From dfce79be25aef8efb3ec64d71fcaf71308842dfa Mon Sep 17 00:00:00 2001
From: Daniel Engelson <danen038@student.liu.se>
Date: Sun, 9 May 2021 14:35:46 +0200
Subject: [PATCH] choose map file implemented

---
 docker-compose.yml                            |   15 +
 src/gui/.eslintignore                         |    1 -
 src/gui/.eslintrc                             |   46 -
 src/gui/LICENSE                               |  202 -
 src/gui/data/example.secret                   |    1 -
 src/gui/demo/README.md                        |   67 -
 src/gui/demo/css/component.css                |  642 --
 src/gui/demo/css/demo.css                     |  414 -
 src/gui/demo/index.html                       |  170 -
 src/gui/demo/js/btnstate.js                   |   49 -
 src/gui/demo/js/controller.js                 |  189 -
 src/gui/demo/js/log.js                        |   57 -
 src/gui/demo/js/ros2dmap.js                   |   60 -
 src/gui/examples/html/client.html             |   85 -
 src/gui/examples/html/publisher.html          |   81 -
 src/gui/examples/html/service.html            |   79 -
 src/gui/examples/html/subscription.html       |   78 -
 src/gui/lhw_gui/index.js                      |   23 -
 src/gui/npm-pack.sh                           |   36 -
 src/gui/test/README.md                        |   14 -
 src/gui/test/browser/html_list.json           |   24 -
 src/gui/test/browser/resources/LICENSE        |   30 -
 .../test/browser/resources/testharness.css    |  102 -
 src/gui/test/browser/resources/testharness.js | 2938 ------
 .../browser/resources/testharnessreport.js    |   57 -
 src/gui/test/browser/server.js                |   22 -
 src/gui/test/browser/test-example.html        |   27 -
 src/gui/test/browser/test-goal.html           |   27 -
 src/gui/test/browser/test-html.js             |   94 -
 src/gui/test/browser/test-ros.html            |  161 -
 src/gui/test/browser/test-service.html        |  218 -
 src/gui/test/browser/test-topic.html          |  192 -
 .../test/nodejs/protocol/entry-client-mode.js |   77 -
 src/gui/test/nodejs/protocol/entry.js         |  102 -
 .../nodejs/protocol/test-advertise-msg.js     |  115 -
 .../nodejs/protocol/test-advertise-service.js |  128 -
 .../test/nodejs/protocol/test-advertise.js    |  131 -
 .../test/nodejs/protocol/test-call-service.js |  157 -
 src/gui/test/nodejs/protocol/test-op-neg.js   |   59 -
 .../test/nodejs/protocol/test-publish-msg.js  |  295 -
 src/gui/test/nodejs/protocol/test-publish.js  |  123 -
 .../test/nodejs/protocol/test-response-op.js  |   90 -
 .../protocol/test-ros2-protocol-workflow.js   |   44 -
 .../nodejs/protocol/test-service-response.js  |  122 -
 .../test/nodejs/protocol/test-set-level.js    |  105 -
 .../nodejs/protocol/test-subscribe-msg.js     |  215 -
 .../test/nodejs/protocol/test-subscribe.js    |  147 -
 .../protocol/test-unadvertise-service.js      |  123 -
 .../test/nodejs/protocol/test-unadvertise.js  |  117 -
 .../test/nodejs/protocol/test-unsubscribe.js  |  104 -
 src/gui/test/nodejs/test-rosauth-internal.js  |  187 -
 src/{gui => lhw_gui}/.gitignore               |    0
 src/{gui => lhw_gui}/.travis.yml              |    0
 src/{gui => lhw_gui}/Dockerfile               |    0
 src/{gui => lhw_gui}/README.md                |    0
 src/{gui => lhw_gui}/appveyor.yml             |    0
 src/{gui => lhw_gui}/index.js                 |    0
 .../lhw_gui/html/room_navigation.html         |   35 +-
 .../examples => lhw_gui/lhw_gui}/index.js     |    0
 src/lhw_gui/package-lock.json                 | 7876 +++++++++++++++++
 src/{gui => lhw_gui}/package.json             |    4 +-
 src/lhw_motion/Dockerfile                     |    3 +
 src/lhw_motion/lhw_motion/room_navigation.py  |    3 +-
 .../maps/simple_map.png                       |  Bin
 .../maps/simple_map_rooms.png                 |  Bin
 .../maps/simple_map_with_goals.png            |  Bin
 66 files changed, 7925 insertions(+), 8638 deletions(-)
 delete mode 100644 src/gui/.eslintignore
 delete mode 100644 src/gui/.eslintrc
 delete mode 100644 src/gui/LICENSE
 delete mode 100644 src/gui/data/example.secret
 delete mode 100644 src/gui/demo/README.md
 delete mode 100644 src/gui/demo/css/component.css
 delete mode 100644 src/gui/demo/css/demo.css
 delete mode 100644 src/gui/demo/index.html
 delete mode 100644 src/gui/demo/js/btnstate.js
 delete mode 100644 src/gui/demo/js/controller.js
 delete mode 100644 src/gui/demo/js/log.js
 delete mode 100644 src/gui/demo/js/ros2dmap.js
 delete mode 100644 src/gui/examples/html/client.html
 delete mode 100644 src/gui/examples/html/publisher.html
 delete mode 100644 src/gui/examples/html/service.html
 delete mode 100644 src/gui/examples/html/subscription.html
 delete mode 100644 src/gui/lhw_gui/index.js
 delete mode 100755 src/gui/npm-pack.sh
 delete mode 100644 src/gui/test/README.md
 delete mode 100644 src/gui/test/browser/html_list.json
 delete mode 100644 src/gui/test/browser/resources/LICENSE
 delete mode 100644 src/gui/test/browser/resources/testharness.css
 delete mode 100644 src/gui/test/browser/resources/testharness.js
 delete mode 100644 src/gui/test/browser/resources/testharnessreport.js
 delete mode 100644 src/gui/test/browser/server.js
 delete mode 100644 src/gui/test/browser/test-example.html
 delete mode 100644 src/gui/test/browser/test-goal.html
 delete mode 100644 src/gui/test/browser/test-html.js
 delete mode 100644 src/gui/test/browser/test-ros.html
 delete mode 100644 src/gui/test/browser/test-service.html
 delete mode 100644 src/gui/test/browser/test-topic.html
 delete mode 100644 src/gui/test/nodejs/protocol/entry-client-mode.js
 delete mode 100644 src/gui/test/nodejs/protocol/entry.js
 delete mode 100644 src/gui/test/nodejs/protocol/test-advertise-msg.js
 delete mode 100644 src/gui/test/nodejs/protocol/test-advertise-service.js
 delete mode 100644 src/gui/test/nodejs/protocol/test-advertise.js
 delete mode 100644 src/gui/test/nodejs/protocol/test-call-service.js
 delete mode 100644 src/gui/test/nodejs/protocol/test-op-neg.js
 delete mode 100644 src/gui/test/nodejs/protocol/test-publish-msg.js
 delete mode 100644 src/gui/test/nodejs/protocol/test-publish.js
 delete mode 100644 src/gui/test/nodejs/protocol/test-response-op.js
 delete mode 100644 src/gui/test/nodejs/protocol/test-ros2-protocol-workflow.js
 delete mode 100644 src/gui/test/nodejs/protocol/test-service-response.js
 delete mode 100644 src/gui/test/nodejs/protocol/test-set-level.js
 delete mode 100644 src/gui/test/nodejs/protocol/test-subscribe-msg.js
 delete mode 100644 src/gui/test/nodejs/protocol/test-subscribe.js
 delete mode 100644 src/gui/test/nodejs/protocol/test-unadvertise-service.js
 delete mode 100644 src/gui/test/nodejs/protocol/test-unadvertise.js
 delete mode 100644 src/gui/test/nodejs/protocol/test-unsubscribe.js
 delete mode 100644 src/gui/test/nodejs/test-rosauth-internal.js
 rename src/{gui => lhw_gui}/.gitignore (100%)
 rename src/{gui => lhw_gui}/.travis.yml (100%)
 rename src/{gui => lhw_gui}/Dockerfile (100%)
 rename src/{gui => lhw_gui}/README.md (100%)
 rename src/{gui => lhw_gui}/appveyor.yml (100%)
 rename src/{gui => lhw_gui}/index.js (100%)
 rename src/{gui => lhw_gui}/lhw_gui/html/room_navigation.html (86%)
 rename src/{gui/examples => lhw_gui/lhw_gui}/index.js (100%)
 create mode 100644 src/lhw_gui/package-lock.json
 rename src/{gui => lhw_gui}/package.json (100%)
 rename src/{gui/lhw_gui => lhw_motion}/maps/simple_map.png (100%)
 rename src/{gui/lhw_gui => lhw_motion}/maps/simple_map_rooms.png (100%)
 rename src/{gui/lhw_gui => lhw_motion}/maps/simple_map_with_goals.png (100%)

diff --git a/docker-compose.yml b/docker-compose.yml
index 5ce37c06..26b55e5a 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -95,6 +95,21 @@ services:
       - ./src/lhw_qi:/workspace/liu-home-wreckers/src/lhw_qi
       - ./installs/lhw_qi:/workspace/liu-home-wreckers/install
     command: zsh -c ./waiter
+  
+  lhw_gui:
+    extends: lhw
+    container_name: lhw_gui
+    build:
+      context: .
+      dockerfile: ./src/lhw_gui/Dockerfile
+    image: lhw_gui
+    environment:
+      - DISPLAY=$DISPLAY
+      - RCUTILS_COLORIZED_OUTPUT=1
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - ./src/lhw_gui:/workspace/liu-home-wreckers/src/lhw_gui
+    command: zsh -c ./waiter
 
   lhw_ros1:
     container_name: lhw_ros1
diff --git a/src/gui/.eslintignore b/src/gui/.eslintignore
deleted file mode 100644
index 8fbb2e15..00000000
--- a/src/gui/.eslintignore
+++ /dev/null
@@ -1 +0,0 @@
-test/browser
diff --git a/src/gui/.eslintrc b/src/gui/.eslintrc
deleted file mode 100644
index be0ed10d..00000000
--- a/src/gui/.eslintrc
+++ /dev/null
@@ -1,46 +0,0 @@
-env:
-  node: true
-  es6: true
-
-globals:
-  every: true
-  after: true
-  constantly: true
-
-rules:
-  camelcase: [2, {properties: "always"}]
-  comma-dangle: 0
-  comma-spacing: [2, {before: false, after: true}]
-  comma-style: [2, "last"]
-  handle-callback-err: [2, "^.*(e|E)rr" ]
-  indent: [2, 2]
-  key-spacing: [2, { beforeColon: false, afterColon: true }]
-  max-depth: [1, 6]
-  max-len: ["error", {"code": 120, "tabWidth": 2, "ignoreComments": true}]
-  max-nested-callbacks: [1, 7]
-  no-cond-assign: 2
-  no-constant-condition: 2
-  no-dupe-args: 2
-  no-dupe-keys: 2
-  no-else-return: 2
-  no-empty: 2
-  no-lonely-if: 2
-  no-multiple-empty-lines: 2
-  no-nested-ternary: 2
-  no-self-compare: 2
-  no-sync: 1
-  no-throw-literal: 2
-  no-underscore-dangle: 0
-  quote-props: [2, "as-needed"]
-  quotes: [2, "single", {"avoidEscape": true}]
-  radix: 2
-  semi-spacing: [2, {before: false, after: true}]
-  semi: [2, "always"]
-  keyword-spacing: [2, {before: true, after: true}]
-  space-before-blocks: [2, "always"]
-  space-before-function-paren: [1, "never"]
-  space-in-parens: [2, "never"]
-  spaced-comment: [1, "always"]
-  strict: [2, "global"]
-  valid-jsdoc: 2
-  yoda: [2, "never"]
diff --git a/src/gui/LICENSE b/src/gui/LICENSE
deleted file mode 100644
index d6456956..00000000
--- a/src/gui/LICENSE
+++ /dev/null
@@ -1,202 +0,0 @@
-
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-
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diff --git a/src/gui/data/example.secret b/src/gui/data/example.secret
deleted file mode 100644
index 4654c732..00000000
--- a/src/gui/data/example.secret
+++ /dev/null
@@ -1 +0,0 @@
-relaxthisain'tmyfirstrodeo
\ No newline at end of file
diff --git a/src/gui/demo/README.md b/src/gui/demo/README.md
deleted file mode 100644
index e65da316..00000000
--- a/src/gui/demo/README.md
+++ /dev/null
@@ -1,67 +0,0 @@
-# Introduction
-Web demo app for ROS Conference 2018
-
-## Hardware:
-* [Intel Up-board Squared](http://www.up-board.org/upsquared/)
-* [TurtleBot3 Burger](http://www.robotis.us/turtlebot-3/)
-* USB Wi-Fi adpater
-* An available wireless network
-* Node.js 8.11.4 installed
-
-## Pre-condition
-* Ubuntu Linux 16.04 installed on Up-board Squared
-* ROS2 release package available
-
-## Setup
-### Install MicroRTPSAgent
-```
-$ git clone https://github.com/eProsima/micro-RTPS-agent.git
-$ cd micro-RTPS-agent
-$ mkdir build && cd build
-$ cmake -DTHIRDPARTY=ON ..
-$ make
-$ sudo make install
-```
-
-### Install ros2-web-bridge
-```
-$ source <path/to/ros2-linux>/local_setup.bash
-$ git clone https://github.com/RobotWebTools/ros2-web-bridge.git
-$ cd ros2-web-bridge
-$ npm install
-```
-
-### Install http-server CLI tools
-```
-$ npm install -g http-server
-```
-
-## Run the demo
-### Start up MicroRTPSAgent
-New a terminal session, run
-```
-$ cd /usr/local/bin
-$ ./MicroRTPSAgent serial /dev/ttyACM0
-```
-
-### Start up the web bridge server
-New a terminal session, run
-```
-$ source <path/to/ros2-linux>/local_setup.bash
-$ cd ros2-web-bridge
-$ export DEBUG=ros2-web-bridge:*
-$ node bin/rosbridge.js
-```
-
-### Host the web demo app
-New a terminal session and run
-```
-$ cd ros2-web-bridge/demo
-$ http-server -c-1
-```
-
-### Try to control the robot remotely
-Now you can put the TurtleBot3 robot on the ground. Let another PC be in the same wireless network, then launch the browser and enter: `http://<up-board ip>:8080`. After the page loaded, you can press the `Up/Left/Right/Down` buttons to control the robot remotely.
-
-## Known limitation:
-If you shutdown the MicroRTPSAgent utility, you have to reset the OpenCR before you launch it again.
diff --git a/src/gui/demo/css/component.css b/src/gui/demo/css/component.css
deleted file mode 100644
index b58e5299..00000000
--- a/src/gui/demo/css/component.css
+++ /dev/null
@@ -1,642 +0,0 @@
-html, body, .perspective {
-	width: 100%;
-	height: 100%;
-}
-
-.perspective {
-	background: #aaa;
-	position: relative;
-}
-
-.container {
-	background: linear-gradient(115deg, rgba(112, 193, 179,1) 5%,rgba(36, 123, 160,1) 95%);
-	min-height: 100%;
-	position: relative;
-	color: #fff;
-	outline: 1px solid rgba(0,0,0,0);
-	z-index: 10;
-	-webkit-transform: translateZ(0) translateX(0) rotateY(0deg); /* reset transforms (Chrome bug) */
-	transform: translateZ(0) translateX(0) rotateY(0deg);
-}
-
-.container::after {
-	content: '';
-	position: absolute;
-	top: 0;
-	left: 0;
-	width: 100%;
-	height: 0px;
-	opacity: 0;
-	background: rgba(0,0,0,0.2);
-	/* the transition delay of the height needs to be synced with the container transition time */
-	-webkit-transition: opacity 0.4s, height 0s 0.4s;
-	transition: opacity 0.4s, height 0s 0.4s;
-}
-
-.wrapper {
-	position: relative;
-}
-
-.component {
-	margin: 0 auto;
-	width: 60%;
-	text-align: justify;
-	font-size: 1.5em;
-}
-
-/* Modal view */
-.perspective.modalview {
-	position: fixed;
-	-webkit-perspective: 1500px;
-	perspective: 1500px;
-}
-
-.modalview .container {
-	position: absolute;
-	overflow: hidden;
-	width: 100%;
-	height: 100%;
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-	left: 32px;
-	top: 36px;
-}
-
-.ros-demos a:hover,
-.ros-demos a:active,
-.ros-demos a.current-demo {
-	background: rgba(216, 49, 91, 1);
-}
-
-button {
-	background: transparent;
-}
-
-button:hover,
-button:active {
-	border: 1px solid #fff;
-}
-
-.related {
-	text-align: center;
-	font-size: 1.5em;
-	margin-top: 3em;
-	clear: both;
-	padding: 3em 0;
-}
-
-.related a {
-	font-weight: 700;
-	font-size: 0.9em;
-}
-
-.flex-container {
-	display: flex;
-	justify-content: center;
-	flex-direction: row;
-	text-align: center;
-}
-
-.flex-container .n {
-	width: 180px;
-	height: 100px;
-}
-
-.ltr {
-	text-align: center;
-	margin: 0 auto;
-	display: flex;
-	justify-content: center;
-	flex-direction: column;
-	align-items: center;
-}
-
-.utd {
-	text-align: center;
-	display: flex;
-	justify-content: center;
-	flex-direction: row;
-	align-items: center;
-}
-
-.svg-arrow {
-	display: flex;
-	justify-content: center;
-	flex-direction: row;
-	text-align: center;
-}
-
-.svg-arrow svg {
-	height: 20px;
-	width: 20px;
-}
-
-.italic {
-	font-style: italic;
-	font-size: 20px;
-}
-
-.vno {
-	visibility: hidden;
-}
-
-.arrow svg {
-	color: rgba(255, 255, 255, 0.9);
-}
-
-.arrow svg:hover {
-	color: rgba(255, 255, 255, 1.0);
-}
-
-.roslibjsworkflow .round {
-	width: 180px;
-	height: 100px;
-	border-radius: 10px;
-	overflow: hidden;
-	justify-content: center;
-	box-shadow: 0 2px 4px rgba(0, 0, 0, 0.3);
-}
-
-.roslibjsworkflow .round .mark {
-	position: relative;
-	left: 14px;
-	top: -80px;
-	width: 10px;
-	height: 60px;
-	border-radius: 12px;
-	box-shadow: 0 1px 1px rgba(0, 0, 0, 0.1);
-	background: rgba(255, 255, 255, 0.5);
-	z-index: 1000;
-}
-
-.roslibjsworkflow .round .roundnow {
-	width: 100%;
-	height: 100%;
-	display: flex;
-	justify-content: center;
-	flex-direction: column;
-	text-align: center;
-	background: rgba(0, 0, 0, 0.4);
-	-webkit-animation: roundnow 300s linear infinite;
-	animation: roundnow 300s linear infinite;
-	-webkit-transform: rotate(0deg);
-	transform: rotate(0deg);
-	font-size: 26px;
-}
-
-/* .roundnow:hover {
-	background-color: rgba(10, 36, 99, 1.0);
-} */
-
-.roundcolor {
-	background: rgba(216, 49, 91, 1.0) !important;
-}
-
-.roundcolor2 {
-	background: rgba(10, 36, 99, 1.0) !important;
-}
-
-input {
-	border: 0px;
-	padding: 16px 30px;
-	margin: 2em auto;
-	font-size: 1em;
-	background-color: #fff;
-	color: rgba(10, 36, 99, 1.0) ;
-	box-shadow: 0 1px 2px rgba(0, 0, 0, 0.5);
-	border-radius: 10px;
-	width: 100%;
-}
-
-input:hover {
-	cursor: pointer;
-	color: #fff;
-  background-color: rgba(10, 36, 99, 1.0);
-	border: 0px;
-}
-
-
-@media screen and (max-width: 46.0625em) {
-	.ros-header {
-		margin-bottom: 0;
-		padding-bottom: 1em;
-	}
-	.column {
-		width: 100%;
-		min-width: auto;
-		min-height: 0;
-		padding: 2em;
-		text-align: center;
-	}
-	.column p {
-		font-size: 1.5em;
-	}
-	.column:nth-child(2) {
-		text-align: center;
-		box-shadow: 0 -1px 0 rgba(0, 0, 0, 0.1);
-	}
-}
-
-@media screen and (max-width: 25em) {
-	.ros-header {
-		font-size: 80%;
-	}
-	.ros-top {
-		font-size: 120%;
-	}
-	.ros-icon span {
-		display: none;
-	}
-}
diff --git a/src/gui/demo/index.html b/src/gui/demo/index.html
deleted file mode 100644
index b6e7f13e..00000000
--- a/src/gui/demo/index.html
+++ /dev/null
@@ -1,170 +0,0 @@
-<!DOCTYPE html>
-<html lang="en" class="no-js">
-
-<head>
-	<meta charset="UTF-8" />
-	<meta http-equiv="X-UA-Compatible" content="IE=edge">
-	<meta name="viewport" content="width=device-width, initial-scale=1">
-	<title>ROS</title>
-	<meta name="keywords" content="roslibjs, ros2-web-bridge and rclnodejs"	/>
-	<meta name="author" content="ros" />
-	<link rel="stylesheet" type="text/css" href="css/demo.css" />
-	<link rel="stylesheet" type="text/css" href="css/component.css" />
-	<script src="https://static.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
-	<script src="https://static.robotwebtools.org/roslibjs/current/roslib.min.js"></script>
-	<script src="https://static.robotwebtools.org/EaselJS/current/easeljs.min.js"></script>
-	<script src="https://static.robotwebtools.org/ros2djs/current/ros2d.min.js"></script>
-</head>
-<body>
-	<div id="perspective" class="perspective effect-movedown">
-		<div class="container">
-			<div class="wrapper">
-				<header class="ros-header">
-					<div class="columnleft">
-						<div class='controller'>
-							<div class='nx'>
-								<div></div>
-								<div id="up">
-									<svg aria-hidden="true" data-prefix="far" data-icon="arrow-alt-circle-up" class="" role="img" xmlns="http://www.w3.org/2000/svg"
-									  viewBox="0 0 512 512">
-										<path fill="currentColor" d="M256 504c137 0 248-111 248-248S393 8 256 8 8 119 8 256s111 248 248 248zm0-448c110.5 0 200 89.5 200 200s-89.5 200-200 200S56 366.5 56 256 145.5 56 256 56zm20 328h-40c-6.6 0-12-5.4-12-12V256h-67c-10.7 0-16-12.9-8.5-20.5l99-99c4.7-4.7 12.3-4.7 17 0l99 99c7.6 7.6 2.2 20.5-8.5 20.5h-67v116c0 6.6-5.4 12-12 12z"></path>
-									</svg>
-								</div>
-								<div></div>
-							</div>
-							<div class='nx'>
-								<div id="left">
-									<svg aria-hidden="true" data-prefix="far" data-icon="arrow-alt-circle-left" class="" role="img" xmlns="http://www.w3.org/2000/svg"
-									  viewBox="0 0 512 512">
-										<path fill="currentColor" d="M8 256c0 137 111 248 248 248s248-111 248-248S393 8 256 8 8 119 8 256zm448 0c0 110.5-89.5 200-200 200S56 366.5 56 256 145.5 56 256 56s200 89.5 200 200zm-72-20v40c0 6.6-5.4 12-12 12H256v67c0 10.7-12.9 16-20.5 8.5l-99-99c-4.7-4.7-4.7-12.3 0-17l99-99c7.6-7.6 20.5-2.2 20.5 8.5v67h116c6.6 0 12 5.4 12 12z"></path>
-									</svg>
-								</div>
-								<div></div>
-								<div id="right">
-									<svg aria-hidden="true" data-prefix="far" data-icon="arrow-alt-circle-right" class="" role="img" xmlns="http://www.w3.org/2000/svg"
-									  viewBox="0 0 512 512">
-										<path fill="currentColor" d="M504 256C504 119 393 8 256 8S8 119 8 256s111 248 248 248 248-111 248-248zm-448 0c0-110.5 89.5-200 200-200s200 89.5 200 200-89.5 200-200 200S56 366.5 56 256zm72 20v-40c0-6.6 5.4-12 12-12h116v-67c0-10.7 12.9-16 20.5-8.5l99 99c4.7 4.7 4.7 12.3 0 17l-99 99c-7.6 7.6-20.5 2.2-20.5-8.5v-67H140c-6.6 0-12-5.4-12-12z"></path>
-									</svg>
-								</div>
-							</div>
-							<div class='nx'>
-								<div></div>
-								<div id="down">
-									<svg aria-hidden="true" data-prefix="far" data-icon="arrow-alt-circle-down" class="" role="img" xmlns="http://www.w3.org/2000/svg"
-									  viewBox="0 0 512 512">
-										<path fill="currentColor" d="M256 8C119 8 8 119 8 256s111 248 248 248 248-111 248-248S393 8 256 8zm0 448c-110.5 0-200-89.5-200-200S145.5 56 256 56s200 89.5 200 200-89.5 200-200 200zm-32-316v116h-67c-10.7 0-16 12.9-8.5 20.5l99 99c4.7 4.7 12.3 4.7 17 0l99-99c7.6-7.6 2.2-20.5-8.5-20.5h-67V140c0-6.6-5.4-12-12-12h-40c-6.6 0-12 5.4-12 12z"></path>
-									</svg>
-								</div>
-								<div></div>
-							</div>
-						</div>
-						<div class='playstop'>
-							<div id="start">
-								Play
-							</div>
-						</div>
-					</div>
-					<div class="twodmap" id="ros2dmap">
-					</div>
-				</header>
-				<div class="main clearfix">
-					<div class="log" id="log"></div>
-				</div>
-			</div>
-		</div>
-	</div>
-	<script src="js/btnstate.js"></script>
-	<script src="js/ros2dmap.js"></script>
-	<script src="js/log.js"></script>
-	<script src="js/controller.js"></script>
-	<script>
-		let ros = new ROSLIB.Ros();
-		let bridgeHost = window.location.hostname;
-		let bridgePort = 9090;
-		
-		ros.on('connection', function() {
-    	console.log('bridge connected');
-  	});
-  	ros.on('error', function(data) {
-    	console.log('error');
-  	});
-  	ros.on('closed', function() {
-    	console.log('bridge closed');
-  	});
-		ros.connect('ws://' + bridgeHost + ':' + bridgePort);
-		
-		let ros2dmap = new Ros2dMap(ros, {
-			divName: 'ros2dmap',
-    	width: 400,
-    	height: 400
-		});
-		let webRosController = new WebRosController(ros, ros2dmap);
-		let btnState = new ButtonState();
-
-		let startBtn = document.getElementById('start');
-		startBtn.onclick = function() {
-
-			if (!webRosController.isRobotMoving) {
-				webRosController.start();
-				startBtn.innerHTML = 'Stop';
-				btnState.clearState();
-				btnState.setStartButton(true);
-			} else {
-				webRosController.stop();
-				startBtn.innerHTML = 'Start';
-				btnState.clearState();
-				btnState.setStartButton(false);
-			}
-		};
-
-		function upStartHandler() {
-			webRosController.moveForward();
-			btnState.setSvgButton('up');
-		}
-
-		function downStartHandler() {
-			webRosController.moveBack();
-			btnState.setSvgButton('down');
-		}
-
-		function leftStartHandler() {
-			webRosController.turnLeft();
-			btnState.setSvgButton('left');
-		}
-
-		function rightStartHandler() {
-			webRosController.turnRight();
-			btnState.setSvgButton('right');
-		}
-
-		function endHandler() {
-			webRosController.stop();
-			btnState.clearState();
-		}
-
-		let btnUp = document.getElementById('up');
-		btnUp.addEventListener('mousedown', upStartHandler, false);
-		btnUp.addEventListener('mouseup', endHandler, false);
-		btnUp.addEventListener('touchstart', upStartHandler, false);
-		btnUp.addEventListener('touchend', endHandler, false);
-
-		let btnDown = document.getElementById('down');
-		btnDown.addEventListener('mousedown', downStartHandler, false);
-		btnDown.addEventListener('mouseup', endHandler, false);
-		btnDown.addEventListener('touchstart', downStartHandler, false);
-		btnDown.addEventListener('touchend', endHandler, false);
-
-		let btnLeft = document.getElementById('left');
-		btnLeft.addEventListener('mousedown', leftStartHandler, false);
-		btnLeft.addEventListener('mouseup', endHandler, false);
-		btnLeft.addEventListener('touchstart', leftStartHandler, false);
-		btnLeft.addEventListener('touchend', endHandler, false);
-
-		let btnRight = document.getElementById('right');
-		btnRight.addEventListener('mousedown', rightStartHandler, false);
-		btnRight.addEventListener('mouseup', endHandler, false);
-		btnRight.addEventListener('touchstart', rightStartHandler, false);
-		btnRight.addEventListener('touchend', endHandler, false);
-	</script>
-	</body>
-</html>
diff --git a/src/gui/demo/js/btnstate.js b/src/gui/demo/js/btnstate.js
deleted file mode 100644
index 9218618b..00000000
--- a/src/gui/demo/js/btnstate.js
+++ /dev/null
@@ -1,49 +0,0 @@
-'use strict';
-
-function ButtonState() {
-
-  this.defaultColor = 0xfffff;
-  this.btnClicked = false;
-  this.svgClicked = false;
-}
-
-ButtonState.prototype.clearState = function() {
-  console.log('clear button state');
-  let btns = document.getElementsByTagName('svg');
-
-  for (let i = 0; i < 4; i++) {
-    btns[i].style.color = '';
-  }
-
-  this.btnClicked = false;
-  this.svgClicked = false;
-};
-
-ButtonState.prototype.setSvgButton = function(btnId) {
-  this.clearState();
-
-  console.log('setSVgButton');
-  let btnIndexMap = {
-    up: 0,
-    left: 1,
-    right: 2,
-    down: 3
-  };
-
-  let btns = document.getElementsByTagName('svg');
-  btns[btnIndexMap[btnId]].style.color = 'green';
-  this.svgClicked = true;
-};
-
-ButtonState.prototype.setStartButton = function(start) {
-  this.clearState();
-
-  let btn = document.getElementById('start');
-  if (start) {
-    btn.style.backgroundColor = 'green';
-  } else {
-    btn.style.backgroundColor = '';
-  }
-};
-
-
diff --git a/src/gui/demo/js/controller.js b/src/gui/demo/js/controller.js
deleted file mode 100644
index 09b1e5f4..00000000
--- a/src/gui/demo/js/controller.js
+++ /dev/null
@@ -1,189 +0,0 @@
-'use strict';
-
-function WebRosController(ros, ros2dmap) {
-  this.ros = ros;
-
-  this.currentVelocity = {
-    linear: {x: 0.0, y: 0.0, z: 0.0},
-    angular: {x: 0.0, y: 0.0, z: 0.0}
-  };
-  this.zeroVelocity = {
-    linear: {x: 0.0, y: 0.0, z: 0.0},
-    angular: {x: 0.0, y: 0.0, z: 0.0}
-  };
-  this.defaultVelocity = {
-    linear: {x: 0.10, y: 0.0, z: 0.0},
-    angular: {x: 0.0, y: 0.0, z: 0.0}
-  };
-
-  this.pubVelTopicTimer = null;
-  this.pubVelTopicInterval = 10;
-  this.isRobotMoving = false;
-  this.velocityTopic = new ROSLIB.Topic({
-    ros: this.ros,
-    name: '/cmd_vel',
-    messageType: 'geometry_msgs/Twist'
-  });
-
-  this.poseX = 0;
-  this.poseY = 0;
-  this.radius = 0;
-  this.rotation = 0;
-  this.startTime = new Date();
-  this.endTime = new Date();
-
-  this.ros2dmap = ros2dmap;
-  this.logger = new Logger('log');
-}
-
-WebRosController.prototype.sendVelTopic = function(vel) {
-  console.log('send velocity topic');
-
-  this.shutdownTimer();
-  this.pubVelTopicTimer = setInterval(() => {
-
-    this.velocityTopic.publish(vel);
-    this.updateMap(vel);
-    this.logger.showTerminalLog(vel);
-
-    this.startTime = new Date();
-  }, this.pubVelTopicInterval);
-};
-
-WebRosController.prototype.updateMap = function(vel) {
-  this.endTime = new Date();
-
-  let dt = (this.endTime - this.startTime) / 1000;
-
-  let vx = vel.linear.x;
-  let az = vel.angular.z;
-
-  if (vx || az) {
-    console.log('dt: ', dt);
-    console.log('vx, az:', vx, ',', az);
-  }
-  let deltaX = (vx * Math.cos(this.radius)) * dt;
-  let deltaY = (vx * Math.sin(this.radius)) * dt;
-  let deltaRadius = az * dt;
-
-  console.log(deltaX, deltaY, deltaRadius);
-
-  if (deltaX || deltaY) {
-    console.log('deltaX, deltaY:', deltaX, deltaY);
-    this.poseX += deltaX;
-    this.poseY += deltaY;
-  }
-
-  if (vx > 0) {
-    this.rotation = this.radius * 180 / Math.PI;
-  }
-
-  if (az) {
-    this.radius -= deltaRadius;
-    this.rotation = this.radius * 180 / Math.PI;
-  }
-
-
-  if (deltaRadius > 0) {
-    console.log('radius: ', this.radius);
-  }
-
-  if (vx || az) {
-    console.log(this.poseX, ',', this.poseY, ',', this.rotation);
-  }
-
-  this.ros2dmap.update({
-    y: this.poseX, x: this.poseY
-  }, this.rotation - 90);
-};
-
-WebRosController.prototype.shutdownTimer = function() {
-  if (this.pubVelTopicTimer) {
-    clearInterval(this.pubVelTopicTimer);
-    this.pubVelTopicTimer = null;
-  }
-};
-
-WebRosController.prototype.moveForward = function() {
-  console.log('web ros controller: move forward');
-  console.log(this.currentVelocity);
-  console.log(this.defaultVelocity);
-
-  this.startTime = new Date();
-  if (this.currentVelocity.linear.x > 0) {
-    this.sendVelTopic(this.currentVelocity);
-  } else {
-    this.sendVelTopic(this.defaultVelocity);
-  }
-  this.isRobotMoving = true;
-};
-
-WebRosController.prototype.turnLeft = function() {
-  console.log('web ros controller: turn left');
-
-  let turnLeftMsg = {
-    linear: {x: 0.0, y: 0.0, z: 0.0},
-    angular: {x: 0.0, y: 0.0, z: Math.PI / 6}
-  };
-
-  this.shutdownTimer();
-  this.startTime = new Date();
-
-  this.sendVelTopic(turnLeftMsg);
-};
-
-WebRosController.prototype.turnRight = function() {
-  console.log('web ros controller: turn left');
-
-  let turnRightMsg = {
-    linear: {x: 0.0, y: 0.0, z: 0.0},
-    angular: {x: 0.0, y: 0.0, z: -Math.PI / 6}
-  };
-  this.shutdownTimer();
-  this.startTime = new Date();
-
-  this.sendVelTopic(turnRightMsg);
-};
-
-WebRosController.prototype.moveBack = function() {
-  console.log('web ros controller: move back');
-
-  console.log(this.currentVelocity);
-  console.log(this.defaultVelocity);
-
-  this.startTime = new Date();
-  if (this.currentVelocity.linear.x) {
-    if (this.currentVelocity.linear.x > 0) {
-      this.currentVelocity.linear.x = -this.currentVelocity.linear.x;
-    }
-    this.sendVelTopic(this.currentVelocity);
-  } else {
-    let backVel = {
-      linear: {x: 0.0, y: 0.0, z: 0.0},
-      angular: {x: 0.0, y: 0.0, z: 0.0}
-    };
-    backVel.linear.x = -this.defaultVelocity.linear.x;
-    this.sendVelTopic(backVel);
-  }
-  this.isRobotMoving = true;
-};
-
-WebRosController.prototype.start = function() {
-  console.log('web ros controller: start');
-
-  if (this.currentVelocity.linear.x) {
-    this.sendVelTopic(this.currentVelocity);
-  } else {
-    this.currentVelocity.linear.x = -this.defaultVelocity.linear.x;
-    this.sendVelTopic(this.defaultVelocity);
-  }
-
-  this.isRobotMoving = true;
-};
-
-WebRosController.prototype.stop = function() {
-  console.log('web ros controller: stop');
-
-  this.sendVelTopic(this.zeroVelocity);
-  this.isRobotMoving = false;
-};
diff --git a/src/gui/demo/js/log.js b/src/gui/demo/js/log.js
deleted file mode 100644
index 44dcb1cb..00000000
--- a/src/gui/demo/js/log.js
+++ /dev/null
@@ -1,57 +0,0 @@
-'use strict';
-
-function Logger(logDivId) {
-  this.logDivId = logDivId;
-  this.lineNum = 40;
-
-  this.showLogHead = true;
-  this.logArray = [
-    '[ros2-web-bridge:Bridge] Web bridge 70325038-136b-4ecd-a633-f617676f1ff9 is created',
-    '[ros2-web-bridge:Bridge] JSON command received: {"op":"subscribe","id":"subscribe:/map:1",' +
-    '"type":"nav_msgs/OccupancyGrid","topic":"/map","compression":"png", ' +
-    '"throttle_rate":0,"queue_length":0}',
-    '[ros2-web-bridge:Bridge] subscribe a topic named /map',
-    '[rclnodejs:node] Finish creating subscription, topic = /map.',
-    '[ros2-web-bridge:SubscriptionManager] Subscription has been created, and the topic name is /map.',
-    '[ros2-web-bridge:Bridge] Response: {"op":"set_level","level":"none"}',
-    '[ros2-web-bridge:Bridge] JSON command received: {"op":"advertise","id":"advertise:/cmd_vel:2",' +
-    '"type":"geometry_msgs/Twist","topic":"/cmd_vel","latch":false,"queue_size":100}',
-    '[ros2-web-bridge:Bridge] advertise a topic: /cmd_vel',
-    '[rclnodejs:node] Finish creating publisher, topic = /cmd_vel.',
-    '[ros2-web-bridge:ResourceProvider] Publisher has been created, and the topic name is /cmd_vel.',
-    '[ros2-web-bridge:Bridge] Response: {"op":"set_level","level":"none"}'
-  ];
-  this.count = 2;
-  this.msgArrayCount = 0;
-};
-
-Logger.prototype.showTerminalLog = function(msg) {
-
-  let msgStr = JSON.stringify(msg);
-  let logMsgArray = [
-    `[roslibjs] Publish sensor_msgs/Twist: ${msgStr}`,
-    '[ros2-web-bridge:Bridge] JSON command received: ' +
-    `{"op":"publish","id":"publish:/cmd_vel: ${this.count}","topic":"/cmd_vel", "msg": ${msgStr},"latch":false}`,
-    `[ros2-web-bridge:Bridge] Publish a topic named /cmd_vel with ${msgStr}`,
-    '[rclnodejs:publisher] Message of topic /cmd_vel has been published',
-    '[ros2-web-bridge:Bridge] Response: {"op":"set_level","level":"none"}'
-  ];
-
-  if (msg.linear.x || msg.angular.z) {
-    if (this.showLogHead) {
-      for (let i = 0; i < logMsgArray.length; i++) {
-        this.logArray.push(logMsgArray[i]);
-      }
-      this.showLogHead = false;
-    } else {
-      let popElement = logMsgArray[this.msgArrayCount % 5];
-      this.msgArrayCount++;
-
-      this.logArray.shift();
-      this.logArray.push(popElement);
-      this.count++;
-    }
-  }
-
-  document.getElementById(this.logDivId).innerHTML = this.logArray.join('<br />');
-};
diff --git a/src/gui/demo/js/ros2dmap.js b/src/gui/demo/js/ros2dmap.js
deleted file mode 100644
index 0d173350..00000000
--- a/src/gui/demo/js/ros2dmap.js
+++ /dev/null
@@ -1,60 +0,0 @@
-'use strict';
-
-function Ros2dMap(ros, options) {
-
-  let divName = options.divName || 'ros2dmap';
-  let width = options.width || 400;
-  let height = options.height || 400;
-
-  let oldPose = {x: 0.0, y: 0.0};
-  let center = {x: 0.5, y: 0.5};
-
-  // The ROS2D.Viewer is a 2D scene manager with additional ROS functionality.
-  let viewer2D = new ROS2D.Viewer({
-    divID: divName,
-    width: width,
-    height: height,
-    background: '#99ffff'
-  });
-
-  this.gridClient = new ROS2D.OccupancyGridClient({
-    ros: ros,
-    rootObject: viewer2D.scene
-  });
-
-  let grid = new ROS2D.Grid({
-    size: 100,
-    cellSize: 0.10
-  });
-  this.gridClient.rootObject.addChild(grid);
-
-  let robotMaker = new ROS2D.NavigationArrow({
-    size: 4,
-    strokeSize: 0.5,
-    fillColor: createjs.Graphics.getRGB(0xcc, 0, 0xff, 0.62),
-    pulse: false
-  });
-  this.gridClient.rootObject.addChild(robotMaker);
-
-  viewer2D.scaleToDimensions(1, 1);
-  viewer2D.shift(-center.x, -center.y);
-
-  robotMaker.x = 0;
-  robotMaker.y = 0;
-  robotMaker.scaleX = 0.01;
-  robotMaker.scaleY = 0.01;
-  robotMaker.rotation = -90;
-  robotMaker.visible = true;
-
-  this.update = function(pose, rotation) {
-    robotMaker.x = pose.x;
-    robotMaker.y = -pose.y;
-
-    // robotMaker.rotation = viewer2D.scene.rosQuaternionToGlobalTheta(orientation);
-    robotMaker.rotation = rotation;
-    if (oldPose.x !== pose.x || oldPose.y !== pose.y) {
-      viewer2D.shift(-oldPose.x + pose.x, -oldPose.y + pose.y);
-      oldPose = pose;
-    }
-  };
-}
diff --git a/src/gui/examples/html/client.html b/src/gui/examples/html/client.html
deleted file mode 100644
index 67219d6f..00000000
--- a/src/gui/examples/html/client.html
+++ /dev/null
@@ -1,85 +0,0 @@
-<!DOCTYPE html>
-<html>
-<head>
-<meta charset="utf-8" />
-<script src="https://static.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
-<script src="https://static.robotwebtools.org/roslibjs/current/roslib.js"></script>
-
-<script>
-  // Connecting to ROS
-  // -----------------
-  var ros = new ROSLIB.Ros();
-
-  // If there is an error on the backend, an 'error' emit will be emitted.
-  ros.on('error', function(error) {
-    document.getElementById('connecting').style.display = 'none';
-    document.getElementById('connected').style.display = 'none';
-    document.getElementById('closed').style.display = 'none';
-    document.getElementById('error').style.display = 'inline';
-    console.log(error);
-  });
-
-  // Find out exactly when we made a connection.
-  ros.on('connection', function() {
-    console.log('Connection made!');
-    document.getElementById('connecting').style.display = 'none';
-    document.getElementById('error').style.display = 'none';
-    document.getElementById('closed').style.display = 'none';
-    document.getElementById('connected').style.display = 'inline';
-  });
-
-  ros.on('close', function() {
-    console.log('Connection closed.');
-    document.getElementById('connecting').style.display = 'none';
-    document.getElementById('connected').style.display = 'none';
-    document.getElementById('closed').style.display = 'inline';
-  });
-
-  // Create a connection to the rosbridge WebSocket server.
-  ros.connect('ws://localhost:9090');
-
-  // Create a Service client with details of the service's name and service type.
-  var addTwoInts = new ROSLIB.Service({
-    ros : ros,
-    name : '/add_two_ints',
-    serviceType : 'example_interfaces/AddTwoInts'
-  });
-
-  var request = new ROSLIB.ServiceRequest({
-    a : 1,
-    b : 2
-  });
-
-  // Send the request
-  addTwoInts.callService(request, function(result) {
-    document.getElementById("sum").innerText = result.sum;
-    console.log('Result for service call on ' + addTwoInts.name + ': ' + result.sum);
-  });
-</script>
-</head>
-
-<body>
-  <h1>Simple Clinet Example</h1>
-  <p>This example will create a client to request a service named "add_two_ints" to calculate the sum of two values.</p>
-  <div id="statusIndicator">
-    <p id="connecting">
-      Connecting to rosbridge...
-    </p>
-    <p id="connected" style="color:#00D600; display:none">
-      Connected
-    </p>
-    <p id="error" style="color:#FF0000; display:none">
-      Error in the backend!
-    </p>
-    <p id="closed" style="display:none">
-      Connection closed.
-    </p>
-  </div>
-  <p>
-    <div>
-      <b>1 + 2 = </b>
-      <span id="sum"></span>
-    </div>
-  </p>
-</body>
-</html>
diff --git a/src/gui/examples/html/publisher.html b/src/gui/examples/html/publisher.html
deleted file mode 100644
index d6d00da5..00000000
--- a/src/gui/examples/html/publisher.html
+++ /dev/null
@@ -1,81 +0,0 @@
-<!DOCTYPE html>
-<html>
-<head>
-<meta charset="utf-8" />
-<script src="https://static.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
-<script src="https://static.robotwebtools.org/roslibjs/current/roslib.js"></script>
-
-<script>
-  // Connecting to ROS
-  // -----------------
-  var ros = new ROSLIB.Ros();
-
-  // If there is an error on the backend, an 'error' emit will be emitted.
-  ros.on('error', function(error) {
-    document.getElementById('connecting').style.display = 'none';
-    document.getElementById('connected').style.display = 'none';
-    document.getElementById('closed').style.display = 'none';
-    document.getElementById('error').style.display = 'inline';
-    console.log(error);
-  });
-
-  // Find out exactly when we made a connection.
-  ros.on('connection', function() {
-    console.log('Connection made!');
-    document.getElementById('connecting').style.display = 'none';
-    document.getElementById('error').style.display = 'none';
-    document.getElementById('closed').style.display = 'none';
-    document.getElementById('connected').style.display = 'inline';
-  });
-
-  ros.on('close', function() {
-    console.log('Connection closed.');
-    document.getElementById('connecting').style.display = 'none';
-    document.getElementById('connected').style.display = 'none';
-    document.getElementById('closed').style.display = 'inline';
-  });
-
-  // Create a connection to the rosbridge WebSocket server.
-  ros.connect('ws://localhost:9090');
-
-  // Publish a Topic
-  var example = new ROSLIB.Topic({
-    ros : ros,
-    name : '/example_topic',
-    messageType : 'std_msgs/String'
-  });
-
-  var count = 0;
-  setInterval(() => {
-    var message = 'hello from ros2bridge ' + count++;
-    example.publish({data: message});
-    document.getElementById("publisher").innerText = message;
-  }, 1000);
-</script>
-</head>
-
-<body>
-  <h1>Simple Publisher Example</h1>
-  <p>This example will pubilish a topic named "example_topic".</p>
-  <div id="statusIndicator">
-    <p id="connecting">
-      Connecting to rosbridge...
-    </p>
-    <p id="connected" style="color:#00D600; display:none">
-      Connected
-    </p>
-    <p id="error" style="color:#FF0000; display:none">
-      Error in the backend!
-    </p>
-    <p id="closed" style="display:none">
-      Connection closed.
-    </p>
-  </div>
-  <div>
-    <p>
-      <b>Publish message: </b>
-      <span id="publisher"></span>
-    </p>
-  </div>
-</body>
-</html>
diff --git a/src/gui/examples/html/service.html b/src/gui/examples/html/service.html
deleted file mode 100644
index 33fb41b5..00000000
--- a/src/gui/examples/html/service.html
+++ /dev/null
@@ -1,79 +0,0 @@
-<!DOCTYPE html>
-<html>
-<head>
-<meta charset="utf-8" />
-<script src="https://static.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
-<script src="https://static.robotwebtools.org/roslibjs/current/roslib.js"></script>
-
-<script>
-  // Connecting to ROS
-  // -----------------
-  var ros = new ROSLIB.Ros();
-
-  // If there is an error on the backend, an 'error' emit will be emitted.
-  ros.on('error', function(error) {
-    document.getElementById('connecting').style.display = 'none';
-    document.getElementById('connected').style.display = 'none';
-    document.getElementById('closed').style.display = 'none';
-    document.getElementById('error').style.display = 'inline';
-    console.log(error);
-  });
-
-  // Find out exactly when we made a connection.
-  ros.on('connection', function() {
-    console.log('Connection made!');
-    document.getElementById('connecting').style.display = 'none';
-    document.getElementById('error').style.display = 'none';
-    document.getElementById('closed').style.display = 'none';
-    document.getElementById('connected').style.display = 'inline';
-  });
-
-  ros.on('close', function() {
-    console.log('Connection closed.');
-    document.getElementById('connecting').style.display = 'none';
-    document.getElementById('connected').style.display = 'none';
-    document.getElementById('closed').style.display = 'inline';
-  });
-
-  // Create a connection to the rosbridge WebSocket server.
-  ros.connect('ws://localhost:9090');
-
-  // Create a Service client with details of the service's name and service type.
-  var addTwoInts = new ROSLIB.Service({
-    ros : ros,
-    name : '/add_two_ints',
-    serviceType : 'example_interfaces/AddTwoInts'
-  });
-
-  addTwoInts.advertise((req, resp) => {
-    const request = `Receive request: a = ${req.a}; b = ${req.b}`
-    console.log(request);
-    document.getElementById('request').innerText = request;
-    resp.sum = req.a + req.b
-    return true;
-  });
-</script>
-</head>
-
-<body>
-  <h1>Simple Service Example</h1>
-  <p>This example will create a service named "add_two_ints" to calculate the sum of two values.</p>
-  <div id="statusIndicator">
-    <p id="connecting">
-      Connecting to rosbridge...
-    </p>
-    <p id="connected" style="color:#00D600; display:none">
-      Connected
-    </p>
-    <p id="error" style="color:#FF0000; display:none">
-      Error in the backend!
-    </p>
-    <p id="closed" style="display:none">
-      Connection closed.
-    </p>
-  </div>
-  <div>
-    <span id="request"></span>
-  </div>
-</body>
-</html>
diff --git a/src/gui/examples/html/subscription.html b/src/gui/examples/html/subscription.html
deleted file mode 100644
index 0c6cf98f..00000000
--- a/src/gui/examples/html/subscription.html
+++ /dev/null
@@ -1,78 +0,0 @@
-<!DOCTYPE html>
-<html>
-<head>
-<meta charset="utf-8" />
-<script src="https://static.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
-<script src="https://static.robotwebtools.org/roslibjs/current/roslib.js"></script>
-
-<script>
-  // Connecting to ROS
-  // -----------------
-  var ros = new ROSLIB.Ros();
-
-  // If there is an error on the backend, an 'error' emit will be emitted.
-  ros.on('error', function(error) {
-    document.getElementById('connecting').style.display = 'none';
-    document.getElementById('connected').style.display = 'none';
-    document.getElementById('closed').style.display = 'none';
-    document.getElementById('error').style.display = 'inline';
-    console.log(error);
-  });
-
-  // Find out exactly when we made a connection.
-  ros.on('connection', function() {
-    console.log('Connection made!');
-    document.getElementById('connecting').style.display = 'none';
-    document.getElementById('error').style.display = 'none';
-    document.getElementById('closed').style.display = 'none';
-    document.getElementById('connected').style.display = 'inline';
-  });
-
-  ros.on('close', function() {
-    console.log('Connection closed.');
-    document.getElementById('connecting').style.display = 'none';
-    document.getElementById('connected').style.display = 'none';
-    document.getElementById('closed').style.display = 'inline';
-  });
-
-  // Create a connection to the rosbridge WebSocket server.
-  ros.connect('ws://localhost:9090');
-
-  // Publish a Topic
-  var example = new ROSLIB.Topic({
-    ros : ros,
-    name : '/example_topic',
-    messageType : 'std_msgs/String'
-  });
-
-  // Subscribe a Topic
-  example.subscribe(function(message) {
-    document.getElementById("subscription").innerText = message.data
-  });
-
-</script>
-</head>
-
-<body>
-  <h1>Simple Subscription Example</h1>
-  <p>This example will subscribe a topic named "example_topic".</p>
-  <div id="statusIndicator">
-    <p id="connecting">
-      Connecting to rosbridge...
-    </p>
-    <p id="connected" style="color:#00D600; display:none">
-      Connected
-    </p>
-    <p id="error" style="color:#FF0000; display:none">
-      Error in the backend!
-    </p>
-    <p id="closed" style="display:none">
-      Connection closed.
-    </p>
-  </div>
-  <div>
-    <b>Receive message: </b>
-    <span id="subscription"></span>
-  </div>
-</body>
-</html>
diff --git a/src/gui/lhw_gui/index.js b/src/gui/lhw_gui/index.js
deleted file mode 100644
index 646a1bf4..00000000
--- a/src/gui/lhw_gui/index.js
+++ /dev/null
@@ -1,23 +0,0 @@
-// Copyright (c) 2017 Intel Corporation. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-'use strict';
-
-const express = require('express');
-const app = express();
-
-app.use(express.static('.'));
-
-app.listen(3000);
-console.log('The web server started on http://localhost:3000');
diff --git a/src/gui/npm-pack.sh b/src/gui/npm-pack.sh
deleted file mode 100755
index f7fed835..00000000
--- a/src/gui/npm-pack.sh
+++ /dev/null
@@ -1,36 +0,0 @@
-#!/bin/bash
-#
-# Copyright (c) 2018 Intel Corporation. All rights reserved.
-
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-
-#     http://www.apache.org/licenses/LICENSE-2.0
-
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-#Usage: npm-pack.sh
-
-WORKDIR=`mktemp -d`
-RAWMODULEDIR="ros2-web-bridge/"
-MODULEDIR="$WORKDIR/$RAWMODULEDIR"
-
-mkdir -p $MODULEDIR
-rsync -a . $MODULEDIR --exclude dist --exclude node_modules --exclude Dockerfile --exclude appveyor.yml --exclude .travis.yml
-
-pushd . > /dev/null
-cd $WORKDIR
-FILENAME=`npm pack $RAWMODULEDIR`
-TARFILENAME="$WORKDIR/$FILENAME"
-
-popd > /dev/null
-mkdir -p dist
-cp -f $TARFILENAME ./dist/
-rm -rf $WORKDIR
-
-echo "Generated ./dist/$FILENAME"
diff --git a/src/gui/test/README.md b/src/gui/test/README.md
deleted file mode 100644
index 1db618aa..00000000
--- a/src/gui/test/README.md
+++ /dev/null
@@ -1,14 +0,0 @@
-# Introduction
-This directory contains the files for two kinds of tests:
-* browser: tests that are running in the Google Chromium browser environment. `testharness.js` framework is used in these tests.
-* node.js: tests that are running in Node.js runtime and `mocha` framework is used in these tests.
-
-## Run tests
-* For nodejs tests, run
-  ```
-  npm run test
-  ```
-* For browser tests, run
-  ```
-  npm run browser
-  ```
diff --git a/src/gui/test/browser/html_list.json b/src/gui/test/browser/html_list.json
deleted file mode 100644
index 3e3d15a7..00000000
--- a/src/gui/test/browser/html_list.json
+++ /dev/null
@@ -1,24 +0,0 @@
-{
-  "htmls": [
-    {
-      "suite": "test-example.html",
-      "waitingTime": 200
-    },
-    {
-      "suite": "test-goal.html",
-      "waitingTime": 200
-    },
-    {
-      "suite": "test-topic.html",
-      "waitingTime": 2000
-    },
-    {
-      "suite": "test-ros.html",
-      "waitingTime": 3000
-    },
-    {
-      "suite": "test-service.html",
-      "waitingTime": 2000
-    }
-  ]
-}
diff --git a/src/gui/test/browser/resources/LICENSE b/src/gui/test/browser/resources/LICENSE
deleted file mode 100644
index 45896e6b..00000000
--- a/src/gui/test/browser/resources/LICENSE
+++ /dev/null
@@ -1,30 +0,0 @@
-W3C 3-clause BSD License
-
-http://www.w3.org/Consortium/Legal/2008/03-bsd-license.html
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are
-met:
-
-* Redistributions of works must retain the original copyright notice,
-  this list of conditions and the following disclaimer.
-
-* Redistributions in binary form must reproduce the original copyright
-  notice, this list of conditions and the following disclaimer in the
-  documentation and/or other materials provided with the distribution.
-
-* Neither the name of the W3C nor the names of its contributors may be
-  used to endorse or promote products derived from this work without
-  specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
-A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
-OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
-SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
-LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
-DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
-THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/src/gui/test/browser/resources/testharness.css b/src/gui/test/browser/resources/testharness.css
deleted file mode 100644
index e2ed5a04..00000000
--- a/src/gui/test/browser/resources/testharness.css
+++ /dev/null
@@ -1,102 +0,0 @@
-html {
-    font-family:DejaVu Sans, Bitstream Vera Sans, Arial, Sans;
-}
-
-#log .warning,
-#log .warning a {
-  color: black;
-  background: yellow;
-}
-
-#log .error,
-#log .error a {
-  color: white;
-  background: red;
-}
-
-section#summary {
-    margin-bottom:1em;
-}
-
-table#results {
-    border-collapse:collapse;
-    table-layout:fixed;
-    width:100%;
-}
-
-table#results th:first-child,
-table#results td:first-child {
-    width:4em;
-}
-
-table#results th:last-child,
-table#results td:last-child {
-    width:50%;
-}
-
-table#results.assertions th:last-child,
-table#results.assertions td:last-child {
-    width:35%;
-}
-
-table#results th {
-    padding:0;
-    padding-bottom:0.5em;
-    border-bottom:medium solid black;
-}
-
-table#results td {
-    padding:1em;
-    padding-bottom:0.5em;
-    border-bottom:thin solid black;
-}
-
-tr.pass > td:first-child {
-    color:green;
-}
-
-tr.fail > td:first-child {
-    color:red;
-}
-
-tr.timeout > td:first-child {
-    color:red;
-}
-
-tr.notrun > td:first-child {
-    color:blue;
-}
-
-.pass > td:first-child, .fail > td:first-child, .timeout > td:first-child, .notrun > td:first-child {
-    font-variant:small-caps;
-}
-
-table#results span {
-    display:block;
-}
-
-table#results span.expected {
-    font-family:DejaVu Sans Mono, Bitstream Vera Sans Mono, Monospace;
-    white-space:pre;
-}
-
-table#results span.actual {
-    font-family:DejaVu Sans Mono, Bitstream Vera Sans Mono, Monospace;
-    white-space:pre;
-}
-
-span.ok {
-    color:green;
-}
-
-tr.error {
-    color:red;
-}
-
-span.timeout {
-    color:red;
-}
-
-span.ok, span.timeout, span.error {
-    font-variant:small-caps;
-}
\ No newline at end of file
diff --git a/src/gui/test/browser/resources/testharness.js b/src/gui/test/browser/resources/testharness.js
deleted file mode 100644
index 08d97b57..00000000
--- a/src/gui/test/browser/resources/testharness.js
+++ /dev/null
@@ -1,2938 +0,0 @@
-/*global self*/
-/*jshint latedef: nofunc*/
-/*
-Distributed under both the W3C Test Suite License [1] and the W3C
-3-clause BSD License [2]. To contribute to a W3C Test Suite, see the
-policies and contribution forms [3].
-
-[1] http://www.w3.org/Consortium/Legal/2008/04-testsuite-license
-[2] http://www.w3.org/Consortium/Legal/2008/03-bsd-license
-[3] http://www.w3.org/2004/10/27-testcases
-*/
-
-/* Documentation: http://web-platform-tests.org/writing-tests/testharness-api.html
- * (../docs/_writing-tests/testharness-api.md) */
-
-(function ()
-{
-    var debug = false;
-    // default timeout is 10 seconds, test can override if needed
-    var settings = {
-        output:true,
-        harness_timeout:{
-            "normal":10000,
-            "long":60000
-        },
-        test_timeout:null,
-        message_events: ["start", "test_state", "result", "completion"]
-    };
-
-    var xhtml_ns = "http://www.w3.org/1999/xhtml";
-
-    /*
-     * TestEnvironment is an abstraction for the environment in which the test
-     * harness is used. Each implementation of a test environment has to provide
-     * the following interface:
-     *
-     * interface TestEnvironment {
-     *   // Invoked after the global 'tests' object has been created and it's
-     *   // safe to call add_*_callback() to register event handlers.
-     *   void on_tests_ready();
-     *
-     *   // Invoked after setup() has been called to notify the test environment
-     *   // of changes to the test harness properties.
-     *   void on_new_harness_properties(object properties);
-     *
-     *   // Should return a new unique default test name.
-     *   DOMString next_default_test_name();
-     *
-     *   // Should return the test harness timeout duration in milliseconds.
-     *   float test_timeout();
-     *
-     *   // Should return the global scope object.
-     *   object global_scope();
-     * };
-     */
-
-    /*
-     * A test environment with a DOM. The global object is 'window'. By default
-     * test results are displayed in a table. Any parent windows receive
-     * callbacks or messages via postMessage() when test events occur. See
-     * apisample11.html and apisample12.html.
-     */
-    function WindowTestEnvironment() {
-        this.name_counter = 0;
-        this.window_cache = null;
-        this.output_handler = null;
-        this.all_loaded = false;
-        var this_obj = this;
-        this.message_events = [];
-        this.dispatched_messages = [];
-
-        this.message_functions = {
-            start: [add_start_callback, remove_start_callback,
-                    function (properties) {
-                        this_obj._dispatch("start_callback", [properties],
-                                           {type: "start", properties: properties});
-                    }],
-
-            test_state: [add_test_state_callback, remove_test_state_callback,
-                         function(test) {
-                             this_obj._dispatch("test_state_callback", [test],
-                                                {type: "test_state",
-                                                 test: test.structured_clone()});
-                         }],
-            result: [add_result_callback, remove_result_callback,
-                     function (test) {
-                         this_obj.output_handler.show_status();
-                         this_obj._dispatch("result_callback", [test],
-                                            {type: "result",
-                                             test: test.structured_clone()});
-                     }],
-            completion: [add_completion_callback, remove_completion_callback,
-                         function (tests, harness_status) {
-                             var cloned_tests = map(tests, function(test) {
-                                 return test.structured_clone();
-                             });
-                             this_obj._dispatch("completion_callback", [tests, harness_status],
-                                                {type: "complete",
-                                                 tests: cloned_tests,
-                                                 status: harness_status.structured_clone()});
-                         }]
-        }
-
-        on_event(window, 'load', function() {
-            this_obj.all_loaded = true;
-        });
-
-        on_event(window, 'message', function(event) {
-            if (event.data && event.data.type === "getmessages" && event.source) {
-                // A window can post "getmessages" to receive a duplicate of every
-                // message posted by this environment so far. This allows subscribers
-                // from fetch_tests_from_window to 'catch up' to the current state of
-                // this environment.
-                for (var i = 0; i < this_obj.dispatched_messages.length; ++i)
-                {
-                    event.source.postMessage(this_obj.dispatched_messages[i], "*");
-                }
-            }
-        });
-    }
-
-    WindowTestEnvironment.prototype._dispatch = function(selector, callback_args, message_arg) {
-        this.dispatched_messages.push(message_arg);
-        this._forEach_windows(
-                function(w, same_origin) {
-                    if (same_origin) {
-                        try {
-                            var has_selector = selector in w;
-                        } catch(e) {
-                            // If document.domain was set at some point same_origin can be
-                            // wrong and the above will fail.
-                            has_selector = false;
-                        }
-                        if (has_selector) {
-                            try {
-                                w[selector].apply(undefined, callback_args);
-                            } catch (e) {
-                                if (debug) {
-                                    throw e;
-                                }
-                            }
-                        }
-                    }
-                    if (supports_post_message(w) && w !== self) {
-                        w.postMessage(message_arg, "*");
-                    }
-                });
-    };
-
-    WindowTestEnvironment.prototype._forEach_windows = function(callback) {
-        // Iterate of the the windows [self ... top, opener]. The callback is passed
-        // two objects, the first one is the windows object itself, the second one
-        // is a boolean indicating whether or not its on the same origin as the
-        // current window.
-        var cache = this.window_cache;
-        if (!cache) {
-            cache = [[self, true]];
-            var w = self;
-            var i = 0;
-            var so;
-            while (w != w.parent) {
-                w = w.parent;
-                so = is_same_origin(w);
-                cache.push([w, so]);
-                i++;
-            }
-            w = window.opener;
-            if (w) {
-                cache.push([w, is_same_origin(w)]);
-            }
-            this.window_cache = cache;
-        }
-
-        forEach(cache,
-                function(a) {
-                    callback.apply(null, a);
-                });
-    };
-
-    WindowTestEnvironment.prototype.on_tests_ready = function() {
-        var output = new Output();
-        this.output_handler = output;
-
-        var this_obj = this;
-
-        add_start_callback(function (properties) {
-            this_obj.output_handler.init(properties);
-        });
-
-        add_test_state_callback(function(test) {
-            this_obj.output_handler.show_status();
-        });
-
-        add_result_callback(function (test) {
-            this_obj.output_handler.show_status();
-        });
-
-        add_completion_callback(function (tests, harness_status) {
-            this_obj.output_handler.show_results(tests, harness_status);
-        });
-        this.setup_messages(settings.message_events);
-    };
-
-    WindowTestEnvironment.prototype.setup_messages = function(new_events) {
-        var this_obj = this;
-        forEach(settings.message_events, function(x) {
-            var current_dispatch = this_obj.message_events.indexOf(x) !== -1;
-            var new_dispatch = new_events.indexOf(x) !== -1;
-            if (!current_dispatch && new_dispatch) {
-                this_obj.message_functions[x][0](this_obj.message_functions[x][2]);
-            } else if (current_dispatch && !new_dispatch) {
-                this_obj.message_functions[x][1](this_obj.message_functions[x][2]);
-            }
-        });
-        this.message_events = new_events;
-    }
-
-    WindowTestEnvironment.prototype.next_default_test_name = function() {
-        //Don't use document.title to work around an Opera bug in XHTML documents
-        var title = document.getElementsByTagName("title")[0];
-        var prefix = (title && title.firstChild && title.firstChild.data) || "Untitled";
-        var suffix = this.name_counter > 0 ? " " + this.name_counter : "";
-        this.name_counter++;
-        return prefix + suffix;
-    };
-
-    WindowTestEnvironment.prototype.on_new_harness_properties = function(properties) {
-        this.output_handler.setup(properties);
-        if (properties.hasOwnProperty("message_events")) {
-            this.setup_messages(properties.message_events);
-        }
-    };
-
-    WindowTestEnvironment.prototype.add_on_loaded_callback = function(callback) {
-        on_event(window, 'load', callback);
-    };
-
-    WindowTestEnvironment.prototype.test_timeout = function() {
-        var metas = document.getElementsByTagName("meta");
-        for (var i = 0; i < metas.length; i++) {
-            if (metas[i].name == "timeout") {
-                if (metas[i].content == "long") {
-                    return settings.harness_timeout.long;
-                }
-                break;
-            }
-        }
-        return settings.harness_timeout.normal;
-    };
-
-    WindowTestEnvironment.prototype.global_scope = function() {
-        return window;
-    };
-
-    /*
-     * Base TestEnvironment implementation for a generic web worker.
-     *
-     * Workers accumulate test results. One or more clients can connect and
-     * retrieve results from a worker at any time.
-     *
-     * WorkerTestEnvironment supports communicating with a client via a
-     * MessagePort.  The mechanism for determining the appropriate MessagePort
-     * for communicating with a client depends on the type of worker and is
-     * implemented by the various specializations of WorkerTestEnvironment
-     * below.
-     *
-     * A client document using testharness can use fetch_tests_from_worker() to
-     * retrieve results from a worker. See apisample16.html.
-     */
-    function WorkerTestEnvironment() {
-        this.name_counter = 0;
-        this.all_loaded = true;
-        this.message_list = [];
-        this.message_ports = [];
-    }
-
-    WorkerTestEnvironment.prototype._dispatch = function(message) {
-        this.message_list.push(message);
-        for (var i = 0; i < this.message_ports.length; ++i)
-        {
-            this.message_ports[i].postMessage(message);
-        }
-    };
-
-    // The only requirement is that port has a postMessage() method. It doesn't
-    // have to be an instance of a MessagePort, and often isn't.
-    WorkerTestEnvironment.prototype._add_message_port = function(port) {
-        this.message_ports.push(port);
-        for (var i = 0; i < this.message_list.length; ++i)
-        {
-            port.postMessage(this.message_list[i]);
-        }
-    };
-
-    WorkerTestEnvironment.prototype.next_default_test_name = function() {
-        var suffix = this.name_counter > 0 ? " " + this.name_counter : "";
-        this.name_counter++;
-        return "Untitled" + suffix;
-    };
-
-    WorkerTestEnvironment.prototype.on_new_harness_properties = function() {};
-
-    WorkerTestEnvironment.prototype.on_tests_ready = function() {
-        var this_obj = this;
-        add_start_callback(
-                function(properties) {
-                    this_obj._dispatch({
-                        type: "start",
-                        properties: properties,
-                    });
-                });
-        add_test_state_callback(
-                function(test) {
-                    this_obj._dispatch({
-                        type: "test_state",
-                        test: test.structured_clone()
-                    });
-                });
-        add_result_callback(
-                function(test) {
-                    this_obj._dispatch({
-                        type: "result",
-                        test: test.structured_clone()
-                    });
-                });
-        add_completion_callback(
-                function(tests, harness_status) {
-                    this_obj._dispatch({
-                        type: "complete",
-                        tests: map(tests,
-                            function(test) {
-                                return test.structured_clone();
-                            }),
-                        status: harness_status.structured_clone()
-                    });
-                });
-    };
-
-    WorkerTestEnvironment.prototype.add_on_loaded_callback = function() {};
-
-    WorkerTestEnvironment.prototype.test_timeout = function() {
-        // Tests running in a worker don't have a default timeout. I.e. all
-        // worker tests behave as if settings.explicit_timeout is true.
-        return null;
-    };
-
-    WorkerTestEnvironment.prototype.global_scope = function() {
-        return self;
-    };
-
-    /*
-     * Dedicated web workers.
-     * https://html.spec.whatwg.org/multipage/workers.html#dedicatedworkerglobalscope
-     *
-     * This class is used as the test_environment when testharness is running
-     * inside a dedicated worker.
-     */
-    function DedicatedWorkerTestEnvironment() {
-        WorkerTestEnvironment.call(this);
-        // self is an instance of DedicatedWorkerGlobalScope which exposes
-        // a postMessage() method for communicating via the message channel
-        // established when the worker is created.
-        this._add_message_port(self);
-    }
-    DedicatedWorkerTestEnvironment.prototype = Object.create(WorkerTestEnvironment.prototype);
-
-    DedicatedWorkerTestEnvironment.prototype.on_tests_ready = function() {
-        WorkerTestEnvironment.prototype.on_tests_ready.call(this);
-        // In the absence of an onload notification, we a require dedicated
-        // workers to explicitly signal when the tests are done.
-        tests.wait_for_finish = true;
-    };
-
-    /*
-     * Shared web workers.
-     * https://html.spec.whatwg.org/multipage/workers.html#sharedworkerglobalscope
-     *
-     * This class is used as the test_environment when testharness is running
-     * inside a shared web worker.
-     */
-    function SharedWorkerTestEnvironment() {
-        WorkerTestEnvironment.call(this);
-        var this_obj = this;
-        // Shared workers receive message ports via the 'onconnect' event for
-        // each connection.
-        self.addEventListener("connect",
-                function(message_event) {
-                    this_obj._add_message_port(message_event.source);
-                }, false);
-    }
-    SharedWorkerTestEnvironment.prototype = Object.create(WorkerTestEnvironment.prototype);
-
-    SharedWorkerTestEnvironment.prototype.on_tests_ready = function() {
-        WorkerTestEnvironment.prototype.on_tests_ready.call(this);
-        // In the absence of an onload notification, we a require shared
-        // workers to explicitly signal when the tests are done.
-        tests.wait_for_finish = true;
-    };
-
-    /*
-     * Service workers.
-     * http://www.w3.org/TR/service-workers/
-     *
-     * This class is used as the test_environment when testharness is running
-     * inside a service worker.
-     */
-    function ServiceWorkerTestEnvironment() {
-        WorkerTestEnvironment.call(this);
-        this.all_loaded = false;
-        this.on_loaded_callback = null;
-        var this_obj = this;
-        self.addEventListener("message",
-                function(event) {
-                    if (event.data && event.data.type && event.data.type === "connect") {
-                        if (event.ports && event.ports[0]) {
-                            // If a MessageChannel was passed, then use it to
-                            // send results back to the main window.  This
-                            // allows the tests to work even if the browser
-                            // does not fully support MessageEvent.source in
-                            // ServiceWorkers yet.
-                            this_obj._add_message_port(event.ports[0]);
-                            event.ports[0].start();
-                        } else {
-                            // If there is no MessageChannel, then attempt to
-                            // use the MessageEvent.source to send results
-                            // back to the main window.
-                            this_obj._add_message_port(event.source);
-                        }
-                    }
-                }, false);
-
-        // The oninstall event is received after the service worker script and
-        // all imported scripts have been fetched and executed. It's the
-        // equivalent of an onload event for a document. All tests should have
-        // been added by the time this event is received, thus it's not
-        // necessary to wait until the onactivate event. However, tests for
-        // installed service workers need another event which is equivalent to
-        // the onload event because oninstall is fired only on installation. The
-        // onmessage event is used for that purpose since tests using
-        // testharness.js should ask the result to its service worker by
-        // PostMessage. If the onmessage event is triggered on the service
-        // worker's context, that means the worker's script has been evaluated.
-        on_event(self, "install", on_all_loaded);
-        on_event(self, "message", on_all_loaded);
-        function on_all_loaded() {
-            if (this_obj.all_loaded)
-                return;
-            this_obj.all_loaded = true;
-            if (this_obj.on_loaded_callback) {
-              this_obj.on_loaded_callback();
-            }
-        }
-    }
-
-    ServiceWorkerTestEnvironment.prototype = Object.create(WorkerTestEnvironment.prototype);
-
-    ServiceWorkerTestEnvironment.prototype.add_on_loaded_callback = function(callback) {
-        if (this.all_loaded) {
-            callback();
-        } else {
-            this.on_loaded_callback = callback;
-        }
-    };
-
-    function create_test_environment() {
-        if ('document' in self) {
-            return new WindowTestEnvironment();
-        }
-        if ('DedicatedWorkerGlobalScope' in self &&
-            self instanceof DedicatedWorkerGlobalScope) {
-            return new DedicatedWorkerTestEnvironment();
-        }
-        if ('SharedWorkerGlobalScope' in self &&
-            self instanceof SharedWorkerGlobalScope) {
-            return new SharedWorkerTestEnvironment();
-        }
-        if ('ServiceWorkerGlobalScope' in self &&
-            self instanceof ServiceWorkerGlobalScope) {
-            return new ServiceWorkerTestEnvironment();
-        }
-        if ('WorkerGlobalScope' in self &&
-            self instanceof WorkerGlobalScope) {
-            return new DedicatedWorkerTestEnvironment();
-        }
-
-        throw new Error("Unsupported test environment");
-    }
-
-    var test_environment = create_test_environment();
-
-    function is_shared_worker(worker) {
-        return 'SharedWorker' in self && worker instanceof SharedWorker;
-    }
-
-    function is_service_worker(worker) {
-        // The worker object may be from another execution context,
-        // so do not use instanceof here.
-        return 'ServiceWorker' in self &&
-            Object.prototype.toString.call(worker) == '[object ServiceWorker]';
-    }
-
-    /*
-     * API functions
-     */
-
-    function test(func, name, properties)
-    {
-        var test_name = name ? name : test_environment.next_default_test_name();
-        properties = properties ? properties : {};
-        var test_obj = new Test(test_name, properties);
-        test_obj.step(func, test_obj, test_obj);
-        if (test_obj.phase === test_obj.phases.STARTED) {
-            test_obj.done();
-        }
-    }
-
-    function async_test(func, name, properties)
-    {
-        if (typeof func !== "function") {
-            properties = name;
-            name = func;
-            func = null;
-        }
-        var test_name = name ? name : test_environment.next_default_test_name();
-        properties = properties ? properties : {};
-        var test_obj = new Test(test_name, properties);
-        if (func) {
-            test_obj.step(func, test_obj, test_obj);
-        }
-        return test_obj;
-    }
-
-    function promise_test(func, name, properties) {
-        var test = async_test(name, properties);
-        // If there is no promise tests queue make one.
-        if (!tests.promise_tests) {
-            tests.promise_tests = Promise.resolve();
-        }
-        tests.promise_tests = tests.promise_tests.then(function() {
-            var donePromise = new Promise(function(resolve) {
-                test._add_cleanup(resolve);
-            });
-            var promise = test.step(func, test, test);
-            test.step(function() {
-                assert_not_equals(promise, undefined);
-            });
-            Promise.resolve(promise).then(
-                    function() {
-                        test.done();
-                    })
-                .catch(test.step_func(
-                    function(value) {
-                        if (value instanceof AssertionError) {
-                            throw value;
-                        }
-                        assert(false, "promise_test", null,
-                               "Unhandled rejection with value: ${value}", {value:value});
-                    }));
-            return donePromise;
-        });
-    }
-
-    function promise_rejects(test, expected, promise, description) {
-        return promise.then(test.unreached_func("Should have rejected: " + description)).catch(function(e) {
-            assert_throws(expected, function() { throw e }, description);
-        });
-    }
-
-    /**
-     * This constructor helper allows DOM events to be handled using Promises,
-     * which can make it a lot easier to test a very specific series of events,
-     * including ensuring that unexpected events are not fired at any point.
-     */
-    function EventWatcher(test, watchedNode, eventTypes)
-    {
-        if (typeof eventTypes == 'string') {
-            eventTypes = [eventTypes];
-        }
-
-        var waitingFor = null;
-
-        // This is null unless we are recording all events, in which case it
-        // will be an Array object.
-        var recordedEvents = null;
-
-        var eventHandler = test.step_func(function(evt) {
-            assert_true(!!waitingFor,
-                        'Not expecting event, but got ' + evt.type + ' event');
-            assert_equals(evt.type, waitingFor.types[0],
-                          'Expected ' + waitingFor.types[0] + ' event, but got ' +
-                          evt.type + ' event instead');
-
-            if (Array.isArray(recordedEvents)) {
-                recordedEvents.push(evt);
-            }
-
-            if (waitingFor.types.length > 1) {
-                // Pop first event from array
-                waitingFor.types.shift();
-                return;
-            }
-            // We need to null out waitingFor before calling the resolve function
-            // since the Promise's resolve handlers may call wait_for() which will
-            // need to set waitingFor.
-            var resolveFunc = waitingFor.resolve;
-            waitingFor = null;
-            // Likewise, we should reset the state of recordedEvents.
-            var result = recordedEvents || evt;
-            recordedEvents = null;
-            resolveFunc(result);
-        });
-
-        for (var i = 0; i < eventTypes.length; i++) {
-            watchedNode.addEventListener(eventTypes[i], eventHandler, false);
-        }
-
-        /**
-         * Returns a Promise that will resolve after the specified event or
-         * series of events has occured.
-         *
-         * @param options An optional options object. If the 'record' property
-         *                on this object has the value 'all', when the Promise
-         *                returned by this function is resolved,  *all* Event
-         *                objects that were waited for will be returned as an
-         *                array.
-         *
-         * For example,
-         *
-         * ```js
-         * const watcher = new EventWatcher(t, div, [ 'animationstart',
-         *                                            'animationiteration',
-         *                                            'animationend' ]);
-         * return watcher.wait_for([ 'animationstart', 'animationend' ],
-         *                         { record: 'all' }).then(evts => {
-         *   assert_equals(evts[0].elapsedTime, 0.0);
-         *   assert_equals(evts[1].elapsedTime, 2.0);
-         * });
-         * ```
-         */
-        this.wait_for = function(types, options) {
-            if (waitingFor) {
-                return Promise.reject('Already waiting for an event or events');
-            }
-            if (typeof types == 'string') {
-                types = [types];
-            }
-            if (options && options.record && options.record === 'all') {
-                recordedEvents = [];
-            }
-            return new Promise(function(resolve, reject) {
-                waitingFor = {
-                    types: types,
-                    resolve: resolve,
-                    reject: reject
-                };
-            });
-        };
-
-        function stop_watching() {
-            for (var i = 0; i < eventTypes.length; i++) {
-                watchedNode.removeEventListener(eventTypes[i], eventHandler, false);
-            }
-        };
-
-        test._add_cleanup(stop_watching);
-
-        return this;
-    }
-    expose(EventWatcher, 'EventWatcher');
-
-    function setup(func_or_properties, maybe_properties)
-    {
-        var func = null;
-        var properties = {};
-        if (arguments.length === 2) {
-            func = func_or_properties;
-            properties = maybe_properties;
-        } else if (func_or_properties instanceof Function) {
-            func = func_or_properties;
-        } else {
-            properties = func_or_properties;
-        }
-        tests.setup(func, properties);
-        test_environment.on_new_harness_properties(properties);
-    }
-
-    function done() {
-        if (tests.tests.length === 0) {
-            tests.set_file_is_test();
-        }
-        if (tests.file_is_test) {
-            tests.tests[0].done();
-        }
-        tests.end_wait();
-    }
-
-    function generate_tests(func, args, properties) {
-        forEach(args, function(x, i)
-                {
-                    var name = x[0];
-                    test(function()
-                         {
-                             func.apply(this, x.slice(1));
-                         },
-                         name,
-                         Array.isArray(properties) ? properties[i] : properties);
-                });
-    }
-
-    function on_event(object, event, callback)
-    {
-        object.addEventListener(event, callback, false);
-    }
-
-    function step_timeout(f, t) {
-        var outer_this = this;
-        var args = Array.prototype.slice.call(arguments, 2);
-        return setTimeout(function() {
-            f.apply(outer_this, args);
-        }, t * tests.timeout_multiplier);
-    }
-
-    expose(test, 'test');
-    expose(async_test, 'async_test');
-    expose(promise_test, 'promise_test');
-    expose(promise_rejects, 'promise_rejects');
-    expose(generate_tests, 'generate_tests');
-    expose(setup, 'setup');
-    expose(done, 'done');
-    expose(on_event, 'on_event');
-    expose(step_timeout, 'step_timeout');
-
-    /*
-     * Return a string truncated to the given length, with ... added at the end
-     * if it was longer.
-     */
-    function truncate(s, len)
-    {
-        if (s.length > len) {
-            return s.substring(0, len - 3) + "...";
-        }
-        return s;
-    }
-
-    /*
-     * Return true if object is probably a Node object.
-     */
-    function is_node(object)
-    {
-        // I use duck-typing instead of instanceof, because
-        // instanceof doesn't work if the node is from another window (like an
-        // iframe's contentWindow):
-        // http://www.w3.org/Bugs/Public/show_bug.cgi?id=12295
-        try {
-            var has_node_properties = ("nodeType" in object &&
-                                       "nodeName" in object &&
-                                       "nodeValue" in object &&
-                                       "childNodes" in object);
-        } catch (e) {
-            // We're probably cross-origin, which means we aren't a node
-            return false;
-        }
-
-        if (has_node_properties) {
-            try {
-                object.nodeType;
-            } catch (e) {
-                // The object is probably Node.prototype or another prototype
-                // object that inherits from it, and not a Node instance.
-                return false;
-            }
-            return true;
-        }
-        return false;
-    }
-
-    var replacements = {
-        "0": "0",
-        "1": "x01",
-        "2": "x02",
-        "3": "x03",
-        "4": "x04",
-        "5": "x05",
-        "6": "x06",
-        "7": "x07",
-        "8": "b",
-        "9": "t",
-        "10": "n",
-        "11": "v",
-        "12": "f",
-        "13": "r",
-        "14": "x0e",
-        "15": "x0f",
-        "16": "x10",
-        "17": "x11",
-        "18": "x12",
-        "19": "x13",
-        "20": "x14",
-        "21": "x15",
-        "22": "x16",
-        "23": "x17",
-        "24": "x18",
-        "25": "x19",
-        "26": "x1a",
-        "27": "x1b",
-        "28": "x1c",
-        "29": "x1d",
-        "30": "x1e",
-        "31": "x1f",
-        "0xfffd": "ufffd",
-        "0xfffe": "ufffe",
-        "0xffff": "uffff",
-    };
-
-    /*
-     * Convert a value to a nice, human-readable string
-     */
-    function format_value(val, seen)
-    {
-        if (!seen) {
-            seen = [];
-        }
-        if (typeof val === "object" && val !== null) {
-            if (seen.indexOf(val) >= 0) {
-                return "[...]";
-            }
-            seen.push(val);
-        }
-        if (Array.isArray(val)) {
-            return "[" + val.map(function(x) {return format_value(x, seen);}).join(", ") + "]";
-        }
-
-        switch (typeof val) {
-        case "string":
-            val = val.replace("\\", "\\\\");
-            for (var p in replacements) {
-                var replace = "\\" + replacements[p];
-                val = val.replace(RegExp(String.fromCharCode(p), "g"), replace);
-            }
-            return '"' + val.replace(/"/g, '\\"') + '"';
-        case "boolean":
-        case "undefined":
-            return String(val);
-        case "number":
-            // In JavaScript, -0 === 0 and String(-0) == "0", so we have to
-            // special-case.
-            if (val === -0 && 1/val === -Infinity) {
-                return "-0";
-            }
-            return String(val);
-        case "object":
-            if (val === null) {
-                return "null";
-            }
-
-            // Special-case Node objects, since those come up a lot in my tests.  I
-            // ignore namespaces.
-            if (is_node(val)) {
-                switch (val.nodeType) {
-                case Node.ELEMENT_NODE:
-                    var ret = "<" + val.localName;
-                    for (var i = 0; i < val.attributes.length; i++) {
-                        ret += " " + val.attributes[i].name + '="' + val.attributes[i].value + '"';
-                    }
-                    ret += ">" + val.innerHTML + "</" + val.localName + ">";
-                    return "Element node " + truncate(ret, 60);
-                case Node.TEXT_NODE:
-                    return 'Text node "' + truncate(val.data, 60) + '"';
-                case Node.PROCESSING_INSTRUCTION_NODE:
-                    return "ProcessingInstruction node with target " + format_value(truncate(val.target, 60)) + " and data " + format_value(truncate(val.data, 60));
-                case Node.COMMENT_NODE:
-                    return "Comment node <!--" + truncate(val.data, 60) + "-->";
-                case Node.DOCUMENT_NODE:
-                    return "Document node with " + val.childNodes.length + (val.childNodes.length == 1 ? " child" : " children");
-                case Node.DOCUMENT_TYPE_NODE:
-                    return "DocumentType node";
-                case Node.DOCUMENT_FRAGMENT_NODE:
-                    return "DocumentFragment node with " + val.childNodes.length + (val.childNodes.length == 1 ? " child" : " children");
-                default:
-                    return "Node object of unknown type";
-                }
-            }
-
-        /* falls through */
-        default:
-            try {
-                return typeof val + ' "' + truncate(String(val), 1000) + '"';
-            } catch(e) {
-                return ("[stringifying object threw " + String(e) +
-                        " with type " + String(typeof e) + "]");
-            }
-        }
-    }
-    expose(format_value, "format_value");
-
-    /*
-     * Assertions
-     */
-
-    function assert_true(actual, description)
-    {
-        assert(actual === true, "assert_true", description,
-                                "expected true got ${actual}", {actual:actual});
-    }
-    expose(assert_true, "assert_true");
-
-    function assert_false(actual, description)
-    {
-        assert(actual === false, "assert_false", description,
-                                 "expected false got ${actual}", {actual:actual});
-    }
-    expose(assert_false, "assert_false");
-
-    function same_value(x, y) {
-        if (y !== y) {
-            //NaN case
-            return x !== x;
-        }
-        if (x === 0 && y === 0) {
-            //Distinguish +0 and -0
-            return 1/x === 1/y;
-        }
-        return x === y;
-    }
-
-    function assert_equals(actual, expected, description)
-    {
-         /*
-          * Test if two primitives are equal or two objects
-          * are the same object
-          */
-        if (typeof actual != typeof expected) {
-            assert(false, "assert_equals", description,
-                          "expected (" + typeof expected + ") ${expected} but got (" + typeof actual + ") ${actual}",
-                          {expected:expected, actual:actual});
-            return;
-        }
-        assert(same_value(actual, expected), "assert_equals", description,
-                                             "expected ${expected} but got ${actual}",
-                                             {expected:expected, actual:actual});
-    }
-    expose(assert_equals, "assert_equals");
-
-    function assert_not_equals(actual, expected, description)
-    {
-         /*
-          * Test if two primitives are unequal or two objects
-          * are different objects
-          */
-        assert(!same_value(actual, expected), "assert_not_equals", description,
-                                              "got disallowed value ${actual}",
-                                              {actual:actual});
-    }
-    expose(assert_not_equals, "assert_not_equals");
-
-    function assert_in_array(actual, expected, description)
-    {
-        assert(expected.indexOf(actual) != -1, "assert_in_array", description,
-                                               "value ${actual} not in array ${expected}",
-                                               {actual:actual, expected:expected});
-    }
-    expose(assert_in_array, "assert_in_array");
-
-    function assert_object_equals(actual, expected, description)
-    {
-         //This needs to be improved a great deal
-         function check_equal(actual, expected, stack)
-         {
-             stack.push(actual);
-
-             var p;
-             for (p in actual) {
-                 assert(expected.hasOwnProperty(p), "assert_object_equals", description,
-                                                    "unexpected property ${p}", {p:p});
-
-                 if (typeof actual[p] === "object" && actual[p] !== null) {
-                     if (stack.indexOf(actual[p]) === -1) {
-                         check_equal(actual[p], expected[p], stack);
-                     }
-                 } else {
-                     assert(same_value(actual[p], expected[p]), "assert_object_equals", description,
-                                                       "property ${p} expected ${expected} got ${actual}",
-                                                       {p:p, expected:expected, actual:actual});
-                 }
-             }
-             for (p in expected) {
-                 assert(actual.hasOwnProperty(p),
-                        "assert_object_equals", description,
-                        "expected property ${p} missing", {p:p});
-             }
-             stack.pop();
-         }
-         check_equal(actual, expected, []);
-    }
-    expose(assert_object_equals, "assert_object_equals");
-
-    function assert_array_equals(actual, expected, description)
-    {
-        assert(typeof actual === "object" && actual !== null && "length" in actual,
-               "assert_array_equals", description,
-               "value is ${actual}, expected array",
-               {actual:actual});
-        assert(actual.length === expected.length,
-               "assert_array_equals", description,
-               "lengths differ, expected ${expected} got ${actual}",
-               {expected:expected.length, actual:actual.length});
-
-        for (var i = 0; i < actual.length; i++) {
-            assert(actual.hasOwnProperty(i) === expected.hasOwnProperty(i),
-                   "assert_array_equals", description,
-                   "property ${i}, property expected to be ${expected} but was ${actual}",
-                   {i:i, expected:expected.hasOwnProperty(i) ? "present" : "missing",
-                   actual:actual.hasOwnProperty(i) ? "present" : "missing"});
-            assert(same_value(expected[i], actual[i]),
-                   "assert_array_equals", description,
-                   "property ${i}, expected ${expected} but got ${actual}",
-                   {i:i, expected:expected[i], actual:actual[i]});
-        }
-    }
-    expose(assert_array_equals, "assert_array_equals");
-
-    function assert_array_approx_equals(actual, expected, epsilon, description)
-    {
-        /*
-         * Test if two primitive arrays are equal withing +/- epsilon
-         */
-        assert(actual.length === expected.length,
-               "assert_array_approx_equals", description,
-               "lengths differ, expected ${expected} got ${actual}",
-               {expected:expected.length, actual:actual.length});
-
-        for (var i = 0; i < actual.length; i++) {
-            assert(actual.hasOwnProperty(i) === expected.hasOwnProperty(i),
-                   "assert_array_approx_equals", description,
-                   "property ${i}, property expected to be ${expected} but was ${actual}",
-                   {i:i, expected:expected.hasOwnProperty(i) ? "present" : "missing",
-                   actual:actual.hasOwnProperty(i) ? "present" : "missing"});
-            assert(typeof actual[i] === "number",
-                   "assert_array_approx_equals", description,
-                   "property ${i}, expected a number but got a ${type_actual}",
-                   {i:i, type_actual:typeof actual[i]});
-            assert(Math.abs(actual[i] - expected[i]) <= epsilon,
-                   "assert_array_approx_equals", description,
-                   "property ${i}, expected ${expected} +/- ${epsilon}, expected ${expected} but got ${actual}",
-                   {i:i, expected:expected[i], actual:actual[i]});
-        }
-    }
-    expose(assert_array_approx_equals, "assert_array_approx_equals");
-
-    function assert_approx_equals(actual, expected, epsilon, description)
-    {
-        /*
-         * Test if two primitive numbers are equal withing +/- epsilon
-         */
-        assert(typeof actual === "number",
-               "assert_approx_equals", description,
-               "expected a number but got a ${type_actual}",
-               {type_actual:typeof actual});
-
-        assert(Math.abs(actual - expected) <= epsilon,
-               "assert_approx_equals", description,
-               "expected ${expected} +/- ${epsilon} but got ${actual}",
-               {expected:expected, actual:actual, epsilon:epsilon});
-    }
-    expose(assert_approx_equals, "assert_approx_equals");
-
-    function assert_less_than(actual, expected, description)
-    {
-        /*
-         * Test if a primitive number is less than another
-         */
-        assert(typeof actual === "number",
-               "assert_less_than", description,
-               "expected a number but got a ${type_actual}",
-               {type_actual:typeof actual});
-
-        assert(actual < expected,
-               "assert_less_than", description,
-               "expected a number less than ${expected} but got ${actual}",
-               {expected:expected, actual:actual});
-    }
-    expose(assert_less_than, "assert_less_than");
-
-    function assert_greater_than(actual, expected, description)
-    {
-        /*
-         * Test if a primitive number is greater than another
-         */
-        assert(typeof actual === "number",
-               "assert_greater_than", description,
-               "expected a number but got a ${type_actual}",
-               {type_actual:typeof actual});
-
-        assert(actual > expected,
-               "assert_greater_than", description,
-               "expected a number greater than ${expected} but got ${actual}",
-               {expected:expected, actual:actual});
-    }
-    expose(assert_greater_than, "assert_greater_than");
-
-    function assert_between_exclusive(actual, lower, upper, description)
-    {
-        /*
-         * Test if a primitive number is between two others
-         */
-        assert(typeof actual === "number",
-               "assert_between_exclusive", description,
-               "expected a number but got a ${type_actual}",
-               {type_actual:typeof actual});
-
-        assert(actual > lower && actual < upper,
-               "assert_between_exclusive", description,
-               "expected a number greater than ${lower} " +
-               "and less than ${upper} but got ${actual}",
-               {lower:lower, upper:upper, actual:actual});
-    }
-    expose(assert_between_exclusive, "assert_between_exclusive");
-
-    function assert_less_than_equal(actual, expected, description)
-    {
-        /*
-         * Test if a primitive number is less than or equal to another
-         */
-        assert(typeof actual === "number",
-               "assert_less_than_equal", description,
-               "expected a number but got a ${type_actual}",
-               {type_actual:typeof actual});
-
-        assert(actual <= expected,
-               "assert_less_than_equal", description,
-               "expected a number less than or equal to ${expected} but got ${actual}",
-               {expected:expected, actual:actual});
-    }
-    expose(assert_less_than_equal, "assert_less_than_equal");
-
-    function assert_greater_than_equal(actual, expected, description)
-    {
-        /*
-         * Test if a primitive number is greater than or equal to another
-         */
-        assert(typeof actual === "number",
-               "assert_greater_than_equal", description,
-               "expected a number but got a ${type_actual}",
-               {type_actual:typeof actual});
-
-        assert(actual >= expected,
-               "assert_greater_than_equal", description,
-               "expected a number greater than or equal to ${expected} but got ${actual}",
-               {expected:expected, actual:actual});
-    }
-    expose(assert_greater_than_equal, "assert_greater_than_equal");
-
-    function assert_between_inclusive(actual, lower, upper, description)
-    {
-        /*
-         * Test if a primitive number is between to two others or equal to either of them
-         */
-        assert(typeof actual === "number",
-               "assert_between_inclusive", description,
-               "expected a number but got a ${type_actual}",
-               {type_actual:typeof actual});
-
-        assert(actual >= lower && actual <= upper,
-               "assert_between_inclusive", description,
-               "expected a number greater than or equal to ${lower} " +
-               "and less than or equal to ${upper} but got ${actual}",
-               {lower:lower, upper:upper, actual:actual});
-    }
-    expose(assert_between_inclusive, "assert_between_inclusive");
-
-    function assert_regexp_match(actual, expected, description) {
-        /*
-         * Test if a string (actual) matches a regexp (expected)
-         */
-        assert(expected.test(actual),
-               "assert_regexp_match", description,
-               "expected ${expected} but got ${actual}",
-               {expected:expected, actual:actual});
-    }
-    expose(assert_regexp_match, "assert_regexp_match");
-
-    function assert_class_string(object, class_string, description) {
-        assert_equals({}.toString.call(object), "[object " + class_string + "]",
-                      description);
-    }
-    expose(assert_class_string, "assert_class_string");
-
-
-    function _assert_own_property(name) {
-        return function(object, property_name, description)
-        {
-            assert(object.hasOwnProperty(property_name),
-                   name, description,
-                   "expected property ${p} missing", {p:property_name});
-        };
-    }
-    expose(_assert_own_property("assert_exists"), "assert_exists");
-    expose(_assert_own_property("assert_own_property"), "assert_own_property");
-
-    function assert_not_exists(object, property_name, description)
-    {
-        assert(!object.hasOwnProperty(property_name),
-               "assert_not_exists", description,
-               "unexpected property ${p} found", {p:property_name});
-    }
-    expose(assert_not_exists, "assert_not_exists");
-
-    function _assert_inherits(name) {
-        return function (object, property_name, description)
-        {
-            assert(typeof object === "object" || typeof object === "function",
-                   name, description,
-                   "provided value is not an object");
-
-            assert("hasOwnProperty" in object,
-                   name, description,
-                   "provided value is an object but has no hasOwnProperty method");
-
-            assert(!object.hasOwnProperty(property_name),
-                   name, description,
-                   "property ${p} found on object expected in prototype chain",
-                   {p:property_name});
-
-            assert(property_name in object,
-                   name, description,
-                   "property ${p} not found in prototype chain",
-                   {p:property_name});
-        };
-    }
-    expose(_assert_inherits("assert_inherits"), "assert_inherits");
-    expose(_assert_inherits("assert_idl_attribute"), "assert_idl_attribute");
-
-    function assert_readonly(object, property_name, description)
-    {
-         var initial_value = object[property_name];
-         try {
-             //Note that this can have side effects in the case where
-             //the property has PutForwards
-             object[property_name] = initial_value + "a"; //XXX use some other value here?
-             assert(same_value(object[property_name], initial_value),
-                    "assert_readonly", description,
-                    "changing property ${p} succeeded",
-                    {p:property_name});
-         } finally {
-             object[property_name] = initial_value;
-         }
-    }
-    expose(assert_readonly, "assert_readonly");
-
-    function assert_throws(code, func, description)
-    {
-        try {
-            func.call(this);
-            assert(false, "assert_throws", description,
-                   "${func} did not throw", {func:func});
-        } catch (e) {
-            if (e instanceof AssertionError) {
-                throw e;
-            }
-            if (code === null) {
-                throw new AssertionError('Test bug: need to pass exception to assert_throws()');
-            }
-            if (typeof code === "object") {
-                assert(typeof e == "object" && "name" in e && e.name == code.name,
-                       "assert_throws", description,
-                       "${func} threw ${actual} (${actual_name}) expected ${expected} (${expected_name})",
-                                    {func:func, actual:e, actual_name:e.name,
-                                     expected:code,
-                                     expected_name:code.name});
-                return;
-            }
-
-            var code_name_map = {
-                INDEX_SIZE_ERR: 'IndexSizeError',
-                HIERARCHY_REQUEST_ERR: 'HierarchyRequestError',
-                WRONG_DOCUMENT_ERR: 'WrongDocumentError',
-                INVALID_CHARACTER_ERR: 'InvalidCharacterError',
-                NO_MODIFICATION_ALLOWED_ERR: 'NoModificationAllowedError',
-                NOT_FOUND_ERR: 'NotFoundError',
-                NOT_SUPPORTED_ERR: 'NotSupportedError',
-                INUSE_ATTRIBUTE_ERR: 'InUseAttributeError',
-                INVALID_STATE_ERR: 'InvalidStateError',
-                SYNTAX_ERR: 'SyntaxError',
-                INVALID_MODIFICATION_ERR: 'InvalidModificationError',
-                NAMESPACE_ERR: 'NamespaceError',
-                INVALID_ACCESS_ERR: 'InvalidAccessError',
-                TYPE_MISMATCH_ERR: 'TypeMismatchError',
-                SECURITY_ERR: 'SecurityError',
-                NETWORK_ERR: 'NetworkError',
-                ABORT_ERR: 'AbortError',
-                URL_MISMATCH_ERR: 'URLMismatchError',
-                QUOTA_EXCEEDED_ERR: 'QuotaExceededError',
-                TIMEOUT_ERR: 'TimeoutError',
-                INVALID_NODE_TYPE_ERR: 'InvalidNodeTypeError',
-                DATA_CLONE_ERR: 'DataCloneError'
-            };
-
-            var name = code in code_name_map ? code_name_map[code] : code;
-
-            var name_code_map = {
-                IndexSizeError: 1,
-                HierarchyRequestError: 3,
-                WrongDocumentError: 4,
-                InvalidCharacterError: 5,
-                NoModificationAllowedError: 7,
-                NotFoundError: 8,
-                NotSupportedError: 9,
-                InUseAttributeError: 10,
-                InvalidStateError: 11,
-                SyntaxError: 12,
-                InvalidModificationError: 13,
-                NamespaceError: 14,
-                InvalidAccessError: 15,
-                TypeMismatchError: 17,
-                SecurityError: 18,
-                NetworkError: 19,
-                AbortError: 20,
-                URLMismatchError: 21,
-                QuotaExceededError: 22,
-                TimeoutError: 23,
-                InvalidNodeTypeError: 24,
-                DataCloneError: 25,
-
-                EncodingError: 0,
-                NotReadableError: 0,
-                UnknownError: 0,
-                ConstraintError: 0,
-                DataError: 0,
-                TransactionInactiveError: 0,
-                ReadOnlyError: 0,
-                VersionError: 0,
-                OperationError: 0,
-                NotAllowedError: 0
-            };
-
-            if (!(name in name_code_map)) {
-                throw new AssertionError('Test bug: unrecognized DOMException code "' + code + '" passed to assert_throws()');
-            }
-
-            var required_props = { code: name_code_map[name] };
-
-            if (required_props.code === 0 ||
-               (typeof e == "object" &&
-                "name" in e &&
-                e.name !== e.name.toUpperCase() &&
-                e.name !== "DOMException")) {
-                // New style exception: also test the name property.
-                required_props.name = name;
-            }
-
-            //We'd like to test that e instanceof the appropriate interface,
-            //but we can't, because we don't know what window it was created
-            //in.  It might be an instanceof the appropriate interface on some
-            //unknown other window.  TODO: Work around this somehow?
-
-            assert(typeof e == "object",
-                   "assert_throws", description,
-                   "${func} threw ${e} with type ${type}, not an object",
-                   {func:func, e:e, type:typeof e});
-
-            for (var prop in required_props) {
-                assert(typeof e == "object" && prop in e && e[prop] == required_props[prop],
-                       "assert_throws", description,
-                       "${func} threw ${e} that is not a DOMException " + code + ": property ${prop} is equal to ${actual}, expected ${expected}",
-                       {func:func, e:e, prop:prop, actual:e[prop], expected:required_props[prop]});
-            }
-        }
-    }
-    expose(assert_throws, "assert_throws");
-
-    function assert_unreached(description) {
-         assert(false, "assert_unreached", description,
-                "Reached unreachable code");
-    }
-    expose(assert_unreached, "assert_unreached");
-
-    function assert_any(assert_func, actual, expected_array)
-    {
-        var args = [].slice.call(arguments, 3);
-        var errors = [];
-        var passed = false;
-        forEach(expected_array,
-                function(expected)
-                {
-                    try {
-                        assert_func.apply(this, [actual, expected].concat(args));
-                        passed = true;
-                    } catch (e) {
-                        errors.push(e.message);
-                    }
-                });
-        if (!passed) {
-            throw new AssertionError(errors.join("\n\n"));
-        }
-    }
-    expose(assert_any, "assert_any");
-
-    function Test(name, properties)
-    {
-        if (tests.file_is_test && tests.tests.length) {
-            throw new Error("Tried to create a test with file_is_test");
-        }
-        this.name = name;
-
-        this.phase = tests.phase === tests.phases.ABORTED ?
-            this.phases.COMPLETE : this.phases.INITIAL;
-
-        this.status = this.NOTRUN;
-        this.timeout_id = null;
-        this.index = null;
-
-        this.properties = properties;
-        var timeout = properties.timeout ? properties.timeout : settings.test_timeout;
-        if (timeout !== null) {
-            this.timeout_length = timeout * tests.timeout_multiplier;
-        } else {
-            this.timeout_length = null;
-        }
-
-        this.message = null;
-        this.stack = null;
-
-        this.steps = [];
-
-        this.cleanup_callbacks = [];
-        this._user_defined_cleanup_count = 0;
-
-        tests.push(this);
-    }
-
-    Test.statuses = {
-        PASS:0,
-        FAIL:1,
-        TIMEOUT:2,
-        NOTRUN:3
-    };
-
-    Test.prototype = merge({}, Test.statuses);
-
-    Test.prototype.phases = {
-        INITIAL:0,
-        STARTED:1,
-        HAS_RESULT:2,
-        COMPLETE:3
-    };
-
-    Test.prototype.structured_clone = function()
-    {
-        if (!this._structured_clone) {
-            var msg = this.message;
-            msg = msg ? String(msg) : msg;
-            this._structured_clone = merge({
-                name:String(this.name),
-                properties:merge({}, this.properties),
-                phases:merge({}, this.phases)
-            }, Test.statuses);
-        }
-        this._structured_clone.status = this.status;
-        this._structured_clone.message = this.message;
-        this._structured_clone.stack = this.stack;
-        this._structured_clone.index = this.index;
-        this._structured_clone.phase = this.phase;
-        return this._structured_clone;
-    };
-
-    Test.prototype.step = function(func, this_obj)
-    {
-        if (this.phase > this.phases.STARTED) {
-            return;
-        }
-        this.phase = this.phases.STARTED;
-        //If we don't get a result before the harness times out that will be a test timout
-        this.set_status(this.TIMEOUT, "Test timed out");
-
-        tests.started = true;
-        tests.notify_test_state(this);
-
-        if (this.timeout_id === null) {
-            this.set_timeout();
-        }
-
-        this.steps.push(func);
-
-        if (arguments.length === 1) {
-            this_obj = this;
-        }
-
-        try {
-            return func.apply(this_obj, Array.prototype.slice.call(arguments, 2));
-        } catch (e) {
-            if (this.phase >= this.phases.HAS_RESULT) {
-                return;
-            }
-            var message = String((typeof e === "object" && e !== null) ? e.message : e);
-            var stack = e.stack ? e.stack : null;
-
-            this.set_status(this.FAIL, message, stack);
-            this.phase = this.phases.HAS_RESULT;
-            this.done();
-        }
-    };
-
-    Test.prototype.step_func = function(func, this_obj)
-    {
-        var test_this = this;
-
-        if (arguments.length === 1) {
-            this_obj = test_this;
-        }
-
-        return function()
-        {
-            return test_this.step.apply(test_this, [func, this_obj].concat(
-                Array.prototype.slice.call(arguments)));
-        };
-    };
-
-    Test.prototype.step_func_done = function(func, this_obj)
-    {
-        var test_this = this;
-
-        if (arguments.length === 1) {
-            this_obj = test_this;
-        }
-
-        return function()
-        {
-            if (func) {
-                test_this.step.apply(test_this, [func, this_obj].concat(
-                    Array.prototype.slice.call(arguments)));
-            }
-            test_this.done();
-        };
-    };
-
-    Test.prototype.unreached_func = function(description)
-    {
-        return this.step_func(function() {
-            assert_unreached(description);
-        });
-    };
-
-    Test.prototype.step_timeout = function(f, timeout) {
-        var test_this = this;
-        var args = Array.prototype.slice.call(arguments, 2);
-        return setTimeout(this.step_func(function() {
-            return f.apply(test_this, args);
-        }), timeout * tests.timeout_multiplier);
-    }
-
-    /*
-     * Private method for registering cleanup functions. `testharness.js`
-     * internals should use this method instead of the public `add_cleanup`
-     * method in order to hide implementation details from the harness status
-     * message in the case errors.
-     */
-    Test.prototype._add_cleanup = function(callback) {
-        this.cleanup_callbacks.push(callback);
-    };
-
-    /*
-     * Schedule a function to be run after the test result is known, regardless
-     * of passing or failing state. The behavior of this function will not
-     * influence the result of the test, but if an exception is thrown, the
-     * test harness will report an error.
-     */
-    Test.prototype.add_cleanup = function(callback) {
-        this._user_defined_cleanup_count += 1;
-        this._add_cleanup(callback);
-    };
-
-    Test.prototype.set_timeout = function()
-    {
-        if (this.timeout_length !== null) {
-            var this_obj = this;
-            this.timeout_id = setTimeout(function()
-                                         {
-                                             this_obj.timeout();
-                                         }, this.timeout_length);
-        }
-    };
-
-    Test.prototype.set_status = function(status, message, stack)
-    {
-        this.status = status;
-        this.message = message;
-        this.stack = stack ? stack : null;
-    };
-
-    Test.prototype.timeout = function()
-    {
-        this.timeout_id = null;
-        this.set_status(this.TIMEOUT, "Test timed out");
-        this.phase = this.phases.HAS_RESULT;
-        this.done();
-    };
-
-    Test.prototype.force_timeout = Test.prototype.timeout;
-
-    Test.prototype.done = function()
-    {
-        if (this.phase == this.phases.COMPLETE) {
-            return;
-        }
-
-        if (this.phase <= this.phases.STARTED) {
-            this.set_status(this.PASS, null);
-        }
-
-        this.phase = this.phases.COMPLETE;
-
-        clearTimeout(this.timeout_id);
-        tests.result(this);
-        this.cleanup();
-    };
-
-    /*
-     * Invoke all specified cleanup functions. If one or more produce an error,
-     * the context is in an unpredictable state, so all further testing should
-     * be cancelled.
-     */
-    Test.prototype.cleanup = function() {
-        var error_count = 0;
-        var total;
-
-        forEach(this.cleanup_callbacks,
-                function(cleanup_callback) {
-                    try {
-                        cleanup_callback();
-                    } catch (e) {
-                        // Set test phase immediately so that tests declared
-                        // within subsequent cleanup functions are not run.
-                        tests.phase = tests.phases.ABORTED;
-                        error_count += 1;
-                    }
-                });
-
-        if (error_count > 0) {
-            total = this._user_defined_cleanup_count;
-            tests.status.status = tests.status.ERROR;
-            tests.status.message = "Test named '" + this.name +
-                "' specified " + total + " 'cleanup' function" +
-                (total > 1 ? "s" : "") + ", and " + error_count + " failed.";
-            tests.status.stack = null;
-        }
-    };
-
-    /*
-     * A RemoteTest object mirrors a Test object on a remote worker. The
-     * associated RemoteWorker updates the RemoteTest object in response to
-     * received events. In turn, the RemoteTest object replicates these events
-     * on the local document. This allows listeners (test result reporting
-     * etc..) to transparently handle local and remote events.
-     */
-    function RemoteTest(clone) {
-        var this_obj = this;
-        Object.keys(clone).forEach(
-                function(key) {
-                    this_obj[key] = clone[key];
-                });
-        this.index = null;
-        this.phase = this.phases.INITIAL;
-        this.update_state_from(clone);
-        tests.push(this);
-    }
-
-    RemoteTest.prototype.structured_clone = function() {
-        var clone = {};
-        Object.keys(this).forEach(
-                (function(key) {
-                    var value = this[key];
-
-                    if (typeof value === "object" && value !== null) {
-                        clone[key] = merge({}, value);
-                    } else {
-                        clone[key] = value;
-                    }
-                }).bind(this));
-        clone.phases = merge({}, this.phases);
-        return clone;
-    };
-
-    RemoteTest.prototype.cleanup = function() {};
-    RemoteTest.prototype.phases = Test.prototype.phases;
-    RemoteTest.prototype.update_state_from = function(clone) {
-        this.status = clone.status;
-        this.message = clone.message;
-        this.stack = clone.stack;
-        if (this.phase === this.phases.INITIAL) {
-            this.phase = this.phases.STARTED;
-        }
-    };
-    RemoteTest.prototype.done = function() {
-        this.phase = this.phases.COMPLETE;
-    }
-
-    /*
-     * A RemoteContext listens for test events from a remote test context, such
-     * as another window or a worker. These events are then used to construct
-     * and maintain RemoteTest objects that mirror the tests running in the
-     * remote context.
-     *
-     * An optional third parameter can be used as a predicate to filter incoming
-     * MessageEvents.
-     */
-    function RemoteContext(remote, message_target, message_filter) {
-        this.running = true;
-        this.tests = new Array();
-
-        var this_obj = this;
-        // If remote context is cross origin assigning to onerror is not
-        // possible, so silently catch those errors.
-        try {
-          remote.onerror = function(error) { this_obj.remote_error(error); };
-        } catch (e) {
-          // Ignore.
-        }
-
-        // Keeping a reference to the remote object and the message handler until
-        // remote_done() is seen prevents the remote object and its message channel
-        // from going away before all the messages are dispatched.
-        this.remote = remote;
-        this.message_target = message_target;
-        this.message_handler = function(message) {
-            var passesFilter = !message_filter || message_filter(message);
-            if (this_obj.running && message.data && passesFilter &&
-                (message.data.type in this_obj.message_handlers)) {
-                this_obj.message_handlers[message.data.type].call(this_obj, message.data);
-            }
-        };
-
-        this.message_target.addEventListener("message", this.message_handler);
-    }
-
-    RemoteContext.prototype.remote_error = function(error) {
-        var message = error.message || String(error);
-        var filename = (error.filename ? " " + error.filename: "");
-        // FIXME: Display remote error states separately from main document
-        // error state.
-        this.remote_done({
-            status: {
-                status: tests.status.ERROR,
-                message: "Error in remote" + filename + ": " + message,
-                stack: error.stack
-            }
-        });
-
-        if (error.preventDefault) {
-            error.preventDefault();
-        }
-    };
-
-    RemoteContext.prototype.test_state = function(data) {
-        var remote_test = this.tests[data.test.index];
-        if (!remote_test) {
-            remote_test = new RemoteTest(data.test);
-            this.tests[data.test.index] = remote_test;
-        }
-        remote_test.update_state_from(data.test);
-        tests.notify_test_state(remote_test);
-    };
-
-    RemoteContext.prototype.test_done = function(data) {
-        var remote_test = this.tests[data.test.index];
-        remote_test.update_state_from(data.test);
-        remote_test.done();
-        tests.result(remote_test);
-    };
-
-    RemoteContext.prototype.remote_done = function(data) {
-        if (tests.status.status === null &&
-            data.status.status !== data.status.OK) {
-            tests.status.status = data.status.status;
-            tests.status.message = data.status.message;
-            tests.status.stack = data.status.stack;
-        }
-        this.message_target.removeEventListener("message", this.message_handler);
-        this.running = false;
-        this.remote = null;
-        this.message_target = null;
-        if (tests.all_done()) {
-            tests.complete();
-        }
-    };
-
-    RemoteContext.prototype.message_handlers = {
-        test_state: RemoteContext.prototype.test_state,
-        result: RemoteContext.prototype.test_done,
-        complete: RemoteContext.prototype.remote_done
-    };
-
-    /*
-     * Harness
-     */
-
-    function TestsStatus()
-    {
-        this.status = null;
-        this.message = null;
-        this.stack = null;
-    }
-
-    TestsStatus.statuses = {
-        OK:0,
-        ERROR:1,
-        TIMEOUT:2
-    };
-
-    TestsStatus.prototype = merge({}, TestsStatus.statuses);
-
-    TestsStatus.prototype.structured_clone = function()
-    {
-        if (!this._structured_clone) {
-            var msg = this.message;
-            msg = msg ? String(msg) : msg;
-            this._structured_clone = merge({
-                status:this.status,
-                message:msg,
-                stack:this.stack
-            }, TestsStatus.statuses);
-        }
-        return this._structured_clone;
-    };
-
-    function Tests()
-    {
-        this.tests = [];
-        this.num_pending = 0;
-
-        this.phases = {
-            INITIAL:0,
-            SETUP:1,
-            HAVE_TESTS:2,
-            HAVE_RESULTS:3,
-            COMPLETE:4,
-            ABORTED:5
-        };
-        this.phase = this.phases.INITIAL;
-
-        this.properties = {};
-
-        this.wait_for_finish = false;
-        this.processing_callbacks = false;
-
-        this.allow_uncaught_exception = false;
-
-        this.file_is_test = false;
-
-        this.timeout_multiplier = 1;
-        this.timeout_length = test_environment.test_timeout();
-        this.timeout_id = null;
-
-        this.start_callbacks = [];
-        this.test_state_callbacks = [];
-        this.test_done_callbacks = [];
-        this.all_done_callbacks = [];
-
-        this.pending_remotes = [];
-
-        this.status = new TestsStatus();
-
-        var this_obj = this;
-
-        test_environment.add_on_loaded_callback(function() {
-            if (this_obj.all_done()) {
-                this_obj.complete();
-            }
-        });
-
-        this.set_timeout();
-    }
-
-    Tests.prototype.setup = function(func, properties)
-    {
-        if (this.phase >= this.phases.HAVE_RESULTS) {
-            return;
-        }
-
-        if (this.phase < this.phases.SETUP) {
-            this.phase = this.phases.SETUP;
-        }
-
-        this.properties = properties;
-
-        for (var p in properties) {
-            if (properties.hasOwnProperty(p)) {
-                var value = properties[p];
-                if (p == "allow_uncaught_exception") {
-                    this.allow_uncaught_exception = value;
-                } else if (p == "explicit_done" && value) {
-                    this.wait_for_finish = true;
-                } else if (p == "explicit_timeout" && value) {
-                    this.timeout_length = null;
-                    if (this.timeout_id)
-                    {
-                        clearTimeout(this.timeout_id);
-                    }
-                } else if (p == "timeout_multiplier") {
-                    this.timeout_multiplier = value;
-                }
-            }
-        }
-
-        if (func) {
-            try {
-                func();
-            } catch (e) {
-                this.status.status = this.status.ERROR;
-                this.status.message = String(e);
-                this.status.stack = e.stack ? e.stack : null;
-            }
-        }
-        this.set_timeout();
-    };
-
-    Tests.prototype.set_file_is_test = function() {
-        if (this.tests.length > 0) {
-            throw new Error("Tried to set file as test after creating a test");
-        }
-        this.wait_for_finish = true;
-        this.file_is_test = true;
-        // Create the test, which will add it to the list of tests
-        async_test();
-    };
-
-    Tests.prototype.set_timeout = function() {
-        var this_obj = this;
-        clearTimeout(this.timeout_id);
-        if (this.timeout_length !== null) {
-            this.timeout_id = setTimeout(function() {
-                                             this_obj.timeout();
-                                         }, this.timeout_length);
-        }
-    };
-
-    Tests.prototype.timeout = function() {
-        if (this.status.status === null) {
-            this.status.status = this.status.TIMEOUT;
-        }
-        this.complete();
-    };
-
-    Tests.prototype.end_wait = function()
-    {
-        this.wait_for_finish = false;
-        if (this.all_done()) {
-            this.complete();
-        }
-    };
-
-    Tests.prototype.push = function(test)
-    {
-        if (this.phase < this.phases.HAVE_TESTS) {
-            this.start();
-        }
-        this.num_pending++;
-        test.index = this.tests.push(test);
-        this.notify_test_state(test);
-    };
-
-    Tests.prototype.notify_test_state = function(test) {
-        var this_obj = this;
-        forEach(this.test_state_callbacks,
-                function(callback) {
-                    callback(test, this_obj);
-                });
-    };
-
-    Tests.prototype.all_done = function() {
-        return this.phase === this.phases.ABORTED ||
-            (this.tests.length > 0 && test_environment.all_loaded &&
-                this.num_pending === 0 && !this.wait_for_finish &&
-                !this.processing_callbacks &&
-                !this.pending_remotes.some(function(w) { return w.running; }));
-    };
-
-    Tests.prototype.start = function() {
-        this.phase = this.phases.HAVE_TESTS;
-        this.notify_start();
-    };
-
-    Tests.prototype.notify_start = function() {
-        var this_obj = this;
-        forEach (this.start_callbacks,
-                 function(callback)
-                 {
-                     callback(this_obj.properties);
-                 });
-    };
-
-    Tests.prototype.result = function(test)
-    {
-        if (this.phase > this.phases.HAVE_RESULTS) {
-            return;
-        }
-        this.phase = this.phases.HAVE_RESULTS;
-        this.num_pending--;
-        this.notify_result(test);
-    };
-
-    Tests.prototype.notify_result = function(test) {
-        var this_obj = this;
-        this.processing_callbacks = true;
-        forEach(this.test_done_callbacks,
-                function(callback)
-                {
-                    callback(test, this_obj);
-                });
-        this.processing_callbacks = false;
-        if (this_obj.all_done()) {
-            this_obj.complete();
-        }
-    };
-
-    Tests.prototype.complete = function() {
-        if (this.phase === this.phases.COMPLETE) {
-            return;
-        }
-        this.phase = this.phases.COMPLETE;
-        var this_obj = this;
-        this.tests.forEach(
-            function(x)
-            {
-                if (x.phase < x.phases.COMPLETE) {
-                    this_obj.notify_result(x);
-                    x.cleanup();
-                    x.phase = x.phases.COMPLETE;
-                }
-            }
-        );
-        this.notify_complete();
-    };
-
-    /*
-     * Determine if any tests share the same `name` property. Return an array
-     * containing the names of any such duplicates.
-     */
-    Tests.prototype.find_duplicates = function() {
-        var names = Object.create(null);
-        var duplicates = [];
-
-        forEach (this.tests,
-                 function(test)
-                 {
-                     if (test.name in names && duplicates.indexOf(test.name) === -1) {
-                        duplicates.push(test.name);
-                     }
-                     names[test.name] = true;
-                 });
-
-        return duplicates;
-    };
-
-    Tests.prototype.notify_complete = function() {
-        var this_obj = this;
-        var duplicates;
-
-        if (this.status.status === null) {
-            duplicates = this.find_duplicates();
-
-            // Test names are presumed to be unique within test files--this
-            // allows consumers to use them for identification purposes.
-            // Duplicated names violate this expectation and should therefore
-            // be reported as an error.
-            if (duplicates.length) {
-                this.status.status = this.status.ERROR;
-                this.status.message =
-                   duplicates.length + ' duplicate test name' +
-                   (duplicates.length > 1 ? 's' : '') + ': "' +
-                   duplicates.join('", "') + '"';
-            } else {
-                this.status.status = this.status.OK;
-            }
-        }
-
-        forEach (this.all_done_callbacks,
-                 function(callback)
-                 {
-                     callback(this_obj.tests, this_obj.status);
-                 });
-    };
-
-    /*
-     * Constructs a RemoteContext that tracks tests from a specific worker.
-     */
-    Tests.prototype.create_remote_worker = function(worker) {
-        var message_port;
-
-        if (is_service_worker(worker)) {
-            if (window.MessageChannel) {
-                // The ServiceWorker's implicit MessagePort is currently not
-                // reliably accessible from the ServiceWorkerGlobalScope due to
-                // Blink setting MessageEvent.source to null for messages sent
-                // via ServiceWorker.postMessage(). Until that's resolved,
-                // create an explicit MessageChannel and pass one end to the
-                // worker.
-                var message_channel = new MessageChannel();
-                message_port = message_channel.port1;
-                message_port.start();
-                worker.postMessage({type: "connect"}, [message_channel.port2]);
-            } else {
-                // If MessageChannel is not available, then try the
-                // ServiceWorker.postMessage() approach using MessageEvent.source
-                // on the other end.
-                message_port = navigator.serviceWorker;
-                worker.postMessage({type: "connect"});
-            }
-        } else if (is_shared_worker(worker)) {
-            message_port = worker.port;
-            message_port.start();
-        } else {
-            message_port = worker;
-        }
-
-        return new RemoteContext(worker, message_port);
-    };
-
-    /*
-     * Constructs a RemoteContext that tracks tests from a specific window.
-     */
-    Tests.prototype.create_remote_window = function(remote) {
-        remote.postMessage({type: "getmessages"}, "*");
-        return new RemoteContext(
-            remote,
-            window,
-            function(msg) {
-                return msg.source === remote;
-            }
-        );
-    };
-
-    Tests.prototype.fetch_tests_from_worker = function(worker) {
-        if (this.phase >= this.phases.COMPLETE) {
-            return;
-        }
-
-        this.pending_remotes.push(this.create_remote_worker(worker));
-    };
-
-    function fetch_tests_from_worker(port) {
-        tests.fetch_tests_from_worker(port);
-    }
-    expose(fetch_tests_from_worker, 'fetch_tests_from_worker');
-
-    Tests.prototype.fetch_tests_from_window = function(remote) {
-        if (this.phase >= this.phases.COMPLETE) {
-            return;
-        }
-
-        this.pending_remotes.push(this.create_remote_window(remote));
-    };
-
-    function fetch_tests_from_window(window) {
-        tests.fetch_tests_from_window(window);
-    }
-    expose(fetch_tests_from_window, 'fetch_tests_from_window');
-
-    function timeout() {
-        if (tests.timeout_length === null) {
-            tests.timeout();
-        }
-    }
-    expose(timeout, 'timeout');
-
-    function add_start_callback(callback) {
-        tests.start_callbacks.push(callback);
-    }
-
-    function add_test_state_callback(callback) {
-        tests.test_state_callbacks.push(callback);
-    }
-
-    function add_result_callback(callback) {
-        tests.test_done_callbacks.push(callback);
-    }
-
-    function add_completion_callback(callback) {
-        tests.all_done_callbacks.push(callback);
-    }
-
-    expose(add_start_callback, 'add_start_callback');
-    expose(add_test_state_callback, 'add_test_state_callback');
-    expose(add_result_callback, 'add_result_callback');
-    expose(add_completion_callback, 'add_completion_callback');
-
-    function remove(array, item) {
-        var index = array.indexOf(item);
-        if (index > -1) {
-            array.splice(index, 1);
-        }
-    }
-
-    function remove_start_callback(callback) {
-        remove(tests.start_callbacks, callback);
-    }
-
-    function remove_test_state_callback(callback) {
-        remove(tests.test_state_callbacks, callback);
-    }
-
-    function remove_result_callback(callback) {
-        remove(tests.test_done_callbacks, callback);
-    }
-
-    function remove_completion_callback(callback) {
-       remove(tests.all_done_callbacks, callback);
-    }
-
-    /*
-     * Output listener
-    */
-
-    function Output() {
-        this.output_document = document;
-        this.output_node = null;
-        this.enabled = settings.output;
-        this.phase = this.INITIAL;
-    }
-
-    Output.prototype.INITIAL = 0;
-    Output.prototype.STARTED = 1;
-    Output.prototype.HAVE_RESULTS = 2;
-    Output.prototype.COMPLETE = 3;
-
-    Output.prototype.setup = function(properties) {
-        if (this.phase > this.INITIAL) {
-            return;
-        }
-
-        //If output is disabled in testharnessreport.js the test shouldn't be
-        //able to override that
-        this.enabled = this.enabled && (properties.hasOwnProperty("output") ?
-                                        properties.output : settings.output);
-    };
-
-    Output.prototype.init = function(properties) {
-        if (this.phase >= this.STARTED) {
-            return;
-        }
-        if (properties.output_document) {
-            this.output_document = properties.output_document;
-        } else {
-            this.output_document = document;
-        }
-        this.phase = this.STARTED;
-    };
-
-    Output.prototype.resolve_log = function() {
-        var output_document;
-        if (typeof this.output_document === "function") {
-            output_document = this.output_document.apply(undefined);
-        } else {
-            output_document = this.output_document;
-        }
-        if (!output_document) {
-            return;
-        }
-        var node = output_document.getElementById("log");
-        if (!node) {
-            if (!document.readyState == "loading") {
-                return;
-            }
-            node = output_document.createElementNS("http://www.w3.org/1999/xhtml", "div");
-            node.id = "log";
-            if (output_document.body) {
-                output_document.body.appendChild(node);
-            } else {
-                var is_svg = false;
-                var output_window = output_document.defaultView;
-                if (output_window && "SVGSVGElement" in output_window) {
-                    is_svg = output_document.documentElement instanceof output_window.SVGSVGElement;
-                }
-                if (is_svg) {
-                    var foreignObject = output_document.createElementNS("http://www.w3.org/2000/svg", "foreignObject");
-                    foreignObject.setAttribute("width", "100%");
-                    foreignObject.setAttribute("height", "100%");
-                    output_document.documentElement.appendChild(foreignObject);
-                    foreignObject.appendChild(node);
-                } else {
-                    output_document.documentElement.appendChild(node);
-                }
-            }
-        }
-        this.output_document = output_document;
-        this.output_node = node;
-    };
-
-    Output.prototype.show_status = function() {
-        if (this.phase < this.STARTED) {
-            this.init();
-        }
-        if (!this.enabled) {
-            return;
-        }
-        if (this.phase < this.HAVE_RESULTS) {
-            this.resolve_log();
-            this.phase = this.HAVE_RESULTS;
-        }
-        var done_count = tests.tests.length - tests.num_pending;
-        if (this.output_node) {
-            if (done_count < 100 ||
-                (done_count < 1000 && done_count % 100 === 0) ||
-                done_count % 1000 === 0) {
-                this.output_node.textContent = "Running, " +
-                    done_count + " complete, " +
-                    tests.num_pending + " remain";
-            }
-        }
-    };
-
-    Output.prototype.show_results = function (tests, harness_status) {
-        if (this.phase >= this.COMPLETE) {
-            return;
-        }
-        if (!this.enabled) {
-            return;
-        }
-        if (!this.output_node) {
-            this.resolve_log();
-        }
-        this.phase = this.COMPLETE;
-
-        var log = this.output_node;
-        if (!log) {
-            return;
-        }
-        var output_document = this.output_document;
-
-        while (log.lastChild) {
-            log.removeChild(log.lastChild);
-        }
-
-        var harness_url = get_harness_url();
-        if (harness_url !== undefined) {
-            var stylesheet = output_document.createElementNS(xhtml_ns, "link");
-            stylesheet.setAttribute("rel", "stylesheet");
-            stylesheet.setAttribute("href", harness_url + "testharness.css");
-            var heads = output_document.getElementsByTagName("head");
-            if (heads.length) {
-                heads[0].appendChild(stylesheet);
-            }
-        }
-
-        var status_text_harness = {};
-        status_text_harness[harness_status.OK] = "OK";
-        status_text_harness[harness_status.ERROR] = "Error";
-        status_text_harness[harness_status.TIMEOUT] = "Timeout";
-
-        var status_text = {};
-        status_text[Test.prototype.PASS] = "Pass";
-        status_text[Test.prototype.FAIL] = "Fail";
-        status_text[Test.prototype.TIMEOUT] = "Timeout";
-        status_text[Test.prototype.NOTRUN] = "Not Run";
-
-        var status_number = {};
-        forEach(tests,
-                function(test) {
-                    var status = status_text[test.status];
-                    if (status_number.hasOwnProperty(status)) {
-                        status_number[status] += 1;
-                    } else {
-                        status_number[status] = 1;
-                    }
-                });
-
-        function status_class(status)
-        {
-            return status.replace(/\s/g, '').toLowerCase();
-        }
-
-        var summary_template = ["section", {"id":"summary"},
-                                ["h2", {}, "Summary"],
-                                function()
-                                {
-
-                                    var status = status_text_harness[harness_status.status];
-                                    var rv = [["section", {},
-                                               ["p", {},
-                                                "Harness status: ",
-                                                ["span", {"class":status_class(status)},
-                                                 status
-                                                ],
-                                               ]
-                                              ]];
-
-                                    if (harness_status.status === harness_status.ERROR) {
-                                        rv[0].push(["pre", {}, harness_status.message]);
-                                        if (harness_status.stack) {
-                                            rv[0].push(["pre", {}, harness_status.stack]);
-                                        }
-                                    }
-                                    return rv;
-                                },
-                                ["p", {}, "Found ${num_tests} tests"],
-                                function() {
-                                    var rv = [["div", {}]];
-                                    var i = 0;
-                                    while (status_text.hasOwnProperty(i)) {
-                                        if (status_number.hasOwnProperty(status_text[i])) {
-                                            var status = status_text[i];
-                                            rv[0].push(["div", {"class":status_class(status)},
-                                                        ["label", {},
-                                                         ["input", {type:"checkbox", checked:"checked"}],
-                                                         status_number[status] + " " + status]]);
-                                        }
-                                        i++;
-                                    }
-                                    return rv;
-                                },
-                               ];
-
-        log.appendChild(render(summary_template, {num_tests:tests.length}, output_document));
-
-        forEach(output_document.querySelectorAll("section#summary label"),
-                function(element)
-                {
-                    on_event(element, "click",
-                             function(e)
-                             {
-                                 if (output_document.getElementById("results") === null) {
-                                     e.preventDefault();
-                                     return;
-                                 }
-                                 var result_class = element.parentNode.getAttribute("class");
-                                 var style_element = output_document.querySelector("style#hide-" + result_class);
-                                 var input_element = element.querySelector("input");
-                                 if (!style_element && !input_element.checked) {
-                                     style_element = output_document.createElementNS(xhtml_ns, "style");
-                                     style_element.id = "hide-" + result_class;
-                                     style_element.textContent = "table#results > tbody > tr."+result_class+"{display:none}";
-                                     output_document.body.appendChild(style_element);
-                                 } else if (style_element && input_element.checked) {
-                                     style_element.parentNode.removeChild(style_element);
-                                 }
-                             });
-                });
-
-        // This use of innerHTML plus manual escaping is not recommended in
-        // general, but is necessary here for performance.  Using textContent
-        // on each individual <td> adds tens of seconds of execution time for
-        // large test suites (tens of thousands of tests).
-        function escape_html(s)
-        {
-            return s.replace(/\&/g, "&amp;")
-                .replace(/</g, "&lt;")
-                .replace(/"/g, "&quot;")
-                .replace(/'/g, "&#39;");
-        }
-
-        function has_assertions()
-        {
-            for (var i = 0; i < tests.length; i++) {
-                if (tests[i].properties.hasOwnProperty("assert")) {
-                    return true;
-                }
-            }
-            return false;
-        }
-
-        function get_assertion(test)
-        {
-            if (test.properties.hasOwnProperty("assert")) {
-                if (Array.isArray(test.properties.assert)) {
-                    return test.properties.assert.join(' ');
-                }
-                return test.properties.assert;
-            }
-            return '';
-        }
-
-        log.appendChild(document.createElementNS(xhtml_ns, "section"));
-        var assertions = has_assertions();
-        var html = "<h2>Details</h2><table id='results' " + (assertions ? "class='assertions'" : "" ) + ">" +
-            "<thead><tr><th>Result</th><th>Test Name</th>" +
-            (assertions ? "<th>Assertion</th>" : "") +
-            "<th>Message</th></tr></thead>" +
-            "<tbody>";
-        for (var i = 0; i < tests.length; i++) {
-            html += '<tr class="' +
-                escape_html(status_class(status_text[tests[i].status])) +
-                '"><td>' +
-                escape_html(status_text[tests[i].status]) +
-                "</td><td>" +
-                escape_html(tests[i].name) +
-                "</td><td>" +
-                (assertions ? escape_html(get_assertion(tests[i])) + "</td><td>" : "") +
-                escape_html(tests[i].message ? tests[i].message : " ") +
-                (tests[i].stack ? "<pre>" +
-                 escape_html(tests[i].stack) +
-                 "</pre>": "") +
-                "</td></tr>";
-        }
-        html += "</tbody></table>";
-        try {
-            log.lastChild.innerHTML = html;
-        } catch (e) {
-            log.appendChild(document.createElementNS(xhtml_ns, "p"))
-               .textContent = "Setting innerHTML for the log threw an exception.";
-            log.appendChild(document.createElementNS(xhtml_ns, "pre"))
-               .textContent = html;
-        }
-    };
-
-    /*
-     * Template code
-     *
-     * A template is just a javascript structure. An element is represented as:
-     *
-     * [tag_name, {attr_name:attr_value}, child1, child2]
-     *
-     * the children can either be strings (which act like text nodes), other templates or
-     * functions (see below)
-     *
-     * A text node is represented as
-     *
-     * ["{text}", value]
-     *
-     * String values have a simple substitution syntax; ${foo} represents a variable foo.
-     *
-     * It is possible to embed logic in templates by using a function in a place where a
-     * node would usually go. The function must either return part of a template or null.
-     *
-     * In cases where a set of nodes are required as output rather than a single node
-     * with children it is possible to just use a list
-     * [node1, node2, node3]
-     *
-     * Usage:
-     *
-     * render(template, substitutions) - take a template and an object mapping
-     * variable names to parameters and return either a DOM node or a list of DOM nodes
-     *
-     * substitute(template, substitutions) - take a template and variable mapping object,
-     * make the variable substitutions and return the substituted template
-     *
-     */
-
-    function is_single_node(template)
-    {
-        return typeof template[0] === "string";
-    }
-
-    function substitute(template, substitutions)
-    {
-        if (typeof template === "function") {
-            var replacement = template(substitutions);
-            if (!replacement) {
-                return null;
-            }
-
-            return substitute(replacement, substitutions);
-        }
-
-        if (is_single_node(template)) {
-            return substitute_single(template, substitutions);
-        }
-
-        return filter(map(template, function(x) {
-                              return substitute(x, substitutions);
-                          }), function(x) {return x !== null;});
-    }
-
-    function substitute_single(template, substitutions)
-    {
-        var substitution_re = /\$\{([^ }]*)\}/g;
-
-        function do_substitution(input) {
-            var components = input.split(substitution_re);
-            var rv = [];
-            for (var i = 0; i < components.length; i += 2) {
-                rv.push(components[i]);
-                if (components[i + 1]) {
-                    rv.push(String(substitutions[components[i + 1]]));
-                }
-            }
-            return rv;
-        }
-
-        function substitute_attrs(attrs, rv)
-        {
-            rv[1] = {};
-            for (var name in template[1]) {
-                if (attrs.hasOwnProperty(name)) {
-                    var new_name = do_substitution(name).join("");
-                    var new_value = do_substitution(attrs[name]).join("");
-                    rv[1][new_name] = new_value;
-                }
-            }
-        }
-
-        function substitute_children(children, rv)
-        {
-            for (var i = 0; i < children.length; i++) {
-                if (children[i] instanceof Object) {
-                    var replacement = substitute(children[i], substitutions);
-                    if (replacement !== null) {
-                        if (is_single_node(replacement)) {
-                            rv.push(replacement);
-                        } else {
-                            extend(rv, replacement);
-                        }
-                    }
-                } else {
-                    extend(rv, do_substitution(String(children[i])));
-                }
-            }
-            return rv;
-        }
-
-        var rv = [];
-        rv.push(do_substitution(String(template[0])).join(""));
-
-        if (template[0] === "{text}") {
-            substitute_children(template.slice(1), rv);
-        } else {
-            substitute_attrs(template[1], rv);
-            substitute_children(template.slice(2), rv);
-        }
-
-        return rv;
-    }
-
-    function make_dom_single(template, doc)
-    {
-        var output_document = doc || document;
-        var element;
-        if (template[0] === "{text}") {
-            element = output_document.createTextNode("");
-            for (var i = 1; i < template.length; i++) {
-                element.data += template[i];
-            }
-        } else {
-            element = output_document.createElementNS(xhtml_ns, template[0]);
-            for (var name in template[1]) {
-                if (template[1].hasOwnProperty(name)) {
-                    element.setAttribute(name, template[1][name]);
-                }
-            }
-            for (var i = 2; i < template.length; i++) {
-                if (template[i] instanceof Object) {
-                    var sub_element = make_dom(template[i]);
-                    element.appendChild(sub_element);
-                } else {
-                    var text_node = output_document.createTextNode(template[i]);
-                    element.appendChild(text_node);
-                }
-            }
-        }
-
-        return element;
-    }
-
-    function make_dom(template, substitutions, output_document)
-    {
-        if (is_single_node(template)) {
-            return make_dom_single(template, output_document);
-        }
-
-        return map(template, function(x) {
-                       return make_dom_single(x, output_document);
-                   });
-    }
-
-    function render(template, substitutions, output_document)
-    {
-        return make_dom(substitute(template, substitutions), output_document);
-    }
-
-    /*
-     * Utility funcions
-     */
-    function assert(expected_true, function_name, description, error, substitutions)
-    {
-        if (tests.tests.length === 0) {
-            tests.set_file_is_test();
-        }
-        if (expected_true !== true) {
-            var msg = make_message(function_name, description,
-                                   error, substitutions);
-            throw new AssertionError(msg);
-        }
-    }
-
-    function AssertionError(message)
-    {
-        this.message = message;
-        this.stack = this.get_stack();
-    }
-    expose(AssertionError, "AssertionError");
-
-    AssertionError.prototype = Object.create(Error.prototype);
-
-    AssertionError.prototype.get_stack = function() {
-        var stack = new Error().stack;
-        // IE11 does not initialize 'Error.stack' until the object is thrown.
-        if (!stack) {
-            try {
-                throw new Error();
-            } catch (e) {
-                stack = e.stack;
-            }
-        }
-
-        // 'Error.stack' is not supported in all browsers/versions
-        if (!stack) {
-            return "(Stack trace unavailable)";
-        }
-
-        var lines = stack.split("\n");
-
-        // Create a pattern to match stack frames originating within testharness.js.  These include the
-        // script URL, followed by the line/col (e.g., '/resources/testharness.js:120:21').
-        // Escape the URL per http://stackoverflow.com/questions/3561493/is-there-a-regexp-escape-function-in-javascript
-        // in case it contains RegExp characters.
-        var script_url = get_script_url();
-        var re_text = script_url ? script_url.replace(/[-\/\\^$*+?.()|[\]{}]/g, '\\$&') : "\\btestharness.js";
-        var re = new RegExp(re_text + ":\\d+:\\d+");
-
-        // Some browsers include a preamble that specifies the type of the error object.  Skip this by
-        // advancing until we find the first stack frame originating from testharness.js.
-        var i = 0;
-        while (!re.test(lines[i]) && i < lines.length) {
-            i++;
-        }
-
-        // Then skip the top frames originating from testharness.js to begin the stack at the test code.
-        while (re.test(lines[i]) && i < lines.length) {
-            i++;
-        }
-
-        // Paranoid check that we didn't skip all frames.  If so, return the original stack unmodified.
-        if (i >= lines.length) {
-            return stack;
-        }
-
-        return lines.slice(i).join("\n");
-    }
-
-    function make_message(function_name, description, error, substitutions)
-    {
-        for (var p in substitutions) {
-            if (substitutions.hasOwnProperty(p)) {
-                substitutions[p] = format_value(substitutions[p]);
-            }
-        }
-        var node_form = substitute(["{text}", "${function_name}: ${description}" + error],
-                                   merge({function_name:function_name,
-                                          description:(description?description + " ":"")},
-                                          substitutions));
-        return node_form.slice(1).join("");
-    }
-
-    function filter(array, callable, thisObj) {
-        var rv = [];
-        for (var i = 0; i < array.length; i++) {
-            if (array.hasOwnProperty(i)) {
-                var pass = callable.call(thisObj, array[i], i, array);
-                if (pass) {
-                    rv.push(array[i]);
-                }
-            }
-        }
-        return rv;
-    }
-
-    function map(array, callable, thisObj)
-    {
-        var rv = [];
-        rv.length = array.length;
-        for (var i = 0; i < array.length; i++) {
-            if (array.hasOwnProperty(i)) {
-                rv[i] = callable.call(thisObj, array[i], i, array);
-            }
-        }
-        return rv;
-    }
-
-    function extend(array, items)
-    {
-        Array.prototype.push.apply(array, items);
-    }
-
-    function forEach(array, callback, thisObj)
-    {
-        for (var i = 0; i < array.length; i++) {
-            if (array.hasOwnProperty(i)) {
-                callback.call(thisObj, array[i], i, array);
-            }
-        }
-    }
-
-    function merge(a,b)
-    {
-        var rv = {};
-        var p;
-        for (p in a) {
-            rv[p] = a[p];
-        }
-        for (p in b) {
-            rv[p] = b[p];
-        }
-        return rv;
-    }
-
-    function expose(object, name)
-    {
-        var components = name.split(".");
-        var target = test_environment.global_scope();
-        for (var i = 0; i < components.length - 1; i++) {
-            if (!(components[i] in target)) {
-                target[components[i]] = {};
-            }
-            target = target[components[i]];
-        }
-        target[components[components.length - 1]] = object;
-    }
-
-    function is_same_origin(w) {
-        try {
-            'random_prop' in w;
-            return true;
-        } catch (e) {
-            return false;
-        }
-    }
-
-    /** Returns the 'src' URL of the first <script> tag in the page to include the file 'testharness.js'. */
-    function get_script_url()
-    {
-        if (!('document' in self)) {
-            return undefined;
-        }
-
-        var scripts = document.getElementsByTagName("script");
-        for (var i = 0; i < scripts.length; i++) {
-            var src;
-            if (scripts[i].src) {
-                src = scripts[i].src;
-            } else if (scripts[i].href) {
-                //SVG case
-                src = scripts[i].href.baseVal;
-            }
-
-            var matches = src && src.match(/^(.*\/|)testharness\.js$/);
-            if (matches) {
-                return src;
-            }
-        }
-        return undefined;
-    }
-
-    /** Returns the URL path at which the files for testharness.js are assumed to reside (e.g., '/resources/').
-        The path is derived from inspecting the 'src' of the <script> tag that included 'testharness.js'. */
-    function get_harness_url()
-    {
-        var script_url = get_script_url();
-
-        // Exclude the 'testharness.js' file from the returned path, but '+ 1' to include the trailing slash.
-        return script_url ? script_url.slice(0, script_url.lastIndexOf('/') + 1) : undefined;
-    }
-
-    function supports_post_message(w)
-    {
-        var supports;
-        var type;
-        // Given IE implements postMessage across nested iframes but not across
-        // windows or tabs, you can't infer cross-origin communication from the presence
-        // of postMessage on the current window object only.
-        //
-        // Touching the postMessage prop on a window can throw if the window is
-        // not from the same origin AND post message is not supported in that
-        // browser. So just doing an existence test here won't do, you also need
-        // to wrap it in a try..cacth block.
-        try {
-            type = typeof w.postMessage;
-            if (type === "function") {
-                supports = true;
-            }
-
-            // IE8 supports postMessage, but implements it as a host object which
-            // returns "object" as its `typeof`.
-            else if (type === "object") {
-                supports = true;
-            }
-
-            // This is the case where postMessage isn't supported AND accessing a
-            // window property across origins does NOT throw (e.g. old Safari browser).
-            else {
-                supports = false;
-            }
-        } catch (e) {
-            // This is the case where postMessage isn't supported AND accessing a
-            // window property across origins throws (e.g. old Firefox browser).
-            supports = false;
-        }
-        return supports;
-    }
-
-    /**
-     * Setup globals
-     */
-
-    var tests = new Tests();
-
-    var error_handler = function(e) {
-        if (tests.tests.length === 0 && !tests.allow_uncaught_exception) {
-            tests.set_file_is_test();
-        }
-
-        var stack;
-        if (e.error && e.error.stack) {
-            stack = e.error.stack;
-        } else {
-            stack = e.filename + ":" + e.lineno + ":" + e.colno;
-        }
-
-        if (tests.file_is_test) {
-            var test = tests.tests[0];
-            if (test.phase >= test.phases.HAS_RESULT) {
-                return;
-            }
-            test.set_status(test.FAIL, e.message, stack);
-            test.phase = test.phases.HAS_RESULT;
-            test.done();
-        } else if (!tests.allow_uncaught_exception) {
-            tests.status.status = tests.status.ERROR;
-            tests.status.message = e.message;
-            tests.status.stack = stack;
-        }
-        done();
-    };
-
-    addEventListener("error", error_handler, false);
-    addEventListener("unhandledrejection", function(e){ error_handler(e.reason); }, false);
-
-    test_environment.on_tests_ready();
-
-})();
-// vim: set expandtab shiftwidth=4 tabstop=4:
diff --git a/src/gui/test/browser/resources/testharnessreport.js b/src/gui/test/browser/resources/testharnessreport.js
deleted file mode 100644
index e5cb40fe..00000000
--- a/src/gui/test/browser/resources/testharnessreport.js
+++ /dev/null
@@ -1,57 +0,0 @@
-/* global add_completion_callback */
-/* global setup */
-
-/*
- * This file is intended for vendors to implement code needed to integrate
- * testharness.js tests with their own test systems.
- *
- * Typically test system integration will attach callbacks when each test has
- * run, using add_result_callback(callback(test)), or when the whole test file
- * has completed, using
- * add_completion_callback(callback(tests, harness_status)).
- *
- * For more documentation about the callback functions and the
- * parameters they are called with see testharness.js
- */
-
-function dump_test_results(tests, status) {
-    var results_element = document.createElement("script");
-    results_element.type = "text/json";
-    results_element.id = "__testharness__results__";
-    var test_results = tests.map(function(x) {
-        return {name:x.name, status:x.status, message:x.message, stack:x.stack}
-    });
-    var data = {test:window.location.href,
-                tests:test_results,
-                status: status.status,
-                message: status.message,
-                stack: status.stack};
-    results_element.textContent = JSON.stringify(data);
-
-    // To avoid a HierarchyRequestError with XML documents, ensure that 'results_element'
-    // is inserted at a location that results in a valid document.
-    var parent = document.body
-        ? document.body                 // <body> is required in XHTML documents
-        : document.documentElement;     // fallback for optional <body> in HTML5, SVG, etc.
-
-    parent.appendChild(results_element);
-}
-
-add_completion_callback(dump_test_results);
-
-/* If the parent window has a testharness_properties object,
- * we use this to provide the test settings. This is used by the
- * default in-browser runner to configure the timeout and the
- * rendering of results
- */
-try {
-    if (window.opener && "testharness_properties" in window.opener) {
-        /* If we pass the testharness_properties object as-is here without
-         * JSON stringifying and reparsing it, IE fails & emits the message
-         * "Could not complete the operation due to error 80700019".
-         */
-        setup(JSON.parse(JSON.stringify(window.opener.testharness_properties)));
-    }
-} catch (e) {
-}
-// vim: set expandtab shiftwidth=4 tabstop=4:
diff --git a/src/gui/test/browser/server.js b/src/gui/test/browser/server.js
deleted file mode 100644
index 3117e5e5..00000000
--- a/src/gui/test/browser/server.js
+++ /dev/null
@@ -1,22 +0,0 @@
-// Copyright (c) 2017 Intel Corporation. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-'use strict';
-
-const express = require('express');
-const app = express();
-
-app.use(express.static('.'));
-
-app.listen(8080);
diff --git a/src/gui/test/browser/test-example.html b/src/gui/test/browser/test-example.html
deleted file mode 100644
index 9d805444..00000000
--- a/src/gui/test/browser/test-example.html
+++ /dev/null
@@ -1,27 +0,0 @@
-<!DOCTYPE html>
-<html>
-<head>
-  <meta charset="UTF-8">
-  <title>Example tests with testharness.js for Travis CI</title>
-  <script src="resources/testharness.js"></script>
-  <script src="resources/testharnessreport.js"></script>
-  <script src="https://static.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
-  <script src="https://static.robotwebtools.org/roslibjs/current/roslib.js"></script>
-</head>
-<body>
-  <div id="log"></div>
-  <script>
-    test(function(t) {
-      var ros = new ROSLIB.Ros();
-      var example = new ROSLIB.Topic({
-        ros : ros,
-        name : '/example_topic',
-        messageType : 'std_msgs/String'
-      });
-
-      assert_true(true, "Nothing wrong happened.");
-    }, "Simple test");
-
-  </script>
-</body>
-</html>
diff --git a/src/gui/test/browser/test-goal.html b/src/gui/test/browser/test-goal.html
deleted file mode 100644
index 52226088..00000000
--- a/src/gui/test/browser/test-goal.html
+++ /dev/null
@@ -1,27 +0,0 @@
-<!DOCTYPE html>
-<html>
-<head>
-  <meta charset="UTF-8">
-  <title>Example tests with testharness.js for Travis CI</title>
-  <script src="resources/testharness.js"></script>
-  <script src="resources/testharnessreport.js"></script>
-  <script src="https://static.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
-  <script src="https://static.robotwebtools.org/roslibjs/current/roslib.js"></script>
-</head>
-<body>
-  <div id="log"></div>
-  <script>
-    test(function(t) {
-      var ros = new ROSLIB.Ros();
-      var example = new ROSLIB.Topic({
-        ros : ros,
-        name : '/example_topic',
-        messageType : 'std_msgs/String'
-      });
-
-      assert_true(true, "Nothing wrong happened.");
-    }, "Goal sample test");
-
-  </script>
-</body>
-</html>
diff --git a/src/gui/test/browser/test-html.js b/src/gui/test/browser/test-html.js
deleted file mode 100644
index 49c0704e..00000000
--- a/src/gui/test/browser/test-html.js
+++ /dev/null
@@ -1,94 +0,0 @@
-// Copyright (c) 2017 Intel Corporation. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-'use strict';
-
-const assert = require('assert');
-const fs = require('fs');
-const path = require('path');
-const child = require('child_process');
-const puppeteer = require('puppeteer');
-const jsdom = require('jsdom');
-const async = require('async');
-const Mocha = require('mocha');
-const htmlTests = require('./html_list.json').htmls;
-
-let bridgePath = path.join(`{__dirname}/../`, 'bin', 'rosbridge.js');
-let bridge = child.fork(bridgePath);
-let server = child.fork(`${__dirname}/server.js`, {cwd: `${__dirname}`});
-
-let browserTestResults = [];
-async.each(htmlTests, async function (html, callback) {
-  let browser = await puppeteer.launch({args: ['--no-sandbox']});
-  let page = await browser.newPage();
-  await page.setViewport({width: 1280, height: 960});
-  await page.goto('http://127.0.0.1:8080/' + html.suite, {waitUntil: 'load'});
-  await page.waitFor(html.waitingTime);
-
-  let results = await page.evaluate(() => {
-    return document.querySelector('#results').outerHTML;
-  });
-
-  let dom = new jsdom.JSDOM(results, { contentType: 'text/html'});
-  let testSuite = {};
-  testSuite['suite'] = html.suite;
-  testSuite['results'] = [];
-  for (let i = 0; i < dom.window.document.querySelector('tbody').rows.length; i++) {
-    let testResult = {};
-    testResult['caseId'] = dom.window.document.querySelector('tbody').rows[i].cells[1].textContent;
-    testResult['result'] = dom.window.document.querySelector('tbody').rows[i].cells[0].textContent;
-    testResult['message'] = dom.window.document.querySelector('tbody').rows[i].cells[2].textContent;
-
-    testResult['component'] = 'roslibjs';
-    testResult['purpose'] = '';
-    testResult['type'] = 'auto';
-    testResult['comment'] = '';
-
-    testSuite['results'].push(testResult);
-  }
-
-  browserTestResults.push(testSuite);
-  await browser.close();
-}, function () {
-  server.kill('SIGINT');
-  bridge.kill('SIGINT');
-
-  let testBrowser = "'use strict';\n";
-  testBrowser += "const assert = require('assert');\n\n";
-  testBrowser += "describe('Roslibjs API testing over ros2-web-bridge', function() {\n";
-  browserTestResults.forEach((thisSuite, index) => {
-    testBrowser += "  describe('" + thisSuite.suite + "', function() {\n";
-    thisSuite['results'].forEach((thisResult, index) => {
-      testBrowser += "   it('" + thisResult.caseId + "', function() {\n";
-      testBrowser += "     assert.strictEqual('" + thisResult.result
-                  + "', 'Pass', String.raw`"
-                  + thisResult.message + "`);\n";
-      testBrowser += "   });\n";
-    });
-    testBrowser += "  });\n\n";
-  });
-  testBrowser += "});\n";
-
-  fs.writeFile(path.join(`${__dirname}`, 'test-browser.js'), testBrowser, 'utf8',  (err) => {
-    if (err) throw err;
-
-    let mocha = new Mocha();
-    mocha.addFile(path.join(`${__dirname}`, 'test-browser.js'));
-    mocha.run(function(failures){
-      process.on('exit', function () {
-        process.exit(failures);
-      });
-    });
-  });
-});
diff --git a/src/gui/test/browser/test-ros.html b/src/gui/test/browser/test-ros.html
deleted file mode 100644
index a8806a7d..00000000
--- a/src/gui/test/browser/test-ros.html
+++ /dev/null
@@ -1,161 +0,0 @@
-<!DOCTYPE html>
-<html>
-<head>
-  <meta charset="UTF-8">
-  <title>Example tests with testharness.js for Travis CI</title>
-  <script src="resources/testharness.js"></script>
-  <script src="resources/testharnessreport.js"></script>
-  <script src="https://static.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
-  <script src="https://static.robotwebtools.org/roslibjs/current/roslib.js"></script>
-</head>
-<body>
-  <div id="log"></div>
-  <script>
-    async_test(function(t) {
-      var ros = new ROSLIB.Ros({url: 'ws://127.0.0.1:9090'});
-
-      ros.on('connection', t.step_func_done(function() {
-        assert_true(true, 'Connection event triggered.');
-      }));
-
-    }, 'Ros class constructor positive case 1');
-
-    test(function() {
-      var ros = new ROSLIB.Ros();
-
-      ros.on('connection', function() {
-        assert_unreached('Connection event not triggered.');
-      });
-    }, 'Ros class constructor positive case 2');
-
-    async_test(function(t) {
-      var ros = new ROSLIB.Ros({url: 'ws://127.0.0.1:9090'});
-
-      ros.on('connection', t.step_func_done(function() {
-        assert_true(true, 'Connection event triggered.');
-      }));
-      
-      ros.callOnConnection();
-
-    }, 'Ros.callOnConnection() positive test case 1');
-
-    async_test(function(t) {
-      var ros = new ROSLIB.Ros({url: 'ws://127.0.0.1:9090'});
-      
-      ros.on('connection', t.step_func_done(function() {
-        assert_true(true, 'Connection event triggered.');
-      }));
-
-      const adMsg = {op: 'advertise', topic: '/callOnConn_topic', type: 'std_msgs/String'};
-      ros.callOnConnection(adMsg);
-
-    }, 'Ros.callOnConnection() positive test case 2');
-    
-    test(function() {
-      var ros = new ROSLIB.Ros();
-
-      ros.on('connection', function() {
-        assert_unreached('Connection event should never be triggered.');
-      });
-      const adMsg = {op: 'advertise', topic: '/callOnConn_neg_topic', type: 'std_msgs/String'};
-      ros.callOnConnection(adMsg);
-
-    }, 'Ros.callOnConnection() negative test case');
-
-    async_test(function(t) {
-      var ros = new ROSLIB.Ros({url: 'ws://127.0.0.1:9090'});
-
-      ros.on('connection', t.step_func(function() {
-        assert_true(true, 'Connected.');
-        ros.close();
-      }));
-      ros.on('close', t.step_func_done(function() {
-        assert_true(true, 'Closed.');
-      }));
-
-    }, 'Ros.close() positive test case 1');
-
-    test(function() {
-      var ros = new ROSLIB.Ros();
-
-      ros.on('connection', function() {
-        assert_unreached('Not connected.');
-      })
-      ros.on('close', function() {
-        assert_unreached('Not closed.');
-      });
-
-      ros.close();
-
-    }, 'Ros.close() negative test case 1');
-
-    async_test(function(t) {
-      var ros = new ROSLIB.Ros();
-
-      ros.on('connection', t.step_func_done(function() {
-        assert_true(true, 'Connected');
-      }));
-
-      ros.connect('ws://127.0.0.1:9090');
-
-    }, 'Ros.connect() positive test case 1');
-
-    async_test(function(t) {
-      var ros = new ROSLIB.Ros();
-
-      ros.on('connection', t.step_func_done(function() {
-        assert_true(true, 'Connected.');
-      }));
-      
-      ros.connect('ws://localhost:9090');
-
-    }, 'Ros.connect() positive test case 2');
-
-    test(function() {
-      var ros = new ROSLIB.Ros();
-
-      assert_throws(new SyntaxError(), function() {
-        ros.connect();
-      });
-      
-    }, 'Ros.connect() negative test case 1');
-
-    async_test(function(t) {
-      var ros = new ROSLIB.Ros();
-
-      t.step_func_done(function() {
-        try {
-          assert_throws(new Error(), function() {
-            ros.connect('wss://127.0.0.1:9090');
-          });
-        } catch(e) {
-          assert_true(true);
-        }
-      });
-      t.step_timeout(function() {
-        t.done();
-      }, 1000);
-      
-    }, 'Ros.connect() negative test case 2');
-
-    async_test(function(t) {
-      var ros = new ROSLIB.Ros();
-
-      t.step_func_done(function() {
-        try {
-          assert_throws(new Error(), function() {
-            ros.connect('ws://127.0.0.1:9091');
-          });
-        } catch(e) {
-          assert_true(true);
-        }     
-      });
-      
-      t.step_timeout(function() {
-        t.done();
-      }, 1000);
-
-    }, 'Ros.connect() negative test case 3');
-  </script>
-</body>
-</html>  
diff --git a/src/gui/test/browser/test-service.html b/src/gui/test/browser/test-service.html
deleted file mode 100644
index fcfd147b..00000000
--- a/src/gui/test/browser/test-service.html
+++ /dev/null
@@ -1,218 +0,0 @@
-<!DOCTYPE html>
-<html>
-<head>
-  <meta charset="UTF-8">
-  <title>Example tests with testharness.js for Travis CI</title>
-  <script src="resources/testharness.js"></script>
-  <script src="resources/testharnessreport.js"></script>
-  <script src="https://static.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
-  <script src="https://static.robotwebtools.org/roslibjs/current/roslib.js"></script>
-</head>
-<body>
-  <div id="log"></div>
-  <script>
-    async_test(function(t) {
-      var ros = new ROSLIB.Ros({url: 'ws://127.0.0.1:9090'});
-
-      var svrService = new ROSLIB.Service({
-        ros: ros,
-        name: '/add_two_ints1',
-        serviceType: 'example_interfaces/AddTwoInts'
-      });
-      svrService.advertise(function(req, resp) {
-        resp.sum = req.a + req.b;
-        assert_equals(resp.sum, 3);
-        assert_true(svrService.isAdvertised);
-        t.done();
-        return true;
-      });
-
-      var reqService = new ROSLIB.Service({
-        ros: ros,
-        name: '/add_two_ints1',
-        serviceType: 'example_interfaces/AddTwoInts'
-      });
-      var request = new ROSLIB.ServiceRequest({
-        a: 1,
-        b: 2
-      });
-      reqService.callService(request, function(result) {
-      });
-
-    }, 'Service.advertise() positive case 1');
-
-    test(function() {
-      var ros = new ROSLIB.Ros({url: 'ws://127.0.0.1:9090'});
-
-      var service = new ROSLIB.Service({
-        ros: ros,
-        name: '/add_two_ints2',
-        serviceType: 'example_interfaces/AddTwoInts'
-      });
-
-      service.advertise();
-      assert_false(service.isAdvertised);
-
-      service.advertise('Any objects but a function');
-      assert_false(service.isAdvertised);
-    }, 'Service.advertise() negative case 1');
-
-    async_test(function(t) {
-      var ros = new ROSLIB.Ros({url: 'ws://127.0.0.1:9090'});
-
-      var svrService = new ROSLIB.Service({
-        ros: ros,
-        name: '/add_two_ints3',
-        serviceType: 'example_interfaces/AddTwoInts'
-      });
-      svrService.advertise(function(req, resp) {
-        resp.sum = req.a + req.b;
-        assert_equals(resp.sum, 7);
-        assert_true(svrService.isAdvertised);
-        return true;
-      });
-
-      var reqService = new ROSLIB.Service({
-        ros: ros,
-        name: '/add_two_ints3',
-        serviceType: 'example_interfaces/AddTwoInts'
-      });
-      var request = new ROSLIB.ServiceRequest({
-        a: 3,
-        b: 4
-      });
-      reqService.callService(request, function(result) {
-        assert_equals(result.sum, 7);
-        t.done();
-      });
-    }, 'Service.callService() positive case 1');
-
-    // async_test(function(t) {
-    //   var ros = new ROSLIB.Ros({url: 'ws://127.0.0.1:9090'});
-
-    //   var svrService = new ROSLIB.Service({
-    //     ros: ros,
-    //     name: '/add_two_ints4',
-    //     serviceType: 'example_interfaces/AddTwoInts'
-    //   });
-    //   svrService.advertise(function(req, resp) {
-    //     resp.sum = req.a + req.b;
-    //     assert_equals(resp.sum, 11);
-    //     assert_true(svrService.isAdvertised);
-    //     return true;
-    //   });
-
-    //   var reqService = new ROSLIB.Service({
-    //     ros: ros,
-    //     name: '/add_two_ints4',
-    //     serviceType: 'example_interfaces/AddTwoInts'
-    //   });
-    //   var request = new ROSLIB.ServiceRequest({
-    //     a: 5,
-    //     b: 6
-    //   });
-    //   var args = {request: request};
-    //   reqService.callService(args, function(result) {
-    //     assert_equals(result.sum, 11);
-    //     t.done();
-    //   });
-
-    // }, 'Service.callService() positive case 2');
-
-    async_test(function(t) {
-      var ros = new ROSLIB.Ros({url: 'ws://127.0.0.1:9090'});
-
-      var svrService = new ROSLIB.Service({
-        ros: ros,
-        name: '/add_two_ints5',
-        serviceType: 'example_interfaces/AddTwoInts'
-      });
-      svrService.advertise(function(req, resp) {
-        resp.sum = req.a + req.b;
-        assert_equals(resp.sum, 19);
-        assert_true(svrService.isAdvertised);
-        return true;
-      });
-
-      var reqService = new ROSLIB.Service({
-        ros: ros,
-        name: '/add_two_ints5',
-        serviceType: 'example_interfaces/AddTwoInts'
-      });
-      reqService.callService({a: 9, b: 10}, function(result) {
-        assert_equals(result.sum, 19);
-        t.done();
-      });
-
-    }, 'Service.callService() positive case 3');
-    
-    async_test(function(t) {
-      var ros = new ROSLIB.Ros({url: 'ws://127.0.0.1:9090'});
-
-      var svrService = new ROSLIB.Service({
-        ros: ros,
-        name: '/add_two_ints6',
-        serviceType: 'example_interfaces/AddTwoInts'
-      });
-      svrService.advertise(function(req, resp) {
-        resp.sum = req.a + req.b;
-        assert_unreached();
-        return true;
-      });
-
-      var reqService = new ROSLIB.Service({
-        ros: ros,
-        name: '/add_two_ints6',
-        serviceType: 'example_interfaces/AddTwoInts'
-      });
-      var request = new ROSLIB.ServiceRequest({
-        c: 9, d: 10
-      });
-      reqService.callService(request, function(result) {
-        assert_unreached('Never go to here as callService() failed.');
-      });
-      setTimeout(function() {
-          t.done();
-      }, 1000);
-
-    }, 'Service.callService() negative case 1');
-
-    test(function() {
-      var request = new ROSLIB.ServiceRequest({
-        a: 1, b: 2
-      });
-      assert_equals(request.a, 1);
-      assert_equals(request.b, 2);
-    }, 'ROSLIB.ServiceRequest object');
-
-    async_test(function(t) {
-      var ros = new ROSLIB.Ros({url: 'ws://127.0.0.1:9090'});
-
-      var svrService = new ROSLIB.Service({
-        ros: ros,
-        name: '/add_two_ints7',
-        serviceType: 'example_interfaces/AddTwoInts'
-      });
-      svrService.advertise(function(req, resp) {
-        resp.sum = req.a + req.b;
-        return true;
-      });
-
-      var reqService = new ROSLIB.Service({
-        ros: ros,
-        name: '/add_two_ints7',
-        serviceType: 'example_interfaces/AddTwoInts'
-      });
-      var request = new ROSLIB.ServiceRequest({
-        a: 11,
-        b: 12
-      });
-      reqService.callService(request, function(result) {
-        assert_true(result instanceof ROSLIB.ServiceResponse);
-        assert_equals(result.sum, 23);
-        t.done();
-      });
-    }, 'ROSLIB.ServiceResponse object');
-  </script>
-</body>
-</html>
diff --git a/src/gui/test/browser/test-topic.html b/src/gui/test/browser/test-topic.html
deleted file mode 100644
index f1a56387..00000000
--- a/src/gui/test/browser/test-topic.html
+++ /dev/null
@@ -1,192 +0,0 @@
-<!DOCTYPE html>
-<html>
-<head>
-  <meta charset="UTF-8">
-  <title>Example tests with testharness.js for Travis CI</title>
-  <script src="resources/testharness.js"></script>
-  <script src="resources/testharnessreport.js"></script>
-  <script src="https://static.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
-  <script src="https://static.robotwebtools.org/roslibjs/current/roslib.js"></script>
-</head>
-<body>
-  <div id="log"></div>
-  <script>
-    test(function(t) {
-      var ros = new ROSLIB.Ros();
-      ros.connect('ws://127.0.0.1:9090');
-
-      var example = new ROSLIB.Topic({
-        ros : ros,
-        name : '/example_topic1',
-        messageType : 'std_msgs/String'
-      });
-      example.advertise();
-    }, "Topic.advertise() postiive case 1");
-
-    test(function(t) {
-      var ros = new ROSLIB.Ros();
-      ros.connect('ws://127.0.0.1:9090');
-
-      var example = new ROSLIB.Topic({
-        ros : ros,
-        name : '/example_topic_neg1',
-        messageType : 'std_msgs/Foo'
-      });
-      example.advertise();
-    }, "Topic.advertise() negative case 2");
-
-    test(function(t) {
-      var ros = new ROSLIB.Ros();
-
-      ros.connect('ws://127.0.0.1:9090');
-      var example = new ROSLIB.Topic({
-        ros : ros,
-        name : '/example_topic2',
-        messageType : 'std_msgs/String'
-      });
-      example.advertise();
-      example.publish('hello world');
-    }, "Topic.publish() positive case 1");
-
-    test(function(t) {
-      var ros = new ROSLIB.Ros();
-
-      ros.connect('ws://127.0.0.1:9090');
-      var example = new ROSLIB.Topic({
-        ros : ros,
-        name : '/example_topic_neg2',
-        messageType : 'std_msgs/String'
-      });
-
-      example.publish('hello world');
-    }, "Topic.publish() postive case 2");    
-    
-    async_test(function(t) {
-      var ros = new ROSLIB.Ros();
-      ros.connect('ws://127.0.0.1:9090');
-
-      var example = new ROSLIB.Topic({
-        ros : ros,
-        name : '/example_topic3',
-        messageType : 'std_msgs/String'
-      });
-      example.subscribe(function(message) {
-        assert_equals(message.data, 'hello world!');
-        t.done();
-      });
-      example.publish('hello world!');
-    }, "Topic.subscribe() positive case 1");
-
-    async_test(function(t) {
-      var ros = new ROSLIB.Ros();
-      ros.connect('ws://127.0.0.1:9090');
-
-      var example = new ROSLIB.Topic({
-        ros : ros,
-        name : '/example_topic_neg3',
-        messageType : 'std_msgs/String'
-      });
-      example.subscribe(function(message) {
-        assert_unreached('never received message as no publisher');
-      });
-      setTimeout(function() {
-        t.done();
-      }, 500);
-      
-    }, "Topic.subscribe() negative case 1");
-
-    // test(function(t) {
-    //   var ros = new ROSLIB.Ros();
-    //   ros.connect('ws://127.0.0.1:9090');
-
-    //   var example = new ROSLIB.Topic({
-    //     ros : ros,
-    //     name : '/example_topic_read4',
-    //     messageType : 'std_msgs/String'
-    //   });
-    //   example.toStream().read();
-    //   example.publish('hello world!');
-    // }, "Topic.toStream() read");
-    
-    // test(function(t) {
-    //   var ros = new ROSLIB.Ros();
-    //   ros.connect('ws://127.0.0.1:9090');
-
-    //   var example = new ROSLIB.Topic({
-    //     ros : ros,
-    //     name : '/example_topic_write4',
-    //     messageType : 'std_msgs/String'
-    //   });
-    //   example.toStream().write('again');
-    //   example.publish('hello world!');
-    // }, "Topic.toStream() write");
-    
-    test(function(t) {
-      var ros = new ROSLIB.Ros();
-      ros.connect('ws://127.0.0.1:9090');
-
-      var example = new ROSLIB.Topic({
-        ros : ros,
-        name : '/example_topic5',
-        messageType : 'std_msgs/String'
-      });
-      example.advertise();
-      example.unadvertise();
-    }, "Topic.unadvertise() positive case 1");
-    
-    test(function(t) {
-      var ros = new ROSLIB.Ros();
-      ros.connect('ws://127.0.0.1:9090');
-
-      var example = new ROSLIB.Topic({
-        ros : ros,
-        name : '/example_topic_neg5',
-        messageType : 'std_msgs/String'
-      });
-
-      example.unadvertise();
-    }, "Topic.unadvertise() negative case 1");
-    
-    async_test(function(t) {
-      var ros = new ROSLIB.Ros();
-      ros.connect('ws://127.0.0.1:9090');
-
-      var example = new ROSLIB.Topic({
-        ros : ros,
-        name : '/example_topic6',
-        messageType : 'std_msgs/String'
-      });
-
-      example.subscribe(function(message) {
-        assert_equals(message.data, 'hello world!');
-        example.unsubscribe();
-        t.done();
-      });
-      example.publish('hello world!');
-    }, "Topic.unsubscribe() positive case 1");
-
-    async_test(function(t) {
-      var ros = new ROSLIB.Ros();
-      ros.connect('ws://127.0.0.1:9090');
-
-      var example = new ROSLIB.Topic({
-        ros : ros,
-        name : '/example_topic_neg6',
-        messageType : 'std_msgs/String'
-      });
-
-      example.subscribe(function(message) {
-        assert_equals(message.data, 'hello world!');
-        example.unsubscribe(function() {
-          assert_unreached('unable to reach');
-        });
-
-        setTimeout(function() {
-          t.done();
-        }, 500);        
-      });
-      example.publish('hello world!');
-    }, "Topic.unsubscribe() negative case 1");    
-  </script>
-</body>
-</html>
diff --git a/src/gui/test/nodejs/protocol/entry-client-mode.js b/src/gui/test/nodejs/protocol/entry-client-mode.js
deleted file mode 100644
index e73d9213..00000000
--- a/src/gui/test/nodejs/protocol/entry-client-mode.js
+++ /dev/null
@@ -1,77 +0,0 @@
-// Copyright (c) 2017 Intel Corporation. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-'use strict';
-
-const assert = require('assert');
-const child = require('child_process');
-const path = require('path');
-const WebSocket = require('ws');
-const TEST_PORT = 9091;
-
-var rosbridge = path.resolve(__dirname, '../../../bin/rosbridge.js');
-
-describe('Rosbridge client mode', function() {
-  var server;
-  var bridgeClient;
-  this.timeout(5 * 1000);
-
-  function startBridge() {
-    bridgeClient = child.fork(rosbridge, 
-      ['--address=ws://localhost:'+TEST_PORT],
-      {silent: true}
-    );
-  }
-
-  after(function() {
-    if (bridgeClient) {
-      bridgeClient.kill();
-    }
-    server.close();
-  });
-
-  it('can connect to ws server and run command', function() {
-    return new Promise((resolve, reject) => {
-      server = new WebSocket.Server({port: TEST_PORT}, function() {
-        server.on('error', (err) => {
-          console.log(err);
-        });
-        server.on('connection', function(ws) {
-          let msg = {
-            op: 'publish',
-            id: 'publish:/example_topic:1',
-            topic: '/example_topic',
-            msg: {
-              data: 'hello from ros2bridge 0'
-            },
-            latch: false
-          };
-          ws.on('message', function(data) {
-            var response = JSON.parse(data);
-            assert.deepStrictEqual(response.level, 'error');
-            ws.close();
-            resolve();
-          });
-          // A long-standing race condition in WS handling of
-          // new connections prevents us from sending messages
-          // immediately after startup
-          // More details at https://github.com/websockets/ws/issues/1393
-          setTimeout(() => ws.send(JSON.stringify(msg)), 10);
-        });
-        startBridge();
-      });
-    });
-  });
-});
-
diff --git a/src/gui/test/nodejs/protocol/entry.js b/src/gui/test/nodejs/protocol/entry.js
deleted file mode 100644
index 7a18cccf..00000000
--- a/src/gui/test/nodejs/protocol/entry.js
+++ /dev/null
@@ -1,102 +0,0 @@
-// Copyright (c) 2017 Intel Corporation. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-'use strict';
-
-const assert = require('assert');
-const child = require('child_process');
-const path = require('path');
-const WebSocket = require('ws');
-
-var rosbridge = path.resolve(__dirname, '../../../bin/rosbridge.js');
-
-describe('Rosbridge v2.0 protocol testing', function() {
-  var webSocketServer;
-  this.timeout(5 * 1000);
-
-  before(function(done) {
-    webSocketServer = child.fork(rosbridge, ['-l', 'none'], {silent: true});
-    webSocketServer.stdout.on('data', function(data) {
-      done();
-    });
-  });
-
-  after(function() {
-    webSocketServer.kill();
-  });
-
-  describe('sanity', function() {
-    require('./test-ros2-protocol-workflow.js')();
-  });
-
-  describe('advertise operation', function() {
-    require('./test-advertise.js')();
-  });
-
-  describe('advertise topic with message types', function() {
-    require('./test-advertise-msg.js')();
-  });
-
-  describe('unadvertise operation', function() {
-    require('./test-unadvertise.js')();
-  });
-
-  describe('publish operation', function() {
-    require('./test-publish.js')();
-  });
-
-  describe('publish message with types', function() {
-    require('./test-publish-msg.js')();
-  });
-
-  describe('subscribe operation', function() {
-    require('./test-subscribe.js')();
-  });
-
-  describe('subscribe message with types', function() {
-    require('./test-subscribe-msg.js')();
-  });
-
-  describe('unsubscribe operation', function() {
-    require('./test-unsubscribe.js')();
-  });
-  describe('call_service operation', function() {
-    require('./test-call-service.js')();
-  });
-
-  describe('advertise_service operation', function() {
-    require('./test-advertise-service.js')();
-  });
-
-  describe('unadvertise_service operation', function() {
-    require('./test-unadvertise-service.js')();
-  });
-
-  describe('set_level operation', function() {
-    require('./test-set-level.js')();
-  });
-
-  // Disable this case temporarily, sine it gets stuck on Windows CI.
-  // describe('response operations', function() {
-  //   require('./test-response-op.js')();
-  // });
-
-  describe('fuzzing operations', function() {
-    require('./test-op-neg.js')();
-  });
-  describe('service_response operation', function() {
-    require('./test-service-response.js')();
-  });  
-});
-
diff --git a/src/gui/test/nodejs/protocol/test-advertise-msg.js b/src/gui/test/nodejs/protocol/test-advertise-msg.js
deleted file mode 100644
index c285c175..00000000
--- a/src/gui/test/nodejs/protocol/test-advertise-msg.js
+++ /dev/null
@@ -1,115 +0,0 @@
-// Copyright (c) 2017 Intel Corporation. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-'use strict';
-
-const assert = require('assert');
-const WebSocket = require('ws');
-
-module.exports = function() {
-  let finalStatus = 'none';
-  let testCasesData = [
-    {
-      title: 'advertise topic with message type: Bool',
-      advertiseMsg: {op: 'advertise', id: 'advertise_bool', topic: 'advertise_bool_topic', type: 'std_msgs/Bool'}
-    },
-    {
-      title: 'advertise topic with message type: Byte',
-      advertiseMsg: {op: 'advertise', id: 'advertise_byte', topic: 'advertise_byte_topic', type: 'std_msgs/Byte'}
-    },
-    {
-      title: 'advertise topic with message type: Char',
-      advertiseMsg: {op: 'advertise', id: 'advertise_char', topic: 'advertise_char_topic', type: 'std_msgs/Char'}
-    },
-    {
-      title: 'advertise topic with message type: String',
-      advertiseMsg: {op: 'advertise', id: 'advertise_string', topic: 'advertise_string_topic', type: 'std_msgs/String'}
-    },
-    {
-      title: 'advertise topic with message type: Int8',
-      advertiseMsg: {op: 'advertise', id: 'advertise_int8', topic: 'advertise_int8_topic', type: 'std_msgs/Int8'}
-    },
-    {
-      title: 'advertise topic with message type: UInt8',
-      advertiseMsg: {op: 'advertise', id: 'advertise_uint8', topic: 'advertise_uint8_topic', type: 'std_msgs/UInt8'}
-    },
-    {
-      title: 'advertise topic with message type: Int16',
-      advertiseMsg: {op: 'advertise', id: 'advertise_int16', topic: 'advertise_int16_topic', type: 'std_msgs/Int16'}
-    },
-    {
-      title: 'advertise topic with message type: UInt16',
-      advertiseMsg: {op: 'advertise', id: 'advertise_uint16', topic: 'advertise_uint16_topic', type: 'std_msgs/UInt16'}
-    },
-    {
-      title: 'advertise topic with message type: Int32',
-      advertiseMsg: {op: 'advertise', id: 'advertise_int32', topic: 'advertise_int32_topic', type: 'std_msgs/Int32'}
-    },
-    {
-      title: 'advertise topic with message type: UInt32',
-      advertiseMsg: {op: 'advertise', id: 'advertise_uint32', topic: 'advertise_uint32_topic', type: 'std_msgs/UInt32'}
-    },
-    {
-      title: 'advertise topic with message type: Int64',
-      advertiseMsg: {op: 'advertise', id: 'advertise_int64', topic: 'advertise_int64_topic', type: 'std_msgs/Int64'}
-    },
-    {
-      title: 'advertise topic with message type: UInt64',
-      advertiseMsg: {op: 'advertise', id: 'advertise_uint64', topic: 'advertise_uint64_topic', type: 'std_msgs/UInt64'}
-    },
-    {
-      title: 'advertise topic with message type: Float32',
-      advertiseMsg:
-        {op: 'advertise', id: 'advertise_float32', topic: 'advertise_float32_topic', type: 'std_msgs/Float32'}
-    },
-    {
-      title: 'advertise topic with message type: Float64',
-      advertiseMsg:
-        {op: 'advertise', id: 'advertise_float64', topic: 'advertise_float64_topic', type: 'std_msgs/Float64'}
-    },
-    {
-      title: 'advertise topic with message type: ColorRGBA',
-      advertiseMsg:
-        {op: 'advertise', id: 'advertise_colorrgba', topic: 'advertise_colorrgba_topic', type: 'std_msgs/ColorRGBA'}
-    },
-    {
-      title: 'advertise topic with message type: Header',
-      advertiseMsg: {op: 'advertise', id: 'advertise_header', topic: 'advertise_header_topic', type: 'std_msgs/Header'}
-    },
-    {
-      title: 'advertise topic with message type: JointState',
-      advertiseMsg:
-      { op: 'advertise', id: 'advertise_jointstate', 
-        topic: 'advertise_jointstate_topic', type: 'sensor_msgs/JointState'}
-    }
-  ];
-
-  testCasesData.forEach((testData, index) => {
-    it(testData.title, function() {
-      return new Promise((resolve, reject) => {
-        let ws = new WebSocket('ws://127.0.0.1:9090');
-
-        ws.on('open', function() {
-          ws.send(JSON.stringify(testData.advertiseMsg));
-        });
-        ws.on('message', function(data) {
-          let response = JSON.parse(data);
-          assert.deepStrictEqual(response.level, finalStatus);
-          ws.close();
-          resolve();
-        });
-      });
-    });
-  });
-};
diff --git a/src/gui/test/nodejs/protocol/test-advertise-service.js b/src/gui/test/nodejs/protocol/test-advertise-service.js
deleted file mode 100644
index 697b7a76..00000000
--- a/src/gui/test/nodejs/protocol/test-advertise-service.js
+++ /dev/null
@@ -1,128 +0,0 @@
-// Copyright (c) 2017 Intel Corporation. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-'use strict';
-
-const assert = require('assert');
-const rclnodejs = require('rclnodejs');
-const WebSocket = require('ws');
-
-module.exports = function() {
-
-  before(function() {
-    return rclnodejs.init().then(() => {
-      var node = rclnodejs.createNode('service');
-      var wsservice = node.createService('example_interfaces/srv/AddTwoInts', 'add_two_ints',
-        (request, response) => {
-          let result = response.template;
-          result.sum = request.a + request.b;
-          response.send(result);
-        });
-      rclnodejs.spin(node);
-    });
-  });
-
-  after(function() {
-    rclnodejs.shutdown();
-  });
-
-  let testCasesData = [
-    {
-      title: 'advertise_service positive case 1',
-      advertiseServiceMsg: {
-        op: 'advertise_service', type: 'example_interfaces/AddTwoInts', service: 'add_two_ints'},
-      opCount: 1,
-      finalStatus: 'none'
-    },
-    {
-      title: 'advertise_service positive case 2',
-      advertiseServiceMsg: {
-        op: 'advertise_service', type: 'example_interfaces/AddTwoInts', service: '/add_two_ints'},
-      opCount: 1,
-      finalStatus: 'none'
-    },
-    {
-      title: 'advertise_service positive case 3: ROS2 interface type format',
-      advertiseServiceMsg: {
-        op: 'advertise_service', type: 'example_interfaces/srv/AddTwoInts', service: 'add_two_ints'},
-      opCount: 1,
-      finalStatus: 'none'
-    },
-    {
-      title: 'advertise_service negative case 1: unknown type',
-      advertiseServiceMsg: {
-        op: 'advertise_service', type: 'example_interfaces/Foo', service: 'add_two_ints'},
-      opCount: 1,
-      finalStatus: 'error'
-    },
-    {
-      title: 'advertise_service field checking: invalid type',
-      advertiseServiceMsg: {
-        op: 'advertise_service', type: 42, service: 'add_two_ints'},
-      opCount: 1,
-      finalStatus: 'error'
-    },
-    {
-      title: 'advertise_service field checking: invalid service',
-      advertiseServiceMsg: {
-        op: 'advertise_service', type: 'example_interfaces/AddTwoInts', service: true},
-      opCount: 1,
-      finalStatus: 'error'
-    },
-    {
-      title: 'advertise_service field checking: empty service',
-      advertiseServiceMsg: {
-        op: 'advertise_service', type: 'example_interfaces/AddTwoInts', service: ''},
-      opCount: 1,
-      finalStatus: 'error'
-    },
-    {
-      title: 'advertise_service field checking: invalid service: with single quote',
-      advertiseServiceMsg: {
-        op: 'advertise_service', type: 'example_interfaces/AddTwoInts', service: "'add_two_ints'"},
-      opCount: 1,
-      finalStatus: 'error'
-    },
-    {
-      title: 'advertise_service field checking: invalid service: with double quotes',
-      advertiseServiceMsg: {
-        op: 'advertise_service', type: 'example_interfaces/AddTwoInts', service: '"add_two_ints"'},
-      opCount: 1,
-      finalStatus: 'error'
-    },
-    {
-      title: 'advertise_service field checking: invalid service: unicode',
-      advertiseServiceMsg: {
-        op: 'advertise_service', type: 'example_interfaces/AddTwoInts', service: '\u8bdd\u9898'},
-      opCount: 1,
-      finalStatus: 'error'
-    }
-  ];
-
-  testCasesData.forEach((testData, index) => {
-    it(testData.title, function(done) {
-      let ws = new WebSocket('ws://127.0.0.1:9090');
-
-      ws.on('open', function() {
-        ws.send(JSON.stringify(testData.advertiseServiceMsg));
-      });
-      ws.on('message', function(data) {
-        let response = JSON.parse(data);
-        assert.deepStrictEqual(response.level, testData.finalStatus);
-        ws.close();
-        done();
-      });
-    });
-  });
-};
diff --git a/src/gui/test/nodejs/protocol/test-advertise.js b/src/gui/test/nodejs/protocol/test-advertise.js
deleted file mode 100644
index 773a790c..00000000
--- a/src/gui/test/nodejs/protocol/test-advertise.js
+++ /dev/null
@@ -1,131 +0,0 @@
-// Copyright (c) 2017 Intel Corporation. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-'use strict';
-
-const assert = require('assert');
-const WebSocket = require('ws');
-
-module.exports = function() {
-  let testCasesData = [
-    {
-      title: 'advertise positive case 1',
-      advertiseMsg1: {op: 'advertise', id: 'advertise_id1', topic: 'advertise_topic1', type: 'std_msgs/String'},
-      opCount: 1,
-      finalStatus: 'none'
-    },
-    {
-      title: 'advertise positive case 2',
-      advertiseMsg1: {op: 'advertise', topic: 'advertise_topic2', type: 'std_msgs/String'},
-      opCount: 1,
-      finalStatus: 'none'
-    },
-    {
-      title: 'advertise positive case 3',
-      advertiseMsg1: {op: 'advertise', id: 'advertise_id3', topic: 'advertise_topic3', type: 'std_msgs/String'},
-      advertiseMsg2: {op: 'advertise', id: 'advertise_id4', topic: 'advertise_topic3', type: 'std_msgs/String'},
-      opCount: 2,
-      finalStatus: 'none'
-    },
-    {
-      title: 'advertise positive case 4: ROS2 message type format',
-      advertiseMsg1: {
-        op: 'advertise', id: 'advertise_ros2_msg', topic: 'advertise_ros2_msg_topic', type: 'std_msgs/msg/Byte'},
-      opCount: 1,
-      finalStatus: 'none'
-    },    
-    {
-      title: 'advertise negative case 1',
-      advertiseMsg1: {op: 'advertise', id: 'advertise_id5', topic: 'advertise_topic5', type: 'std_msgs/String'},
-      advertiseMsg2: {op: 'advertise', id: 'advertise_id6', topic: 'advertise_topic5', type: 'std_msgs/Char'},
-      opCount: 2,
-      finalStatus: 'error'
-    },
-    {
-      title: 'advertise negative case 2',
-      advertiseMsg1: {op: 'advertise', id: 'advertise_id7', topic: 'advertise_topic7', type: 'std_msgs/Foo'},
-      opCount: 1,
-      finalStatus: 'error'
-    },
-    {
-      title: 'advertise field checking case 1: invalid topic',
-      advertiseMsg1: {op: 'advertise', id: 'advertise_id8', topic: 42, type: 'std_msgs/String'},
-      opCount: 1,
-      finalStatus: 'error'
-    },
-    {
-      title: 'advertise field checking case 2: invalid type',
-      advertiseMsg1: {op: 'advertise', id: 'advertise_id9', topic: 'advertise_topic9', type: true},
-      opCount: 1,
-      finalStatus: 'error'
-    },
-    {
-      title: 'advertise field checking case 3: topic cannot be empty',
-      advertiseMsg1: {op: 'advertise', id: 'advertise_id10', topic: '', type: 'std_msgs/String'},
-      opCount: 1,
-      finalStatus: 'error'
-    },
-    {
-      title: 'advertise field checking case 4: topic cannot contain single quote',
-      advertiseMsg1: {op: 'advertise', id: 'advertise_id11', topic: "'single_advertise_topic11'",
-        type: 'std_msgs/String'},
-      opCount: 1,
-      finalStatus: 'error'
-    },
-    {
-      title: 'advertise field checking case 5: topic cannot contain double quotes',
-      advertiseMsg1: {op: 'advertise', id: 'advertise_id12', topic: '"double_advertise_topic12"',
-        type: 'std_msgs/String'},
-      opCount: 1,
-      finalStatus: 'error'
-    },
-    {
-      title: 'advertise field checking case 6: topic does not support unicode',
-      advertiseMsg1: {op: 'advertise', id: 'advertise_id12', topic: '\u8bdd\u9898',
-        type: 'std_msgs/String'},
-      opCount: 1,
-      finalStatus: 'error'
-    }
-  ];
-
-  testCasesData.forEach((testData, index) => {
-    it(testData.title, function() {
-      return new Promise((resolve, reject) => {
-        let ws = new WebSocket('ws://127.0.0.1:9090');
-        let counter = 0;
-
-        ws.on('open', function() {
-          ws.send(JSON.stringify(testData.advertiseMsg1));
-          counter++;
-        });
-        ws.on('message', function(data) {
-          if (counter === testData.opCount) {
-            let response = JSON.parse(data);
-            assert.deepStrictEqual(response.level, testData.finalStatus);
-            counter++;
-            ws.close();
-            resolve();
-          }
-
-          if (counter === 1) {
-            if (testData.advertiseMsg2 !== undefined) {
-              ws.send(JSON.stringify(testData.advertiseMsg2));
-            }   
-            counter++;
-          }
-        });
-      });
-    });
-  });
-};
diff --git a/src/gui/test/nodejs/protocol/test-call-service.js b/src/gui/test/nodejs/protocol/test-call-service.js
deleted file mode 100644
index 34f8d941..00000000
--- a/src/gui/test/nodejs/protocol/test-call-service.js
+++ /dev/null
@@ -1,157 +0,0 @@
-// Copyright (c) 2017 Intel Corporation. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-'use strict';
-
-/* eslint-disable camelcase */
-
-const assert = require('assert');
-const rclnodejs = require('rclnodejs');
-const WebSocket = require('ws');
-
-module.exports = function() {
-
-  before(function() {
-    return rclnodejs.init().then(() => {
-      var node = rclnodejs.createNode('service');
-      var wsservice = node.createService('example_interfaces/srv/AddTwoInts', 'add_two_ints',
-        (request, response) => {
-          let result = response.template;
-          result.sum = request.a + request.b;
-          response.send(result);
-        });
-      rclnodejs.spin(node);
-    });
-  });
-
-  after(function() {
-    rclnodejs.shutdown();
-  });
-
-  let testCasesData = [
-    {
-      title: 'call_service positive case 1: full fields',
-      callServiceMsg: { op: 'call_service', id: 'call_service_id1', service: 'add_two_ints',
-        args: {a: 1, b: 2},
-        type: 'example_interfaces/AddTwoInts',
-        fragment_size: 1, compression: 'none'
-      },
-      responseCount: 2,
-      opStatus: 'none',
-      expectedResponse: {op: 'service_response', result: true, sum: 3}
-    },
-    {
-      title: 'call_service positive case 2: full fields with full service name',
-      callServiceMsg: { op: 'call_service', id: 'call_service_id2', service: '/add_two_ints',
-        args: {a: 1, b: 2},
-        type: 'example_interfaces/AddTwoInts',
-        fragment_size: 1, compression: 'none'
-      },
-      responseCount: 2,
-      opStatus: 'none',
-      expectedResponse: {op: 'service_response', result: true, sum: 3}
-    },    
-    {
-      title: 'call_service positive case 3: no id field',
-      callServiceMsg: { op: 'call_service', service: 'add_two_ints',
-        args: {a: 3, b: 4},
-        type: 'example_interfaces/AddTwoInts',
-        fragment_size: 1, compression: 'none'
-      },
-      responseCount: 2,
-      opStatus: 'none',
-      expectedResponse: {op: 'service_response', result: true, sum: 7}
-    },
-    {
-      title: 'call_service positive case 4: no fragment_size field',
-      callServiceMsg: { op: 'call_service',  id: 'call_service_id4', service: 'add_two_ints',
-        args: {a: 5, b: 6}, type: 'example_interfaces/AddTwoInts', compression: 'none'
-      },
-      responseCount: 2,
-      opStatus: 'none',
-      expectedResponse: {op: 'service_response', result: true, sum: 11}
-    },
-    {
-      title: 'call_service positive case 5: no compression field',
-      callServiceMsg: { op: 'call_service', id: 'call_service_id5', service: 'add_two_ints',
-        args: {a: 7, b: 8}, type: 'example_interfaces/AddTwoInts', fragment_size: 1
-      },
-      responseCount: 2,
-      opStatus: 'none',
-      expectedResponse: {op: 'service_response', result: true, sum: 15}
-    },
-    {
-      title: 'call_service negative case 1: args without type information',
-      callServiceMsg: { op: 'call_service', id: 'call_service_id6', service: 'add_two_ints',
-        args: {a: 9, b: 10}, fragment_size: 1, compression: 'none'},
-      responseCount: 1,
-      opStatus: 'error'
-    },
-    {
-      title: 'call_service negative case 2: unknown service',
-      callServiceMsg: { op: 'call_service', id: 'call_service_id7', service: 'add_two_float',
-        args: {a: 11, b: 12}, type: 'example_interfaces/AddTwoInts',
-        fragment_size: 1, compression: 'none'
-      },
-      responseCount: 1,
-      opStatus: 'none'
-    },
-    {
-      title: 'call_service field checking: invalid service',
-      callServiceMsg: { op: 'call_service', id: 'call_service_id8', service: 42,
-        args: {a: 13, b: 14}, type: 'example_interfaces/AddTwoInts',
-        fragment_size: 1, compression: 'none'
-      },
-      responseCount: 1,
-      opStatus: 'error'
-    },
-    {
-      title: 'call_service field checking: invalid args',
-      callServiceMsg: { op: 'call_service', id: 'call_service_id9', service: 'add_two_ints',
-        args: 'invalid arguments', fragment_size: 1, compression: 'none'
-      },
-      responseCount: 1,
-      opStatus: 'error'
-    }
-  ];
-
-  testCasesData.forEach((testData, index) => {
-    it(testData.title, function(done) {
-      let ws = new WebSocket('ws://127.0.0.1:9090');
-
-      ws.on('open', function() {
-        ws.send(JSON.stringify(testData.callServiceMsg));
-      });
-      ws.on('message', function(data) {
-        console.log(data);
-        let response = JSON.parse(data);
-
-        if (response.op === 'status') {
-          assert.deepStrictEqual(response.level, testData.opStatus);
-          if (testData.responseCount === 1) {
-            ws.close();
-            done();
-          }
-        }
-        if (testData.expectedResponse && response.op === testData.expectedResponse.op) {
-          assert.deepStrictEqual(response.result, testData.expectedResponse.result);
-          assert.deepEqual(response.values.sum, testData.expectedResponse.sum);
-          ws.close();
-          done();
-        }
-      });
-    });
-  });
-};
-
diff --git a/src/gui/test/nodejs/protocol/test-op-neg.js b/src/gui/test/nodejs/protocol/test-op-neg.js
deleted file mode 100644
index f91c705c..00000000
--- a/src/gui/test/nodejs/protocol/test-op-neg.js
+++ /dev/null
@@ -1,59 +0,0 @@
-// Copyright (c) 2017 Intel Corporation. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-'use strict';
-
-
-const assert = require('assert');
-const rclnodejs = require('rclnodejs');
-const WebSocket = require('ws');
-
-module.exports = function() {
-
-  let testCasesData = [
-    {
-      title: 'Negative operation case 1: unknown operation',
-      msg: { op: 'foo'},
-      finalStatus: 'error'
-    },
-    {
-      title: 'Negative operation case 2: no necessary operation',
-      msg: { op: 'advertise', bar: 'bar'},
-      finalStatus: 'error'
-    },
-    {
-      title: 'Negative operation case 3: no op field',
-      msg: { baz: 'baz'},
-      finalStatus: 'error'
-    }
-  ];
-
-  testCasesData.forEach((testData, index) => {
-    it(testData.title, function(done) {
-      let ws = new WebSocket('ws://127.0.0.1:9090');
-      let counter = 0;
-
-      ws.on('open', function() {
-        ws.send(JSON.stringify(testData.msg));
-      });
-      ws.on('message', function(data) {
-        let response = JSON.parse(data);
-
-        assert.deepStrictEqual(response.level, 'error');
-        ws.close();
-        done();
-      });
-    });
-  });
-};
diff --git a/src/gui/test/nodejs/protocol/test-publish-msg.js b/src/gui/test/nodejs/protocol/test-publish-msg.js
deleted file mode 100644
index 51227070..00000000
--- a/src/gui/test/nodejs/protocol/test-publish-msg.js
+++ /dev/null
@@ -1,295 +0,0 @@
-// Copyright (c) 2017 Intel Corporation. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-'use strict';
-
-const assert = require('assert');
-const WebSocket = require('ws');
-
-module.exports = function() {
-  let testCasesData = [
-    {
-      title: 'publish message with type: Bool',
-      advertiseMsg: {op: 'advertise', id: 'advertise_bool_setup', topic: 'publish_bool_topic', type: 'std_msgs/Bool'},
-      publishMsg: {op: 'publish', id: 'publish_bool', topic: 'publish_bool_topic', msg: {data: true}}
-    },
-    {
-      title: 'publish message with type: Byte',
-      advertiseMsg: {op: 'advertise', id: 'advertise_byte_setup', topic: 'publish_byte_topic', type: 'std_msgs/Byte'},
-      publishMsg: {op: 'publish', id: 'publish_byte', topic: 'publish_byte_topic', msg: {data: 0xff}}
-    },
-    {
-      title: 'publish message with type: Char',
-      advertiseMsg: {op: 'advertise', id: 'advertise_char_setup', topic: 'publish_char_topic', type: 'std_msgs/Char'},
-      publishMsg: {op: 'publish', id: 'publish_char', topic: 'publish_char_topic', msg: {data: 'A'}}
-    },
-    {
-      title: 'publish message with type: String',
-      advertiseMsg: {
-        op: 'advertise', id: 'advertise_string_setup', topic: 'publish_string_topic', type: 'std_msgs/String'},
-      publishMsg: {op: 'publish', id: 'publish_string', topic: 'publish_string_topic', msg: {data: 'hello world!'}}
-    },
-    {
-      title: 'publish message with type: Int8',
-      advertiseMsg: {op: 'advertise', id: 'advertise_int8_setup', topic: 'publish_int8_topic', type: 'std_msgs/Int8'},
-      publishMsg: {op: 'publish', id: 'publish_int8', topic: 'publish_int8_topic', msg: {data: 0x7f}}
-    },
-    {
-      title: 'publish message with type: UInt8',
-      advertiseMsg: {
-        op: 'advertise', id: 'advertise_uint8_setup', topic: 'publish_uint8_topic', type: 'std_msgs/UInt8'},
-      publishMsg: {op: 'publish', id: 'publish_uint8', topic: 'publish_uint8_topic', msg: {data: 0xff}}
-    },
-    {
-      title: 'publish message with type: Int16',
-      advertiseMsg: {
-        op: 'advertise', id: 'advertise_int16_setup', topic: 'publish_int16_topic', type: 'std_msgs/Int16'},
-      publishMsg: {op: 'publish', id: 'publish_int16', topic: 'publish_int16_topic', msg: {data: 0x7fff}}
-    },
-    {
-      title: 'publish message with type: UInt16',
-      advertiseMsg: {
-        op: 'advertise', id: 'advertise_uint16_setup', topic: 'publish_uint16_topic', type: 'std_msgs/UInt16'},
-      publishMsg: {op: 'publish', id: 'publish_uint16', topic: 'publish_uint16_topic', msg: {data: 0xffff}}
-    },
-    {
-      title: 'publish message with type: Int32',
-      advertiseMsg: {
-        op: 'advertise', id: 'advertise_int32_setup', topic: 'publish_int32_topic', type: 'std_msgs/Int32'},
-      publishMsg: {op: 'publish', id: 'publish_int32', topic: 'publish_int32_topic', msg: {data: 0x7fffffff}}
-    },
-    {
-      title: 'publish message with type: UInt32',
-      advertiseMsg: {
-        op: 'advertise', id: 'advertise_uint32_setup', topic: 'publish_uint32_topic', type: 'std_msgs/UInt32'},
-      publishMsg: {op: 'publish', id: 'publish_uint32', topic: 'publish_uint32_topic', msg: {data: 0xffffffff}}
-    },
-    {
-      title: 'publish message with type: Int64', 
-      advertiseMsg: {
-        op: 'advertise', id: 'advertise_int64_setup', topic: 'publish_int64_topic', type: 'std_msgs/Int64'},
-      publishMsg: {
-        op: 'publish', id: 'publish_int64', topic: 'publish_int64_topic', msg: {data: Number.MIN_SAFE_INTEGER}}
-    },
-    {
-      title: 'publish message with type: UInt64',
-      advertiseMsg: {
-        op: 'advertise', id: 'advertise_uint64_setup', topic: 'publish_uint64_topic', type: 'std_msgs/UInt64'},
-      publishMsg: {
-        op: 'publish', id: 'publish_uint64', topic: 'publish_uint64_topic', msg: {data: Number.MAX_SAFE_INTEGER}}
-    },
-    {
-      title: 'publish message with type: Float32',
-      advertiseMsg: {
-        op: 'advertise', id: 'advertise_float32_setup', topic: 'publish_float32_topic', type: 'std_msgs/Float32'},
-      publishMsg: {op: 'publish', id: 'publish_float32', topic: 'publish_float32_topic', msg: {data: 3.14}}
-    },
-    {
-      title: 'publish message with type: Float64',
-      advertiseMsg: {
-        op: 'advertise', id: 'advertise_float64_setup', topic: 'publish_float64_topic', type: 'std_msgs/Float64'},
-      publishMsg: {op: 'publish', id: 'publish_float64', topic: 'publish_float64_topic', msg: {data: Number.MAX_VALUE}}
-    },
-    {
-      title: 'publish message with type: ColorRGBA',
-      advertiseMsg: {
-        op: 'advertise', id: 'advertise_colorrgba_setup', topic: 'publish_colorrgba_topic',
-        type: 'std_msgs/ColorRGBA'},
-      publishMsg: {
-        op: 'publish', id: 'publish_colorrgba', topic: 'publish_colorrgba_topic',
-        msg: {a: 0.5, r: 255, g: 255, b: 255}}
-    },
-    {
-      title: 'publish message with type: Header',
-      advertiseMsg: {
-        op: 'advertise', id: 'advertise_header_setup', topic: 'publish_header_topic', type: 'std_msgs/Header'},
-      publishMsg: {
-        op: 'publish', id: 'publish_header', topic: 'publish_header_topic',
-        /* eslint-disable camelcase */
-        msg: {stamp: {sec: 123456, nanosec: 789}, frame_id: 'main frame'}}
-    },
-    {
-      title: 'publish message with type: JointState',
-      advertiseMsg: {
-        op: 'advertise', id: 'advertise_jointstate_setup', topic: 'publish_jointstate_topic',
-        type: 'sensor_msgs/JointState'},
-      publishMsg: {
-        op: 'publish', id: 'publish_jointstate', topic: 'publish_jointstate_topic',
-        msg: {header: {stamp: {sec: 123456, nanosec: 789}, frame_id: 'main frame'}, 
-          name: ['Tom', 'Jerry'], position: [1, 2], velocity: [2, 3]},
-      }
-    }
-  ];
-  let testResults = {opCount: 2, finalStatus: 'none'};
-
-  testCasesData.forEach((testData, index) => {
-    it(testData.title, function() {
-      return new Promise((resolve, reject) => {
-        let ws = new WebSocket('ws://127.0.0.1:9090');
-        let counter = 0;
-
-        ws.on('open', function() {
-          ws.send(JSON.stringify(testData.advertiseMsg));
-          counter++;
-        });
-        ws.on('message', function(data) {
-          let response = JSON.parse(data);
-          assert.deepStrictEqual(response.level, testResults.finalStatus);
-
-          if (counter === testResults.opCount) {
-            ws.close();
-            resolve();
-          }
-          if (counter === 1) {
-            ws.send(JSON.stringify(testData.publishMsg));
-            counter++;
-          }
-        });
-      });
-    });
-  });
-
-  let testCasesNegData = [
-    {
-      title: 'publish message negatively with type: Byte',
-      advertiseMsg: {
-        op: 'advertise', id: 'advertise_byte_setup_neg', topic: 'publish_byte_neg_topic', type: 'std_msgs/Byte',
-      },
-      publishNegMsg1: {
-        op: 'publish', id: 'publish_byte_neg1', topic: 'publish_byte_neg_topic', msg: {data: -1}
-      },
-      publishNegMsg2: {
-        op: 'publish', id: 'publish_byte_neg2', topic: 'publish_byte_neg_topic', msg: {data: 0x100}
-      }
-    },
-    {
-      title: 'publish message negatively with type: Char',
-      advertiseMsg: {
-        op: 'advertise', id: 'advertise_char_setup_neg', topic: 'publish_char_neg_topic', type: 'std_msgs/Char'
-      },
-      publishNegMsg1: {
-        op: 'publish', id: 'publish_char_neg1', topic: 'publish_char_neg_topic', msg: {data: -0x81}
-      },
-      publishNegMsg2: {
-        op: 'publish', id: 'publish_char_neg2', topic: 'publish_char_neg_topic', msg: {data: 0x80}
-      }
-    },
-    {
-      title: 'publish message negatively with type: Int8',
-      advertiseMsg: {
-        op: 'advertise', id: 'advertise_int8_setup_neg', topic: 'publish_int8_neg_topic', type: 'std_msgs/Int8'
-      },
-      publishNegMsg1: {
-        op: 'publish', id: 'publish_int8_neg1', topic: 'publish_int8_neg_topic', msg: {data: -0x81}
-      },
-      publishNegMsg2: {
-        op: 'publish', id: 'publish_int8_neg2', topic: 'publish_int8_neg_topic', msg: {data: 0x80}
-      }
-    },
-    {
-      title: 'publish message negatively with type: UInt8',
-      advertiseMsg: {
-        op: 'advertise', id: 'advertise_uint8_setup_neg', topic: 'publish_uint8_neg_topic', type: 'std_msgs/UInt8'
-      },
-      publishNegMsg1: {
-        op: 'publish', id: 'publish_uint8_neg1', topic: 'publish_uint8_neg_topic', msg: {data: -0x1}
-      },
-      publishNegMsg2: {
-        op: 'publish', id: 'publish_uint8_neg2', topic: 'publish_uint8_neg_topic', msg: {data: 0x100}
-      }
-    },
-    {
-      title: 'publish message negatively with type: Int16',
-      advertiseMsg: {
-        op: 'advertise', id: 'advertise_int16_setup_neg', topic: 'publish_int16_neg_topic', type: 'std_msgs/Int16'
-      },
-      publishNegMsg1: {
-        op: 'publish', id: 'publish_int16_neg1', topic: 'publish_int16_neg_topic', msg: {data: -0x8001}
-      },
-      publishNegMsg2: {
-        op: 'publish', id: 'publish_int16_neg2', topic: 'publish_int16_neg_topic', msg: {data: 0x8000}
-      }
-    },
-    {
-      title: 'publish message negatively with type: UInt16',
-      advertiseMsg: {
-        op: 'advertise', id: 'advertise_uint16_setup_neg', topic: 'publish_uint16_neg_topic', type: 'std_msgs/UInt16'
-      },
-      publishNegMsg1: {
-        op: 'publish', id: 'publish_uint16_neg1', topic: 'publish_uint16_neg_topic', msg: {data: -0x1}
-      },
-      publishNegMsg2: {
-        op: 'publish', id: 'publish_uint16_neg2', topic: 'publish_uint16_neg_topic', msg: {data: 0x10000}
-      }
-    },
-    {
-      title: 'publish message negatively with type: Int32',
-      advertiseMsg: {
-        op: 'advertise', id: 'advertise_int32_setup_neg', topic: 'publish_int32_neg_topic', type: 'std_msgs/Int32'
-      },
-      publishNegMsg1: {
-        op: 'publish', id: 'publish_int32_neg1', topic: 'publish_int32_neg_topic', msg: {data: -0x80000001}
-      },
-      publishNegMsg2: {
-        op: 'publish', id: 'publish_int32_neg2', topic: 'publish_int32_neg_topic', msg: {data: 0x80000000}
-      }
-    },
-    {
-      title: 'publish message negatively with type: UInt32',
-      advertiseMsg: {
-        op: 'advertise', id: 'advertise_uint32_setup_neg', topic: 'publish_uint32_neg_topic', type: 'std_msgs/UInt32'
-      },
-      publishNegMsg1: {
-        op: 'publish', id: 'publish_uint32_neg1', topic: 'publish_uint32_neg_topic', msg: {data: -0x1}
-      },
-      publishNegMsg2: {
-        op: 'publish', id: 'publish_uint32_neg2', topic: 'publish_uint32_neg_topic', msg: {data: 0x100000000}
-      }
-    }
-  ];
-  let testNegResults = {opCount: 3, finalStatus: 'error'};
-
-  testCasesNegData.forEach((testNegData, index) => {
-    it(testNegData.title, function() {
-      return new Promise((resolve, reject) => {
-        let ws = new WebSocket('ws://127.0.0.1:9090');
-        var counter = 0;
-
-        ws.on('open', function() {
-          ws.send(JSON.stringify(testNegData.advertiseMsg));
-          counter++;
-        });
-        ws.on('message', function(data) {
-          let response = JSON.parse(data);
-
-          if (counter === testNegResults.opCount) {
-            assert.deepStrictEqual(response.level, testNegResults.finalStatus);
-            ws.close();
-            resolve();
-          }
-          if (counter === 2) {
-            assert.deepStrictEqual(response.level, testNegResults.finalStatus);
-            ws.send(JSON.stringify(testNegData.publishNegMsg2));
-            counter++;
-          }
-          if (counter === 1) {
-            assert.deepStrictEqual(response.level, 'none');
-            ws.send(JSON.stringify(testNegData.publishNegMsg1));
-            counter++;
-          }
-        });
-      });
-    });
-  });
-};
diff --git a/src/gui/test/nodejs/protocol/test-publish.js b/src/gui/test/nodejs/protocol/test-publish.js
deleted file mode 100644
index 590a49f7..00000000
--- a/src/gui/test/nodejs/protocol/test-publish.js
+++ /dev/null
@@ -1,123 +0,0 @@
-// Copyright (c) 2017 Intel Corporation. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the 'License');
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an 'AS IS' BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-'use strict';
-
-const assert = require('assert');
-const WebSocket = require('ws');
-
-module.exports = function() {
-  let testCasesData = [
-    { 
-      title: 'publish positive case 1',
-      advertiseMsg: {op: 'advertise', id: 'publish_advertise_setup1', topic: 'publish_topic1', type: 'std_msgs/String'},
-      publishMsg: {op: 'publish', id: 'publish_id1', topic: 'publish_topic1', msg: {data: 'hello world!'}},
-      opCount: 2,
-      finalStatus: 'none'
-    },
-    {
-      title: 'publish positive case 2',
-      advertiseMsg: {op: 'advertise', topic: 'publish_topic2', type: 'std_msgs/String'},
-      publishMsg: {op: 'publish', topic: 'publish_topic2', msg: {data: 'hello world!'}},
-      opCount: 2,
-      finalStatus: 'none'
-    },
-    {
-      title: 'publish positive case 3: ROS2 message type format',
-      advertiseMsg: {op: 'advertise', topic: 'publish_ros2_msg_topic', type: 'std_msgs/msg/String'},
-      publishMsg: {op: 'publish', topic: 'publish_ros2_msg_topic', msg: {data: 'hello world!'}},
-      opCount: 2,
-      finalStatus: 'none'
-    },
-    {
-      title: 'publish negative case 1: topic not exist',
-      publishMsg: {op: 'publish', id: 'publish_id3', topic: 'publish_topic3', msg: {data: 'Hello World!'}},
-      opCount: 1,
-      finalStatus: 'error'
-    },
-    {
-      title: 'publish negative case 2: inconsistent message type',
-      advertiseMsg:
-        {op: 'advertise', id: 'publish_advertise_setup4', topic: 'publish_topic4', type: 'std_msgs/String'},
-      publishMsg: {op: 'publish', id: 'publish_id4', topic: 'publish_topic4', msg: {data: 42}},
-      opCount: 2,
-      finalStatus: 'error'
-    },
-    {
-      title: 'publish negative case 3: msg is subset of type',
-      advertiseMsg: {op: 'advertise', id: 'publish_advertise_setup5', topic: 'publish_topic5', type: 'std_msgs/Header'},
-      publishMsg: {op: 'publish', id: 'publish_id5', topic: 'publish_topic5', msg: {
-        stamp: {sec: 123456, nanosec: 789}
-      }},
-      opCount: 2,
-      // incompatible with the spec
-      finalStatus: 'error'
-    },
-    {
-      title: 'publish field checking case 1: invalid id',
-      advertiseMsg: 
-        {op: 'advertise', id: 'publish_advertise_setup6', topic: 'publish_topic6', type: 'std_msgs/String'},
-      publishMsg: {op: 'publish', id: 42, topic: 'publish_topic6', msg: {data: 'Hello World!'}},
-      opCount: 2,
-      finalStatus: 'none'
-    },
-    {
-      title: 'publish field checking case 1: invalid topic',
-      advertiseMsg: {op: 'advertise', id: 'publish_advertise_setup7', topic: 'publish_topic7', type: 'std_msgs/String'},
-      publishMsg: {op: 'publish', id: 'publish_id7', topic: 42, msg: {data: 'Hello World!'}},
-      opCount: 2,
-      finalStatus: 'error'
-    },
-    {
-      title: 'publish field checking case 2: msg is not a JSON object',
-      advertiseMsg: 
-        { op: 'advertise', id: 'publish_advertise_setup8', topic: 'publish_topic8', type: 'std_msgs/String'},
-      publishMsg: {op: 'publish', id: 'publish_id8', topic: 'publish_topic8', msg: 42},
-      opCount: 2,
-      finalStatus: 'error'
-    }
-  ];
-
-  testCasesData.forEach((testData, index) => {
-    it(testData.title, function() {
-      return new Promise((resolve, reject) => {
-        let ws = new WebSocket('ws://127.0.0.1:9090');
-        var counter = 0;
-
-        ws.on('open', function() {
-          if (testData.advertiseMsg !== undefined) {
-            ws.send(JSON.stringify(testData.advertiseMsg));            
-          }
-          counter++;
-          if (testData.opCount === 1) {
-            ws.send(JSON.stringify(testData.publishMsg));
-            counter++;
-          }
-        });
-        ws.on('message', function(data) {
-          if (counter === 2) {
-            let response = JSON.parse(data);
-            assert.deepStrictEqual(response.level, testData.finalStatus);
-            ws.close();
-            resolve();
-          }
-          if (counter === 1) {
-            ws.send(JSON.stringify(testData.publishMsg));
-            counter++;
-          }
-        });
-      });
-    });
-  });
-};
diff --git a/src/gui/test/nodejs/protocol/test-response-op.js b/src/gui/test/nodejs/protocol/test-response-op.js
deleted file mode 100644
index e390a049..00000000
--- a/src/gui/test/nodejs/protocol/test-response-op.js
+++ /dev/null
@@ -1,90 +0,0 @@
-// Copyright (c) 2017 Intel Corporation. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-'use strict';
-
-const assert = require('assert');
-const rclnodejs = require('rclnodejs');
-const WebSocket = require('ws');
-
-module.exports = function() {
-  before(function() {
-    return new Promise((resolve, reject) => {
-      rclnodejs.init().then(() => {
-        var node = rclnodejs.createNode('service');
-        var wsservice = node.createService('example_interfaces/srv/AddTwoInts', 'add_two_ints_resp',
-          (request, response) => {
-            let result = response.template;
-            result.sum = request.a + request.b;
-            response.send(result);
-          });
-        rclnodejs.spin(node);
-        setTimeout(() => {
-          resolve();
-        }, 2000);
-      });
-    });
-  });
-
-  after(function() {
-    rclnodejs.shutdown();
-  });
-
-  let testCasesData = [
-    {
-      title: 'Common responses should contain set_level field',
-      msg: {
-        op: 'advertise', id: 'advertise_topic_resp_id1', topic: 'advertise_topic_resp', type: 'std_msgs/String'},
-      opType: 'common',
-      respCount: 1,
-      finalStatus: 'none'
-    },
-    {
-      title: 'service_response status field checking',
-      msg: {op: 'call_service', service: 'add_two_ints_resp', id: 'call_service_id1',
-        args: {a: 1, b: 2}, type: 'example_interfaces/AddTwoInts'},
-      opType: 'service',
-      respCount: 2,
-      expectedResponse: {op: 'service_response',  result: true, sum: 3}
-    }
-  ];
-
-  testCasesData.forEach((testData, index) => {
-    it(testData.title, function(done) {
-      let ws = new WebSocket('ws://127.0.0.1:9090');
-      let count = 0;
-      ws.on('open', function() {
-        ws.send(JSON.stringify(testData.msg));
-        count++;
-      });
-      ws.on('message', function(data) {
-        let response = JSON.parse(data);
-        if (testData.opType === 'common' && testData.respCount === 1) {
-          assert.deepStrictEqual(response.op, 'set_level');
-          assert.deepStrictEqual(typeof response.level, 'string');
-          ws.close();
-          done();
-        }
-
-        if (testData.opType === 'service' && response.op === testData.expectedResponse.op) {
-          assert.deepStrictEqual(response.op, 'service_response');
-          assert.deepStrictEqual(typeof response.service, 'string');
-          assert.deepStrictEqual(typeof response.result, 'boolean');
-          ws.close();
-          done();
-        }
-      });
-    });
-  });
-};
diff --git a/src/gui/test/nodejs/protocol/test-ros2-protocol-workflow.js b/src/gui/test/nodejs/protocol/test-ros2-protocol-workflow.js
deleted file mode 100644
index 58d994d3..00000000
--- a/src/gui/test/nodejs/protocol/test-ros2-protocol-workflow.js
+++ /dev/null
@@ -1,44 +0,0 @@
-// Copyright (c) 2017 Intel Corporation. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-'use strict';
-
-const assert = require('assert');
-const WebSocket = require('ws');
-
-module.exports = function() {
-  it('Protocol testing general workflow', function() {
-    return new Promise((resolve, reject) => {
-      let ws = new WebSocket('ws://127.0.0.1:9090');
-      ws.on('open', function() {
-        let msg = {
-          op: 'publish',
-          id: 'publish:/example_topic:1',
-          topic: '/example_topic',
-          msg: {
-            data: 'hello from ros2bridge 0'
-          },
-          latch: false
-        };
-        ws.send(JSON.stringify(msg));
-      });
-      ws.on('message', function(data) {
-        var response = JSON.parse(data);
-        assert.deepStrictEqual(response.level, 'error');
-        ws.close();
-        resolve();
-      });
-    });
-  });
-};
diff --git a/src/gui/test/nodejs/protocol/test-service-response.js b/src/gui/test/nodejs/protocol/test-service-response.js
deleted file mode 100644
index 272058b3..00000000
--- a/src/gui/test/nodejs/protocol/test-service-response.js
+++ /dev/null
@@ -1,122 +0,0 @@
-// Copyright (c) 2017 Intel Corporation. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the 'License');
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an 'AS IS' BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-'use strict';
-
-const assert = require('assert');
-const rclnodejs = require('rclnodejs');
-const WebSocket = require('ws');
-
-module.exports = function() {
-  before(function() {
-    return rclnodejs.init().then(() => {
-      var node = rclnodejs.createNode('service');
-      var wsservice = node.createService('example_interfaces/srv/AddTwoInts', 'add_two_ints',
-        (request, response) => {
-          let result = response.template;
-          result.sum = request.a + request.b;
-          response.send(result);
-        });
-      rclnodejs.spin(node);
-    });
-  });
-
-  after(function() {
-    rclnodejs.shutdown();
-  });
-
-  let testCasesData = [
-    {
-      title: 'service_response positive case 1',
-      serviceResponseMsg: {
-        op: 'service_response', id: 'service_response_id1', service: '/add_two_ints',
-        values: {sum: 1}, result: true},
-      opCount: 1,
-      finalStatus: 'none'
-    },
-    {
-      title: 'service_response positive case 2',
-      serviceResponseMsg: {
-        op: 'service_response', id: 'service_response_id2', service: 'add_two_ints',
-        values: {sum: 2}, result: true},
-      opCount: 1,
-      finalStatus: 'none'
-    },
-    {
-      title: 'service_response positive case 3',
-      serviceResponseMsg: {
-        op: 'service_response', service: 'add_two_ints', values: {sum: 3}, result: true},
-      opCount: 1,
-      finalStatus: 'none'
-    },
-    {
-      title: 'service_response positive case 4',
-      serviceResponseMsg: {
-        op: 'service_response', id: 'service_response_id4', service: 'add_two_ints', result: true},
-      opCount: 1,
-      finalStatus: 'none'
-    },
-    {
-      title: 'service_response positive case 5',
-      serviceResponseMsg: {
-        op: 'service_response', service: 'add_two_ints', result: true},
-      opCount: 1,
-      finalStatus: 'none'
-    },
-    {
-      title: 'service_response positive case 6',
-      serviceResponseMsg: {
-        op: 'service_response', service: '/add_two_ints', result: true},
-      opCount: 1,
-      finalStatus: 'none'
-    },    
-    {
-      title: 'service_response negative case 1',
-      serviceResponseMsg: {
-        op: 'service_response', values: {sum: 6}, result: false},
-      opCount: 1,
-      finalStatus: 'none'
-    },
-    {
-      title: 'service_response negative case 2',
-      serviceResponseMsg: {
-        op: 'service_response', service: 'add_two_ints', values: {sum: 7}},
-      opCount: 1,
-      finalStatus: 'none'
-    }
-  ];
-
-  testCasesData.forEach((testData, index) => {
-    it(testData.title, function(done) {
-      let ws = new WebSocket('ws://127.0.0.1:9090');
-      let count = 0;
-
-      ws.on('open', function() {
-        ws.send(JSON.stringify(testData.serviceResponseMsg));
-        count++;
-      });
-      ws.on('message', function(data) {
-        // console.log(`${count}`, data);
-        let response = JSON.parse(data);
-
-        if (testData.opCount === 1) {
-          assert.deepStrictEqual(response.level, testData.finalStatus);
-          ws.close();
-          done();
-        }
-        count++;
-      });
-    });
-  });
-};
diff --git a/src/gui/test/nodejs/protocol/test-set-level.js b/src/gui/test/nodejs/protocol/test-set-level.js
deleted file mode 100644
index baf74dfe..00000000
--- a/src/gui/test/nodejs/protocol/test-set-level.js
+++ /dev/null
@@ -1,105 +0,0 @@
-// Copyright (c) 2017 Intel Corporation. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-'use strict';
-
-const assert = require('assert');
-const WebSocket = require('ws');
-
-module.exports = function() {
-  let testCasesData = [
-    {
-      title: 'set_level to error',
-      ops: [
-        {
-          payload: {op: 'set_level', id: 'id1', level: 'error'},
-          status: null
-        }
-      ],
-    },
-    {
-      title: 'set_level to warning',
-      ops: [
-        {
-          payload: {op: 'set_level', id: 'id1', level: 'warning'},
-          status: null
-        }
-      ],
-    },
-    {
-      title: 'set_level to info',
-      ops: [
-        {
-          payload: {op: 'set_level', id: 'id1', level: 'info'},
-          status: null
-        }
-      ],
-    },
-    {
-      title: 'set_level to none',
-      ops: [
-        {
-          payload: {op: 'set_level', id: 'id1', level: 'none'},
-          status: 'none'
-        }
-      ],
-    },
-    {
-      title: 'set_level to invalid',
-      ops: [
-        {
-          payload: {op: 'set_level', id: 'id1', level: 'invalid'},
-          status: 'error'
-        }
-      ],
-    },
-  ];
-
-  testCasesData.forEach((testData, index) => {
-    it(testData.title, function() {
-      return new Promise((resolve, reject) => {
-        let ws = new WebSocket('ws://127.0.0.1:9090');
-        let counter = 0;
-        let timeout = null;
-
-        function handleMessage(data) {
-          if (timeout !== null) {
-            clearTimeout(timeout);
-            timeout = null;
-          }
-          if (data !== null || testData.ops[counter].status !== null) {
-            let response = JSON.parse(data);
-            assert.deepStrictEqual(response.level, testData.ops[counter].status);
-          }
-
-          counter++;
-          if (counter === testData.ops.length) {
-            ws.close();
-            resolve();
-          } else {
-            ws.send(JSON.stringify(testData.ops[counter].payload));
-          }
-        }
-        ws.on('message', handleMessage);
-
-        ws.on('open', function() {
-          ws.send(JSON.stringify(testData.ops[0].payload));
-          if (testData.ops[0].status === null) {
-            timeout = setTimeout(() => handleMessage(null), 100);
-          }
-        });
-      });
-    });
-  });
-};
diff --git a/src/gui/test/nodejs/protocol/test-subscribe-msg.js b/src/gui/test/nodejs/protocol/test-subscribe-msg.js
deleted file mode 100644
index d79a52fd..00000000
--- a/src/gui/test/nodejs/protocol/test-subscribe-msg.js
+++ /dev/null
@@ -1,215 +0,0 @@
-// Copyright (c) 2017 Intel Corporation. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-'use strict';
-
-/* eslint-disable camelcase */
-
-const assert = require('assert');
-const WebSocket = require('ws');
-
-module.exports = function() {
-
-  let testCasesData = [
-    {
-      title: 'subscribe message with type: Bool',
-      msg0: {op: 'subscribe', id: 'subscribe_bool', topic: 'subscribe_bool_topic', type: 'std_msgs/Bool'},
-      msg1: {op: 'advertise', id: 'advertise_setup_bool', topic: 'subscribe_bool_topic', type: 'std_msgs/Bool'},
-      msg2: {op: 'publish', id: 'publish_setup_bool', topic: 'subscribe_bool_topic', msg: {data: true}},
-      expectedData: true
-    },
-    {
-      title: 'subscribe message with type: Byte',
-      msg0: {op: 'subscribe', id: 'subscribe_byte', topic: 'subscribe_byte_topic', type: 'std_msgs/Byte'},
-      msg1: {op: 'advertise', id: 'advertise_setup_byte', topic: 'subscribe_byte_topic', type: 'std_msgs/Byte'},
-      msg2: {op: 'publish', id: 'publish_setup_byte', topic: 'subscribe_byte_topic', msg: {data: 0xff}},
-      expectedData: 255
-    },
-    {
-      title: 'subscribe message with type: Char',
-      msg0: {op: 'subscribe', id: 'subscribe_char', topic: 'subscribe_char_topic', type: 'std_msgs/Char'},
-      msg1: {op: 'advertise', id: 'advertise_setup_char', topic: 'subscribe_char_topic', type: 'std_msgs/Char'},
-      msg2: {op: 'publish', id: 'publish_setup_char', topic: 'subscribe_char_topic', msg: {data: 'A'}},
-      expectedData: 65
-    },
-    {
-      title: 'subscribe message with type: String',
-      msg0: {op: 'subscribe', id: 'subscribe_string', topic: 'subscribe_string_topic', type: 'std_msgs/String'},
-      msg1: {op: 'advertise', id: 'advertise_setup_string', topic: 'subscribe_string_topic', type: 'std_msgs/String'},
-      msg2: {op: 'publish', id: 'publish_setup_string', topic: 'subscribe_string_topic', msg: {data: 'hello world!'}},
-      expectedData: 'hello world!'
-    },
-    {
-      title: 'subscribe message with type: Int8',
-      msg0: {op: 'subscribe', id: 'advertise_int8', topic: 'subscribe_int8_topic', type: 'std_msgs/Int8'},
-      msg1: {op: 'advertise', id: 'advertise_setup_int8', topic: 'subscribe_int8_topic', type: 'std_msgs/Int8'},
-      msg2: {op: 'publish', id: 'publish_setup_int8', topic: 'subscribe_int8_topic', msg: {data: -0x80}},
-      expectedData: -128
-    },
-    {
-      title: 'subscribe message with type: UInt8',
-      msg0: {op: 'subscribe', id: 'subscribe_uint8', topic: 'subscribe_uint8_topic', type: 'std_msgs/UInt8'},
-      msg1: {op: 'advertise', id: 'advertise_setup_uint8', topic: 'subscribe_uint8_topic', type: 'std_msgs/UInt8'},
-      msg2: {op: 'publish', id: 'publish_setup_uint8', topic: 'subscribe_uint8_topic', msg: {data: 0xff}},
-      expectedData: 255
-    },
-    {
-      title: 'subscribe message with type: Int16',
-      msg0: {op: 'subscribe', id: 'subscribe_int16', topic: 'subscribe_int16_topic', type: 'std_msgs/Int16'},
-      msg1: {op: 'advertise', id: 'advertise_setup_int16', topic: 'subscribe_int16_topic', type: 'std_msgs/Int16'},
-      msg2: {op: 'publish', id: 'publish_setup_int16', topic: 'subscribe_int16_topic', msg: {data: -0x8000}},
-      expectedData: -0x8000
-    },
-    {
-      title: 'subscribe message with type: UInt16',
-      msg0: {op: 'subscribe', id: 'subscribe_uint16', topic: 'subscribe_uint16_topic', type: 'std_msgs/UInt16'},
-      msg1: {op: 'advertise', id: 'advertise_setup_uint16', topic: 'subscribe_uint16_topic', type: 'std_msgs/UInt16'},
-      msg2: {op: 'publish', id: 'publish_setup_uint16', topic: 'subscribe_uint16_topic', msg: {data: 0xffff}},
-      expectedData: 0xffff
-    },
-    {
-      title: 'subscribe message with type: Int32',
-      msg0: {op: 'subscribe', id: 'subscribe_int32', topic: 'subscribe_int32_topic', type: 'std_msgs/Int32'},
-      msg1: {op: 'advertise', id: 'advertise_setup_int32', topic: 'subscribe_int32_topic', type: 'std_msgs/Int32'},
-      msg2: {op: 'publish', id: 'publish_setup_int32', topic: 'subscribe_int32_topic', msg: {data: -0x80000000}},
-      expectedData: -0x80000000
-    },
-    {
-      title: 'subscribe message with type: UInt32',
-      msg0: {op: 'subscribe', id: 'subscribe_uint32', topic: 'subscribe_uint32_topic', type: 'std_msgs/UInt32'},
-      msg1: {op: 'advertise', id: 'advertise_setup_uint32', topic: 'subscribe_uint32_topic', type: 'std_msgs/UInt32'},
-      msg2: {op: 'publish', id: 'publish_setup_uint32', topic: 'subscribe_uint32_topic', msg: {data: 0xffffffff}},
-      expectedData: 0xffffffff
-    },
-    {
-      title: 'subscribe message with type: Int64',
-      msg0: {op: 'subscribe', id: 'subscribe_int64', topic: 'subscribe_int64_topic', type: 'std_msgs/Int64'},
-      msg1: {op: 'advertise', id: 'advertise_setup_int64', topic: 'subscribe_int64_topic', type: 'std_msgs/Int64'},
-      msg2: {
-        op: 'publish', id: 'publish_setup_int64', topic: 'subscribe_int64_topic',
-        msg: {data: Number.MIN_SAFE_INTEGER}},
-      expectedData: Number.MIN_SAFE_INTEGER
-    },
-    {
-      title: 'subscribe message with type: UInt64',
-      msg0: {op: 'subscribe', id: 'subscribe_uint64', topic: 'subscribe_uint64_topic', type: 'std_msgs/UInt64'},
-      msg1: {op: 'advertise', id: 'advertise_setup_uint64', topic: 'subscribe_uint64_topic', type: 'std_msgs/UInt64'},
-      msg2: {
-        op: 'publish', id: 'publish_setup_uint64', topic: 'subscribe_uint64_topic',
-        msg: {data: Number.MAX_SAFE_INTEGER}
-      },
-      expectedData: Number.MAX_SAFE_INTEGER
-    },
-    {
-      title: 'subscribe message with type: Float32',
-      msg0: {op: 'subscribe', id: 'subscribe_float32', topic: 'subscribe_float32_topic', type: 'std_msgs/Float32'},
-      msg1: {
-        op: 'advertise', id: 'advertise_setup_float32', topic: 'subscribe_float32_topic', type: 'std_msgs/Float32'},
-      msg2: {op: 'publish', id: 'publish_setup_float32', topic: 'subscribe_float32_topic', msg: {data: 3.14}},
-      msgType: 'float',
-      expectedData: 3.14,
-      precision: 0.01
-    },
-    {
-      title: 'subscribe message with type: Float64',
-      msg0: {op: 'subscribe', id: 'subscribe_float64', topic: 'subscribe_float64_topic', type: 'std_msgs/Float64'},
-      msg1: {
-        op: 'advertise', id: 'advertise_setup_float64', topic: 'subscribe_float64_topic', type: 'std_msgs/Float64'},
-      msg2: {op: 'publish', id: 'publish_setup_float64', topic: 'subscribe_float64_topic', msg: {data: 3.1415926}},
-      msgType: 'float',
-      expectedData: 3.1415926,
-      precision: 0.0000001
-    },
-    {
-      title: 'subscribe message with type: ColorRGBA',
-      msg0: {
-        op: 'subscribe', id: 'subscribe_colorrgba', topic: 'subscribe_colorrgba_topic', type: 'std_msgs/ColorRGBA'},
-      msg1: {
-        op: 'advertise', id: 'advertise_setup_colorrgba', topic: 'subscribe_colorrgba_topic',
-        type: 'std_msgs/ColorRGBA'},
-      msg2: {
-        op: 'publish', id: 'publish_setup_colorrgba', topic: 'subscribe_colorrgba_topic',
-        msg: {a: 0.5, r: 255, g: 255, b: 255}},
-      msgType: 'compound',
-      expectedData: {a: 0.5, r: 255, g: 255, b: 255}
-    },
-    {
-      title: 'subscribe message with type: Header',
-      msg0: {op: 'subscribe', id: 'subscribe_header', topic: 'subscribe_header_topic', type: 'std_msgs/Header'},
-      msg1: {op: 'advertise', id: 'advertise_setup_header', topic: 'subscribe_header_topic', type: 'std_msgs/Header'},
-      msg2: {op: 'publish', id: 'publish_setup_header', topic: 'subscribe_header_topic',
-        msg: {stamp: {sec: 123456, nanosec: 789}, frame_id: 'main frame'}},
-      msgType: 'compound',
-      expectedData: {stamp: {sec: 123456, nanosec: 789}, frame_id: 'main frame'}
-    },
-    {
-      title: 'subscribe message with type: JointState',
-      msg0: {
-        op: 'subscribe', id: 'subscribe_jointstate', topic: 'subscribe_jointstate_topic', 
-        type: 'sensor_msgs/JointState'},
-      msg1: {op: 'advertise', id: 'advertise_setup_jointstate', topic: 'subscribe_jointstate_topic',
-        type: 'sensor_msgs/JointState'},
-      msg2: {op: 'publish', id: 'publish_setup_jointstate', topic: 'subscribe_jointstate_topic',
-        msg: {header: {stamp: {sec: 123456, nanosec: 789}, frame_id: 'main frame'},
-          name: ['Tom', 'Jerry'], position: [1, 2], velocity: [2, 3], effort: [4, 5, 6]}},
-      msgType: 'compound',
-      expectedData: {header: {stamp: {sec: 123456, nanosec: 789}, frame_id: 'main frame'},
-        name: ['Tom', 'Jerry'], position: [1, 2], velocity: [2, 3], effort: [4, 5, 6]}
-    }
-  ];
-  let testResults = {respCount: 4, finalStatus: 'none'};
-
-  testCasesData.forEach((testData, index) => {
-    it(testData.title, function() {
-      return new Promise((resolve, reject) => {
-        let ws = new WebSocket('ws://127.0.0.1:9090');
-        let counter = 0;
-
-        ws.on('open', function() {
-          ws.send(JSON.stringify(testData.msg0));
-          counter++;
-        });
-
-        ws.on('message', function(data) {
-          let response = JSON.parse(data);
-          if (counter < testResults.respCount) {
-            assert.deepStrictEqual(response.level, testResults.finalStatus);
-          }
-          if (counter === testResults.respCount) {
-            if (testData.msgType === 'float') {
-              assert.ok(Math.abs(response.msg.data - testData.expectedData) < testData.precision);
-            } else if (testData.msgType === 'compound') {
-              assert.deepEqual(response.msg, testData.expectedData);
-            } else {
-              assert.deepStrictEqual(response.msg.data, testData.expectedData);
-            }
-            ws.close();
-            resolve();
-          }
-          if (counter === 3) {
-            counter++;
-          }
-          if (counter === 2) {
-            ws.send(JSON.stringify(testData.msg2));
-            counter++;
-          }
-          if (counter === 1) {            
-            ws.send(JSON.stringify(testData.msg1));
-            counter++;
-          }
-        });
-      });
-    });
-  });
-};
diff --git a/src/gui/test/nodejs/protocol/test-subscribe.js b/src/gui/test/nodejs/protocol/test-subscribe.js
deleted file mode 100644
index f9a32f69..00000000
--- a/src/gui/test/nodejs/protocol/test-subscribe.js
+++ /dev/null
@@ -1,147 +0,0 @@
-// Copyright (c) 2017 Intel Corporation. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-'use strict';
-
-/* eslint-disable camelcase */
-
-const assert = require('assert');
-const WebSocket = require('ws');
-
-module.exports = function() {
-
-  let testCasesData = [
-    {
-      title: 'subscribe positive case 1: full fields',
-      msg0: {op: 'subscribe', id: 'subscribe_id1', topic: 'subscribe_topic1', type: 'std_msgs/String',
-        throttle_rate: 0, queue_length: 0, fragment_size: 1, compression: 'none'},
-      msg1: {op: 'advertise', id: 'advertise_setup_id1', topic: 'subscribe_topic1', type: 'std_msgs/String'},
-      msg2: {op: 'publish', id: 'publish_setup_id1', topic: 'subscribe_topic1', msg: {data: 'subscribe operation'}},
-    },
-    {
-      title: 'subscribe positive case 2: no field id',
-      msg0: {op: 'subscribe', topic: 'subscribe_topic2', type: 'std_msgs/String',
-        throttle_rate: 0, queue_length: 0, fragment_size: 1, compression: 'none'},
-      msg1: {op: 'advertise', id: 'advertise_setup_id2', topic: 'subscribe_topic2', type: 'std_msgs/String'},
-      msg2: {op: 'publish', id: 'publish_setup_id2', topic: 'subscribe_topic2', msg: {data: 'subscribe operation'}},
-    },
-    {
-      title: 'subscribe positive case 3: no field throttle_rate',
-      msg0: {op: 'subscribe', id: 'subscribe_id3', topic: 'subscribe_topic3', type: 'std_msgs/String',
-        queue_length: 0, fragment_size: 1, compression: 'none'},
-      msg1: {op: 'advertise', id: 'advertise_setup_id3', topic: 'subscribe_topic3', type: 'std_msgs/String'},
-      msg2: {op: 'publish', id: 'publish_setup_id3', topic: 'subscribe_topic3', msg: {data: 'subscribe operation'}},
-    },
-    {
-      title: 'subscribe positive case 4: no field queue_length',
-      msg0: {op: 'subscribe', id: 'subscribe_id4', topic: 'subscribe_topic4', type: 'std_msgs/String',
-        throttle_rate: 0, fragment_size: 1, compression: 'none'},
-      msg1: {op: 'advertise', id: 'advertise_setup_id4', topic: 'subscribe_topic4', type: 'std_msgs/String'},
-      msg2: {op: 'publish', id: 'publish_setup_id4', topic: 'subscribe_topic4', msg: {data: 'subscribe operation'}},
-    },
-    {
-      title: 'subscribe positive case 5: no field fragment_size',
-      msg0: {op: 'subscribe', id: 'advertise_id5', topic: 'subscribe_topic5', type: 'std_msgs/String',
-        throttle_rate: 0, queue_length: 0, compression: 'none'},
-      msg1: {op: 'advertise', id: 'advertise_setup_id5', topic: 'subscribe_topic5', type: 'std_msgs/String'},
-      msg2: {op: 'publish', id: 'publish_setup_id5', topic: 'subscribe_topic5', msg: {data: 'subscribe operation'}},
-    },
-    {
-      title: 'subscribe positive case 6: no field compression',
-      msg0: {op: 'subscribe', id: 'subscribe_id6', topic: 'subscribe_topic6', type: 'std_msgs/String',
-        throttle_rate: 0, queue_length: 0, fragment_size: 1},
-      msg1: {op: 'advertise', id: 'advertise_setup_id6', topic: 'subscribe_topic6', type: 'std_msgs/String'},
-      msg2: {op: 'publish', id: 'publish_setup_id6', topic: 'subscribe_topic6', msg: {data: 'subscribe operation'}},
-    }
-  ];
-  let testResults = {respCount: 4, finalStatus: 'none', data: 'subscribe operation'};
-
-  testCasesData.forEach((testData, index) => {
-    it(testData.title, function() {
-      return new Promise((resolve, reject) => {
-        let ws = new WebSocket('ws://127.0.0.1:9090');
-        let counter = 0;
-
-        ws.on('open', function() {
-          ws.send(JSON.stringify(testData.msg0));
-          counter++;
-        });
-
-        ws.on('message', function(data) {
-          let response = JSON.parse(data);
-          if (counter === testResults.respCount) {
-            assert.deepStrictEqual(response.msg.data, testResults.data);
-            ws.close();
-            resolve();
-          }
-          if (counter === 3) {
-            counter++;
-          }
-          if (counter === 2) {
-            ws.send(JSON.stringify(testData.msg2));
-            counter++;
-          }
-          if (counter === 1) {
-            assert.deepStrictEqual(response.level, testResults.finalStatus);
-            ws.send(JSON.stringify(testData.msg1));
-            counter++;
-          }
-        });
-      });
-    });
-  });
-
-  let testCasesNegData = [
-    {
-      title: 'subscribe negative case 1: topic not exist',
-      subscribeMsg: {op: 'subscribe', id: 'subscribe_neg_id1', topic: 'subscribe_neg_topic1', type: 'std_msgs/Foo'},
-      finalStatus: 'error'
-    },
-    {
-      // Incompatible with rosbridge v2 protocol
-      title: 'subscribe negative case 2: type cannot be inferred',
-      subscribeMsg: {op: 'subscribe', id: 'subscribe_neg_id2', topic: 'subscribe_neg_topic2'},
-      finalStatus: 'error'
-    },
-    {
-      title: 'subscribe field checking case 1: invalid topic',
-      subscribeMsg: {op: 'subscribe', id: 'subscribe_neg_id3', topic: 42, type: 'std_msgs/String'},
-      finalStatus: 'error'
-    },
-    {
-      title: 'subscribe field checking case 1: invalid type',
-      subscribeMsg: {op: 'subscribe', id: 'subscribe_neg_id3', topic: 'subscribe_neg_topic4', type: true},
-      finalStatus: 'error'
-    }
-  ];
-
-  testCasesNegData.forEach((testNegData, index) => {
-    it(testNegData.title, function() {
-      return new Promise((resolve, reject) => {
-        let ws = new WebSocket('ws://127.0.0.1:9090');
-
-        ws.on('open', function() {
-          ws.send(JSON.stringify(testNegData.subscribeMsg));
-        });
-
-        ws.on('message', function(data) {
-          let response = JSON.parse(data);
-          assert.deepStrictEqual(response.level, testNegData.finalStatus);
-          ws.close();
-          resolve();
-        });
-      });
-    });
-  });
-};
diff --git a/src/gui/test/nodejs/protocol/test-unadvertise-service.js b/src/gui/test/nodejs/protocol/test-unadvertise-service.js
deleted file mode 100644
index c6f8e585..00000000
--- a/src/gui/test/nodejs/protocol/test-unadvertise-service.js
+++ /dev/null
@@ -1,123 +0,0 @@
-// Copyright (c) 2017 Intel Corporation. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-'use strict';
-
-const assert = require('assert');
-const rclnodejs = require('rclnodejs');
-const WebSocket = require('ws');
-
-module.exports = function() {
-
-  before(function() {
-    return rclnodejs.init().then(() => {
-      var node = rclnodejs.createNode('service');
-      var wsservice = node.createService('example_interfaces/srv/AddTwoInts', 'add_two_ints',
-        (request, response) => {
-          let result = response.template;
-          result.sum = request.a + request.b;
-          response.send(result);
-        });
-      rclnodejs.spin(node);
-    });
-  });
-
-  after(function() {
-    rclnodejs.shutdown();
-  });
-
-  let testCasesData = [
-    {
-      title: 'unadvertise_service positive case 1',
-      advertiseServiceMsg: {
-        op: 'advertise_service', type: 'example_interfaces/AddTwoInts', service: 'add_two_ints'},
-      unadvertiseServiceMsg: {op: 'unadvertise_service', service: 'add_two_ints'},
-      opCount: 2,
-      finalStatus: 'none'
-    },
-    {
-      title: 'unadvertise_service positive case 2',
-      advertiseServiceMsg: {
-        op: 'advertise_service', type: 'example_interfaces/AddTwoInts', service: '/add_two_ints'},
-      unadvertiseServiceMsg: {op: 'unadvertise_service', service: '/add_two_ints'},
-      opCount: 2,
-      finalStatus: 'none'
-    },
-    {
-      title: 'unadvertise_service negative case 1: invalid service type',
-      advertiseServiceMsg: {
-        op: 'advertise_service', type: 'example_interfaces/AddTwoInts', service: 'add_two_ints'},
-      unadvertiseServiceMsg: {op: 'unadvertise_service', service: 42},
-      opCount: 2,
-      finalStatus: 'error'
-    },
-    {
-      title: 'unadvertise_service field checking case 1: empty service',
-      advertiseServiceMsg: {
-        op: 'advertise_service', type: 'example_interfaces/AddTwoInts', service: 'add_two_ints'},
-      unadvertiseServiceMsg: {op: 'unadvertise_service', service: ''},
-      opCount: 2,
-      finalStatus: 'error'
-    },
-    {
-      title: 'unadvertise_service field checking case 1: with single quote',
-      advertiseServiceMsg: {
-        op: 'advertise_service', type: 'example_interfaces/AddTwoInts', service: 'add_two_ints'},
-      unadvertiseServiceMsg: {op: 'unadvertise_service', service: "'add_two_ints'"},
-      opCount: 2,
-      finalStatus: 'error'
-    },
-    {
-      title: 'unadvertise_service field checking case 1: with double quote',
-      advertiseServiceMsg: {
-        op: 'advertise_service', type: 'example_interfaces/AddTwoInts', service: 'add_two_ints'},
-      unadvertiseServiceMsg: {op: 'unadvertise_service', service: '"add_two_ints"'},
-      opCount: 2,
-      finalStatus: 'error'
-    },
-    {
-      title: 'unadvertise_service field checking case 1: unicode',
-      advertiseServiceMsg: {
-        op: 'advertise_service', type: 'example_interfaces/AddTwoInts', service: 'add_two_ints'},
-      unadvertiseServiceMsg: {op: 'unadvertise_service', service: '\u8bdd\u9898'},
-      opCount: 2,
-      finalStatus: 'error'
-    }
-  ];
-
-  testCasesData.forEach((testData, index) => {
-    it(testData.title, function(done) {
-      let ws = new WebSocket('ws://127.0.0.1:9090');
-      let count = 0;
-
-      ws.on('open', function() {
-        ws.send(JSON.stringify(testData.advertiseServiceMsg));
-        count++;
-      });
-      ws.on('message', function(data) {
-        let response = JSON.parse(data);
-
-        if (count === testData.opCount) {
-          assert.deepStrictEqual(response.level, testData.finalStatus);
-          ws.close();
-          done();
-        }
-        if (count === 1) {
-          ws.send(JSON.stringify(testData.unadvertiseServiceMsg));
-          count++;
-        }
-      });
-    });
-  });
-};
diff --git a/src/gui/test/nodejs/protocol/test-unadvertise.js b/src/gui/test/nodejs/protocol/test-unadvertise.js
deleted file mode 100644
index 2a701772..00000000
--- a/src/gui/test/nodejs/protocol/test-unadvertise.js
+++ /dev/null
@@ -1,117 +0,0 @@
-// Copyright (c) 2017 Intel Corporation. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-'use strict';
-
-const assert = require('assert');
-const WebSocket = require('ws');
-
-module.exports = function() {
-  let testCasesData = [
-    {
-      title: 'unadvertise positive case 1',
-      advertiseMsg: {op: 'advertise', id: 'advertise_setup1', topic: 'unadvertise_topic1', type: 'std_msgs/String'},
-      unadvertiseMsg: {op: 'unadvertise', id: 'unadvertise_id1', topic: 'unadvertise_topic1'},
-      opCount: 2,
-      finalStatus: 'none'
-    },
-    {
-      title: 'unadvertise positive case 2',
-      advertiseMsg: {op: 'advertise', id: 'advertise_setup2', topic: 'unadvertise_topic2', type: 'std_msgs/String'},
-      unadvertiseMsg: {op: 'unadvertise', id: 'unadvertise_id2', topic: 'unadvertise_topic2'},
-      opCount: 2,
-      finalStatus: 'none'
-    },
-    {
-      title: 'unadvertise positive case 3: ROS2 message type format',
-      advertiseMsg: {op: 'advertise', id: 'advertise_ros2_msg_setup', topic: 'unadvertise_ros2_msg_topic',
-        type: 'std_msgs/msg/String'},
-      unadvertiseMsg: {op: 'unadvertise', id: 'unadvertise_ros2_msg_setup', topic: 'unadvertise_ros2_msg_topic'},
-      opCount: 2,
-      finalStatus: 'none'
-    },
-    {
-      title: 'unadvertise negative case 1',
-      unadvertiseMsg: {op: 'unadvertise', id: 'unadvertise_id3', topic: 'unadvertise_topic3'},
-      opCount: 1,
-      finalStatus: 'warning'
-    },
-    {
-      title: 'unadvertise field checking case 1: invalid topic',
-      advertiseMsg: {op: 'advertise', id: 'advertise_setup4', topic: 'unadvertise_topic4', type: 'std_msgs/String'},
-      unadvertiseMsg: {op: 'unadvertise', id: 'unadvertise_id4', topic: true},
-      opCount: 2,
-      finalStatus: 'error'
-    },
-    {
-      title: 'unadvertise field checking case 2: topic cannot be empty',
-      advertiseMsg: {op: 'advertise', id: 'advertise_setup5', topic: 'unadvertise_topic5', type: 'std_msgs/String'},
-      unadvertiseMsg: {op: 'unadvertise', id: 'unadvertise_id5', topic: ''},
-      opCount: 2,
-      finalStatus: 'error'
-    },
-    {
-      title: 'unadvertise field checking case 3: topic cannot contain single quote',
-      advertiseMsg: {op: 'advertise', id: 'advertise_setup6', topic: 'unadvertise_topic6', type: 'std_msgs/String'},
-      unadvertiseMsg: {op: 'unadvertise', id: 'unadvertise_id6', topic: "'single_advertise_topic'"},
-      opCount: 2,
-      finalStatus: 'error'
-    },
-    {
-      title: 'unadvertise field checking case 3: topic cannot contain double quotes',
-      advertiseMsg: {op: 'advertise', id: 'advertise_setup7', topic: 'unadvertise_topic7', type: 'std_msgs/String'},
-      unadvertiseMsg: {op: 'unadvertise', id: 'unadvertise_id7', topic: '"double_advertise_topic"'},
-      opCount: 2,
-      finalStatus: 'error'
-    },
-    {
-      title: 'unadvertise field checking case 3: topic does not support unicode',
-      advertiseMsg: {op: 'advertise', id: 'advertise_setup8', topic: 'unadvertise_topic8', type: 'std_msgs/String'},
-      unadvertiseMsg: {op: 'unadvertise', id: 'unadvertise_id8', topic: '\u8bdd\u9898'},
-      opCount: 2,
-      finalStatus: 'error'
-    }
-  ];
-
-  testCasesData.forEach((testData, index) => {
-    it(testData.title, function() {
-      return new Promise((resolve, reject) => {
-        let ws = new WebSocket('ws://127.0.0.1:9090');
-        let counter = 0;
-
-        ws.on('open', function() {
-          if (testData.advertiseMsg !== undefined) {
-            ws.send(JSON.stringify(testData.advertiseMsg));
-          } else {
-            ws.send(JSON.stringify(testData.unadvertiseMsg));
-          }  
-          counter++;
-        });
-        ws.on('message', function(data) {
-          if (counter === testData.opCount) {
-            let response = JSON.parse(data);
-            assert.deepStrictEqual(response.level, testData.finalStatus);
-            counter++;
-            ws.close();
-            resolve();
-          }
-          if (counter === 1) {
-            ws.send(JSON.stringify(testData.unadvertiseMsg));
-            counter++;
-          }
-        });
-      });
-    });
-  });
-};
diff --git a/src/gui/test/nodejs/protocol/test-unsubscribe.js b/src/gui/test/nodejs/protocol/test-unsubscribe.js
deleted file mode 100644
index 9cb27e58..00000000
--- a/src/gui/test/nodejs/protocol/test-unsubscribe.js
+++ /dev/null
@@ -1,104 +0,0 @@
-// Copyright (c) 2017 Intel Corporation. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-'use strict';
-
-/* eslint-disable camelcase */
-
-const assert = require('assert');
-const WebSocket = require('ws');
-
-module.exports = function() {
-  let testCasesData = [
-    {
-      title: 'unsubscribe positive case 1',
-      subscribeMsg1: {op: 'subscribe', id: 'subscribe_setup_id1', topic: 'unsubscribe_topic1', type: 'std_msgs/String'},
-      unsubscribeMsg: {op: 'unsubscribe', id: 'subscribe_setup_id1', topic: 'unsubscribe_topic1'},
-      opCount: 2,
-      finalStatus: 'none'
-    },
-    {
-      title: 'unsubscribe positive case 2',
-      subscribeMsg1: {op: 'subscribe', id: 'subscribe_setup_id2', topic: 'unsubscribe_topic2', type: 'std_msgs/Bool'},
-      subscribeMsg2: {op: 'subscribe', id: 'subscribe_setup_id3', topic: 'unsubscribe_topic2', type: 'std_msgs/Bool'},
-      unsubscribeMsg: {op: 'unsubscribe', topic: 'unsubscribe_topic2'},
-      opCount: 3,
-      finalStatus: 'none'
-    },
-    {
-      title: 'unbscribe negative case 1: unknown topic',
-      subscribeMsg1: {op: 'subscribe', id: 'subscribe_setup_id4', topic: 'unsubscribe_topic4', type: 'std_msgs/Byte'},
-      unsubscribeMsg: {op: 'unsubscribe', id: 'subscribe_setup_id4', topic: 'unsubscribe_topic4x'},
-      opCount: 2,
-      finalStatus: 'warning'
-    },
-    {
-      title: 'unsubscribe negative case 2: unknown id',
-      subscribeMsg1: {op: 'subscribe', id: 'subscribe_setup_id5', topic: 'unsubscribe_topic5', type: 'std_msgs/Char'},
-      unsubscribeMsg: {op: 'unsubscribe', id: 'subscribe_setup_id5x', topic: 'unsubscribe_topic5'},
-      opCount: 2,
-      finalStatus: 'none'
-    },
-    {
-      title: 'unsubscribe field checking case 1: invalid id',
-      subscribeMsg1: {op: 'subscribe', id: 'subscribe_setup_id6', topic: 'subscribe_topic6', type: 'std_msgs/Header'},
-      unsubscribeMsg: {op: 'unsubscribe', id: 42, topic: 'subscribe_topic6'},
-      opCount: 2,
-      finalStatus: 'none'
-    },
-    {
-      title: 'unsubscribe field checking case 2: invalid topic',
-      subscribeMsg1: {
-        op: 'subscribe', id: 'subscribe_setup_id7', topic: 'subscribe_topic7', type: 'std_msgs/ColorRGBA'},
-      unsubscribeMsg: {op: 'unsubscribe', id: 'subscribe_setup_id7', topic: 42},
-      opCount: 2,
-      finalStatus: 'error'
-    }
-  ];
-
-  testCasesData.forEach((testData, index) => {
-    it(testData.title, function() {
-      return new Promise((resolve, reject) => {
-        let ws = new WebSocket('ws://127.0.0.1:9090');
-        let counter = 0;
-
-        ws.on('open', function() {
-          ws.send(JSON.stringify(testData.subscribeMsg1));
-          counter++;
-        });
-        ws.on('message', function(data) {
-          let response = JSON.parse(data);
-
-          if (counter === testData.opCount) {
-            assert.deepStrictEqual(response.level, testData.finalStatus);
-            ws.close();
-            resolve();
-          }
-          if (counter === 2 && testData.opCount > 2) {
-            ws.send(JSON.stringify(testData.unsubscribeMsg));
-            counter++;
-          }
-          if (counter === 1) {
-            if (testData.opCount === 2) {
-              ws.send(JSON.stringify(testData.unsubscribeMsg));
-            } else if (testData.opCount === 3) {
-              ws.send(JSON.stringify(testData.subscribeMsg2));
-            }            
-            counter++;
-          }
-        });
-      });
-    });
-  });
-};
diff --git a/src/gui/test/nodejs/test-rosauth-internal.js b/src/gui/test/nodejs/test-rosauth-internal.js
deleted file mode 100644
index 88284a61..00000000
--- a/src/gui/test/nodejs/test-rosauth-internal.js
+++ /dev/null
@@ -1,187 +0,0 @@
-// Copyright (c) 2017 Intel Corporation. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-'use strict';
-
-const assert = require('assert');
-const rosauth = require('../../lib/rosauth.js');
-const {sha512} = require('js-sha512');
-
-function getJavaScriptTime() {
-  const t = new Date().getTime();
-  return {sec: Math.floor(t / 1000), nanosec: (t % 1000) * 1000 * 1000};
-}
-
-describe('Test rosauth module internally/directly', function() {
-  this.timeout(60 * 1000);
-
-  before(function() {
-    rosauth.setSecretFile('../data/example.secret');
-  });
-
-  after(function() {
-  });
-
-  it('Test authenticate() method directly, correct MAC', function() {
-    const t = getJavaScriptTime();
-    let msg = {
-      mac: '',
-      client: '192.168.1.101',
-      dest: '192.168.1.111',
-      rand: 'xyzabc',
-      t: {sec: t.sec, nanosec: t.nanosec},
-      level: 'admin',
-      end: {sec: t.sec + 120, nanosec: t.nanosec},
-    };
-
-    msg.mac = sha512('relaxthisain\'tmyfirstrodeo' +
-        msg.client + msg.dest + msg.rand + msg.t.sec + msg.level + msg.end.sec);
-
-    assert.ok(rosauth.authenticate(msg), 'Should return true for correct MAC');
-  });
-
-  it('Test authenticate() method directly, no MAC', function() {
-    const t = getJavaScriptTime();
-    let msg = {
-      mac: '',
-      client: '192.168.1.101',
-      dest: '192.168.1.111',
-      rand: 'xyzabc',
-      t: {sec: t.sec, nanosec: t.nanosec},
-      level: 'admin',
-      end: {sec: t.sec + 120, nanosec: t.nanosec},
-    };
-
-    assert(!rosauth.authenticate(msg), 'Should NOT return true for incorrect MAC');
-  });
-
-  it('Test authenticate() method directly, wrong MAC', function() {
-    const t = getJavaScriptTime();
-    let msg = {
-      mac: '',
-      client: '192.168.1.101',
-      dest: '192.168.1.111',
-      rand: 'xyzabc',
-      t: {sec: t.sec, nanosec: t.nanosec},
-      level: 'admin',
-      end: {sec: t.sec + 120, nanosec: t.nanosec},
-    };
-
-    msg.mac = sha512('relaxthisain\'tmyfirstrodeo--' +
-        msg.client + msg.dest + msg.rand + msg.t.sec + msg.level + msg.end.sec);
-
-    assert(!rosauth.authenticate(msg), 'Should NOT return true for incorrect MAC');
-  });
-
-  [
-    {secDelta: -Number.MAX_VALUE, nanosecDelta: 0, secDeltaEnd: 120, nanosecDeltaEnd: 0},
-    {secDelta: -Number.MAX_SAFE_INTEGER, nanosecDelta: 0, secDeltaEnd: 120, nanosecDeltaEnd: 0},
-    {secDelta: -6, nanosecDelta: 0, secDeltaEnd: 120, nanosecDeltaEnd: 0},
-    {secDelta: -7, nanosecDelta: 0, secDeltaEnd: 120, nanosecDeltaEnd: 0},
-    {secDelta: -5, nanosecDelta: 0, secDeltaEnd: 120, nanosecDeltaEnd: 0},
-
-    {secDelta: 5, nanosecDelta: 0, secDeltaEnd: 120, nanosecDeltaEnd: 0},
-    {secDelta: 6, nanosecDelta: 0, secDeltaEnd: 120, nanosecDeltaEnd: 0},
-    {secDelta: 7, nanosecDelta: 0, secDeltaEnd: 120, nanosecDeltaEnd: 0},
-    {secDelta: Number.MAX_SAFE_INTEGER, nanosecDelta: 0, secDeltaEnd: 120, nanosecDeltaEnd: 0},
-    {secDelta: Number.MAX_VALUE, nanosecDelta: 0, secDeltaEnd: 120, nanosecDeltaEnd: 0},
-
-    {secDelta: Number.NaN, nanosecDelta: 0, secDeltaEnd: 0, nanosecDeltaEnd: 0},
-    {secDelta: 0, nanosecDelta: Number.NaN, secDeltaEnd: 0, nanosecDeltaEnd: 0},
-    {secDelta: 0, nanosecDelta: 0, secDeltaEnd: Number.NaN, nanosecDeltaEnd: 0},
-    {secDelta: 0, nanosecDelta: 0, secDeltaEnd: 0, nanosecDeltaEnd: Number.NaN},
-
-    {secDelta: 0, nanosecDelta: 1000 * 1000 * 1000, secDeltaEnd: 10, nanosecDeltaEnd: 0},
-    {secDelta: 0, nanosecDelta: Number.MAX_VALUE, secDeltaEnd: 10, nanosecDeltaEnd: 0},
-    {secDelta: 0, nanosecDelta: 0, secDeltaEnd: 10, nanosecDeltaEnd: 1000 * 1000 * 1000},
-    {secDelta: 0, nanosecDelta: 0, secDeltaEnd: 10, nanosecDeltaEnd: Number.MAX_VALUE},
-
-    {secDelta: -getJavaScriptTime().sec - 10, nanosecDelta: 0, secDeltaEnd: 10, nanosecDeltaEnd: 0},
-    {secDelta: -Number.MAX_VALUE, nanosecDelta: 0, secDeltaEnd: 10, nanosecDeltaEnd: 0},
-    {secDelta: 0, nanosecDelta: 0, secDeltaEnd: -Number.MAX_VALUE, nanosecDeltaEnd: 0},
-    {secDelta: 0, nanosecDelta: 0, secDeltaEnd: -getJavaScriptTime().sec - 10, nanosecDeltaEnd: 0},
-
-    {secDelta: 0, nanosecDelta: 0, secDeltaEnd: -0, nanosecDeltaEnd: 0},
-    {secDelta: 0, nanosecDelta: 0, secDeltaEnd: -1, nanosecDeltaEnd: 0},
-    {secDelta: 0, nanosecDelta: 0, secDeltaEnd: -2, nanosecDeltaEnd: 0},
-    {secDelta: 0, nanosecDelta: 0, secDeltaEnd: -3, nanosecDeltaEnd: 0},
-    {secDelta: 0, nanosecDelta: 0, secDeltaEnd: -4, nanosecDeltaEnd: 0},
-    {secDelta: 0, nanosecDelta: 0, secDeltaEnd: -100, nanosecDeltaEnd: 0},
-    {secDelta: 0, nanosecDelta: 0, secDeltaEnd: -100000, nanosecDeltaEnd: 0},
-    {secDelta: 0, nanosecDelta: 0, secDeltaEnd: -Number.MAX_SAFE_INTEGER, nanosecDeltaEnd: 0},
-    {secDelta: 0, nanosecDelta: 0, secDeltaEnd: -Number.MAX_VALUE, nanosecDeltaEnd: 0},
-
-    {secDelta: 0, nanosecDelta: 0, secDeltaEnd: 0, nanosecDeltaEnd: -0},
-    {secDelta: 0, nanosecDelta: 0, secDeltaEnd: 0, nanosecDeltaEnd: -1},
-    {secDelta: 0, nanosecDelta: 0, secDeltaEnd: 0, nanosecDeltaEnd: -2},
-    {secDelta: 0, nanosecDelta: 0, secDeltaEnd: 0, nanosecDeltaEnd: -1000},
-    {secDelta: 0, nanosecDelta: 0, secDeltaEnd: 0, nanosecDeltaEnd: -2000},
-    {secDelta: 0, nanosecDelta: 0, secDeltaEnd: 0, nanosecDeltaEnd: -3000},
-  ].forEach((testData, index) => {
-    it('Test authenticate() method directly, correct MAC, wrong timestamp, case#' + index, function() {
-      const t = getJavaScriptTime();
-      let msg = {
-        mac: '',
-        client: '192.168.1.101',
-        dest: '192.168.1.111',
-        rand: 'xyzabc',
-        t: {sec: t.sec + testData.secDelta, nanosec: t.nanosec + testData.nanosecDelta},
-        level: 'admin',
-        end: {sec: t.sec + testData.secDeltaEnd, nanosec: t.nanosec + testData.nanosecDeltaEnd},
-      };
-
-      msg.mac = sha512('relaxthisain\'tmyfirstrodeo' +
-          msg.client + msg.dest + msg.rand + msg.t.sec + msg.level + msg.end.sec);
-
-      assert(!rosauth.authenticate(msg), 'Should return false for correct MAC + wrong timestamp');
-    });
-  });
-
-  [
-    {secDelta: 0, nanosecDelta: 0, secDeltaEnd: 10, nanosecDeltaEnd: 0},
-    {secDelta: -1, nanosecDelta: 0, secDeltaEnd: 10, nanosecDeltaEnd: 0},
-    {secDelta: -2, nanosecDelta: 0, secDeltaEnd: 10, nanosecDeltaEnd: 0},
-    {secDelta: -3, nanosecDelta: 0, secDeltaEnd: 10, nanosecDeltaEnd: 0},
-    {secDelta: -4, nanosecDelta: 0, secDeltaEnd: 10, nanosecDeltaEnd: 0},
-
-    {secDelta: 1, nanosecDelta: 0, secDeltaEnd: 10, nanosecDeltaEnd: 0},
-    {secDelta: 2, nanosecDelta: 0, secDeltaEnd: 10, nanosecDeltaEnd: 0},
-    {secDelta: 3, nanosecDelta: 0, secDeltaEnd: 10, nanosecDeltaEnd: 0},
-    {secDelta: 4, nanosecDelta: 0, secDeltaEnd: 10, nanosecDeltaEnd: 0},
-
-    {secDelta: 0, nanosecDelta: 0, secDeltaEnd: 5, nanosecDeltaEnd: 0},
-    {secDelta: 0, nanosecDelta: 0, secDeltaEnd: 10, nanosecDeltaEnd: 0},
-    {secDelta: 0, nanosecDelta: 0, secDeltaEnd: Number.MAX_SAFE_INTEGER, nanosecDeltaEnd: 0},
-    {secDelta: 0, nanosecDelta: 0, secDeltaEnd: Number.MAX_VALUE, nanosecDeltaEnd: 0},
-  ].forEach((testData, index) => {
-    it('Test authenticate() method directly, correct MAC, correct timestamp, case#' + index, function() {
-      const t = getJavaScriptTime();
-      let msg = {
-        mac: '',
-        client: '192.168.1.101',
-        dest: '192.168.1.111',
-        rand: 'xyzabc',
-        t: {sec: t.sec, nanosec: t.nanosec},
-        level: 'admin',
-        end: {sec: t.sec + 120, nanosec: t.nanosec},
-      };
-
-      msg.mac = sha512('relaxthisain\'tmyfirstrodeo' +
-          msg.client + msg.dest + msg.rand + msg.t.sec + msg.level + msg.end.sec);
-
-      assert.ok(rosauth.authenticate(msg), 'Should return true for correct MAC');
-    });
-  });
-
-});
diff --git a/src/gui/.gitignore b/src/lhw_gui/.gitignore
similarity index 100%
rename from src/gui/.gitignore
rename to src/lhw_gui/.gitignore
diff --git a/src/gui/.travis.yml b/src/lhw_gui/.travis.yml
similarity index 100%
rename from src/gui/.travis.yml
rename to src/lhw_gui/.travis.yml
diff --git a/src/gui/Dockerfile b/src/lhw_gui/Dockerfile
similarity index 100%
rename from src/gui/Dockerfile
rename to src/lhw_gui/Dockerfile
diff --git a/src/gui/README.md b/src/lhw_gui/README.md
similarity index 100%
rename from src/gui/README.md
rename to src/lhw_gui/README.md
diff --git a/src/gui/appveyor.yml b/src/lhw_gui/appveyor.yml
similarity index 100%
rename from src/gui/appveyor.yml
rename to src/lhw_gui/appveyor.yml
diff --git a/src/gui/index.js b/src/lhw_gui/index.js
similarity index 100%
rename from src/gui/index.js
rename to src/lhw_gui/index.js
diff --git a/src/gui/lhw_gui/html/room_navigation.html b/src/lhw_gui/lhw_gui/html/room_navigation.html
similarity index 86%
rename from src/gui/lhw_gui/html/room_navigation.html
rename to src/lhw_gui/lhw_gui/html/room_navigation.html
index 6a50d651..2acdc256 100644
--- a/src/gui/lhw_gui/html/room_navigation.html
+++ b/src/lhw_gui/lhw_gui/html/room_navigation.html
@@ -73,10 +73,6 @@
     clicked_room_publisher.publish({x: y_px, y: x_px, z: 0}); 
   }
 
-
-
-  
-
   // Subscribe a Topic
   rooms_info_subscriber.subscribe(function(message) {
     var new_room = document.getElementById("new_room");
@@ -100,6 +96,11 @@
     
     
   });
+
+
+
+
+
 </script>
 </head>
 
@@ -130,9 +131,13 @@
     <button  id="new_room_button"> Update </button> 
   </form>
   <div>
-    <figure>
-        <img id="rooms_image" src="../../maps/simple_map_rooms.png" alt="Rooms map" width="100%"/>
-    </figure>
+    Choose map:
+    <input type="file" id="chooseMap" >
+    
+    <figure> 
+        <!--img id="rooms_image" src="../../../lhw_motion/maps/simple_map_rooms.png" alt="Can't find rooms map" width="100%"/-->
+        <img src="#" id="rooms_image" alt=" "  width="100%">
+      </figure>
 </div>
 
 <script>
@@ -166,6 +171,22 @@
     new_room.value = ""
   });
 
+  document.getElementById('chooseMap').onchange = function (evt) {
+    var tgt = evt.target || window.event.srcElement,
+        files = tgt.files;
+
+    // FileReader support
+    if (FileReader && files && files.length) {
+        var fr = new FileReader();
+        fr.onload = function () {
+            document.getElementById("rooms_image").src = fr.result;
+        }
+        fr.readAsDataURL(files[0]);
+
+        document.getElementById('chooseMap').style.display = "none"
+    }
+}
+
 
 
   
diff --git a/src/gui/examples/index.js b/src/lhw_gui/lhw_gui/index.js
similarity index 100%
rename from src/gui/examples/index.js
rename to src/lhw_gui/lhw_gui/index.js
diff --git a/src/lhw_gui/package-lock.json b/src/lhw_gui/package-lock.json
new file mode 100644
index 00000000..22bf95ce
--- /dev/null
+++ b/src/lhw_gui/package-lock.json
@@ -0,0 +1,7876 @@
+{
+  "name": "ros2-web-bridge",
+  "version": "0.3.1",
+  "lockfileVersion": 2,
+  "requires": true,
+  "packages": {
+    "": {
+      "name": "ros2-web-bridge",
+      "version": "0.3.1",
+      "license": "Apache-2.0",
+      "dependencies": {
+        "commander": "^5.0.0",
+        "debug": "^4.1.1",
+        "rclnodejs": "^0.x.1",
+        "uuid": "^7.0.2",
+        "ws": "^7.1.1"
+      },
+      "bin": {
+        "rosbridge": "bin/rosbridge.js"
+      },
+      "devDependencies": {
+        "async": "^3.2.0",
+        "eslint": "^6.8.0",
+        "express": "^4.16.2",
+        "js-sha512": "^0.8.0",
+        "jsdom": "^16.2.1",
+        "mocha": "^7.1.1",
+        "puppeteer": "^2.1.1"
+      }
+    },
+    "node_modules/@babel/code-frame": {
+      "version": "7.12.13",
+      "resolved": "https://registry.npmjs.org/@babel/code-frame/-/code-frame-7.12.13.tgz",
+      "integrity": "sha512-HV1Cm0Q3ZrpCR93tkWOYiuYIgLxZXZFVG2VgK+MBWjUqZTundupbfx2aXarXuw5Ko5aMcjtJgbSs4vUGBS5v6g==",
+      "dev": true,
+      "dependencies": {
+        "@babel/highlight": "^7.12.13"
+      }
+    },
+    "node_modules/@babel/helper-validator-identifier": {
+      "version": "7.14.0",
+      "resolved": "https://registry.npmjs.org/@babel/helper-validator-identifier/-/helper-validator-identifier-7.14.0.tgz",
+      "integrity": "sha512-V3ts7zMSu5lfiwWDVWzRDGIN+lnCEUdaXgtVHJgLb1rGaA6jMrtB9EmE7L18foXJIE8Un/A/h6NJfGQp/e1J4A==",
+      "dev": true
+    },
+    "node_modules/@babel/highlight": {
+      "version": "7.14.0",
+      "resolved": "https://registry.npmjs.org/@babel/highlight/-/highlight-7.14.0.tgz",
+      "integrity": "sha512-YSCOwxvTYEIMSGaBQb5kDDsCopDdiUGsqpatp3fOlI4+2HQSkTmEVWnVuySdAC5EWCqSWWTv0ib63RjR7dTBdg==",
+      "dev": true,
+      "dependencies": {
+        "@babel/helper-validator-identifier": "^7.14.0",
+        "chalk": "^2.0.0",
+        "js-tokens": "^4.0.0"
+      }
+    },
+    "node_modules/@types/mime-types": {
+      "version": "2.1.0",
+      "resolved": "https://registry.npmjs.org/@types/mime-types/-/mime-types-2.1.0.tgz",
+      "integrity": "sha1-nKUs2jY/aZxpRmwqbM2q2RPqenM=",
+      "dev": true
+    },
+    "node_modules/abab": {
+      "version": "2.0.5",
+      "resolved": "https://registry.npmjs.org/abab/-/abab-2.0.5.tgz",
+      "integrity": "sha512-9IK9EadsbHo6jLWIpxpR6pL0sazTXV6+SQv25ZB+F7Bj9mJNaOc4nCRabwd5M/JwmUa8idz6Eci6eKfJryPs6Q==",
+      "dev": true
+    },
+    "node_modules/accepts": {
+      "version": "1.3.7",
+      "resolved": "https://registry.npmjs.org/accepts/-/accepts-1.3.7.tgz",
+      "integrity": "sha512-Il80Qs2WjYlJIBNzNkK6KYqlVMTbZLXgHx2oT0pU/fjRHyEp+PEfEPY0R3WCwAGVOtauxh1hOxNgIf5bv7dQpA==",
+      "dev": true,
+      "dependencies": {
+        "mime-types": "~2.1.24",
+        "negotiator": "0.6.2"
+      },
+      "engines": {
+        "node": ">= 0.6"
+      }
+    },
+    "node_modules/acorn": {
+      "version": "7.4.1",
+      "resolved": "https://registry.npmjs.org/acorn/-/acorn-7.4.1.tgz",
+      "integrity": "sha512-nQyp0o1/mNdbTO1PO6kHkwSrmgZ0MT/jCCpNiwbUjGoRN4dlBhqJtoQuCnEOKzgTVwg0ZWiCoQy6SxMebQVh8A==",
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+        "find-up": "^3.0.0",
+        "get-caller-file": "^2.0.1",
+        "require-directory": "^2.1.1",
+        "require-main-filename": "^2.0.0",
+        "set-blocking": "^2.0.0",
+        "string-width": "^3.0.0",
+        "which-module": "^2.0.0",
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+        "yargs-parser": "^13.1.2"
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+      "requires": {
+        "flat": "^4.1.0",
+        "lodash": "^4.17.15",
+        "yargs": "^13.3.0"
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+    },
+    "yauzl": {
+      "version": "2.10.0",
+      "resolved": "https://registry.npmjs.org/yauzl/-/yauzl-2.10.0.tgz",
+      "integrity": "sha1-x+sXyT4RLLEIb6bY5R+wZnt5pfk=",
+      "dev": true,
+      "requires": {
+        "buffer-crc32": "~0.2.3",
+        "fd-slicer": "~1.1.0"
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+}
diff --git a/src/gui/package.json b/src/lhw_gui/package.json
similarity index 100%
rename from src/gui/package.json
rename to src/lhw_gui/package.json
index 10428cbf..e5531183 100644
--- a/src/gui/package.json
+++ b/src/lhw_gui/package.json
@@ -33,11 +33,11 @@
   ],
   "devDependencies": {
     "async": "^3.2.0",
-    "express": "^4.16.2",
     "eslint": "^6.8.0",
+    "express": "^4.16.2",
     "js-sha512": "^0.8.0",
-    "mocha": "^7.1.1",
     "jsdom": "^16.2.1",
+    "mocha": "^7.1.1",
     "puppeteer": "^2.1.1"
   },
   "dependencies": {
diff --git a/src/lhw_motion/Dockerfile b/src/lhw_motion/Dockerfile
index 42284580..cf5b3be7 100644
--- a/src/lhw_motion/Dockerfile
+++ b/src/lhw_motion/Dockerfile
@@ -10,6 +10,9 @@ COPY src/lhw_interfaces src/lhw_interfaces
 COPY src/lhw_motion src/lhw_motion
 RUN rosdep install --from-paths src --ignore-src -r -y
 
+#Add python packages
+RUN pip3 install sympy
+
 # Add sourcing script
 RUN echo "\nsource /workspace/liu-home-wreckers/src/lhw_motion/activate" >> /etc/zsh/zshrc
 
diff --git a/src/lhw_motion/lhw_motion/room_navigation.py b/src/lhw_motion/lhw_motion/room_navigation.py
index 944cabed..33f6343d 100644
--- a/src/lhw_motion/lhw_motion/room_navigation.py
+++ b/src/lhw_motion/lhw_motion/room_navigation.py
@@ -42,7 +42,6 @@ class RoomNavigation(Node):
     def __init__(self, rooms=[], rooms_map_file = None):
         super().__init__('room_navigation')
         self.log = self.get_logger()
-        self.log.warn(self.__class__.__name__+" has not yet been implemented.")  # TODO
         self.rooms = rooms
         self.rooms_map = None
 
@@ -118,7 +117,7 @@ class RoomNavigation(Node):
 def main(args=None):
     rclpy.init(args=args)
 
-    room_navigation_node = RoomNavigation(rooms_map_file='src/lhw_intelligence/lhw_intelligence/maps/simple_map_rooms.png')
+    room_navigation_node = RoomNavigation(rooms_map_file='src/lhw_motion/maps/simple_map_rooms.png')
 
     rclpy.spin(room_navigation_node)
 
diff --git a/src/gui/lhw_gui/maps/simple_map.png b/src/lhw_motion/maps/simple_map.png
similarity index 100%
rename from src/gui/lhw_gui/maps/simple_map.png
rename to src/lhw_motion/maps/simple_map.png
diff --git a/src/gui/lhw_gui/maps/simple_map_rooms.png b/src/lhw_motion/maps/simple_map_rooms.png
similarity index 100%
rename from src/gui/lhw_gui/maps/simple_map_rooms.png
rename to src/lhw_motion/maps/simple_map_rooms.png
diff --git a/src/gui/lhw_gui/maps/simple_map_with_goals.png b/src/lhw_motion/maps/simple_map_with_goals.png
similarity index 100%
rename from src/gui/lhw_gui/maps/simple_map_with_goals.png
rename to src/lhw_motion/maps/simple_map_with_goals.png
-- 
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