diff --git a/build/roslib.js b/build/roslib.js
index ccd5f1055..f637f2dfe 100644
--- a/build/roslib.js
+++ b/build/roslib.js
@@ -26,7 +26,7 @@ var ROSLIB = ROSLIB || {
  *   * timeout - the timeout length when connecting to the action server
  */
 ROSLIB.ActionClient = function(options) {
-  var actionClient = this;
+  var that = this;
   options = options || {};
   this.ros = options.ros;
   this.serverName = options.serverName;
@@ -43,44 +43,41 @@ ROSLIB.ActionClient = function(options) {
     name : this.serverName + '/feedback',
     messageType : this.actionName + 'Feedback'
   });
+
   var statusListener = new ROSLIB.Topic({
     ros : this.ros,
     name : this.serverName + '/status',
     messageType : 'actionlib_msgs/GoalStatusArray'
   });
+
   var resultListener = 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'
   });
 
-  /**
-   * Cancel all goals associated with this ActionClient.
-   */
-  this.cancel = function() {
-    var cancelMessage = new ROSLIB.Message({});
-    this.cancelTopic.publish(cancelMessage);
-  };
-
   // advertise the goal and cancel topics
   this.goalTopic.advertise();
   this.cancelTopic.advertise();
 
   // subscribe to the status topic
   statusListener.subscribe(function(statusMessage) {
+    var that = this;
     receivedStatus = true;
     statusMessage.status_list.forEach(function(status) {
-      var goal = actionClient.goals[status.goal_id.id];
+      var goal = that.goals[status.goal_id.id];
       if (goal) {
         goal.emit('status', status);
       }
@@ -89,7 +86,7 @@ ROSLIB.ActionClient = function(options) {
 
   // subscribe the the feedback topic
   feedbackListener.subscribe(function(feedbackMessage) {
-    var goal = actionClient.goals[feedbackMessage.status.goal_id.id];
+    var goal = that.goals[feedbackMessage.status.goal_id.id];
     if (goal) {
       goal.emit('status', feedbackMessage.status);
       goal.emit('feedback', feedbackMessage.feedback);
@@ -98,7 +95,7 @@ ROSLIB.ActionClient = function(options) {
 
   // subscribe to the result topic
   resultListener.subscribe(function(resultMessage) {
-    var goal = actionClient.goals[resultMessage.status.goal_id.id];
+    var goal = that.goals[resultMessage.status.goal_id.id];
 
     if (goal) {
       goal.emit('status', resultMessage.status);
@@ -110,12 +107,21 @@ ROSLIB.ActionClient = function(options) {
   if (this.timeout) {
     setTimeout(function() {
       if (!receivedStatus) {
-        actionClient.emit('timeout');
+        that.emit('timeout');
       }
     }, this.timeout);
   }
 };
 ROSLIB.ActionClient.prototype.__proto__ = EventEmitter2.prototype;
+
+/**
+ * Cancel all goals associated with this ActionClient.
+ */
+ROSLIB.ActionClient.prototype.cancel = function() {
+  var cancelMessage = new ROSLIB.Message({});
+  this.cancelTopic.publish(cancelMessage);
+};
+
 /**
  * @author Russell Toris - rctoris@wpi.edu
  */
@@ -131,45 +137,18 @@ ROSLIB.ActionClient.prototype.__proto__ = EventEmitter2.prototype;
  *   * actionClient - the ROSLIB.ActionClient to use with this goal
  *   * goalMessage - The JSON object containing the goal for the action server
  */
-
 ROSLIB.Goal = function(options) {
-  var goal = this;
+  var that = this;
   this.actionClient = options.actionClient;
   this.goalMessage = options.goalMessage;
   this.isFinished = false;
 
-  // used to create random IDs
+  // Used to create random IDs
   var date = new Date();
 
-  /**
-   * Send the goal to the action server.
-   * 
-   * @param timeout (optional) - a timeout length for the goal's result
-   */
-  this.send = function(timeout) {
-    goal.actionClient.goalTopic.publish(goal.goalMessage);
-    if (timeout) {
-      setTimeout(function() {
-        if (!goal.isFinished) {
-          goal.emit('timeout');
-        }
-      }, timeout);
-    }
-  };
-
-  /**
-   * Cancel the current goal.
-   */
-  this.cancel = function() {
-    var cancelMessage = new ROSLIB.Message({
-      id : goal.goalID
-    });
-    goal.actionClient.cancelTopic.publish(cancelMessage);
-  };
-
-  // create a random ID
-  this.goalID = 'goal_' + Math.random() + "_" + date.getTime();
-  // fill in the goal message
+  // Create a random ID
+  this.goalID = 'goal_' + Math.random() + '_' + date.getTime();
+  // Fill in the goal message
   this.goalMessage = new ROSLIB.Message({
     goal_id : {
       stamp : {
@@ -182,30 +161,57 @@ ROSLIB.Goal = function(options) {
   });
 
   this.on('status', function(status) {
-    this.status = status;
+    that.status = status;
   });
 
   this.on('result', function(result) {
-    this.isFinished = true;
-    this.result = result;
+    that.isFinished = true;
+    that.result = result;
   });
 
   this.on('feedback', function(feedback) {
-    this.feedback = feedback;
+    that.feedback = feedback;
   });
 
-  // add the goal
+  // Add the goal
   this.actionClient.goals[this.goalID] = this;
-
 };
 ROSLIB.Goal.prototype.__proto__ = EventEmitter2.prototype;
+
 /**
- * @author Brandon Alexander - balexander@willowgarage.com
+ * Send the goal to the action server.
+ *
+ * @param timeout (optional) - a timeout length for the goal's result
+ */
+ROSLIB.Goal.prototype.send = function(timeout) {
+  var that = this;
+  that.actionClient.goalTopic.publish(that.goalMessage);
+  if (timeout) {
+    setTimeout(function() {
+      if (!that.isFinished) {
+        that.emit('timeout');
+      }
+    }, timeout);
+  }
+};
+
+/**
+ * Cancel the current goal.
+ */
+ROSLIB.Goal.prototype.cancel = function() {
+  var cancelMessage = new ROSLIB.Message({
+    id : this.goalID
+  });
+  this.actionClient.cancelTopic.publish(cancelMessage);
+};
+
+/**
+ * @author Brandon Alexander - baalexander@gmail.com
  */
 
 /**
  * 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.
  */
@@ -218,7 +224,7 @@ ROSLIB.Message = function(values) {
   }
 };
 /**
- * @author Brandon Alexander - balexander@willowgarage.com
+ * @author Brandon Alexander - baalexander@gmail.com
  */
 
 /**
@@ -230,58 +236,58 @@ ROSLIB.Message = function(values) {
  *   * name - the param name, like max_vel_x
  */
 ROSLIB.Param = function(options) {
-  var param = this;
   options = options || {};
   this.ros = options.ros;
   this.name = options.name;
+};
 
-  /**
-   * Fetches the value of the param.
-   *
-   * @param callback - function with the following params:
-   *  * value - the value of the param from ROS.
-   */
-  this.get = function(callback) {
-    var paramClient = new ROSLIB.Service({
-      ros : param.ros,
-      name : '/rosapi/get_param',
-      serviceType : 'rosapi/GetParam'
-    });
+/**
+ * Fetches the value of the param.
+ *
+ * @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({
+    ros : this.ros,
+    name : '/rosapi/get_param',
+    serviceType : 'rosapi/GetParam'
+  });
 
-    var request = new ROSLIB.ServiceRequest({
-      name : param.name,
-      value : JSON.stringify('')
-    });
+  var request = new ROSLIB.ServiceRequest({
+    name : this.name,
+    value : JSON.stringify('')
+  });
 
-    paramClient.callService(request, function(result) {
-      var value = JSON.parse(result.value);
-      callback(value);
-    });
-  };
+  paramClient.callService(request, function(result) {
+    var value = JSON.parse(result.value);
+    callback(value);
+  });
+};
 
-  /**
-   * Sets the value of the param in ROS.
-   *
-   * @param value - value to set param to.
-   */
-  this.set = function(value) {
-    var paramClient = new ROSLIB.Service({
-      ros : param.ros,
-      name : '/rosapi/set_param',
-      serviceType : 'rosapi/SetParam'
-    });
+/**
+ * Sets the value of the param in ROS.
+ *
+ * @param value - value to set param to.
+ */
+ROSLIB.Param.prototype.set = function(value) {
+  var paramClient = new ROSLIB.Service({
+    ros : this.ros,
+    name : '/rosapi/set_param',
+    serviceType : 'rosapi/SetParam'
+  });
 
-    var request = new ROSLIB.ServiceRequest({
-      name : param.name,
-      value : JSON.stringify(value)
-    });
+  var request = new ROSLIB.ServiceRequest({
+    name : this.name,
+    value : JSON.stringify(value)
+  });
 
-    paramClient.callService(request, function() {
-    });
-  };
+  paramClient.callService(request, function() {
+  });
 };
+
 /**
- * @author Brandon Alexander - balexander@willowgarage.com
+ * @author Brandon Alexander - baalexander@gmail.com
  */
 
 /**
@@ -298,40 +304,55 @@ ROSLIB.Param = function(options) {
  *  @param url (optional) - The WebSocket URL for rosbridge. Can be specified later with `connect`.
  */
 ROSLIB.Ros = function(url) {
-  var ros = this;
   this.socket = null;
 
+
+  // begin by checking if a URL was given
+  if (url) {
+    this.connect(url);
+  }
+};
+ROSLIB.Ros.prototype.__proto__ = EventEmitter2.prototype;
+
+/**
+ * Connect to the specified WebSocket.
+ *
+ * @param url - WebSocket URL for Rosbridge
+ */
+ROSLIB.Ros.prototype.connect = function(url) {
+  var that = this;
+
   /**
    * Emits a 'connection' event on WebSocket connection.
-   * 
+   *
    * @param event - the argument to emit with the event.
    */
   function onOpen(event) {
-    ros.emit('connection', event);
+    that.emit('connection', event);
   };
 
   /**
    * Emits a 'close' event on WebSocket disconnection.
-   * 
+   *
    * @param event - the argument to emit with the event.
    */
   function onClose(event) {
-    ros.emit('close', event);
+    that.emit('close', event);
   };
 
   /**
    * Emits an 'error' event whenever there was an error.
-   * 
+   *
    * @param event - the argument to emit with the event.
    */
   function onError(event) {
-    ros.emit('error', event);
+    that.emit('error', event);
   };
 
   /**
-   * If a message was compressed as a PNG image (a compression hack since gzipping over WebSockets
-   * is not supported yet), this function places the "image" in a canvas element then decodes the
-   * "image" as a Base64 string.
+   * If a message was compressed as a PNG image (a compression hack since
+   * gzipping over WebSockets * is not supported yet), this function places the
+   * "image" in a canvas element then decodes the * "image" as a Base64 string.
    *
    * @param data - object containing the PNG data.
    * @param callback - function with params:
@@ -357,7 +378,7 @@ ROSLIB.Ros = function(url) {
 
       // Constructs the JSON.
       var jsonData = '';
-      for ( var i = 0; i < imageData.length; i += 4) {
+      for (var i = 0; i < imageData.length; i += 4) {
         // RGB
         jsonData += String.fromCharCode(imageData[i], imageData[i + 1], imageData[i + 2]);
       }
@@ -369,16 +390,17 @@ ROSLIB.Ros = function(url) {
   }
 
   /**
-   * Parses message responses from rosbridge and sends to the appropriate topic, service, or param.
+   * Parses message responses from rosbridge and sends to the appropriate
+   * topic, service, or param.
    *
    * @param message - the raw JSON message from rosbridge.
    */
   function onMessage(message) {
     function handleMessage(message) {
       if (message.op === 'publish') {
-        ros.emit(message.topic, message.msg);
+        that.emit(message.topic, message.msg);
       } else if (message.op === 'service_response') {
-        ros.emit(message.id, message.values);
+        that.emit(message.id, message.values);
       }
     };
 
@@ -392,137 +414,127 @@ ROSLIB.Ros = function(url) {
     }
   };
 
-  /**
-   * Connect to the specified WebSocket.
-   *
-   * @param url - WebSocket URL for Rosbridge
-   */
-  this.connect = function(url) {
-    ros.socket = new WebSocket(url);
-    ros.socket.onopen = onOpen;
-    ros.socket.onclose = onClose;
-    ros.socket.onerror = onError;
-    ros.socket.onmessage = onMessage;
-  };
+  that.socket = new WebSocket(url);
+  that.socket.onopen = onOpen;
+  that.socket.onclose = onClose;
+  that.socket.onerror = onError;
+  that.socket.onmessage = onMessage;
+};
 
-  /**
-   * Disconnect from the WebSocket server.
-   */
-  this.close = function() {
-    if (ros.socket) {
-      ros.socket.close();
-    }
-  };
+/**
+ * Disconnect from the WebSocket server.
+ */
+ROSLIB.Ros.prototype.close = function() {
+  if (this.socket) {
+    this.socket.close();
+  }
+};
 
-  /**
-   * Sends an authorization request to the server.
-   *
-   * @param mac - MAC (hash) string given by the trusted source.
-   * @param client - IP of the client.
-   * @param dest - IP of the destination.
-   * @param rand - Random string given by the trusted source.
-   * @param t - Time of the authorization request.
-   * @param level - User level as a string given by the client.
-   * @param end - End time of the client's session.
-   */
-  this.authenticate = function(mac, client, dest, rand, t, level, end) {
-    // create the request
-    var auth = {
-      op : 'auth',
-      mac : mac,
-      client : client,
-      dest : dest,
-      rand : rand,
-      t : t,
-      level : level,
-      end : end
-    };
-    // send the request
-    callOnConnection(auth);
+/**
+ * Sends an authorization request to the server.
+ *
+ * @param mac - MAC (hash) string given by the trusted source.
+ * @param client - IP of the client.
+ * @param dest - IP of the destination.
+ * @param rand - Random string given by the trusted source.
+ * @param t - Time of the authorization request.
+ * @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) {
+  // create the request
+  var auth = {
+    op : 'auth',
+    mac : mac,
+    client : client,
+    dest : dest,
+    rand : rand,
+    t : t,
+    level : level,
+    end : end
   };
+  // send the request
+  callOnConnection(auth);
+};
 
-  /**
-   * Sends the message over the WebSocket, but queues the message up if not yet connected.
-   */
-  this.callOnConnection = function(message) {
-    var messageJson = JSON.stringify(message);
-
-    if (ros.socket.readyState !== WebSocket.OPEN) {
-      ros.once('connection', function() {
-        ros.socket.send(messageJson);
-      });
-    } else {
-      ros.socket.send(messageJson);
-    }
-  };
+/**
+ * Sends the message over the WebSocket, but queues the message up if not yet
+ * connected.
+ */
+ROSLIB.Ros.prototype.callOnConnection = function(message) {
+  var that = this;
+  var messageJson = JSON.stringify(message);
 
-  /**
-   * Retrieves list of topics in ROS as an array.
-   *
-   * @param callback function with params:
-   *   * topics - Array of topic names
-   */
-  this.getTopics = function(callback) {
-    var topicsClient = new ROSLIB.Service({
-      ros : ros,
-      name : '/rosapi/topics',
-      serviceType : 'rosapi/Topics'
+  if (ros.socket.readyState !== WebSocket.OPEN) {
+    that.once('connection', function() {
+      that.socket.send(messageJson);
     });
+  } else {
+    that.socket.send(messageJson);
+  }
+};
 
-    var request = new ROSLIB.ServiceRequest();
+/**
+ * Retrieves list of topics in ROS as an array.
+ *
+ * @param callback function with params:
+ *   * topics - Array of topic names
+ */
+ROSLIB.Ros.prototype.getTopics = function(callback) {
+  var topicsClient = new ROSLIB.Service({
+    ros : this,
+    name : '/rosapi/topics',
+    serviceType : 'rosapi/Topics'
+  });
 
-    topicsClient.callService(request, function(result) {
-      callback(result.topics);
-    });
-  };
+  var request = new ROSLIB.ServiceRequest();
 
-  /**
-   * Retrieves list of active service names in ROS.
-   *
-   * @param callback - function with the following params:
-   *   * services - array of service names
-   */
-  this.getServices = function(callback) {
-    var servicesClient = new ROSLIB.Service({
-      ros : ros,
-      name : '/rosapi/services',
-      serviceType : 'rosapi/Services'
-    });
+  topicsClient.callService(request, function(result) {
+    callback(result.topics);
+  });
+};
 
-    var request = new ROSLIB.ServiceRequest();
+/**
+ * Retrieves list of active service names in ROS.
+ *
+ * @param callback - function with the following params:
+ *   * services - array of service names
+ */
+ROSLIB.Ros.prototype.getServices = function(callback) {
+  var servicesClient = new ROSLIB.Service({
+    ros : this,
+    name : '/rosapi/services',
+    serviceType : 'rosapi/Services'
+  });
 
-    servicesClient.callService(request, function(result) {
-      callback(result.services);
-    });
-  };
+  var request = new ROSLIB.ServiceRequest();
 
-  /**
-   * Retrieves list of param names from the ROS Parameter Server.
-   *
-   * @param callback function with params:
-   *  * params - array of param names.
-   */
-  this.getParams = function(callback) {
-    var paramsClient = new ROSLIB.Service({
-      ros : ros,
-      name : '/rosapi/get_param_names',
-      serviceType : 'rosapi/GetParamNames'
-    });
+  servicesClient.callService(request, function(result) {
+    callback(result.services);
+  });
+};
 
-    var request = new ROSLIB.ServiceRequest();
-    paramsClient.callService(request, function(result) {
-      callback(result.names);
-    });
-  };
+/**
+ * Retrieves list of param names from the ROS Parameter Server.
+ *
+ * @param callback function with params:
+ *  * params - array of param names.
+ */
+ROSLIB.Ros.prototype.getParams = function(callback) {
+  var paramsClient = new ROSLIB.Service({
+    ros : this,
+    name : '/rosapi/get_param_names',
+    serviceType : 'rosapi/GetParamNames'
+  });
 
-  // begin by checking if a URL was given
-  if (url) {
-    this.connect(url);
-  }
+  var request = new ROSLIB.ServiceRequest();
+  paramsClient.callService(request, function(result) {
+    callback(result.names);
+  });
 };
-ROSLIB.Ros.prototype.__proto__ = EventEmitter2.prototype;
+
 /**
- * @author Brandon Alexander - balexander@willowgarage.com
+ * @author Brandon Alexander - baalexander@gmail.com
  */
 
 /**
@@ -535,42 +547,42 @@ ROSLIB.Ros.prototype.__proto__ = EventEmitter2.prototype;
  *   * serviceType - the service type, like 'rospy_tutorials/AddTwoInts'
  */
 ROSLIB.Service = function(options) {
-  var service = this;
   options = options || {};
   this.ros = options.ros;
   this.name = options.name;
   this.serviceType = options.serviceType;
+};
 
-  /**
-   * Calls the service. Returns the service response in the callback.
-   * 
-   * @param request - the ROSLIB.ServiceRequest to send
-   * @param callback - function with params:
-   *   * response - the response from the service request
-   */
-  this.callService = function(request, callback) {
-    service.ros.idCounter++;
-    serviceCallId = 'call_service:' + service.name + ':' + service.ros.idCounter;
+/**
+ * Calls the service. Returns the service response in the callback.
+ *
+ * @param request - the ROSLIB.ServiceRequest to send
+ * @param callback - function with params:
+ *   * response - the response from the service request
+ */
+ROSLIB.Service.prototype.callService = function(request, callback) {
+  this.ros.idCounter++;
+  serviceCallId = 'call_service:' + this.name + ':' + this.ros.idCounter;
 
-    service.ros.once(serviceCallId, function(data) {
-      var response = new ROSLIB.ServiceResponse(data);
-      callback(response);
-    });
+  this.ros.once(serviceCallId, function(data) {
+    var response = new ROSLIB.ServiceResponse(data);
+    callback(response);
+  });
 
-    var requestValues = [];
-    Object.keys(request).forEach(function(name) {
-      requestValues.push(request[name]);
-    });
+  var requestValues = [];
+  Object.keys(request).forEach(function(name) {
+    requestValues.push(request[name]);
+  });
 
-    var call = {
-      op : 'call_service',
-      id : serviceCallId,
-      service : service.name,
-      args : requestValues
-    };
-    service.ros.callOnConnection(call);
+  var call = {
+    op : 'call_service',
+    id : serviceCallId,
+    service : this.name,
+    args : requestValues
   };
+  this.ros.callOnConnection(call);
 };
+
 /**
  * @author Brandon Alexander - balexander@willowgarage.com
  */
@@ -582,10 +594,10 @@ ROSLIB.Service = function(options) {
  * @param values - object matching the values of the request part from the .srv file.
  */
 ROSLIB.ServiceRequest = function(values) {
-  var serviceRequest = this;
+  var that = this;
   if (values) {
     Object.keys(values).forEach(function(name) {
-      serviceRequest[name] = values[name];
+      that[name] = values[name];
     });
   }
 };
@@ -600,24 +612,24 @@ ROSLIB.ServiceRequest = function(values) {
  * @param values - object matching the values of the response part from the .srv file.
  */
 ROSLIB.ServiceResponse = function(values) {
-  var serviceResponse = this;
+  var that = this;
   if (values) {
     Object.keys(values).forEach(function(name) {
-      serviceResponse[name] = values[name];
+      that[name] = values[name];
     });
   }
 };
 /**
- * @author Brandon Alexander - balexander@willowgarage.com
+ * @author Brandon Alexander - baalexander@gmail.com
  */
 
 /**
  * Publish and/or subscribe to a topic in ROS.
- * 
+ *
  * Emits the following events:
  *  * 'warning' - if there are any warning during the Topic creation
  *  * 'message' - the message data from rosbridge
- *  
+ *
  * @constructor
  * @param options - object with following keys:
  *   * ros - the ROSLIB.Ros connection handle
@@ -627,7 +639,6 @@ ROSLIB.ServiceResponse = function(values) {
  *   * throttle_rate - the rate at which to throttle the topics
  */
 ROSLIB.Topic = function(options) {
-  var topic = this;
   options = options || {};
   this.ros = options.ros;
   this.name = options.name;
@@ -647,107 +658,108 @@ 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;
 
-  /**
-   * Every time a message is published for the given topic, the callback
-   * will be called with the message object.
-   *
-   * @param callback - function with the following params:
-   *   * message - the published message
-   */
-  this.subscribe = function(callback) {
-    topic.on('message', function(message) {
-      callback(message);
-    });
-
-    topic.ros.on(topic.name, function(data) {
-      var message = new ROSLIB.Message(data);
-      topic.emit('message', message);
-    });
+/**
+ * Every time a message is published for the given topic, the callback
+ * will be called with the message object.
+ *
+ * @param callback - function with the following params:
+ *   * message - the published message
+ */
+ROSLIB.Topic.prototype.subscribe = function(callback) {
+  this.on('message', function(message) {
+    callback(message);
+  });
 
-    topic.ros.idCounter++;
-    var subscribeId = 'subscribe:' + topic.name + ':' + topic.ros.idCounter;
-    var call = {
-      op : 'subscribe',
-      id : subscribeId,
-      type : topic.messageType,
-      topic : topic.name,
-      compression : topic.compression,
-      throttle_rate : topic.throttle_rate
-    };
+  this.ros.on(this.name, function(data) {
+    var message = new ROSLIB.Message(data);
+    this.emit('message', message);
+  });
 
-    topic.ros.callOnConnection(call);
+  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
   };
 
-  /**
-   * Unregisters as a subscriber for the topic. Unsubscribing will remove
-   * all subscribe callbacks.
-   */
-  this.unsubscribe = function() {
-    topic.ros.removeAllListeners([ topic.name ]);
-    topic.ros.idCounter++;
-    var unsubscribeId = 'unsubscribe:' + topic.name + ':' + topic.ros.idCounter;
-    var call = {
-      op : 'unsubscribe',
-      id : unsubscribeId,
-      topic : topic.name
-    };
-    topic.ros.callOnConnection(call);
+  this.ros.callOnConnection(call);
+};
+
+/**
+ * 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);
+};
 
-  /**
-   * Registers as a publisher for the topic.
-   */
-  this.advertise = function() {
-    topic.ros.idCounter++;
-    var advertiseId = 'advertise:' + topic.name + ':' + topic.ros.idCounter;
-    var call = {
-      op : 'advertise',
-      id : advertiseId,
-      type : topic.messageType,
-      topic : topic.name
-    };
-    topic.ros.callOnConnection(call);
-    topic.isAdvertised = true;
+/**
+ * Registers as a publisher for the topic.
+ */
+ROSLIB.Topic.prototype.advertise = function() {
+  this.ros.idCounter++;
+  var advertiseId = 'advertise:' + this.name + ':' + this.ros.idCounter;
+  var call = {
+    op : 'advertise',
+    id : advertiseId,
+    type : this.messageType,
+    topic : this.name
   };
+  this.ros.callOnConnection(call);
+  this.isAdvertised = true;
+};
 
-  /**
-   * Unregisters as a publisher for the topic.
-   */
-  this.unadvertise = function() {
-    topic.ros.idCounter++;
-    var unadvertiseId = 'unadvertise:' + topic.name + ':' + topic.ros.idCounter;
-    var call = {
-      op : 'unadvertise',
-      id : unadvertiseId,
-      topic : topic.name
-    };
-    topic.ros.callOnConnection(call);
-    topic.isAdvertised = false;
+/**
+ * Unregisters as a publisher for the topic.
+ */
+ROSLIB.Topic.prototype.unadvertise = function() {
+  this.ros.idCounter++;
+  var unadvertiseId = 'unadvertise:' + this.name + ':' + this.ros.idCounter;
+  var call = {
+    op : 'unadvertise',
+    id : unadvertiseId,
+    topic : this.name
   };
+  this.ros.callOnConnection(call);
+  this.isAdvertised = false;
+};
 
-  /**
-   * Publish the message.
-   *
-   * @param message - A ROSLIB.Message object.
-   */
-  this.publish = function(message) {
-    if (!topic.isAdvertised) {
-      topic.advertise();
-    }
+/**
+ * Publish the message.
+ *
+ * @param message - A ROSLIB.Message object.
+ */
+ROSLIB.Topic.prototype.publish = function(message) {
+  if (!this.isAdvertised) {
+    this.advertise();
+  }
 
-    topic.ros.idCounter++;
-    var publishId = 'publish:' + topic.name + ':' + topic.ros.idCounter;
-    var call = {
-      op : 'publish',
-      id : publishId,
-      topic : topic.name,
-      msg : message
-    };
-    topic.ros.callOnConnection(call);
+  this.ros.idCounter++;
+  var publishId = 'publish:' + this.name + ':' + this.ros.idCounter;
+  var call = {
+    op : 'publish',
+    id : publishId,
+    topic : this.name,
+    msg : message
   };
+  this.ros.callOnConnection(call);
 };
-ROSLIB.Topic.prototype.__proto__ = EventEmitter2.prototype;
+
 /**
  * @author David Gossow - dgossow@willowgarage.com
  */
@@ -760,8 +772,7 @@ ROSLIB.Topic.prototype.__proto__ = EventEmitter2.prototype;
  *  @param orientation - the ROSLIB.Quaternion describing the orientation
  */
 ROSLIB.Pose = function(position, orientation) {
-  var pose = this;
-  // copy the values into this object if they exist
+  // Copy the values into this object if they exist
   this.position = new ROSLIB.Vector3();
   this.orientation = new ROSLIB.Quaternion();
   if (position !== undefined) {
@@ -770,19 +781,20 @@ ROSLIB.Pose = function(position, orientation) {
   if (orientation !== undefined) {
     this.orientation.copy(orientation);
   }
+};
 
-  /**
-   * Copy the values from the given pose into this pose.
-   * 
-   * @param pose the pose to copy
-   * @returns a pointer to this pose
-   */
-  this.copy = function(pose) {
-    pose.position.copy(pose.position);
-    pose.orientation.copy(pose.orientation);
-    return pose;
-  };
+/**
+ * Copy the values from the given pose into this pose.
+ *
+ * @param pose the pose to copy
+ * @returns a pointer to this pose
+ */
+ROSLIB.Pose.prototype.copy = function(pose) {
+  this.position.copy(pose.position);
+  this.orientation.copy(pose.orientation);
+  return pose;
 };
+
 /**
  * @author David Gossow - dgossow@willowgarage.com
  */
@@ -802,111 +814,114 @@ ROSLIB.Quaternion = function(x, y, z, w) {
   this.y = y || 0;
   this.z = z || 0;
   this.w = w || 1;
+};
 
-  /**
-   * Copy the values from the given quaternion into this quaternion.
-   * 
-   * @param q the quaternion to copy
-   * @returns a pointer to this quaternion
-   */
-  this.copy = function(q) {
-    quaternion.x = q.x;
-    quaternion.y = q.y;
-    quaternion.z = q.z;
-    quaternion.w = q.w;
-    return quaternion;
-  };
+/**
+ * Copy the values from the given quaternion into this quaternion.
+ *
+ * @param q the quaternion to copy
+ * @returns a pointer to this quaternion
+ */
+ROSLIB.Quaternion.prototype.copy = function(q) {
+  this.x = q.x;
+  this.y = q.y;
+  this.z = q.z;
+  this.w = q.w;
+  return this;
+};
 
-  /**
-   * Perform a conjugation on this quaternion.
-   * 
-   * @returns a pointer to this quaternion
-   */
-  this.conjugate = function() {
-    quaternion.x *= -1;
-    quaternion.y *= -1;
-    quaternion.z *= -1;
-    return quaternion;
-  };
+/**
+ * Perform a conjugation on this quaternion.
+ *
+ * @returns a pointer to this quaternion
+ */
+ROSLIB.Quaternion.prototype.conjugate = function() {
+  this.x *= -1;
+  this.y *= -1;
+  this.z *= -1;
+  return this;
+};
 
-  /**
-   * Perform a normalization on this quaternion.
-   * 
-   * @returns a pointer to this quaternion
-   */
-  this.normalize = function() {
-    var l = Math.sqrt(quaternion.x * quaternion.x + quaternion.y * quaternion.y + quaternion.z
-        * quaternion.z + quaternion.w * quaternion.w);
-    if (l === 0) {
-      quaternion.x = 0;
-      quaternion.y = 0;
-      quaternion.z = 0;
-      quaternion.w = 1;
-    } else {
-      l = 1 / l;
-      quaternion.x = quaternion.x * l;
-      quaternion.y = quaternion.y * l;
-      quaternion.z = quaternion.z * l;
-      quaternion.w = quaternion.w * l;
-    }
-    return quaternion;
-  };
+/**
+ * Perform a normalization on this quaternion.
+ *
+ * @returns a pointer to this quaternion
+ */
+ROSLIB.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;
+    this.y = 0;
+    this.z = 0;
+    this.w = 1;
+  } else {
+    l = 1 / l;
+    this.x = this.x * l;
+    this.y = this.y * l;
+    this.z = this.z * l;
+    this.w = this.w * l;
+  }
+  return this;
+};
 
-  /**
-   * Convert this quaternion into its inverse.
-   * 
-   * @returns a pointer to this quaternion
-   */
-  this.inverse = function() {
-    this.conjugate().normalize();
-    return quaternion;
-  };
+/**
+ * Convert this quaternion into its inverse.
+ *
+ * @returns a pointer to this quaternion
+ */
+ROSLIB.Quaternion.prototype.inverse = function() {
+  this.conjugate().normalize();
+  return this;
+};
 
-  /**
-   * Set the values of this quaternion to the product of quaternions a and b.
-   * 
-   * @param a the first quaternion to multiply with
-   * @param b the second quaternion to multiply with
-   * @returns a pointer to this quaternion
-   */
-  this.multiply = function(a, b) {
-    var qax = a.x, qay = a.y, qaz = a.z, qaw = a.w, qbx = b.x, qby = b.y, qbz = b.z, qbw = b.w;
-    this.x = qax * qbw + qay * qbz - qaz * qby + qaw * qbx;
-    this.y = -qax * qbz + qay * qbw + qaz * qbx + qaw * qby;
-    this.z = qax * qby - qay * qbx + qaz * qbw + qaw * qbz;
-    this.w = -qax * qbx - qay * qby - qaz * qbz + qaw * qbw;
-    return quaternion;
-  };
+/**
+ * Set the values of this quaternion to the product of quaternions a and b.
+ *
+ * @param a the first quaternion to multiply with
+ * @param b the second quaternion to multiply with
+ * @returns a pointer to this quaternion
+ */
+ROSLIB.Quaternion.prototype.multiply = function(a, b) {
+  var qax = a.x, qay = a.y, qaz = a.z, qaw = a.w, qbx = b.x, qby = b.y, qbz = b.z, qbw = b.w;
+  this.x = qax * qbw + qay * qbz - qaz * qby + qaw * qbx;
+  this.y = -qax * qbz + qay * qbw + qaz * qbx + qaw * qby;
+  this.z = qax * qby - qay * qbx + qaz * qbw + qaw * qbz;
+  this.w = -qax * qbx - qay * qby - qaz * qbz + qaw * qbw;
+  return this;
+};
 
-  /**
-   * Multiply the given ROSLIB.Vector3 with this quaternion.
-   * 
-   * @param vector the vector to multiply with
-   * @param dest (option) - where the computed values will go (defaults to 'vector').
-   * @returns a pointer to dest
-   */
-  this.multiplyVec3 = function(vector, dest) {
-    if (!dest) {
-      dest = vector;
-    }
-    var x = vector.x, y = vector.y, z = vector.z, qx = quaternion.x, qy = quaternion.y, qz = quaternion.z, qw = quaternion.w;
-    var ix = qw * x + qy * z - qz * y, iy = qw * y + qz * x - qx * z, iz = qw * z + qx * y - qy * x, iw = -qx
-        * x - qy * y - qz * z;
-    dest.x = ix * qw + iw * -qx + iy * -qz - iz * -qy;
-    dest.y = iy * qw + iw * -qy + iz * -qx - ix * -qz;
-    dest.z = iz * qw + iw * -qz + ix * -qy - iy * -qx;
-    return dest;
-  };
+/**
+ * Multiply the given ROSLIB.Vector3 with this quaternion.
+ *
+ * @param vector the vector to multiply with
+ * @param dest (option) - where the computed values will go (defaults to 'vector').
+ * @returns a pointer to dest
+ */
+ROSLIB.Quaternion.prototype.multiplyVec3 = function(vector, dest) {
+  if (!dest) {
+    dest = vector;
+  }
+  var x = vector.x, y = vector.y, z = vector.z, qx = this.x, qy = this.y, qz = this.z, qw = this.w;
+  var ix = qw * x + qy * z - qz * y, iy = qw * y + qz * x - qx * z, iz = qw * z + qx * y - qy * x, iw = -qx
+      * x - qy * y - qz * z;
+  dest.x = ix * qw + iw * -qx + iy * -qz - iz * -qy;
+  dest.y = iy * qw + iw * -qy + iz * -qx - ix * -qz;
+  dest.z = iz * qw + iw * -qz + ix * -qy - iy * -qx;
+  return dest;
+};
 
-  /**
-   * Clone a copy of this quaternion.
-   * 
-   * @returns the cloned quaternion
-   */
-  this.clone = function() {
-    return new ROSLIB.Quaternion(quaternion.x, quaternion.y, quaternion.z, quaternion.w);
-  };
+/**
+ * Clone a copy of this quaternion.
+ *
+ * @returns the cloned quaternion
+ */
+ROSLIB.Quaternion.prototype.clone = function() {
+  return new ROSLIB.Quaternion(this.x, this.y, this.z, this.w);
 };
+
 /**
  * @author David Gossow - dgossow@willowgarage.com
  */
@@ -920,61 +935,61 @@ ROSLIB.Quaternion = function(x, y, z, w) {
  *  @param z - the z value
  */
 ROSLIB.Vector3 = function(x, y, z) {
-  var vector3 = this;
   this.x = x || 0;
   this.y = y || 0;
   this.z = z || 0;
+};
 
-  /**
-   * Copy the values from the given vector into this vector.
-   * 
-   * @param v the vector to copy
-   * @returns a pointer to this vector
-   */
-  this.copy = function(v) {
-    vector3.x = v.x;
-    vector3.y = v.y;
-    vector3.z = v.z;
-    return vector3;
-  };
+/**
+ * Copy the values from the given vector into this vector.
+ *
+ * @param v the vector to copy
+ * @returns a pointer to this vector
+ */
+ROSLIB.Vector3.prototype.copy = function(v) {
+  this.x = v.x;
+  this.y = v.y;
+  this.z = v.z;
+  return this;
+};
 
-  /**
-   * Set the values of this vector to the sum of vectors a and b.
-   * 
-   * @param a the first vector to add with
-   * @param b the second vector to add with
-   * @returns a pointer to this vector
-   */
-  this.add = function(a, b) {
-    vector3.x = a.x + b.x;
-    vector3.y = a.y + b.y;
-    vector3.z = a.z + b.z;
-    return vector3;
-  };
+/**
+ * Set the values of this vector to the sum of vectors a and b.
+ *
+ * @param a the first vector to add with
+ * @param b the second vector to add with
+ * @returns a pointer to this vector
+ */
+ROSLIB.Vector3.prototype.add = function(a, b) {
+  this.x = a.x + b.x;
+  this.y = a.y + b.y;
+  this.z = a.z + b.z;
+  return this;
+};
 
-  /**
-   * Set the values of this vector to the difference of vectors a and b.
-   * 
-   * @param a the first vector to add with
-   * @param b the second vector to add with
-   * @returns a pointer to this vector
-   */
-  this.sub = function(a, b) {
-    vector3.x = a.x - b.x;
-    vector3.y = a.y - b.y;
-    vector3.z = a.z - b.z;
-    return vector3;
-  };
+/**
+ * Set the values of this vector to the difference of vectors a and b.
+ *
+ * @param a the first vector to add with
+ * @param b the second vector to add with
+ * @returns a pointer to this vector
+ */
+ROSLIB.Vector3.prototype.sub = function(a, b) {
+  this.x = a.x - b.x;
+  this.y = a.y - b.y;
+  this.z = a.z - b.z;
+  return this;
+};
 
-  /**
-   * Clone a copy of this vector.
-   * 
-   * @returns the cloned vector
-   */
-  this.clone = function() {
-    return new ROSLIB.Vector3(vector3.x, vector3.y, vector3.z);
-  };
+/**
+ * Clone a copy of this vector.
+ *
+ * @returns the cloned vector
+ */
+ROSLIB.Vector3.prototype.clone = function() {
+  return new ROSLIB.Vector3(this.x, this.y, this.z);
 };
+
 /**
  * @author David Gossow - dgossow@willowgarage.com
  */
@@ -992,7 +1007,6 @@ ROSLIB.Vector3 = function(x, y, z) {
  *   * goalUpdateDelay - the goal update delay for the TF republisher
  */
 ROSLIB.TFClient = function(options) {
-  var tfClient = this;
   var options = options || {};
   this.ros = options.ros;
   this.fixedFrame = options.fixedFrame || '/base_link';
@@ -1005,112 +1019,116 @@ ROSLIB.TFClient = function(options) {
   this.frameInfos = {};
   this.goalUpdateRequested = false;
 
-  // create an ActionClient
+  // Create an ActionClient
   this.actionClient = new ROSLIB.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 functions.
-   * 
-   * @param tf - the TF message from the server
-   */
-  this.processFeedback = function(tf) {
-    tf.transforms.forEach(function(transform) {
-      var frameID = transform.child_frame_id;
-      var info = tfClient.frameInfos[frameID];
-      if (info != undefined) {
-        info.transform = new ROSLIB.Transform(transform.transform.translation,
-            transform.transform.rotation);
-        info.cbs.forEach(function(cb) {
-          cb(info.transform);
-        });
-      }
-    });
-  };
-
-  /**
-   * Create and send a new goal to the tf2_web_republisher based on the current list of TFs.
-   */
-  this.updateGoal = function() {
-    // Anytime the list of frames changes, we will need to send a new goal.
-    if (tfClient.currentGoal) {
-      tfClient.currentGoal.cancel();
+/**
+ * Process the incoming TF message and send them out using the callback
+ * functions.
+ *
+ * @param tf - the TF message from the server
+ */
+ROSLIB.TFClient.prototype.processFeedback = function(tf) {
+  var that = this;
+  tf.transforms.forEach(function(transform) {
+    var frameID = transform.child_frame_id;
+    var info = that.frameInfos[frameID];
+    if (info != undefined) {
+      info.transform = new ROSLIB.Transform(transform.transform.translation,
+        transform.transform.rotation);
+      info.cbs.forEach(function(cb) {
+        cb(info.transform);
+      });
     }
+  });
+};
 
-    var goalMessage = {
-      source_frames : [],
-      target_frame : tfClient.fixedFrame,
-      angular_thres : tfClient.angularThres,
-      trans_thres : tfClient.transThres,
-      rate : tfClient.rate
-    };
-
-    for (frame in tfClient.frameInfos) {
-      goalMessage.source_frames.push(frame);
-    }
+/**
+ * Create and send a new goal to the tf2_web_republisher based on the current
+ * list of TFs.
+ */
+ROSLIB.TFClient.prototype.updateGoal = function() {
+  // Anytime the list of frames changes, we will need to send a new goal.
+  if (this.currentGoal) {
+    this.currentGoal.cancel();
+  }
 
-    tfClient.currentGoal = new ROSLIB.Goal({
-      actionClient : tfClient.actionClient,
-      goalMessage : goalMessage
-    });
-    tfClient.currentGoal.on('feedback', tfClient.processFeedback.bind(tfClient));
-    tfClient.currentGoal.send();
-    tfClient.goalUpdateRequested = false;
+  var goalMessage = {
+    source_frames : [],
+    target_frame : this.fixedFrame,
+    angular_thres : this.angularThres,
+    trans_thres : this.transThres,
+    rate : this.rate
   };
 
-  /**
-   * Subscribe to the given TF frame.
-   * 
-   * @param frameID - the TF frame to subscribe to
-   * @param callback - function with params:
-   *   * transform - the transform data
-   */
-  this.subscribe = function(frameID, callback) {
-    // make sure the frame id is relative
-    if (frameID[0] === '/') {
-      frameID = frameID.substring(1);
+  for (frame in this.frameInfos) {
+    goalMessage.source_frames.push(frame);
+  }
+
+  this.currentGoal = new ROSLIB.Goal({
+    actionClient : this.actionClient,
+    goalMessage : goalMessage
+  });
+  this.currentGoal.on('feedback', this.processFeedback.bind(this));
+  this.currentGoal.send();
+  this.goalUpdateRequested = false;
+};
+
+/**
+ * Subscribe to the given TF frame.
+ *
+ * @param frameID - the TF frame to subscribe to
+ * @param callback - function with params:
+ *   * transform - the transform data
+ */
+ROSLIB.TFClient.prototype.subscribe = function(frameID, callback) {
+  // make sure the frame id is relative
+  if (frameID[0] === '/') {
+    frameID = frameID.substring(1);
+  }
+  // if there is no callback registered for the given frame, create emtpy callback list
+  if (this.frameInfos[frameID] == undefined) {
+    this.frameInfos[frameID] = {
+      cbs : []
+    };
+    if (!this.goalUpdateRequested) {
+      setTimeout(this.updateGoal.bind(tfClient), this.goalUpdateDelay);
+      this.goalUpdateRequested = true;
     }
-    // if there is no callback registered for the given frame, create emtpy callback list
-    if (tfClient.frameInfos[frameID] == undefined) {
-      tfClient.frameInfos[frameID] = {
-        cbs : []
-      };
-      if (!tfClient.goalUpdateRequested) {
-        setTimeout(tfClient.updateGoal.bind(tfClient), tfClient.goalUpdateDelay);
-        tfClient.goalUpdateRequested = true;
-      }
-    } else {
-      // if we already have a transform, call back immediately
-      if (tfClient.frameInfos[frameID].transform != undefined) {
-        callback(tfClient.frameInfos[frameID].transform);
-      }
+  } else {
+    // if we already have a transform, call back immediately
+    if (this.frameInfos[frameID].transform != undefined) {
+      callback(this.frameInfos[frameID].transform);
     }
-    tfClient.frameInfos[frameID].cbs.push(callback);
-  };
+  }
+  this.frameInfos[frameID].cbs.push(callback);
+};
 
-  /**
-   * Unsubscribe from the given TF frame.
-   * 
-   * @param frameID - the TF frame to unsubscribe from
-   * @param callback - the callback function to remove
-   */
-  this.unsubscribe = function(frameID, callback) {
-    var info = tfClient.frameInfos[frameID];
-    if (info != undefined) {
-      var cbIndex = info.cbs.indexOf(callback);
-      if (cbIndex >= 0) {
-        info.cbs.splice(cbIndex, 1);
-        if (info.cbs.length == 0) {
-          delete tfClient.frameInfos[frameID];
-        }
-        tfClient.needUpdate = true;
+/**
+ * Unsubscribe from the given TF frame.
+ *
+ * @param frameID - the TF frame to unsubscribe from
+ * @param callback - the callback function to remove
+ */
+ROSLIB.TFClient.prototype.unsubscribe = function(frameID, callback) {
+  var info = this.frameInfos[frameID];
+  if (info != undefined) {
+    var cbIndex = info.cbs.indexOf(callback);
+    if (cbIndex >= 0) {
+      info.cbs.splice(cbIndex, 1);
+      if (info.cbs.length == 0) {
+        delete this.frameInfos[frameID];
       }
+      this.needUpdate = true;
     }
-  };
+  }
 };
+
 /**
  * @author David Gossow - dgossow@willowgarage.com
  */
@@ -1123,8 +1141,6 @@ ROSLIB.TFClient = function(options) {
  *  @param rotation - the ROSLIB.Quaternion describing the rotation
  */
 ROSLIB.Transform = function(translation, rotation) {
-  var transform = this;
-  // copy the values into this object if they exist
   this.translation = new ROSLIB.Vector3();
   this.rotation = new ROSLIB.Quaternion();
   if (translation !== undefined) {
@@ -1133,43 +1149,44 @@ ROSLIB.Transform = function(translation, rotation) {
   if (rotation !== undefined) {
     this.rotation.copy(rotation);
   }
+};
 
-  /**
-   * Apply a transform against the given ROSLIB.Pose.
-   * 
-   * @param pose the pose to transform with
-   * @returns a pointer to the pose
-   */
-  this.apply = function(pose) {
-    transform.rotation.multiplyVec3(pose.position);
-    pose.position.add(pose.position, transform.translation);
-    pose.orientation.multiply(transform.rotation, pose.orientation);
-    return pose;
-  };
+/**
+ * Apply a transform against the given ROSLIB.Pose.
+ *
+ * @param pose the pose to transform with
+ * @returns a pointer to the pose
+ */
+ROSLIB.Transform.prototype.apply = function(pose) {
+  this.rotation.multiplyVec3(pose.position);
+  pose.position.add(pose.position, this.translation);
+  pose.orientation.multiply(this.rotation, pose.orientation);
+  return pose;
+};
 
-  /**
-   * Apply an inverse transform against the given ROSLIB.Pose.
-   * 
-   * @param pose the pose to transform with
-   * @returns a pointer to the pose
-   */
-  this.applyInverse = function(pose) {
-    var rotInv = transform.rotation.clone().inverse();
-    rotInv.multiplyVec3(pose.position);
-    pose.position.sub(pose.position, transform.translation);
-    pose.orientation.multiply(rotInv, pose.orientation);
-    return pose;
-  };
+/**
+ * Apply an inverse transform against the given ROSLIB.Pose.
+ *
+ * @param pose the pose to transform with
+ * @returns a pointer to the pose
+ */
+ROSLIB.Transform.prototype.applyInverse = function(pose) {
+  var rotInv = this.rotation.clone().inverse();
+  rotInv.multiplyVec3(pose.position);
+  pose.position.sub(pose.position, this.translation);
+  pose.orientation.multiply(rotInv, pose.orientation);
+  return pose;
+};
 
-  /**
-   * Copy the values from the given transform into this transform.
-   * 
-   * @param transform the transform to copy
-   * @returns a pointer to this transform
-   */
-  this.copy = function(transform) {
-    transform.translation.copy(transform.translation);
-    transform.rotation.copy(transform.rotation);
-    return transform;
-  };
+/**
+ * Copy the values from the given transform into this transform.
+ *
+ * @param transform the transform to copy
+ * @returns a pointer to this transform
+ */
+ROSLIB.Transform.prototype.copy = function(transform) {
+  transform.translation.copy(transform.translation);
+  transform.rotation.copy(transform.rotation);
+  return transform;
 };
+
diff --git a/build/roslib.min.js b/build/roslib.min.js
index 4fe68f964..cc6b6ace8 100644
--- a/build/roslib.min.js
+++ b/build/roslib.min.js
@@ -1 +1 @@
-var ROSLIB=ROSLIB||{REVISION:"1"};ROSLIB.ActionClient=function(b){var d=this;b=b||{};this.ros=b.ros;this.serverName=b.serverName;this.actionName=b.actionName;this.timeout=b.timeout;this.goals={};var a=false;var c=new ROSLIB.Topic({ros:this.ros,name:this.serverName+"/feedback",messageType:this.actionName+"Feedback"});var e=new ROSLIB.Topic({ros:this.ros,name:this.serverName+"/status",messageType:"actionlib_msgs/GoalStatusArray"});var 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.cancel=function(){var g=new ROSLIB.Message({});this.cancelTopic.publish(g)};this.goalTopic.advertise();this.cancelTopic.advertise();e.subscribe(function(g){a=true;g.status_list.forEach(function(h){var i=d.goals[h.goal_id.id];if(i){i.emit("status",h)}})});c.subscribe(function(h){var g=d.goals[h.status.goal_id.id];if(g){g.emit("status",h.status);g.emit("feedback",h.feedback)}});f.subscribe(function(h){var g=d.goals[h.status.goal_id.id];if(g){g.emit("status",h.status);g.emit("result",h.result)}});if(this.timeout){setTimeout(function(){if(!a){d.emit("timeout")}},this.timeout)}};ROSLIB.ActionClient.prototype.__proto__=EventEmitter2.prototype;ROSLIB.Goal=function(c){var b=this;this.actionClient=c.actionClient;this.goalMessage=c.goalMessage;this.isFinished=false;var a=new Date();this.send=function(d){b.actionClient.goalTopic.publish(b.goalMessage);if(d){setTimeout(function(){if(!b.isFinished){b.emit("timeout")}},d)}};this.cancel=function(){var d=new ROSLIB.Message({id:b.goalID});b.actionClient.cancelTopic.publish(d)};this.goalID="goal_"+Math.random()+"_"+a.getTime();this.goalMessage=new ROSLIB.Message({goal_id:{stamp:{secs:0,nsecs:0},id:this.goalID},goal:this.goalMessage});this.on("status",function(d){this.status=d});this.on("result",function(d){this.isFinished=true;this.result=d});this.on("feedback",function(d){this.feedback=d});this.actionClient.goals[this.goalID]=this};ROSLIB.Goal.prototype.__proto__=EventEmitter2.prototype;ROSLIB.Message=function(a){var b=this;if(a){Object.keys(a).forEach(function(c){b[c]=a[c]})}};ROSLIB.Param=function(a){var b=this;a=a||{};this.ros=a.ros;this.name=a.name;this.get=function(e){var d=new ROSLIB.Service({ros:b.ros,name:"/rosapi/get_param",serviceType:"rosapi/GetParam"});var c=new ROSLIB.ServiceRequest({name:b.name,value:JSON.stringify("")});d.callService(c,function(f){var g=JSON.parse(f.value);e(g)})};this.set=function(e){var d=new ROSLIB.Service({ros:b.ros,name:"/rosapi/set_param",serviceType:"rosapi/SetParam"});var c=new ROSLIB.ServiceRequest({name:b.name,value:JSON.stringify(e)});d.callService(c,function(){})}};ROSLIB.Ros=function(d){var c=this;this.socket=null;function b(h){c.emit("connection",h)}function a(h){c.emit("close",h)}function e(h){c.emit("error",h)}function g(h,j){var i=new Image();i.onload=function(){var k=document.createElement("canvas");var m=k.getContext("2d");k.width=i.width;k.height=i.height;m.drawImage(i,0,0);var p=m.getImageData(0,0,i.width,i.height).data;var n="";for(var l=0;l<p.length;l+=4){n+=String.fromCharCode(p[l],p[l+1],p[l+2])}var o=JSON.parse(n);j(o)};i.src="data:image/png;base64,"+h.data}function f(h){function j(k){if(k.op==="publish"){c.emit(k.topic,k.msg)}else{if(k.op==="service_response"){c.emit(k.id,k.values)}}}var i=JSON.parse(h.data);if(i.op==="png"){g(i,function(k){j(k)})}else{j(i)}}this.connect=function(h){c.socket=new WebSocket(h);c.socket.onopen=b;c.socket.onclose=a;c.socket.onerror=e;c.socket.onmessage=f};this.close=function(){if(c.socket){c.socket.close()}};this.authenticate=function(o,i,j,l,k,n,h){var m={op:"auth",mac:o,client:i,dest:j,rand:l,t:k,level:n,end:h};callOnConnection(m)};this.callOnConnection=function(i){var h=JSON.stringify(i);if(c.socket.readyState!==WebSocket.OPEN){c.once("connection",function(){c.socket.send(h)})}else{c.socket.send(h)}};this.getTopics=function(j){var i=new ROSLIB.Service({ros:c,name:"/rosapi/topics",serviceType:"rosapi/Topics"});var h=new ROSLIB.ServiceRequest();i.callService(h,function(k){j(k.topics)})};this.getServices=function(j){var i=new ROSLIB.Service({ros:c,name:"/rosapi/services",serviceType:"rosapi/Services"});var h=new ROSLIB.ServiceRequest();i.callService(h,function(k){j(k.services)})};this.getParams=function(j){var h=new ROSLIB.Service({ros:c,name:"/rosapi/get_param_names",serviceType:"rosapi/GetParamNames"});var i=new ROSLIB.ServiceRequest();h.callService(i,function(k){j(k.names)})};if(d){this.connect(d)}};ROSLIB.Ros.prototype.__proto__=EventEmitter2.prototype;ROSLIB.Service=function(b){var a=this;b=b||{};this.ros=b.ros;this.name=b.name;this.serviceType=b.serviceType;this.callService=function(e,f){a.ros.idCounter++;serviceCallId="call_service:"+a.name+":"+a.ros.idCounter;a.ros.once(serviceCallId,function(h){var g=new ROSLIB.ServiceResponse(h);f(g)});var c=[];Object.keys(e).forEach(function(g){c.push(e[g])});var d={op:"call_service",id:serviceCallId,service:a.name,args:c};a.ros.callOnConnection(d)}};ROSLIB.ServiceRequest=function(a){var b=this;if(a){Object.keys(a).forEach(function(c){b[c]=a[c]})}};ROSLIB.ServiceResponse=function(b){var a=this;if(b){Object.keys(b).forEach(function(c){a[c]=b[c]})}};ROSLIB.Topic=function(b){var a=this;b=b||{};this.ros=b.ros;this.name=b.name;this.messageType=b.messageType;this.isAdvertised=false;this.compression=b.compression||"none";this.throttle_rate=b.throttle_rate||0;if(this.compression&&this.compression!=="png"&&this.compression!=="none"){this.emit("warning",this.compression+" compression is not supported. No comression will be used.")}if(this.throttle_rate<0){this.emit("warning",this.throttle_rate+" is not allowed. Set to 0");this.throttle_rate=0}this.subscribe=function(e){a.on("message",function(f){e(f)});a.ros.on(a.name,function(g){var f=new ROSLIB.Message(g);a.emit("message",f)});a.ros.idCounter++;var d="subscribe:"+a.name+":"+a.ros.idCounter;var c={op:"subscribe",id:d,type:a.messageType,topic:a.name,compression:a.compression,throttle_rate:a.throttle_rate};a.ros.callOnConnection(c)};this.unsubscribe=function(){a.ros.removeAllListeners([a.name]);a.ros.idCounter++;var d="unsubscribe:"+a.name+":"+a.ros.idCounter;var c={op:"unsubscribe",id:d,topic:a.name};a.ros.callOnConnection(c)};this.advertise=function(){a.ros.idCounter++;var c="advertise:"+a.name+":"+a.ros.idCounter;var d={op:"advertise",id:c,type:a.messageType,topic:a.name};a.ros.callOnConnection(d);a.isAdvertised=true};this.unadvertise=function(){a.ros.idCounter++;var d="unadvertise:"+a.name+":"+a.ros.idCounter;var c={op:"unadvertise",id:d,topic:a.name};a.ros.callOnConnection(c);a.isAdvertised=false};this.publish=function(d){if(!a.isAdvertised){a.advertise()}a.ros.idCounter++;var e="publish:"+a.name+":"+a.ros.idCounter;var c={op:"publish",id:e,topic:a.name,msg:d};a.ros.callOnConnection(c)}};ROSLIB.Topic.prototype.__proto__=EventEmitter2.prototype;ROSLIB.Pose=function(a,b){var c=this;this.position=new ROSLIB.Vector3();this.orientation=new ROSLIB.Quaternion();if(a!==undefined){this.position.copy(a)}if(b!==undefined){this.orientation.copy(b)}this.copy=function(d){d.position.copy(d.position);d.orientation.copy(d.orientation);return d}};ROSLIB.Quaternion=function(a,e,d,b){var c=this;this.x=a||0;this.y=e||0;this.z=d||0;this.w=b||1;this.copy=function(f){c.x=f.x;c.y=f.y;c.z=f.z;c.w=f.w;return c};this.conjugate=function(){c.x*=-1;c.y*=-1;c.z*=-1;return c};this.normalize=function(){var f=Math.sqrt(c.x*c.x+c.y*c.y+c.z*c.z+c.w*c.w);if(f===0){c.x=0;c.y=0;c.z=0;c.w=1}else{f=1/f;c.x=c.x*f;c.y=c.y*f;c.z=c.z*f;c.w=c.w*f}return c};this.inverse=function(){this.conjugate().normalize();return c};this.multiply=function(o,n){var l=o.x,k=o.y,j=o.z,m=o.w,h=n.x,g=n.y,f=n.z,i=n.w;this.x=l*i+k*f-j*g+m*h;this.y=-l*f+k*i+j*h+m*g;this.z=l*g-k*h+j*i+m*f;this.w=-l*h-k*g-j*f+m*i;return c};this.multiplyVec3=function(h,r){if(!r){r=h}var q=h.x,p=h.y,o=h.z,m=c.x,l=c.y,k=c.z,n=c.w;var i=n*q+l*o-k*p,g=n*p+k*q-m*o,f=n*o+m*p-l*q,j=-m*q-l*p-k*o;r.x=i*n+j*-m+g*-k-f*-l;r.y=g*n+j*-l+f*-m-i*-k;r.z=f*n+j*-k+i*-l-g*-m;return r};this.clone=function(){return new ROSLIB.Quaternion(c.x,c.y,c.z,c.w)}};ROSLIB.Vector3=function(a,d,c){var b=this;this.x=a||0;this.y=d||0;this.z=c||0;this.copy=function(e){b.x=e.x;b.y=e.y;b.z=e.z;return b};this.add=function(f,e){b.x=f.x+e.x;b.y=f.y+e.y;b.z=f.z+e.z;return b};this.sub=function(f,e){b.x=f.x-e.x;b.y=f.y-e.y;b.z=f.z-e.z;return b};this.clone=function(){return new ROSLIB.Vector3(b.x,b.y,b.z)}};ROSLIB.TFClient=function(b){var a=this;var b=b||{};this.ros=b.ros;this.fixedFrame=b.fixedFrame||"/base_link";this.angularThres=b.angularThres||2;this.transThres=b.transThres||0.01;this.rate=b.rate||10;this.goalUpdateDelay=b.goalUpdateDelay||50;this.currentGoal=false;this.frameInfos={};this.goalUpdateRequested=false;this.actionClient=new ROSLIB.ActionClient({ros:this.ros,serverName:"/tf2_web_republisher",actionName:"tf2_web_republisher/TFSubscriptionAction"});this.processFeedback=function(c){c.transforms.forEach(function(d){var e=d.child_frame_id;var f=a.frameInfos[e];if(f!=undefined){f.transform=new ROSLIB.Transform(d.transform.translation,d.transform.rotation);f.cbs.forEach(function(g){g(f.transform)})}})};this.updateGoal=function(){if(a.currentGoal){a.currentGoal.cancel()}var c={source_frames:[],target_frame:a.fixedFrame,angular_thres:a.angularThres,trans_thres:a.transThres,rate:a.rate};for(frame in a.frameInfos){c.source_frames.push(frame)}a.currentGoal=new ROSLIB.Goal({actionClient:a.actionClient,goalMessage:c});a.currentGoal.on("feedback",a.processFeedback.bind(a));a.currentGoal.send();a.goalUpdateRequested=false};this.subscribe=function(c,d){if(c[0]==="/"){c=c.substring(1)}if(a.frameInfos[c]==undefined){a.frameInfos[c]={cbs:[]};if(!a.goalUpdateRequested){setTimeout(a.updateGoal.bind(a),a.goalUpdateDelay);a.goalUpdateRequested=true}}else{if(a.frameInfos[c].transform!=undefined){d(a.frameInfos[c].transform)}}a.frameInfos[c].cbs.push(d)};this.unsubscribe=function(c,f){var e=a.frameInfos[c];if(e!=undefined){var d=e.cbs.indexOf(f);if(d>=0){e.cbs.splice(d,1);if(e.cbs.length==0){delete a.frameInfos[c]}a.needUpdate=true}}}};ROSLIB.Transform=function(c,b){var a=this;this.translation=new ROSLIB.Vector3();this.rotation=new ROSLIB.Quaternion();if(c!==undefined){this.translation.copy(c)}if(b!==undefined){this.rotation.copy(b)}this.apply=function(d){a.rotation.multiplyVec3(d.position);d.position.add(d.position,a.translation);d.orientation.multiply(a.rotation,d.orientation);return d};this.applyInverse=function(e){var d=a.rotation.clone().inverse();d.multiplyVec3(e.position);e.position.sub(e.position,a.translation);e.orientation.multiply(d,e.orientation);return e};this.copy=function(d){d.translation.copy(d.translation);d.rotation.copy(d.rotation);return d}};
\ No newline at end of file
+var ROSLIB=ROSLIB||{REVISION:"1"};ROSLIB.ActionClient=function(b){var c=this;b=b||{};this.ros=b.ros;this.serverName=b.serverName;this.actionName=b.actionName;this.timeout=b.timeout;this.goals={};var a=false;var d=new ROSLIB.Topic({ros:this.ros,name:this.serverName+"/feedback",messageType:this.actionName+"Feedback"});var e=new ROSLIB.Topic({ros:this.ros,name:this.serverName+"/status",messageType:"actionlib_msgs/GoalStatusArray"});var 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(h){var g=this;a=true;h.status_list.forEach(function(i){var j=g.goals[i.goal_id.id];if(j){j.emit("status",i)}})});d.subscribe(function(h){var g=c.goals[h.status.goal_id.id];if(g){g.emit("status",h.status);g.emit("feedback",h.feedback)}});f.subscribe(function(h){var g=c.goals[h.status.goal_id.id];if(g){g.emit("status",h.status);g.emit("result",h.result)}});if(this.timeout){setTimeout(function(){if(!a){c.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(b){var c=this;this.actionClient=b.actionClient;this.goalMessage=b.goalMessage;this.isFinished=false;var a=new Date();this.goalID="goal_"+Math.random()+"_"+a.getTime();this.goalMessage=new ROSLIB.Message({goal_id:{stamp:{secs:0,nsecs:0},id:this.goalID},goal:this.goalMessage});this.on("status",function(d){c.status=d});this.on("result",function(d){c.isFinished=true;c.result=d});this.on("feedback",function(d){c.feedback=d});this.actionClient.goals[this.goalID]=this};ROSLIB.Goal.prototype.__proto__=EventEmitter2.prototype;ROSLIB.Goal.prototype.send=function(b){var a=this;a.actionClient.goalTopic.publish(a.goalMessage);if(b){setTimeout(function(){if(!a.isFinished){a.emit("timeout")}},b)}};ROSLIB.Goal.prototype.cancel=function(){var a=new ROSLIB.Message({id:this.goalID});this.actionClient.cancelTopic.publish(a)};ROSLIB.Message=function(a){var b=this;if(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(c){var b=new ROSLIB.Service({ros:this.ros,name:"/rosapi/get_param",serviceType:"rosapi/GetParam"});var a=new ROSLIB.ServiceRequest({name:this.name,value:JSON.stringify("")});b.callService(a,function(d){var e=JSON.parse(d.value);c(e)})};ROSLIB.Param.prototype.set=function(c){var b=new ROSLIB.Service({ros:this.ros,name:"/rosapi/set_param",serviceType:"rosapi/SetParam"});var a=new ROSLIB.ServiceRequest({name:this.name,value:JSON.stringify(c)});b.callService(a,function(){})};ROSLIB.Ros=function(a){this.socket=null;if(a){this.connect(a)}};ROSLIB.Ros.prototype.__proto__=EventEmitter2.prototype;ROSLIB.Ros.prototype.connect=function(c){var e=this;function b(h){e.emit("connection",h)}function a(h){e.emit("close",h)}function d(h){e.emit("error",h)}function g(h,j){var i=new Image();i.onload=function(){var k=document.createElement("canvas");var m=k.getContext("2d");k.width=i.width;k.height=i.height;m.drawImage(i,0,0);var p=m.getImageData(0,0,i.width,i.height).data;var n="";for(var l=0;l<p.length;l+=4){n+=String.fromCharCode(p[l],p[l+1],p[l+2])}var o=JSON.parse(n);j(o)};i.src="data:image/png;base64,"+h.data}function f(h){function j(k){if(k.op==="publish"){e.emit(k.topic,k.msg)}else{if(k.op==="service_response"){e.emit(k.id,k.values)}}}var i=JSON.parse(h.data);if(i.op==="png"){g(i,function(k){j(k)})}else{j(i)}}e.socket=new WebSocket(c);e.socket.onopen=b;e.socket.onclose=a;e.socket.onerror=d;e.socket.onmessage=f};ROSLIB.Ros.prototype.close=function(){if(this.socket){this.socket.close()}};ROSLIB.Ros.prototype.authenticate=function(h,b,c,e,d,g,a){var f={op:"auth",mac:h,client:b,dest:c,rand:e,t:d,level:g,end:a};callOnConnection(f)};ROSLIB.Ros.prototype.callOnConnection=function(c){var b=this;var a=JSON.stringify(c);if(ros.socket.readyState!==WebSocket.OPEN){b.once("connection",function(){b.socket.send(a)})}else{b.socket.send(a)}};ROSLIB.Ros.prototype.getTopics=function(c){var b=new ROSLIB.Service({ros:this,name:"/rosapi/topics",serviceType:"rosapi/Topics"});var a=new ROSLIB.ServiceRequest();b.callService(a,function(d){c(d.topics)})};ROSLIB.Ros.prototype.getServices=function(c){var b=new ROSLIB.Service({ros:this,name:"/rosapi/services",serviceType:"rosapi/Services"});var a=new ROSLIB.ServiceRequest();b.callService(a,function(d){c(d.services)})};ROSLIB.Ros.prototype.getParams=function(c){var a=new ROSLIB.Service({ros:this,name:"/rosapi/get_param_names",serviceType:"rosapi/GetParamNames"});var b=new ROSLIB.ServiceRequest();a.callService(b,function(d){c(d.names)})};ROSLIB.Service=function(a){a=a||{};this.ros=a.ros;this.name=a.name;this.serviceType=a.serviceType};ROSLIB.Service.prototype.callService=function(c,d){this.ros.idCounter++;serviceCallId="call_service:"+this.name+":"+this.ros.idCounter;this.ros.once(serviceCallId,function(f){var e=new ROSLIB.ServiceResponse(f);d(e)});var a=[];Object.keys(c).forEach(function(e){a.push(c[e])});var b={op:"call_service",id:serviceCallId,service:this.name,args:a};this.ros.callOnConnection(b)};ROSLIB.ServiceRequest=function(a){var b=this;if(a){Object.keys(a).forEach(function(c){b[c]=a[c]})}};ROSLIB.ServiceResponse=function(a){var b=this;if(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=false;this.compression=a.compression||"none";this.throttle_rate=a.throttle_rate||0;if(this.compression&&this.compression!=="png"&&this.compression!=="none"){this.emit("warning",this.compression+" compression is not supported. No comression will be used.")}if(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(c){this.on("message",function(d){c(d)});this.ros.on(this.name,function(e){var d=new ROSLIB.Message(e);this.emit("message",d)});this.ros.idCounter++;var b="subscribe:"+this.name+":"+this.ros.idCounter;var a={op:"subscribe",id:b,type:this.messageType,topic:this.name,compression:this.compression,throttle_rate:this.throttle_rate};this.ros.callOnConnection(a)};ROSLIB.Topic.prototype.unsubscribe=function(){this.ros.removeAllListeners([this.name]);this.ros.idCounter++;var b="unsubscribe:"+this.name+":"+this.ros.idCounter;var a={op:"unsubscribe",id:b,topic:this.name};this.ros.callOnConnection(a)};ROSLIB.Topic.prototype.advertise=function(){this.ros.idCounter++;var a="advertise:"+this.name+":"+this.ros.idCounter;var b={op:"advertise",id:a,type:this.messageType,topic:this.name};this.ros.callOnConnection(b);this.isAdvertised=true};ROSLIB.Topic.prototype.unadvertise=function(){this.ros.idCounter++;var b="unadvertise:"+this.name+":"+this.ros.idCounter;var a={op:"unadvertise",id:b,topic:this.name};this.ros.callOnConnection(a);this.isAdvertised=false};ROSLIB.Topic.prototype.publish=function(b){if(!this.isAdvertised){this.advertise()}this.ros.idCounter++;var c="publish:"+this.name+":"+this.ros.idCounter;var a={op:"publish",id:c,topic:this.name,msg:b};this.ros.callOnConnection(a)};ROSLIB.Pose=function(a,b){this.position=new ROSLIB.Vector3();this.orientation=new ROSLIB.Quaternion();if(a!==undefined){this.position.copy(a)}if(b!==undefined){this.orientation.copy(b)}};ROSLIB.Pose.prototype.copy=function(a){this.position.copy(a.position);this.orientation.copy(a.orientation);return a};ROSLIB.Quaternion=function(a,e,d,b){var c=this;this.x=a||0;this.y=e||0;this.z=d||0;this.w=b||1};ROSLIB.Quaternion.prototype.copy=function(a){this.x=a.x;this.y=a.y;this.z=a.z;this.w=a.w;return this};ROSLIB.Quaternion.prototype.conjugate=function(){this.x*=-1;this.y*=-1;this.z*=-1;return this};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);if(a===0){this.x=0;this.y=0;this.z=0;this.w=1}else{a=1/a;this.x=this.x*a;this.y=this.y*a;this.z=this.z*a;this.w=this.w*a}return this};ROSLIB.Quaternion.prototype.inverse=function(){this.conjugate().normalize();return this};ROSLIB.Quaternion.prototype.multiply=function(l,k){var i=l.x,h=l.y,g=l.z,j=l.w,e=k.x,d=k.y,c=k.z,f=k.w;this.x=i*f+h*c-g*d+j*e;this.y=-i*c+h*f+g*e+j*d;this.z=i*d-h*e+g*f+j*c;this.w=-i*e-h*d-g*c+j*f;return this};ROSLIB.Quaternion.prototype.multiplyVec3=function(c,m){if(!m){m=c}var l=c.x,k=c.y,j=c.z,h=this.x,g=this.y,f=this.z,i=this.w;var d=i*l+g*j-f*k,b=i*k+f*l-h*j,a=i*j+h*k-g*l,e=-h*l-g*k-f*j;m.x=d*i+e*-h+b*-f-a*-g;m.y=b*i+e*-g+a*-h-d*-f;m.z=a*i+e*-f+d*-g-b*-h;return m};ROSLIB.Quaternion.prototype.clone=function(){return new ROSLIB.Quaternion(this.x,this.y,this.z,this.w)};ROSLIB.Vector3=function(a,c,b){this.x=a||0;this.y=c||0;this.z=b||0};ROSLIB.Vector3.prototype.copy=function(a){this.x=a.x;this.y=a.y;this.z=a.z;return this};ROSLIB.Vector3.prototype.add=function(d,c){this.x=d.x+c.x;this.y=d.y+c.y;this.z=d.z+c.z;return this};ROSLIB.Vector3.prototype.sub=function(d,c){this.x=d.x-c.x;this.y=d.y-c.y;this.z=d.z-c.z;return this};ROSLIB.Vector3.prototype.clone=function(){return new ROSLIB.Vector3(this.x,this.y,this.z)};ROSLIB.TFClient=function(a){var a=a||{};this.ros=a.ros;this.fixedFrame=a.fixedFrame||"/base_link";this.angularThres=a.angularThres||2;this.transThres=a.transThres||0.01;this.rate=a.rate||10;this.goalUpdateDelay=a.goalUpdateDelay||50;this.currentGoal=false;this.frameInfos={};this.goalUpdateRequested=false;this.actionClient=new ROSLIB.ActionClient({ros:this.ros,serverName:"/tf2_web_republisher",actionName:"tf2_web_republisher/TFSubscriptionAction"})};ROSLIB.TFClient.prototype.processFeedback=function(b){var a=this;b.transforms.forEach(function(c){var d=c.child_frame_id;var e=a.frameInfos[d];if(e!=undefined){e.transform=new ROSLIB.Transform(c.transform.translation,c.transform.rotation);e.cbs.forEach(function(f){f(e.transform)})}})};ROSLIB.TFClient.prototype.updateGoal=function(){if(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(frame in this.frameInfos){a.source_frames.push(frame)}this.currentGoal=new ROSLIB.Goal({actionClient:this.actionClient,goalMessage:a});this.currentGoal.on("feedback",this.processFeedback.bind(this));this.currentGoal.send();this.goalUpdateRequested=false};ROSLIB.TFClient.prototype.subscribe=function(a,b){if(a[0]==="/"){a=a.substring(1)}if(this.frameInfos[a]==undefined){this.frameInfos[a]={cbs:[]};if(!this.goalUpdateRequested){setTimeout(this.updateGoal.bind(tfClient),this.goalUpdateDelay);this.goalUpdateRequested=true}}else{if(this.frameInfos[a].transform!=undefined){b(this.frameInfos[a].transform)}}this.frameInfos[a].cbs.push(b)};ROSLIB.TFClient.prototype.unsubscribe=function(a,d){var c=this.frameInfos[a];if(c!=undefined){var b=c.cbs.indexOf(d);if(b>=0){c.cbs.splice(b,1);if(c.cbs.length==0){delete this.frameInfos[a]}this.needUpdate=true}}};ROSLIB.Transform=function(b,a){this.translation=new ROSLIB.Vector3();this.rotation=new ROSLIB.Quaternion();if(b!==undefined){this.translation.copy(b)}if(a!==undefined){this.rotation.copy(a)}};ROSLIB.Transform.prototype.apply=function(a){this.rotation.multiplyVec3(a.position);a.position.add(a.position,this.translation);a.orientation.multiply(this.rotation,a.orientation);return a};ROSLIB.Transform.prototype.applyInverse=function(b){var a=this.rotation.clone().inverse();a.multiplyVec3(b.position);b.position.sub(b.position,this.translation);b.orientation.multiply(a,b.orientation);return b};ROSLIB.Transform.prototype.copy=function(a){a.translation.copy(a.translation);a.rotation.copy(a.rotation);return a};
\ No newline at end of file
diff --git a/doc/files.html b/doc/files.html
index 6d1ae6119..eb6c74d29 100644
--- a/doc/files.html
+++ b/doc/files.html
@@ -223,7 +223,7 @@ <h1 class="classTitle">File Index</h1>
 			
 			
 			<div>
-				<h2><a href="symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_actionlib_ActionClient.js.html">/wg/stor5/rtoris/Documents/WPI/RAIL/ROS/groovy/src/roslibjs/src/actionlib/ActionClient.js</a></h2>
+				<h2><a href="symbols/src/_home_vagrant_ws_roslibjs_src_actionlib_ActionClient.js.html">/home/vagrant/ws/roslibjs/src/actionlib/ActionClient.js</a></h2>
 				
 				<dl>
 					
@@ -235,7 +235,7 @@ <h2><a href="symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_rosl
 			<hr />
 			
 			<div>
-				<h2><a href="symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_actionlib_Goal.js.html">/wg/stor5/rtoris/Documents/WPI/RAIL/ROS/groovy/src/roslibjs/src/actionlib/Goal.js</a></h2>
+				<h2><a href="symbols/src/_home_vagrant_ws_roslibjs_src_actionlib_Goal.js.html">/home/vagrant/ws/roslibjs/src/actionlib/Goal.js</a></h2>
 				
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@@ -247,7 +247,7 @@ <h2><a href="symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_rosl
 			<hr />
 			
 			<div>
-				<h2><a href="symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_core_Message.js.html">/wg/stor5/rtoris/Documents/WPI/RAIL/ROS/groovy/src/roslibjs/src/core/Message.js</a></h2>
+				<h2><a href="symbols/src/_home_vagrant_ws_roslibjs_src_core_Message.js.html">/home/vagrant/ws/roslibjs/src/core/Message.js</a></h2>
 				
 				<dl>
 					
@@ -259,7 +259,7 @@ <h2><a href="symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_rosl
 			<hr />
 			
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-				<h2><a href="symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_core_Param.js.html">/wg/stor5/rtoris/Documents/WPI/RAIL/ROS/groovy/src/roslibjs/src/core/Param.js</a></h2>
+				<h2><a href="symbols/src/_home_vagrant_ws_roslibjs_src_core_Param.js.html">/home/vagrant/ws/roslibjs/src/core/Param.js</a></h2>
 				
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@@ -271,7 +271,7 @@ <h2><a href="symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_rosl
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-				<h2><a href="symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_core_Ros.js.html">/wg/stor5/rtoris/Documents/WPI/RAIL/ROS/groovy/src/roslibjs/src/core/Ros.js</a></h2>
+				<h2><a href="symbols/src/_home_vagrant_ws_roslibjs_src_core_Ros.js.html">/home/vagrant/ws/roslibjs/src/core/Ros.js</a></h2>
 				
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@@ -283,7 +283,7 @@ <h2><a href="symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_rosl
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-				<h2><a href="symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_core_Service.js.html">/wg/stor5/rtoris/Documents/WPI/RAIL/ROS/groovy/src/roslibjs/src/core/Service.js</a></h2>
+				<h2><a href="symbols/src/_home_vagrant_ws_roslibjs_src_core_Service.js.html">/home/vagrant/ws/roslibjs/src/core/Service.js</a></h2>
 				
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@@ -295,7 +295,7 @@ <h2><a href="symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_rosl
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+				<h2><a href="symbols/src/_home_vagrant_ws_roslibjs_src_core_ServiceRequest.js.html">/home/vagrant/ws/roslibjs/src/core/ServiceRequest.js</a></h2>
 				
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+				<h2><a href="symbols/src/_home_vagrant_ws_roslibjs_src_core_ServiceResponse.js.html">/home/vagrant/ws/roslibjs/src/core/ServiceResponse.js</a></h2>
 				
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+				<h2><a href="symbols/src/_home_vagrant_ws_roslibjs_src_core_Topic.js.html">/home/vagrant/ws/roslibjs/src/core/Topic.js</a></h2>
 				
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+				<h2><a href="symbols/src/_home_vagrant_ws_roslibjs_src_math_Pose.js.html">/home/vagrant/ws/roslibjs/src/math/Pose.js</a></h2>
 				
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+				<h2><a href="symbols/src/_home_vagrant_ws_roslibjs_src_math_Quaternion.js.html">/home/vagrant/ws/roslibjs/src/math/Quaternion.js</a></h2>
 				
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+				<h2><a href="symbols/src/_home_vagrant_ws_roslibjs_src_math_Vector3.js.html">/home/vagrant/ws/roslibjs/src/math/Vector3.js</a></h2>
 				
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-				<h2><a href="symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_RosLib.js.html">/wg/stor5/rtoris/Documents/WPI/RAIL/ROS/groovy/src/roslibjs/src/RosLib.js</a></h2>
+				<h2><a href="symbols/src/_home_vagrant_ws_roslibjs_src_RosLib.js.html">/home/vagrant/ws/roslibjs/src/RosLib.js</a></h2>
 				
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-				<h2><a href="symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_tf_TFClient.js.html">/wg/stor5/rtoris/Documents/WPI/RAIL/ROS/groovy/src/roslibjs/src/tf/TFClient.js</a></h2>
+				<h2><a href="symbols/src/_home_vagrant_ws_roslibjs_src_tf_TFClient.js.html">/home/vagrant/ws/roslibjs/src/tf/TFClient.js</a></h2>
 				
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@@ -391,7 +391,7 @@ <h2><a href="symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_rosl
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-				<h2><a href="symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_tf_Transform.js.html">/wg/stor5/rtoris/Documents/WPI/RAIL/ROS/groovy/src/roslibjs/src/tf/Transform.js</a></h2>
+				<h2><a href="symbols/src/_home_vagrant_ws_roslibjs_src_tf_Transform.js.html">/home/vagrant/ws/roslibjs/src/tf/Transform.js</a></h2>
 				
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@@ -406,7 +406,7 @@ <h2><a href="symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_rosl
 		</div>
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-			Documentation generated by <a href="http://code.google.com/p/jsdoc-toolkit/" target="_blankt">JsDoc Toolkit</a> 2.4.0 on Sun Mar 17 2013 15:42:05 GMT-0700 (PDT)
+			Documentation generated by <a href="http://code.google.com/p/jsdoc-toolkit/" target="_blankt">JsDoc Toolkit</a> 2.4.0 on Tue Mar 19 2013 22:13:00 GMT-0000 (UTC)
 		</div>
 	</body>
 </html>
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diff --git a/doc/index.html b/doc/index.html
index 928c8f653..39fe481e4 100644
--- a/doc/index.html
+++ b/doc/index.html
@@ -316,7 +316,7 @@ <h2><a href="symbols/ROSLIB.Vector3.html">ROSLIB.Vector3</a></h2>
 		</div>
 		<div class="fineprint" style="clear:both">
 			
-			Documentation generated by <a href="http://code.google.com/p/jsdoc-toolkit/" target="_blankt">JsDoc Toolkit</a> 2.4.0 on Sun Mar 17 2013 15:42:05 GMT-0700 (PDT)
+			Documentation generated by <a href="http://code.google.com/p/jsdoc-toolkit/" target="_blankt">JsDoc Toolkit</a> 2.4.0 on Tue Mar 19 2013 22:13:00 GMT-0000 (UTC)
 		</div>
 	</body>
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\ No newline at end of file
diff --git a/doc/symbols/ROSLIB.ActionClient.html b/doc/symbols/ROSLIB.ActionClient.html
index 3468b3d12..6d8a2662e 100644
--- a/doc/symbols/ROSLIB.ActionClient.html
+++ b/doc/symbols/ROSLIB.ActionClient.html
@@ -239,7 +239,7 @@ <h1 class="classTitle">
 				
 				
 				
-					<br /><i>Defined in: </i> <a href="../symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_actionlib_ActionClient.js.html">ActionClient.js</a>.
+					<br /><i>Defined in: </i> <a href="../symbols/src/_home_vagrant_ws_roslibjs_src_actionlib_ActionClient.js.html">ActionClient.js</a>.
 				
 			</p>
 
@@ -399,7 +399,7 @@ <h1 class="classTitle">
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-			Documentation generated by <a href="http://code.google.com/p/jsdoc-toolkit/" target="_blank">JsDoc Toolkit</a> 2.4.0 on Sun Mar 17 2013 15:42:05 GMT-0700 (PDT)
+			Documentation generated by <a href="http://code.google.com/p/jsdoc-toolkit/" target="_blank">JsDoc Toolkit</a> 2.4.0 on Tue Mar 19 2013 22:13:00 GMT-0000 (UTC)
 		</div>
 	</body>
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diff --git a/doc/symbols/ROSLIB.Goal.html b/doc/symbols/ROSLIB.Goal.html
index ac1b95ff6..2f13731a0 100644
--- a/doc/symbols/ROSLIB.Goal.html
+++ b/doc/symbols/ROSLIB.Goal.html
@@ -239,7 +239,7 @@ <h1 class="classTitle">
 				
 				
 				
-					<br /><i>Defined in: </i> <a href="../symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_actionlib_Goal.js.html">Goal.js</a>.
+					<br /><i>Defined in: </i> <a href="../symbols/src/_home_vagrant_ws_roslibjs_src_actionlib_Goal.js.html">Goal.js</a>.
 				
 			</p>
 
@@ -439,7 +439,7 @@ <h1 class="classTitle">
 <!-- ============================== footer ================================= -->
 		<div class="fineprint" style="clear:both">
 			
-			Documentation generated by <a href="http://code.google.com/p/jsdoc-toolkit/" target="_blank">JsDoc Toolkit</a> 2.4.0 on Sun Mar 17 2013 15:42:05 GMT-0700 (PDT)
+			Documentation generated by <a href="http://code.google.com/p/jsdoc-toolkit/" target="_blank">JsDoc Toolkit</a> 2.4.0 on Tue Mar 19 2013 22:13:00 GMT-0000 (UTC)
 		</div>
 	</body>
 </html>
diff --git a/doc/symbols/ROSLIB.Message.html b/doc/symbols/ROSLIB.Message.html
index 88078ae90..5a3f4c9f3 100644
--- a/doc/symbols/ROSLIB.Message.html
+++ b/doc/symbols/ROSLIB.Message.html
@@ -239,7 +239,7 @@ <h1 class="classTitle">
 				
 				
 				
-					<br /><i>Defined in: </i> <a href="../symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_core_Message.js.html">Message.js</a>.
+					<br /><i>Defined in: </i> <a href="../symbols/src/_home_vagrant_ws_roslibjs_src_core_Message.js.html">Message.js</a>.
 				
 			</p>
 
@@ -332,7 +332,7 @@ <h1 class="classTitle">
 <!-- ============================== footer ================================= -->
 		<div class="fineprint" style="clear:both">
 			
-			Documentation generated by <a href="http://code.google.com/p/jsdoc-toolkit/" target="_blank">JsDoc Toolkit</a> 2.4.0 on Sun Mar 17 2013 15:42:05 GMT-0700 (PDT)
+			Documentation generated by <a href="http://code.google.com/p/jsdoc-toolkit/" target="_blank">JsDoc Toolkit</a> 2.4.0 on Tue Mar 19 2013 22:13:00 GMT-0000 (UTC)
 		</div>
 	</body>
 </html>
diff --git a/doc/symbols/ROSLIB.Param.html b/doc/symbols/ROSLIB.Param.html
index e124e8c18..8c2bf3424 100644
--- a/doc/symbols/ROSLIB.Param.html
+++ b/doc/symbols/ROSLIB.Param.html
@@ -239,7 +239,7 @@ <h1 class="classTitle">
 				
 				
 				
-					<br /><i>Defined in: </i> <a href="../symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_core_Param.js.html">Param.js</a>.
+					<br /><i>Defined in: </i> <a href="../symbols/src/_home_vagrant_ws_roslibjs_src_core_Param.js.html">Param.js</a>.
 				
 			</p>
 
@@ -448,7 +448,7 @@ <h1 class="classTitle">
 <!-- ============================== footer ================================= -->
 		<div class="fineprint" style="clear:both">
 			
-			Documentation generated by <a href="http://code.google.com/p/jsdoc-toolkit/" target="_blank">JsDoc Toolkit</a> 2.4.0 on Sun Mar 17 2013 15:42:05 GMT-0700 (PDT)
+			Documentation generated by <a href="http://code.google.com/p/jsdoc-toolkit/" target="_blank">JsDoc Toolkit</a> 2.4.0 on Tue Mar 19 2013 22:13:00 GMT-0000 (UTC)
 		</div>
 	</body>
 </html>
diff --git a/doc/symbols/ROSLIB.Pose.html b/doc/symbols/ROSLIB.Pose.html
index 6df8f1548..9649a3e01 100644
--- a/doc/symbols/ROSLIB.Pose.html
+++ b/doc/symbols/ROSLIB.Pose.html
@@ -239,7 +239,7 @@ <h1 class="classTitle">
 				
 				
 				
-					<br /><i>Defined in: </i> <a href="../symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_math_Pose.js.html">Pose.js</a>.
+					<br /><i>Defined in: </i> <a href="../symbols/src/_home_vagrant_ws_roslibjs_src_math_Pose.js.html">Pose.js</a>.
 				
 			</p>
 
@@ -413,7 +413,7 @@ <h1 class="classTitle">
 <!-- ============================== footer ================================= -->
 		<div class="fineprint" style="clear:both">
 			
-			Documentation generated by <a href="http://code.google.com/p/jsdoc-toolkit/" target="_blank">JsDoc Toolkit</a> 2.4.0 on Sun Mar 17 2013 15:42:05 GMT-0700 (PDT)
+			Documentation generated by <a href="http://code.google.com/p/jsdoc-toolkit/" target="_blank">JsDoc Toolkit</a> 2.4.0 on Tue Mar 19 2013 22:13:00 GMT-0000 (UTC)
 		</div>
 	</body>
 </html>
diff --git a/doc/symbols/ROSLIB.Quaternion.html b/doc/symbols/ROSLIB.Quaternion.html
index 8657e5913..a8486c7eb 100644
--- a/doc/symbols/ROSLIB.Quaternion.html
+++ b/doc/symbols/ROSLIB.Quaternion.html
@@ -239,7 +239,7 @@ <h1 class="classTitle">
 				
 				
 				
-					<br /><i>Defined in: </i> <a href="../symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_math_Quaternion.js.html">Quaternion.js</a>.
+					<br /><i>Defined in: </i> <a href="../symbols/src/_home_vagrant_ws_roslibjs_src_math_Quaternion.js.html">Quaternion.js</a>.
 				
 			</p>
 
@@ -705,7 +705,7 @@ <h1 class="classTitle">
 <!-- ============================== footer ================================= -->
 		<div class="fineprint" style="clear:both">
 			
-			Documentation generated by <a href="http://code.google.com/p/jsdoc-toolkit/" target="_blank">JsDoc Toolkit</a> 2.4.0 on Sun Mar 17 2013 15:42:05 GMT-0700 (PDT)
+			Documentation generated by <a href="http://code.google.com/p/jsdoc-toolkit/" target="_blank">JsDoc Toolkit</a> 2.4.0 on Tue Mar 19 2013 22:13:00 GMT-0000 (UTC)
 		</div>
 	</body>
 </html>
diff --git a/doc/symbols/ROSLIB.Ros.html b/doc/symbols/ROSLIB.Ros.html
index 0b6fd19a1..eda360fe6 100644
--- a/doc/symbols/ROSLIB.Ros.html
+++ b/doc/symbols/ROSLIB.Ros.html
@@ -239,7 +239,7 @@ <h1 class="classTitle">
 				
 				
 				
-					<br /><i>Defined in: </i> <a href="../symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_core_Ros.js.html">Ros.js</a>.
+					<br /><i>Defined in: </i> <a href="../symbols/src/_home_vagrant_ws_roslibjs_src_core_Ros.js.html">Ros.js</a>.
 				
 			</p>
 
@@ -298,7 +298,8 @@ <h1 class="classTitle">
 							<td class="nameDescription">
 								<div class="fixedFont"><b><a href="../symbols/ROSLIB.Ros.html#callOnConnection">callOnConnection</a></b>(message)
 								</div>
-								<div class="description">Sends the message over the WebSocket, but queues the message up if not yet connected.</div>
+								<div class="description">Sends the message over the WebSocket, but queues the message up if not yet
+connected.</div>
 							</td>
 						</tr>
 					
@@ -320,17 +321,6 @@ <h1 class="classTitle">
 							</td>
 						</tr>
 					
-						<tr>
-							<td class="attributes">&lt;inner&gt; &nbsp;</td>
-							<td class="nameDescription">
-								<div class="fixedFont"><b><a href="../symbols/ROSLIB.Ros.html#-decompressPng">decompressPng</a></b>(data, callback)
-								</div>
-								<div class="description">If a message was compressed as a PNG image (a compression hack since gzipping over WebSockets
-is not supported yet), this function places the "image" in a canvas element then decodes the
-"image" as a Base64 string.</div>
-							</td>
-						</tr>
-					
 						<tr>
 							<td class="attributes">&nbsp;</td>
 							<td class="nameDescription">
@@ -358,42 +348,6 @@ <h1 class="classTitle">
 							</td>
 						</tr>
 					
-						<tr>
-							<td class="attributes">&lt;inner&gt; &nbsp;</td>
-							<td class="nameDescription">
-								<div class="fixedFont"><b><a href="../symbols/ROSLIB.Ros.html#-onClose">onClose</a></b>(event)
-								</div>
-								<div class="description">Emits a 'close' event on WebSocket disconnection.</div>
-							</td>
-						</tr>
-					
-						<tr>
-							<td class="attributes">&lt;inner&gt; &nbsp;</td>
-							<td class="nameDescription">
-								<div class="fixedFont"><b><a href="../symbols/ROSLIB.Ros.html#-onError">onError</a></b>(event)
-								</div>
-								<div class="description">Emits an 'error' event whenever there was an error.</div>
-							</td>
-						</tr>
-					
-						<tr>
-							<td class="attributes">&lt;inner&gt; &nbsp;</td>
-							<td class="nameDescription">
-								<div class="fixedFont"><b><a href="../symbols/ROSLIB.Ros.html#-onMessage">onMessage</a></b>(message)
-								</div>
-								<div class="description">Parses message responses from rosbridge and sends to the appropriate topic, service, or param.</div>
-							</td>
-						</tr>
-					
-						<tr>
-							<td class="attributes">&lt;inner&gt; &nbsp;</td>
-							<td class="nameDescription">
-								<div class="fixedFont"><b><a href="../symbols/ROSLIB.Ros.html#-onOpen">onOpen</a></b>(event)
-								</div>
-								<div class="description">Emits a 'connection' event on WebSocket connection.</div>
-							</td>
-						</tr>
-					
 					</tbody>
 				</table>
 				
@@ -540,7 +494,8 @@ <h1 class="classTitle">
 					
 					</div>
 					<div class="description">
-						Sends the message over the WebSocket, but queues the message up if not yet connected.
+						Sends the message over the WebSocket, but queues the message up if not yet
+connected.
 						
 						
 					</div>
@@ -627,51 +582,6 @@ <h1 class="classTitle">
 						
 						
 
-					<hr />
-				
-					<a name="-decompressPng"> </a>
-					<div class="fixedFont">&lt;inner&gt; 
-					
-					
-					<b>decompressPng</b>(data, callback)
-					
-					</div>
-					<div class="description">
-						If a message was compressed as a PNG image (a compression hack since gzipping over WebSockets
-is not supported yet), this function places the "image" in a canvas element then decodes the
-"image" as a Base64 string.
-						
-						
-					</div>
-					
-					
-					
-						
-							<dl class="detailList">
-							<dt class="heading">Parameters:</dt>
-							
-								<dt>
-									<b>data</b>
-									
-								</dt>
-								<dd>- object containing the PNG data.</dd>
-							
-								<dt>
-									<b>callback</b>
-									
-								</dt>
-								<dd>- function with params:
-  * data - the uncompressed data</dd>
-							
-							</dl>
-						
-						
-						
-						
-						
-						
-						
-
 					<hr />
 				
 					<a name="getParams"> </a>
@@ -783,150 +693,6 @@ <h1 class="classTitle">
 						
 						
 
-					<hr />
-				
-					<a name="-onClose"> </a>
-					<div class="fixedFont">&lt;inner&gt; 
-					
-					
-					<b>onClose</b>(event)
-					
-					</div>
-					<div class="description">
-						Emits a 'close' event on WebSocket disconnection.
-						
-						
-					</div>
-					
-					
-					
-						
-							<dl class="detailList">
-							<dt class="heading">Parameters:</dt>
-							
-								<dt>
-									<b>event</b>
-									
-								</dt>
-								<dd>- the argument to emit with the event.</dd>
-							
-							</dl>
-						
-						
-						
-						
-						
-						
-						
-
-					<hr />
-				
-					<a name="-onError"> </a>
-					<div class="fixedFont">&lt;inner&gt; 
-					
-					
-					<b>onError</b>(event)
-					
-					</div>
-					<div class="description">
-						Emits an 'error' event whenever there was an error.
-						
-						
-					</div>
-					
-					
-					
-						
-							<dl class="detailList">
-							<dt class="heading">Parameters:</dt>
-							
-								<dt>
-									<b>event</b>
-									
-								</dt>
-								<dd>- the argument to emit with the event.</dd>
-							
-							</dl>
-						
-						
-						
-						
-						
-						
-						
-
-					<hr />
-				
-					<a name="-onMessage"> </a>
-					<div class="fixedFont">&lt;inner&gt; 
-					
-					
-					<b>onMessage</b>(message)
-					
-					</div>
-					<div class="description">
-						Parses message responses from rosbridge and sends to the appropriate topic, service, or param.
-						
-						
-					</div>
-					
-					
-					
-						
-							<dl class="detailList">
-							<dt class="heading">Parameters:</dt>
-							
-								<dt>
-									<b>message</b>
-									
-								</dt>
-								<dd>- the raw JSON message from rosbridge.</dd>
-							
-							</dl>
-						
-						
-						
-						
-						
-						
-						
-
-					<hr />
-				
-					<a name="-onOpen"> </a>
-					<div class="fixedFont">&lt;inner&gt; 
-					
-					
-					<b>onOpen</b>(event)
-					
-					</div>
-					<div class="description">
-						Emits a 'connection' event on WebSocket connection.
-						
-						
-					</div>
-					
-					
-					
-						
-							<dl class="detailList">
-							<dt class="heading">Parameters:</dt>
-							
-								<dt>
-									<b>event</b>
-									
-								</dt>
-								<dd>- the argument to emit with the event.</dd>
-							
-							</dl>
-						
-						
-						
-						
-						
-						
-						
-
 					
 				
 			
@@ -941,7 +707,7 @@ <h1 class="classTitle">
 <!-- ============================== footer ================================= -->
 		<div class="fineprint" style="clear:both">
 			
-			Documentation generated by <a href="http://code.google.com/p/jsdoc-toolkit/" target="_blank">JsDoc Toolkit</a> 2.4.0 on Sun Mar 17 2013 15:42:05 GMT-0700 (PDT)
+			Documentation generated by <a href="http://code.google.com/p/jsdoc-toolkit/" target="_blank">JsDoc Toolkit</a> 2.4.0 on Tue Mar 19 2013 22:13:00 GMT-0000 (UTC)
 		</div>
 	</body>
 </html>
diff --git a/doc/symbols/ROSLIB.Service.html b/doc/symbols/ROSLIB.Service.html
index db2e4946b..f1896c3b1 100644
--- a/doc/symbols/ROSLIB.Service.html
+++ b/doc/symbols/ROSLIB.Service.html
@@ -239,7 +239,7 @@ <h1 class="classTitle">
 				
 				
 				
-					<br /><i>Defined in: </i> <a href="../symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_core_Service.js.html">Service.js</a>.
+					<br /><i>Defined in: </i> <a href="../symbols/src/_home_vagrant_ws_roslibjs_src_core_Service.js.html">Service.js</a>.
 				
 			</p>
 
@@ -407,7 +407,7 @@ <h1 class="classTitle">
 <!-- ============================== footer ================================= -->
 		<div class="fineprint" style="clear:both">
 			
-			Documentation generated by <a href="http://code.google.com/p/jsdoc-toolkit/" target="_blank">JsDoc Toolkit</a> 2.4.0 on Sun Mar 17 2013 15:42:05 GMT-0700 (PDT)
+			Documentation generated by <a href="http://code.google.com/p/jsdoc-toolkit/" target="_blank">JsDoc Toolkit</a> 2.4.0 on Tue Mar 19 2013 22:13:00 GMT-0000 (UTC)
 		</div>
 	</body>
 </html>
diff --git a/doc/symbols/ROSLIB.ServiceRequest.html b/doc/symbols/ROSLIB.ServiceRequest.html
index 81e77bb52..c4775dccd 100644
--- a/doc/symbols/ROSLIB.ServiceRequest.html
+++ b/doc/symbols/ROSLIB.ServiceRequest.html
@@ -239,7 +239,7 @@ <h1 class="classTitle">
 				
 				
 				
-					<br /><i>Defined in: </i> <a href="../symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_core_ServiceRequest.js.html">ServiceRequest.js</a>.
+					<br /><i>Defined in: </i> <a href="../symbols/src/_home_vagrant_ws_roslibjs_src_core_ServiceRequest.js.html">ServiceRequest.js</a>.
 				
 			</p>
 
@@ -332,7 +332,7 @@ <h1 class="classTitle">
 <!-- ============================== footer ================================= -->
 		<div class="fineprint" style="clear:both">
 			
-			Documentation generated by <a href="http://code.google.com/p/jsdoc-toolkit/" target="_blank">JsDoc Toolkit</a> 2.4.0 on Sun Mar 17 2013 15:42:05 GMT-0700 (PDT)
+			Documentation generated by <a href="http://code.google.com/p/jsdoc-toolkit/" target="_blank">JsDoc Toolkit</a> 2.4.0 on Tue Mar 19 2013 22:13:00 GMT-0000 (UTC)
 		</div>
 	</body>
 </html>
diff --git a/doc/symbols/ROSLIB.ServiceResponse.html b/doc/symbols/ROSLIB.ServiceResponse.html
index 4a0783ce5..dc7118cda 100644
--- a/doc/symbols/ROSLIB.ServiceResponse.html
+++ b/doc/symbols/ROSLIB.ServiceResponse.html
@@ -239,7 +239,7 @@ <h1 class="classTitle">
 				
 				
 				
-					<br /><i>Defined in: </i> <a href="../symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_core_ServiceResponse.js.html">ServiceResponse.js</a>.
+					<br /><i>Defined in: </i> <a href="../symbols/src/_home_vagrant_ws_roslibjs_src_core_ServiceResponse.js.html">ServiceResponse.js</a>.
 				
 			</p>
 
@@ -332,7 +332,7 @@ <h1 class="classTitle">
 <!-- ============================== footer ================================= -->
 		<div class="fineprint" style="clear:both">
 			
-			Documentation generated by <a href="http://code.google.com/p/jsdoc-toolkit/" target="_blank">JsDoc Toolkit</a> 2.4.0 on Sun Mar 17 2013 15:42:05 GMT-0700 (PDT)
+			Documentation generated by <a href="http://code.google.com/p/jsdoc-toolkit/" target="_blank">JsDoc Toolkit</a> 2.4.0 on Tue Mar 19 2013 22:13:00 GMT-0000 (UTC)
 		</div>
 	</body>
 </html>
diff --git a/doc/symbols/ROSLIB.TFClient.html b/doc/symbols/ROSLIB.TFClient.html
index 81716c940..b1c44396f 100644
--- a/doc/symbols/ROSLIB.TFClient.html
+++ b/doc/symbols/ROSLIB.TFClient.html
@@ -239,7 +239,7 @@ <h1 class="classTitle">
 				
 				
 				
-					<br /><i>Defined in: </i> <a href="../symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_tf_TFClient.js.html">TFClient.js</a>.
+					<br /><i>Defined in: </i> <a href="../symbols/src/_home_vagrant_ws_roslibjs_src_tf_TFClient.js.html">TFClient.js</a>.
 				
 			</p>
 
@@ -289,7 +289,8 @@ <h1 class="classTitle">
 							<td class="nameDescription">
 								<div class="fixedFont"><b><a href="../symbols/ROSLIB.TFClient.html#processFeedback">processFeedback</a></b>(tf)
 								</div>
-								<div class="description">Process the incoming TF message and send them out using the callback functions.</div>
+								<div class="description">Process the incoming TF message and send them out using the callback
+functions.</div>
 							</td>
 						</tr>
 					
@@ -316,7 +317,8 @@ <h1 class="classTitle">
 							<td class="nameDescription">
 								<div class="fixedFont"><b><a href="../symbols/ROSLIB.TFClient.html#updateGoal">updateGoal</a></b>()
 								</div>
-								<div class="description">Create and send a new goal to the tf2_web_republisher based on the current list of TFs.</div>
+								<div class="description">Create and send a new goal to the tf2_web_republisher based on the current
+list of TFs.</div>
 							</td>
 						</tr>
 					
@@ -393,7 +395,8 @@ <h1 class="classTitle">
 					
 					</div>
 					<div class="description">
-						Process the incoming TF message and send them out using the callback functions.
+						Process the incoming TF message and send them out using the callback
+functions.
 						
 						
 					</div>
@@ -514,7 +517,8 @@ <h1 class="classTitle">
 					
 					</div>
 					<div class="description">
-						Create and send a new goal to the tf2_web_republisher based on the current list of TFs.
+						Create and send a new goal to the tf2_web_republisher based on the current
+list of TFs.
 						
 						
 					</div>
@@ -543,7 +547,7 @@ <h1 class="classTitle">
 <!-- ============================== footer ================================= -->
 		<div class="fineprint" style="clear:both">
 			
-			Documentation generated by <a href="http://code.google.com/p/jsdoc-toolkit/" target="_blank">JsDoc Toolkit</a> 2.4.0 on Sun Mar 17 2013 15:42:05 GMT-0700 (PDT)
+			Documentation generated by <a href="http://code.google.com/p/jsdoc-toolkit/" target="_blank">JsDoc Toolkit</a> 2.4.0 on Tue Mar 19 2013 22:13:00 GMT-0000 (UTC)
 		</div>
 	</body>
 </html>
diff --git a/doc/symbols/ROSLIB.Topic.html b/doc/symbols/ROSLIB.Topic.html
index dd199faf1..2698d7212 100644
--- a/doc/symbols/ROSLIB.Topic.html
+++ b/doc/symbols/ROSLIB.Topic.html
@@ -239,7 +239,7 @@ <h1 class="classTitle">
 				
 				
 				
-					<br /><i>Defined in: </i> <a href="../symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_core_Topic.js.html">Topic.js</a>.
+					<br /><i>Defined in: </i> <a href="../symbols/src/_home_vagrant_ws_roslibjs_src_core_Topic.js.html">Topic.js</a>.
 				
 			</p>
 
@@ -560,7 +560,7 @@ <h1 class="classTitle">
 <!-- ============================== footer ================================= -->
 		<div class="fineprint" style="clear:both">
 			
-			Documentation generated by <a href="http://code.google.com/p/jsdoc-toolkit/" target="_blank">JsDoc Toolkit</a> 2.4.0 on Sun Mar 17 2013 15:42:05 GMT-0700 (PDT)
+			Documentation generated by <a href="http://code.google.com/p/jsdoc-toolkit/" target="_blank">JsDoc Toolkit</a> 2.4.0 on Tue Mar 19 2013 22:13:00 GMT-0000 (UTC)
 		</div>
 	</body>
 </html>
diff --git a/doc/symbols/ROSLIB.Transform.html b/doc/symbols/ROSLIB.Transform.html
index 589949a7e..4735cfa4c 100644
--- a/doc/symbols/ROSLIB.Transform.html
+++ b/doc/symbols/ROSLIB.Transform.html
@@ -239,7 +239,7 @@ <h1 class="classTitle">
 				
 				
 				
-					<br /><i>Defined in: </i> <a href="../symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_tf_Transform.js.html">Transform.js</a>.
+					<br /><i>Defined in: </i> <a href="../symbols/src/_home_vagrant_ws_roslibjs_src_tf_Transform.js.html">Transform.js</a>.
 				
 			</p>
 
@@ -517,7 +517,7 @@ <h1 class="classTitle">
 <!-- ============================== footer ================================= -->
 		<div class="fineprint" style="clear:both">
 			
-			Documentation generated by <a href="http://code.google.com/p/jsdoc-toolkit/" target="_blank">JsDoc Toolkit</a> 2.4.0 on Sun Mar 17 2013 15:42:05 GMT-0700 (PDT)
+			Documentation generated by <a href="http://code.google.com/p/jsdoc-toolkit/" target="_blank">JsDoc Toolkit</a> 2.4.0 on Tue Mar 19 2013 22:13:00 GMT-0000 (UTC)
 		</div>
 	</body>
 </html>
diff --git a/doc/symbols/ROSLIB.Vector3.html b/doc/symbols/ROSLIB.Vector3.html
index 91ef1a28a..6c3d2c4a6 100644
--- a/doc/symbols/ROSLIB.Vector3.html
+++ b/doc/symbols/ROSLIB.Vector3.html
@@ -239,7 +239,7 @@ <h1 class="classTitle">
 				
 				
 				
-					<br /><i>Defined in: </i> <a href="../symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_math_Vector3.js.html">Vector3.js</a>.
+					<br /><i>Defined in: </i> <a href="../symbols/src/_home_vagrant_ws_roslibjs_src_math_Vector3.js.html">Vector3.js</a>.
 				
 			</p>
 
@@ -576,7 +576,7 @@ <h1 class="classTitle">
 <!-- ============================== footer ================================= -->
 		<div class="fineprint" style="clear:both">
 			
-			Documentation generated by <a href="http://code.google.com/p/jsdoc-toolkit/" target="_blank">JsDoc Toolkit</a> 2.4.0 on Sun Mar 17 2013 15:42:05 GMT-0700 (PDT)
+			Documentation generated by <a href="http://code.google.com/p/jsdoc-toolkit/" target="_blank">JsDoc Toolkit</a> 2.4.0 on Tue Mar 19 2013 22:13:00 GMT-0000 (UTC)
 		</div>
 	</body>
 </html>
diff --git a/doc/symbols/_global_.html b/doc/symbols/_global_.html
index d8f9a26cb..9798bf64f 100644
--- a/doc/symbols/_global_.html
+++ b/doc/symbols/_global_.html
@@ -300,7 +300,7 @@ <h1 class="classTitle">
 						
 						
 							<br />
-							<i>Defined in: </i> <a href="../symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_RosLib.js.html">RosLib.js</a>.
+							<i>Defined in: </i> <a href="../symbols/src/_home_vagrant_ws_roslibjs_src_RosLib.js.html">RosLib.js</a>.
 						
 						<br /><i>Author: </i>Russell Toris - rctoris@wpi.edu.
 					</div>
@@ -329,7 +329,7 @@ <h1 class="classTitle">
 <!-- ============================== footer ================================= -->
 		<div class="fineprint" style="clear:both">
 			
-			Documentation generated by <a href="http://code.google.com/p/jsdoc-toolkit/" target="_blank">JsDoc Toolkit</a> 2.4.0 on Sun Mar 17 2013 15:42:05 GMT-0700 (PDT)
+			Documentation generated by <a href="http://code.google.com/p/jsdoc-toolkit/" target="_blank">JsDoc Toolkit</a> 2.4.0 on Tue Mar 19 2013 22:13:00 GMT-0000 (UTC)
 		</div>
 	</body>
 </html>
diff --git a/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_RosLib.js.html b/doc/symbols/src/_home_vagrant_ws_roslibjs_src_RosLib.js.html
similarity index 100%
rename from doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_RosLib.js.html
rename to doc/symbols/src/_home_vagrant_ws_roslibjs_src_RosLib.js.html
diff --git a/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_actionlib_ActionClient.js.html b/doc/symbols/src/_home_vagrant_ws_roslibjs_src_actionlib_ActionClient.js.html
similarity index 75%
rename from doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_actionlib_ActionClient.js.html
rename to doc/symbols/src/_home_vagrant_ws_roslibjs_src_actionlib_ActionClient.js.html
index b187db792..b1ca92764 100644
--- a/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_actionlib_ActionClient.js.html
+++ b/doc/symbols/src/_home_vagrant_ws_roslibjs_src_actionlib_ActionClient.js.html
@@ -26,7 +26,7 @@
 <span class='line'> 19</span>  *   * timeout - the timeout length when connecting to the action server
 <span class='line'> 20</span>  */</span><span class="WHIT">
 <span class='line'> 21</span> </span><span class="NAME">ROSLIB.ActionClient</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">options</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 22</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">actionClient</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 22</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">that</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
 <span class='line'> 23</span> </span><span class="WHIT">  </span><span class="NAME">options</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
 <span class='line'> 24</span> </span><span class="WHIT">  </span><span class="NAME">this.ros</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.ros</span><span class="PUNC">;</span><span class="WHIT">
 <span class='line'> 25</span> </span><span class="WHIT">  </span><span class="NAME">this.serverName</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.serverName</span><span class="PUNC">;</span><span class="WHIT">
@@ -43,77 +43,83 @@
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 <span class='line'> 37</span> </span><span class="WHIT">    </span><span class="NAME">messageType</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.actionName</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="STRN">'Feedback'</span><span class="WHIT">
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-<span class='line'> 39</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">statusListener</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Topic</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 40</span> </span><span class="WHIT">    </span><span class="NAME">ros</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.ros</span><span class="PUNC">,</span><span class="WHIT">
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-<span class='line'> 44</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">resultListener</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Topic</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 45</span> </span><span class="WHIT">    </span><span class="NAME">ros</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.ros</span><span class="PUNC">,</span><span class="WHIT">
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-<span class='line'> 48</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 49</span> </span><span class="WHIT">  </span><span class="NAME">this.goalTopic</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Topic</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
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-<span class='line'> 53</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 54</span> </span><span class="WHIT">  </span><span class="NAME">this.cancelTopic</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Topic</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
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-<span class='line'> 57</span> </span><span class="WHIT">    </span><span class="NAME">messageType</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'actionlib_msgs/GoalID'</span><span class="WHIT">
-<span class='line'> 58</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 59</span> 
-<span class='line'> 60</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'> 61</span>    * Cancel all goals associated with this ActionClient.
-<span class='line'> 62</span>    */</span><span class="WHIT">
-<span class='line'> 63</span> </span><span class="WHIT">  </span><span class="NAME">this.cancel</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
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+<span class='line'> 39</span> 
+<span class='line'> 40</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">statusListener</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Topic</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
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+<span class='line'> 45</span> 
+<span class='line'> 46</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">resultListener</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Topic</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
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+<span class='line'> 63</span> 
+<span class='line'> 64</span> </span><span class="WHIT">  </span><span class="COMM">// advertise the goal and cancel topics</span><span class="WHIT">
+<span class='line'> 65</span> </span><span class="WHIT">  </span><span class="NAME">this.goalTopic.advertise</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 66</span> </span><span class="WHIT">  </span><span class="NAME">this.cancelTopic.advertise</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
 <span class='line'> 67</span> 
-<span class='line'> 68</span> </span><span class="WHIT">  </span><span class="COMM">// advertise the goal and cancel topics</span><span class="WHIT">
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-<span class='line'> 70</span> </span><span class="WHIT">  </span><span class="NAME">this.cancelTopic.advertise</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 71</span> 
-<span class='line'> 72</span> </span><span class="WHIT">  </span><span class="COMM">// subscribe to the status topic</span><span class="WHIT">
-<span class='line'> 73</span> </span><span class="WHIT">  </span><span class="NAME">statusListener.subscribe</span><span class="PUNC">(</span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">statusMessage</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 74</span> </span><span class="WHIT">    </span><span class="NAME">receivedStatus</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">true</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 75</span> </span><span class="WHIT">    </span><span class="NAME">statusMessage.status_list.forEach</span><span class="PUNC">(</span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">status</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 76</span> </span><span class="WHIT">      </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">goal</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">actionClient.goals</span><span class="PUNC">[</span><span class="NAME">status.goal_id.id</span><span class="PUNC">]</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 77</span> </span><span class="WHIT">      </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">goal</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 78</span> </span><span class="WHIT">        </span><span class="NAME">goal.emit</span><span class="PUNC">(</span><span class="STRN">'status'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">status</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 79</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="WHIT">
-<span class='line'> 80</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 81</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 82</span> 
-<span class='line'> 83</span> </span><span class="WHIT">  </span><span class="COMM">// subscribe the the feedback topic</span><span class="WHIT">
-<span class='line'> 84</span> </span><span class="WHIT">  </span><span class="NAME">feedbackListener.subscribe</span><span class="PUNC">(</span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">feedbackMessage</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 85</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">goal</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">actionClient.goals</span><span class="PUNC">[</span><span class="NAME">feedbackMessage.status.goal_id.id</span><span class="PUNC">]</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 86</span> </span><span class="WHIT">    </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">goal</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 87</span> </span><span class="WHIT">      </span><span class="NAME">goal.emit</span><span class="PUNC">(</span><span class="STRN">'status'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">feedbackMessage.status</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 88</span> </span><span class="WHIT">      </span><span class="NAME">goal.emit</span><span class="PUNC">(</span><span class="STRN">'feedback'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">feedbackMessage.feedback</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 89</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="WHIT">
-<span class='line'> 90</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 91</span> 
-<span class='line'> 92</span> </span><span class="WHIT">  </span><span class="COMM">// subscribe to the result topic</span><span class="WHIT">
-<span class='line'> 93</span> </span><span class="WHIT">  </span><span class="NAME">resultListener.subscribe</span><span class="PUNC">(</span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">resultMessage</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 94</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">goal</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">actionClient.goals</span><span class="PUNC">[</span><span class="NAME">resultMessage.status.goal_id.id</span><span class="PUNC">]</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 95</span> 
-<span class='line'> 96</span> </span><span class="WHIT">    </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">goal</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 97</span> </span><span class="WHIT">      </span><span class="NAME">goal.emit</span><span class="PUNC">(</span><span class="STRN">'status'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">resultMessage.status</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 98</span> </span><span class="WHIT">      </span><span class="NAME">goal.emit</span><span class="PUNC">(</span><span class="STRN">'result'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">resultMessage.result</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 99</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="WHIT">
-<span class='line'>100</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>101</span> 
-<span class='line'>102</span> </span><span class="WHIT">  </span><span class="COMM">// If timeout specified, emit a 'timeout' event if the action server does not respond</span><span class="WHIT">
-<span class='line'>103</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">this.timeout</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>104</span> </span><span class="WHIT">    </span><span class="NAME">setTimeout</span><span class="PUNC">(</span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>105</span> </span><span class="WHIT">      </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="PUNC">!</span><span class="NAME">receivedStatus</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>106</span> </span><span class="WHIT">        </span><span class="NAME">actionClient.emit</span><span class="PUNC">(</span><span class="STRN">'timeout'</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>107</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="WHIT">
-<span class='line'>108</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">this.timeout</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>109</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
-<span class='line'>110</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>111</span> </span><span class="NAME">ROSLIB.ActionClient.prototype.__proto__</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">EventEmitter2.prototype</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>112</span> </span></pre></body></html>
\ No newline at end of file
+<span class='line'> 68</span> </span><span class="WHIT">  </span><span class="COMM">// subscribe to the status topic</span><span class="WHIT">
+<span class='line'> 69</span> </span><span class="WHIT">  </span><span class="NAME">statusListener.subscribe</span><span class="PUNC">(</span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">statusMessage</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 70</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">that</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 71</span> </span><span class="WHIT">    </span><span class="NAME">receivedStatus</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">true</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 72</span> </span><span class="WHIT">    </span><span class="NAME">statusMessage.status_list.forEach</span><span class="PUNC">(</span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">status</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 73</span> </span><span class="WHIT">      </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">goal</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">that.goals</span><span class="PUNC">[</span><span class="NAME">status.goal_id.id</span><span class="PUNC">]</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 74</span> </span><span class="WHIT">      </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">goal</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 75</span> </span><span class="WHIT">        </span><span class="NAME">goal.emit</span><span class="PUNC">(</span><span class="STRN">'status'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">status</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 76</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="WHIT">
+<span class='line'> 77</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 78</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 79</span> 
+<span class='line'> 80</span> </span><span class="WHIT">  </span><span class="COMM">// subscribe the the feedback topic</span><span class="WHIT">
+<span class='line'> 81</span> </span><span class="WHIT">  </span><span class="NAME">feedbackListener.subscribe</span><span class="PUNC">(</span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">feedbackMessage</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 82</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">goal</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">that.goals</span><span class="PUNC">[</span><span class="NAME">feedbackMessage.status.goal_id.id</span><span class="PUNC">]</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 83</span> </span><span class="WHIT">    </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">goal</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 84</span> </span><span class="WHIT">      </span><span class="NAME">goal.emit</span><span class="PUNC">(</span><span class="STRN">'status'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">feedbackMessage.status</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 85</span> </span><span class="WHIT">      </span><span class="NAME">goal.emit</span><span class="PUNC">(</span><span class="STRN">'feedback'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">feedbackMessage.feedback</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 86</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="WHIT">
+<span class='line'> 87</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 88</span> 
+<span class='line'> 89</span> </span><span class="WHIT">  </span><span class="COMM">// subscribe to the result topic</span><span class="WHIT">
+<span class='line'> 90</span> </span><span class="WHIT">  </span><span class="NAME">resultListener.subscribe</span><span class="PUNC">(</span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">resultMessage</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 91</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">goal</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">that.goals</span><span class="PUNC">[</span><span class="NAME">resultMessage.status.goal_id.id</span><span class="PUNC">]</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 92</span> 
+<span class='line'> 93</span> </span><span class="WHIT">    </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">goal</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 94</span> </span><span class="WHIT">      </span><span class="NAME">goal.emit</span><span class="PUNC">(</span><span class="STRN">'status'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">resultMessage.status</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 95</span> </span><span class="WHIT">      </span><span class="NAME">goal.emit</span><span class="PUNC">(</span><span class="STRN">'result'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">resultMessage.result</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 96</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="WHIT">
+<span class='line'> 97</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 98</span> 
+<span class='line'> 99</span> </span><span class="WHIT">  </span><span class="COMM">// If timeout specified, emit a 'timeout' event if the action server does not respond</span><span class="WHIT">
+<span class='line'>100</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">this.timeout</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>101</span> </span><span class="WHIT">    </span><span class="NAME">setTimeout</span><span class="PUNC">(</span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>102</span> </span><span class="WHIT">      </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="PUNC">!</span><span class="NAME">receivedStatus</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>103</span> </span><span class="WHIT">        </span><span class="NAME">that.emit</span><span class="PUNC">(</span><span class="STRN">'timeout'</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>104</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="WHIT">
+<span class='line'>105</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">this.timeout</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>106</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
+<span class='line'>107</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>108</span> </span><span class="NAME">ROSLIB.ActionClient.prototype.__proto__</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">EventEmitter2.prototype</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>109</span> 
+<span class='line'>110</span> </span><span class="COMM">/**
+<span class='line'>111</span>  * Cancel all goals associated with this ActionClient.
+<span class='line'>112</span>  */</span><span class="WHIT">
+<span class='line'>113</span> </span><span class="NAME">ROSLIB.ActionClient.prototype.cancel</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>114</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">cancelMessage</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Message</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>115</span> </span><span class="WHIT">  </span><span class="NAME">this.cancelTopic.publish</span><span class="PUNC">(</span><span class="NAME">cancelMessage</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>116</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>117</span> 
+<span class='line'>118</span> </span></pre></body></html>
\ No newline at end of file
diff --git a/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_actionlib_Goal.js.html b/doc/symbols/src/_home_vagrant_ws_roslibjs_src_actionlib_Goal.js.html
similarity index 55%
rename from doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_actionlib_Goal.js.html
rename to doc/symbols/src/_home_vagrant_ws_roslibjs_src_actionlib_Goal.js.html
index 9e27a3c5f..743e8aa12 100644
--- a/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_actionlib_Goal.js.html
+++ b/doc/symbols/src/_home_vagrant_ws_roslibjs_src_actionlib_Goal.js.html
@@ -20,72 +20,72 @@
 <span class='line'> 13</span>  *   * actionClient - the ROSLIB.ActionClient to use with this goal
 <span class='line'> 14</span>  *   * goalMessage - The JSON object containing the goal for the action server
 <span class='line'> 15</span>  */</span><span class="WHIT">
-<span class='line'> 16</span> 
-<span class='line'> 17</span> </span><span class="NAME">ROSLIB.Goal</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">options</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 18</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">goal</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 19</span> </span><span class="WHIT">  </span><span class="NAME">this.actionClient</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.actionClient</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 20</span> </span><span class="WHIT">  </span><span class="NAME">this.goalMessage</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.goalMessage</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 21</span> </span><span class="WHIT">  </span><span class="NAME">this.isFinished</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">false</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 22</span> 
-<span class='line'> 23</span> </span><span class="WHIT">  </span><span class="COMM">// used to create random IDs</span><span class="WHIT">
-<span class='line'> 24</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">date</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">Date</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 25</span> 
-<span class='line'> 26</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'> 27</span>    * Send the goal to the action server.
-<span class='line'> 28</span>    * 
-<span class='line'> 29</span>    * @param timeout (optional) - a timeout length for the goal's result
-<span class='line'> 30</span>    */</span><span class="WHIT">
-<span class='line'> 31</span> </span><span class="WHIT">  </span><span class="NAME">this.send</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">timeout</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 32</span> </span><span class="WHIT">    </span><span class="NAME">goal.actionClient.goalTopic.publish</span><span class="PUNC">(</span><span class="NAME">goal.goalMessage</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 33</span> </span><span class="WHIT">    </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">timeout</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 34</span> </span><span class="WHIT">      </span><span class="NAME">setTimeout</span><span class="PUNC">(</span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 35</span> </span><span class="WHIT">        </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="PUNC">!</span><span class="NAME">goal.isFinished</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 36</span> </span><span class="WHIT">          </span><span class="NAME">goal.emit</span><span class="PUNC">(</span><span class="STRN">'timeout'</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 37</span> </span><span class="WHIT">        </span><span class="PUNC">}</span><span class="WHIT">
-<span class='line'> 38</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">timeout</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 39</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="WHIT">
-<span class='line'> 40</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 41</span> 
-<span class='line'> 42</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'> 43</span>    * Cancel the current goal.
-<span class='line'> 44</span>    */</span><span class="WHIT">
-<span class='line'> 45</span> </span><span class="WHIT">  </span><span class="NAME">this.cancel</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 46</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">cancelMessage</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Message</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 47</span> </span><span class="WHIT">      </span><span class="NAME">id</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">goal.goalID</span><span class="WHIT">
-<span class='line'> 48</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 49</span> </span><span class="WHIT">    </span><span class="NAME">goal.actionClient.cancelTopic.publish</span><span class="PUNC">(</span><span class="NAME">cancelMessage</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 50</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 16</span> </span><span class="NAME">ROSLIB.Goal</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">options</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 17</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">that</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 18</span> </span><span class="WHIT">  </span><span class="NAME">this.actionClient</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.actionClient</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 19</span> </span><span class="WHIT">  </span><span class="NAME">this.goalMessage</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.goalMessage</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 20</span> </span><span class="WHIT">  </span><span class="NAME">this.isFinished</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">false</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 21</span> 
+<span class='line'> 22</span> </span><span class="WHIT">  </span><span class="COMM">// Used to create random IDs</span><span class="WHIT">
+<span class='line'> 23</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">date</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">Date</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 24</span> 
+<span class='line'> 25</span> </span><span class="WHIT">  </span><span class="COMM">// Create a random ID</span><span class="WHIT">
+<span class='line'> 26</span> </span><span class="WHIT">  </span><span class="NAME">this.goalID</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="STRN">'goal_'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">Math.random</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="STRN">'_'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">date.getTime</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 27</span> </span><span class="WHIT">  </span><span class="COMM">// Fill in the goal message</span><span class="WHIT">
+<span class='line'> 28</span> </span><span class="WHIT">  </span><span class="NAME">this.goalMessage</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Message</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 29</span> </span><span class="WHIT">    </span><span class="NAME">goal_id</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 30</span> </span><span class="WHIT">      </span><span class="NAME">stamp</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 31</span> </span><span class="WHIT">        </span><span class="NAME">secs</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'> 32</span> </span><span class="WHIT">        </span><span class="NAME">nsecs</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="WHIT">
+<span class='line'> 33</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'> 34</span> </span><span class="WHIT">      </span><span class="NAME">id</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.goalID</span><span class="WHIT">
+<span class='line'> 35</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'> 36</span> </span><span class="WHIT">    </span><span class="NAME">goal</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.goalMessage</span><span class="WHIT">
+<span class='line'> 37</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 38</span> 
+<span class='line'> 39</span> </span><span class="WHIT">  </span><span class="NAME">this.on</span><span class="PUNC">(</span><span class="STRN">'status'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">status</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 40</span> </span><span class="WHIT">    </span><span class="NAME">that.status</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">status</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 41</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 42</span> 
+<span class='line'> 43</span> </span><span class="WHIT">  </span><span class="NAME">this.on</span><span class="PUNC">(</span><span class="STRN">'result'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">result</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 44</span> </span><span class="WHIT">    </span><span class="NAME">that.isFinished</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">true</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 45</span> </span><span class="WHIT">    </span><span class="NAME">that.result</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">result</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 46</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 47</span> 
+<span class='line'> 48</span> </span><span class="WHIT">  </span><span class="NAME">this.on</span><span class="PUNC">(</span><span class="STRN">'feedback'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">feedback</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 49</span> </span><span class="WHIT">    </span><span class="NAME">that.feedback</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">feedback</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 50</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
 <span class='line'> 51</span> 
-<span class='line'> 52</span> </span><span class="WHIT">  </span><span class="COMM">// create a random ID</span><span class="WHIT">
-<span class='line'> 53</span> </span><span class="WHIT">  </span><span class="NAME">this.goalID</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="STRN">'goal_'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">Math.random</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="STRN">"_"</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">date.getTime</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 54</span> </span><span class="WHIT">  </span><span class="COMM">// fill in the goal message</span><span class="WHIT">
-<span class='line'> 55</span> </span><span class="WHIT">  </span><span class="NAME">this.goalMessage</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Message</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 56</span> </span><span class="WHIT">    </span><span class="NAME">goal_id</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 57</span> </span><span class="WHIT">      </span><span class="NAME">stamp</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 58</span> </span><span class="WHIT">        </span><span class="NAME">secs</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'> 59</span> </span><span class="WHIT">        </span><span class="NAME">nsecs</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="WHIT">
-<span class='line'> 60</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'> 61</span> </span><span class="WHIT">      </span><span class="NAME">id</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.goalID</span><span class="WHIT">
-<span class='line'> 62</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'> 63</span> </span><span class="WHIT">    </span><span class="NAME">goal</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.goalMessage</span><span class="WHIT">
-<span class='line'> 64</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 65</span> 
-<span class='line'> 66</span> </span><span class="WHIT">  </span><span class="NAME">this.on</span><span class="PUNC">(</span><span class="STRN">'status'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">status</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 67</span> </span><span class="WHIT">    </span><span class="NAME">this.status</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">status</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 68</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 69</span> 
-<span class='line'> 70</span> </span><span class="WHIT">  </span><span class="NAME">this.on</span><span class="PUNC">(</span><span class="STRN">'result'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">result</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 71</span> </span><span class="WHIT">    </span><span class="NAME">this.isFinished</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">true</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 72</span> </span><span class="WHIT">    </span><span class="NAME">this.result</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">result</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 73</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 74</span> 
-<span class='line'> 75</span> </span><span class="WHIT">  </span><span class="NAME">this.on</span><span class="PUNC">(</span><span class="STRN">'feedback'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">feedback</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 76</span> </span><span class="WHIT">    </span><span class="NAME">this.feedback</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">feedback</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 77</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 78</span> 
-<span class='line'> 79</span> </span><span class="WHIT">  </span><span class="COMM">// add the goal</span><span class="WHIT">
-<span class='line'> 80</span> </span><span class="WHIT">  </span><span class="NAME">this.actionClient.goals</span><span class="PUNC">[</span><span class="NAME">this.goalID</span><span class="PUNC">]</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 81</span> 
+<span class='line'> 52</span> </span><span class="WHIT">  </span><span class="COMM">// Add the goal</span><span class="WHIT">
+<span class='line'> 53</span> </span><span class="WHIT">  </span><span class="NAME">this.actionClient.goals</span><span class="PUNC">[</span><span class="NAME">this.goalID</span><span class="PUNC">]</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 54</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 55</span> </span><span class="NAME">ROSLIB.Goal.prototype.__proto__</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">EventEmitter2.prototype</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 56</span> 
+<span class='line'> 57</span> </span><span class="COMM">/**
+<span class='line'> 58</span>  * Send the goal to the action server.
+<span class='line'> 59</span>  *
+<span class='line'> 60</span>  * @param timeout (optional) - a timeout length for the goal's result
+<span class='line'> 61</span>  */</span><span class="WHIT">
+<span class='line'> 62</span> </span><span class="NAME">ROSLIB.Goal.prototype.send</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">timeout</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 63</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">that</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 64</span> </span><span class="WHIT">  </span><span class="NAME">that.actionClient.goalTopic.publish</span><span class="PUNC">(</span><span class="NAME">that.goalMessage</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 65</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">timeout</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 66</span> </span><span class="WHIT">    </span><span class="NAME">setTimeout</span><span class="PUNC">(</span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 67</span> </span><span class="WHIT">      </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="PUNC">!</span><span class="NAME">that.isFinished</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 68</span> </span><span class="WHIT">        </span><span class="NAME">that.emit</span><span class="PUNC">(</span><span class="STRN">'timeout'</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 69</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="WHIT">
+<span class='line'> 70</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">timeout</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 71</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
+<span class='line'> 72</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 73</span> 
+<span class='line'> 74</span> </span><span class="COMM">/**
+<span class='line'> 75</span>  * Cancel the current goal.
+<span class='line'> 76</span>  */</span><span class="WHIT">
+<span class='line'> 77</span> </span><span class="NAME">ROSLIB.Goal.prototype.cancel</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 78</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">cancelMessage</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Message</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 79</span> </span><span class="WHIT">    </span><span class="NAME">id</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.goalID</span><span class="WHIT">
+<span class='line'> 80</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 81</span> </span><span class="WHIT">  </span><span class="NAME">this.actionClient.cancelTopic.publish</span><span class="PUNC">(</span><span class="NAME">cancelMessage</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
 <span class='line'> 82</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 83</span> </span><span class="NAME">ROSLIB.Goal.prototype.__proto__</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">EventEmitter2.prototype</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 83</span> 
 <span class='line'> 84</span> </span></pre></body></html>
\ No newline at end of file
diff --git a/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_core_Message.js.html b/doc/symbols/src/_home_vagrant_ws_roslibjs_src_core_Message.js.html
similarity index 96%
rename from doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_core_Message.js.html
rename to doc/symbols/src/_home_vagrant_ws_roslibjs_src_core_Message.js.html
index b238319ea..ed39e7542 100644
--- a/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_core_Message.js.html
+++ b/doc/symbols/src/_home_vagrant_ws_roslibjs_src_core_Message.js.html
@@ -6,12 +6,12 @@
 	.REGX {color: #339;}
 	.line {border-right: 1px dotted #666; color: #666; font-style: normal;}
 	</style></head><body><pre><span class='line'>  1</span> <span class="COMM">/**
-<span class='line'>  2</span>  * @author Brandon Alexander - balexander@willowgarage.com
+<span class='line'>  2</span>  * @author Brandon Alexander - baalexander@gmail.com
 <span class='line'>  3</span>  */</span><span class="WHIT">
 <span class='line'>  4</span> 
 <span class='line'>  5</span> </span><span class="COMM">/**
 <span class='line'>  6</span>  * Message objects are used for publishing and subscribing to and from topics.
-<span class='line'>  7</span>  * 
+<span class='line'>  7</span>  *
 <span class='line'>  8</span>  * @constructor
 <span class='line'>  9</span>  * @param values - object matching the fields defined in the .msg definition file.
 <span class='line'> 10</span>  */</span><span class="WHIT">
diff --git a/doc/symbols/src/_home_vagrant_ws_roslibjs_src_core_Param.js.html b/doc/symbols/src/_home_vagrant_ws_roslibjs_src_core_Param.js.html
new file mode 100644
index 000000000..fdaa06380
--- /dev/null
+++ b/doc/symbols/src/_home_vagrant_ws_roslibjs_src_core_Param.js.html
@@ -0,0 +1,71 @@
+<html><head><meta http-equiv="content-type" content="text/html; charset=utf-8"> <style>
+	.KEYW {color: #933;}
+	.COMM {color: #bbb; font-style: italic;}
+	.NUMB {color: #393;}
+	.STRN {color: #393;}
+	.REGX {color: #339;}
+	.line {border-right: 1px dotted #666; color: #666; font-style: normal;}
+	</style></head><body><pre><span class='line'>  1</span> <span class="COMM">/**
+<span class='line'>  2</span>  * @author Brandon Alexander - baalexander@gmail.com
+<span class='line'>  3</span>  */</span><span class="WHIT">
+<span class='line'>  4</span> 
+<span class='line'>  5</span> </span><span class="COMM">/**
+<span class='line'>  6</span>  * A ROS parameter.
+<span class='line'>  7</span>  *
+<span class='line'>  8</span>  * @constructor
+<span class='line'>  9</span>  * @param options - possible keys include:
+<span class='line'> 10</span>  *   * ros - the ROSLIB.Ros connection handle
+<span class='line'> 11</span>  *   * name - the param name, like max_vel_x
+<span class='line'> 12</span>  */</span><span class="WHIT">
+<span class='line'> 13</span> </span><span class="NAME">ROSLIB.Param</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">options</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 14</span> </span><span class="WHIT">  </span><span class="NAME">options</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 15</span> </span><span class="WHIT">  </span><span class="NAME">this.ros</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.ros</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 16</span> </span><span class="WHIT">  </span><span class="NAME">this.name</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.name</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 17</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 18</span> 
+<span class='line'> 19</span> </span><span class="COMM">/**
+<span class='line'> 20</span>  * Fetches the value of the param.
+<span class='line'> 21</span>  *
+<span class='line'> 22</span>  * @param callback - function with the following params:
+<span class='line'> 23</span>  *  * value - the value of the param from ROS.
+<span class='line'> 24</span>  */</span><span class="WHIT">
+<span class='line'> 25</span> </span><span class="NAME">ROSLIB.Param.prototype.get</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">callback</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 26</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">paramClient</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Service</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 27</span> </span><span class="WHIT">    </span><span class="NAME">ros</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.ros</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'> 28</span> </span><span class="WHIT">    </span><span class="NAME">name</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'/rosapi/get_param'</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'> 29</span> </span><span class="WHIT">    </span><span class="NAME">serviceType</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'rosapi/GetParam'</span><span class="WHIT">
+<span class='line'> 30</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 31</span> 
+<span class='line'> 32</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">request</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.ServiceRequest</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 33</span> </span><span class="WHIT">    </span><span class="NAME">name</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.name</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'> 34</span> </span><span class="WHIT">    </span><span class="NAME">value</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">JSON.stringify</span><span class="PUNC">(</span><span class="STRN">''</span><span class="PUNC">)</span><span class="WHIT">
+<span class='line'> 35</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 36</span> 
+<span class='line'> 37</span> </span><span class="WHIT">  </span><span class="NAME">paramClient.callService</span><span class="PUNC">(</span><span class="NAME">request</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">result</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 38</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">value</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">JSON.parse</span><span class="PUNC">(</span><span class="NAME">result.value</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 39</span> </span><span class="WHIT">    </span><span class="NAME">callback</span><span class="PUNC">(</span><span class="NAME">value</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 40</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 41</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 42</span> 
+<span class='line'> 43</span> </span><span class="COMM">/**
+<span class='line'> 44</span>  * Sets the value of the param in ROS.
+<span class='line'> 45</span>  *
+<span class='line'> 46</span>  * @param value - value to set param to.
+<span class='line'> 47</span>  */</span><span class="WHIT">
+<span class='line'> 48</span> </span><span class="NAME">ROSLIB.Param.prototype.set</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">value</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 49</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">paramClient</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Service</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 50</span> </span><span class="WHIT">    </span><span class="NAME">ros</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.ros</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'> 51</span> </span><span class="WHIT">    </span><span class="NAME">name</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'/rosapi/set_param'</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'> 52</span> </span><span class="WHIT">    </span><span class="NAME">serviceType</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'rosapi/SetParam'</span><span class="WHIT">
+<span class='line'> 53</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 54</span> 
+<span class='line'> 55</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">request</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.ServiceRequest</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 56</span> </span><span class="WHIT">    </span><span class="NAME">name</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.name</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'> 57</span> </span><span class="WHIT">    </span><span class="NAME">value</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">JSON.stringify</span><span class="PUNC">(</span><span class="NAME">value</span><span class="PUNC">)</span><span class="WHIT">
+<span class='line'> 58</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 59</span> 
+<span class='line'> 60</span> </span><span class="WHIT">  </span><span class="NAME">paramClient.callService</span><span class="PUNC">(</span><span class="NAME">request</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 61</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 62</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 63</span> 
+<span class='line'> 64</span> </span></pre></body></html>
\ No newline at end of file
diff --git a/doc/symbols/src/_home_vagrant_ws_roslibjs_src_core_Ros.js.html b/doc/symbols/src/_home_vagrant_ws_roslibjs_src_core_Ros.js.html
new file mode 100644
index 000000000..595bc7dc7
--- /dev/null
+++ b/doc/symbols/src/_home_vagrant_ws_roslibjs_src_core_Ros.js.html
@@ -0,0 +1,255 @@
+<html><head><meta http-equiv="content-type" content="text/html; charset=utf-8"> <style>
+	.KEYW {color: #933;}
+	.COMM {color: #bbb; font-style: italic;}
+	.NUMB {color: #393;}
+	.STRN {color: #393;}
+	.REGX {color: #339;}
+	.line {border-right: 1px dotted #666; color: #666; font-style: normal;}
+	</style></head><body><pre><span class='line'>  1</span> <span class="COMM">/**
+<span class='line'>  2</span>  * @author Brandon Alexander - baalexander@gmail.com
+<span class='line'>  3</span>  */</span><span class="WHIT">
+<span class='line'>  4</span> 
+<span class='line'>  5</span> </span><span class="COMM">/**
+<span class='line'>  6</span>  * Manages connection to the server and all interactions with ROS.
+<span class='line'>  7</span>  *
+<span class='line'>  8</span>  * Emits the following events:
+<span class='line'>  9</span>  *  * 'error' - there was an error with ROS
+<span class='line'> 10</span>  *  * 'connection' - connected to the WebSocket server
+<span class='line'> 11</span>  *  * 'close' - disconnected to the WebSocket server
+<span class='line'> 12</span>  *  * &lt;topicName> - a message came from rosbridge with the given topic name
+<span class='line'> 13</span>  *  * &lt;serviceID> - a service response came from rosbridge with the given ID
+<span class='line'> 14</span>  *
+<span class='line'> 15</span>  *  @constructor
+<span class='line'> 16</span>  *  @param url (optional) - The WebSocket URL for rosbridge. Can be specified later with `connect`.
+<span class='line'> 17</span>  */</span><span class="WHIT">
+<span class='line'> 18</span> </span><span class="NAME">ROSLIB.Ros</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">url</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 19</span> </span><span class="WHIT">  </span><span class="NAME">this.socket</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">null</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 20</span> 
+<span class='line'> 21</span> 
+<span class='line'> 22</span> </span><span class="WHIT">  </span><span class="COMM">// begin by checking if a URL was given</span><span class="WHIT">
+<span class='line'> 23</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">url</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 24</span> </span><span class="WHIT">    </span><span class="NAME">this.connect</span><span class="PUNC">(</span><span class="NAME">url</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 25</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
+<span class='line'> 26</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 27</span> </span><span class="NAME">ROSLIB.Ros.prototype.__proto__</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">EventEmitter2.prototype</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 28</span> 
+<span class='line'> 29</span> </span><span class="COMM">/**
+<span class='line'> 30</span>  * Connect to the specified WebSocket.
+<span class='line'> 31</span>  *
+<span class='line'> 32</span>  * @param url - WebSocket URL for Rosbridge
+<span class='line'> 33</span>  */</span><span class="WHIT">
+<span class='line'> 34</span> </span><span class="NAME">ROSLIB.Ros.prototype.connect</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">url</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 35</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">that</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 36</span> 
+<span class='line'> 37</span> </span><span class="WHIT">  </span><span class="COMM">/**
+<span class='line'> 38</span>    * Emits a 'connection' event on WebSocket connection.
+<span class='line'> 39</span>    *
+<span class='line'> 40</span>    * @param event - the argument to emit with the event.
+<span class='line'> 41</span>    */</span><span class="WHIT">
+<span class='line'> 42</span> </span><span class="WHIT">  </span><span class="KEYW">function</span><span class="WHIT"> </span><span class="NAME">onOpen</span><span class="PUNC">(</span><span class="NAME">event</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 43</span> </span><span class="WHIT">    </span><span class="NAME">that.emit</span><span class="PUNC">(</span><span class="STRN">'connection'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">event</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 44</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 45</span> 
+<span class='line'> 46</span> </span><span class="WHIT">  </span><span class="COMM">/**
+<span class='line'> 47</span>    * Emits a 'close' event on WebSocket disconnection.
+<span class='line'> 48</span>    *
+<span class='line'> 49</span>    * @param event - the argument to emit with the event.
+<span class='line'> 50</span>    */</span><span class="WHIT">
+<span class='line'> 51</span> </span><span class="WHIT">  </span><span class="KEYW">function</span><span class="WHIT"> </span><span class="NAME">onClose</span><span class="PUNC">(</span><span class="NAME">event</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 52</span> </span><span class="WHIT">    </span><span class="NAME">that.emit</span><span class="PUNC">(</span><span class="STRN">'close'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">event</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 53</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 54</span> 
+<span class='line'> 55</span> </span><span class="WHIT">  </span><span class="COMM">/**
+<span class='line'> 56</span>    * Emits an 'error' event whenever there was an error.
+<span class='line'> 57</span>    *
+<span class='line'> 58</span>    * @param event - the argument to emit with the event.
+<span class='line'> 59</span>    */</span><span class="WHIT">
+<span class='line'> 60</span> </span><span class="WHIT">  </span><span class="KEYW">function</span><span class="WHIT"> </span><span class="NAME">onError</span><span class="PUNC">(</span><span class="NAME">event</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 61</span> </span><span class="WHIT">    </span><span class="NAME">that.emit</span><span class="PUNC">(</span><span class="STRN">'error'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">event</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 62</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 63</span> 
+<span class='line'> 64</span> </span><span class="WHIT">  </span><span class="COMM">/**
+<span class='line'> 65</span>    * If a message was compressed as a PNG image (a compression hack since
+<span class='line'> 66</span>    * gzipping over WebSockets * is not supported yet), this function places the
+<span class='line'> 67</span>    * "image" in a canvas element then decodes the * "image" as a Base64 string.
+<span class='line'> 68</span>    *
+<span class='line'> 69</span>    * @param data - object containing the PNG data.
+<span class='line'> 70</span>    * @param callback - function with params:
+<span class='line'> 71</span>    *   * data - the uncompressed data
+<span class='line'> 72</span>    */</span><span class="WHIT">
+<span class='line'> 73</span> </span><span class="WHIT">  </span><span class="KEYW">function</span><span class="WHIT"> </span><span class="NAME">decompressPng</span><span class="PUNC">(</span><span class="NAME">data</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">callback</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 74</span> </span><span class="WHIT">    </span><span class="COMM">// Uncompresses the data before sending it through (use image/canvas to do so).</span><span class="WHIT">
+<span class='line'> 75</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">image</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">Image</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 76</span> </span><span class="WHIT">    </span><span class="COMM">// When the image loads, extracts the raw data (JSON message).</span><span class="WHIT">
+<span class='line'> 77</span> </span><span class="WHIT">    </span><span class="NAME">image.onload</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 78</span> </span><span class="WHIT">      </span><span class="COMM">// Creates a local canvas to draw on.</span><span class="WHIT">
+<span class='line'> 79</span> </span><span class="WHIT">      </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">canvas</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">document.createElement</span><span class="PUNC">(</span><span class="STRN">'canvas'</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 80</span> </span><span class="WHIT">      </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">context</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">canvas.getContext</span><span class="PUNC">(</span><span class="STRN">'2d'</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 81</span> 
+<span class='line'> 82</span> </span><span class="WHIT">      </span><span class="COMM">// Sets width and height.</span><span class="WHIT">
+<span class='line'> 83</span> </span><span class="WHIT">      </span><span class="NAME">canvas.width</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">image.width</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 84</span> </span><span class="WHIT">      </span><span class="NAME">canvas.height</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">image.height</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 85</span> 
+<span class='line'> 86</span> </span><span class="WHIT">      </span><span class="COMM">// Puts the data into the image.</span><span class="WHIT">
+<span class='line'> 87</span> </span><span class="WHIT">      </span><span class="NAME">context.drawImage</span><span class="PUNC">(</span><span class="NAME">image</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 88</span> </span><span class="WHIT">      </span><span class="COMM">// Grabs the raw, uncompressed data.</span><span class="WHIT">
+<span class='line'> 89</span> </span><span class="WHIT">      </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">imageData</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">context.getImageData</span><span class="PUNC">(</span><span class="NUMB">0</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">image.width</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">image.height</span><span class="PUNC">)</span><span class="PUNC">.</span><span class="NAME">data</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 90</span> 
+<span class='line'> 91</span> </span><span class="WHIT">      </span><span class="COMM">// Constructs the JSON.</span><span class="WHIT">
+<span class='line'> 92</span> </span><span class="WHIT">      </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">jsonData</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="STRN">''</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 93</span> </span><span class="WHIT">      </span><span class="KEYW">for</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">i</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT"> </span><span class="NAME">i</span><span class="WHIT"> </span><span class="PUNC">&lt;</span><span class="WHIT"> </span><span class="NAME">imageData.length</span><span class="PUNC">;</span><span class="WHIT"> </span><span class="NAME">i</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NUMB">4</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 94</span> </span><span class="WHIT">        </span><span class="COMM">// RGB</span><span class="WHIT">
+<span class='line'> 95</span> </span><span class="WHIT">        </span><span class="NAME">jsonData</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">String.fromCharCode</span><span class="PUNC">(</span><span class="NAME">imageData</span><span class="PUNC">[</span><span class="NAME">i</span><span class="PUNC">]</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">imageData</span><span class="PUNC">[</span><span class="NAME">i</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NUMB">1</span><span class="PUNC">]</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">imageData</span><span class="PUNC">[</span><span class="NAME">i</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NUMB">2</span><span class="PUNC">]</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 96</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="WHIT">
+<span class='line'> 97</span> </span><span class="WHIT">      </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">decompressedData</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">JSON.parse</span><span class="PUNC">(</span><span class="NAME">jsonData</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 98</span> </span><span class="WHIT">      </span><span class="NAME">callback</span><span class="PUNC">(</span><span class="NAME">decompressedData</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 99</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>100</span> </span><span class="WHIT">    </span><span class="COMM">// Sends the image data to load.</span><span class="WHIT">
+<span class='line'>101</span> </span><span class="WHIT">    </span><span class="NAME">image.src</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="STRN">'data:image/png;base64,'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">data.data</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>102</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
+<span class='line'>103</span> 
+<span class='line'>104</span> </span><span class="WHIT">  </span><span class="COMM">/**
+<span class='line'>105</span>    * Parses message responses from rosbridge and sends to the appropriate
+<span class='line'>106</span>    * topic, service, or param.
+<span class='line'>107</span>    *
+<span class='line'>108</span>    * @param message - the raw JSON message from rosbridge.
+<span class='line'>109</span>    */</span><span class="WHIT">
+<span class='line'>110</span> </span><span class="WHIT">  </span><span class="KEYW">function</span><span class="WHIT"> </span><span class="NAME">onMessage</span><span class="PUNC">(</span><span class="NAME">message</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>111</span> </span><span class="WHIT">    </span><span class="KEYW">function</span><span class="WHIT"> </span><span class="NAME">handleMessage</span><span class="PUNC">(</span><span class="NAME">message</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>112</span> </span><span class="WHIT">      </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">message.op</span><span class="WHIT"> </span><span class="PUNC">===</span><span class="WHIT"> </span><span class="STRN">'publish'</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>113</span> </span><span class="WHIT">        </span><span class="NAME">that.emit</span><span class="PUNC">(</span><span class="NAME">message.topic</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">message.msg</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>114</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="WHIT"> </span><span class="KEYW">else</span><span class="WHIT"> </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">message.op</span><span class="WHIT"> </span><span class="PUNC">===</span><span class="WHIT"> </span><span class="STRN">'service_response'</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>115</span> </span><span class="WHIT">        </span><span class="NAME">that.emit</span><span class="PUNC">(</span><span class="NAME">message.id</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">message.values</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>116</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="WHIT">
+<span class='line'>117</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>118</span> 
+<span class='line'>119</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">data</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">JSON.parse</span><span class="PUNC">(</span><span class="NAME">message.data</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>120</span> </span><span class="WHIT">    </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">data.op</span><span class="WHIT"> </span><span class="PUNC">===</span><span class="WHIT"> </span><span class="STRN">'png'</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>121</span> </span><span class="WHIT">      </span><span class="NAME">decompressPng</span><span class="PUNC">(</span><span class="NAME">data</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">decompressedData</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>122</span> </span><span class="WHIT">        </span><span class="NAME">handleMessage</span><span class="PUNC">(</span><span class="NAME">decompressedData</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>123</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>124</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="WHIT"> </span><span class="KEYW">else</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>125</span> </span><span class="WHIT">      </span><span class="NAME">handleMessage</span><span class="PUNC">(</span><span class="NAME">data</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>126</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="WHIT">
+<span class='line'>127</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>128</span> 
+<span class='line'>129</span> </span><span class="WHIT">  </span><span class="NAME">that.socket</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">WebSocket</span><span class="PUNC">(</span><span class="NAME">url</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>130</span> </span><span class="WHIT">  </span><span class="NAME">that.socket.onopen</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">onOpen</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>131</span> </span><span class="WHIT">  </span><span class="NAME">that.socket.onclose</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">onClose</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>132</span> </span><span class="WHIT">  </span><span class="NAME">that.socket.onerror</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">onError</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>133</span> </span><span class="WHIT">  </span><span class="NAME">that.socket.onmessage</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">onMessage</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>134</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>135</span> 
+<span class='line'>136</span> </span><span class="COMM">/**
+<span class='line'>137</span>  * Disconnect from the WebSocket server.
+<span class='line'>138</span>  */</span><span class="WHIT">
+<span class='line'>139</span> </span><span class="NAME">ROSLIB.Ros.prototype.close</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>140</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">this.socket</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>141</span> </span><span class="WHIT">    </span><span class="NAME">this.socket.close</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>142</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
+<span class='line'>143</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>144</span> 
+<span class='line'>145</span> </span><span class="COMM">/**
+<span class='line'>146</span>  * Sends an authorization request to the server.
+<span class='line'>147</span>  *
+<span class='line'>148</span>  * @param mac - MAC (hash) string given by the trusted source.
+<span class='line'>149</span>  * @param client - IP of the client.
+<span class='line'>150</span>  * @param dest - IP of the destination.
+<span class='line'>151</span>  * @param rand - Random string given by the trusted source.
+<span class='line'>152</span>  * @param t - Time of the authorization request.
+<span class='line'>153</span>  * @param level - User level as a string given by the client.
+<span class='line'>154</span>  * @param end - End time of the client's session.
+<span class='line'>155</span>  */</span><span class="WHIT">
+<span class='line'>156</span> </span><span class="NAME">ROSLIB.Ros.prototype.authenticate</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">mac</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">client</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">dest</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">rand</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">t</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">level</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">end</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>157</span> </span><span class="WHIT">  </span><span class="COMM">// create the request</span><span class="WHIT">
+<span class='line'>158</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">auth</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>159</span> </span><span class="WHIT">    </span><span class="NAME">op</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'auth'</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'>160</span> </span><span class="WHIT">    </span><span class="NAME">mac</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">mac</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'>161</span> </span><span class="WHIT">    </span><span class="NAME">client</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">client</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'>162</span> </span><span class="WHIT">    </span><span class="NAME">dest</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">dest</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'>163</span> </span><span class="WHIT">    </span><span class="NAME">rand</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">rand</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'>164</span> </span><span class="WHIT">    </span><span class="NAME">t</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">t</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'>165</span> </span><span class="WHIT">    </span><span class="NAME">level</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">level</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'>166</span> </span><span class="WHIT">    </span><span class="NAME">end</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">end</span><span class="WHIT">
+<span class='line'>167</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>168</span> </span><span class="WHIT">  </span><span class="COMM">// send the request</span><span class="WHIT">
+<span class='line'>169</span> </span><span class="WHIT">  </span><span class="NAME">callOnConnection</span><span class="PUNC">(</span><span class="NAME">auth</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>170</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>171</span> 
+<span class='line'>172</span> </span><span class="COMM">/**
+<span class='line'>173</span>  * Sends the message over the WebSocket, but queues the message up if not yet
+<span class='line'>174</span>  * connected.
+<span class='line'>175</span>  */</span><span class="WHIT">
+<span class='line'>176</span> </span><span class="NAME">ROSLIB.Ros.prototype.callOnConnection</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">message</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>177</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">that</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>178</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">messageJson</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">JSON.stringify</span><span class="PUNC">(</span><span class="NAME">message</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>179</span> 
+<span class='line'>180</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">ros.socket.readyState</span><span class="WHIT"> </span><span class="PUNC">!==</span><span class="WHIT"> </span><span class="NAME">WebSocket.OPEN</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>181</span> </span><span class="WHIT">    </span><span class="NAME">that.once</span><span class="PUNC">(</span><span class="STRN">'connection'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>182</span> </span><span class="WHIT">      </span><span class="NAME">that.socket.send</span><span class="PUNC">(</span><span class="NAME">messageJson</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>183</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>184</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT"> </span><span class="KEYW">else</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>185</span> </span><span class="WHIT">    </span><span class="NAME">that.socket.send</span><span class="PUNC">(</span><span class="NAME">messageJson</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>186</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
+<span class='line'>187</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>188</span> 
+<span class='line'>189</span> </span><span class="COMM">/**
+<span class='line'>190</span>  * Retrieves list of topics in ROS as an array.
+<span class='line'>191</span>  *
+<span class='line'>192</span>  * @param callback function with params:
+<span class='line'>193</span>  *   * topics - Array of topic names
+<span class='line'>194</span>  */</span><span class="WHIT">
+<span class='line'>195</span> </span><span class="NAME">ROSLIB.Ros.prototype.getTopics</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">callback</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>196</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">topicsClient</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Service</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>197</span> </span><span class="WHIT">    </span><span class="NAME">ros</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'>198</span> </span><span class="WHIT">    </span><span class="NAME">name</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'/rosapi/topics'</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'>199</span> </span><span class="WHIT">    </span><span class="NAME">serviceType</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'rosapi/Topics'</span><span class="WHIT">
+<span class='line'>200</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>201</span> 
+<span class='line'>202</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">request</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.ServiceRequest</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>203</span> 
+<span class='line'>204</span> </span><span class="WHIT">  </span><span class="NAME">topicsClient.callService</span><span class="PUNC">(</span><span class="NAME">request</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">result</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>205</span> </span><span class="WHIT">    </span><span class="NAME">callback</span><span class="PUNC">(</span><span class="NAME">result.topics</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>206</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>207</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>208</span> 
+<span class='line'>209</span> </span><span class="COMM">/**
+<span class='line'>210</span>  * Retrieves list of active service names in ROS.
+<span class='line'>211</span>  *
+<span class='line'>212</span>  * @param callback - function with the following params:
+<span class='line'>213</span>  *   * services - array of service names
+<span class='line'>214</span>  */</span><span class="WHIT">
+<span class='line'>215</span> </span><span class="NAME">ROSLIB.Ros.prototype.getServices</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">callback</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>216</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">servicesClient</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Service</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>217</span> </span><span class="WHIT">    </span><span class="NAME">ros</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'>218</span> </span><span class="WHIT">    </span><span class="NAME">name</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'/rosapi/services'</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'>219</span> </span><span class="WHIT">    </span><span class="NAME">serviceType</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'rosapi/Services'</span><span class="WHIT">
+<span class='line'>220</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>221</span> 
+<span class='line'>222</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">request</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.ServiceRequest</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>223</span> 
+<span class='line'>224</span> </span><span class="WHIT">  </span><span class="NAME">servicesClient.callService</span><span class="PUNC">(</span><span class="NAME">request</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">result</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>225</span> </span><span class="WHIT">    </span><span class="NAME">callback</span><span class="PUNC">(</span><span class="NAME">result.services</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>226</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>227</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>228</span> 
+<span class='line'>229</span> </span><span class="COMM">/**
+<span class='line'>230</span>  * Retrieves list of param names from the ROS Parameter Server.
+<span class='line'>231</span>  *
+<span class='line'>232</span>  * @param callback function with params:
+<span class='line'>233</span>  *  * params - array of param names.
+<span class='line'>234</span>  */</span><span class="WHIT">
+<span class='line'>235</span> </span><span class="NAME">ROSLIB.Ros.prototype.getParams</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">callback</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>236</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">paramsClient</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Service</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>237</span> </span><span class="WHIT">    </span><span class="NAME">ros</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'>238</span> </span><span class="WHIT">    </span><span class="NAME">name</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'/rosapi/get_param_names'</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'>239</span> </span><span class="WHIT">    </span><span class="NAME">serviceType</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'rosapi/GetParamNames'</span><span class="WHIT">
+<span class='line'>240</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>241</span> 
+<span class='line'>242</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">request</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.ServiceRequest</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>243</span> </span><span class="WHIT">  </span><span class="NAME">paramsClient.callService</span><span class="PUNC">(</span><span class="NAME">request</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">result</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>244</span> </span><span class="WHIT">    </span><span class="NAME">callback</span><span class="PUNC">(</span><span class="NAME">result.names</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>245</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>246</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>247</span> 
+<span class='line'>248</span> </span></pre></body></html>
\ No newline at end of file
diff --git a/doc/symbols/src/_home_vagrant_ws_roslibjs_src_core_Service.js.html b/doc/symbols/src/_home_vagrant_ws_roslibjs_src_core_Service.js.html
new file mode 100644
index 000000000..784461ec1
--- /dev/null
+++ b/doc/symbols/src/_home_vagrant_ws_roslibjs_src_core_Service.js.html
@@ -0,0 +1,58 @@
+<html><head><meta http-equiv="content-type" content="text/html; charset=utf-8"> <style>
+	.KEYW {color: #933;}
+	.COMM {color: #bbb; font-style: italic;}
+	.NUMB {color: #393;}
+	.STRN {color: #393;}
+	.REGX {color: #339;}
+	.line {border-right: 1px dotted #666; color: #666; font-style: normal;}
+	</style></head><body><pre><span class='line'>  1</span> <span class="COMM">/**
+<span class='line'>  2</span>  * @author Brandon Alexander - baalexander@gmail.com
+<span class='line'>  3</span>  */</span><span class="WHIT">
+<span class='line'>  4</span> 
+<span class='line'>  5</span> </span><span class="COMM">/**
+<span class='line'>  6</span>  * A ROS service client.
+<span class='line'>  7</span>  *
+<span class='line'>  8</span>  * @constructor
+<span class='line'>  9</span>  * @params options - possible keys include:
+<span class='line'> 10</span>  *   * ros - the ROSLIB.Ros connection handle
+<span class='line'> 11</span>  *   * name - the service name, like /add_two_ints
+<span class='line'> 12</span>  *   * serviceType - the service type, like 'rospy_tutorials/AddTwoInts'
+<span class='line'> 13</span>  */</span><span class="WHIT">
+<span class='line'> 14</span> </span><span class="NAME">ROSLIB.Service</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">options</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 15</span> </span><span class="WHIT">  </span><span class="NAME">options</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 16</span> </span><span class="WHIT">  </span><span class="NAME">this.ros</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.ros</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 17</span> </span><span class="WHIT">  </span><span class="NAME">this.name</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.name</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 18</span> </span><span class="WHIT">  </span><span class="NAME">this.serviceType</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.serviceType</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 19</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 20</span> 
+<span class='line'> 21</span> </span><span class="COMM">/**
+<span class='line'> 22</span>  * Calls the service. Returns the service response in the callback.
+<span class='line'> 23</span>  *
+<span class='line'> 24</span>  * @param request - the ROSLIB.ServiceRequest to send
+<span class='line'> 25</span>  * @param callback - function with params:
+<span class='line'> 26</span>  *   * response - the response from the service request
+<span class='line'> 27</span>  */</span><span class="WHIT">
+<span class='line'> 28</span> </span><span class="NAME">ROSLIB.Service.prototype.callService</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">request</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">callback</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 29</span> </span><span class="WHIT">  </span><span class="NAME">this.ros.idCounter</span><span class="PUNC">++</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 30</span> </span><span class="WHIT">  </span><span class="NAME">serviceCallId</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="STRN">'call_service:'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.name</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="STRN">':'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.ros.idCounter</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 31</span> 
+<span class='line'> 32</span> </span><span class="WHIT">  </span><span class="NAME">this.ros.once</span><span class="PUNC">(</span><span class="NAME">serviceCallId</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">data</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 33</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">response</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.ServiceResponse</span><span class="PUNC">(</span><span class="NAME">data</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 34</span> </span><span class="WHIT">    </span><span class="NAME">callback</span><span class="PUNC">(</span><span class="NAME">response</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 35</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 36</span> 
+<span class='line'> 37</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">requestValues</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">[</span><span class="PUNC">]</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 38</span> </span><span class="WHIT">  </span><span class="NAME">Object.keys</span><span class="PUNC">(</span><span class="NAME">request</span><span class="PUNC">)</span><span class="PUNC">.</span><span class="NAME">forEach</span><span class="PUNC">(</span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">name</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 39</span> </span><span class="WHIT">    </span><span class="NAME">requestValues.push</span><span class="PUNC">(</span><span class="NAME">request</span><span class="PUNC">[</span><span class="NAME">name</span><span class="PUNC">]</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 40</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 41</span> 
+<span class='line'> 42</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">call</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 43</span> </span><span class="WHIT">    </span><span class="NAME">op</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'call_service'</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'> 44</span> </span><span class="WHIT">    </span><span class="NAME">id</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">serviceCallId</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'> 45</span> </span><span class="WHIT">    </span><span class="NAME">service</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.name</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'> 46</span> </span><span class="WHIT">    </span><span class="NAME">args</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">requestValues</span><span class="WHIT">
+<span class='line'> 47</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 48</span> </span><span class="WHIT">  </span><span class="NAME">this.ros.callOnConnection</span><span class="PUNC">(</span><span class="NAME">call</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 49</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 50</span> 
+<span class='line'> 51</span> </span></pre></body></html>
\ No newline at end of file
diff --git a/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_core_ServiceRequest.js.html b/doc/symbols/src/_home_vagrant_ws_roslibjs_src_core_ServiceRequest.js.html
similarity index 84%
rename from doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_core_ServiceRequest.js.html
rename to doc/symbols/src/_home_vagrant_ws_roslibjs_src_core_ServiceRequest.js.html
index 47caa9742..f21169b20 100644
--- a/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_core_ServiceRequest.js.html
+++ b/doc/symbols/src/_home_vagrant_ws_roslibjs_src_core_ServiceRequest.js.html
@@ -16,10 +16,10 @@
 <span class='line'>  9</span>  * @param values - object matching the values of the request part from the .srv file.
 <span class='line'> 10</span>  */</span><span class="WHIT">
 <span class='line'> 11</span> </span><span class="NAME">ROSLIB.ServiceRequest</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">values</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 12</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">serviceRequest</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 12</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">that</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
 <span class='line'> 13</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">values</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
 <span class='line'> 14</span> </span><span class="WHIT">    </span><span class="NAME">Object.keys</span><span class="PUNC">(</span><span class="NAME">values</span><span class="PUNC">)</span><span class="PUNC">.</span><span class="NAME">forEach</span><span class="PUNC">(</span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">name</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 15</span> </span><span class="WHIT">      </span><span class="NAME">serviceRequest</span><span class="PUNC">[</span><span class="NAME">name</span><span class="PUNC">]</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">values</span><span class="PUNC">[</span><span class="NAME">name</span><span class="PUNC">]</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 15</span> </span><span class="WHIT">      </span><span class="NAME">that</span><span class="PUNC">[</span><span class="NAME">name</span><span class="PUNC">]</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">values</span><span class="PUNC">[</span><span class="NAME">name</span><span class="PUNC">]</span><span class="PUNC">;</span><span class="WHIT">
 <span class='line'> 16</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
 <span class='line'> 17</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
 <span class='line'> 18</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
diff --git a/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_core_ServiceResponse.js.html b/doc/symbols/src/_home_vagrant_ws_roslibjs_src_core_ServiceResponse.js.html
similarity index 82%
rename from doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_core_ServiceResponse.js.html
rename to doc/symbols/src/_home_vagrant_ws_roslibjs_src_core_ServiceResponse.js.html
index 9db966a3f..0dff1bed1 100644
--- a/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_core_ServiceResponse.js.html
+++ b/doc/symbols/src/_home_vagrant_ws_roslibjs_src_core_ServiceResponse.js.html
@@ -16,10 +16,10 @@
 <span class='line'>  9</span>  * @param values - object matching the values of the response part from the .srv file.
 <span class='line'> 10</span>  */</span><span class="WHIT">
 <span class='line'> 11</span> </span><span class="NAME">ROSLIB.ServiceResponse</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">values</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 12</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">serviceResponse</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 12</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">that</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
 <span class='line'> 13</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">values</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
 <span class='line'> 14</span> </span><span class="WHIT">    </span><span class="NAME">Object.keys</span><span class="PUNC">(</span><span class="NAME">values</span><span class="PUNC">)</span><span class="PUNC">.</span><span class="NAME">forEach</span><span class="PUNC">(</span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">name</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 15</span> </span><span class="WHIT">      </span><span class="NAME">serviceResponse</span><span class="PUNC">[</span><span class="NAME">name</span><span class="PUNC">]</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">values</span><span class="PUNC">[</span><span class="NAME">name</span><span class="PUNC">]</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 15</span> </span><span class="WHIT">      </span><span class="NAME">that</span><span class="PUNC">[</span><span class="NAME">name</span><span class="PUNC">]</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">values</span><span class="PUNC">[</span><span class="NAME">name</span><span class="PUNC">]</span><span class="PUNC">;</span><span class="WHIT">
 <span class='line'> 16</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
 <span class='line'> 17</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
 <span class='line'> 18</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
diff --git a/doc/symbols/src/_home_vagrant_ws_roslibjs_src_core_Topic.js.html b/doc/symbols/src/_home_vagrant_ws_roslibjs_src_core_Topic.js.html
new file mode 100644
index 000000000..40dbd284d
--- /dev/null
+++ b/doc/symbols/src/_home_vagrant_ws_roslibjs_src_core_Topic.js.html
@@ -0,0 +1,149 @@
+<html><head><meta http-equiv="content-type" content="text/html; charset=utf-8"> <style>
+	.KEYW {color: #933;}
+	.COMM {color: #bbb; font-style: italic;}
+	.NUMB {color: #393;}
+	.STRN {color: #393;}
+	.REGX {color: #339;}
+	.line {border-right: 1px dotted #666; color: #666; font-style: normal;}
+	</style></head><body><pre><span class='line'>  1</span> <span class="COMM">/**
+<span class='line'>  2</span>  * @author Brandon Alexander - baalexander@gmail.com
+<span class='line'>  3</span>  */</span><span class="WHIT">
+<span class='line'>  4</span> 
+<span class='line'>  5</span> </span><span class="COMM">/**
+<span class='line'>  6</span>  * Publish and/or subscribe to a topic in ROS.
+<span class='line'>  7</span>  *
+<span class='line'>  8</span>  * Emits the following events:
+<span class='line'>  9</span>  *  * 'warning' - if there are any warning during the Topic creation
+<span class='line'> 10</span>  *  * 'message' - the message data from rosbridge
+<span class='line'> 11</span>  *
+<span class='line'> 12</span>  * @constructor
+<span class='line'> 13</span>  * @param options - object with following keys:
+<span class='line'> 14</span>  *   * ros - the ROSLIB.Ros connection handle
+<span class='line'> 15</span>  *   * name - the topic name, like /cmd_vel
+<span class='line'> 16</span>  *   * messageType - the message type, like 'std_msgs/String'
+<span class='line'> 17</span>  *   * compression - the type of compression to use, like 'png'
+<span class='line'> 18</span>  *   * throttle_rate - the rate at which to throttle the topics
+<span class='line'> 19</span>  */</span><span class="WHIT">
+<span class='line'> 20</span> </span><span class="NAME">ROSLIB.Topic</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">options</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 21</span> </span><span class="WHIT">  </span><span class="NAME">options</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 22</span> </span><span class="WHIT">  </span><span class="NAME">this.ros</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.ros</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 23</span> </span><span class="WHIT">  </span><span class="NAME">this.name</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.name</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 24</span> </span><span class="WHIT">  </span><span class="NAME">this.messageType</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.messageType</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 25</span> </span><span class="WHIT">  </span><span class="NAME">this.isAdvertised</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">false</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 26</span> </span><span class="WHIT">  </span><span class="NAME">this.compression</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.compression</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="STRN">'none'</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 27</span> </span><span class="WHIT">  </span><span class="NAME">this.throttle_rate</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.throttle_rate</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 28</span> 
+<span class='line'> 29</span> </span><span class="WHIT">  </span><span class="COMM">// Check for valid compression types</span><span class="WHIT">
+<span class='line'> 30</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">this.compression</span><span class="WHIT"> </span><span class="PUNC">&&</span><span class="WHIT"> </span><span class="NAME">this.compression</span><span class="WHIT"> </span><span class="PUNC">!==</span><span class="WHIT"> </span><span class="STRN">'png'</span><span class="WHIT"> </span><span class="PUNC">&&</span><span class="WHIT"> </span><span class="NAME">this.compression</span><span class="WHIT"> </span><span class="PUNC">!==</span><span class="WHIT"> </span><span class="STRN">'none'</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 31</span> </span><span class="WHIT">    </span><span class="NAME">this.emit</span><span class="PUNC">(</span><span class="STRN">'warning'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">this.compression</span><span class="WHIT">
+<span class='line'> 32</span> </span><span class="WHIT">        </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="STRN">' compression is not supported. No comression will be used.'</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 33</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
+<span class='line'> 34</span> 
+<span class='line'> 35</span> </span><span class="WHIT">  </span><span class="COMM">// Check if throttle rate is negative</span><span class="WHIT">
+<span class='line'> 36</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">this.throttle_rate</span><span class="WHIT"> </span><span class="PUNC">&lt;</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 37</span> </span><span class="WHIT">    </span><span class="NAME">this.emit</span><span class="PUNC">(</span><span class="STRN">'warning'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">this.throttle_rate</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="STRN">' is not allowed. Set to 0'</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 38</span> </span><span class="WHIT">    </span><span class="NAME">this.throttle_rate</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 39</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
+<span class='line'> 40</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 41</span> </span><span class="NAME">ROSLIB.Topic.prototype.__proto__</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">EventEmitter2.prototype</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 42</span> 
+<span class='line'> 43</span> </span><span class="COMM">/**
+<span class='line'> 44</span>  * Every time a message is published for the given topic, the callback
+<span class='line'> 45</span>  * will be called with the message object.
+<span class='line'> 46</span>  *
+<span class='line'> 47</span>  * @param callback - function with the following params:
+<span class='line'> 48</span>  *   * message - the published message
+<span class='line'> 49</span>  */</span><span class="WHIT">
+<span class='line'> 50</span> </span><span class="NAME">ROSLIB.Topic.prototype.subscribe</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">callback</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 51</span> </span><span class="WHIT">  </span><span class="NAME">this.on</span><span class="PUNC">(</span><span class="STRN">'message'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">message</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 52</span> </span><span class="WHIT">    </span><span class="NAME">callback</span><span class="PUNC">(</span><span class="NAME">message</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 53</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 54</span> 
+<span class='line'> 55</span> </span><span class="WHIT">  </span><span class="NAME">this.ros.on</span><span class="PUNC">(</span><span class="NAME">this.name</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">data</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 56</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">message</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Message</span><span class="PUNC">(</span><span class="NAME">data</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 57</span> </span><span class="WHIT">    </span><span class="NAME">this.emit</span><span class="PUNC">(</span><span class="STRN">'message'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">message</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 58</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 59</span> 
+<span class='line'> 60</span> </span><span class="WHIT">  </span><span class="NAME">this.ros.idCounter</span><span class="PUNC">++</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 61</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">subscribeId</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="STRN">'subscribe:'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.name</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="STRN">':'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.ros.idCounter</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 62</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">call</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 63</span> </span><span class="WHIT">    </span><span class="NAME">op</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'subscribe'</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'> 64</span> </span><span class="WHIT">    </span><span class="NAME">id</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">subscribeId</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'> 65</span> </span><span class="WHIT">    </span><span class="NAME">type</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.messageType</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'> 66</span> </span><span class="WHIT">    </span><span class="NAME">topic</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.name</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'> 67</span> </span><span class="WHIT">    </span><span class="NAME">compression</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.compression</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'> 68</span> </span><span class="WHIT">    </span><span class="NAME">throttle_rate</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.throttle_rate</span><span class="WHIT">
+<span class='line'> 69</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 70</span> 
+<span class='line'> 71</span> </span><span class="WHIT">  </span><span class="NAME">this.ros.callOnConnection</span><span class="PUNC">(</span><span class="NAME">call</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 72</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 73</span> 
+<span class='line'> 74</span> </span><span class="COMM">/**
+<span class='line'> 75</span>  * Unregisters as a subscriber for the topic. Unsubscribing will remove
+<span class='line'> 76</span>  * all subscribe callbacks.
+<span class='line'> 77</span>  */</span><span class="WHIT">
+<span class='line'> 78</span> </span><span class="NAME">ROSLIB.Topic.prototype.unsubscribe</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 79</span> </span><span class="WHIT">  </span><span class="NAME">this.ros.removeAllListeners</span><span class="PUNC">(</span><span class="PUNC">[</span><span class="NAME">this.name</span><span class="PUNC">]</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 80</span> </span><span class="WHIT">  </span><span class="NAME">this.ros.idCounter</span><span class="PUNC">++</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 81</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">unsubscribeId</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="STRN">'unsubscribe:'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.name</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="STRN">':'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.ros.idCounter</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 82</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">call</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 83</span> </span><span class="WHIT">    </span><span class="NAME">op</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'unsubscribe'</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'> 84</span> </span><span class="WHIT">    </span><span class="NAME">id</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">unsubscribeId</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'> 85</span> </span><span class="WHIT">    </span><span class="NAME">topic</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.name</span><span class="WHIT">
+<span class='line'> 86</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 87</span> </span><span class="WHIT">  </span><span class="NAME">this.ros.callOnConnection</span><span class="PUNC">(</span><span class="NAME">call</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 88</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 89</span> 
+<span class='line'> 90</span> </span><span class="COMM">/**
+<span class='line'> 91</span>  * Registers as a publisher for the topic.
+<span class='line'> 92</span>  */</span><span class="WHIT">
+<span class='line'> 93</span> </span><span class="NAME">ROSLIB.Topic.prototype.advertise</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 94</span> </span><span class="WHIT">  </span><span class="NAME">this.ros.idCounter</span><span class="PUNC">++</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 95</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">advertiseId</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="STRN">'advertise:'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.name</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="STRN">':'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.ros.idCounter</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 96</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">call</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 97</span> </span><span class="WHIT">    </span><span class="NAME">op</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'advertise'</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'> 98</span> </span><span class="WHIT">    </span><span class="NAME">id</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">advertiseId</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'> 99</span> </span><span class="WHIT">    </span><span class="NAME">type</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.messageType</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'>100</span> </span><span class="WHIT">    </span><span class="NAME">topic</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.name</span><span class="WHIT">
+<span class='line'>101</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>102</span> </span><span class="WHIT">  </span><span class="NAME">this.ros.callOnConnection</span><span class="PUNC">(</span><span class="NAME">call</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>103</span> </span><span class="WHIT">  </span><span class="NAME">this.isAdvertised</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">true</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>104</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>105</span> 
+<span class='line'>106</span> </span><span class="COMM">/**
+<span class='line'>107</span>  * Unregisters as a publisher for the topic.
+<span class='line'>108</span>  */</span><span class="WHIT">
+<span class='line'>109</span> </span><span class="NAME">ROSLIB.Topic.prototype.unadvertise</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>110</span> </span><span class="WHIT">  </span><span class="NAME">this.ros.idCounter</span><span class="PUNC">++</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>111</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">unadvertiseId</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="STRN">'unadvertise:'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.name</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="STRN">':'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.ros.idCounter</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>112</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">call</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>113</span> </span><span class="WHIT">    </span><span class="NAME">op</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'unadvertise'</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'>114</span> </span><span class="WHIT">    </span><span class="NAME">id</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">unadvertiseId</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'>115</span> </span><span class="WHIT">    </span><span class="NAME">topic</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.name</span><span class="WHIT">
+<span class='line'>116</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>117</span> </span><span class="WHIT">  </span><span class="NAME">this.ros.callOnConnection</span><span class="PUNC">(</span><span class="NAME">call</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>118</span> </span><span class="WHIT">  </span><span class="NAME">this.isAdvertised</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">false</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>119</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>120</span> 
+<span class='line'>121</span> </span><span class="COMM">/**
+<span class='line'>122</span>  * Publish the message.
+<span class='line'>123</span>  *
+<span class='line'>124</span>  * @param message - A ROSLIB.Message object.
+<span class='line'>125</span>  */</span><span class="WHIT">
+<span class='line'>126</span> </span><span class="NAME">ROSLIB.Topic.prototype.publish</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">message</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>127</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="PUNC">!</span><span class="NAME">this.isAdvertised</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>128</span> </span><span class="WHIT">    </span><span class="NAME">this.advertise</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>129</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
+<span class='line'>130</span> 
+<span class='line'>131</span> </span><span class="WHIT">  </span><span class="NAME">this.ros.idCounter</span><span class="PUNC">++</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>132</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">publishId</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="STRN">'publish:'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.name</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="STRN">':'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.ros.idCounter</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>133</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">call</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>134</span> </span><span class="WHIT">    </span><span class="NAME">op</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'publish'</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'>135</span> </span><span class="WHIT">    </span><span class="NAME">id</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">publishId</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'>136</span> </span><span class="WHIT">    </span><span class="NAME">topic</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.name</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'>137</span> </span><span class="WHIT">    </span><span class="NAME">msg</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">message</span><span class="WHIT">
+<span class='line'>138</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>139</span> </span><span class="WHIT">  </span><span class="NAME">this.ros.callOnConnection</span><span class="PUNC">(</span><span class="NAME">call</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>140</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>141</span> 
+<span class='line'>142</span> </span></pre></body></html>
\ No newline at end of file
diff --git a/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_math_Pose.js.html b/doc/symbols/src/_home_vagrant_ws_roslibjs_src_math_Pose.js.html
similarity index 61%
rename from doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_math_Pose.js.html
rename to doc/symbols/src/_home_vagrant_ws_roslibjs_src_math_Pose.js.html
index ccb28663d..312594eba 100644
--- a/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_math_Pose.js.html
+++ b/doc/symbols/src/_home_vagrant_ws_roslibjs_src_math_Pose.js.html
@@ -17,27 +17,27 @@
 <span class='line'> 10</span>  *  @param orientation - the ROSLIB.Quaternion describing the orientation
 <span class='line'> 11</span>  */</span><span class="WHIT">
 <span class='line'> 12</span> </span><span class="NAME">ROSLIB.Pose</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">position</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">orientation</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 13</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">pose</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 14</span> </span><span class="WHIT">  </span><span class="COMM">// copy the values into this object if they exist</span><span class="WHIT">
-<span class='line'> 15</span> </span><span class="WHIT">  </span><span class="NAME">this.position</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Vector3</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 16</span> </span><span class="WHIT">  </span><span class="NAME">this.orientation</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Quaternion</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 17</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">position</span><span class="WHIT"> </span><span class="PUNC">!==</span><span class="WHIT"> </span><span class="NAME">undefined</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 18</span> </span><span class="WHIT">    </span><span class="NAME">this.position.copy</span><span class="PUNC">(</span><span class="NAME">position</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 19</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
-<span class='line'> 20</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">orientation</span><span class="WHIT"> </span><span class="PUNC">!==</span><span class="WHIT"> </span><span class="NAME">undefined</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 21</span> </span><span class="WHIT">    </span><span class="NAME">this.orientation.copy</span><span class="PUNC">(</span><span class="NAME">orientation</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 22</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
+<span class='line'> 13</span> </span><span class="WHIT">  </span><span class="COMM">// Copy the values into this object if they exist</span><span class="WHIT">
+<span class='line'> 14</span> </span><span class="WHIT">  </span><span class="NAME">this.position</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Vector3</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 15</span> </span><span class="WHIT">  </span><span class="NAME">this.orientation</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Quaternion</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 16</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">position</span><span class="WHIT"> </span><span class="PUNC">!==</span><span class="WHIT"> </span><span class="NAME">undefined</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 17</span> </span><span class="WHIT">    </span><span class="NAME">this.position.copy</span><span class="PUNC">(</span><span class="NAME">position</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 18</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
+<span class='line'> 19</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">orientation</span><span class="WHIT"> </span><span class="PUNC">!==</span><span class="WHIT"> </span><span class="NAME">undefined</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 20</span> </span><span class="WHIT">    </span><span class="NAME">this.orientation.copy</span><span class="PUNC">(</span><span class="NAME">orientation</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 21</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
+<span class='line'> 22</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
 <span class='line'> 23</span> 
-<span class='line'> 24</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'> 25</span>    * Copy the values from the given pose into this pose.
-<span class='line'> 26</span>    * 
-<span class='line'> 27</span>    * @param pose the pose to copy
-<span class='line'> 28</span>    * @returns a pointer to this pose
-<span class='line'> 29</span>    */</span><span class="WHIT">
-<span class='line'> 30</span> </span><span class="WHIT">  </span><span class="NAME">this.copy</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">pose</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 31</span> </span><span class="WHIT">    </span><span class="NAME">pose.position.copy</span><span class="PUNC">(</span><span class="NAME">pose.position</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 32</span> </span><span class="WHIT">    </span><span class="NAME">pose.orientation.copy</span><span class="PUNC">(</span><span class="NAME">pose.orientation</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 33</span> </span><span class="WHIT">    </span><span class="KEYW">return</span><span class="WHIT"> </span><span class="NAME">pose</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 34</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 35</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 24</span> </span><span class="COMM">/**
+<span class='line'> 25</span>  * Copy the values from the given pose into this pose.
+<span class='line'> 26</span>  *
+<span class='line'> 27</span>  * @param pose the pose to copy
+<span class='line'> 28</span>  * @returns a pointer to this pose
+<span class='line'> 29</span>  */</span><span class="WHIT">
+<span class='line'> 30</span> </span><span class="NAME">ROSLIB.Pose.prototype.copy</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">pose</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 31</span> </span><span class="WHIT">  </span><span class="NAME">this.position.copy</span><span class="PUNC">(</span><span class="NAME">pose.position</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 32</span> </span><span class="WHIT">  </span><span class="NAME">this.orientation.copy</span><span class="PUNC">(</span><span class="NAME">pose.orientation</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 33</span> </span><span class="WHIT">  </span><span class="KEYW">return</span><span class="WHIT"> </span><span class="NAME">pose</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 34</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 35</span> 
 <span class='line'> 36</span> </span></pre></body></html>
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@@ -0,0 +1,135 @@
+<html><head><meta http-equiv="content-type" content="text/html; charset=utf-8"> <style>
+	.KEYW {color: #933;}
+	.COMM {color: #bbb; font-style: italic;}
+	.NUMB {color: #393;}
+	.STRN {color: #393;}
+	.REGX {color: #339;}
+	.line {border-right: 1px dotted #666; color: #666; font-style: normal;}
+	</style></head><body><pre><span class='line'>  1</span> <span class="COMM">/**
+<span class='line'>  2</span>  * @author David Gossow - dgossow@willowgarage.com
+<span class='line'>  3</span>  */</span><span class="WHIT">
+<span class='line'>  4</span> 
+<span class='line'>  5</span> </span><span class="COMM">/**
+<span class='line'>  6</span>  * A Quaternion.
+<span class='line'>  7</span>  *
+<span class='line'>  8</span>  *  @constructor
+<span class='line'>  9</span>  *  @param x - the x value 
+<span class='line'> 10</span>  *  @param y - the y value
+<span class='line'> 11</span>  *  @param z - the z value
+<span class='line'> 12</span>  *  @param w - the w value
+<span class='line'> 13</span>  */</span><span class="WHIT">
+<span class='line'> 14</span> </span><span class="NAME">ROSLIB.Quaternion</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">x</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">y</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">z</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">w</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 15</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">quaternion</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 16</span> </span><span class="WHIT">  </span><span class="NAME">this.x</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">x</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 17</span> </span><span class="WHIT">  </span><span class="NAME">this.y</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">y</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 18</span> </span><span class="WHIT">  </span><span class="NAME">this.z</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">z</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 19</span> </span><span class="WHIT">  </span><span class="NAME">this.w</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">w</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="NUMB">1</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 20</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 21</span> 
+<span class='line'> 22</span> </span><span class="COMM">/**
+<span class='line'> 23</span>  * Copy the values from the given quaternion into this quaternion.
+<span class='line'> 24</span>  *
+<span class='line'> 25</span>  * @param q the quaternion to copy
+<span class='line'> 26</span>  * @returns a pointer to this quaternion
+<span class='line'> 27</span>  */</span><span class="WHIT">
+<span class='line'> 28</span> </span><span class="NAME">ROSLIB.Quaternion.prototype.copy</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">q</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 29</span> </span><span class="WHIT">  </span><span class="NAME">this.x</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">q.x</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 30</span> </span><span class="WHIT">  </span><span class="NAME">this.y</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">q.y</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 31</span> </span><span class="WHIT">  </span><span class="NAME">this.z</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">q.z</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 32</span> </span><span class="WHIT">  </span><span class="NAME">this.w</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">q.w</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 33</span> </span><span class="WHIT">  </span><span class="KEYW">return</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 34</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 35</span> 
+<span class='line'> 36</span> </span><span class="COMM">/**
+<span class='line'> 37</span>  * Perform a conjugation on this quaternion.
+<span class='line'> 38</span>  *
+<span class='line'> 39</span>  * @returns a pointer to this quaternion
+<span class='line'> 40</span>  */</span><span class="WHIT">
+<span class='line'> 41</span> </span><span class="NAME">ROSLIB.Quaternion.prototype.conjugate</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 42</span> </span><span class="WHIT">  </span><span class="NAME">this.x</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NUMB">1</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 43</span> </span><span class="WHIT">  </span><span class="NAME">this.y</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NUMB">1</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 44</span> </span><span class="WHIT">  </span><span class="NAME">this.z</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NUMB">1</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 45</span> </span><span class="WHIT">  </span><span class="KEYW">return</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 46</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 47</span> 
+<span class='line'> 48</span> </span><span class="COMM">/**
+<span class='line'> 49</span>  * Perform a normalization on this quaternion.
+<span class='line'> 50</span>  *
+<span class='line'> 51</span>  * @returns a pointer to this quaternion
+<span class='line'> 52</span>  */</span><span class="WHIT">
+<span class='line'> 53</span> </span><span class="NAME">ROSLIB.Quaternion.prototype.normalize</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 54</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">l</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">Math.sqrt</span><span class="PUNC">(</span><span class="WHIT">
+<span class='line'> 55</span> </span><span class="WHIT">    </span><span class="NAME">this.x</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">this.x</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.y</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">this.y</span><span class="WHIT">
+<span class='line'> 56</span> </span><span class="WHIT">  </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.z</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">this.z</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">this.w</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">this.w</span><span class="WHIT">
+<span class='line'> 57</span> </span><span class="WHIT">  </span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 58</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">l</span><span class="WHIT"> </span><span class="PUNC">===</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 59</span> </span><span class="WHIT">    </span><span class="NAME">this.x</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 60</span> </span><span class="WHIT">    </span><span class="NAME">this.y</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 61</span> </span><span class="WHIT">    </span><span class="NAME">this.z</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 62</span> </span><span class="WHIT">    </span><span class="NAME">this.w</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NUMB">1</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 63</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT"> </span><span class="KEYW">else</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 64</span> </span><span class="WHIT">    </span><span class="NAME">l</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NUMB">1</span><span class="WHIT"> </span><span class="PUNC">/</span><span class="WHIT"> </span><span class="NAME">l</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 65</span> </span><span class="WHIT">    </span><span class="NAME">this.x</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">this.x</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">l</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 66</span> </span><span class="WHIT">    </span><span class="NAME">this.y</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">this.y</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">l</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 67</span> </span><span class="WHIT">    </span><span class="NAME">this.z</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">this.z</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">l</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 68</span> </span><span class="WHIT">    </span><span class="NAME">this.w</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">this.w</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">l</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 69</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
+<span class='line'> 70</span> </span><span class="WHIT">  </span><span class="KEYW">return</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 71</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 72</span> 
+<span class='line'> 73</span> </span><span class="COMM">/**
+<span class='line'> 74</span>  * Convert this quaternion into its inverse.
+<span class='line'> 75</span>  *
+<span class='line'> 76</span>  * @returns a pointer to this quaternion
+<span class='line'> 77</span>  */</span><span class="WHIT">
+<span class='line'> 78</span> </span><span class="NAME">ROSLIB.Quaternion.prototype.inverse</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 79</span> </span><span class="WHIT">  </span><span class="NAME">this.conjugate</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">.</span><span class="NAME">normalize</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 80</span> </span><span class="WHIT">  </span><span class="KEYW">return</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 81</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 82</span> 
+<span class='line'> 83</span> </span><span class="COMM">/**
+<span class='line'> 84</span>  * Set the values of this quaternion to the product of quaternions a and b.
+<span class='line'> 85</span>  *
+<span class='line'> 86</span>  * @param a the first quaternion to multiply with
+<span class='line'> 87</span>  * @param b the second quaternion to multiply with
+<span class='line'> 88</span>  * @returns a pointer to this quaternion
+<span class='line'> 89</span>  */</span><span class="WHIT">
+<span class='line'> 90</span> </span><span class="NAME">ROSLIB.Quaternion.prototype.multiply</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">a</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">b</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 91</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">qax</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">a.x</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">qay</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">a.y</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">qaz</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">a.z</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">qaw</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">a.w</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">qbx</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">b.x</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">qby</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">b.y</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">qbz</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">b.z</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">qbw</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">b.w</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 92</span> </span><span class="WHIT">  </span><span class="NAME">this.x</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">qax</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qbw</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">qay</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qbz</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">qaz</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qby</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">qaw</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qbx</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 93</span> </span><span class="WHIT">  </span><span class="NAME">this.y</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NAME">qax</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qbz</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">qay</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qbw</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">qaz</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qbx</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">qaw</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qby</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 94</span> </span><span class="WHIT">  </span><span class="NAME">this.z</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">qax</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qby</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">qay</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qbx</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">qaz</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qbw</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">qaw</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qbz</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 95</span> </span><span class="WHIT">  </span><span class="NAME">this.w</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NAME">qax</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qbx</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">qay</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qby</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">qaz</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qbz</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">qaw</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qbw</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 96</span> </span><span class="WHIT">  </span><span class="KEYW">return</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 97</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 98</span> 
+<span class='line'> 99</span> </span><span class="COMM">/**
+<span class='line'>100</span>  * Multiply the given ROSLIB.Vector3 with this quaternion.
+<span class='line'>101</span>  *
+<span class='line'>102</span>  * @param vector the vector to multiply with
+<span class='line'>103</span>  * @param dest (option) - where the computed values will go (defaults to 'vector').
+<span class='line'>104</span>  * @returns a pointer to dest
+<span class='line'>105</span>  */</span><span class="WHIT">
+<span class='line'>106</span> </span><span class="NAME">ROSLIB.Quaternion.prototype.multiplyVec3</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">vector</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">dest</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>107</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="PUNC">!</span><span class="NAME">dest</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>108</span> </span><span class="WHIT">    </span><span class="NAME">dest</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">vector</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>109</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
+<span class='line'>110</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">x</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">vector.x</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">y</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">vector.y</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">z</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">vector.z</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">qx</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">this.x</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">qy</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">this.y</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">qz</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">this.z</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">qw</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">this.w</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>111</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">ix</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">qw</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">x</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">qy</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">z</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">qz</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">y</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">iy</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">qw</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">y</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">qz</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">x</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">qx</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">z</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">iz</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">qw</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">z</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">qx</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">y</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">qy</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">x</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">iw</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NAME">qx</span><span class="WHIT">
+<span class='line'>112</span> </span><span class="WHIT">      </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">x</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">qy</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">y</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">qz</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">z</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>113</span> </span><span class="WHIT">  </span><span class="NAME">dest.x</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">ix</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qw</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">iw</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NAME">qx</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">iy</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NAME">qz</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">iz</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NAME">qy</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>114</span> </span><span class="WHIT">  </span><span class="NAME">dest.y</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">iy</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qw</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">iw</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NAME">qy</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">iz</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NAME">qx</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">ix</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NAME">qz</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>115</span> </span><span class="WHIT">  </span><span class="NAME">dest.z</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">iz</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qw</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">iw</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NAME">qz</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">ix</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NAME">qy</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">iy</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NAME">qx</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>116</span> </span><span class="WHIT">  </span><span class="KEYW">return</span><span class="WHIT"> </span><span class="NAME">dest</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>117</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>118</span> 
+<span class='line'>119</span> </span><span class="COMM">/**
+<span class='line'>120</span>  * Clone a copy of this quaternion.
+<span class='line'>121</span>  *
+<span class='line'>122</span>  * @returns the cloned quaternion
+<span class='line'>123</span>  */</span><span class="WHIT">
+<span class='line'>124</span> </span><span class="NAME">ROSLIB.Quaternion.prototype.clone</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>125</span> </span><span class="WHIT">  </span><span class="KEYW">return</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Quaternion</span><span class="PUNC">(</span><span class="NAME">this.x</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">this.y</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">this.z</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">this.w</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>126</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>127</span> 
+<span class='line'>128</span> </span></pre></body></html>
\ No newline at end of file
diff --git a/doc/symbols/src/_home_vagrant_ws_roslibjs_src_math_Vector3.js.html b/doc/symbols/src/_home_vagrant_ws_roslibjs_src_math_Vector3.js.html
new file mode 100644
index 000000000..41493534f
--- /dev/null
+++ b/doc/symbols/src/_home_vagrant_ws_roslibjs_src_math_Vector3.js.html
@@ -0,0 +1,76 @@
+<html><head><meta http-equiv="content-type" content="text/html; charset=utf-8"> <style>
+	.KEYW {color: #933;}
+	.COMM {color: #bbb; font-style: italic;}
+	.NUMB {color: #393;}
+	.STRN {color: #393;}
+	.REGX {color: #339;}
+	.line {border-right: 1px dotted #666; color: #666; font-style: normal;}
+	</style></head><body><pre><span class='line'>  1</span> <span class="COMM">/**
+<span class='line'>  2</span>  * @author David Gossow - dgossow@willowgarage.com
+<span class='line'>  3</span>  */</span><span class="WHIT">
+<span class='line'>  4</span> 
+<span class='line'>  5</span> </span><span class="COMM">/**
+<span class='line'>  6</span>  * A 3D vector.
+<span class='line'>  7</span>  *
+<span class='line'>  8</span>  *  @constructor
+<span class='line'>  9</span>  *  @param x - the x value 
+<span class='line'> 10</span>  *  @param y - the y value
+<span class='line'> 11</span>  *  @param z - the z value
+<span class='line'> 12</span>  */</span><span class="WHIT">
+<span class='line'> 13</span> </span><span class="NAME">ROSLIB.Vector3</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">x</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">y</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">z</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 14</span> </span><span class="WHIT">  </span><span class="NAME">this.x</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">x</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 15</span> </span><span class="WHIT">  </span><span class="NAME">this.y</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">y</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 16</span> </span><span class="WHIT">  </span><span class="NAME">this.z</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">z</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 17</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 18</span> 
+<span class='line'> 19</span> </span><span class="COMM">/**
+<span class='line'> 20</span>  * Copy the values from the given vector into this vector.
+<span class='line'> 21</span>  *
+<span class='line'> 22</span>  * @param v the vector to copy
+<span class='line'> 23</span>  * @returns a pointer to this vector
+<span class='line'> 24</span>  */</span><span class="WHIT">
+<span class='line'> 25</span> </span><span class="NAME">ROSLIB.Vector3.prototype.copy</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">v</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 26</span> </span><span class="WHIT">  </span><span class="NAME">this.x</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">v.x</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 27</span> </span><span class="WHIT">  </span><span class="NAME">this.y</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">v.y</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 28</span> </span><span class="WHIT">  </span><span class="NAME">this.z</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">v.z</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 29</span> </span><span class="WHIT">  </span><span class="KEYW">return</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 30</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 31</span> 
+<span class='line'> 32</span> </span><span class="COMM">/**
+<span class='line'> 33</span>  * Set the values of this vector to the sum of vectors a and b.
+<span class='line'> 34</span>  *
+<span class='line'> 35</span>  * @param a the first vector to add with
+<span class='line'> 36</span>  * @param b the second vector to add with
+<span class='line'> 37</span>  * @returns a pointer to this vector
+<span class='line'> 38</span>  */</span><span class="WHIT">
+<span class='line'> 39</span> </span><span class="NAME">ROSLIB.Vector3.prototype.add</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">a</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">b</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 40</span> </span><span class="WHIT">  </span><span class="NAME">this.x</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">a.x</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">b.x</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 41</span> </span><span class="WHIT">  </span><span class="NAME">this.y</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">a.y</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">b.y</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 42</span> </span><span class="WHIT">  </span><span class="NAME">this.z</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">a.z</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">b.z</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 43</span> </span><span class="WHIT">  </span><span class="KEYW">return</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 44</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 45</span> 
+<span class='line'> 46</span> </span><span class="COMM">/**
+<span class='line'> 47</span>  * Set the values of this vector to the difference of vectors a and b.
+<span class='line'> 48</span>  *
+<span class='line'> 49</span>  * @param a the first vector to add with
+<span class='line'> 50</span>  * @param b the second vector to add with
+<span class='line'> 51</span>  * @returns a pointer to this vector
+<span class='line'> 52</span>  */</span><span class="WHIT">
+<span class='line'> 53</span> </span><span class="NAME">ROSLIB.Vector3.prototype.sub</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">a</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">b</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 54</span> </span><span class="WHIT">  </span><span class="NAME">this.x</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">a.x</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">b.x</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 55</span> </span><span class="WHIT">  </span><span class="NAME">this.y</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">a.y</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">b.y</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 56</span> </span><span class="WHIT">  </span><span class="NAME">this.z</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">a.z</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">b.z</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 57</span> </span><span class="WHIT">  </span><span class="KEYW">return</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 58</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 59</span> 
+<span class='line'> 60</span> </span><span class="COMM">/**
+<span class='line'> 61</span>  * Clone a copy of this vector.
+<span class='line'> 62</span>  *
+<span class='line'> 63</span>  * @returns the cloned vector
+<span class='line'> 64</span>  */</span><span class="WHIT">
+<span class='line'> 65</span> </span><span class="NAME">ROSLIB.Vector3.prototype.clone</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 66</span> </span><span class="WHIT">  </span><span class="KEYW">return</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Vector3</span><span class="PUNC">(</span><span class="NAME">this.x</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">this.y</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">this.z</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 67</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 68</span> 
+<span class='line'> 69</span> </span></pre></body></html>
\ No newline at end of file
diff --git a/doc/symbols/src/_home_vagrant_ws_roslibjs_src_tf_TFClient.js.html b/doc/symbols/src/_home_vagrant_ws_roslibjs_src_tf_TFClient.js.html
new file mode 100644
index 000000000..f414a50ec
--- /dev/null
+++ b/doc/symbols/src/_home_vagrant_ws_roslibjs_src_tf_TFClient.js.html
@@ -0,0 +1,147 @@
+<html><head><meta http-equiv="content-type" content="text/html; charset=utf-8"> <style>
+	.KEYW {color: #933;}
+	.COMM {color: #bbb; font-style: italic;}
+	.NUMB {color: #393;}
+	.STRN {color: #393;}
+	.REGX {color: #339;}
+	.line {border-right: 1px dotted #666; color: #666; font-style: normal;}
+	</style></head><body><pre><span class='line'>  1</span> <span class="COMM">/**
+<span class='line'>  2</span>  * @author David Gossow - dgossow@willowgarage.com
+<span class='line'>  3</span>  */</span><span class="WHIT">
+<span class='line'>  4</span> 
+<span class='line'>  5</span> </span><span class="COMM">/**
+<span class='line'>  6</span>  * A TF Client that listens to TFs from tf2_web_republisher.
+<span class='line'>  7</span>  *
+<span class='line'>  8</span>  *  @constructor
+<span class='line'>  9</span>  *  @param options - object with following keys:
+<span class='line'> 10</span>  *   * ros - the ROSLIB.Ros connection handle
+<span class='line'> 11</span>  *   * fixedFrame - the fixed frame, like /base_link
+<span class='line'> 12</span>  *   * angularThres - the angular threshold for the TF republisher
+<span class='line'> 13</span>  *   * transThres - the translation threshold for the TF republisher
+<span class='line'> 14</span>  *   * rate - the rate for the TF republisher
+<span class='line'> 15</span>  *   * goalUpdateDelay - the goal update delay for the TF republisher
+<span class='line'> 16</span>  */</span><span class="WHIT">
+<span class='line'> 17</span> </span><span class="NAME">ROSLIB.TFClient</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">options</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 18</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">options</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 19</span> </span><span class="WHIT">  </span><span class="NAME">this.ros</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.ros</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 20</span> </span><span class="WHIT">  </span><span class="NAME">this.fixedFrame</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.fixedFrame</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="STRN">'/base_link'</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 21</span> </span><span class="WHIT">  </span><span class="NAME">this.angularThres</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.angularThres</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="NUMB">2.0</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 22</span> </span><span class="WHIT">  </span><span class="NAME">this.transThres</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.transThres</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="NUMB">0.01</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 23</span> </span><span class="WHIT">  </span><span class="NAME">this.rate</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.rate</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="NUMB">10.0</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 24</span> </span><span class="WHIT">  </span><span class="NAME">this.goalUpdateDelay</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.goalUpdateDelay</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="NUMB">50</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 25</span> 
+<span class='line'> 26</span> </span><span class="WHIT">  </span><span class="NAME">this.currentGoal</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">false</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 27</span> </span><span class="WHIT">  </span><span class="NAME">this.frameInfos</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 28</span> </span><span class="WHIT">  </span><span class="NAME">this.goalUpdateRequested</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">false</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 29</span> 
+<span class='line'> 30</span> </span><span class="WHIT">  </span><span class="COMM">// Create an ActionClient</span><span class="WHIT">
+<span class='line'> 31</span> </span><span class="WHIT">  </span><span class="NAME">this.actionClient</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.ActionClient</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 32</span> </span><span class="WHIT">    </span><span class="NAME">ros</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.ros</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'> 33</span> </span><span class="WHIT">    </span><span class="NAME">serverName</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'/tf2_web_republisher'</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'> 34</span> </span><span class="WHIT">    </span><span class="NAME">actionName</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'tf2_web_republisher/TFSubscriptionAction'</span><span class="WHIT">
+<span class='line'> 35</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 36</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 37</span> 
+<span class='line'> 38</span> </span><span class="COMM">/**
+<span class='line'> 39</span>  * Process the incoming TF message and send them out using the callback
+<span class='line'> 40</span>  * functions.
+<span class='line'> 41</span>  *
+<span class='line'> 42</span>  * @param tf - the TF message from the server
+<span class='line'> 43</span>  */</span><span class="WHIT">
+<span class='line'> 44</span> </span><span class="NAME">ROSLIB.TFClient.prototype.processFeedback</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">tf</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 45</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">that</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 46</span> </span><span class="WHIT">  </span><span class="NAME">tf.transforms.forEach</span><span class="PUNC">(</span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">transform</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 47</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">frameID</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">transform.child_frame_id</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 48</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">info</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">that.frameInfos</span><span class="PUNC">[</span><span class="NAME">frameID</span><span class="PUNC">]</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 49</span> </span><span class="WHIT">    </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">info</span><span class="WHIT"> </span><span class="PUNC">!=</span><span class="WHIT"> </span><span class="NAME">undefined</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 50</span> </span><span class="WHIT">      </span><span class="NAME">info.transform</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Transform</span><span class="PUNC">(</span><span class="NAME">transform.transform.translation</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'> 51</span> </span><span class="WHIT">        </span><span class="NAME">transform.transform.rotation</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 52</span> </span><span class="WHIT">      </span><span class="NAME">info.cbs.forEach</span><span class="PUNC">(</span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">cb</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 53</span> </span><span class="WHIT">        </span><span class="NAME">cb</span><span class="PUNC">(</span><span class="NAME">info.transform</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 54</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 55</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="WHIT">
+<span class='line'> 56</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 57</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 58</span> 
+<span class='line'> 59</span> </span><span class="COMM">/**
+<span class='line'> 60</span>  * Create and send a new goal to the tf2_web_republisher based on the current
+<span class='line'> 61</span>  * list of TFs.
+<span class='line'> 62</span>  */</span><span class="WHIT">
+<span class='line'> 63</span> </span><span class="NAME">ROSLIB.TFClient.prototype.updateGoal</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 64</span> </span><span class="WHIT">  </span><span class="COMM">// Anytime the list of frames changes, we will need to send a new goal.</span><span class="WHIT">
+<span class='line'> 65</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">this.currentGoal</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 66</span> </span><span class="WHIT">    </span><span class="NAME">this.currentGoal.cancel</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 67</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
+<span class='line'> 68</span> 
+<span class='line'> 69</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">goalMessage</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 70</span> </span><span class="WHIT">    </span><span class="NAME">source_frames</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="PUNC">[</span><span class="PUNC">]</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'> 71</span> </span><span class="WHIT">    </span><span class="NAME">target_frame</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.fixedFrame</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'> 72</span> </span><span class="WHIT">    </span><span class="NAME">angular_thres</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.angularThres</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'> 73</span> </span><span class="WHIT">    </span><span class="NAME">trans_thres</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.transThres</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'> 74</span> </span><span class="WHIT">    </span><span class="NAME">rate</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.rate</span><span class="WHIT">
+<span class='line'> 75</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 76</span> 
+<span class='line'> 77</span> </span><span class="WHIT">  </span><span class="KEYW">for</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">frame</span><span class="WHIT"> </span><span class="KEYW">in</span><span class="WHIT"> </span><span class="NAME">this.frameInfos</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 78</span> </span><span class="WHIT">    </span><span class="NAME">goalMessage.source_frames.push</span><span class="PUNC">(</span><span class="NAME">frame</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 79</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
+<span class='line'> 80</span> 
+<span class='line'> 81</span> </span><span class="WHIT">  </span><span class="NAME">this.currentGoal</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Goal</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 82</span> </span><span class="WHIT">    </span><span class="NAME">actionClient</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.actionClient</span><span class="PUNC">,</span><span class="WHIT">
+<span class='line'> 83</span> </span><span class="WHIT">    </span><span class="NAME">goalMessage</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">goalMessage</span><span class="WHIT">
+<span class='line'> 84</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 85</span> </span><span class="WHIT">  </span><span class="NAME">this.currentGoal.on</span><span class="PUNC">(</span><span class="STRN">'feedback'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">this.processFeedback.bind</span><span class="PUNC">(</span><span class="KEYW">this</span><span class="PUNC">)</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 86</span> </span><span class="WHIT">  </span><span class="NAME">this.currentGoal.send</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 87</span> </span><span class="WHIT">  </span><span class="NAME">this.goalUpdateRequested</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">false</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 88</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 89</span> 
+<span class='line'> 90</span> </span><span class="COMM">/**
+<span class='line'> 91</span>  * Subscribe to the given TF frame.
+<span class='line'> 92</span>  *
+<span class='line'> 93</span>  * @param frameID - the TF frame to subscribe to
+<span class='line'> 94</span>  * @param callback - function with params:
+<span class='line'> 95</span>  *   * transform - the transform data
+<span class='line'> 96</span>  */</span><span class="WHIT">
+<span class='line'> 97</span> </span><span class="NAME">ROSLIB.TFClient.prototype.subscribe</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">frameID</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">callback</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 98</span> </span><span class="WHIT">  </span><span class="COMM">// make sure the frame id is relative</span><span class="WHIT">
+<span class='line'> 99</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">frameID</span><span class="PUNC">[</span><span class="NUMB">0</span><span class="PUNC">]</span><span class="WHIT"> </span><span class="PUNC">===</span><span class="WHIT"> </span><span class="STRN">'/'</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>100</span> </span><span class="WHIT">    </span><span class="NAME">frameID</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">frameID.substring</span><span class="PUNC">(</span><span class="NUMB">1</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>101</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
+<span class='line'>102</span> </span><span class="WHIT">  </span><span class="COMM">// if there is no callback registered for the given frame, create emtpy callback list</span><span class="WHIT">
+<span class='line'>103</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">this.frameInfos</span><span class="PUNC">[</span><span class="NAME">frameID</span><span class="PUNC">]</span><span class="WHIT"> </span><span class="PUNC">==</span><span class="WHIT"> </span><span class="NAME">undefined</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>104</span> </span><span class="WHIT">    </span><span class="NAME">this.frameInfos</span><span class="PUNC">[</span><span class="NAME">frameID</span><span class="PUNC">]</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>105</span> </span><span class="WHIT">      </span><span class="NAME">cbs</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="PUNC">[</span><span class="PUNC">]</span><span class="WHIT">
+<span class='line'>106</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>107</span> </span><span class="WHIT">    </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="PUNC">!</span><span class="NAME">this.goalUpdateRequested</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>108</span> </span><span class="WHIT">      </span><span class="NAME">setTimeout</span><span class="PUNC">(</span><span class="NAME">this.updateGoal.bind</span><span class="PUNC">(</span><span class="NAME">tfClient</span><span class="PUNC">)</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">this.goalUpdateDelay</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>109</span> </span><span class="WHIT">      </span><span class="NAME">this.goalUpdateRequested</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">true</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>110</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="WHIT">
+<span class='line'>111</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT"> </span><span class="KEYW">else</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>112</span> </span><span class="WHIT">    </span><span class="COMM">// if we already have a transform, call back immediately</span><span class="WHIT">
+<span class='line'>113</span> </span><span class="WHIT">    </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">this.frameInfos</span><span class="PUNC">[</span><span class="NAME">frameID</span><span class="PUNC">]</span><span class="PUNC">.</span><span class="NAME">transform</span><span class="WHIT"> </span><span class="PUNC">!=</span><span class="WHIT"> </span><span class="NAME">undefined</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>114</span> </span><span class="WHIT">      </span><span class="NAME">callback</span><span class="PUNC">(</span><span class="NAME">this.frameInfos</span><span class="PUNC">[</span><span class="NAME">frameID</span><span class="PUNC">]</span><span class="PUNC">.</span><span class="NAME">transform</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>115</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="WHIT">
+<span class='line'>116</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
+<span class='line'>117</span> </span><span class="WHIT">  </span><span class="NAME">this.frameInfos</span><span class="PUNC">[</span><span class="NAME">frameID</span><span class="PUNC">]</span><span class="PUNC">.</span><span class="NAME">cbs.push</span><span class="PUNC">(</span><span class="NAME">callback</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>118</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>119</span> 
+<span class='line'>120</span> </span><span class="COMM">/**
+<span class='line'>121</span>  * Unsubscribe from the given TF frame.
+<span class='line'>122</span>  *
+<span class='line'>123</span>  * @param frameID - the TF frame to unsubscribe from
+<span class='line'>124</span>  * @param callback - the callback function to remove
+<span class='line'>125</span>  */</span><span class="WHIT">
+<span class='line'>126</span> </span><span class="NAME">ROSLIB.TFClient.prototype.unsubscribe</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">frameID</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">callback</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>127</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">info</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">this.frameInfos</span><span class="PUNC">[</span><span class="NAME">frameID</span><span class="PUNC">]</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>128</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">info</span><span class="WHIT"> </span><span class="PUNC">!=</span><span class="WHIT"> </span><span class="NAME">undefined</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>129</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">cbIndex</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">info.cbs.indexOf</span><span class="PUNC">(</span><span class="NAME">callback</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>130</span> </span><span class="WHIT">    </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">cbIndex</span><span class="WHIT"> </span><span class="PUNC">>=</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>131</span> </span><span class="WHIT">      </span><span class="NAME">info.cbs.splice</span><span class="PUNC">(</span><span class="NAME">cbIndex</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NUMB">1</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>132</span> </span><span class="WHIT">      </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">info.cbs.length</span><span class="WHIT"> </span><span class="PUNC">==</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'>133</span> </span><span class="WHIT">        </span><span class="KEYW">delete</span><span class="WHIT"> </span><span class="NAME">this.frameInfos</span><span class="PUNC">[</span><span class="NAME">frameID</span><span class="PUNC">]</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>134</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="WHIT">
+<span class='line'>135</span> </span><span class="WHIT">      </span><span class="NAME">this.needUpdate</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">true</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>136</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="WHIT">
+<span class='line'>137</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
+<span class='line'>138</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'>139</span> 
+<span class='line'>140</span> </span></pre></body></html>
\ No newline at end of file
diff --git a/doc/symbols/src/_home_vagrant_ws_roslibjs_src_tf_Transform.js.html b/doc/symbols/src/_home_vagrant_ws_roslibjs_src_tf_Transform.js.html
new file mode 100644
index 000000000..72d441f5c
--- /dev/null
+++ b/doc/symbols/src/_home_vagrant_ws_roslibjs_src_tf_Transform.js.html
@@ -0,0 +1,69 @@
+<html><head><meta http-equiv="content-type" content="text/html; charset=utf-8"> <style>
+	.KEYW {color: #933;}
+	.COMM {color: #bbb; font-style: italic;}
+	.NUMB {color: #393;}
+	.STRN {color: #393;}
+	.REGX {color: #339;}
+	.line {border-right: 1px dotted #666; color: #666; font-style: normal;}
+	</style></head><body><pre><span class='line'>  1</span> <span class="COMM">/**
+<span class='line'>  2</span>  * @author David Gossow - dgossow@willowgarage.com
+<span class='line'>  3</span>  */</span><span class="WHIT">
+<span class='line'>  4</span> 
+<span class='line'>  5</span> </span><span class="COMM">/**
+<span class='line'>  6</span>  * A Transform in 3-space. Values are copied into this object.
+<span class='line'>  7</span>  *
+<span class='line'>  8</span>  *  @constructor
+<span class='line'>  9</span>  *  @param translation - the ROSLIB.Vector3 describing the translation
+<span class='line'> 10</span>  *  @param rotation - the ROSLIB.Quaternion describing the rotation
+<span class='line'> 11</span>  */</span><span class="WHIT">
+<span class='line'> 12</span> </span><span class="NAME">ROSLIB.Transform</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">translation</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">rotation</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 13</span> </span><span class="WHIT">  </span><span class="NAME">this.translation</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Vector3</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 14</span> </span><span class="WHIT">  </span><span class="NAME">this.rotation</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Quaternion</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 15</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">translation</span><span class="WHIT"> </span><span class="PUNC">!==</span><span class="WHIT"> </span><span class="NAME">undefined</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 16</span> </span><span class="WHIT">    </span><span class="NAME">this.translation.copy</span><span class="PUNC">(</span><span class="NAME">translation</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 17</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
+<span class='line'> 18</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">rotation</span><span class="WHIT"> </span><span class="PUNC">!==</span><span class="WHIT"> </span><span class="NAME">undefined</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 19</span> </span><span class="WHIT">    </span><span class="NAME">this.rotation.copy</span><span class="PUNC">(</span><span class="NAME">rotation</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 20</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
+<span class='line'> 21</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 22</span> 
+<span class='line'> 23</span> </span><span class="COMM">/**
+<span class='line'> 24</span>  * Apply a transform against the given ROSLIB.Pose.
+<span class='line'> 25</span>  *
+<span class='line'> 26</span>  * @param pose the pose to transform with
+<span class='line'> 27</span>  * @returns a pointer to the pose
+<span class='line'> 28</span>  */</span><span class="WHIT">
+<span class='line'> 29</span> </span><span class="NAME">ROSLIB.Transform.prototype.apply</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">pose</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 30</span> </span><span class="WHIT">  </span><span class="NAME">this.rotation.multiplyVec3</span><span class="PUNC">(</span><span class="NAME">pose.position</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 31</span> </span><span class="WHIT">  </span><span class="NAME">pose.position.add</span><span class="PUNC">(</span><span class="NAME">pose.position</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">this.translation</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 32</span> </span><span class="WHIT">  </span><span class="NAME">pose.orientation.multiply</span><span class="PUNC">(</span><span class="NAME">this.rotation</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">pose.orientation</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 33</span> </span><span class="WHIT">  </span><span class="KEYW">return</span><span class="WHIT"> </span><span class="NAME">pose</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 34</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 35</span> 
+<span class='line'> 36</span> </span><span class="COMM">/**
+<span class='line'> 37</span>  * Apply an inverse transform against the given ROSLIB.Pose.
+<span class='line'> 38</span>  *
+<span class='line'> 39</span>  * @param pose the pose to transform with
+<span class='line'> 40</span>  * @returns a pointer to the pose
+<span class='line'> 41</span>  */</span><span class="WHIT">
+<span class='line'> 42</span> </span><span class="NAME">ROSLIB.Transform.prototype.applyInverse</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">pose</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 43</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">rotInv</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">this.rotation.clone</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">.</span><span class="NAME">inverse</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 44</span> </span><span class="WHIT">  </span><span class="NAME">rotInv.multiplyVec3</span><span class="PUNC">(</span><span class="NAME">pose.position</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 45</span> </span><span class="WHIT">  </span><span class="NAME">pose.position.sub</span><span class="PUNC">(</span><span class="NAME">pose.position</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">this.translation</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 46</span> </span><span class="WHIT">  </span><span class="NAME">pose.orientation.multiply</span><span class="PUNC">(</span><span class="NAME">rotInv</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">pose.orientation</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 47</span> </span><span class="WHIT">  </span><span class="KEYW">return</span><span class="WHIT"> </span><span class="NAME">pose</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 48</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 49</span> 
+<span class='line'> 50</span> </span><span class="COMM">/**
+<span class='line'> 51</span>  * Copy the values from the given transform into this transform.
+<span class='line'> 52</span>  *
+<span class='line'> 53</span>  * @param transform the transform to copy
+<span class='line'> 54</span>  * @returns a pointer to this transform
+<span class='line'> 55</span>  */</span><span class="WHIT">
+<span class='line'> 56</span> </span><span class="NAME">ROSLIB.Transform.prototype.copy</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">transform</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
+<span class='line'> 57</span> </span><span class="WHIT">  </span><span class="NAME">transform.translation.copy</span><span class="PUNC">(</span><span class="NAME">transform.translation</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 58</span> </span><span class="WHIT">  </span><span class="NAME">transform.rotation.copy</span><span class="PUNC">(</span><span class="NAME">transform.rotation</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 59</span> </span><span class="WHIT">  </span><span class="KEYW">return</span><span class="WHIT"> </span><span class="NAME">transform</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 60</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
+<span class='line'> 61</span> 
+<span class='line'> 62</span> </span></pre></body></html>
\ No newline at end of file
diff --git a/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_core_Param.js.html b/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_core_Param.js.html
deleted file mode 100644
index 8a7bb1dc9..000000000
--- a/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_core_Param.js.html
+++ /dev/null
@@ -1,71 +0,0 @@
-<html><head><meta http-equiv="content-type" content="text/html; charset=utf-8"> <style>
-	.KEYW {color: #933;}
-	.COMM {color: #bbb; font-style: italic;}
-	.NUMB {color: #393;}
-	.STRN {color: #393;}
-	.REGX {color: #339;}
-	.line {border-right: 1px dotted #666; color: #666; font-style: normal;}
-	</style></head><body><pre><span class='line'>  1</span> <span class="COMM">/**
-<span class='line'>  2</span>  * @author Brandon Alexander - balexander@willowgarage.com
-<span class='line'>  3</span>  */</span><span class="WHIT">
-<span class='line'>  4</span> 
-<span class='line'>  5</span> </span><span class="COMM">/**
-<span class='line'>  6</span>  * A ROS parameter.
-<span class='line'>  7</span>  *
-<span class='line'>  8</span>  * @constructor
-<span class='line'>  9</span>  * @param options - possible keys include:
-<span class='line'> 10</span>  *   * ros - the ROSLIB.Ros connection handle
-<span class='line'> 11</span>  *   * name - the param name, like max_vel_x
-<span class='line'> 12</span>  */</span><span class="WHIT">
-<span class='line'> 13</span> </span><span class="NAME">ROSLIB.Param</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">options</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 14</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">param</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 15</span> </span><span class="WHIT">  </span><span class="NAME">options</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 16</span> </span><span class="WHIT">  </span><span class="NAME">this.ros</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.ros</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 17</span> </span><span class="WHIT">  </span><span class="NAME">this.name</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.name</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 18</span> 
-<span class='line'> 19</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'> 20</span>    * Fetches the value of the param.
-<span class='line'> 21</span>    *
-<span class='line'> 22</span>    * @param callback - function with the following params:
-<span class='line'> 23</span>    *  * value - the value of the param from ROS.
-<span class='line'> 24</span>    */</span><span class="WHIT">
-<span class='line'> 25</span> </span><span class="WHIT">  </span><span class="NAME">this.get</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">callback</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 26</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">paramClient</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Service</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 27</span> </span><span class="WHIT">      </span><span class="NAME">ros</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">param.ros</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'> 28</span> </span><span class="WHIT">      </span><span class="NAME">name</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'/rosapi/get_param'</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'> 29</span> </span><span class="WHIT">      </span><span class="NAME">serviceType</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'rosapi/GetParam'</span><span class="WHIT">
-<span class='line'> 30</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 31</span> 
-<span class='line'> 32</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">request</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.ServiceRequest</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 33</span> </span><span class="WHIT">      </span><span class="NAME">name</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">param.name</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'> 34</span> </span><span class="WHIT">      </span><span class="NAME">value</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">JSON.stringify</span><span class="PUNC">(</span><span class="STRN">''</span><span class="PUNC">)</span><span class="WHIT">
-<span class='line'> 35</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 36</span> 
-<span class='line'> 37</span> </span><span class="WHIT">    </span><span class="NAME">paramClient.callService</span><span class="PUNC">(</span><span class="NAME">request</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">result</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 38</span> </span><span class="WHIT">      </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">value</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">JSON.parse</span><span class="PUNC">(</span><span class="NAME">result.value</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 39</span> </span><span class="WHIT">      </span><span class="NAME">callback</span><span class="PUNC">(</span><span class="NAME">value</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 40</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 41</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 42</span> 
-<span class='line'> 43</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'> 44</span>    * Sets the value of the param in ROS.
-<span class='line'> 45</span>    *
-<span class='line'> 46</span>    * @param value - value to set param to.
-<span class='line'> 47</span>    */</span><span class="WHIT">
-<span class='line'> 48</span> </span><span class="WHIT">  </span><span class="NAME">this.set</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">value</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 49</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">paramClient</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Service</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 50</span> </span><span class="WHIT">      </span><span class="NAME">ros</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">param.ros</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'> 51</span> </span><span class="WHIT">      </span><span class="NAME">name</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'/rosapi/set_param'</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'> 52</span> </span><span class="WHIT">      </span><span class="NAME">serviceType</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'rosapi/SetParam'</span><span class="WHIT">
-<span class='line'> 53</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 54</span> 
-<span class='line'> 55</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">request</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.ServiceRequest</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 56</span> </span><span class="WHIT">      </span><span class="NAME">name</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">param.name</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'> 57</span> </span><span class="WHIT">      </span><span class="NAME">value</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">JSON.stringify</span><span class="PUNC">(</span><span class="NAME">value</span><span class="PUNC">)</span><span class="WHIT">
-<span class='line'> 58</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 59</span> 
-<span class='line'> 60</span> </span><span class="WHIT">    </span><span class="NAME">paramClient.callService</span><span class="PUNC">(</span><span class="NAME">request</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 61</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 62</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 63</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 64</span> </span></pre></body></html>
\ No newline at end of file
diff --git a/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_core_Ros.js.html b/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_core_Ros.js.html
deleted file mode 100644
index 2fc7e766d..000000000
--- a/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_core_Ros.js.html
+++ /dev/null
@@ -1,249 +0,0 @@
-<html><head><meta http-equiv="content-type" content="text/html; charset=utf-8"> <style>
-	.KEYW {color: #933;}
-	.COMM {color: #bbb; font-style: italic;}
-	.NUMB {color: #393;}
-	.STRN {color: #393;}
-	.REGX {color: #339;}
-	.line {border-right: 1px dotted #666; color: #666; font-style: normal;}
-	</style></head><body><pre><span class='line'>  1</span> <span class="COMM">/**
-<span class='line'>  2</span>  * @author Brandon Alexander - balexander@willowgarage.com
-<span class='line'>  3</span>  */</span><span class="WHIT">
-<span class='line'>  4</span> 
-<span class='line'>  5</span> </span><span class="COMM">/**
-<span class='line'>  6</span>  * Manages connection to the server and all interactions with ROS.
-<span class='line'>  7</span>  *
-<span class='line'>  8</span>  * Emits the following events:
-<span class='line'>  9</span>  *  * 'error' - there was an error with ROS
-<span class='line'> 10</span>  *  * 'connection' - connected to the WebSocket server
-<span class='line'> 11</span>  *  * 'close' - disconnected to the WebSocket server
-<span class='line'> 12</span>  *  * &lt;topicName> - a message came from rosbridge with the given topic name
-<span class='line'> 13</span>  *  * &lt;serviceID> - a service response came from rosbridge with the given ID
-<span class='line'> 14</span>  *
-<span class='line'> 15</span>  *  @constructor
-<span class='line'> 16</span>  *  @param url (optional) - The WebSocket URL for rosbridge. Can be specified later with `connect`.
-<span class='line'> 17</span>  */</span><span class="WHIT">
-<span class='line'> 18</span> </span><span class="NAME">ROSLIB.Ros</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">url</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 19</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">ros</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 20</span> </span><span class="WHIT">  </span><span class="NAME">this.socket</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">null</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 21</span> 
-<span class='line'> 22</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'> 23</span>    * Emits a 'connection' event on WebSocket connection.
-<span class='line'> 24</span>    * 
-<span class='line'> 25</span>    * @param event - the argument to emit with the event.
-<span class='line'> 26</span>    */</span><span class="WHIT">
-<span class='line'> 27</span> </span><span class="WHIT">  </span><span class="KEYW">function</span><span class="WHIT"> </span><span class="NAME">onOpen</span><span class="PUNC">(</span><span class="NAME">event</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 28</span> </span><span class="WHIT">    </span><span class="NAME">ros.emit</span><span class="PUNC">(</span><span class="STRN">'connection'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">event</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 29</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 30</span> 
-<span class='line'> 31</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'> 32</span>    * Emits a 'close' event on WebSocket disconnection.
-<span class='line'> 33</span>    * 
-<span class='line'> 34</span>    * @param event - the argument to emit with the event.
-<span class='line'> 35</span>    */</span><span class="WHIT">
-<span class='line'> 36</span> </span><span class="WHIT">  </span><span class="KEYW">function</span><span class="WHIT"> </span><span class="NAME">onClose</span><span class="PUNC">(</span><span class="NAME">event</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 37</span> </span><span class="WHIT">    </span><span class="NAME">ros.emit</span><span class="PUNC">(</span><span class="STRN">'close'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">event</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 38</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 39</span> 
-<span class='line'> 40</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'> 41</span>    * Emits an 'error' event whenever there was an error.
-<span class='line'> 42</span>    * 
-<span class='line'> 43</span>    * @param event - the argument to emit with the event.
-<span class='line'> 44</span>    */</span><span class="WHIT">
-<span class='line'> 45</span> </span><span class="WHIT">  </span><span class="KEYW">function</span><span class="WHIT"> </span><span class="NAME">onError</span><span class="PUNC">(</span><span class="NAME">event</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 46</span> </span><span class="WHIT">    </span><span class="NAME">ros.emit</span><span class="PUNC">(</span><span class="STRN">'error'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">event</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 47</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 48</span> 
-<span class='line'> 49</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'> 50</span>    * If a message was compressed as a PNG image (a compression hack since gzipping over WebSockets
-<span class='line'> 51</span>    * is not supported yet), this function places the "image" in a canvas element then decodes the
-<span class='line'> 52</span>    * "image" as a Base64 string.
-<span class='line'> 53</span>    *
-<span class='line'> 54</span>    * @param data - object containing the PNG data.
-<span class='line'> 55</span>    * @param callback - function with params:
-<span class='line'> 56</span>    *   * data - the uncompressed data
-<span class='line'> 57</span>    */</span><span class="WHIT">
-<span class='line'> 58</span> </span><span class="WHIT">  </span><span class="KEYW">function</span><span class="WHIT"> </span><span class="NAME">decompressPng</span><span class="PUNC">(</span><span class="NAME">data</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">callback</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 59</span> </span><span class="WHIT">    </span><span class="COMM">// Uncompresses the data before sending it through (use image/canvas to do so).</span><span class="WHIT">
-<span class='line'> 60</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">image</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">Image</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 61</span> </span><span class="WHIT">    </span><span class="COMM">// When the image loads, extracts the raw data (JSON message).</span><span class="WHIT">
-<span class='line'> 62</span> </span><span class="WHIT">    </span><span class="NAME">image.onload</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 63</span> </span><span class="WHIT">      </span><span class="COMM">// Creates a local canvas to draw on.</span><span class="WHIT">
-<span class='line'> 64</span> </span><span class="WHIT">      </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">canvas</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">document.createElement</span><span class="PUNC">(</span><span class="STRN">'canvas'</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 65</span> </span><span class="WHIT">      </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">context</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">canvas.getContext</span><span class="PUNC">(</span><span class="STRN">'2d'</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 66</span> 
-<span class='line'> 67</span> </span><span class="WHIT">      </span><span class="COMM">// Sets width and height.</span><span class="WHIT">
-<span class='line'> 68</span> </span><span class="WHIT">      </span><span class="NAME">canvas.width</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">image.width</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 69</span> </span><span class="WHIT">      </span><span class="NAME">canvas.height</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">image.height</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 70</span> 
-<span class='line'> 71</span> </span><span class="WHIT">      </span><span class="COMM">// Puts the data into the image.</span><span class="WHIT">
-<span class='line'> 72</span> </span><span class="WHIT">      </span><span class="NAME">context.drawImage</span><span class="PUNC">(</span><span class="NAME">image</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 73</span> </span><span class="WHIT">      </span><span class="COMM">// Grabs the raw, uncompressed data.</span><span class="WHIT">
-<span class='line'> 74</span> </span><span class="WHIT">      </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">imageData</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">context.getImageData</span><span class="PUNC">(</span><span class="NUMB">0</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">image.width</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">image.height</span><span class="PUNC">)</span><span class="PUNC">.</span><span class="NAME">data</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 75</span> 
-<span class='line'> 76</span> </span><span class="WHIT">      </span><span class="COMM">// Constructs the JSON.</span><span class="WHIT">
-<span class='line'> 77</span> </span><span class="WHIT">      </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">jsonData</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="STRN">''</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 78</span> </span><span class="WHIT">      </span><span class="KEYW">for</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="WHIT"> </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">i</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT"> </span><span class="NAME">i</span><span class="WHIT"> </span><span class="PUNC">&lt;</span><span class="WHIT"> </span><span class="NAME">imageData.length</span><span class="PUNC">;</span><span class="WHIT"> </span><span class="NAME">i</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NUMB">4</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 79</span> </span><span class="WHIT">        </span><span class="COMM">// RGB</span><span class="WHIT">
-<span class='line'> 80</span> </span><span class="WHIT">        </span><span class="NAME">jsonData</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">String.fromCharCode</span><span class="PUNC">(</span><span class="NAME">imageData</span><span class="PUNC">[</span><span class="NAME">i</span><span class="PUNC">]</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">imageData</span><span class="PUNC">[</span><span class="NAME">i</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NUMB">1</span><span class="PUNC">]</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">imageData</span><span class="PUNC">[</span><span class="NAME">i</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NUMB">2</span><span class="PUNC">]</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 81</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="WHIT">
-<span class='line'> 82</span> </span><span class="WHIT">      </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">decompressedData</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">JSON.parse</span><span class="PUNC">(</span><span class="NAME">jsonData</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 83</span> </span><span class="WHIT">      </span><span class="NAME">callback</span><span class="PUNC">(</span><span class="NAME">decompressedData</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 84</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 85</span> </span><span class="WHIT">    </span><span class="COMM">// Sends the image data to load.</span><span class="WHIT">
-<span class='line'> 86</span> </span><span class="WHIT">    </span><span class="NAME">image.src</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="STRN">'data:image/png;base64,'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">data.data</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 87</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
-<span class='line'> 88</span> 
-<span class='line'> 89</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'> 90</span>    * Parses message responses from rosbridge and sends to the appropriate topic, service, or param.
-<span class='line'> 91</span>    *
-<span class='line'> 92</span>    * @param message - the raw JSON message from rosbridge.
-<span class='line'> 93</span>    */</span><span class="WHIT">
-<span class='line'> 94</span> </span><span class="WHIT">  </span><span class="KEYW">function</span><span class="WHIT"> </span><span class="NAME">onMessage</span><span class="PUNC">(</span><span class="NAME">message</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 95</span> </span><span class="WHIT">    </span><span class="KEYW">function</span><span class="WHIT"> </span><span class="NAME">handleMessage</span><span class="PUNC">(</span><span class="NAME">message</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 96</span> </span><span class="WHIT">      </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">message.op</span><span class="WHIT"> </span><span class="PUNC">===</span><span class="WHIT"> </span><span class="STRN">'publish'</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 97</span> </span><span class="WHIT">        </span><span class="NAME">ros.emit</span><span class="PUNC">(</span><span class="NAME">message.topic</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">message.msg</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 98</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="WHIT"> </span><span class="KEYW">else</span><span class="WHIT"> </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">message.op</span><span class="WHIT"> </span><span class="PUNC">===</span><span class="WHIT"> </span><span class="STRN">'service_response'</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 99</span> </span><span class="WHIT">        </span><span class="NAME">ros.emit</span><span class="PUNC">(</span><span class="NAME">message.id</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">message.values</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>100</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="WHIT">
-<span class='line'>101</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>102</span> 
-<span class='line'>103</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">data</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">JSON.parse</span><span class="PUNC">(</span><span class="NAME">message.data</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>104</span> </span><span class="WHIT">    </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">data.op</span><span class="WHIT"> </span><span class="PUNC">===</span><span class="WHIT"> </span><span class="STRN">'png'</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
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-<span class='line'>106</span> </span><span class="WHIT">        </span><span class="NAME">handleMessage</span><span class="PUNC">(</span><span class="NAME">decompressedData</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>107</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>108</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="WHIT"> </span><span class="KEYW">else</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>109</span> </span><span class="WHIT">      </span><span class="NAME">handleMessage</span><span class="PUNC">(</span><span class="NAME">data</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>110</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="WHIT">
-<span class='line'>111</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>112</span> 
-<span class='line'>113</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'>114</span>    * Connect to the specified WebSocket.
-<span class='line'>115</span>    *
-<span class='line'>116</span>    * @param url - WebSocket URL for Rosbridge
-<span class='line'>117</span>    */</span><span class="WHIT">
-<span class='line'>118</span> </span><span class="WHIT">  </span><span class="NAME">this.connect</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">url</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>119</span> </span><span class="WHIT">    </span><span class="NAME">ros.socket</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">WebSocket</span><span class="PUNC">(</span><span class="NAME">url</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>120</span> </span><span class="WHIT">    </span><span class="NAME">ros.socket.onopen</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">onOpen</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>121</span> </span><span class="WHIT">    </span><span class="NAME">ros.socket.onclose</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">onClose</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>122</span> </span><span class="WHIT">    </span><span class="NAME">ros.socket.onerror</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">onError</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>123</span> </span><span class="WHIT">    </span><span class="NAME">ros.socket.onmessage</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">onMessage</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>124</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>125</span> 
-<span class='line'>126</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'>127</span>    * Disconnect from the WebSocket server.
-<span class='line'>128</span>    */</span><span class="WHIT">
-<span class='line'>129</span> </span><span class="WHIT">  </span><span class="NAME">this.close</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>130</span> </span><span class="WHIT">    </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">ros.socket</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>131</span> </span><span class="WHIT">      </span><span class="NAME">ros.socket.close</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>132</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="WHIT">
-<span class='line'>133</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>134</span> 
-<span class='line'>135</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'>136</span>    * Sends an authorization request to the server.
-<span class='line'>137</span>    *
-<span class='line'>138</span>    * @param mac - MAC (hash) string given by the trusted source.
-<span class='line'>139</span>    * @param client - IP of the client.
-<span class='line'>140</span>    * @param dest - IP of the destination.
-<span class='line'>141</span>    * @param rand - Random string given by the trusted source.
-<span class='line'>142</span>    * @param t - Time of the authorization request.
-<span class='line'>143</span>    * @param level - User level as a string given by the client.
-<span class='line'>144</span>    * @param end - End time of the client's session.
-<span class='line'>145</span>    */</span><span class="WHIT">
-<span class='line'>146</span> </span><span class="WHIT">  </span><span class="NAME">this.authenticate</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">mac</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">client</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">dest</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">rand</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">t</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">level</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">end</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>147</span> </span><span class="WHIT">    </span><span class="COMM">// create the request</span><span class="WHIT">
-<span class='line'>148</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">auth</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>149</span> </span><span class="WHIT">      </span><span class="NAME">op</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'auth'</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'>150</span> </span><span class="WHIT">      </span><span class="NAME">mac</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">mac</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'>151</span> </span><span class="WHIT">      </span><span class="NAME">client</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">client</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'>152</span> </span><span class="WHIT">      </span><span class="NAME">dest</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">dest</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'>153</span> </span><span class="WHIT">      </span><span class="NAME">rand</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">rand</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'>154</span> </span><span class="WHIT">      </span><span class="NAME">t</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">t</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'>155</span> </span><span class="WHIT">      </span><span class="NAME">level</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">level</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'>156</span> </span><span class="WHIT">      </span><span class="NAME">end</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">end</span><span class="WHIT">
-<span class='line'>157</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>158</span> </span><span class="WHIT">    </span><span class="COMM">// send the request</span><span class="WHIT">
-<span class='line'>159</span> </span><span class="WHIT">    </span><span class="NAME">callOnConnection</span><span class="PUNC">(</span><span class="NAME">auth</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>160</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>161</span> 
-<span class='line'>162</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'>163</span>    * Sends the message over the WebSocket, but queues the message up if not yet connected.
-<span class='line'>164</span>    */</span><span class="WHIT">
-<span class='line'>165</span> </span><span class="WHIT">  </span><span class="NAME">this.callOnConnection</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">message</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>166</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">messageJson</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">JSON.stringify</span><span class="PUNC">(</span><span class="NAME">message</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>167</span> 
-<span class='line'>168</span> </span><span class="WHIT">    </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">ros.socket.readyState</span><span class="WHIT"> </span><span class="PUNC">!==</span><span class="WHIT"> </span><span class="NAME">WebSocket.OPEN</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>169</span> </span><span class="WHIT">      </span><span class="NAME">ros.once</span><span class="PUNC">(</span><span class="STRN">'connection'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>170</span> </span><span class="WHIT">        </span><span class="NAME">ros.socket.send</span><span class="PUNC">(</span><span class="NAME">messageJson</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>171</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>172</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="WHIT"> </span><span class="KEYW">else</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>173</span> </span><span class="WHIT">      </span><span class="NAME">ros.socket.send</span><span class="PUNC">(</span><span class="NAME">messageJson</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>174</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="WHIT">
-<span class='line'>175</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>176</span> 
-<span class='line'>177</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'>178</span>    * Retrieves list of topics in ROS as an array.
-<span class='line'>179</span>    *
-<span class='line'>180</span>    * @param callback function with params:
-<span class='line'>181</span>    *   * topics - Array of topic names
-<span class='line'>182</span>    */</span><span class="WHIT">
-<span class='line'>183</span> </span><span class="WHIT">  </span><span class="NAME">this.getTopics</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">callback</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>184</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">topicsClient</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Service</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>185</span> </span><span class="WHIT">      </span><span class="NAME">ros</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">ros</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'>186</span> </span><span class="WHIT">      </span><span class="NAME">name</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'/rosapi/topics'</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'>187</span> </span><span class="WHIT">      </span><span class="NAME">serviceType</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'rosapi/Topics'</span><span class="WHIT">
-<span class='line'>188</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>189</span> 
-<span class='line'>190</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">request</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.ServiceRequest</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>191</span> 
-<span class='line'>192</span> </span><span class="WHIT">    </span><span class="NAME">topicsClient.callService</span><span class="PUNC">(</span><span class="NAME">request</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">result</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>193</span> </span><span class="WHIT">      </span><span class="NAME">callback</span><span class="PUNC">(</span><span class="NAME">result.topics</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>194</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>195</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>196</span> 
-<span class='line'>197</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'>198</span>    * Retrieves list of active service names in ROS.
-<span class='line'>199</span>    *
-<span class='line'>200</span>    * @param callback - function with the following params:
-<span class='line'>201</span>    *   * services - array of service names
-<span class='line'>202</span>    */</span><span class="WHIT">
-<span class='line'>203</span> </span><span class="WHIT">  </span><span class="NAME">this.getServices</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">callback</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>204</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">servicesClient</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Service</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>205</span> </span><span class="WHIT">      </span><span class="NAME">ros</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">ros</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'>206</span> </span><span class="WHIT">      </span><span class="NAME">name</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'/rosapi/services'</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'>207</span> </span><span class="WHIT">      </span><span class="NAME">serviceType</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'rosapi/Services'</span><span class="WHIT">
-<span class='line'>208</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>209</span> 
-<span class='line'>210</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">request</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.ServiceRequest</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>211</span> 
-<span class='line'>212</span> </span><span class="WHIT">    </span><span class="NAME">servicesClient.callService</span><span class="PUNC">(</span><span class="NAME">request</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">result</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>213</span> </span><span class="WHIT">      </span><span class="NAME">callback</span><span class="PUNC">(</span><span class="NAME">result.services</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>214</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>215</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>216</span> 
-<span class='line'>217</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'>218</span>    * Retrieves list of param names from the ROS Parameter Server.
-<span class='line'>219</span>    *
-<span class='line'>220</span>    * @param callback function with params:
-<span class='line'>221</span>    *  * params - array of param names.
-<span class='line'>222</span>    */</span><span class="WHIT">
-<span class='line'>223</span> </span><span class="WHIT">  </span><span class="NAME">this.getParams</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">callback</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>224</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">paramsClient</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Service</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>225</span> </span><span class="WHIT">      </span><span class="NAME">ros</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">ros</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'>226</span> </span><span class="WHIT">      </span><span class="NAME">name</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'/rosapi/get_param_names'</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'>227</span> </span><span class="WHIT">      </span><span class="NAME">serviceType</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'rosapi/GetParamNames'</span><span class="WHIT">
-<span class='line'>228</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>229</span> 
-<span class='line'>230</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">request</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.ServiceRequest</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>231</span> </span><span class="WHIT">    </span><span class="NAME">paramsClient.callService</span><span class="PUNC">(</span><span class="NAME">request</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">result</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>232</span> </span><span class="WHIT">      </span><span class="NAME">callback</span><span class="PUNC">(</span><span class="NAME">result.names</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>233</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>234</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>235</span> 
-<span class='line'>236</span> </span><span class="WHIT">  </span><span class="COMM">// begin by checking if a URL was given</span><span class="WHIT">
-<span class='line'>237</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">url</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>238</span> </span><span class="WHIT">    </span><span class="NAME">this.connect</span><span class="PUNC">(</span><span class="NAME">url</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>239</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
-<span class='line'>240</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>241</span> </span><span class="NAME">ROSLIB.Ros.prototype.__proto__</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">EventEmitter2.prototype</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>242</span> </span></pre></body></html>
\ No newline at end of file
diff --git a/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_core_Service.js.html b/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_core_Service.js.html
deleted file mode 100644
index db03f4fa6..000000000
--- a/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_core_Service.js.html
+++ /dev/null
@@ -1,58 +0,0 @@
-<html><head><meta http-equiv="content-type" content="text/html; charset=utf-8"> <style>
-	.KEYW {color: #933;}
-	.COMM {color: #bbb; font-style: italic;}
-	.NUMB {color: #393;}
-	.STRN {color: #393;}
-	.REGX {color: #339;}
-	.line {border-right: 1px dotted #666; color: #666; font-style: normal;}
-	</style></head><body><pre><span class='line'>  1</span> <span class="COMM">/**
-<span class='line'>  2</span>  * @author Brandon Alexander - balexander@willowgarage.com
-<span class='line'>  3</span>  */</span><span class="WHIT">
-<span class='line'>  4</span> 
-<span class='line'>  5</span> </span><span class="COMM">/**
-<span class='line'>  6</span>  * A ROS service client.
-<span class='line'>  7</span>  *
-<span class='line'>  8</span>  * @constructor
-<span class='line'>  9</span>  * @params options - possible keys include:
-<span class='line'> 10</span>  *   * ros - the ROSLIB.Ros connection handle
-<span class='line'> 11</span>  *   * name - the service name, like /add_two_ints
-<span class='line'> 12</span>  *   * serviceType - the service type, like 'rospy_tutorials/AddTwoInts'
-<span class='line'> 13</span>  */</span><span class="WHIT">
-<span class='line'> 14</span> </span><span class="NAME">ROSLIB.Service</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">options</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 15</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">service</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 16</span> </span><span class="WHIT">  </span><span class="NAME">options</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 17</span> </span><span class="WHIT">  </span><span class="NAME">this.ros</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.ros</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 18</span> </span><span class="WHIT">  </span><span class="NAME">this.name</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.name</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 19</span> </span><span class="WHIT">  </span><span class="NAME">this.serviceType</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.serviceType</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 20</span> 
-<span class='line'> 21</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'> 22</span>    * Calls the service. Returns the service response in the callback.
-<span class='line'> 23</span>    * 
-<span class='line'> 24</span>    * @param request - the ROSLIB.ServiceRequest to send
-<span class='line'> 25</span>    * @param callback - function with params:
-<span class='line'> 26</span>    *   * response - the response from the service request
-<span class='line'> 27</span>    */</span><span class="WHIT">
-<span class='line'> 28</span> </span><span class="WHIT">  </span><span class="NAME">this.callService</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">request</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">callback</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 29</span> </span><span class="WHIT">    </span><span class="NAME">service.ros.idCounter</span><span class="PUNC">++</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 30</span> </span><span class="WHIT">    </span><span class="NAME">serviceCallId</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="STRN">'call_service:'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">service.name</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="STRN">':'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">service.ros.idCounter</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 31</span> 
-<span class='line'> 32</span> </span><span class="WHIT">    </span><span class="NAME">service.ros.once</span><span class="PUNC">(</span><span class="NAME">serviceCallId</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">data</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 33</span> </span><span class="WHIT">      </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">response</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.ServiceResponse</span><span class="PUNC">(</span><span class="NAME">data</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 34</span> </span><span class="WHIT">      </span><span class="NAME">callback</span><span class="PUNC">(</span><span class="NAME">response</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 35</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 36</span> 
-<span class='line'> 37</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">requestValues</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">[</span><span class="PUNC">]</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 38</span> </span><span class="WHIT">    </span><span class="NAME">Object.keys</span><span class="PUNC">(</span><span class="NAME">request</span><span class="PUNC">)</span><span class="PUNC">.</span><span class="NAME">forEach</span><span class="PUNC">(</span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">name</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 39</span> </span><span class="WHIT">      </span><span class="NAME">requestValues.push</span><span class="PUNC">(</span><span class="NAME">request</span><span class="PUNC">[</span><span class="NAME">name</span><span class="PUNC">]</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 40</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 41</span> 
-<span class='line'> 42</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">call</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 43</span> </span><span class="WHIT">      </span><span class="NAME">op</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'call_service'</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'> 44</span> </span><span class="WHIT">      </span><span class="NAME">id</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">serviceCallId</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'> 45</span> </span><span class="WHIT">      </span><span class="NAME">service</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">service.name</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'> 46</span> </span><span class="WHIT">      </span><span class="NAME">args</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">requestValues</span><span class="WHIT">
-<span class='line'> 47</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 48</span> </span><span class="WHIT">    </span><span class="NAME">service.ros.callOnConnection</span><span class="PUNC">(</span><span class="NAME">call</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 49</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 50</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 51</span> </span></pre></body></html>
\ No newline at end of file
diff --git a/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_core_Topic.js.html b/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_core_Topic.js.html
deleted file mode 100644
index ca2a028a8..000000000
--- a/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_core_Topic.js.html
+++ /dev/null
@@ -1,149 +0,0 @@
-<html><head><meta http-equiv="content-type" content="text/html; charset=utf-8"> <style>
-	.KEYW {color: #933;}
-	.COMM {color: #bbb; font-style: italic;}
-	.NUMB {color: #393;}
-	.STRN {color: #393;}
-	.REGX {color: #339;}
-	.line {border-right: 1px dotted #666; color: #666; font-style: normal;}
-	</style></head><body><pre><span class='line'>  1</span> <span class="COMM">/**
-<span class='line'>  2</span>  * @author Brandon Alexander - balexander@willowgarage.com
-<span class='line'>  3</span>  */</span><span class="WHIT">
-<span class='line'>  4</span> 
-<span class='line'>  5</span> </span><span class="COMM">/**
-<span class='line'>  6</span>  * Publish and/or subscribe to a topic in ROS.
-<span class='line'>  7</span>  * 
-<span class='line'>  8</span>  * Emits the following events:
-<span class='line'>  9</span>  *  * 'warning' - if there are any warning during the Topic creation
-<span class='line'> 10</span>  *  * 'message' - the message data from rosbridge
-<span class='line'> 11</span>  *  
-<span class='line'> 12</span>  * @constructor
-<span class='line'> 13</span>  * @param options - object with following keys:
-<span class='line'> 14</span>  *   * ros - the ROSLIB.Ros connection handle
-<span class='line'> 15</span>  *   * name - the topic name, like /cmd_vel
-<span class='line'> 16</span>  *   * messageType - the message type, like 'std_msgs/String'
-<span class='line'> 17</span>  *   * compression - the type of compression to use, like 'png'
-<span class='line'> 18</span>  *   * throttle_rate - the rate at which to throttle the topics
-<span class='line'> 19</span>  */</span><span class="WHIT">
-<span class='line'> 20</span> </span><span class="NAME">ROSLIB.Topic</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">options</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 21</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">topic</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 22</span> </span><span class="WHIT">  </span><span class="NAME">options</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 23</span> </span><span class="WHIT">  </span><span class="NAME">this.ros</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.ros</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 24</span> </span><span class="WHIT">  </span><span class="NAME">this.name</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.name</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 25</span> </span><span class="WHIT">  </span><span class="NAME">this.messageType</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.messageType</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 26</span> </span><span class="WHIT">  </span><span class="NAME">this.isAdvertised</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">false</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 27</span> </span><span class="WHIT">  </span><span class="NAME">this.compression</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.compression</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="STRN">'none'</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 28</span> </span><span class="WHIT">  </span><span class="NAME">this.throttle_rate</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.throttle_rate</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 29</span> 
-<span class='line'> 30</span> </span><span class="WHIT">  </span><span class="COMM">// Check for valid compression types</span><span class="WHIT">
-<span class='line'> 31</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">this.compression</span><span class="WHIT"> </span><span class="PUNC">&&</span><span class="WHIT"> </span><span class="NAME">this.compression</span><span class="WHIT"> </span><span class="PUNC">!==</span><span class="WHIT"> </span><span class="STRN">'png'</span><span class="WHIT"> </span><span class="PUNC">&&</span><span class="WHIT"> </span><span class="NAME">this.compression</span><span class="WHIT"> </span><span class="PUNC">!==</span><span class="WHIT"> </span><span class="STRN">'none'</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 32</span> </span><span class="WHIT">    </span><span class="NAME">this.emit</span><span class="PUNC">(</span><span class="STRN">'warning'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">this.compression</span><span class="WHIT">
-<span class='line'> 33</span> </span><span class="WHIT">        </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="STRN">' compression is not supported. No comression will be used.'</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 34</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
-<span class='line'> 35</span> 
-<span class='line'> 36</span> </span><span class="WHIT">  </span><span class="COMM">// Check if throttle rate is negative</span><span class="WHIT">
-<span class='line'> 37</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">this.throttle_rate</span><span class="WHIT"> </span><span class="PUNC">&lt;</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 38</span> </span><span class="WHIT">    </span><span class="NAME">this.emit</span><span class="PUNC">(</span><span class="STRN">'warning'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">this.throttle_rate</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="STRN">' is not allowed. Set to 0'</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 39</span> </span><span class="WHIT">    </span><span class="NAME">this.throttle_rate</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 40</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
-<span class='line'> 41</span> 
-<span class='line'> 42</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'> 43</span>    * Every time a message is published for the given topic, the callback
-<span class='line'> 44</span>    * will be called with the message object.
-<span class='line'> 45</span>    *
-<span class='line'> 46</span>    * @param callback - function with the following params:
-<span class='line'> 47</span>    *   * message - the published message
-<span class='line'> 48</span>    */</span><span class="WHIT">
-<span class='line'> 49</span> </span><span class="WHIT">  </span><span class="NAME">this.subscribe</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">callback</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 50</span> </span><span class="WHIT">    </span><span class="NAME">topic.on</span><span class="PUNC">(</span><span class="STRN">'message'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">message</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 51</span> </span><span class="WHIT">      </span><span class="NAME">callback</span><span class="PUNC">(</span><span class="NAME">message</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 52</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 53</span> 
-<span class='line'> 54</span> </span><span class="WHIT">    </span><span class="NAME">topic.ros.on</span><span class="PUNC">(</span><span class="NAME">topic.name</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">data</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
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-<span class='line'> 57</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 58</span> 
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-<span class='line'> 62</span> </span><span class="WHIT">      </span><span class="NAME">op</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'subscribe'</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'> 63</span> </span><span class="WHIT">      </span><span class="NAME">id</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">subscribeId</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'> 64</span> </span><span class="WHIT">      </span><span class="NAME">type</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">topic.messageType</span><span class="PUNC">,</span><span class="WHIT">
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-<span class='line'> 66</span> </span><span class="WHIT">      </span><span class="NAME">compression</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">topic.compression</span><span class="PUNC">,</span><span class="WHIT">
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-<span class='line'> 69</span> 
-<span class='line'> 70</span> </span><span class="WHIT">    </span><span class="NAME">topic.ros.callOnConnection</span><span class="PUNC">(</span><span class="NAME">call</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 71</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 72</span> 
-<span class='line'> 73</span> </span><span class="WHIT">  </span><span class="COMM">/**
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-<span class='line'> 76</span>    */</span><span class="WHIT">
-<span class='line'> 77</span> </span><span class="WHIT">  </span><span class="NAME">this.unsubscribe</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
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-<span class='line'> 80</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">unsubscribeId</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="STRN">'unsubscribe:'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">topic.name</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="STRN">':'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">topic.ros.idCounter</span><span class="PUNC">;</span><span class="WHIT">
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-<span class='line'> 87</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 88</span> 
-<span class='line'> 89</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'> 90</span>    * Registers as a publisher for the topic.
-<span class='line'> 91</span>    */</span><span class="WHIT">
-<span class='line'> 92</span> </span><span class="WHIT">  </span><span class="NAME">this.advertise</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
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-<span class='line'> 94</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">advertiseId</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="STRN">'advertise:'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">topic.name</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="STRN">':'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">topic.ros.idCounter</span><span class="PUNC">;</span><span class="WHIT">
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-<span class='line'>103</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>104</span> 
-<span class='line'>105</span> </span><span class="WHIT">  </span><span class="COMM">/**
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-<span class='line'>107</span>    */</span><span class="WHIT">
-<span class='line'>108</span> </span><span class="WHIT">  </span><span class="NAME">this.unadvertise</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>109</span> </span><span class="WHIT">    </span><span class="NAME">topic.ros.idCounter</span><span class="PUNC">++</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>110</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">unadvertiseId</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="STRN">'unadvertise:'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">topic.name</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="STRN">':'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">topic.ros.idCounter</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>111</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">call</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>112</span> </span><span class="WHIT">      </span><span class="NAME">op</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'unadvertise'</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'>113</span> </span><span class="WHIT">      </span><span class="NAME">id</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">unadvertiseId</span><span class="PUNC">,</span><span class="WHIT">
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-<span class='line'>117</span> </span><span class="WHIT">    </span><span class="NAME">topic.isAdvertised</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">false</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>118</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>119</span> 
-<span class='line'>120</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'>121</span>    * Publish the message.
-<span class='line'>122</span>    *
-<span class='line'>123</span>    * @param message - A ROSLIB.Message object.
-<span class='line'>124</span>    */</span><span class="WHIT">
-<span class='line'>125</span> </span><span class="WHIT">  </span><span class="NAME">this.publish</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">message</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>126</span> </span><span class="WHIT">    </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="PUNC">!</span><span class="NAME">topic.isAdvertised</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>127</span> </span><span class="WHIT">      </span><span class="NAME">topic.advertise</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>128</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="WHIT">
-<span class='line'>129</span> 
-<span class='line'>130</span> </span><span class="WHIT">    </span><span class="NAME">topic.ros.idCounter</span><span class="PUNC">++</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>131</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">publishId</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="STRN">'publish:'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">topic.name</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="STRN">':'</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">topic.ros.idCounter</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>132</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">call</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>133</span> </span><span class="WHIT">      </span><span class="NAME">op</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'publish'</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'>134</span> </span><span class="WHIT">      </span><span class="NAME">id</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">publishId</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'>135</span> </span><span class="WHIT">      </span><span class="NAME">topic</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">topic.name</span><span class="PUNC">,</span><span class="WHIT">
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-<span class='line'>137</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>138</span> </span><span class="WHIT">    </span><span class="NAME">topic.ros.callOnConnection</span><span class="PUNC">(</span><span class="NAME">call</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>139</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>140</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>141</span> </span><span class="NAME">ROSLIB.Topic.prototype.__proto__</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">EventEmitter2.prototype</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>142</span> </span></pre></body></html>
\ No newline at end of file
diff --git a/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_math_Quaternion.js.html b/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_math_Quaternion.js.html
deleted file mode 100644
index 77a304050..000000000
--- a/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_math_Quaternion.js.html
+++ /dev/null
@@ -1,132 +0,0 @@
-<html><head><meta http-equiv="content-type" content="text/html; charset=utf-8"> <style>
-	.KEYW {color: #933;}
-	.COMM {color: #bbb; font-style: italic;}
-	.NUMB {color: #393;}
-	.STRN {color: #393;}
-	.REGX {color: #339;}
-	.line {border-right: 1px dotted #666; color: #666; font-style: normal;}
-	</style></head><body><pre><span class='line'>  1</span> <span class="COMM">/**
-<span class='line'>  2</span>  * @author David Gossow - dgossow@willowgarage.com
-<span class='line'>  3</span>  */</span><span class="WHIT">
-<span class='line'>  4</span> 
-<span class='line'>  5</span> </span><span class="COMM">/**
-<span class='line'>  6</span>  * A Quaternion.
-<span class='line'>  7</span>  *
-<span class='line'>  8</span>  *  @constructor
-<span class='line'>  9</span>  *  @param x - the x value 
-<span class='line'> 10</span>  *  @param y - the y value
-<span class='line'> 11</span>  *  @param z - the z value
-<span class='line'> 12</span>  *  @param w - the w value
-<span class='line'> 13</span>  */</span><span class="WHIT">
-<span class='line'> 14</span> </span><span class="NAME">ROSLIB.Quaternion</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">x</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">y</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">z</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">w</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 15</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">quaternion</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 16</span> </span><span class="WHIT">  </span><span class="NAME">this.x</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">x</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 17</span> </span><span class="WHIT">  </span><span class="NAME">this.y</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">y</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 18</span> </span><span class="WHIT">  </span><span class="NAME">this.z</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">z</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 19</span> </span><span class="WHIT">  </span><span class="NAME">this.w</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">w</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="NUMB">1</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 20</span> 
-<span class='line'> 21</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'> 22</span>    * Copy the values from the given quaternion into this quaternion.
-<span class='line'> 23</span>    * 
-<span class='line'> 24</span>    * @param q the quaternion to copy
-<span class='line'> 25</span>    * @returns a pointer to this quaternion
-<span class='line'> 26</span>    */</span><span class="WHIT">
-<span class='line'> 27</span> </span><span class="WHIT">  </span><span class="NAME">this.copy</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">q</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 28</span> </span><span class="WHIT">    </span><span class="NAME">quaternion.x</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">q.x</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 29</span> </span><span class="WHIT">    </span><span class="NAME">quaternion.y</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">q.y</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 30</span> </span><span class="WHIT">    </span><span class="NAME">quaternion.z</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">q.z</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 31</span> </span><span class="WHIT">    </span><span class="NAME">quaternion.w</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">q.w</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 32</span> </span><span class="WHIT">    </span><span class="KEYW">return</span><span class="WHIT"> </span><span class="NAME">quaternion</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 33</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 34</span> 
-<span class='line'> 35</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'> 36</span>    * Perform a conjugation on this quaternion.
-<span class='line'> 37</span>    * 
-<span class='line'> 38</span>    * @returns a pointer to this quaternion
-<span class='line'> 39</span>    */</span><span class="WHIT">
-<span class='line'> 40</span> </span><span class="WHIT">  </span><span class="NAME">this.conjugate</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 41</span> </span><span class="WHIT">    </span><span class="NAME">quaternion.x</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NUMB">1</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 42</span> </span><span class="WHIT">    </span><span class="NAME">quaternion.y</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NUMB">1</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 43</span> </span><span class="WHIT">    </span><span class="NAME">quaternion.z</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NUMB">1</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 44</span> </span><span class="WHIT">    </span><span class="KEYW">return</span><span class="WHIT"> </span><span class="NAME">quaternion</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 45</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 46</span> 
-<span class='line'> 47</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'> 48</span>    * Perform a normalization on this quaternion.
-<span class='line'> 49</span>    * 
-<span class='line'> 50</span>    * @returns a pointer to this quaternion
-<span class='line'> 51</span>    */</span><span class="WHIT">
-<span class='line'> 52</span> </span><span class="WHIT">  </span><span class="NAME">this.normalize</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 53</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">l</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">Math.sqrt</span><span class="PUNC">(</span><span class="NAME">quaternion.x</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">quaternion.x</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">quaternion.y</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">quaternion.y</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">quaternion.z</span><span class="WHIT">
-<span class='line'> 54</span> </span><span class="WHIT">        </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">quaternion.z</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">quaternion.w</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">quaternion.w</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 55</span> </span><span class="WHIT">    </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">l</span><span class="WHIT"> </span><span class="PUNC">===</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 56</span> </span><span class="WHIT">      </span><span class="NAME">quaternion.x</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 57</span> </span><span class="WHIT">      </span><span class="NAME">quaternion.y</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 58</span> </span><span class="WHIT">      </span><span class="NAME">quaternion.z</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 59</span> </span><span class="WHIT">      </span><span class="NAME">quaternion.w</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NUMB">1</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 60</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="WHIT"> </span><span class="KEYW">else</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 61</span> </span><span class="WHIT">      </span><span class="NAME">l</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NUMB">1</span><span class="WHIT"> </span><span class="PUNC">/</span><span class="WHIT"> </span><span class="NAME">l</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 62</span> </span><span class="WHIT">      </span><span class="NAME">quaternion.x</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">quaternion.x</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">l</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 63</span> </span><span class="WHIT">      </span><span class="NAME">quaternion.y</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">quaternion.y</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">l</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 64</span> </span><span class="WHIT">      </span><span class="NAME">quaternion.z</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">quaternion.z</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">l</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 65</span> </span><span class="WHIT">      </span><span class="NAME">quaternion.w</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">quaternion.w</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">l</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 66</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="WHIT">
-<span class='line'> 67</span> </span><span class="WHIT">    </span><span class="KEYW">return</span><span class="WHIT"> </span><span class="NAME">quaternion</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 68</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 69</span> 
-<span class='line'> 70</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'> 71</span>    * Convert this quaternion into its inverse.
-<span class='line'> 72</span>    * 
-<span class='line'> 73</span>    * @returns a pointer to this quaternion
-<span class='line'> 74</span>    */</span><span class="WHIT">
-<span class='line'> 75</span> </span><span class="WHIT">  </span><span class="NAME">this.inverse</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 76</span> </span><span class="WHIT">    </span><span class="NAME">this.conjugate</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">.</span><span class="NAME">normalize</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 77</span> </span><span class="WHIT">    </span><span class="KEYW">return</span><span class="WHIT"> </span><span class="NAME">quaternion</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 78</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 79</span> 
-<span class='line'> 80</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'> 81</span>    * Set the values of this quaternion to the product of quaternions a and b.
-<span class='line'> 82</span>    * 
-<span class='line'> 83</span>    * @param a the first quaternion to multiply with
-<span class='line'> 84</span>    * @param b the second quaternion to multiply with
-<span class='line'> 85</span>    * @returns a pointer to this quaternion
-<span class='line'> 86</span>    */</span><span class="WHIT">
-<span class='line'> 87</span> </span><span class="WHIT">  </span><span class="NAME">this.multiply</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">a</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">b</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 88</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">qax</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">a.x</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">qay</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">a.y</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">qaz</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">a.z</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">qaw</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">a.w</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">qbx</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">b.x</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">qby</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">b.y</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">qbz</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">b.z</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">qbw</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">b.w</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 89</span> </span><span class="WHIT">    </span><span class="NAME">this.x</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">qax</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qbw</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">qay</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qbz</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">qaz</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qby</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">qaw</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qbx</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 90</span> </span><span class="WHIT">    </span><span class="NAME">this.y</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NAME">qax</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qbz</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">qay</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qbw</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">qaz</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qbx</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">qaw</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qby</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 91</span> </span><span class="WHIT">    </span><span class="NAME">this.z</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">qax</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qby</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">qay</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qbx</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">qaz</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qbw</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">qaw</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qbz</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 92</span> </span><span class="WHIT">    </span><span class="NAME">this.w</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NAME">qax</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qbx</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">qay</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qby</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">qaz</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qbz</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">qaw</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qbw</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 93</span> </span><span class="WHIT">    </span><span class="KEYW">return</span><span class="WHIT"> </span><span class="NAME">quaternion</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 94</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 95</span> 
-<span class='line'> 96</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'> 97</span>    * Multiply the given ROSLIB.Vector3 with this quaternion.
-<span class='line'> 98</span>    * 
-<span class='line'> 99</span>    * @param vector the vector to multiply with
-<span class='line'>100</span>    * @param dest (option) - where the computed values will go (defaults to 'vector').
-<span class='line'>101</span>    * @returns a pointer to dest
-<span class='line'>102</span>    */</span><span class="WHIT">
-<span class='line'>103</span> </span><span class="WHIT">  </span><span class="NAME">this.multiplyVec3</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">vector</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">dest</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>104</span> </span><span class="WHIT">    </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="PUNC">!</span><span class="NAME">dest</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>105</span> </span><span class="WHIT">      </span><span class="NAME">dest</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">vector</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>106</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="WHIT">
-<span class='line'>107</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">x</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">vector.x</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">y</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">vector.y</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">z</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">vector.z</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">qx</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">quaternion.x</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">qy</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">quaternion.y</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">qz</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">quaternion.z</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">qw</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">quaternion.w</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>108</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">ix</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">qw</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">x</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">qy</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">z</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">qz</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">y</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">iy</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">qw</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">y</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">qz</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">x</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">qx</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">z</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">iz</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">qw</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">z</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">qx</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">y</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">qy</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">x</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">iw</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NAME">qx</span><span class="WHIT">
-<span class='line'>109</span> </span><span class="WHIT">        </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">x</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">qy</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">y</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">qz</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">z</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>110</span> </span><span class="WHIT">    </span><span class="NAME">dest.x</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">ix</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qw</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">iw</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NAME">qx</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">iy</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NAME">qz</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">iz</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NAME">qy</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>111</span> </span><span class="WHIT">    </span><span class="NAME">dest.y</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">iy</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qw</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">iw</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NAME">qy</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">iz</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NAME">qx</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">ix</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NAME">qz</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>112</span> </span><span class="WHIT">    </span><span class="NAME">dest.z</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">iz</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">qw</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">iw</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NAME">qz</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">ix</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NAME">qy</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">iy</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NAME">qx</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>113</span> </span><span class="WHIT">    </span><span class="KEYW">return</span><span class="WHIT"> </span><span class="NAME">dest</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>114</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>115</span> 
-<span class='line'>116</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'>117</span>    * Clone a copy of this quaternion.
-<span class='line'>118</span>    * 
-<span class='line'>119</span>    * @returns the cloned quaternion
-<span class='line'>120</span>    */</span><span class="WHIT">
-<span class='line'>121</span> </span><span class="WHIT">  </span><span class="NAME">this.clone</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>122</span> </span><span class="WHIT">    </span><span class="KEYW">return</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Quaternion</span><span class="PUNC">(</span><span class="NAME">quaternion.x</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">quaternion.y</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">quaternion.z</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">quaternion.w</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>123</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>124</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>125</span> </span></pre></body></html>
\ No newline at end of file
diff --git a/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_math_Vector3.js.html b/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_math_Vector3.js.html
deleted file mode 100644
index 7d2862505..000000000
--- a/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_math_Vector3.js.html
+++ /dev/null
@@ -1,76 +0,0 @@
-<html><head><meta http-equiv="content-type" content="text/html; charset=utf-8"> <style>
-	.KEYW {color: #933;}
-	.COMM {color: #bbb; font-style: italic;}
-	.NUMB {color: #393;}
-	.STRN {color: #393;}
-	.REGX {color: #339;}
-	.line {border-right: 1px dotted #666; color: #666; font-style: normal;}
-	</style></head><body><pre><span class='line'>  1</span> <span class="COMM">/**
-<span class='line'>  2</span>  * @author David Gossow - dgossow@willowgarage.com
-<span class='line'>  3</span>  */</span><span class="WHIT">
-<span class='line'>  4</span> 
-<span class='line'>  5</span> </span><span class="COMM">/**
-<span class='line'>  6</span>  * A 3D vector.
-<span class='line'>  7</span>  *
-<span class='line'>  8</span>  *  @constructor
-<span class='line'>  9</span>  *  @param x - the x value 
-<span class='line'> 10</span>  *  @param y - the y value
-<span class='line'> 11</span>  *  @param z - the z value
-<span class='line'> 12</span>  */</span><span class="WHIT">
-<span class='line'> 13</span> </span><span class="NAME">ROSLIB.Vector3</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">x</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">y</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">z</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 14</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">vector3</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 15</span> </span><span class="WHIT">  </span><span class="NAME">this.x</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">x</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 16</span> </span><span class="WHIT">  </span><span class="NAME">this.y</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">y</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 17</span> </span><span class="WHIT">  </span><span class="NAME">this.z</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">z</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 18</span> 
-<span class='line'> 19</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'> 20</span>    * Copy the values from the given vector into this vector.
-<span class='line'> 21</span>    * 
-<span class='line'> 22</span>    * @param v the vector to copy
-<span class='line'> 23</span>    * @returns a pointer to this vector
-<span class='line'> 24</span>    */</span><span class="WHIT">
-<span class='line'> 25</span> </span><span class="WHIT">  </span><span class="NAME">this.copy</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">v</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 26</span> </span><span class="WHIT">    </span><span class="NAME">vector3.x</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">v.x</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 27</span> </span><span class="WHIT">    </span><span class="NAME">vector3.y</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">v.y</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 28</span> </span><span class="WHIT">    </span><span class="NAME">vector3.z</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">v.z</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 29</span> </span><span class="WHIT">    </span><span class="KEYW">return</span><span class="WHIT"> </span><span class="NAME">vector3</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 30</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 31</span> 
-<span class='line'> 32</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'> 33</span>    * Set the values of this vector to the sum of vectors a and b.
-<span class='line'> 34</span>    * 
-<span class='line'> 35</span>    * @param a the first vector to add with
-<span class='line'> 36</span>    * @param b the second vector to add with
-<span class='line'> 37</span>    * @returns a pointer to this vector
-<span class='line'> 38</span>    */</span><span class="WHIT">
-<span class='line'> 39</span> </span><span class="WHIT">  </span><span class="NAME">this.add</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">a</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">b</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 40</span> </span><span class="WHIT">    </span><span class="NAME">vector3.x</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">a.x</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">b.x</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 41</span> </span><span class="WHIT">    </span><span class="NAME">vector3.y</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">a.y</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">b.y</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 42</span> </span><span class="WHIT">    </span><span class="NAME">vector3.z</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">a.z</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">b.z</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 43</span> </span><span class="WHIT">    </span><span class="KEYW">return</span><span class="WHIT"> </span><span class="NAME">vector3</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 44</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 45</span> 
-<span class='line'> 46</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'> 47</span>    * Set the values of this vector to the difference of vectors a and b.
-<span class='line'> 48</span>    * 
-<span class='line'> 49</span>    * @param a the first vector to add with
-<span class='line'> 50</span>    * @param b the second vector to add with
-<span class='line'> 51</span>    * @returns a pointer to this vector
-<span class='line'> 52</span>    */</span><span class="WHIT">
-<span class='line'> 53</span> </span><span class="WHIT">  </span><span class="NAME">this.sub</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">a</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">b</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 54</span> </span><span class="WHIT">    </span><span class="NAME">vector3.x</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">a.x</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">b.x</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 55</span> </span><span class="WHIT">    </span><span class="NAME">vector3.y</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">a.y</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">b.y</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 56</span> </span><span class="WHIT">    </span><span class="NAME">vector3.z</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">a.z</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">b.z</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 57</span> </span><span class="WHIT">    </span><span class="KEYW">return</span><span class="WHIT"> </span><span class="NAME">vector3</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 58</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 59</span> 
-<span class='line'> 60</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'> 61</span>    * Clone a copy of this vector.
-<span class='line'> 62</span>    * 
-<span class='line'> 63</span>    * @returns the cloned vector
-<span class='line'> 64</span>    */</span><span class="WHIT">
-<span class='line'> 65</span> </span><span class="WHIT">  </span><span class="NAME">this.clone</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 66</span> </span><span class="WHIT">    </span><span class="KEYW">return</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Vector3</span><span class="PUNC">(</span><span class="NAME">vector3.x</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">vector3.y</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">vector3.z</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 67</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 68</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 69</span> </span></pre></body></html>
\ No newline at end of file
diff --git a/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_tf_TFClient.js.html b/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_tf_TFClient.js.html
deleted file mode 100644
index 2e2db8748..000000000
--- a/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_tf_TFClient.js.html
+++ /dev/null
@@ -1,144 +0,0 @@
-<html><head><meta http-equiv="content-type" content="text/html; charset=utf-8"> <style>
-	.KEYW {color: #933;}
-	.COMM {color: #bbb; font-style: italic;}
-	.NUMB {color: #393;}
-	.STRN {color: #393;}
-	.REGX {color: #339;}
-	.line {border-right: 1px dotted #666; color: #666; font-style: normal;}
-	</style></head><body><pre><span class='line'>  1</span> <span class="COMM">/**
-<span class='line'>  2</span>  * @author David Gossow - dgossow@willowgarage.com
-<span class='line'>  3</span>  */</span><span class="WHIT">
-<span class='line'>  4</span> 
-<span class='line'>  5</span> </span><span class="COMM">/**
-<span class='line'>  6</span>  * A TF Client that listens to TFs from tf2_web_republisher.
-<span class='line'>  7</span>  *
-<span class='line'>  8</span>  *  @constructor
-<span class='line'>  9</span>  *  @param options - object with following keys:
-<span class='line'> 10</span>  *   * ros - the ROSLIB.Ros connection handle
-<span class='line'> 11</span>  *   * fixedFrame - the fixed frame, like /base_link
-<span class='line'> 12</span>  *   * angularThres - the angular threshold for the TF republisher
-<span class='line'> 13</span>  *   * transThres - the translation threshold for the TF republisher
-<span class='line'> 14</span>  *   * rate - the rate for the TF republisher
-<span class='line'> 15</span>  *   * goalUpdateDelay - the goal update delay for the TF republisher
-<span class='line'> 16</span>  */</span><span class="WHIT">
-<span class='line'> 17</span> </span><span class="NAME">ROSLIB.TFClient</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">options</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 18</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">tfClient</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 19</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">options</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 20</span> </span><span class="WHIT">  </span><span class="NAME">this.ros</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.ros</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 21</span> </span><span class="WHIT">  </span><span class="NAME">this.fixedFrame</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.fixedFrame</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="STRN">'/base_link'</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 22</span> </span><span class="WHIT">  </span><span class="NAME">this.angularThres</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.angularThres</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="NUMB">2.0</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 23</span> </span><span class="WHIT">  </span><span class="NAME">this.transThres</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.transThres</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="NUMB">0.01</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 24</span> </span><span class="WHIT">  </span><span class="NAME">this.rate</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.rate</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="NUMB">10.0</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 25</span> </span><span class="WHIT">  </span><span class="NAME">this.goalUpdateDelay</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.goalUpdateDelay</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="NUMB">50</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 26</span> 
-<span class='line'> 27</span> </span><span class="WHIT">  </span><span class="NAME">this.currentGoal</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">false</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 28</span> </span><span class="WHIT">  </span><span class="NAME">this.frameInfos</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 29</span> </span><span class="WHIT">  </span><span class="NAME">this.goalUpdateRequested</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">false</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 30</span> 
-<span class='line'> 31</span> </span><span class="WHIT">  </span><span class="COMM">// create an ActionClient</span><span class="WHIT">
-<span class='line'> 32</span> </span><span class="WHIT">  </span><span class="NAME">this.actionClient</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.ActionClient</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 33</span> </span><span class="WHIT">    </span><span class="NAME">ros</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.ros</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'> 34</span> </span><span class="WHIT">    </span><span class="NAME">serverName</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'/tf2_web_republisher'</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'> 35</span> </span><span class="WHIT">    </span><span class="NAME">actionName</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'tf2_web_republisher/TFSubscriptionAction'</span><span class="WHIT">
-<span class='line'> 36</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 37</span> 
-<span class='line'> 38</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'> 39</span>    * Process the incoming TF message and send them out using the callback functions.
-<span class='line'> 40</span>    * 
-<span class='line'> 41</span>    * @param tf - the TF message from the server
-<span class='line'> 42</span>    */</span><span class="WHIT">
-<span class='line'> 43</span> </span><span class="WHIT">  </span><span class="NAME">this.processFeedback</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">tf</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 44</span> </span><span class="WHIT">    </span><span class="NAME">tf.transforms.forEach</span><span class="PUNC">(</span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">transform</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 45</span> </span><span class="WHIT">      </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">frameID</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">transform.child_frame_id</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 46</span> </span><span class="WHIT">      </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">info</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">tfClient.frameInfos</span><span class="PUNC">[</span><span class="NAME">frameID</span><span class="PUNC">]</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 47</span> </span><span class="WHIT">      </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">info</span><span class="WHIT"> </span><span class="PUNC">!=</span><span class="WHIT"> </span><span class="NAME">undefined</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 48</span> </span><span class="WHIT">        </span><span class="NAME">info.transform</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Transform</span><span class="PUNC">(</span><span class="NAME">transform.transform.translation</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'> 49</span> </span><span class="WHIT">            </span><span class="NAME">transform.transform.rotation</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 50</span> </span><span class="WHIT">        </span><span class="NAME">info.cbs.forEach</span><span class="PUNC">(</span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">cb</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 51</span> </span><span class="WHIT">          </span><span class="NAME">cb</span><span class="PUNC">(</span><span class="NAME">info.transform</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 52</span> </span><span class="WHIT">        </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 53</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="WHIT">
-<span class='line'> 54</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 55</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 56</span> 
-<span class='line'> 57</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'> 58</span>    * Create and send a new goal to the tf2_web_republisher based on the current list of TFs.
-<span class='line'> 59</span>    */</span><span class="WHIT">
-<span class='line'> 60</span> </span><span class="WHIT">  </span><span class="NAME">this.updateGoal</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 61</span> </span><span class="WHIT">    </span><span class="COMM">// Anytime the list of frames changes, we will need to send a new goal.</span><span class="WHIT">
-<span class='line'> 62</span> </span><span class="WHIT">    </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">tfClient.currentGoal</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 63</span> </span><span class="WHIT">      </span><span class="NAME">tfClient.currentGoal.cancel</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 64</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="WHIT">
-<span class='line'> 65</span> 
-<span class='line'> 66</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">goalMessage</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 67</span> </span><span class="WHIT">      </span><span class="NAME">source_frames</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="PUNC">[</span><span class="PUNC">]</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'> 68</span> </span><span class="WHIT">      </span><span class="NAME">target_frame</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">tfClient.fixedFrame</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'> 69</span> </span><span class="WHIT">      </span><span class="NAME">angular_thres</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">tfClient.angularThres</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'> 70</span> </span><span class="WHIT">      </span><span class="NAME">trans_thres</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">tfClient.transThres</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'> 71</span> </span><span class="WHIT">      </span><span class="NAME">rate</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">tfClient.rate</span><span class="WHIT">
-<span class='line'> 72</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 73</span> 
-<span class='line'> 74</span> </span><span class="WHIT">    </span><span class="KEYW">for</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">frame</span><span class="WHIT"> </span><span class="KEYW">in</span><span class="WHIT"> </span><span class="NAME">tfClient.frameInfos</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 75</span> </span><span class="WHIT">      </span><span class="NAME">goalMessage.source_frames.push</span><span class="PUNC">(</span><span class="NAME">frame</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 76</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="WHIT">
-<span class='line'> 77</span> 
-<span class='line'> 78</span> </span><span class="WHIT">    </span><span class="NAME">tfClient.currentGoal</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Goal</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 79</span> </span><span class="WHIT">      </span><span class="NAME">actionClient</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">tfClient.actionClient</span><span class="PUNC">,</span><span class="WHIT">
-<span class='line'> 80</span> </span><span class="WHIT">      </span><span class="NAME">goalMessage</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">goalMessage</span><span class="WHIT">
-<span class='line'> 81</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 82</span> </span><span class="WHIT">    </span><span class="NAME">tfClient.currentGoal.on</span><span class="PUNC">(</span><span class="STRN">'feedback'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">tfClient.processFeedback.bind</span><span class="PUNC">(</span><span class="NAME">tfClient</span><span class="PUNC">)</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 83</span> </span><span class="WHIT">    </span><span class="NAME">tfClient.currentGoal.send</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 84</span> </span><span class="WHIT">    </span><span class="NAME">tfClient.goalUpdateRequested</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">false</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 85</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 86</span> 
-<span class='line'> 87</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'> 88</span>    * Subscribe to the given TF frame.
-<span class='line'> 89</span>    * 
-<span class='line'> 90</span>    * @param frameID - the TF frame to subscribe to
-<span class='line'> 91</span>    * @param callback - function with params:
-<span class='line'> 92</span>    *   * transform - the transform data
-<span class='line'> 93</span>    */</span><span class="WHIT">
-<span class='line'> 94</span> </span><span class="WHIT">  </span><span class="NAME">this.subscribe</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">frameID</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">callback</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 95</span> </span><span class="WHIT">    </span><span class="COMM">// make sure the frame id is relative</span><span class="WHIT">
-<span class='line'> 96</span> </span><span class="WHIT">    </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">frameID</span><span class="PUNC">[</span><span class="NUMB">0</span><span class="PUNC">]</span><span class="WHIT"> </span><span class="PUNC">===</span><span class="WHIT"> </span><span class="STRN">'/'</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 97</span> </span><span class="WHIT">      </span><span class="NAME">frameID</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">frameID.substring</span><span class="PUNC">(</span><span class="NUMB">1</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 98</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="WHIT">
-<span class='line'> 99</span> </span><span class="WHIT">    </span><span class="COMM">// if there is no callback registered for the given frame, create emtpy callback list</span><span class="WHIT">
-<span class='line'>100</span> </span><span class="WHIT">    </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">tfClient.frameInfos</span><span class="PUNC">[</span><span class="NAME">frameID</span><span class="PUNC">]</span><span class="WHIT"> </span><span class="PUNC">==</span><span class="WHIT"> </span><span class="NAME">undefined</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>101</span> </span><span class="WHIT">      </span><span class="NAME">tfClient.frameInfos</span><span class="PUNC">[</span><span class="NAME">frameID</span><span class="PUNC">]</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>102</span> </span><span class="WHIT">        </span><span class="NAME">cbs</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="PUNC">[</span><span class="PUNC">]</span><span class="WHIT">
-<span class='line'>103</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>104</span> </span><span class="WHIT">      </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="PUNC">!</span><span class="NAME">tfClient.goalUpdateRequested</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>105</span> </span><span class="WHIT">        </span><span class="NAME">setTimeout</span><span class="PUNC">(</span><span class="NAME">tfClient.updateGoal.bind</span><span class="PUNC">(</span><span class="NAME">tfClient</span><span class="PUNC">)</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">tfClient.goalUpdateDelay</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>106</span> </span><span class="WHIT">        </span><span class="NAME">tfClient.goalUpdateRequested</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">true</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>107</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="WHIT">
-<span class='line'>108</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="WHIT"> </span><span class="KEYW">else</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>109</span> </span><span class="WHIT">      </span><span class="COMM">// if we already have a transform, call back immediately</span><span class="WHIT">
-<span class='line'>110</span> </span><span class="WHIT">      </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">tfClient.frameInfos</span><span class="PUNC">[</span><span class="NAME">frameID</span><span class="PUNC">]</span><span class="PUNC">.</span><span class="NAME">transform</span><span class="WHIT"> </span><span class="PUNC">!=</span><span class="WHIT"> </span><span class="NAME">undefined</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>111</span> </span><span class="WHIT">        </span><span class="NAME">callback</span><span class="PUNC">(</span><span class="NAME">tfClient.frameInfos</span><span class="PUNC">[</span><span class="NAME">frameID</span><span class="PUNC">]</span><span class="PUNC">.</span><span class="NAME">transform</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>112</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="WHIT">
-<span class='line'>113</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="WHIT">
-<span class='line'>114</span> </span><span class="WHIT">    </span><span class="NAME">tfClient.frameInfos</span><span class="PUNC">[</span><span class="NAME">frameID</span><span class="PUNC">]</span><span class="PUNC">.</span><span class="NAME">cbs.push</span><span class="PUNC">(</span><span class="NAME">callback</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>115</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>116</span> 
-<span class='line'>117</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'>118</span>    * Unsubscribe from the given TF frame.
-<span class='line'>119</span>    * 
-<span class='line'>120</span>    * @param frameID - the TF frame to unsubscribe from
-<span class='line'>121</span>    * @param callback - the callback function to remove
-<span class='line'>122</span>    */</span><span class="WHIT">
-<span class='line'>123</span> </span><span class="WHIT">  </span><span class="NAME">this.unsubscribe</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">frameID</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">callback</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>124</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">info</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">tfClient.frameInfos</span><span class="PUNC">[</span><span class="NAME">frameID</span><span class="PUNC">]</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>125</span> </span><span class="WHIT">    </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">info</span><span class="WHIT"> </span><span class="PUNC">!=</span><span class="WHIT"> </span><span class="NAME">undefined</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>126</span> </span><span class="WHIT">      </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">cbIndex</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">info.cbs.indexOf</span><span class="PUNC">(</span><span class="NAME">callback</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>127</span> </span><span class="WHIT">      </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">cbIndex</span><span class="WHIT"> </span><span class="PUNC">>=</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>128</span> </span><span class="WHIT">        </span><span class="NAME">info.cbs.splice</span><span class="PUNC">(</span><span class="NAME">cbIndex</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NUMB">1</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>129</span> </span><span class="WHIT">        </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">info.cbs.length</span><span class="WHIT"> </span><span class="PUNC">==</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'>130</span> </span><span class="WHIT">          </span><span class="KEYW">delete</span><span class="WHIT"> </span><span class="NAME">tfClient.frameInfos</span><span class="PUNC">[</span><span class="NAME">frameID</span><span class="PUNC">]</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>131</span> </span><span class="WHIT">        </span><span class="PUNC">}</span><span class="WHIT">
-<span class='line'>132</span> </span><span class="WHIT">        </span><span class="NAME">tfClient.needUpdate</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">true</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>133</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="WHIT">
-<span class='line'>134</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="WHIT">
-<span class='line'>135</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>136</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'>137</span> </span></pre></body></html>
\ No newline at end of file
diff --git a/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_tf_Transform.js.html b/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_tf_Transform.js.html
deleted file mode 100644
index 749358e79..000000000
--- a/doc/symbols/src/_wg_stor5_rtoris_Documents_WPI_RAIL_ROS_groovy_src_roslibjs_src_tf_Transform.js.html
+++ /dev/null
@@ -1,70 +0,0 @@
-<html><head><meta http-equiv="content-type" content="text/html; charset=utf-8"> <style>
-	.KEYW {color: #933;}
-	.COMM {color: #bbb; font-style: italic;}
-	.NUMB {color: #393;}
-	.STRN {color: #393;}
-	.REGX {color: #339;}
-	.line {border-right: 1px dotted #666; color: #666; font-style: normal;}
-	</style></head><body><pre><span class='line'>  1</span> <span class="COMM">/**
-<span class='line'>  2</span>  * @author David Gossow - dgossow@willowgarage.com
-<span class='line'>  3</span>  */</span><span class="WHIT">
-<span class='line'>  4</span> 
-<span class='line'>  5</span> </span><span class="COMM">/**
-<span class='line'>  6</span>  * A Transform in 3-space. Values are copied into this object.
-<span class='line'>  7</span>  *
-<span class='line'>  8</span>  *  @constructor
-<span class='line'>  9</span>  *  @param translation - the ROSLIB.Vector3 describing the translation
-<span class='line'> 10</span>  *  @param rotation - the ROSLIB.Quaternion describing the rotation
-<span class='line'> 11</span>  */</span><span class="WHIT">
-<span class='line'> 12</span> </span><span class="NAME">ROSLIB.Transform</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">translation</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">rotation</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 13</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">transform</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 14</span> </span><span class="WHIT">  </span><span class="COMM">// copy the values into this object if they exist</span><span class="WHIT">
-<span class='line'> 15</span> </span><span class="WHIT">  </span><span class="NAME">this.translation</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Vector3</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 16</span> </span><span class="WHIT">  </span><span class="NAME">this.rotation</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Quaternion</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 17</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">translation</span><span class="WHIT"> </span><span class="PUNC">!==</span><span class="WHIT"> </span><span class="NAME">undefined</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 18</span> </span><span class="WHIT">    </span><span class="NAME">this.translation.copy</span><span class="PUNC">(</span><span class="NAME">translation</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 19</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
-<span class='line'> 20</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">rotation</span><span class="WHIT"> </span><span class="PUNC">!==</span><span class="WHIT"> </span><span class="NAME">undefined</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 21</span> </span><span class="WHIT">    </span><span class="NAME">this.rotation.copy</span><span class="PUNC">(</span><span class="NAME">rotation</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 22</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
-<span class='line'> 23</span> 
-<span class='line'> 24</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'> 25</span>    * Apply a transform against the given ROSLIB.Pose.
-<span class='line'> 26</span>    * 
-<span class='line'> 27</span>    * @param pose the pose to transform with
-<span class='line'> 28</span>    * @returns a pointer to the pose
-<span class='line'> 29</span>    */</span><span class="WHIT">
-<span class='line'> 30</span> </span><span class="WHIT">  </span><span class="NAME">this.apply</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">pose</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 31</span> </span><span class="WHIT">    </span><span class="NAME">transform.rotation.multiplyVec3</span><span class="PUNC">(</span><span class="NAME">pose.position</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 32</span> </span><span class="WHIT">    </span><span class="NAME">pose.position.add</span><span class="PUNC">(</span><span class="NAME">pose.position</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">transform.translation</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 33</span> </span><span class="WHIT">    </span><span class="NAME">pose.orientation.multiply</span><span class="PUNC">(</span><span class="NAME">transform.rotation</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">pose.orientation</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 34</span> </span><span class="WHIT">    </span><span class="KEYW">return</span><span class="WHIT"> </span><span class="NAME">pose</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 35</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 36</span> 
-<span class='line'> 37</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'> 38</span>    * Apply an inverse transform against the given ROSLIB.Pose.
-<span class='line'> 39</span>    * 
-<span class='line'> 40</span>    * @param pose the pose to transform with
-<span class='line'> 41</span>    * @returns a pointer to the pose
-<span class='line'> 42</span>    */</span><span class="WHIT">
-<span class='line'> 43</span> </span><span class="WHIT">  </span><span class="NAME">this.applyInverse</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">pose</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 44</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">rotInv</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">transform.rotation.clone</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">.</span><span class="NAME">inverse</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 45</span> </span><span class="WHIT">    </span><span class="NAME">rotInv.multiplyVec3</span><span class="PUNC">(</span><span class="NAME">pose.position</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 46</span> </span><span class="WHIT">    </span><span class="NAME">pose.position.sub</span><span class="PUNC">(</span><span class="NAME">pose.position</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">transform.translation</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 47</span> </span><span class="WHIT">    </span><span class="NAME">pose.orientation.multiply</span><span class="PUNC">(</span><span class="NAME">rotInv</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">pose.orientation</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 48</span> </span><span class="WHIT">    </span><span class="KEYW">return</span><span class="WHIT"> </span><span class="NAME">pose</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 49</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 50</span> 
-<span class='line'> 51</span> </span><span class="WHIT">  </span><span class="COMM">/**
-<span class='line'> 52</span>    * Copy the values from the given transform into this transform.
-<span class='line'> 53</span>    * 
-<span class='line'> 54</span>    * @param transform the transform to copy
-<span class='line'> 55</span>    * @returns a pointer to this transform
-<span class='line'> 56</span>    */</span><span class="WHIT">
-<span class='line'> 57</span> </span><span class="WHIT">  </span><span class="NAME">this.copy</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">transform</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
-<span class='line'> 58</span> </span><span class="WHIT">    </span><span class="NAME">transform.translation.copy</span><span class="PUNC">(</span><span class="NAME">transform.translation</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 59</span> </span><span class="WHIT">    </span><span class="NAME">transform.rotation.copy</span><span class="PUNC">(</span><span class="NAME">transform.rotation</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 60</span> </span><span class="WHIT">    </span><span class="KEYW">return</span><span class="WHIT"> </span><span class="NAME">transform</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 61</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 62</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
-<span class='line'> 63</span> </span></pre></body></html>
\ No newline at end of file
diff --git a/src/actionlib/ActionClient.js b/src/actionlib/ActionClient.js
index 4d51ec3ff..df1a59817 100644
--- a/src/actionlib/ActionClient.js
+++ b/src/actionlib/ActionClient.js
@@ -19,7 +19,7 @@
  *   * timeout - the timeout length when connecting to the action server
  */
 ROSLIB.ActionClient = function(options) {
-  var actionClient = this;
+  var that = this;
   options = options || {};
   this.ros = options.ros;
   this.serverName = options.serverName;
@@ -36,44 +36,41 @@ ROSLIB.ActionClient = function(options) {
     name : this.serverName + '/feedback',
     messageType : this.actionName + 'Feedback'
   });
+
   var statusListener = new ROSLIB.Topic({
     ros : this.ros,
     name : this.serverName + '/status',
     messageType : 'actionlib_msgs/GoalStatusArray'
   });
+
   var resultListener = 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'
   });
 
-  /**
-   * Cancel all goals associated with this ActionClient.
-   */
-  this.cancel = function() {
-    var cancelMessage = new ROSLIB.Message({});
-    this.cancelTopic.publish(cancelMessage);
-  };
-
   // advertise the goal and cancel topics
   this.goalTopic.advertise();
   this.cancelTopic.advertise();
 
   // subscribe to the status topic
   statusListener.subscribe(function(statusMessage) {
+    var that = this;
     receivedStatus = true;
     statusMessage.status_list.forEach(function(status) {
-      var goal = actionClient.goals[status.goal_id.id];
+      var goal = that.goals[status.goal_id.id];
       if (goal) {
         goal.emit('status', status);
       }
@@ -82,7 +79,7 @@ ROSLIB.ActionClient = function(options) {
 
   // subscribe the the feedback topic
   feedbackListener.subscribe(function(feedbackMessage) {
-    var goal = actionClient.goals[feedbackMessage.status.goal_id.id];
+    var goal = that.goals[feedbackMessage.status.goal_id.id];
     if (goal) {
       goal.emit('status', feedbackMessage.status);
       goal.emit('feedback', feedbackMessage.feedback);
@@ -91,7 +88,7 @@ ROSLIB.ActionClient = function(options) {
 
   // subscribe to the result topic
   resultListener.subscribe(function(resultMessage) {
-    var goal = actionClient.goals[resultMessage.status.goal_id.id];
+    var goal = that.goals[resultMessage.status.goal_id.id];
 
     if (goal) {
       goal.emit('status', resultMessage.status);
@@ -103,9 +100,18 @@ ROSLIB.ActionClient = function(options) {
   if (this.timeout) {
     setTimeout(function() {
       if (!receivedStatus) {
-        actionClient.emit('timeout');
+        that.emit('timeout');
       }
     }, this.timeout);
   }
 };
 ROSLIB.ActionClient.prototype.__proto__ = EventEmitter2.prototype;
+
+/**
+ * Cancel all goals associated with this ActionClient.
+ */
+ROSLIB.ActionClient.prototype.cancel = function() {
+  var cancelMessage = new ROSLIB.Message({});
+  this.cancelTopic.publish(cancelMessage);
+};
+
diff --git a/src/actionlib/Goal.js b/src/actionlib/Goal.js
index e58310689..4d8eb4c8f 100644
--- a/src/actionlib/Goal.js
+++ b/src/actionlib/Goal.js
@@ -13,45 +13,18 @@
  *   * actionClient - the ROSLIB.ActionClient to use with this goal
  *   * goalMessage - The JSON object containing the goal for the action server
  */
-
 ROSLIB.Goal = function(options) {
-  var goal = this;
+  var that = this;
   this.actionClient = options.actionClient;
   this.goalMessage = options.goalMessage;
   this.isFinished = false;
 
-  // used to create random IDs
+  // Used to create random IDs
   var date = new Date();
 
-  /**
-   * Send the goal to the action server.
-   * 
-   * @param timeout (optional) - a timeout length for the goal's result
-   */
-  this.send = function(timeout) {
-    goal.actionClient.goalTopic.publish(goal.goalMessage);
-    if (timeout) {
-      setTimeout(function() {
-        if (!goal.isFinished) {
-          goal.emit('timeout');
-        }
-      }, timeout);
-    }
-  };
-
-  /**
-   * Cancel the current goal.
-   */
-  this.cancel = function() {
-    var cancelMessage = new ROSLIB.Message({
-      id : goal.goalID
-    });
-    goal.actionClient.cancelTopic.publish(cancelMessage);
-  };
-
-  // create a random ID
-  this.goalID = 'goal_' + Math.random() + "_" + date.getTime();
-  // fill in the goal message
+  // Create a random ID
+  this.goalID = 'goal_' + Math.random() + '_' + date.getTime();
+  // Fill in the goal message
   this.goalMessage = new ROSLIB.Message({
     goal_id : {
       stamp : {
@@ -64,20 +37,47 @@ ROSLIB.Goal = function(options) {
   });
 
   this.on('status', function(status) {
-    this.status = status;
+    that.status = status;
   });
 
   this.on('result', function(result) {
-    this.isFinished = true;
-    this.result = result;
+    that.isFinished = true;
+    that.result = result;
   });
 
   this.on('feedback', function(feedback) {
-    this.feedback = feedback;
+    that.feedback = feedback;
   });
 
-  // add the goal
+  // Add the goal
   this.actionClient.goals[this.goalID] = this;
-
 };
 ROSLIB.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) {
+  var that = this;
+  that.actionClient.goalTopic.publish(that.goalMessage);
+  if (timeout) {
+    setTimeout(function() {
+      if (!that.isFinished) {
+        that.emit('timeout');
+      }
+    }, timeout);
+  }
+};
+
+/**
+ * Cancel the current goal.
+ */
+ROSLIB.Goal.prototype.cancel = function() {
+  var cancelMessage = new ROSLIB.Message({
+    id : this.goalID
+  });
+  this.actionClient.cancelTopic.publish(cancelMessage);
+};
+
diff --git a/src/core/Message.js b/src/core/Message.js
index bad20908a..775526ab6 100644
--- a/src/core/Message.js
+++ b/src/core/Message.js
@@ -1,10 +1,10 @@
 /**
- * @author Brandon Alexander - balexander@willowgarage.com
+ * @author Brandon Alexander - baalexander@gmail.com
  */
 
 /**
  * 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.
  */
diff --git a/src/core/Param.js b/src/core/Param.js
index a1d7bb810..b6c720011 100644
--- a/src/core/Param.js
+++ b/src/core/Param.js
@@ -1,5 +1,5 @@
 /**
- * @author Brandon Alexander - balexander@willowgarage.com
+ * @author Brandon Alexander - baalexander@gmail.com
  */
 
 /**
@@ -11,53 +11,53 @@
  *   * name - the param name, like max_vel_x
  */
 ROSLIB.Param = function(options) {
-  var param = this;
   options = options || {};
   this.ros = options.ros;
   this.name = options.name;
+};
+
+/**
+ * Fetches the value of the param.
+ *
+ * @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({
+    ros : this.ros,
+    name : '/rosapi/get_param',
+    serviceType : 'rosapi/GetParam'
+  });
+
+  var request = new ROSLIB.ServiceRequest({
+    name : this.name,
+    value : JSON.stringify('')
+  });
+
+  paramClient.callService(request, function(result) {
+    var value = JSON.parse(result.value);
+    callback(value);
+  });
+};
 
-  /**
-   * Fetches the value of the param.
-   *
-   * @param callback - function with the following params:
-   *  * value - the value of the param from ROS.
-   */
-  this.get = function(callback) {
-    var paramClient = new ROSLIB.Service({
-      ros : param.ros,
-      name : '/rosapi/get_param',
-      serviceType : 'rosapi/GetParam'
-    });
-
-    var request = new ROSLIB.ServiceRequest({
-      name : param.name,
-      value : JSON.stringify('')
-    });
-
-    paramClient.callService(request, function(result) {
-      var value = JSON.parse(result.value);
-      callback(value);
-    });
-  };
-
-  /**
-   * Sets the value of the param in ROS.
-   *
-   * @param value - value to set param to.
-   */
-  this.set = function(value) {
-    var paramClient = new ROSLIB.Service({
-      ros : param.ros,
-      name : '/rosapi/set_param',
-      serviceType : 'rosapi/SetParam'
-    });
-
-    var request = new ROSLIB.ServiceRequest({
-      name : param.name,
-      value : JSON.stringify(value)
-    });
-
-    paramClient.callService(request, function() {
-    });
-  };
+/**
+ * Sets the value of the param in ROS.
+ *
+ * @param value - value to set param to.
+ */
+ROSLIB.Param.prototype.set = function(value) {
+  var paramClient = new ROSLIB.Service({
+    ros : this.ros,
+    name : '/rosapi/set_param',
+    serviceType : 'rosapi/SetParam'
+  });
+
+  var request = new ROSLIB.ServiceRequest({
+    name : this.name,
+    value : JSON.stringify(value)
+  });
+
+  paramClient.callService(request, function() {
+  });
 };
+
diff --git a/src/core/Ros.js b/src/core/Ros.js
index 2dc20e148..ecc933c1a 100644
--- a/src/core/Ros.js
+++ b/src/core/Ros.js
@@ -1,5 +1,5 @@
 /**
- * @author Brandon Alexander - balexander@willowgarage.com
+ * @author Brandon Alexander - baalexander@gmail.com
  */
 
 /**
@@ -16,40 +16,55 @@
  *  @param url (optional) - The WebSocket URL for rosbridge. Can be specified later with `connect`.
  */
 ROSLIB.Ros = function(url) {
-  var ros = this;
   this.socket = null;
 
+
+  // begin by checking if a URL was given
+  if (url) {
+    this.connect(url);
+  }
+};
+ROSLIB.Ros.prototype.__proto__ = EventEmitter2.prototype;
+
+/**
+ * Connect to the specified WebSocket.
+ *
+ * @param url - WebSocket URL for Rosbridge
+ */
+ROSLIB.Ros.prototype.connect = function(url) {
+  var that = this;
+
   /**
    * Emits a 'connection' event on WebSocket connection.
-   * 
+   *
    * @param event - the argument to emit with the event.
    */
   function onOpen(event) {
-    ros.emit('connection', event);
+    that.emit('connection', event);
   };
 
   /**
    * Emits a 'close' event on WebSocket disconnection.
-   * 
+   *
    * @param event - the argument to emit with the event.
    */
   function onClose(event) {
-    ros.emit('close', event);
+    that.emit('close', event);
   };
 
   /**
    * Emits an 'error' event whenever there was an error.
-   * 
+   *
    * @param event - the argument to emit with the event.
    */
   function onError(event) {
-    ros.emit('error', event);
+    that.emit('error', event);
   };
 
   /**
-   * If a message was compressed as a PNG image (a compression hack since gzipping over WebSockets
-   * is not supported yet), this function places the "image" in a canvas element then decodes the
-   * "image" as a Base64 string.
+   * If a message was compressed as a PNG image (a compression hack since
+   * gzipping over WebSockets * is not supported yet), this function places the
+   * "image" in a canvas element then decodes the * "image" as a Base64 string.
    *
    * @param data - object containing the PNG data.
    * @param callback - function with params:
@@ -75,7 +90,7 @@ ROSLIB.Ros = function(url) {
 
       // Constructs the JSON.
       var jsonData = '';
-      for ( var i = 0; i < imageData.length; i += 4) {
+      for (var i = 0; i < imageData.length; i += 4) {
         // RGB
         jsonData += String.fromCharCode(imageData[i], imageData[i + 1], imageData[i + 2]);
       }
@@ -87,16 +102,17 @@ ROSLIB.Ros = function(url) {
   }
 
   /**
-   * Parses message responses from rosbridge and sends to the appropriate topic, service, or param.
+   * Parses message responses from rosbridge and sends to the appropriate
+   * topic, service, or param.
    *
    * @param message - the raw JSON message from rosbridge.
    */
   function onMessage(message) {
     function handleMessage(message) {
       if (message.op === 'publish') {
-        ros.emit(message.topic, message.msg);
+        that.emit(message.topic, message.msg);
       } else if (message.op === 'service_response') {
-        ros.emit(message.id, message.values);
+        that.emit(message.id, message.values);
       }
     };
 
@@ -110,132 +126,122 @@ ROSLIB.Ros = function(url) {
     }
   };
 
-  /**
-   * Connect to the specified WebSocket.
-   *
-   * @param url - WebSocket URL for Rosbridge
-   */
-  this.connect = function(url) {
-    ros.socket = new WebSocket(url);
-    ros.socket.onopen = onOpen;
-    ros.socket.onclose = onClose;
-    ros.socket.onerror = onError;
-    ros.socket.onmessage = onMessage;
-  };
-
-  /**
-   * Disconnect from the WebSocket server.
-   */
-  this.close = function() {
-    if (ros.socket) {
-      ros.socket.close();
-    }
-  };
-
-  /**
-   * Sends an authorization request to the server.
-   *
-   * @param mac - MAC (hash) string given by the trusted source.
-   * @param client - IP of the client.
-   * @param dest - IP of the destination.
-   * @param rand - Random string given by the trusted source.
-   * @param t - Time of the authorization request.
-   * @param level - User level as a string given by the client.
-   * @param end - End time of the client's session.
-   */
-  this.authenticate = function(mac, client, dest, rand, t, level, end) {
-    // create the request
-    var auth = {
-      op : 'auth',
-      mac : mac,
-      client : client,
-      dest : dest,
-      rand : rand,
-      t : t,
-      level : level,
-      end : end
-    };
-    // send the request
-    callOnConnection(auth);
-  };
-
-  /**
-   * Sends the message over the WebSocket, but queues the message up if not yet connected.
-   */
-  this.callOnConnection = function(message) {
-    var messageJson = JSON.stringify(message);
-
-    if (ros.socket.readyState !== WebSocket.OPEN) {
-      ros.once('connection', function() {
-        ros.socket.send(messageJson);
-      });
-    } else {
-      ros.socket.send(messageJson);
-    }
-  };
-
-  /**
-   * Retrieves list of topics in ROS as an array.
-   *
-   * @param callback function with params:
-   *   * topics - Array of topic names
-   */
-  this.getTopics = function(callback) {
-    var topicsClient = new ROSLIB.Service({
-      ros : ros,
-      name : '/rosapi/topics',
-      serviceType : 'rosapi/Topics'
-    });
+  that.socket = new WebSocket(url);
+  that.socket.onopen = onOpen;
+  that.socket.onclose = onClose;
+  that.socket.onerror = onError;
+  that.socket.onmessage = onMessage;
+};
 
-    var request = new ROSLIB.ServiceRequest();
+/**
+ * Disconnect from the WebSocket server.
+ */
+ROSLIB.Ros.prototype.close = function() {
+  if (this.socket) {
+    this.socket.close();
+  }
+};
 
-    topicsClient.callService(request, function(result) {
-      callback(result.topics);
-    });
+/**
+ * Sends an authorization request to the server.
+ *
+ * @param mac - MAC (hash) string given by the trusted source.
+ * @param client - IP of the client.
+ * @param dest - IP of the destination.
+ * @param rand - Random string given by the trusted source.
+ * @param t - Time of the authorization request.
+ * @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) {
+  // create the request
+  var auth = {
+    op : 'auth',
+    mac : mac,
+    client : client,
+    dest : dest,
+    rand : rand,
+    t : t,
+    level : level,
+    end : end
   };
+  // send the request
+  callOnConnection(auth);
+};
 
-  /**
-   * Retrieves list of active service names in ROS.
-   *
-   * @param callback - function with the following params:
-   *   * services - array of service names
-   */
-  this.getServices = function(callback) {
-    var servicesClient = new ROSLIB.Service({
-      ros : ros,
-      name : '/rosapi/services',
-      serviceType : 'rosapi/Services'
-    });
-
-    var request = new ROSLIB.ServiceRequest();
+/**
+ * Sends the message over the WebSocket, but queues the message up if not yet
+ * connected.
+ */
+ROSLIB.Ros.prototype.callOnConnection = function(message) {
+  var that = this;
+  var messageJson = JSON.stringify(message);
 
-    servicesClient.callService(request, function(result) {
-      callback(result.services);
+  if (ros.socket.readyState !== WebSocket.OPEN) {
+    that.once('connection', function() {
+      that.socket.send(messageJson);
     });
-  };
+  } else {
+    that.socket.send(messageJson);
+  }
+};
 
-  /**
-   * Retrieves list of param names from the ROS Parameter Server.
-   *
-   * @param callback function with params:
-   *  * params - array of param names.
-   */
-  this.getParams = function(callback) {
-    var paramsClient = new ROSLIB.Service({
-      ros : ros,
-      name : '/rosapi/get_param_names',
-      serviceType : 'rosapi/GetParamNames'
-    });
+/**
+ * Retrieves list of topics in ROS as an array.
+ *
+ * @param callback function with params:
+ *   * topics - Array of topic names
+ */
+ROSLIB.Ros.prototype.getTopics = function(callback) {
+  var topicsClient = new ROSLIB.Service({
+    ros : this,
+    name : '/rosapi/topics',
+    serviceType : 'rosapi/Topics'
+  });
+
+  var request = new ROSLIB.ServiceRequest();
+
+  topicsClient.callService(request, function(result) {
+    callback(result.topics);
+  });
+};
 
-    var request = new ROSLIB.ServiceRequest();
-    paramsClient.callService(request, function(result) {
-      callback(result.names);
-    });
-  };
+/**
+ * Retrieves list of active service names in ROS.
+ *
+ * @param callback - function with the following params:
+ *   * services - array of service names
+ */
+ROSLIB.Ros.prototype.getServices = function(callback) {
+  var servicesClient = new ROSLIB.Service({
+    ros : this,
+    name : '/rosapi/services',
+    serviceType : 'rosapi/Services'
+  });
+
+  var request = new ROSLIB.ServiceRequest();
+
+  servicesClient.callService(request, function(result) {
+    callback(result.services);
+  });
+};
 
-  // begin by checking if a URL was given
-  if (url) {
-    this.connect(url);
-  }
+/**
+ * Retrieves list of param names from the ROS Parameter Server.
+ *
+ * @param callback function with params:
+ *  * params - array of param names.
+ */
+ROSLIB.Ros.prototype.getParams = function(callback) {
+  var paramsClient = new ROSLIB.Service({
+    ros : this,
+    name : '/rosapi/get_param_names',
+    serviceType : 'rosapi/GetParamNames'
+  });
+
+  var request = new ROSLIB.ServiceRequest();
+  paramsClient.callService(request, function(result) {
+    callback(result.names);
+  });
 };
-ROSLIB.Ros.prototype.__proto__ = EventEmitter2.prototype;
+
diff --git a/src/core/Service.js b/src/core/Service.js
index 9eaee213c..b0409f4bd 100644
--- a/src/core/Service.js
+++ b/src/core/Service.js
@@ -1,5 +1,5 @@
 /**
- * @author Brandon Alexander - balexander@willowgarage.com
+ * @author Brandon Alexander - baalexander@gmail.com
  */
 
 /**
@@ -12,39 +12,39 @@
  *   * serviceType - the service type, like 'rospy_tutorials/AddTwoInts'
  */
 ROSLIB.Service = function(options) {
-  var service = this;
   options = options || {};
   this.ros = options.ros;
   this.name = options.name;
   this.serviceType = options.serviceType;
+};
 
-  /**
-   * Calls the service. Returns the service response in the callback.
-   * 
-   * @param request - the ROSLIB.ServiceRequest to send
-   * @param callback - function with params:
-   *   * response - the response from the service request
-   */
-  this.callService = function(request, callback) {
-    service.ros.idCounter++;
-    serviceCallId = 'call_service:' + service.name + ':' + service.ros.idCounter;
+/**
+ * Calls the service. Returns the service response in the callback.
+ *
+ * @param request - the ROSLIB.ServiceRequest to send
+ * @param callback - function with params:
+ *   * response - the response from the service request
+ */
+ROSLIB.Service.prototype.callService = function(request, callback) {
+  this.ros.idCounter++;
+  serviceCallId = 'call_service:' + this.name + ':' + this.ros.idCounter;
 
-    service.ros.once(serviceCallId, function(data) {
-      var response = new ROSLIB.ServiceResponse(data);
-      callback(response);
-    });
+  this.ros.once(serviceCallId, function(data) {
+    var response = new ROSLIB.ServiceResponse(data);
+    callback(response);
+  });
 
-    var requestValues = [];
-    Object.keys(request).forEach(function(name) {
-      requestValues.push(request[name]);
-    });
+  var requestValues = [];
+  Object.keys(request).forEach(function(name) {
+    requestValues.push(request[name]);
+  });
 
-    var call = {
-      op : 'call_service',
-      id : serviceCallId,
-      service : service.name,
-      args : requestValues
-    };
-    service.ros.callOnConnection(call);
+  var call = {
+    op : 'call_service',
+    id : serviceCallId,
+    service : this.name,
+    args : requestValues
   };
+  this.ros.callOnConnection(call);
 };
+
diff --git a/src/core/ServiceRequest.js b/src/core/ServiceRequest.js
index 505200c44..7a6fe52fb 100644
--- a/src/core/ServiceRequest.js
+++ b/src/core/ServiceRequest.js
@@ -9,10 +9,10 @@
  * @param values - object matching the values of the request part from the .srv file.
  */
 ROSLIB.ServiceRequest = function(values) {
-  var serviceRequest = this;
+  var that = this;
   if (values) {
     Object.keys(values).forEach(function(name) {
-      serviceRequest[name] = values[name];
+      that[name] = values[name];
     });
   }
 };
diff --git a/src/core/ServiceResponse.js b/src/core/ServiceResponse.js
index 8e612f474..c577ed4cd 100644
--- a/src/core/ServiceResponse.js
+++ b/src/core/ServiceResponse.js
@@ -9,10 +9,10 @@
  * @param values - object matching the values of the response part from the .srv file.
  */
 ROSLIB.ServiceResponse = function(values) {
-  var serviceResponse = this;
+  var that = this;
   if (values) {
     Object.keys(values).forEach(function(name) {
-      serviceResponse[name] = values[name];
+      that[name] = values[name];
     });
   }
 };
diff --git a/src/core/Topic.js b/src/core/Topic.js
index 2d0532628..7c157eb65 100644
--- a/src/core/Topic.js
+++ b/src/core/Topic.js
@@ -1,14 +1,14 @@
 /**
- * @author Brandon Alexander - balexander@willowgarage.com
+ * @author Brandon Alexander - baalexander@gmail.com
  */
 
 /**
  * Publish and/or subscribe to a topic in ROS.
- * 
+ *
  * Emits the following events:
  *  * 'warning' - if there are any warning during the Topic creation
  *  * 'message' - the message data from rosbridge
- *  
+ *
  * @constructor
  * @param options - object with following keys:
  *   * ros - the ROSLIB.Ros connection handle
@@ -18,7 +18,6 @@
  *   * throttle_rate - the rate at which to throttle the topics
  */
 ROSLIB.Topic = function(options) {
-  var topic = this;
   options = options || {};
   this.ros = options.ros;
   this.name = options.name;
@@ -38,104 +37,105 @@ 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;
 
-  /**
-   * Every time a message is published for the given topic, the callback
-   * will be called with the message object.
-   *
-   * @param callback - function with the following params:
-   *   * message - the published message
-   */
-  this.subscribe = function(callback) {
-    topic.on('message', function(message) {
-      callback(message);
-    });
-
-    topic.ros.on(topic.name, function(data) {
-      var message = new ROSLIB.Message(data);
-      topic.emit('message', message);
-    });
+/**
+ * Every time a message is published for the given topic, the callback
+ * will be called with the message object.
+ *
+ * @param callback - function with the following params:
+ *   * message - the published message
+ */
+ROSLIB.Topic.prototype.subscribe = function(callback) {
+  this.on('message', function(message) {
+    callback(message);
+  });
 
-    topic.ros.idCounter++;
-    var subscribeId = 'subscribe:' + topic.name + ':' + topic.ros.idCounter;
-    var call = {
-      op : 'subscribe',
-      id : subscribeId,
-      type : topic.messageType,
-      topic : topic.name,
-      compression : topic.compression,
-      throttle_rate : topic.throttle_rate
-    };
+  this.ros.on(this.name, function(data) {
+    var message = new ROSLIB.Message(data);
+    this.emit('message', message);
+  });
 
-    topic.ros.callOnConnection(call);
+  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
   };
 
-  /**
-   * Unregisters as a subscriber for the topic. Unsubscribing will remove
-   * all subscribe callbacks.
-   */
-  this.unsubscribe = function() {
-    topic.ros.removeAllListeners([ topic.name ]);
-    topic.ros.idCounter++;
-    var unsubscribeId = 'unsubscribe:' + topic.name + ':' + topic.ros.idCounter;
-    var call = {
-      op : 'unsubscribe',
-      id : unsubscribeId,
-      topic : topic.name
-    };
-    topic.ros.callOnConnection(call);
+  this.ros.callOnConnection(call);
+};
+
+/**
+ * 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);
+};
 
-  /**
-   * Registers as a publisher for the topic.
-   */
-  this.advertise = function() {
-    topic.ros.idCounter++;
-    var advertiseId = 'advertise:' + topic.name + ':' + topic.ros.idCounter;
-    var call = {
-      op : 'advertise',
-      id : advertiseId,
-      type : topic.messageType,
-      topic : topic.name
-    };
-    topic.ros.callOnConnection(call);
-    topic.isAdvertised = true;
+/**
+ * Registers as a publisher for the topic.
+ */
+ROSLIB.Topic.prototype.advertise = function() {
+  this.ros.idCounter++;
+  var advertiseId = 'advertise:' + this.name + ':' + this.ros.idCounter;
+  var call = {
+    op : 'advertise',
+    id : advertiseId,
+    type : this.messageType,
+    topic : this.name
   };
+  this.ros.callOnConnection(call);
+  this.isAdvertised = true;
+};
 
-  /**
-   * Unregisters as a publisher for the topic.
-   */
-  this.unadvertise = function() {
-    topic.ros.idCounter++;
-    var unadvertiseId = 'unadvertise:' + topic.name + ':' + topic.ros.idCounter;
-    var call = {
-      op : 'unadvertise',
-      id : unadvertiseId,
-      topic : topic.name
-    };
-    topic.ros.callOnConnection(call);
-    topic.isAdvertised = false;
+/**
+ * Unregisters as a publisher for the topic.
+ */
+ROSLIB.Topic.prototype.unadvertise = function() {
+  this.ros.idCounter++;
+  var unadvertiseId = 'unadvertise:' + this.name + ':' + this.ros.idCounter;
+  var call = {
+    op : 'unadvertise',
+    id : unadvertiseId,
+    topic : this.name
   };
+  this.ros.callOnConnection(call);
+  this.isAdvertised = false;
+};
 
-  /**
-   * Publish the message.
-   *
-   * @param message - A ROSLIB.Message object.
-   */
-  this.publish = function(message) {
-    if (!topic.isAdvertised) {
-      topic.advertise();
-    }
+/**
+ * Publish the message.
+ *
+ * @param message - A ROSLIB.Message object.
+ */
+ROSLIB.Topic.prototype.publish = function(message) {
+  if (!this.isAdvertised) {
+    this.advertise();
+  }
 
-    topic.ros.idCounter++;
-    var publishId = 'publish:' + topic.name + ':' + topic.ros.idCounter;
-    var call = {
-      op : 'publish',
-      id : publishId,
-      topic : topic.name,
-      msg : message
-    };
-    topic.ros.callOnConnection(call);
+  this.ros.idCounter++;
+  var publishId = 'publish:' + this.name + ':' + this.ros.idCounter;
+  var call = {
+    op : 'publish',
+    id : publishId,
+    topic : this.name,
+    msg : message
   };
+  this.ros.callOnConnection(call);
 };
-ROSLIB.Topic.prototype.__proto__ = EventEmitter2.prototype;
+
diff --git a/src/math/Pose.js b/src/math/Pose.js
index 30cfc7436..6c48f0a90 100644
--- a/src/math/Pose.js
+++ b/src/math/Pose.js
@@ -10,8 +10,7 @@
  *  @param orientation - the ROSLIB.Quaternion describing the orientation
  */
 ROSLIB.Pose = function(position, orientation) {
-  var pose = this;
-  // copy the values into this object if they exist
+  // Copy the values into this object if they exist
   this.position = new ROSLIB.Vector3();
   this.orientation = new ROSLIB.Quaternion();
   if (position !== undefined) {
@@ -20,16 +19,17 @@ ROSLIB.Pose = function(position, orientation) {
   if (orientation !== undefined) {
     this.orientation.copy(orientation);
   }
+};
 
-  /**
-   * Copy the values from the given pose into this pose.
-   * 
-   * @param pose the pose to copy
-   * @returns a pointer to this pose
-   */
-  this.copy = function(pose) {
-    pose.position.copy(pose.position);
-    pose.orientation.copy(pose.orientation);
-    return pose;
-  };
+/**
+ * Copy the values from the given pose into this pose.
+ *
+ * @param pose the pose to copy
+ * @returns a pointer to this pose
+ */
+ROSLIB.Pose.prototype.copy = function(pose) {
+  this.position.copy(pose.position);
+  this.orientation.copy(pose.orientation);
+  return pose;
 };
+
diff --git a/src/math/Quaternion.js b/src/math/Quaternion.js
index 70a35bedb..4a7cf0ed5 100644
--- a/src/math/Quaternion.js
+++ b/src/math/Quaternion.js
@@ -17,108 +17,111 @@ ROSLIB.Quaternion = function(x, y, z, w) {
   this.y = y || 0;
   this.z = z || 0;
   this.w = w || 1;
+};
 
-  /**
-   * Copy the values from the given quaternion into this quaternion.
-   * 
-   * @param q the quaternion to copy
-   * @returns a pointer to this quaternion
-   */
-  this.copy = function(q) {
-    quaternion.x = q.x;
-    quaternion.y = q.y;
-    quaternion.z = q.z;
-    quaternion.w = q.w;
-    return quaternion;
-  };
+/**
+ * Copy the values from the given quaternion into this quaternion.
+ *
+ * @param q the quaternion to copy
+ * @returns a pointer to this quaternion
+ */
+ROSLIB.Quaternion.prototype.copy = function(q) {
+  this.x = q.x;
+  this.y = q.y;
+  this.z = q.z;
+  this.w = q.w;
+  return this;
+};
 
-  /**
-   * Perform a conjugation on this quaternion.
-   * 
-   * @returns a pointer to this quaternion
-   */
-  this.conjugate = function() {
-    quaternion.x *= -1;
-    quaternion.y *= -1;
-    quaternion.z *= -1;
-    return quaternion;
-  };
+/**
+ * Perform a conjugation on this quaternion.
+ *
+ * @returns a pointer to this quaternion
+ */
+ROSLIB.Quaternion.prototype.conjugate = function() {
+  this.x *= -1;
+  this.y *= -1;
+  this.z *= -1;
+  return this;
+};
 
-  /**
-   * Perform a normalization on this quaternion.
-   * 
-   * @returns a pointer to this quaternion
-   */
-  this.normalize = function() {
-    var l = Math.sqrt(quaternion.x * quaternion.x + quaternion.y * quaternion.y + quaternion.z
-        * quaternion.z + quaternion.w * quaternion.w);
-    if (l === 0) {
-      quaternion.x = 0;
-      quaternion.y = 0;
-      quaternion.z = 0;
-      quaternion.w = 1;
-    } else {
-      l = 1 / l;
-      quaternion.x = quaternion.x * l;
-      quaternion.y = quaternion.y * l;
-      quaternion.z = quaternion.z * l;
-      quaternion.w = quaternion.w * l;
-    }
-    return quaternion;
-  };
+/**
+ * Perform a normalization on this quaternion.
+ *
+ * @returns a pointer to this quaternion
+ */
+ROSLIB.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;
+    this.y = 0;
+    this.z = 0;
+    this.w = 1;
+  } else {
+    l = 1 / l;
+    this.x = this.x * l;
+    this.y = this.y * l;
+    this.z = this.z * l;
+    this.w = this.w * l;
+  }
+  return this;
+};
 
-  /**
-   * Convert this quaternion into its inverse.
-   * 
-   * @returns a pointer to this quaternion
-   */
-  this.inverse = function() {
-    this.conjugate().normalize();
-    return quaternion;
-  };
+/**
+ * Convert this quaternion into its inverse.
+ *
+ * @returns a pointer to this quaternion
+ */
+ROSLIB.Quaternion.prototype.inverse = function() {
+  this.conjugate().normalize();
+  return this;
+};
 
-  /**
-   * Set the values of this quaternion to the product of quaternions a and b.
-   * 
-   * @param a the first quaternion to multiply with
-   * @param b the second quaternion to multiply with
-   * @returns a pointer to this quaternion
-   */
-  this.multiply = function(a, b) {
-    var qax = a.x, qay = a.y, qaz = a.z, qaw = a.w, qbx = b.x, qby = b.y, qbz = b.z, qbw = b.w;
-    this.x = qax * qbw + qay * qbz - qaz * qby + qaw * qbx;
-    this.y = -qax * qbz + qay * qbw + qaz * qbx + qaw * qby;
-    this.z = qax * qby - qay * qbx + qaz * qbw + qaw * qbz;
-    this.w = -qax * qbx - qay * qby - qaz * qbz + qaw * qbw;
-    return quaternion;
-  };
+/**
+ * Set the values of this quaternion to the product of quaternions a and b.
+ *
+ * @param a the first quaternion to multiply with
+ * @param b the second quaternion to multiply with
+ * @returns a pointer to this quaternion
+ */
+ROSLIB.Quaternion.prototype.multiply = function(a, b) {
+  var qax = a.x, qay = a.y, qaz = a.z, qaw = a.w, qbx = b.x, qby = b.y, qbz = b.z, qbw = b.w;
+  this.x = qax * qbw + qay * qbz - qaz * qby + qaw * qbx;
+  this.y = -qax * qbz + qay * qbw + qaz * qbx + qaw * qby;
+  this.z = qax * qby - qay * qbx + qaz * qbw + qaw * qbz;
+  this.w = -qax * qbx - qay * qby - qaz * qbz + qaw * qbw;
+  return this;
+};
 
-  /**
-   * Multiply the given ROSLIB.Vector3 with this quaternion.
-   * 
-   * @param vector the vector to multiply with
-   * @param dest (option) - where the computed values will go (defaults to 'vector').
-   * @returns a pointer to dest
-   */
-  this.multiplyVec3 = function(vector, dest) {
-    if (!dest) {
-      dest = vector;
-    }
-    var x = vector.x, y = vector.y, z = vector.z, qx = quaternion.x, qy = quaternion.y, qz = quaternion.z, qw = quaternion.w;
-    var ix = qw * x + qy * z - qz * y, iy = qw * y + qz * x - qx * z, iz = qw * z + qx * y - qy * x, iw = -qx
-        * x - qy * y - qz * z;
-    dest.x = ix * qw + iw * -qx + iy * -qz - iz * -qy;
-    dest.y = iy * qw + iw * -qy + iz * -qx - ix * -qz;
-    dest.z = iz * qw + iw * -qz + ix * -qy - iy * -qx;
-    return dest;
-  };
+/**
+ * Multiply the given ROSLIB.Vector3 with this quaternion.
+ *
+ * @param vector the vector to multiply with
+ * @param dest (option) - where the computed values will go (defaults to 'vector').
+ * @returns a pointer to dest
+ */
+ROSLIB.Quaternion.prototype.multiplyVec3 = function(vector, dest) {
+  if (!dest) {
+    dest = vector;
+  }
+  var x = vector.x, y = vector.y, z = vector.z, qx = this.x, qy = this.y, qz = this.z, qw = this.w;
+  var ix = qw * x + qy * z - qz * y, iy = qw * y + qz * x - qx * z, iz = qw * z + qx * y - qy * x, iw = -qx
+      * x - qy * y - qz * z;
+  dest.x = ix * qw + iw * -qx + iy * -qz - iz * -qy;
+  dest.y = iy * qw + iw * -qy + iz * -qx - ix * -qz;
+  dest.z = iz * qw + iw * -qz + ix * -qy - iy * -qx;
+  return dest;
+};
 
-  /**
-   * Clone a copy of this quaternion.
-   * 
-   * @returns the cloned quaternion
-   */
-  this.clone = function() {
-    return new ROSLIB.Quaternion(quaternion.x, quaternion.y, quaternion.z, quaternion.w);
-  };
+/**
+ * Clone a copy of this quaternion.
+ *
+ * @returns the cloned quaternion
+ */
+ROSLIB.Quaternion.prototype.clone = function() {
+  return new ROSLIB.Quaternion(this.x, this.y, this.z, this.w);
 };
+
diff --git a/src/math/Vector3.js b/src/math/Vector3.js
index 3d94fbd56..11b01ce66 100644
--- a/src/math/Vector3.js
+++ b/src/math/Vector3.js
@@ -11,58 +11,58 @@
  *  @param z - the z value
  */
 ROSLIB.Vector3 = function(x, y, z) {
-  var vector3 = this;
   this.x = x || 0;
   this.y = y || 0;
   this.z = z || 0;
+};
 
-  /**
-   * Copy the values from the given vector into this vector.
-   * 
-   * @param v the vector to copy
-   * @returns a pointer to this vector
-   */
-  this.copy = function(v) {
-    vector3.x = v.x;
-    vector3.y = v.y;
-    vector3.z = v.z;
-    return vector3;
-  };
+/**
+ * Copy the values from the given vector into this vector.
+ *
+ * @param v the vector to copy
+ * @returns a pointer to this vector
+ */
+ROSLIB.Vector3.prototype.copy = function(v) {
+  this.x = v.x;
+  this.y = v.y;
+  this.z = v.z;
+  return this;
+};
 
-  /**
-   * Set the values of this vector to the sum of vectors a and b.
-   * 
-   * @param a the first vector to add with
-   * @param b the second vector to add with
-   * @returns a pointer to this vector
-   */
-  this.add = function(a, b) {
-    vector3.x = a.x + b.x;
-    vector3.y = a.y + b.y;
-    vector3.z = a.z + b.z;
-    return vector3;
-  };
+/**
+ * Set the values of this vector to the sum of vectors a and b.
+ *
+ * @param a the first vector to add with
+ * @param b the second vector to add with
+ * @returns a pointer to this vector
+ */
+ROSLIB.Vector3.prototype.add = function(a, b) {
+  this.x = a.x + b.x;
+  this.y = a.y + b.y;
+  this.z = a.z + b.z;
+  return this;
+};
 
-  /**
-   * Set the values of this vector to the difference of vectors a and b.
-   * 
-   * @param a the first vector to add with
-   * @param b the second vector to add with
-   * @returns a pointer to this vector
-   */
-  this.sub = function(a, b) {
-    vector3.x = a.x - b.x;
-    vector3.y = a.y - b.y;
-    vector3.z = a.z - b.z;
-    return vector3;
-  };
+/**
+ * Set the values of this vector to the difference of vectors a and b.
+ *
+ * @param a the first vector to add with
+ * @param b the second vector to add with
+ * @returns a pointer to this vector
+ */
+ROSLIB.Vector3.prototype.sub = function(a, b) {
+  this.x = a.x - b.x;
+  this.y = a.y - b.y;
+  this.z = a.z - b.z;
+  return this;
+};
 
-  /**
-   * Clone a copy of this vector.
-   * 
-   * @returns the cloned vector
-   */
-  this.clone = function() {
-    return new ROSLIB.Vector3(vector3.x, vector3.y, vector3.z);
-  };
+/**
+ * Clone a copy of this vector.
+ *
+ * @returns the cloned vector
+ */
+ROSLIB.Vector3.prototype.clone = function() {
+  return new ROSLIB.Vector3(this.x, this.y, this.z);
 };
+
diff --git a/src/tf/TFClient.js b/src/tf/TFClient.js
index 0e1992fb2..5f04ef9e0 100644
--- a/src/tf/TFClient.js
+++ b/src/tf/TFClient.js
@@ -15,7 +15,6 @@
  *   * goalUpdateDelay - the goal update delay for the TF republisher
  */
 ROSLIB.TFClient = function(options) {
-  var tfClient = this;
   var options = options || {};
   this.ros = options.ros;
   this.fixedFrame = options.fixedFrame || '/base_link';
@@ -28,109 +27,113 @@ ROSLIB.TFClient = function(options) {
   this.frameInfos = {};
   this.goalUpdateRequested = false;
 
-  // create an ActionClient
+  // Create an ActionClient
   this.actionClient = new ROSLIB.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 functions.
-   * 
-   * @param tf - the TF message from the server
-   */
-  this.processFeedback = function(tf) {
-    tf.transforms.forEach(function(transform) {
-      var frameID = transform.child_frame_id;
-      var info = tfClient.frameInfos[frameID];
-      if (info != undefined) {
-        info.transform = new ROSLIB.Transform(transform.transform.translation,
-            transform.transform.rotation);
-        info.cbs.forEach(function(cb) {
-          cb(info.transform);
-        });
-      }
-    });
-  };
-
-  /**
-   * Create and send a new goal to the tf2_web_republisher based on the current list of TFs.
-   */
-  this.updateGoal = function() {
-    // Anytime the list of frames changes, we will need to send a new goal.
-    if (tfClient.currentGoal) {
-      tfClient.currentGoal.cancel();
+/**
+ * Process the incoming TF message and send them out using the callback
+ * functions.
+ *
+ * @param tf - the TF message from the server
+ */
+ROSLIB.TFClient.prototype.processFeedback = function(tf) {
+  var that = this;
+  tf.transforms.forEach(function(transform) {
+    var frameID = transform.child_frame_id;
+    var info = that.frameInfos[frameID];
+    if (info != undefined) {
+      info.transform = new ROSLIB.Transform(transform.transform.translation,
+        transform.transform.rotation);
+      info.cbs.forEach(function(cb) {
+        cb(info.transform);
+      });
     }
+  });
+};
 
-    var goalMessage = {
-      source_frames : [],
-      target_frame : tfClient.fixedFrame,
-      angular_thres : tfClient.angularThres,
-      trans_thres : tfClient.transThres,
-      rate : tfClient.rate
-    };
-
-    for (frame in tfClient.frameInfos) {
-      goalMessage.source_frames.push(frame);
-    }
+/**
+ * Create and send a new goal to the tf2_web_republisher based on the current
+ * list of TFs.
+ */
+ROSLIB.TFClient.prototype.updateGoal = function() {
+  // Anytime the list of frames changes, we will need to send a new goal.
+  if (this.currentGoal) {
+    this.currentGoal.cancel();
+  }
 
-    tfClient.currentGoal = new ROSLIB.Goal({
-      actionClient : tfClient.actionClient,
-      goalMessage : goalMessage
-    });
-    tfClient.currentGoal.on('feedback', tfClient.processFeedback.bind(tfClient));
-    tfClient.currentGoal.send();
-    tfClient.goalUpdateRequested = false;
+  var goalMessage = {
+    source_frames : [],
+    target_frame : this.fixedFrame,
+    angular_thres : this.angularThres,
+    trans_thres : this.transThres,
+    rate : this.rate
   };
 
-  /**
-   * Subscribe to the given TF frame.
-   * 
-   * @param frameID - the TF frame to subscribe to
-   * @param callback - function with params:
-   *   * transform - the transform data
-   */
-  this.subscribe = function(frameID, callback) {
-    // make sure the frame id is relative
-    if (frameID[0] === '/') {
-      frameID = frameID.substring(1);
+  for (frame in this.frameInfos) {
+    goalMessage.source_frames.push(frame);
+  }
+
+  this.currentGoal = new ROSLIB.Goal({
+    actionClient : this.actionClient,
+    goalMessage : goalMessage
+  });
+  this.currentGoal.on('feedback', this.processFeedback.bind(this));
+  this.currentGoal.send();
+  this.goalUpdateRequested = false;
+};
+
+/**
+ * Subscribe to the given TF frame.
+ *
+ * @param frameID - the TF frame to subscribe to
+ * @param callback - function with params:
+ *   * transform - the transform data
+ */
+ROSLIB.TFClient.prototype.subscribe = function(frameID, callback) {
+  // make sure the frame id is relative
+  if (frameID[0] === '/') {
+    frameID = frameID.substring(1);
+  }
+  // if there is no callback registered for the given frame, create emtpy callback list
+  if (this.frameInfos[frameID] == undefined) {
+    this.frameInfos[frameID] = {
+      cbs : []
+    };
+    if (!this.goalUpdateRequested) {
+      setTimeout(this.updateGoal.bind(tfClient), this.goalUpdateDelay);
+      this.goalUpdateRequested = true;
     }
-    // if there is no callback registered for the given frame, create emtpy callback list
-    if (tfClient.frameInfos[frameID] == undefined) {
-      tfClient.frameInfos[frameID] = {
-        cbs : []
-      };
-      if (!tfClient.goalUpdateRequested) {
-        setTimeout(tfClient.updateGoal.bind(tfClient), tfClient.goalUpdateDelay);
-        tfClient.goalUpdateRequested = true;
-      }
-    } else {
-      // if we already have a transform, call back immediately
-      if (tfClient.frameInfos[frameID].transform != undefined) {
-        callback(tfClient.frameInfos[frameID].transform);
-      }
+  } else {
+    // if we already have a transform, call back immediately
+    if (this.frameInfos[frameID].transform != undefined) {
+      callback(this.frameInfos[frameID].transform);
     }
-    tfClient.frameInfos[frameID].cbs.push(callback);
-  };
+  }
+  this.frameInfos[frameID].cbs.push(callback);
+};
 
-  /**
-   * Unsubscribe from the given TF frame.
-   * 
-   * @param frameID - the TF frame to unsubscribe from
-   * @param callback - the callback function to remove
-   */
-  this.unsubscribe = function(frameID, callback) {
-    var info = tfClient.frameInfos[frameID];
-    if (info != undefined) {
-      var cbIndex = info.cbs.indexOf(callback);
-      if (cbIndex >= 0) {
-        info.cbs.splice(cbIndex, 1);
-        if (info.cbs.length == 0) {
-          delete tfClient.frameInfos[frameID];
-        }
-        tfClient.needUpdate = true;
+/**
+ * Unsubscribe from the given TF frame.
+ *
+ * @param frameID - the TF frame to unsubscribe from
+ * @param callback - the callback function to remove
+ */
+ROSLIB.TFClient.prototype.unsubscribe = function(frameID, callback) {
+  var info = this.frameInfos[frameID];
+  if (info != undefined) {
+    var cbIndex = info.cbs.indexOf(callback);
+    if (cbIndex >= 0) {
+      info.cbs.splice(cbIndex, 1);
+      if (info.cbs.length == 0) {
+        delete this.frameInfos[frameID];
       }
+      this.needUpdate = true;
     }
-  };
+  }
 };
+
diff --git a/src/tf/Transform.js b/src/tf/Transform.js
index 7f3eeb4dc..5aa63fb96 100644
--- a/src/tf/Transform.js
+++ b/src/tf/Transform.js
@@ -10,8 +10,6 @@
  *  @param rotation - the ROSLIB.Quaternion describing the rotation
  */
 ROSLIB.Transform = function(translation, rotation) {
-  var transform = this;
-  // copy the values into this object if they exist
   this.translation = new ROSLIB.Vector3();
   this.rotation = new ROSLIB.Quaternion();
   if (translation !== undefined) {
@@ -20,43 +18,44 @@ ROSLIB.Transform = function(translation, rotation) {
   if (rotation !== undefined) {
     this.rotation.copy(rotation);
   }
+};
 
-  /**
-   * Apply a transform against the given ROSLIB.Pose.
-   * 
-   * @param pose the pose to transform with
-   * @returns a pointer to the pose
-   */
-  this.apply = function(pose) {
-    transform.rotation.multiplyVec3(pose.position);
-    pose.position.add(pose.position, transform.translation);
-    pose.orientation.multiply(transform.rotation, pose.orientation);
-    return pose;
-  };
+/**
+ * Apply a transform against the given ROSLIB.Pose.
+ *
+ * @param pose the pose to transform with
+ * @returns a pointer to the pose
+ */
+ROSLIB.Transform.prototype.apply = function(pose) {
+  this.rotation.multiplyVec3(pose.position);
+  pose.position.add(pose.position, this.translation);
+  pose.orientation.multiply(this.rotation, pose.orientation);
+  return pose;
+};
 
-  /**
-   * Apply an inverse transform against the given ROSLIB.Pose.
-   * 
-   * @param pose the pose to transform with
-   * @returns a pointer to the pose
-   */
-  this.applyInverse = function(pose) {
-    var rotInv = transform.rotation.clone().inverse();
-    rotInv.multiplyVec3(pose.position);
-    pose.position.sub(pose.position, transform.translation);
-    pose.orientation.multiply(rotInv, pose.orientation);
-    return pose;
-  };
+/**
+ * Apply an inverse transform against the given ROSLIB.Pose.
+ *
+ * @param pose the pose to transform with
+ * @returns a pointer to the pose
+ */
+ROSLIB.Transform.prototype.applyInverse = function(pose) {
+  var rotInv = this.rotation.clone().inverse();
+  rotInv.multiplyVec3(pose.position);
+  pose.position.sub(pose.position, this.translation);
+  pose.orientation.multiply(rotInv, pose.orientation);
+  return pose;
+};
 
-  /**
-   * Copy the values from the given transform into this transform.
-   * 
-   * @param transform the transform to copy
-   * @returns a pointer to this transform
-   */
-  this.copy = function(transform) {
-    transform.translation.copy(transform.translation);
-    transform.rotation.copy(transform.rotation);
-    return transform;
-  };
+/**
+ * Copy the values from the given transform into this transform.
+ *
+ * @param transform the transform to copy
+ * @returns a pointer to this transform
+ */
+ROSLIB.Transform.prototype.copy = function(transform) {
+  transform.translation.copy(transform.translation);
+  transform.rotation.copy(transform.rotation);
+  return transform;
 };
+