB.TFClient.prototype.updateGoal = function() {
     goalMessage.source_frames.push(frame);
   }
 
-  this.currentGoal = new ROSLIB.Goal({
+  this.currentGoal = new Goal({
     actionClient : this.actionClient,
     goalMessage : goalMessage
   });
@@ -1442,7 +1564,7 @@ ROSLIB.TFClient.prototype.updateGoal = function() {
  * @param callback - function with params:
  *   * transform - the transform data
  */
-ROSLIB.TFClient.prototype.subscribe = function(frameID, callback) {
+TFClient.prototype.subscribe = function(frameID, callback) {
   // remove leading slash, if it's there
   if (frameID[0] === '/') {
     frameID = frameID.substring(1);
@@ -1471,7 +1593,7 @@ ROSLIB.TFClient.prototype.subscribe = function(frameID, callback) {
  * @param frameID - the TF frame to unsubscribe from
  * @param callback - the callback function to remove
  */
-ROSLIB.TFClient.prototype.unsubscribe = function(frameID, callback) {
+TFClient.prototype.unsubscribe = function(frameID, callback) {
   // remove leading slash, if it's there
   if (frameID[0] === '/') {
     frameID = frameID.substring(1);
@@ -1489,12 +1611,16 @@ ROSLIB.TFClient.prototype.unsubscribe = function(frameID, callback) {
   }
 };
 
-
+module.exports = TFClient;
+},{"../actionlib/ActionClient":4,"../actionlib/Goal":5,"../math/Transform":16}],19:[function(require,module,exports){
 /**
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
  * @author Russell Toris - rctoris@wpi.edu
  */
 
+var Vector3 = require('../math/Vector3');
+var UrdfTypes = require('./UrdfTypes');
+
 /**
  * A Box element in a URDF.
  *
@@ -1502,7 +1628,7 @@ ROSLIB.TFClient.prototype.unsubscribe = function(frameID, callback) {
  * @param options - object with following keys:
  *  * xml - the XML element to parse
  */
-ROSLIB.UrdfBox = function(options) {
+function UrdfBox(options) {
   options = options || {};
   var that = this;
   var xml = options.xml;
@@ -1515,11 +1641,11 @@ ROSLIB.UrdfBox = function(options) {
    * @param xml - the XML element to parse
    */
   var initXml = function(xml) {
-    that.type = ROSLIB.URDF_BOX;
+    that.type = UrdfTypes.URDF_BOX;
 
     // Parse the string
     var xyz = xml.getAttribute('size').split(' ');
-    that.dimension = new ROSLIB.Vector3({
+    that.dimension = new Vector3({
       x : parseFloat(xyz[0]),
       y : parseFloat(xyz[1]),
       z : parseFloat(xyz[2])
@@ -1528,8 +1654,10 @@ ROSLIB.UrdfBox = function(options) {
 
   // Pass it to the XML parser
   initXml(xml);
-};
+}
 
+module.exports = UrdfBox;
+},{"../math/Vector3":17,"./UrdfTypes":27}],20:[function(require,module,exports){
 /**
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
  * @author Russell Toris - rctoris@wpi.edu
@@ -1542,7 +1670,7 @@ ROSLIB.UrdfBox = function(options) {
  * @param options - object with following keys:
  *  * xml - the XML element to parse
  */
-ROSLIB.UrdfColor = function(options) {
+function UrdfColor(options) {
   options = options || {};
   var that = this;
   var xml = options.xml;
@@ -1568,13 +1696,17 @@ ROSLIB.UrdfColor = function(options) {
 
   // Pass it to the XML parser
   initXml(xml);
-};
+}
 
+module.exports = UrdfColor;
+},{}],21:[function(require,module,exports){
 /**
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
  * @author Russell Toris - rctoris@wpi.edu
  */
 
+var UrdfTypes = require('./UrdfTypes');
+
 /**
  * A Cylinder element in a URDF.
  *
@@ -1582,7 +1714,7 @@ ROSLIB.UrdfColor = function(options) {
  * @param options - object with following keys:
  *  * xml - the XML element to parse
  */
-ROSLIB.UrdfCylinder = function(options) {
+function UrdfCylinder(options) {
   options = options || {};
   var that = this;
   var xml = options.xml;
@@ -1596,21 +1728,24 @@ ROSLIB.UrdfCylinder = function(options) {
    * @param xml - the XML element to parse
    */
   var initXml = function(xml) {
-    that.type = ROSLIB.URDF_CYLINDER;
+    that.type = UrdfTypes.URDF_CYLINDER;
     that.length = parseFloat(xml.getAttribute('length'));
     that.radius = parseFloat(xml.getAttribute('radius'));
   };
 
   // Pass it to the XML parser
   initXml(xml);
-};
-
+}
 
+module.exports = UrdfCylinder;
+},{"./UrdfTypes":27}],22:[function(require,module,exports){
 /**
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
  * @author Russell Toris - rctoris@wpi.edu
  */
 
+var UrdfVisual = require('./UrdfVisual');
+
 /**
  * A Link element in a URDF.
  *
@@ -1618,7 +1753,7 @@ ROSLIB.UrdfCylinder = function(options) {
  * @param options - object with following keys:
  *  * xml - the XML element to parse
  */
-ROSLIB.UrdfLink = function(options) {
+function UrdfLink(options) {
   options = options || {};
   var that = this;
   var xml = options.xml;
@@ -1634,7 +1769,7 @@ ROSLIB.UrdfLink = function(options) {
     that.name = xml.getAttribute('name');
     var visuals = xml.getElementsByTagName('visual');
     if (visuals.length > 0) {
-      that.visual = new ROSLIB.UrdfVisual({
+      that.visual = new UrdfVisual({
         xml : visuals[0]
       });
     }
@@ -1642,14 +1777,17 @@ ROSLIB.UrdfLink = function(options) {
 
   // Pass it to the XML parser
   initXml(xml);
-};
-
+}
 
+module.exports = UrdfLink;
+},{"./UrdfVisual":28}],23:[function(require,module,exports){
 /**
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
  * @author Russell Toris - rctoris@wpi.edu
  */
 
+var UrdfColor = require('./UrdfColor');
+
 /**
  * A Material element in a URDF.
  *
@@ -1657,7 +1795,7 @@ ROSLIB.UrdfLink = function(options) {
  * @param options - object with following keys:
  *  * xml - the XML element to parse
  */
-ROSLIB.UrdfMaterial = function(options) {
+function UrdfMaterial(options) {
   options = options || {};
   var that = this;
   var xml = options.xml;
@@ -1683,7 +1821,7 @@ ROSLIB.UrdfMaterial = function(options) {
     var colors = xml.getElementsByTagName('color');
     if (colors.length > 0) {
       // Parse the RBGA string
-      that.color = new ROSLIB.UrdfColor({
+      that.color = new UrdfColor({
         xml : colors[0]
       });
     }
@@ -1691,13 +1829,18 @@ ROSLIB.UrdfMaterial = function(options) {
 
   // Pass it to the XML parser
   initXml(xml);
-};
+}
 
+module.exports = UrdfMaterial;
+},{"./UrdfColor":20}],24:[function(require,module,exports){
 /**
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
  * @author Russell Toris - rctoris@wpi.edu
  */
 
+var Vector3 = require('../math/Vector3');
+var UrdfTypes = require('./UrdfTypes');
+
 /**
  * A Mesh element in a URDF.
  *
@@ -1705,7 +1848,7 @@ ROSLIB.UrdfMaterial = function(options) {
  * @param options - object with following keys:
  *  * xml - the XML element to parse
  */
-ROSLIB.UrdfMesh = function(options) {
+function UrdfMesh(options) {
   options = options || {};
   var that = this;
   var xml = options.xml;
@@ -1719,7 +1862,7 @@ ROSLIB.UrdfMesh = function(options) {
    * @param xml - the XML element to parse
    */
   var initXml = function(xml) {
-    that.type = ROSLIB.URDF_MESH;
+    that.type = UrdfTypes.URDF_MESH;
     that.filename = xml.getAttribute('filename');
 
     // Check for a scale
@@ -1727,7 +1870,7 @@ ROSLIB.UrdfMesh = function(options) {
     if (scale) {
       // Get the XYZ
       var xyz = scale.split(' ');
-      that.scale = new ROSLIB.Vector3({
+      that.scale = new Vector3({
         x : parseFloat(xyz[0]),
         y : parseFloat(xyz[1]),
         z : parseFloat(xyz[2])
@@ -1737,14 +1880,22 @@ ROSLIB.UrdfMesh = function(options) {
 
   // Pass it to the XML parser
   initXml(xml);
-};
-
+}
 
+module.exports = UrdfMesh;
+},{"../math/Vector3":17,"./UrdfTypes":27}],25:[function(require,module,exports){
 /**
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
  * @author Russell Toris - rctoris@wpi.edu
  */
 
+var UrdfMaterial = require('./UrdfMaterial');
+var UrdfLink = require('./UrdfLink');
+var DOMParser = require('../util/DOMParser');
+
+// See https://developer.mozilla.org/docs/XPathResult#Constants
+var XPATH_FIRST_ORDERED_NODE_TYPE = 9;
+
 /**
  * A URDF Model can be used to parse a given URDF into the appropriate elements.
  *
@@ -1753,7 +1904,7 @@ ROSLIB.UrdfMesh = function(options) {
  *  * xml - the XML element to parse
  *  * string - the XML element to parse as a string
  */
-ROSLIB.UrdfModel = function(options) {
+function UrdfModel(options) {
   options = options || {};
   var that = this;
   var xml = options.xml;
@@ -1768,7 +1919,7 @@ ROSLIB.UrdfModel = function(options) {
    */
   var initXml = function(xmlDoc) {
     // Get the robot tag
-    var robotXml = xmlDoc.evaluate('//robot', xmlDoc, null, XPathResult.FIRST_ORDERED_NODE_TYPE, null).singleNodeValue;
+    var robotXml = xmlDoc.evaluate('//robot', xmlDoc, null, XPATH_FIRST_ORDERED_NODE_TYPE, null).singleNodeValue;
 
     // Get the robot name
     that.name = robotXml.getAttribute('name');
@@ -1777,7 +1928,7 @@ ROSLIB.UrdfModel = function(options) {
     for (var n in robotXml.childNodes) {
       var node = robotXml.childNodes[n];
       if (node.tagName === 'material') {
-        var material = new ROSLIB.UrdfMaterial({
+        var material = new UrdfMaterial({
           xml : node
         });
         // Make sure this is unique
@@ -1787,7 +1938,7 @@ ROSLIB.UrdfModel = function(options) {
           that.materials[material.name] = material;
         }
       } else if (node.tagName === 'link') {
-        var link = new ROSLIB.UrdfLink({
+        var link = new UrdfLink({
           xml : node
         });
         // Make sure this is unique
@@ -1818,13 +1969,17 @@ ROSLIB.UrdfModel = function(options) {
   }
   // Pass it to the XML parser
   initXml(xml);
-};
+}
 
+module.exports = UrdfModel;
+},{"../util/DOMParser":29,"./UrdfLink":22,"./UrdfMaterial":23}],26:[function(require,module,exports){
 /**
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
  * @author Russell Toris - rctoris@wpi.edu
  */
 
+var UrdfTypes = require('./UrdfTypes');
+
 /**
  * A Sphere element in a URDF.
  *
@@ -1832,7 +1987,7 @@ ROSLIB.UrdfModel = function(options) {
  * @param options - object with following keys:
  *  * xml - the XML element to parse
  */
-ROSLIB.UrdfSphere = function(options) {
+function UrdfSphere(options) {
   options = options || {};
   var that = this;
   var xml = options.xml;
@@ -1845,20 +2000,39 @@ ROSLIB.UrdfSphere = function(options) {
    * @param xml - the XML element to parse
    */
   var initXml = function(xml) {
-    that.type = ROSLIB.URDF_SPHERE;
+    that.type = UrdfTypes.URDF_SPHERE;
     that.radius = parseFloat(xml.getAttribute('radius'));
   };
 
   // pass it to the XML parser
   initXml(xml);
-};
+}
 
+module.exports = UrdfSphere;
+},{"./UrdfTypes":27}],27:[function(require,module,exports){
+module.exports = {
+	URDF_SPHERE : 0,
+	URDF_BOX : 1,
+	URDF_CYLINDER : 2,
+	URDF_MESH : 3
+};
 
+},{}],28:[function(require,module,exports){
 /**
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
  * @author Russell Toris - rctoris@wpi.edu
  */
 
+var Pose = require('../math/Pose');
+var Vector3 = require('../math/Vector3');
+var Quaternion = require('../math/Quaternion');
+
+var UrdfCylinder = require('./UrdfCylinder');
+var UrdfBox = require('./UrdfBox');
+var UrdfMaterial = require('./UrdfMaterial');
+var UrdfMesh = require('./UrdfMesh');
+var UrdfSphere = require('./UrdfSphere');
+
 /**
  * A Visual element in a URDF.
  *
@@ -1866,7 +2040,7 @@ ROSLIB.UrdfSphere = function(options) {
  * @param options - object with following keys:
  *  * xml - the XML element to parse
  */
-ROSLIB.UrdfVisual = function(options) {
+function UrdfVisual(options) {
   options = options || {};
   var that = this;
   var xml = options.xml;
@@ -1884,14 +2058,14 @@ ROSLIB.UrdfVisual = function(options) {
     var origins = xml.getElementsByTagName('origin');
     if (origins.length === 0) {
       // use the identity as the default
-      that.origin = new ROSLIB.Pose();
+      that.origin = new Pose();
     } else {
       // Check the XYZ
       var xyz = origins[0].getAttribute('xyz');
-      var position = new ROSLIB.Vector3();
+      var position = new Vector3();
       if (xyz) {
         xyz = xyz.split(' ');
-        position = new ROSLIB.Vector3({
+        position = new Vector3({
           x : parseFloat(xyz[0]),
           y : parseFloat(xyz[1]),
           z : parseFloat(xyz[2])
@@ -1900,7 +2074,7 @@ ROSLIB.UrdfVisual = function(options) {
 
       // Check the RPY
       var rpy = origins[0].getAttribute('rpy');
-      var orientation = new ROSLIB.Quaternion();
+      var orientation = new Quaternion();
       if (rpy) {
         rpy = rpy.split(' ');
         // Convert from RPY
@@ -1919,7 +2093,7 @@ ROSLIB.UrdfVisual = function(options) {
         var w = Math.cos(phi) * Math.cos(the) * Math.cos(psi) + Math.sin(phi) * Math.sin(the)
             * Math.sin(psi);
 
-        orientation = new ROSLIB.Quaternion({
+        orientation = new Quaternion({
           x : x,
           y : y,
           z : z,
@@ -1927,7 +2101,7 @@ ROSLIB.UrdfVisual = function(options) {
         });
         orientation.normalize();
       }
-      that.origin = new ROSLIB.Pose({
+      that.origin = new Pose({
         position : position,
         orientation : orientation
       });
@@ -1948,19 +2122,19 @@ ROSLIB.UrdfVisual = function(options) {
       // Check the type
       var type = shape.nodeName;
       if (type === 'sphere') {
-        that.geometry = new ROSLIB.UrdfSphere({
+        that.geometry = new UrdfSphere({
           xml : shape
         });
       } else if (type === 'box') {
-        that.geometry = new ROSLIB.UrdfBox({
+        that.geometry = new UrdfBox({
           xml : shape
         });
       } else if (type === 'cylinder') {
-        that.geometry = new ROSLIB.UrdfCylinder({
+        that.geometry = new UrdfCylinder({
           xml : shape
         });
       } else if (type === 'mesh') {
-        that.geometry = new ROSLIB.UrdfMesh({
+        that.geometry = new UrdfMesh({
           xml : shape
         });
       } else {
@@ -1971,7 +2145,7 @@ ROSLIB.UrdfVisual = function(options) {
     // Material
     var materials = xml.getElementsByTagName('material');
     if (materials.length > 0) {
-      that.material = new ROSLIB.UrdfMaterial({
+      that.material = new UrdfMaterial({
         xml : materials[0]
       });
     }
@@ -1979,5 +2153,26 @@ ROSLIB.UrdfVisual = function(options) {
 
   // Pass it to the XML parser
   initXml(xml);
-};
-
+}
+
+module.exports = UrdfVisual;
+},{"../math/Pose":14,"../math/Quaternion":15,"../math/Vector3":17,"./UrdfBox":19,"./UrdfCylinder":21,"./UrdfMaterial":23,"./UrdfMesh":24,"./UrdfSphere":26}],29:[function(require,module,exports){
+(function (global){
+module.exports = global.DOMParser;
+}).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})
+},{}],30:[function(require,module,exports){
+(function (global){
+module.exports = {
+	EventEmitter2: global.EventEmitter2
+};
+}).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})
+},{}],31:[function(require,module,exports){
+(function (global){
+module.exports = global.WebSocket;
+}).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})
+},{}],32:[function(require,module,exports){
+/* global document */
+module.exports = function Canvas() {
+	return document.createElement('canvas');
+};
+},{}]},{},[3]);
diff --git a/build/roslib.min.js b/build/roslib.min.js
index 1eb3da1e6..560a7c8ca 100644
--- a/build/roslib.min.js
+++ b/build/roslib.min.js
@@ -1 +1 @@
-var ROSLIB=ROSLIB||{REVISION:"0.10.0-SNAPSHOT"};ROSLIB.URDF_SPHERE=0,ROSLIB.URDF_BOX=1,ROSLIB.URDF_CYLINDER=2,ROSLIB.URDF_MESH=3,ROSLIB.ActionClient=function(a){var b=this;a=a||{},this.ros=a.ros,this.serverName=a.serverName,this.actionName=a.actionName,this.timeout=a.timeout,this.goals={};var c=!1,d=new ROSLIB.Topic({ros:this.ros,name:this.serverName+"/feedback",messageType:this.actionName+"Feedback"}),e=new ROSLIB.Topic({ros:this.ros,name:this.serverName+"/status",messageType:"actionlib_msgs/GoalStatusArray"}),f=new ROSLIB.Topic({ros:this.ros,name:this.serverName+"/result",messageType:this.actionName+"Result"});this.goalTopic=new ROSLIB.Topic({ros:this.ros,name:this.serverName+"/goal",messageType:this.actionName+"Goal"}),this.cancelTopic=new ROSLIB.Topic({ros:this.ros,name:this.serverName+"/cancel",messageType:"actionlib_msgs/GoalID"}),this.goalTopic.advertise(),this.cancelTopic.advertise(),e.subscribe(function(a){c=!0,a.status_list.forEach(function(a){var c=b.goals[a.goal_id.id];c&&c.emit("status",a)})}),d.subscribe(function(a){var c=b.goals[a.status.goal_id.id];c&&(c.emit("status",a.status),c.emit("feedback",a.feedback))}),f.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)},ROSLIB.ActionClient.prototype.__proto__=EventEmitter2.prototype,ROSLIB.ActionClient.prototype.cancel=function(){var a=new ROSLIB.Message;this.cancelTopic.publish(a)},ROSLIB.Goal=function(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 ROSLIB.Message({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},ROSLIB.Goal.prototype.__proto__=EventEmitter2.prototype,ROSLIB.Goal.prototype.send=function(a){var b=this;b.actionClient.goalTopic.publish(b.goalMessage),a&&setTimeout(function(){b.isFinished||b.emit("timeout")},a)},ROSLIB.Goal.prototype.cancel=function(){var a=new ROSLIB.Message({id:this.goalID});this.actionClient.cancelTopic.publish(a)},ROSLIB.SimpleActionServer=function(a){var b=this;a=a||{},this.ros=a.ros,this.serverName=a.serverName,this.actionName=a.actionName,this.feedbackPublisher=new ROSLIB.Topic({ros:this.ros,name:this.serverName+"/feedback",messageType:this.actionName+"Feedback"}),this.feedbackPublisher.advertise();var c=new ROSLIB.Topic({ros:this.ros,name:this.serverName+"/status",messageType:"actionlib_msgs/GoalStatusArray"});c.advertise(),this.resultPublisher=new ROSLIB.Topic({ros:this.ros,name:this.serverName+"/result",messageType:this.actionName+"Result"}),this.resultPublisher.advertise();var d=new ROSLIB.Topic({ros:this.ros,name:this.serverName+"/goal",messageType:this.actionName+"Goal"}),e=new ROSLIB.Topic({ros:this.ros,name:this.serverName+"/cancel",messageType:"actionlib_msgs/GoalID"});this.statusMessage=new ROSLIB.Message({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 f=function(a,b){return a.secs>b.secs?!1:a.secs<b.secs?!0:a.nsecs<b.nsecs?!0:!1};e.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&&f(b.nextGoal.goal_id.stamp,a.stamp)&&(b.nextGoal=null),b.currentGoal&&f(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)},ROSLIB.SimpleActionServer.prototype.__proto__=EventEmitter2.prototype,ROSLIB.SimpleActionServer.prototype.setSucceeded=function(a){var b=new ROSLIB.Message({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},ROSLIB.SimpleActionServer.prototype.sendFeedback=function(a){var b=new ROSLIB.Message({status:{goal_id:this.currentGoal.goal_id,status:1},feedback:a});this.feedbackPublisher.publish(b)},ROSLIB.SimpleActionServer.prototype.setPreempted=function(){this.statusMessage.status_list=[];var a=new ROSLIB.Message({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},ROSLIB.Message=function(a){var b=this;a=a||{},Object.keys(a).forEach(function(c){b[c]=a[c]})},ROSLIB.Param=function(a){a=a||{},this.ros=a.ros,this.name=a.name},ROSLIB.Param.prototype.get=function(a){var b=new ROSLIB.Service({ros:this.ros,name:"/rosapi/get_param",serviceType:"rosapi/GetParam"}),c=new ROSLIB.ServiceRequest({name:this.name});b.callService(c,function(b){var c=JSON.parse(b.value);a(c)})},ROSLIB.Param.prototype.set=function(a){var b=new ROSLIB.Service({ros:this.ros,name:"/rosapi/set_param",serviceType:"rosapi/SetParam"}),c=new ROSLIB.ServiceRequest({name:this.name,value:JSON.stringify(a)});b.callService(c,function(){})},ROSLIB.Param.prototype.delete=function(){var a=new ROSLIB.Service({ros:this.ros,name:"/rosapi/delete_param",serviceType:"rosapi/DeleteParam"}),b=new ROSLIB.ServiceRequest({name:this.name});a.callService(b,function(){})},ROSLIB.Ros=function(a){a=a||{};var b=a.url;this.socket=null,this.idCounter=0,this.setMaxListeners(0),b&&this.connect(b)},ROSLIB.Ros.prototype.__proto__=EventEmitter2.prototype,ROSLIB.Ros.prototype.connect=function(a){function b(a){g.emit("connection",a)}function c(a){g.emit("close",a)}function d(a){g.emit("error",a)}function e(a,b){var c=new Image;c.onload=function(){var a=document.createElement("canvas"),d=a.getContext("2d");a.width=c.width,a.height=c.height,d.drawImage(c,0,0);for(var e=d.getImageData(0,0,c.width,c.height).data,f="",g=0;g<e.length;g+=4)f+=String.fromCharCode(e[g],e[g+1],e[g+2]);var h=JSON.parse(f);b(h)},c.src="data:image/png;base64,"+a.data}function f(a){function b(a){"publish"===a.op?g.emit(a.topic,a.msg):"service_response"===a.op&&g.emit(a.id,a)}var c=JSON.parse(a.data);"png"===c.op?e(c,function(a){b(a)}):b(c)}var g=this;this.socket=new WebSocket(a),this.socket.onopen=b,this.socket.onclose=c,this.socket.onerror=d,this.socket.onmessage=f},ROSLIB.Ros.prototype.close=function(){this.socket&&this.socket.close()},ROSLIB.Ros.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)},ROSLIB.Ros.prototype.callOnConnection=function(a){var b=this,c=JSON.stringify(a);this.socket&&this.socket.readyState===WebSocket.OPEN?b.socket.send(c):b.once("connection",function(){b.socket.send(c)})},ROSLIB.Ros.prototype.getTopics=function(a){var b=new ROSLIB.Service({ros:this,name:"/rosapi/topics",serviceType:"rosapi/Topics"}),c=new ROSLIB.ServiceRequest;b.callService(c,function(b){a(b.topics)})},ROSLIB.Ros.prototype.getServices=function(a){var b=new ROSLIB.Service({ros:this,name:"/rosapi/services",serviceType:"rosapi/Services"}),c=new ROSLIB.ServiceRequest;b.callService(c,function(b){a(b.services)})},ROSLIB.Ros.prototype.getNodes=function(a){var b=new ROSLIB.Service({ros:this,name:"/rosapi/nodes",serviceType:"rosapi/Nodes"}),c=new ROSLIB.ServiceRequest;b.callService(c,function(b){a(b.nodes)})},ROSLIB.Ros.prototype.getParams=function(a){var b=new ROSLIB.Service({ros:this,name:"/rosapi/get_param_names",serviceType:"rosapi/GetParamNames"}),c=new ROSLIB.ServiceRequest;b.callService(c,function(b){a(b.names)})},ROSLIB.Ros.prototype.getTopicType=function(a,b){var c=new ROSLIB.Service({ros:this,name:"/rosapi/topic_type",serviceType:"rosapi/TopicType"}),d=new ROSLIB.ServiceRequest({topic:a});c.callService(d,function(a){b(a.type)})},ROSLIB.Ros.prototype.getMessageDetails=function(a,b){var c=new ROSLIB.Service({ros:this,name:"/rosapi/message_details",serviceType:"rosapi/MessageDetails"}),d=new ROSLIB.ServiceRequest({type:a});c.callService(d,function(a){b(a.typedefs)})},ROSLIB.Ros.prototype.decodeTypeDefs=function(a){var b=this,c=function(a,d){for(var e={},f=0;f<a.fieldnames.length;f++){var g=a.fieldarraylen[f],h=a.fieldnames[f],i=a.fieldtypes[f];if(-1===i.indexOf("/"))e[h]=-1===g?i:[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);e[h]=-1===g?l:[l]}else b.emit("error","Cannot find "+i+" in decodeTypeDefs")}}return e};return c(a[0],a)},ROSLIB.Service=function(a){a=a||{},this.ros=a.ros,this.name=a.name,this.serviceType=a.serviceType},ROSLIB.Service.prototype.callService=function(a,b,c){this.ros.idCounter++;var d="call_service:"+this.name+":"+this.ros.idCounter;this.ros.once(d,function(a){if(void 0!==a.result&&a.result===!1)"function"==typeof c&&c(a.values);else{var d=new ROSLIB.ServiceResponse(a.values);b(d)}});var e={op:"call_service",id:d,service:this.name,args:a};this.ros.callOnConnection(e)},ROSLIB.ServiceRequest=function(a){var b=this;a=a||{},Object.keys(a).forEach(function(c){b[c]=a[c]})},ROSLIB.ServiceResponse=function(a){var b=this;a=a||{},Object.keys(a).forEach(function(c){b[c]=a[c]})},ROSLIB.Topic=function(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.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)},ROSLIB.Topic.prototype.__proto__=EventEmitter2.prototype,ROSLIB.Topic.prototype.subscribe=function(a){var b=this;this.on("message",function(b){a(b)}),this.ros.on(this.name,function(a){var c=new ROSLIB.Message(a);b.emit("message",c)}),this.ros.idCounter++;var c="subscribe:"+this.name+":"+this.ros.idCounter,d={op:"subscribe",id:c,type:this.messageType,topic:this.name,compression:this.compression,throttle_rate:this.throttle_rate};this.ros.callOnConnection(d)},ROSLIB.Topic.prototype.unsubscribe=function(){this.ros.removeAllListeners([this.name]),this.ros.idCounter++;var a="unsubscribe:"+this.name+":"+this.ros.idCounter,b={op:"unsubscribe",id:a,topic:this.name};this.ros.callOnConnection(b)},ROSLIB.Topic.prototype.advertise=function(){if(!this.isAdvertised){this.ros.idCounter++,this.advertiseId="advertise:"+this.name+":"+this.ros.idCounter;var a={op:"advertise",id:this.advertiseId,type:this.messageType,topic:this.name,latch:this.latch,queue_size:this.queue_size};this.ros.callOnConnection(a),this.isAdvertised=!0}},ROSLIB.Topic.prototype.unadvertise=function(){if(this.isAdvertised){var a=this.advertiseId,b={op:"unadvertise",id:a,topic:this.name};this.ros.callOnConnection(b),this.isAdvertised=!1}},ROSLIB.Topic.prototype.publish=function(a){this.isAdvertised||this.advertise(),this.ros.idCounter++;var b="publish:"+this.name+":"+this.ros.idCounter,c={op:"publish",id:b,topic:this.name,msg:a,latch:this.latch};this.ros.callOnConnection(c)},ROSLIB.Pose=function(a){a=a||{},this.position=new ROSLIB.Vector3(a.position),this.orientation=new ROSLIB.Quaternion(a.orientation)},ROSLIB.Pose.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},ROSLIB.Pose.prototype.clone=function(){return new ROSLIB.Pose(this)},ROSLIB.Quaternion=function(a){a=a||{},this.x=a.x||0,this.y=a.y||0,this.z=a.z||0,this.w=a.w||1},ROSLIB.Quaternion.prototype.conjugate=function(){this.x*=-1,this.y*=-1,this.z*=-1},ROSLIB.Quaternion.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)},ROSLIB.Quaternion.prototype.invert=function(){this.conjugate(),this.normalize()},ROSLIB.Quaternion.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},ROSLIB.Quaternion.prototype.clone=function(){return new ROSLIB.Quaternion(this)},ROSLIB.Transform=function(a){a=a||{},this.translation=new ROSLIB.Vector3(a.translation),this.rotation=new ROSLIB.Quaternion(a.rotation)},ROSLIB.Transform.prototype.clone=function(){return new ROSLIB.Transform(this)},ROSLIB.Vector3=function(a){a=a||{},this.x=a.x||0,this.y=a.y||0,this.z=a.z||0},ROSLIB.Vector3.prototype.add=function(a){this.x+=a.x,this.y+=a.y,this.z+=a.z},ROSLIB.Vector3.prototype.subtract=function(a){this.x-=a.x,this.y-=a.y,this.z-=a.z},ROSLIB.Vector3.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},ROSLIB.Vector3.prototype.clone=function(){return new ROSLIB.Vector3(this)},ROSLIB.TFClient=function(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.goalUpdateDelay=a.goalUpdateDelay||50,this.currentGoal=!1,this.frameInfos={},this.goalUpdateRequested=!1,this.actionClient=new ROSLIB.ActionClient({ros:this.ros,serverName:"/tf2_web_republisher",actionName:"tf2_web_republisher/TFSubscriptionAction"})},ROSLIB.TFClient.prototype.processFeedback=function(a){var b=this;a.transforms.forEach(function(a){var c=a.child_frame_id;"/"===c[0]&&(c=c.substring(1));var d=b.frameInfos[c];void 0!==d&&(d.transform=new ROSLIB.Transform({translation:a.transform.translation,rotation:a.transform.rotation}),d.cbs.forEach(function(a){a(d.transform)}))})},ROSLIB.TFClient.prototype.updateGoal=function(){this.currentGoal&&this.currentGoal.cancel();var a={source_frames:[],target_frame:this.fixedFrame,angular_thres:this.angularThres,trans_thres:this.transThres,rate:this.rate};for(var b in this.frameInfos)a.source_frames.push(b);this.currentGoal=new ROSLIB.Goal({actionClient:this.actionClient,goalMessage:a}),this.currentGoal.on("feedback",this.processFeedback.bind(this)),this.currentGoal.send(),this.goalUpdateRequested=!1},ROSLIB.TFClient.prototype.subscribe=function(a,b){"/"===a[0]&&(a=a.substring(1)),void 0===this.frameInfos[a]?(this.frameInfos[a]={cbs:[]},this.goalUpdateRequested||(setTimeout(this.updateGoal.bind(this),this.goalUpdateDelay),this.goalUpdateRequested=!0)):void 0!==this.frameInfos[a].transform&&b(this.frameInfos[a].transform),this.frameInfos[a].cbs.push(b)},ROSLIB.TFClient.prototype.unsubscribe=function(a,b){"/"===a[0]&&(a=a.substring(1));var c=this.frameInfos[a];if(void 0!==c){var d=c.cbs.indexOf(b);d>=0&&(c.cbs.splice(d,1),0===c.cbs.length&&delete this.frameInfos[a],this.needUpdate=!0)}},ROSLIB.UrdfBox=function(a){a=a||{};var b=this,c=a.xml;this.dimension=null,this.type=null;var d=function(a){b.type=ROSLIB.URDF_BOX;var c=a.getAttribute("size").split(" ");b.dimension=new ROSLIB.Vector3({x:parseFloat(c[0]),y:parseFloat(c[1]),z:parseFloat(c[2])})};d(c)},ROSLIB.UrdfColor=function(a){a=a||{};var b=this,c=a.xml;this.r=null,this.g=null,this.b=null,this.a=null;var d=function(a){var c=a.getAttribute("rgba").split(" ");return b.r=parseFloat(c[0]),b.g=parseFloat(c[1]),b.b=parseFloat(c[2]),b.a=parseFloat(c[3]),!0};d(c)},ROSLIB.UrdfCylinder=function(a){a=a||{};var b=this,c=a.xml;this.type=null,this.length=null,this.radius=null;var d=function(a){b.type=ROSLIB.URDF_CYLINDER,b.length=parseFloat(a.getAttribute("length")),b.radius=parseFloat(a.getAttribute("radius"))};d(c)},ROSLIB.UrdfLink=function(a){a=a||{};var b=this,c=a.xml;this.name=null,this.visual=null;var d=function(a){b.name=a.getAttribute("name");var c=a.getElementsByTagName("visual");c.length>0&&(b.visual=new ROSLIB.UrdfVisual({xml:c[0]}))};d(c)},ROSLIB.UrdfMaterial=function(a){a=a||{};var b=this,c=a.xml;this.name=null,this.textureFilename=null,this.color=null;var d=function(a){b.name=a.getAttribute("name");var c=a.getElementsByTagName("texture");c.length>0&&(b.textureFilename=c[0].getAttribute("filename"));var d=a.getElementsByTagName("color");d.length>0&&(b.color=new ROSLIB.UrdfColor({xml:d[0]}))};d(c)},ROSLIB.UrdfMesh=function(a){a=a||{};var b=this,c=a.xml;this.filename=null,this.scale=null,this.type=null;var d=function(a){b.type=ROSLIB.URDF_MESH,b.filename=a.getAttribute("filename");var c=a.getAttribute("scale");if(c){var d=c.split(" ");b.scale=new ROSLIB.Vector3({x:parseFloat(d[0]),y:parseFloat(d[1]),z:parseFloat(d[2])})}};d(c)},ROSLIB.UrdfModel=function(a){a=a||{};var b=this,c=a.xml,d=a.string;this.materials=[],this.links=[];var e=function(a){var c=a.evaluate("//robot",a,null,XPathResult.FIRST_ORDERED_NODE_TYPE,null).singleNodeValue;b.name=c.getAttribute("name");for(var d in c.childNodes){var e=c.childNodes[d];if("material"===e.tagName){var f=new ROSLIB.UrdfMaterial({xml:e});b.materials[f.name]?console.warn("Material "+f.name+"is not unique."):b.materials[f.name]=f}else if("link"===e.tagName){var g=new ROSLIB.UrdfLink({xml:e});b.links[g.name]?console.warn("Link "+g.name+" is not unique."):(g.visual&&g.visual.material&&(b.materials[g.visual.material.name]?g.visual.material=b.materials[g.visual.material.name]:g.visual.material&&(b.materials[g.visual.material.name]=g.visual.material)),b.links[g.name]=g)}}};if(d){var f=new DOMParser;c=f.parseFromString(d,"text/xml")}e(c)},ROSLIB.UrdfSphere=function(a){a=a||{};var b=this,c=a.xml;this.radius=null,this.type=null;var d=function(a){b.type=ROSLIB.URDF_SPHERE,b.radius=parseFloat(a.getAttribute("radius"))};d(c)},ROSLIB.UrdfVisual=function(a){a=a||{};var b=this,c=a.xml;this.origin=null,this.geometry=null,this.material=null;var d=function(a){var c=a.getElementsByTagName("origin");if(0===c.length)b.origin=new ROSLIB.Pose;else{var d=c[0].getAttribute("xyz"),e=new ROSLIB.Vector3;d&&(d=d.split(" "),e=new ROSLIB.Vector3({x:parseFloat(d[0]),y:parseFloat(d[1]),z:parseFloat(d[2])}));var f=c[0].getAttribute("rpy"),g=new ROSLIB.Quaternion;if(f){f=f.split(" ");var h=parseFloat(f[0]),i=parseFloat(f[1]),j=parseFloat(f[2]),k=h/2,l=i/2,m=j/2,n=Math.sin(k)*Math.cos(l)*Math.cos(m)-Math.cos(k)*Math.sin(l)*Math.sin(m),o=Math.cos(k)*Math.sin(l)*Math.cos(m)+Math.sin(k)*Math.cos(l)*Math.sin(m),p=Math.cos(k)*Math.cos(l)*Math.sin(m)-Math.sin(k)*Math.sin(l)*Math.cos(m),q=Math.cos(k)*Math.cos(l)*Math.cos(m)+Math.sin(k)*Math.sin(l)*Math.sin(m);g=new ROSLIB.Quaternion({x:n,y:o,z:p,w:q}),g.normalize()}b.origin=new ROSLIB.Pose({position:e,orientation:g})}var r=a.getElementsByTagName("geometry");if(r.length>0){var s=null;for(var t in r[0].childNodes){var u=r[0].childNodes[t];if(1===u.nodeType){s=u;break}}var v=s.nodeName;"sphere"===v?b.geometry=new ROSLIB.UrdfSphere({xml:s}):"box"===v?b.geometry=new ROSLIB.UrdfBox({xml:s}):"cylinder"===v?b.geometry=new ROSLIB.UrdfCylinder({xml:s}):"mesh"===v?b.geometry=new ROSLIB.UrdfMesh({xml:s}):console.warn("Unknown geometry type "+v)}var w=a.getElementsByTagName("material");w.length>0&&(b.material=new ROSLIB.UrdfMaterial({xml:w[0]}))};d(c)};
\ No newline at end of file
+!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){"use strict";function c(a){if(null==a)throw new TypeError("Object.assign cannot be called with null or undefined");return Object(a)}b.exports=Object.assign||function(a){for(var b,d,e,f=c(a),g=1;g<arguments.length;g++){d=arguments[g],e=Object.keys(Object(d));for(var h=0;h<e.length;h++)try{f[e[h]]=d[e[h]]}catch(i){void 0===b&&(b=i)}}if(b)throw b;return f}},{}],2:[function(a,b){var c=this.ROSLIB||{REVISION:"0.10.0-SNAPSHOT"};c.Ros=a("./core/Ros"),c.Topic=a("./core/Topic"),c.Message=a("./core/Message"),c.Param=a("./core/Param"),c.Service=a("./core/Service"),c.ServiceRequest=a("./core/ServiceRequest"),c.ServiceResponse=a("./core/ServiceResponse"),c.ActionClient=a("./actionlib/ActionClient"),c.Goal=a("./actionlib/Goal"),c.SimpleActionServer=a("./actionlib/SimpleActionServer"),c.Pose=a("./math/Pose"),c.Quaternion=a("./math/Quaternion"),c.Transform=a("./math/Transform"),c.Vector3=a("./math/Vector3"),c.TFClient=a("./tf/TFClient"),c.UrdfBox=a("./urdf/UrdfBox"),c.UrdfColor=a("./urdf/UrdfColor"),c.UrdfCylinder=a("./urdf/UrdfCylinder"),c.UrdfLink=a("./urdf/UrdfLink"),c.UrdfMaterial=a("./urdf/UrdfMaterial"),c.UrdfMesh=a("./urdf/UrdfMesh"),c.UrdfModel=a("./urdf/UrdfModel"),c.UrdfSphere=a("./urdf/UrdfSphere"),c.UrdfVisual=a("./urdf/UrdfVisual"),a("object-assign")(c,a("./urdf/UrdfTypes")),b.exports=c},{"./actionlib/ActionClient":4,"./actionlib/Goal":5,"./actionlib/SimpleActionServer":6,"./core/Message":7,"./core/Param":8,"./core/Ros":9,"./core/Service":10,"./core/ServiceRequest":11,"./core/ServiceResponse":12,"./core/Topic":13,"./math/Pose":14,"./math/Quaternion":15,"./math/Transform":16,"./math/Vector3":17,"./tf/TFClient":18,"./urdf/UrdfBox":19,"./urdf/UrdfColor":20,"./urdf/UrdfCylinder":21,"./urdf/UrdfLink":22,"./urdf/UrdfMaterial":23,"./urdf/UrdfMesh":24,"./urdf/UrdfModel":25,"./urdf/UrdfSphere":26,"./urdf/UrdfTypes":27,"./urdf/UrdfVisual":28,"object-assign":1}],3:[function(a){(function(b){b.ROSLIB=a("./RosLib")}).call(this,"undefined"!=typeof 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c=b.goals[a.status.goal_id.id];c&&(c.emit("status",a.status),c.emit("feedback",a.feedback))}),g.subscribe(function(a){var c=b.goals[a.status.goal_id.id];c&&(c.emit("status",a.status),c.emit("result",a.result))}),this.timeout&&setTimeout(function(){c||b.emit("timeout")},this.timeout)}var d=a("../core/Topic"),e=a("../core/Message"),f=a("eventemitter2").EventEmitter2;c.prototype.__proto__=f.prototype,c.prototype.cancel=function(){var a=new e;this.cancelTopic.publish(a)},b.exports=c},{"../core/Message":7,"../core/Topic":13,eventemitter2:30}],5:[function(a,b){function c(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 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d({ros:this.ros,name:this.serverName+"/status",messageType:"actionlib_msgs/GoalStatusArray"});c.advertise(),this.resultPublisher=new d({ros:this.ros,name:this.serverName+"/result",messageType:this.actionName+"Result"}),this.resultPublisher.advertise();var f=new d({ros:this.ros,name:this.serverName+"/goal",messageType:this.actionName+"Goal"}),g=new d({ros:this.ros,name:this.serverName+"/cancel",messageType:"actionlib_msgs/GoalID"});this.statusMessage=new e({header:{stamp:{secs:0,nsecs:100},frame_id:""},status_list:[]}),this.currentGoal=null,this.nextGoal=null,f.subscribe(function(a){b.currentGoal?(b.nextGoal=a,b.emit("cancel")):(b.statusMessage.status_list=[{goal_id:a.goal_id,status:1}],b.currentGoal=a,b.emit("goal",a.goal))});var h=function(a,b){return a.secs>b.secs?!1:a.secs<b.secs?!0:a.nsecs<b.nsecs?!0:!1};g.subscribe(function(a){0===a.stamp.secs&&0===a.stamp.secs&&""===a.id?(b.nextGoal=null,b.currentGoal&&b.emit("cancel")):(b.currentGoal&&a.id===b.currentGoal.goal_id.id?b.emit("cancel"):b.nextGoal&&a.id===b.nextGoal.goal_id.id&&(b.nextGoal=null),b.nextGoal&&h(b.nextGoal.goal_id.stamp,a.stamp)&&(b.nextGoal=null),b.currentGoal&&h(b.currentGoal.goal_id.stamp,a.stamp)&&b.emit("cancel"))});setInterval(function(){var a=new Date,d=Math.floor(a.getTime()/1e3),e=Math.round(1e9*(a.getTime()/1e3-d));b.statusMessage.header.stamp.secs=d,b.statusMessage.header.stamp.nsecs=e,c.publish(b.statusMessage)},500)}var d=a("../core/Topic"),e=a("../core/Message"),f=a("eventemitter2").EventEmitter2;c.prototype.__proto__=f.prototype,c.prototype.setSucceeded=function(a){var b=new e({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},c.prototype.sendFeedback=function(a){var b=new e({status:{goal_id:this.currentGoal.goal_id,status:1},feedback:a});this.feedbackPublisher.publish(b)},c.prototype.setPreempted=function(){this.statusMessage.status_list=[];var a=new e({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=c},{"../core/Message":7,"../core/Topic":13,eventemitter2:30}],7:[function(a,b){function c(a){d(this,a)}var d=a("object-assign");b.exports=c},{"object-assign":1}],8:[function(a,b){function c(a){a=a||{},this.ros=a.ros,this.name=a.name}var 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b=this,c=JSON.stringify(a);this.socket&&this.socket.readyState===h.OPEN?b.socket.send(c):b.once("connection",function(){b.socket.send(c)})},d.prototype.getTopics=function(a){var b=new i({ros:this,name:"/rosapi/topics",serviceType:"rosapi/Topics"}),c=new j;b.callService(c,function(b){a(b.topics)})},d.prototype.getServices=function(a){var b=new i({ros:this,name:"/rosapi/services",serviceType:"rosapi/Services"}),c=new j;b.callService(c,function(b){a(b.services)})},d.prototype.getNodes=function(a){var b=new i({ros:this,name:"/rosapi/nodes",serviceType:"rosapi/Nodes"}),c=new j;b.callService(c,function(b){a(b.nodes)})},d.prototype.getParams=function(a){var b=new i({ros:this,name:"/rosapi/get_param_names",serviceType:"rosapi/GetParamNames"}),c=new j;b.callService(c,function(b){a(b.names)})},d.prototype.getTopicType=function(a,b){var c=new i({ros:this,name:"/rosapi/topic_type",serviceType:"rosapi/TopicType"}),d=new 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d=a("./ServiceResponse");c.prototype.callService=function(a,b,c){this.ros.idCounter++;var e="call_service:"+this.name+":"+this.ros.idCounter;this.ros.once(e,function(a){if(void 0!==a.result&&a.result===!1)"function"==typeof c&&c(a.values);else{var e=new d(a.values);b(e)}});var f={op:"call_service",id:e,service:this.name,args:a};this.ros.callOnConnection(f)},b.exports=c},{"./ServiceResponse":12}],11:[function(a,b){function c(a){d(this,a)}var d=a("object-assign");b.exports=c},{"object-assign":1}],12:[function(a,b){function c(a){d(this,a)}var d=a("object-assign");b.exports=c},{"object-assign":1}],13:[function(a,b){function c(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.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. 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a={op:"advertise",id:this.advertiseId,type:this.messageType,topic:this.name,latch:this.latch,queue_size:this.queue_size};this.ros.callOnConnection(a),this.isAdvertised=!0}},c.prototype.unadvertise=function(){if(this.isAdvertised){var a=this.advertiseId,b={op:"unadvertise",id:a,topic:this.name};this.ros.callOnConnection(b),this.isAdvertised=!1}},c.prototype.publish=function(a){this.isAdvertised||this.advertise(),this.ros.idCounter++;var b="publish:"+this.name+":"+this.ros.idCounter,c={op:"publish",id:b,topic:this.name,msg:a,latch:this.latch};this.ros.callOnConnection(c)},b.exports=c},{"./Message":7,eventemitter2:30}],14:[function(a,b){function c(a){a=a||{},this.position=new d(a.position),this.orientation=new e(a.orientation)}var d=a("./Vector3"),e=a("./Quaternion");c.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},c.prototype.clone=function(){return new c(this)},b.exports=c},{"./Quaternion":15,"./Vector3":17}],15:[function(a,b){function c(a){a=a||{},this.x=a.x||0,this.y=a.y||0,this.z=a.z||0,this.w=a.w||1}c.prototype.conjugate=function(){this.x*=-1,this.y*=-1,this.z*=-1},c.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)},c.prototype.invert=function(){this.conjugate(),this.normalize()},c.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},c.prototype.clone=function(){return new c(this)},b.exports=c},{}],16:[function(a,b){function 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c(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.goalUpdateDelay=a.goalUpdateDelay||50,this.currentGoal=!1,this.frameInfos={},this.goalUpdateRequested=!1,this.actionClient=new d({ros:this.ros,serverName:"/tf2_web_republisher",actionName:"tf2_web_republisher/TFSubscriptionAction"})}var d=a("../actionlib/ActionClient"),e=a("../actionlib/Goal"),f=a("../math/Transform");c.prototype.processFeedback=function(a){var b=this;a.transforms.forEach(function(a){var c=a.child_frame_id;"/"===c[0]&&(c=c.substring(1));var d=b.frameInfos[c];void 0!==d&&(d.transform=new f({translation:a.transform.translation,rotation:a.transform.rotation}),d.cbs.forEach(function(a){a(d.transform)}))})},c.prototype.updateGoal=function(){this.currentGoal&&this.currentGoal.cancel();var a={source_frames:[],target_frame:this.fixedFrame,angular_thres:this.angularThres,trans_thres:this.transThres,rate:this.rate};for(var b in this.frameInfos)a.source_frames.push(b);this.currentGoal=new e({actionClient:this.actionClient,goalMessage:a}),this.currentGoal.on("feedback",this.processFeedback.bind(this)),this.currentGoal.send(),this.goalUpdateRequested=!1},c.prototype.subscribe=function(a,b){"/"===a[0]&&(a=a.substring(1)),void 0===this.frameInfos[a]?(this.frameInfos[a]={cbs:[]},this.goalUpdateRequested||(setTimeout(this.updateGoal.bind(this),this.goalUpdateDelay),this.goalUpdateRequested=!0)):void 0!==this.frameInfos[a].transform&&b(this.frameInfos[a].transform),this.frameInfos[a].cbs.push(b)},c.prototype.unsubscribe=function(a,b){"/"===a[0]&&(a=a.substring(1));var c=this.frameInfos[a];if(void 0!==c){var d=c.cbs.indexOf(b);d>=0&&(c.cbs.splice(d,1),0===c.cbs.length&&delete this.frameInfos[a],this.needUpdate=!0)}},b.exports=c},{"../actionlib/ActionClient":4,"../actionlib/Goal":5,"../math/Transform":16}],19:[function(a,b){function c(a){a=a||{};var b=this,c=a.xml;this.dimension=null,this.type=null;var f=function(a){b.type=e.URDF_BOX;var c=a.getAttribute("size").split(" ");b.dimension=new d({x:parseFloat(c[0]),y:parseFloat(c[1]),z:parseFloat(c[2])})};f(c)}var d=a("../math/Vector3"),e=a("./UrdfTypes");b.exports=c},{"../math/Vector3":17,"./UrdfTypes":27}],20:[function(a,b){function c(a){a=a||{};var b=this,c=a.xml;this.r=null,this.g=null,this.b=null,this.a=null;var d=function(a){var c=a.getAttribute("rgba").split(" ");return b.r=parseFloat(c[0]),b.g=parseFloat(c[1]),b.b=parseFloat(c[2]),b.a=parseFloat(c[3]),!0};d(c)}b.exports=c},{}],21:[function(a,b){function c(a){a=a||{};var b=this,c=a.xml;this.type=null,this.length=null,this.radius=null;var e=function(a){b.type=d.URDF_CYLINDER,b.length=parseFloat(a.getAttribute("length")),b.radius=parseFloat(a.getAttribute("radius"))};e(c)}var d=a("./UrdfTypes");b.exports=c},{"./UrdfTypes":27}],22:[function(a,b){function c(a){a=a||{};var b=this,c=a.xml;this.name=null,this.visual=null;var e=function(a){b.name=a.getAttribute("name");var c=a.getElementsByTagName("visual");c.length>0&&(b.visual=new d({xml:c[0]}))};e(c)}var d=a("./UrdfVisual");b.exports=c},{"./UrdfVisual":28}],23:[function(a,b){function c(a){a=a||{};var b=this,c=a.xml;this.name=null,this.textureFilename=null,this.color=null;var e=function(a){b.name=a.getAttribute("name");var c=a.getElementsByTagName("texture");c.length>0&&(b.textureFilename=c[0].getAttribute("filename"));var e=a.getElementsByTagName("color");e.length>0&&(b.color=new d({xml:e[0]}))};e(c)}var d=a("./UrdfColor");b.exports=c},{"./UrdfColor":20}],24:[function(a,b){function c(a){a=a||{};var b=this,c=a.xml;this.filename=null,this.scale=null,this.type=null;var f=function(a){b.type=e.URDF_MESH,b.filename=a.getAttribute("filename");var c=a.getAttribute("scale");if(c){var f=c.split(" ");b.scale=new d({x:parseFloat(f[0]),y:parseFloat(f[1]),z:parseFloat(f[2])})}};f(c)}var d=a("../math/Vector3"),e=a("./UrdfTypes");b.exports=c},{"../math/Vector3":17,"./UrdfTypes":27}],25:[function(a,b){function c(a){a=a||{};var b=this,c=a.xml,h=a.string;this.materials=[],this.links=[];var i=function(a){var c=a.evaluate("//robot",a,null,g,null).singleNodeValue;b.name=c.getAttribute("name");for(var f in c.childNodes){var h=c.childNodes[f];if("material"===h.tagName){var i=new d({xml:h});b.materials[i.name]?console.warn("Material "+i.name+"is not unique."):b.materials[i.name]=i}else if("link"===h.tagName){var j=new e({xml:h});b.links[j.name]?console.warn("Link "+j.name+" is not unique."):(j.visual&&j.visual.material&&(b.materials[j.visual.material.name]?j.visual.material=b.materials[j.visual.material.name]:j.visual.material&&(b.materials[j.visual.material.name]=j.visual.material)),b.links[j.name]=j)}}};if(h){var j=new f;c=j.parseFromString(h,"text/xml")}i(c)}var d=a("./UrdfMaterial"),e=a("./UrdfLink"),f=a("../util/DOMParser"),g=9;b.exports=c},{"../util/DOMParser":29,"./UrdfLink":22,"./UrdfMaterial":23}],26:[function(a,b){function c(a){a=a||{};var b=this,c=a.xml;this.radius=null,this.type=null;var e=function(a){b.type=d.URDF_SPHERE,b.radius=parseFloat(a.getAttribute("radius"))};e(c)}var d=a("./UrdfTypes");b.exports=c},{"./UrdfTypes":27}],27:[function(a,b){b.exports={URDF_SPHERE:0,URDF_BOX:1,URDF_CYLINDER:2,URDF_MESH:3}},{}],28:[function(a,b){function c(a){a=a||{};var b=this,c=a.xml;this.origin=null,this.geometry=null,this.material=null;var l=function(a){var c=a.getElementsByTagName("origin");if(0===c.length)b.origin=new d;else{var l=c[0].getAttribute("xyz"),m=new e;l&&(l=l.split(" "),m=new e({x:parseFloat(l[0]),y:parseFloat(l[1]),z:parseFloat(l[2])}));var n=c[0].getAttribute("rpy"),o=new f;if(n){n=n.split(" ");var p=parseFloat(n[0]),q=parseFloat(n[1]),r=parseFloat(n[2]),s=p/2,t=q/2,u=r/2,v=Math.sin(s)*Math.cos(t)*Math.cos(u)-Math.cos(s)*Math.sin(t)*Math.sin(u),w=Math.cos(s)*Math.sin(t)*Math.cos(u)+Math.sin(s)*Math.cos(t)*Math.sin(u),x=Math.cos(s)*Math.cos(t)*Math.sin(u)-Math.sin(s)*Math.sin(t)*Math.cos(u),y=Math.cos(s)*Math.cos(t)*Math.cos(u)+Math.sin(s)*Math.sin(t)*Math.sin(u);o=new f({x:v,y:w,z:x,w:y}),o.normalize()}b.origin=new d({position:m,orientation:o})}var z=a.getElementsByTagName("geometry");if(z.length>0){var A=null;for(var B in z[0].childNodes){var C=z[0].childNodes[B];if(1===C.nodeType){A=C;break}}var D=A.nodeName;"sphere"===D?b.geometry=new k({xml:A}):"box"===D?b.geometry=new h({xml:A}):"cylinder"===D?b.geometry=new g({xml:A}):"mesh"===D?b.geometry=new j({xml:A}):console.warn("Unknown geometry type "+D)}var E=a.getElementsByTagName("material");E.length>0&&(b.material=new i({xml:E[0]}))};l(c)}var d=a("../math/Pose"),e=a("../math/Vector3"),f=a("../math/Quaternion"),g=a("./UrdfCylinder"),h=a("./UrdfBox"),i=a("./UrdfMaterial"),j=a("./UrdfMesh"),k=a("./UrdfSphere");b.exports=c},{"../math/Pose":14,"../math/Quaternion":15,"../math/Vector3":17,"./UrdfBox":19,"./UrdfCylinder":21,"./UrdfMaterial":23,"./UrdfMesh":24,"./UrdfSphere":26}],29:[function(a,b){(function(a){b.exports=a.DOMParser}).call(this,"undefined"!=typeof global?global:"undefined"!=typeof self?self:"undefined"!=typeof window?window:{})},{}],30:[function(a,b){(function(a){b.exports={EventEmitter2:a.EventEmitter2}}).call(this,"undefined"!=typeof global?global:"undefined"!=typeof self?self:"undefined"!=typeof window?window:{})},{}],31:[function(a,b){(function(a){b.exports=a.WebSocket}).call(this,"undefined"!=typeof global?global:"undefined"!=typeof self?self:"undefined"!=typeof window?window:{})},{}],32:[function(a,b){b.exports=function(){return document.createElement("canvas")}},{}]},{},[3]);
\ No newline at end of file
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/include/EventEmitter2/LICENSE b/include/EventEmitter2/LICENSE
deleted file mode 100644
index 7830fb9a9..000000000
--- a/include/EventEmitter2/LICENSE
+++ /dev/null
@@ -1,9 +0,0 @@
-(The MIT License)
-
-Copyright (c) 2011 hij1nx http://www.twitter.com/hij1nx
-
-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.
diff --git a/include/EventEmitter2/eventemitter2.js b/include/EventEmitter2/eventemitter2.js
deleted file mode 100644
index bde69e853..000000000
--- a/include/EventEmitter2/eventemitter2.js
+++ /dev/null
@@ -1,573 +0,0 @@
-/*!
- * EventEmitter2
- * https://github.com/hij1nx/EventEmitter2
- *
- * Copyright (c) 2013 hij1nx
- * Licensed under the MIT license.
- */
-;!function(undefined) {
-
-  var isArray = Array.isArray ? Array.isArray : function _isArray(obj) {
-    return Object.prototype.toString.call(obj) === "[object Array]";
-  };
-  var defaultMaxListeners = 10;
-
-  function init() {
-    this._events = {};
-    if (this._conf) {
-      configure.call(this, this._conf);
-    }
-  }
-
-  function configure(conf) {
-    if (conf) {
-
-      this._conf = conf;
-
-      conf.delimiter && (this.delimiter = conf.delimiter);
-      conf.maxListeners && (this._events.maxListeners = conf.maxListeners);
-      conf.wildcard && (this.wildcard = conf.wildcard);
-      conf.newListener && (this.newListener = conf.newListener);
-
-      if (this.wildcard) {
-        this.listenerTree = {};
-      }
-    }
-  }
-
-  function EventEmitter(conf) {
-    this._events = {};
-    this.newListener = false;
-    configure.call(this, conf);
-  }
-
-  //
-  // Attention, function return type now is array, always !
-  // It has zero elements if no any matches found and one or more
-  // elements (leafs) if there are matches
-  //
-  function searchListenerTree(handlers, type, tree, i) {
-    if (!tree) {
-      return [];
-    }
-    var listeners=[], leaf, len, branch, xTree, xxTree, isolatedBranch, endReached,
-        typeLength = type.length, currentType = type[i], nextType = type[i+1];
-    if (i === typeLength && tree._listeners) {
-      //
-      // If at the end of the event(s) list and the tree has listeners
-      // invoke those listeners.
-      //
-      if (typeof tree._listeners === 'function') {
-        handlers && handlers.push(tree._listeners);
-        return [tree];
-      } else {
-        for (leaf = 0, len = tree._listeners.length; leaf < len; leaf++) {
-          handlers && handlers.push(tree._listeners[leaf]);
-        }
-        return [tree];
-      }
-    }
-
-    if ((currentType === '*' || currentType === '**') || tree[currentType]) {
-      //
-      // If the event emitted is '*' at this part
-      // or there is a concrete match at this patch
-      //
-      if (currentType === '*') {
-        for (branch in tree) {
-          if (branch !== '_listeners' && tree.hasOwnProperty(branch)) {
-            listeners = listeners.concat(searchListenerTree(handlers, type, tree[branch], i+1));
-          }
-        }
-        return listeners;
-      } else if(currentType === '**') {
-        endReached = (i+1 === typeLength || (i+2 === typeLength && nextType === '*'));
-        if(endReached && tree._listeners) {
-          // The next element has a _listeners, add it to the handlers.
-          listeners = listeners.concat(searchListenerTree(handlers, type, tree, typeLength));
-        }
-
-        for (branch in tree) {
-          if (branch !== '_listeners' && tree.hasOwnProperty(branch)) {
-            if(branch === '*' || branch === '**') {
-              if(tree[branch]._listeners && !endReached) {
-                listeners = listeners.concat(searchListenerTree(handlers, type, tree[branch], typeLength));
-              }
-              listeners = listeners.concat(searchListenerTree(handlers, type, tree[branch], i));
-            } else if(branch === nextType) {
-              listeners = listeners.concat(searchListenerTree(handlers, type, tree[branch], i+2));
-            } else {
-              // No match on this one, shift into the tree but not in the type array.
-              listeners = listeners.concat(searchListenerTree(handlers, type, tree[branch], i));
-            }
-          }
-        }
-        return listeners;
-      }
-
-      listeners = listeners.concat(searchListenerTree(handlers, type, tree[currentType], i+1));
-    }
-
-    xTree = tree['*'];
-    if (xTree) {
-      //
-      // If the listener tree will allow any match for this part,
-      // then recursively explore all branches of the tree
-      //
-      searchListenerTree(handlers, type, xTree, i+1);
-    }
-
-    xxTree = tree['**'];
-    if(xxTree) {
-      if(i < typeLength) {
-        if(xxTree._listeners) {
-          // If we have a listener on a '**', it will catch all, so add its handler.
-          searchListenerTree(handlers, type, xxTree, typeLength);
-        }
-
-        // Build arrays of matching next branches and others.
-        for(branch in xxTree) {
-          if(branch !== '_listeners' && xxTree.hasOwnProperty(branch)) {
-            if(branch === nextType) {
-              // We know the next element will match, so jump twice.
-              searchListenerTree(handlers, type, xxTree[branch], i+2);
-            } else if(branch === currentType) {
-              // Current node matches, move into the tree.
-              searchListenerTree(handlers, type, xxTree[branch], i+1);
-            } else {
-              isolatedBranch = {};
-              isolatedBranch[branch] = xxTree[branch];
-              searchListenerTree(handlers, type, { '**': isolatedBranch }, i+1);
-            }
-          }
-        }
-      } else if(xxTree._listeners) {
-        // We have reached the end and still on a '**'
-        searchListenerTree(handlers, type, xxTree, typeLength);
-      } else if(xxTree['*'] && xxTree['*']._listeners) {
-        searchListenerTree(handlers, type, xxTree['*'], typeLength);
-      }
-    }
-
-    return listeners;
-  }
-
-  function growListenerTree(type, listener) {
-
-    type = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
-
-    //
-    // Looks for two consecutive '**', if so, don't add the event at all.
-    //
-    for(var i = 0, len = type.length; i+1 < len; i++) {
-      if(type[i] === '**' && type[i+1] === '**') {
-        return;
-      }
-    }
-
-    var tree = this.listenerTree;
-    var name = type.shift();
-
-    while (name) {
-
-      if (!tree[name]) {
-        tree[name] = {};
-      }
-
-      tree = tree[name];
-
-      if (type.length === 0) {
-
-        if (!tree._listeners) {
-          tree._listeners = listener;
-        }
-        else if(typeof tree._listeners === 'function') {
-          tree._listeners = [tree._listeners, listener];
-        }
-        else if (isArray(tree._listeners)) {
-
-          tree._listeners.push(listener);
-
-          if (!tree._listeners.warned) {
-
-            var m = defaultMaxListeners;
-
-            if (typeof this._events.maxListeners !== 'undefined') {
-              m = this._events.maxListeners;
-            }
-
-            if (m > 0 && tree._listeners.length > m) {
-
-              tree._listeners.warned = true;
-              console.error('(node) warning: possible EventEmitter memory ' +
-                            'leak detected. %d listeners added. ' +
-                            'Use emitter.setMaxListeners() to increase limit.',
-                            tree._listeners.length);
-              console.trace();
-            }
-          }
-        }
-        return true;
-      }
-      name = type.shift();
-    }
-    return true;
-  }
-
-  // By default EventEmitters will print a warning if more than
-  // 10 listeners are added to it. This is a useful default which
-  // helps finding memory leaks.
-  //
-  // Obviously not all Emitters should be limited to 10. This function allows
-  // that to be increased. Set to zero for unlimited.
-
-  EventEmitter.prototype.delimiter = '.';
-
-  EventEmitter.prototype.setMaxListeners = function(n) {
-    this._events || init.call(this);
-    this._events.maxListeners = n;
-    if (!this._conf) this._conf = {};
-    this._conf.maxListeners = n;
-  };
-
-  EventEmitter.prototype.event = '';
-
-  EventEmitter.prototype.once = function(event, fn) {
-    this.many(event, 1, fn);
-    return this;
-  };
-
-  EventEmitter.prototype.many = function(event, ttl, fn) {
-    var self = this;
-
-    if (typeof fn !== 'function') {
-      throw new Error('many only accepts instances of Function');
-    }
-
-    function listener() {
-      if (--ttl === 0) {
-        self.off(event, listener);
-      }
-      fn.apply(this, arguments);
-    }
-
-    listener._origin = fn;
-
-    this.on(event, listener);
-
-    return self;
-  };
-
-  EventEmitter.prototype.emit = function() {
-
-    this._events || init.call(this);
-
-    var type = arguments[0];
-
-    if (type === 'newListener' && !this.newListener) {
-      if (!this._events.newListener) { return false; }
-    }
-
-    // Loop through the *_all* functions and invoke them.
-    if (this._all) {
-      var l = arguments.length;
-      var args = new Array(l - 1);
-      for (var i = 1; i < l; i++) args[i - 1] = arguments[i];
-      for (i = 0, l = this._all.length; i < l; i++) {
-        this.event = type;
-        this._all[i].apply(this, args);
-      }
-    }
-
-    // If there is no 'error' event listener then throw.
-    if (type === 'error') {
-
-      if (!this._all &&
-        !this._events.error &&
-        !(this.wildcard && this.listenerTree.error)) {
-
-        if (arguments[1] instanceof Error) {
-          throw arguments[1]; // Unhandled 'error' event
-        } else {
-          throw new Error("Uncaught, unspecified 'error' event.");
-        }
-        return false;
-      }
-    }
-
-    var handler;
-
-    if(this.wildcard) {
-      handler = [];
-      var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
-      searchListenerTree.call(this, handler, ns, this.listenerTree, 0);
-    }
-    else {
-      handler = this._events[type];
-    }
-
-    if (typeof handler === 'function') {
-      this.event = type;
-      if (arguments.length === 1) {
-        handler.call(this);
-      }
-      else if (arguments.length > 1)
-        switch (arguments.length) {
-          case 2:
-            handler.call(this, arguments[1]);
-            break;
-          case 3:
-            handler.call(this, arguments[1], arguments[2]);
-            break;
-          // slower
-          default:
-            var l = arguments.length;
-            var args = new Array(l - 1);
-            for (var i = 1; i < l; i++) args[i - 1] = arguments[i];
-            handler.apply(this, args);
-        }
-      return true;
-    }
-    else if (handler) {
-      var l = arguments.length;
-      var args = new Array(l - 1);
-      for (var i = 1; i < l; i++) args[i - 1] = arguments[i];
-
-      var listeners = handler.slice();
-      for (var i = 0, l = listeners.length; i < l; i++) {
-        this.event = type;
-        listeners[i].apply(this, args);
-      }
-      return (listeners.length > 0) || !!this._all;
-    }
-    else {
-      return !!this._all;
-    }
-
-  };
-
-  EventEmitter.prototype.on = function(type, listener) {
-
-    if (typeof type === 'function') {
-      this.onAny(type);
-      return this;
-    }
-
-    if (typeof listener !== 'function') {
-      throw new Error('on only accepts instances of Function');
-    }
-    this._events || init.call(this);
-
-    // To avoid recursion in the case that type == "newListeners"! Before
-    // adding it to the listeners, first emit "newListeners".
-    this.emit('newListener', type, listener);
-
-    if(this.wildcard) {
-      growListenerTree.call(this, type, listener);
-      return this;
-    }
-
-    if (!this._events[type]) {
-      // Optimize the case of one listener. Don't need the extra array object.
-      this._events[type] = listener;
-    }
-    else if(typeof this._events[type] === 'function') {
-      // Adding the second element, need to change to array.
-      this._events[type] = [this._events[type], listener];
-    }
-    else if (isArray(this._events[type])) {
-      // If we've already got an array, just append.
-      this._events[type].push(listener);
-
-      // Check for listener leak
-      if (!this._events[type].warned) {
-
-        var m = defaultMaxListeners;
-
-        if (typeof this._events.maxListeners !== 'undefined') {
-          m = this._events.maxListeners;
-        }
-
-        if (m > 0 && this._events[type].length > m) {
-
-          this._events[type].warned = true;
-          console.error('(node) warning: possible EventEmitter memory ' +
-                        'leak detected. %d listeners added. ' +
-                        'Use emitter.setMaxListeners() to increase limit.',
-                        this._events[type].length);
-          console.trace();
-        }
-      }
-    }
-    return this;
-  };
-
-  EventEmitter.prototype.onAny = function(fn) {
-
-    if (typeof fn !== 'function') {
-      throw new Error('onAny only accepts instances of Function');
-    }
-
-    if(!this._all) {
-      this._all = [];
-    }
-
-    // Add the function to the event listener collection.
-    this._all.push(fn);
-    return this;
-  };
-
-  EventEmitter.prototype.addListener = EventEmitter.prototype.on;
-
-  EventEmitter.prototype.off = function(type, listener) {
-    if (typeof listener !== 'function') {
-      throw new Error('removeListener only takes instances of Function');
-    }
-
-    var handlers,leafs=[];
-
-    if(this.wildcard) {
-      var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
-      leafs = searchListenerTree.call(this, null, ns, this.listenerTree, 0);
-    }
-    else {
-      // does not use listeners(), so no side effect of creating _events[type]
-      if (!this._events[type]) return this;
-      handlers = this._events[type];
-      leafs.push({_listeners:handlers});
-    }
-
-    for (var iLeaf=0; iLeaf<leafs.length; iLeaf++) {
-      var leaf = leafs[iLeaf];
-      handlers = leaf._listeners;
-      if (isArray(handlers)) {
-
-        var position = -1;
-
-        for (var i = 0, length = handlers.length; i < length; i++) {
-          if (handlers[i] === listener ||
-            (handlers[i].listener && handlers[i].listener === listener) ||
-            (handlers[i]._origin && handlers[i]._origin === listener)) {
-            position = i;
-            break;
-          }
-        }
-
-        if (position < 0) {
-          continue;
-        }
-
-        if(this.wildcard) {
-          leaf._listeners.splice(position, 1);
-        }
-        else {
-          this._events[type].splice(position, 1);
-        }
-
-        if (handlers.length === 0) {
-          if(this.wildcard) {
-            delete leaf._listeners;
-          }
-          else {
-            delete this._events[type];
-          }
-        }
-        return this;
-      }
-      else if (handlers === listener ||
-        (handlers.listener && handlers.listener === listener) ||
-        (handlers._origin && handlers._origin === listener)) {
-        if(this.wildcard) {
-          delete leaf._listeners;
-        }
-        else {
-          delete this._events[type];
-        }
-      }
-    }
-
-    return this;
-  };
-
-  EventEmitter.prototype.offAny = function(fn) {
-    var i = 0, l = 0, fns;
-    if (fn && this._all && this._all.length > 0) {
-      fns = this._all;
-      for(i = 0, l = fns.length; i < l; i++) {
-        if(fn === fns[i]) {
-          fns.splice(i, 1);
-          return this;
-        }
-      }
-    } else {
-      this._all = [];
-    }
-    return this;
-  };
-
-  EventEmitter.prototype.removeListener = EventEmitter.prototype.off;
-
-  EventEmitter.prototype.removeAllListeners = function(type) {
-    if (arguments.length === 0) {
-      !this._events || init.call(this);
-      return this;
-    }
-
-    if(this.wildcard) {
-      var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
-      var leafs = searchListenerTree.call(this, null, ns, this.listenerTree, 0);
-
-      for (var iLeaf=0; iLeaf<leafs.length; iLeaf++) {
-        var leaf = leafs[iLeaf];
-        leaf._listeners = null;
-      }
-    }
-    else {
-      if (!this._events[type]) return this;
-      this._events[type] = null;
-    }
-    return this;
-  };
-
-  EventEmitter.prototype.listeners = function(type) {
-    if(this.wildcard) {
-      var handlers = [];
-      var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
-      searchListenerTree.call(this, handlers, ns, this.listenerTree, 0);
-      return handlers;
-    }
-
-    this._events || init.call(this);
-
-    if (!this._events[type]) this._events[type] = [];
-    if (!isArray(this._events[type])) {
-      this._events[type] = [this._events[type]];
-    }
-    return this._events[type];
-  };
-
-  EventEmitter.prototype.listenersAny = function() {
-
-    if(this._all) {
-      return this._all;
-    }
-    else {
-      return [];
-    }
-
-  };
-
-  if (typeof define === 'function' && define.amd) {
-     // AMD. Register as an anonymous module.
-    define(function() {
-      return EventEmitter;
-    });
-  } else if (typeof exports === 'object') {
-    // CommonJS
-    exports.EventEmitter2 = EventEmitter;
-  }
-  else {
-    // Browser global.
-    window.EventEmitter2 = EventEmitter;
-  }
-}();
diff --git a/package.json b/package.json
new file mode 100644
index 000000000..d4e742000
--- /dev/null
+++ b/package.json
@@ -0,0 +1,56 @@
+{
+  "name": "roslibjs",
+  "main": "./src/RosLib.js",
+  "devDependencies": {
+    "grunt": "~0.4.1",
+    "grunt-browserify": "^3.0.1",
+    "grunt-contrib-clean": "~0.4.0",
+    "grunt-contrib-jshint": "^0.10.0",
+    "grunt-contrib-uglify": "~0.2.0",
+    "grunt-contrib-watch": "~0.3.1",
+    "grunt-jsdoc": "~0.3.0",
+    "grunt-karma": "^0.9.0",
+    "grunt-mocha-test": "^0.11.0",
+    "karma-chai": "^0.1.0",
+    "karma-mocha": "^0.1.9",
+    "karma-firefox-launcher": "~0.1.3"
+  },
+  "dependencies": {
+    "canvas": "1.1.3",
+    "eventemitter2": "~0.4.13",
+    "object-assign": "^1.0.0",
+    "ws": "^0.4.32",
+    "xmlshim": "~0.0.9"
+  },
+  "browser": {
+    "canvas": "./src/util/shim/canvas.js",
+    "eventemitter2": "./src/util/shim/EventEmitter2.js",
+    "ws": "./src/util/shim/WebSocket.js",
+    "./src/util/DOMParser.js": "./src/util/shim/DOMParser.js"
+  },
+  "description": "roslibjs",
+  "version": "0.9.0",
+  "directories": {
+    "example": "examples",
+    "test": "test"
+  },
+  "scripts": {
+    "test": "grunt test",
+    "test-examples": "grunt mochaTest:examples && karma start test/examples/karma.conf.js",
+    "publish": "grunt build"
+  },
+  "repository": {
+    "type": "git",
+    "url": "https://github.com/RobotWebTools/roslibjs/releases"
+  },
+  "keywords": [
+    "ROS"
+  ],
+  "authors": [
+    "Russell Toris (rctoris@wpi.edu)",
+    "Jihoon Lee (jihoonlee.in@gmail.com)",
+    "Brandon Alexander (balexander@willowgarage.com)",
+    "David Gossow (dgossow@willowgarage.com)",
+    "Benjamin Pitzer (ben.pitzer@gmail.com)"
+  ]
+}
diff --git a/src/RosLib.js b/src/RosLib.js
index 8d08cc645..be094be86 100644
--- a/src/RosLib.js
+++ b/src/RosLib.js
@@ -2,12 +2,40 @@
  * @author Russell Toris - rctoris@wpi.edu
  */
 
-var ROSLIB = ROSLIB || {
+var ROSLIB = this.ROSLIB || {
   REVISION : '0.10.0-SNAPSHOT'
 };
 
-//URDF types
-ROSLIB.URDF_SPHERE = 0;
-ROSLIB.URDF_BOX = 1;
-ROSLIB.URDF_CYLINDER = 2;
-ROSLIB.URDF_MESH = 3;
+ROSLIB.Ros = require('./core/Ros');
+ROSLIB.Topic = require('./core/Topic');
+ROSLIB.Message = require('./core/Message');
+ROSLIB.Param = require('./core/Param');
+ROSLIB.Service = require('./core/Service');
+ROSLIB.ServiceRequest = require('./core/ServiceRequest');
+ROSLIB.ServiceResponse = require('./core/ServiceResponse');
+
+ROSLIB.ActionClient = require('./actionlib/ActionClient');
+ROSLIB.Goal = require('./actionlib/Goal');
+ROSLIB.SimpleActionServer = require('./actionlib/SimpleActionServer');
+
+ROSLIB.Pose = require('./math/Pose');
+ROSLIB.Quaternion = require('./math/Quaternion');
+ROSLIB.Transform = require('./math/Transform');
+ROSLIB.Vector3 = require('./math/Vector3');
+
+ROSLIB.TFClient = require('./tf/TFClient');
+
+ROSLIB.UrdfBox = require('./urdf/UrdfBox');
+ROSLIB.UrdfColor = require('./urdf/UrdfColor');
+ROSLIB.UrdfCylinder = require('./urdf/UrdfCylinder');
+ROSLIB.UrdfLink = require('./urdf/UrdfLink');
+ROSLIB.UrdfMaterial = require('./urdf/UrdfMaterial');
+ROSLIB.UrdfMesh = require('./urdf/UrdfMesh');
+ROSLIB.UrdfModel = require('./urdf/UrdfModel');
+ROSLIB.UrdfSphere = require('./urdf/UrdfSphere');
+ROSLIB.UrdfVisual = require('./urdf/UrdfVisual');
+
+// Add URDF types
+require('object-assign')(ROSLIB, require('./urdf/UrdfTypes'));
+
+module.exports = ROSLIB;
\ No newline at end of file
diff --git a/src/RosLibBrowser.js b/src/RosLibBrowser.js
new file mode 100644
index 000000000..96799a3c3
--- /dev/null
+++ b/src/RosLibBrowser.js
@@ -0,0 +1 @@
+global.ROSLIB = require('./RosLib');
\ No newline at end of file
diff --git a/src/actionlib/ActionClient.js b/src/actionlib/ActionClient.js
index d3f1dcd17..898293c96 100644
--- a/src/actionlib/ActionClient.js
+++ b/src/actionlib/ActionClient.js
@@ -2,6 +2,10 @@
  * @author Russell Toris - rctoris@wpi.edu
  */
 
+var Topic = require('../core/Topic');
+var Message = require('../core/Message');
+var EventEmitter2 = require('eventemitter2').EventEmitter2;
+
 /**
  * An actionlib action client.
  *
@@ -18,7 +22,7 @@
  *   * actionName - the action message name, like 'actionlib_tutorials/FibonacciAction'
  *   * timeout - the timeout length when connecting to the action server
  */
-ROSLIB.ActionClient = function(options) {
+function ActionClient(options) {
   var that = this;
   options = options || {};
   this.ros = options.ros;
@@ -31,31 +35,31 @@ ROSLIB.ActionClient = function(options) {
   var receivedStatus = false;
 
   // create the topics associated with actionlib
-  var feedbackListener = new ROSLIB.Topic({
+  var feedbackListener = new Topic({
     ros : this.ros,
     name : this.serverName + '/feedback',
     messageType : this.actionName + 'Feedback'
   });
 
-  var statusListener = new ROSLIB.Topic({
+  var statusListener = new Topic({
     ros : this.ros,
     name : this.serverName + '/status',
     messageType : 'actionlib_msgs/GoalStatusArray'
   });
 
-  var resultListener = new ROSLIB.Topic({
+  var resultListener = new Topic({
     ros : this.ros,
     name : this.serverName + '/result',
     messageType : this.actionName + 'Result'
   });
 
-  this.goalTopic = new ROSLIB.Topic({
+  this.goalTopic = new Topic({
     ros : this.ros,
     name : this.serverName + '/goal',
     messageType : this.actionName + 'Goal'
   });
 
-  this.cancelTopic = new ROSLIB.Topic({
+  this.cancelTopic = new Topic({
     ros : this.ros,
     name : this.serverName + '/cancel',
     messageType : 'actionlib_msgs/GoalID'
@@ -103,14 +107,16 @@ ROSLIB.ActionClient = function(options) {
       }
     }, this.timeout);
   }
-};
-ROSLIB.ActionClient.prototype.__proto__ = EventEmitter2.prototype;
+}
+
+ActionClient.prototype.__proto__ = EventEmitter2.prototype;
 
 /**
  * Cancel all goals associated with this ActionClient.
  */
-ROSLIB.ActionClient.prototype.cancel = function() {
-  var cancelMessage = new ROSLIB.Message();
+ActionClient.prototype.cancel = function() {
+  var cancelMessage = new Message();
   this.cancelTopic.publish(cancelMessage);
 };
 
+module.exports = ActionClient;
\ No newline at end of file
diff --git a/src/actionlib/Goal.js b/src/actionlib/Goal.js
index e5f9d7156..ec88e1f51 100644
--- a/src/actionlib/Goal.js
+++ b/src/actionlib/Goal.js
@@ -2,6 +2,9 @@
  * @author Russell Toris - rctoris@wpi.edu
  */
 
+var Message = require('../core/Message');
+var EventEmitter2 = require('eventemitter2').EventEmitter2;
+
 /**
  * An actionlib goal goal is associated with an action server.
  *
@@ -13,7 +16,7 @@
  *   * actionClient - the ROSLIB.ActionClient to use with this goal
  *   * goalMessage - The JSON object containing the goal for the action server
  */
-ROSLIB.Goal = function(options) {
+function Goal(options) {
   var that = this;
   this.actionClient = options.actionClient;
   this.goalMessage = options.goalMessage;
@@ -25,7 +28,7 @@ ROSLIB.Goal = function(options) {
   // Create a random ID
   this.goalID = 'goal_' + Math.random() + '_' + date.getTime();
   // Fill in the goal message
-  this.goalMessage = new ROSLIB.Message({
+  this.goalMessage = new Message({
     goal_id : {
       stamp : {
         secs : 0,
@@ -51,15 +54,16 @@ ROSLIB.Goal = function(options) {
 
   // Add the goal
   this.actionClient.goals[this.goalID] = this;
-};
-ROSLIB.Goal.prototype.__proto__ = EventEmitter2.prototype;
+}
+
+Goal.prototype.__proto__ = EventEmitter2.prototype;
 
 /**
  * Send the goal to the action server.
  *
  * @param timeout (optional) - a timeout length for the goal's result
  */
-ROSLIB.Goal.prototype.send = function(timeout) {
+Goal.prototype.send = function(timeout) {
   var that = this;
   that.actionClient.goalTopic.publish(that.goalMessage);
   if (timeout) {
@@ -74,9 +78,11 @@ ROSLIB.Goal.prototype.send = function(timeout) {
 /**
  * Cancel the current goal.
  */
-ROSLIB.Goal.prototype.cancel = function() {
-  var cancelMessage = new ROSLIB.Message({
+Goal.prototype.cancel = function() {
+  var cancelMessage = new Message({
     id : this.goalID
   });
   this.actionClient.cancelTopic.publish(cancelMessage);
 };
+
+module.exports = Goal;
\ No newline at end of file
diff --git a/src/actionlib/SimpleActionServer.js b/src/actionlib/SimpleActionServer.js
index cd7058def..5f5de93e7 100644
--- a/src/actionlib/SimpleActionServer.js
+++ b/src/actionlib/SimpleActionServer.js
@@ -2,6 +2,10 @@
  * @author Laura Lindzey - lindzey@gmail.com
  */
 
+var Topic = require('../core/Topic');
+var Message = require('../core/Message');
+var EventEmitter2 = require('eventemitter2').EventEmitter2;
+
 /**
  * An actionlib action server client.
  *
@@ -16,7 +20,7 @@
  *   * actionName - the action message name, like 'actionlib_tutorials/FibonacciAction'
  */
 
-ROSLIB.SimpleActionServer = function(options) {
+function SimpleActionServer(options) {
     var that = this;
     options = options || {};
     this.ros = options.ros;
@@ -24,21 +28,21 @@ ROSLIB.SimpleActionServer = function(options) {
     this.actionName = options.actionName;
 
     // create and advertise publishers
-    this.feedbackPublisher = new ROSLIB.Topic({
+    this.feedbackPublisher = new Topic({
         ros : this.ros,
         name : this.serverName + '/feedback',
         messageType : this.actionName + 'Feedback'
     });
     this.feedbackPublisher.advertise();
 
-    var statusPublisher = new ROSLIB.Topic({
+    var statusPublisher = new Topic({
         ros : this.ros,
         name : this.serverName + '/status',
         messageType : 'actionlib_msgs/GoalStatusArray'
     });
     statusPublisher.advertise();
 
-    this.resultPublisher = new ROSLIB.Topic({
+    this.resultPublisher = new Topic({
         ros : this.ros,
         name : this.serverName + '/result',
         messageType : this.actionName + 'Result'
@@ -46,20 +50,20 @@ ROSLIB.SimpleActionServer = function(options) {
     this.resultPublisher.advertise();
 
     // create and subscribe to listeners
-    var goalListener = new ROSLIB.Topic({
+    var goalListener = new Topic({
         ros : this.ros,
         name : this.serverName + '/goal',
         messageType : this.actionName + 'Goal'
     });
 
-    var cancelListener = new ROSLIB.Topic({
+    var cancelListener = new Topic({
         ros : this.ros,
         name : this.serverName + '/cancel',
         messageType : 'actionlib_msgs/GoalID'
     });
 
     // Track the goals and their status in order to publish status...
-    this.statusMessage = new ROSLIB.Message({
+    this.statusMessage = new Message({
         header : {
             stamp : {secs : 0, nsecs : 100},
             frame_id : ''
@@ -139,18 +143,18 @@ ROSLIB.SimpleActionServer = function(options) {
         statusPublisher.publish(that.statusMessage);
     }, 500); // publish every 500ms
 
-};
+}
 
-ROSLIB.SimpleActionServer.prototype.__proto__ = EventEmitter2.prototype;
+SimpleActionServer.prototype.__proto__ = EventEmitter2.prototype;
 
 /**
 *  Set action state to succeeded and return to client
 */
 
-ROSLIB.SimpleActionServer.prototype.setSucceeded = function(result2) {
+SimpleActionServer.prototype.setSucceeded = function(result2) {
     
 
-    var resultMessage = new ROSLIB.Message({
+    var resultMessage = new Message({
         status : {goal_id : this.currentGoal.goal_id, status : 3},
         result : result2
     });
@@ -170,9 +174,9 @@ ROSLIB.SimpleActionServer.prototype.setSucceeded = function(result2) {
 *  Function to send feedback
 */
 
-ROSLIB.SimpleActionServer.prototype.sendFeedback = function(feedback2) {
+SimpleActionServer.prototype.sendFeedback = function(feedback2) {
 
-    var feedbackMessage = new ROSLIB.Message({
+    var feedbackMessage = new Message({
         status : {goal_id : this.currentGoal.goal_id, status : 1},
         feedback : feedback2
     });
@@ -183,10 +187,10 @@ ROSLIB.SimpleActionServer.prototype.sendFeedback = function(feedback2) {
 *  Handle case where client requests preemption
 */
 
-ROSLIB.SimpleActionServer.prototype.setPreempted = function() {
+SimpleActionServer.prototype.setPreempted = function() {
 
     this.statusMessage.status_list = [];
-    var resultMessage = new ROSLIB.Message({
+    var resultMessage = new Message({
         status : {goal_id : this.currentGoal.goal_id, status : 2},
     });
     this.resultPublisher.publish(resultMessage);
@@ -199,3 +203,5 @@ ROSLIB.SimpleActionServer.prototype.setPreempted = function() {
         this.currentGoal = null;
     }
 };
+
+module.exports = SimpleActionServer;
\ No newline at end of file
diff --git a/src/core/Message.js b/src/core/Message.js
index 2298bf089..c235c4ec6 100644
--- a/src/core/Message.js
+++ b/src/core/Message.js
@@ -2,17 +2,16 @@
  * @author Brandon Alexander - baalexander@gmail.com
  */
 
+var assign = require('object-assign');
+
 /**
  * Message objects are used for publishing and subscribing to and from topics.
  *
  * @constructor
  * @param values - object matching the fields defined in the .msg definition file
  */
-ROSLIB.Message = function(values) {
-  var that = this;
-  values = values || {};
+function Message(values) {
+  assign(this, values);
+}
 
-  Object.keys(values).forEach(function(name) {
-    that[name] = values[name];
-  });
-};
+module.exports = Message;
\ No newline at end of file
diff --git a/src/core/Param.js b/src/core/Param.js
index c0a70e8ee..11e04492f 100644
--- a/src/core/Param.js
+++ b/src/core/Param.js
@@ -2,6 +2,9 @@
  * @author Brandon Alexander - baalexander@gmail.com
  */
 
+var Service = require('./Service');
+var ServiceRequest = require('./ServiceRequest');
+
 /**
  * A ROS parameter.
  *
@@ -10,11 +13,11 @@
  *   * ros - the ROSLIB.Ros connection handle
  *   * name - the param name, like max_vel_x
  */
-ROSLIB.Param = function(options) {
+function Param(options) {
   options = options || {};
   this.ros = options.ros;
   this.name = options.name;
-};
+}
 
 /**
  * Fetches the value of the param.
@@ -22,14 +25,14 @@ ROSLIB.Param = function(options) {
  * @param callback - function with the following params:
  *  * value - the value of the param from ROS.
  */
-ROSLIB.Param.prototype.get = function(callback) {
-  var paramClient = new ROSLIB.Service({
+Param.prototype.get = function(callback) {
+  var paramClient = new Service({
     ros : this.ros,
     name : '/rosapi/get_param',
     serviceType : 'rosapi/GetParam'
   });
 
-  var request = new ROSLIB.ServiceRequest({
+  var request = new ServiceRequest({
     name : this.name
   });
 
@@ -44,14 +47,14 @@ ROSLIB.Param.prototype.get = function(callback) {
  *
  * @param value - value to set param to.
  */
-ROSLIB.Param.prototype.set = function(value) {
-  var paramClient = new ROSLIB.Service({
+Param.prototype.set = function(value) {
+  var paramClient = new Service({
     ros : this.ros,
     name : '/rosapi/set_param',
     serviceType : 'rosapi/SetParam'
   });
 
-  var request = new ROSLIB.ServiceRequest({
+  var request = new ServiceRequest({
     name : this.name,
     value : JSON.stringify(value)
   });
@@ -63,17 +66,19 @@ ROSLIB.Param.prototype.set = function(value) {
 /**
  * Delete this parameter on the ROS server.
  */
-ROSLIB.Param.prototype.delete = function() {
-  var paramClient = new ROSLIB.Service({
+Param.prototype.delete = function() {
+  var paramClient = new Service({
     ros : this.ros,
     name : '/rosapi/delete_param',
     serviceType : 'rosapi/DeleteParam'
   });
 
-  var request = new ROSLIB.ServiceRequest({
+  var request = new ServiceRequest({
     name : this.name
   });
 
   paramClient.callService(request, function() {
   });
 };
+
+module.exports = Param;
\ No newline at end of file
diff --git a/src/core/Ros.js b/src/core/Ros.js
index c59e23ab9..898abe951 100644
--- a/src/core/Ros.js
+++ b/src/core/Ros.js
@@ -2,6 +2,15 @@
  * @author Brandon Alexander - baalexander@gmail.com
  */
 
+var Canvas = require('canvas');
+var Image = Canvas.Image || global.Image;
+var EventEmitter2 = require('eventemitter2').EventEmitter2;
+var WebSocket = require('ws');
+
+var Service = require('./Service');
+var ServiceRequest = require('./ServiceRequest');
+
+
 /**
  * Manages connection to the server and all interactions with ROS.
  *
@@ -16,7 +25,7 @@
  * @param options - possible keys include:
  *   * url (optional) - the WebSocket URL for rosbridge (can be specified later with `connect`)
  */
-ROSLIB.Ros = function(options) {
+function Ros(options) {
   options = options || {};
   var url = options.url;
   this.socket = null;
@@ -29,15 +38,16 @@ ROSLIB.Ros = function(options) {
   if (url) {
     this.connect(url);
   }
-};
-ROSLIB.Ros.prototype.__proto__ = EventEmitter2.prototype;
+}
+
+Ros.prototype.__proto__ = EventEmitter2.prototype;
 
 /**
  * Connect to the specified WebSocket.
  *
  * @param url - WebSocket URL for Rosbridge
  */
-ROSLIB.Ros.prototype.connect = function(url) {
+Ros.prototype.connect = function(url) {
   var that = this;
 
   /**
@@ -82,7 +92,7 @@ ROSLIB.Ros.prototype.connect = function(url) {
     // When the image loads, extracts the raw data (JSON message).
     image.onload = function() {
       // Creates a local canvas to draw on.
-      var canvas = document.createElement('canvas');
+      var canvas = new Canvas();
       var context = canvas.getContext('2d');
 
       // Sets width and height.
@@ -142,7 +152,7 @@ ROSLIB.Ros.prototype.connect = function(url) {
 /**
  * Disconnect from the WebSocket server.
  */
-ROSLIB.Ros.prototype.close = function() {
+Ros.prototype.close = function() {
   if (this.socket) {
     this.socket.close();
   }
@@ -159,7 +169,7 @@ ROSLIB.Ros.prototype.close = function() {
  * @param level - User level as a string given by the client.
  * @param end - End time of the client's session.
  */
-ROSLIB.Ros.prototype.authenticate = function(mac, client, dest, rand, t, level, end) {
+Ros.prototype.authenticate = function(mac, client, dest, rand, t, level, end) {
   // create the request
   var auth = {
     op : 'auth',
@@ -179,7 +189,7 @@ ROSLIB.Ros.prototype.authenticate = function(mac, client, dest, rand, t, level,
  * Sends the message over the WebSocket, but queues the message up if not yet
  * connected.
  */
-ROSLIB.Ros.prototype.callOnConnection = function(message) {
+Ros.prototype.callOnConnection = function(message) {
   var that = this;
   var messageJson = JSON.stringify(message);
 
@@ -198,14 +208,14 @@ ROSLIB.Ros.prototype.callOnConnection = function(message) {
  * @param callback function with params:
  *   * topics - Array of topic names
  */
-ROSLIB.Ros.prototype.getTopics = function(callback) {
-  var topicsClient = new ROSLIB.Service({
+Ros.prototype.getTopics = function(callback) {
+  var topicsClient = new Service({
     ros : this,
     name : '/rosapi/topics',
     serviceType : 'rosapi/Topics'
   });
 
-  var request = new ROSLIB.ServiceRequest();
+  var request = new ServiceRequest();
 
   topicsClient.callService(request, function(result) {
     callback(result.topics);
@@ -218,14 +228,14 @@ ROSLIB.Ros.prototype.getTopics = function(callback) {
  * @param callback - function with the following params:
  *   * services - array of service names
  */
-ROSLIB.Ros.prototype.getServices = function(callback) {
-  var servicesClient = new ROSLIB.Service({
+Ros.prototype.getServices = function(callback) {
+  var servicesClient = new Service({
     ros : this,
     name : '/rosapi/services',
     serviceType : 'rosapi/Services'
   });
 
-  var request = new ROSLIB.ServiceRequest();
+  var request = new ServiceRequest();
 
   servicesClient.callService(request, function(result) {
     callback(result.services);
@@ -238,14 +248,14 @@ ROSLIB.Ros.prototype.getServices = function(callback) {
  * @param callback - function with the following params:
  *   * nodes - array of node names
  */
-ROSLIB.Ros.prototype.getNodes = function(callback) {
-  var nodesClient = new ROSLIB.Service({
+Ros.prototype.getNodes = function(callback) {
+  var nodesClient = new Service({
     ros : this,
     name : '/rosapi/nodes',
     serviceType : 'rosapi/Nodes'
   });
 
-  var request = new ROSLIB.ServiceRequest();
+  var request = new ServiceRequest();
 
   nodesClient.callService(request, function(result) {
     callback(result.nodes);
@@ -258,14 +268,14 @@ ROSLIB.Ros.prototype.getNodes = function(callback) {
  * @param callback function with params:
  *  * params - array of param names.
  */
-ROSLIB.Ros.prototype.getParams = function(callback) {
-  var paramsClient = new ROSLIB.Service({
+Ros.prototype.getParams = function(callback) {
+  var paramsClient = new Service({
     ros : this,
     name : '/rosapi/get_param_names',
     serviceType : 'rosapi/GetParamNames'
   });
 
-  var request = new ROSLIB.ServiceRequest();
+  var request = new ServiceRequest();
   paramsClient.callService(request, function(result) {
     callback(result.names);
   });
@@ -277,13 +287,13 @@ ROSLIB.Ros.prototype.getParams = function(callback) {
  * @param callback - function with params:
  *   * type - String of the topic type
  */
-ROSLIB.Ros.prototype.getTopicType = function(topic, callback) {
-  var topicTypeClient = new ROSLIB.Service({
+Ros.prototype.getTopicType = function(topic, callback) {
+  var topicTypeClient = new Service({
     ros : this,
     name : '/rosapi/topic_type',
     serviceType : 'rosapi/TopicType'
   });
-  var request = new ROSLIB.ServiceRequest({
+  var request = new ServiceRequest({
     topic: topic
   });
   topicTypeClient.callService(request, function(result) {
@@ -298,13 +308,13 @@ ROSLIB.Ros.prototype.getTopicType = function(topic, callback) {
  *   * details - Array of the message detail
  * @param message - String of a topic type
  */
-ROSLIB.Ros.prototype.getMessageDetails = function(message, callback) {
-  var messageDetailClient = new ROSLIB.Service({
+Ros.prototype.getMessageDetails = function(message, callback) {
+  var messageDetailClient = new Service({
     ros : this,
     name : '/rosapi/message_details',
     serviceType : 'rosapi/MessageDetails'
   });
-  var request = new ROSLIB.ServiceRequest({
+  var request = new ServiceRequest({
     type: message
   });
   messageDetailClient.callService(request, function(result) {
@@ -317,7 +327,7 @@ ROSLIB.Ros.prototype.getMessageDetails = function(message, callback) {
  *
  * @param defs - array of type_def dictionary
  */
-ROSLIB.Ros.prototype.decodeTypeDefs = function(defs) {
+Ros.prototype.decodeTypeDefs = function(defs) {
   var that = this;
 
   // calls itself recursively to resolve type definition using hints.
@@ -363,3 +373,6 @@ ROSLIB.Ros.prototype.decodeTypeDefs = function(defs) {
   
   return decodeTypeDefsRec(defs[0], defs);
 };
+
+
+module.exports = Ros;
\ No newline at end of file
diff --git a/src/core/Service.js b/src/core/Service.js
index 0b0bc7c42..eeb67fc06 100644
--- a/src/core/Service.js
+++ b/src/core/Service.js
@@ -2,6 +2,8 @@
  * @author Brandon Alexander - baalexander@gmail.com
  */
 
+var ServiceResponse = require('./ServiceResponse');
+
 /**
  * A ROS service client.
  *
@@ -11,12 +13,12 @@
  *   * name - the service name, like /add_two_ints
  *   * serviceType - the service type, like 'rospy_tutorials/AddTwoInts'
  */
-ROSLIB.Service = function(options) {
+function Service(options) {
   options = options || {};
   this.ros = options.ros;
   this.name = options.name;
   this.serviceType = options.serviceType;
-};
+}
 
 /**
  * Calls the service. Returns the service response in the callback.
@@ -27,7 +29,7 @@ ROSLIB.Service = function(options) {
  * @param failedCallback - the callback function when the service call failed (optional). Params:
  *   * error - the error message reported by ROS
  */
-ROSLIB.Service.prototype.callService = function(request, callback, failedCallback) {
+Service.prototype.callService = function(request, callback, failedCallback) {
   this.ros.idCounter++;
   var serviceCallId = 'call_service:' + this.name + ':' + this.ros.idCounter;
 
@@ -37,7 +39,7 @@ ROSLIB.Service.prototype.callService = function(request, callback, failedCallbac
         failedCallback(message.values);
       }
     } else {
-      var response = new ROSLIB.ServiceResponse(message.values);
+      var response = new ServiceResponse(message.values);
       callback(response);
     }
   });
@@ -50,3 +52,5 @@ ROSLIB.Service.prototype.callService = function(request, callback, failedCallbac
   };
   this.ros.callOnConnection(call);
 };
+
+module.exports = Service;
\ No newline at end of file
diff --git a/src/core/ServiceRequest.js b/src/core/ServiceRequest.js
index d5ff7c062..6b77889a1 100644
--- a/src/core/ServiceRequest.js
+++ b/src/core/ServiceRequest.js
@@ -2,17 +2,16 @@
  * @author Brandon Alexander - balexander@willowgarage.com
  */
 
+var assign = require('object-assign');
+
 /**
  * A ServiceRequest is passed into the service call.
  *
  * @constructor
  * @param values - object matching the fields defined in the .srv definition file
  */
-ROSLIB.ServiceRequest = function(values) {
-  var that = this;
-  values = values || {};
+function ServiceRequest(values) {
+  assign(this, values);
+}
 
-  Object.keys(values).forEach(function(name) {
-    that[name] = values[name];
-  });
-};
+module.exports = ServiceRequest;
\ No newline at end of file
diff --git a/src/core/ServiceResponse.js b/src/core/ServiceResponse.js
index 825ef111a..444c11998 100644
--- a/src/core/ServiceResponse.js
+++ b/src/core/ServiceResponse.js
@@ -2,17 +2,16 @@
  * @author Brandon Alexander - balexander@willowgarage.com
  */
 
+var assign = require('object-assign');
+
 /**
  * A ServiceResponse is returned from the service call.
  *
  * @constructor
  * @param values - object matching the fields defined in the .srv definition file
  */
-ROSLIB.ServiceResponse = function(values) {
-  var that = this;
-  values = values || {};
+function ServiceResponse(values) {
+  assign(this, values);
+}
 
-  Object.keys(values).forEach(function(name) {
-    that[name] = values[name];
-  });
-};
+module.exports = ServiceResponse;
\ No newline at end of file
diff --git a/src/core/Topic.js b/src/core/Topic.js
index 253e27741..cbe5a6524 100644
--- a/src/core/Topic.js
+++ b/src/core/Topic.js
@@ -2,6 +2,9 @@
  * @author Brandon Alexander - baalexander@gmail.com
  */
 
+var EventEmitter2 = require('eventemitter2').EventEmitter2;
+var Message = require('./Message');
+
 /**
  * Publish and/or subscribe to a topic in ROS.
  *
@@ -17,7 +20,7 @@
  *   * compression - the type of compression to use, like 'png'
  *   * throttle_rate - the rate at which to throttle the topics
  */
-ROSLIB.Topic = function(options) {
+function Topic(options) {
   options = options || {};
   this.ros = options.ros;
   this.name = options.name;
@@ -40,8 +43,9 @@ ROSLIB.Topic = function(options) {
     this.emit('warning', this.throttle_rate + ' is not allowed. Set to 0');
     this.throttle_rate = 0;
   }
-};
-ROSLIB.Topic.prototype.__proto__ = EventEmitter2.prototype;
+}
+
+Topic.prototype.__proto__ = EventEmitter2.prototype;
 
 /**
  * Every time a message is published for the given topic, the callback
@@ -50,11 +54,11 @@ ROSLIB.Topic.prototype.__proto__ = EventEmitter2.prototype;
  * @param callback - function with the following params:
  *   * message - the published message
  */
-ROSLIB.Topic.prototype.subscribe = function(callback) {
+Topic.prototype.subscribe = function(callback) {
   var that = this;
   this.on('message', callback);
   this.ros.on(this.name, function(data) {
-    var message = new ROSLIB.Message(data);
+    var message = new Message(data);
     that.emit('message', message);
   });
 
@@ -73,7 +77,7 @@ ROSLIB.Topic.prototype.subscribe = function(callback) {
  * Unregisters as a subscriber for the topic. Unsubscribing will remove
  * all subscribe callbacks.
  */
-ROSLIB.Topic.prototype.unsubscribe = function() {
+Topic.prototype.unsubscribe = function() {
   this.ros.removeAllListeners([this.name]);
   this.ros.callOnConnection({
     op: 'unsubscribe',
@@ -85,7 +89,7 @@ ROSLIB.Topic.prototype.unsubscribe = function() {
 /**
  * Registers as a publisher for the topic.
  */
-ROSLIB.Topic.prototype.advertise = function() {
+Topic.prototype.advertise = function() {
   if (this.isAdvertised) {
     return;
   }
@@ -104,7 +108,7 @@ ROSLIB.Topic.prototype.advertise = function() {
 /**
  * Unregisters as a publisher for the topic.
  */
-ROSLIB.Topic.prototype.unadvertise = function() {
+Topic.prototype.unadvertise = function() {
   if (!this.isAdvertised) {
     return;
   }
@@ -121,7 +125,7 @@ ROSLIB.Topic.prototype.unadvertise = function() {
  *
  * @param message - A ROSLIB.Message object.
  */
-ROSLIB.Topic.prototype.publish = function(message) {
+Topic.prototype.publish = function(message) {
   if (!this.isAdvertised) {
     this.advertise();
   }
@@ -136,3 +140,5 @@ ROSLIB.Topic.prototype.publish = function(message) {
   };
   this.ros.callOnConnection(call);
 };
+
+module.exports = Topic;
diff --git a/src/math/Pose.js b/src/math/Pose.js
index 5d5b11b3a..92a6b6a10 100644
--- a/src/math/Pose.js
+++ b/src/math/Pose.js
@@ -2,6 +2,9 @@
  * @author David Gossow - dgossow@willowgarage.com
  */
 
+var Vector3 = require('./Vector3');
+var Quaternion = require('./Quaternion');
+
 /**
  * A Pose in 3D space. Values are copied into this object.
  *
@@ -10,19 +13,19 @@
  *   * position - the Vector3 describing the position
  *   * orientation - the ROSLIB.Quaternion describing the orientation
  */
-ROSLIB.Pose = function(options) {
+function Pose(options) {
   options = options || {};
   // copy the values into this object if they exist
-  this.position = new ROSLIB.Vector3(options.position);
-  this.orientation = new ROSLIB.Quaternion(options.orientation);
-};
+  this.position = new Vector3(options.position);
+  this.orientation = new Quaternion(options.orientation);
+}
 
 /**
  * Apply a transform against this pose.
  *
  * @param tf the transform
  */
-ROSLIB.Pose.prototype.applyTransform = function(tf) {
+Pose.prototype.applyTransform = function(tf) {
   this.position.multiplyQuaternion(tf.rotation);
   this.position.add(tf.translation);
   var tmp = tf.rotation.clone();
@@ -35,6 +38,8 @@ ROSLIB.Pose.prototype.applyTransform = function(tf) {
  *
  * @returns the cloned pose
  */
-ROSLIB.Pose.prototype.clone = function() {
-  return new ROSLIB.Pose(this);
+Pose.prototype.clone = function() {
+  return new Pose(this);
 };
+
+module.exports = Pose;
\ No newline at end of file
diff --git a/src/math/Quaternion.js b/src/math/Quaternion.js
index 5456c4d6a..1065d30ca 100644
--- a/src/math/Quaternion.js
+++ b/src/math/Quaternion.js
@@ -12,18 +12,18 @@
  *   * z - the z value
  *   * w - the w value
  */
-ROSLIB.Quaternion = function(options) {
+function Quaternion(options) {
   options = options || {};
   this.x = options.x || 0;
   this.y = options.y || 0;
   this.z = options.z || 0;
   this.w = options.w || 1;
-};
+}
 
 /**
  * Perform a conjugation on this quaternion.
  */
-ROSLIB.Quaternion.prototype.conjugate = function() {
+Quaternion.prototype.conjugate = function() {
   this.x *= -1;
   this.y *= -1;
   this.z *= -1;
@@ -32,7 +32,7 @@ ROSLIB.Quaternion.prototype.conjugate = function() {
 /**
  * Perform a normalization on this quaternion.
  */
-ROSLIB.Quaternion.prototype.normalize = function() {
+Quaternion.prototype.normalize = function() {
   var l = Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w);
   if (l === 0) {
     this.x = 0;
@@ -51,7 +51,7 @@ ROSLIB.Quaternion.prototype.normalize = function() {
 /**
  * Convert this quaternion into its inverse.
  */
-ROSLIB.Quaternion.prototype.invert = function() {
+Quaternion.prototype.invert = function() {
   this.conjugate();
   this.normalize();
 };
@@ -61,7 +61,7 @@ ROSLIB.Quaternion.prototype.invert = function() {
  *
  * @param q the quaternion to multiply with
  */
-ROSLIB.Quaternion.prototype.multiply = function(q) {
+Quaternion.prototype.multiply = function(q) {
   var newX = this.x * q.w + this.y * q.z - this.z * q.y + this.w * q.x;
   var newY = -this.x * q.z + this.y * q.w + this.z * q.x + this.w * q.y;
   var newZ = this.x * q.y - this.y * q.x + this.z * q.w + this.w * q.z;
@@ -77,6 +77,8 @@ ROSLIB.Quaternion.prototype.multiply = function(q) {
  *
  * @returns the cloned quaternion
  */
-ROSLIB.Quaternion.prototype.clone = function() {
-  return new ROSLIB.Quaternion(this);
+Quaternion.prototype.clone = function() {
+  return new Quaternion(this);
 };
+
+module.exports = Quaternion;
\ No newline at end of file
diff --git a/src/math/Transform.js b/src/math/Transform.js
index 663c6af44..55b865df9 100644
--- a/src/math/Transform.js
+++ b/src/math/Transform.js
@@ -2,6 +2,9 @@
  * @author David Gossow - dgossow@willowgarage.com
  */
 
+var Vector3 = require('./Vector3');
+var Quaternion = require('./Quaternion');
+
 /**
  * A Transform in 3-space. Values are copied into this object.
  *
@@ -10,18 +13,20 @@
  *   * translation - the Vector3 describing the translation
  *   * rotation - the ROSLIB.Quaternion describing the rotation
  */
-ROSLIB.Transform = function(options) {
+function Transform(options) {
   options = options || {};
   // Copy the values into this object if they exist
-  this.translation = new ROSLIB.Vector3(options.translation);
-  this.rotation = new ROSLIB.Quaternion(options.rotation);
-};
+  this.translation = new Vector3(options.translation);
+  this.rotation = new Quaternion(options.rotation);
+}
 
 /**
  * Clone a copy of this transform.
  *
  * @returns the cloned transform
  */
-ROSLIB.Transform.prototype.clone = function() {
-  return new ROSLIB.Transform(this);
+Transform.prototype.clone = function() {
+  return new Transform(this);
 };
+
+module.exports = Transform;
\ No newline at end of file
diff --git a/src/math/Vector3.js b/src/math/Vector3.js
index 770f1cb32..9886ea23b 100644
--- a/src/math/Vector3.js
+++ b/src/math/Vector3.js
@@ -11,19 +11,19 @@
  *   * y - the y value
  *   * z - the z value
  */
-ROSLIB.Vector3 = function(options) {
+function Vector3(options) {
   options = options || {};
   this.x = options.x || 0;
   this.y = options.y || 0;
   this.z = options.z || 0;
-};
+}
 
 /**
  * Set the values of this vector to the sum of itself and the given vector.
  *
  * @param v the vector to add with
  */
-ROSLIB.Vector3.prototype.add = function(v) {
+Vector3.prototype.add = function(v) {
   this.x += v.x;
   this.y += v.y;
   this.z += v.z;
@@ -34,7 +34,7 @@ ROSLIB.Vector3.prototype.add = function(v) {
  *
  * @param v the vector to subtract with
  */
-ROSLIB.Vector3.prototype.subtract = function(v) {
+Vector3.prototype.subtract = function(v) {
   this.x -= v.x;
   this.y -= v.y;
   this.z -= v.z;
@@ -45,7 +45,7 @@ ROSLIB.Vector3.prototype.subtract = function(v) {
  *
  * @param q - the quaternion to multiply with
  */
-ROSLIB.Vector3.prototype.multiplyQuaternion = function(q) {
+Vector3.prototype.multiplyQuaternion = function(q) {
   var ix = q.w * this.x + q.y * this.z - q.z * this.y;
   var iy = q.w * this.y + q.z * this.x - q.x * this.z;
   var iz = q.w * this.z + q.x * this.y - q.y * this.x;
@@ -60,6 +60,8 @@ ROSLIB.Vector3.prototype.multiplyQuaternion = function(q) {
  *
  * @returns the cloned vector
  */
-ROSLIB.Vector3.prototype.clone = function() {
-  return new ROSLIB.Vector3(this);
+Vector3.prototype.clone = function() {
+  return new Vector3(this);
 };
+
+module.exports = Vector3;
\ No newline at end of file
diff --git a/src/tf/TFClient.js b/src/tf/TFClient.js
index 2f3aba19a..0931d6c04 100644
--- a/src/tf/TFClient.js
+++ b/src/tf/TFClient.js
@@ -2,6 +2,10 @@
  * @author David Gossow - dgossow@willowgarage.com
  */
 
+var ActionClient = require('../actionlib/ActionClient');
+var Goal = require('../actionlib/Goal');
+var Transform = require('../math/Transform');
+
 /**
  * A TF Client that listens to TFs from tf2_web_republisher.
  *
@@ -14,7 +18,7 @@
  *   * rate - the rate for the TF republisher
  *   * goalUpdateDelay - the goal update delay for the TF republisher
  */
-ROSLIB.TFClient = function(options) {
+function TFClient(options) {
   options = options || {};
   this.ros = options.ros;
   this.fixedFrame = options.fixedFrame || '/base_link';
@@ -28,12 +32,12 @@ ROSLIB.TFClient = function(options) {
   this.goalUpdateRequested = false;
 
   // Create an ActionClient
-  this.actionClient = new ROSLIB.ActionClient({
+  this.actionClient = new ActionClient({
     ros : this.ros,
     serverName : '/tf2_web_republisher',
     actionName : 'tf2_web_republisher/TFSubscriptionAction'
   });
-};
+}
 
 /**
  * Process the incoming TF message and send them out using the callback
@@ -41,7 +45,7 @@ ROSLIB.TFClient = function(options) {
  *
  * @param tf - the TF message from the server
  */
-ROSLIB.TFClient.prototype.processFeedback = function(tf) {
+TFClient.prototype.processFeedback = function(tf) {
   var that = this;
   tf.transforms.forEach(function(transform) {
     var frameID = transform.child_frame_id;
@@ -50,7 +54,7 @@ ROSLIB.TFClient.prototype.processFeedback = function(tf) {
     }
     var info = that.frameInfos[frameID];
     if (info !== undefined) {
-      info.transform = new ROSLIB.Transform({
+      info.transform = new Transform({
         translation : transform.transform.translation,
         rotation : transform.transform.rotation
       });
@@ -65,7 +69,7 @@ ROSLIB.TFClient.prototype.processFeedback = function(tf) {
  * Create and send a new goal to the tf2_web_republisher based on the current
  * list of TFs.
  */
-ROSLIB.TFClient.prototype.updateGoal = function() {
+TFClient.prototype.updateGoal = function() {
   // Anytime the list of frames changes, we will need to send a new goal.
   if (this.currentGoal) {
     this.currentGoal.cancel();
@@ -83,7 +87,7 @@ ROSLIB.TFClient.prototype.updateGoal = function() {
     goalMessage.source_frames.push(frame);
   }
 
-  this.currentGoal = new ROSLIB.Goal({
+  this.currentGoal = new Goal({
     actionClient : this.actionClient,
     goalMessage : goalMessage
   });
@@ -99,7 +103,7 @@ ROSLIB.TFClient.prototype.updateGoal = function() {
  * @param callback - function with params:
  *   * transform - the transform data
  */
-ROSLIB.TFClient.prototype.subscribe = function(frameID, callback) {
+TFClient.prototype.subscribe = function(frameID, callback) {
   // remove leading slash, if it's there
   if (frameID[0] === '/') {
     frameID = frameID.substring(1);
@@ -128,7 +132,7 @@ ROSLIB.TFClient.prototype.subscribe = function(frameID, callback) {
  * @param frameID - the TF frame to unsubscribe from
  * @param callback - the callback function to remove
  */
-ROSLIB.TFClient.prototype.unsubscribe = function(frameID, callback) {
+TFClient.prototype.unsubscribe = function(frameID, callback) {
   // remove leading slash, if it's there
   if (frameID[0] === '/') {
     frameID = frameID.substring(1);
@@ -146,3 +150,4 @@ ROSLIB.TFClient.prototype.unsubscribe = function(frameID, callback) {
   }
 };
 
+module.exports = TFClient;
\ No newline at end of file
diff --git a/src/urdf/UrdfBox.js b/src/urdf/UrdfBox.js
index 6ca4e866f..4fa91bd0b 100644
--- a/src/urdf/UrdfBox.js
+++ b/src/urdf/UrdfBox.js
@@ -3,6 +3,9 @@
  * @author Russell Toris - rctoris@wpi.edu
  */
 
+var Vector3 = require('../math/Vector3');
+var UrdfTypes = require('./UrdfTypes');
+
 /**
  * A Box element in a URDF.
  *
@@ -10,7 +13,7 @@
  * @param options - object with following keys:
  *  * xml - the XML element to parse
  */
-ROSLIB.UrdfBox = function(options) {
+function UrdfBox(options) {
   options = options || {};
   var that = this;
   var xml = options.xml;
@@ -23,11 +26,11 @@ ROSLIB.UrdfBox = function(options) {
    * @param xml - the XML element to parse
    */
   var initXml = function(xml) {
-    that.type = ROSLIB.URDF_BOX;
+    that.type = UrdfTypes.URDF_BOX;
 
     // Parse the string
     var xyz = xml.getAttribute('size').split(' ');
-    that.dimension = new ROSLIB.Vector3({
+    that.dimension = new Vector3({
       x : parseFloat(xyz[0]),
       y : parseFloat(xyz[1]),
       z : parseFloat(xyz[2])
@@ -36,4 +39,6 @@ ROSLIB.UrdfBox = function(options) {
 
   // Pass it to the XML parser
   initXml(xml);
-};
+}
+
+module.exports = UrdfBox;
\ No newline at end of file
diff --git a/src/urdf/UrdfColor.js b/src/urdf/UrdfColor.js
index d36c453ee..5bc335dd8 100644
--- a/src/urdf/UrdfColor.js
+++ b/src/urdf/UrdfColor.js
@@ -10,7 +10,7 @@
  * @param options - object with following keys:
  *  * xml - the XML element to parse
  */
-ROSLIB.UrdfColor = function(options) {
+function UrdfColor(options) {
   options = options || {};
   var that = this;
   var xml = options.xml;
@@ -36,4 +36,6 @@ ROSLIB.UrdfColor = function(options) {
 
   // Pass it to the XML parser
   initXml(xml);
-};
+}
+
+module.exports = UrdfColor;
\ No newline at end of file
diff --git a/src/urdf/UrdfCylinder.js b/src/urdf/UrdfCylinder.js
index bc3f738e2..4997bb62d 100644
--- a/src/urdf/UrdfCylinder.js
+++ b/src/urdf/UrdfCylinder.js
@@ -3,6 +3,8 @@
  * @author Russell Toris - rctoris@wpi.edu
  */
 
+var UrdfTypes = require('./UrdfTypes');
+
 /**
  * A Cylinder element in a URDF.
  *
@@ -10,7 +12,7 @@
  * @param options - object with following keys:
  *  * xml - the XML element to parse
  */
-ROSLIB.UrdfCylinder = function(options) {
+function UrdfCylinder(options) {
   options = options || {};
   var that = this;
   var xml = options.xml;
@@ -24,12 +26,13 @@ ROSLIB.UrdfCylinder = function(options) {
    * @param xml - the XML element to parse
    */
   var initXml = function(xml) {
-    that.type = ROSLIB.URDF_CYLINDER;
+    that.type = UrdfTypes.URDF_CYLINDER;
     that.length = parseFloat(xml.getAttribute('length'));
     that.radius = parseFloat(xml.getAttribute('radius'));
   };
 
   // Pass it to the XML parser
   initXml(xml);
-};
+}
 
+module.exports = UrdfCylinder;
\ No newline at end of file
diff --git a/src/urdf/UrdfLink.js b/src/urdf/UrdfLink.js
index 80906e97d..2e88fa933 100644
--- a/src/urdf/UrdfLink.js
+++ b/src/urdf/UrdfLink.js
@@ -3,6 +3,8 @@
  * @author Russell Toris - rctoris@wpi.edu
  */
 
+var UrdfVisual = require('./UrdfVisual');
+
 /**
  * A Link element in a URDF.
  *
@@ -10,7 +12,7 @@
  * @param options - object with following keys:
  *  * xml - the XML element to parse
  */
-ROSLIB.UrdfLink = function(options) {
+function UrdfLink(options) {
   options = options || {};
   var that = this;
   var xml = options.xml;
@@ -26,7 +28,7 @@ ROSLIB.UrdfLink = function(options) {
     that.name = xml.getAttribute('name');
     var visuals = xml.getElementsByTagName('visual');
     if (visuals.length > 0) {
-      that.visual = new ROSLIB.UrdfVisual({
+      that.visual = new UrdfVisual({
         xml : visuals[0]
       });
     }
@@ -34,5 +36,6 @@ ROSLIB.UrdfLink = function(options) {
 
   // Pass it to the XML parser
   initXml(xml);
-};
+}
 
+module.exports = UrdfLink;
\ No newline at end of file
diff --git a/src/urdf/UrdfMaterial.js b/src/urdf/UrdfMaterial.js
index 456eacce1..918ffcf96 100644
--- a/src/urdf/UrdfMaterial.js
+++ b/src/urdf/UrdfMaterial.js
@@ -3,6 +3,8 @@
  * @author Russell Toris - rctoris@wpi.edu
  */
 
+var UrdfColor = require('./UrdfColor');
+
 /**
  * A Material element in a URDF.
  *
@@ -10,7 +12,7 @@
  * @param options - object with following keys:
  *  * xml - the XML element to parse
  */
-ROSLIB.UrdfMaterial = function(options) {
+function UrdfMaterial(options) {
   options = options || {};
   var that = this;
   var xml = options.xml;
@@ -36,7 +38,7 @@ ROSLIB.UrdfMaterial = function(options) {
     var colors = xml.getElementsByTagName('color');
     if (colors.length > 0) {
       // Parse the RBGA string
-      that.color = new ROSLIB.UrdfColor({
+      that.color = new UrdfColor({
         xml : colors[0]
       });
     }
@@ -44,4 +46,6 @@ ROSLIB.UrdfMaterial = function(options) {
 
   // Pass it to the XML parser
   initXml(xml);
-};
+}
+
+module.exports = UrdfMaterial;
\ No newline at end of file
diff --git a/src/urdf/UrdfMesh.js b/src/urdf/UrdfMesh.js
index cc51b61f4..234d6d981 100644
--- a/src/urdf/UrdfMesh.js
+++ b/src/urdf/UrdfMesh.js
@@ -3,6 +3,9 @@
  * @author Russell Toris - rctoris@wpi.edu
  */
 
+var Vector3 = require('../math/Vector3');
+var UrdfTypes = require('./UrdfTypes');
+
 /**
  * A Mesh element in a URDF.
  *
@@ -10,7 +13,7 @@
  * @param options - object with following keys:
  *  * xml - the XML element to parse
  */
-ROSLIB.UrdfMesh = function(options) {
+function UrdfMesh(options) {
   options = options || {};
   var that = this;
   var xml = options.xml;
@@ -24,7 +27,7 @@ ROSLIB.UrdfMesh = function(options) {
    * @param xml - the XML element to parse
    */
   var initXml = function(xml) {
-    that.type = ROSLIB.URDF_MESH;
+    that.type = UrdfTypes.URDF_MESH;
     that.filename = xml.getAttribute('filename');
 
     // Check for a scale
@@ -32,7 +35,7 @@ ROSLIB.UrdfMesh = function(options) {
     if (scale) {
       // Get the XYZ
       var xyz = scale.split(' ');
-      that.scale = new ROSLIB.Vector3({
+      that.scale = new Vector3({
         x : parseFloat(xyz[0]),
         y : parseFloat(xyz[1]),
         z : parseFloat(xyz[2])
@@ -42,5 +45,6 @@ ROSLIB.UrdfMesh = function(options) {
 
   // Pass it to the XML parser
   initXml(xml);
-};
+}
 
+module.exports = UrdfMesh;
\ No newline at end of file
diff --git a/src/urdf/UrdfModel.js b/src/urdf/UrdfModel.js
index 798c45907..772eb7deb 100644
--- a/src/urdf/UrdfModel.js
+++ b/src/urdf/UrdfModel.js
@@ -3,6 +3,13 @@
  * @author Russell Toris - rctoris@wpi.edu
  */
 
+var UrdfMaterial = require('./UrdfMaterial');
+var UrdfLink = require('./UrdfLink');
+var DOMParser = require('../util/DOMParser');
+
+// See https://developer.mozilla.org/docs/XPathResult#Constants
+var XPATH_FIRST_ORDERED_NODE_TYPE = 9;
+
 /**
  * A URDF Model can be used to parse a given URDF into the appropriate elements.
  *
@@ -11,7 +18,7 @@
  *  * xml - the XML element to parse
  *  * string - the XML element to parse as a string
  */
-ROSLIB.UrdfModel = function(options) {
+function UrdfModel(options) {
   options = options || {};
   var that = this;
   var xml = options.xml;
@@ -26,7 +33,7 @@ ROSLIB.UrdfModel = function(options) {
    */
   var initXml = function(xmlDoc) {
     // Get the robot tag
-    var robotXml = xmlDoc.evaluate('//robot', xmlDoc, null, XPathResult.FIRST_ORDERED_NODE_TYPE, null).singleNodeValue;
+    var robotXml = xmlDoc.evaluate('//robot', xmlDoc, null, XPATH_FIRST_ORDERED_NODE_TYPE, null).singleNodeValue;
 
     // Get the robot name
     that.name = robotXml.getAttribute('name');
@@ -35,7 +42,7 @@ ROSLIB.UrdfModel = function(options) {
     for (var n in robotXml.childNodes) {
       var node = robotXml.childNodes[n];
       if (node.tagName === 'material') {
-        var material = new ROSLIB.UrdfMaterial({
+        var material = new UrdfMaterial({
           xml : node
         });
         // Make sure this is unique
@@ -45,7 +52,7 @@ ROSLIB.UrdfModel = function(options) {
           that.materials[material.name] = material;
         }
       } else if (node.tagName === 'link') {
-        var link = new ROSLIB.UrdfLink({
+        var link = new UrdfLink({
           xml : node
         });
         // Make sure this is unique
@@ -76,4 +83,6 @@ ROSLIB.UrdfModel = function(options) {
   }
   // Pass it to the XML parser
   initXml(xml);
-};
+}
+
+module.exports = UrdfModel;
\ No newline at end of file
diff --git a/src/urdf/UrdfSphere.js b/src/urdf/UrdfSphere.js
index 4f170cba7..777af8b05 100644
--- a/src/urdf/UrdfSphere.js
+++ b/src/urdf/UrdfSphere.js
@@ -3,6 +3,8 @@
  * @author Russell Toris - rctoris@wpi.edu
  */
 
+var UrdfTypes = require('./UrdfTypes');
+
 /**
  * A Sphere element in a URDF.
  *
@@ -10,7 +12,7 @@
  * @param options - object with following keys:
  *  * xml - the XML element to parse
  */
-ROSLIB.UrdfSphere = function(options) {
+function UrdfSphere(options) {
   options = options || {};
   var that = this;
   var xml = options.xml;
@@ -23,11 +25,12 @@ ROSLIB.UrdfSphere = function(options) {
    * @param xml - the XML element to parse
    */
   var initXml = function(xml) {
-    that.type = ROSLIB.URDF_SPHERE;
+    that.type = UrdfTypes.URDF_SPHERE;
     that.radius = parseFloat(xml.getAttribute('radius'));
   };
 
   // pass it to the XML parser
   initXml(xml);
-};
+}
 
+module.exports = UrdfSphere;
\ No newline at end of file
diff --git a/src/urdf/UrdfTypes.js b/src/urdf/UrdfTypes.js
new file mode 100644
index 000000000..99572cc7c
--- /dev/null
+++ b/src/urdf/UrdfTypes.js
@@ -0,0 +1,6 @@
+module.exports = {
+	URDF_SPHERE : 0,
+	URDF_BOX : 1,
+	URDF_CYLINDER : 2,
+	URDF_MESH : 3
+};
diff --git a/src/urdf/UrdfVisual.js b/src/urdf/UrdfVisual.js
index 6a75f73f5..9b24153d4 100644
--- a/src/urdf/UrdfVisual.js
+++ b/src/urdf/UrdfVisual.js
@@ -3,6 +3,16 @@
  * @author Russell Toris - rctoris@wpi.edu
  */
 
+var Pose = require('../math/Pose');
+var Vector3 = require('../math/Vector3');
+var Quaternion = require('../math/Quaternion');
+
+var UrdfCylinder = require('./UrdfCylinder');
+var UrdfBox = require('./UrdfBox');
+var UrdfMaterial = require('./UrdfMaterial');
+var UrdfMesh = require('./UrdfMesh');
+var UrdfSphere = require('./UrdfSphere');
+
 /**
  * A Visual element in a URDF.
  *
@@ -10,7 +20,7 @@
  * @param options - object with following keys:
  *  * xml - the XML element to parse
  */
-ROSLIB.UrdfVisual = function(options) {
+function UrdfVisual(options) {
   options = options || {};
   var that = this;
   var xml = options.xml;
@@ -28,14 +38,14 @@ ROSLIB.UrdfVisual = function(options) {
     var origins = xml.getElementsByTagName('origin');
     if (origins.length === 0) {
       // use the identity as the default
-      that.origin = new ROSLIB.Pose();
+      that.origin = new Pose();
     } else {
       // Check the XYZ
       var xyz = origins[0].getAttribute('xyz');
-      var position = new ROSLIB.Vector3();
+      var position = new Vector3();
       if (xyz) {
         xyz = xyz.split(' ');
-        position = new ROSLIB.Vector3({
+        position = new Vector3({
           x : parseFloat(xyz[0]),
           y : parseFloat(xyz[1]),
           z : parseFloat(xyz[2])
@@ -44,7 +54,7 @@ ROSLIB.UrdfVisual = function(options) {
 
       // Check the RPY
       var rpy = origins[0].getAttribute('rpy');
-      var orientation = new ROSLIB.Quaternion();
+      var orientation = new Quaternion();
       if (rpy) {
         rpy = rpy.split(' ');
         // Convert from RPY
@@ -63,7 +73,7 @@ ROSLIB.UrdfVisual = function(options) {
         var w = Math.cos(phi) * Math.cos(the) * Math.cos(psi) + Math.sin(phi) * Math.sin(the)
             * Math.sin(psi);
 
-        orientation = new ROSLIB.Quaternion({
+        orientation = new Quaternion({
           x : x,
           y : y,
           z : z,
@@ -71,7 +81,7 @@ ROSLIB.UrdfVisual = function(options) {
         });
         orientation.normalize();
       }
-      that.origin = new ROSLIB.Pose({
+      that.origin = new Pose({
         position : position,
         orientation : orientation
       });
@@ -92,19 +102,19 @@ ROSLIB.UrdfVisual = function(options) {
       // Check the type
       var type = shape.nodeName;
       if (type === 'sphere') {
-        that.geometry = new ROSLIB.UrdfSphere({
+        that.geometry = new UrdfSphere({
           xml : shape
         });
       } else if (type === 'box') {
-        that.geometry = new ROSLIB.UrdfBox({
+        that.geometry = new UrdfBox({
           xml : shape
         });
       } else if (type === 'cylinder') {
-        that.geometry = new ROSLIB.UrdfCylinder({
+        that.geometry = new UrdfCylinder({
           xml : shape
         });
       } else if (type === 'mesh') {
-        that.geometry = new ROSLIB.UrdfMesh({
+        that.geometry = new UrdfMesh({
           xml : shape
         });
       } else {
@@ -115,7 +125,7 @@ ROSLIB.UrdfVisual = function(options) {
     // Material
     var materials = xml.getElementsByTagName('material');
     if (materials.length > 0) {
-      that.material = new ROSLIB.UrdfMaterial({
+      that.material = new UrdfMaterial({
         xml : materials[0]
       });
     }
@@ -123,5 +133,6 @@ ROSLIB.UrdfVisual = function(options) {
 
   // Pass it to the XML parser
   initXml(xml);
-};
+}
 
+module.exports = UrdfVisual;
\ No newline at end of file
diff --git a/src/util/DOMParser.js b/src/util/DOMParser.js
new file mode 100644
index 000000000..71c7d3bd2
--- /dev/null
+++ b/src/util/DOMParser.js
@@ -0,0 +1 @@
+module.exports = require('xmlshim').DOMParser;
\ No newline at end of file
diff --git a/src/util/shim/DOMParser.js b/src/util/shim/DOMParser.js
new file mode 100644
index 000000000..e2b55b6a8
--- /dev/null
+++ b/src/util/shim/DOMParser.js
@@ -0,0 +1 @@
+module.exports = global.DOMParser;
\ No newline at end of file
diff --git a/src/util/shim/EventEmitter2.js b/src/util/shim/EventEmitter2.js
new file mode 100644
index 000000000..32084596b
--- /dev/null
+++ b/src/util/shim/EventEmitter2.js
@@ -0,0 +1,3 @@
+module.exports = {
+	EventEmitter2: global.EventEmitter2
+};
\ No newline at end of file
diff --git a/src/util/shim/WebSocket.js b/src/util/shim/WebSocket.js
new file mode 100644
index 000000000..51289a11e
--- /dev/null
+++ b/src/util/shim/WebSocket.js
@@ -0,0 +1 @@
+module.exports = global.WebSocket;
\ No newline at end of file
diff --git a/src/util/shim/canvas.js b/src/util/shim/canvas.js
new file mode 100644
index 000000000..15845d668
--- /dev/null
+++ b/src/util/shim/canvas.js
@@ -0,0 +1,4 @@
+/* global document */
+module.exports = function Canvas() {
+	return document.createElement('canvas');
+};
\ No newline at end of file
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 bdc6d011a..c94a6dbe9 100644
--- a/test/karma.conf.js
+++ b/test/karma.conf.js
@@ -9,14 +9,19 @@ module.exports = function(config) {
     // Testing frameworks
     frameworks: ['mocha', 'chai'],
 
-
     // List of files / patterns to load in the browser
     files: [
-      "../include/EventEmitter2/eventemitter2.js",
-      "../build/roslib.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
--- /dev/null
+++ 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);
+    });
+});
diff --git a/test/quaternion.test.js b/test/quaternion.test.js
index b62b3a994..425a6fb99 100644
--- a/test/quaternion.test.js
+++ b/test/quaternion.test.js
@@ -1,4 +1,6 @@
-var expect = chai.expect;
+var expect = require('chai').expect;
+var ROSLIB = require('..');
+
 
 describe('Quaternion', function() {
 
diff --git a/test/require-shim.js b/test/require-shim.js
new file mode 100644
index 000000000..cd9de5bcc
--- /dev/null
+++ b/test/require-shim.js
@@ -0,0 +1,10 @@
+window.require = function require(path) {
+	switch (path) {
+		case 'eventemitter2': return {EventEmitter2: EventEmitter2};
+	}
+	var lastIdx = path.lastIndexOf('/'),
+		path = lastIdx >= 0 ? path.slice(lastIdx + 1) : path;
+
+	return typeof ROSLIB[path] != 'undefined' ? ROSLIB[path] :
+			typeof window[path] != 'undefined' ? window[path] : ROSLIB;
+}
\ No newline at end of file
diff --git a/test/ros.test.js b/test/ros.test.js
index 0a11d60d3..a4a7bf29a 100644
--- a/test/ros.test.js
+++ b/test/ros.test.js
@@ -1,4 +1,6 @@
-var expect = chai.expect;
+var expect = require('chai').expect;
+var EventEmitter2 = require('eventemitter2').EventEmitter2;
+var ROSLIB = require('..');
 
 describe('ROS', function() {
 
diff --git a/test/transform.test.js b/test/transform.test.js
index b1344d98b..25af82456 100644
--- a/test/transform.test.js
+++ b/test/transform.test.js
@@ -1,4 +1,5 @@
-var expect = chai.expect;
+var expect = require('chai').expect;
+var ROSLIB = require('..');
 
 describe('Transform', function() {
 
diff --git a/test/urdf.test.js b/test/urdf.test.js
index 610ccc4d8..ec989f4f3 100644
--- a/test/urdf.test.js
+++ b/test/urdf.test.js
@@ -1,4 +1,9 @@
-var expect = chai.expect;
+var expect = require('chai').expect;
+var ROSLIB = require('..');
+
+var DOMParser = typeof DOMParser == 'function' ? DOMParser : require('../src/util/DOMParser');
+// See https://developer.mozilla.org/docs/XPathResult#Constants
+var XPATH_FIRST_ORDERED_NODE_TYPE = 9;
 
 var sample_urdf = function (){
   return '<robot name="test_robot">' +
@@ -36,7 +41,7 @@ describe('URDF', function() {
     it('is ignorant to the xml node', function(){
       var parser = new DOMParser();
       var xml = parser.parseFromString(sample_urdf(), 'text/xml');
-      var robotXml = xml.evaluate('//robot', xml, null, XPathResult.FIRST_ORDERED_NODE_TYPE, null).singleNodeValue;
+      var robotXml = xml.evaluate('//robot', xml, null, XPATH_FIRST_ORDERED_NODE_TYPE, null).singleNodeValue;
       expect(robotXml.getAttribute('name')).to.equal('test_robot');
     });
   });
diff --git a/utils/README.md b/utils/README.md
deleted file mode 100644
index a5baf769f..000000000
--- a/utils/README.md
+++ /dev/null
@@ -1,63 +0,0 @@
-roslibjs Build Setup
-====================
-
-[Grunt](http://gruntjs.com/) is used for building, including concatenating, minimizing, documenting, linting, and testing.
-
-### Install Grunt and its Dependencies
-
-#### Ubuntu 14.04
-
- 1. Install Node.js and its package manager, NPM
-   * `sudo apt-get install nodejs npm`
-   * `sudo ln -s /usr/bin/nodejs /usr/bin/node`
- 2. Install Grunt and the test runner [Karma](http://karma-runner.github.io/)
-   * `sudo npm install -g grunt-cli karma-cli`
-   * `sudo rm -rf ~/.npm ~/tmp`
- 3. Install the Grunt tasks specific to this project
-   * `cd /path/to/roslibjs/utils/`
-   * `npm install .`
- 4. (Optional) To generate the documentation, you'll need to setup Java. Documentation generation is not required for patches.
-   * `echo "export JAVA_HOME=/usr/lib/jvm/default-java/jre" >> ~/.bashrc`
-   * `source ~/.bashrc`
-
-#### Ubuntu 12.04
-
- 1. Install Node.js and its package manager, NPM
-   * `sudo apt-get install python-software-properties`
-   * `sudo add-apt-repository ppa:chris-lea/node.js`
-   * `sudo apt-get update && sudo apt-get install nodejs`
- 2. Install Grunt and the test runner [Karma](http://karma-runner.github.io/)
-   * `sudo npm install -g grunt-cli karma-cli`
-   * `sudo rm -rf ~/.npm ~/tmp`
- 3. Install the Grunt tasks specific to this project
-   * `cd /path/to/roslibjs/utils/`
-   * `npm install .`
- 4. (Optional) To generate the documentation, you'll need to setup Java. Documentation generation is not required for patches.
-   * `echo "export JAVA_HOME=/usr/lib/jvm/default-java/jre" >> ~/.bashrc`
-   * `source ~/.bashrc`
-
-#### OS X
-
- 1. Install Node.js and its package manager, NPM
-   * Go to [Node.js Downloads](http://nodejs.org/download/)
-   * Download and install the Universal pkg file.
- 2. Install Grunt and the test runner [Karma](http://karma-runner.github.io/)
-   * `sudo npm install -g grunt-cli karma-cli`
- 3. Install the Grunt tasks specific to this project
-   * `cd /path/to/roslibjs/utils/`
-   * `npm install .`
-
-### Build with Grunt
-
-Before proceeding, please confirm you have installed the dependencies above.
-
-To run the build tasks:
-
- 1. `cd /path/to/roslibjs/utils/`
- 2. `grunt build`
-
-`grunt build` will concatenate and minimize the files under src and replace roslib.js and roslib.min.js in the build directory. It will also run the linter and test cases. This is what [Travis CI](https://travis-ci.org/RobotWebTools/roslibjs) runs when a Pull Request is submitted.
-
-`grunt dev` will watch for any changes to any of the src/ files and automatically concatenate and minimize the files. This is ideal for those developing as you should only have to run `grunt dev` once.
-
-`grunt doc` will rebuild all JSDoc for the project.
diff --git a/utils/package.json b/utils/package.json
deleted file mode 100644
index f57251205..000000000
--- a/utils/package.json
+++ /dev/null
@@ -1,16 +0,0 @@
-{
-  "name": "roslibjs",
-  "devDependencies": {
-    "grunt": "~0.4.1",
-    "grunt-contrib-clean": "~0.4.0",
-    "grunt-contrib-concat": "~0.1.3",
-    "grunt-contrib-jshint": "~0.1.1",
-    "grunt-contrib-uglify": "~0.2.0",
-    "grunt-contrib-watch": "~0.3.1",
-    "grunt-jsdoc": "~0.3.0",
-    "grunt-karma": "^0.9.0",
-    "karma-chai": "^0.1.0",
-    "karma-mocha": "^0.1.9",
-    "karma-phantomjs-launcher": "^0.1.4"
-  }
-}