diff --git a/build/ros2d.min.js b/build/ros2d.min.js
index 8e16534..22b9efe 100644
--- a/build/ros2d.min.js
+++ b/build/ros2d.min.js
@@ -1 +1 @@
-var ROS2D=ROS2D||{REVISION:"0.9.0"};createjs.Stage.prototype.globalToRos=function(a,b){var c=(a-this.x)/this.scaleX,d=(this.y-b)/this.scaleY;return new ROSLIB.Vector3({x:c,y:d})},createjs.Stage.prototype.rosToGlobal=function(a){var b=a.x*this.scaleX+this.x,c=a.y*this.scaleY+this.y;return{x:b,y:c}},createjs.Stage.prototype.rosQuaternionToGlobalTheta=function(a){var b=a.w,c=a.x,d=a.y,e=a.z;return 180*-Math.atan2(2*(b*e+c*d),1-2*(d*d+e*e))/Math.PI},ROS2D.ImageMap=function(a){a=a||{};var b=a.message,c=a.image;this.pose=new ROSLIB.Pose({position:b.origin.position,orientation:b.origin.orientation}),this.width=b.width,this.height=b.height,createjs.Bitmap.call(this,c),this.y=-this.height*b.resolution,this.scaleX=b.resolution,this.scaleY=b.resolution,this.width*=this.scaleX,this.height*=this.scaleY,this.x+=this.pose.position.x,this.y-=this.pose.position.y},ROS2D.ImageMap.prototype.__proto__=createjs.Bitmap.prototype,ROS2D.ImageMapClient=function(a){var b=this;a=a||{};var c=a.ros,d=a.topic||"/map_metadata";this.image=a.image,this.rootObject=a.rootObject||new createjs.Container,this.currentImage=new createjs.Shape;var e=new ROSLIB.Topic({ros:c,name:d,messageType:"nav_msgs/MapMetaData"});e.subscribe(function(a){e.unsubscribe(),b.currentImage=new ROS2D.ImageMap({message:a,image:b.image}),b.rootObject.addChild(b.currentImage),b.rootObject.addChild(new ROS2D.Grid({size:1})),b.emit("change")})},ROS2D.ImageMapClient.prototype.__proto__=EventEmitter2.prototype,ROS2D.OccupancyGrid=function(a){a=a||{};var b=a.message,c=document.createElement("canvas"),d=c.getContext("2d");this.pose=new ROSLIB.Pose({position:b.info.origin.position,orientation:b.info.origin.orientation}),this.width=b.info.width,this.height=b.info.height,c.width=this.width,c.height=this.height;for(var e=d.createImageData(this.width,this.height),f=0;f<this.height;f++)for(var g=0;g<this.width;g++){var h,i=g+(this.height-f-1)*this.width,j=b.data[i];h=100===j?0:0===j?255:127;var k=4*(g+f*this.width);e.data[k]=h,e.data[++k]=h,e.data[++k]=h,e.data[++k]=255}d.putImageData(e,0,0),createjs.Bitmap.call(this,c),this.y=-this.height*b.info.resolution,this.scaleX=b.info.resolution,this.scaleY=b.info.resolution,this.width*=this.scaleX,this.height*=this.scaleY,this.x+=this.pose.position.x,this.y-=this.pose.position.y},ROS2D.OccupancyGrid.prototype.__proto__=createjs.Bitmap.prototype,ROS2D.OccupancyGridClient=function(a){var b=this;a=a||{};var c=a.ros,d=a.topic||"/map";this.continuous=a.continuous,this.rootObject=a.rootObject||new createjs.Container,this.currentGrid=new createjs.Shape,this.rootObject.addChild(this.currentGrid),this.rootObject.addChild(new ROS2D.Grid({size:1}));var e=new ROSLIB.Topic({ros:c,name:d,messageType:"nav_msgs/OccupancyGrid",compression:"png"});e.subscribe(function(a){var c=null;b.currentGrid&&(c=b.rootObject.getChildIndex(b.currentGrid),b.rootObject.removeChild(b.currentGrid)),b.currentGrid=new ROS2D.OccupancyGrid({message:a}),null!==c?b.rootObject.addChildAt(b.currentGrid,c):b.rootObject.addChild(b.currentGrid),b.emit("change"),b.continuous||e.unsubscribe()})},ROS2D.OccupancyGridClient.prototype.__proto__=EventEmitter2.prototype,ROS2D.OccupancyGridSrvClient=function(a){var b=this;a=a||{};var c=a.ros,d=a.service||"/static_map";this.rootObject=a.rootObject||new createjs.Container,this.currentGrid=null;var e=new ROSLIB.Service({ros:c,name:d,serviceType:"nav_msgs/GetMap",compression:"png"});e.callService(new ROSLIB.ServiceRequest,function(a){b.currentGrid&&b.rootObject.removeChild(b.currentGrid),b.currentGrid=new ROS2D.OccupancyGrid({message:a.map}),b.rootObject.addChild(b.currentGrid),b.emit("change",b.currentGrid)})},ROS2D.OccupancyGridSrvClient.prototype.__proto__=EventEmitter2.prototype,ROS2D.ArrowShape=function(a){var b=this;a=a||{};var c=a.size||10,d=a.strokeSize||3,e=a.strokeColor||createjs.Graphics.getRGB(0,0,0),f=a.fillColor||createjs.Graphics.getRGB(255,0,0),g=a.pulse,h=new createjs.Graphics,i=c/3,j=2*i/3;if(h.setStrokeStyle(d),h.beginStroke(e),h.moveTo(0,0),h.lineTo(c-i,0),h.beginFill(f),h.moveTo(c,0),h.lineTo(c-i,j/2),h.lineTo(c-i,-j/2),h.closePath(),h.endFill(),h.endStroke(),createjs.Shape.call(this,h),g){var k=0,l=!0;createjs.Ticker.addEventListener("tick",function(){l?(b.scaleX*=1.035,b.scaleY*=1.035,l=++k<10):(b.scaleX/=1.035,b.scaleY/=1.035,l=--k<0)})}},ROS2D.ArrowShape.prototype.__proto__=createjs.Shape.prototype,ROS2D.Grid=function(a){a=a||{};var b=a.size||10,c=a.cellSize||.1,d=a.lineWidth||.001,e=new createjs.Graphics;e.setStrokeStyle(5*d),e.beginStroke(createjs.Graphics.getRGB(0,0,0)),e.beginFill(createjs.Graphics.getRGB(255,0,0)),e.moveTo(-b*c,0),e.lineTo(b*c,0),e.moveTo(0,-b*c),e.lineTo(0,b*c),e.endFill(),e.endStroke(),e.setStrokeStyle(d),e.beginStroke(createjs.Graphics.getRGB(0,0,0)),e.beginFill(createjs.Graphics.getRGB(255,0,0));for(var f=-b;f<=b;f++)e.moveTo(-b*c,f*c),e.lineTo(b*c,f*c),e.moveTo(f*c,-b*c),e.lineTo(f*c,b*c);e.endFill(),e.endStroke(),createjs.Shape.call(this,e)},ROS2D.Grid.prototype.__proto__=createjs.Shape.prototype,ROS2D.NavigationArrow=function(a){var b=this;a=a||{};var c=a.size||10,d=a.strokeSize||3,e=a.strokeColor||createjs.Graphics.getRGB(0,0,0),f=a.fillColor||createjs.Graphics.getRGB(255,0,0),g=a.pulse,h=new createjs.Graphics;if(h.setStrokeStyle(d),h.moveTo(-c/2,-c/2),h.beginStroke(e),h.beginFill(f),h.lineTo(c,0),h.lineTo(-c/2,c/2),h.closePath(),h.endFill(),h.endStroke(),createjs.Shape.call(this,h),g){var i=0,j=!0;createjs.Ticker.addEventListener("tick",function(){j?(b.scaleX*=1.035,b.scaleY*=1.035,j=++i<10):(b.scaleX/=1.035,b.scaleY/=1.035,j=--i<0)})}},ROS2D.NavigationArrow.prototype.__proto__=createjs.Shape.prototype,ROS2D.NavigationImage=function(a){var b=this;a=a||{};var c=a.size||10,d=a.image,e=a.pulse,f=a.alpha||1,g={},h=function(){createjs.Bitmap.call(b,j);var a=i(c);if(b.alpha=f,b.scaleX=a,b.scaleY=a,b.regY=b.image.height/2,b.regX=b.image.width/2,g.rotation=b.rotation,Object.defineProperty(b,"rotation",{get:function(){return g.rotation+90},set:function(a){g.rotation=a}}),e){var d=0,h=!0,k=1.02;createjs.Ticker.addEventListener("tick",function(){h?(b.scaleX*=k,b.scaleY*=k,h=++d<10):(b.scaleX/=k,b.scaleY/=k,h=--d<0)})}},i=function(a){return a/j.width},j=new Image;j.onload=h,j.src=d},ROS2D.NavigationImage.prototype.__proto__=createjs.Bitmap.prototype,ROS2D.PathShape=function(a){a=a||{};var b=a.path;if(this.strokeSize=a.strokeSize||3,this.strokeColor=a.strokeColor||createjs.Graphics.getRGB(0,0,0),this.graphics=new createjs.Graphics,null!==b&&"undefined"!=typeof b){this.graphics.setStrokeStyle(this.strokeSize),this.graphics.beginStroke(this.strokeColor),this.graphics.moveTo(b.poses[0].pose.position.x/this.scaleX,b.poses[0].pose.position.y/-this.scaleY);for(var c=1;c<b.poses.length;++c)this.graphics.lineTo(b.poses[c].pose.position.x/this.scaleX,b.poses[c].pose.position.y/-this.scaleY);this.graphics.endStroke()}createjs.Shape.call(this,this.graphics)},ROS2D.PathShape.prototype.setPath=function(a){if(this.graphics.clear(),null!==a&&"undefined"!=typeof a){this.graphics.setStrokeStyle(this.strokeSize),this.graphics.beginStroke(this.strokeColor),this.graphics.moveTo(a.poses[0].pose.position.x/this.scaleX,a.poses[0].pose.position.y/-this.scaleY);for(var b=1;b<a.poses.length;++b)this.graphics.lineTo(a.poses[b].pose.position.x/this.scaleX,a.poses[b].pose.position.y/-this.scaleY);this.graphics.endStroke()}},ROS2D.PathShape.prototype.__proto__=createjs.Shape.prototype,ROS2D.PolygonMarker=function(a){a=a||{},this.lineSize=a.lineSize||3,this.lineColor=a.lineColor||createjs.Graphics.getRGB(0,0,255,.66),this.pointSize=a.pointSize||10,this.pointColor=a.pointColor||createjs.Graphics.getRGB(255,0,0,.66),this.fillColor=a.pointColor||createjs.Graphics.getRGB(0,255,0,.33),this.lineCallBack=a.lineCallBack,this.pointCallBack=a.pointCallBack,this.pointContainer=new createjs.Container,this.lineContainer=new createjs.Container,this.fillShape=new createjs.Shape,createjs.Container.call(this),this.addChild(this.fillShape),this.addChild(this.lineContainer),this.addChild(this.pointContainer)},ROS2D.PolygonMarker.prototype.createLineShape=function(a,b){var c=new createjs.Shape;this.editLineShape(c,a,b);var d=this;return c.addEventListener("mousedown",function(a){null!==d.lineCallBack&&"undefined"!=typeof d.lineCallBack&&d.lineCallBack("mousedown",a,d.lineContainer.getChildIndex(a.target))}),c},ROS2D.PolygonMarker.prototype.editLineShape=function(a,b,c){a.graphics.clear(),a.graphics.setStrokeStyle(this.lineSize),a.graphics.beginStroke(this.lineColor),a.graphics.moveTo(b.x,b.y),a.graphics.lineTo(c.x,c.y)},ROS2D.PolygonMarker.prototype.createPointShape=function(a){var b=new createjs.Shape;b.graphics.beginFill(this.pointColor),b.graphics.drawCircle(0,0,this.pointSize),b.x=a.x,b.y=-a.y;var c=this;return b.addEventListener("mousedown",function(a){null!==c.pointCallBack&&"undefined"!=typeof c.pointCallBack&&c.pointCallBack("mousedown",a,c.pointContainer.getChildIndex(a.target))}),b},ROS2D.PolygonMarker.prototype.addPoint=function(a){var b=this.createPointShape(a);this.pointContainer.addChild(b);var c=this.pointContainer.getNumChildren();if(c<2);else if(c<3){var d=this.createLineShape(this.pointContainer.getChildAt(c-2),b);this.lineContainer.addChild(d)}if(c>2&&this.editLineShape(this.lineContainer.getChildAt(c-2),this.pointContainer.getChildAt(c-2),b),c>1){var e=this.createLineShape(b,this.pointContainer.getChildAt(0));this.lineContainer.addChild(e)}this.drawFill()},ROS2D.PolygonMarker.prototype.remPoint=function(a){var b;b=a instanceof createjs.Shape?this.pointContainer.getChildIndex(a):a;var c=this.pointContainer.getNumChildren();c<2||(c<3?this.lineContainer.removeAllChildren():(this.editLineShape(this.lineContainer.getChildAt((b-1+c)%c),this.pointContainer.getChildAt((b-1+c)%c),this.pointContainer.getChildAt((b+1)%c)),this.lineContainer.removeChildAt(b))),this.pointContainer.removeChildAt(b),this.drawFill()},ROS2D.PolygonMarker.prototype.movePoint=function(a,b){var c,d;a instanceof createjs.Shape?(c=this.pointContainer.getChildIndex(a),d=a):(c=a,d=this.pointContainer.getChildAt(c)),d.x=b.x,d.y=-b.y;var e=this.pointContainer.getNumChildren();if(e>1){var f=this.lineContainer.getChildAt((c-1+e)%e);this.editLineShape(f,this.pointContainer.getChildAt((c-1+e)%e),d);var g=this.lineContainer.getChildAt(c);this.editLineShape(g,d,this.pointContainer.getChildAt((c+1)%e))}this.drawFill()},ROS2D.PolygonMarker.prototype.splitLine=function(a){var b,c;a instanceof createjs.Shape?(b=this.lineContainer.getChildIndex(a),c=a):(b=a,c=this.lineContainer.getChildAt(b));var d=this.pointContainer.getNumChildren(),e=this.pointContainer.getChildAt(b).x,f=this.pointContainer.getChildAt(b).y,g=this.pointContainer.getChildAt((b+1)%d).x,h=this.pointContainer.getChildAt((b+1)%d).y,i=(e+g)/2,j=(f+h)/2,k=new ROSLIB.Vector3({x:i,y:-j}),l=this.createPointShape(k);this.pointContainer.addChildAt(l,b+1),++d;var m=this.createLineShape(l,this.pointContainer.getChildAt((b+2)%d));this.lineContainer.addChildAt(m,b+1),this.editLineShape(c,this.pointContainer.getChildAt(b),l),this.drawFill()},ROS2D.PolygonMarker.prototype.drawFill=function(){var a=this.pointContainer.getNumChildren();if(a>2){var b=this.fillShape.graphics;b.clear(),b.setStrokeStyle(0),b.moveTo(this.pointContainer.getChildAt(0).x,this.pointContainer.getChildAt(0).y),b.beginStroke(),b.beginFill(this.fillColor);for(var c=1;c<a;++c)b.lineTo(this.pointContainer.getChildAt(c).x,this.pointContainer.getChildAt(c).y);b.closePath(),b.endFill(),b.endStroke()}else this.fillShape.graphics.clear()},ROS2D.PolygonMarker.prototype.__proto__=createjs.Container.prototype,ROS2D.TraceShape=function(a){a=a||{};var b=a.pose;this.strokeSize=a.strokeSize||3,this.strokeColor=a.strokeColor||createjs.Graphics.getRGB(0,0,0),this.maxPoses=a.maxPoses||100,this.minDist=a.minDist||.05,this.minDist=this.minDist*this.minDist,this.poses=[],this.graphics=new createjs.Graphics,this.graphics.setStrokeStyle(this.strokeSize),this.graphics.beginStroke(this.strokeColor),null!==b&&"undefined"!=typeof b&&this.poses.push(b),createjs.Shape.call(this,this.graphics)},ROS2D.TraceShape.prototype.addPose=function(a){var b=this.poses.length-1;if(b<0)this.poses.push(a),this.graphics.moveTo(a.position.x/this.scaleX,a.position.y/-this.scaleY);else{var c=this.poses[b].position.x,d=this.poses[b].position.y,e=a.position.x-c,f=a.position.y-d;e*e+f*f>this.minDist&&(this.graphics.lineTo(a.position.x/this.scaleX,a.position.y/-this.scaleY),this.poses.push(a))}this.maxPoses>0&&this.maxPoses<this.poses.length&&this.popFront()},ROS2D.TraceShape.prototype.popFront=function(){if(this.poses.length>0){this.poses.shift(),this.graphics.clear(),this.graphics.setStrokeStyle(this.strokeSize),this.graphics.beginStroke(this.strokeColor),this.graphics.lineTo(this.poses[0].position.x/this.scaleX,this.poses[0].position.y/-this.scaleY);for(var a=1;a<this.poses.length;++a)this.graphics.lineTo(this.poses[a].position.x/this.scaleX,this.poses[a].position.y/-this.scaleY)}},ROS2D.TraceShape.prototype.__proto__=createjs.Shape.prototype,ROS2D.PanView=function(a){a=a||{},this.rootObject=a.rootObject,this.rootObject instanceof createjs.Stage?this.stage=this.rootObject:this.stage=this.rootObject.getStage(),this.startPos=new ROSLIB.Vector3},ROS2D.PanView.prototype.startPan=function(a,b){this.startPos.x=a,this.startPos.y=b},ROS2D.PanView.prototype.pan=function(a,b){this.stage.x+=a-this.startPos.x,this.startPos.x=a,this.stage.y+=b-this.startPos.y,this.startPos.y=b},ROS2D.Viewer=function(a){a=a||{};var b=a.divID;this.width=a.width,this.height=a.height;var c=a.background||"#111111",d=document.createElement("canvas");d.width=this.width,d.height=this.height,d.style.background=c,document.getElementById(b).appendChild(d),this.scene=new createjs.Stage(d),this.scene.y=this.height,document.getElementById(b).appendChild(d),createjs.Ticker.setFPS(30),createjs.Ticker.addEventListener("tick",this.scene)},ROS2D.Viewer.prototype.addObject=function(a){this.scene.addChild(a)},ROS2D.Viewer.prototype.scaleToDimensions=function(a,b){this.scene.x="undefined"!=typeof this.scene.x_prev_shift?this.scene.x_prev_shift:this.scene.x,this.scene.y="undefined"!=typeof this.scene.y_prev_shift?this.scene.y_prev_shift:this.scene.y,this.scene.scaleX=this.width/a,this.scene.scaleY=this.height/b},ROS2D.Viewer.prototype.shift=function(a,b){this.scene.x_prev_shift=this.scene.x,this.scene.y_prev_shift=this.scene.y,this.scene.x-=a*this.scene.scaleX,this.scene.y+=b*this.scene.scaleY},ROS2D.ZoomView=function(a){a=a||{},this.rootObject=a.rootObject,this.minScale=a.minScale||.001,this.rootObject instanceof createjs.Stage?this.stage=this.rootObject:this.stage=this.rootObject.getStage(),this.center=new ROSLIB.Vector3,this.startShift=new ROSLIB.Vector3,this.startScale=new ROSLIB.Vector3},ROS2D.ZoomView.prototype.startZoom=function(a,b){this.center.x=a,this.center.y=b,this.startShift.x=this.stage.x,this.startShift.y=this.stage.y,this.startScale.x=this.stage.scaleX,this.startScale.y=this.stage.scaleY},ROS2D.ZoomView.prototype.zoom=function(a){this.startScale.x*a<this.minScale&&(a=this.minScale/this.startScale.x),this.startScale.y*a<this.minScale&&(a=this.minScale/this.startScale.y),this.stage.scaleX=this.startScale.x*a,this.stage.scaleY=this.startScale.y*a,this.stage.x=this.startShift.x-(this.center.x-this.startShift.x)*(this.stage.scaleX/this.startScale.x-1),this.stage.y=this.startShift.y-(this.center.y-this.startShift.y)*(this.stage.scaleY/this.startScale.y-1)};
\ No newline at end of file
+var ROS2D=ROS2D||{REVISION:"0.9.0"};createjs.Stage.prototype.globalToRos=function(t,e){t=(t-this.x)/this.scaleX,e=(this.y-e)/this.scaleY;return new ROSLIB.Vector3({x:t,y:e})},createjs.Stage.prototype.rosToGlobal=function(t){return{x:t.x*this.scaleX+this.x,y:t.y*this.scaleY+this.y}},createjs.Stage.prototype.rosQuaternionToGlobalTheta=function(t){var e=t.w,i=t.x,s=t.y,t=t.z;return 180*-Math.atan2(2*(e*t+i*s),1-2*(s*s+t*t))/Math.PI},ROS2D.ImageMap=function(t){var e=(t=t||{}).message,t=t.image;this.pose=new ROSLIB.Pose({position:e.origin.position,orientation:e.origin.orientation}),this.width=e.width,this.height=e.height,createjs.Bitmap.call(this,t),this.y=-this.height*e.resolution,this.scaleX=e.resolution,this.scaleY=e.resolution,this.width*=this.scaleX,this.height*=this.scaleY,this.x+=this.pose.position.x,this.y-=this.pose.position.y},ROS2D.ImageMap.prototype.__proto__=createjs.Bitmap.prototype,ROS2D.ImageMapClient=function(t){var e=this,i=(t=t||{}).ros,s=t.topic||"/map_metadata";this.image=t.image,this.rootObject=t.rootObject||new createjs.Container,this.currentImage=new createjs.Shape;var o=new ROSLIB.Topic({ros:i,name:s,messageType:"nav_msgs/MapMetaData"});o.subscribe(function(t){o.unsubscribe(),e.currentImage=new ROS2D.ImageMap({message:t,image:e.image}),e.rootObject.addChild(e.currentImage),e.rootObject.addChild(new ROS2D.Grid({size:1})),e.emit("change")})},ROS2D.ImageMapClient.prototype.__proto__=EventEmitter2.prototype,ROS2D.OccupancyGrid=function(t){var e=(t=t||{}).message,i=document.createElement("canvas"),t=i.getContext("2d");this.pose=new ROSLIB.Pose({position:e.info.origin.position,orientation:e.info.origin.orientation}),this.width=e.info.width,this.height=e.info.height,i.width=this.width,i.height=this.height;for(var s=t.createImageData(this.width,this.height),o=0;o<this.height;o++)for(var n=0;n<this.width;n++){var r=n+(this.height-o-1)*this.width,a=e.data[r],r=100===a?0:0===a?255:127,a=4*(n+o*this.width);s.data[a]=r,s.data[++a]=r,s.data[++a]=r,s.data[++a]=255}t.putImageData(s,0,0),createjs.Bitmap.call(this,i),this.y=-this.height*e.info.resolution,this.scaleX=e.info.resolution,this.scaleY=e.info.resolution,this.width*=this.scaleX,this.height*=this.scaleY,this.x+=this.pose.position.x,this.y-=this.pose.position.y},ROS2D.OccupancyGrid.prototype.__proto__=createjs.Bitmap.prototype,ROS2D.OccupancyGridClient=function(t){var i=this,e=(t=t||{}).ros,s=t.topic||"/map";this.continuous=t.continuous,this.rootObject=t.rootObject||new createjs.Container,this.currentGrid=new createjs.Shape,this.rootObject.addChild(this.currentGrid),this.rootObject.addChild(new ROS2D.Grid({size:1}));var o=new ROSLIB.Topic({ros:e,name:s,messageType:"nav_msgs/OccupancyGrid",compression:"png"});o.subscribe(function(t){var e=null;i.currentGrid&&(e=i.rootObject.getChildIndex(i.currentGrid),i.rootObject.removeChild(i.currentGrid)),i.currentGrid=new ROS2D.OccupancyGrid({message:t}),null!==e?i.rootObject.addChildAt(i.currentGrid,e):i.rootObject.addChild(i.currentGrid),i.emit("change"),i.continuous||o.unsubscribe()})},ROS2D.OccupancyGridClient.prototype.__proto__=EventEmitter2.prototype,ROS2D.OccupancyGridSrvClient=function(t){var e=this,i=(t=t||{}).ros,s=t.service||"/static_map";this.rootObject=t.rootObject||new createjs.Container,this.currentGrid=null,new ROSLIB.Service({ros:i,name:s,serviceType:"nav_msgs/GetMap",compression:"png"}).callService(new ROSLIB.ServiceRequest,function(t){e.currentGrid&&e.rootObject.removeChild(e.currentGrid),e.currentGrid=new ROS2D.OccupancyGrid({message:t.map}),e.rootObject.addChild(e.currentGrid),e.emit("change",e.currentGrid)})},ROS2D.OccupancyGridSrvClient.prototype.__proto__=EventEmitter2.prototype,ROS2D.ArrowShape=function(t){var e,i,s=this,o=(t=t||{}).size||10,n=t.strokeSize||3,r=t.strokeColor||createjs.Graphics.getRGB(0,0,0),a=t.fillColor||createjs.Graphics.getRGB(255,0,0),h=t.pulse,c=new createjs.Graphics,p=o/3,t=2*p/3;c.setStrokeStyle(n),c.beginStroke(r),c.moveTo(0,0),c.lineTo(o-p,0),c.beginFill(a),c.moveTo(o,0),c.lineTo(o-p,t/2),c.lineTo(o-p,-t/2),c.closePath(),c.endFill(),c.endStroke(),createjs.Shape.call(this,c),h&&(i=!(e=0),createjs.Ticker.addEventListener("tick",function(){i=i?(s.scaleX*=1.035,s.scaleY*=1.035,++e<10):(s.scaleX/=1.035,s.scaleY/=1.035,--e<0)}))},ROS2D.ArrowShape.prototype.__proto__=createjs.Shape.prototype,ROS2D.Grid=function(t){var e=(t=t||{}).size||10,i=t.cellSize||.1,t=t.lineWidth||.001,s=new createjs.Graphics;s.setStrokeStyle(5*t),s.beginStroke(createjs.Graphics.getRGB(0,0,0)),s.beginFill(createjs.Graphics.getRGB(255,0,0)),s.moveTo(-e*i,0),s.lineTo(e*i,0),s.moveTo(0,-e*i),s.lineTo(0,e*i),s.endFill(),s.endStroke(),s.setStrokeStyle(t),s.beginStroke(createjs.Graphics.getRGB(0,0,0)),s.beginFill(createjs.Graphics.getRGB(255,0,0));for(var o=-e;o<=e;o++)s.moveTo(-e*i,o*i),s.lineTo(e*i,o*i),s.moveTo(o*i,-e*i),s.lineTo(o*i,e*i);s.endFill(),s.endStroke(),createjs.Shape.call(this,s)},ROS2D.Grid.prototype.__proto__=createjs.Shape.prototype,ROS2D.NavigationArrow=function(t){var e,i,s=this,o=(t=t||{}).size||10,n=t.strokeSize||3,r=t.strokeColor||createjs.Graphics.getRGB(0,0,0),a=t.fillColor||createjs.Graphics.getRGB(255,0,0),h=t.pulse,t=new createjs.Graphics;t.setStrokeStyle(n),t.moveTo(-o/2,-o/2),t.beginStroke(r),t.beginFill(a),t.lineTo(o,0),t.lineTo(-o/2,o/2),t.closePath(),t.endFill(),t.endStroke(),createjs.Shape.call(this,t),h&&(i=!(e=0),createjs.Ticker.addEventListener("tick",function(){i=i?(s.scaleX*=1.035,s.scaleY*=1.035,++e<10):(s.scaleX/=1.035,s.scaleY/=1.035,--e<0)}))},ROS2D.NavigationArrow.prototype.__proto__=createjs.Shape.prototype,ROS2D.NavigationImage=function(t){var s=this,o=(t=t||{}).size||10,e=t.image,n=t.pulse,r=t.alpha||1,a={},h=function(t){return t/c.width},c=new Image;c.onload=function(){createjs.Bitmap.call(s,c);var t,e,i=h(o);s.alpha=r,s.scaleX=i,s.scaleY=i,s.regY=s.image.height/2,s.regX=s.image.width/2,a.rotation=s.rotation,Object.defineProperty(s,"rotation",{get:function(){return a.rotation+90},set:function(t){a.rotation=t}}),n&&(e=!(t=0),createjs.Ticker.addEventListener("tick",function(){e=e?(s.scaleX*=1.02,s.scaleY*=1.02,++t<10):(s.scaleX/=1.02,s.scaleY/=1.02,--t<0)}))},c.src=e},ROS2D.NavigationImage.prototype.__proto__=createjs.Bitmap.prototype,ROS2D.PathShape=function(t){var e=(t=t||{}).path;if(this.strokeSize=t.strokeSize||3,this.strokeColor=t.strokeColor||createjs.Graphics.getRGB(0,0,0),this.graphics=new createjs.Graphics,null!=e){this.graphics.setStrokeStyle(this.strokeSize),this.graphics.beginStroke(this.strokeColor),this.graphics.moveTo(e.poses[0].pose.position.x/this.scaleX,e.poses[0].pose.position.y/-this.scaleY);for(var i=1;i<e.poses.length;++i)this.graphics.lineTo(e.poses[i].pose.position.x/this.scaleX,e.poses[i].pose.position.y/-this.scaleY);this.graphics.endStroke()}createjs.Shape.call(this,this.graphics)},ROS2D.PathShape.prototype.setPath=function(t){if(this.graphics.clear(),null!=t){this.graphics.setStrokeStyle(this.strokeSize),this.graphics.beginStroke(this.strokeColor),this.graphics.moveTo(t.poses[0].pose.position.x/this.scaleX,t.poses[0].pose.position.y/-this.scaleY);for(var e=1;e<t.poses.length;++e)this.graphics.lineTo(t.poses[e].pose.position.x/this.scaleX,t.poses[e].pose.position.y/-this.scaleY);this.graphics.endStroke()}},ROS2D.PathShape.prototype.__proto__=createjs.Shape.prototype,ROS2D.PolygonMarker=function(t){this.lineSize=(t=t||{}).lineSize||3,this.lineColor=t.lineColor||createjs.Graphics.getRGB(0,0,255,.66),this.pointSize=t.pointSize||10,this.pointColor=t.pointColor||createjs.Graphics.getRGB(255,0,0,.66),this.fillColor=t.pointColor||createjs.Graphics.getRGB(0,255,0,.33),this.lineCallBack=t.lineCallBack,this.pointCallBack=t.pointCallBack,this.pointContainer=new createjs.Container,this.lineContainer=new createjs.Container,this.fillShape=new createjs.Shape,createjs.Container.call(this),this.addChild(this.fillShape),this.addChild(this.lineContainer),this.addChild(this.pointContainer)},ROS2D.PolygonMarker.prototype.createLineShape=function(t,e){var i=new createjs.Shape;this.editLineShape(i,t,e);var s=this;return i.addEventListener("mousedown",function(t){null!==s.lineCallBack&&void 0!==s.lineCallBack&&s.lineCallBack("mousedown",t,s.lineContainer.getChildIndex(t.target))}),i},ROS2D.PolygonMarker.prototype.editLineShape=function(t,e,i){t.graphics.clear(),t.graphics.setStrokeStyle(this.lineSize),t.graphics.beginStroke(this.lineColor),t.graphics.moveTo(e.x,e.y),t.graphics.lineTo(i.x,i.y)},ROS2D.PolygonMarker.prototype.createPointShape=function(t){var e=new createjs.Shape;e.graphics.beginFill(this.pointColor),e.graphics.drawCircle(0,0,this.pointSize),e.x=t.x,e.y=-t.y;var i=this;return e.addEventListener("mousedown",function(t){null!==i.pointCallBack&&void 0!==i.pointCallBack&&i.pointCallBack("mousedown",t,i.pointContainer.getChildIndex(t.target))}),e},ROS2D.PolygonMarker.prototype.addPoint=function(t){var e=this.createPointShape(t);this.pointContainer.addChild(e);var i=this.pointContainer.getNumChildren();i<2||i<3&&(t=this.createLineShape(this.pointContainer.getChildAt(i-2),e),this.lineContainer.addChild(t)),2<i&&this.editLineShape(this.lineContainer.getChildAt(i-2),this.pointContainer.getChildAt(i-2),e),1<i&&(e=this.createLineShape(e,this.pointContainer.getChildAt(0)),this.lineContainer.addChild(e)),this.drawFill()},ROS2D.PolygonMarker.prototype.remPoint=function(t){var e=t instanceof createjs.Shape?this.pointContainer.getChildIndex(t):t,t=this.pointContainer.getNumChildren();t<2||(t<3?this.lineContainer.removeAllChildren():(this.editLineShape(this.lineContainer.getChildAt((e-1+t)%t),this.pointContainer.getChildAt((e-1+t)%t),this.pointContainer.getChildAt((e+1)%t)),this.lineContainer.removeChildAt(e))),this.pointContainer.removeChildAt(e),this.drawFill()},ROS2D.PolygonMarker.prototype.movePoint=function(t,e){var i,s=t instanceof createjs.Shape?(i=this.pointContainer.getChildIndex(t),t):this.pointContainer.getChildAt(i=t);s.x=e.x,s.y=-e.y;t=this.pointContainer.getNumChildren();1<t&&(e=this.lineContainer.getChildAt((i-1+t)%t),this.editLineShape(e,this.pointContainer.getChildAt((i-1+t)%t),s),e=this.lineContainer.getChildAt(i),this.editLineShape(e,s,this.pointContainer.getChildAt((i+1)%t))),this.drawFill()},ROS2D.PolygonMarker.prototype.splitLine=function(t){var e,i=t instanceof createjs.Shape?(e=this.lineContainer.getChildIndex(t),t):this.lineContainer.getChildAt(e=t),s=this.pointContainer.getNumChildren(),o=this.pointContainer.getChildAt(e).x,n=this.pointContainer.getChildAt(e).y,r=this.pointContainer.getChildAt((e+1)%s).x,t=this.pointContainer.getChildAt((e+1)%s).y,t=new ROSLIB.Vector3({x:(o+r)/2,y:-((n+t)/2)}),t=this.createPointShape(t);this.pointContainer.addChildAt(t,e+1);s=this.createLineShape(t,this.pointContainer.getChildAt((e+2)%++s));this.lineContainer.addChildAt(s,e+1),this.editLineShape(i,this.pointContainer.getChildAt(e),t),this.drawFill()},ROS2D.PolygonMarker.prototype.drawFill=function(){var t=this.pointContainer.getNumChildren();if(2<t){var e=this.fillShape.graphics;e.clear(),e.setStrokeStyle(0),e.moveTo(this.pointContainer.getChildAt(0).x,this.pointContainer.getChildAt(0).y),e.beginStroke(),e.beginFill(this.fillColor);for(var i=1;i<t;++i)e.lineTo(this.pointContainer.getChildAt(i).x,this.pointContainer.getChildAt(i).y);e.closePath(),e.endFill(),e.endStroke()}else this.fillShape.graphics.clear()},ROS2D.PolygonMarker.prototype.__proto__=createjs.Container.prototype,ROS2D.TraceShape=function(t){var e=(t=t||{}).pose;this.strokeSize=t.strokeSize||3,this.strokeColor=t.strokeColor||createjs.Graphics.getRGB(0,0,0),this.maxPoses=t.maxPoses||100,this.minDist=t.minDist||.05,this.minDist=this.minDist*this.minDist,this.poses=[],this.graphics=new createjs.Graphics,this.graphics.setStrokeStyle(this.strokeSize),this.graphics.beginStroke(this.strokeColor),null!=e&&this.poses.push(e),createjs.Shape.call(this,this.graphics)},ROS2D.TraceShape.prototype.addPose=function(t){var e,i=this.poses.length-1;i<0?(this.poses.push(t),this.graphics.moveTo(t.position.x/this.scaleX,t.position.y/-this.scaleY)):(e=this.poses[i].position.x,i=this.poses[i].position.y,(e=t.position.x-e)*e+(i=t.position.y-i)*i>this.minDist&&(this.graphics.lineTo(t.position.x/this.scaleX,t.position.y/-this.scaleY),this.poses.push(t))),0<this.maxPoses&&this.maxPoses<this.poses.length&&this.popFront()},ROS2D.TraceShape.prototype.popFront=function(){if(0<this.poses.length){this.poses.shift(),this.graphics.clear(),this.graphics.setStrokeStyle(this.strokeSize),this.graphics.beginStroke(this.strokeColor),this.graphics.lineTo(this.poses[0].position.x/this.scaleX,this.poses[0].position.y/-this.scaleY);for(var t=1;t<this.poses.length;++t)this.graphics.lineTo(this.poses[t].position.x/this.scaleX,this.poses[t].position.y/-this.scaleY)}},ROS2D.TraceShape.prototype.__proto__=createjs.Shape.prototype,ROS2D.PanView=function(t){this.rootObject=(t=t||{}).rootObject,this.rootObject instanceof createjs.Stage?this.stage=this.rootObject:this.stage=this.rootObject.getStage(),this.startPos=new ROSLIB.Vector3},ROS2D.PanView.prototype.startPan=function(t,e){this.startPos.x=t,this.startPos.y=e},ROS2D.PanView.prototype.pan=function(t,e){this.stage.x+=t-this.startPos.x,this.startPos.x=t,this.stage.y+=e-this.startPos.y,this.startPos.y=e},ROS2D.Viewer=function(t){var e=(t=t||{}).divID;this.width=t.width,this.height=t.height;var i=t.background||"#111111",t=document.createElement("canvas");t.width=this.width,t.height=this.height,t.style.background=i,document.getElementById(e).appendChild(t),this.scene=new createjs.Stage(t),this.scene.y=this.height,document.getElementById(e).appendChild(t),createjs.Ticker.setFPS(30),createjs.Ticker.addEventListener("tick",this.scene)},ROS2D.Viewer.prototype.addObject=function(t){this.scene.addChild(t)},ROS2D.Viewer.prototype.scaleToDimensions=function(t,e){this.scene.x=void 0!==this.scene.x_prev_shift?this.scene.x_prev_shift:this.scene.x,this.scene.y=void 0!==this.scene.y_prev_shift?this.scene.y_prev_shift:this.scene.y,this.scene.scaleX=this.width/t,this.scene.scaleY=this.height/e},ROS2D.Viewer.prototype.shift=function(t,e){this.scene.x_prev_shift=this.scene.x,this.scene.y_prev_shift=this.scene.y,this.scene.x-=t*this.scene.scaleX,this.scene.y+=e*this.scene.scaleY},ROS2D.ZoomView=function(t){this.rootObject=(t=t||{}).rootObject,this.minScale=t.minScale||.001,this.rootObject instanceof createjs.Stage?this.stage=this.rootObject:this.stage=this.rootObject.getStage(),this.center=new ROSLIB.Vector3,this.startShift=new ROSLIB.Vector3,this.startScale=new ROSLIB.Vector3},ROS2D.ZoomView.prototype.startZoom=function(t,e){this.center.x=t,this.center.y=e,this.startShift.x=this.stage.x,this.startShift.y=this.stage.y,this.startScale.x=this.stage.scaleX,this.startScale.y=this.stage.scaleY},ROS2D.ZoomView.prototype.zoom=function(t){this.startScale.x*t<this.minScale&&(t=this.minScale/this.startScale.x),this.startScale.y*t<this.minScale&&(t=this.minScale/this.startScale.y),this.stage.scaleX=this.startScale.x*t,this.stage.scaleY=this.startScale.y*t,this.stage.x=this.startShift.x-(this.center.x-this.startShift.x)*(this.stage.scaleX/this.startScale.x-1),this.stage.y=this.startShift.y-(this.center.y-this.startShift.y)*(this.stage.scaleY/this.startScale.y-1)};
\ No newline at end of file
diff --git a/package-lock.json b/package-lock.json
index 31dae2a..0335e97 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -14,7 +14,7 @@
         "grunt-contrib-clean": "^2.0.0",
         "grunt-contrib-concat": "^1.0.1",
         "grunt-contrib-jshint": "^1.0.0",
-        "grunt-contrib-uglify": "^1.0.1",
+        "grunt-contrib-uglify": "^5.0.1",
         "grunt-contrib-watch": "^1.0.0",
         "grunt-jsdoc": "^2.1.0",
         "grunt-karma": "^4.0.0",
@@ -76,29 +76,6 @@
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-      "version": "0.1.4",
-      "resolved": "https://registry.npmjs.org/align-text/-/align-text-0.1.4.tgz",
-      "integrity": "sha1-DNkKVhCT810KmSVsIrcGlDP60Rc=",
-      "dev": true,
-      "dependencies": {
-        "kind-of": "^3.0.2",
-        "longest": "^1.0.1",
-        "repeat-string": "^1.5.2"
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-      "engines": {
-        "node": ">=0.10.0"
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-    },
-    "node_modules/align-text/node_modules/repeat-string": {
-      "version": "1.6.1",
-      "resolved": "https://registry.npmjs.org/repeat-string/-/repeat-string-1.6.1.tgz",
-      "integrity": "sha1-jcrkcOHIirwtYA//Sndihtp15jc=",
-      "dev": true,
-      "engines": {
-        "node": ">=0.10"
-      }
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     "node_modules/ansi-regex": {
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       "resolved": "https://registry.npmjs.org/ansi-regex/-/ansi-regex-2.1.1.tgz",
@@ -148,15 +125,6 @@
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-      "version": "1.0.2",
-      "resolved": "https://registry.npmjs.org/array-find-index/-/array-find-index-1.0.2.tgz",
-      "integrity": "sha1-3wEKoSh+Fku9pvlyOwqWoexBh6E=",
-      "dev": true,
-      "engines": {
-        "node": ">=0.10.0"
-      }
-    },
     "node_modules/async": {
       "version": "2.6.3",
       "resolved": "https://registry.npmjs.org/async/-/async-2.6.3.tgz",
@@ -279,21 +247,6 @@
         "node": ">=8"
       }
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-    "node_modules/browserify-zlib": {
-      "version": "0.1.4",
-      "resolved": "https://registry.npmjs.org/browserify-zlib/-/browserify-zlib-0.1.4.tgz",
-      "integrity": "sha1-uzX4pRn2AOD6a4SFJByXnQFB+y0=",
-      "dev": true,
-      "dependencies": {
-        "pako": "~0.2.0"
-      }
-    },
-    "node_modules/buffer-from": {
-      "version": "1.1.1",
-      "resolved": "https://registry.npmjs.org/buffer-from/-/buffer-from-1.1.1.tgz",
-      "integrity": "sha512-MQcXEUbCKtEo7bhqEs6560Hyd4XaovZlO/k9V3hjVUF/zwW7KBVdSK4gIt/bzwS9MbR5qob+F5jusZsb0YQK2A==",
-      "dev": true
-    },
     "node_modules/bytes": {
       "version": "3.1.0",
       "resolved": "https://registry.npmjs.org/bytes/-/bytes-3.1.0.tgz",
@@ -303,28 +256,6 @@
         "node": ">= 0.8"
       }
     },
-    "node_modules/camelcase": {
-      "version": "2.1.1",
-      "resolved": "https://registry.npmjs.org/camelcase/-/camelcase-2.1.1.tgz",
-      "integrity": "sha1-fB0W1nmhu+WcoCys7PsBHiAfWh8=",
-      "dev": true,
-      "engines": {
-        "node": ">=0.10.0"
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-    "node_modules/camelcase-keys": {
-      "version": "2.1.0",
-      "resolved": "https://registry.npmjs.org/camelcase-keys/-/camelcase-keys-2.1.0.tgz",
-      "integrity": "sha1-MIvur/3ygRkFHvodkyITyRuPkuc=",
-      "dev": true,
-      "dependencies": {
-        "camelcase": "^2.0.0",
-        "map-obj": "^1.0.0"
-      },
-      "engines": {
-        "node": ">=0.10.0"
-      }
-    },
     "node_modules/catharsis": {
       "version": "0.8.11",
       "resolved": "https://registry.npmjs.org/catharsis/-/catharsis-0.8.11.tgz",
@@ -337,19 +268,6 @@
         "node": ">= 8"
       }
     },
-    "node_modules/center-align": {
-      "version": "0.1.3",
-      "resolved": "https://registry.npmjs.org/center-align/-/center-align-0.1.3.tgz",
-      "integrity": "sha1-qg0yYptu6XIgBBHL1EYckHvCt60=",
-      "dev": true,
-      "dependencies": {
-        "align-text": "^0.1.3",
-        "lazy-cache": "^1.0.3"
-      },
-      "engines": {
-        "node": ">=0.10.0"
-      }
-    },
     "node_modules/chalk": {
       "version": "1.1.3",
       "resolved": "https://registry.npmjs.org/chalk/-/chalk-1.1.3.tgz",
@@ -400,26 +318,6 @@
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       }
     },
-    "node_modules/cliui": {
-      "version": "2.1.0",
-      "resolved": "https://registry.npmjs.org/cliui/-/cliui-2.1.0.tgz",
-      "integrity": "sha1-S0dXYP+AJkx2LDoXGQMukcf+oNE=",
-      "dev": true,
-      "dependencies": {
-        "center-align": "^0.1.1",
-        "right-align": "^0.1.1",
-        "wordwrap": "0.0.2"
-      }
-    },
-    "node_modules/cliui/node_modules/wordwrap": {
-      "version": "0.0.2",
-      "resolved": "https://registry.npmjs.org/wordwrap/-/wordwrap-0.0.2.tgz",
-      "integrity": "sha1-t5Zpu0LstAn4PVg8rVLKF+qhZD8=",
-      "dev": true,
-      "engines": {
-        "node": ">=0.4.0"
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     "node_modules/color-convert": {
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       "resolved": "https://registry.npmjs.org/color-convert/-/color-convert-2.0.1.tgz",
@@ -459,57 +357,6 @@
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       "dev": true
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-      "resolved": "https://registry.npmjs.org/concat-stream/-/concat-stream-1.6.2.tgz",
-      "integrity": "sha512-27HBghJxjiZtIk3Ycvn/4kbJk/1uZuJFfuPEns6LaEvpvG1f0hTea8lilrouyo9mVc2GWdcEZ8OLoGmSADlrCw==",
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-      "engines": [
-        "node >= 0.8"
-      ],
-      "dependencies": {
-        "buffer-from": "^1.0.0",
-        "inherits": "^2.0.3",
-        "readable-stream": "^2.2.2",
-        "typedarray": "^0.0.6"
-      }
-    },
-    "node_modules/concat-stream/node_modules/isarray": {
-      "version": "1.0.0",
-      "resolved": "https://registry.npmjs.org/isarray/-/isarray-1.0.0.tgz",
-      "integrity": "sha1-u5NdSFgsuhaMBoNJV6VKPgcSTxE=",
-      "dev": true
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-    "node_modules/concat-stream/node_modules/readable-stream": {
-      "version": "2.3.7",
-      "resolved": "https://registry.npmjs.org/readable-stream/-/readable-stream-2.3.7.tgz",
-      "integrity": "sha512-Ebho8K4jIbHAxnuxi7o42OrZgF/ZTNcsZj6nRKyUmkhLFq8CHItp/fy6hQZuZmP/n3yZ9VBUbp4zz/mX8hmYPw==",
-      "dev": true,
-      "dependencies": {
-        "core-util-is": "~1.0.0",
-        "inherits": "~2.0.3",
-        "isarray": "~1.0.0",
-        "process-nextick-args": "~2.0.0",
-        "safe-buffer": "~5.1.1",
-        "string_decoder": "~1.1.1",
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-    "node_modules/concat-stream/node_modules/safe-buffer": {
-      "version": "5.1.2",
-      "resolved": "https://registry.npmjs.org/safe-buffer/-/safe-buffer-5.1.2.tgz",
-      "integrity": "sha512-Gd2UZBJDkXlY7GbJxfsE8/nvKkUEU1G38c1siN6QP6a9PT9MmHB8GnpscSmMJSoF8LOIrt8ud/wPtojys4G6+g==",
-      "dev": true
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diff --git a/package.json b/package.json
index 0cc23d6..d9e40c6 100644
--- a/package.json
+++ b/package.json
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+    "grunt-contrib-uglify": "^5.0.1",
     "grunt-contrib-watch": "^1.0.0",
     "grunt-jsdoc": "^2.1.0",
     "grunt-karma": "^4.0.0",