diff --git a/build/roslib.js b/build/roslib.js
index 13ae7c781..b25dc3229 100644
--- a/build/roslib.js
+++ b/build/roslib.js
@@ -2702,8 +2702,6 @@ var assign = require('object-assign');
 // Add core components
 assign(ROSLIB, require('./core'));
 
-assign(ROSLIB, require('./actionlib'));
-
 assign(ROSLIB, require('./math'));
 
 assign(ROSLIB, require('./tf'));
@@ -2712,584 +2710,18 @@ assign(ROSLIB, require('./urdf'));
 
 module.exports = ROSLIB;
 
-},{"./actionlib":14,"./core":26,"./math":31,"./tf":34,"./urdf":46,"object-assign":3}],9:[function(require,module,exports){
+},{"./core":22,"./math":27,"./tf":30,"./urdf":42,"object-assign":3}],9:[function(require,module,exports){
 (function (global){(function (){
 global.ROSLIB = require('./RosLib');
 }).call(this)}).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})
 },{"./RosLib":8}],10:[function(require,module,exports){
-/**
- * @fileOverview
- * @author Russell Toris - rctoris@wpi.edu
- */
-
-var Topic = require('../core/Topic');
-var Message = require('../core/Message');
-var EventEmitter2 = require('eventemitter2').EventEmitter2;
-
-/**
- * An actionlib action client.
- *
- * Emits the following events:
- *  * 'timeout' - if a timeout occurred while sending a goal
- *  * 'status' - the status messages received from the action server
- *  * 'feedback' -  the feedback messages received from the action server
- *  * 'result' - the result returned from the action server
- *
- *  @constructor
- *  @param options - object with following keys:
- *   * ros - the ROSLIB.Ros connection handle
- *   * serverName - the action server name, like /fibonacci
- *   * actionName - the action message name, like 'actionlib_tutorials/FibonacciAction'
- *   * timeout - the timeout length when connecting to the action server
- */
-function ActionClient(options) {
-  var that = this;
-  options = options || {};
-  this.ros = options.ros;
-  this.serverName = options.serverName;
-  this.actionName = options.actionName;
-  this.timeout = options.timeout;
-  this.omitFeedback = options.omitFeedback;
-  this.omitStatus = options.omitStatus;
-  this.omitResult = options.omitResult;
-  this.goals = {};
-
-  // flag to check if a status has been received
-  var receivedStatus = false;
-
-  // create the topics associated with actionlib
-  this.feedbackListener = new Topic({
-    ros : this.ros,
-    name : this.serverName + '/feedback',
-    messageType : this.actionName + 'Feedback'
-  });
-
-  this.statusListener = new Topic({
-    ros : this.ros,
-    name : this.serverName + '/status',
-    messageType : 'actionlib_msgs/GoalStatusArray'
-  });
-
-  this.resultListener = new Topic({
-    ros : this.ros,
-    name : this.serverName + '/result',
-    messageType : this.actionName + 'Result'
-  });
-
-  this.goalTopic = new Topic({
-    ros : this.ros,
-    name : this.serverName + '/goal',
-    messageType : this.actionName + 'Goal'
-  });
-
-  this.cancelTopic = new Topic({
-    ros : this.ros,
-    name : this.serverName + '/cancel',
-    messageType : 'actionlib_msgs/GoalID'
-  });
-
-  // advertise the goal and cancel topics
-  this.goalTopic.advertise();
-  this.cancelTopic.advertise();
-
-  // subscribe to the status topic
-  if (!this.omitStatus) {
-    this.statusListener.subscribe(function(statusMessage) {
-      receivedStatus = true;
-      statusMessage.status_list.forEach(function(status) {
-        var goal = that.goals[status.goal_id.id];
-        if (goal) {
-          goal.emit('status', status);
-        }
-      });
-    });
-  }
-
-  // subscribe the the feedback topic
-  if (!this.omitFeedback) {
-    this.feedbackListener.subscribe(function(feedbackMessage) {
-      var goal = that.goals[feedbackMessage.status.goal_id.id];
-      if (goal) {
-        goal.emit('status', feedbackMessage.status);
-        goal.emit('feedback', feedbackMessage.feedback);
-      }
-    });
-  }
-
-  // subscribe to the result topic
-  if (!this.omitResult) {
-    this.resultListener.subscribe(function(resultMessage) {
-      var goal = that.goals[resultMessage.status.goal_id.id];
-
-      if (goal) {
-        goal.emit('status', resultMessage.status);
-        goal.emit('result', resultMessage.result);
-      }
-    });
-  }
-
-  // If timeout specified, emit a 'timeout' event if the action server does not respond
-  if (this.timeout) {
-    setTimeout(function() {
-      if (!receivedStatus) {
-        that.emit('timeout');
-      }
-    }, this.timeout);
-  }
-}
-
-ActionClient.prototype.__proto__ = EventEmitter2.prototype;
-
-/**
- * Cancel all goals associated with this ActionClient.
- */
-ActionClient.prototype.cancel = function() {
-  var cancelMessage = new Message();
-  this.cancelTopic.publish(cancelMessage);
-};
-
-/**
- * Unsubscribe and unadvertise all topics associated with this ActionClient.
- */
-ActionClient.prototype.dispose = function() {
-  this.goalTopic.unadvertise();
-  this.cancelTopic.unadvertise();
-  if (!this.omitStatus) {this.statusListener.unsubscribe();}
-  if (!this.omitFeedback) {this.feedbackListener.unsubscribe();}
-  if (!this.omitResult) {this.resultListener.unsubscribe();}
-};
-
-module.exports = ActionClient;
-
-},{"../core/Message":18,"../core/Topic":25,"eventemitter2":2}],11:[function(require,module,exports){
-/**
- * @fileOverview
- * @author Justin Young - justin@oodar.com.au
- * @author Russell Toris - rctoris@wpi.edu
- */
-
-var Topic = require('../core/Topic');
-var Message = require('../core/Message');
-var EventEmitter2 = require('eventemitter2').EventEmitter2;
-
-/**
- * An actionlib action listener
- *
- * Emits the following events:
- *  * 'status' - the status messages received from the action server
- *  * 'feedback' -  the feedback messages received from the action server
- *  * 'result' - the result returned from the action server
- *
- *  @constructor
- *  @param options - object with following keys:
- *   * ros - the ROSLIB.Ros connection handle
- *   * serverName - the action server name, like /fibonacci
- *   * actionName - the action message name, like 'actionlib_tutorials/FibonacciAction'
- */
-function ActionListener(options) {
-  var that = this;
-  options = options || {};
-  this.ros = options.ros;
-  this.serverName = options.serverName;
-  this.actionName = options.actionName;
-  this.timeout = options.timeout;
-  this.omitFeedback = options.omitFeedback;
-  this.omitStatus = options.omitStatus;
-  this.omitResult = options.omitResult;
-
-
-  // create the topics associated with actionlib
-  var goalListener = new Topic({
-    ros : this.ros,
-    name : this.serverName + '/goal',
-    messageType : this.actionName + 'Goal'
-  });
-
-  var feedbackListener = new Topic({
-    ros : this.ros,
-    name : this.serverName + '/feedback',
-    messageType : this.actionName + 'Feedback'
-  });
-
-  var statusListener = new Topic({
-    ros : this.ros,
-    name : this.serverName + '/status',
-    messageType : 'actionlib_msgs/GoalStatusArray'
-  });
-
-  var resultListener = new Topic({
-    ros : this.ros,
-    name : this.serverName + '/result',
-    messageType : this.actionName + 'Result'
-  });
-
-  goalListener.subscribe(function(goalMessage) {
-      that.emit('goal', goalMessage);
-  });
-
-  statusListener.subscribe(function(statusMessage) {
-      statusMessage.status_list.forEach(function(status) {
-          that.emit('status', status);
-      });
-  });
-
-  feedbackListener.subscribe(function(feedbackMessage) {
-      that.emit('status', feedbackMessage.status);
-      that.emit('feedback', feedbackMessage.feedback);
-  });
-
-  // subscribe to the result topic
-  resultListener.subscribe(function(resultMessage) {
-      that.emit('status', resultMessage.status);
-      that.emit('result', resultMessage.result);
-  });
-
-}
-
-ActionListener.prototype.__proto__ = EventEmitter2.prototype;
-
-module.exports = ActionListener;
-
-},{"../core/Message":18,"../core/Topic":25,"eventemitter2":2}],12:[function(require,module,exports){
-/**
- * @fileOverview
- * @author Russell Toris - rctoris@wpi.edu
- */
-
-var Message = require('../core/Message');
-var EventEmitter2 = require('eventemitter2').EventEmitter2;
-
-/**
- * An actionlib goal goal is associated with an action server.
- *
- * Emits the following events:
- *  * 'timeout' - if a timeout occurred while sending a goal
- *
- *  @constructor
- *  @param object with following keys:
- *   * actionClient - the ROSLIB.ActionClient to use with this goal
- *   * goalMessage - The JSON object containing the goal for the action server
- */
-function Goal(options) {
-  var that = this;
-  this.actionClient = options.actionClient;
-  this.goalMessage = options.goalMessage;
-  this.isFinished = false;
-
-  // Used to create random IDs
-  var date = new Date();
-
-  // Create a random ID
-  this.goalID = 'goal_' + Math.random() + '_' + date.getTime();
-  // Fill in the goal message
-  this.goalMessage = new Message({
-    goal_id : {
-      stamp : {
-        secs : 0,
-        nsecs : 0
-      },
-      id : this.goalID
-    },
-    goal : this.goalMessage
-  });
-
-  this.on('status', function(status) {
-    that.status = status;
-  });
-
-  this.on('result', function(result) {
-    that.isFinished = true;
-    that.result = result;
-  });
-
-  this.on('feedback', function(feedback) {
-    that.feedback = feedback;
-  });
-
-  // Add the goal
-  this.actionClient.goals[this.goalID] = this;
-}
-
-Goal.prototype.__proto__ = EventEmitter2.prototype;
-
-/**
- * Send the goal to the action server.
- *
- * @param timeout (optional) - a timeout length for the goal's result
- */
-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.
- */
-Goal.prototype.cancel = function() {
-  var cancelMessage = new Message({
-    id : this.goalID
-  });
-  this.actionClient.cancelTopic.publish(cancelMessage);
-};
-
-module.exports = Goal;
-},{"../core/Message":18,"eventemitter2":2}],13:[function(require,module,exports){
-/**
- * @fileOverview
- * @author Laura Lindzey - lindzey@gmail.com
- */
-
-var Topic = require('../core/Topic');
-var Message = require('../core/Message');
-var EventEmitter2 = require('eventemitter2').EventEmitter2;
-
-/**
- * An actionlib action server client.
- *
- * Emits the following events:
- *  * 'goal' - goal sent by action client
- *  * 'cancel' - action client has canceled the request
- *
- *  @constructor
- *  @param options - object with following keys:
- *   * ros - the ROSLIB.Ros connection handle
- *   * serverName - the action server name, like /fibonacci
- *   * actionName - the action message name, like 'actionlib_tutorials/FibonacciAction'
- */
-
-function SimpleActionServer(options) {
-    var that = this;
-    options = options || {};
-    this.ros = options.ros;
-    this.serverName = options.serverName;
-    this.actionName = options.actionName;
-
-    // create and advertise publishers
-    this.feedbackPublisher = new Topic({
-        ros : this.ros,
-        name : this.serverName + '/feedback',
-        messageType : this.actionName + 'Feedback'
-    });
-    this.feedbackPublisher.advertise();
-
-    var statusPublisher = new Topic({
-        ros : this.ros,
-        name : this.serverName + '/status',
-        messageType : 'actionlib_msgs/GoalStatusArray'
-    });
-    statusPublisher.advertise();
-
-    this.resultPublisher = new Topic({
-        ros : this.ros,
-        name : this.serverName + '/result',
-        messageType : this.actionName + 'Result'
-    });
-    this.resultPublisher.advertise();
-
-    // create and subscribe to listeners
-    var goalListener = new Topic({
-        ros : this.ros,
-        name : this.serverName + '/goal',
-        messageType : this.actionName + 'Goal'
-    });
-
-    var cancelListener = new Topic({
-        ros : this.ros,
-        name : this.serverName + '/cancel',
-        messageType : 'actionlib_msgs/GoalID'
-    });
-
-    // Track the goals and their status in order to publish status...
-    this.statusMessage = new Message({
-        header : {
-            stamp : {secs : 0, nsecs : 100},
-            frame_id : ''
-        },
-        status_list : []
-    });
-
-    // needed for handling preemption prompted by a new goal being received
-    this.currentGoal = null; // currently tracked goal
-    this.nextGoal = null; // the one that'll be preempting
-
-    goalListener.subscribe(function(goalMessage) {
-        
-    if(that.currentGoal) {
-            that.nextGoal = goalMessage;
-            // needs to happen AFTER rest is set up
-            that.emit('cancel');
-    } else {
-            that.statusMessage.status_list = [{goal_id : goalMessage.goal_id, status : 1}];
-            that.currentGoal = goalMessage;
-            that.emit('goal', goalMessage.goal);
-    }
-    });
-
-    // helper function for determing ordering of timestamps
-    // returns t1 < t2
-    var isEarlier = function(t1, t2) {
-        if(t1.secs > t2.secs) {
-            return false;
-        } else if(t1.secs < t2.secs) {
-            return true;
-        } else if(t1.nsecs < t2.nsecs) {
-            return true;
-        } else {
-            return false;
-        }
-    };
-
-    // TODO: this may be more complicated than necessary, since I'm
-    // not sure if the callbacks can ever wind up with a scenario
-    // where we've been preempted by a next goal, it hasn't finished
-    // processing, and then we get a cancel message
-    cancelListener.subscribe(function(cancelMessage) {
-
-        // cancel ALL goals if both empty
-        if(cancelMessage.stamp.secs === 0 && cancelMessage.stamp.secs === 0 && cancelMessage.id === '') {
-            that.nextGoal = null;
-            if(that.currentGoal) {
-                that.emit('cancel');
-            }
-        } else { // treat id and stamp independently
-            if(that.currentGoal && cancelMessage.id === that.currentGoal.goal_id.id) {
-                that.emit('cancel');
-            } else if(that.nextGoal && cancelMessage.id === that.nextGoal.goal_id.id) {
-                that.nextGoal = null;
-            }
-
-            if(that.nextGoal && isEarlier(that.nextGoal.goal_id.stamp,
-                                          cancelMessage.stamp)) {
-                that.nextGoal = null;
-            }
-            if(that.currentGoal && isEarlier(that.currentGoal.goal_id.stamp,
-                                             cancelMessage.stamp)) {
-                
-                that.emit('cancel');
-            }
-        }
-    });
-
-    // publish status at pseudo-fixed rate; required for clients to know they've connected
-    var statusInterval = setInterval( function() {
-        var currentTime = new Date();
-        var secs = Math.floor(currentTime.getTime()/1000);
-        var nsecs = Math.round(1000000000*(currentTime.getTime()/1000-secs));
-        that.statusMessage.header.stamp.secs = secs;
-        that.statusMessage.header.stamp.nsecs = nsecs;
-        statusPublisher.publish(that.statusMessage);
-    }, 500); // publish every 500ms
-
-}
-
-SimpleActionServer.prototype.__proto__ = EventEmitter2.prototype;
-
-/**
-*  Set action state to succeeded and return to client
-*/
-
-SimpleActionServer.prototype.setSucceeded = function(result2) {
-    
-
-    var resultMessage = new Message({
-        status : {goal_id : this.currentGoal.goal_id, status : 3},
-        result : result2
-    });
-    this.resultPublisher.publish(resultMessage);
-
-    this.statusMessage.status_list = [];
-    if(this.nextGoal) {
-        this.currentGoal = this.nextGoal;
-        this.nextGoal = null;
-        this.emit('goal', this.currentGoal.goal);
-    } else {
-        this.currentGoal = null;
-    }
-};
-
-/**
-*  Set action state to aborted and return to client
-*/
-
-SimpleActionServer.prototype.setAborted = function(result2) {
-    var resultMessage = new Message({
-        status : {goal_id : this.currentGoal.goal_id, status : 4},
-        result : result2
-    });
-    this.resultPublisher.publish(resultMessage);
-
-    this.statusMessage.status_list = [];
-    if(this.nextGoal) {
-        this.currentGoal = this.nextGoal;
-        this.nextGoal = null;
-        this.emit('goal', this.currentGoal.goal);
-    } else {
-        this.currentGoal = null;
-    }
-};
-
-/**
-*  Function to send feedback
-*/
-
-SimpleActionServer.prototype.sendFeedback = function(feedback2) {
-
-    var feedbackMessage = new Message({
-        status : {goal_id : this.currentGoal.goal_id, status : 1},
-        feedback : feedback2
-    });
-    this.feedbackPublisher.publish(feedbackMessage);
-};
-
-/**
-*  Handle case where client requests preemption
-*/
-
-SimpleActionServer.prototype.setPreempted = function() {
-
-    this.statusMessage.status_list = [];
-    var resultMessage = new Message({
-        status : {goal_id : this.currentGoal.goal_id, status : 2},
-    });
-    this.resultPublisher.publish(resultMessage);
-
-    if(this.nextGoal) {
-        this.currentGoal = this.nextGoal;
-        this.nextGoal = null;
-        this.emit('goal', this.currentGoal.goal);
-    } else {
-        this.currentGoal = null;
-    }
-};
-
-module.exports = SimpleActionServer;
-},{"../core/Message":18,"../core/Topic":25,"eventemitter2":2}],14:[function(require,module,exports){
-var Ros = require('../core/Ros');
-var mixin = require('../mixin');
-
-var action = module.exports = {
-    ActionClient: require('./ActionClient'),
-    ActionListener: require('./ActionListener'),
-    Goal: require('./Goal'),
-    SimpleActionServer: require('./SimpleActionServer')
-};
-
-mixin(Ros, ['ActionClient', 'SimpleActionServer'], action);
-
-},{"../core/Ros":20,"../mixin":32,"./ActionClient":10,"./ActionListener":11,"./Goal":12,"./SimpleActionServer":13}],15:[function(require,module,exports){
 /**
  * @fileoverview
  * @author Sebastian Castro - sebastian.castro@picknik.ai
  */
 
 var ActionGoal = require('./ActionGoal');
+var ActionFeedback = require('./ActionFeedback');
 var ActionResult = require('./ActionResult');
 var EventEmitter2 = require('eventemitter2').EventEmitter2;
 
@@ -3309,7 +2741,8 @@ function Action(options) {
   this.actionType = options.actionType;
   this.isAdvertised = false;
 
-  this._serviceCallback = null;
+  this._actionCallback = null;
+  this._cancelCallback = null;
 }
 Action.prototype.__proto__ = EventEmitter2.prototype;
 
@@ -3318,9 +2751,11 @@ Action.prototype.__proto__ = EventEmitter2.prototype;
  * callback. Does nothing if this service is currently advertised.
  *
  * @param request - the ROSLIB.ServiceRequest to send
- * @param callback - function with params:
- *   * response - the response from the service request
- * @param failedCallback - the callback function when the service call failed (optional). Params:
+ * @param resultCallback - function with params:
+ *   * result - the result from the action
+ * @param feedbackCallback - the callback function when the action publishes feedback (optional). Params:
+ *   * feedback - the feedback from the action
+ * @param failedCallback - the callback function when the action failed (optional). Params:
  *   * error - the error message reported by ROS
  */
 Action.prototype.sendGoal = function(request, resultCallback, feedbackCallback, failedCallback) {
@@ -3336,9 +2771,9 @@ Action.prototype.sendGoal = function(request, resultCallback, feedbackCallback,
         if (typeof failedCallback === 'function') {
           failedCallback(message.values);
         }
-      } else if (message.op === "action_feedback" && typeof feedbackCallback === 'function') {
+      } else if (message.op === 'action_feedback' && typeof feedbackCallback === 'function') {
         feedbackCallback(new ActionResult(message.values));
-      } else if (message.op === "action_result" && typeof resultCallback === 'function') {
+      } else if (message.op === 'action_result' && typeof resultCallback === 'function') {
         resultCallback(new ActionResult(message.values));
       }
     });
@@ -3353,11 +2788,96 @@ Action.prototype.sendGoal = function(request, resultCallback, feedbackCallback,
     feedback : true,
   };
   this.ros.callOnConnection(call);
+
+  return actionGoalId;
 };
 
+Action.prototype.cancelGoal = function(id) {
+  var call = {
+    op: 'cancel_action_goal',
+    id: id,
+    action: this.name,
+  };
+  this.ros.callOnConnection(call);
+}
+
+/**
+ * Advertise the action. This turns the Action object from a client
+ * into a server. The callback will be called with every goal sent to this action.
+ *
+ * @param callback - This works similarly to the callback for a C++ action and should take the following params:
+ *   * goal - the action goal
+ *   It should return true if the action has finished successfully,
+ *   i.e. without any fatal errors.
+ */
+Action.prototype.advertise = function(callback) {
+  if (this.isAdvertised || typeof callback !== 'function') {
+    return;
+  }
+
+  this._actionCallback = callback;
+  this.ros.on(this.name, this._executeAction.bind(this));
+  this.ros.callOnConnection({
+    op: 'advertise_action',
+    type: this.actionType,
+    action: this.name
+  });
+  this.isAdvertised = true;
+};
+
+Action.prototype.unadvertise = function() {
+  if (!this.isAdvertised) {
+    return;
+  }
+  this.ros.callOnConnection({
+    op: 'unadvertise_action',
+    action: this.name
+  });
+  this.isAdvertised = false;
+};
+
+Action.prototype._executeAction = function(rosbridgeRequest) {
+  if (rosbridgeRequest.id) {
+    var id = rosbridgeRequest.id;
+  }
+
+  this._actionCallback(rosbridgeRequest.args, id);
+};
+
+Action.prototype.sendFeedback = function(id, feedback) {
+  var call = {
+    op: 'action_feedback',
+    id: id,
+    action: this.name,
+    values: new ActionFeedback(feedback),
+  };
+  this.ros.callOnConnection(call);
+}
+
+Action.prototype.setSucceeded = function(id, result) {
+  var call = {
+    op: 'action_result',
+    id: id,
+    action: this.name,
+    values: new ActionResult(result),
+    result: true,
+  };
+  this.ros.callOnConnection(call);
+}
+
+Action.prototype.setFailed = function(id) {
+  var call = {
+    op: 'action_result',
+    id: id,
+    action: this.name,
+    result: false,
+  };
+  this.ros.callOnConnection(call);
+}
+
 module.exports = Action;
 
-},{"./ActionGoal":16,"./ActionResult":17,"eventemitter2":2}],16:[function(require,module,exports){
+},{"./ActionFeedback":11,"./ActionGoal":12,"./ActionResult":13,"eventemitter2":2}],11:[function(require,module,exports){
 /**
  * @fileoverview
  * @author Sebastian Castro - sebastian.castro@picknik.ai
@@ -3366,7 +2886,27 @@ module.exports = Action;
 var assign = require('object-assign');
 
 /**
- * An ActionGoal is passed into the an action goal request.
+ * An ActionFeedback is periodically returned during an in-progress action
+ *
+ * @constructor
+ * @param values - object matching the fields defined in the .action definition file
+ */
+function ActionFeedback(values) {
+  assign(this, values);
+}
+
+module.exports = ActionFeedback;
+
+},{"object-assign":3}],12:[function(require,module,exports){
+/**
+ * @fileoverview
+ * @author Sebastian Castro - sebastian.castro@picknik.ai
+ */
+
+var assign = require('object-assign');
+
+/**
+ * An ActionGoal is passed into an action goal request.
  *
  * @constructor
  * @param values - object matching the fields defined in the .action definition file
@@ -3377,7 +2917,7 @@ function ActionGoal(values) {
 
 module.exports = ActionGoal;
 
-},{"object-assign":3}],17:[function(require,module,exports){
+},{"object-assign":3}],13:[function(require,module,exports){
 /**
  * @fileoverview
  * @author Sebastian Castro - sebastian.castro@picknik.ai
@@ -3397,7 +2937,7 @@ function ActionResult(values) {
 
 module.exports = ActionResult;
 
-},{"object-assign":3}],18:[function(require,module,exports){
+},{"object-assign":3}],14:[function(require,module,exports){
 /**
  * @fileoverview
  * @author Brandon Alexander - baalexander@gmail.com
@@ -3416,7 +2956,7 @@ function Message(values) {
 }
 
 module.exports = Message;
-},{"object-assign":3}],19:[function(require,module,exports){
+},{"object-assign":3}],15:[function(require,module,exports){
 /**
  * @fileoverview
  * @author Brandon Alexander - baalexander@gmail.com
@@ -3500,7 +3040,7 @@ Param.prototype.delete = function(callback) {
 };
 
 module.exports = Param;
-},{"./Service":21,"./ServiceRequest":22}],20:[function(require,module,exports){
+},{"./Service":17,"./ServiceRequest":18}],16:[function(require,module,exports){
 /**
  * @fileoverview
  * @author Brandon Alexander - baalexander@gmail.com
@@ -4202,7 +3742,7 @@ Ros.prototype.getTopicsAndRawTypes = function(callback, failedCallback) {
 
 module.exports = Ros;
 
-},{"../util/workerSocket":52,"./Service":21,"./ServiceRequest":22,"./SocketAdapter.js":24,"eventemitter2":2,"object-assign":3,"ws":49}],21:[function(require,module,exports){
+},{"../util/workerSocket":48,"./Service":17,"./ServiceRequest":18,"./SocketAdapter.js":20,"eventemitter2":2,"object-assign":3,"ws":45}],17:[function(require,module,exports){
 /**
  * @fileoverview
  * @author Brandon Alexander - baalexander@gmail.com
@@ -4327,7 +3867,7 @@ Service.prototype._serviceResponse = function(rosbridgeRequest) {
 
 module.exports = Service;
 
-},{"./ServiceRequest":22,"./ServiceResponse":23,"eventemitter2":2}],22:[function(require,module,exports){
+},{"./ServiceRequest":18,"./ServiceResponse":19,"eventemitter2":2}],18:[function(require,module,exports){
 /**
  * @fileoverview
  * @author Brandon Alexander - balexander@willowgarage.com
@@ -4346,7 +3886,7 @@ function ServiceRequest(values) {
 }
 
 module.exports = ServiceRequest;
-},{"object-assign":3}],23:[function(require,module,exports){
+},{"object-assign":3}],19:[function(require,module,exports){
 /**
  * @fileoverview
  * @author Brandon Alexander - balexander@willowgarage.com
@@ -4365,7 +3905,7 @@ function ServiceResponse(values) {
 }
 
 module.exports = ServiceResponse;
-},{"object-assign":3}],24:[function(require,module,exports){
+},{"object-assign":3}],20:[function(require,module,exports){
 /**
  * Socket event handling utilities for handling events on either
  * WebSocket and TCP sockets
@@ -4408,13 +3948,15 @@ function SocketAdapter(client) {
       client.emit(message.service, message);
     } else if (message.op === 'send_action_goal') {
       client.emit(message.action, message);
+    } else if (message.op === 'cancel_action_goal') {
+      client.emit(message.id, message);
     } else if (message.op === 'action_feedback') {
       client.emit(message.id, message);
     } else if (message.op === 'action_result') {
       client.emit(message.id, message);
     } else if(message.op === 'status'){
-      if(message.id){
-        client.emit('status:'+message.id, message);
+      if (message.id) {
+        client.emit('status:' + message.id, message);
       } else {
         client.emit('status', message);
       }
@@ -4504,7 +4046,7 @@ function SocketAdapter(client) {
 
 module.exports = SocketAdapter;
 
-},{"../util/cborTypedArrayTags":47,"../util/decompressPng":51,"cbor-js":1}],25:[function(require,module,exports){
+},{"../util/cborTypedArrayTags":43,"../util/decompressPng":47,"cbor-js":1}],21:[function(require,module,exports){
 /**
  * @fileoverview
  * @author Brandon Alexander - baalexander@gmail.com
@@ -4714,7 +4256,7 @@ Topic.prototype.publish = function(message) {
 
 module.exports = Topic;
 
-},{"./Message":18,"eventemitter2":2}],26:[function(require,module,exports){
+},{"./Message":14,"eventemitter2":2}],22:[function(require,module,exports){
 var mixin = require('../mixin');
 
 var core = module.exports = {
@@ -4727,12 +4269,13 @@ var core = module.exports = {
     ServiceResponse: require('./ServiceResponse'),
     Action: require('./Action'),
     ActionGoal: require('./ActionGoal'),
+    ActionFeedback: require('./ActionFeedback'),
     ActionResult: require('./ActionResult'),
 };
 
 mixin(core.Ros, ['Param', 'Service', 'Topic', 'Action'], core);
 
-},{"../mixin":32,"./Action":15,"./ActionGoal":16,"./ActionResult":17,"./Message":18,"./Param":19,"./Ros":20,"./Service":21,"./ServiceRequest":22,"./ServiceResponse":23,"./Topic":25}],27:[function(require,module,exports){
+},{"../mixin":28,"./Action":10,"./ActionFeedback":11,"./ActionGoal":12,"./ActionResult":13,"./Message":14,"./Param":15,"./Ros":16,"./Service":17,"./ServiceRequest":18,"./ServiceResponse":19,"./Topic":21}],23:[function(require,module,exports){
 /**
  * @fileoverview
  * @author David Gossow - dgossow@willowgarage.com
@@ -4805,7 +4348,7 @@ Pose.prototype.getInverse = function() {
 };
 
 module.exports = Pose;
-},{"./Quaternion":28,"./Vector3":30}],28:[function(require,module,exports){
+},{"./Quaternion":24,"./Vector3":26}],24:[function(require,module,exports){
 /**
  * @fileoverview
  * @author David Gossow - dgossow@willowgarage.com
@@ -4899,7 +4442,7 @@ Quaternion.prototype.clone = function() {
 
 module.exports = Quaternion;
 
-},{}],29:[function(require,module,exports){
+},{}],25:[function(require,module,exports){
 /**
  * @fileoverview
  * @author David Gossow - dgossow@willowgarage.com
@@ -4933,7 +4476,7 @@ Transform.prototype.clone = function() {
 };
 
 module.exports = Transform;
-},{"./Quaternion":28,"./Vector3":30}],30:[function(require,module,exports){
+},{"./Quaternion":24,"./Vector3":26}],26:[function(require,module,exports){
 /**
  * @fileoverview
  * @author David Gossow - dgossow@willowgarage.com
@@ -5002,7 +4545,7 @@ Vector3.prototype.clone = function() {
 };
 
 module.exports = Vector3;
-},{}],31:[function(require,module,exports){
+},{}],27:[function(require,module,exports){
 module.exports = {
     Pose: require('./Pose'),
     Quaternion: require('./Quaternion'),
@@ -5010,7 +4553,7 @@ module.exports = {
     Vector3: require('./Vector3')
 };
 
-},{"./Pose":27,"./Quaternion":28,"./Transform":29,"./Vector3":30}],32:[function(require,module,exports){
+},{"./Pose":23,"./Quaternion":24,"./Transform":25,"./Vector3":26}],28:[function(require,module,exports){
 /**
  * Mixin a feature to the core/Ros prototype.
  * For example, mixin(Ros, ['Topic'], {Topic: <Topic>})
@@ -5029,15 +4572,12 @@ module.exports = function(Ros, classes, features) {
     });
 };
 
-},{}],33:[function(require,module,exports){
+},{}],29:[function(require,module,exports){
 /**
  * @fileoverview
  * @author David Gossow - dgossow@willowgarage.com
  */
 
-var ActionClient = require('../actionlib/ActionClient');
-var Goal = require('../actionlib/Goal');
-
 var Service = require('../core/Service.js');
 var ServiceRequest = require('../core/ServiceRequest.js');
 var Topic = require('../core/Topic.js');
@@ -5264,7 +4804,7 @@ TFClient.prototype.dispose = function() {
 
 module.exports = TFClient;
 
-},{"../actionlib/ActionClient":10,"../actionlib/Goal":12,"../core/Service.js":21,"../core/ServiceRequest.js":22,"../core/Topic.js":25,"../math/Transform":29}],34:[function(require,module,exports){
+},{"../core/Service.js":17,"../core/ServiceRequest.js":18,"../core/Topic.js":21,"../math/Transform":25}],30:[function(require,module,exports){
 var Ros = require('../core/Ros');
 var mixin = require('../mixin');
 
@@ -5273,7 +4813,7 @@ var tf = module.exports = {
 };
 
 mixin(Ros, ['TFClient'], tf);
-},{"../core/Ros":20,"../mixin":32,"./TFClient":33}],35:[function(require,module,exports){
+},{"../core/Ros":16,"../mixin":28,"./TFClient":29}],31:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -5304,7 +4844,7 @@ function UrdfBox(options) {
 }
 
 module.exports = UrdfBox;
-},{"../math/Vector3":30,"./UrdfTypes":44}],36:[function(require,module,exports){
+},{"../math/Vector3":26,"./UrdfTypes":40}],32:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -5328,7 +4868,7 @@ function UrdfColor(options) {
 }
 
 module.exports = UrdfColor;
-},{}],37:[function(require,module,exports){
+},{}],33:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -5351,7 +4891,7 @@ function UrdfCylinder(options) {
 }
 
 module.exports = UrdfCylinder;
-},{"./UrdfTypes":44}],38:[function(require,module,exports){
+},{"./UrdfTypes":40}],34:[function(require,module,exports){
 /**
  * @fileOverview
  * @author David V. Lu!!  davidvlu@gmail.com
@@ -5444,7 +4984,7 @@ function UrdfJoint(options) {
 
 module.exports = UrdfJoint;
 
-},{"../math/Pose":27,"../math/Quaternion":28,"../math/Vector3":30}],39:[function(require,module,exports){
+},{"../math/Pose":23,"../math/Quaternion":24,"../math/Vector3":26}],35:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -5473,7 +5013,7 @@ function UrdfLink(options) {
 }
 
 module.exports = UrdfLink;
-},{"./UrdfVisual":45}],40:[function(require,module,exports){
+},{"./UrdfVisual":41}],36:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -5523,7 +5063,7 @@ UrdfMaterial.prototype.assign = function(obj) {
 
 module.exports = UrdfMaterial;
 
-},{"./UrdfColor":36,"object-assign":3}],41:[function(require,module,exports){
+},{"./UrdfColor":32,"object-assign":3}],37:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -5560,7 +5100,7 @@ function UrdfMesh(options) {
 }
 
 module.exports = UrdfMesh;
-},{"../math/Vector3":30,"./UrdfTypes":44}],42:[function(require,module,exports){
+},{"../math/Vector3":26,"./UrdfTypes":40}],38:[function(require,module,exports){
 /**
  * @fileOverview
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -5657,7 +5197,7 @@ function UrdfModel(options) {
 
 module.exports = UrdfModel;
 
-},{"./UrdfJoint":38,"./UrdfLink":39,"./UrdfMaterial":40,"@xmldom/xmldom":48}],43:[function(require,module,exports){
+},{"./UrdfJoint":34,"./UrdfLink":35,"./UrdfMaterial":36,"@xmldom/xmldom":44}],39:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -5679,7 +5219,7 @@ function UrdfSphere(options) {
 }
 
 module.exports = UrdfSphere;
-},{"./UrdfTypes":44}],44:[function(require,module,exports){
+},{"./UrdfTypes":40}],40:[function(require,module,exports){
 module.exports = {
 	URDF_SPHERE : 0,
 	URDF_BOX : 1,
@@ -5687,7 +5227,7 @@ module.exports = {
 	URDF_MESH : 3
 };
 
-},{}],45:[function(require,module,exports){
+},{}],41:[function(require,module,exports){
 /**
  * @fileOverview 
  * @author Benjamin Pitzer - ben.pitzer@gmail.com
@@ -5818,7 +5358,7 @@ function UrdfVisual(options) {
 }
 
 module.exports = UrdfVisual;
-},{"../math/Pose":27,"../math/Quaternion":28,"../math/Vector3":30,"./UrdfBox":35,"./UrdfCylinder":37,"./UrdfMaterial":40,"./UrdfMesh":41,"./UrdfSphere":43}],46:[function(require,module,exports){
+},{"../math/Pose":23,"../math/Quaternion":24,"../math/Vector3":26,"./UrdfBox":31,"./UrdfCylinder":33,"./UrdfMaterial":36,"./UrdfMesh":37,"./UrdfSphere":39}],42:[function(require,module,exports){
 module.exports = require('object-assign')({
     UrdfBox: require('./UrdfBox'),
     UrdfColor: require('./UrdfColor'),
@@ -5831,7 +5371,7 @@ module.exports = require('object-assign')({
     UrdfVisual: require('./UrdfVisual')
 }, require('./UrdfTypes'));
 
-},{"./UrdfBox":35,"./UrdfColor":36,"./UrdfCylinder":37,"./UrdfLink":39,"./UrdfMaterial":40,"./UrdfMesh":41,"./UrdfModel":42,"./UrdfSphere":43,"./UrdfTypes":44,"./UrdfVisual":45,"object-assign":3}],47:[function(require,module,exports){
+},{"./UrdfBox":31,"./UrdfColor":32,"./UrdfCylinder":33,"./UrdfLink":35,"./UrdfMaterial":36,"./UrdfMesh":37,"./UrdfModel":38,"./UrdfSphere":39,"./UrdfTypes":40,"./UrdfVisual":41,"object-assign":3}],43:[function(require,module,exports){
 'use strict';
 
 var UPPER32 = Math.pow(2, 32);
@@ -5951,20 +5491,20 @@ if (typeof module !== 'undefined' && module.exports) {
   module.exports = cborTypedArrayTagger;
 }
 
-},{}],48:[function(require,module,exports){
+},{}],44:[function(require,module,exports){
 exports.DOMImplementation = window.DOMImplementation;
 exports.XMLSerializer = window.XMLSerializer;
 exports.DOMParser = window.DOMParser;
 
-},{}],49:[function(require,module,exports){
+},{}],45:[function(require,module,exports){
 module.exports = typeof window !== 'undefined' ? window.WebSocket : WebSocket;
 
-},{}],50:[function(require,module,exports){
+},{}],46:[function(require,module,exports){
 /* global document */
 module.exports = function Canvas() {
 	return document.createElement('canvas');
 };
-},{}],51:[function(require,module,exports){
+},{}],47:[function(require,module,exports){
 /**
  * @fileOverview
  * @author Graeme Yeates - github.com/megawac
@@ -6022,7 +5562,7 @@ function decompressPng(data, callback) {
 
 module.exports = decompressPng;
 
-},{"canvas":50}],52:[function(require,module,exports){
+},{"canvas":46}],48:[function(require,module,exports){
 try {
     var work = require('webworkify');
 } catch(ReferenceError) {
@@ -6073,7 +5613,7 @@ WorkerSocket.prototype.close = function() {
 
 module.exports = WorkerSocket;
 
-},{"./workerSocketImpl":53,"webworkify":7,"webworkify-webpack":6}],53:[function(require,module,exports){
+},{"./workerSocketImpl":49,"webworkify":7,"webworkify-webpack":6}],49:[function(require,module,exports){
 var WebSocket = WebSocket || require('ws');
 
 module.exports = function(self) {
@@ -6123,4 +5663,4 @@ module.exports = function(self) {
   });
 };
 
-},{"ws":49}]},{},[9]);
+},{"ws":45}]},{},[9]);
diff --git a/build/roslib.min.js b/build/roslib.min.js
index 42e69fe99..166860efa 100644
--- a/build/roslib.min.js
+++ b/build/roslib.min.js
@@ -1 +1 @@
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Date);this.goalID="goal_"+Math.random()+"_"+e.getTime(),this.goalMessage=new n({goal_id:{stamp:{secs:0,nsecs:0},id:this.goalID},goal:this.goalMessage}),this.on("status",function(e){t.status=e}),this.on("result",function(e){t.isFinished=!0,t.result=e}),this.on("feedback",function(e){t.feedback=e}),this.actionClient.goals[this.goalID]=this}r.prototype.__proto__=e.prototype,r.prototype.send=function(e){var t=this;t.actionClient.goalTopic.publish(t.goalMessage),e&&setTimeout(function(){t.isFinished||t.emit("timeout")},e)},r.prototype.cancel=function(){var e=new n({id:this.goalID});this.actionClient.cancelTopic.publish(e)},t.exports=r},{"../core/Message":18,eventemitter2:2}],13:[function(e,t,i){var s=e("../core/Topic"),o=e("../core/Message"),e=e("eventemitter2").EventEmitter2;function n(e){function t(e,t){return!(e.secs>t.secs)&&(e.secs<t.secs||e.nsecs<t.nsecs)}var i=this,n=(this.ros=(e=e||{}).ros,this.serverName=e.serverName,this.actionName=e.actionName,this.feedbackPublisher=new 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o({header:{stamp:{secs:0,nsecs:100},frame_id:""},status_list:[]}),this.currentGoal=null,this.nextGoal=null,e.subscribe(function(e){i.currentGoal?(i.nextGoal=e,i.emit("cancel")):(i.statusMessage.status_list=[{goal_id:e.goal_id,status:1}],i.currentGoal=e,i.emit("goal",e.goal))}),r.subscribe(function(e){0===e.stamp.secs&&0===e.stamp.secs&&""===e.id?(i.nextGoal=null,i.currentGoal&&i.emit("cancel")):(i.currentGoal&&e.id===i.currentGoal.goal_id.id?i.emit("cancel"):i.nextGoal&&e.id===i.nextGoal.goal_id.id&&(i.nextGoal=null),i.nextGoal&&t(i.nextGoal.goal_id.stamp,e.stamp)&&(i.nextGoal=null),i.currentGoal&&t(i.currentGoal.goal_id.stamp,e.stamp)&&i.emit("cancel"))}),setInterval(function(){var e=new Date,t=Math.floor(e.getTime()/1e3),e=Math.round(1e9*(e.getTime()/1e3-t));i.statusMessage.header.stamp.secs=t,i.statusMessage.header.stamp.nsecs=e,n.publish(i.statusMessage)},500)}n.prototype.__proto__=e.prototype,n.prototype.setSucceeded=function(e){e=new o({status:{goal_id:this.currentGoal.goal_id,status:3},result:e});this.resultPublisher.publish(e),this.statusMessage.status_list=[],this.nextGoal?(this.currentGoal=this.nextGoal,this.nextGoal=null,this.emit("goal",this.currentGoal.goal)):this.currentGoal=null},n.prototype.setAborted=function(e){e=new o({status:{goal_id:this.currentGoal.goal_id,status:4},result:e});this.resultPublisher.publish(e),this.statusMessage.status_list=[],this.nextGoal?(this.currentGoal=this.nextGoal,this.nextGoal=null,this.emit("goal",this.currentGoal.goal)):this.currentGoal=null},n.prototype.sendFeedback=function(e){e=new o({status:{goal_id:this.currentGoal.goal_id,status:1},feedback:e});this.feedbackPublisher.publish(e)},n.prototype.setPreempted=function(){this.statusMessage.status_list=[];var e=new o({status:{goal_id:this.currentGoal.goal_id,status:2}});this.resultPublisher.publish(e),this.nextGoal?(this.currentGoal=this.nextGoal,this.nextGoal=null,this.emit("goal",this.currentGoal.goal)):this.currentGoal=null},t.exports=n},{"../core/Message":18,"../core/Topic":25,eventemitter2:2}],14:[function(e,t,i){var n=e("../core/Ros");e("../mixin")(n,["ActionClient","SimpleActionServer"],t.exports={ActionClient:e("./ActionClient"),ActionListener:e("./ActionListener"),Goal:e("./Goal"),SimpleActionServer:e("./SimpleActionServer")})},{"../core/Ros":20,"../mixin":32,"./ActionClient":10,"./ActionListener":11,"./Goal":12,"./SimpleActionServer":13}],15:[function(e,t,i){e("./ActionGoal");var s=e("./ActionResult"),e=e("eventemitter2").EventEmitter2;function n(e){this.ros=(e=e||{}).ros,this.name=e.name,this.actionType=e.actionType,this.isAdvertised=!1,this._serviceCallback=null}n.prototype.__proto__=e.prototype,n.prototype.sendGoal=function(e,t,i,n){var r;this.isAdvertised||(r="send_action_goal:"+this.name+":"+ ++this.ros.idCounter,(t||n)&&this.ros.on(r,function(e){void 0!==e.result&&!1===e.result?"function"==typeof n&&n(e.values):"action_feedback"===e.op&&"function"==typeof i?i(new s(e.values)):"action_result"===e.op&&"function"==typeof t&&t(new s(e.values))}),r={op:"send_action_goal",id:r,action:this.name,action_type:this.actionType,args:e,feedback:!0},this.ros.callOnConnection(r))},t.exports=n},{"./ActionGoal":16,"./ActionResult":17,eventemitter2:2}],16:[function(e,t,i){var n=e("object-assign");t.exports=function(e){n(this,e)}},{"object-assign":3}],17:[function(e,t,i){var n=e("object-assign");t.exports=function(e){n(this,e)}},{"object-assign":3}],18:[function(e,t,i){var n=e("object-assign");t.exports=function(e){n(this,e)}},{"object-assign":3}],19:[function(e,t,i){var n=e("./Service"),r=e("./ServiceRequest");function s(e){this.ros=(e=e||{}).ros,this.name=e.name}s.prototype.get=function(t){var e=new n({ros:this.ros,name:"/rosapi/get_param",serviceType:"rosapi/GetParam"}),i=new r({name:this.name});e.callService(i,function(e){e=JSON.parse(e.value);t(e)})},s.prototype.set=function(e,t){var i=new n({ros:this.ros,name:"/rosapi/set_param",serviceType:"rosapi/SetParam"}),e=new r({name:this.name,value:JSON.stringify(e)});i.callService(e,t)},s.prototype.delete=function(e){var t=new n({ros:this.ros,name:"/rosapi/delete_param",serviceType:"rosapi/DeleteParam"}),i=new r({name:this.name});t.callService(i,e)},t.exports=s},{"./Service":21,"./ServiceRequest":22}],20:[function(e,t,i){var n=e("ws"),r=e("../util/workerSocket"),s=e("./SocketAdapter.js"),o=e("./Service"),a=e("./ServiceRequest"),c=e("object-assign"),e=e("eventemitter2").EventEmitter2;function l(e){e=e||{};var t=this;this.socket=null,this.idCounter=0,this.isConnected=!1,this.transportLibrary=e.transportLibrary||"websocket",this.transportOptions=e.transportOptions||{},this._sendFunc=function(e){t.sendEncodedMessage(e)},void 0===e.groovyCompatibility?this.groovyCompatibility=!0:this.groovyCompatibility=e.groovyCompatibility,this.setMaxListeners(0),e.url&&this.connect(e.url)}l.prototype.__proto__=e.prototype,l.prototype.connect=function(e){if("socket.io"===this.transportLibrary)this.socket=c(io(e,{"force new connection":!0}),s(this)),this.socket.on("connect",this.socket.onopen),this.socket.on("data",this.socket.onmessage),this.socket.on("close",this.socket.onclose),this.socket.on("error",this.socket.onerror);else if("RTCPeerConnection"===this.transportLibrary.constructor.name)this.socket=c(this.transportLibrary.createDataChannel(e,this.transportOptions),s(this));else if("websocket"===this.transportLibrary){var t;this.socket&&this.socket.readyState!==n.CLOSED||((t=new n(e)).binaryType="arraybuffer",this.socket=c(t,s(this)))}else{if("workersocket"!==this.transportLibrary)throw"Unknown transportLibrary: "+this.transportLibrary.toString();this.socket=c(new r(e),s(this))}},l.prototype.close=function(){this.socket&&this.socket.close()},l.prototype.authenticate=function(e,t,i,n,r,s,o){this.callOnConnection({op:"auth",mac:e,client:t,dest:i,rand:n,t:r,level:s,end:o})},l.prototype.sendEncodedMessage=function(e){var t=null,i=this,t="socket.io"===this.transportLibrary?function(e){i.socket.emit("operation",e)}:function(e){i.socket.send(e)};this.isConnected?t(e):i.once("connection",function(){t(e)})},l.prototype.callOnConnection=function(e){this.transportOptions.encoder?this.transportOptions.encoder(e,this._sendFunc):this._sendFunc(JSON.stringify(e))},l.prototype.setStatusLevel=function(e,t){this.callOnConnection({op:"set_level",level:e,id:t})},l.prototype.getActionServers=function(t,i){var e=new o({ros:this,name:"/rosapi/action_servers",serviceType:"rosapi/GetActionServers"}),n=new a({});"function"==typeof i?e.callService(n,function(e){t(e.action_servers)},function(e){i(e)}):e.callService(n,function(e){t(e.action_servers)})},l.prototype.getTopics=function(t,i){var e=new o({ros:this,name:"/rosapi/topics",serviceType:"rosapi/Topics"}),n=new a;"function"==typeof i?e.callService(n,function(e){t(e)},function(e){i(e)}):e.callService(n,function(e){t(e)})},l.prototype.getTopicsForType=function(e,t,i){var n=new o({ros:this,name:"/rosapi/topics_for_type",serviceType:"rosapi/TopicsForType"}),e=new a({type:e});"function"==typeof i?n.callService(e,function(e){t(e.topics)},function(e){i(e)}):n.callService(e,function(e){t(e.topics)})},l.prototype.getServices=function(t,i){var e=new o({ros:this,name:"/rosapi/services",serviceType:"rosapi/Services"}),n=new a;"function"==typeof i?e.callService(n,function(e){t(e.services)},function(e){i(e)}):e.callService(n,function(e){t(e.services)})},l.prototype.getServicesForType=function(e,t,i){var n=new o({ros:this,name:"/rosapi/services_for_type",serviceType:"rosapi/ServicesForType"}),e=new a({type:e});"function"==typeof i?n.callService(e,function(e){t(e.services)},function(e){i(e)}):n.callService(e,function(e){t(e.services)})},l.prototype.getServiceRequestDetails=function(e,t,i){var n=new o({ros:this,name:"/rosapi/service_request_details",serviceType:"rosapi/ServiceRequestDetails"}),e=new a({type:e});"function"==typeof i?n.callService(e,function(e){t(e)},function(e){i(e)}):n.callService(e,function(e){t(e)})},l.prototype.getServiceResponseDetails=function(e,t,i){var n=new o({ros:this,name:"/rosapi/service_response_details",serviceType:"rosapi/ServiceResponseDetails"}),e=new a({type:e});"function"==typeof i?n.callService(e,function(e){t(e)},function(e){i(e)}):n.callService(e,function(e){t(e)})},l.prototype.getNodes=function(t,i){var e=new o({ros:this,name:"/rosapi/nodes",serviceType:"rosapi/Nodes"}),n=new a;"function"==typeof i?e.callService(n,function(e){t(e.nodes)},function(e){i(e)}):e.callService(n,function(e){t(e.nodes)})},l.prototype.getNodeDetails=function(e,t,i){var n=new o({ros:this,name:"/rosapi/node_details",serviceType:"rosapi/NodeDetails"}),e=new a({node:e});"function"==typeof i?n.callService(e,function(e){t(e.subscribing,e.publishing,e.services)},function(e){i(e)}):n.callService(e,function(e){t(e)})},l.prototype.getParams=function(t,i){var e=new o({ros:this,name:"/rosapi/get_param_names",serviceType:"rosapi/GetParamNames"}),n=new a;"function"==typeof i?e.callService(n,function(e){t(e.names)},function(e){i(e)}):e.callService(n,function(e){t(e.names)})},l.prototype.getTopicType=function(e,t,i){var n=new o({ros:this,name:"/rosapi/topic_type",serviceType:"rosapi/TopicType"}),e=new a({topic:e});"function"==typeof i?n.callService(e,function(e){t(e.type)},function(e){i(e)}):n.callService(e,function(e){t(e.type)})},l.prototype.getServiceType=function(e,t,i){var n=new o({ros:this,name:"/rosapi/service_type",serviceType:"rosapi/ServiceType"}),e=new a({service:e});"function"==typeof i?n.callService(e,function(e){t(e.type)},function(e){i(e)}):n.callService(e,function(e){t(e.type)})},l.prototype.getMessageDetails=function(e,t,i){var n=new o({ros:this,name:"/rosapi/message_details",serviceType:"rosapi/MessageDetails"}),e=new a({type:e});"function"==typeof i?n.callService(e,function(e){t(e.typedefs)},function(e){i(e)}):n.callService(e,function(e){t(e.typedefs)})},l.prototype.decodeTypeDefs=function(e){function u(e,t){for(var i={},n=0;n<e.fieldnames.length;n++){var r=e.fieldarraylen[n],s=e.fieldnames[n],o=e.fieldtypes[n];if(-1===o.indexOf("/"))i[s]=-1===r?o:[o];else{for(var a,c=!1,l=0;l<t.length;l++)if(t[l].type.toString()===o.toString()){c=t[l];break}c?(a=u(c,t),-1!==r&&(i[s]=[a])):h.emit("error","Cannot find "+o+" in decodeTypeDefs")}}return i}var h=this;return u(e[0],e)},l.prototype.getTopicsAndRawTypes=function(t,i){var e=new o({ros:this,name:"/rosapi/topics_and_raw_types",serviceType:"rosapi/TopicsAndRawTypes"}),n=new a;"function"==typeof i?e.callService(n,function(e){t(e)},function(e){i(e)}):e.callService(n,function(e){t(e)})},t.exports=l},{"../util/workerSocket":52,"./Service":21,"./ServiceRequest":22,"./SocketAdapter.js":24,eventemitter2:2,"object-assign":3,ws:49}],21:[function(e,t,i){var r=e("./ServiceResponse"),e=(e("./ServiceRequest"),e("eventemitter2").EventEmitter2);function n(e){this.ros=(e=e||{}).ros,this.name=e.name,this.serviceType=e.serviceType,this.isAdvertised=!1,this._serviceCallback=null}n.prototype.__proto__=e.prototype,n.prototype.callService=function(e,t,i){var n;this.isAdvertised||(n="call_service:"+this.name+":"+ ++this.ros.idCounter,(t||i)&&this.ros.once(n,function(e){void 0!==e.result&&!1===e.result?"function"==typeof i&&i(e.values):"function"==typeof t&&t(new r(e.values))}),n={op:"call_service",id:n,service:this.name,type:this.serviceType,args:e},this.ros.callOnConnection(n))},n.prototype.advertise=function(e){this.isAdvertised||"function"!=typeof e||(this._serviceCallback=e,this.ros.on(this.name,this._serviceResponse.bind(this)),this.ros.callOnConnection({op:"advertise_service",type:this.serviceType,service:this.name}),this.isAdvertised=!0)},n.prototype.unadvertise=function(){this.isAdvertised&&(this.ros.callOnConnection({op:"unadvertise_service",service:this.name}),this.isAdvertised=!1)},n.prototype._serviceResponse=function(e){var t={},i=this._serviceCallback(e.args,t),t={op:"service_response",service:this.name,values:new r(t),result:i};e.id&&(t.id=e.id),this.ros.callOnConnection(t)},t.exports=n},{"./ServiceRequest":22,"./ServiceResponse":23,eventemitter2:2}],22:[function(e,t,i){var n=e("object-assign");t.exports=function(e){n(this,e)}},{"object-assign":3}],23:[function(e,t,i){var n=e("object-assign");t.exports=function(e){n(this,e)}},{"object-assign":3}],24:[function(e,t,i){"use strict";var n=e("../util/decompressPng"),a=e("cbor-js"),c=e("../util/cborTypedArrayTags"),l=null;"undefined"!=typeof bson&&(l=bson().BSON),t.exports=function(t){var r=null;function s(e){"publish"===e.op?t.emit(e.topic,e.msg):"service_response"===e.op?t.emit(e.id,e):"call_service"===e.op?t.emit(e.service,e):"send_action_goal"===e.op?t.emit(e.action,e):"action_feedback"===e.op||"action_result"===e.op?t.emit(e.id,e):"status"===e.op&&(e.id?t.emit("status:"+e.id,e):t.emit("status",e))}function o(e,t){"png"===e.op?n(e.data,t):t(e)}return t.transportOptions.decoder&&(r=t.transportOptions.decoder),{onopen:function(e){t.isConnected=!0,t.emit("connection",e)},onclose:function(e){t.isConnected=!1,t.emit("close",e)},onerror:function(e){t.emit("error",e)},onmessage:function(e){if(r)r(e.data,function(e){s(e)});else if("undefined"!=typeof Blob&&e.data instanceof Blob){var t=e.data,i=function(e){o(e,s)};if(!l)throw"Cannot process BSON encoded message without BSON header.";var n=new FileReader;n.onload=function(){var e=new Uint8Array(this.result),e=l.deserialize(e);i(e)},n.readAsArrayBuffer(t)}else e.data instanceof ArrayBuffer?s(a.decode(e.data,c)):o(JSON.parse("string"==typeof e?e:e.data),s)}}}},{"../util/cborTypedArrayTags":47,"../util/decompressPng":51,"cbor-js":1}],25:[function(e,t,i){var n=e("eventemitter2").EventEmitter2,r=e("./Message");function s(e){this.ros=(e=e||{}).ros,this.name=e.name,this.messageType=e.messageType,this.isAdvertised=!1,this.compression=e.compression||"none",this.throttle_rate=e.throttle_rate||0,this.latch=e.latch||!1,this.queue_size=e.queue_size||100,this.queue_length=e.queue_length||0,this.reconnect_on_close=void 0===e.reconnect_on_close||e.reconnect_on_close,this.compression&&"png"!==this.compression&&"cbor"!==this.compression&&"cbor-raw"!==this.compression&&"none"!==this.compression&&(this.emit("warning",this.compression+" compression is not supported. No compression will be used."),this.compression="none"),this.throttle_rate<0&&(this.emit("warning",this.throttle_rate+" is not allowed. Set to 0"),this.throttle_rate=0);var t=this;this.reconnect_on_close?this.callForSubscribeAndAdvertise=function(e){t.ros.callOnConnection(e),t.waitForReconnect=!1,t.reconnectFunc=function(){t.waitForReconnect||(t.waitForReconnect=!0,t.ros.callOnConnection(e),t.ros.once("connection",function(){t.waitForReconnect=!1}))},t.ros.on("close",t.reconnectFunc)}:this.callForSubscribeAndAdvertise=this.ros.callOnConnection,this._messageCallback=function(e){t.emit("message",new r(e))}}s.prototype.__proto__=n.prototype,s.prototype.subscribe=function(e){"function"==typeof e&&this.on("message",e),this.subscribeId||(this.ros.on(this.name,this._messageCallback),this.subscribeId="subscribe:"+this.name+":"+ ++this.ros.idCounter,this.callForSubscribeAndAdvertise({op:"subscribe",id:this.subscribeId,type:this.messageType,topic:this.name,compression:this.compression,throttle_rate:this.throttle_rate,queue_length:this.queue_length}))},s.prototype.unsubscribe=function(e){e&&(this.off("message",e),this.listeners("message").length)||this.subscribeId&&(this.ros.off(this.name,this._messageCallback),this.reconnect_on_close&&this.ros.off("close",this.reconnectFunc),this.emit("unsubscribe"),this.ros.callOnConnection({op:"unsubscribe",id:this.subscribeId,topic:this.name}),this.subscribeId=null)},s.prototype.advertise=function(){var e;this.isAdvertised||(this.advertiseId="advertise:"+this.name+":"+ ++this.ros.idCounter,this.callForSubscribeAndAdvertise({op:"advertise",id:this.advertiseId,type:this.messageType,topic:this.name,latch:this.latch,queue_size:this.queue_size}),this.isAdvertised=!0,this.reconnect_on_close||(e=this).ros.on("close",function(){e.isAdvertised=!1}))},s.prototype.unadvertise=function(){this.isAdvertised&&(this.reconnect_on_close&&this.ros.off("close",this.reconnectFunc),this.emit("unadvertise"),this.ros.callOnConnection({op:"unadvertise",id:this.advertiseId,topic:this.name}),this.isAdvertised=!1)},s.prototype.publish=function(e){this.isAdvertised||this.advertise(),this.ros.idCounter++;e={op:"publish",id:"publish:"+this.name+":"+this.ros.idCounter,topic:this.name,msg:e,latch:this.latch};this.ros.callOnConnection(e)},t.exports=s},{"./Message":18,eventemitter2:2}],26:[function(e,t,i){var n=e("../mixin"),t=t.exports={Ros:e("./Ros"),Topic:e("./Topic"),Message:e("./Message"),Param:e("./Param"),Service:e("./Service"),ServiceRequest:e("./ServiceRequest"),ServiceResponse:e("./ServiceResponse"),Action:e("./Action"),ActionGoal:e("./ActionGoal"),ActionResult:e("./ActionResult")};n(t.Ros,["Param","Service","Topic","Action"],t)},{"../mixin":32,"./Action":15,"./ActionGoal":16,"./ActionResult":17,"./Message":18,"./Param":19,"./Ros":20,"./Service":21,"./ServiceRequest":22,"./ServiceResponse":23,"./Topic":25}],27:[function(e,t,i){var n=e("./Vector3"),r=e("./Quaternion");function s(e){this.position=new n((e=e||{}).position),this.orientation=new r(e.orientation)}s.prototype.applyTransform=function(e){this.position.multiplyQuaternion(e.rotation),this.position.add(e.translation);e=e.rotation.clone();e.multiply(this.orientation),this.orientation=e},s.prototype.clone=function(){return new s(this)},s.prototype.multiply=function(e){e=e.clone();return e.applyTransform({rotation:this.orientation,translation:this.position}),e},s.prototype.getInverse=function(){var e=this.clone();return e.orientation.invert(),e.position.multiplyQuaternion(e.orientation),e.position.x*=-1,e.position.y*=-1,e.position.z*=-1,e},t.exports=s},{"./Quaternion":28,"./Vector3":30}],28:[function(e,t,i){function n(e){this.x=(e=e||{}).x||0,this.y=e.y||0,this.z=e.z||0,this.w="number"==typeof e.w?e.w:1}n.prototype.conjugate=function(){this.x*=-1,this.y*=-1,this.z*=-1},n.prototype.norm=function(){return Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w)},n.prototype.normalize=function(){var e=Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w);0===e?(this.x=0,this.y=0,this.z=0,this.w=1):(this.x=this.x*(e=1/e),this.y=this.y*e,this.z=this.z*e,this.w=this.w*e)},n.prototype.invert=function(){this.conjugate(),this.normalize()},n.prototype.multiply=function(e){var t=this.x*e.w+this.y*e.z-this.z*e.y+this.w*e.x,i=-this.x*e.z+this.y*e.w+this.z*e.x+this.w*e.y,n=this.x*e.y-this.y*e.x+this.z*e.w+this.w*e.z,e=-this.x*e.x-this.y*e.y-this.z*e.z+this.w*e.w;this.x=t,this.y=i,this.z=n,this.w=e},n.prototype.clone=function(){return new n(this)},t.exports=n},{}],29:[function(e,t,i){var n=e("./Vector3"),r=e("./Quaternion");function s(e){this.translation=new n((e=e||{}).translation),this.rotation=new r(e.rotation)}s.prototype.clone=function(){return new s(this)},t.exports=s},{"./Quaternion":28,"./Vector3":30}],30:[function(e,t,i){function n(e){this.x=(e=e||{}).x||0,this.y=e.y||0,this.z=e.z||0}n.prototype.add=function(e){this.x+=e.x,this.y+=e.y,this.z+=e.z},n.prototype.subtract=function(e){this.x-=e.x,this.y-=e.y,this.z-=e.z},n.prototype.multiplyQuaternion=function(e){var t=e.w*this.x+e.y*this.z-e.z*this.y,i=e.w*this.y+e.z*this.x-e.x*this.z,n=e.w*this.z+e.x*this.y-e.y*this.x,r=-e.x*this.x-e.y*this.y-e.z*this.z;this.x=t*e.w+r*-e.x+i*-e.z-n*-e.y,this.y=i*e.w+r*-e.y+n*-e.x-t*-e.z,this.z=n*e.w+r*-e.z+t*-e.y-i*-e.x},n.prototype.clone=function(){return new n(this)},t.exports=n},{}],31:[function(e,t,i){t.exports={Pose:e("./Pose"),Quaternion:e("./Quaternion"),Transform:e("./Transform"),Vector3:e("./Vector3")}},{"./Pose":27,"./Quaternion":28,"./Transform":29,"./Vector3":30}],32:[function(e,t,i){t.exports=function(i,e,n){e.forEach(function(e){var t=n[e];i.prototype[e]=function(e){return e.ros=this,new t(e)}})}},{}],33:[function(e,t,i){var n=e("../actionlib/ActionClient"),r=e("../actionlib/Goal"),s=e("../core/Service.js"),o=e("../core/ServiceRequest.js"),a=e("../core/Topic.js"),c=e("../math/Transform");function l(e){this.ros=(e=e||{}).ros,this.fixedFrame=e.fixedFrame||"/base_link",this.angularThres=e.angularThres||2,this.transThres=e.transThres||.01,this.rate=e.rate||10,this.updateDelay=e.updateDelay||50;var t=e.topicTimeout||2,i=Math.floor(t),t=Math.floor(1e9*(t-i));this.topicTimeout={secs:i,nsecs:t},this.serverName=e.serverName||"/tf2_web_republisher",this.repubServiceName=e.repubServiceName||"/republish_tfs",this.currentGoal=!1,this.currentTopic=!1,this.frameInfos={},this.republisherUpdateRequested=!1,this._subscribeCB=null,this._isDisposed=!1,this.actionClient=new n({ros:e.ros,serverName:this.serverName,actionName:"tf2_web_republisher/TFSubscriptionAction",omitStatus:!0,omitResult:!0}),this.serviceClient=new s({ros:e.ros,name:this.repubServiceName,serviceType:"tf2_web_republisher/RepublishTFs"})}l.prototype.processTFArray=function(e){e.transforms.forEach(function(e){var t=e.child_frame_id,i=("/"===t[0]&&(t=t.substring(1)),this.frameInfos[t]);i&&(i.transform=new c({translation:e.transform.translation,rotation:e.transform.rotation}),i.cbs.forEach(function(e){e(i.transform)}))},this)},l.prototype.updateGoal=function(){var e={source_frames:Object.keys(this.frameInfos),target_frame:this.fixedFrame,angular_thres:this.angularThres,trans_thres:this.transThres,rate:this.rate};this.ros.groovyCompatibility?(this.currentGoal&&this.currentGoal.cancel(),this.currentGoal=new r({actionClient:this.actionClient,goalMessage:e}),this.currentGoal.on("feedback",this.processTFArray.bind(this)),this.currentGoal.send()):(e.timeout=this.topicTimeout,e=new o(e),this.serviceClient.callService(e,this.processResponse.bind(this))),this.republisherUpdateRequested=!1},l.prototype.processResponse=function(e){this._isDisposed||(this.currentTopic&&this.currentTopic.unsubscribe(this._subscribeCB),this.currentTopic=new a({ros:this.ros,name:e.topic_name,messageType:"tf2_web_republisher/TFArray"}),this._subscribeCB=this.processTFArray.bind(this),this.currentTopic.subscribe(this._subscribeCB))},l.prototype.subscribe=function(e,t){"/"===e[0]&&(e=e.substring(1)),this.frameInfos[e]?this.frameInfos[e].transform&&t(this.frameInfos[e].transform):(this.frameInfos[e]={cbs:[]},this.republisherUpdateRequested||(setTimeout(this.updateGoal.bind(this),this.updateDelay),this.republisherUpdateRequested=!0)),this.frameInfos[e].cbs.push(t)},l.prototype.unsubscribe=function(e,t){"/"===e[0]&&(e=e.substring(1));for(var i=this.frameInfos[e],n=i&&i.cbs||[],r=n.length;r--;)n[r]===t&&n.splice(r,1);t&&0!==n.length||delete this.frameInfos[e]},l.prototype.dispose=function(){this._isDisposed=!0,this.actionClient.dispose(),this.currentTopic&&this.currentTopic.unsubscribe(this._subscribeCB)},t.exports=l},{"../actionlib/ActionClient":10,"../actionlib/Goal":12,"../core/Service.js":21,"../core/ServiceRequest.js":22,"../core/Topic.js":25,"../math/Transform":29}],34:[function(e,t,i){var n=e("../core/Ros");e("../mixin")(n,["TFClient"],t.exports={TFClient:e("./TFClient")})},{"../core/Ros":20,"../mixin":32,"./TFClient":33}],35:[function(e,t,i){var n=e("../math/Vector3"),r=e("./UrdfTypes");t.exports=function(e){this.dimension=null,this.type=r.URDF_BOX,e=e.xml.getAttribute("size").split(" "),this.dimension=new n({x:parseFloat(e[0]),y:parseFloat(e[1]),z:parseFloat(e[2])})}},{"../math/Vector3":30,"./UrdfTypes":44}],36:[function(e,t,i){t.exports=function(e){e=e.xml.getAttribute("rgba").split(" "),this.r=parseFloat(e[0]),this.g=parseFloat(e[1]),this.b=parseFloat(e[2]),this.a=parseFloat(e[3])}},{}],37:[function(e,t,i){var n=e("./UrdfTypes");t.exports=function(e){this.type=n.URDF_CYLINDER,this.length=parseFloat(e.xml.getAttribute("length")),this.radius=parseFloat(e.xml.getAttribute("radius"))}},{"./UrdfTypes":44}],38:[function(e,t,i){var c=e("../math/Pose"),l=e("../math/Vector3"),u=e("../math/Quaternion");t.exports=function(e){this.name=e.xml.getAttribute("name"),this.type=e.xml.getAttribute("type");var t,i,n,r,s,o,a=e.xml.getElementsByTagName("parent");0<a.length&&(this.parent=a[0].getAttribute("link")),0<(a=e.xml.getElementsByTagName("child")).length&&(this.child=a[0].getAttribute("link")),0<(a=e.xml.getElementsByTagName("limit")).length&&(this.minval=parseFloat(a[0].getAttribute("lower")),this.maxval=parseFloat(a[0].getAttribute("upper"))),0===(a=e.xml.getElementsByTagName("origin")).length?this.origin=new c:(e=a[0].getAttribute("xyz"),t=new l,e&&(e=e.split(" "),t=new l({x:parseFloat(e[0]),y:parseFloat(e[1]),z:parseFloat(e[2])})),e=a[0].getAttribute("rpy"),a=new u,e&&(e=e.split(" 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n=e("./UrdfTypes");t.exports=function(e){this.type=n.URDF_SPHERE,this.radius=parseFloat(e.xml.getAttribute("radius"))}},{"./UrdfTypes":44}],44:[function(e,t,i){t.exports={URDF_SPHERE:0,URDF_BOX:1,URDF_CYLINDER:2,URDF_MESH:3}},{}],45:[function(e,t,i){var p=e("../math/Pose"),m=e("../math/Vector3"),v=e("../math/Quaternion"),d=e("./UrdfCylinder"),y=e("./UrdfBox"),g=e("./UrdfMaterial"),b=e("./UrdfMesh"),w=e("./UrdfSphere");t.exports=function(e){var t,i,n,r,s=e.xml;this.origin=null,this.geometry=null,this.material=null,this.name=e.xml.getAttribute("name");0===(e=s.getElementsByTagName("origin")).length?this.origin=new p:(h=e[0].getAttribute("xyz"),t=new m,h&&(h=h.split(" "),t=new m({x:parseFloat(h[0]),y:parseFloat(h[1]),z:parseFloat(h[2])})),h=e[0].getAttribute("rpy"),e=new v,h&&(h=h.split(" 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g({xml:f[0]}))}},{"../math/Pose":27,"../math/Quaternion":28,"../math/Vector3":30,"./UrdfBox":35,"./UrdfCylinder":37,"./UrdfMaterial":40,"./UrdfMesh":41,"./UrdfSphere":43}],46:[function(e,t,i){t.exports=e("object-assign")({UrdfBox:e("./UrdfBox"),UrdfColor:e("./UrdfColor"),UrdfCylinder:e("./UrdfCylinder"),UrdfLink:e("./UrdfLink"),UrdfMaterial:e("./UrdfMaterial"),UrdfMesh:e("./UrdfMesh"),UrdfModel:e("./UrdfModel"),UrdfSphere:e("./UrdfSphere"),UrdfVisual:e("./UrdfVisual")},e("./UrdfTypes"))},{"./UrdfBox":35,"./UrdfColor":36,"./UrdfCylinder":37,"./UrdfLink":39,"./UrdfMaterial":40,"./UrdfMesh":41,"./UrdfModel":42,"./UrdfSphere":43,"./UrdfTypes":44,"./UrdfVisual":45,"object-assign":3}],47:[function(e,t,i){"use strict";var u=Math.pow(2,32),n=!1;function h(){n||(n=!0,console.warn("CBOR 64-bit integer array values may lose precision. 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i=this.ROSLIB||{REVISION:"1.2.0"},r=e("object-assign");r(i,e("./core")),r(i,e("./math")),r(i,e("./tf")),r(i,e("./urdf")),t.exports=i},{"./core":22,"./math":27,"./tf":30,"./urdf":42,"object-assign":3}],9:[function(t,e,n){!function(e){!function(){e.ROSLIB=t("./RosLib")}.call(this)}.call(this,"undefined"!=typeof global?global:"undefined"!=typeof self?self:"undefined"!=typeof window?window:{})},{"./RosLib":8}],10:[function(e,t,n){e("./ActionGoal");var i=e("./ActionFeedback"),s=e("./ActionResult"),e=e("eventemitter2").EventEmitter2;function r(e){this.ros=(e=e||{}).ros,this.name=e.name,this.actionType=e.actionType,this.isAdvertised=!1,this._actionCallback=null,this._cancelCallback=null}r.prototype.__proto__=e.prototype,r.prototype.sendGoal=function(e,t,n,i){var r;if(!this.isAdvertised)return r="send_action_goal:"+this.name+":"+ ++this.ros.idCounter,(t||i)&&this.ros.on(r,function(e){void 0!==e.result&&!1===e.result?"function"==typeof i&&i(e.values):"action_feedback"===e.op&&"function"==typeof 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i(t)};this.ros.callOnConnection(e)},r.prototype.setSucceeded=function(e,t){e={op:"action_result",id:e,action:this.name,values:new s(t),result:!0};this.ros.callOnConnection(e)},r.prototype.setFailed=function(e){e={op:"action_result",id:e,action:this.name,result:!1};this.ros.callOnConnection(e)},t.exports=r},{"./ActionFeedback":11,"./ActionGoal":12,"./ActionResult":13,eventemitter2:2}],11:[function(e,t,n){var i=e("object-assign");t.exports=function(e){i(this,e)}},{"object-assign":3}],12:[function(e,t,n){var i=e("object-assign");t.exports=function(e){i(this,e)}},{"object-assign":3}],13:[function(e,t,n){var i=e("object-assign");t.exports=function(e){i(this,e)}},{"object-assign":3}],14:[function(e,t,n){var i=e("object-assign");t.exports=function(e){i(this,e)}},{"object-assign":3}],15:[function(e,t,n){var i=e("./Service"),r=e("./ServiceRequest");function s(e){this.ros=(e=e||{}).ros,this.name=e.name}s.prototype.get=function(t){var e=new i({ros:this.ros,name:"/rosapi/get_param",serviceType:"rosapi/GetParam"}),n=new r({name:this.name});e.callService(n,function(e){e=JSON.parse(e.value);t(e)})},s.prototype.set=function(e,t){var n=new i({ros:this.ros,name:"/rosapi/set_param",serviceType:"rosapi/SetParam"}),e=new r({name:this.name,value:JSON.stringify(e)});n.callService(e,t)},s.prototype.delete=function(e){var t=new i({ros:this.ros,name:"/rosapi/delete_param",serviceType:"rosapi/DeleteParam"}),n=new r({name:this.name});t.callService(n,e)},t.exports=s},{"./Service":17,"./ServiceRequest":18}],16:[function(e,t,n){var i=e("ws"),r=e("../util/workerSocket"),s=e("./SocketAdapter.js"),o=e("./Service"),a=e("./ServiceRequest"),c=e("object-assign"),e=e("eventemitter2").EventEmitter2;function l(e){e=e||{};var t=this;this.socket=null,this.idCounter=0,this.isConnected=!1,this.transportLibrary=e.transportLibrary||"websocket",this.transportOptions=e.transportOptions||{},this._sendFunc=function(e){t.sendEncodedMessage(e)},void 0===e.groovyCompatibility?this.groovyCompatibility=!0:this.groovyCompatibility=e.groovyCompatibility,this.setMaxListeners(0),e.url&&this.connect(e.url)}l.prototype.__proto__=e.prototype,l.prototype.connect=function(e){if("socket.io"===this.transportLibrary)this.socket=c(io(e,{"force new connection":!0}),s(this)),this.socket.on("connect",this.socket.onopen),this.socket.on("data",this.socket.onmessage),this.socket.on("close",this.socket.onclose),this.socket.on("error",this.socket.onerror);else if("RTCPeerConnection"===this.transportLibrary.constructor.name)this.socket=c(this.transportLibrary.createDataChannel(e,this.transportOptions),s(this));else if("websocket"===this.transportLibrary){var t;this.socket&&this.socket.readyState!==i.CLOSED||((t=new i(e)).binaryType="arraybuffer",this.socket=c(t,s(this)))}else{if("workersocket"!==this.transportLibrary)throw"Unknown transportLibrary: "+this.transportLibrary.toString();this.socket=c(new r(e),s(this))}},l.prototype.close=function(){this.socket&&this.socket.close()},l.prototype.authenticate=function(e,t,n,i,r,s,o){this.callOnConnection({op:"auth",mac:e,client:t,dest:n,rand:i,t:r,level:s,end:o})},l.prototype.sendEncodedMessage=function(e){var t=null,n=this,t="socket.io"===this.transportLibrary?function(e){n.socket.emit("operation",e)}:function(e){n.socket.send(e)};this.isConnected?t(e):n.once("connection",function(){t(e)})},l.prototype.callOnConnection=function(e){this.transportOptions.encoder?this.transportOptions.encoder(e,this._sendFunc):this._sendFunc(JSON.stringify(e))},l.prototype.setStatusLevel=function(e,t){this.callOnConnection({op:"set_level",level:e,id:t})},l.prototype.getActionServers=function(t,n){var e=new o({ros:this,name:"/rosapi/action_servers",serviceType:"rosapi/GetActionServers"}),i=new a({});"function"==typeof n?e.callService(i,function(e){t(e.action_servers)},function(e){n(e)}):e.callService(i,function(e){t(e.action_servers)})},l.prototype.getTopics=function(t,n){var e=new o({ros:this,name:"/rosapi/topics",serviceType:"rosapi/Topics"}),i=new a;"function"==typeof n?e.callService(i,function(e){t(e)},function(e){n(e)}):e.callService(i,function(e){t(e)})},l.prototype.getTopicsForType=function(e,t,n){var i=new o({ros:this,name:"/rosapi/topics_for_type",serviceType:"rosapi/TopicsForType"}),e=new a({type:e});"function"==typeof n?i.callService(e,function(e){t(e.topics)},function(e){n(e)}):i.callService(e,function(e){t(e.topics)})},l.prototype.getServices=function(t,n){var e=new o({ros:this,name:"/rosapi/services",serviceType:"rosapi/Services"}),i=new a;"function"==typeof n?e.callService(i,function(e){t(e.services)},function(e){n(e)}):e.callService(i,function(e){t(e.services)})},l.prototype.getServicesForType=function(e,t,n){var i=new o({ros:this,name:"/rosapi/services_for_type",serviceType:"rosapi/ServicesForType"}),e=new a({type:e});"function"==typeof n?i.callService(e,function(e){t(e.services)},function(e){n(e)}):i.callService(e,function(e){t(e.services)})},l.prototype.getServiceRequestDetails=function(e,t,n){var i=new o({ros:this,name:"/rosapi/service_request_details",serviceType:"rosapi/ServiceRequestDetails"}),e=new a({type:e});"function"==typeof n?i.callService(e,function(e){t(e)},function(e){n(e)}):i.callService(e,function(e){t(e)})},l.prototype.getServiceResponseDetails=function(e,t,n){var i=new o({ros:this,name:"/rosapi/service_response_details",serviceType:"rosapi/ServiceResponseDetails"}),e=new a({type:e});"function"==typeof n?i.callService(e,function(e){t(e)},function(e){n(e)}):i.callService(e,function(e){t(e)})},l.prototype.getNodes=function(t,n){var e=new o({ros:this,name:"/rosapi/nodes",serviceType:"rosapi/Nodes"}),i=new a;"function"==typeof n?e.callService(i,function(e){t(e.nodes)},function(e){n(e)}):e.callService(i,function(e){t(e.nodes)})},l.prototype.getNodeDetails=function(e,t,n){var i=new o({ros:this,name:"/rosapi/node_details",serviceType:"rosapi/NodeDetails"}),e=new a({node:e});"function"==typeof n?i.callService(e,function(e){t(e.subscribing,e.publishing,e.services)},function(e){n(e)}):i.callService(e,function(e){t(e)})},l.prototype.getParams=function(t,n){var e=new o({ros:this,name:"/rosapi/get_param_names",serviceType:"rosapi/GetParamNames"}),i=new a;"function"==typeof n?e.callService(i,function(e){t(e.names)},function(e){n(e)}):e.callService(i,function(e){t(e.names)})},l.prototype.getTopicType=function(e,t,n){var i=new o({ros:this,name:"/rosapi/topic_type",serviceType:"rosapi/TopicType"}),e=new a({topic:e});"function"==typeof n?i.callService(e,function(e){t(e.type)},function(e){n(e)}):i.callService(e,function(e){t(e.type)})},l.prototype.getServiceType=function(e,t,n){var i=new o({ros:this,name:"/rosapi/service_type",serviceType:"rosapi/ServiceType"}),e=new a({service:e});"function"==typeof n?i.callService(e,function(e){t(e.type)},function(e){n(e)}):i.callService(e,function(e){t(e.type)})},l.prototype.getMessageDetails=function(e,t,n){var i=new o({ros:this,name:"/rosapi/message_details",serviceType:"rosapi/MessageDetails"}),e=new a({type:e});"function"==typeof n?i.callService(e,function(e){t(e.typedefs)},function(e){n(e)}):i.callService(e,function(e){t(e.typedefs)})},l.prototype.decodeTypeDefs=function(e){function u(e,t){for(var n={},i=0;i<e.fieldnames.length;i++){var r=e.fieldarraylen[i],s=e.fieldnames[i],o=e.fieldtypes[i];if(-1===o.indexOf("/"))n[s]=-1===r?o:[o];else{for(var a,c=!1,l=0;l<t.length;l++)if(t[l].type.toString()===o.toString()){c=t[l];break}c?(a=u(c,t),-1!==r&&(n[s]=[a])):h.emit("error","Cannot find "+o+" in decodeTypeDefs")}}return n}var h=this;return u(e[0],e)},l.prototype.getTopicsAndRawTypes=function(t,n){var e=new o({ros:this,name:"/rosapi/topics_and_raw_types",serviceType:"rosapi/TopicsAndRawTypes"}),i=new a;"function"==typeof n?e.callService(i,function(e){t(e)},function(e){n(e)}):e.callService(i,function(e){t(e)})},t.exports=l},{"../util/workerSocket":48,"./Service":17,"./ServiceRequest":18,"./SocketAdapter.js":20,eventemitter2:2,"object-assign":3,ws:45}],17:[function(e,t,n){var r=e("./ServiceResponse"),e=(e("./ServiceRequest"),e("eventemitter2").EventEmitter2);function i(e){this.ros=(e=e||{}).ros,this.name=e.name,this.serviceType=e.serviceType,this.isAdvertised=!1,this._serviceCallback=null}i.prototype.__proto__=e.prototype,i.prototype.callService=function(e,t,n){var i;this.isAdvertised||(i="call_service:"+this.name+":"+ ++this.ros.idCounter,(t||n)&&this.ros.once(i,function(e){void 0!==e.result&&!1===e.result?"function"==typeof n&&n(e.values):"function"==typeof t&&t(new r(e.values))}),i={op:"call_service",id:i,service:this.name,type:this.serviceType,args:e},this.ros.callOnConnection(i))},i.prototype.advertise=function(e){this.isAdvertised||"function"!=typeof e||(this._serviceCallback=e,this.ros.on(this.name,this._serviceResponse.bind(this)),this.ros.callOnConnection({op:"advertise_service",type:this.serviceType,service:this.name}),this.isAdvertised=!0)},i.prototype.unadvertise=function(){this.isAdvertised&&(this.ros.callOnConnection({op:"unadvertise_service",service:this.name}),this.isAdvertised=!1)},i.prototype._serviceResponse=function(e){var t={},n=this._serviceCallback(e.args,t),t={op:"service_response",service:this.name,values:new r(t),result:n};e.id&&(t.id=e.id),this.ros.callOnConnection(t)},t.exports=i},{"./ServiceRequest":18,"./ServiceResponse":19,eventemitter2:2}],18:[function(e,t,n){var i=e("object-assign");t.exports=function(e){i(this,e)}},{"object-assign":3}],19:[function(e,t,n){var i=e("object-assign");t.exports=function(e){i(this,e)}},{"object-assign":3}],20:[function(e,t,n){"use strict";var i=e("../util/decompressPng"),a=e("cbor-js"),c=e("../util/cborTypedArrayTags"),l=null;"undefined"!=typeof bson&&(l=bson().BSON),t.exports=function(t){var r=null;function s(e){"publish"===e.op?t.emit(e.topic,e.msg):"service_response"===e.op?t.emit(e.id,e):"call_service"===e.op?t.emit(e.service,e):"send_action_goal"===e.op?t.emit(e.action,e):"cancel_action_goal"===e.op||"action_feedback"===e.op||"action_result"===e.op?t.emit(e.id,e):"status"===e.op&&(e.id?t.emit("status:"+e.id,e):t.emit("status",e))}function o(e,t){"png"===e.op?i(e.data,t):t(e)}return t.transportOptions.decoder&&(r=t.transportOptions.decoder),{onopen:function(e){t.isConnected=!0,t.emit("connection",e)},onclose:function(e){t.isConnected=!1,t.emit("close",e)},onerror:function(e){t.emit("error",e)},onmessage:function(e){if(r)r(e.data,function(e){s(e)});else if("undefined"!=typeof Blob&&e.data instanceof Blob){var t=e.data,n=function(e){o(e,s)};if(!l)throw"Cannot process BSON encoded message without BSON header.";var i=new FileReader;i.onload=function(){var e=new Uint8Array(this.result),e=l.deserialize(e);n(e)},i.readAsArrayBuffer(t)}else e.data instanceof ArrayBuffer?s(a.decode(e.data,c)):o(JSON.parse("string"==typeof e?e:e.data),s)}}}},{"../util/cborTypedArrayTags":43,"../util/decompressPng":47,"cbor-js":1}],21:[function(e,t,n){var i=e("eventemitter2").EventEmitter2,r=e("./Message");function s(e){this.ros=(e=e||{}).ros,this.name=e.name,this.messageType=e.messageType,this.isAdvertised=!1,this.compression=e.compression||"none",this.throttle_rate=e.throttle_rate||0,this.latch=e.latch||!1,this.queue_size=e.queue_size||100,this.queue_length=e.queue_length||0,this.reconnect_on_close=void 0===e.reconnect_on_close||e.reconnect_on_close,this.compression&&"png"!==this.compression&&"cbor"!==this.compression&&"cbor-raw"!==this.compression&&"none"!==this.compression&&(this.emit("warning",this.compression+" compression is not supported. No compression will be used."),this.compression="none"),this.throttle_rate<0&&(this.emit("warning",this.throttle_rate+" is not allowed. Set to 0"),this.throttle_rate=0);var t=this;this.reconnect_on_close?this.callForSubscribeAndAdvertise=function(e){t.ros.callOnConnection(e),t.waitForReconnect=!1,t.reconnectFunc=function(){t.waitForReconnect||(t.waitForReconnect=!0,t.ros.callOnConnection(e),t.ros.once("connection",function(){t.waitForReconnect=!1}))},t.ros.on("close",t.reconnectFunc)}:this.callForSubscribeAndAdvertise=this.ros.callOnConnection,this._messageCallback=function(e){t.emit("message",new r(e))}}s.prototype.__proto__=i.prototype,s.prototype.subscribe=function(e){"function"==typeof e&&this.on("message",e),this.subscribeId||(this.ros.on(this.name,this._messageCallback),this.subscribeId="subscribe:"+this.name+":"+ ++this.ros.idCounter,this.callForSubscribeAndAdvertise({op:"subscribe",id:this.subscribeId,type:this.messageType,topic:this.name,compression:this.compression,throttle_rate:this.throttle_rate,queue_length:this.queue_length}))},s.prototype.unsubscribe=function(e){e&&(this.off("message",e),this.listeners("message").length)||this.subscribeId&&(this.ros.off(this.name,this._messageCallback),this.reconnect_on_close&&this.ros.off("close",this.reconnectFunc),this.emit("unsubscribe"),this.ros.callOnConnection({op:"unsubscribe",id:this.subscribeId,topic:this.name}),this.subscribeId=null)},s.prototype.advertise=function(){var e;this.isAdvertised||(this.advertiseId="advertise:"+this.name+":"+ ++this.ros.idCounter,this.callForSubscribeAndAdvertise({op:"advertise",id:this.advertiseId,type:this.messageType,topic:this.name,latch:this.latch,queue_size:this.queue_size}),this.isAdvertised=!0,this.reconnect_on_close||(e=this).ros.on("close",function(){e.isAdvertised=!1}))},s.prototype.unadvertise=function(){this.isAdvertised&&(this.reconnect_on_close&&this.ros.off("close",this.reconnectFunc),this.emit("unadvertise"),this.ros.callOnConnection({op:"unadvertise",id:this.advertiseId,topic:this.name}),this.isAdvertised=!1)},s.prototype.publish=function(e){this.isAdvertised||this.advertise(),this.ros.idCounter++;e={op:"publish",id:"publish:"+this.name+":"+this.ros.idCounter,topic:this.name,msg:e,latch:this.latch};this.ros.callOnConnection(e)},t.exports=s},{"./Message":14,eventemitter2:2}],22:[function(e,t,n){var i=e("../mixin"),t=t.exports={Ros:e("./Ros"),Topic:e("./Topic"),Message:e("./Message"),Param:e("./Param"),Service:e("./Service"),ServiceRequest:e("./ServiceRequest"),ServiceResponse:e("./ServiceResponse"),Action:e("./Action"),ActionGoal:e("./ActionGoal"),ActionFeedback:e("./ActionFeedback"),ActionResult:e("./ActionResult")};i(t.Ros,["Param","Service","Topic","Action"],t)},{"../mixin":28,"./Action":10,"./ActionFeedback":11,"./ActionGoal":12,"./ActionResult":13,"./Message":14,"./Param":15,"./Ros":16,"./Service":17,"./ServiceRequest":18,"./ServiceResponse":19,"./Topic":21}],23:[function(e,t,n){var i=e("./Vector3"),r=e("./Quaternion");function s(e){this.position=new i((e=e||{}).position),this.orientation=new r(e.orientation)}s.prototype.applyTransform=function(e){this.position.multiplyQuaternion(e.rotation),this.position.add(e.translation);e=e.rotation.clone();e.multiply(this.orientation),this.orientation=e},s.prototype.clone=function(){return new s(this)},s.prototype.multiply=function(e){e=e.clone();return e.applyTransform({rotation:this.orientation,translation:this.position}),e},s.prototype.getInverse=function(){var e=this.clone();return e.orientation.invert(),e.position.multiplyQuaternion(e.orientation),e.position.x*=-1,e.position.y*=-1,e.position.z*=-1,e},t.exports=s},{"./Quaternion":24,"./Vector3":26}],24:[function(e,t,n){function i(e){this.x=(e=e||{}).x||0,this.y=e.y||0,this.z=e.z||0,this.w="number"==typeof e.w?e.w:1}i.prototype.conjugate=function(){this.x*=-1,this.y*=-1,this.z*=-1},i.prototype.norm=function(){return Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w)},i.prototype.normalize=function(){var e=Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w);0===e?(this.x=0,this.y=0,this.z=0,this.w=1):(this.x=this.x*(e=1/e),this.y=this.y*e,this.z=this.z*e,this.w=this.w*e)},i.prototype.invert=function(){this.conjugate(),this.normalize()},i.prototype.multiply=function(e){var t=this.x*e.w+this.y*e.z-this.z*e.y+this.w*e.x,n=-this.x*e.z+this.y*e.w+this.z*e.x+this.w*e.y,i=this.x*e.y-this.y*e.x+this.z*e.w+this.w*e.z,e=-this.x*e.x-this.y*e.y-this.z*e.z+this.w*e.w;this.x=t,this.y=n,this.z=i,this.w=e},i.prototype.clone=function(){return new i(this)},t.exports=i},{}],25:[function(e,t,n){var i=e("./Vector3"),r=e("./Quaternion");function s(e){this.translation=new i((e=e||{}).translation),this.rotation=new r(e.rotation)}s.prototype.clone=function(){return new s(this)},t.exports=s},{"./Quaternion":24,"./Vector3":26}],26:[function(e,t,n){function i(e){this.x=(e=e||{}).x||0,this.y=e.y||0,this.z=e.z||0}i.prototype.add=function(e){this.x+=e.x,this.y+=e.y,this.z+=e.z},i.prototype.subtract=function(e){this.x-=e.x,this.y-=e.y,this.z-=e.z},i.prototype.multiplyQuaternion=function(e){var t=e.w*this.x+e.y*this.z-e.z*this.y,n=e.w*this.y+e.z*this.x-e.x*this.z,i=e.w*this.z+e.x*this.y-e.y*this.x,r=-e.x*this.x-e.y*this.y-e.z*this.z;this.x=t*e.w+r*-e.x+n*-e.z-i*-e.y,this.y=n*e.w+r*-e.y+i*-e.x-t*-e.z,this.z=i*e.w+r*-e.z+t*-e.y-n*-e.x},i.prototype.clone=function(){return new i(this)},t.exports=i},{}],27:[function(e,t,n){t.exports={Pose:e("./Pose"),Quaternion:e("./Quaternion"),Transform:e("./Transform"),Vector3:e("./Vector3")}},{"./Pose":23,"./Quaternion":24,"./Transform":25,"./Vector3":26}],28:[function(e,t,n){t.exports=function(n,e,i){e.forEach(function(e){var t=i[e];n.prototype[e]=function(e){return e.ros=this,new t(e)}})}},{}],29:[function(e,t,n){var i=e("../core/Service.js"),r=e("../core/ServiceRequest.js"),s=e("../core/Topic.js"),o=e("../math/Transform");function a(e){this.ros=(e=e||{}).ros,this.fixedFrame=e.fixedFrame||"/base_link",this.angularThres=e.angularThres||2,this.transThres=e.transThres||.01,this.rate=e.rate||10,this.updateDelay=e.updateDelay||50;var t=e.topicTimeout||2,n=Math.floor(t),t=Math.floor(1e9*(t-n));this.topicTimeout={secs:n,nsecs:t},this.serverName=e.serverName||"/tf2_web_republisher",this.repubServiceName=e.repubServiceName||"/republish_tfs",this.currentGoal=!1,this.currentTopic=!1,this.frameInfos={},this.republisherUpdateRequested=!1,this._subscribeCB=null,this._isDisposed=!1,this.actionClient=new ActionClient({ros:e.ros,serverName:this.serverName,actionName:"tf2_web_republisher/TFSubscriptionAction",omitStatus:!0,omitResult:!0}),this.serviceClient=new i({ros:e.ros,name:this.repubServiceName,serviceType:"tf2_web_republisher/RepublishTFs"})}a.prototype.processTFArray=function(e){e.transforms.forEach(function(e){var t=e.child_frame_id,n=("/"===t[0]&&(t=t.substring(1)),this.frameInfos[t]);n&&(n.transform=new o({translation:e.transform.translation,rotation:e.transform.rotation}),n.cbs.forEach(function(e){e(n.transform)}))},this)},a.prototype.updateGoal=function(){var e={source_frames:Object.keys(this.frameInfos),target_frame:this.fixedFrame,angular_thres:this.angularThres,trans_thres:this.transThres,rate:this.rate};this.ros.groovyCompatibility?(this.currentGoal&&this.currentGoal.cancel(),this.currentGoal=new Goal({actionClient:this.actionClient,goalMessage:e}),this.currentGoal.on("feedback",this.processTFArray.bind(this)),this.currentGoal.send()):(e.timeout=this.topicTimeout,e=new r(e),this.serviceClient.callService(e,this.processResponse.bind(this))),this.republisherUpdateRequested=!1},a.prototype.processResponse=function(e){this._isDisposed||(this.currentTopic&&this.currentTopic.unsubscribe(this._subscribeCB),this.currentTopic=new s({ros:this.ros,name:e.topic_name,messageType:"tf2_web_republisher/TFArray"}),this._subscribeCB=this.processTFArray.bind(this),this.currentTopic.subscribe(this._subscribeCB))},a.prototype.subscribe=function(e,t){"/"===e[0]&&(e=e.substring(1)),this.frameInfos[e]?this.frameInfos[e].transform&&t(this.frameInfos[e].transform):(this.frameInfos[e]={cbs:[]},this.republisherUpdateRequested||(setTimeout(this.updateGoal.bind(this),this.updateDelay),this.republisherUpdateRequested=!0)),this.frameInfos[e].cbs.push(t)},a.prototype.unsubscribe=function(e,t){"/"===e[0]&&(e=e.substring(1));for(var n=this.frameInfos[e],i=n&&n.cbs||[],r=i.length;r--;)i[r]===t&&i.splice(r,1);t&&0!==i.length||delete this.frameInfos[e]},a.prototype.dispose=function(){this._isDisposed=!0,this.actionClient.dispose(),this.currentTopic&&this.currentTopic.unsubscribe(this._subscribeCB)},t.exports=a},{"../core/Service.js":17,"../core/ServiceRequest.js":18,"../core/Topic.js":21,"../math/Transform":25}],30:[function(e,t,n){var i=e("../core/Ros");e("../mixin")(i,["TFClient"],t.exports={TFClient:e("./TFClient")})},{"../core/Ros":16,"../mixin":28,"./TFClient":29}],31:[function(e,t,n){var i=e("../math/Vector3"),r=e("./UrdfTypes");t.exports=function(e){this.dimension=null,this.type=r.URDF_BOX,e=e.xml.getAttribute("size").split(" "),this.dimension=new i({x:parseFloat(e[0]),y:parseFloat(e[1]),z:parseFloat(e[2])})}},{"../math/Vector3":26,"./UrdfTypes":40}],32:[function(e,t,n){t.exports=function(e){e=e.xml.getAttribute("rgba").split(" "),this.r=parseFloat(e[0]),this.g=parseFloat(e[1]),this.b=parseFloat(e[2]),this.a=parseFloat(e[3])}},{}],33:[function(e,t,n){var i=e("./UrdfTypes");t.exports=function(e){this.type=i.URDF_CYLINDER,this.length=parseFloat(e.xml.getAttribute("length")),this.radius=parseFloat(e.xml.getAttribute("radius"))}},{"./UrdfTypes":40}],34:[function(e,t,n){var c=e("../math/Pose"),l=e("../math/Vector3"),u=e("../math/Quaternion");t.exports=function(e){this.name=e.xml.getAttribute("name"),this.type=e.xml.getAttribute("type");var t,n,i,r,s,o,a=e.xml.getElementsByTagName("parent");0<a.length&&(this.parent=a[0].getAttribute("link")),0<(a=e.xml.getElementsByTagName("child")).length&&(this.child=a[0].getAttribute("link")),0<(a=e.xml.getElementsByTagName("limit")).length&&(this.minval=parseFloat(a[0].getAttribute("lower")),this.maxval=parseFloat(a[0].getAttribute("upper"))),0===(a=e.xml.getElementsByTagName("origin")).length?this.origin=new c:(e=a[0].getAttribute("xyz"),t=new l,e&&(e=e.split(" "),t=new l({x:parseFloat(e[0]),y:parseFloat(e[1]),z:parseFloat(e[2])})),e=a[0].getAttribute("rpy"),a=new u,e&&(e=e.split(" "),o=parseFloat(e[0])/2,n=parseFloat(e[1])/2,e=parseFloat(e[2])/2,i=Math.sin(o)*Math.cos(n)*Math.cos(e)-Math.cos(o)*Math.sin(n)*Math.sin(e),r=Math.cos(o)*Math.sin(n)*Math.cos(e)+Math.sin(o)*Math.cos(n)*Math.sin(e),s=Math.cos(o)*Math.cos(n)*Math.sin(e)-Math.sin(o)*Math.sin(n)*Math.cos(e),o=Math.cos(o)*Math.cos(n)*Math.cos(e)+Math.sin(o)*Math.sin(n)*Math.sin(e),(a=new u({x:i,y:r,z:s,w:o})).normalize()),this.origin=new c({position:t,orientation:a}))}},{"../math/Pose":23,"../math/Quaternion":24,"../math/Vector3":26}],35:[function(e,t,n){var i=e("./UrdfVisual");t.exports=function(e){this.name=e.xml.getAttribute("name"),this.visuals=[];for(var t=e.xml.getElementsByTagName("visual"),n=0;n<t.length;n++)this.visuals.push(new i({xml:t[n]}))}},{"./UrdfVisual":41}],36:[function(e,t,n){var i=e("./UrdfColor");function r(e){this.textureFilename=null,this.color=null,this.name=e.xml.getAttribute("name");var t=e.xml.getElementsByTagName("texture"),t=(0<t.length&&(this.textureFilename=t[0].getAttribute("filename")),e.xml.getElementsByTagName("color"));0<t.length&&(this.color=new i({xml:t[0]}))}r.prototype.isLink=function(){return null===this.color&&null===this.textureFilename};var s=e("object-assign");r.prototype.assign=function(e){return s(this,e)},t.exports=r},{"./UrdfColor":32,"object-assign":3}],37:[function(e,t,n){var i=e("../math/Vector3"),r=e("./UrdfTypes");t.exports=function(e){this.scale=null,this.type=r.URDF_MESH,this.filename=e.xml.getAttribute("filename"),(e=e.xml.getAttribute("scale"))&&(e=e.split(" "),this.scale=new i({x:parseFloat(e[0]),y:parseFloat(e[1]),z:parseFloat(e[2])}))}},{"../math/Vector3":26,"./UrdfTypes":40}],38:[function(e,t,n){var l=e("./UrdfMaterial"),u=e("./UrdfLink"),h=e("./UrdfJoint"),f=e("@xmldom/xmldom").DOMParser;t.exports=function(e){var t=(e=e||{}).xml,e=e.string,e=(this.materials={},this.links={},this.joints={},(t=e?(new f).parseFromString(e,"text/xml"):t).documentElement);this.name=e.getAttribute("name");for(var n=e.childNodes,i=0;i<n.length;i++){var r=n[i];if("material"===r.tagName){var s=new l({xml:r});void 0!==this.materials[s.name]?this.materials[s.name].isLink()?this.materials[s.name].assign(s):console.warn("Material "+s.name+"is not unique."):this.materials[s.name]=s}else if("link"===r.tagName){var o=new u({xml:r});if(void 0!==this.links[o.name])console.warn("Link "+o.name+" is not unique.");else{for(var a=0;a<o.visuals.length;a++){var c=o.visuals[a].material;null!==c&&c.name&&(void 0!==this.materials[c.name]?o.visuals[a].material=this.materials[c.name]:this.materials[c.name]=c)}this.links[o.name]=o}}else"joint"===r.tagName&&(s=new h({xml:r}),this.joints[s.name]=s)}}},{"./UrdfJoint":34,"./UrdfLink":35,"./UrdfMaterial":36,"@xmldom/xmldom":44}],39:[function(e,t,n){var i=e("./UrdfTypes");t.exports=function(e){this.type=i.URDF_SPHERE,this.radius=parseFloat(e.xml.getAttribute("radius"))}},{"./UrdfTypes":40}],40:[function(e,t,n){t.exports={URDF_SPHERE:0,URDF_BOX:1,URDF_CYLINDER:2,URDF_MESH:3}},{}],41:[function(e,t,n){var p=e("../math/Pose"),m=e("../math/Vector3"),y=e("../math/Quaternion"),d=e("./UrdfCylinder"),v=e("./UrdfBox"),g=e("./UrdfMaterial"),w=e("./UrdfMesh"),b=e("./UrdfSphere");t.exports=function(e){var t,n,i,r,s=e.xml;this.origin=null,this.geometry=null,this.material=null,this.name=e.xml.getAttribute("name");0===(e=s.getElementsByTagName("origin")).length?this.origin=new p:(h=e[0].getAttribute("xyz"),t=new m,h&&(h=h.split(" "),t=new m({x:parseFloat(h[0]),y:parseFloat(h[1]),z:parseFloat(h[2])})),h=e[0].getAttribute("rpy"),e=new y,h&&(h=h.split(" "),r=parseFloat(h[0])/2,o=parseFloat(h[1])/2,h=parseFloat(h[2])/2,f=Math.sin(r)*Math.cos(o)*Math.cos(h)-Math.cos(r)*Math.sin(o)*Math.sin(h),n=Math.cos(r)*Math.sin(o)*Math.cos(h)+Math.sin(r)*Math.cos(o)*Math.sin(h),i=Math.cos(r)*Math.cos(o)*Math.sin(h)-Math.sin(r)*Math.sin(o)*Math.cos(h),r=Math.cos(r)*Math.cos(o)*Math.cos(h)+Math.sin(r)*Math.sin(o)*Math.sin(h),(e=new y({x:f,y:n,z:i,w:r})).normalize()),this.origin=new p({position:t,orientation:e}));var o=s.getElementsByTagName("geometry");if(0<o.length){for(var a=o[0],c=null,l=0;l<a.childNodes.length;l++){var u=a.childNodes[l];if(1===u.nodeType){c=u;break}}var h=c.nodeName;"sphere"===h?this.geometry=new b({xml:c}):"box"===h?this.geometry=new v({xml:c}):"cylinder"===h?this.geometry=new d({xml:c}):"mesh"===h?this.geometry=new w({xml:c}):console.warn("Unknown geometry type "+h)}var f=s.getElementsByTagName("material");0<f.length&&(this.material=new g({xml:f[0]}))}},{"../math/Pose":23,"../math/Quaternion":24,"../math/Vector3":26,"./UrdfBox":31,"./UrdfCylinder":33,"./UrdfMaterial":36,"./UrdfMesh":37,"./UrdfSphere":39}],42:[function(e,t,n){t.exports=e("object-assign")({UrdfBox:e("./UrdfBox"),UrdfColor:e("./UrdfColor"),UrdfCylinder:e("./UrdfCylinder"),UrdfLink:e("./UrdfLink"),UrdfMaterial:e("./UrdfMaterial"),UrdfMesh:e("./UrdfMesh"),UrdfModel:e("./UrdfModel"),UrdfSphere:e("./UrdfSphere"),UrdfVisual:e("./UrdfVisual")},e("./UrdfTypes"))},{"./UrdfBox":31,"./UrdfColor":32,"./UrdfCylinder":33,"./UrdfLink":35,"./UrdfMaterial":36,"./UrdfMesh":37,"./UrdfModel":38,"./UrdfSphere":39,"./UrdfTypes":40,"./UrdfVisual":41,"object-assign":3}],43:[function(e,t,n){"use strict";var u=Math.pow(2,32),i=!1;function h(){i||(i=!0,console.warn("CBOR 64-bit integer array values may lose precision. No further warnings."))}var r={64:Uint8Array,69:Uint16Array,70:Uint32Array,72:Int8Array,77:Int16Array,78:Int32Array,85:Float32Array,86:Float64Array},s={71:function(e){h();for(var t=e.byteLength,n=e.byteOffset,i=t/8,e=e.buffer.slice(n,n+t),r=new Uint32Array(e),s=new Array(i),o=0;o<i;o++){var a=2*o,c=r[a],a=r[1+a];s[o]=c+u*a}return s},79:function(e){h();for(var t=e.byteLength,n=e.byteOffset,i=t/8,e=e.buffer.slice(n,n+t),r=new Uint32Array(e),s=new Int32Array(e),o=new Array(i),a=0;a<i;a++){var c=2*a,l=r[c],c=s[1+c];o[a]=l+u*c}return o}};void 0!==t&&t.exports&&(t.exports=function(e,t){var n,i;return t in r?(n=e.byteLength,i=e.byteOffset,new r[t](e.buffer.slice(i,i+n))):t in s?s[t](e):e})},{}],44:[function(e,t,n){n.DOMImplementation=window.DOMImplementation,n.XMLSerializer=window.XMLSerializer,n.DOMParser=window.DOMParser},{}],45:[function(e,t,n){t.exports="undefined"!=typeof window?window.WebSocket:WebSocket},{}],46:[function(e,t,n){t.exports=function(){return document.createElement("canvas")}},{}],47:[function(e,t,n){"use strict";var a=e("canvas"),i=a.Image||window.Image;t.exports=function(e,s){var o=new i;o.onload=function(){for(var e=new a,t=e.getContext("2d"),n=(e.width=o.width,e.height=o.height,t.imageSmoothingEnabled=!1,t.webkitImageSmoothingEnabled=!1,t.mozImageSmoothingEnabled=!1,t.drawImage(o,0,0),t.getImageData(0,0,o.width,o.height).data),i="",r=0;r<n.length;r+=4)i+=String.fromCharCode(n[r],n[r+1],n[r+2]);s(JSON.parse(i))},o.src="data:image/png;base64,"+e}},{canvas:46}],48:[function(t,e,n){try{var i=t("webworkify")}catch(e){i=t("webworkify-webpack")}var r=t("./workerSocketImpl");function s(e){this.socket_=i(r),this.socket_.addEventListener("message",this.handleWorkerMessage_.bind(this)),this.socket_.postMessage({uri:e})}s.prototype.handleWorkerMessage_=function(e){var t=e.data;if(t instanceof ArrayBuffer||"string"==typeof t)this.onmessage(e);else{e=t.type;if("close"===e)this.onclose(null);else if("open"===e)this.onopen(null);else{if("error"!==e)throw"Unknown message from workersocket";this.onerror(null)}}},s.prototype.send=function(e){this.socket_.postMessage(e)},s.prototype.close=function(){this.socket_.postMessage({close:!0})},e.exports=s},{"./workerSocketImpl":49,webworkify:7,"webworkify-webpack":6}],49:[function(e,t,n){var s=e("ws");t.exports=function(t){var n=null;function i(e){e=e.data;e instanceof ArrayBuffer?t.postMessage(e,[e]):t.postMessage(e)}function r(e){t.postMessage({type:e.type})}t.addEventListener("message",function(e){e=e.data;if("string"==typeof e)n.send(e);else if(e.hasOwnProperty("close"))n.close(),n=null;else{if(!e.hasOwnProperty("uri"))throw"Unknown message to WorkerSocket";e=e.uri;(n=new s(e)).binaryType="arraybuffer",n.onmessage=i,n.onclose=r,n.onopen=r,n.onerror=r}})}},{ws:45}]},{},[9]);
\ No newline at end of file
diff --git a/examples/fibonacci_client.html b/examples/fibonacci_client.html
index 597fc7874..bf062d4ed 100644
--- a/examples/fibonacci_client.html
+++ b/examples/fibonacci_client.html
@@ -51,7 +51,7 @@
     order: 5,
   });
 
-  fibonacciClient.sendGoal(goal, 
+  var goal_id = fibonacciClient.sendGoal(goal, 
   function(result) {
     console.log('Result for action goal on ' + fibonacciClient.name + ': ' + result.result.sequence);
   },
diff --git a/examples/fibonacci_server.html b/examples/fibonacci_server.html
index 6676b1f80..b9b1d3273 100644
--- a/examples/fibonacci_server.html
+++ b/examples/fibonacci_server.html
@@ -20,56 +20,51 @@
   // The ActionServer
   // ----------------
 
-  this.fibonacciServer = new ROSLIB.SimpleActionServer({
+  var fibonacciServer = new ROSLIB.Action({
     ros : ros,
-    serverName : '/fibonacci',
-    actionName : 'actionlib_tutorials/FibonacciAction'
+    name : '/fibonacci',
+    actionType : 'action_tutorials_interfaces/Fibonacci'
   });
 
-  this.canceled = false;
-  var that=this;
-
-  //handle fibonacci action request.
-  this.fibonacciServer.on('goal', function(goalMessage) {
-    console.log(goalMessage);
+  fibonacciServer.advertise(function(goal, id) {
+    console.log('Received action goal on ' + fibonacciServer.name + ', order: ' + goal.order);
+    console.log('ID: ' + id);
     fibonacciSequence = [];
     fibonacciSequence.push(0);
     fibonacciSequence.push(1);
 
-    for (var i = 1; i < goalMessage.order; i++ ) {
-      fibonacciSequence.push( fibonacciSequence[i] + fibonacciSequence[i-1] );
-
-      if (that.canceled === true ) {
-        console.log("Action server preempted");
-
-        that.fibonacciServer.setPreempted();
-      }
-      console.log(fibonacciSequence);
-      //send feedback
-      var feedback = { sequence: fibonacciSequence };
-      that.fibonacciServer.sendFeedback(fibonacciSequence);
+    // failure case
+    if (goal.order > 47) {
+      console.log('Aborting. Value will exceed maximum signed integer value.');
+      fibonacciServer.setFailed(id);
+      return;
     }
 
-    //send result
-    var result = { sequence: fibonacciSequence};
-    that.fibonacciServer.setSucceeded(result);
-  });
+    // publish feedback
+    for (var i = 1; i < goal.order; i++ ) {
+      fibonacciSequence.push( fibonacciSequence[i] + fibonacciSequence[i-1] );
+      console.log('Sending feedback: ' + fibonacciSequence);
+      fibonacciServer.sendFeedback(id, { partial_sequence : fibonacciSequence });
+    }
 
-  this.fibonacciServer.on('cancel', function(goalMessage){
-    that.canceled = true;
+    // send result
+    console.log('Sending result: ' + fibonacciSequence);
+    fibonacciServer.setSucceeded(id, { sequence: fibonacciSequence });
   });
 </script>
 </head>
 
 <body>
-  <h1>Fibonacci ActionClient Example</h1>
+  <h1>Fibonacci ActionServer Example</h1>
   <p>Run the following commands in the terminal then refresh this page. Check the JavaScript
     console for the output.</p>
   <ol>
-    <li><tt>roscore</tt></li>
-    <li><tt>roslaunch rosbridge_server rosbridge_websocket.launch</tt></li>
+    <li><tt>ros2 launch rosbridge_server rosbridge_websocket_launch.xml</tt></li>
     <li><tt>refresh this page</tt></li>
-    <li><tt>rosrun actionlib_tutorials fibonacci_client</tt></li>
+    <li><tt>ros2 run action_tutorials_py fibonacci_action_client</tt>
+        <br>or<br>
+        <tt>ros2 action send_goal --feedback /fibonacci action_tutorials_interfaces/action/Fibonacci order:\ 20\ </tt>
+    </li>
   </ol>
 </body>
 </html>
diff --git a/src/RosLib.js b/src/RosLib.js
index 32304840a..06cb919b0 100644
--- a/src/RosLib.js
+++ b/src/RosLib.js
@@ -17,8 +17,6 @@ var assign = require('object-assign');
 // Add core components
 assign(ROSLIB, require('./core'));
 
-assign(ROSLIB, require('./actionlib'));
-
 assign(ROSLIB, require('./math'));
 
 assign(ROSLIB, require('./tf'));
diff --git a/src/actionlib/SimpleActionServer.js b/src/actionlib/SimpleActionServer.js
deleted file mode 100644
index 6ce70a870..000000000
--- a/src/actionlib/SimpleActionServer.js
+++ /dev/null
@@ -1,229 +0,0 @@
-/**
- * @fileOverview
- * @author Laura Lindzey - lindzey@gmail.com
- */
-
-var Topic = require('../core/Topic');
-var Message = require('../core/Message');
-var EventEmitter2 = require('eventemitter2').EventEmitter2;
-
-/**
- * An actionlib action server client.
- *
- * Emits the following events:
- *  * 'goal' - goal sent by action client
- *  * 'cancel' - action client has canceled the request
- *
- *  @constructor
- *  @param options - object with following keys:
- *   * ros - the ROSLIB.Ros connection handle
- *   * serverName - the action server name, like /fibonacci
- *   * actionName - the action message name, like 'actionlib_tutorials/FibonacciAction'
- */
-
-function SimpleActionServer(options) {
-    var that = this;
-    options = options || {};
-    this.ros = options.ros;
-    this.serverName = options.serverName;
-    this.actionName = options.actionName;
-
-    // create and advertise publishers
-    this.feedbackPublisher = new Topic({
-        ros : this.ros,
-        name : this.serverName + '/feedback',
-        messageType : this.actionName + 'Feedback'
-    });
-    this.feedbackPublisher.advertise();
-
-    var statusPublisher = new Topic({
-        ros : this.ros,
-        name : this.serverName + '/status',
-        messageType : 'actionlib_msgs/GoalStatusArray'
-    });
-    statusPublisher.advertise();
-
-    this.resultPublisher = new Topic({
-        ros : this.ros,
-        name : this.serverName + '/result',
-        messageType : this.actionName + 'Result'
-    });
-    this.resultPublisher.advertise();
-
-    // create and subscribe to listeners
-    var goalListener = new Topic({
-        ros : this.ros,
-        name : this.serverName + '/goal',
-        messageType : this.actionName + 'Goal'
-    });
-
-    var cancelListener = new Topic({
-        ros : this.ros,
-        name : this.serverName + '/cancel',
-        messageType : 'actionlib_msgs/GoalID'
-    });
-
-    // Track the goals and their status in order to publish status...
-    this.statusMessage = new Message({
-        header : {
-            stamp : {secs : 0, nsecs : 100},
-            frame_id : ''
-        },
-        status_list : []
-    });
-
-    // needed for handling preemption prompted by a new goal being received
-    this.currentGoal = null; // currently tracked goal
-    this.nextGoal = null; // the one that'll be preempting
-
-    goalListener.subscribe(function(goalMessage) {
-        
-    if(that.currentGoal) {
-            that.nextGoal = goalMessage;
-            // needs to happen AFTER rest is set up
-            that.emit('cancel');
-    } else {
-            that.statusMessage.status_list = [{goal_id : goalMessage.goal_id, status : 1}];
-            that.currentGoal = goalMessage;
-            that.emit('goal', goalMessage.goal);
-    }
-    });
-
-    // helper function for determing ordering of timestamps
-    // returns t1 < t2
-    var isEarlier = function(t1, t2) {
-        if(t1.secs > t2.secs) {
-            return false;
-        } else if(t1.secs < t2.secs) {
-            return true;
-        } else if(t1.nsecs < t2.nsecs) {
-            return true;
-        } else {
-            return false;
-        }
-    };
-
-    // TODO: this may be more complicated than necessary, since I'm
-    // not sure if the callbacks can ever wind up with a scenario
-    // where we've been preempted by a next goal, it hasn't finished
-    // processing, and then we get a cancel message
-    cancelListener.subscribe(function(cancelMessage) {
-
-        // cancel ALL goals if both empty
-        if(cancelMessage.stamp.secs === 0 && cancelMessage.stamp.secs === 0 && cancelMessage.id === '') {
-            that.nextGoal = null;
-            if(that.currentGoal) {
-                that.emit('cancel');
-            }
-        } else { // treat id and stamp independently
-            if(that.currentGoal && cancelMessage.id === that.currentGoal.goal_id.id) {
-                that.emit('cancel');
-            } else if(that.nextGoal && cancelMessage.id === that.nextGoal.goal_id.id) {
-                that.nextGoal = null;
-            }
-
-            if(that.nextGoal && isEarlier(that.nextGoal.goal_id.stamp,
-                                          cancelMessage.stamp)) {
-                that.nextGoal = null;
-            }
-            if(that.currentGoal && isEarlier(that.currentGoal.goal_id.stamp,
-                                             cancelMessage.stamp)) {
-                
-                that.emit('cancel');
-            }
-        }
-    });
-
-    // publish status at pseudo-fixed rate; required for clients to know they've connected
-    var statusInterval = setInterval( function() {
-        var currentTime = new Date();
-        var secs = Math.floor(currentTime.getTime()/1000);
-        var nsecs = Math.round(1000000000*(currentTime.getTime()/1000-secs));
-        that.statusMessage.header.stamp.secs = secs;
-        that.statusMessage.header.stamp.nsecs = nsecs;
-        statusPublisher.publish(that.statusMessage);
-    }, 500); // publish every 500ms
-
-}
-
-SimpleActionServer.prototype.__proto__ = EventEmitter2.prototype;
-
-/**
-*  Set action state to succeeded and return to client
-*/
-
-SimpleActionServer.prototype.setSucceeded = function(result2) {
-    
-
-    var resultMessage = new Message({
-        status : {goal_id : this.currentGoal.goal_id, status : 3},
-        result : result2
-    });
-    this.resultPublisher.publish(resultMessage);
-
-    this.statusMessage.status_list = [];
-    if(this.nextGoal) {
-        this.currentGoal = this.nextGoal;
-        this.nextGoal = null;
-        this.emit('goal', this.currentGoal.goal);
-    } else {
-        this.currentGoal = null;
-    }
-};
-
-/**
-*  Set action state to aborted and return to client
-*/
-
-SimpleActionServer.prototype.setAborted = function(result2) {
-    var resultMessage = new Message({
-        status : {goal_id : this.currentGoal.goal_id, status : 4},
-        result : result2
-    });
-    this.resultPublisher.publish(resultMessage);
-
-    this.statusMessage.status_list = [];
-    if(this.nextGoal) {
-        this.currentGoal = this.nextGoal;
-        this.nextGoal = null;
-        this.emit('goal', this.currentGoal.goal);
-    } else {
-        this.currentGoal = null;
-    }
-};
-
-/**
-*  Function to send feedback
-*/
-
-SimpleActionServer.prototype.sendFeedback = function(feedback2) {
-
-    var feedbackMessage = new Message({
-        status : {goal_id : this.currentGoal.goal_id, status : 1},
-        feedback : feedback2
-    });
-    this.feedbackPublisher.publish(feedbackMessage);
-};
-
-/**
-*  Handle case where client requests preemption
-*/
-
-SimpleActionServer.prototype.setPreempted = function() {
-
-    this.statusMessage.status_list = [];
-    var resultMessage = new Message({
-        status : {goal_id : this.currentGoal.goal_id, status : 2},
-    });
-    this.resultPublisher.publish(resultMessage);
-
-    if(this.nextGoal) {
-        this.currentGoal = this.nextGoal;
-        this.nextGoal = null;
-        this.emit('goal', this.currentGoal.goal);
-    } else {
-        this.currentGoal = null;
-    }
-};
-
-module.exports = SimpleActionServer;
\ No newline at end of file
diff --git a/src/actionlib/index.js b/src/actionlib/index.js
index 58838aeaa..38bda50c3 100644
--- a/src/actionlib/index.js
+++ b/src/actionlib/index.js
@@ -5,7 +5,6 @@ var action = module.exports = {
     ActionClient: require('./ActionClient'),
     ActionListener: require('./ActionListener'),
     Goal: require('./Goal'),
-    SimpleActionServer: require('./SimpleActionServer')
 };
 
-mixin(Ros, ['ActionClient', 'SimpleActionServer'], action);
+mixin(Ros, ['ActionClient'], action);
diff --git a/src/core/Action.js b/src/core/Action.js
index 7430f5a8a..0e0e787a6 100644
--- a/src/core/Action.js
+++ b/src/core/Action.js
@@ -24,7 +24,8 @@ function Action(options) {
   this.actionType = options.actionType;
   this.isAdvertised = false;
 
-  this._serviceCallback = null;
+  this._actionCallback = null;
+  this._cancelCallback = null;
 }
 Action.prototype.__proto__ = EventEmitter2.prototype;
 
@@ -70,6 +71,91 @@ Action.prototype.sendGoal = function(request, resultCallback, feedbackCallback,
     feedback : true,
   };
   this.ros.callOnConnection(call);
+
+  return actionGoalId;
+};
+
+Action.prototype.cancelGoal = function(id) {
+  var call = {
+    op: 'cancel_action_goal',
+    id: id,
+    action: this.name,
+  };
+  this.ros.callOnConnection(call);
+}
+
+/**
+ * Advertise the action. This turns the Action object from a client
+ * into a server. The callback will be called with every goal sent to this action.
+ *
+ * @param callback - This works similarly to the callback for a C++ action and should take the following params:
+ *   * goal - the action goal
+ *   It should return true if the action has finished successfully,
+ *   i.e. without any fatal errors.
+ */
+Action.prototype.advertise = function(callback) {
+  if (this.isAdvertised || typeof callback !== 'function') {
+    return;
+  }
+
+  this._actionCallback = callback;
+  this.ros.on(this.name, this._executeAction.bind(this));
+  this.ros.callOnConnection({
+    op: 'advertise_action',
+    type: this.actionType,
+    action: this.name
+  });
+  this.isAdvertised = true;
+};
+
+Action.prototype.unadvertise = function() {
+  if (!this.isAdvertised) {
+    return;
+  }
+  this.ros.callOnConnection({
+    op: 'unadvertise_action',
+    action: this.name
+  });
+  this.isAdvertised = false;
 };
 
+Action.prototype._executeAction = function(rosbridgeRequest) {
+  if (rosbridgeRequest.id) {
+    var id = rosbridgeRequest.id;
+  }
+
+  this._actionCallback(rosbridgeRequest.args, id);
+};
+
+Action.prototype.sendFeedback = function(id, feedback) {
+  var call = {
+    op: 'action_feedback',
+    id: id,
+    action: this.name,
+    values: new ActionFeedback(feedback),
+  };
+  this.ros.callOnConnection(call);
+}
+
+Action.prototype.setSucceeded = function(id, result) {
+  var call = {
+    op: 'action_result',
+    id: id,
+    action: this.name,
+    values: new ActionResult(result),
+    result: true,
+  };
+  this.ros.callOnConnection(call);
+}
+
+Action.prototype.setFailed = function(id) {
+  var call = {
+    op: 'action_result',
+    id: id,
+    action: this.name,
+    result: false,
+  };
+  this.ros.callOnConnection(call);
+}
+
 module.exports = Action;
diff --git a/src/core/SocketAdapter.js b/src/core/SocketAdapter.js
index 4cb74acc7..bb6947f76 100644
--- a/src/core/SocketAdapter.js
+++ b/src/core/SocketAdapter.js
@@ -40,13 +40,15 @@ function SocketAdapter(client) {
       client.emit(message.service, message);
     } else if (message.op === 'send_action_goal') {
       client.emit(message.action, message);
+    } else if (message.op === 'cancel_action_goal') {
+      client.emit(message.id, message);
     } else if (message.op === 'action_feedback') {
       client.emit(message.id, message);
     } else if (message.op === 'action_result') {
       client.emit(message.id, message);
     } else if(message.op === 'status'){
-      if(message.id){
-        client.emit('status:'+message.id, message);
+      if (message.id) {
+        client.emit('status:' + message.id, message);
       } else {
         client.emit('status', message);
       }