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i!="function"||(this._serviceCallback=i,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(i){var s={},l=this._serviceCallback(i.args,s),b={op:"service_response",service:this.name,values:new m(s),result:l};i.id&&(b.id=i.id),this.ros.callOnConnection(b)},Oe=n,Oe}var Ce,At;function Ne(){if(At)return Ce;At=1;var m=dt(),r=Sr(),n=kr(),i=de(),s=ce(),l=ie,b=te.EventEmitter2;function g(d){d=d||{};var v=this;this.socket=null,this.idCounter=0,this.isConnected=!1,this.transportLibrary=d.transportLibrary||"websocket",this.transportOptions=d.transportOptions||{},this._sendFunc=function(o){v.sendEncodedMessage(o)},typeof d.groovyCompatibility>"u"?this.groovyCompatibility=!0:this.groovyCompatibility=d.groovyCompatibility,this.setMaxListeners(0),d.url&&this.connect(d.url)}return g.prototype.__proto__=b.prototype,g.prototype.connect=function(d){if(this.transportLibrary==="socket.io")this.socket=l(io(d,{"force new connection":!0}),n(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(this.transportLibrary.constructor.name==="RTCPeerConnection")this.socket=l(this.transportLibrary.createDataChannel(d,this.transportOptions),n(this));else if(this.transportLibrary==="websocket"){if(!this.socket||this.socket.readyState===m.CLOSED){var v=new m(d);v.binaryType="arraybuffer",this.socket=l(v,n(this))}}else if(this.transportLibrary==="workersocket")this.socket=l(new r(d),n(this));else throw"Unknown transportLibrary: "+this.transportLibrary.toString()},g.prototype.close=function(){this.socket&&this.socket.close()},g.prototype.authenticate=function(d,v,o,a,f,u,S){var O={op:"auth",mac:d,client:v,dest:o,rand:a,t:f,level:u,end:S};this.callOnConnection(O)},g.prototype.sendEncodedMessage=function(d){var v=null,o=this;this.transportLibrary==="socket.io"?v=function(a){o.socket.emit("operation",a)}:v=function(a){o.socket.send(a)},this.isConnected?v(d):o.once("connection",function(){v(d)})},g.prototype.callOnConnection=function(d){this.transportOptions.encoder?this.transportOptions.encoder(d,this._sendFunc):this._sendFunc(JSON.stringify(d))},g.prototype.setStatusLevel=function(d,v){var o={op:"set_level",level:d,id:v};this.callOnConnection(o)},g.prototype.getActionServers=function(d,v){var o=new i({ros:this,name:"/rosapi/action_servers",serviceType:"rosapi/GetActionServers"}),a=new s({});typeof v=="function"?o.callService(a,function(f){d(f.action_servers)},function(f){v(f)}):o.callService(a,function(f){d(f.action_servers)})},g.prototype.getTopics=function(d,v){var o=new i({ros:this,name:"/rosapi/topics",serviceType:"rosapi/Topics"}),a=new s;typeof v=="function"?o.callService(a,function(f){d(f)},function(f){v(f)}):o.callService(a,function(f){d(f)})},g.prototype.getTopicsForType=function(d,v,o){var a=new i({ros:this,name:"/rosapi/topics_for_type",serviceType:"rosapi/TopicsForType"}),f=new s({type:d});typeof o=="function"?a.callService(f,function(u){v(u.topics)},function(u){o(u)}):a.callService(f,function(u){v(u.topics)})},g.prototype.getServices=function(d,v){var o=new i({ros:this,name:"/rosapi/services",serviceType:"rosapi/Services"}),a=new s;typeof v=="function"?o.callService(a,function(f){d(f.services)},function(f){v(f)}):o.callService(a,function(f){d(f.services)})},g.prototype.getServicesForType=function(d,v,o){var a=new i({ros:this,name:"/rosapi/services_for_type",serviceType:"rosapi/ServicesForType"}),f=new s({type:d});typeof o=="function"?a.callService(f,function(u){v(u.services)},function(u){o(u)}):a.callService(f,function(u){v(u.services)})},g.prototype.getServiceRequestDetails=function(d,v,o){var a=new i({ros:this,name:"/rosapi/service_request_details",serviceType:"rosapi/ServiceRequestDetails"}),f=new s({type:d});typeof o=="function"?a.callService(f,function(u){v(u)},function(u){o(u)}):a.callService(f,function(u){v(u)})},g.prototype.getServiceResponseDetails=function(d,v,o){var a=new i({ros:this,name:"/rosapi/service_response_details",serviceType:"rosapi/ServiceResponseDetails"}),f=new s({type:d});typeof o=="function"?a.callService(f,function(u){v(u)},function(u){o(u)}):a.callService(f,function(u){v(u)})},g.prototype.getNodes=function(d,v){var o=new i({ros:this,name:"/rosapi/nodes",serviceType:"rosapi/Nodes"}),a=new s;typeof v=="function"?o.callService(a,function(f){d(f.nodes)},function(f){v(f)}):o.callService(a,function(f){d(f.nodes)})},g.prototype.getNodeDetails=function(d,v,o){var a=new i({ros:this,name:"/rosapi/node_details",serviceType:"rosapi/NodeDetails"}),f=new s({node:d});typeof o=="function"?a.callService(f,function(u){v(u.subscribing,u.publishing,u.services)},function(u){o(u)}):a.callService(f,function(u){v(u)})},g.prototype.getParams=function(d,v){var o=new i({ros:this,name:"/rosapi/get_param_names",serviceType:"rosapi/GetParamNames"}),a=new s;typeof v=="function"?o.callService(a,function(f){d(f.names)},function(f){v(f)}):o.callService(a,function(f){d(f.names)})},g.prototype.getTopicType=function(d,v,o){var a=new i({ros:this,name:"/rosapi/topic_type",serviceType:"rosapi/TopicType"}),f=new s({topic:d});typeof o=="function"?a.callService(f,function(u){v(u.type)},function(u){o(u)}):a.callService(f,function(u){v(u.type)})},g.prototype.getServiceType=function(d,v,o){var a=new i({ros:this,name:"/rosapi/service_type",serviceType:"rosapi/ServiceType"}),f=new s({service:d});typeof o=="function"?a.callService(f,function(u){v(u.type)},function(u){o(u)}):a.callService(f,function(u){v(u.type)})},g.prototype.getMessageDetails=function(d,v,o){var a=new i({ros:this,name:"/rosapi/message_details",serviceType:"rosapi/MessageDetails"}),f=new s({type:d});typeof o=="function"?a.callService(f,function(u){v(u.typedefs)},function(u){o(u)}):a.callService(f,function(u){v(u.typedefs)})},g.prototype.decodeTypeDefs=function(d){var v=this,o=function(a,f){for(var u={},S=0;S<a.fieldnames.length;S++){var O=a.fieldarraylen[S],k=a.fieldnames[S],L=a.fieldtypes[S];if(L.indexOf("/")===-1)O===-1?u[k]=L:u[k]=[L];else{for(var M=!1,A=0;A<f.length;A++)if(f[A].type.toString()===L.toString()){M=f[A];break}if(M){var q=o(M,f);O===-1?u[k]=q:u[k]=[q]}else v.emit("error","Cannot find "+L+" in decodeTypeDefs")}}return u};return o(d[0],d)},g.prototype.getTopicsAndRawTypes=function(d,v){var o=new i({ros:this,name:"/rosapi/topics_and_raw_types",serviceType:"rosapi/TopicsAndRawTypes"}),a=new s;typeof v=="function"?o.callService(a,function(f){d(f)},function(f){v(f)}):o.callService(a,function(f){d(f)})},Ce=g,Ce}var Fe,Ut;function oe(){if(Ut)return Fe;Ut=1;var m=ie;function r(n){m(this,n)}return Fe=r,Fe}var qe,Ot;function ue(){if(Ot)return qe;Ot=1;var m=te.EventEmitter2,r=oe();function n(i){i=i||{},this.ros=i.ros,this.name=i.name,this.messageType=i.messageType,this.isAdvertised=!1,this.compression=i.compression||"none",this.throttle_rate=i.throttle_rate||0,this.latch=i.latch||!1,this.queue_size=i.queue_size||100,this.queue_length=i.queue_length||0,this.reconnect_on_close=i.reconnect_on_close!==void 0?i.reconnect_on_close:!0,this.compression&&this.compression!=="png"&&this.compression!=="cbor"&&this.compression!=="cbor-raw"&&this.compression!=="none"&&(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 s=this;this.reconnect_on_close?this.callForSubscribeAndAdvertise=function(l){s.ros.callOnConnection(l),s.waitForReconnect=!1,s.reconnectFunc=function(){s.waitForReconnect||(s.waitForReconnect=!0,s.ros.callOnConnection(l),s.ros.once("connection",function(){s.waitForReconnect=!1}))},s.ros.on("close",s.reconnectFunc)}:this.callForSubscribeAndAdvertise=this.ros.callOnConnection,this._messageCallback=function(l){s.emit("message",new r(l))}}return n.prototype.__proto__=m.prototype,n.prototype.subscribe=function(i){typeof i=="function"&&this.on("message",i),!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}))},n.prototype.unsubscribe=function(i){i&&(this.off("message",i),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)},n.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 i=this;this.ros.on("close",function(){i.isAdvertised=!1})}},n.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)},n.prototype.publish=function(i){this.isAdvertised||this.advertise(),this.ros.idCounter++;var s={op:"publish",id:"publish:"+this.name+":"+this.ros.idCounter,topic:this.name,msg:i,latch:this.latch};this.ros.callOnConnection(s)},qe=n,qe}var Pe,Ct;function Ar(){if(Ct)return Pe;Ct=1;var m=de(),r=ce();function n(i){i=i||{},this.ros=i.ros,this.name=i.name}return n.prototype.get=function(i,s){var l=new m({ros:this.ros,name:"/rosapi/get_param",serviceType:"rosapi/GetParam"}),b=new r({name:this.name});l.callService(b,function(g){var d=JSON.parse(g.value);i(d)},s)},n.prototype.set=function(i,s,l){var b=new m({ros:this.ros,name:"/rosapi/set_param",serviceType:"rosapi/SetParam"}),g=new r({name:this.name,value:JSON.stringify(i)});b.callService(g,s,l)},n.prototype.delete=function(i,s){var l=new m({ros:this.ros,name:"/rosapi/delete_param",serviceType:"rosapi/DeleteParam"}),b=new r({name:this.name});l.callService(b,i,s)},Pe=n,Pe}var Nt;function Ur(){if(Nt)return ge.exports;Nt=1;var m=we(),r=ge.exports={Ros:Ne(),Topic:ue(),Message:oe(),Param:Ar(),Service:de(),ServiceRequest:ce(),ServiceResponse:Rt()};return m(r.Ros,["Param","Service","Topic"],r),ge.exports}var je={exports:{}},De,Ft;function qt(){if(Ft)return De;Ft=1;var m=ue(),r=oe(),n=te.EventEmitter2;function i(s){var l=this;s=s||{},this.ros=s.ros,this.serverName=s.serverName,this.actionName=s.actionName,this.timeout=s.timeout,this.omitFeedback=s.omitFeedback,this.omitStatus=s.omitStatus,this.omitResult=s.omitResult,this.goals={};var b=!1;this.feedbackListener=new m({ros:this.ros,name:this.serverName+"/feedback",messageType:this.actionName+"Feedback"}),this.statusListener=new m({ros:this.ros,name:this.serverName+"/status",messageType:"actionlib_msgs/GoalStatusArray"}),this.resultListener=new m({ros:this.ros,name:this.serverName+"/result",messageType:this.actionName+"Result"}),this.goalTopic=new m({ros:this.ros,name:this.serverName+"/goal",messageType:this.actionName+"Goal"}),this.cancelTopic=new m({ros:this.ros,name:this.serverName+"/cancel",messageType:"actionlib_msgs/GoalID"}),this.goalTopic.advertise(),this.cancelTopic.advertise(),this.omitStatus||this.statusListener.subscribe(function(g){b=!0,g.status_list.forEach(function(d){var v=l.goals[d.goal_id.id];v&&v.emit("status",d)})}),this.omitFeedback||this.feedbackListener.subscribe(function(g){var d=l.goals[g.status.goal_id.id];d&&(d.emit("status",g.status),d.emit("feedback",g.feedback))}),this.omitResult||this.resultListener.subscribe(function(g){var d=l.goals[g.status.goal_id.id];d&&(d.emit("status",g.status),d.emit("result",g.result))}),this.timeout&&setTimeout(function(){b||l.emit("timeout")},this.timeout)}return i.prototype.__proto__=n.prototype,i.prototype.cancel=function(){var s=new r;this.cancelTopic.publish(s)},i.prototype.dispose=function(){this.goalTopic.unadvertise(),this.cancelTopic.unadvertise(),this.omitStatus||this.statusListener.unsubscribe(),this.omitFeedback||this.feedbackListener.unsubscribe(),this.omitResult||this.resultListener.unsubscribe()},De=i,De}var Ie,Pt;function Or(){if(Pt)return Ie;Pt=1;var m=ue();oe();var r=te.EventEmitter2;function n(i){var s=this;i=i||{},this.ros=i.ros,this.serverName=i.serverName,this.actionName=i.actionName;var l=new m({ros:this.ros,name:this.serverName+"/goal",messageType:this.actionName+"Goal"}),b=new m({ros:this.ros,name:this.serverName+"/feedback",messageType:this.actionName+"Feedback"}),g=new m({ros:this.ros,name:this.serverName+"/status",messageType:"actionlib_msgs/GoalStatusArray"}),d=new m({ros:this.ros,name:this.serverName+"/result",messageType:this.actionName+"Result"});l.subscribe(function(v){s.emit("goal",v)}),g.subscribe(function(v){v.status_list.forEach(function(o){s.emit("status",o)})}),b.subscribe(function(v){s.emit("status",v.status),s.emit("feedback",v.feedback)}),d.subscribe(function(v){s.emit("status",v.status),s.emit("result",v.result)})}return n.prototype.__proto__=r.prototype,Ie=n,Ie}var Ge,jt;function Dt(){if(jt)return Ge;jt=1;var m=oe(),r=te.EventEmitter2;function n(i){var s=this;this.actionClient=i.actionClient,this.goalMessage=i.goalMessage,this.isFinished=!1;var l=new Date;this.goalID="goal_"+Math.random()+"_"+l.getTime(),this.goalMessage=new m({goal_id:{stamp:{secs:0,nsecs:0},id:this.goalID},goal:this.goalMessage}),this.on("status",function(b){s.status=b}),this.on("result",function(b){s.isFinished=!0,s.result=b}),this.on("feedback",function(b){s.feedback=b}),this.actionClient.goals[this.goalID]=this}return n.prototype.__proto__=r.prototype,n.prototype.send=function(i){var s=this;s.actionClient.goalTopic.publish(s.goalMessage),i&&setTimeout(function(){s.isFinished||s.emit("timeout")},i)},n.prototype.cancel=function(){var i=new m({id:this.goalID});this.actionClient.cancelTopic.publish(i)},Ge=n,Ge}var Be,It;function Cr(){if(It)return Be;It=1;var m=ue(),r=oe(),n=te.EventEmitter2;function i(s){var l=this;s=s||{},this.ros=s.ros,this.serverName=s.serverName,this.actionName=s.actionName,this.feedbackPublisher=new m({ros:this.ros,name:this.serverName+"/feedback",messageType:this.actionName+"Feedback"}),this.feedbackPublisher.advertise();var b=new m({ros:this.ros,name:this.serverName+"/status",messageType:"actionlib_msgs/GoalStatusArray"});b.advertise(),this.resultPublisher=new m({ros:this.ros,name:this.serverName+"/result",messageType:this.actionName+"Result"}),this.resultPublisher.advertise();var g=new m({ros:this.ros,name:this.serverName+"/goal",messageType:this.actionName+"Goal"}),d=new m({ros:this.ros,name:this.serverName+"/cancel",messageType:"actionlib_msgs/GoalID"});this.statusMessage=new r({header:{stamp:{secs:0,nsecs:100},frame_id:""},status_list:[]}),this.currentGoal=null,this.nextGoal=null,g.subscribe(function(o){l.currentGoal?(l.nextGoal=o,l.emit("cancel")):(l.statusMessage.status_list=[{goal_id:o.goal_id,status:1}],l.currentGoal=o,l.emit("goal",o.goal))});var v=function(o,a){return o.secs>a.secs?!1:o.secs<a.secs?!0:o.nsecs<a.nsecs};d.subscribe(function(o){o.stamp.secs===0&&o.stamp.secs===0&&o.id===""?(l.nextGoal=null,l.currentGoal&&l.emit("cancel")):(l.currentGoal&&o.id===l.currentGoal.goal_id.id?l.emit("cancel"):l.nextGoal&&o.id===l.nextGoal.goal_id.id&&(l.nextGoal=null),l.nextGoal&&v(l.nextGoal.goal_id.stamp,o.stamp)&&(l.nextGoal=null),l.currentGoal&&v(l.currentGoal.goal_id.stamp,o.stamp)&&l.emit("cancel"))}),setInterval(function(){var o=new Date,a=Math.floor(o.getTime()/1e3),f=Math.round(1e9*(o.getTime()/1e3-a));l.statusMessage.header.stamp.secs=a,l.statusMessage.header.stamp.nsecs=f,b.publish(l.statusMessage)},500)}return i.prototype.__proto__=n.prototype,i.prototype.setSucceeded=function(s){var l=new r({status:{goal_id:this.currentGoal.goal_id,status:3},result:s});this.resultPublisher.publish(l),this.statusMessage.status_list=[],this.nextGoal?(this.currentGoal=this.nextGoal,this.nextGoal=null,this.emit("goal",this.currentGoal.goal)):this.currentGoal=null},i.prototype.setAborted=function(s){var l=new r({status:{goal_id:this.currentGoal.goal_id,status:4},result:s});this.resultPublisher.publish(l),this.statusMessage.status_list=[],this.nextGoal?(this.currentGoal=this.nextGoal,this.nextGoal=null,this.emit("goal",this.currentGoal.goal)):this.currentGoal=null},i.prototype.sendFeedback=function(s){var l=new r({status:{goal_id:this.currentGoal.goal_id,status:1},feedback:s});this.feedbackPublisher.publish(l)},i.prototype.setPreempted=function(){this.statusMessage.status_list=[];var s=new r({status:{goal_id:this.currentGoal.goal_id,status:2}});this.resultPublisher.publish(s),this.nextGoal?(this.currentGoal=this.nextGoal,this.nextGoal=null,this.emit("goal",this.currentGoal.goal)):this.currentGoal=null},Be=i,Be}var Gt;function Nr(){if(Gt)return je.exports;Gt=1;var m=Ne(),r=we(),n=je.exports={ActionClient:qt(),ActionListener:Or(),Goal:Dt(),SimpleActionServer:Cr()};return r(m,["ActionClient","SimpleActionServer"],n),je.exports}var ze,Bt;function se(){if(Bt)return ze;Bt=1;function m(r){r=r||{},this.x=r.x||0,this.y=r.y||0,this.z=r.z||0}return m.prototype.add=function(r){this.x+=r.x,this.y+=r.y,this.z+=r.z},m.prototype.subtract=function(r){this.x-=r.x,this.y-=r.y,this.z-=r.z},m.prototype.multiplyQuaternion=function(r){var n=r.w*this.x+r.y*this.z-r.z*this.y,i=r.w*this.y+r.z*this.x-r.x*this.z,s=r.w*this.z+r.x*this.y-r.y*this.x,l=-r.x*this.x-r.y*this.y-r.z*this.z;this.x=n*r.w+l*-r.x+i*-r.z-s*-r.y,this.y=i*r.w+l*-r.y+s*-r.x-n*-r.z,this.z=s*r.w+l*-r.z+n*-r.y-i*-r.x},m.prototype.clone=function(){return new m(this)},ze=m,ze}var Ve,zt;function le(){if(zt)return Ve;zt=1;function m(r){r=r||{},this.x=r.x||0,this.y=r.y||0,this.z=r.z||0,this.w=typeof r.w=="number"?r.w:1}return m.prototype.conjugate=function(){this.x*=-1,this.y*=-1,this.z*=-1},m.prototype.norm=function(){return Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w)},m.prototype.normalize=function(){var r=Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w);r===0?(this.x=0,this.y=0,this.z=0,this.w=1):(r=1/r,this.x=this.x*r,this.y=this.y*r,this.z=this.z*r,this.w=this.w*r)},m.prototype.invert=function(){this.conjugate(),this.normalize()},m.prototype.multiply=function(r){var n=this.x*r.w+this.y*r.z-this.z*r.y+this.w*r.x,i=-this.x*r.z+this.y*r.w+this.z*r.x+this.w*r.y,s=this.x*r.y-this.y*r.x+this.z*r.w+this.w*r.z,l=-this.x*r.x-this.y*r.y-this.z*r.z+this.w*r.w;this.x=n,this.y=i,this.z=s,this.w=l},m.prototype.clone=function(){return new m(this)},Ve=m,Ve}var We,Vt;function Je(){if(Vt)return We;Vt=1;var m=se(),r=le();function n(i){i=i||{},this.position=new m(i.position),this.orientation=new r(i.orientation)}return n.prototype.applyTransform=function(i){this.position.multiplyQuaternion(i.rotation),this.position.add(i.translation);var s=i.rotation.clone();s.multiply(this.orientation),this.orientation=s},n.prototype.clone=function(){return new n(this)},n.prototype.multiply=function(i){var s=i.clone();return s.applyTransform({rotation:this.orientation,translation:this.position}),s},n.prototype.getInverse=function(){var i=this.clone();return i.orientation.invert(),i.position.multiplyQuaternion(i.orientation),i.position.x*=-1,i.position.y*=-1,i.position.z*=-1,i},We=n,We}var Qe,Wt;function Jt(){if(Wt)return Qe;Wt=1;var m=se(),r=le();function n(i){i=i||{},this.translation=new m(i.translation),this.rotation=new r(i.rotation)}return n.prototype.clone=function(){return new n(this)},Qe=n,Qe}var Xe,Qt;function Fr(){return Qt||(Qt=1,Xe={Pose:Je(),Quaternion:le(),Transform:Jt(),Vector3:se()}),Xe}var Ye={exports:{}},He,Xt;function qr(){if(Xt)return He;Xt=1;var m=qt(),r=Dt(),n=de(),i=ce(),s=ue(),l=Jt();function b(g){g=g||{},this.ros=g.ros,this.fixedFrame=g.fixedFrame||"base_link",this.angularThres=g.angularThres||2,this.transThres=g.transThres||.01,this.rate=g.rate||10,this.updateDelay=g.updateDelay||50;var d=g.topicTimeout||2,v=Math.floor(d),o=Math.floor((d-v)*1e9);this.topicTimeout={secs:v,nsecs:o},this.serverName=g.serverName||"/tf2_web_republisher",this.repubServiceName=g.repubServiceName||"/republish_tfs",this.currentGoal=!1,this.currentTopic=!1,this.frameInfos={},this.republisherUpdateRequested=!1,this._subscribeCB=null,this._isDisposed=!1,this.actionClient=new m({ros:g.ros,serverName:this.serverName,actionName:"tf2_web_republisher/TFSubscriptionAction",omitStatus:!0,omitResult:!0}),this.serviceClient=new n({ros:g.ros,name:this.repubServiceName,serviceType:"tf2_web_republisher/RepublishTFs"})}return b.prototype.processTFArray=function(g){g.transforms.forEach(function(d){var v=d.child_frame_id;v[0]==="/"&&(v=v.substring(1));var o=this.frameInfos[v];o&&(o.transform=new l({translation:d.transform.translation,rotation:d.transform.rotation}),o.cbs.forEach(function(a){a(o.transform)}))},this)},b.prototype.updateGoal=function(){var g={source_frames:Object.keys(this.frameInfos),target_frame:this.fixedFrame,angular_thres:this.angularThres,trans_thres:this.transThres,rate:this.rate};if(this.ros.groovyCompatibility)this.currentGoal&&this.currentGoal.cancel(),this.currentGoal=new r({actionClient:this.actionClient,goalMessage:g}),this.currentGoal.on("feedback",this.processTFArray.bind(this)),this.currentGoal.send();else{g.timeout=this.topicTimeout;var d=new i(g);this.serviceClient.callService(d,this.processResponse.bind(this))}this.republisherUpdateRequested=!1},b.prototype.processResponse=function(g){this._isDisposed||(this.currentTopic&&this.currentTopic.unsubscribe(this._subscribeCB),this.currentTopic=new s({ros:this.ros,name:g.topic_name,messageType:"tf2_web_republisher/TFArray"}),this._subscribeCB=this.processTFArray.bind(this),this.currentTopic.subscribe(this._subscribeCB))},b.prototype.subscribe=function(g,d){g[0]==="/"&&(g=g.substring(1)),this.frameInfos[g]?this.frameInfos[g].transform&&d(this.frameInfos[g].transform):(this.frameInfos[g]={cbs:[]},this.republisherUpdateRequested||(setTimeout(this.updateGoal.bind(this),this.updateDelay),this.republisherUpdateRequested=!0)),this.frameInfos[g].cbs.push(d)},b.prototype.unsubscribe=function(g,d){g[0]==="/"&&(g=g.substring(1));for(var v=this.frameInfos[g],o=v&&v.cbs||[],a=o.length;a--;)o[a]===d&&o.splice(a,1);(!d||o.length===0)&&delete this.frameInfos[g]},b.prototype.dispose=function(){this._isDisposed=!0,this.actionClient.dispose(),this.currentTopic&&this.currentTopic.unsubscribe(this._subscribeCB)},He=b,He}var Yt;function Pr(){if(Yt)return Ye.exports;Yt=1;var m=Ne(),r=we(),n=Ye.exports={TFClient:qr()};return r(m,["TFClient"],n),Ye.exports}var Ze,Ht;function fe(){return Ht||(Ht=1,Ze={URDF_SPHERE:0,URDF_BOX:1,URDF_CYLINDER:2,URDF_MESH:3}),Ze}var Ke,Zt;function Kt(){if(Zt)return Ke;Zt=1;var m=se(),r=fe();function n(i){this.dimension=null,this.type=r.URDF_BOX;var s=i.xml.getAttribute("size").split(" ");this.dimension=new m({x:parseFloat(s[0]),y:parseFloat(s[1]),z:parseFloat(s[2])})}return Ke=n,Ke}var $e,$t;function er(){if($t)return $e;$t=1;function m(r){var n=r.xml.getAttribute("rgba").split(" ");this.r=parseFloat(n[0]),this.g=parseFloat(n[1]),this.b=parseFloat(n[2]),this.a=parseFloat(n[3])}return $e=m,$e}var et,tr;function rr(){if(tr)return et;tr=1;var m=fe();function r(n){this.type=m.URDF_CYLINDER,this.length=parseFloat(n.xml.getAttribute("length")),this.radius=parseFloat(n.xml.getAttribute("radius"))}return et=r,et}var tt,ir;function rt(){if(ir)return tt;ir=1;var m=er();function r(i){this.textureFilename=null,this.color=null,this.name=i.xml.getAttribute("name");var s=i.xml.getElementsByTagName("texture");s.length>0&&(this.textureFilename=s[0].getAttribute("filename"));var l=i.xml.getElementsByTagName("color");l.length>0&&(this.color=new m({xml:l[0]}))}r.prototype.isLink=function(){return this.color===null&&this.textureFilename===null};var n=ie;return r.prototype.assign=function(i){return n(this,i)},tt=r,tt}var it,sr;function nr(){if(sr)return it;sr=1;var m=se(),r=fe();function n(i){this.scale=null,this.type=r.URDF_MESH,this.filename=i.xml.getAttribute("filename");var s=i.xml.getAttribute("scale");if(s){var l=s.split(" ");this.scale=new m({x:parseFloat(l[0]),y:parseFloat(l[1]),z:parseFloat(l[2])})}}return it=n,it}var st,or;function ar(){if(or)return st;or=1;var m=fe();function r(n){this.type=m.URDF_SPHERE,this.radius=parseFloat(n.xml.getAttribute("radius"))}return st=r,st}var nt,cr;function ur(){if(cr)return nt;cr=1;var m=Je(),r=se(),n=le(),i=rr(),s=Kt(),l=rt(),b=nr(),g=ar();function d(v){var o=v.xml;this.origin=null,this.geometry=null,this.material=null,this.name=v.xml.getAttribute("name");var a=o.getElementsByTagName("origin");if(a.length===0)this.origin=new m;else{var f=a[0].getAttribute("xyz"),u=new r;f&&(f=f.split(" "),u=new r({x:parseFloat(f[0]),y:parseFloat(f[1]),z:parseFloat(f[2])}));var S=a[0].getAttribute("rpy"),O=new n;if(S){S=S.split(" ");var k=parseFloat(S[0]),L=parseFloat(S[1]),M=parseFloat(S[2]),A=k/2,q=L/2,D=M/2,z=Math.sin(A)*Math.cos(q)*Math.cos(D)-Math.cos(A)*Math.sin(q)*Math.sin(D),X=Math.cos(A)*Math.sin(q)*Math.cos(D)+Math.sin(A)*Math.cos(q)*Math.sin(D),Z=Math.cos(A)*Math.cos(q)*Math.sin(D)-Math.sin(A)*Math.sin(q)*Math.cos(D),B=Math.cos(A)*Math.cos(q)*Math.cos(D)+Math.sin(A)*Math.sin(q)*Math.sin(D);O=new n({x:z,y:X,z:Z,w:B}),O.normalize()}this.origin=new m({position:u,orientation:O})}var $=o.getElementsByTagName("geometry");if($.length>0){for(var R=$[0],F=null,U=0;U<R.childNodes.length;U++){var N=R.childNodes[U];if(N.nodeType===1){F=N;break}}var E=F.nodeName;E==="sphere"?this.geometry=new g({xml:F}):E==="box"?this.geometry=new s({xml:F}):E==="cylinder"?this.geometry=new i({xml:F}):E==="mesh"?this.geometry=new b({xml:F}):console.warn("Unknown geometry type "+E)}var P=o.getElementsByTagName("material");P.length>0&&(this.material=new l({xml:P[0]}))}return nt=d,nt}var ot,lr;function fr(){if(lr)return ot;lr=1;var m=ur();function r(n){this.name=n.xml.getAttribute("name"),this.visuals=[];for(var i=n.xml.getElementsByTagName("visual"),s=0;s<i.length;s++)this.visuals.push(new m({xml:i[s]}))}return ot=r,ot}var at,hr;function jr(){if(hr)return at;hr=1;var m=Je(),r=se(),n=le();function i(s){this.name=s.xml.getAttribute("name"),this.type=s.xml.getAttribute("type");var l=s.xml.getElementsByTagName("parent");l.length>0&&(this.parent=l[0].getAttribute("link"));var b=s.xml.getElementsByTagName("child");b.length>0&&(this.child=b[0].getAttribute("link"));var g=s.xml.getElementsByTagName("limit");g.length>0&&(this.minval=parseFloat(g[0].getAttribute("lower")),this.maxval=parseFloat(g[0].getAttribute("upper")));var d=s.xml.getElementsByTagName("origin");if(d.length===0)this.origin=new m;else{var v=d[0].getAttribute("xyz"),o=new r;v&&(v=v.split(" "),o=new r({x:parseFloat(v[0]),y:parseFloat(v[1]),z:parseFloat(v[2])}));var a=d[0].getAttribute("rpy"),f=new n;if(a){a=a.split(" ");var u=parseFloat(a[0]),S=parseFloat(a[1]),O=parseFloat(a[2]),k=u/2,L=S/2,M=O/2,A=Math.sin(k)*Math.cos(L)*Math.cos(M)-Math.cos(k)*Math.sin(L)*Math.sin(M),q=Math.cos(k)*Math.sin(L)*Math.cos(M)+Math.sin(k)*Math.cos(L)*Math.sin(M),D=Math.cos(k)*Math.cos(L)*Math.sin(M)-Math.sin(k)*Math.sin(L)*Math.cos(M),z=Math.cos(k)*Math.cos(L)*Math.cos(M)+Math.sin(k)*Math.sin(L)*Math.sin(M);f=new n({x:A,y:q,z:D,w:z}),f.normalize()}this.origin=new m({position:o,orientation:f})}}return at=i,at}var he={},vr;function Dr(){return vr||(vr=1,he.DOMImplementation=window.DOMImplementation,he.XMLSerializer=window.XMLSerializer,he.DOMParser=window.DOMParser),he}var ct,pr;function Ir(){if(pr)return ct;pr=1;var m=rt(),r=fr(),n=jr(),i=Dr().DOMParser;function s(l){l=l||{};var b=l.xml,g=l.string;if(this.materials={},this.links={},this.joints={},g){var d=new i;b=d.parseFromString(g,"text/xml")}var v=b.documentElement;this.name=v.getAttribute("name");for(var o=v.childNodes,a=0;a<o.length;a++){var f=o[a];if(f.tagName==="material"){var u=new m({xml:f});this.materials[u.name]!==void 0?this.materials[u.name].isLink()?this.materials[u.name].assign(u):console.warn("Material "+u.name+"is not unique."):this.materials[u.name]=u}else if(f.tagName==="link"){var S=new r({xml:f});if(this.links[S.name]!==void 0)console.warn("Link "+S.name+" is not unique.");else{for(var O=0;O<S.visuals.length;O++){var k=S.visuals[O].material;k!==null&&k.name&&(this.materials[k.name]!==void 0?S.visuals[O].material=this.materials[k.name]:this.materials[k.name]=k)}this.links[S.name]=S}}else if(f.tagName==="joint"){var L=new n({xml:f});this.joints[L.name]=L}}}return ct=s,ct}var ut,mr;function Gr(){return mr||(mr=1,ut=ie({UrdfBox:Kt(),UrdfColor:er(),UrdfCylinder:rr(),UrdfLink:fr(),UrdfMaterial:rt(),UrdfMesh:nr(),UrdfModel:Ir(),UrdfSphere:ar(),UrdfVisual:ur()},fe())),ut}var ae=K.ROSLIB||{REVISION:"1.4.1"},ve=ie;ve(ae,Ur()),ve(ae,Nr()),ve(ae,Fr()),ve(ae,Pr()),ve(ae,Gr());var Br=ae;const ne=Q(Br),pe={EVENT_CONNECTED:"connected",EVENT_DISCONNECTED:"disconnected"};class zr extends dr{constructor(n){super();H(this,"onFail",()=>{this.connected&&this.emit(pe.EVENT_DISCONNECTED),this.connected=!1,this.connectScheduled||(this.connectScheduled=!0,setTimeout(this.connect,this.options.reconnectInterval))});H(this,"onSuccess",()=>{this.connected||(this.connected=!0,this.emit(pe.EVENT_CONNECTED,this.rosInstance))});H(this,"connect",()=>{this.connectScheduled=!1,this.rosInstance=new ne.Ros({url:this.options.url}),this.rosInstance.on("close",this.onFail),this.rosInstance.on("error",this.onFail),this.rosInstance.on("connection",this.onSuccess)});H(this,"getInstance",async()=>this.connected?this.rosInstance:new Promise(n=>this.on(pe.EVENT_CONNECTED,n)));this.connected=!1,this.connectScheduled=!1,this.rosInstance=null,this.options=n,this.connect()}}class Vr{constructor(r){H(this,"call",(r,n,i)=>this.connection.getInstance().then(s=>new Promise((l,b)=>{const g=new ne.Service({ros:s,name:r,serviceType:n}),d=new ne.ServiceRequest(i);g.callService(d,l,b)})));this.connection=r}}class Wr{constructor(r){H(this,"getSignature",(r,n)=>`${n}/${r}`);H(this,"listen",(r,n,i,s)=>{this.registeredTopics[s].listener=new ne.Topic({ros:r,name:n,messageType:i}),this.registeredTopics[s].listener.subscribe(l=>{const b=this.registeredTopics[s].handlers.length;for(let g=0;g<b;g++)this.registeredTopics[s].handlers[g](l)})});H(this,"connectAndListen",(r,n,i)=>this.connection.getInstance().then(s=>{this.listen(s,r,n,i)}));H(this,"publish",(r,n,i)=>this.connection.getInstance().then(s=>{const l=new ne.Topic({ros:s,name:r,messageType:n}),b=new ne.Message(i);l.publish(b)}));H(this,"subscribe",(r,n,i)=>{const s=this.getSignature(r,n);return s in this.registeredTopics?this.registeredTopics[s].handlers.push(i):(this.registeredTopics[s]={options:{name:r,messageType:n},listener:void 0,handlers:[i]},this.connectAndListen(r,n,s)),{dispose:()=>{const l=this.registeredTopics[s].handlers.indexOf(i);l!==-1&&(this.registeredTopics[s].handlers.splice(l,1),!this.registeredTopics[s].handlers.length&&this.registeredTopics[s].listener&&(this.registeredTopics[s].listener.unsubscribe(),this.registeredTopics[s].listener=null,delete this.registeredTopics[s]))}}});H(this,"onDisconnected",()=>{for(const r of Object.values(this.registeredTopics))r.listener&&(r.listener.unsubscribe(),r.listener=null)});H(this,"onConnected",r=>{Object.keys(this.registeredTopics).forEach(n=>{const i=this.registeredTopics[n];i.listener===null&&i.handlers.length&&(this.listen(r,i.options.name,i.options.messageType,n),i.listener=null)})});this.connection=r,this.registeredTopics={},this.connection.on(pe.EVENT_DISCONNECTED,this.onDisconnected),this.connection.on(pe.EVENT_CONNECTED,this.onConnected)}}class Jr{constructor(r){H(this,"get",r=>this.connection.getInstance().then(n=>new ne.TFClient({...r,ros:n})));this.connection=r}}class Qr{constructor(r){const n=new zr({url:"ws://localhost:9090",reconnectInterval:5e3,...r});n.setMaxListeners(500),this.connection=n,this.service=new Vr(n),this.topic=new Wr(n),this.tfClient=new Jr(n)}}return Qr});