diff --git a/src/maps/OccupancyGrid.js b/src/navigation/OccupancyGrid.js
similarity index 100%
rename from src/maps/OccupancyGrid.js
rename to src/navigation/OccupancyGrid.js
diff --git a/src/maps/OccupancyGridClient.js b/src/navigation/OccupancyGridClient.js
similarity index 100%
rename from src/maps/OccupancyGridClient.js
rename to src/navigation/OccupancyGridClient.js
diff --git a/src/navigation/Odometry.js b/src/navigation/Odometry.js
new file mode 100644
index 00000000..cf244f5d
--- /dev/null
+++ b/src/navigation/Odometry.js
@@ -0,0 +1,67 @@
+/**
+ * @author David V. Lu!! - davidvlu@gmail.com
+ */
+
+/**
+ * An Odometry client
+ *
+ * @constructor
+ * @param options - object with following keys:
+ *
+ *  * ros - the ROSLIB.Ros connection handle
+ *  * topic - the marker topic to listen to
+ *  * tfClient - the TF client handle to use
+ *  * rootObject (optional) - the root object to add this marker to
+ *  * keep (optional) - number of markers to keep around (default: 1)
+ *  * color (optional) - color for line (default: 0xcc00ff)
+ *  * length (optional) - the length of the arrow (default: 1.0)
+ *  * headLength (optional) - the head length of the arrow (default: 0.2)
+ *  * shaftDiameter (optional) - the shaft diameter of the arrow (default: 0.05)
+ *  * headDiameter (optional) - the head diameter of the arrow (default: 0.1)
+ */
+ROS3D.Odometry = function(options) {
+  this.options = options || {};
+  var ros = options.ros;
+  var topic = options.topic || '/particlecloud';
+  this.tfClient = options.tfClient;
+  this.color = options.color || 0xcc00ff;
+  this.length = options.length || 1.0;
+  this.rootObject = options.rootObject || new THREE.Object3D();
+  this.keep = options.keep || 1;
+  var that = this;
+  THREE.Object3D.call(this);
+
+  this.sns = [];
+
+  var rosTopic = new ROSLIB.Topic({
+      ros : ros,
+      name : topic,
+      messageType : 'nav_msgs/Odometry'
+  });
+
+  rosTopic.subscribe(function(message) {
+      if(that.sns.length >= that.keep) {
+          that.rootObject.remove(that.sns[0]);
+          that.sns.shift();
+      }
+
+      that.options.origin = new THREE.Vector3( message.pose.pose.position.x, message.pose.pose.position.y,
+                                               message.pose.pose.position.z);
+
+      var rot = new THREE.Quaternion(message.pose.pose.orientation.x, message.pose.pose.orientation.y,
+                                     message.pose.pose.orientation.z, message.pose.pose.orientation.w);
+      that.options.direction = new THREE.Vector3(1,0,0);
+      that.options.direction.applyQuaternion(rot);
+      that.options.material = new THREE.MeshBasicMaterial({color: that.color});
+      var arrow = new ROS3D.Arrow(that.options);
+
+      that.sns.push(new ROS3D.SceneNode({
+            frameID : message.header.frame_id,
+            tfClient : that.tfClient,
+            object : arrow
+      }));
+
+      that.rootObject.add(that.sns[ that.sns.length - 1]);
+  });
+};
+ROS3D.Odometry.prototype.__proto__ = THREE.Object3D.prototype;
diff --git a/src/navigation/Path.js b/src/navigation/Path.js
new file mode 100644
index 00000000..2b4d6f34
--- /dev/null
+++ b/src/navigation/Path.js
@@ -0,0 +1,61 @@
+/**
+ * @author David V. Lu!! - davidvlu@gmail.com
+ */
+
+/**
+ * A Path client that listens to a given topic and displays a line connecting the poses.
+ *
+ * @constructor
+ * @param options - object with following keys:
+ *
+ *  * ros - the ROSLIB.Ros connection handle
+ *  * topic - the marker topic to listen to
+ *  * tfClient - the TF client handle to use
+ *  * rootObject (optional) - the root object to add this marker to
+ *  * color (optional) - color for line (default: 0xcc00ff)
+ */
+ROS3D.Path = function(options) {
+  options = options || {};
+  var ros = options.ros;
+  var topic = options.topic || '/path';
+  this.tfClient = options.tfClient;
+  this.color = options.color || 0xcc00ff;
+  this.rootObject = options.rootObject || new THREE.Object3D();
+  var that = this;
+  THREE.Object3D.call(this);
+
+  this.sn = null;
+  this.line = null;
+
+  var rosTopic = new ROSLIB.Topic({
+      ros : ros,
+      name : topic,
+      messageType : 'nav_msgs/Path'
+  });
+
+  rosTopic.subscribe(function(message) {
+      if(that.sn!==null){
+          that.rootObject.remove(that.sn);
+      }
+
+      var lineGeometry = new THREE.Geometry();
+      for(var i=0; i<message.poses.length;i++){
+          var v3 = new THREE.Vector3( message.poses[i].pose.position.x, message.poses[i].pose.position.y,
+                                      message.poses[i].pose.position.z);
+          lineGeometry.vertices.push(v3);
+      }
+
+      lineGeometry.computeLineDistances();
+      var lineMaterial = new THREE.LineBasicMaterial( { color: that.color } );
+      var line = new THREE.Line( lineGeometry, lineMaterial );
+
+      that.sn = new ROS3D.SceneNode({
+          frameID : message.header.frame_id,
+          tfClient : that.tfClient,
+          object : line
+      });
+
+      that.rootObject.add(that.sn);
+  });
+};
+ROS3D.Path.prototype.__proto__ = THREE.Object3D.prototype;
diff --git a/src/navigation/Point.js b/src/navigation/Point.js
new file mode 100644
index 00000000..0c7783f0
--- /dev/null
+++ b/src/navigation/Point.js
@@ -0,0 +1,56 @@
+/**
+ * @author David V. Lu!! - davidvlu@gmail.com
+ */
+
+/**
+ * A PointStamped client
+ *
+ * @constructor
+ * @param options - object with following keys:
+ *
+ *  * ros - the ROSLIB.Ros connection handle
+ *  * topic - the marker topic to listen to
+ *  * tfClient - the TF client handle to use
+ *  * rootObject (optional) - the root object to add this marker to
+ *  * color (optional) - color for line (default: 0xcc00ff)
+ *  * radius (optional) - radius of the point (default: 0.2)
+ */
+ROS3D.Point = function(options) {
+  this.options = options || {};
+  var ros = options.ros;
+  var topic = options.topic || '/point';
+  this.tfClient = options.tfClient;
+  this.color = options.color || 0xcc00ff;
+  this.rootObject = options.rootObject || new THREE.Object3D();
+  this.radius = options.radius || 0.2;
+  var that = this;
+  THREE.Object3D.call(this);
+
+  this.sn = null;
+
+  var rosTopic = new ROSLIB.Topic({
+      ros : ros,
+      name : topic,
+      messageType : 'geometry_msgs/PointStamped'
+  });
+
+  rosTopic.subscribe(function(message) {
+      if(that.sn!==null){
+          that.rootObject.remove(that.sn);
+      }
+
+      var sphereGeometry = new THREE.SphereGeometry( that.radius );
+      var sphereMaterial = new THREE.MeshBasicMaterial( {color: that.color} );
+      var sphere = new THREE.Mesh(sphereGeometry, sphereMaterial);
+      sphere.position.set(message.point.x, message.point.y, message.point.z);
+
+      that.sn = new ROS3D.SceneNode({
+          frameID : message.header.frame_id,
+          tfClient : that.tfClient,
+          object : sphere
+      });
+
+      that.rootObject.add(that.sn);
+  });
+};
+ROS3D.Point.prototype.__proto__ = THREE.Object3D.prototype;
diff --git a/src/navigation/Polygon.js b/src/navigation/Polygon.js
new file mode 100644
index 00000000..f3a65c54
--- /dev/null
+++ b/src/navigation/Polygon.js
@@ -0,0 +1,64 @@
+/**
+ * @author David V. Lu!! - davidvlu@gmail.com
+ */
+
+/**
+ * A PolygonStamped client that listens to a given topic and displays the polygon
+ *
+ * @constructor
+ * @param options - object with following keys:
+ *
+ *  * ros - the ROSLIB.Ros connection handle
+ *  * topic - the marker topic to listen to
+ *  * tfClient - the TF client handle to use
+ *  * rootObject (optional) - the root object to add this marker to
+ *  * color (optional) - color for line (default: 0xcc00ff)
+ */
+ROS3D.Polygon = function(options) {
+  options = options || {};
+  var ros = options.ros;
+  var topic = options.topic || '/path';
+  this.tfClient = options.tfClient;
+  this.color = options.color || 0xcc00ff;
+  this.rootObject = options.rootObject || new THREE.Object3D();
+  var that = this;
+  THREE.Object3D.call(this);
+
+  this.sn = null;
+  this.line = null;
+
+  var rosTopic = new ROSLIB.Topic({
+      ros : ros,
+      name : topic,
+      messageType : 'geometry_msgs/PolygonStamped'
+  });
+
+  rosTopic.subscribe(function(message) {
+      if(that.sn!==null){
+          that.rootObject.remove(that.sn);
+      }
+
+      var lineGeometry = new THREE.Geometry();
+      var v3;
+      for(var i=0; i<message.polygon.points.length;i++){
+          v3 = new THREE.Vector3( message.polygon.points[i].x, message.polygon.points[i].y,
+                                  message.polygon.points[i].z);
+          lineGeometry.vertices.push(v3);
+      }
+      v3 = new THREE.Vector3( message.polygon.points[0].x, message.polygon.points[0].y,
+                              message.polygon.points[0].z);
+      lineGeometry.vertices.push(v3);
+      lineGeometry.computeLineDistances();
+      var lineMaterial = new THREE.LineBasicMaterial( { color: that.color } );
+      var line = new THREE.Line( lineGeometry, lineMaterial );
+
+      that.sn = new ROS3D.SceneNode({
+          frameID : message.header.frame_id,
+          tfClient : that.tfClient,
+          object : line
+      });
+
+      that.rootObject.add(that.sn);
+  });
+};
+ROS3D.Polygon.prototype.__proto__ = THREE.Object3D.prototype;
diff --git a/src/navigation/Pose.js b/src/navigation/Pose.js
new file mode 100644
index 00000000..ec7ce6fe
--- /dev/null
+++ b/src/navigation/Pose.js
@@ -0,0 +1,63 @@
+/**
+ * @author David V. Lu!! - davidvlu@gmail.com
+ */
+
+/**
+ * A PoseStamped client
+ *
+ * @constructor
+ * @param options - object with following keys:
+ *
+ *  * ros - the ROSLIB.Ros connection handle
+ *  * topic - the marker topic to listen to
+ *  * tfClient - the TF client handle to use
+ *  * rootObject (optional) - the root object to add this marker to
+ *  * color (optional) - color for line (default: 0xcc00ff)
+ *  * length (optional) - the length of the arrow (default: 1.0)
+ *  * headLength (optional) - the head length of the arrow (default: 0.2)
+ *  * shaftDiameter (optional) - the shaft diameter of the arrow (default: 0.05)
+ *  * headDiameter (optional) - the head diameter of the arrow (default: 0.1)
+ */
+ROS3D.Pose = function(options) {
+  this.options = options || {};
+  var ros = options.ros;
+  var topic = options.topic || '/pose';
+  this.tfClient = options.tfClient;
+  this.color = options.color || 0xcc00ff;
+  this.rootObject = options.rootObject || new THREE.Object3D();
+  var that = this;
+  THREE.Object3D.call(this);
+
+  this.sn = null;
+
+  var rosTopic = new ROSLIB.Topic({
+      ros : ros,
+      name : topic,
+      messageType : 'geometry_msgs/PoseStamped'
+  });
+
+  rosTopic.subscribe(function(message) {
+      if(that.sn!==null){
+          that.rootObject.remove(that.sn);
+      }
+
+      that.options.origin = new THREE.Vector3( message.pose.position.x, message.pose.position.y,
+                                               message.pose.position.z);
+
+      var rot = new THREE.Quaternion(message.pose.orientation.x, message.pose.orientation.y,
+                                     message.pose.orientation.z, message.pose.orientation.w);
+      that.options.direction = new THREE.Vector3(1,0,0);
+      that.options.direction.applyQuaternion(rot);
+      that.options.material = new THREE.MeshBasicMaterial({color: that.color});
+      var arrow = new ROS3D.Arrow(that.options);
+
+      that.sn = new ROS3D.SceneNode({
+          frameID : message.header.frame_id,
+          tfClient : that.tfClient,
+          object : arrow
+      });
+
+      that.rootObject.add(that.sn);
+  });
+};
+ROS3D.Pose.prototype.__proto__ = THREE.Object3D.prototype;
diff --git a/src/navigation/PoseArray.js b/src/navigation/PoseArray.js
new file mode 100644
index 00000000..b637d234
--- /dev/null
+++ b/src/navigation/PoseArray.js
@@ -0,0 +1,83 @@
+/**
+ * @author David V. Lu!! - davidvlu@gmail.com
+ */
+
+/**
+ * A PoseArray client
+ *
+ * @constructor
+ * @param options - object with following keys:
+ *
+ *  * ros - the ROSLIB.Ros connection handle
+ *  * topic - the marker topic to listen to
+ *  * tfClient - the TF client handle to use
+ *  * rootObject (optional) - the root object to add this marker to
+ *  * color (optional) - color for line (default: 0xcc00ff)
+ *  * length (optional) - the length of the arrow (default: 1.0)
+ */
+ROS3D.PoseArray = function(options) {
+  this.options = options || {};
+  var ros = options.ros;
+  var topic = options.topic || '/particlecloud';
+  this.tfClient = options.tfClient;
+  this.color = options.color || 0xcc00ff;
+  this.length = options.length || 1.0;
+  this.rootObject = options.rootObject || new THREE.Object3D();
+  var that = this;
+  THREE.Object3D.call(this);
+
+  this.sn = null;
+
+  var rosTopic = new ROSLIB.Topic({
+      ros : ros,
+      name : topic,
+      messageType : 'geometry_msgs/PoseArray'
+  });
+
+  rosTopic.subscribe(function(message) {
+      if(that.sn!==null){
+          that.rootObject.remove(that.sn);
+      }
+
+      var group = new THREE.Object3D();
+      var line;
+
+      for(var i=0;i<message.poses.length;i++){
+          var lineGeometry = new THREE.Geometry();
+
+          var v3 = new THREE.Vector3( message.poses[i].position.x, message.poses[i].position.y,
+                                      message.poses[i].position.z);
+          lineGeometry.vertices.push(v3);
+
+          var rot = new THREE.Quaternion(message.poses[i].orientation.x, message.poses[i].orientation.y,
+                                         message.poses[i].orientation.z, message.poses[i].orientation.w);
+
+          var tip = new THREE.Vector3(that.length,0,0);
+          var side1 = new THREE.Vector3(that.length*0.8, that.length*0.2, 0);
+          var side2 = new THREE.Vector3(that.length*0.8, -that.length*0.2, 0);
+          tip.applyQuaternion(rot);
+          side1.applyQuaternion(rot);
+          side2.applyQuaternion(rot);
+
+          lineGeometry.vertices.push(tip.add(v3));
+          lineGeometry.vertices.push(side1.add(v3));
+          lineGeometry.vertices.push(side2.add(v3));
+          lineGeometry.vertices.push(tip);
+
+          lineGeometry.computeLineDistances();
+          var lineMaterial = new THREE.LineBasicMaterial( { color: that.color } );
+          line = new THREE.Line( lineGeometry, lineMaterial );
+
+          group.add(line);
+      }
+
+      that.sn = new ROS3D.SceneNode({
+          frameID : message.header.frame_id,
+          tfClient : that.tfClient,
+          object : group
+      });
+
+      that.rootObject.add(that.sn);
+  });
+};
+ROS3D.PoseArray.prototype.__proto__ = THREE.Object3D.prototype;
diff --git a/src/sensors/LaserScan.js b/src/sensors/LaserScan.js
new file mode 100644
index 00000000..b2e73807
--- /dev/null
+++ b/src/sensors/LaserScan.js
@@ -0,0 +1,55 @@
+/**
+ * @author David V. Lu!! - davidvlu@gmail.com
+ */
+
+/**
+ * A LaserScan client that listens to a given topic and displays the points.
+ *
+ * @constructor
+ * @param options - object with following keys:
+ *
+ *  * ros - the ROSLIB.Ros connection handle
+ *  * topic - the marker topic to listen to
+ *  * tfClient - the TF client handle to use
+ *  * color - (optional) color of the points (default 0xFFA500)
+ *  * texture - (optional) Image url for a texture to use for the points. Defaults to a single white pixel.
+ *  * rootObject (optional) - the root object to add this marker to
+ *  * size (optional) - size to draw each point (default 0.05)
+ *  * max_pts (optional) - number of points to draw (default 100)
+ */
+ROS3D.LaserScan = function(options) {
+  options = options || {};
+  var ros = options.ros;
+  var topic = options.topic || '/scan';
+  this.color = options.color || 0xFFA500;
+  var that = this;
+
+  this.particles = new ROS3D.Particles(options);
+
+  var rosTopic = new ROSLIB.Topic({
+    ros : ros,
+    name : topic,
+    messageType : 'sensor_msgs/LaserScan'
+  });
+
+
+  rosTopic.subscribe(function(message) {
+    setFrame(that.particles, message.header.frame_id);
+
+    var n = message.ranges.length;
+    for(var i=0;i<n;i++){
+      var range = message.ranges[i];
+      if(range < message.range_min || range > message.range_max){
+        that.particles.alpha[i] = 0.0;
+      }else{
+          var angle = message.angle_min + i * message.angle_increment;
+          that.particles.points[i] = new THREE.Vector3( range * Math.cos(angle), range * Math.sin(angle), 0.0 );
+          that.particles.alpha[i] = 1.0;
+      }
+      that.particles.colors[ i ] = new THREE.Color( that.color );
+    }
+
+    finishedUpdate(that.particles, n);
+  });
+};
+ROS3D.LaserScan.prototype.__proto__ = THREE.Object3D.prototype;
diff --git a/src/pointcloud/Particles.js b/src/sensors/Particles.js
similarity index 98%
rename from src/pointcloud/Particles.js
rename to src/sensors/Particles.js
index 426005ed..37cd1f03 100644
--- a/src/pointcloud/Particles.js
+++ b/src/sensors/Particles.js
@@ -19,7 +19,7 @@ ROS3D.Particles = function(options) {
   this.tfClient = options.tfClient;
   var texture = options.texture || 'https://upload.wikimedia.org/wikipedia/commons/a/a2/Pixel-white.png';
   var size = options.size || 0.05;
-  this.max_pts = options.max_pts || 100;
+  this.max_pts = options.max_pts || 10000;
   this.first_size = null;
   this.prev_pts = 0;
   this.rootObject = options.rootObject || new THREE.Object3D();
@@ -85,11 +85,11 @@ ROS3D.Particles = function(options) {
 
     this.ps = new THREE.ParticleSystem( this.geom, this.shaderMaterial );
     this.sn = null;
-    
+
     this.points = this.geom.vertices;
     this.colors = this.attribs.customColor.value;
     this.alpha =  this.attribs.alpha.value;
-    
+
 };
 
 function setFrame(particles, frame)
@@ -116,7 +116,7 @@ function finishedUpdate(particles, n)
         particles.alpha[i] = 0.0;
     }
     particles.prev_pts = n;
-    
+
     particles.geom.verticesNeedUpdate = true;
     particles.attribs.customColor.needsUpdate = true;
     particles.attribs.alpha.needsUpdate = true;
diff --git a/src/pointcloud/PointCloud2.js b/src/sensors/PointCloud2.js
similarity index 100%
rename from src/pointcloud/PointCloud2.js
rename to src/sensors/PointCloud2.js