diff --git a/CHANGELOG.md b/CHANGELOG.md
index 78ed8ce..278ea4f 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,4 +1,6 @@
 DEVEL - **r2**
+ * Shift added to grid client to center on map [(rctoris)](https://github.com/rctoris/)
+ * OccupancyGridClientNav now correctly uses the topic parameter [(rctoris)](https://github.com/rctoris/)
 
 2013-04-15 - **r1**
  * Initial development of NAV2D [(rctoris)](https://github.com/rctoris/)
diff --git a/README.md b/README.md
index 51de5f2..60b78a1 100644
--- a/README.md
+++ b/README.md
@@ -22,7 +22,7 @@ nav2djs depends on:
 
 [EaselJS](https://github.com/CreateJS/EaselJS/). The current supported version is 0.6.0. The current supported version can be found [in this project](include/EaselJS/easeljs.js) or on the Robot Web Tools CDN: ([full](http://cdn.robotwebtools.org/EaselJS/0.6.0/easeljs.js)) | ([min](http://cdn.robotwebtools.org/EaselJS/0.6.0/easeljs.min.js))
 
-[ros2djs](https://github.com/RobotWebTools/ros2djs). The current supported version is r1. The current supported version can be found [in this project](include/ros2djs/ros2d.js) or on the Robot Web Tools CDN: ([full](http://cdn.robotwebtools.org/ros2djs/r1/ros2d.js)) | ([min](http://cdn.robotwebtools.org/ros2djs/r1/ros2d.min.js))
+[ros2djs](https://github.com/RobotWebTools/ros2djs). The current supported version is r2. The current supported version can be found [in this project](include/ros2djs/ros2d.js) or on the Robot Web Tools CDN: ([full](http://cdn.robotwebtools.org/ros2djs/r2/ros2d.js)) | ([min](http://cdn.robotwebtools.org/ros2djs/r2/ros2d.min.js))
 
 ### Build
 Checkout [utils/README.md](utils/README.md) for details on building.
diff --git a/build/nav2d.js b/build/nav2d.js
index 1d2ce50..605f29f 100644
--- a/build/nav2d.js
+++ b/build/nav2d.js
@@ -164,7 +164,8 @@ NAV2D.OccupancyGridClientNav = function(options) {
   var client = new ROS2D.OccupancyGridClient({
     ros : this.ros,
     rootObject : this.rootObject,
-    continuous : continuous
+    continuous : continuous,
+    topic : topic
   });
   client.on('change', function() {
     that.navigator = new NAV2D.Navigator({
@@ -175,6 +176,7 @@ NAV2D.OccupancyGridClientNav = function(options) {
     });
     
     // scale the viewer to fit the map
+    that.viewer.shift(client.currentGrid.pose.position.x, client.currentGrid.pose.position.y);
     that.viewer.scaleToDimensions(client.currentGrid.width, client.currentGrid.height);
   });
 };
diff --git a/build/nav2d.min.js b/build/nav2d.min.js
index a0ec33b..89cc61b 100644
--- a/build/nav2d.min.js
+++ b/build/nav2d.min.js
@@ -1 +1 @@
-var NAV2D=NAV2D||{REVISION:"2-devel"};NAV2D.Navigator=function(e){function o(e){var o=new ROSLIB.Goal({actionClient:n,goalMessage:{target_pose:{header:{frame_id:"/map"},pose:e}}});o.send();var a=new ROS2D.NavigationArrow({size:8,strokeSize:1,fillColor:createjs.Graphics.getRGB(255,64,128,.66),pulse:!0});a.x=e.position.x,a.y=-e.position.y,a.rotation=s.rosQuaternionToGlobalTheta(e.orientation),a.scaleX=1/s.scaleX,a.scaleY=1/s.scaleY,t.rootObject.addChild(a),o.on("result",function(){t.rootObject.removeChild(a)})}var t=this;e=e||{};var a=e.ros,r=e.serverName||"/move_base",i=e.actionName||"move_base_msgs/MoveBaseAction";this.rootObject=e.rootObject||new createjs.Container;var s,n=new ROSLIB.ActionClient({ros:a,actionName:i,serverName:r});s=t.rootObject instanceof createjs.Stage?t.rootObject:t.rootObject.getStage();var c=new ROS2D.NavigationArrow({size:12,strokeSize:1,fillColor:createjs.Graphics.getRGB(255,128,0,.66),pulse:!0});c.visible=!1,this.rootObject.addChild(c);var l=!1,v=new ROSLIB.Topic({ros:a,name:"/robot_pose",messageType:"geometry_msgs/Pose",throttle_rate:100});v.subscribe(function(e){c.x=e.position.x,c.y=-e.position.y,l||(c.scaleX=1/s.scaleX,c.scaleY=1/s.scaleY,l=!0),c.rotation=s.rosQuaternionToGlobalTheta(e.orientation),c.visible=!0}),this.rootObject.addEventListener("dblclick",function(e){var t=s.globalToRos(e.stageX,e.stageY),a=new ROSLIB.Pose({position:new ROSLIB.Vector3(t)});o(a)})},NAV2D.OccupancyGridClientNav=function(e){var o=this;e=e||{},this.ros=e.ros,e.topic||"/map";var t=e.continuous;this.serverName=e.serverName||"/move_base",this.actionName=e.actionName||"move_base_msgs/MoveBaseAction",this.rootObject=e.rootObject||new createjs.Container,this.viewer=e.viewer,this.navigator=null;var a=new ROS2D.OccupancyGridClient({ros:this.ros,rootObject:this.rootObject,continuous:t});a.on("change",function(){o.navigator=new NAV2D.Navigator({ros:o.ros,serverName:o.serverName,actionName:o.actionName,rootObject:o.rootObject}),o.viewer.scaleToDimensions(a.currentGrid.width,a.currentGrid.height)})};
\ No newline at end of file
+var NAV2D=NAV2D||{REVISION:"2-devel"};NAV2D.Navigator=function(e){function o(e){var o=new ROSLIB.Goal({actionClient:n,goalMessage:{target_pose:{header:{frame_id:"/map"},pose:e}}});o.send();var r=new ROS2D.NavigationArrow({size:8,strokeSize:1,fillColor:createjs.Graphics.getRGB(255,64,128,.66),pulse:!0});r.x=e.position.x,r.y=-e.position.y,r.rotation=s.rosQuaternionToGlobalTheta(e.orientation),r.scaleX=1/s.scaleX,r.scaleY=1/s.scaleY,t.rootObject.addChild(r),o.on("result",function(){t.rootObject.removeChild(r)})}var t=this;e=e||{};var r=e.ros,i=e.serverName||"/move_base",a=e.actionName||"move_base_msgs/MoveBaseAction";this.rootObject=e.rootObject||new createjs.Container;var s,n=new ROSLIB.ActionClient({ros:r,actionName:a,serverName:i});s=t.rootObject instanceof createjs.Stage?t.rootObject:t.rootObject.getStage();var c=new ROS2D.NavigationArrow({size:12,strokeSize:1,fillColor:createjs.Graphics.getRGB(255,128,0,.66),pulse:!0});c.visible=!1,this.rootObject.addChild(c);var l=!1,v=new ROSLIB.Topic({ros:r,name:"/robot_pose",messageType:"geometry_msgs/Pose",throttle_rate:100});v.subscribe(function(e){c.x=e.position.x,c.y=-e.position.y,l||(c.scaleX=1/s.scaleX,c.scaleY=1/s.scaleY,l=!0),c.rotation=s.rosQuaternionToGlobalTheta(e.orientation),c.visible=!0}),this.rootObject.addEventListener("dblclick",function(e){var t=s.globalToRos(e.stageX,e.stageY),r=new ROSLIB.Pose({position:new ROSLIB.Vector3(t)});o(r)})},NAV2D.OccupancyGridClientNav=function(e){var o=this;e=e||{},this.ros=e.ros;var t=e.topic||"/map",r=e.continuous;this.serverName=e.serverName||"/move_base",this.actionName=e.actionName||"move_base_msgs/MoveBaseAction",this.rootObject=e.rootObject||new createjs.Container,this.viewer=e.viewer,this.navigator=null;var i=new ROS2D.OccupancyGridClient({ros:this.ros,rootObject:this.rootObject,continuous:r,topic:t});i.on("change",function(){o.navigator=new NAV2D.Navigator({ros:o.ros,serverName:o.serverName,actionName:o.actionName,rootObject:o.rootObject}),o.viewer.shift(i.currentGrid.pose.position.x,i.currentGrid.pose.position.y),o.viewer.scaleToDimensions(i.currentGrid.width,i.currentGrid.height)})};
\ No newline at end of file
diff --git a/include/ros2djs/ros2d.js b/include/ros2djs/ros2d.js
index b0fdab3..8f95ec0 100644
--- a/include/ros2djs/ros2d.js
+++ b/include/ros2djs/ros2d.js
@@ -3,13 +3,12 @@
  */
 
 var ROS2D = ROS2D || {
-  REVISION : '1'
+  REVISION : '2-devel'
 };
 
 // convert the given global Stage coordinates to ROS coordinates
 createjs.Stage.prototype.globalToRos = function(x, y) {
-  var rosX = x / this.scaleX;
-  // change Y direction
+  var rosX = (x - this.x) / this.scaleX;
   var rosY = (this.y - y) / this.scaleY;
   return {
     x : rosX,
@@ -102,10 +101,16 @@ ROS2D.OccupancyGrid = function(options) {
   createjs.Bitmap.call(this, canvas);
   // change Y direction
   this.y = -this.height * message.info.resolution;
+  
+  // scale the image
   this.scaleX = message.info.resolution;
   this.scaleY = message.info.resolution;
   this.width *= this.scaleX;
   this.height *= this.scaleY;
+
+  // set the pose
+  this.x += this.pose.position.x;
+  this.y -= this.pose.position.y;
 };
 ROS2D.OccupancyGrid.prototype.__proto__ = createjs.Bitmap.prototype;
 
@@ -165,6 +170,57 @@ ROS2D.OccupancyGridClient = function(options) {
 };
 ROS2D.OccupancyGridClient.prototype.__proto__ = EventEmitter2.prototype;
 
+/**
+ * @author Jihoon Lee- jihoonlee.in@gmail.com
+ * @author Russell Toris - rctoris@wpi.edu
+ */
+
+/**
+ * A static map that receives from map_server.
+ *
+ * Emits the following events:
+ *   * 'change' - there was an update or change in the map
+ *
+ * @constructor
+ * @param options - object with following keys:
+ *   * ros - the ROSLIB.Ros connection handle
+ *   * service (optional) - the map topic to listen to, like '/static_map'
+ *   * rootObject (optional) - the root object to add this marker to
+ */
+ROS2D.OccupancyGridSrvClient = function(options) {
+  var that = this;
+  options = options || {};
+  var ros = options.ros;
+  var service = options.service || '/static_map';
+  this.rootObject = options.rootObject || new createjs.Container();
+
+  // current grid that is displayed
+  this.currentGrid = null;
+
+  // Setting up to the service
+  var rosService = new ROSLIB.Service({
+    ros : ros,
+    name : service,
+    serviceType : 'nav_msgs/GetMap',
+    compression : 'png'
+  });
+
+  rosService.callService(new ROSLIB.ServiceRequest(),function(response) {
+    // check for an old map
+    if (that.currentGrid) {
+      that.rootObject.removeChild(that.currentGrid);
+    }
+
+    that.currentGrid = new ROS2D.OccupancyGrid({
+      message : response.map
+    });
+    that.rootObject.addChild(that.currentGrid);
+
+    that.emit('change', that.currentGrid);
+  });
+};
+ROS2D.OccupancyGridSrvClient.prototype.__proto__ = EventEmitter2.prototype;
+
 /**
  * @author Russell Toris - rctoris@wpi.edu
  */
@@ -286,6 +342,23 @@ ROS2D.Viewer.prototype.addObject = function(object) {
  * @param height - the height to scale to in meters
  */
 ROS2D.Viewer.prototype.scaleToDimensions = function(width, height) {
+  // store the actual offset in the ROS coordinate system
+  var tmpY = this.height - (this.scene.y * this.scene.scaleY);
   this.scene.scaleX = this.width / width;
   this.scene.scaleY = this.height / height;
+  // reset the offset
+  this.scene.x = (this.scene.x * this.scene.scaleX);
+  this.scene.y -= (tmpY * this.scene.scaleY) - tmpY;
+};
+
+/**
+ * Shift the main view of the canvas by the given amount. This is based on the
+ * ROS coordinate system. That is, Y is opposite that of a traditional canvas.
+ *
+ * @param x - the amount to shift by in the x direction in meters
+ * @param y - the amount to shift by in the y direction in meters
+ */
+ROS2D.Viewer.prototype.shift = function(x, y) {
+  this.scene.x -= (x * this.scene.scaleX);
+  this.scene.y += (y * this.scene.scaleY);
 };
diff --git a/src/navigator/OccupancyGridClientNav.js b/src/navigator/OccupancyGridClientNav.js
index d4df216..9372224 100644
--- a/src/navigator/OccupancyGridClientNav.js
+++ b/src/navigator/OccupancyGridClientNav.js
@@ -33,7 +33,8 @@ NAV2D.OccupancyGridClientNav = function(options) {
   var client = new ROS2D.OccupancyGridClient({
     ros : this.ros,
     rootObject : this.rootObject,
-    continuous : continuous
+    continuous : continuous,
+    topic : topic
   });
   client.on('change', function() {
     that.navigator = new NAV2D.Navigator({
@@ -44,6 +45,7 @@ NAV2D.OccupancyGridClientNav = function(options) {
     });
     
     // scale the viewer to fit the map
+    that.viewer.shift(client.currentGrid.pose.position.x, client.currentGrid.pose.position.y);
     that.viewer.scaleToDimensions(client.currentGrid.width, client.currentGrid.height);
   });
 };