diff --git a/browser/package-lock.json b/browser/package-lock.json
index 906f08c..7fbe985 100644
--- a/browser/package-lock.json
+++ b/browser/package-lock.json
@@ -24,6 +24,31 @@
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@@ -636,6 +609,15 @@
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-        "socket.io": "2.2.0",
-        "ws": "^3.3.1",
-        "xmldom": "^0.1.19"
+        "eventemitter2": "^6.4.0",
+        "object-assign": "^4.0.0",
+        "pngparse": "^2.0.0",
+        "socket.io": "^4.0.0",
+        "webworkify": "^1.5.0",
+        "webworkify-webpack": "^2.1.5",
+        "ws": "^8.0.0"
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@@ -3300,24 +3206,24 @@
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-      "resolved": "https://registry.npmjs.org/socket.io/-/socket.io-2.2.0.tgz",
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-        "socket.io-adapter": "~1.1.0",
-        "socket.io-client": "2.2.0",
-        "socket.io-parser": "~3.3.0"
+      "version": "4.5.2",
+      "resolved": "https://registry.npmjs.org/socket.io/-/socket.io-4.5.2.tgz",
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+        "base64id": "~2.0.0",
+        "debug": "~4.3.2",
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+        "socket.io-adapter": "~2.4.0",
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-          "resolved": "https://registry.npmjs.org/debug/-/debug-4.1.1.tgz",
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+            "ms": "2.1.2"
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@@ -3328,63 +3234,31 @@
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-      "resolved": "https://registry.npmjs.org/socket.io-adapter/-/socket.io-adapter-1.1.1.tgz",
-      "integrity": "sha1-KoBeihTWNyEk3ZFZrUUC+MsH8Gs="
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-      "resolved": "https://registry.npmjs.org/socket.io-client/-/socket.io-client-2.2.0.tgz",
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-        "component-bind": "1.0.0",
-        "component-emitter": "1.2.1",
-        "debug": "~3.1.0",
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-        "has-binary2": "~1.0.2",
-        "has-cors": "1.1.0",
-        "indexof": "0.0.1",
-        "object-component": "0.0.3",
-        "parseqs": "0.0.5",
-        "parseuri": "0.0.5",
-        "socket.io-parser": "~3.3.0",
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-          "resolved": "https://registry.npmjs.org/debug/-/debug-3.1.0.tgz",
-          "integrity": "sha512-OX8XqP7/1a9cqkxYw2yXss15f26NKWBpDXQd0/uK/KPqdQhxbPa994hnzjcE2VqQpDslf55723cKPUOGSmMY3g==",
-          "requires": {
-            "ms": "2.0.0"
-          }
-        }
-      }
+      "version": "2.4.0",
+      "resolved": "https://registry.npmjs.org/socket.io-adapter/-/socket.io-adapter-2.4.0.tgz",
+      "integrity": "sha512-W4N+o69rkMEGVuk2D/cvca3uYsvGlMwsySWV447y99gUPghxq42BxqLNMndb+a1mm/5/7NeXVQS7RLa2XyXvYg=="
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     "socket.io-parser": {
-      "version": "3.3.0",
-      "resolved": "https://registry.npmjs.org/socket.io-parser/-/socket.io-parser-3.3.0.tgz",
-      "integrity": "sha512-hczmV6bDgdaEbVqhAeVMM/jfUfzuEZHsQg6eOmLgJht6G3mPKMxYm75w2+qhAQZ+4X+1+ATZ+QFKeOZD5riHng==",
+      "version": "4.2.1",
+      "resolved": "https://registry.npmjs.org/socket.io-parser/-/socket.io-parser-4.2.1.tgz",
+      "integrity": "sha512-V4GrkLy+HeF1F/en3SpUaM+7XxYXpuMUWLGde1kSSh5nQMN4hLrbPIkD+otwh6q9R6NOQBN4AMaOZ2zVjui82g==",
       "requires": {
-        "component-emitter": "1.2.1",
-        "debug": "~3.1.0",
-        "isarray": "2.0.1"
+        "@socket.io/component-emitter": "~3.1.0",
+        "debug": "~4.3.1"
       },
       "dependencies": {
         "debug": {
-          "version": "3.1.0",
-          "resolved": "https://registry.npmjs.org/debug/-/debug-3.1.0.tgz",
-          "integrity": "sha512-OX8XqP7/1a9cqkxYw2yXss15f26NKWBpDXQd0/uK/KPqdQhxbPa994hnzjcE2VqQpDslf55723cKPUOGSmMY3g==",
+          "version": "4.3.4",
+          "resolved": "https://registry.npmjs.org/debug/-/debug-4.3.4.tgz",
+          "integrity": "sha512-PRWFHuSU3eDtQJPvnNY7Jcket1j0t5OuOsFzPPzsekD52Zl8qUfFIPEiswXqIvHWGVHOgX+7G/vCNNhehwxfkQ==",
           "requires": {
-            "ms": "2.0.0"
+            "ms": "2.1.2"
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-        "isarray": {
-          "version": "2.0.1",
-          "resolved": "https://registry.npmjs.org/isarray/-/isarray-2.0.1.tgz",
-          "integrity": "sha1-o32U7ZzaLVmGXJ92/llu4fM4dB4="
+        "ms": {
+          "version": "2.1.2",
+          "resolved": "https://registry.npmjs.org/ms/-/ms-2.1.2.tgz",
+          "integrity": "sha512-sGkPx+VjMtmA6MX27oA4FBFELFCZZ4S4XqeGOXCv68tT+jb3vk/RyaKWP0PTKyWtmLSM0b+adUTEvbs1PEaH2w=="
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@@ -3522,11 +3396,6 @@
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       "integrity": "sha1-I2QN17QtAEM5ERQIIOXPRA5SHdE="
     },
-    "to-array": {
-      "version": "0.1.4",
-      "resolved": "https://registry.npmjs.org/to-array/-/to-array-0.1.4.tgz",
-      "integrity": "sha1-F+bBH3PdTz10zaek/zI46a2b+JA="
-    },
     "to-fast-properties": {
       "version": "2.0.0",
       "resolved": "https://registry.npmjs.org/to-fast-properties/-/to-fast-properties-2.0.0.tgz",
@@ -3757,6 +3626,16 @@
         "makeerror": "1.0.x"
       }
     },
+    "webworkify": {
+      "version": "1.5.0",
+      "resolved": "https://registry.npmjs.org/webworkify/-/webworkify-1.5.0.tgz",
+      "integrity": "sha512-AMcUeyXAhbACL8S2hqqdqOLqvJ8ylmIbNwUIqQujRSouf4+eUFaXbG6F1Rbu+srlJMmxQWsiU7mOJi0nMBfM1g=="
+    },
+    "webworkify-webpack": {
+      "version": "2.1.5",
+      "resolved": "https://registry.npmjs.org/webworkify-webpack/-/webworkify-webpack-2.1.5.tgz",
+      "integrity": "sha512-2akF8FIyUvbiBBdD+RoHpoTbHMQF2HwjcxfDvgztAX5YwbZNyrtfUMgvfgFVsgDhDPVTlkbb5vyasqDHfIDPQw=="
+    },
     "which": {
       "version": "1.3.1",
       "resolved": "https://registry.npmjs.org/which/-/which-1.3.1.tgz",
@@ -3804,14 +3683,9 @@
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     "ws": {
-      "version": "3.3.3",
-      "resolved": "https://registry.npmjs.org/ws/-/ws-3.3.3.tgz",
-      "integrity": "sha512-nnWLa/NwZSt4KQJu51MYlCcSQ5g7INpOrOMt4XV8j4dqTXdmlUmSHQ8/oLC069ckre0fRsgfvsKwbTdtKLCDkA==",
-      "requires": {
-        "async-limiter": "~1.0.0",
-        "safe-buffer": "~5.1.0",
-        "ultron": "~1.1.0"
-      }
+      "version": "8.9.0",
+      "resolved": "https://registry.npmjs.org/ws/-/ws-8.9.0.tgz",
+      "integrity": "sha512-Ja7nszREasGaYUYCI2k4lCKIRTt+y7XuqVoHR44YpI49TtryyqbqvDMn5eqfW7e6HzTukDRIsXqzVHScqRcafg=="
     },
     "xdg-basedir": {
       "version": "3.0.0",
@@ -3824,16 +3698,6 @@
       "resolved": "https://registry.npmjs.org/xmlbuilder/-/xmlbuilder-13.0.2.tgz",
       "integrity": "sha512-Eux0i2QdDYKbdbA6AM6xE4m6ZTZr4G4xF9kahI2ukSEMCzwce2eX9WlTI5J3s+NU7hpasFsr8hWIONae7LluAQ=="
     },
-    "xmldom": {
-      "version": "0.1.27",
-      "resolved": "https://registry.npmjs.org/xmldom/-/xmldom-0.1.27.tgz",
-      "integrity": "sha1-1QH5ezvbQDr4757MIFcxh6rawOk="
-    },
-    "xmlhttprequest-ssl": {
-      "version": "1.5.5",
-      "resolved": "https://registry.npmjs.org/xmlhttprequest-ssl/-/xmlhttprequest-ssl-1.5.5.tgz",
-      "integrity": "sha1-wodrBhaKrcQOV9l+gRkayPQ5iz4="
-    },
     "xmlrpc": {
       "version": "github:chfritz/node-xmlrpc#948db2fbd0260e5d56ed5ba58df0f5b6599bbe38",
       "from": "github:chfritz/node-xmlrpc",
@@ -3854,11 +3718,6 @@
       "resolved": "https://registry.npmjs.org/yallist/-/yallist-2.1.2.tgz",
       "integrity": "sha1-HBH5IY8HYImkfdUS+TxmmaaoHVI=",
       "dev": true
-    },
-    "yeast": {
-      "version": "0.1.2",
-      "resolved": "https://registry.npmjs.org/yeast/-/yeast-0.1.2.tgz",
-      "integrity": "sha1-AI4G2AlDIMNy28L47XagymyKxBk="
     }
   }
 }
diff --git a/browser/package.json b/browser/package.json
index beeb5f0..d82c3ec 100644
--- a/browser/package.json
+++ b/browser/package.json
@@ -18,7 +18,7 @@
     "morgan": "^1.9.1",
     "pug": "^3.0.1",
     "requirejs": "^2.3.5",
-    "roslib": "^1.0.1",
+    "roslib": "^1.3.0",
     "rosnodejs": "^3.0.0",
     "serve-favicon": "~2.4.5",
     "xmlbuilder": "^13.0.2"