diff --git a/examples/fibonacci.html b/examples/fibonacci.html
index c3e7b0d21..d9aff3e1d 100644
--- a/examples/fibonacci.html
+++ b/examples/fibonacci.html
@@ -8,7 +8,9 @@
 <script type="text/javascript" type="text/javascript">
   // Connecting to ROS
   // -----------------
-  var ros = new ROSLIB.Ros('ws://localhost:9090');
+  var ros = new ROSLIB.Ros({
+    url : 'ws://localhost:9090'
+  });
 
   // If there is an error on the backend, an 'error' emit will be emitted.
   ros.on('error', function(error) {
diff --git a/src/actionlib/Goal.js b/src/actionlib/Goal.js
index 21edafbef..d5ba98997 100644
--- a/src/actionlib/Goal.js
+++ b/src/actionlib/Goal.js
@@ -26,16 +26,14 @@ ROSLIB.Goal = function(options) {
   this.goalID = 'goal_' + Math.random() + '_' + date.getTime();
   // Fill in the goal message
   this.goalMessage = new ROSLIB.Message({
-    values : {
-      goal_id : {
-        stamp : {
-          secs : 0,
-          nsecs : 0
-        },
-        id : this.goalID
+    goal_id : {
+      stamp : {
+        secs : 0,
+        nsecs : 0
       },
-      goal : this.goalMessage
-    }
+      id : this.goalID
+    },
+    goal : this.goalMessage
   });
 
   this.on('status', function(status) {
@@ -78,9 +76,7 @@ ROSLIB.Goal.prototype.send = function(timeout) {
  */
 ROSLIB.Goal.prototype.cancel = function() {
   var cancelMessage = new ROSLIB.Message({
-    values : {
-      id : this.goalID
-    }
+    id : this.goalID
   });
   this.actionClient.cancelTopic.publish(cancelMessage);
 };
diff --git a/src/core/Message.js b/src/core/Message.js
index 57d15d66e..8890b9769 100644
--- a/src/core/Message.js
+++ b/src/core/Message.js
@@ -6,19 +6,13 @@
  * Message objects are used for publishing and subscribing to and from topics.
  *
  * @constructor
- * @param options - possible keys include:
- *   * values - object matching the fields defined in the .msg definition file
- *   * type - the type of message, like 'geometry_msgs/Twist'
+ * @param values - object matching the fields defined in the .msg definition file
  */
-ROSLIB.Message = function(options) {
+ROSLIB.Message = function(values) {
   var that = this;
-  var options = options || {};
-  var values = options.values;
-  this.type = options.type;
+  var values = values || {};
 
-  if (values) {
-    Object.keys(values).forEach(function(name) {
-      that[name] = values[name];
-    });
-  }
+  Object.keys(values).forEach(function(name) {
+    that[name] = values[name];
+  });
 };
diff --git a/src/core/Param.js b/src/core/Param.js
index f3295eca7..01fc59087 100644
--- a/src/core/Param.js
+++ b/src/core/Param.js
@@ -30,10 +30,8 @@ ROSLIB.Param.prototype.get = function(callback) {
   });
 
   var request = new ROSLIB.ServiceRequest({
-    values : {
-      name : this.name,
-      value : JSON.stringify('')
-    }
+    name : this.name,
+    value : JSON.stringify('')
   });
 
   paramClient.callService(request, function(result) {
@@ -55,10 +53,8 @@ ROSLIB.Param.prototype.set = function(value) {
   });
 
   var request = new ROSLIB.ServiceRequest({
-    values : {
-      name : this.name,
-      value : JSON.stringify(value)
-    }
+    name : this.name,
+    value : JSON.stringify(value)
   });
 
   paramClient.callService(request, function() {
diff --git a/src/core/Ros.js b/src/core/Ros.js
index 54a972dd8..b271ae44c 100644
--- a/src/core/Ros.js
+++ b/src/core/Ros.js
@@ -21,7 +21,6 @@ ROSLIB.Ros = function(options) {
   var url = options.url;
   this.socket = null;
 
-
   // begin by checking if a URL was given
   if (url) {
     this.connect(url);
@@ -93,7 +92,7 @@ ROSLIB.Ros.prototype.connect = function(url) {
 
       // Constructs the JSON.
       var jsonData = '';
-      for (var i = 0; i < imageData.length; i += 4) {
+      for ( var i = 0; i < imageData.length; i += 4) {
         // RGB
         jsonData += String.fromCharCode(imageData[i], imageData[i + 1], imageData[i + 2]);
       }
@@ -129,11 +128,11 @@ ROSLIB.Ros.prototype.connect = function(url) {
     }
   };
 
-  that.socket = new WebSocket(url);
-  that.socket.onopen = onOpen;
-  that.socket.onclose = onClose;
-  that.socket.onerror = onError;
-  that.socket.onmessage = onMessage;
+  this.socket = new WebSocket(url);
+  this.socket.onopen = onOpen;
+  this.socket.onclose = onClose;
+  this.socket.onerror = onError;
+  this.socket.onmessage = onMessage;
 };
 
 /**
@@ -180,7 +179,7 @@ ROSLIB.Ros.prototype.callOnConnection = function(message) {
   var that = this;
   var messageJson = JSON.stringify(message);
 
-  if (this.socket.readyState !== WebSocket.OPEN) {
+  if (!this.socket || this.socket.readyState !== WebSocket.OPEN) {
     that.once('connection', function() {
       that.socket.send(messageJson);
     });
@@ -247,4 +246,3 @@ ROSLIB.Ros.prototype.getParams = function(callback) {
     callback(result.names);
   });
 };
-
diff --git a/src/core/Service.js b/src/core/Service.js
index b201a8990..8c3a0a182 100644
--- a/src/core/Service.js
+++ b/src/core/Service.js
@@ -30,10 +30,7 @@ ROSLIB.Service.prototype.callService = function(request, callback) {
   serviceCallId = 'call_service:' + this.name + ':' + this.ros.idCounter;
 
   this.ros.once(serviceCallId, function(data) {
-    var response = new ROSLIB.ServiceResponse({
-      values : data,
-      type : this.serviceType
-    });
+    var response = new ROSLIB.ServiceResponse(data);
     callback(response);
   });
 
diff --git a/src/core/ServiceRequest.js b/src/core/ServiceRequest.js
index 1f4c27028..5c2e67312 100644
--- a/src/core/ServiceRequest.js
+++ b/src/core/ServiceRequest.js
@@ -6,19 +6,13 @@
  * A ServiceRequest is passed into the service call.
  *
  * @constructor
- * @param options - possible keys include:
- *   * values - object matching the values of the request part from the .srv file.
- *   * type - the type of service, like 'actionlib_tutorials/FibonacciAction'
+ * @param values - object matching the fields defined in the .srv definition file
  */
-ROSLIB.ServiceRequest = function(options) {
+ROSLIB.ServiceRequest = function(values) {
   var that = this;
-  var options = options || {};
-  var values = options.values;
-  this.type = options.type;
+  var values = values || {};
 
-  if (values) {
-    Object.keys(values).forEach(function(name) {
-      that[name] = values[name];
-    });
-  }
+  Object.keys(values).forEach(function(name) {
+    that[name] = values[name];
+  });
 };
diff --git a/src/core/ServiceResponse.js b/src/core/ServiceResponse.js
index b565d923a..8cb1f2672 100644
--- a/src/core/ServiceResponse.js
+++ b/src/core/ServiceResponse.js
@@ -6,19 +6,13 @@
  * A ServiceResponse is returned from the service call.
  *
  * @constructor
- * @param options - possible keys include:
- *   * values - object matching the values of the response part from the .srv file.
- *   * type - the type of service, like 'actionlib_tutorials/FibonacciAction'
+ * @param values - object matching the fields defined in the .srv definition file
  */
-ROSLIB.ServiceResponse = function(options) {
+ROSLIB.ServiceResponse = function(values) {
   var that = this;
-  var options = options || {};
-  var values = options.values;
-  this.type = options.type;
+  var values = values || {};
 
-  if (values) {
-    Object.keys(values).forEach(function(name) {
-      that[name] = values[name];
-    });
-  }
+  Object.keys(values).forEach(function(name) {
+    that[name] = values[name];
+  });
 };
diff --git a/src/core/Topic.js b/src/core/Topic.js
index 2ea0e7d66..28f811dc5 100644
--- a/src/core/Topic.js
+++ b/src/core/Topic.js
@@ -55,10 +55,7 @@ ROSLIB.Topic.prototype.subscribe = function(callback) {
   });
 
   this.ros.on(this.name, function(data) {
-    var message = new ROSLIB.Message({
-      values : data,
-      type : this.messageType
-    });
+    var message = new ROSLIB.Message(data);
     that.emit('message', message);
   });