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e({ros:this.ros,name:this.serverName+"/cancel",messageType:"actionlib_msgs/GoalID"}),this.goalTopic.advertise(),this.cancelTopic.advertise(),this.omitStatus||this.statusListener.subscribe(function(a){c=!0,a.status_list.forEach(function(a){var c=b.goals[a.goal_id.id];c&&c.emit("status",a)})}),this.omitFeedback||this.feedbackListener.subscribe(function(a){var c=b.goals[a.status.goal_id.id];c&&(c.emit("status",a.status),c.emit("feedback",a.feedback))}),this.omitResult||this.resultListener.subscribe(function(a){var c=b.goals[a.status.goal_id.id];c&&(c.emit("status",a.status),c.emit("result",a.result))}),this.timeout&&setTimeout(function(){c||b.emit("timeout")},this.timeout)}var e=a("../core/Topic"),f=a("../core/Message"),g=a("eventemitter2").EventEmitter2;d.prototype.__proto__=g.prototype,d.prototype.cancel=function(){var a=new f;this.cancelTopic.publish(a)},d.prototype.dispose=function(){this.goalTopic.unadvertise(),this.cancelTopic.unadvertise(),this.omitStatus||this.statusListener.unsubscribe(),this.omitFeedback||this.feedbackListener.unsubscribe(),this.omitResult||this.resultListener.unsubscribe()},b.exports=d},{"../core/Message":12,"../core/Topic":19,eventemitter2:2}],8:[function(a,b,c){function d(a){var b=this;a=a||{},this.ros=a.ros,this.serverName=a.serverName,this.actionName=a.actionName,this.timeout=a.timeout,this.omitFeedback=a.omitFeedback,this.omitStatus=a.omitStatus,this.omitResult=a.omitResult;var c=new e({ros:this.ros,name:this.serverName+"/goal",messageType:this.actionName+"Goal"}),d=new e({ros:this.ros,name:this.serverName+"/feedback",messageType:this.actionName+"Feedback"}),f=new e({ros:this.ros,name:this.serverName+"/status",messageType:"actionlib_msgs/GoalStatusArray"}),g=new e({ros:this.ros,name:this.serverName+"/result",messageType:this.actionName+"Result"});c.subscribe(function(a){b.emit("goal",a)}),f.subscribe(function(a){a.status_list.forEach(function(a){b.emit("status",a)})}),d.subscribe(function(a){b.emit("status",a.status),b.emit("feedback",a.feedback)}),g.subscribe(function(a){b.emit("status",a.status),b.emit("result",a.result)})}var e=a("../core/Topic"),f=(a("../core/Message"),a("eventemitter2").EventEmitter2);d.prototype.__proto__=f.prototype,b.exports=d},{"../core/Message":12,"../core/Topic":19,eventemitter2:2}],9:[function(a,b,c){function d(a){var b=this;this.actionClient=a.actionClient,this.goalMessage=a.goalMessage,this.isFinished=!1;var c=new Date;this.goalID="goal_"+Math.random()+"_"+c.getTime(),this.goalMessage=new e({goal_id:{stamp:{secs:0,nsecs:0},id:this.goalID},goal:this.goalMessage}),this.on("status",function(a){b.status=a}),this.on("result",function(a){b.isFinished=!0,b.result=a}),this.on("feedback",function(a){b.feedback=a}),this.actionClient.goals[this.goalID]=this}var e=a("../core/Message"),f=a("eventemitter2").EventEmitter2;d.prototype.__proto__=f.prototype,d.prototype.send=function(a){var b=this;b.actionClient.goalTopic.publish(b.goalMessage),a&&setTimeout(function(){b.isFinished||b.emit("timeout")},a)},d.prototype.cancel=function(){var a=new e({id:this.goalID});this.actionClient.cancelTopic.publish(a)},b.exports=d},{"../core/Message":12,eventemitter2:2}],10:[function(a,b,c){function d(a){var b=this;a=a||{},this.ros=a.ros,this.serverName=a.serverName,this.actionName=a.actionName,this.feedbackPublisher=new e({ros:this.ros,name:this.serverName+"/feedback",messageType:this.actionName+"Feedback"}),this.feedbackPublisher.advertise();var c=new e({ros:this.ros,name:this.serverName+"/status",messageType:"actionlib_msgs/GoalStatusArray"});c.advertise(),this.resultPublisher=new e({ros:this.ros,name:this.serverName+"/result",messageType:this.actionName+"Result"}),this.resultPublisher.advertise();var d=new e({ros:this.ros,name:this.serverName+"/goal",messageType:this.actionName+"Goal"}),g=new e({ros:this.ros,name:this.serverName+"/cancel",messageType:"actionlib_msgs/GoalID"});this.statusMessage=new f({header:{stamp:{secs:0,nsecs:100},frame_id:""},status_list:[]}),this.currentGoal=null,this.nextGoal=null,d.subscribe(function(a){b.currentGoal?(b.nextGoal=a,b.emit("cancel")):(b.statusMessage.status_list=[{goal_id:a.goal_id,status:1}],b.currentGoal=a,b.emit("goal",a.goal))});var h=function(a,b){return!(a.secs>b.secs)&&(a.secs<b.secs||a.nsecs<b.nsecs)};g.subscribe(function(a){0===a.stamp.secs&&0===a.stamp.secs&&""===a.id?(b.nextGoal=null,b.currentGoal&&b.emit("cancel")):(b.currentGoal&&a.id===b.currentGoal.goal_id.id?b.emit("cancel"):b.nextGoal&&a.id===b.nextGoal.goal_id.id&&(b.nextGoal=null),b.nextGoal&&h(b.nextGoal.goal_id.stamp,a.stamp)&&(b.nextGoal=null),b.currentGoal&&h(b.currentGoal.goal_id.stamp,a.stamp)&&b.emit("cancel"))});setInterval(function(){var a=new Date,d=Math.floor(a.getTime()/1e3),e=Math.round(1e9*(a.getTime()/1e3-d));b.statusMessage.header.stamp.secs=d,b.statusMessage.header.stamp.nsecs=e,c.publish(b.statusMessage)},500)}var e=a("../core/Topic"),f=a("../core/Message"),g=a("eventemitter2").EventEmitter2;d.prototype.__proto__=g.prototype,d.prototype.setSucceeded=function(a){var b=new f({status:{goal_id:this.currentGoal.goal_id,status:3},result:a});this.resultPublisher.publish(b),this.statusMessage.status_list=[],this.nextGoal?(this.currentGoal=this.nextGoal,this.nextGoal=null,this.emit("goal",this.currentGoal.goal)):this.currentGoal=null},d.prototype.sendFeedback=function(a){var b=new f({status:{goal_id:this.currentGoal.goal_id,status:1},feedback:a});this.feedbackPublisher.publish(b)},d.prototype.setPreempted=function(){this.statusMessage.status_list=[];var a=new f({status:{goal_id:this.currentGoal.goal_id,status:2}});this.resultPublisher.publish(a),this.nextGoal?(this.currentGoal=this.nextGoal,this.nextGoal=null,this.emit("goal",this.currentGoal.goal)):this.currentGoal=null},b.exports=d},{"../core/Message":12,"../core/Topic":19,eventemitter2:2}],11:[function(a,b,c){var d=a("../core/Ros"),e=a("../mixin"),f=b.exports={ActionClient:a("./ActionClient"),ActionListener:a("./ActionListener"),Goal:a("./Goal"),SimpleActionServer:a("./SimpleActionServer")};e(d,["ActionClient","SimpleActionServer"],f)},{"../core/Ros":14,"../mixin":26,"./ActionClient":7,"./ActionListener":8,"./Goal":9,"./SimpleActionServer":10}],12:[function(a,b,c){function d(a){e(this,a)}var e=a("object-assign");b.exports=d},{"object-assign":3}],13:[function(a,b,c){function d(a){a=a||{},this.ros=a.ros,this.name=a.name}var e=a("./Service"),f=a("./ServiceRequest");d.prototype.get=function(a){var b=new e({ros:this.ros,name:"/rosapi/get_param",serviceType:"rosapi/GetParam"}),c=new f({name:this.name});b.callService(c,function(b){var c=JSON.parse(b.value);a(c)})},d.prototype.set=function(a,b){var c=new e({ros:this.ros,name:"/rosapi/set_param",serviceType:"rosapi/SetParam"}),d=new f({name:this.name,value:JSON.stringify(a)});c.callService(d,b)},d.prototype["delete"]=function(a){var b=new e({ros:this.ros,name:"/rosapi/delete_param",serviceType:"rosapi/DeleteParam"}),c=new f({name:this.name});b.callService(c,a)},b.exports=d},{"./Service":15,"./ServiceRequest":16}],14:[function(a,b,c){function d(a){a=a||{},this.socket=null,this.idCounter=0,this.isConnected=!1,this.transportLibrary=a.transportLibrary||"websocket",this.transportOptions=a.transportOptions||{},"undefined"==typeof a.groovyCompatibility?this.groovyCompatibility=!0:this.groovyCompatibility=a.groovyCompatibility,this.setMaxListeners(0),a.url&&this.connect(a.url)}var e=a("ws"),f=a("./SocketAdapter.js"),g=a("./Service"),h=a("./ServiceRequest"),i=a("object-assign"),j=a("eventemitter2").EventEmitter2;d.prototype.__proto__=j.prototype,d.prototype.connect=function(a){if("socket.io"===this.transportLibrary)this.socket=i(io(a,{"force new connection":!0}),f(this)),this.socket.on("connect",this.socket.onopen),this.socket.on("data",this.socket.onmessage),this.socket.on("close",this.socket.onclose),this.socket.on("error",this.socket.onerror);else if("RTCPeerConnection"===this.transportLibrary.constructor.name)this.socket=i(this.transportLibrary.createDataChannel(a,this.transportOptions),f(this));else if(!this.socket||this.socket.readyState===e.CLOSED){var b=new e(a);b.binaryType="arraybuffer",this.socket=i(b,f(this))}},d.prototype.close=function(){this.socket&&this.socket.close()},d.prototype.authenticate=function(a,b,c,d,e,f,g){var h={op:"auth",mac:a,client:b,dest:c,rand:d,t:e,level:f,end:g};this.callOnConnection(h)},d.prototype.callOnConnection=function(a){var b=this,c=JSON.stringify(a),d=null;d="socket.io"===this.transportLibrary?function(a){b.socket.emit("operation",a)}:function(a){b.socket.send(a)},this.isConnected?d(c):b.once("connection",function(){d(c)})},d.prototype.setStatusLevel=function(a,b){var c={op:"set_level",level:a,id:b};this.callOnConnection(c)},d.prototype.getActionServers=function(a,b){var c=new g({ros:this,name:"/rosapi/action_servers",serviceType:"rosapi/GetActionServers"}),d=new h({});"function"==typeof b?c.callService(d,function(b){a(b.action_servers)},function(a){b(a)}):c.callService(d,function(b){a(b.action_servers)})},d.prototype.getTopics=function(a,b){var c=new g({ros:this,name:"/rosapi/topics",serviceType:"rosapi/Topics"}),d=new h;"function"==typeof b?c.callService(d,function(b){a(b)},function(a){b(a)}):c.callService(d,function(b){a(b)})},d.prototype.getTopicsForType=function(a,b,c){var d=new g({ros:this,name:"/rosapi/topics_for_type",serviceType:"rosapi/TopicsForType"}),e=new h({type:a});"function"==typeof c?d.callService(e,function(a){b(a.topics)},function(a){c(a)}):d.callService(e,function(a){b(a.topics)})},d.prototype.getServices=function(a,b){var c=new g({ros:this,name:"/rosapi/services",serviceType:"rosapi/Services"}),d=new h;"function"==typeof b?c.callService(d,function(b){a(b.services)},function(a){b(a)}):c.callService(d,function(b){a(b.services)})},d.prototype.getServicesForType=function(a,b,c){var d=new g({ros:this,name:"/rosapi/services_for_type",serviceType:"rosapi/ServicesForType"}),e=new h({type:a});"function"==typeof c?d.callService(e,function(a){b(a.services)},function(a){c(a)}):d.callService(e,function(a){b(a.services)})},d.prototype.getServiceRequestDetails=function(a,b,c){var d=new g({ros:this,name:"/rosapi/service_request_details",serviceType:"rosapi/ServiceRequestDetails"}),e=new h({type:a});"function"==typeof c?d.callService(e,function(a){b(a)},function(a){c(a)}):d.callService(e,function(a){b(a)})},d.prototype.getServiceResponseDetails=function(a,b,c){var d=new g({ros:this,name:"/rosapi/service_response_details",serviceType:"rosapi/ServiceResponseDetails"}),e=new h({type:a});"function"==typeof c?d.callService(e,function(a){b(a)},function(a){c(a)}):d.callService(e,function(a){b(a)})},d.prototype.getNodes=function(a,b){var c=new g({ros:this,name:"/rosapi/nodes",serviceType:"rosapi/Nodes"}),d=new h;"function"==typeof b?c.callService(d,function(b){a(b.nodes)},function(a){b(a)}):c.callService(d,function(b){a(b.nodes)})},d.prototype.getNodeDetails=function(a,b,c){var d=new g({ros:this,name:"/rosapi/node_details",serviceType:"rosapi/NodeDetails"}),e=new h({node:a});"function"==typeof c?d.callService(e,function(a){b(a.subscribing,a.publishing,a.services)},function(a){c(a)}):d.callService(e,function(a){b(a)})},d.prototype.getParams=function(a,b){var c=new g({ros:this,name:"/rosapi/get_param_names",serviceType:"rosapi/GetParamNames"}),d=new h;"function"==typeof b?c.callService(d,function(b){a(b.names)},function(a){b(a)}):c.callService(d,function(b){a(b.names)})},d.prototype.getTopicType=function(a,b,c){var d=new g({ros:this,name:"/rosapi/topic_type",serviceType:"rosapi/TopicType"}),e=new h({topic:a});"function"==typeof c?d.callService(e,function(a){b(a.type)},function(a){c(a)}):d.callService(e,function(a){b(a.type)})},d.prototype.getServiceType=function(a,b,c){var d=new g({ros:this,name:"/rosapi/service_type",serviceType:"rosapi/ServiceType"}),e=new h({service:a});"function"==typeof c?d.callService(e,function(a){b(a.type)},function(a){c(a)}):d.callService(e,function(a){b(a.type)})},d.prototype.getMessageDetails=function(a,b,c){var d=new g({ros:this,name:"/rosapi/message_details",serviceType:"rosapi/MessageDetails"}),e=new h({type:a});"function"==typeof c?d.callService(e,function(a){b(a.typedefs)},function(a){c(a)}):d.callService(e,function(a){b(a.typedefs)})},d.prototype.decodeTypeDefs=function(a){var b=this,c=function(a,d){for(var e={},f=0;f<a.fieldnames.length;f++){var g=a.fieldarraylen[f],h=a.fieldnames[f],i=a.fieldtypes[f];if(i.indexOf("/")===-1)g===-1?e[h]=i:e[h]=[i];else{for(var j=!1,k=0;k<d.length;k++)if(d[k].type.toString()===i.toString()){j=d[k];break}if(j){var l=c(j,d);g===-1||(e[h]=[l])}else b.emit("error","Cannot find "+i+" in decodeTypeDefs")}}return e};return c(a[0],a)},b.exports=d},{"./Service":15,"./ServiceRequest":16,"./SocketAdapter.js":18,eventemitter2:2,"object-assign":3,ws:42}],15:[function(a,b,c){function d(a){a=a||{},this.ros=a.ros,this.name=a.name,this.serviceType=a.serviceType,this.isAdvertised=!1,this._serviceCallback=null}var e=a("./ServiceResponse"),f=(a("./ServiceRequest"),a("eventemitter2").EventEmitter2);d.prototype.__proto__=f.prototype,d.prototype.callService=function(a,b,c){if(!this.isAdvertised){var d="call_service:"+this.name+":"+ ++this.ros.idCounter;(b||c)&&this.ros.once(d,function(a){void 0!==a.result&&a.result===!1?"function"==typeof c&&c(a.values):"function"==typeof b&&b(new e(a.values))});var f={op:"call_service",id:d,service:this.name,type:this.serviceType,args:a};this.ros.callOnConnection(f)}},d.prototype.advertise=function(a){this.isAdvertised||"function"!=typeof a||(this._serviceCallback=a,this.ros.on(this.name,this._serviceResponse.bind(this)),this.ros.callOnConnection({op:"advertise_service",type:this.serviceType,service:this.name}),this.isAdvertised=!0)},d.prototype.unadvertise=function(){this.isAdvertised&&(this.ros.callOnConnection({op:"unadvertise_service",service:this.name}),this.isAdvertised=!1)},d.prototype._serviceResponse=function(a){var b={},c=this._serviceCallback(a.args,b),d={op:"service_response",service:this.name,values:new e(b),result:c};a.id&&(d.id=a.id),this.ros.callOnConnection(d)},b.exports=d;
},{"./ServiceRequest":16,"./ServiceResponse":17,eventemitter2:2}],16:[function(a,b,c){function d(a){e(this,a)}var e=a("object-assign");b.exports=d},{"object-assign":3}],17:[function(a,b,c){function d(a){e(this,a)}var e=a("object-assign");b.exports=d},{"object-assign":3}],18:[function(a,b,c){"use strict";function d(a){function b(b){"publish"===b.op?a.emit(b.topic,b.msg):"service_response"===b.op?a.emit(b.id,b):"call_service"===b.op?a.emit(b.service,b):"status"===b.op&&(b.id?a.emit("status:"+b.id,b):a.emit("status",b))}function c(a,b){"png"===a.op?e(a.data,b):b(a)}function d(a,b){if(!h)throw"Cannot process BSON encoded message without BSON header.";var c=new FileReader;c.onload=function(){var a=new Uint8Array(this.result),c=h.deserialize(a);b(c)},c.readAsArrayBuffer(a)}return{onopen:function(b){a.isConnected=!0,a.emit("connection",b)},onclose:function(b){a.isConnected=!1,a.emit("close",b)},onerror:function(b){a.emit("error",b)},onmessage:function(a){if("undefined"!=typeof Blob&&a.data instanceof Blob)d(a.data,function(a){c(a,b)});else if(a.data instanceof ArrayBuffer){var e=f.decode(a.data,g);b(e)}else{var h=JSON.parse("string"==typeof a?a:a.data);c(h,b)}}}}var e=a("../util/decompressPng"),f=a("cbor-js"),g=a("../util/cborTypedArrayTags"),h=(a("ws"),null);"undefined"!=typeof bson&&(h=bson().BSON),b.exports=d},{"../util/cborTypedArrayTags":41,"../util/decompressPng":44,"cbor-js":1,ws:42}],19:[function(a,b,c){function d(a){a=a||{},this.ros=a.ros,this.name=a.name,this.messageType=a.messageType,this.isAdvertised=!1,this.compression=a.compression||"none",this.throttle_rate=a.throttle_rate||0,this.latch=a.latch||!1,this.queue_size=a.queue_size||100,this.queue_length=a.queue_length||0,this.reconnect_on_close=a.reconnect_on_close||!0,this.compression&&"png"!==this.compression&&"cbor"!==this.compression&&"none"!==this.compression&&(this.emit("warning",this.compression+" compression is not supported. No compression will be used."),this.compression="none"),this.throttle_rate<0&&(this.emit("warning",this.throttle_rate+" is not allowed. Set to 0"),this.throttle_rate=0);var b=this;this.reconnect_on_close?this.callForSubscribeAndAdvertise=function(a){b.ros.callOnConnection(a),b.waitForReconnect=!1,b.reconnectFunc=function(){b.waitForReconnect||(b.waitForReconnect=!0,b.ros.callOnConnection(a),b.ros.once("connection",function(){b.waitForReconnect=!1}))},b.ros.on("close",b.reconnectFunc)}:this.callForSubscribeAndAdvertise=this.ros.callOnConnection,this._messageCallback=function(a){b.emit("message",new f(a))}}var e=a("eventemitter2").EventEmitter2,f=a("./Message");d.prototype.__proto__=e.prototype,d.prototype.subscribe=function(a){"function"==typeof a&&this.on("message",a),this.subscribeId||(this.ros.on(this.name,this._messageCallback),this.subscribeId="subscribe:"+this.name+":"+ ++this.ros.idCounter,this.callForSubscribeAndAdvertise({op:"subscribe",id:this.subscribeId,type:this.messageType,topic:this.name,compression:this.compression,throttle_rate:this.throttle_rate,queue_length:this.queue_length}))},d.prototype.unsubscribe=function(a){a&&(this.off("message",a),this.listeners("message").length)||this.subscribeId&&(this.ros.off(this.name,this._messageCallback),this.reconnect_on_close&&this.ros.off("close",this.reconnectFunc),this.emit("unsubscribe"),this.ros.callOnConnection({op:"unsubscribe",id:this.subscribeId,topic:this.name}),this.subscribeId=null)},d.prototype.advertise=function(){if(!this.isAdvertised&&(this.advertiseId="advertise:"+this.name+":"+ ++this.ros.idCounter,this.callForSubscribeAndAdvertise({op:"advertise",id:this.advertiseId,type:this.messageType,topic:this.name,latch:this.latch,queue_size:this.queue_size}),this.isAdvertised=!0,!this.reconnect_on_close)){var a=this;this.ros.on("close",function(){a.isAdvertised=!1})}},d.prototype.unadvertise=function(){this.isAdvertised&&(this.reconnect_on_close&&this.ros.off("close",this.reconnectFunc),this.emit("unadvertise"),this.ros.callOnConnection({op:"unadvertise",id:this.advertiseId,topic:this.name}),this.isAdvertised=!1)},d.prototype.publish=function(a){this.isAdvertised||this.advertise(),this.ros.idCounter++;var b={op:"publish",id:"publish:"+this.name+":"+this.ros.idCounter,topic:this.name,msg:a,latch:this.latch};this.ros.callOnConnection(b)},b.exports=d},{"./Message":12,eventemitter2:2}],20:[function(a,b,c){var d=a("../mixin"),e=b.exports={Ros:a("./Ros"),Topic:a("./Topic"),Message:a("./Message"),Param:a("./Param"),Service:a("./Service"),ServiceRequest:a("./ServiceRequest"),ServiceResponse:a("./ServiceResponse")};d(e.Ros,["Param","Service","Topic"],e)},{"../mixin":26,"./Message":12,"./Param":13,"./Ros":14,"./Service":15,"./ServiceRequest":16,"./ServiceResponse":17,"./Topic":19}],21:[function(a,b,c){function d(a){a=a||{},this.position=new e(a.position),this.orientation=new f(a.orientation)}var e=a("./Vector3"),f=a("./Quaternion");d.prototype.applyTransform=function(a){this.position.multiplyQuaternion(a.rotation),this.position.add(a.translation);var b=a.rotation.clone();b.multiply(this.orientation),this.orientation=b},d.prototype.clone=function(){return new d(this)},d.prototype.multiply=function(a){var b=a.clone();return b.applyTransform({rotation:this.orientation,translation:this.position}),b},d.prototype.getInverse=function(){var a=this.clone();return 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b=a.topicTimeout||2,c=Math.floor(b),d=Math.floor(1e9*(b-c));this.topicTimeout={secs:c,nsecs:d},this.serverName=a.serverName||"/tf2_web_republisher",this.repubServiceName=a.repubServiceName||"/republish_tfs",this.currentGoal=!1,this.currentTopic=!1,this.frameInfos={},this.republisherUpdateRequested=!1,this.actionClient=this.ros.ActionClient({serverName:this.serverName,actionName:"tf2_web_republisher/TFSubscriptionAction",omitStatus:!0,omitResult:!0}),this.serviceClient=this.ros.Service({name:this.repubServiceName,serviceType:"tf2_web_republisher/RepublishTFs"})}var e=(a("../actionlib/ActionClient"),a("../actionlib/Goal")),f=(a("../core/Service.js"),a("../core/ServiceRequest.js")),g=a("../math/Transform");d.prototype.processTFArray=function(a){a.transforms.forEach(function(a){var b=a.child_frame_id;"/"===b[0]&&(b=b.substring(1));var c=this.frameInfos[b];c&&(c.transform=new 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