From 3a6cf8bbc7767458748cec5c68f0b934045976e3 Mon Sep 17 00:00:00 2001
From: David Winegar <david.winegar@getcruise.com>
Date: Mon, 7 Oct 2019 13:26:12 -0700
Subject: [PATCH 01/50] Make lines truly instanced (#246)

* Make lines truly instanced

Make the lines component able to take multiple poses per marker.
This will help us implement some markers that have different poses
instead of different points. While we're at it, make the loading
of colors into lines more efficient by passing a typed array
directly to regl.

Test plan: added a story, test that existing tests continue working.

* Address comments
---
 docs/src/4.6.Lines.mdx                        |  13 +-
 docs/src/jsx/allDemos.stories.js              |   2 +
 docs/src/jsx/allLiveEditors.js                |   2 +
 docs/src/jsx/commands/LinesPoses.js           |  63 ++++++
 packages/regl-worldview/src/commands/Lines.js | 199 ++++++++++++++----
 packages/regl-worldview/src/types/index.js    |   1 +
 6 files changed, 234 insertions(+), 46 deletions(-)
 create mode 100644 docs/src/jsx/commands/LinesPoses.js

diff --git a/docs/src/4.6.Lines.mdx b/docs/src/4.6.Lines.mdx
index 7d3753fe4..7bf51912c 100755
--- a/docs/src/4.6.Lines.mdx
+++ b/docs/src/4.6.Lines.mdx
@@ -1,4 +1,4 @@
-import { LinesDemo, LinesWireframe, LinesHitmap } from "./jsx/allLiveEditors";
+import { LinesDemo, LinesWireframe, LinesHitmap, LinesPoses } from "./jsx/allLiveEditors";
 
 # Lines
 
@@ -22,6 +22,13 @@ type Line = {
     position: { x: number, y: number, z: number },
     orientation: { x: number, y: number, z: number, w: number }
   }
+  // Lines can optionally include multiple poses.
+  poses: [
+    {
+      position: { x: number, y: number, z: number },
+      orientation: { x: number, y: number, z: number, w: number }
+    }
+  ],
   scale: {
     x: number,
     y: number,
@@ -45,6 +52,10 @@ type Line = {
 
 <LinesWireframe />
 
+## Multi-Pose Example
+
+<LinesPoses />
+
 ## Mouse Interaction
 
 <LinesHitmap />
diff --git a/docs/src/jsx/allDemos.stories.js b/docs/src/jsx/allDemos.stories.js
index bc551c33d..fbca441ac 100644
--- a/docs/src/jsx/allDemos.stories.js
+++ b/docs/src/jsx/allDemos.stories.js
@@ -19,6 +19,7 @@ import Cylinders from "./commands/Cylinders";
 import FilledPolygons from "./commands/FilledPolygons";
 import GLTFScene from "./commands/GLTFScene";
 import LinesDemo from "./commands/LinesDemo";
+import LinesPoses from "./commands/LinesPoses";
 import LinesWireframe from "./commands/LinesWireframe";
 import Overlay from "./commands/Overlay";
 import Points from "./commands/Points";
@@ -46,6 +47,7 @@ const allDemos = {
   FilledPolygons,
   Hitmap,
   LinesDemo,
+  LinesPoses,
   LinesWireframe,
   MouseEvents,
   Overlay,
diff --git a/docs/src/jsx/allLiveEditors.js b/docs/src/jsx/allLiveEditors.js
index 63569e876..23d3131fe 100755
--- a/docs/src/jsx/allLiveEditors.js
+++ b/docs/src/jsx/allLiveEditors.js
@@ -83,6 +83,8 @@ export const LinesDemo = makeCodeComponent(require("!!raw-loader!./commands/Line
 
 export const LinesHitmap = makeCodeComponent(require("!!raw-loader!./commands/LinesHitmap"), "LinesHitmap");
 
+export const LinesPoses = makeCodeComponent(require("!!raw-loader!./commands/LinesPoses"), "LinesPoses");
+
 export const LinesWireframe = makeCodeComponent(require("!!raw-loader!./commands/LinesWireframe"), "LinesWireframe");
 
 export const Overlay = makeCodeComponent(require("!!raw-loader!./commands/Overlay"), "Overlay");
diff --git a/docs/src/jsx/commands/LinesPoses.js b/docs/src/jsx/commands/LinesPoses.js
new file mode 100644
index 000000000..1e0a33437
--- /dev/null
+++ b/docs/src/jsx/commands/LinesPoses.js
@@ -0,0 +1,63 @@
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+// #BEGIN EXAMPLE
+import React from "react";
+import Worldview, { Lines } from "regl-worldview";
+
+// #BEGIN EDITABLE
+function Example() {
+  const lines = [
+    {
+      pose: {
+        position: { x: 0, y: 0, z: 0 },
+        orientation: { x: 0, y: 0, z: 0, w: 0 },
+      },
+      scale: { x: 0.1, y: 0.1, z: 0.1 },
+      color: { r: 0, g: 1, b: 0, a: 1 },
+      points: [
+        { x: 0, y: -3, z: 1 },
+        { x: 1, y: -2, z: 1 },
+        { x: 0, y: -3, z: 0 },
+        { x: 1, y: -2, z: 0 },
+
+        { x: 0, y: -3, z: 1 },
+        { x: 1, y: -2, z: 1 },
+        { x: 0, y: -3, z: 0 },
+        { x: 1, y: -2, z: 0 },
+      ],
+      // There are 8 points, so 4
+      poses: [
+        {
+          position: { x: 0, y: 0, z: 0 },
+          orientation: { x: 0, y: 0, z: 0, w: 0 },
+        },
+        {
+          position: { x: 0, y: 0, z: 0 },
+          orientation: { x: 0, y: 0, z: 0, w: 0 },
+        },
+        // shift the last two lines
+        {
+          position: { x: 2, y: 2, z: 0 },
+          orientation: { x: 0, y: 0, z: 0, w: 0 },
+        },
+        {
+          position: { x: 2, y: 2, z: 0 },
+          orientation: { x: 0, y: 0, z: 0, w: 0 },
+        },
+      ],
+      colors: [],
+    },
+  ];
+  return (
+    <Worldview defaultCameraState={{ distance: 10 }}>
+      <Lines>{lines}</Lines>
+    </Worldview>
+  );
+}
+// #END EXAMPLE
+
+export default Example;
diff --git a/packages/regl-worldview/src/commands/Lines.js b/packages/regl-worldview/src/commands/Lines.js
index 0445e97b0..1d7323f85 100755
--- a/packages/regl-worldview/src/commands/Lines.js
+++ b/packages/regl-worldview/src/commands/Lines.js
@@ -6,9 +6,10 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
+import flatten from "lodash/flatten";
 import * as React from "react";
 
-import type { Line } from "../types";
+import type { Line, Vec4, Color, Pose } from "../types";
 import { defaultBlend, withPose, toRGBA, shouldConvert, pointToVec3 } from "../utils/commandUtils";
 import { nonInstancedGetChildrenForHitmap } from "../utils/getChildrenForHitmapDefaults";
 import Command, { type CommonCommandProps } from "./Command";
@@ -87,6 +88,9 @@ attribute vec3 positionA;
 attribute vec3 positionB;
 attribute vec3 positionC;
 attribute vec3 positionD;
+// per-instance pose attributes
+attribute vec3 posePosition;
+attribute vec4 poseRotation;
 
 uniform mat4 projection, view;
 uniform float viewportWidth;
@@ -104,6 +108,12 @@ ${Object.keys(POINT_TYPES)
 
 #WITH_POSE
 
+vec3 applyPoseInstance(vec3 point, vec4 rotation, vec3 position) {
+  // rotate the point and then add the position of the pose
+  // this function is defined in WITH_POSE
+  return rotate(point, rotation) + position;
+}
+
 vec2 rotateCCW(vec2 v) {
   return vec2(-v.y, v.x);
 }
@@ -145,10 +155,10 @@ void main () {
   float scale = isTop ? 1. : -1.;
 
   mat4 projView = projection * view;
-  vec4 projA = projView * vec4(applyPose(positionA), 1);
-  vec4 projB = projView * vec4(applyPose(positionB), 1);
-  vec4 projC = projView * vec4(applyPose(positionC), 1);
-  vec4 projD = projView * vec4(applyPose(positionD), 1);
+  vec4 projA = projView * vec4(applyPose(applyPoseInstance(positionA, poseRotation, posePosition)), 1);
+  vec4 projB = projView * vec4(applyPose(applyPoseInstance(positionB, poseRotation, posePosition)), 1);
+  vec4 projC = projView * vec4(applyPose(applyPoseInstance(positionC, poseRotation, posePosition)), 1);
+  vec4 projD = projView * vec4(applyPose(applyPoseInstance(positionD, poseRotation, posePosition)), 1);
 
   vec2 aspectVec = vec2(viewportWidth / viewportHeight, 1.0);
   vec2 screenA = projA.xy / projA.w * aspectVec;
@@ -240,6 +250,19 @@ const lines = (regl: any) => {
       [1, 0, 1, 1], // magenta
     ],
   });
+  // The pose position and rotation buffers contain the identity position/rotation, for use when we don't have instanced
+  // poses.
+  const defaultPosePositionBuffer = regl.buffer({
+    type: "float",
+    usage: "static",
+    data: flatten(new Array(VERTICES_PER_INSTANCE).fill([0, 0, 0])),
+  });
+  const defaultPoseRotationBuffer = regl.buffer({
+    type: "float",
+    usage: "static",
+    // Rotation array identity is [x: 0, y: 0, z: 0, w: 1]
+    data: flatten(new Array(VERTICES_PER_INSTANCE).fill([0, 0, 0, 1])),
+  });
 
   // The buffers used for input position & color data
   const colorBuffer = regl.buffer({ type: "float" });
@@ -251,6 +274,9 @@ const lines = (regl: any) => {
   const positionBuffer1 = regl.buffer({ type: "float" });
   const positionBuffer2 = regl.buffer({ type: "float" });
 
+  const posePositionBuffer = regl.buffer({ type: "float" });
+  const poseRotationBuffer = regl.buffer({ type: "float" });
+
   const command = regl(
     withPose({
       vert,
@@ -290,7 +316,7 @@ const lines = (regl: any) => {
           stride: (joined ? 1 : 2) * POINT_BYTES,
           divisor: 1,
         }),
-        positionC: (context, { joined, instances }) => ({
+        positionC: (context, { joined }) => ({
           buffer: positionBuffer2,
           offset: 2 * POINT_BYTES,
           stride: (joined ? 1 : 2) * POINT_BYTES,
@@ -302,6 +328,14 @@ const lines = (regl: any) => {
           stride: (joined ? 1 : 2) * POINT_BYTES,
           divisor: 1,
         }),
+        posePosition: (context, { hasInstancedPoses }) => ({
+          buffer: hasInstancedPoses ? posePositionBuffer : defaultPosePositionBuffer,
+          divisor: hasInstancedPoses ? 1 : 0,
+        }),
+        poseRotation: (context, { hasInstancedPoses }) => ({
+          buffer: hasInstancedPoses ? poseRotationBuffer : defaultPoseRotationBuffer,
+          divisor: hasInstancedPoses ? 1 : 0,
+        }),
       },
       count: VERTICES_PER_INSTANCE,
       instances: regl.prop("instances"),
@@ -309,12 +343,13 @@ const lines = (regl: any) => {
     })
   );
 
-  // array reused for colors when monochrome
-  const monochromeColors = new Array(VERTICES_PER_INSTANCE);
+  let colorArray = new Float32Array(VERTICES_PER_INSTANCE * 4);
   let pointArray = new Float32Array(0);
   let allocatedPoints = 0;
+  let positionArray = new Float32Array(0);
+  let rotationArray = new Float32Array(0);
 
-  const fillPointArray = (points: any[], alreadyClosed: boolean, shouldClose: boolean) => {
+  function fillPointArray(points: any[], alreadyClosed: boolean, shouldClose: boolean) {
     const numTotalPoints = points.length + (shouldClose ? 3 : 2);
     if (allocatedPoints < numTotalPoints) {
       pointArray = new Float32Array(numTotalPoints * 3);
@@ -346,7 +381,79 @@ const lines = (regl: any) => {
       pointArray.copyWithin(0, 3, 6);
       pointArray.copyWithin(n - 3, n - 6, n - 3);
     }
-  };
+  }
+
+  function fillPoseArrays(instances: number, poses: Pose[]): ?Error {
+    if (positionArray.length < instances * 3) {
+      positionArray = new Float32Array(instances * 3);
+      rotationArray = new Float32Array(instances * 4);
+    }
+    for (let index = 0; index < poses.length; index++) {
+      const positionOffset = index * 3;
+      const rotationOffset = index * 4;
+      const { position, orientation: r } = poses[index];
+      const convertedPosition = Array.isArray(position) ? position : pointToVec3(position);
+      positionArray[positionOffset + 0] = convertedPosition[0];
+      positionArray[positionOffset + 1] = convertedPosition[1];
+      positionArray[positionOffset + 2] = convertedPosition[2];
+
+      const convertedRotation = Array.isArray(r) ? r : [r.x, r.y, r.z, r.w];
+      rotationArray[rotationOffset + 0] = convertedRotation[0];
+      rotationArray[rotationOffset + 1] = convertedRotation[1];
+      rotationArray[rotationOffset + 2] = convertedRotation[2];
+      rotationArray[rotationOffset + 3] = convertedRotation[3];
+    }
+  }
+
+  function convertColors(colors: any): Vec4[] {
+    return shouldConvert(colors) ? colors.map(toRGBA) : colors;
+  }
+
+  function fillColorArray(
+    color: ?Color | ?Vec4,
+    colors: ?((Color | Vec4)[]),
+    monochrome: boolean,
+    shouldClose: boolean
+  ) {
+    if (monochrome) {
+      if (colorArray.length < VERTICES_PER_INSTANCE * 4) {
+        colorArray = new Float32Array(VERTICES_PER_INSTANCE * 4);
+      }
+      const monochromeColor = color || DEFAULT_MONOCHROME_COLOR;
+      const [convertedMonochromeColor] = convertColors([monochromeColor]);
+      const [r, g, b, a] = convertedMonochromeColor;
+      for (let index = 0; index < VERTICES_PER_INSTANCE; index++) {
+        const offset = index * 4;
+        colorArray[offset + 0] = r;
+        colorArray[offset + 1] = g;
+        colorArray[offset + 2] = b;
+        colorArray[offset + 3] = a;
+      }
+    } else if (colors) {
+      const length = shouldClose ? colors.length + 1 : colors.length;
+      if (colorArray.length < length * 4) {
+        colorArray = new Float32Array(length * 4);
+      }
+      const convertedColors = convertColors(colors);
+      for (let index = 0; index < convertedColors.length; index++) {
+        const offset = index * 4;
+        const [r, g, b, a] = convertedColors[index];
+        colorArray[offset + 0] = r;
+        colorArray[offset + 1] = g;
+        colorArray[offset + 2] = b;
+        colorArray[offset + 3] = a;
+      }
+
+      if (shouldClose) {
+        const [r, g, b, a] = convertedColors[0];
+        const lastIndex = length - 1;
+        colorArray[lastIndex * 4 + 0] = r;
+        colorArray[lastIndex * 4 + 1] = g;
+        colorArray[lastIndex * 4 + 2] = b;
+        colorArray[lastIndex * 4 + 3] = a;
+      }
+    }
+  }
 
   // Disable depth for debug rendering (so lines stay visible)
   const render = (debug, commands) => {
@@ -358,7 +465,7 @@ const lines = (regl: any) => {
   };
 
   // Render one line list/strip
-  const renderLine = (props) => {
+  function renderLine(props) {
     const { debug, primitive = "lines", scaleInvariant = false } = props;
     const numInputPoints = props.points.length;
 
@@ -375,52 +482,54 @@ const lines = (regl: any) => {
     positionBuffer2({ data: pointArray, usage: "dynamic" });
 
     const monochrome = !(props.colors && props.colors.length);
-    let colors;
-    if (monochrome) {
-      if (shouldConvert(props.color)) {
-        colors = monochromeColors.fill(props.color ? toRGBA(props.color) : DEFAULT_MONOCHROME_COLOR);
-      } else {
-        colors = monochromeColors.fill(props.color || DEFAULT_MONOCHROME_COLOR);
-      }
-    } else {
-      if (shouldConvert(props.colors)) {
-        colors = props.colors.map(toRGBA);
-      } else {
-        colors = props.colors.slice();
-      }
-      if (shouldClose) {
-        colors.push(colors[0]);
-      }
-    }
-    colorBuffer({ data: colors, usage: "dynamic" });
+    fillColorArray(props.color, props.colors, monochrome, shouldClose);
+    colorBuffer({ data: colorArray, usage: "dynamic" });
 
     const joined = primitive === "line strip";
     const effectiveNumPoints = numInputPoints + (shouldClose ? 1 : 0);
     const instances = joined ? effectiveNumPoints - 1 : Math.floor(effectiveNumPoints / 2);
 
+    // fill instanced pose buffers
+    const { poses } = props;
+    const hasInstancedPoses = !!poses && poses.length > 0;
+    if (hasInstancedPoses && poses) {
+      if (instances !== poses.length) {
+        console.error(`Expected ${instances} poses but given ${poses.length} poses: will result in webgl error.`);
+        return;
+      }
+      fillPoseArrays(instances, poses);
+      posePositionBuffer({ data: positionArray, usage: "dynamic" });
+      poseRotationBuffer({ data: rotationArray, usage: "dynamic" });
+    }
+
     render(debug, () => {
-      command({
-        ...props,
-        joined,
-        primitive: "triangle strip",
-        alpha: debug ? 0.2 : 1,
-        monochrome,
-        instances,
-        scaleInvariant,
-      });
-      if (debug) {
-        command({
-          ...props,
+      // Use Object.assign because it's actually faster than babel's object spread polyfill.
+      command(
+        Object.assign({}, props, {
           joined,
-          primitive: "line strip",
-          alpha: 1,
+          primitive: "triangle strip",
+          alpha: debug ? 0.2 : 1,
           monochrome,
           instances,
           scaleInvariant,
-        });
+          hasInstancedPoses,
+        })
+      );
+      if (debug) {
+        command(
+          Object.assign({}, props, {
+            joined,
+            primitive: "line strip",
+            alpha: 1,
+            monochrome,
+            instances,
+            scaleInvariant,
+            hasInstancedPoses,
+          })
+        );
       }
     });
-  };
+  }
 
   return (inProps: any) => {
     if (Array.isArray(inProps)) {
diff --git a/packages/regl-worldview/src/types/index.js b/packages/regl-worldview/src/types/index.js
index 27d303d12..20ff5a6ce 100755
--- a/packages/regl-worldview/src/types/index.js
+++ b/packages/regl-worldview/src/types/index.js
@@ -179,6 +179,7 @@ export type Cylinder = BaseShape & {
 
 export type Line = BaseShape & {
   points: (Point | Vec3)[],
+  poses?: Pose[],
 };
 
 export type PointType = BaseShape & {

From 35898d87a23348df98d78250d0e9e12b3b87d5ee Mon Sep 17 00:00:00 2001
From: David Winegar <david.winegar@getcruise.com>
Date: Tue, 8 Oct 2019 16:11:32 -0700
Subject: [PATCH 02/50] Fix minor Worldview issues and release new version
 (#249)

* No longer require colors to enable instancing

* Remove memo from grid

* Bump worldview to 0.2.4
---
 packages/regl-worldview/package-lock.json                     | 2 +-
 packages/regl-worldview/package.json                          | 2 +-
 packages/regl-worldview/src/commands/Grid.js                  | 4 +---
 .../regl-worldview/src/utils/getChildrenForHitmapDefaults.js  | 2 +-
 4 files changed, 4 insertions(+), 6 deletions(-)

diff --git a/packages/regl-worldview/package-lock.json b/packages/regl-worldview/package-lock.json
index 43a76c5a3..8a0598ea6 100755
--- a/packages/regl-worldview/package-lock.json
+++ b/packages/regl-worldview/package-lock.json
@@ -1,6 +1,6 @@
 {
 	"name": "regl-worldview",
-	"version": "0.2.3",
+	"version": "0.2.4",
 	"lockfileVersion": 1,
 	"requires": true,
 	"dependencies": {
diff --git a/packages/regl-worldview/package.json b/packages/regl-worldview/package.json
index 6a98e944d..b54abd9f9 100755
--- a/packages/regl-worldview/package.json
+++ b/packages/regl-worldview/package.json
@@ -1,6 +1,6 @@
 {
   "name": "regl-worldview",
-  "version": "0.2.3",
+  "version": "0.2.4",
   "description": "A reusable component for rendering 2D and 3D views using regl",
   "license": "Apache-2.0",
   "repository": "cruise-automation/webviz/tree/master/packages/regl-worldview",
diff --git a/packages/regl-worldview/src/commands/Grid.js b/packages/regl-worldview/src/commands/Grid.js
index 10fd537b3..417a7574f 100755
--- a/packages/regl-worldview/src/commands/Grid.js
+++ b/packages/regl-worldview/src/commands/Grid.js
@@ -70,7 +70,7 @@ type Props = {
 
 // useful for rendering a grid for debugging in stories
 
-function Grid({ count, ...rest }: Props) {
+export default function Grid({ count, ...rest }: Props) {
   const children = { count };
   return (
     <Command getChildrenForHitmap={nonInstancedGetChildrenForHitmap} {...rest} reglCommand={grid}>
@@ -80,5 +80,3 @@ function Grid({ count, ...rest }: Props) {
 }
 
 Grid.defaultProps = { count: 6 };
-
-export default React.memo<Props>(Grid);
diff --git a/packages/regl-worldview/src/utils/getChildrenForHitmapDefaults.js b/packages/regl-worldview/src/utils/getChildrenForHitmapDefaults.js
index 18b3dc112..71544695c 100644
--- a/packages/regl-worldview/src/utils/getChildrenForHitmapDefaults.js
+++ b/packages/regl-worldview/src/utils/getChildrenForHitmapDefaults.js
@@ -72,7 +72,7 @@ function instancedGetChildrenForHitmapFromSingleProp<T: any>(
   const idColors = assignNextColors(prop, instanceCount);
   const startColor = idColors[0];
   // We have to map these instance colors to `pointCountPerInstance` number of points
-  if (hitmapProp.colors && hitmapProp.points && hitmapProp.points.length) {
+  if (hitmapProp.points && hitmapProp.points.length) {
     const allColors = new Array(hitmapProp.points.length).fill().map(() => startColor);
     for (let i = 0; i < instanceCount; i++) {
       for (let j = 0; j < pointCountPerInstance; j++) {

From 2d4f677b057b27c8a6dcb7307ba4134d655f55c6 Mon Sep 17 00:00:00 2001
From: Jan Paul Posma <janpaul123@users.noreply.github.com>
Date: Thu, 17 Oct 2019 16:04:57 -0700
Subject: [PATCH 03/50] Update packages/webviz-core from internal repo (#251)

Changelog:
- Fixed zoom issue in plot panel.
- Allow full-screen panel locking by holding `` ` `` + `shift` and clicking a panel.
- In the Plot panel, we now default the "timestamp method" (`receiveTime` vs `header.stamp`) to the last used value.
- Added ability to save playback speed to layout config.
- Added ability to search panels by name.
- Moved the filter feature in Diagnostic Summary panel and got rid of it in Diagnostic Detail panel.
- Fixed issue so that navigating away from a new tab before it loads will still start data loading.
- Fixed a memory leak in the 3D panel.
- Added ability to plot timestamp values in Raw Messages and Plot panels.
- Updated React to latest version.
- In tests, enabled `restoreMocks`.
---
 jest/jest.config.js                           |   2 +-
 package-lock.json                             | 173 ++--
 package.json                                  |   8 +-
 .../hooks/src/useAbortable.test.js            |   5 +
 packages/webviz-core/.eslintrc.js             |  11 +
 packages/webviz-core/package-lock.json        |  37 +-
 packages/webviz-core/package.json             |   7 +-
 .../webviz-core/shared/parentTopicStyles.js   |  17 +
 packages/webviz-core/src/PanelAPI/README.md   |  77 ++
 packages/webviz-core/src/PanelAPI/index.js    |  17 +
 .../src/PanelAPI/useDataSourceInfo.js         |  57 ++
 .../src/PanelAPI/useDataSourceInfo.test.js    | 149 +++
 .../src/PanelAPI/useMessages.test.js          | 271 ++++++
 packages/webviz-core/src/actions/index.js     |   4 +-
 .../src/actions/nodeDiagnostics.js            |  23 -
 packages/webviz-core/src/actions/panels.js    |  26 +-
 packages/webviz-core/src/actions/userNodes.js |  60 ++
 .../src/components/AppMenu/index.js           |  50 +-
 .../src/components/AppMenu/index.stories.js   |   3 +-
 packages/webviz-core/src/components/Button.js |  15 +-
 .../webviz-core/src/components/Checkbox.js    |  33 +-
 .../src/components/Dropdown/index.js          |   7 +-
 .../src/components/ExpandingToolbar.js        |   6 +-
 packages/webviz-core/src/components/Flex.js   |   5 +-
 .../GlobalVariablesAccessor/index.js          |  18 +-
 .../webviz-core/src/components/LayoutMenu.js  |  18 +-
 .../webviz-core/src/components/LayoutModal.js |  56 ++
 .../MessageHistory/FrameCompatibility.js      | 154 +---
 .../MessageHistory/FrameCompatibility.test.js |   5 +-
 .../MessageHistory/MessageHistoryInput.js     |  42 +-
 .../MessageHistoryOnlyTopics.js               |  81 +-
 .../MessageHistory/getMessageHistoryItem.js   |  12 +-
 .../getMessageHistoryItem.test.js             |   6 +-
 .../src/components/MessageHistory/hooks.js    | 154 +++-
 .../components/MessageHistory/hooks.test.js   | 299 +++++-
 .../src/components/MessageHistory/index.js    |  49 +-
 .../MessageHistory/index.stories.js           |  39 +-
 .../components/MessageHistory/index.test.js   |  14 +-
 .../src/components/MessagePipeline/index.js   | 151 +--
 .../components/MessagePipeline/index.test.js  |  59 +-
 .../warnOnOutOfSyncMessages.js                |  23 +-
 .../warnOnOutOfSyncMessages.test.js           |  58 ++
 packages/webviz-core/src/components/Panel.js  |  87 +-
 .../src/components/Panel.module.scss          |  44 +-
 .../src/components/PanelContext.js            |   5 +
 .../src/components/PerfMonitor/index.js       |  86 --
 .../PerfMonitor/reconciliationPerf.js         |  63 --
 .../PerfMonitor/reconciliationPerf.test.js    |  69 --
 .../src/components/PlaybackControls/index.js  |  41 +-
 .../PlaybackControls/index.stories.js         |  37 +-
 .../src/components/PlayerManager.js           |  28 +-
 packages/webviz-core/src/components/Root.js   |  70 +-
 .../src/components/SegmentControl.js          |  72 ++
 .../src/components/SegmentControl.stories.js  |  80 ++
 .../src/components/ShareJsonModal.test.js     |   2 +-
 .../webviz-core/src/components/TextContent.js |   5 +-
 .../webviz-core/src/components/TextField.js   | 161 ++++
 .../src/components/TextField.stories.js       | 122 +++
 .../src/components/TimeBasedChart/index.js    |  54 +-
 .../src/components/Toolbar.module.scss        |   3 +-
 .../src/components/ValidatedInput.js          |  64 +-
 .../src/components/ValidatedInput.stories.js  | 113 ++-
 .../src/components/renderToBody.js            |   9 +-
 .../webviz-core/src/components/validators.js  |  15 +-
 .../src/components/validators.test.js         |  16 +
 .../IdbCacheDataProviderDatabase.js           |   2 +-
 packages/webviz-core/src/globals.js.flow      |   3 +-
 .../webviz-core/src/hooks/useGlobalData.js    |  27 -
 .../src/hooks/useGlobalVariables.js           |  27 +
 packages/webviz-core/src/loadWebviz.js        |  57 +-
 .../src/panels/GlobalVariables/index.help.md  |   2 +
 .../src/panels/GlobalVariables/index.js       |  67 +-
 .../panels/GlobalVariables/index.stories.js   |   4 +-
 .../src/panels/ImageView/ImageCanvas.js       |   4 +-
 packages/webviz-core/src/panels/Internals.js  |   9 +-
 .../BottomBar/DiagnosticsSection.js           |  63 ++
 .../NodePlayground/BottomBar/LogsSection.js   |  87 ++
 .../panels/NodePlayground/BottomBar/index.js  | 142 +++
 .../src/panels/NodePlayground/Editor.js       | 107 ++-
 .../src/panels/NodePlayground/Sidebar.js      | 275 ++++--
 .../src/panels/NodePlayground/index.help.md   | 357 ++++++-
 .../src/panels/NodePlayground/index.js        | 328 +++++--
 .../panels/NodePlayground/index.module.scss   |  14 -
 .../panels/NodePlayground/index.stories.js    | 339 ++++++-
 .../src/panels/NodePlayground/index.test.md   |  21 +
 .../NodePlayground/theme/vs-webviz.json       |   2 +-
 .../NodePlayground/theme/vs-webviz.tmTheme    |   2 +-
 .../webviz-core/src/panels/NumberOfRenders.js |  57 +-
 .../{PanelList.js => PanelList/index.js}      |  50 +-
 .../src/panels/PanelList/index.stories.js     |  58 ++
 .../webviz-core/src/panels/Plot/PlotChart.js  |  82 +-
 .../webviz-core/src/panels/Plot/PlotLegend.js |  17 +-
 .../webviz-core/src/panels/Plot/PlotMenu.js   |  45 +
 .../src/panels/Plot/PlotMenu.stories.js       |   5 +-
 .../src/panels/Plot/PlotMenu.test.js          | 222 +++++
 .../Plot/__snapshots__/PlotMenu.test.js.snap  |  37 +
 packages/webviz-core/src/panels/Plot/index.js |  54 +-
 .../src/panels/Plot/index.stories.js          | 152 +--
 .../webviz-core/src/panels/SubscribeToList.js |  47 +
 .../src/panels/SubscribeToList.stories.js     |  37 +
 .../panels/ThreeDimensionalViz/Crosshair.js   |  77 ++
 .../DrawingTools/CameraInfo.js                |  16 +-
 .../DrawingTools/MeasuringTool.js             |  47 +-
 .../ThreeDimensionalViz/DrawingTools/index.js |  57 +-
 .../DrawingTools/index.stories.js             |  22 +-
 .../ThreeDimensionalViz/FollowTFControl.js    |  18 +-
 .../LinkToGlobalVariable.js                   |   6 +-
 .../UnlinkGlobalVariables.stories.js          |   2 +-
 .../Interactions/GlobalVariableLink/index.js  |   2 +-
 .../Interactions/Interaction.stories.js       |  31 +-
 .../Interactions/Interactions.js              |  18 +-
 .../Interactions/ObjectDetails.js             |  58 +-
 .../Interactions/PointCloudDetails.js         |   2 +-
 .../src/panels/ThreeDimensionalViz/Layout.js  | 512 +++++-----
 .../ThreeDimensionalViz/MeasureMarker.js      |  64 ++
 .../ThreeDimensionalViz/SceneBuilder/index.js |   7 +-
 .../TopicSelector/index.js                    | 101 +-
 .../src/panels/ThreeDimensionalViz/World.js   | 188 ++--
 .../src/panels/ThreeDimensionalViz/index.js   | 490 ++++------
 .../threeDimensionalVizUtils.js               | 102 ++
 .../panels/diagnostics/DiagnosticSummary.js   |  35 +-
 .../panels/diagnostics/DiagnosticsHistory.js  |  73 +-
 .../src/panels/diagnostics/util.js            |  14 +
 .../src/panels/diagnostics/util.test.js       |  75 +-
 .../src/players/RandomAccessPlayer.js         |  89 +-
 .../src/players/RandomAccessPlayer.test.js    | 276 +++++-
 .../src/players/UserNodePlayer/index.js       | 133 ++-
 .../src/players/UserNodePlayer/index.test.js  | 620 ++++++++++++-
 .../nodeRuntimeWorker/registry.js             |  96 +-
 .../nodeRuntimeWorker/registry.test.js        |  50 +
 .../players/UserNodePlayer/nodeSecurity.js    |  38 +
 .../UserNodePlayer/nodeSecurity.test.js       |  37 +
 .../nodeTransformerWorker/transformer.js      | 124 ++-
 .../nodeTransformerWorker/transformer.test.js | 872 +++++++++++++++++-
 .../nodeTransformerWorker/typescript/ast.js   | 387 ++++++++
 .../typescript/baseDatatypes.js               |  87 ++
 .../nodeTransformerWorker/typescript/debug.js | 102 ++
 .../typescript/errors.js                      |  92 ++
 .../nodeTransformerWorker/typescript/lib.js   |  42 +
 .../nodeTransformerWorker/typescript/ros.js   | 135 +++
 .../nodeTransformerWorker/utils.js            |   7 +-
 .../src/players/UserNodePlayer/types.js       |  63 +-
 packages/webviz-core/src/reducers/index.js    |   4 +-
 .../src/reducers/nodeDiagnostics.js           |  32 -
 packages/webviz-core/src/reducers/panels.js   |  30 +-
 .../webviz-core/src/reducers/panels.test.js   |  57 +-
 .../webviz-core/src/reducers/userNodes.js     |  73 ++
 .../src/reducers/userNodes.test.js            |  43 +
 .../webviz-core/src/store/getGlobalStore.js   |  24 +
 .../webviz-core/src/stories/PanelSetup.js     |  73 +-
 .../webviz-core/src/styles/variables.scss     |   2 +
 packages/webviz-core/src/test/setup.js        |  19 +
 packages/webviz-core/src/types/Messages.js    |  16 +-
 packages/webviz-core/src/types/Scene.js       |   2 +
 packages/webviz-core/src/types/panels.js      |  11 +-
 packages/webviz-core/src/util.js              |  14 +-
 packages/webviz-core/src/util/Logger.js       |  10 +-
 packages/webviz-core/src/util/colors.js       |   2 +
 packages/webviz-core/src/util/demoLayout.json |   2 +-
 .../webviz-core/src/util/globalConstants.js   |  13 +-
 packages/webviz-core/src/util/history.js      |   2 +-
 .../src/util/indexeddb/MetaDatabase.js        |  11 +-
 .../webviz-core/src/util/migratePanels.js     |  62 ++
 .../src/util/migratePanels.test.js            |  89 ++
 packages/webviz-core/src/util/selectors.js    |   8 +-
 packages/webviz-core/src/util/time.test.js    |   2 +
 166 files changed, 9661 insertions(+), 2556 deletions(-)
 create mode 100644 packages/webviz-core/shared/parentTopicStyles.js
 create mode 100644 packages/webviz-core/src/PanelAPI/README.md
 create mode 100644 packages/webviz-core/src/PanelAPI/index.js
 create mode 100644 packages/webviz-core/src/PanelAPI/useDataSourceInfo.js
 create mode 100644 packages/webviz-core/src/PanelAPI/useDataSourceInfo.test.js
 create mode 100644 packages/webviz-core/src/PanelAPI/useMessages.test.js
 delete mode 100644 packages/webviz-core/src/actions/nodeDiagnostics.js
 create mode 100644 packages/webviz-core/src/actions/userNodes.js
 create mode 100644 packages/webviz-core/src/components/LayoutModal.js
 create mode 100644 packages/webviz-core/src/components/MessagePipeline/warnOnOutOfSyncMessages.test.js
 delete mode 100644 packages/webviz-core/src/components/PerfMonitor/index.js
 delete mode 100644 packages/webviz-core/src/components/PerfMonitor/reconciliationPerf.js
 delete mode 100644 packages/webviz-core/src/components/PerfMonitor/reconciliationPerf.test.js
 create mode 100644 packages/webviz-core/src/components/SegmentControl.js
 create mode 100644 packages/webviz-core/src/components/SegmentControl.stories.js
 create mode 100644 packages/webviz-core/src/components/TextField.js
 create mode 100644 packages/webviz-core/src/components/TextField.stories.js
 delete mode 100644 packages/webviz-core/src/hooks/useGlobalData.js
 create mode 100644 packages/webviz-core/src/hooks/useGlobalVariables.js
 create mode 100644 packages/webviz-core/src/panels/NodePlayground/BottomBar/DiagnosticsSection.js
 create mode 100644 packages/webviz-core/src/panels/NodePlayground/BottomBar/LogsSection.js
 create mode 100644 packages/webviz-core/src/panels/NodePlayground/BottomBar/index.js
 delete mode 100644 packages/webviz-core/src/panels/NodePlayground/index.module.scss
 create mode 100644 packages/webviz-core/src/panels/NodePlayground/index.test.md
 rename packages/webviz-core/src/panels/{PanelList.js => PanelList/index.js} (84%)
 create mode 100644 packages/webviz-core/src/panels/PanelList/index.stories.js
 create mode 100644 packages/webviz-core/src/panels/Plot/PlotMenu.test.js
 create mode 100644 packages/webviz-core/src/panels/Plot/__snapshots__/PlotMenu.test.js.snap
 create mode 100644 packages/webviz-core/src/panels/SubscribeToList.js
 create mode 100644 packages/webviz-core/src/panels/SubscribeToList.stories.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/Crosshair.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/MeasureMarker.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/threeDimensionalVizUtils.js
 create mode 100644 packages/webviz-core/src/players/UserNodePlayer/nodeRuntimeWorker/registry.test.js
 create mode 100644 packages/webviz-core/src/players/UserNodePlayer/nodeSecurity.js
 create mode 100644 packages/webviz-core/src/players/UserNodePlayer/nodeSecurity.test.js
 create mode 100644 packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/ast.js
 create mode 100644 packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/baseDatatypes.js
 create mode 100644 packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/debug.js
 create mode 100644 packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/errors.js
 create mode 100644 packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/lib.js
 create mode 100644 packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/ros.js
 delete mode 100644 packages/webviz-core/src/reducers/nodeDiagnostics.js
 create mode 100644 packages/webviz-core/src/reducers/userNodes.js
 create mode 100644 packages/webviz-core/src/reducers/userNodes.test.js
 create mode 100644 packages/webviz-core/src/store/getGlobalStore.js
 create mode 100644 packages/webviz-core/src/styles/variables.scss
 create mode 100644 packages/webviz-core/src/util/migratePanels.js
 create mode 100644 packages/webviz-core/src/util/migratePanels.test.js

diff --git a/jest/jest.config.js b/jest/jest.config.js
index e640e4bda..4926db2e4 100644
--- a/jest/jest.config.js
+++ b/jest/jest.config.js
@@ -18,7 +18,7 @@ module.exports = {
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   moduleDirectories: ["<rootDir>/packages", "node_modules"],
   moduleFileExtensions: ["web.js", "js", "json", "web.jsx", "jsx", "node"],
-  resetMocks: true,
+  restoreMocks: true,
   setupFiles: [
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     "<rootDir>/jest/configureEnzyme.js",
diff --git a/package-lock.json b/package-lock.json
index 001df6dbf..a72306bfc 100644
--- a/package-lock.json
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@@ -17154,27 +17154,14 @@
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-          }
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+        "prop-types": "^15.6.2"
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diff --git a/package.json b/package.json
index 9132195ec..98fc74210 100755
--- a/package.json
+++ b/package.json
@@ -68,10 +68,10 @@
     "prettier": "1.15.2",
     "quickhull3d": "2.0.4",
     "raw-loader": "^0.5.1",
-    "react": "16.8.6",
+    "react": "16.10.2",
     "react-container-dimensions": "^1.4.1",
     "react-copy-to-clipboard": "^5.0.1",
-    "react-dom": "16.8.6",
+    "react-dom": "16.10.2",
     "react-hooks-testing-library": "^0.4.0",
     "react-hot-loader": "4.8.2",
     "react-live": "^1.12.0",
@@ -112,8 +112,8 @@
   },
   "dependencies": {},
   "scripts": {
-    "bootstrap": "npm install && lerna bootstrap --hoist react",
-    "install-ci": "npm ci && lerna bootstrap --hoist react",
+    "bootstrap": "npm install && lerna bootstrap --hoist \"{react,react-dom}\"",
+    "install-ci": "npm ci && lerna bootstrap --hoist \"{react,react-dom}\"",
     "build": "lerna run build && webpack",
     "watch": "lerna run watch --parallel",
     "clean": "lerna run clean",
diff --git a/packages/@cruise-automation/hooks/src/useAbortable.test.js b/packages/@cruise-automation/hooks/src/useAbortable.test.js
index 0e7539070..5187111da 100644
--- a/packages/@cruise-automation/hooks/src/useAbortable.test.js
+++ b/packages/@cruise-automation/hooks/src/useAbortable.test.js
@@ -27,6 +27,11 @@ function signal<T>(): ResolvablePromise<T> {
 }
 
 describe("useAbortable", () => {
+  beforeEach(() => {
+    // Suppress "test was not wrapped in act" error which is kind of hard to fix with this hook.
+    jest.spyOn(console, "error").mockReturnValue();
+  });
+
   const Test = React.forwardRef((props, ref) => {
     const { action, cleanup } = props;
     const [value, abort] = useAbortable("pending", action, cleanup || (() => {}), [action]);
diff --git a/packages/webviz-core/.eslintrc.js b/packages/webviz-core/.eslintrc.js
index e7f7cac31..a6d6048a0 100644
--- a/packages/webviz-core/.eslintrc.js
+++ b/packages/webviz-core/.eslintrc.js
@@ -21,6 +21,17 @@ module.exports = {
         patterns: ["client/*", "shared/*", "server/*"],
       },
     ],
+    "no-restricted-syntax": [
+      "error",
+      {
+        selector: "MethodDefinition[kind='get'], Property[kind='get']",
+        message: "Property getters are not allowed; prefer function syntax instead.",
+      },
+      {
+        selector: "MethodDefinition[kind='set'], Property[kind='set']",
+        message: "Property setters are not allowed; prefer function syntax instead.",
+      },
+    ],
     "header/header": [
       2,
       "line",
diff --git a/packages/webviz-core/package-lock.json b/packages/webviz-core/package-lock.json
index c26aa2ed7..0fac2bc8a 100644
--- a/packages/webviz-core/package-lock.json
+++ b/packages/webviz-core/package-lock.json
@@ -961,6 +961,11 @@
         "@types/webpack": "^4.4.19"
       }
     },
+    "monaco-vim": {
+      "version": "0.1.3",
+      "resolved": "https://registry.npmjs.org/monaco-vim/-/monaco-vim-0.1.3.tgz",
+      "integrity": "sha512-1Rvgbren/4HbL1S/LhW2IVHyayFBxNUxHrh0Do+afh/MTYbteyKwC4ANjVRlqeSX2Ib8qovDUajLG30yF6aeQA=="
+    },
     "moo": {
       "version": "0.4.3",
       "resolved": "https://registry.npmjs.org/moo/-/moo-0.4.3.tgz",
@@ -1166,17 +1171,6 @@
       "resolved": "https://registry.npmjs.org/react-document-events/-/react-document-events-1.4.0.tgz",
       "integrity": "sha512-eJuzYYLAqtHA2uV3JUWKWhmKXPBfSCVZEpFQpCswd3gzfJWn9UbX+7pIe3MKaofLLIIE/KwZ06ay5QJePt9bHw=="
     },
-    "react-dom": {
-      "version": "16.8.6",
-      "resolved": "https://registry.npmjs.org/react-dom/-/react-dom-16.8.6.tgz",
-      "integrity": "sha512-1nL7PIq9LTL3fthPqwkvr2zY7phIPjYrT0jp4HjyEQrEROnw4dG41VVwi/wfoCneoleqrNX7iAD+pXebJZwrwA==",
-      "requires": {
-        "loose-envify": "^1.1.0",
-        "object-assign": "^4.1.1",
-        "prop-types": "^15.6.2",
-        "scheduler": "^0.13.6"
-      }
-    },
     "react-draggable": {
       "version": "3.0.5",
       "resolved": "https://registry.npmjs.org/react-draggable/-/react-draggable-3.0.5.tgz",
@@ -1412,21 +1406,21 @@
       }
     },
     "react-test-renderer": {
-      "version": "16.8.6",
-      "resolved": "https://registry.npmjs.org/react-test-renderer/-/react-test-renderer-16.8.6.tgz",
-      "integrity": "sha512-H2srzU5IWYT6cZXof6AhUcx/wEyJddQ8l7cLM/F7gDXYyPr4oq+vCIxJYXVGhId1J706sqziAjuOEjyNkfgoEw==",
+      "version": "16.10.2",
+      "resolved": "https://registry.npmjs.org/react-test-renderer/-/react-test-renderer-16.10.2.tgz",
+      "integrity": "sha512-k9Qzyev6cTIcIfrhgrFlYQAFxh5EEDO6ALNqYqmKsWVA7Q/rUMTay5nD3nthi6COmYsd4ghVYyi8U86aoeMqYQ==",
       "dev": true,
       "requires": {
         "object-assign": "^4.1.1",
         "prop-types": "^15.6.2",
         "react-is": "^16.8.6",
-        "scheduler": "^0.13.6"
+        "scheduler": "^0.16.2"
       },
       "dependencies": {
         "react-is": {
-          "version": "16.8.6",
-          "resolved": "https://registry.npmjs.org/react-is/-/react-is-16.8.6.tgz",
-          "integrity": "sha512-aUk3bHfZ2bRSVFFbbeVS4i+lNPZr3/WM5jT2J5omUVV1zzcs1nAaf3l51ctA5FFvCRbhrH0bdAsRRQddFJZPtA==",
+          "version": "16.10.2",
+          "resolved": "https://registry.npmjs.org/react-is/-/react-is-16.10.2.tgz",
+          "integrity": "sha512-INBT1QEgtcCCgvccr5/86CfD71fw9EPmDxgiJX4I2Ddr6ZsV6iFXsuby+qWJPtmNuMY0zByTsG4468P7nHuNWA==",
           "dev": true
         }
       }
@@ -1576,9 +1570,10 @@
       }
     },
     "scheduler": {
-      "version": "0.13.6",
-      "resolved": "https://registry.npmjs.org/scheduler/-/scheduler-0.13.6.tgz",
-      "integrity": "sha512-IWnObHt413ucAYKsD9J1QShUKkbKLQQHdxRyw73sw4FN26iWr3DY/H34xGPe4nmL1DwXyWmSWmMrA9TfQbE/XQ==",
+      "version": "0.16.2",
+      "resolved": "https://registry.npmjs.org/scheduler/-/scheduler-0.16.2.tgz",
+      "integrity": "sha512-BqYVWqwz6s1wZMhjFvLfVR5WXP7ZY32M/wYPo04CcuPM7XZEbV2TBNW7Z0UkguPTl0dWMA59VbNXxK6q+pHItg==",
+      "dev": true,
       "requires": {
         "loose-envify": "^1.1.0",
         "object-assign": "^4.1.1"
diff --git a/packages/webviz-core/package.json b/packages/webviz-core/package.json
index d3b6c5ecf..82902d987 100644
--- a/packages/webviz-core/package.json
+++ b/packages/webviz-core/package.json
@@ -27,18 +27,19 @@
     "moment-duration-format": "2.2.2",
     "moment-timezone": "0.5.23",
     "monaco-editor": "0.17.1",
+    "monaco-vim": "0.1.3",
     "natsort": "2.0.0",
     "nearley": "2.15.1",
     "promise-queue": "2.2.5",
     "prop-types": "15.6.2",
     "raven-js": "3.27.0",
-    "react": "16.8.6",
+    "react": "16.10.2",
     "react-autocomplete": "janpaul123/react-autocomplete#bc8737070b5744069719c8fcd4e0a197192b0d48",
     "react-chartjs-2": "2.7.4",
     "react-container-dimensions": "1.4.1",
     "react-dnd": "2.5.4",
     "react-document-events": "1.4.0",
-    "react-dom": "16.8.6",
+    "react-dom": "16.10.2",
     "react-draggable": "3.0.5",
     "react-hot-loader": "4.8.2",
     "react-hover-observer": "2.1.1",
@@ -72,7 +73,7 @@
     "fetch-mock": "7.2.5",
     "flow-bin": "0.106.2",
     "monaco-editor-webpack-plugin": "1.7.0",
-    "react-test-renderer": "16.8.6"
+    "react-test-renderer": "16.10.2"
   },
   "importjs": {
     "isRoot": false
diff --git a/packages/webviz-core/shared/parentTopicStyles.js b/packages/webviz-core/shared/parentTopicStyles.js
new file mode 100644
index 000000000..690bc8b6e
--- /dev/null
+++ b/packages/webviz-core/shared/parentTopicStyles.js
@@ -0,0 +1,17 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import styled from "styled-components";
+
+export const ParentTopicLabel = styled.label`
+  display: block;
+  padding-bottom: 5px;
+`;
+
+export const ParentTopicInput = styled.input`
+  width: 100%;
+`;
diff --git a/packages/webviz-core/src/PanelAPI/README.md b/packages/webviz-core/src/PanelAPI/README.md
new file mode 100644
index 000000000..201f64015
--- /dev/null
+++ b/packages/webviz-core/src/PanelAPI/README.md
@@ -0,0 +1,77 @@
+# PanelAPI
+
+The `PanelAPI` namespace contains React [Hooks](https://reactjs.org/docs/hooks-intro.html) and components which allow panel authors to access Webviz data and metadata inside their panels. Using these APIs across all panels helps ensure that data appears consistent among panels, and makes it easier for panels to support advanced features (such as multiple simultaneous data sources).
+
+To use PanelAPI, it's recommended that you import the whole namespace, so that all usage sites look consistent, like `PanelAPI.useSomething()`.
+
+```js
+import * as PanelAPI from "webviz-core/src/PanelAPI";
+```
+
+## [`PanelAPI.useDataSourceInfo()`](useDataSourceInfo.js)
+
+"Data source info" encapsulates **rarely-changing** metadata about the sources from which Webviz is loading data. (A data source might be a local [bag file](http://wiki.ros.org/Bags/Format) dropped into the browser, or a bag stored on a remote server; see [players](../players) and [dataSources](../dataSources) for more details.)
+
+Using this hook inside a panel will cause the panel to re-render automatically when the metadata changes, but this won't happen very often or during playback. (Exception: the internal WebSocket player might cause `endTime` to update frequently; this is considered a bug.)
+
+```js
+ PanelAPI.useDataSourceInfo(): {|
+  topics: $ReadOnlyArray<Topic>,
+  datatypes: RosDatatypes,
+  capabilities: string[],
+  startTime: ?Time,
+  endTime: ?Time,
+|};
+```
+
+## [`PanelAPI.useMessages()`](../components/MessageHistory/MessageHistoryOnlyTopics.js)
+
+`useMessages()` provides panels a way to access [messages](http://wiki.ros.org/Messages) from [topics](http://wiki.ros.org/Topics). `useMessages` is a fairly **low-level API** that many panels will use via [`<MessageHistory>`](../components/MessageHistory) (in the future, we'll provide alternative hooks or helper functions to use MessageHistory [topic path syntax](../components/MessageHistory/topicPathSyntax.help.md) with useMessages). Users can define how to initialize a custom state, and how to update the state based on incoming messages.
+
+Using this hook will cause the panel to re-render when any new messages come in on the requested topics.
+
+```js
+PanelAPI.useMessages<T>(props: {|
+  topics: string[],
+  imageScale?: number,
+  restore: (prevState: ?T) => T,
+  addMessage: (prevState: T, message: Message) => T,
+|}): {| reducedValue: T |};
+```
+
+### Subscription parameters
+
+- `topics`: set of topics to subscribe to. Changing only the topics will not cause `restore` or `addMessage` to be called.
+- `imageScale`: number between 0 and 1 for subscriptions to image topics, requesting that the player downsample images. _(Unused in the open-source version of Webviz.)_
+
+### Reducer functions
+
+The useMessages hook returns a user-defined "state" (`T`). The `restore` and `addMessage` callbacks specify how to initialize and update the state.
+
+These reducers should be wrapped in [`useCallback()`](https://reactjs.org/docs/hooks-reference.html#usecallback), because the useMessages hook will do extra work when they change, so they should change only when the interpretation of message data is actually changing.
+
+- `restore: (?T) => T`:
+  - Called with `undefined` to initialize a new state when the panel first renders, and when the user seeks to a different playback time (at which point Webviz automatically clears out state across all panels).
+  - Called with the previous state when the `restore` or `addMessage` reducer functions change. This allows the panel an opportunity to reuse its previous state when a parameter changes, without totally discarding it (as in the case of a seek) and waiting for new messages to come in from the data source.
+
+    For example, a panel that filters some incoming messages can use `restore` to create a filtered value immediately when the filter changes. To implement this, the caller might switch from unfiltered reducers:
+
+    ```js
+    {
+      restore: (x: ?string[]) => (x || []),
+      addMessage: (x: string[], m: Message) => x.concat(m.data),
+    }
+    ```
+
+    to reducers implementing a filter:
+
+    ```js
+    {
+      restore: (x: ?string[]) => (x ? x.filter(predicate) : []),
+      addMessage: (x: string[], m: Message) => (predicate(m.data) ? x.concat(m.data) : x),
+    }
+    ```
+
+    As soon as the reducers are swapped, the **new** `restore()` will be called with the **previous** data. (If the filter is removed again, the old data that was filtered out can't be magically restored unless it was kept in the state, but hopefully future work to preload data faster than real-time will help us there.)
+
+- `addMessage: (T, Message) => T`: called when any new message comes in on one of the requested topics. The return value from `addMessage` will be the new return value from `useMessages().reducedValue`.
diff --git a/packages/webviz-core/src/PanelAPI/index.js b/packages/webviz-core/src/PanelAPI/index.js
new file mode 100644
index 000000000..c2e7965d1
--- /dev/null
+++ b/packages/webviz-core/src/PanelAPI/index.js
@@ -0,0 +1,17 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+// This file contains hooks and components comprising the public API for Webviz panel development.
+// Recommended use: import * as PanelAPI from "webviz-core/src/PanelAPI";
+
+// More to come soon!
+
+export { default as useDataSourceInfo } from "./useDataSourceInfo";
+export type { DataSourceInfo } from "./useDataSourceInfo";
+
+export { useMessages } from "webviz-core/src/components/MessageHistory/MessageHistoryOnlyTopics";
diff --git a/packages/webviz-core/src/PanelAPI/useDataSourceInfo.js b/packages/webviz-core/src/PanelAPI/useDataSourceInfo.js
new file mode 100644
index 000000000..0b4f9bb98
--- /dev/null
+++ b/packages/webviz-core/src/PanelAPI/useDataSourceInfo.js
@@ -0,0 +1,57 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { useMemo, useContext, useCallback } from "react";
+import { type Time } from "rosbag";
+
+import { useMessagePipeline } from "webviz-core/src/components/MessagePipeline";
+import PanelContext from "webviz-core/src/components/PanelContext";
+import filterMap from "webviz-core/src/filterMap";
+import { type Topic } from "webviz-core/src/players/types";
+import type { RosDatatypes } from "webviz-core/src/types/RosDatatypes";
+
+// Metadata about the source of data currently being displayed in Webviz.
+// This is not expected to change often, usually when changing data sources.
+export type DataSourceInfo = {|
+  topics: $ReadOnlyArray<Topic>,
+  datatypes: RosDatatypes,
+  capabilities: string[],
+  startTime: ?Time,
+  endTime: ?Time,
+|};
+
+export default function useDataSourceInfo(): DataSourceInfo {
+  const { topicPrefix = "" } = useContext(PanelContext) || {};
+  const datatypes = useMessagePipeline(useCallback(({ datatypes }) => datatypes, []));
+  const prefixedTopics = useMessagePipeline(useCallback(({ sortedTopics }) => sortedTopics, []));
+  const startTime = useMessagePipeline(
+    useCallback(({ playerState: { activeData } }) => activeData && activeData.startTime, [])
+  );
+  const endTime = useMessagePipeline(
+    useCallback(({ playerState: { activeData } }) => activeData && activeData.endTime, [])
+  );
+  const capabilities = useMessagePipeline(useCallback(({ playerState: { capabilities } }) => capabilities, []));
+
+  const unprefixedTopics = useMemo(
+    () =>
+      topicPrefix
+        ? filterMap(prefixedTopics, ({ name, datatype }) =>
+            name.startsWith(topicPrefix) ? { name: name.slice(topicPrefix.length), datatype } : null
+          )
+        : prefixedTopics,
+    [topicPrefix, prefixedTopics]
+  );
+
+  return {
+    topics: unprefixedTopics,
+    datatypes,
+    capabilities,
+    startTime,
+    endTime,
+  };
+}
diff --git a/packages/webviz-core/src/PanelAPI/useDataSourceInfo.test.js b/packages/webviz-core/src/PanelAPI/useDataSourceInfo.test.js
new file mode 100644
index 000000000..f7ed597d5
--- /dev/null
+++ b/packages/webviz-core/src/PanelAPI/useDataSourceInfo.test.js
@@ -0,0 +1,149 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { mount } from "enzyme";
+import * as React from "react";
+
+import * as PanelAPI from ".";
+import { MockMessagePipelineProvider } from "webviz-core/src/components/MessagePipeline";
+import { MockPanelContextProvider } from "webviz-core/src/components/Panel";
+
+describe("useDataSourceInfo", () => {
+  const topics = [{ name: "/foo", datatype: "Foo" }];
+  const messages = [
+    {
+      op: "message",
+      datatype: "Foo",
+      topic: "/foo",
+      receiveTime: { sec: 1, nsec: 2 },
+      message: {},
+    },
+    {
+      op: "message",
+      datatype: "Foo",
+      topic: "/foo",
+      receiveTime: { sec: 5, nsec: 6 },
+      message: {},
+    },
+  ];
+  const datatypes = {
+    Foo: [],
+  };
+
+  // Create a helper component that exposes the results of the hook in a Jest mock function
+  function createTest() {
+    function Test() {
+      return Test.renderFn(PanelAPI.useDataSourceInfo());
+    }
+    Test.renderFn = jest.fn().mockImplementation(() => null);
+    return Test;
+  }
+
+  it("returns data from MessagePipelineContext", () => {
+    const Test = createTest();
+    const root = mount(
+      <MockMessagePipelineProvider
+        topics={topics}
+        datatypes={datatypes}
+        capabilities={["hello"]}
+        messages={[messages[0]]}
+        startTime={{ sec: 0, nsec: 1 }}
+        endTime={{ sec: 10, nsec: 0 }}>
+        <Test />
+      </MockMessagePipelineProvider>
+    );
+    expect(Test.renderFn.mock.calls).toEqual([
+      [
+        {
+          topics: [{ name: "/foo", datatype: "Foo" }],
+          datatypes: { Foo: [] },
+          capabilities: ["hello"],
+          startTime: { sec: 0, nsec: 1 },
+          endTime: { sec: 10, nsec: 0 },
+        },
+      ],
+    ]);
+    root.unmount();
+  });
+
+  it("doesn't change when messages change", () => {
+    const Test = createTest();
+    const root = mount(
+      <MockMessagePipelineProvider
+        topics={topics}
+        datatypes={datatypes}
+        capabilities={["hello"]}
+        messages={[messages[0]]}
+        startTime={{ sec: 0, nsec: 1 }}
+        endTime={{ sec: 10, nsec: 0 }}>
+        <Test />
+      </MockMessagePipelineProvider>
+    );
+    expect(Test.renderFn.mock.calls).toEqual([
+      [
+        {
+          topics: [{ name: "/foo", datatype: "Foo" }],
+          datatypes: { Foo: [] },
+          capabilities: ["hello"],
+          startTime: { sec: 0, nsec: 1 },
+          endTime: { sec: 10, nsec: 0 },
+        },
+      ],
+    ]);
+    Test.renderFn.mockClear();
+
+    root.setProps({ messages: [messages[1]] });
+    expect(Test.renderFn).toHaveBeenCalledTimes(0);
+
+    root.setProps({ topics: [...topics, { name: "/bar", datatype: "Bar" }] });
+    expect(Test.renderFn.mock.calls).toEqual([
+      [
+        {
+          topics: [{ name: "/bar", datatype: "Bar" }, { name: "/foo", datatype: "Foo" }],
+          datatypes: { Foo: [] },
+          capabilities: ["hello"],
+          startTime: { sec: 0, nsec: 1 },
+          endTime: { sec: 10, nsec: 0 },
+        },
+      ],
+    ]);
+
+    root.unmount();
+  });
+
+  it("removes PanelContext.topicPrefix from topics", () => {
+    const Test = createTest();
+    const root = mount(
+      <MockPanelContextProvider topicPrefix={"/foo"}>
+        <MockMessagePipelineProvider
+          topics={[
+            { name: "/foo/abc", datatype: "FooAbc" },
+            { name: "/foo123", datatype: "Foo123" },
+            { name: "/bar/xyz", datatype: "BarXyz" },
+          ]}>
+          <Test />
+        </MockMessagePipelineProvider>
+      </MockPanelContextProvider>
+    );
+    expect(Test.renderFn.mock.calls).toEqual([
+      [
+        {
+          topics: [
+            { name: "123", datatype: "Foo123" }, // FIXME: prefixes probably shouldn't be stripped this way
+            { name: "/abc", datatype: "FooAbc" },
+          ],
+          datatypes: {},
+          capabilities: [],
+          startTime: { sec: 100, nsec: 0 },
+          endTime: { sec: 100, nsec: 0 },
+        },
+      ],
+    ]);
+    root.unmount();
+  });
+});
diff --git a/packages/webviz-core/src/PanelAPI/useMessages.test.js b/packages/webviz-core/src/PanelAPI/useMessages.test.js
new file mode 100644
index 000000000..4afdde57c
--- /dev/null
+++ b/packages/webviz-core/src/PanelAPI/useMessages.test.js
@@ -0,0 +1,271 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { mount } from "enzyme";
+import * as React from "react";
+
+import * as PanelAPI from ".";
+import { MockMessagePipelineProvider } from "webviz-core/src/components/MessagePipeline";
+
+describe("useMessages", () => {
+  // Create a helper component that exposes restore, addMessage, and the results of the hook for mocking
+  function createTest() {
+    function Test({ topics }) {
+      Test.result(
+        PanelAPI.useMessages({
+          topics,
+          addMessage: Test.addMessage,
+          restore: Test.restore,
+        }).reducedValue
+      );
+      return null;
+    }
+    Test.result = jest.fn();
+    Test.restore = jest.fn();
+    Test.addMessage = jest.fn();
+    return Test;
+  }
+
+  it("calls restore to initialize without messages", async () => {
+    const Test = createTest();
+    Test.restore.mockReturnValue(1);
+
+    const root = mount(
+      <MockMessagePipelineProvider>
+        <Test topics={["/foo"]} />
+      </MockMessagePipelineProvider>
+    );
+
+    await Promise.resolve();
+    expect(Test.restore.mock.calls).toEqual([[undefined]]);
+    expect(Test.addMessage.mock.calls).toEqual([]);
+    expect(Test.result.mock.calls).toEqual([[1]]);
+
+    root.unmount();
+  });
+
+  it("calls restore to initialize and addMessage for initial messages", async () => {
+    const Test = createTest();
+
+    Test.restore.mockReturnValue(1);
+    Test.addMessage.mockImplementation((_, msg) => msg.message.value);
+
+    const message = {
+      op: "message",
+      datatype: "Foo",
+      topic: "/foo",
+      receiveTime: { sec: 0, nsec: 0 },
+      message: { value: 2 },
+    };
+
+    const root = mount(
+      <MockMessagePipelineProvider messages={[message]}>
+        <Test topics={["/foo"]} />
+      </MockMessagePipelineProvider>
+    );
+
+    expect(Test.restore.mock.calls).toEqual([[undefined]]);
+    expect(Test.addMessage.mock.calls).toEqual([[1, message]]);
+    expect(Test.result.mock.calls).toEqual([[2]]);
+
+    root.unmount();
+  });
+
+  it("calls addMessage for messages added later", async () => {
+    const Test = createTest();
+
+    Test.restore.mockReturnValue(1);
+    Test.addMessage.mockImplementation((_, msg) => msg.message.value);
+
+    const message1 = {
+      op: "message",
+      datatype: "Foo",
+      topic: "/foo",
+      receiveTime: { sec: 0, nsec: 0 },
+      message: { value: 2 },
+    };
+    const message2 = {
+      op: "message",
+      datatype: "Bar",
+      topic: "/bar",
+      receiveTime: { sec: 0, nsec: 0 },
+      message: { value: 3 },
+    };
+
+    const root = mount(
+      <MockMessagePipelineProvider messages={[]}>
+        <Test topics={["/foo"]} />
+      </MockMessagePipelineProvider>
+    );
+
+    root.setProps({ messages: [message1] });
+
+    expect(Test.restore.mock.calls).toEqual([[undefined]]);
+    expect(Test.addMessage.mock.calls).toEqual([[1, message1]]);
+    expect(Test.result.mock.calls).toEqual([[1], [2]]);
+
+    // Subscribe to a new topic, then receive a message on that topic
+    root.setProps({ children: <Test topics={["/foo", "/bar"]} /> });
+
+    expect(Test.restore.mock.calls).toEqual([[undefined]]);
+    expect(Test.addMessage.mock.calls).toEqual([[1, message1]]);
+    expect(Test.result.mock.calls).toEqual([[1], [2], [2]]);
+
+    root.setProps({ messages: [message2] });
+
+    expect(Test.restore.mock.calls).toEqual([[undefined]]);
+    expect(Test.addMessage.mock.calls).toEqual([[1, message1], [2, message2]]);
+    expect(Test.result.mock.calls).toEqual([[1], [2], [2], [3]]);
+
+    root.unmount();
+  });
+
+  it("doesn't re-render for messages on non-subscribed topics", async () => {
+    const Test = createTest();
+
+    Test.restore.mockReturnValue(1);
+    Test.addMessage.mockImplementation((_, msg) => msg.message.value);
+
+    const message1 = {
+      op: "message",
+      datatype: "Foo",
+      topic: "/foo",
+      receiveTime: { sec: 0, nsec: 0 },
+      message: { value: 2 },
+    };
+    const message2 = {
+      op: "message",
+      datatype: "Bar",
+      topic: "/bar",
+      receiveTime: { sec: 0, nsec: 0 },
+      message: { value: 3 },
+    };
+
+    const root = mount(
+      <MockMessagePipelineProvider messages={[message1]}>
+        <Test topics={["/foo"]} />
+      </MockMessagePipelineProvider>
+    );
+
+    expect(Test.restore.mock.calls).toEqual([[undefined]]);
+    expect(Test.addMessage.mock.calls).toEqual([[1, message1]]);
+    expect(Test.result.mock.calls).toEqual([[2]]);
+
+    root.setProps({ messages: [message2] });
+
+    expect(Test.restore.mock.calls).toEqual([[undefined]]);
+    expect(Test.addMessage.mock.calls).toEqual([[1, message1]]);
+    expect(Test.result.mock.calls).toEqual([[2]]);
+
+    root.unmount();
+  });
+
+  it("doesn't re-render when requested topics change", async () => {
+    const Test = createTest();
+
+    Test.restore.mockReturnValue(1);
+    Test.addMessage.mockImplementation((_, msg) => msg.message.value);
+
+    const message1 = {
+      op: "message",
+      datatype: "Foo",
+      topic: "/foo",
+      receiveTime: { sec: 0, nsec: 0 },
+      message: { value: 2 },
+    };
+    const message2 = {
+      op: "message",
+      datatype: "Bar",
+      topic: "/bar",
+      receiveTime: { sec: 0, nsec: 0 },
+      message: { value: 3 },
+    };
+
+    const root = mount(
+      <MockMessagePipelineProvider messages={[message1, message2]}>
+        <Test topics={["/bar"]} />
+      </MockMessagePipelineProvider>
+    );
+
+    expect(Test.restore.mock.calls).toEqual([[undefined]]);
+    expect(Test.addMessage.mock.calls).toEqual([[1, message2]]);
+    expect(Test.result.mock.calls).toEqual([[3]]);
+
+    // When topics change, we expect useMessages NOT to call addMessage for pre-existing messages.
+    // (If the player is playing, new messages will come in soon, and if it's paused, we'll backfill.)
+    // This is because processing the same frame again might lead to duplicate or out-of-order
+    // addMessages calls. If the user really cares about re-processing the current frame, they can
+    // change their restore/addMessages reducers.
+    root.setProps({ children: <Test topics={["/bar", "/foo"]} /> });
+
+    expect(Test.restore.mock.calls).toEqual([[undefined]]);
+    expect(Test.addMessage.mock.calls).toEqual([[1, message2]]);
+    expect(Test.result.mock.calls).toEqual([[3], [3]]);
+
+    root.unmount();
+  });
+
+  it("doesn't re-render when player topics or other playerState changes", async () => {
+    const Test = createTest();
+
+    Test.restore.mockReturnValue(1);
+    Test.addMessage.mockImplementation((_, msg) => msg.message.value);
+
+    const message = {
+      op: "message",
+      datatype: "Foo",
+      topic: "/foo",
+      receiveTime: { sec: 0, nsec: 0 },
+      message: { value: 2 },
+    };
+
+    const root = mount(
+      <MockMessagePipelineProvider messages={[message]}>
+        <Test topics={["/foo"]} />
+      </MockMessagePipelineProvider>
+    );
+
+    expect(Test.restore.mock.calls).toEqual([[undefined]]);
+    expect(Test.addMessage.mock.calls).toEqual([[1, message]]);
+    expect(Test.result.mock.calls).toEqual([[2]]);
+
+    root.setProps({ topics: ["/foo", "/bar"] });
+    root.setProps({ capabilities: ["some_capability"] });
+
+    expect(Test.restore.mock.calls).toEqual([[undefined]]);
+    expect(Test.addMessage.mock.calls).toEqual([[1, message]]);
+    expect(Test.result.mock.calls).toEqual([[2]]);
+
+    root.unmount();
+  });
+
+  it("doesn't re-render when activeData is empty", async () => {
+    const Test = createTest();
+
+    Test.restore.mockReturnValue(1);
+    Test.addMessage.mockImplementation((_, msg) => msg.message.value);
+
+    const root = mount(
+      <MockMessagePipelineProvider noActiveData>
+        <Test topics={["/foo"]} />
+      </MockMessagePipelineProvider>
+    );
+
+    expect(Test.restore.mock.calls).toEqual([[undefined]]);
+    expect(Test.addMessage.mock.calls).toEqual([]);
+    expect(Test.result.mock.calls).toEqual([[1]]);
+
+    root.setProps({ capabilities: ["some_capability"] });
+
+    expect(Test.restore.mock.calls).toEqual([[undefined]]);
+    expect(Test.addMessage.mock.calls).toEqual([]);
+    expect(Test.result.mock.calls).toEqual([[1]]);
+
+    root.unmount();
+  });
+});
diff --git a/packages/webviz-core/src/actions/index.js b/packages/webviz-core/src/actions/index.js
index 8c77741df..e7b35b19f 100644
--- a/packages/webviz-core/src/actions/index.js
+++ b/packages/webviz-core/src/actions/index.js
@@ -8,7 +8,7 @@
 
 import type { ExtensionsActions } from "./extensions";
 import type { SET_MOSAIC_ID } from "./mosaic";
-import type { NodeDiagnosticsActions } from "./nodeDiagnostics";
 import type { PanelsActions } from "./panels";
+import type { UserNodesActions } from "./userNodes";
 
-export type ActionTypes = PanelsActions | SET_MOSAIC_ID | ExtensionsActions | NodeDiagnosticsActions;
+export type ActionTypes = PanelsActions | SET_MOSAIC_ID | ExtensionsActions | UserNodesActions;
diff --git a/packages/webviz-core/src/actions/nodeDiagnostics.js b/packages/webviz-core/src/actions/nodeDiagnostics.js
deleted file mode 100644
index 3161e41a1..000000000
--- a/packages/webviz-core/src/actions/nodeDiagnostics.js
+++ /dev/null
@@ -1,23 +0,0 @@
-// @flow
-//
-//  Copyright (c) 2018-present, GM Cruise LLC
-//
-//  This source code is licensed under the Apache License, Version 2.0,
-//  found in the LICENSE file in the root directory of this source tree.
-//  You may not use this file except in compliance with the License.
-
-import type { NodeDiagnostics } from "webviz-core/src/reducers/nodeDiagnostics";
-
-type SET_NODE_DIAGNOSTICS = {
-  type: "SET_NODE_DIAGNOSTICS",
-  payload: NodeDiagnostics,
-};
-
-export const setNodeDiagnostics = (payload: NodeDiagnostics) => ({
-  type: "SET_NODE_DIAGNOSTICS",
-  payload,
-});
-
-export type SetNodeDiagnostics = typeof setNodeDiagnostics;
-
-export type NodeDiagnosticsActions = SET_NODE_DIAGNOSTICS;
diff --git a/packages/webviz-core/src/actions/panels.js b/packages/webviz-core/src/actions/panels.js
index c26f77c81..fb48df118 100644
--- a/packages/webviz-core/src/actions/panels.js
+++ b/packages/webviz-core/src/actions/panels.js
@@ -14,11 +14,10 @@ import type {
   SaveConfigPayload,
   SaveFullConfigPayload,
   UserNodes,
+  PlaybackConfig,
 } from "webviz-core/src/types/panels";
 import type { Dispatch, GetState } from "webviz-core/src/types/Store";
-// DANGER: if you change this you break existing layout urls
-export const URL_KEY = "layout";
-export const LAYOUT_URL = "layout-url";
+import { LAYOUT_QUERY_KEY } from "webviz-core/src/util/globalConstants";
 
 export type SAVE_PANEL_CONFIG = {
   type: "SAVE_PANEL_CONFIG",
@@ -37,8 +36,8 @@ function maybeStripLayoutId(dispatch: Dispatch, getState: GetState): void {
 
   if (location) {
     const params = new URLSearchParams(location.search);
-    if (params.get(URL_KEY)) {
-      params.delete(URL_KEY);
+    if (params.get(LAYOUT_QUERY_KEY)) {
+      params.delete(LAYOUT_QUERY_KEY);
       const newSearch = params.toString();
       const searchString = newSearch ? `?${newSearch}` : newSearch;
       const newPath = `${location.pathname}${searchString}`;
@@ -104,7 +103,7 @@ type OVERWRITE_GLOBAL_DATA = {
   payload: any,
 };
 
-export const overwriteGlobalData = (payload: any): OVERWRITE_GLOBAL_DATA => ({
+export const overwriteGlobalVariables = (payload: any): OVERWRITE_GLOBAL_DATA => ({
   type: "OVERWRITE_GLOBAL_DATA",
   payload,
 });
@@ -114,7 +113,7 @@ type SET_GLOBAL_DATA = {
   payload: any,
 };
 
-export const setGlobalData = (payload: any): SET_GLOBAL_DATA => ({
+export const setGlobalVariables = (payload: any): SET_GLOBAL_DATA => ({
   type: "SET_GLOBAL_DATA",
   payload,
 });
@@ -139,6 +138,16 @@ export const setLinkedGlobalVariables = (payload: LinkedGlobalVariables): SET_LI
   payload,
 });
 
+type SET_PLAYBACK_CONFIG = {
+  type: "SET_PLAYBACK_CONFIG",
+  payload: PlaybackConfig,
+};
+
+export const setPlaybackConfig = (payload: PlaybackConfig): SET_PLAYBACK_CONFIG => ({
+  type: "SET_PLAYBACK_CONFIG",
+  payload,
+});
+
 export type PanelsActions =
   | CHANGE_PANEL_LAYOUT
   | IMPORT_PANEL_LAYOUT
@@ -147,4 +156,5 @@ export type PanelsActions =
   | OVERWRITE_GLOBAL_DATA
   | SET_GLOBAL_DATA
   | SET_WEBVIZ_NODES
-  | SET_LINKED_GLOBAL_VARIABLES;
+  | SET_LINKED_GLOBAL_VARIABLES
+  | SET_PLAYBACK_CONFIG;
diff --git a/packages/webviz-core/src/actions/userNodes.js b/packages/webviz-core/src/actions/userNodes.js
new file mode 100644
index 000000000..c11b1caf2
--- /dev/null
+++ b/packages/webviz-core/src/actions/userNodes.js
@@ -0,0 +1,60 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import type { UserNodeDiagnostics, UserNodeLogs } from "webviz-core/src/players/UserNodePlayer/types";
+
+type SET_USER_NODE_DIAGNOSTICS = {
+  type: "SET_USER_NODE_DIAGNOSTICS",
+  payload: UserNodeDiagnostics,
+};
+
+type ADD_USER_NODE_LOGS = {
+  type: "ADD_USER_NODE_LOGS",
+  payload: UserNodeLogs,
+};
+
+type CLEAR_USER_NODE_LOGS = {
+  type: "CLEAR_USER_NODE_LOGS",
+  payload: string,
+};
+
+type SET_USER_NODE_TRUST = {
+  type: "SET_USER_NODE_TRUST",
+  payload: { id: string, trusted: boolean },
+};
+
+export const setUserNodeDiagnostics = (payload: UserNodeDiagnostics) => ({
+  type: "SET_USER_NODE_DIAGNOSTICS",
+  payload,
+});
+
+export const addUserNodeLogs = (payload: UserNodeLogs) => ({
+  type: "ADD_USER_NODE_LOGS",
+  payload,
+});
+
+export const clearUserNodeLogs = (payload: string) => ({
+  type: "CLEAR_USER_NODE_LOGS",
+  payload,
+});
+
+export const setUserNodeTrust = (payload: { id: string, trusted: boolean }) => ({
+  type: "SET_USER_NODE_TRUST",
+  payload,
+});
+
+export type AddUserNodeLogs = typeof addUserNodeLogs;
+export type ClearUserNodeLogs = typeof clearUserNodeLogs;
+export type SetUserNodeDiagnostics = typeof setUserNodeDiagnostics;
+export type SetUserNodeTrust = typeof setUserNodeTrust;
+
+export type UserNodesActions =
+  | ADD_USER_NODE_LOGS
+  | CLEAR_USER_NODE_LOGS
+  | SET_USER_NODE_DIAGNOSTICS
+  | SET_USER_NODE_TRUST;
diff --git a/packages/webviz-core/src/components/AppMenu/index.js b/packages/webviz-core/src/components/AppMenu/index.js
index 300a5e13d..447afc6ac 100644
--- a/packages/webviz-core/src/components/AppMenu/index.js
+++ b/packages/webviz-core/src/components/AppMenu/index.js
@@ -7,21 +7,34 @@
 //  You may not use this file except in compliance with the License.
 
 import PlusBoxIcon from "@mdi/svg/svg/plus-box.svg";
+import { isEmpty } from "lodash";
 import React, { Component } from "react";
+import { connect } from "react-redux";
 
+import { changePanelLayout, savePanelConfig } from "webviz-core/src/actions/panels";
 import ChildToggle from "webviz-core/src/components/ChildToggle";
 import Icon from "webviz-core/src/components/Icon";
 import Menu from "webviz-core/src/components/Menu";
 import PanelList from "webviz-core/src/panels/PanelList";
+import type { State as ReduxState } from "webviz-core/src/reducers";
+import type { PanelsState } from "webviz-core/src/reducers/panels";
+import type { PanelConfig, SaveConfigPayload } from "webviz-core/src/types/panels";
+import { getPanelIdForType } from "webviz-core/src/util";
 
-type Props = {|
-  onPanelSelect: (panelType: string) => void,
+type OwnProps = {|
   defaultIsOpen?: boolean, // just for testing
 |};
 
+type Props = {|
+  ...OwnProps,
+  panels: PanelsState,
+  changePanelLayout: (panelLayout: any) => void,
+  savePanelConfig: (SaveConfigPayload) => void,
+|};
+
 type State = {| isOpen: boolean |};
 
-export default class AppMenu extends Component<Props, State> {
+class UnconnectedAppMenu extends Component<Props, State> {
   constructor(props: Props) {
     super(props);
     this.state = { isOpen: props.defaultIsOpen || false };
@@ -31,23 +44,48 @@ export default class AppMenu extends Component<Props, State> {
     return nextState.isOpen !== this.state.isOpen;
   }
 
-  onToggle = () => {
+  _onToggle = () => {
     const { isOpen } = this.state;
     this.setState({ isOpen: !isOpen });
   };
 
+  _onPanelSelect = (panelType: string, panelConfig?: PanelConfig) => {
+    const { panels, changePanelLayout, savePanelConfig } = this.props;
+    const id = getPanelIdForType(panelType);
+    let newPanels = {
+      direction: "row",
+      first: id,
+      second: panels.layout,
+    };
+    if (isEmpty(panels.layout)) {
+      newPanels = id;
+    }
+    if (panelConfig) {
+      savePanelConfig({ id, config: panelConfig });
+    }
+    changePanelLayout(newPanels);
+    window.ga("send", "event", "Panel", "Select", panelType);
+  };
+
   render() {
     const { isOpen } = this.state;
     return (
-      <ChildToggle position="below" onToggle={this.onToggle} isOpen={isOpen}>
+      <ChildToggle position="below" onToggle={this._onToggle} isOpen={isOpen}>
         <Icon small fade active={isOpen} tooltip="Add Panel">
           <PlusBoxIcon />
         </Icon>
         <Menu>
           {/* $FlowFixMe - not sure why it thinks onPanelSelect is a Redux action */}
-          <PanelList onPanelSelect={this.props.onPanelSelect} />
+          <PanelList onPanelSelect={this._onPanelSelect} />
         </Menu>
       </ChildToggle>
     );
   }
 }
+
+export default connect<Props, OwnProps, _, _, _, _>(
+  (state: ReduxState) => ({
+    panels: state.panels,
+  }),
+  { changePanelLayout, savePanelConfig }
+)(UnconnectedAppMenu);
diff --git a/packages/webviz-core/src/components/AppMenu/index.stories.js b/packages/webviz-core/src/components/AppMenu/index.stories.js
index 3c37517ed..36e49e255 100644
--- a/packages/webviz-core/src/components/AppMenu/index.stories.js
+++ b/packages/webviz-core/src/components/AppMenu/index.stories.js
@@ -6,7 +6,6 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import { action } from "@storybook/addon-actions";
 import { storiesOf } from "@storybook/react";
 import { createMemoryHistory } from "history";
 import React from "react";
@@ -26,7 +25,7 @@ storiesOf("<AppMenu>", module)
       <div style={{ margin: 30, paddingLeft: 300 }}>
         <Provider store={configureStore(createRootReducer(createMemoryHistory()))}>
           <DragDropContextProvider backend={HTML5Backend}>
-            <AppMenu onPanelSelect={action("onPanelSelect")} defaultIsOpen />
+            <AppMenu defaultIsOpen />
           </DragDropContextProvider>
         </Provider>
       </div>
diff --git a/packages/webviz-core/src/components/Button.js b/packages/webviz-core/src/components/Button.js
index 23c855280..5f8b05053 100644
--- a/packages/webviz-core/src/components/Button.js
+++ b/packages/webviz-core/src/components/Button.js
@@ -11,11 +11,14 @@ import cx from "classnames";
 import * as React from "react";
 
 import Tooltip from "webviz-core/src/components/Tooltip";
+import { colors } from "webviz-core/src/util/colors";
 
-type Props = {
+export type Props = {
   ...React.ElementConfig<typeof BaseButton>,
   innerRef: ?React.Ref<typeof BaseButton>,
   tooltipProps?: $Shape<{ ...React.ElementConfig<typeof Tooltip> }>,
+  style: { [string]: string | number },
+  isPrimary?: boolean,
 };
 
 export type { BaseButton };
@@ -24,6 +27,7 @@ export type { BaseButton };
 export default class Button extends React.Component<Props> {
   static defaultProps = {
     innerRef: undefined,
+    style: {},
   };
 
   render() {
@@ -36,8 +40,13 @@ export default class Button extends React.Component<Props> {
       onClick,
       onMouseUp,
       onMouseLeave,
+      isPrimary,
+      style,
       ...otherProps
     } = this.props;
+    // overwrite the primary color for Webviz
+    // using `isPrimary` instead of `primary` now to prevent global UI changes until we are ready to migrate all styles
+    const styleAlt = isPrimary ? { ...style, backgroundColor: colors.BLUE1 } : style;
 
     const eventHandlers = disabled ? {} : { onClick, onMouseUp, onMouseLeave };
 
@@ -49,11 +58,11 @@ export default class Button extends React.Component<Props> {
         <Tooltip contents={tooltip} {...tooltipProps}>
           {/* Extra div allows Tooltip to insert the necessary event listeners */}
           <div style={{ display: "inline-flex" }}>
-            <BaseButton {...otherProps} {...eventHandlers} className={newClassName} ref={innerRef} />
+            <BaseButton style={styleAlt} {...otherProps} {...eventHandlers} className={newClassName} ref={innerRef} />
           </div>
         </Tooltip>
       );
     }
-    return <BaseButton {...otherProps} {...eventHandlers} className={newClassName} ref={innerRef} />;
+    return <BaseButton style={styleAlt} {...otherProps} {...eventHandlers} className={newClassName} ref={innerRef} />;
   }
 }
diff --git a/packages/webviz-core/src/components/Checkbox.js b/packages/webviz-core/src/components/Checkbox.js
index 8730c794e..d8da18d47 100644
--- a/packages/webviz-core/src/components/Checkbox.js
+++ b/packages/webviz-core/src/components/Checkbox.js
@@ -12,30 +12,55 @@ import * as React from "react";
 import styled from "styled-components";
 
 import Icon from "webviz-core/src/components/Icon";
+import { colors } from "webviz-core/src/util/colors";
 
 export const SCheckbox = styled.div`
   display: flex;
   align-items: center;
+  flex-direction: ${(props) => (props.isVertical ? "column" : "row")};
+  align-items: ${(props) => (props.isVertical ? "flex-start" : "center")};
+  color: ${(props) => (props.disabled ? colors.GRAY : colors.LIGHT1)};
+  cursor: ${(props) => (props.disabled ? "not-allowed" : "pointer")};
 `;
+
 export const SLabel = styled.label`
   margin: 6px;
+  margin: ${(props) => (props.isVertical ? "6px 6px 6px 0" : "6px")};
+  color: ${(props) => (props.disabled || props.isVertical ? colors.GRAY : colors.LIGHT1)};
 `;
 
 export type Props = {
   checked: boolean,
+  disabled?: boolean,
   label: string,
   tooltip?: string,
   onChange: (newChecked: boolean) => void,
+  isVertical?: boolean,
+  style?: { [string]: string | number },
 };
 
-export default function Checkbox({ label, checked, tooltip, onChange }: Props) {
+export default function Checkbox({ label, checked, tooltip, onChange, disabled, isVertical, style = {} }: Props) {
   const Component = checked ? CheckboxMarkedIcon : CheckboxBlankOutlineIcon;
+  const onClick = React.useCallback(
+    () => {
+      if (!disabled) {
+        onChange(!checked);
+      }
+    },
+    [checked, disabled, onChange]
+  );
+
   return (
-    <SCheckbox>
-      <Icon small tooltip={tooltip} onClick={() => onChange(!checked)}>
+    <SCheckbox disabled={disabled} isVertical={isVertical} style={style}>
+      {isVertical && (
+        <SLabel isVertical={isVertical} disabled={disabled}>
+          {label}
+        </SLabel>
+      )}
+      <Icon small tooltip={tooltip} onClick={onClick}>
         <Component />
       </Icon>
-      <SLabel>{label}</SLabel>
+      {!isVertical && <SLabel disabled={disabled}>{label}</SLabel>}
     </SCheckbox>
   );
 }
diff --git a/packages/webviz-core/src/components/Dropdown/index.js b/packages/webviz-core/src/components/Dropdown/index.js
index 56971ad87..92d65cac4 100644
--- a/packages/webviz-core/src/components/Dropdown/index.js
+++ b/packages/webviz-core/src/components/Dropdown/index.js
@@ -112,7 +112,12 @@ export default class Dropdown extends React.Component<Props, State> {
       borderBottomRightRadius: flatEdges && position === "above" ? "0" : undefined,
     };
     return (
-      <ChildToggle style={{ maxWidth: "100%" }} position={position} isOpen={isOpen} onToggle={this.toggle}>
+      <ChildToggle
+        style={{ maxWidth: "100%" }}
+        position={position}
+        isOpen={isOpen}
+        onToggle={this.toggle}
+        dataTest={this.props.dataTest}>
         {this.renderButton()}
         <Menu style={style}>{this.renderChildren()}</Menu>
       </ChildToggle>
diff --git a/packages/webviz-core/src/components/ExpandingToolbar.js b/packages/webviz-core/src/components/ExpandingToolbar.js
index 828d580c1..9045b6d01 100644
--- a/packages/webviz-core/src/components/ExpandingToolbar.js
+++ b/packages/webviz-core/src/components/ExpandingToolbar.js
@@ -25,10 +25,8 @@ export const SToolGroupFixedSizePane = styled.div`
   padding: 8px 0;
 `;
 
-export class ToolGroup<T: string> extends React.Component<{ name: T, children: React.Node }> {
-  render() {
-    return this.props.children;
-  }
+export function ToolGroup<T>({ children }: { name: T, children: React.Node }) {
+  return children;
 }
 
 export function ToolGroupFixedSizePane({ children }: { children: React.Node }) {
diff --git a/packages/webviz-core/src/components/Flex.js b/packages/webviz-core/src/components/Flex.js
index 46c7124f6..430d3fb20 100644
--- a/packages/webviz-core/src/components/Flex.js
+++ b/packages/webviz-core/src/components/Flex.js
@@ -36,6 +36,8 @@ type Props = {|
   children?: React.Node,
 
   onClick?: (MouseEvent) => void,
+  // for storybook screenshots tests
+  dataTest?: string,
 |};
 
 const Flex = (props: Props) => {
@@ -55,6 +57,7 @@ const Flex = (props: Props) => {
     scrollX,
     children,
     onClick,
+    dataTest,
   } = props;
   if (col != null && col === row) {
     throw new Error("Flex col and row are mutually exclusive");
@@ -80,7 +83,7 @@ const Flex = (props: Props) => {
   // only copy combine flex & custom style if we were passed custom style
   const fullStyle = style ? { ...flexStyle, ...style } : flexStyle;
   return (
-    <div onClick={onClick} className={combinedClasses} style={fullStyle}>
+    <div data-test={dataTest} className={combinedClasses} style={fullStyle} onClick={onClick}>
       {children}
     </div>
   );
diff --git a/packages/webviz-core/src/components/GlobalVariablesAccessor/index.js b/packages/webviz-core/src/components/GlobalVariablesAccessor/index.js
index 56137775b..8768be4a2 100644
--- a/packages/webviz-core/src/components/GlobalVariablesAccessor/index.js
+++ b/packages/webviz-core/src/components/GlobalVariablesAccessor/index.js
@@ -8,21 +8,21 @@
 
 import * as React from "react";
 
-import useGlobalData, { type GlobalData } from "webviz-core/src/hooks/useGlobalData";
+import useGlobalVariables, { type GlobalVariables } from "webviz-core/src/hooks/useGlobalVariables";
 
-type GlobalDataActions = {|
-  setGlobalData: (GlobalData) => void,
-  overwriteGlobalData: (GlobalData) => void,
+type GlobalVariablesActions = {|
+  setGlobalVariables: (GlobalVariables) => void,
+  overwriteGlobalVariables: (GlobalVariables) => void,
 |};
 
 type Props = {|
-  children: (GlobalData, GlobalDataActions) => React.Node,
+  children: (GlobalVariables, GlobalVariablesActions) => React.Node,
 |};
 
 export default function GlobalVariablesAccessor(props: Props) {
-  const { globalData, setGlobalData, overwriteGlobalData } = useGlobalData();
-  return props.children(globalData, {
-    setGlobalData,
-    overwriteGlobalData,
+  const { globalVariables, setGlobalVariables, overwriteGlobalVariables } = useGlobalVariables();
+  return props.children(globalVariables, {
+    setGlobalVariables,
+    overwriteGlobalVariables,
   });
 }
diff --git a/packages/webviz-core/src/components/LayoutMenu.js b/packages/webviz-core/src/components/LayoutMenu.js
index 9ecc9c590..cf511bc5b 100644
--- a/packages/webviz-core/src/components/LayoutMenu.js
+++ b/packages/webviz-core/src/components/LayoutMenu.js
@@ -13,41 +13,37 @@ import React, { PureComponent } from "react";
 
 import ChildToggle from "webviz-core/src/components/ChildToggle";
 import Icon from "webviz-core/src/components/Icon";
+import { openLayoutModal } from "webviz-core/src/components/LayoutModal";
 import Menu, { Item } from "webviz-core/src/components/Menu";
 
-type Props = {
-  onImportSelect: () => void,
-};
-
 type State = {
   isOpen: boolean,
 };
 
-export default class LayoutMenu extends PureComponent<Props, State> {
+export default class LayoutMenu extends PureComponent<{}, State> {
   state = {
     isOpen: false,
   };
 
-  onToggle = () => {
+  _onToggle = () => {
     this.setState({ isOpen: !this.state.isOpen });
   };
 
-  onImportClick = () => {
-    const { onImportSelect } = this.props;
+  _onImportClick = () => {
     this.setState({ isOpen: false });
-    onImportSelect();
+    openLayoutModal();
   };
 
   render() {
     const { isOpen } = this.state;
 
     return (
-      <ChildToggle position="below" onToggle={this.onToggle} isOpen={isOpen}>
+      <ChildToggle position="below" onToggle={this._onToggle} isOpen={isOpen}>
         <Icon small fade active={isOpen}>
           <AppsIcon />
         </Icon>
         <Menu>
-          <Item icon={<JsonIcon />} onClick={this.onImportClick}>
+          <Item icon={<JsonIcon />} onClick={this._onImportClick}>
             Import/export layout
           </Item>
           <hr />
diff --git a/packages/webviz-core/src/components/LayoutModal.js b/packages/webviz-core/src/components/LayoutModal.js
new file mode 100644
index 000000000..f1d4cb50a
--- /dev/null
+++ b/packages/webviz-core/src/components/LayoutModal.js
@@ -0,0 +1,56 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import React, { useCallback } from "react";
+import { connect } from "react-redux";
+
+import { importPanelLayout } from "webviz-core/src/actions/panels";
+import renderToBody from "webviz-core/src/components/renderToBody";
+import ShareJsonModal from "webviz-core/src/components/ShareJsonModal";
+import type { State } from "webviz-core/src/reducers";
+import type { PanelsState } from "webviz-core/src/reducers/panels";
+import type { ImportPanelLayoutPayload } from "webviz-core/src/types/panels";
+
+type OwnProps = {|
+  onRequestClose: () => void,
+|};
+
+type Props = {|
+  ...OwnProps,
+  panels: PanelsState,
+  importPanelLayout: (ImportPanelLayoutPayload, boolean) => void,
+|};
+
+function UnconnectedLayoutModal({ onRequestClose, importPanelLayout, panels }: Props) {
+  return (
+    <ShareJsonModal
+      onRequestClose={onRequestClose}
+      value={panels}
+      onChange={useCallback(
+        (layout: any) => {
+          importPanelLayout(layout, false);
+        },
+        [importPanelLayout]
+      )}
+      noun="layout"
+    />
+  );
+}
+
+// TODO(JP): Use useSelector and useDispatch here, but unfortunately `importPanelLayout` needs
+// a `getState` function in addition to `dispatch`, so needs a bit of rework.
+const LayoutModal = connect<Props, OwnProps, _, _, _, _>(
+  (state: State) => ({
+    panels: state.panels,
+  }),
+  { importPanelLayout }
+)(UnconnectedLayoutModal);
+
+export function openLayoutModal() {
+  const modal = renderToBody(<LayoutModal onRequestClose={() => modal.remove()} />);
+}
diff --git a/packages/webviz-core/src/components/MessageHistory/FrameCompatibility.js b/packages/webviz-core/src/components/MessageHistory/FrameCompatibility.js
index 2620d2d12..50564b401 100644
--- a/packages/webviz-core/src/components/MessageHistory/FrameCompatibility.js
+++ b/packages/webviz-core/src/components/MessageHistory/FrameCompatibility.js
@@ -7,123 +7,67 @@
 //  You may not use this file except in compliance with the License.
 
 import hoistNonReactStatics from "hoist-non-react-statics";
-import { last, uniq } from "lodash";
-import PropTypes from "prop-types";
+import { uniq } from "lodash";
 import * as React from "react";
-import { createSelector } from "reselect";
 
-import MessageHistory from ".";
-import type { MessageHistoryData } from "webviz-core/src/components/MessageHistory";
-import { getGlobalHooks } from "webviz-core/src/loadWebviz";
-import type { Frame, Message, Topic } from "webviz-core/src/players/types";
-
-type Options = $Shape<{|
-  topics: string[],
-  historySize: number,
-  dontRemountOnSeek: boolean,
-|}>;
-
-const heavyTopicsWithNoTimeDependency = createSelector(
-  (topics: Topic[]) => topics,
-  (topics: Topic[]): string[] =>
-    topics
-      .filter(({ datatype }) =>
-        getGlobalHooks()
-          .heavyDatatypesWithNoTimeDependency()
-          .includes(datatype)
-      )
-      .map(({ name }) => name)
-);
+import { useMessages } from "./MessageHistoryOnlyTopics";
+import { useChangeDetector } from "webviz-core/src/components/MessageHistory/hooks";
+import type { Message, Topic } from "webviz-core/src/players/types";
 
 // This higher-order component provides compatibility between the old way of Panels receiving
-// messages, using "frames" and keeping state themselves, and the new `<MessageHistory>` API which
+// messages, using "frames" and keeping state themselves, and the new `useMessages` API which
 // manages state for you and allows in the future for more flexibility in accessing messages.
 //
-// We simulate frames by using a `<MessageHistory>` with some low history size, and then every time
-// the history changes we cut a frame up until the last frame that we sent. If the history is cleared
-// we remount the component altogether, to avoid any bugs in state management (unless you pass
-// `dontRemountOnSeek`, in which case you should be really sure that you are handling clearing of
-// state correctly).
-//
-// In the future we should migrate all components to use `<MessageHistory>` directly, but that will
-// likely require some expansion of its API, to allow for "reducing" messages into a certain data
-// structure. Otherwise we'd have to iterate over every array element any time we receive messages,
-// e.g. for topics that publish key-value pairs.
-export function FrameCompatibility<Props>(ChildComponent: React.ComponentType<Props>, options: Options = {}) {
-  class Component extends React.PureComponent<Props & { forwardedRef: any, topics: Topic[] }, { topics?: string[] }> {
-    static displayName = `FrameCompatibility(${ChildComponent.displayName || ChildComponent.name || ""})`;
-    static contextTypes = { store: PropTypes.any };
-
-    state = {};
-    _lastMessageByTopic: { [topic: string]: Message } = {};
-    _key: number = 1;
+// TODO(JP): Remove FrameCompatibility from the last panel where it's still used: the 3d panel!
+// This is the "Scenebuilder refactor" project.
+export function FrameCompatibility<Props>(ChildComponent: React.ComponentType<Props>, baseTopics: string[]) {
+  function FrameCompatibilityComponent(props: Props & { forwardedRef: any, topics: Topic[] }) {
+    const { forwardedRef, ...childProps } = props;
+    const [topics, setTopics] = React.useState<string[]>(baseTopics);
+    const componentSetSubscriptions = React.useCallback((newTopics: string[]) => {
+      setTopics(uniq(newTopics.concat(baseTopics || [])));
+    }, []);
 
-    _setSubscriptions = (topics: string[]) => {
-      this.setState({ topics: uniq(topics.concat(options.topics || [])) });
-    };
+    // NOTE(JP): This is a huge abuse of the `useMessages` API. Never use `useMessages` in this way
+    // yourself!! `restore` and `addMessage` should be pure functions and not have side effects!
+    const frame = React.useRef({});
+    const lastClearTime = useMessages({
+      topics,
+      restore: React.useCallback(
+        () => {
+          frame.current = {};
+          return Date.now();
+        },
+        [frame]
+      ),
+      addMessage: React.useCallback(
+        (time, message: Message) => {
+          frame.current[message.topic] = frame.current[message.topic] || [];
+          frame.current[message.topic].push(message);
+          return time;
+        },
+        [frame]
+      ),
+    }).reducedValue;
 
-    render() {
-      const { forwardedRef, ...childProps } = this.props;
-      const topics = this.state.topics || options.topics || [];
+    const cleared = useChangeDetector([lastClearTime], false);
+    const latestFrame = frame.current;
+    frame.current = {};
 
-      // Temporary hack to stay fast when dealing with large point clouds and such.
-      // TODO(JP): We should remove this hack and do this properly in the
-      // 3d view.
-      const heavyTopics = heavyTopicsWithNoTimeDependency(this.props.topics || []);
-      const historySize = {};
-      for (const topic of topics) {
-        if (heavyTopics.includes(topic)) {
-          historySize[topic] = 1;
-        } else {
-          historySize[topic] = options.historySize || 100;
-        }
-      }
-
-      return (
-        <MessageHistory paths={topics} historySize={historySize}>
-          {({ itemsByPath, cleared }: MessageHistoryData) => {
-            if (cleared) {
-              this._lastMessageByTopic = {};
-              if (!options.dontRemountOnSeek) {
-                this._key++;
-              }
-            }
-
-            const frame: Frame = {};
-            for (const topic: string of topics) {
-              if (itemsByPath[topic].length > 0) {
-                const messages = itemsByPath[topic].map((item) => item.message);
-                let index = 0;
-                if (this._lastMessageByTopic[topic]) {
-                  index = messages.lastIndexOf(this._lastMessageByTopic[topic]) + 1;
-                  if (index === 0 && !heavyTopics.includes(topic)) {
-                    console.warn("We seem to have skipped over messages; increase historySize for FrameCompatibility!");
-                  }
-                }
-                if (index < messages.length) {
-                  frame[topic] = messages.slice(index);
-                  this._lastMessageByTopic[topic] = last(frame[topic]);
-                }
-              }
-            }
-            return (
-              <ChildComponent
-                {...childProps}
-                ref={forwardedRef}
-                key={this._key}
-                frame={frame}
-                setSubscriptions={this._setSubscriptions}
-                cleared={cleared}
-              />
-            );
-          }}
-        </MessageHistory>
-      );
-    }
+    return (
+      <ChildComponent
+        {...childProps}
+        ref={forwardedRef}
+        frame={latestFrame}
+        setSubscriptions={componentSetSubscriptions}
+        cleared={cleared}
+      />
+    );
   }
+
   return hoistNonReactStatics(
     React.forwardRef((props, ref) => {
-      return <Component {...props} forwardedRef={ref} />;
+      return <FrameCompatibilityComponent {...props} forwardedRef={ref} />;
     }),
     ChildComponent
   );
diff --git a/packages/webviz-core/src/components/MessageHistory/FrameCompatibility.test.js b/packages/webviz-core/src/components/MessageHistory/FrameCompatibility.test.js
index 642a7b252..baefc1e2f 100644
--- a/packages/webviz-core/src/components/MessageHistory/FrameCompatibility.test.js
+++ b/packages/webviz-core/src/components/MessageHistory/FrameCompatibility.test.js
@@ -9,6 +9,7 @@
 import { mount } from "enzyme";
 import { last } from "lodash";
 import * as React from "react";
+import { act } from "react-dom/test-utils";
 
 import { datatypes, messages } from "./fixture";
 import { FrameCompatibility } from "webviz-core/src/components/MessageHistory/FrameCompatibility";
@@ -42,7 +43,7 @@ describe("FrameCompatibility", () => {
         this.props.setSubscriptions(topics);
       }
     }
-    const MyComponentWithFrame = FrameCompatibility(MyComponent, { topics: ["/some/topic"] });
+    const MyComponentWithFrame = FrameCompatibility(MyComponent, ["/some/topic"]);
     const ref = React.createRef();
     const provider = mount(
       <MockMessagePipelineProvider
@@ -64,7 +65,7 @@ describe("FrameCompatibility", () => {
     if (!ref.current) {
       throw new Error("missing ref");
     }
-    ref.current.setSubscriptions(["/foo"]);
+    act(() => ref.current.setSubscriptions(["/foo"]));
     provider.setProps({ messages: [messages[2], fooMsg2] });
     expect(last(childFn.mock.calls)[0].frame).toEqual({ "/some/topic": [messages[2]], "/foo": [fooMsg2] });
   });
diff --git a/packages/webviz-core/src/components/MessageHistory/MessageHistoryInput.js b/packages/webviz-core/src/components/MessageHistory/MessageHistoryInput.js
index 72ded038b..de355e388 100644
--- a/packages/webviz-core/src/components/MessageHistory/MessageHistoryInput.js
+++ b/packages/webviz-core/src/components/MessageHistory/MessageHistoryInput.js
@@ -25,9 +25,9 @@ import Autocomplete from "webviz-core/src/components/Autocomplete";
 import Dropdown from "webviz-core/src/components/Dropdown";
 import Icon from "webviz-core/src/components/Icon";
 import { TOPICS_WITH_INCORRECT_HEADERS } from "webviz-core/src/components/MessageHistory/internalCommon";
-import { useMessagePipeline } from "webviz-core/src/components/MessagePipeline";
 import Tooltip from "webviz-core/src/components/Tooltip";
-import useGlobalData, { type GlobalData } from "webviz-core/src/hooks/useGlobalData";
+import useGlobalVariables, { type GlobalVariables } from "webviz-core/src/hooks/useGlobalVariables";
+import * as PanelAPI from "webviz-core/src/PanelAPI";
 import type { Topic } from "webviz-core/src/players/types";
 import type { RosDatatypes } from "webviz-core/src/types/RosDatatypes";
 import { getTopicNames } from "webviz-core/src/util/selectors";
@@ -47,14 +47,14 @@ function topicHasNoHeaderStamp(topic: Topic, datatypes: RosDatatypes): boolean {
 
 function getFirstInvalidVariableFromRosPath(
   rosPath: RosPath,
-  globalData: GlobalData
+  globalVariables: GlobalVariables
 ): ?{| variableName: string, loc: number |} {
   const { messagePath } = rosPath;
   return messagePath
     .map((path) =>
       path.type === "filter" &&
       typeof path.value === "object" &&
-      !Object.keys(globalData).includes(path.value.variableName)
+      !Object.keys(globalVariables).includes(path.value.variableName)
         ? { variableName: path.value.variableName, loc: path.valueLoc }
         : undefined
     )
@@ -102,9 +102,9 @@ type MessageHistoryInputBaseProps = {
   onTimestampMethodChange?: (MessageHistoryTimestampMethod, index: ?number) => void,
 };
 type MessageHistoryInputProps = MessageHistoryInputBaseProps & {
-  topics: Topic[],
+  topics: $ReadOnlyArray<Topic>,
   datatypes: RosDatatypes,
-  globalData: GlobalData,
+  globalVariables: GlobalVariables,
 };
 type MessageHistoryInputState = {| focused: boolean |};
 class MessageHistoryInputUnconnected extends React.PureComponent<MessageHistoryInputProps, MessageHistoryInputState> {
@@ -147,7 +147,7 @@ class MessageHistoryInputUnconnected extends React.PureComponent<MessageHistoryI
   _onSelect = (
     value: string,
     autocomplete: Autocomplete,
-    autocompleteType: ?("topicName" | "messagePath" | "globalData"),
+    autocompleteType: ?("topicName" | "messagePath" | "globalVariables"),
     autocompleteRange: {| start: number, end: number |}
   ) => {
     // If we're dealing with a topic name, and we cannot validly end in a message type,
@@ -185,11 +185,11 @@ class MessageHistoryInputUnconnected extends React.PureComponent<MessageHistoryI
       timestampMethod,
       inputStyle,
       disableAutocomplete,
-      globalData,
+      globalVariables,
     } = this.props;
 
     const rosPath = parseRosPath(path);
-    let autocompleteType: ?("topicName" | "messagePath" | "globalData");
+    let autocompleteType: ?("topicName" | "messagePath" | "globalVariables");
     let topic: ?Topic;
     let structureTraversalResult: ?StructureTraversalResult;
     if (rosPath) {
@@ -276,16 +276,16 @@ class MessageHistoryInputUnconnected extends React.PureComponent<MessageHistoryI
         autocompleteFilterText = path.substr(topic.name.length).replace(/\{[^}]*\}/g, "");
       }
     } else if (rosPath) {
-      const invalidGlobalDataVariable = getFirstInvalidVariableFromRosPath(rosPath, globalData);
+      const invalidGlobalVariablesVariable = getFirstInvalidVariableFromRosPath(rosPath, globalVariables);
 
-      if (invalidGlobalDataVariable) {
-        autocompleteType = "globalData";
-        autocompleteItems = Object.keys(globalData).map((key) => `$${key}`);
+      if (invalidGlobalVariablesVariable) {
+        autocompleteType = "globalVariables";
+        autocompleteItems = Object.keys(globalVariables).map((key) => `$${key}`);
         autocompleteRange = {
-          start: invalidGlobalDataVariable.loc,
-          end: invalidGlobalDataVariable.loc + invalidGlobalDataVariable.variableName.length + 1,
+          start: invalidGlobalVariablesVariable.loc,
+          end: invalidGlobalVariablesVariable.loc + invalidGlobalVariablesVariable.variableName.length + 1,
         };
-        autocompleteFilterText = invalidGlobalDataVariable.variableName;
+        autocompleteFilterText = invalidGlobalVariablesVariable.variableName;
       }
     }
 
@@ -365,14 +365,14 @@ class MessageHistoryInputUnconnected extends React.PureComponent<MessageHistoryI
 export default React.memo<MessageHistoryInputBaseProps>(function MessageHistoryInput(
   props: MessageHistoryInputBaseProps
 ) {
-  const { globalData } = useGlobalData();
-  const context = useMessagePipeline();
+  const { globalVariables } = useGlobalVariables();
+  const { datatypes, topics } = PanelAPI.useDataSourceInfo();
   return (
     <MessageHistoryInputUnconnected
       {...props}
-      topics={context.sortedTopics}
-      datatypes={context.datatypes}
-      globalData={globalData}
+      topics={topics}
+      datatypes={datatypes}
+      globalVariables={globalVariables}
     />
   );
 });
diff --git a/packages/webviz-core/src/components/MessageHistory/MessageHistoryOnlyTopics.js b/packages/webviz-core/src/components/MessageHistory/MessageHistoryOnlyTopics.js
index 995a4df26..3965f7080 100644
--- a/packages/webviz-core/src/components/MessageHistory/MessageHistoryOnlyTopics.js
+++ b/packages/webviz-core/src/components/MessageHistory/MessageHistoryOnlyTopics.js
@@ -7,13 +7,19 @@
 //  You may not use this file except in compliance with the License.
 
 import { useCleanup } from "@cruise-automation/hooks";
-import React, { type Node, useRef, useCallback, useMemo, useState, useEffect } from "react";
+import { type Node, useRef, useCallback, useMemo, useState, useEffect, useContext } from "react";
 import type { Time } from "rosbag";
 import uuid from "uuid";
 
-import { useChangeDetector, useShallowMemo, useMustNotChange, useShouldNotChangeOften } from "./hooks";
+import {
+  useChangeDetector,
+  useShallowMemo,
+  useMustNotChange,
+  useShouldNotChangeOften,
+  useContextSelector,
+} from "./hooks";
 import { useMessagePipeline } from "webviz-core/src/components/MessagePipeline";
-import PerfMonitor from "webviz-core/src/components/PerfMonitor";
+import PanelContext from "webviz-core/src/components/PanelContext";
 import type { Message, SubscribePayload } from "webviz-core/src/players/types";
 
 // This is an internal component which only supports topics,
@@ -30,9 +36,6 @@ type MessageHistoryOnlyTopicsData<T> = {|
 type MessageReducer<T> = (T, message: Message) => T;
 
 type Props<T> = {|
-  children: (MessageHistoryOnlyTopicsData<T>) => Node,
-  panelType: ?string,
-  topicPrefix: string,
   topics: string[],
   imageScale?: number,
 
@@ -127,16 +130,12 @@ function useSubscriptions(requestedTopics: string[], imageScale?: ?number, panel
   );
 }
 
-// Be sure to pass in a new render function when you want to force a rerender.
-// So you probably don't want to do
-// `<MessageHistoryOnlyTopics>{this._renderSomething}</MessageHistoryOnlyTopics>`.
-// This might be a bit counterintuitive but we do this since performance matters here.
-export default function MessageHistoryOnlyTopics<T>(props: Props<T>) {
+const NO_MESSAGES = Object.freeze([]);
+
+// TODO: remove clearedRef and just return T
+export function useMessages<T>(props: Props<T>): {| reducedValue: T, _clearedRef: {| current: boolean |} |} {
   const [id] = useState(() => uuid.v4());
-  const {
-    playerState: { activeData },
-    setSubscriptions,
-  } = useMessagePipeline();
+  const { topicPrefix = "", type: panelType = undefined } = useContext(PanelContext) || {};
 
   useShouldNotChangeOften(
     props.restore,
@@ -151,27 +150,63 @@ export default function MessageHistoryOnlyTopics<T>(props: Props<T>) {
       "shouldn't be created on each render. (If you're using Hooks, try useCallback.)"
   );
 
-  const [requestedTopics, addMessage] = useTopicPrefix<T>(props.topicPrefix, props.topics, props.addMessage);
+  // TODO(jacob): is it safe to call restore() when topicPrefix changes?
+  const [requestedTopics, addMessage] = useTopicPrefix<T>(topicPrefix, props.topics, props.addMessage);
+  const requestedTopicsSet = useMemo(() => new Set(requestedTopics), [requestedTopics]);
 
-  const subscriptions = useSubscriptions(requestedTopics, props.imageScale, props.panelType);
+  const subscriptions = useSubscriptions(requestedTopics, props.imageScale, panelType);
+  const setSubscriptions = useMessagePipeline(useCallback(({ setSubscriptions }) => setSubscriptions, []));
   useEffect(() => setSubscriptions(id, subscriptions), [id, setSubscriptions, subscriptions]);
   useCleanup(() => setSubscriptions(id, []));
 
-  const { children } = props;
+  // Keep a reference to the last messages we processed to ensure we never process them more than once.
+  // If the topics we care about change, the player should send us new messages soon anyway (via backfill if paused).
+  const lastProcessedMessagesRef = useRef<?(Message[])>();
+  // Keep a ref to the latest requested topics we were rendered with, because the useMessagePipeline
+  // selector's dependencies aren't allowed to change.
+  const latestRequestedTopicsRef = useRef(requestedTopicsSet);
+  latestRequestedTopicsRef.current = requestedTopicsSet;
+  const messages = useMessagePipeline<Message[]>(
+    useCallback(({ playerState: { activeData } }) => {
+      if (!activeData) {
+        return NO_MESSAGES; // identity must not change to avoid unnecessary re-renders
+      }
+      if (lastProcessedMessagesRef.current === activeData.messages) {
+        return useContextSelector.BAILOUT;
+      }
+      const filteredMessages = activeData.messages.filter(({ topic }) => latestRequestedTopicsRef.current.has(topic));
+      // Bail out if we didn't want any of these messages, but not if this is our first render
+      const shouldBail = lastProcessedMessagesRef.current && filteredMessages.length === 0;
+      lastProcessedMessagesRef.current = activeData.messages;
+      return shouldBail ? useContextSelector.BAILOUT : filteredMessages;
+    }, [])
+  );
 
-  const messages = activeData ? activeData.messages : [];
-  const lastSeekTime = activeData ? activeData.lastSeekTime : 0;
-  const startTime = activeData ? activeData.startTime : { sec: 0, nsec: 0 };
+  const lastSeekTime = useMessagePipeline(
+    useCallback(({ playerState: { activeData } }) => (activeData ? activeData.lastSeekTime : 0), [])
+  );
 
   const clearedRef = useRef(false);
   const reducedValue = useReducedValue<T>(props.restore, addMessage, lastSeekTime, messages, clearedRef);
+  return { reducedValue, _clearedRef: clearedRef };
+}
+
+export default function MessageHistoryOnlyTopics<T>(props: {|
+  ...Props<T>,
+  children: (MessageHistoryOnlyTopicsData<T>) => Node,
+|}) {
+  const { children, ...useMessagesProps } = props;
+  const { reducedValue, _clearedRef: clearedRef } = useMessages(useMessagesProps);
+  const startTime = useMessagePipeline(
+    useCallback(({ playerState: { activeData } }) => activeData && activeData.startTime, [])
+  );
 
   return useMemo(
     () => {
       const cleared = clearedRef.current;
       clearedRef.current = false;
-      return <PerfMonitor id={id}>{children({ reducedValue, cleared, startTime })}</PerfMonitor>;
+      return children({ reducedValue, cleared, startTime: startTime || { sec: 0, nsec: 0 } });
     },
-    [children, id, reducedValue, startTime]
+    [children, clearedRef, reducedValue, startTime]
   );
 }
diff --git a/packages/webviz-core/src/components/MessageHistory/getMessageHistoryItem.js b/packages/webviz-core/src/components/MessageHistory/getMessageHistoryItem.js
index 8050fee1a..0b2a3632a 100644
--- a/packages/webviz-core/src/components/MessageHistory/getMessageHistoryItem.js
+++ b/packages/webviz-core/src/components/MessageHistory/getMessageHistoryItem.js
@@ -13,15 +13,15 @@ import {
   type MessagePathStructureItemMessage,
 } from ".";
 import { type RosPath, type MessagePathFilter } from "./internalCommon";
-import type { GlobalData } from "webviz-core/src/hooks/useGlobalData";
+import type { GlobalVariables } from "webviz-core/src/hooks/useGlobalVariables";
 import type { Message, Topic } from "webviz-core/src/players/types";
 import type { RosDatatypes } from "webviz-core/src/types/RosDatatypes";
 import { enumValuesByDatatypeAndField } from "webviz-core/src/util/selectors";
 
-function filterMatches(filter: MessagePathFilter, value: any, globalData: any) {
+function filterMatches(filter: MessagePathFilter, value: any, globalVariables: any) {
   let filterValue = filter.value;
   if (typeof filterValue === "object") {
-    filterValue = globalData[filterValue.variableName];
+    filterValue = globalVariables[filterValue.variableName];
   }
 
   let currentValue = value;
@@ -44,7 +44,7 @@ export default function getMessageHistoryItem(
   rosPath: RosPath,
   topic: Topic,
   datatypes: RosDatatypes,
-  globalData: GlobalData = {},
+  globalVariables: GlobalVariables = {},
   structures: { [string]: MessagePathStructureItemMessage }
 ): ?MessageHistoryItem {
   // We don't care about messages that don't match the topic we're looking for.
@@ -56,7 +56,7 @@ export default function getMessageHistoryItem(
   // will *always* return a history item, so this is our only chance to return nothing.
   for (const item of rosPath.messagePath) {
     if (item.type === "filter") {
-      if (!filterMatches(item, message.message, globalData)) {
+      if (!filterMatches(item, message.message, globalVariables)) {
         return undefined;
       }
     } else {
@@ -122,7 +122,7 @@ export default function getMessageHistoryItem(
         traverse(value[i], pathIndex + 1, newPath, structureItem.next);
       }
     } else if (pathItem.type === "filter") {
-      if (filterMatches(pathItem, value, globalData)) {
+      if (filterMatches(pathItem, value, globalVariables)) {
         traverse(value, pathIndex + 1, `${path}{${pathItem.repr}}`, structureItem);
       }
     } else {
diff --git a/packages/webviz-core/src/components/MessageHistory/getMessageHistoryItem.test.js b/packages/webviz-core/src/components/MessageHistory/getMessageHistoryItem.test.js
index ee4b87561..803874c7c 100644
--- a/packages/webviz-core/src/components/MessageHistory/getMessageHistoryItem.test.js
+++ b/packages/webviz-core/src/components/MessageHistory/getMessageHistoryItem.test.js
@@ -13,11 +13,11 @@ import type { Message, Topic } from "webviz-core/src/players/types";
 import type { RosDatatypes } from "webviz-core/src/types/RosDatatypes";
 import { topicsByTopicName } from "webviz-core/src/util/selectors";
 
-function addValuesWithPathsToItems(messages, rosPath, topics, datatypes, globalData) {
+function addValuesWithPathsToItems(messages, rosPath, topics, datatypes, globalVariables) {
   const structures = messagePathStructures(datatypes);
   const topic = topicsByTopicName(topics)[rosPath.topicName];
   return filterMap(messages, (message) =>
-    getMessageHistoryItem(message, rosPath, topic, datatypes, globalData, structures)
+    getMessageHistoryItem(message, rosPath, topic, datatypes, globalVariables, structures)
   );
 }
 
@@ -229,7 +229,7 @@ describe("getMessageHistoryItem", () => {
     ]);
   });
 
-  it("filters properly for globalData, and uses the filter object in the path", () => {
+  it("filters properly for globalVariables, and uses the filter object in the path", () => {
     const messages: Message[] = [
       {
         op: "message",
diff --git a/packages/webviz-core/src/components/MessageHistory/hooks.js b/packages/webviz-core/src/components/MessageHistory/hooks.js
index b911d815f..02f58f3d8 100644
--- a/packages/webviz-core/src/components/MessageHistory/hooks.js
+++ b/packages/webviz-core/src/components/MessageHistory/hooks.js
@@ -6,7 +6,9 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import { useRef } from "react";
+import { isEqual } from "lodash";
+import { useRef, useLayoutEffect, useState, useContext, createContext } from "react"; // eslint-disable-line import/no-duplicates
+import * as React from "react"; // eslint-disable-line import/no-duplicates
 import shallowequal from "shallowequal";
 
 // Return initiallyTrue the first time, and again if any of the given deps have changed.
@@ -17,6 +19,14 @@ export function useChangeDetector(deps: any[], initiallyTrue: boolean) {
   return changed;
 }
 
+// Similar to useChangeDetector, but using deep equality check
+export function useDeepChangeDetector(deps: any[], initiallyTrue: boolean) {
+  const ref = useRef(initiallyTrue ? undefined : deps);
+  const changed = !isEqual(ref.current, deps);
+  ref.current = deps;
+  return changed;
+}
+
 // Continues to return the same instance as long as shallow equality is maintained.
 export function useShallowMemo<T>(value: T): T {
   const ref = useRef(value);
@@ -55,3 +65,145 @@ export function useShouldNotChangeOften<T>(value: T, message: string): T {
   prev.current = value;
   return value;
 }
+
+type SelectableContextHandle<T> = {
+  currentValue(): T,
+  publish(value: T): void,
+  addSubscriber((T) => void): void,
+  removeSubscriber((T) => void): void,
+};
+
+export type SelectableContext<T> = {|
+  +Provider: React.ComponentType<{| value: T, children: ?React.Node |}>,
+  +_ctx: React.Context<?SelectableContextHandle<T>>,
+|};
+
+// Create a context for use with useContextSelector
+export function createSelectableContext<T>(): SelectableContext<T> {
+  // Use a regular React context whose value never changes to provide access to the handle
+  // from nested components' calls to useContextSelector.
+  const ctx = createContext();
+
+  function Provider({ value, children }) {
+    const [handle] = useState(() => {
+      let currentValue = value;
+      const subscribers = new Set();
+      return {
+        publish(value) {
+          currentValue = value;
+          for (const sub of subscribers) {
+            sub(currentValue);
+          }
+        },
+        currentValue() {
+          return currentValue;
+        },
+        addSubscriber(sub) {
+          subscribers.add(sub);
+        },
+        removeSubscriber(sub) {
+          subscribers.delete(sub);
+        },
+      };
+    });
+
+    const valueChanged = useChangeDetector([value], false);
+    if (valueChanged) {
+      handle.publish(value);
+    }
+
+    return <ctx.Provider value={handle}>{children}</ctx.Provider>;
+  }
+
+  return {
+    Provider,
+    _ctx: ctx,
+  };
+}
+
+export opaque type BailoutToken = Symbol;
+const BAILOUT: BailoutToken = Symbol("BAILOUT");
+
+function isBailout(value: mixed): boolean %checks {
+  // The opaque type above isn't enough to convince Flow that `=== BAILOUT` is a type check for
+  // BailoutToken, so we have to lie and say that we check for any Symbol.
+  return (value === useContextSelector.BAILOUT /*:: || value instanceof Symbol */);
+}
+
+// `useContextSelector(context, selector)` behaves like `selector(useContext(context))`, but
+// only triggers a re-render when the selected value actually changes.
+//
+// Changing the selector will not cause the context to be re-processed, so the selector must
+// not have external dependencies that change over time.
+//
+// `useContextSelector.BAILOUT` can be returned from the selector as a special sentinel that indicates
+// no update should occur. (Returning BAILOUT from the first call to selector is not allowed.)
+export function useContextSelector<T, U>(context: SelectableContext<T>, selector: (T) => U | BailoutToken): U {
+  // eslint-disable-next-line no-underscore-dangle
+  const handle = useContext(context._ctx);
+  if (!handle) {
+    throw new Error(`useContextSelector was used outside a corresponding <Provider />.`);
+  }
+
+  useShouldNotChangeOften(
+    selector,
+    "useContextSelector() selector is changing frequently. " +
+      "Changing the selector will not cause the current context to be re-processed, " +
+      "so you may have a bug if the selector depends on external state. " +
+      "Wrap your selector in a useCallback() to silence this warning."
+  );
+
+  const [selectedValue, setSelectedValue] = useState(() => {
+    const value = selector(handle.currentValue());
+    if (isBailout(value)) {
+      throw new Error("Initial selector call must not return BAILOUT");
+    }
+    return value;
+  });
+
+  const latestSelectedValue = useRef();
+  useLayoutEffect(() => {
+    latestSelectedValue.current = selectedValue;
+  });
+
+  // Subscribe to context updates, and setSelectedValue() only when the selected value changes.
+  useLayoutEffect(
+    () => {
+      const sub = (newValue) => {
+        const newSelectedValue = selector(newValue);
+        if (isBailout(newSelectedValue)) {
+          return;
+        }
+        if (newSelectedValue !== latestSelectedValue.current) {
+          // Because newSelectedValue might be a function, we have to always use the reducer form of setState.
+          setSelectedValue(() => newSelectedValue);
+        }
+      };
+      handle.addSubscriber(sub);
+      return () => {
+        handle.removeSubscriber(sub);
+      };
+    },
+    [handle, selector]
+  );
+
+  return selectedValue;
+}
+
+useContextSelector.BAILOUT = BAILOUT;
+
+// `useReducedValue` produces a new state based on the previous state and new inputs.
+// the new state is only set when inputs have changed based on deep comparison.
+export function useReducedValue<Inputs: any[], State>(
+  initialState: State,
+  currentInputs: Inputs,
+  reducer: (State, Inputs) => State
+): State {
+  useMustNotChange(reducer, "reducer for useReducedValue should never change");
+  const prevStateRef = useRef(initialState);
+  const inputChanged = useDeepChangeDetector(currentInputs, false);
+  if (inputChanged) {
+    prevStateRef.current = reducer(prevStateRef.current, currentInputs);
+  }
+  return prevStateRef.current;
+}
diff --git a/packages/webviz-core/src/components/MessageHistory/hooks.test.js b/packages/webviz-core/src/components/MessageHistory/hooks.test.js
index 53566564c..c053185af 100644
--- a/packages/webviz-core/src/components/MessageHistory/hooks.test.js
+++ b/packages/webviz-core/src/components/MessageHistory/hooks.test.js
@@ -7,8 +7,20 @@
 //  You may not use this file except in compliance with the License.
 
 import { renderHook } from "@testing-library/react-hooks";
+import { mount } from "enzyme";
+import * as React from "react";
 
-import { useChangeDetector, useShallowMemo, useMustNotChange, useShouldNotChangeOften } from "./hooks";
+import {
+  useChangeDetector,
+  useDeepChangeDetector,
+  useShallowMemo,
+  useMustNotChange,
+  useShouldNotChangeOften,
+  createSelectableContext,
+  useContextSelector,
+  type SelectableContext,
+  useReducedValue,
+} from "./hooks";
 
 describe("useChangeDetector", () => {
   it("returns true only when value changes", () => {
@@ -45,6 +57,40 @@ describe("useChangeDetector", () => {
   });
 });
 
+describe("useDeepChangeDetector", () => {
+  it("returns true only when value changes", () => {
+    for (const initialValue of [true, false]) {
+      const { result, rerender } = renderHook((deps) => useDeepChangeDetector(deps, initialValue), {
+        initialProps: [1, 1],
+      });
+      expect(result.current).toBe(initialValue);
+      rerender([1, 1]);
+      expect(result.current).toBe(false);
+      rerender([2, 1]);
+      expect(result.current).toBe(true);
+      rerender([2, 1]);
+      expect(result.current).toBe(false);
+      rerender([2, 2]);
+      expect(result.current).toBe(true);
+      rerender([2, 2]);
+      expect(result.current).toBe(false);
+    }
+  });
+
+  it("uses deep comparison (lodash isEqual) for equality check", () => {
+    const obj = { name: "foo" };
+    const objInArr = { name: "bar" };
+    const { result, rerender } = renderHook((deps) => useDeepChangeDetector(deps, false), {
+      initialProps: [[1, objInArr], "a", obj],
+    });
+    expect(result.current).toBe(false);
+    rerender([[1, objInArr], "a", obj]);
+    expect(result.current).toBe(false);
+    rerender([[1, { name: "bar" }], "a", { name: "foo" }]);
+    expect(result.current).toBe(false);
+  });
+});
+
 describe("useShallowMemo", () => {
   it("returns original object when shallowly equal", () => {
     let obj = { x: 1 };
@@ -77,6 +123,32 @@ describe("useMustNotChange", () => {
   });
 });
 
+describe("useReducedValue", () => {
+  it("returns a new state only when the input values have changed (deep comparison)", () => {
+    const initialState = { name: "some name" };
+    const mockFn = jest.fn();
+    const input = ["foo", { name: "some other name" }];
+
+    function reducer(prevState, currentInput) {
+      const newState = currentInput.length ? { name: currentInput[0] } : prevState;
+      mockFn(newState);
+      return newState;
+    }
+
+    const { result, rerender } = renderHook((val) => useReducedValue(initialState, val, reducer), {
+      initialProps: input,
+    });
+    rerender(input);
+    expect(result.current).toEqual({ name: "some name" });
+    rerender(["foo", { name: "some other name" }]);
+    expect(result.current).toEqual({ name: "some name" });
+    expect(mockFn).toHaveBeenCalledTimes(0);
+    rerender(["bar", { name: "some other name" }]);
+    expect(result.current).toEqual({ name: "bar" });
+    expect(mockFn).toHaveBeenCalledTimes(1);
+  });
+});
+
 describe("useShouldNotChangeOften", () => {
   it("logs when value changes twice in a row", () => {
     const warn = jest.spyOn(console, "warn").mockReturnValue();
@@ -96,3 +168,228 @@ describe("useShouldNotChangeOften", () => {
     warn.mockRestore();
   });
 });
+
+describe("createSelectableContext/useContextSelector", () => {
+  function createTestConsumer<T, U>(ctx: SelectableContext<T>, selector: (T) => U) {
+    function Consumer() {
+      const value = useContextSelector(ctx, Consumer.selectorFn);
+      return Consumer.renderFn(value);
+    }
+    Consumer.selectorFn = jest.fn().mockImplementation(selector);
+    Consumer.renderFn = jest.fn().mockImplementation(() => null);
+    return Consumer;
+  }
+
+  it("throws when selector is used outside a provider", () => {
+    jest.spyOn(console, "error").mockReturnValue(); // Library logs an error.
+    const C = createSelectableContext();
+    const Consumer = createTestConsumer(C, (x) => x);
+
+    expect(() => mount(<Consumer />)).toThrow("useContextSelector was used outside a corresponding <Provider />.");
+  });
+
+  it("throws when first selector call returns BAILOUT", () => {
+    jest.spyOn(console, "error").mockReturnValue(); // Library logs an error.
+    const C = createSelectableContext();
+    const Consumer = createTestConsumer(C, (x) => useContextSelector.BAILOUT);
+
+    expect(() =>
+      mount(
+        <C.Provider value={{}}>
+          <Consumer />
+        </C.Provider>
+      )
+    ).toThrow("Initial selector call must not return BAILOUT");
+  });
+
+  it("calls selector and render once with initial value", () => {
+    const C = createSelectableContext();
+    const Consumer = createTestConsumer(C, (x) => x);
+
+    const root = mount(
+      <C.Provider value={1}>
+        <Consumer />
+      </C.Provider>
+    );
+
+    root.update();
+    root.update();
+
+    expect(Consumer.selectorFn.mock.calls).toEqual([[1]]);
+    expect(Consumer.renderFn.mock.calls).toEqual([[1]]);
+
+    root.unmount();
+  });
+
+  it("re-renders when selector returns new value that isn't BAILOUT", () => {
+    const C = createSelectableContext();
+    const Consumer = createTestConsumer(C, ({ num }) => (num === 3 ? useContextSelector.BAILOUT : num));
+
+    const root = mount(
+      <C.Provider value={{ num: 1 }}>
+        <Consumer />
+      </C.Provider>
+    );
+
+    expect(Consumer.selectorFn.mock.calls).toEqual([[{ num: 1 }]]);
+    expect(Consumer.renderFn.mock.calls).toEqual([[1]]);
+
+    root.setProps({ value: { num: 1 } });
+    expect(Consumer.selectorFn.mock.calls).toEqual([[{ num: 1 }], [{ num: 1 }]]);
+    expect(Consumer.renderFn.mock.calls).toEqual([[1]]);
+
+    root.setProps({ value: { num: 2 } });
+    expect(Consumer.selectorFn.mock.calls).toEqual([[{ num: 1 }], [{ num: 1 }], [{ num: 2 }]]);
+    expect(Consumer.renderFn.mock.calls).toEqual([[1], [2]]);
+
+    // Selector returns BAILOUT, so no update should occur
+    root.setProps({ value: { num: 3 } });
+    expect(Consumer.selectorFn.mock.calls).toEqual([[{ num: 1 }], [{ num: 1 }], [{ num: 2 }], [{ num: 3 }]]);
+    expect(Consumer.renderFn.mock.calls).toEqual([[1], [2]]);
+
+    root.setProps({ value: { num: 4 } });
+    expect(Consumer.selectorFn.mock.calls).toEqual([
+      [{ num: 1 }],
+      [{ num: 1 }],
+      [{ num: 2 }],
+      [{ num: 3 }],
+      [{ num: 4 }],
+    ]);
+    expect(Consumer.renderFn.mock.calls).toEqual([[1], [2], [4]]);
+
+    root.unmount();
+  });
+
+  it("propagates value to multiple consumers", () => {
+    const C = createSelectableContext();
+    const Consumer1 = createTestConsumer(C, ({ one }) => one);
+    const Consumer2 = createTestConsumer(C, ({ two }) => two);
+
+    const root = mount(
+      <C.Provider value={{ one: 1, two: 2 }}>
+        <Consumer1 />
+        <div>
+          <Consumer2 />
+        </div>
+      </C.Provider>
+    );
+
+    expect(Consumer1.selectorFn).toHaveBeenCalledTimes(1);
+    expect(Consumer1.renderFn.mock.calls).toEqual([[1]]);
+    expect(Consumer2.selectorFn).toHaveBeenCalledTimes(1);
+    expect(Consumer2.renderFn.mock.calls).toEqual([[2]]);
+
+    root.setProps({ value: { one: 1, two: 22 } });
+    expect(Consumer1.selectorFn).toHaveBeenCalledTimes(2);
+    expect(Consumer1.renderFn.mock.calls).toEqual([[1]]);
+    expect(Consumer2.selectorFn).toHaveBeenCalledTimes(2);
+    expect(Consumer2.renderFn.mock.calls).toEqual([[2], [22]]);
+
+    root.setProps({ value: { one: 11, two: 22 } });
+    expect(Consumer1.selectorFn).toHaveBeenCalledTimes(3);
+    expect(Consumer1.renderFn.mock.calls).toEqual([[1], [11]]);
+    expect(Consumer2.selectorFn).toHaveBeenCalledTimes(3);
+    expect(Consumer2.renderFn.mock.calls).toEqual([[2], [22]]);
+
+    root.unmount();
+  });
+
+  it("doesn't call selector after unmount", () => {
+    const C = createSelectableContext();
+    const Consumer = createTestConsumer(C, ({ num }) => num);
+
+    const root = mount(
+      <C.Provider value={{ num: 1 }}>
+        <Consumer />
+      </C.Provider>
+    );
+
+    expect(Consumer.selectorFn.mock.calls).toEqual([[{ num: 1 }]]);
+    expect(Consumer.renderFn.mock.calls).toEqual([[1]]);
+
+    root.setProps({ children: null, value: { num: 2 } });
+    expect(Consumer.selectorFn.mock.calls).toEqual([[{ num: 1 }], [{ num: 2 }]]);
+    expect(Consumer.renderFn.mock.calls).toEqual([[1]]);
+
+    root.setProps({ value: { num: 3 } });
+    expect(Consumer.selectorFn.mock.calls).toEqual([[{ num: 1 }], [{ num: 2 }]]);
+    expect(Consumer.renderFn.mock.calls).toEqual([[1]]);
+
+    root.unmount();
+  });
+
+  it("batches updates when a component subscribes multiple times", () => {
+    const C = createSelectableContext();
+
+    const selector1 = jest.fn().mockImplementation(({ x }) => x);
+    const selector2 = jest.fn().mockImplementation(({ y }) => y);
+    const selector3 = jest.fn().mockImplementation(({ z }) => z);
+
+    const renderFn = jest.fn().mockImplementation(() => null);
+
+    function clearMocks() {
+      selector1.mockClear();
+      selector2.mockClear();
+      selector3.mockClear();
+      renderFn.mockClear();
+    }
+
+    function Test() {
+      const x = useContextSelector(C, selector1);
+      const y = useContextSelector(C, selector2);
+      const z = useContextSelector(C, selector3);
+      return renderFn([x, y, z]);
+    }
+
+    const root = mount(
+      <C.Provider value={{ x: 0, y: 0, z: 0 }}>
+        <Test />
+      </C.Provider>
+    );
+
+    expect(selector1.mock.calls).toEqual([[{ x: 0, y: 0, z: 0 }]]);
+    expect(selector2.mock.calls).toEqual([[{ x: 0, y: 0, z: 0 }]]);
+    expect(selector3.mock.calls).toEqual([[{ x: 0, y: 0, z: 0 }]]);
+    expect(renderFn.mock.calls).toEqual([[[0, 0, 0]]]);
+
+    clearMocks();
+    root.setProps({ value: { x: 1, y: 0, z: 0 } });
+    expect(selector1.mock.calls).toEqual([[{ x: 1, y: 0, z: 0 }]]);
+    expect(selector2.mock.calls).toEqual([[{ x: 1, y: 0, z: 0 }]]);
+    expect(selector3.mock.calls).toEqual([[{ x: 1, y: 0, z: 0 }]]);
+    expect(renderFn.mock.calls).toEqual([[[1, 0, 0]]]);
+
+    clearMocks();
+    root.setProps({ value: { x: 1, y: 2, z: 3 } });
+    expect(selector1.mock.calls).toEqual([[{ x: 1, y: 2, z: 3 }]]);
+    expect(selector2.mock.calls).toEqual([[{ x: 1, y: 2, z: 3 }]]);
+    expect(selector3.mock.calls).toEqual([[{ x: 1, y: 2, z: 3 }]]);
+    expect(renderFn.mock.calls).toEqual([[[1, 2, 3]]]);
+
+    root.unmount();
+  });
+
+  it("works with function values", () => {
+    const C = createSelectableContext();
+    const Consumer = createTestConsumer(C, (x) => x);
+
+    const fn1 = () => {
+      throw new Error("should not be called");
+    };
+    const fn2 = () => {
+      throw new Error("should not be called");
+    };
+    const root = mount(
+      <C.Provider value={fn1}>
+        <Consumer />
+      </C.Provider>
+    );
+
+    root.setProps({ value: fn2 });
+
+    expect(Consumer.selectorFn.mock.calls).toEqual([[fn1], [fn2]]);
+    expect(Consumer.renderFn.mock.calls).toEqual([[fn1], [fn2]]);
+
+    root.unmount();
+  });
+});
diff --git a/packages/webviz-core/src/components/MessageHistory/index.js b/packages/webviz-core/src/components/MessageHistory/index.js
index 9b6b39a45..5711e6986 100644
--- a/packages/webviz-core/src/components/MessageHistory/index.js
+++ b/packages/webviz-core/src/components/MessageHistory/index.js
@@ -6,8 +6,8 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import { last } from "lodash";
-import React, { type Node, useContext, useCallback, useMemo } from "react";
+import { last, keyBy } from "lodash";
+import React, { type Node, useCallback, useMemo } from "react";
 import type { Time } from "rosbag";
 
 import getMessageHistoryItem from "./getMessageHistoryItem";
@@ -16,10 +16,9 @@ import { TOPICS_WITH_INCORRECT_HEADERS, type RosPrimitive, type RosPath } from "
 import MessageHistoryOnlyTopics from "./MessageHistoryOnlyTopics";
 import { messagePathStructures, traverseStructure } from "./messagePathsForDatatype";
 import parseRosPath from "./parseRosPath";
-import { useMessagePipeline } from "webviz-core/src/components/MessagePipeline";
-import PanelContext from "webviz-core/src/components/PanelContext";
 import filterMap from "webviz-core/src/filterMap";
-import useGlobalData from "webviz-core/src/hooks/useGlobalData";
+import useGlobalVariables from "webviz-core/src/hooks/useGlobalVariables";
+import * as PanelAPI from "webviz-core/src/PanelAPI";
 import type { Message } from "webviz-core/src/players/types";
 
 // Use `<MessageHistory>` to get data from the player, typically a bag or ROS websocket bridge.
@@ -158,10 +157,10 @@ export function getTimestampForMessage(message: Message, timestampMethod?: Messa
 // So you probably don't want to do `<MessageHistory>{this._renderSomething}</MessageHistory>`.
 // This might be a bit counterintuitive but we do this since performance matters here.
 export default React.memo<Props>(function MessageHistory({ children, paths, historySize, imageScale }: Props) {
-  const { globalData } = useGlobalData();
-  const { datatypes, sortedTopics } = useMessagePipeline();
-  const panelContext = useContext(PanelContext);
-  const topicPrefix = (panelContext || {}).topicPrefix || "";
+  const { globalVariables } = useGlobalVariables();
+  const { datatypes, topics: sortedTopics } = PanelAPI.useDataSourceInfo();
+
+  const memoizedTopicsByName = useMemo(() => keyBy(sortedTopics, ({ name }) => name), [sortedTopics]);
 
   const structures = messagePathStructures(datatypes);
 
@@ -179,9 +178,9 @@ export default React.memo<Props>(function MessageHistory({ children, paths, hist
           pathsByTopic[rosPath.topicName] = pathsByTopic[rosPath.topicName] || [];
           pathsByTopic[rosPath.topicName].push({ path, rosPath });
 
-          const originalTopic = sortedTopics.find((topic) => topic.name === topicPrefix + rosPath.topicName);
-          if (originalTopic) {
-            const { structureItem } = traverseStructure(structures[originalTopic.datatype], rosPath.messagePath);
+          const topic = memoizedTopicsByName[rosPath.topicName];
+          if (topic) {
+            const { structureItem } = traverseStructure(structures[topic.datatype], rosPath.messagePath);
             if (structureItem) {
               metadataByPath[path] = { structureItem };
             }
@@ -190,7 +189,7 @@ export default React.memo<Props>(function MessageHistory({ children, paths, hist
       }
       return [rosPaths, metadataByPath, pathsByTopic, Object.keys(pathsByTopic)];
     },
-    [topicPrefix, memoizedPaths, sortedTopics, structures]
+    [memoizedPaths, memoizedTopicsByName, structures]
   );
 
   const memoizedHistorySize = useShallowMemo(historySize);
@@ -210,13 +209,11 @@ export default React.memo<Props>(function MessageHistory({ children, paths, hist
 
       let newItemsByPath;
       for (const { path, rosPath } of pathsMatchingMessage) {
-        const originalTopic = sortedTopics.find((topic) => topic.name === topicPrefix + rosPath.topicName);
-        if (!originalTopic) {
-          throw new Error(
-            `Missing topic (${topicPrefix}${rosPath.topicName}) for received message; this should never happen`
-          );
+        const topic = memoizedTopicsByName[rosPath.topicName];
+        if (!topic) {
+          throw new Error(`Missing topic (${rosPath.topicName}) for received message; this should never happen`);
         }
-        const item = getMessageHistoryItem(message, rosPath, originalTopic, datatypes, globalData, structures);
+        const item = getMessageHistoryItem(message, rosPath, topic, datatypes, globalVariables, structures);
         if (!item) {
           continue;
         }
@@ -232,7 +229,7 @@ export default React.memo<Props>(function MessageHistory({ children, paths, hist
       }
       return newItemsByPath || itemsByPath;
     },
-    [datatypes, sortedTopics, globalData, memoizedHistorySize, pathsByTopic, structures, topicPrefix]
+    [datatypes, memoizedTopicsByName, globalVariables, memoizedHistorySize, pathsByTopic, structures]
   );
 
   // Create itemsByPath, using prevItemsByPath if items were present for the same topics.
@@ -269,8 +266,8 @@ export default React.memo<Props>(function MessageHistory({ children, paths, hist
           itemsByPath[path] = [];
           continue;
         }
-        const originalTopic = sortedTopics.find((topic) => topic.name === topicPrefix + topicName);
-        if (!originalTopic) {
+        const topic = memoizedTopicsByName[topicName];
+        if (!topic) {
           itemsByPath[path] = [];
           continue;
         }
@@ -280,20 +277,20 @@ export default React.memo<Props>(function MessageHistory({ children, paths, hist
         // copy the items over; we must run them through getMessageHistoryItem again.)
         if (prevItemsByPath[path]) {
           itemsByPath[path] = filterMap(prevItemsByPath[path], ({ message }) =>
-            getMessageHistoryItem(message, rosPath, originalTopic, datatypes, globalData, structures)
+            getMessageHistoryItem(message, rosPath, topic, datatypes, globalVariables, structures)
           );
           continue;
         }
 
         // Extract items for this new path from the original messages.
         itemsByPath[path] = filterMap(messagesByTopic[topicName], (message) =>
-          getMessageHistoryItem(message, rosPath, originalTopic, datatypes, globalData, structures)
+          getMessageHistoryItem(message, rosPath, topic, datatypes, globalVariables, structures)
         );
       }
 
       return itemsByPath;
     },
-    [datatypes, sortedTopics, globalData, memoizedPaths, rosPaths, structures, topicPrefix]
+    [datatypes, memoizedTopicsByName, globalVariables, memoizedPaths, rosPaths, structures]
   );
 
   const renderChildren = useCallback(
@@ -305,8 +302,6 @@ export default React.memo<Props>(function MessageHistory({ children, paths, hist
 
   return (
     <MessageHistoryOnlyTopics
-      topicPrefix={topicPrefix}
-      panelType={(panelContext || {}).type}
       imageScale={imageScale}
       topics={topics}
       restore={restore}
diff --git a/packages/webviz-core/src/components/MessageHistory/index.stories.js b/packages/webviz-core/src/components/MessageHistory/index.stories.js
index 415eb2a22..2956ed557 100644
--- a/packages/webviz-core/src/components/MessageHistory/index.stories.js
+++ b/packages/webviz-core/src/components/MessageHistory/index.stories.js
@@ -12,6 +12,7 @@ import { withScreenshot } from "storybook-chrome-screenshot";
 
 import Flex from "webviz-core/src/components/Flex";
 import { MessageHistoryInput } from "webviz-core/src/components/MessageHistory";
+import { MockPanelContextProvider } from "webviz-core/src/components/Panel";
 import PanelSetup from "webviz-core/src/stories/PanelSetup";
 
 const fixture = {
@@ -55,7 +56,7 @@ const fixture = {
     { name: "/some_topic/state", datatype: "msgs/State" },
   ],
   frame: {},
-  globalData: { global_var_1: 42, global_var_2: 10 },
+  globalVariables: { global_var_1: 42, global_var_2: 10 },
 };
 
 const clickInput = (el) => {
@@ -65,30 +66,28 @@ const clickInput = (el) => {
   }
 };
 
-type MessageHistoryInputStoryProps = { path: string };
+function MessageHistoryInputStory(props: {| path: string, topicPrefix?: string |}) {
+  const [path, setPath] = React.useState(props.path);
 
-class MessageHistoryInputStory extends React.Component<MessageHistoryInputStoryProps, any> {
-  state = { path: this.props.path };
-
-  render() {
-    return (
+  return (
+    <MockPanelContextProvider topicPrefix={props.topicPrefix}>
       <PanelSetup fixture={fixture} onMount={clickInput}>
         <Flex style={{ margin: "10px" }}>
-          <MessageHistoryInput
-            path={this.state.path}
-            onChange={(newPath) => {
-              this.setState({ path: newPath });
-            }}
-            timestampMethod="receiveTime"
-          />
+          <MessageHistoryInput path={path} onChange={(newPath) => setPath(newPath)} timestampMethod="receiveTime" />
         </Flex>
       </PanelSetup>
-    );
-  }
+    </MockPanelContextProvider>
+  );
 }
 
 storiesOf("<MessageHistoryInput>", module)
   .addDecorator(withScreenshot())
+  .add("autocomplete topics", () => {
+    return <MessageHistoryInputStory path="/" />;
+  })
+  .add("autocomplete topics with topicPrefix", () => {
+    return <MessageHistoryInputStory path="/" topicPrefix="/some_topic" />;
+  })
   .add("autocomplete messagePath", () => {
     return <MessageHistoryInputStory path="/some_topic/location.po" />;
   })
@@ -98,15 +97,15 @@ storiesOf("<MessageHistoryInput>", module)
   .add("autocomplete top level filter", () => {
     return <MessageHistoryInputStory path="/some_topic/state{}" />;
   })
-  .add("autocomplete for globalData variables", () => {
+  .add("autocomplete for globalVariables variables", () => {
     return <MessageHistoryInputStory path="/some_topic/state{foo_id==0}.items[:]{id==$}" />;
   })
-  .add("path with valid globalData variable", () => {
+  .add("path with valid globalVariables variable", () => {
     return <MessageHistoryInputStory path="/some_topic/state.items[:]{id==$global_var_2}" />;
   })
-  .add("path with invalid globalData variable", () => {
+  .add("path with invalid globalVariables variable", () => {
     return <MessageHistoryInputStory path="/some_topic/state.items[:]{id==$global_var_3}" />;
   })
-  .add("path with incorrectly prefixed globalData variable", () => {
+  .add("path with incorrectly prefixed globalVariables variable", () => {
     return <MessageHistoryInputStory path="/some_topic/state.items[:]{id==global_var_2}" />;
   });
diff --git a/packages/webviz-core/src/components/MessageHistory/index.test.js b/packages/webviz-core/src/components/MessageHistory/index.test.js
index 683d23594..6f95624fb 100644
--- a/packages/webviz-core/src/components/MessageHistory/index.test.js
+++ b/packages/webviz-core/src/components/MessageHistory/index.test.js
@@ -13,7 +13,7 @@ import React from "react";
 
 import MessageHistory from ".";
 import { datatypes, messages, dualInputMessages } from "./fixture";
-import { setGlobalData } from "webviz-core/src/actions/panels";
+import { setGlobalVariables } from "webviz-core/src/actions/panels";
 import { MockMessagePipelineProvider } from "webviz-core/src/components/MessagePipeline";
 import { MockPanelContextProvider } from "webviz-core/src/components/Panel";
 import createRootReducer from "webviz-core/src/reducers";
@@ -117,14 +117,6 @@ describe("<MessageHistory />", () => {
           startTime: { sec: 100, nsec: 0 },
         },
       ],
-      [
-        {
-          cleared: false,
-          itemsByPath: { "/some/topic": [] },
-          metadataByPath: {},
-          startTime: { sec: 100, nsec: 0 },
-        },
-      ],
       [
         {
           cleared: false,
@@ -391,7 +383,7 @@ describe("<MessageHistory />", () => {
 
       const store = configureStore(createRootReducer(createMemoryHistory()));
 
-      store.dispatch(setGlobalData({ foo: 0 }));
+      store.dispatch(setGlobalVariables({ foo: 0 }));
 
       const provider = mount(
         <MockMessagePipelineProvider
@@ -422,7 +414,7 @@ describe("<MessageHistory />", () => {
       childFn.mockClear();
 
       // when $foo changes to 1, queriedData.value should change to 11
-      store.dispatch(setGlobalData({ foo: 1 }));
+      store.dispatch(setGlobalVariables({ foo: 1 }));
       expect(childFn.mock.calls).toEqual([
         [
           {
diff --git a/packages/webviz-core/src/components/MessagePipeline/index.js b/packages/webviz-core/src/components/MessagePipeline/index.js
index cb4c2d3f0..b95e13897 100644
--- a/packages/webviz-core/src/components/MessagePipeline/index.js
+++ b/packages/webviz-core/src/components/MessagePipeline/index.js
@@ -9,11 +9,17 @@
 import { createMemoryHistory } from "history";
 import { flatten, groupBy } from "lodash";
 import * as React from "react"; // eslint-disable-line import/no-duplicates
-import { useCallback, useEffect, useLayoutEffect, useMemo, useRef, useState, useContext } from "react"; // eslint-disable-line import/no-duplicates
+import { useCallback, useEffect, useLayoutEffect, useMemo, useRef, useState } from "react"; // eslint-disable-line import/no-duplicates
 import { Provider } from "react-redux";
 import { type Time, TimeUtil } from "rosbag";
 
 import warnOnOutOfSyncMessages from "./warnOnOutOfSyncMessages";
+import {
+  useShallowMemo,
+  createSelectableContext,
+  useContextSelector,
+  type BailoutToken,
+} from "webviz-core/src/components/MessageHistory/hooks";
 import type {
   AdvertisePayload,
   Frame,
@@ -46,14 +52,10 @@ export type MessagePipelineContext = {|
   seekPlayback(time: Time): void,
 |};
 
-const Context: React.Context<?MessagePipelineContext> = React.createContext();
+const Context = createSelectableContext<MessagePipelineContext>();
 
-export function useMessagePipeline(): MessagePipelineContext {
-  const context = useContext(Context);
-  if (!context) {
-    throw new Error("Component must be nested within a <MessagePipelineProvider> to access the message pipeline.");
-  }
-  return context;
+export function useMessagePipeline<T>(selector: (MessagePipelineContext) => T | BailoutToken): T {
+  return useContextSelector(Context, selector);
 }
 
 function defaultPlayerState(): PlayerState {
@@ -150,40 +152,50 @@ export function MessagePipelineProvider({ children, player }: ProviderProps) {
 
   const messages: ?(Message[]) = playerState.activeData ? playerState.activeData.messages : undefined;
   const topics: ?(Topic[]) = playerState.activeData ? playerState.activeData.topics : undefined;
+  const frame = useMemo(() => groupBy(messages || [], "topic"), [messages]);
+  const sortedTopics = useMemo(() => (topics || []).sort(naturalSort("name")), [topics]);
+  const datatypes = useMemo(
+    () => {
+      return playerState.activeData ? playerState.activeData.datatypes : {};
+    },
+    [playerState.activeData && playerState.activeData.datatypes] // eslint-disable-line react-hooks/exhaustive-deps
+  );
+  const setSubscriptions = useCallback(
+    (id: string, subscriptionsForId: SubscribePayload[]) => {
+      setAllSubscriptions((s) => ({ ...s, [id]: subscriptionsForId }));
+    },
+    [setAllSubscriptions]
+  );
+  const setPublishers = useCallback(
+    (id: string, publishersForId: AdvertisePayload[]) => {
+      setAllPublishers((p) => ({ ...p, [id]: publishersForId }));
+    },
+    [setAllPublishers]
+  );
+  const publish = useCallback((request: PublishPayload) => (player ? player.publish(request) : undefined), [player]);
+  const startPlayback = useCallback(() => (player ? player.startPlayback() : undefined), [player]);
+  const pausePlayback = useCallback(() => (player ? player.pausePlayback() : undefined), [player]);
+  const setPlaybackSpeed = useCallback((speed: number) => (player ? player.setPlaybackSpeed(speed) : undefined), [
+    player,
+  ]);
+  const seekPlayback = useCallback((time: Time) => (player ? player.seekPlayback(time) : undefined), [player]);
   return (
     <Context.Provider
-      value={{
+      value={useShallowMemo({
         playerState,
         subscriptions,
         publishers,
-        frame: useMemo(() => groupBy(messages || [], "topic"), [messages]),
-        sortedTopics: useMemo(() => (topics || []).sort(naturalSort("name")), [topics]),
-        datatypes: useMemo(
-          () => {
-            return playerState.activeData ? playerState.activeData.datatypes : {};
-          },
-          [playerState.activeData && playerState.activeData.datatypes] // eslint-disable-line react-hooks/exhaustive-deps
-        ),
-        setSubscriptions: useCallback(
-          (id: string, subscriptionsForId: SubscribePayload[]) => {
-            setAllSubscriptions((s) => ({ ...s, [id]: subscriptionsForId }));
-          },
-          [setAllSubscriptions]
-        ),
-        setPublishers: useCallback(
-          (id: string, publishersForId: AdvertisePayload[]) => {
-            setAllPublishers((p) => ({ ...p, [id]: publishersForId }));
-          },
-          [setAllPublishers]
-        ),
-        publish: useCallback((request: PublishPayload) => (player ? player.publish(request) : undefined), [player]),
-        startPlayback: useCallback(() => (player ? player.startPlayback() : undefined), [player]),
-        pausePlayback: useCallback(() => (player ? player.pausePlayback() : undefined), [player]),
-        setPlaybackSpeed: useCallback((speed: number) => (player ? player.setPlaybackSpeed(speed) : undefined), [
-          player,
-        ]),
-        seekPlayback: useCallback((time: Time) => (player ? player.seekPlayback(time) : undefined), [player]),
-      }}>
+        frame,
+        sortedTopics,
+        datatypes,
+        setSubscriptions,
+        setPublishers,
+        publish,
+        startPlayback,
+        pausePlayback,
+        setPlaybackSpeed,
+        seekPlayback,
+      })}>
       {children}
     </Context.Provider>
   );
@@ -191,20 +203,24 @@ export function MessagePipelineProvider({ children, player }: ProviderProps) {
 
 type ConsumerProps = { children: (MessagePipelineContext) => React.Node };
 export function MessagePipelineConsumer({ children }: ConsumerProps) {
-  const value = useMessagePipeline();
+  const value = useMessagePipeline(useCallback((ctx) => ctx, []));
   return children(value);
 }
 
+// TODO(Audrey): put messages under activeData, add ability to mock seeking
 export function MockMessagePipelineProvider(props: {|
   children: React.Node,
   topics?: Topic[],
   datatypes?: RosDatatypes,
   messages?: Message[],
   setSubscriptions?: (string, SubscribePayload[]) => void,
+  noActiveData?: boolean,
   activeData?: $Shape<PlayerStateActiveData>,
   capabilities?: string[],
   store?: any,
   seekPlayback?: (Time) => void,
+  startTime?: Time,
+  endTime?: Time,
 |}) {
   const storeRef = useRef(props.store || configureStore(createRootReducer(createMemoryHistory())));
   const startTime = useRef();
@@ -227,30 +243,49 @@ export function MockMessagePipelineProvider(props: {|
     setAllSubscriptions,
   ]);
 
+  const capabilities = useShallowMemo(props.capabilities || []);
+
+  const playerState = useMemo(
+    () => ({
+      isPresent: true,
+      playerId: "1",
+      progress: {},
+      showInitializing: false,
+      showSpinner: false,
+      capabilities,
+      activeData: props.noActiveData
+        ? undefined
+        : {
+            messages: props.messages || [],
+            topics: props.topics || [],
+            datatypes: props.datatypes || {},
+            startTime: props.startTime || startTime.current || { sec: 100, nsec: 0 },
+            currentTime: currentTime || { sec: 100, nsec: 0 },
+            endTime: props.endTime || currentTime || { sec: 100, nsec: 0 },
+            isPlaying: false,
+            speed: 0.2,
+            lastSeekTime: 0,
+            ...props.activeData,
+          },
+    }),
+    [
+      capabilities,
+      currentTime,
+      props.messages,
+      props.topics,
+      props.datatypes,
+      props.startTime,
+      props.endTime,
+      props.activeData,
+      props.noActiveData,
+    ]
+  );
+
   return (
     <Provider store={storeRef.current}>
       <Context.Provider
         value={{
-          playerState: {
-            isPresent: true,
-            playerId: "1",
-            progress: {},
-            showInitializing: false,
-            showSpinner: false,
-            capabilities: props.capabilities || [],
-            activeData: {
-              messages: props.messages || [],
-              topics: props.topics || [],
-              datatypes: props.datatypes || {},
-              startTime: startTime.current || { sec: 100, nsec: 0 },
-              currentTime: currentTime || { sec: 100, nsec: 0 },
-              endTime: currentTime || { sec: 100, nsec: 0 },
-              isPlaying: false,
-              speed: 0.2,
-              lastSeekTime: 0,
-              ...props.activeData,
-            },
-          },
+          playerState,
           frame: groupBy(props.messages || [], "topic"),
           sortedTopics: (props.topics || []).sort(naturalSort("name")),
           datatypes: props.datatypes || {},
diff --git a/packages/webviz-core/src/components/MessagePipeline/index.test.js b/packages/webviz-core/src/components/MessagePipeline/index.test.js
index 1c2ea3e9e..d7bee3dc9 100644
--- a/packages/webviz-core/src/components/MessagePipeline/index.test.js
+++ b/packages/webviz-core/src/components/MessagePipeline/index.test.js
@@ -9,6 +9,7 @@
 import { mount } from "enzyme";
 import { last } from "lodash";
 import * as React from "react";
+import { act } from "react-dom/test-utils";
 
 import { MessagePipelineProvider, MessagePipelineConsumer } from ".";
 import FakePlayer from "./FakePlayer";
@@ -51,7 +52,7 @@ describe("MessagePipelineProvider/MessagePipelineConsumer", () => {
     ]);
   });
 
-  it("updates when the player emits a new state", () => {
+  it("updates when the player emits a new state", async () => {
     const player = new FakePlayer();
     const callback = jest.fn().mockReturnValue(null);
     mount(
@@ -59,7 +60,9 @@ describe("MessagePipelineProvider/MessagePipelineConsumer", () => {
         <MessagePipelineConsumer>{callback}</MessagePipelineConsumer>
       </MessagePipelineProvider>
     );
-    player.emit();
+    act(() => {
+      player.emit();
+    });
     expect(callback.mock.calls).toEqual([
       [
         expect.objectContaining({
@@ -98,8 +101,10 @@ describe("MessagePipelineProvider/MessagePipelineConsumer", () => {
         <MessagePipelineConsumer>{callback}</MessagePipelineConsumer>
       </MessagePipelineProvider>
     );
-    player.emit();
-    expect(() => player.emit()).toThrow();
+    act(() => {
+      player.emit();
+    });
+    expect(() => player.emit()).toThrow("New playerState was emitted before last playerState was rendered.");
   });
 
   it("sets subscriptions", (done) => {
@@ -116,8 +121,8 @@ describe("MessagePipelineProvider/MessagePipelineConsumer", () => {
               // update the subscriptions immediately after render, not during
               // calling this on the same tick as render causes an error because we're setting state during render loop
               setImmediate(() => {
-                context.setSubscriptions("test", [{ topic: "/webviz/test" }]);
-                context.setSubscriptions("bar", [{ topic: "/webviz/test2" }]);
+                act(() => context.setSubscriptions("test", [{ topic: "/webviz/test" }]));
+                act(() => context.setSubscriptions("bar", [{ topic: "/webviz/test2" }]));
               });
             }
             if (callCount === 2) {
@@ -127,7 +132,9 @@ describe("MessagePipelineProvider/MessagePipelineConsumer", () => {
               expect(context.subscriptions).toEqual([{ topic: "/webviz/test" }, { topic: "/webviz/test2" }]);
               // cause the player to emit a frame outside the render loop to trigger another render
               setImmediate(() => {
-                player.emit();
+                act(() => {
+                  player.emit();
+                });
               });
             }
             if (callCount === 4) {
@@ -156,8 +163,8 @@ describe("MessagePipelineProvider/MessagePipelineConsumer", () => {
               // update the publishers immediately after render, not during
               // calling this on the same tick as render causes an error because we're setting state during render loop
               setImmediate(() => {
-                context.setPublishers("test", [{ topic: "/webviz/test", datatype: "test" }]);
-                context.setPublishers("bar", [{ topic: "/webviz/test2", datatype: "test2" }]);
+                act(() => context.setPublishers("test", [{ topic: "/webviz/test", datatype: "test" }]));
+                act(() => context.setPublishers("bar", [{ topic: "/webviz/test2", datatype: "test2" }]));
               });
             }
             if (callCount === 2) {
@@ -170,7 +177,9 @@ describe("MessagePipelineProvider/MessagePipelineConsumer", () => {
               ]);
               // cause the player to emit a frame outside the render loop to trigger another render
               setImmediate(() => {
-                player.emit();
+                act(() => {
+                  player.emit();
+                });
               });
             }
             if (callCount === 4) {
@@ -202,7 +211,9 @@ describe("MessagePipelineProvider/MessagePipelineConsumer", () => {
             // cause the player to emit a frame outside the render loop to trigger another render
             setImmediate(() => {
               lastPromise.then(() => {
-                lastPromise = player.emit();
+                act(() => {
+                  lastPromise = player.emit();
+                });
               });
             });
             // we don't have a last context yet
@@ -235,9 +246,9 @@ describe("MessagePipelineProvider/MessagePipelineConsumer", () => {
     expect(callback).toHaveBeenCalledTimes(1);
     // Now wait for the player state emit cycle to complete.
     // This promise should resolve when the render loop finishes.
-    await player.emit();
+    await act(() => player.emit());
     expect(callback).toHaveBeenCalledTimes(2);
-    await player.emit();
+    await act(() => player.emit());
     expect(callback).toHaveBeenCalledTimes(3);
   });
 
@@ -299,20 +310,20 @@ describe("MessagePipelineProvider/MessagePipelineConsumer", () => {
           <MessagePipelineConsumer>{fn}</MessagePipelineConsumer>
         </MessagePipelineProvider>
       );
-      await player.emit();
+      await act(() => player.emit());
       expect(fn).toHaveBeenCalledTimes(2);
 
       player2 = new FakePlayer();
       player2.playerId = "fake player 2";
-      el.setProps({ player: player2 });
+      act(() => el.setProps({ player: player2 }) && undefined);
       expect(player.close).toHaveBeenCalledTimes(1);
       expect(fn).toHaveBeenCalledTimes(4);
     });
 
     it("closes old player when new player is supplied and stops old player message flow", async () => {
-      await player2.emit();
+      await act(() => player2.emit());
       expect(fn).toHaveBeenCalledTimes(5);
-      await player.emit();
+      await act(() => player.emit());
       expect(fn).toHaveBeenCalledTimes(5);
       expect(fn.mock.calls.map((args) => args[0].playerState.playerId)).toEqual([
         "",
@@ -324,9 +335,9 @@ describe("MessagePipelineProvider/MessagePipelineConsumer", () => {
     });
 
     it("does not think the old player is the new player if it emits first", async () => {
-      await player.emit();
+      await act(() => player.emit());
       expect(fn).toHaveBeenCalledTimes(4);
-      await player2.emit();
+      await act(() => player2.emit());
       expect(fn).toHaveBeenCalledTimes(5);
       expect(fn.mock.calls.map((args) => args[0].playerState.playerId)).toEqual([
         "",
@@ -368,9 +379,9 @@ describe("MessagePipelineProvider/MessagePipelineConsumer", () => {
               // update the subscriptions immediately after render, not during
               // calling this on the same tick as render causes an error because we're setting state during render loop
               setImmediate(() => {
-                context.setSubscriptions("test", [{ topic: "/webviz/test" }]);
-                context.setSubscriptions("bar", [{ topic: "/webviz/test2" }]);
-                context.setPublishers("test", [{ topic: "/webviz/test", datatype: "test" }]);
+                act(() => context.setSubscriptions("test", [{ topic: "/webviz/test" }]));
+                act(() => context.setSubscriptions("bar", [{ topic: "/webviz/test2" }]));
+                act(() => context.setPublishers("test", [{ topic: "/webviz/test", datatype: "test" }]));
                 wait.resolve();
               });
             }
@@ -381,7 +392,7 @@ describe("MessagePipelineProvider/MessagePipelineConsumer", () => {
     );
     await wait;
     const player2 = new FakePlayer();
-    el.setProps({ player: player2 });
+    act(() => el.setProps({ player: player2 }) && undefined);
     expect(player2.subscriptions).toEqual([{ topic: "/webviz/test" }, { topic: "/webviz/test2" }]);
     expect(player2.publishers).toEqual([{ topic: "/webviz/test", datatype: "test" }]);
   });
@@ -405,7 +416,7 @@ describe("MessagePipelineProvider/MessagePipelineConsumer", () => {
       topics: [{ name: "/input/foo", datatype: "foo" }],
       datatypes: { foo: [] },
     };
-    await player.emit(activeData);
+    await act(() => player.emit(activeData));
     expect(fn).toHaveBeenCalledTimes(2);
 
     el.setProps({ player: undefined });
diff --git a/packages/webviz-core/src/components/MessagePipeline/warnOnOutOfSyncMessages.js b/packages/webviz-core/src/components/MessagePipeline/warnOnOutOfSyncMessages.js
index 749a29466..127d90455 100644
--- a/packages/webviz-core/src/components/MessagePipeline/warnOnOutOfSyncMessages.js
+++ b/packages/webviz-core/src/components/MessagePipeline/warnOnOutOfSyncMessages.js
@@ -10,7 +10,8 @@ import { type Time, TimeUtil } from "rosbag";
 
 import type { Message, PlayerState } from "webviz-core/src/players/types";
 import Logger from "webviz-core/src/util/Logger";
-import { subtractTimes, toSec } from "webviz-core/src/util/time";
+import reportError from "webviz-core/src/util/reportError";
+import { subtractTimes, toSec, formatFrame } from "webviz-core/src/util/time";
 
 const DRIFT_THRESHOLD_SEC = 1; // Maximum amount of drift allowed.
 const WAIT_FOR_SEEK_SEC = 1; // How long we wait for a change in `lastSeekTime` before warning.
@@ -26,6 +27,7 @@ const log = new Logger(__filename);
 let lastMessages: ?(Message[]);
 let lastCurrentTime: ?Time;
 let lastReceiveTime: ?Time;
+let lastReceiveTopic: ?string;
 let lastLastSeekTime: ?number;
 let warningTimeout: ?TimeoutID;
 let incorrectMessages: Message[] = [];
@@ -65,17 +67,16 @@ export default function warnOnOutOfSyncMessages(playerState: PlayerState) {
         }
       }
 
-      if (lastReceiveTime && TimeUtil.isLessThan(message.receiveTime, lastReceiveTime)) {
-        incorrectMessages.push(message);
-        log.error("Went back in time; without updating lastSeekTime", {
-          lastReceiveTime,
-          lastSeekTime,
-          incorrectMessages: incorrectMessages.map((msg) => ({
-            receiveTime: msg.receiveTime,
-            topic: msg.topic,
-          })),
-        });
+      if (lastReceiveTime && lastReceiveTopic && TimeUtil.isLessThan(message.receiveTime, lastReceiveTime)) {
+        reportError(
+          "Bag went back in time",
+          `Received a message on ${message.topic} at ${formatFrame(message.receiveTime)} which is earlier than ` +
+            `last received message on ${lastReceiveTopic} at ${formatFrame(lastReceiveTime)}. ` +
+            `Data source may be corrupted on these or other topics.`,
+          "user"
+        );
       }
+      lastReceiveTopic = message.topic;
       lastReceiveTime = message.receiveTime;
     }
   }
diff --git a/packages/webviz-core/src/components/MessagePipeline/warnOnOutOfSyncMessages.test.js b/packages/webviz-core/src/components/MessagePipeline/warnOnOutOfSyncMessages.test.js
new file mode 100644
index 000000000..71dbe7093
--- /dev/null
+++ b/packages/webviz-core/src/components/MessagePipeline/warnOnOutOfSyncMessages.test.js
@@ -0,0 +1,58 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import warnOnOutOfSyncMessages from "./warnOnOutOfSyncMessages";
+import reportError from "webviz-core/src/util/reportError";
+
+jest.mock("webviz-core/src/util/reportError");
+
+describe("MessagePipeline/warnOnOutOfSyncMessages", () => {
+  it("calls report error when messages are out of order", () => {
+    warnOnOutOfSyncMessages({
+      isPresent: true,
+      showSpinner: false,
+      showInitializing: false,
+      progress: {},
+      capabilities: [],
+      playerId: "test",
+      activeData: {
+        topics: [
+          { name: "/foo", datatype: "visualization_msgs/Marker" },
+          { name: "/bar", datatype: "visualization_msgs/Marker" },
+        ],
+        datatypes: {},
+        currentTime: {
+          sec: 1,
+          nsec: 11,
+        },
+        speed: 0.2,
+        lastSeekTime: 1.0,
+        startTime: { sec: 0, nsec: 0 },
+        endTime: { sec: 2, nsec: 0 },
+        isPlaying: false,
+        messages: [
+          {
+            topic: "/foo",
+            op: "message",
+            datatype: "visualization_msgs/Marker",
+            receiveTime: { sec: 1, nsec: 10 },
+            message: {},
+          },
+          {
+            topic: "/bar",
+            op: "message",
+            datatype: "visualization_msgs/Marker",
+            receiveTime: { sec: 1, nsec: 5 },
+            message: {},
+          },
+        ],
+      },
+    });
+    expect(reportError).toHaveBeenCalled();
+  });
+});
diff --git a/packages/webviz-core/src/components/Panel.js b/packages/webviz-core/src/components/Panel.js
index 291333503..1000e2e09 100644
--- a/packages/webviz-core/src/components/Panel.js
+++ b/packages/webviz-core/src/components/Panel.js
@@ -6,6 +6,7 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
+import CloseIcon from "@mdi/svg/svg/close.svg";
 import FullscreenIcon from "@mdi/svg/svg/fullscreen.svg";
 import GridLargeIcon from "@mdi/svg/svg/grid-large.svg";
 import TrashCanOutlineIcon from "@mdi/svg/svg/trash-can-outline.svg";
@@ -28,10 +29,10 @@ import ErrorBoundary from "webviz-core/src/components/ErrorBoundary";
 import Flex from "webviz-core/src/components/Flex";
 import { Item } from "webviz-core/src/components/Menu";
 import { getFilteredFormattedTopics } from "webviz-core/src/components/MessageHistory/topicPrefixUtils";
-import { useMessagePipeline } from "webviz-core/src/components/MessagePipeline";
 import PanelContext, { type PanelContextType } from "webviz-core/src/components/PanelContext";
 import MosaicDragHandle from "webviz-core/src/components/PanelToolbar/MosaicDragHandle";
 import { getGlobalHooks } from "webviz-core/src/loadWebviz";
+import * as PanelAPI from "webviz-core/src/PanelAPI";
 import PanelList, { getPanelsByType } from "webviz-core/src/panels/PanelList";
 import type { Topic } from "webviz-core/src/players/types";
 import type {
@@ -60,6 +61,7 @@ export const TOPIC_PREFIX_CONFIG_KEY = "webviz___topicPrefix";
 type Props<Config> = {| childId?: string, config?: Config |};
 type State = {
   quickActionsKeyPressed: boolean,
+  shiftKeyPressed: boolean,
   fullScreen: boolean,
   removePanelKeyPressed: boolean,
 };
@@ -211,7 +213,14 @@ export default function Panel<Config: PanelConfig>(
       mosaicWindowActions: PropTypes.any,
     };
 
-    state = { quickActionsKeyPressed: false, fullScreen: false, removePanelKeyPressed: false };
+    state = {
+      quickActionsKeyPressed: false,
+      shiftKeyPressed: false,
+      fullScreen: false,
+      removePanelKeyPressed: false,
+    };
+
+    _tildePressing: boolean = false;
 
     // Save the config, by mixing in the partial config with the current config, or if that does
     // not exist, with the `defaultConfig`. That way we always save complete configs.
@@ -298,27 +307,70 @@ export default function Panel<Config: PanelConfig>(
       // When using Synergy, holding down a key leads to repeated keydown/up events, so give the
       // keydown events a chance to cancel a pending keyup.
       this._keyUpTimeout = setTimeout(() => {
-        this.setState({ quickActionsKeyPressed: false, fullScreen: false });
+        this.setState({ quickActionsKeyPressed: false, shiftKeyPressed: false, fullScreen: false });
         this._keyUpTimeout = null;
       }, 0);
     };
 
     _keyUpHandlers = {
-      "`": this._exitFullScreen,
+      "`": (e) => {
+        this._tildePressing = false;
+        const { fullScreen, shiftKeyPressed } = this.state;
+        if (!fullScreen || !shiftKeyPressed) {
+          this._exitFullScreen();
+        }
+      },
+      Shift: (e) => {
+        const { fullScreen, shiftKeyPressed, quickActionsKeyPressed } = this.state;
+        if (shiftKeyPressed && quickActionsKeyPressed && !fullScreen) {
+          this.setState({ shiftKeyPressed: false });
+        }
+      },
+      "~": (e) => {
+        if (!this.state.fullScreen) {
+          this.setState({ quickActionsKeyPressed: false });
+        }
+      },
     };
 
     _keyDownHandlers = {
       "`": (e) => {
-        if (!e.repeat || !this.state.quickActionsKeyPressed) {
+        const { quickActionsKeyPressed, fullScreen } = this.state;
+        if (this._tildePressing) {
+          return;
+        }
+        if (!e.repeat && !quickActionsKeyPressed) {
           clearTimeout(this._keyUpTimeout);
+          this._tildePressing = true;
           this.setState({ quickActionsKeyPressed: true });
         }
+        if (!e.repeat && fullScreen) {
+          clearTimeout(this._keyUpTimeout);
+          this._tildePressing = true;
+          this._exitFullScreen();
+        }
+      },
+      "~": (e) => {
+        clearTimeout(this._keyUpTimeout);
+        this.setState({ quickActionsKeyPressed: true, shiftKeyPressed: true });
+      },
+      Shift: (e) => {
+        if (!this.state.shiftKeyPressed) {
+          clearTimeout(this._keyUpTimeout);
+          this.setState({ shiftKeyPressed: true });
+        }
+      },
+      Escape: (e) => {
+        if (this.state.fullScreen || this.state.quickActionsKeyPressed || this.state.shiftKeyPressed) {
+          clearTimeout(this._keyUpTimeout);
+          this._exitFullScreen();
+        }
       },
     };
 
     render() {
       const { topics, datatypes, capabilities, childId, isOnlyPanel, config = {} } = this.props;
-      const { quickActionsKeyPressed, fullScreen } = this.state;
+      const { quickActionsKeyPressed, shiftKeyPressed, fullScreen } = this.state;
       const panelsByType = getPanelsByType();
       const type = PanelComponent.panelType;
       const title = panelsByType[type] && panelsByType[type].title;
@@ -349,12 +401,13 @@ export default function Panel<Config: PanelConfig>(
             })}
             col
             clip>
+            {fullScreen ? <div className={styles.notClickable} /> : null}
             {quickActionsKeyPressed && !fullScreen && (
               <MosaicDragHandle>
                 <div className={styles.quickActionsOverlay} data-panel-overlay>
                   <div>
                     <FullscreenIcon />
-                    Fullscreen
+                    {shiftKeyPressed ? "Lock fullscreen" : "Fullscreen (Shift+click to lock)"}
                   </div>
                   <div>
                     <Button onClick={this._closePanel} disabled={isOnlyPanel}>
@@ -370,6 +423,11 @@ export default function Panel<Config: PanelConfig>(
                 </div>
               </MosaicDragHandle>
             )}
+            {fullScreen && shiftKeyPressed ? (
+              <button className={styles.exitFullScreen} onClick={this._exitFullScreen} data-panel-overlay-exit>
+                <CloseIcon /> <span>Exit fullscreen</span>
+              </button>
+            ) : null}
             <ErrorBoundary>
               {/* $FlowFixMe - https://github.com/facebook/flow/issues/6479 */}
               <PanelComponent
@@ -396,8 +454,9 @@ export default function Panel<Config: PanelConfig>(
 
   function ConnectedPanel(props: Props<Config>) {
     const store = React.useContext(ReactReduxContext).store;
-    const panelState = useSelector((state) => state.panels);
-    const context = useMessagePipeline();
+    const savedProps = useSelector((state) => state.panels.savedProps[props.childId]);
+    const isOnlyPanel = useSelector((state) => !isParent(state.panels.layout));
+    const { topics, datatypes, capabilities } = PanelAPI.useDataSourceInfo();
     const dispatch = useDispatch();
     const actions = React.useMemo(() => bindActionCreators({ savePanelConfig, saveFullPanelConfig }, dispatch), [
       dispatch,
@@ -407,11 +466,11 @@ export default function Panel<Config: PanelConfig>(
         {...props}
         store={store}
         childId={props.childId}
-        config={panelState.savedProps[props.childId] || props.config}
-        isOnlyPanel={!isParent(panelState.layout)}
-        topics={context.sortedTopics}
-        datatypes={context.datatypes}
-        capabilities={context.playerState.capabilities}
+        config={savedProps || props.config}
+        isOnlyPanel={isOnlyPanel}
+        topics={topics}
+        datatypes={datatypes}
+        capabilities={capabilities}
         {...actions}
       />
     );
diff --git a/packages/webviz-core/src/components/Panel.module.scss b/packages/webviz-core/src/components/Panel.module.scss
index 6816f1930..7b7f16328 100644
--- a/packages/webviz-core/src/components/Panel.module.scss
+++ b/packages/webviz-core/src/components/Panel.module.scss
@@ -1,4 +1,5 @@
 @import "~webviz-core/src/styles/colors.module.scss";
+@import "~webviz-core/src/styles/variables.scss";
 
 .root {
   z-index: 1;
@@ -8,12 +9,23 @@
 
 .rootFullScreen {
   position: fixed;
-  top: 0;
+  z-index: 100;
+  border: 4px solid rgba(110, 81, 238, 0.3);
+  top: $topBarHeight;
   left: 0;
   right: 0;
-  bottom: 0;
+  bottom: $playbackControlHeight;
+}
+
+.notClickable {
+  position: fixed;
   z-index: 100;
-  border: 4px solid rgba(110, 81, 238, 0.3);
+  top: 0;
+  left: 0;
+  right: 0;
+  height: $topBarHeight;
+  opacity: 0;
+  cursor: not-allowed;
 }
 
 .quickActionsOverlay {
@@ -105,3 +117,29 @@
     }
   }
 }
+
+.exitFullScreen {
+  position: fixed;
+  top: 75px;
+  right: 8px;
+  z-index: 102;
+  opacity: 1;
+  background-color: $toolbar;
+  display: none;
+  .root:hover & {
+    display: block;
+  }
+  &:global(.hoverForScreenshot) {
+    display: block;
+  }
+  svg {
+    width: 16px;
+    height: 16px;
+    fill: white;
+    float: left;
+  }
+  span {
+    float: right;
+    padding-left: 3px;
+  }
+}
diff --git a/packages/webviz-core/src/components/PanelContext.js b/packages/webviz-core/src/components/PanelContext.js
index b8199bcd3..08fe3d1a9 100644
--- a/packages/webviz-core/src/components/PanelContext.js
+++ b/packages/webviz-core/src/components/PanelContext.js
@@ -11,12 +11,17 @@ import * as React from "react";
 import type { SaveConfig, PanelConfig, UpdatePanelConfig, OpenSiblingPanel } from "webviz-core/src/types/panels";
 
 export type PanelContextType<T> = {|
+  // TODO(PanelAPI): private API, should not be used in panels
   type: string,
   id: string,
   title: string,
   topicPrefix?: string,
+
+  // TODO(PanelAPI): move to usePanelConfig()
   config: PanelConfig,
   saveConfig: SaveConfig<T>,
+
+  // TODO(PanelAPI): move to usePanelActions()
   updatePanelConfig: UpdatePanelConfig<T>,
   openSiblingPanel: OpenSiblingPanel,
 |};
diff --git a/packages/webviz-core/src/components/PerfMonitor/index.js b/packages/webviz-core/src/components/PerfMonitor/index.js
deleted file mode 100644
index d4b07efcc..000000000
--- a/packages/webviz-core/src/components/PerfMonitor/index.js
+++ /dev/null
@@ -1,86 +0,0 @@
-// @flow
-//
-//  Copyright (c) 2018-present, GM Cruise LLC
-//
-//  This source code is licensed under the Apache License, Version 2.0,
-//  found in the LICENSE file in the root directory of this source tree.
-//  You may not use this file except in compliance with the License.
-
-import * as React from "react";
-import styled from "styled-components";
-
-import { markUpdate, setCallback, setupPerfMonitoring } from "./reconciliationPerf";
-import colors from "webviz-core/src/styles/colors.module.scss";
-import mixins from "webviz-core/src/styles/mixins.module.scss";
-import { PANEL_PERF_QUERY_KEY } from "webviz-core/src/util/globalConstants";
-
-// $FlowFixMe - apparently this is not in the flowtyped definitions yet.
-const Profiler = React.unstable_Profiler;
-
-const showPanelPerf = new URLSearchParams(location.search).has(PANEL_PERF_QUERY_KEY);
-
-const SPerfIndicator = styled.div`
-  font-family: ${mixins.monospaceFont};
-  font-size: 10px;
-  background-color: ${colors.backgroundControl};
-  position: absolute;
-  bottom: 10px;
-  left: 10px;
-  padding: 0.5em;
-  z-index: 999999999;
-`;
-
-if (showPanelPerf) {
-  setupPerfMonitoring();
-}
-
-// Simple wrapper around React's new Profiler API. Shows "actual" render time (which is the time
-// that the last render took), and the "base" render time (which is the time that the render would
-// have taken if all components in the tree would have `shouldComponentUpdate: true`). Also shows
-// a unique id -- if that changes rapidly then that's also a bad sign (lots of remounts).
-export default class PerfMonitor extends React.Component<{| id: string, children: React.Node |}> {
-  _top: ?HTMLDivElement;
-
-  shouldComponentUpdate() {
-    if (showPanelPerf) {
-      markUpdate(this.props.id);
-    }
-    return true;
-  }
-
-  _profilerOnRender = (id: ?string, phase: "mount" | "update", actualTime: number, baseTime: number) => {
-    const text = `actual: ${actualTime.toFixed(1)}ms\nbase: ${baseTime.toFixed(1)}ms\nid: ${this.props.id.slice(0, 8)}`;
-    if (this._top) {
-      this._top.innerText = text;
-    }
-  };
-
-  render() {
-    if (!showPanelPerf) {
-      return this.props.children;
-    }
-
-    return (
-      <>
-        <SPerfIndicator>
-          <div ref={(el) => (this._top = el)}>?</div>
-          <div
-            ref={(el) => {
-              if (el) {
-                setCallback(this.props.id, (measure: PerformanceEntry) => {
-                  el.innerText = `reconcil: ${measure.duration.toFixed(1)}ms`;
-                });
-              } else {
-                setCallback(this.props.id, undefined);
-              }
-            }}>
-            ?
-          </div>
-        </SPerfIndicator>
-        <Profiler id={this.props.id} onRender={this._profilerOnRender}>
-          {this.props.children}
-        </Profiler>
-      </>
-    );
-  }
-}
diff --git a/packages/webviz-core/src/components/PerfMonitor/reconciliationPerf.js b/packages/webviz-core/src/components/PerfMonitor/reconciliationPerf.js
deleted file mode 100644
index b3e8ba04f..000000000
--- a/packages/webviz-core/src/components/PerfMonitor/reconciliationPerf.js
+++ /dev/null
@@ -1,63 +0,0 @@
-// @flow
-//
-//  Copyright (c) 2018-present, GM Cruise LLC
-//
-//  This source code is licensed under the Apache License, Version 2.0,
-//  found in the LICENSE file in the root directory of this source tree.
-//  You may not use this file except in compliance with the License.
-
-export const ID_PREFIX = "reconciliationPerf:";
-export const REACT_PANEL_WRAPPER_MEASURE_NAME = "⚛ PerfMonitor [update]";
-
-const callbacksById: { [string]: (PerformanceEntry) => void } = {};
-
-const entrySorter = (a: PerformanceEntry, b: PerformanceEntry) => (a.startTime < b.startTime ? -1 : 1);
-
-export const observeMeasures = (list: window.PerformanceObserverEntryList) => {
-  // General Idea:
-  //  - React's performance measures don't have specifics of which measure corresponds to which exact component.
-  //  - To compensate:
-  //     - At the start of shouldComponentUpdate, we add a mark with a specific child Id for the component
-  //     - In this function when we get all the measures together, we sort all the marks / measures by start time and:
-  //       - at each measure for "⚛ PerfMonitor [update]"
-  //       - The next time we see the child id mark, we know that the most recent measure was for this child id.
-  //       - We store this measure in a dictionary keyed by that child id.
-  //     - This works because the mark happens during the measured period, and we get the list chronologically, so you get a measure, then the marks in it.
-  //     - Whenever we render the component, we see if we have a value for the previous render and show that overlaid.
-  let currentMeasure = null;
-  const sortedEntriesList: PerformanceEntry[] = [...list.getEntries()].sort(entrySorter);
-  for (const entry of sortedEntriesList) {
-    if (entry.entryType === "measure" && entry.name.startsWith(REACT_PANEL_WRAPPER_MEASURE_NAME)) {
-      currentMeasure = entry;
-    } else if (entry.entryType === "mark" && entry.name.startsWith(ID_PREFIX)) {
-      if (!currentMeasure) {
-        continue;
-      }
-      const id = entry.name.slice(ID_PREFIX.length);
-      if (callbacksById[id]) {
-        callbacksById[id](currentMeasure);
-      }
-      if (window.performance && window.performance.clearMarks) {
-        window.performance.clearMarks(entry.name);
-      }
-      currentMeasure = null;
-    }
-  }
-};
-
-export function setupPerfMonitoring() {
-  const panelPerfWatcher = new window.PerformanceObserver(observeMeasures);
-  panelPerfWatcher.observe({ entryTypes: ["mark", "measure"] });
-}
-
-export const setCallback = (id: string, callback: ?(PerformanceEntry) => void) => {
-  if (callback) {
-    callbacksById[id] = callback;
-  } else {
-    delete callbacksById[id];
-  }
-};
-
-export const markUpdate = (id: string) => {
-  window.performance.mark(`${ID_PREFIX}${id}`);
-};
diff --git a/packages/webviz-core/src/components/PerfMonitor/reconciliationPerf.test.js b/packages/webviz-core/src/components/PerfMonitor/reconciliationPerf.test.js
deleted file mode 100644
index 8e32e1a94..000000000
--- a/packages/webviz-core/src/components/PerfMonitor/reconciliationPerf.test.js
+++ /dev/null
@@ -1,69 +0,0 @@
-// @flow
-//
-//  Copyright (c) 2018-present, GM Cruise LLC
-//
-//  This source code is licensed under the Apache License, Version 2.0,
-//  found in the LICENSE file in the root directory of this source tree.
-//  You may not use this file except in compliance with the License.
-
-import { observeMeasures, setCallback, ID_PREFIX, REACT_PANEL_WRAPPER_MEASURE_NAME } from "./reconciliationPerf";
-
-describe("reconciliationPerf", () => {
-  it("should match measures to metrics independent of order", () => {
-    // Window.performance doesn't exist while our tests run, but in case it ever does in the glorious future, keep a copy and reset the stub at the end.
-    const oldPerformance = window.performance;
-    window.performance = {
-      clearMarks: () => {},
-    };
-
-    // Fake measures and marks:
-    const list = {
-      getEntries: () => [
-        // Basic.
-        { entryType: "measure", name: REACT_PANEL_WRAPPER_MEASURE_NAME, startTime: 1, duration: 1 },
-        { entryType: "mark", name: `${ID_PREFIX}Id1`, startTime: 1.5 },
-
-        // Mark before measure.
-        { entryType: "mark", name: `${ID_PREFIX}Id2`, startTime: 7 },
-        { entryType: "measure", name: REACT_PANEL_WRAPPER_MEASURE_NAME, startTime: 6, duration: 3 },
-
-        // Floating measure that doesn't have child (so doesn't get matched).
-        { entryType: "measure", name: REACT_PANEL_WRAPPER_MEASURE_NAME, startTime: 9.1, duration: 0.6 },
-
-        // Mark & Measure together but out of order with rest.
-        { entryType: "measure", name: REACT_PANEL_WRAPPER_MEASURE_NAME, startTime: 3, duration: 2 },
-        { entryType: "mark", name: `${ID_PREFIX}Id3`, startTime: 4 },
-
-        // Measure that overlaps Id3, but doesn't have the right name.
-        { entryType: "measure", name: "blah", startTime: 3, duration: 2 },
-
-        // Multiple marks first, then matching measures.
-        { entryType: "mark", name: `${ID_PREFIX}Id5`, startTime: 13 },
-        { entryType: "mark", name: `${ID_PREFIX}Id4`, startTime: 11 },
-        { entryType: "measure", name: REACT_PANEL_WRAPPER_MEASURE_NAME, startTime: 12, duration: 6 },
-        { entryType: "measure", name: REACT_PANEL_WRAPPER_MEASURE_NAME, startTime: 10, duration: 2 },
-      ],
-    };
-
-    const callback1 = jest.fn();
-    const callback2 = jest.fn();
-    const callback3 = jest.fn();
-    const callback4 = jest.fn();
-    const callback5 = jest.fn();
-    setCallback("Id1", callback1);
-    setCallback("Id2", callback2);
-    setCallback("Id3", callback3);
-    setCallback("Id4", callback4);
-    setCallback("Id5", callback5);
-
-    observeMeasures(list);
-
-    expect(callback1.mock.calls).toEqual([[expect.objectContaining({ duration: 1 })]]);
-    expect(callback2.mock.calls).toEqual([[expect.objectContaining({ duration: 3 })]]);
-    expect(callback3.mock.calls).toEqual([[expect.objectContaining({ duration: 2 })]]);
-    expect(callback4.mock.calls).toEqual([[expect.objectContaining({ duration: 2 })]]);
-    expect(callback5.mock.calls).toEqual([[expect.objectContaining({ duration: 6 })]]);
-
-    window.performance = oldPerformance;
-  });
-});
diff --git a/packages/webviz-core/src/components/PlaybackControls/index.js b/packages/webviz-core/src/components/PlaybackControls/index.js
index 933cbbc12..5cb5dea40 100644
--- a/packages/webviz-core/src/components/PlaybackControls/index.js
+++ b/packages/webviz-core/src/components/PlaybackControls/index.js
@@ -11,13 +11,15 @@ import CancelIcon from "@mdi/svg/svg/cancel.svg";
 import PauseIcon from "@mdi/svg/svg/pause.svg";
 import PlayIcon from "@mdi/svg/svg/play.svg";
 import classnames from "classnames";
-import * as React from "react";
+import React, { useCallback } from "react";
 import KeyListener from "react-key-listener";
+import { useSelector, useDispatch } from "react-redux";
 import type { Time } from "rosbag";
 import styled from "styled-components";
 
 import styles from "./index.module.scss";
 import { ProgressPlot } from "./ProgressPlot";
+import { setPlaybackConfig as setPlaybackConfigAction } from "webviz-core/src/actions/panels";
 import Dropdown from "webviz-core/src/components/Dropdown";
 import EmptyState from "webviz-core/src/components/EmptyState";
 import Flex from "webviz-core/src/components/Flex";
@@ -51,6 +53,7 @@ const StyledMarker = styled.div.attrs({
 `;
 
 type Props = {|
+  playbackSpeed: number,
   player: PlayerState,
   pause: () => void,
   play: () => void,
@@ -199,18 +202,28 @@ export class UnconnectedPlaybackControls extends React.PureComponent<Props> {
   }
 }
 
-export default function PlaybackControls() {
-  return (
-    <MessagePipelineConsumer>
-      {(context) => (
-        <UnconnectedPlaybackControls
-          player={context.playerState}
-          play={context.startPlayback}
-          pause={context.pausePlayback}
-          seek={context.seekPlayback}
-          setSpeed={context.setPlaybackSpeed}
-        />
-      )}
-    </MessagePipelineConsumer>
+function PlaybackControls() {
+  const playbackSpeed = useSelector((state) => state.panels.playbackConfig.speed);
+  const dispatch = useDispatch();
+  const setPlaybackConfig = useCallback((config) => dispatch(setPlaybackConfigAction(config)), [dispatch]);
+
+  const renderUnconnectedPlaybackControls = useCallback(
+    (context) => (
+      <UnconnectedPlaybackControls
+        player={context.playerState}
+        play={context.startPlayback}
+        pause={context.pausePlayback}
+        seek={context.seekPlayback}
+        setSpeed={(speed) => {
+          context.setPlaybackSpeed(speed);
+          setPlaybackConfig({ speed });
+        }}
+        playbackSpeed={playbackSpeed}
+      />
+    ),
+    [setPlaybackConfig, playbackSpeed]
   );
+  return <MessagePipelineConsumer>{renderUnconnectedPlaybackControls}</MessagePipelineConsumer>;
 }
+
+export default PlaybackControls;
diff --git a/packages/webviz-core/src/components/PlaybackControls/index.stories.js b/packages/webviz-core/src/components/PlaybackControls/index.stories.js
index 754b8f23e..c42243f03 100644
--- a/packages/webviz-core/src/components/PlaybackControls/index.stories.js
+++ b/packages/webviz-core/src/components/PlaybackControls/index.stories.js
@@ -49,7 +49,14 @@ storiesOf("<PlaybackControls>", module)
     const player = getPlayerState();
     return (
       <div style={{ padding: 20, margin: 100 }}>
-        <UnconnectedPlaybackControls player={player} pause={pause} play={play} setSpeed={setSpeed} seek={seek} />
+        <UnconnectedPlaybackControls
+          player={player}
+          pause={pause}
+          play={play}
+          setSpeed={setSpeed}
+          seek={seek}
+          playbackSpeed={0.2}
+        />
       </div>
     );
   })
@@ -62,7 +69,14 @@ storiesOf("<PlaybackControls>", module)
     player.capabilities = [];
     return (
       <div style={{ padding: 20, margin: 100 }}>
-        <UnconnectedPlaybackControls player={player} pause={pause} play={play} setSpeed={setSpeed} seek={seek} />
+        <UnconnectedPlaybackControls
+          player={player}
+          pause={pause}
+          play={play}
+          setSpeed={setSpeed}
+          seek={seek}
+          playbackSpeed={0.2}
+        />
       </div>
     );
   })
@@ -81,7 +95,14 @@ storiesOf("<PlaybackControls>", module)
     }
     return (
       <div style={{ padding: 20, margin: 100 }}>
-        <UnconnectedPlaybackControls player={player} pause={pause} play={play} setSpeed={setSpeed} seek={seek} />
+        <UnconnectedPlaybackControls
+          player={player}
+          pause={pause}
+          play={play}
+          setSpeed={setSpeed}
+          seek={seek}
+          playbackSpeed={0.2}
+        />
       </div>
     );
   })
@@ -127,6 +148,7 @@ storiesOf("<PlaybackControls>", module)
             play={play}
             setSpeed={setSpeed}
             seek={seek}
+            playbackSpeed={0.2}
           />
         );
       }
@@ -146,7 +168,14 @@ storiesOf("<PlaybackControls>", module)
     player.progress.fullyLoadedFractionRanges = [{ start: 0.23, end: 0.6 }, { start: 0.7, end: 1 }];
     return (
       <div style={{ padding: 20, margin: 100 }}>
-        <UnconnectedPlaybackControls player={player} pause={pause} play={play} setSpeed={setSpeed} seek={seek} />
+        <UnconnectedPlaybackControls
+          player={player}
+          pause={pause}
+          play={play}
+          setSpeed={setSpeed}
+          seek={seek}
+          playbackSpeed={0.2}
+        />
       </div>
     );
   });
diff --git a/packages/webviz-core/src/components/PlayerManager.js b/packages/webviz-core/src/components/PlayerManager.js
index d7f809782..6ef06e747 100644
--- a/packages/webviz-core/src/components/PlayerManager.js
+++ b/packages/webviz-core/src/components/PlayerManager.js
@@ -9,8 +9,15 @@
 import * as React from "react";
 import { connect } from "react-redux";
 
-import { setNodeDiagnostics, type SetNodeDiagnostics } from "webviz-core/src/actions/nodeDiagnostics";
 import { importPanelLayout } from "webviz-core/src/actions/panels";
+import {
+  setUserNodeDiagnostics,
+  addUserNodeLogs,
+  setUserNodeTrust,
+  type SetUserNodeDiagnostics,
+  type AddUserNodeLogs,
+  type SetUserNodeTrust,
+} from "webviz-core/src/actions/userNodes";
 import DocumentDropListener from "webviz-core/src/components/DocumentDropListener";
 import DropOverlay from "webviz-core/src/components/DropOverlay";
 import { MessagePipelineProvider } from "webviz-core/src/components/MessagePipeline";
@@ -55,10 +62,19 @@ type OwnProps = { children: React.Node };
 type Props = OwnProps & {
   importPanelLayout: (payload: ImportPanelLayoutPayload, isFromUrl: boolean, skipSettingLocalStorage: boolean) => void,
   userNodes: UserNodes,
-  setNodeDiagnostics: SetNodeDiagnostics,
+  setUserNodeDiagnostics: SetUserNodeDiagnostics,
+  addUserNodeLogs: AddUserNodeLogs,
+  setUserNodeTrust: SetUserNodeTrust,
 };
 
-function PlayerManager({ importPanelLayout, children, userNodes, setNodeDiagnostics }: Props) {
+function PlayerManager({
+  importPanelLayout,
+  children,
+  userNodes,
+  setUserNodeDiagnostics,
+  addUserNodeLogs,
+  setUserNodeTrust,
+}: Props) {
   const usedFiles = React.useRef<File[]>([]);
   const [player, setPlayer] = React.useState();
 
@@ -78,7 +94,7 @@ function PlayerManager({ importPanelLayout, children, userNodes, setNodeDiagnost
           );
 
           if (new URLSearchParams(window.location.search).has(ENABLE_NODE_PLAYGROUND_QUERY_KEY)) {
-            setPlayer(new UserNodePlayer(newPlayer, setNodeDiagnostics));
+            setPlayer(new UserNodePlayer(newPlayer, { setUserNodeDiagnostics, addUserNodeLogs, setUserNodeTrust }));
           } else {
             setPlayer(new NodePlayer(newPlayer));
           }
@@ -88,7 +104,7 @@ function PlayerManager({ importPanelLayout, children, userNodes, setNodeDiagnost
         }
       }
     },
-    [importPanelLayout, setNodeDiagnostics]
+    [importPanelLayout, setUserNodeDiagnostics, addUserNodeLogs, setUserNodeTrust]
   );
 
   useUserNodes({ nodePlayer: player, userNodes });
@@ -125,5 +141,5 @@ export default connect<Props, OwnProps, _, _, _, _>(
   (state) => ({
     userNodes: state.panels.userNodes,
   }),
-  { importPanelLayout, setNodeDiagnostics }
+  { importPanelLayout, setUserNodeDiagnostics, addUserNodeLogs, setUserNodeTrust }
 )(PlayerManager);
diff --git a/packages/webviz-core/src/components/Root.js b/packages/webviz-core/src/components/Root.js
index ac6f571c9..edf720e8a 100644
--- a/packages/webviz-core/src/components/Root.js
+++ b/packages/webviz-core/src/components/Root.js
@@ -11,7 +11,7 @@ import { hot } from "react-hot-loader/root";
 import { connect, Provider } from "react-redux";
 
 import styles from "./Root.module.scss";
-import { changePanelLayout, importPanelLayout, savePanelConfig } from "webviz-core/src/actions/panels";
+import { importPanelLayout } from "webviz-core/src/actions/panels";
 import Logo from "webviz-core/src/assets/logo.svg";
 import AppMenu from "webviz-core/src/components/AppMenu";
 import ErrorBoundary from "webviz-core/src/components/ErrorBoundary";
@@ -20,16 +20,10 @@ import LayoutMenu from "webviz-core/src/components/LayoutMenu";
 import PanelLayout from "webviz-core/src/components/PanelLayout";
 import PlaybackControls from "webviz-core/src/components/PlaybackControls";
 import PlayerManager from "webviz-core/src/components/PlayerManager";
-import renderToBody from "webviz-core/src/components/renderToBody";
-import ShareJsonModal from "webviz-core/src/components/ShareJsonModal";
 import Toolbar from "webviz-core/src/components/Toolbar";
 import withDragDropContext from "webviz-core/src/components/withDragDropContext";
-import type { State } from "webviz-core/src/reducers";
-import type { PanelsState } from "webviz-core/src/reducers/panels";
-import type { Auth } from "webviz-core/src/types/Auth";
-import type { ImportPanelLayoutPayload, PanelConfig, SaveConfigPayload } from "webviz-core/src/types/panels";
-import type { Store } from "webviz-core/src/types/Store";
-import { getPanelIdForType } from "webviz-core/src/util";
+import getGlobalStore from "webviz-core/src/store/getGlobalStore";
+import type { ImportPanelLayoutPayload } from "webviz-core/src/types/panels";
 import { setReactHotLoaderConfig } from "webviz-core/src/util/dev";
 
 // Only used in dev.
@@ -37,16 +31,8 @@ setReactHotLoaderConfig();
 
 const LOGO_SIZE = 24;
 
-type AppProps = {|
-  panels: PanelsState,
-  auth: Auth,
-|};
-
 type Props = {|
-  ...AppProps,
   // panelLayout is an opaque structure defined by react-mosaic
-  changePanelLayout: (panelLayout: any) => void,
-  savePanelConfig: (SaveConfigPayload) => void,
   importPanelLayout: (ImportPanelLayoutPayload, boolean) => void,
 |};
 class App extends React.PureComponent<Props> {
@@ -62,35 +48,6 @@ class App extends React.PureComponent<Props> {
     window.setPanelLayout = (payload) => this.props.importPanelLayout(payload, false);
   }
 
-  onPanelSelect = (panelType: string, panelConfig?: PanelConfig) => {
-    const { panels, changePanelLayout, savePanelConfig } = this.props;
-    const id = getPanelIdForType(panelType);
-    const newPanels = {
-      direction: "row",
-      first: id,
-      second: panels.layout,
-    };
-    if (panelConfig) {
-      savePanelConfig({ id, config: panelConfig });
-    }
-    changePanelLayout(newPanels);
-  };
-
-  showLayoutModal = () => {
-    const modal = renderToBody(
-      <ShareJsonModal
-        onRequestClose={() => modal.remove()}
-        value={this.props.panels}
-        onChange={this.onLayoutChange}
-        noun="layout"
-      />
-    );
-  };
-
-  onLayoutChange = (layout: any) => {
-    this.props.importPanelLayout(layout, false);
-  };
-
   render() {
     return (
       <div ref={(el) => (this.container = el)} className="app-container" tabIndex={0}>
@@ -106,10 +63,10 @@ class App extends React.PureComponent<Props> {
               <ErrorDisplay />
             </div>
             <div className={styles.block}>
-              <AppMenu onPanelSelect={this.onPanelSelect} />
+              <AppMenu />
             </div>
             <div className={styles.block}>
-              <LayoutMenu onImportSelect={this.showLayoutModal} />
+              <LayoutMenu />
             </div>
           </Toolbar>
           <div className={styles.layout}>
@@ -124,25 +81,16 @@ class App extends React.PureComponent<Props> {
   }
 }
 
-const mapStateToProps = (state: State, ownProps): AppProps => {
-  return {
-    panels: state.panels,
-    auth: state.auth,
-  };
-};
-
-const ConnectedApp = connect(
-  mapStateToProps,
+const ConnectedApp = connect<Props, {}, _, _, _, _>(
+  null,
   {
-    changePanelLayout,
-    savePanelConfig,
     importPanelLayout,
   }
 )(withDragDropContext(App));
 
-const Root = ({ store }: { store: Store }) => {
+const Root = () => {
   return (
-    <Provider store={store}>
+    <Provider store={getGlobalStore()}>
       <div className="app-container">
         <ErrorBoundary>
           <ConnectedApp />
diff --git a/packages/webviz-core/src/components/SegmentControl.js b/packages/webviz-core/src/components/SegmentControl.js
new file mode 100644
index 000000000..f4356fb86
--- /dev/null
+++ b/packages/webviz-core/src/components/SegmentControl.js
@@ -0,0 +1,72 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import * as React from "react";
+import styled from "styled-components";
+import tinyColor from "tinycolor2";
+
+import { colors } from "webviz-core/src/util/colors";
+
+const colorToAlpha = (hex, alpha) => {
+  const color = tinyColor(hex);
+  color.setAlpha(alpha);
+  return color.toRgbString();
+};
+
+const SSegmentControl = styled.div`
+  display: inline-flex;
+  padding: 4px;
+  border-radius: 6px;
+  background-color: ${(props) => colorToAlpha(colors.LIGHT, 0.15)};
+  outline: 0;
+  &:focus-within,
+  &:focus,
+  &:active {
+    box-shadow: inset 0 0 0 2px ${(props) => colorToAlpha(colors.LIGHT, 0.1)};
+  }
+`;
+
+const SOption = styled.div`
+  flex: none;
+  cursor: pointer;
+  transition: all 80ms ease-in-out;
+  border-radius: 4px;
+  background-color: ${(props) => (props.isSelected ? colors.DARK2 : "transparent")};
+  color: ${(props) => (props.isSelected ? colors.LIGHT : colors.LIGHT)};
+  padding: 8px 16px;
+  &:hover {
+    opacity: 0.8;
+  }
+`;
+
+export type Option = {|
+  id: string,
+  label: string,
+|};
+
+type Props = {|
+  options: Option[],
+  selectedId: string,
+  onChange: (id: string) => void,
+|};
+
+export default function SegmentControl({ options, selectedId, onChange }: Props) {
+  if (options.length === 0) {
+    throw new Error("<SegmentControl> requires at least one option");
+  }
+
+  return (
+    <SSegmentControl tabIndex={0}>
+      {options.map(({ id, label }) => (
+        <SOption key={id} data-test={id} onClick={() => onChange(id)} isSelected={selectedId === id}>
+          {label}
+        </SOption>
+      ))}
+    </SSegmentControl>
+  );
+}
diff --git a/packages/webviz-core/src/components/SegmentControl.stories.js b/packages/webviz-core/src/components/SegmentControl.stories.js
new file mode 100644
index 000000000..5ffae9acf
--- /dev/null
+++ b/packages/webviz-core/src/components/SegmentControl.stories.js
@@ -0,0 +1,80 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { storiesOf } from "@storybook/react";
+import * as React from "react";
+import { withScreenshot } from "storybook-chrome-screenshot";
+
+import SegmentControl, { type Option } from "webviz-core/src/components/SegmentControl";
+
+const OPTIONS = {
+  first: {
+    id: "first",
+    label: "First Option",
+  },
+  second: {
+    id: "second",
+    label: "Second Option",
+  },
+  third: {
+    id: "third",
+    label: "Third Option",
+  },
+};
+
+function Box({
+  title = "",
+  children,
+  onMount,
+}: {
+  title?: string,
+  children: React.Node,
+  onMount?: (HTMLDivElement) => void,
+}) {
+  return (
+    <div
+      style={{ margin: 24, width: 432 }}
+      ref={(el) => {
+        if (el && onMount) {
+          onMount(el);
+        }
+      }}>
+      <p>{title}</p>
+      <div style={{ width: 432 }}>{children}</div>
+    </div>
+  );
+}
+
+// $FlowFixMe
+const optionArr: Option[] = Object.values(OPTIONS);
+
+function ControlledExample() {
+  const [selectedId, setSelectedId] = React.useState(OPTIONS.first.id);
+  return (
+    <Box
+      title="clicked the 2nd option manually"
+      onMount={(el) => {
+        const secondOptionEl = el.querySelector("[data-test='second']");
+        if (secondOptionEl) {
+          secondOptionEl.click();
+        }
+      }}>
+      <SegmentControl options={optionArr} selectedId={selectedId} onChange={(newId) => setSelectedId(newId)} />
+    </Box>
+  );
+}
+storiesOf("<SegmentControl>", module)
+  .addDecorator(withScreenshot())
+  .add("basic", () => (
+    <div>
+      <Box title="default">
+        <SegmentControl options={optionArr} selectedId="first" onChange={() => {}} />
+      </Box>
+      <ControlledExample />
+    </div>
+  ));
diff --git a/packages/webviz-core/src/components/ShareJsonModal.test.js b/packages/webviz-core/src/components/ShareJsonModal.test.js
index 31fb7a333..383eae3f9 100644
--- a/packages/webviz-core/src/components/ShareJsonModal.test.js
+++ b/packages/webviz-core/src/components/ShareJsonModal.test.js
@@ -65,7 +65,7 @@ describe("<ShareJsonModal />", () => {
       JSON.stringify({
         layout: "RosOut!cuuf9u",
         savedProps: {},
-        globalData: {},
+        globalVariables: {},
       })
     );
     wrapper.find(".textarea").simulate("change", { target: { value: newValue } });
diff --git a/packages/webviz-core/src/components/TextContent.js b/packages/webviz-core/src/components/TextContent.js
index 9fa45bb4b..fad9a31ad 100644
--- a/packages/webviz-core/src/components/TextContent.js
+++ b/packages/webviz-core/src/components/TextContent.js
@@ -15,11 +15,12 @@ import styles from "./TextContent.module.scss";
 type Props = {
   children: React.Node | string,
   linkTarget?: string,
+  style?: { [string]: number | string },
 };
 
 export default class TextContent extends React.Component<Props> {
   render() {
-    const { children, linkTarget = undefined } = this.props;
+    const { children, linkTarget = undefined, style = {} } = this.props;
 
     // Make links in Markdown work with react-router.
     // Per https://github.com/rexxars/react-markdown/issues/29#issuecomment-275437798
@@ -34,7 +35,7 @@ export default class TextContent extends React.Component<Props> {
     }
 
     return (
-      <div className={styles.root}>
+      <div className={styles.root} style={style}>
         {typeof children === "string" ? <ReactMarkdown source={children} renderers={{ link: renderLink }} /> : children}
       </div>
     );
diff --git a/packages/webviz-core/src/components/TextField.js b/packages/webviz-core/src/components/TextField.js
new file mode 100644
index 000000000..ac94cba6f
--- /dev/null
+++ b/packages/webviz-core/src/components/TextField.js
@@ -0,0 +1,161 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import * as React from "react";
+import styled from "styled-components";
+
+import { colors } from "webviz-core/src/util/colors";
+
+const { useRef, useState, useLayoutEffect, useCallback } = React;
+
+export const STextField = styled.div`
+  display: flex;
+  flex-direction: column;
+`;
+
+export const STextFieldLabel = styled.label`
+  margin: 8px 0;
+  color: ${colors.GRAY};
+`;
+
+export const SError = styled.div`
+  color: ${colors.RED};
+  margin: 4px 0;
+`;
+
+type Props = {
+  defaultValue?: string,
+  focusOnMount?: boolean,
+  inputStyle: { [string]: string | number },
+  label?: string,
+  onBlur: () => void,
+  onChange: (value: string) => void,
+  onError?: (error: string) => void,
+  placeholder?: string,
+  style: { [string]: string | number },
+  validateOnBlur?: boolean,
+  validator: (value: any) => ?string,
+  value?: string,
+};
+
+export default function TextField({
+  defaultValue,
+  focusOnMount,
+  inputStyle,
+  label,
+  onBlur,
+  onChange,
+  onError,
+  placeholder,
+  style,
+  validateOnBlur,
+  validator,
+  value,
+  ...rest
+}: Props) {
+  const [error, setError] = useState<?string>();
+  const [inputStr, setInputStr] = useState<string>(value || defaultValue || "");
+
+  const prevIncomingVal = useRef("");
+  const inputRef = useRef(null);
+
+  useLayoutEffect(
+    () => {
+      // only compare if it's a controlled component
+      if (!defaultValue && !validateOnBlur && prevIncomingVal.current !== value) {
+        const validationResult = validator(value);
+        setError(validationResult || null);
+        setInputStr(value || "");
+      }
+      prevIncomingVal.current = value;
+    },
+    [defaultValue, validateOnBlur, validator, value]
+  );
+
+  useLayoutEffect(
+    () => {
+      if (inputRef.current && focusOnMount) {
+        inputRef.current.focus();
+      }
+    },
+    [focusOnMount]
+  );
+
+  useLayoutEffect(
+    () => {
+      if (onError && error) {
+        onError(error);
+      }
+    },
+    [error, onError]
+  );
+
+  const validate = useCallback(
+    (value) => {
+      const validationResult = validator(value);
+      if (validationResult) {
+        setError(validationResult);
+      } else {
+        setError(null);
+        onChange(value);
+      }
+    },
+    [onChange, validator]
+  );
+
+  const handleChange = useCallback(
+    (ev) => {
+      const value = ev.target.value;
+      setInputStr(value);
+      if (!validateOnBlur) {
+        validate(value);
+      }
+    },
+    [validate, validateOnBlur]
+  );
+
+  const handleBlur = useCallback(
+    () => {
+      if (validateOnBlur) {
+        validate(inputStr);
+      }
+      if (onBlur) {
+        onBlur();
+      }
+    },
+    // eslint-disable-next-line react-hooks/exhaustive-deps
+    [onBlur, validate, validateOnBlur]
+  );
+
+  // only show red border when there is some input and it's not valid
+  const errorStyle = inputStr && error ? { border: `1px solid ${colors.RED}` } : {};
+
+  return (
+    <STextField style={style}>
+      {label && <STextFieldLabel>{label}</STextFieldLabel>}
+      <input
+        onBlur={handleBlur}
+        ref={inputRef}
+        placeholder={placeholder}
+        style={{ marginLeft: 0, ...errorStyle, ...inputStyle }}
+        value={inputStr}
+        onChange={handleChange}
+        {...rest}
+      />
+      {error && !onError && <SError>{error}</SError>}
+    </STextField>
+  );
+}
+
+TextField.defaultProps = {
+  validator: (value) => undefined,
+  onChange: (value) => {},
+  onBlur: (value) => {},
+  inputStyle: {},
+  style: {},
+};
diff --git a/packages/webviz-core/src/components/TextField.stories.js b/packages/webviz-core/src/components/TextField.stories.js
new file mode 100644
index 000000000..de85f64f7
--- /dev/null
+++ b/packages/webviz-core/src/components/TextField.stories.js
@@ -0,0 +1,122 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { storiesOf } from "@storybook/react";
+import * as React from "react";
+import { withScreenshot } from "storybook-chrome-screenshot";
+
+import TextField from "./TextField";
+import Flex from "webviz-core/src/components/Flex";
+import { createPrimitiveValidator, hasLen } from "webviz-core/src/components/validators";
+import { triggerInputChange, triggerInputBlur } from "webviz-core/src/stories/PanelSetup";
+
+const validator = createPrimitiveValidator([hasLen(4)]);
+
+function Box({ children, title }) {
+  return (
+    <div style={{ width: 240, height: 100, margin: 8 }}>
+      <p>{title}</p>
+      {children}
+    </div>
+  );
+}
+
+function ErrorExample() {
+  const [error, setError] = React.useState<?string>();
+  return (
+    <>
+      <TextField value="foo" validator={validator} onError={setError} />
+      <strong>This is a custom error UI: {error}</strong>
+    </>
+  );
+}
+
+function ControlledExample() {
+  const [value, setValue] = React.useState<string>("");
+  return (
+    <div
+      ref={(el) => {
+        if (el) {
+          const input = ((el.querySelector("input"): any): HTMLInputElement | null);
+          triggerInputChange(input, "another value");
+        }
+      }}>
+      <TextField value={value} onChange={setValue} />
+    </div>
+  );
+}
+
+function UncontrolledExample() {
+  const [value, setValue] = React.useState<string>("");
+  React.useEffect(() => {
+    setValue("another value but not set in TextField");
+  }, []);
+
+  return (
+    <div>
+      <TextField defaultValue={value} onChange={setValue} />
+      {value}
+    </div>
+  );
+}
+
+function ValidateOnBlurExample() {
+  return (
+    <div
+      ref={(el) => {
+        if (el) {
+          const input = ((el.querySelector("input"): any): HTMLInputElement | null);
+          // only see the validation error after input blur
+          triggerInputChange(input, "invalid_val");
+          setTimeout(() => {
+            triggerInputBlur(input);
+          }, 500);
+        }
+      }}>
+      <TextField value="foo" validator={validator} validateOnBlur />
+    </div>
+  );
+}
+
+storiesOf("<TextField>", module)
+  .addDecorator(withScreenshot())
+  .add("default", () => {
+    return (
+      <Flex wrap>
+        <Box title="default">
+          <TextField />
+        </Box>
+        <Box title="placeholder, label and custom styles">
+          <TextField
+            label="Name"
+            placeholder="type something..."
+            style={{ border: "1px solid green", padding: 4 }}
+            inputStyle={{ border: "2px solid blue" }}
+          />
+        </Box>
+        <Box title="controlled">
+          <ControlledExample />
+        </Box>
+        <Box title="uncontrolled">
+          <UncontrolledExample />
+        </Box>
+        <Box title="focusOnMount">
+          <TextField defaultValue="foo" focusOnMount />
+        </Box>
+        <Box title="use onError to show custom error UI">
+          <ErrorExample />
+        </Box>
+        <Box title="by default, validate on mount">
+          <TextField value="foo" validator={validator} />
+        </Box>
+        <Box title="use validateOnBlur to reduce updates">
+          <ValidateOnBlurExample />
+        </Box>
+      </Flex>
+    );
+  });
diff --git a/packages/webviz-core/src/components/TimeBasedChart/index.js b/packages/webviz-core/src/components/TimeBasedChart/index.js
index 3b054b14d..d825b6375 100644
--- a/packages/webviz-core/src/components/TimeBasedChart/index.js
+++ b/packages/webviz-core/src/components/TimeBasedChart/index.js
@@ -155,33 +155,27 @@ export default class TimeBasedChart extends React.PureComponent<Props, State> {
     document.removeEventListener("visibilitychange", this._onVisibilityChange);
   }
 
-  // Detect if the min/max is different than what we explicitly set,
-  // which means that the user has panned or zoomed.
-  // Note that for the y-axis timeBasedChartMin/Max is not set at all,
-  // so there we'll check that min/max is not undefined, which is the
-  // intended behavior.
-  // Also note that it's possible that only one of the axis is panned or
-  // zoomed, so in this function we only set `showResetZoom` to `true`,
-  // otherwise one axis might set it to true and the other to false,
-  // causing an infinite loop. We set `showResetZoom` to false in
-  // `_onResetZoom`.
   _onPlotChartUpdate = (axis: any) => {
-    const showResetZoom =
-      typeof axis.options.ticks.timeBasedChartMin === "number" &&
-      typeof axis.options.ticks.timeBasedChartMax === "number" &&
-      (axis.options.ticks.min !== axis.options.ticks.timeBasedChartMin ||
-        axis.options.ticks.max !== axis.options.ticks.timeBasedChartMax);
-    if (showResetZoom && !this.state.showResetZoom) {
-      this.setState({ showResetZoom: true });
-    }
     if (this.props.saveCurrentYs) {
       const scaleId = this.props.yAxes ? this.props.yAxes[0].id : Y_AXIS_ID;
       this.props.saveCurrentYs(axis.chart.scales[scaleId].min, axis.chart.scales[scaleId].max);
     }
   };
 
-  _onPanUpdate = ({ minX, maxX, maxY, minY }: { minX: number, maxX: number, minY: number, maxY: number }) => {
+  _onPanZoomUpdate = (chartInstance: ChartComponent) => {
+    const { xAxes, saveCurrentYs } = this.props;
+    const Y_scaleId = this.props.yAxes[0].id;
+    const X_scaleId = xAxes ? xAxes[0].id : X_AXIS_ID;
+    const minX = chartInstance.chart.scales[X_scaleId].min;
+    const maxX = chartInstance.chart.scales[X_scaleId].max;
+    const minY = chartInstance.chart.scales[Y_scaleId].min;
+    const maxY = chartInstance.chart.scales[Y_scaleId].max;
+
+    if (saveCurrentYs) {
+      saveCurrentYs(minY, maxY);
+    }
     this.setState({
+      showResetZoom: true,
       userSetMinX: minX,
       userSetMaxX: maxX,
       userSetMinY: minY,
@@ -298,7 +292,7 @@ export default class TimeBasedChart extends React.PureComponent<Props, State> {
   };
 
   _chartjsOptions = (minX: number, maxX: number, userMinY: ?number, userMaxY: ?number) => {
-    const { plugins, xAxes, yAxes, saveCurrentYs } = this.props;
+    const { plugins, xAxes, yAxes } = this.props;
     const { annotations } = this.state;
     const defaultXTicksSettings = {
       fontFamily: mixins.monospaceFont,
@@ -380,21 +374,15 @@ export default class TimeBasedChart extends React.PureComponent<Props, State> {
       pan: {
         enabled: true,
         onPan: (chartInstance: ChartComponent) => {
-          const Y_scaleId = this.props.yAxes[0].id;
-          const X_scaleId = xAxes ? xAxes[0].id : X_AXIS_ID;
-          const minX = chartInstance.chart.scales[X_scaleId].min;
-          const maxX = chartInstance.chart.scales[X_scaleId].max;
-          const minY = chartInstance.chart.scales[Y_scaleId].min;
-          const maxY = chartInstance.chart.scales[Y_scaleId].max;
-
-          if (saveCurrentYs) {
-            saveCurrentYs(minY, maxY);
-          }
-
-          this._onPanUpdate({ minX, maxX, maxY, minY });
+          this._onPanZoomUpdate(chartInstance);
+        },
+      },
+      zoom: {
+        enabled: this.props.zoom,
+        onZoom: (chartInstance: ChartComponent) => {
+          this._onPanZoomUpdate(chartInstance);
         },
       },
-      zoom: { enabled: this.props.zoom },
       plugins: plugins || {},
       annotation: { annotations },
     };
diff --git a/packages/webviz-core/src/components/Toolbar.module.scss b/packages/webviz-core/src/components/Toolbar.module.scss
index 82333583d..39e0f674a 100644
--- a/packages/webviz-core/src/components/Toolbar.module.scss
+++ b/packages/webviz-core/src/components/Toolbar.module.scss
@@ -5,10 +5,11 @@
 //  You may not use this file except in compliance with the License.
 
 @import "~webviz-core/src/styles/colors.module.scss";
+@import "~webviz-core/src/styles/variables.scss";
 
 .toolbar {
   padding: 0 0 0 8px;
-  height: 3rem;
+  height: $topBarHeight;
   font-size: 1.2em;
   display: flex;
   flex: 0 0 auto;
diff --git a/packages/webviz-core/src/components/ValidatedInput.js b/packages/webviz-core/src/components/ValidatedInput.js
index e4fd7f369..5470eb473 100644
--- a/packages/webviz-core/src/components/ValidatedInput.js
+++ b/packages/webviz-core/src/components/ValidatedInput.js
@@ -6,6 +6,7 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
+import { isEqual } from "lodash";
 import * as React from "react";
 import styled from "styled-components";
 
@@ -15,6 +16,8 @@ import { validationErrorToString, type ValidationResult } from "webviz-core/src/
 import colors from "webviz-core/src/styles/colors.module.scss";
 import YAML from "webviz-core/src/util/yaml";
 
+const { useState, useCallback, useRef, useLayoutEffect, useEffect } = React;
+
 export const EDIT_FORMAT = { JSON: "json", YAML: "yaml" };
 
 const SEditBox = styled.div`
@@ -76,13 +79,14 @@ export function ValidatedInputBase({
   stringify,
   value,
 }: BaseProps & ParseAndStringifyFn) {
-  const [error, setError] = React.useState<string>("");
-  const [inputStr, setInputStr] = React.useState<string>("");
-  const prevIncomingVal = React.useRef("");
-  const inputRef = React.useRef<?HTMLTextAreaElement>(null);
+  const [error, setError] = useState<string>("");
+  const [inputStr, setInputStr] = useState<string>("");
+  const prevIncomingVal = useRef("");
+  const inputRef = useRef<?HTMLTextAreaElement>(null);
+  const [isEditing, setIsEditing] = useState<boolean>(false);
 
   // validate the input string, and setError or call onChange if needed
-  const memorizedInputValidation = React.useCallback(
+  const memorizedInputValidation = useCallback(
     (newInputVal: string, onChange?: OnChange) => {
       let newVal;
       let newError;
@@ -114,10 +118,13 @@ export function ValidatedInputBase({
     [dataValidator, parse, value]
   );
 
-  // whenever the incoming value changes, we'll compare the new value with prevIncomingVal, and reset local state values if they are different
-  React.useEffect(
+  // when not in editing mode, whenever the incoming value changes, we'll compare the new value with prevIncomingVal, and reset local state values if they are different
+  useLayoutEffect(
     () => {
-      if (value !== prevIncomingVal.current) {
+      if (!isEditing && value !== prevIncomingVal.current) {
+        if (isEqual(value, prevIncomingVal.current)) {
+          return;
+        }
         let newVal = "";
         let newError;
         try {
@@ -135,10 +142,22 @@ export function ValidatedInputBase({
         memorizedInputValidation(newVal);
       }
     },
-    [value, prevIncomingVal, stringify, memorizedInputValidation]
+    [value, stringify, memorizedInputValidation, isEditing]
+  );
+
+  const handleChange = useCallback(
+    (e) => {
+      const val = e.currentTarget && e.currentTarget.value;
+      if (!isEditing) {
+        setIsEditing(true);
+      }
+      setInputStr(val);
+      memorizedInputValidation(val, onChange);
+    },
+    [isEditing, memorizedInputValidation, onChange]
   );
 
-  React.useEffect(
+  useEffect(
     () => {
       if (onError && error) {
         onError(error);
@@ -147,25 +166,28 @@ export function ValidatedInputBase({
     [error, onError]
   );
 
-  function handleChange(e) {
-    setInputStr(e.target.value);
-    memorizedInputValidation(e.target.value, onChange);
-  }
-
   // scroll to the bottom when the text gets too long
-  React.useEffect(
+  useLayoutEffect(
     () => {
-      const inputElem = inputRef.current;
-      if (inputElem) {
-        inputElem.scrollTop = inputElem.scrollHeight;
+      if (!isEditing) {
+        const inputElem = inputRef.current;
+        if (inputElem) {
+          inputElem.scrollTop = inputElem.scrollHeight;
+        }
       }
     },
-    [inputStr]
+    [isEditing, inputStr] // update whenever inputStr changes
   );
 
   return (
     <>
-      <StyledTextarea style={inputStyle} innerRef={inputRef} value={inputStr} onChange={handleChange} />
+      <StyledTextarea
+        data-test="validated-input"
+        style={inputStyle}
+        innerRef={inputRef}
+        value={inputStr}
+        onChange={handleChange}
+      />
       {error && <SError>{error}</SError>}
     </>
   );
diff --git a/packages/webviz-core/src/components/ValidatedInput.stories.js b/packages/webviz-core/src/components/ValidatedInput.stories.js
index d9013daa2..fc1b9bc1f 100644
--- a/packages/webviz-core/src/components/ValidatedInput.stories.js
+++ b/packages/webviz-core/src/components/ValidatedInput.stories.js
@@ -8,13 +8,17 @@
 
 import { storiesOf } from "@storybook/react";
 import * as React from "react";
+import { DEFAULT_CAMERA_STATE } from "regl-worldview";
 import { withScreenshot } from "storybook-chrome-screenshot";
 
 import ValidatedInput, { EDIT_FORMAT, type EditFormat } from "./ValidatedInput";
 import Flex from "webviz-core/src/components/Flex";
 import { createValidator, isNumber, type ValidationResult } from "webviz-core/src/components/validators";
+import { triggerInputChange, triggerInputBlur } from "webviz-core/src/stories/PanelSetup";
 
 const INPUT_OBJ = { id: 1, name: "foo" };
+const INPUT_OBJ1 = { id: 2, name: "bar" };
+
 const json = EDIT_FORMAT.JSON;
 const yaml = EDIT_FORMAT.YAML;
 
@@ -29,17 +33,41 @@ function Box({ children }) {
   return <div style={{ width: 200, height: 100 }}>{children}</div>;
 }
 
-function ControlExample({ format = EDIT_FORMAT.JSON }: { format?: EditFormat }) {
-  const [value, setValue] = React.useState(INPUT_OBJ);
-  React.useEffect(() => {
-    setTimeout(() => {
-      setValue({ id: 2, name: "bar" });
-    }, 10);
-  }, []);
+function Example({
+  format = EDIT_FORMAT.JSON,
+  obj = INPUT_OBJ,
+  changedObj = INPUT_OBJ1,
+  onMount,
+}: {
+  format?: EditFormat,
+  obj?: any,
+  changedObj?: any,
+  onMount?: (HTMLInputElement) => void,
+}) {
+  const [value, setValue] = React.useState(obj);
+
+  React.useEffect(
+    () => {
+      setTimeout(() => {
+        setValue(changedObj);
+      }, 10);
+    },
+    [changedObj]
+  );
 
   return (
     <Box>
-      <ValidatedInput format={format} value={value} />
+      <div
+        ref={(el) => {
+          if (el && onMount) {
+            const input = ((document.querySelector("[data-test='validated-input']"): any): HTMLInputElement | null);
+            if (input) {
+              onMount(input);
+            }
+          }
+        }}>
+        <ValidatedInput format={format} value={value} />
+      </div>
     </Box>
   );
 }
@@ -74,8 +102,73 @@ storiesOf("<ValidatedInput>", module)
   .add("value change affects the input value", () => {
     return (
       <Flex>
-        <ControlExample format={json} />;
-        <ControlExample format={yaml} />;
+        <Example format={json} />
+        <Example format={yaml} />
+      </Flex>
+    );
+  })
+  .add("prop change does not override the input string if object values are deeply equal ", () => {
+    // the input string does not change as `obj` and `changedObj` are deeply equal
+    return (
+      <Flex>
+        <Example obj={INPUT_OBJ} changedObj={{ name: "foo", id: 1 }} />
+      </Flex>
+    );
+  })
+  .add("scroll to bottom when input size grows", () => {
+    return (
+      <Flex>
+        <Example obj={INPUT_OBJ} changedObj={{ ...DEFAULT_CAMERA_STATE, distance: 100000000 }} />
+      </Flex>
+    );
+  })
+  .add("in editing mode, prop value change does not affect the input string", () => {
+    return (
+      <Flex>
+        <Example
+          onMount={(input) => {
+            // even though the prop object has changed, the input value is in sync with current editing value
+            triggerInputChange(input, "invalid_val");
+            setTimeout(() => {
+              triggerInputChange(input, "another_invalid_val");
+            }, 50);
+          }}
+        />
+      </Flex>
+    );
+  })
+
+  .add("in editing mode, prop change does not cause the textarea to scroll to bottom", () => {
+    const changedObj = { ...DEFAULT_CAMERA_STATE, distance: 100000000 };
+    return (
+      <Flex>
+        <Example
+          obj={DEFAULT_CAMERA_STATE}
+          onMount={(input) => {
+            setImmediate(() => {
+              // scroll to the top and start editing
+              input.scrollTop = 0;
+              triggerInputChange(input, JSON.stringify(changedObj, null, 2));
+            });
+          }}
+        />
+      </Flex>
+    );
+  })
+  .add("upon blur, the validation error stays", () => {
+    return (
+      <Flex>
+        <Example
+          obj={DEFAULT_CAMERA_STATE}
+          onMount={(input) => {
+            setImmediate(() => {
+              triggerInputChange(input, "invalid_val");
+              setImmediate(() => {
+                triggerInputBlur(input);
+              });
+            });
+          }}
+        />
       </Flex>
     );
   });
diff --git a/packages/webviz-core/src/components/renderToBody.js b/packages/webviz-core/src/components/renderToBody.js
index d88825365..e81648fab 100644
--- a/packages/webviz-core/src/components/renderToBody.js
+++ b/packages/webviz-core/src/components/renderToBody.js
@@ -8,8 +8,10 @@
 
 import * as React from "react";
 import { render, unmountComponentAtNode } from "react-dom";
+import { Provider } from "react-redux";
 import { Router } from "react-router-dom";
 
+import getGlobalStore from "webviz-core/src/store/getGlobalStore";
 import history from "webviz-core/src/util/history";
 
 type RenderedToBodyHandle = {| update: (React.Element<*>) => void, remove: () => void |};
@@ -23,8 +25,11 @@ export default function renderToBody(element: React.Element<*>): RenderedToBodyH
   document.body.appendChild(container);
 
   function ComponentToRender({ children }) {
-    // $FlowFixMe - somehow complains about `history`
-    return <Router history={history}>{children}</Router>;
+    return (
+      <Provider store={getGlobalStore()}>
+        <Router history={history}>{children}</Router>
+      </Provider>
+    );
   }
 
   render(<ComponentToRender>{element}</ComponentToRender>, container);
diff --git a/packages/webviz-core/src/components/validators.js b/packages/webviz-core/src/components/validators.js
index fa93c29ad..32fc427d8 100644
--- a/packages/webviz-core/src/components/validators.js
+++ b/packages/webviz-core/src/components/validators.js
@@ -42,8 +42,9 @@ export const isOrientation = (value: any): ?string => {
     return isNumberArrayErr;
   }
   if (value) {
-    const isValidQuaternion = value.reduce((memo, item) => memo + item * item, 0) === 1;
-    if (!isValidQuaternion) {
+    const quaternionSum = value.reduce((memo, item) => memo + item * item, 0);
+    // Very rough validation to make sure the quaternion numbers are not too far off
+    if (Math.abs(quaternionSum - 1) > 0.1) {
       return "must be valid quaternion";
     }
   }
@@ -67,6 +68,16 @@ export const maxLen = (maxLength: number = 0) => (value: any): ?string => {
   }
 };
 
+export const hasLen = (len: number = 0) => (value: string | any[]): ?string => {
+  if (Array.isArray(value)) {
+    return value.length !== len
+      ? `must contain exact ${len} array items (current item count: ${value.length})`
+      : undefined;
+  } else if (typeof value === "string") {
+    return value.length !== len ? `must contain ${len} characters (current count: ${value.length})` : undefined;
+  }
+};
+
 export const isNotPrivate = (value: any): ?string =>
   typeof value !== "string" && value.startsWith("_") ? "must not start with _" : undefined;
 
diff --git a/packages/webviz-core/src/components/validators.test.js b/packages/webviz-core/src/components/validators.test.js
index c618ea8ba..11ee2189c 100644
--- a/packages/webviz-core/src/components/validators.test.js
+++ b/packages/webviz-core/src/components/validators.test.js
@@ -25,6 +25,21 @@ describe("cameraStateValidator", () => {
       targetOrientation: "must contain 4 array items",
     });
   });
+  it("returns error if the quaternion number sum for targetOrientation is not between 0.9 and 1.1", () => {
+    let cameraState = { targetOrientation: [0, 0, 0, 0.94] };
+    expect(cameraStateValidator(cameraState)).toEqual({
+      targetOrientation: "must be valid quaternion",
+    });
+    cameraState = { targetOrientation: [0.32, 1, 0, 0] };
+    expect(cameraStateValidator(cameraState)).toEqual({
+      targetOrientation: "must be valid quaternion",
+    });
+    cameraState = { targetOrientation: [1.04, 0, 0, 0] };
+    expect(cameraStateValidator(cameraState)).toEqual(undefined);
+    cameraState = { targetOrientation: [0.95, 0, 0, 0] };
+    expect(cameraStateValidator(cameraState)).toEqual(undefined);
+  });
+
   it("returns error if the vec3/vec4 values are set but are invalid", () => {
     const cameraState = { targetOffset: ["invalid"] };
     expect(cameraStateValidator(cameraState)).toEqual({
@@ -41,6 +56,7 @@ describe("cameraStateValidator", () => {
       targetOrientation: "must contain 4 array items",
     });
   });
+
   it("combines errors from different fields", () => {
     const cameraState = { distance: "abc", targetOffset: [1, 12, "121"], targetOrientation: [1, 1, 1] };
     expect(cameraStateValidator(cameraState)).toEqual({
diff --git a/packages/webviz-core/src/dataProviders/IdbCacheDataProviderDatabase.js b/packages/webviz-core/src/dataProviders/IdbCacheDataProviderDatabase.js
index 678117971..dd7285b15 100644
--- a/packages/webviz-core/src/dataProviders/IdbCacheDataProviderDatabase.js
+++ b/packages/webviz-core/src/dataProviders/IdbCacheDataProviderDatabase.js
@@ -9,7 +9,7 @@
 import Database from "webviz-core/src/util/indexeddb/Database";
 import { updateMetaDatabases } from "webviz-core/src/util/indexeddb/MetaDatabase";
 
-const MAX_DATABASES = 3;
+const MAX_DATABASES = 6;
 const DATABASE_NAME_PREFIX = "IdbCacheDataProviderDb-";
 const META_DATABASE_NAME = "IdbCacheDataProviderMetaDb";
 const DATABASE_VERSION = 1;
diff --git a/packages/webviz-core/src/globals.js.flow b/packages/webviz-core/src/globals.js.flow
index c64b5c5b4..9c7ef42a6 100644
--- a/packages/webviz-core/src/globals.js.flow
+++ b/packages/webviz-core/src/globals.js.flow
@@ -12,10 +12,9 @@ declare type GitInfo = {
 };
 
 declare var GIT_INFO: ?GitInfo;
-
 declare var CURRENT_VERSION: string;
-
 declare var MINIMUM_CHROME_VERSION: number;
+declare var SHOW_TEST_OUTPUT: boolean;
 
 // flow lacks definitions for abort controller
 declare type AbortSignal = any;
diff --git a/packages/webviz-core/src/hooks/useGlobalData.js b/packages/webviz-core/src/hooks/useGlobalData.js
deleted file mode 100644
index c3eccc84d..000000000
--- a/packages/webviz-core/src/hooks/useGlobalData.js
+++ /dev/null
@@ -1,27 +0,0 @@
-// @flow
-//
-//  Copyright (c) 2018-present, GM Cruise LLC
-//
-//  This source code is licensed under the Apache License, Version 2.0,
-//  found in the LICENSE file in the root directory of this source tree.
-//  You may not use this file except in compliance with the License.
-
-import { useSelector, useDispatch } from "react-redux";
-import { bindActionCreators } from "redux";
-
-import { setGlobalData, overwriteGlobalData } from "webviz-core/src/actions/panels";
-
-export type GlobalData = { [string]: any };
-
-export default function useGlobalData(): {|
-  globalData: GlobalData,
-  setGlobalData: (GlobalData) => void,
-  overwriteGlobalData: (GlobalData) => void,
-|} {
-  const globalData = useSelector((state) => state.panels.globalData);
-  const dispatch = useDispatch();
-  return {
-    globalData,
-    ...bindActionCreators({ setGlobalData, overwriteGlobalData }, dispatch),
-  };
-}
diff --git a/packages/webviz-core/src/hooks/useGlobalVariables.js b/packages/webviz-core/src/hooks/useGlobalVariables.js
new file mode 100644
index 000000000..272b5358f
--- /dev/null
+++ b/packages/webviz-core/src/hooks/useGlobalVariables.js
@@ -0,0 +1,27 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { useSelector, useDispatch } from "react-redux";
+import { bindActionCreators } from "redux";
+
+import { setGlobalVariables, overwriteGlobalVariables } from "webviz-core/src/actions/panels";
+
+export type GlobalVariables = { [string]: any };
+
+export default function useGlobalVariables(): {|
+  globalVariables: GlobalVariables,
+  setGlobalVariables: (GlobalVariables) => void,
+  overwriteGlobalVariables: (GlobalVariables) => void,
+|} {
+  const globalVariables = useSelector((state) => state.panels.globalVariables);
+  const dispatch = useDispatch();
+  return {
+    globalVariables,
+    ...bindActionCreators({ setGlobalVariables, overwriteGlobalVariables }, dispatch),
+  };
+}
diff --git a/packages/webviz-core/src/loadWebviz.js b/packages/webviz-core/src/loadWebviz.js
index 1c096c887..31043d488 100644
--- a/packages/webviz-core/src/loadWebviz.js
+++ b/packages/webviz-core/src/loadWebviz.js
@@ -6,7 +6,7 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import { routerMiddleware } from "connected-react-router";
+import memoize from "lodash/memoize";
 import React from "react";
 import ReactDOM from "react-dom";
 
@@ -15,6 +15,7 @@ import ReactDOM from "react-dom";
 const defaultHooks = {
   nodes: () => [],
   getDefaultGlobalStates() {
+    const { defaultPlaybackConfig } = require("webviz-core/src/reducers/panels");
     return {
       layout: {
         direction: "row",
@@ -28,14 +29,22 @@ const defaultHooks = {
         splitPercentage: 33.3333333333,
       },
       savedProps: {},
-      globalData: {},
+      globalVariables: {},
       userNodes: {},
       linkedGlobalVariables: [],
+      playbackConfig: defaultPlaybackConfig,
     };
   },
-  migratePanels: (panels) => panels,
+  migratePanels(panels) {
+    const migratePanels = require("webviz-core/src/util/migratePanels").default;
+    return migratePanels(panels);
+  },
   panelCategories() {
-    return [{ label: "General", key: "general" }, { label: "Utilities", key: "utilities" }];
+    return [
+      { label: "ROS", key: "ros" },
+      { label: "Utilities", key: "utilities" },
+      { label: "Debugging", key: "debugging" },
+    ];
   },
   panelsByCategory() {
     const { ENABLE_NODE_PLAYGROUND_QUERY_KEY } = require("webviz-core/src/util/globalConstants");
@@ -46,17 +55,18 @@ const defaultHooks = {
     const DiagnosticSummary = require("webviz-core/src/panels/diagnostics/DiagnosticSummary").default;
     const ImageViewPanel = require("webviz-core/src/panels/ImageView").default;
     const Internals = require("webviz-core/src/panels/Internals").default;
+    const NodePlayground = require("webviz-core/src/panels/NodePlayground").default;
+    const Note = require("webviz-core/src/panels/Note").default;
     const NumberOfRenders = require("webviz-core/src/panels/NumberOfRenders").default;
     const Plot = require("webviz-core/src/panels/Plot").default;
+    const RawMessages = require("webviz-core/src/panels/RawMessages").default;
     const Rosout = require("webviz-core/src/panels/Rosout").default;
     const StateTransitions = require("webviz-core/src/panels/StateTransitions").default;
+    const SubscribeToList = require("webviz-core/src/panels/SubscribeToList").default;
     const ThreeDimensionalViz = require("webviz-core/src/panels/ThreeDimensionalViz").default;
-    const RawMessages = require("webviz-core/src/panels/RawMessages").default;
-    const NodePlayground = require("webviz-core/src/panels/NodePlayground").default;
     const { ndash } = require("webviz-core/src/util/entities");
-    const Note = require("webviz-core/src/panels/Note").default;
 
-    const general = [
+    const ros = [
       { title: "3D", component: ThreeDimensionalViz },
       { title: `Diagnostics ${ndash} Summary`, component: DiagnosticSummary },
       { title: `Diagnostics ${ndash} Detail`, component: DiagnosticStatusPanel },
@@ -65,7 +75,6 @@ const defaultHooks = {
       { title: "Raw Messages", component: RawMessages },
       { title: "rosout", component: Rosout },
       { title: "State Transitions", component: StateTransitions },
-      { title: "Number of Renders", component: NumberOfRenders, hideFromList: true },
     ];
 
     const utilities = [
@@ -74,10 +83,15 @@ const defaultHooks = {
       { title: "Webviz Internals", component: Internals },
     ];
 
-    return { general, utilities };
+    const debugging = [
+      { title: "Number of Renders", component: NumberOfRenders },
+      { title: "Subscribe to List", component: SubscribeToList },
+    ];
+
+    return { ros, utilities, debugging };
   },
   helpPageFootnote: () => null,
-  perPanelHooks: () => {
+  perPanelHooks: memoize(() => {
     const World = require("webviz-core/src/panels/ThreeDimensionalViz/World").default;
     const LaserScanVert = require("webviz-core/src/panels/ThreeDimensionalViz/LaserScanVert").default;
     const FileMultipleIcon = require("@mdi/svg/svg/file-multiple.svg").default;
@@ -86,8 +100,6 @@ const defaultHooks = {
 
     const { SECOND_BAG_PREFIX } = require("webviz-core/src/util/globalConstants");
 
-    const getMetadata = () => {};
-    getMetadata.topics = [];
     return {
       Panel: {
         topicPrefixes: {
@@ -104,7 +116,7 @@ const defaultHooks = {
           },
         },
       },
-      DiagnosticSummary: { defaultConfig: { pinnedIds: [] } },
+      DiagnosticSummary: { defaultConfig: { pinnedIds: [], hardwareIdFilter: "" } },
       ImageView: {
         defaultConfig: {
           cameraTopic: "",
@@ -132,8 +144,7 @@ const defaultHooks = {
         icons: {},
         WorldComponent: World,
         LaserScanVert,
-        getMetadata,
-        setGlobalDataInSceneBuilder: (globalData, selectionState, topicsToRender) => ({
+        setGlobalVariablesInSceneBuilder: (globalVariables, selectionState, topicsToRender) => ({
           selectionState,
           topicsToRender,
         }),
@@ -159,17 +170,12 @@ const defaultHooks = {
       },
       RawMessages: { docLinkFunction: () => undefined },
     };
-  },
+  }),
   Root({ store }) {
     const Root = require("webviz-core/src/components/Root").default;
     return <Root store={store} />;
   },
   topicsWithIncorrectHeaders: () => [],
-  heavyDatatypesWithNoTimeDependency: () => [
-    "sensor_msgs/PointCloud2",
-    "sensor_msgs/LaserScan",
-    "nav_msgs/OccupancyGrid",
-  ],
   useRaven: () => true,
   load: () => {},
   onPanelClose: () => {},
@@ -214,11 +220,6 @@ export function loadWebviz(hooksToSet) {
 
   const waitForFonts = require("webviz-core/src/styles/waitForFonts").default;
   const Confirm = require("webviz-core/src/components/Confirm").default;
-  const createRootReducer = require("webviz-core/src/reducers").default;
-  const configureStore = require("webviz-core/src/store").default;
-  const history = require("webviz-core/src/util/history").default;
-
-  const store = configureStore(createRootReducer(history), [routerMiddleware(history)]);
 
   function render() {
     const rootEl = document.getElementById("root");
@@ -228,7 +229,7 @@ export function loadWebviz(hooksToSet) {
     }
 
     waitForFonts(() => {
-      ReactDOM.render(<hooks.Root store={store} history={history} />, rootEl);
+      ReactDOM.render(<hooks.Root history={history} />, rootEl);
     });
   }
 
diff --git a/packages/webviz-core/src/panels/GlobalVariables/index.help.md b/packages/webviz-core/src/panels/GlobalVariables/index.help.md
index 11582d48c..f48254e4f 100644
--- a/packages/webviz-core/src/panels/GlobalVariables/index.help.md
+++ b/packages/webviz-core/src/panels/GlobalVariables/index.help.md
@@ -7,3 +7,5 @@ For example, instead of having to change a particular object ID that you want to
 - Set a `$my_object_ID` variable in the Global Variables panel
 - Type `/my_objects.objects[:]{id==$my_object_ID}.some_field` in your Plot Panel to plot a particular field in your specified object
 - Type `/my_objects.objects[:]{id==$my_object_ID}` in your Raw Messages Panel to see all the info for your specified object
+
+For numeric global variable values, use the up and down arrow keys to increment and decrement the values, respectively.
diff --git a/packages/webviz-core/src/panels/GlobalVariables/index.js b/packages/webviz-core/src/panels/GlobalVariables/index.js
index 66b3c6a96..b3807ac23 100644
--- a/packages/webviz-core/src/panels/GlobalVariables/index.js
+++ b/packages/webviz-core/src/panels/GlobalVariables/index.js
@@ -17,13 +17,14 @@ import Flex from "webviz-core/src/components/Flex";
 import Icon from "webviz-core/src/components/Icon";
 import Panel from "webviz-core/src/components/Panel";
 import PanelToolbar from "webviz-core/src/components/PanelToolbar";
-import useGlobalData from "webviz-core/src/hooks/useGlobalData";
+import useGlobalVariables from "webviz-core/src/hooks/useGlobalVariables";
 import { UnlinkGlobalVariables } from "webviz-core/src/panels/ThreeDimensionalViz/Interactions";
 import { memoizedGetLinkedGlobalVariablesKeyByName } from "webviz-core/src/panels/ThreeDimensionalViz/Interactions/interactionUtils";
 import useLinkedGlobalVariables from "webviz-core/src/panels/ThreeDimensionalViz/Interactions/useLinkedGlobalVariables";
 import inScreenshotTests from "webviz-core/src/stories/inScreenshotTests";
 import colors from "webviz-core/src/styles/colors.module.scss";
 import clipboard from "webviz-core/src/util/clipboard";
+import { GLOBAL_VARIABLES_QUERY_KEY } from "webviz-core/src/util/globalConstants";
 
 type Props = {};
 const SGlobalVariables = styled.div`
@@ -69,7 +70,7 @@ const canParseJSON = (val) => {
 type InputProps = {
   innerRef: { current: null | HTMLInputElement },
   inputVal: string,
-  onChange: (SyntheticInputEvent<any>) => void,
+  onChange: (newVal: string) => void,
 };
 
 type State = {
@@ -94,6 +95,7 @@ class EditableJSONInput extends React.Component<InputProps, State> {
     const { inputVal } = this.state;
     const { innerRef, onChange } = this.props;
     const isValid = canParseJSON(inputVal);
+    const keyValMap = { ArrowDown: -1, ArrowUp: 1 };
     return (
       <SInput
         style={{ color: isValid ? "" : "#f97d96" }}
@@ -103,29 +105,41 @@ class EditableJSONInput extends React.Component<InputProps, State> {
         value={inputVal}
         onChange={(e) => {
           this.setState({ inputVal: e.target.value });
-          onChange(e);
+          onChange(e.target.value);
+        }}
+        onKeyDown={(e) => {
+          if (!isValid) {
+            return;
+          }
+          const parsedVal = JSON.parse(inputVal);
+          if (isNaN(parsedVal) || !Object.keys(keyValMap).includes(e.key)) {
+            return;
+          }
+          const newVal = parsedVal + keyValMap[e.key];
+          this.setState({ inputVal: newVal });
+          onChange(newVal);
         }}
       />
     );
   }
 }
 
-const changeGlobalKey = (newKey, oldKey, globalData, idx, overwriteGlobalData) => {
-  const keys = Object.keys(globalData);
-  overwriteGlobalData({
-    ...pick(globalData, keys.slice(0, idx)),
-    [newKey]: globalData[oldKey],
-    ...pick(globalData, keys.slice(idx + 1)),
+const changeGlobalKey = (newKey, oldKey, globalVariables, idx, overwriteGlobalVariables) => {
+  const keys = Object.keys(globalVariables);
+  overwriteGlobalVariables({
+    ...pick(globalVariables, keys.slice(0, idx)),
+    [newKey]: globalVariables[oldKey],
+    ...pick(globalVariables, keys.slice(idx + 1)),
   });
 };
 
-const changeGlobalVal = (newVal, name, setGlobalData) => {
-  setGlobalData({ [name]: newVal === undefined ? undefined : JSON.parse(String(newVal)) });
+const changeGlobalVal = (newVal, name, setGlobalVariables) => {
+  setGlobalVariables({ [name]: newVal === undefined ? undefined : JSON.parse(String(newVal)) });
 };
 
-const getUpdatedURL = (globalData) => {
+const getUpdatedURL = (globalVariables) => {
   const queryParams = new URLSearchParams(window.location.search);
-  queryParams.set("global-data", JSON.stringify(globalData));
+  queryParams.set(GLOBAL_VARIABLES_QUERY_KEY, JSON.stringify(globalVariables));
   if (inScreenshotTests()) {
     return `http://localhost:3000/?${queryParams.toString()}`;
   }
@@ -139,10 +153,10 @@ function GlobalVariables(props: Props): Node {
   const [inputStr, setInputStr] = useState<string>("");
   const [editingField, setEditingField] = useState<?string>(null);
 
-  const { globalData, setGlobalData, overwriteGlobalData } = useGlobalData();
+  const { globalVariables, setGlobalVariables, overwriteGlobalVariables } = useGlobalVariables();
   const { linkedGlobalVariables } = useLinkedGlobalVariables();
 
-  const globalVariableNames = Object.keys(globalData);
+  const globalVariableNames = Object.keys(globalVariables);
   const globalVariableNamesWithIdx = globalVariableNames.map((name, idx) => ({ name, idx }));
   const linkedGlobalVariablesKeyByName = memoizedGetLinkedGlobalVariablesKeyByName(linkedGlobalVariables);
   const [linked, unlinked] = partition(
@@ -163,7 +177,7 @@ function GlobalVariables(props: Props): Node {
     if (newKey === "") {
       return "variable name must not be empty";
     }
-    if (newKey in globalData && newKey !== editingField) {
+    if (newKey in globalVariables && newKey !== editingField) {
       return `variable $${newKey} already exists`;
     }
   }
@@ -172,11 +186,10 @@ function GlobalVariables(props: Props): Node {
     return (
       <EditableJSONInput
         innerRef={input}
-        inputVal={JSON.stringify(globalData[name] || "")}
-        onChange={(e) => {
-          const newVal = e.target.value;
+        inputVal={JSON.stringify(globalVariables[name] || "")}
+        onChange={(newVal) => {
           if (canParseJSON(newVal)) {
-            changeGlobalVal(newVal, name, setGlobalData);
+            changeGlobalVal(newVal, name, setGlobalVariables);
             setBtnMessage("Copy");
           }
         }}
@@ -241,8 +254,8 @@ function GlobalVariables(props: Props): Node {
                       );
                     } else {
                       setError(null);
-                      // update globalData right away if the field is valid
-                      changeGlobalKey(newKey.trim(), name, globalData, idx, overwriteGlobalData);
+                      // update globalVariables right away if the field is valid
+                      changeGlobalKey(newKey.trim(), name, globalVariables, idx, overwriteGlobalVariables);
                       setBtnMessage("Copy");
                     }
                   }}
@@ -252,7 +265,7 @@ function GlobalVariables(props: Props): Node {
               <SBorderlessCell>
                 <Icon
                   onClick={() => {
-                    changeGlobalVal(undefined, name, setGlobalData);
+                    changeGlobalVal(undefined, name, setGlobalVariables);
                     setBtnMessage("Copy");
                   }}>
                   <TrashCanOutlineIcon />
@@ -271,7 +284,7 @@ function GlobalVariables(props: Props): Node {
             setInputStr("");
             setError("");
             setEditingField("");
-            setGlobalData({ "": "" });
+            setGlobalVariables({ "": "" });
           }}>
           + Add variable
         </button>
@@ -282,16 +295,16 @@ function GlobalVariables(props: Props): Node {
               memo[name] = undefined;
               return memo;
             }, {});
-            overwriteGlobalData(newGlobalVariables);
+            overwriteGlobalVariables(newGlobalVariables);
           }}>
           - Clear all
         </button>
       </SButtonContainer>
       <SSection>
         <Flex>
-          <input readOnly style={{ width: "100%" }} type="text" value={getUpdatedURL(globalData)} />
+          <input readOnly style={{ width: "100%" }} type="text" value={getUpdatedURL(globalVariables)} />
           {document.queryCommandSupported("copy") && (
-            <button onClick={copyURL(getUpdatedURL(globalData))}>{btnMessage}</button>
+            <button onClick={copyURL(getUpdatedURL(globalVariables))}>{btnMessage}</button>
           )}
         </Flex>
       </SSection>
diff --git a/packages/webviz-core/src/panels/GlobalVariables/index.stories.js b/packages/webviz-core/src/panels/GlobalVariables/index.stories.js
index 10d6b5a6d..4c7ae5d2d 100644
--- a/packages/webviz-core/src/panels/GlobalVariables/index.stories.js
+++ b/packages/webviz-core/src/panels/GlobalVariables/index.stories.js
@@ -56,9 +56,9 @@ const linkedGlobalVariables = [
   },
 ];
 
-function setStorage(globalData) {
+function setStorage(globalVariables) {
   const storage = new Storage();
-  storage.set(GLOBAL_STATE_STORAGE_KEY, { ...defaultGlobalState, globalData });
+  storage.set(GLOBAL_STATE_STORAGE_KEY, { ...defaultGlobalState, globalVariables });
 }
 
 function PanelWithData({ linkedGlobalVariables = [], ...rest }: { linkedGlobalVariables?: LinkedGlobalVariable[] }) {
diff --git a/packages/webviz-core/src/panels/ImageView/ImageCanvas.js b/packages/webviz-core/src/panels/ImageView/ImageCanvas.js
index a0e4173ee..3399f0493 100644
--- a/packages/webviz-core/src/panels/ImageView/ImageCanvas.js
+++ b/packages/webviz-core/src/panels/ImageView/ImageCanvas.js
@@ -373,8 +373,8 @@ export default class ImageCanvas extends React.Component<Props, State> {
       // remove the leading / so the image name doesn't start with _
       const topicName = topic.slice(1);
       const stamp = image.message.header ? image.message.header.stamp : { sec: 0, nsec: 0 };
-      const filename = `${topicName}-${stamp.sec}-${stamp.nsec}`;
-      downloadFiles([blob], filename);
+      const fileName = `${topicName}-${stamp.sec}-${stamp.nsec}`;
+      downloadFiles([{ blob, fileName }]);
     });
   };
 
diff --git a/packages/webviz-core/src/panels/Internals.js b/packages/webviz-core/src/panels/Internals.js
index 13d8df15f..e0bf9b4c3 100644
--- a/packages/webviz-core/src/panels/Internals.js
+++ b/packages/webviz-core/src/panels/Internals.js
@@ -20,9 +20,12 @@ import { useMessagePipeline } from "webviz-core/src/components/MessagePipeline";
 import Panel from "webviz-core/src/components/Panel";
 import PanelToolbar from "webviz-core/src/components/PanelToolbar";
 import filterMap from "webviz-core/src/filterMap";
+import * as PanelAPI from "webviz-core/src/PanelAPI";
 import type { Topic, Message, SubscribePayload, AdvertisePayload } from "webviz-core/src/players/types";
 import { downloadTextFile } from "webviz-core/src/util";
 
+const { useCallback } = React;
+
 const RECORD_ALL = "RECORD_ALL";
 
 const Container = styled.div`
@@ -75,9 +78,11 @@ function getPublisherGroup({ advertiser }: AdvertisePayload): string {
   return `<unknown: ${advertiser.type} ${advertiser.name}>`;
 }
 
-// Display webviz internal state for debugging and for QA to view topic dependencies.
+// Display webviz internal state for debugging and viewing topic dependencies.
 function Internals(): React.Node {
-  const { subscriptions, publishers, sortedTopics: topics } = useMessagePipeline();
+  const { topics } = PanelAPI.useDataSourceInfo();
+  const subscriptions = useMessagePipeline(useCallback(({ subscriptions }) => subscriptions, []));
+  const publishers = useMessagePipeline(useCallback(({ publishers }) => publishers, []));
 
   const [groupedSubscriptions, subscriptionGroups] = React.useMemo(
     () => {
diff --git a/packages/webviz-core/src/panels/NodePlayground/BottomBar/DiagnosticsSection.js b/packages/webviz-core/src/panels/NodePlayground/BottomBar/DiagnosticsSection.js
new file mode 100644
index 000000000..590a00a31
--- /dev/null
+++ b/packages/webviz-core/src/panels/NodePlayground/BottomBar/DiagnosticsSection.js
@@ -0,0 +1,63 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import AlertCircleIcon from "@mdi/svg/svg/alert-circle.svg";
+import AlertIcon from "@mdi/svg/svg/alert.svg";
+import HelpCircleIcon from "@mdi/svg/svg/help-circle.svg";
+import InformationIcon from "@mdi/svg/svg/information.svg";
+import { invert } from "lodash";
+import React from "react";
+
+import Icon from "webviz-core/src/components/Icon";
+import type { Diagnostic } from "webviz-core/src/players/UserNodePlayer/types";
+import { DiagnosticSeverity } from "webviz-core/src/players/UserNodePlayer/types";
+import { colors } from "webviz-core/src/util/colors";
+
+const severityColors = {
+  Hint: colors.YELLOWL1,
+  Info: colors.BLUEL1,
+  Warning: colors.ORANGEL1,
+  Error: colors.REDL1,
+};
+
+const severityIcons = {
+  Hint: <HelpCircleIcon />,
+  Info: <InformationIcon />,
+  Warning: <AlertIcon />,
+  Error: <AlertCircleIcon />,
+};
+
+type Props = {
+  diagnostics: Diagnostic[],
+};
+
+const DiagnosticsSection = ({ diagnostics }: Props) => {
+  return diagnostics.length ? (
+    <ul>
+      {diagnostics.map(({ severity, message, source, startColumn = null, startLineNumber = null }) => {
+        const severityLabel = invert(DiagnosticSeverity)[severity];
+        const errorLoc =
+          startLineNumber != null && startColumn != null ? `[${startLineNumber + 1},${startColumn + 1}]` : null;
+        return (
+          <li key={message}>
+            <Icon tooltip="Severity" small style={{ color: severityColors[severityLabel] }} active>
+              {severityIcons[severityLabel]}
+            </Icon>
+            <span style={{ padding: "5px" }}>{message}</span>
+            <span style={{ color: colors.GRAY }}>
+              {source} {errorLoc}
+            </span>
+          </li>
+        );
+      })}
+    </ul>
+  ) : (
+    <p>No problems to display.</p>
+  );
+};
+
+export default DiagnosticsSection;
diff --git a/packages/webviz-core/src/panels/NodePlayground/BottomBar/LogsSection.js b/packages/webviz-core/src/panels/NodePlayground/BottomBar/LogsSection.js
new file mode 100644
index 000000000..79b8d8296
--- /dev/null
+++ b/packages/webviz-core/src/panels/NodePlayground/BottomBar/LogsSection.js
@@ -0,0 +1,87 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import React from "react";
+import Tree from "react-json-tree";
+import styled from "styled-components";
+
+import type { UserNodeLog } from "webviz-core/src/players/UserNodePlayer/types";
+import { colors } from "webviz-core/src/util/colors";
+import { jsonTreeTheme } from "webviz-core/src/util/globalConstants";
+
+const SListItem = styled.li`
+  display: flex;
+  justify-content: space-between;
+  align-items: baseline;
+  cursor: default;
+
+  :hover {
+    background-color: ${colors.DARK4};
+  }
+`;
+
+type Props = {
+  nodeId: ?string,
+  logs: UserNodeLog[],
+  clearLogs: (nodeId: string) => void,
+};
+
+const valueColorMap = {
+  string: jsonTreeTheme.base0B,
+  number: jsonTreeTheme.base09,
+  boolean: jsonTreeTheme.base09,
+  object: jsonTreeTheme.base08, // null
+  undefined: jsonTreeTheme.base08,
+};
+
+const LogsSection = ({ nodeId, logs, clearLogs }: Props) => {
+  if (logs.length === 0) {
+    return (
+      <>
+        <p>No logs to display.</p>
+        <p>
+          Invoke <code>log(someValue)</code> in your Webviz node code to see data printed here.
+        </p>
+      </>
+    );
+  }
+  return (
+    <>
+      <button
+        data-test="np-logs-clear"
+        style={{ padding: "3px 5px", position: "absolute", right: 5, top: 5 }}
+        onClick={() => {
+          if (nodeId) {
+            clearLogs(nodeId);
+          }
+        }}>
+        clear logs
+      </button>
+      <ul>
+        {logs.map(({ source, value }, idx) => {
+          const renderTreeObj = value != null && typeof value === "object";
+          return (
+            <SListItem
+              key={`${idx}${source}${JSON.stringify(value)}`}
+              style={{ padding: renderTreeObj ? "0px 3px" : "6px 3px 3px" }}>
+              {renderTreeObj ? (
+                <Tree hideRoot data={value} invertTheme={false} theme={jsonTreeTheme} />
+              ) : (
+                <span style={{ color: valueColorMap[typeof value] || colors.LIGHT }}>
+                  {value == null || value === false ? String(value) : value}
+                </span>
+              )}
+              <div style={{ color: colors.DARK9, textDecoration: "underline" }}>{source}</div>
+            </SListItem>
+          );
+        })}
+      </ul>
+    </>
+  );
+};
+
+export default LogsSection;
diff --git a/packages/webviz-core/src/panels/NodePlayground/BottomBar/index.js b/packages/webviz-core/src/panels/NodePlayground/BottomBar/index.js
new file mode 100644
index 000000000..ae5a27dfc
--- /dev/null
+++ b/packages/webviz-core/src/panels/NodePlayground/BottomBar/index.js
@@ -0,0 +1,142 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import React, { useState, useRef, useEffect } from "react";
+import { useDispatch } from "react-redux";
+import styled from "styled-components";
+
+import { clearUserNodeLogs } from "webviz-core/src/actions/userNodes";
+import Button from "webviz-core/src/components/Button";
+import Flex from "webviz-core/src/components/Flex";
+import DiagnosticsSection from "webviz-core/src/panels/NodePlayground/BottomBar/DiagnosticsSection";
+import LogsSection from "webviz-core/src/panels/NodePlayground/BottomBar/LogsSection";
+import type { Diagnostic, UserNodeLog } from "webviz-core/src/players/UserNodePlayer/types";
+import { colors } from "webviz-core/src/util/colors";
+
+const SHeaderItem = styled.div`
+  cursor: pointer;
+  padding: 4px;
+  text-transform: uppercase;
+`;
+
+type Props = {
+  nodeId: ?string,
+  isSaved: boolean,
+  save: () => void,
+  diagnostics: Diagnostic[],
+  logs: UserNodeLog[],
+};
+
+type HeaderItemProps = {
+  text: string,
+  isOpen: boolean,
+  numItems: number,
+};
+
+const HeaderItem = ({ isOpen, numItems, text }: HeaderItemProps) => (
+  <SHeaderItem
+    style={{
+      color: numItems ? colors.RED : "inherit",
+      borderBottom: isOpen ? `1px solid ${colors.DARK6}` : "none",
+      paddingBottom: isOpen ? 2 : 0,
+    }}>
+    {text} {numItems || ""}
+  </SHeaderItem>
+);
+
+type BottomBarDisplayState = "closed" | "diagnostics" | "logs";
+
+const BottomBar = ({ nodeId, isSaved, save, diagnostics, logs }: Props) => {
+  const [bottomBarDisplay: BottomBarDisplayState, setBottomBarDisplay] = useState("closed");
+  const [autoScroll, setAutoScroll] = useState(true);
+
+  const dispatch = useDispatch();
+  const clearLogs = React.useCallback((payload: string) => dispatch(clearUserNodeLogs(payload)), [dispatch]);
+  const scrollContainer = useRef(null);
+
+  useEffect(
+    () => {
+      if (autoScroll) {
+        if (scrollContainer.current) {
+          scrollContainer.current.scrollTop = scrollContainer.current.scrollHeight;
+        }
+      }
+    },
+    [autoScroll, logs]
+  );
+
+  return (
+    <Flex col style={{ backgroundColor: colors.DARK1, position: "absolute", bottom: 0, right: 0, left: 0 }}>
+      <Flex
+        row
+        start
+        style={{
+          padding: 5,
+          bottom: 0,
+        }}>
+        <Flex
+          center
+          style={{ flexGrow: 0, color: colors.DARK9 }}
+          dataTest="np-errors"
+          onClick={() => {
+            if (bottomBarDisplay !== "diagnostics") {
+              setBottomBarDisplay("diagnostics");
+            } else {
+              setBottomBarDisplay("closed");
+            }
+          }}>
+          <HeaderItem text="Problems" numItems={diagnostics.length} isOpen={bottomBarDisplay === "diagnostics"} />
+        </Flex>
+        <Flex
+          center
+          style={{ flexGrow: 0, color: colors.DARK9 }}
+          dataTest="np-logs"
+          onClick={() => {
+            if (bottomBarDisplay !== "logs") {
+              setBottomBarDisplay("logs");
+            } else {
+              setBottomBarDisplay("closed");
+            }
+          }}>
+          <HeaderItem text="Logs" numItems={logs.length} isOpen={bottomBarDisplay === "logs"} />
+        </Flex>
+        <Button
+          style={{ padding: "2px 4px" }}
+          primary={!isSaved}
+          disabled={isSaved}
+          onClick={() => {
+            if (nodeId) {
+              save();
+              clearLogs(nodeId);
+            }
+          }}>
+          {isSaved ? "saved" : "save"}
+        </Button>
+      </Flex>
+      <div
+        ref={scrollContainer}
+        onScroll={({ target }) => {
+          const scrolledUp = target.scrollHeight - target.scrollTop > target.clientHeight;
+          if (scrolledUp && autoScroll) {
+            setAutoScroll(false);
+          } else if (!scrolledUp && !autoScroll) {
+            setAutoScroll(true);
+          }
+        }}
+        style={{
+          overflowY: bottomBarDisplay !== "closed" ? "scroll" : "auto",
+          height: bottomBarDisplay !== "closed" ? 150 : 0,
+          color: colors.DARK9,
+        }}>
+        {bottomBarDisplay === "diagnostics" && <DiagnosticsSection diagnostics={diagnostics} />}
+        {bottomBarDisplay === "logs" && <LogsSection nodeId={nodeId} logs={logs} clearLogs={clearLogs} />}
+      </div>
+    </Flex>
+  );
+};
+
+export default BottomBar;
diff --git a/packages/webviz-core/src/panels/NodePlayground/Editor.js b/packages/webviz-core/src/panels/NodePlayground/Editor.js
index c28760dfe..96c2bdb09 100644
--- a/packages/webviz-core/src/panels/NodePlayground/Editor.js
+++ b/packages/webviz-core/src/panels/NodePlayground/Editor.js
@@ -6,55 +6,84 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
+import * as monacoApi from "monaco-editor/esm/vs/editor/editor.api";
+import { initVimMode } from "monaco-vim";
 import * as React from "react";
 import Dimensions from "react-container-dimensions";
+import MonacoEditor from "react-monaco-editor";
 
-import Flex from "webviz-core/src/components/Flex";
-import Icon from "webviz-core/src/components/Icon";
-import SpinningLoadingIcon from "webviz-core/src/components/SpinningLoadingIcon";
 import vsWebvizTheme from "webviz-core/src/panels/NodePlayground/theme/vs-webviz.json";
+import { lib_filename, lib_es6_dts } from "webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/lib";
+import {
+  ros_lib_filename,
+  ros_lib_dts,
+} from "webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/ros";
 
 const VS_WEBVIZ_THEME = "vs-webviz";
 
-const MonacoEditor = React.lazy(() => import(/* webpackChunkName: "react-monaco-editor" */ "react-monaco-editor"));
-const Editor = ({
-  script,
-  setScript,
-  editorForStorybook, // Currently this prop is only used for screenshot tests.
-}: {
-  script: string,
-  setScript: (script: string) => void,
-  editorForStorybook?: React.Node,
-}) => {
+type Props = { script: string, setScript: (script: string) => void, vimMode: boolean };
+const Editor = ({ script, setScript, vimMode }: Props) => {
+  const editorRef = React.useRef(null);
+  const vimModeRef = React.useRef(null);
+  React.useEffect(
+    () => {
+      if (editorRef.current) {
+        if (vimMode) {
+          vimModeRef.current = initVimMode(editorRef.current);
+        } else if (vimModeRef.current) {
+          // Turn off VimMode.
+          vimModeRef.current.dispose();
+        }
+      }
+    },
+    [vimMode]
+  );
   return (
     <Dimensions>
       {({ width, height }) => (
-        <React.Suspense
-          fallback={
-            <Flex center style={{ width: "100%", height: "100%" }}>
-              <Icon large>
-                <SpinningLoadingIcon />
-              </Icon>
-            </Flex>
-          }>
-          {editorForStorybook || (
-            <MonacoEditor
-              key={`${width}-${height}`}
-              language="typescript"
-              theme={VS_WEBVIZ_THEME}
-              editorWillMount={(monaco) => {
-                monaco.editor.defineTheme(VS_WEBVIZ_THEME, vsWebvizTheme);
-              }}
-              options={{
-                minimap: {
-                  enabled: false,
-                },
-              }}
-              value={script}
-              onChange={setScript}
-            />
-          )}
-        </React.Suspense>
+        <MonacoEditor
+          key={`${width}-${height}`}
+          language="typescript"
+          theme={VS_WEBVIZ_THEME}
+          editorWillMount={(monaco) => {
+            monaco.editor.defineTheme(VS_WEBVIZ_THEME, vsWebvizTheme);
+            // This line ensures the type defs we enforce in
+            // the 'compile' step match that of monaco. Adding the 'lib'
+            // this way (instead of specifying it in the compiler options)
+            // is a hack to overwrite the default type defs since the
+            // typescript language service does not expose such a method.
+            monaco.languages.typescript.typescriptDefaults.addExtraLib(lib_es6_dts, lib_filename);
+            monaco.languages.typescript.typescriptDefaults.addExtraLib(
+              ros_lib_dts,
+              `file:///node_modules/@types/${ros_lib_filename}`
+            );
+          }}
+          editorDidMount={(editor) => {
+            editorRef.current = editor;
+            if (vimMode) {
+              vimModeRef.current = initVimMode(editorRef.current);
+            }
+          }}
+          options={{
+            // A 'model' in monaco is the interface through which monaco
+            // (and consumers of monaco) update and refer to the text model.
+            // E.g. there is a method called `model.pushEditOperations()`
+            // which is how you set user input. If we do not explicitly set
+            // the model with our desired URI (in this case,
+            // 'file:///main.ts'), monaco will create a default model that
+            // is set to `inmemory://model/`, which, for some reason,
+            // blocks our ability to add custom modules (like `lib.d.ts` above) to the system.
+            model:
+              monacoApi.editor.getModel("file:///main.ts") ||
+              monacoApi.editor.createModel(script, "typescript", monacoApi.Uri.parse("file:///main.ts")),
+
+            minimap: {
+              enabled: false,
+            },
+          }}
+          value={script}
+          onChange={setScript}
+        />
       )}
     </Dimensions>
   );
diff --git a/packages/webviz-core/src/panels/NodePlayground/Sidebar.js b/packages/webviz-core/src/panels/NodePlayground/Sidebar.js
index b3aefe092..ed264bb12 100644
--- a/packages/webviz-core/src/panels/NodePlayground/Sidebar.js
+++ b/packages/webviz-core/src/panels/NodePlayground/Sidebar.js
@@ -8,117 +8,216 @@
 
 import ArrowLeftBoldIcon from "@mdi/svg/svg/arrow-left-bold.svg";
 import CloseIcon from "@mdi/svg/svg/close.svg";
-import FileIcon from "@mdi/svg/svg/file.svg";
-import PlusIcon from "@mdi/svg/svg/plus.svg";
-import React, { useState } from "react";
+import DeleteIcon from "@mdi/svg/svg/delete.svg";
+import FileMultipleIcon from "@mdi/svg/svg/file-multiple.svg";
+import HelpCircleIcon from "@mdi/svg/svg/help-circle.svg";
+import React from "react";
 import styled from "styled-components";
 
-import style from "./index.module.scss";
 import Flex from "webviz-core/src/components/Flex";
 import Icon from "webviz-core/src/components/Icon";
-import IconButton from "webviz-core/src/components/IconButton";
+import TextContent from "webviz-core/src/components/TextContent";
+import type { Explorer } from "webviz-core/src/panels/NodePlayground";
+import nodePlaygroundDocs from "webviz-core/src/panels/NodePlayground/index.help.md";
+import type { UserNodesState } from "webviz-core/src/reducers/userNodes";
 import { type UserNodes } from "webviz-core/src/types/panels";
+import { colors } from "webviz-core/src/util/colors";
 
-const SButton = styled.button`
-  position: absolute;
-  top: 10px;
-  left: 10px;
-  width: 30px;
-  z-index: 10;
+const MenuWrapper = styled.div`
+  display: flex;
+  flex-direction: column;
+  align-items: center;
+  width: 40px;
+  background-color: ${colors.DARK1};
+  & > * {
+    margin: 10px;
+  }
 `;
 
-const SListItem = styled.li`
-  padding: 10px;
+const ExplorerWrapper = styled.div`
+  display: ${({ show }: { show: boolean }) => (show ? "initial" : "none")};
+  background-color: ${colors.GRAY2};
+  max-width: 325px;
+  min-width: 275px;
+  overflow: auto;
+`;
+
+const ListItem = styled.li`
+  padding: 5px;
   cursor: pointer;
   display: flex;
   justify-content: space-between;
   word-break: break-all;
+  align-items: center;
+  color: ${({ trusted }) => (!trusted ? colors.REDL1 : "inherit")};
+  background-color: ${({ selected }: { selected: boolean }) => (selected ? colors.DARK9 : "transparent")};
+  span {
+    opacity: 0;
+  }
+  &:hover {
+    background-color: ${colors.DARK9};
+    span {
+      opacity: 1;
+    }
+  }
 `;
 
-type Props = {
-  onSelect: (nodeName: ?string) => void,
-  onUpdate: (name: string, value: ?string) => void,
-  selectedNodeName: ?string,
-  userNodes: UserNodes,
-};
+const SFlex = styled.div`
+  display: flex;
+  flex-direction: column;
+  padding: 10px;
 
-function Sidebar(props: Props) {
-  const { onSelect, selectedNodeName, userNodes, onUpdate } = props;
-  const [isModalOpen, setIsModalOpen] = useState(false);
-  const [newNodeOutputName, setNewNodeOutputName] = useState("");
-  if (!isModalOpen) {
-    return (
-      <SButton
-        data-test-node-playground-sidebar
-        onClick={(e) => {
-          e.stopPropagation();
-          setIsModalOpen(!isModalOpen);
-        }}
-        tooltip="Show Webviz nodes to edit">
-        <Icon style={{ color: "white", marginLeft: -2 }}>
-          <FileIcon />
-        </Icon>
-      </SButton>
-    );
+  pre {
+    white-space: pre-wrap;
   }
+`;
 
+type NodesListProps = {
+  nodes: UserNodes,
+  selectNode: (id: string) => void,
+  deleteNode: (id: string) => void,
+  collapse: () => void,
+  selectedNodeId: ?string,
+  nodeDiagnosticsAndLogs: UserNodesState,
+};
+
+const NodesList = ({
+  nodes,
+  selectNode,
+  deleteNode,
+  collapse,
+  selectedNodeId,
+  nodeDiagnosticsAndLogs,
+}: NodesListProps) => {
+  const [search, updateSearch] = React.useState("");
   return (
-    <Flex
-      col
-      onClick={(e) => {
-        // Clicking to drag NodesListSidebar should not close it
-        e.stopPropagation();
-      }}
-      className={style.filesModal}>
-      <Flex style={{ padding: 8, justifyContent: "space-between", flex: "initial" }}>
-        Nodes
-        <Icon onClick={() => setIsModalOpen(!isModalOpen)}>
+    <Flex col>
+      <Flex row style={{ padding: "5px", alignItems: "center" }}>
+        <Flex style={{ position: "relative", flexGrow: 1 }}>
+          <input
+            placeholder="search nodes"
+            type="text"
+            value={search}
+            onChange={(e) => updateSearch(e.target.value)}
+            style={{ backgroundColor: colors.DARK2, margin: 0, padding: "4px", width: "100%" }}
+            spellCheck={false}
+          />
+          {search ? (
+            <Icon
+              small
+              onClick={() => updateSearch("")}
+              style={{
+                color: colors.DARK9,
+                position: "absolute",
+                right: "5px",
+                top: "50%",
+                transform: "translateY(-50%)",
+              }}>
+              <CloseIcon />
+            </Icon>
+          ) : null}
+        </Flex>
+        <Icon onClick={collapse} medium tooltip={"collapse"}>
           <ArrowLeftBoldIcon />
         </Icon>
       </Flex>
-      <div style={{ overflowY: "auto" }}>
-        <ul>
-          <SListItem style={{ padding: 5, justifyContent: "space-around" }}>
-            <input
-              type="text"
-              style={{ width: "100%" }}
-              value={newNodeOutputName}
-              placeholder="/new/node/output"
-              onChange={(e) => setNewNodeOutputName(e.target.value)}
-            />
-            <IconButton
-              tooltip="Add Webviz Node"
-              id="add-webviz-node"
-              onClick={() => {
-                if (newNodeOutputName && !userNodes[newNodeOutputName]) {
-                  onUpdate(newNodeOutputName, "");
-                  setNewNodeOutputName("");
-                }
-              }}
-              icon={<PlusIcon />}
-            />
-          </SListItem>
-          {Object.keys(userNodes).map((nodeName) => (
-            <SListItem
-              key={nodeName}
-              className={selectedNodeName === nodeName ? style.highlight : null}
-              onClick={() => onSelect(nodeName)}>
-              <span>{nodeName}</span>
-              <Icon
-                onClick={() => {
-                  onUpdate(nodeName, undefined);
-                  if (selectedNodeName === nodeName) {
-                    onSelect(null);
-                  }
-                }}>
-                <CloseIcon />
+      {Object.keys(nodes)
+        .filter((nodeId) => !search || new RegExp(search).test(nodeId))
+        .map((nodeId) => {
+          const trusted = nodeDiagnosticsAndLogs[nodeId] ? nodeDiagnosticsAndLogs[nodeId].trusted : true;
+          return (
+            <ListItem
+              key={nodeId}
+              selected={selectedNodeId === nodeId}
+              onClick={() => selectNode(nodeId)}
+              trusted={trusted}>
+              {nodes[nodeId].name}
+              <Icon onClick={() => deleteNode(nodeId)} medium>
+                <DeleteIcon />
               </Icon>
-            </SListItem>
-          ))}
-        </ul>
-      </div>
+            </ListItem>
+          );
+        })}
     </Flex>
   );
-}
+};
+
+type Props = {|
+  selectNode: (nodeId: string) => void,
+  deleteNode: (nodeId: string) => void,
+  userNodes: UserNodes,
+  selectedNodeId: ?string,
+  otherMarkdownDocsForTest?: string,
+  needsUserTrust: boolean,
+  nodeDiagnosticsAndLogs: UserNodesState,
+  explorer: Explorer,
+  updateExplorer: (explorer: Explorer) => void,
+|};
+
+const RedDot = styled.div`
+  width: 10px;
+  height: 10px;
+  border-radius: 50%;
+  background-color: ${colors.REDL1};
+  position: absolute;
+  bottom: -2px;
+  right: -2px;
+`;
+
+const Sidebar = ({
+  userNodes,
+  selectNode,
+  deleteNode,
+  selectedNodeId,
+  otherMarkdownDocsForTest,
+  needsUserTrust,
+  nodeDiagnosticsAndLogs,
+  explorer,
+  updateExplorer,
+}: Props) => {
+  const nodesSelected = explorer === "nodes";
+  const docsSelected = explorer === "docs";
+  return (
+    <>
+      <MenuWrapper>
+        <Icon
+          dataTest="node-explorer"
+          onClick={() => updateExplorer(nodesSelected ? null : "nodes")}
+          large
+          tooltip={"node explorer"}
+          style={{ color: nodesSelected ? "inherit" : colors.DARK9, position: "relative" }}>
+          <FileMultipleIcon />
+          {needsUserTrust && <RedDot />}
+        </Icon>
+        <Icon
+          dataTest="docs-explorer"
+          onClick={() => updateExplorer(docsSelected ? null : "docs")}
+          large
+          tooltip={"docs"}
+          style={{ color: docsSelected ? "inherit" : colors.DARK9 }}>
+          <HelpCircleIcon />
+        </Icon>
+      </MenuWrapper>
+      <ExplorerWrapper show={!!explorer}>
+        {explorer === "nodes" ? (
+          <NodesList
+            nodes={userNodes}
+            selectNode={selectNode}
+            deleteNode={deleteNode}
+            collapse={() => updateExplorer(null)}
+            selectedNodeId={selectedNodeId}
+            nodeDiagnosticsAndLogs={nodeDiagnosticsAndLogs}
+          />
+        ) : (
+          <SFlex>
+            <TextContent style={{ backgroundColor: "transparent" }} linkTarget="_blank">
+              {otherMarkdownDocsForTest || nodePlaygroundDocs}
+            </TextContent>
+          </SFlex>
+        )}
+      </ExplorerWrapper>
+    </>
+  );
+};
 
 export default Sidebar;
diff --git a/packages/webviz-core/src/panels/NodePlayground/index.help.md b/packages/webviz-core/src/panels/NodePlayground/index.help.md
index d02771bbd..19e6403a1 100644
--- a/packages/webviz-core/src/panels/NodePlayground/index.help.md
+++ b/packages/webviz-core/src/panels/NodePlayground/index.help.md
@@ -1,3 +1,358 @@
 # Node Playground
 
-Allows users to create custom Webviz nodes that take in user-specified topics, transform these input topics based on a customizable script, and output the transformed result as a new topic for the rest of the application to consume.
+Node Playground is a code editor sandbox in which you can write pseudo-ROS topics that get published within Webviz. Node Playground allows you to manipulate, reduce, and filter existing ROS messages and output them in a way that is useful to you.
+
+## Getting Started
+
+Node Playground uses TypeScript to typecheck messages coming in and out of your nodes. If you are already familiar with TypeScript, skip the "Learning TypeScript" section below.
+
+### Learning TypeScript
+
+TypeScript is a superset of JavaScript, so Google syntactic questions (e.g. how to manipulate arrays, or access object properties) using JavaScript terms, and semantic questions (e.g. how to make an object property optional) using TypeScript terms.
+
+Here are some resources to get yourself ramped up:
+
+- [Basic Types](https://www.typescriptlang.org/docs/handbook/basic-types.html)
+- [Gitbook](https://basarat.gitbooks.io/typescript/content/docs/why-typescript.html)
+
+Post in #stay-typesafe for TypeScript questions.
+
+### Writing Your First Webviz Node
+
+Every webviz node must declare three exports that indicate how we should execute your node:
+
+- An inputs array of topic names.
+- An output topic with an enforced prefix: `/webviz_node/`.
+- A publisher function that takes messages from input topics and publishes messages under your output topic.
+
+Here is a basic node that echoes its input:
+
+```typescript
+import { Message } from "ros";
+
+type RosOutMsg = {
+  level: number,
+  name: string,
+  msg: string,
+  file: string,
+  function: string,
+  line: number,
+  topics: string[],
+};
+
+export const inputs = [ "/rosout" ];
+export const output = "/webviz_node/echo";
+
+const publisher = (message: Message<RosOutMsg>): RosOutMsg => {
+  return message.message;
+};
+
+export default publisher;
+```
+
+If you drag in a bag, you should now be able to subscribe to the “/webviz_node/echo” topic in the Raw Messages panel.
+
+But let’s say you wanted to render some markers in the 3D panel. When you create a new node, you’ll be presented with some boilerplate:
+
+```typescript
+import { Message } from "ros";
+
+type InputTopicMsg = { /* YOUR INPUT TOPIC TYPE HERE */ };
+type Output = { /* DEFINED YOUR OUTPUT HERE */ };
+
+export const inputs = [];
+export const output = "/webviz_node/";
+
+const publisher = (message: Message<InputTopicMsg>): Output => {
+  return {};
+};
+
+export default publisher;
+```
+
+You’ll notice a few things:
+
+- The type `Message` is being imported from a custom library called `ros`. For more information on these type definitions and where they come from, refer to the [Important Types to Know](#important-types-to-know) section below.
+
+- The type `InputTopicMsg` has no properties.
+
+You'll need to define your own types here from your input topics.
+
+- The type `Output` has no properties.
+
+You will need to fill in this type's definition to include the output properties you care about. For markers, you _must_ return a type of the form `{ markers: MarkerType[] }`. Reference the Markers section below for example types.
+
+Strictly typing your nodes will help you debug issues at compile time rather than at runtime. It's not always obvious in Webviz how message properties are affecting the visualized output. The more you strictly type your nodes, the less likely you will make mistakes.
+
+#### Using Multiple Input Topics
+
+In some cases, you will want to define multiple input topics:
+
+```typescript
+import { Time, Message, Header, Pose, LineStripMarker } from "ros";
+
+type BaseMessage<Topic, Msg> = Message<Msg> & {
+  topic: Topic
+}
+
+type RosOutMsg = {
+  header: Header,
+  pose: Pose
+};
+type RosOut = BaseMessage<"/rosout", RosOutMsg>;
+
+type TfMsg = {
+  transforms: {
+    header: Header,
+    child_frame_id: string,
+    /* ... */
+  }
+};
+type Tf = BaseMessage<"/tf", TfMsg>;
+
+type Marker = LineStripMarker;
+type MarkerArray = {
+  markers: Marker[]
+}
+
+export const inputs = [ "/rosout", "/tf" ];
+export const output = "/webviz_node/echo";
+
+const publisher = (message: RosOut | Tf): MarkerArray => {
+
+  if (message.topic === "/rosout") {
+    // type is now refined to `/rosout` -- you can use `message.message.pose` safely
+  } else {
+    // type is now refined to `/tf` -- you can use `message.message.transforms` safely
+  }
+
+  return { markers: [] };
+};
+
+export default publisher;
+```
+
+This snippet uses [union types](https://www.typescriptlang.org/docs/handbook/advanced-types.html#union-types) to assert that the message in the publisher function can take either a `/rosout` or `/tf` topic. Use an `if`/`else` clause to differentiate between incoming topic datatypes when manipulating messages.
+
+To combine messages from multiple topics, create a variable in your node's global scope to reference every time your publisher function is invoked. Check timestamps to make sure you are not publishing out-of-sync data.
+
+```typescript
+let lastReceiveTime: Time | null = null;
+const myScope: { tf: TfMsg, rosout: RosOutMsg } = { 'tf': null, 'rosout': null };
+
+const publisher = (message: RosOut | Tf): MarkerArray => {
+  const { receiveTime  } = message;
+  let inSync = true;
+  if (receiveTime.sec !== lastReceiveTime.sec || receiveTime.nsec !== lastReceiveTime.nsec) {
+    lastReceiveTime = receiveTime;
+    inSync = false;
+  }
+
+  if (message.topic === "/rosout") {
+    myScope.rosout = message.message;
+  } else {
+    myScope.tf = message.message
+  }
+
+  if (!inSync) {
+    return { markers: [] };
+  }
+  ... rest of publishing logic...
+```
+
+## Important Types to Know
+
+By using types to publish your node messages, you can catch errors at compile time, rather than at runtime.
+
+The type definitions below are provided in the Node Playground environment by default, via Webviz's `ros` library.
+
+```typescript
+// RGBA
+type RGBA = { // all values are scaled between 0-1 instead of 0-255
+    r: number,
+    g: number,
+    b: number,
+    a: number // opacity -- typically you should set this to 1.
+};
+
+// Time
+type Time = {
+    sec: number,
+    nsec: number
+};
+
+// Message
+type Message<T> = {
+  topic: string,
+  datatype: string,
+  op: "message",
+  receiveTime: Time,
+  message: T,
+}
+
+// Header
+type Header = {
+  frame_id: string,
+  stamp: Time,
+};
+
+// Point
+type Point = {
+  x: number,
+  y: number,
+  z: number
+};
+
+// Scale
+type Scale = {
+  x: number,
+  y: number,
+  z: number
+};
+
+// Orientation
+type Orientation = {
+  x: number,
+  y: number,
+  z: number,
+  w: number
+};
+
+// Pose
+type Pose = {
+  position: Point,
+  orientation: Orientation
+};
+
+// Markers
+// All marker types build on this base marker type.
+type BaseMarker = {
+  header: Header,
+  ns: string, // namespace that your marker is published under.
+  id: string | number, // IMPORTANT: Needs to be unique. Duplicate ids will overwrite other markers.
+  action: 0 | 1 | 2 | 3, // In most cases, you will want to use '0' here.
+  pose: Pose,
+  scale: Scale,
+  color: RGBA
+};
+
+// MultiPointMarker
+type MultiPointMarker = BaseMarker & {
+  points: Point[],
+  colors?: RGBA[]
+};
+
+// ArrowMarker
+type ArrowMarker = BaseMarker & {
+  type: 0,
+  points?: Point[],
+  size?: ArrowSize,
+};
+
+type ArrowSize = {
+  shaftWidth: number,
+  headLength: number,
+  headWidth: number
+};
+
+// CubeMarker
+type CubeMarker = BaseMarker & {
+  type: 1
+};
+
+// CubeListMarker
+type CubeListMarker = MultiPointMarker & {
+  type: 6
+};
+
+// SphereMarker
+type SphereMarker = BaseMarker & {
+  type: 2
+};
+
+// SphereListMarker
+type SphereListMarker = MultiPointMarker & {
+  type: 7
+};
+
+// CylinderMarker
+type CylinderMarker = BaseMarker & {
+  type: 3
+};
+
+// LineStripMarker
+type LineStripMarker = MultiPointMarker & {
+  type: 4
+};
+
+// LineListMarker
+type LineListMarker = MultiPointMarker & {
+  type: 5
+};
+
+// PointsMarker
+type PointsMarker = MultiPointMarker & {
+  type: 8
+};
+
+// TextMarker
+type TextMarker = BaseMarker & {
+  type: 9,
+  text: string
+};
+
+// TriangleListMarker
+type TriangleListMarker = MultiPointMarker & {
+  type: 11
+};
+
+// MeshMarker
+type MeshMarker = MultiPointMarker & {
+  type: 11
+};
+
+// FilledPolygonMarker
+type FilledPolygonMarker = MultiPointMarker & {
+  type: 107
+};
+```
+
+To use these predefined type definitions in your Webviz node code, import them from the `ros` library at the top of your code.
+
+```typescript
+import { RGBA, Header, Message } from 'ros';
+
+type MyCustomMsg = { header: Header, color: RGBA };
+
+export const inputs = ["/some_input"];
+export const output = "/webviz_node/";
+
+type Marker = {};
+type MarkerArray = {
+  markers: Marker[]
+};
+
+const publisher = (message: Message<MyCustomMsg>): MarkerArray => {
+  return { markers: [] };
+};
+
+export default publisher;
+```
+
+## Debugging
+
+For easier debugging, invoke `log(someValue)` anywhere in your Webviz node code to print values to the `Logs` section at the bottom of the panel. The only value you cannot `log()` is one that is, or contains, a function definition.
+
+```typescript
+const add = (a: number, b: number): number => a + b;
+
+// NO ERRORS
+log(50, "ABC", null, undefined, 5 + 5, { "abc": 2, "def": false }, add(1, 2));
+
+// ERRORS
+log(() => {});
+log(add);
+log({ "add": add, "subtract": (a: number, b: number): number => a - b })
+```
+
+Invoking `log()` outside your publisher function will invoke it once, when your node is registered. Invoking `log()` inside your publisher function will log that value every time your publisher function is called.
diff --git a/packages/webviz-core/src/panels/NodePlayground/index.js b/packages/webviz-core/src/panels/NodePlayground/index.js
index 522eaf1d1..a443c9ecd 100644
--- a/packages/webviz-core/src/panels/NodePlayground/index.js
+++ b/packages/webviz-core/src/panels/NodePlayground/index.js
@@ -6,24 +6,56 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
+import CheckboxBlankOutlineIcon from "@mdi/svg/svg/checkbox-blank-outline.svg";
+import CheckboxOutlineIcon from "@mdi/svg/svg/checkbox-marked-circle-outline.svg";
+import CheckboxMarkedIcon from "@mdi/svg/svg/checkbox-marked.svg";
+import PlusIcon from "@mdi/svg/svg/plus.svg";
+import { some } from "lodash";
 import * as React from "react";
+import Dimensions from "react-container-dimensions";
 import { hot } from "react-hot-loader/root";
 import { useSelector, useDispatch } from "react-redux";
+import styled from "styled-components";
+import uuid from "uuid";
 
-import helpContent from "./index.help.md";
 import { setUserNodes as setUserNodesAction } from "webviz-core/src/actions/panels";
-import Button from "webviz-core/src/components/Button";
 import Flex from "webviz-core/src/components/Flex";
+import Icon from "webviz-core/src/components/Icon";
+import Item from "webviz-core/src/components/Menu/Item";
 import Panel from "webviz-core/src/components/Panel";
 import PanelToolbar from "webviz-core/src/components/PanelToolbar";
-import Editor from "webviz-core/src/panels/NodePlayground/Editor";
+import SpinningLoadingIcon from "webviz-core/src/components/SpinningLoadingIcon";
+import BottomBar from "webviz-core/src/panels/NodePlayground/BottomBar";
 import Sidebar from "webviz-core/src/panels/NodePlayground/Sidebar";
-import { type UserNodes } from "webviz-core/src/types/panels";
+import { trustUserNode } from "webviz-core/src/players/UserNodePlayer/nodeSecurity";
+import type { UserNodeState } from "webviz-core/src/reducers/userNodes";
+import type { UserNodes } from "webviz-core/src/types/panels";
 import { colors } from "webviz-core/src/util/colors";
-import { DEFAULT_WEBVIZ_NODE_NAME } from "webviz-core/src/util/globalConstants";
+import { DEFAULT_WEBVIZ_NODE_PREFIX } from "webviz-core/src/util/globalConstants";
+
+const Editor = React.lazy(() =>
+  import(/* webpackChunkName: "node-playground-editor" */ "webviz-core/src/panels/NodePlayground/Editor")
+);
+
+const skeletonBody = `import { Message } from "ros";
+
+type InputTopicMsg = { /* YOUR INPUT TOPIC TYPE HERE */ };
+type Output = { /* DEFINED YOUR OUTPUT HERE */ };
+
+export const inputs = [];
+export const output = "${DEFAULT_WEBVIZ_NODE_PREFIX}";
+
+const publisher = (message: Message<InputTopicMsg>): Output => {
+  return {};
+};
+
+export default publisher;`;
 
 type Config = {|
-  selectedNodeName: ?string,
+  selectedNodeId: ?string,
+  // Used only for storybook screenshot testing.
+  editorForStorybook?: React.Node,
+  vimMode: boolean,
 |};
 
 type Props = {
@@ -31,92 +63,250 @@ type Props = {
   saveConfig: ($Shape<Config>) => void,
 };
 
-/*
-TODO:
-  - more testing on user navigation
-*/
+const UnsavedDot = styled.div`
+  display: ${({ isSaved }: { isSaved: boolean }) => (isSaved ? "none" : "initial")}
+  width: 6px;
+  height: 6px;
+  border-radius: 50%;
+  position: absolute;
+  right: 10px;
+  top: 50%;
+  transform: translateY(-50%);
+  background-color: ${colors.DARK9};
+`;
+
+// Exported for screenshot testing.
+export const NodePlaygroundSettings = ({ config, saveConfig }: Props) => (
+  <Item
+    icon={config.vimMode ? <CheckboxMarkedIcon /> : <CheckboxBlankOutlineIcon />}
+    onClick={() => saveConfig({ vimMode: !config.vimMode })}>
+    <span>Vim Mode</span>
+  </Item>
+);
+
+const SecurityBarWrapper = styled.div`
+  width: 100%;
+  height: 40px;
+  background-color: ${colors.REDL1};
+  display: flex;
+  justify-content: space-between;
+  padding: 8px;
+  align-items: center;
+  font-weight: bold;
+`;
+
+const TrustButton = styled.button`
+  display: flex;
+  justify-content: space-between;
+  align-items: center;
+  width: 75px;
+  padding: 4px 8px;
+  vertical-align: middle;
+  font-weight: bold;
+  border: 2px solid ${colors.LIGHT1};
+`;
+
+const SecurityBar = ({ onClick }: { onClick: () => void }) => (
+  <SecurityBarWrapper>
+    <p>
+      Warning: This panel will execute user-defined code that is coming from a remote source. Make sure you trust it.
+    </p>
+    <TrustButton data-test="trust-user-scripts" onClick={onClick}>
+      Trust
+      <Icon small>
+        <CheckboxOutlineIcon />
+      </Icon>
+    </TrustButton>
+  </SecurityBarWrapper>
+);
+
+export type Explorer = null | "docs" | "nodes";
+
 function NodePlayground(props: Props) {
   const { config, saveConfig } = props;
-  const { selectedNodeName } = config;
+  const { selectedNodeId, editorForStorybook, vimMode } = config;
+
+  const [explorer, updateExplorer] = React.useState<Explorer>(null);
 
   const userNodes = useSelector((state) => state.panels.userNodes);
-  const nodeDiagnostics = useSelector((state) => state.nodeDiagnostics);
+  const nodeDiagnosticsAndLogs = useSelector((state) => state.userNodes);
+  const needsUserTrust = useSelector((state) => {
+    const nodes: UserNodeState[] = (Object.values(state.userNodes): any);
+    return some(nodes, ({ trusted }) => typeof trusted === "boolean" && !trusted);
+  });
+
   const dispatch = useDispatch();
   const setUserNodes = React.useCallback((payload: UserNodes) => dispatch(setUserNodesAction(payload)), [dispatch]);
 
-  // Holds the not yet saved source code.
   const selectedNodeDiagnostics =
-    selectedNodeName && nodeDiagnostics[selectedNodeName] ? nodeDiagnostics[selectedNodeName] : { diagnostics: [] };
-  const selectedNode = selectedNodeName ? userNodes[selectedNodeName] : "";
-  const [stagedScript, setStagedScript] = React.useState(selectedNode);
-  const isNodeSaved = stagedScript === selectedNode;
-  const { diagnostics } = selectedNodeDiagnostics;
+    selectedNodeId && nodeDiagnosticsAndLogs[selectedNodeId] ? nodeDiagnosticsAndLogs[selectedNodeId].diagnostics : [];
+  const selectedNode = selectedNodeId ? userNodes[selectedNodeId] : undefined;
+  // Holds the not yet saved source code.
+  const [stagedScript, setStagedScript] = React.useState(selectedNode ? selectedNode.sourceCode : "");
+  const isNodeSaved = !selectedNode || (!!selectedNode && stagedScript === selectedNode.sourceCode);
+  const selectedNodeLogs =
+    selectedNodeId && nodeDiagnosticsAndLogs[selectedNodeId] ? nodeDiagnosticsAndLogs[selectedNodeId].logs : [];
 
   React.useLayoutEffect(
     () => {
-      setStagedScript(selectedNode);
+      if (selectedNode) {
+        setStagedScript(selectedNode.sourceCode);
+      }
     },
     [selectedNode]
   );
 
+  // UX nicety so that the user can see which nodes need to be verified.
+  React.useLayoutEffect(
+    () => {
+      if (needsUserTrust) {
+        updateExplorer("nodes");
+      }
+    },
+    [needsUserTrust]
+  );
+
+  const addNewNode = React.useCallback(
+    () => {
+      const newNodeId = uuid.v4();
+      setUserNodes({
+        [newNodeId]: {
+          sourceCode: skeletonBody,
+          name: `${DEFAULT_WEBVIZ_NODE_PREFIX}${newNodeId.split("-")[0]}`,
+        },
+      });
+      saveConfig({ selectedNodeId: newNodeId });
+      // TODO: Add integration test for this flow.
+      trustUserNode({ id: newNodeId, sourceCode: skeletonBody });
+    },
+    [saveConfig, setUserNodes]
+  );
+
+  const trustSelectedNode = React.useCallback(
+    () => {
+      if (!selectedNodeId || !selectedNode) {
+        return;
+      }
+      trustUserNode({ id: selectedNodeId, sourceCode: selectedNode.sourceCode });
+      // no-op in order to trigger the useUserNodes hook.
+      setUserNodes({});
+    },
+    [selectedNode, selectedNodeId, setUserNodes]
+  );
+
   return (
-    <Flex col>
-      <PanelToolbar helpContent={helpContent} floating />
-      <Flex style={{ height: "100%" }}>
-        <Sidebar
-          onSelect={(nodeName) => {
-            // Save current state so that user can seamlessly go back to previous work.
-            setUserNodes({ [selectedNodeName || DEFAULT_WEBVIZ_NODE_NAME]: stagedScript });
-            saveConfig({ selectedNodeName: nodeName });
-          }}
-          onUpdate={(name, value) => {
-            setUserNodes({ [name]: value });
-            // If value is undefined, that means we deleted the node.
-            const nodeName = typeof value === "string" ? name : "";
-            saveConfig({ selectedNodeName: nodeName });
-          }}
-          selectedNodeName={selectedNodeName}
-          userNodes={userNodes}
-        />
-        <Flex col>
-          <Flex start>
-            <div style={{ padding: 10, paddingLeft: 50 }}>Currently editing:</div>
-            <input
-              type="text"
-              placeholder="Selected node name"
-              value={selectedNodeName || DEFAULT_WEBVIZ_NODE_NAME}
-              onChange={(e) => {
-                const newNodeName = e.target.value;
-                setUserNodes({ ...userNodes, [selectedNodeName]: undefined, [newNodeName]: selectedNode });
-                saveConfig({ selectedNodeName: newNodeName });
+    <Dimensions>
+      {({ height, width }) => (
+        <Flex col style={{ height, position: "relative" }}>
+          <PanelToolbar floating menuContent={<NodePlaygroundSettings {...props} />} />
+          <Flex style={{ height, width }}>
+            <Sidebar
+              explorer={explorer}
+              updateExplorer={updateExplorer}
+              selectNode={(nodeId) => {
+                if (selectedNodeId) {
+                  // Save current state so that user can seamlessly go back to previous work.
+                  setUserNodes({
+                    [selectedNodeId]: { ...selectedNode, sourceCode: stagedScript },
+                  });
+                }
+                saveConfig({ selectedNodeId: nodeId });
+              }}
+              deleteNode={(nodeId) => {
+                setUserNodes({ ...userNodes, [nodeId]: undefined });
+                saveConfig({ selectedNodeId: undefined });
               }}
+              selectedNodeId={selectedNodeId}
+              userNodes={userNodes}
+              needsUserTrust={needsUserTrust}
+              nodeDiagnosticsAndLogs={nodeDiagnosticsAndLogs}
             />
-            <Button
-              primary={isNodeSaved}
-              danger={!isNodeSaved}
-              disabled={isNodeSaved}
-              onClick={() => {
-                setUserNodes({ [selectedNodeName || DEFAULT_WEBVIZ_NODE_NAME]: stagedScript });
-              }}>
-              {isNodeSaved ? "Saved" : "Not Saved"}
-            </Button>
-          </Flex>
-          <Editor script={stagedScript} setScript={setStagedScript} />
-          <Flex style={{ position: "absolute", bottom: 0, padding: 5, backgroundColor: colors.RED }}>
-            <ul>
-              {diagnostics.map(({ message }) => (
-                <li key={message}>{message}</li>
-              ))}
-            </ul>
+            <Flex col>
+              <Flex
+                start
+                style={{
+                  flexGrow: 0,
+                  backgroundColor: colors.DARK1,
+                  alignItems: "center",
+                }}>
+                {selectedNodeId && (
+                  <div style={{ position: "relative" }}>
+                    <input
+                      type="text"
+                      placeholder="node name"
+                      value={selectedNode ? selectedNode.name : ""}
+                      style={{ borderRadius: 0, margin: 0, backgroundColor: colors.DARK2 }}
+                      spellCheck={false}
+                      onChange={(e) => {
+                        const newNodeName = e.target.value;
+                        setUserNodes({
+                          ...userNodes,
+                          [selectedNodeId]: { ...selectedNode, name: newNodeName },
+                        });
+                      }}
+                    />
+                    <UnsavedDot isSaved={isNodeSaved} />
+                  </div>
+                )}
+                <Icon
+                  large
+                  tooltip="new node"
+                  dataTest="new-node"
+                  style={{ color: colors.DARK9, padding: "0 5px" }}
+                  onClick={addNewNode}>
+                  <PlusIcon />
+                </Icon>
+              </Flex>
+
+              {nodeDiagnosticsAndLogs[selectedNodeId] &&
+                typeof nodeDiagnosticsAndLogs[selectedNodeId].trusted === "boolean" &&
+                !nodeDiagnosticsAndLogs[selectedNodeId].trusted && <SecurityBar onClick={trustSelectedNode} />}
+              <Flex col style={{ flexGrow: 1, position: "relative" }}>
+                <div
+                  key={`${height}x${width}`}
+                  style={{
+                    height: "100%",
+                    width: "100%",
+                    display: selectedNodeId
+                      ? "initial"
+                      : "none" /* Ensures the monaco-editor starts loading before the user opens it */,
+                  }}>
+                  <React.Suspense
+                    fallback={
+                      <Flex center style={{ width: "100%", height: "100%" }}>
+                        <Icon large>
+                          <SpinningLoadingIcon />
+                        </Icon>
+                      </Flex>
+                    }>
+                    {editorForStorybook || (
+                      <Editor script={stagedScript} setScript={setStagedScript} vimMode={vimMode} />
+                    )}
+                  </React.Suspense>
+                </div>
+                <BottomBar
+                  nodeId={selectedNodeId}
+                  isSaved={isNodeSaved}
+                  save={() => {
+                    if (!selectedNodeId) {
+                      return;
+                    }
+                    setUserNodes({ [selectedNodeId]: { ...selectedNode, sourceCode: stagedScript } });
+                    trustUserNode({ id: selectedNodeId, sourceCode: stagedScript });
+                  }}
+                  diagnostics={selectedNodeDiagnostics}
+                  logs={selectedNodeLogs}
+                />
+              </Flex>
+            </Flex>
           </Flex>
         </Flex>
-      </Flex>
-    </Flex>
+      )}
+    </Dimensions>
   );
 }
 
 NodePlayground.panelType = "NodePlayground";
-// TODO: There should NOT be a default selected node name. Force user to choose.
-NodePlayground.defaultConfig = { selectedNodeName: DEFAULT_WEBVIZ_NODE_NAME };
+NodePlayground.defaultConfig = { selectedNodeId: undefined, vimMode: false };
 
 export default hot(Panel<Config>(NodePlayground));
diff --git a/packages/webviz-core/src/panels/NodePlayground/index.module.scss b/packages/webviz-core/src/panels/NodePlayground/index.module.scss
deleted file mode 100644
index 496ea344f..000000000
--- a/packages/webviz-core/src/panels/NodePlayground/index.module.scss
+++ /dev/null
@@ -1,14 +0,0 @@
-@import "~webviz-core/src/styles/colors.module.scss";
-@import "~webviz-core/src/styles/mixins.module.scss";
-
-.filesModal {
-  background-color: $panel-background;
-  width: 25%;
-  min-width: 250px;
-  max-width: 280px;
-  overflow: hidden;
-}
-
-.highlight {
-  color: $highlight;
-}
diff --git a/packages/webviz-core/src/panels/NodePlayground/index.stories.js b/packages/webviz-core/src/panels/NodePlayground/index.stories.js
index 10122b9af..a4ac455ee 100644
--- a/packages/webviz-core/src/panels/NodePlayground/index.stories.js
+++ b/packages/webviz-core/src/panels/NodePlayground/index.stories.js
@@ -10,13 +10,16 @@ import { storiesOf } from "@storybook/react";
 import React from "react";
 import { withScreenshot } from "storybook-chrome-screenshot";
 
-import NodePlayground from "webviz-core/src/panels/NodePlayground";
-import Editor from "webviz-core/src/panels/NodePlayground/Editor";
+import NodePlayground, { NodePlaygroundSettings } from "webviz-core/src/panels/NodePlayground";
+import type { Explorer } from "webviz-core/src/panels/NodePlayground";
+import testDocs from "webviz-core/src/panels/NodePlayground/index.test.md";
+import Sidebar from "webviz-core/src/panels/NodePlayground/Sidebar";
 import PanelSetup from "webviz-core/src/stories/PanelSetup";
+import { DEFAULT_WEBVIZ_NODE_PREFIX } from "webviz-core/src/util/globalConstants";
 
 const userNodes = {
-  "/some/custom/node": "const someVariableName = 1;",
-  "/another/custom/node": "const anotherVariableName = 2;",
+  nodeId1: { name: "/some/custom/node", sourceCode: "const someVariableName = 1;" },
+  nodeId2: { name: "/another/custom/node", sourceCode: "const anotherVariableName = 2;" },
 };
 
 const fixture = {
@@ -24,73 +27,333 @@ const fixture = {
   frame: {},
 };
 
+const sourceCodeWithLogs = `
+  import { Time, Message } from "ros";
+  type InputTopicMsg = {header: {stamp: Time}};
+  type Marker = {};
+  type MarkerArray = { markers: Marker[] }
+
+  export const inputs = ["/able_to_engage"];
+  export const output = "${DEFAULT_WEBVIZ_NODE_PREFIX}";
+
+  const publisher = (message: Message<InputTopicMsg>): MarkerArray => {
+    log({ "someKey": { "nestedKey": "nestedValue" } });
+    return { markers: [] };
+  };
+
+  log(100, false, "abc", null, undefined);
+  export default publisher;
+`;
+const logs = [
+  { source: "registerNode", value: 100, lineNum: 1, colNum: 0 },
+  { source: "registerNode", value: false, lineNum: 2, colNum: 0 },
+  { source: "registerNode", value: "abc", lineNum: 3, colNum: 0 },
+  { source: "registerNode", value: null, lineNum: 4, colNum: 0 },
+  { source: "registerNode", value: undefined, lineNum: 5, colNum: 0 },
+  { source: "processMessage", value: { someKey: { nestedKey: "nestedValue" } }, lineNum: 6, colNum: 0 },
+];
+
 storiesOf("<NodePlayground>", module)
-  .addDecorator(withScreenshot())
-  .add("default", () => {
+  .addDecorator(withScreenshot({ delay: 1000 }))
+  .add("welcome screen", () => {
     return (
       <PanelSetup fixture={fixture}>
         <NodePlayground />
       </PanelSetup>
     );
   })
-  .add("sidebar open - Webviz nodes & user-added nodes", () => {
+  .add("sidebar open - node explorer", () => {
     return (
       <PanelSetup
         fixture={{ ...fixture, userNodes }}
         onMount={(el) => {
           setImmediate(() => {
-            const toggleElements = el.querySelectorAll("[data-test-node-playground-sidebar]");
-
-            for (const toggleElement of toggleElements) {
-              if (toggleElement) {
-                toggleElement.click();
-              }
-            }
+            el.querySelectorAll("[data-test=node-explorer]")[0].click();
           });
         }}>
         <NodePlayground />
       </PanelSetup>
     );
   })
-  .add("sidebar open - selected node", () => {
+  .add("sidebar open - node explorer - selected node", () => {
     return (
       <PanelSetup
         fixture={{ ...fixture, userNodes }}
         onMount={(el) => {
           setImmediate(() => {
-            const toggleElements = el.querySelectorAll("[data-test-node-playground-sidebar]");
-
-            for (const toggleElement of toggleElements) {
-              if (toggleElement) {
-                toggleElement.click();
-              }
-            }
+            el.querySelectorAll("[data-test=node-explorer]")[0].click();
           });
         }}>
-        <NodePlayground config={{ selectedNodeName: "/some/custom/node" }} />
+        <NodePlayground config={{ selectedNodeId: "nodeId1", vimMode: false }} />
       </PanelSetup>
     );
   })
-  .add("editor loading state", () => {
-    const NeverLoad = () => {
-      throw new Promise(() => {});
-    };
+  .add("sidebar open - docs explorer", () => {
     return (
-      <PanelSetup fixture={fixture}>
-        <Editor script={""} setScript={() => {}} editorForStorybook={<NeverLoad />} />
+      <PanelSetup
+        fixture={{ ...fixture, userNodes }}
+        onMount={(el) => {
+          setImmediate(() => {
+            el.querySelectorAll("[data-test=docs-explorer]")[0].click();
+          });
+        }}>
+        <NodePlayground config={{ selectedNodeId: "nodeId1", vimMode: false }} />
       </PanelSetup>
     );
   })
-  .add("typescript error", () => {
+  .add("sidebar - code snippets wrap", () => {
+    const Story = () => {
+      const [explorer, updateExplorer] = React.useState<Explorer>("docs");
+      return (
+        <PanelSetup fixture={{ ...fixture, userNodes }}>
+          <Sidebar
+            needsUserTrust={false}
+            nodeDiagnosticsAndLogs={{}}
+            explorer={explorer}
+            updateExplorer={updateExplorer}
+            selectedNodeId={null}
+            userNodes={userNodes}
+            deleteNode={() => {}}
+            selectNode={() => {}}
+            otherMarkdownDocsForTest={testDocs}
+          />
+        </PanelSetup>
+      );
+    };
+    return <Story />;
+  })
+  .add("editor loading state", () => {
+    const NeverLoad = () => {
+      throw new Promise(() => {});
+    };
     return (
-      <PanelSetup
-        fixture={{
-          ...fixture,
-          userNodes: {
-            "/some/custom/node": "const num: number[] = 'bad number';",
-          },
-        }}>
-        <NodePlayground config={{ selectedNodeName: "/some/custom/node" }} />
+      <PanelSetup fixture={{ ...fixture, userNodes }}>
+        <NodePlayground config={{ selectedNodeId: "nodeId1", editorForStorybook: <NeverLoad />, vimMode: false }} />
       </PanelSetup>
     );
   });
+
+storiesOf("NodePlayground - <BottomBar>", module)
+  .addDecorator(withScreenshot({ delay: 1000 }))
+
+  .add("no errors or logs - closed", () => (
+    <PanelSetup
+      fixture={{
+        ...fixture,
+        userNodes: { nodeId1: { name: "/some/custom/node", sourceCode: "" } },
+        userNodeDiagnostics: { nodeId1: { diagnostics: [] } },
+      }}>
+      <NodePlayground config={{ selectedNodeId: "nodeId1", vimMode: false }} />
+    </PanelSetup>
+  ))
+  .add("no errors - open", () => (
+    <PanelSetup
+      fixture={{
+        ...fixture,
+        userNodes: { nodeId1: { name: "/some/custom/node", sourceCode: "" } },
+        userNodeDiagnostics: { nodeId1: { diagnostics: [] } },
+      }}
+      onMount={(el) => {
+        setImmediate(() => {
+          const diagnosticsErrorsLabel = el.querySelector("[data-test=np-errors]");
+          if (diagnosticsErrorsLabel) {
+            diagnosticsErrorsLabel.click();
+          }
+        });
+      }}>
+      <NodePlayground config={{ selectedNodeId: "nodeId1", vimMode: false }} />
+    </PanelSetup>
+  ))
+  .add("no logs - open", () => (
+    <PanelSetup
+      fixture={{
+        ...fixture,
+        userNodes: { nodeId1: { name: "/some/custom/node", sourceCode: "" } },
+        userNodeDiagnostics: { nodeId1: { diagnostics: [] } },
+      }}
+      onMount={(el) => {
+        setImmediate(() => {
+          const logsLabel = el.querySelector("[data-test=np-logs]");
+          if (logsLabel) {
+            logsLabel.click();
+          }
+        });
+      }}>
+      <NodePlayground config={{ selectedNodeId: "nodeId1", vimMode: false }} />
+    </PanelSetup>
+  ))
+  .add("errors - closed", () => (
+    <PanelSetup
+      fixture={{
+        ...fixture,
+        userNodes: { nodeId1: { name: "/some/custom/node", sourceCode: "" } },
+        userNodeDiagnostics: {
+          nodeId1: {
+            diagnostics: [
+              {
+                message: `Type '"bad number"' is not assignable to type 'number[]'.`,
+                severity: 8,
+                source: "Typescript",
+                startLineNumber: 0,
+                startColumn: 6,
+                endLineNumber: 72,
+                endColumn: 20,
+                code: 2304,
+              },
+              {
+                message: "This is a warning message (without line or column numbers).",
+                severity: 4,
+                source: "Source A",
+                endLineNumber: 72,
+                endColumn: 20,
+                code: 2304,
+              },
+              {
+                message: "This is an info message (without line or column numbers).",
+                severity: 2,
+                source: "Source B",
+                code: 2304,
+              },
+              {
+                message: "This is a hint message (without line or column numbers).",
+                severity: 1,
+                source: "Source C",
+                code: 2304,
+              },
+            ],
+          },
+        },
+      }}>
+      <NodePlayground config={{ selectedNodeId: "nodeId1", vimMode: false }} />
+    </PanelSetup>
+  ))
+  .add("errors - open", () => (
+    <PanelSetup
+      fixture={{
+        ...fixture,
+        userNodes: { nodeId1: { name: "/some/custom/node", sourceCode: "" } },
+        userNodeDiagnostics: {
+          nodeId1: {
+            diagnostics: [
+              {
+                message: `Type '"bad number"' is not assignable to type 'number[]'.`,
+                severity: 8,
+                source: "Typescript",
+                startLineNumber: 0,
+                startColumn: 6,
+                endLineNumber: 72,
+                endColumn: 20,
+                code: 2304,
+              },
+              {
+                message: "This is a warning message (without line or column numbers).",
+                severity: 4,
+                source: "Source A",
+                endLineNumber: 72,
+                endColumn: 20,
+                code: 2304,
+              },
+              {
+                message: "This is an info message (without line or column numbers).",
+                severity: 2,
+                source: "Source B",
+                code: 2304,
+              },
+              {
+                message: "This is a hint message (without line or column numbers).",
+                severity: 1,
+                source: "Source C",
+                code: 2304,
+              },
+            ],
+          },
+        },
+      }}
+      onMount={(el) => {
+        setImmediate(() => {
+          const diagnosticsErrorsLabel = el.querySelector("[data-test=np-errors]");
+          if (diagnosticsErrorsLabel) {
+            diagnosticsErrorsLabel.click();
+          }
+        });
+      }}>
+      <NodePlayground config={{ selectedNodeId: "nodeId1", vimMode: false }} />
+    </PanelSetup>
+  ))
+  .add("logs - closed", () => (
+    <PanelSetup
+      fixture={{
+        ...fixture,
+        userNodes: {
+          nodeId1: {
+            name: "/some/custom/node",
+            sourceCode: sourceCodeWithLogs,
+          },
+        },
+        userNodeDiagnostics: { nodeId1: { diagnostics: [] } },
+        userNodeLogs: { nodeId1: { logs } },
+      }}>
+      <NodePlayground config={{ selectedNodeId: "nodeId1", vimMode: false }} />
+    </PanelSetup>
+  ))
+  .add("logs - open", () => (
+    <PanelSetup
+      fixture={{
+        ...fixture,
+        userNodes: {
+          nodeId1: {
+            name: "/some/custom/node",
+            sourceCode: sourceCodeWithLogs,
+          },
+        },
+        userNodeDiagnostics: { nodeId1: { diagnostics: [] } },
+        userNodeLogs: { nodeId1: { logs } },
+      }}
+      onMount={(el) => {
+        setImmediate(() => {
+          const logsLabel = el.querySelector("[data-test=np-logs]");
+          if (logsLabel) {
+            logsLabel.click();
+          }
+        });
+      }}>
+      <NodePlayground config={{ selectedNodeId: "nodeId1", vimMode: false }} />
+    </PanelSetup>
+  ))
+  .add("cleared logs", () => (
+    <PanelSetup
+      fixture={{
+        ...fixture,
+        userNodes: { nodeId1: { name: "/some/custom/node", sourceCode: "" } },
+        userNodeDiagnostics: { nodeId1: { diagnostics: [] } },
+        userNodeLogs: { nodeId1: { logs } },
+      }}
+      onMount={(el) => {
+        setImmediate(() => {
+          const logsLabel = el.querySelector("[data-test=np-logs]");
+          if (logsLabel) {
+            logsLabel.click();
+            const clearBtn = el.querySelector("button[data-test=np-logs-clear]");
+            if (clearBtn) {
+              clearBtn.click();
+            }
+          }
+        });
+      }}>
+      <NodePlayground config={{ selectedNodeId: "nodeId1", vimMode: false }} />
+    </PanelSetup>
+  ))
+  .add("security pop up", () => (
+    <PanelSetup fixture={{ ...fixture, userNodes, userNodeFlags: { id: "nodeId1", trusted: false } }}>
+      <NodePlayground config={{ selectedNodeId: "nodeId1", vimMode: false }} />
+    </PanelSetup>
+  ));
+
+storiesOf("<NodePlaygroundSettings>", module)
+  .addDecorator(withScreenshot({ delay: 1000 }))
+  .add("enabled vim mode", () => (
+    <NodePlaygroundSettings config={{ selectedNodeId: undefined, vimMode: true }} saveConfig={() => {}} />
+  ))
+  .add("disabled vim mode", () => (
+    <NodePlaygroundSettings config={{ selectedNodeId: undefined, vimMode: false }} saveConfig={() => {}} />
+  ));
diff --git a/packages/webviz-core/src/panels/NodePlayground/index.test.md b/packages/webviz-core/src/panels/NodePlayground/index.test.md
new file mode 100644
index 000000000..4ae0d957b
--- /dev/null
+++ b/packages/webviz-core/src/panels/NodePlayground/index.test.md
@@ -0,0 +1,21 @@
+# Node Playground
+
+The code below should wrap appropriately, instead of going outside the Sidebar's visible window.
+
+```typescript
+import { RGBA, Header, Message } from 'ros';
+
+type MyCustomMsg = { header: Header, color: RGBA };
+
+export const inputs = ["/some_input"];
+export const output = "/webviz_node/";
+
+type Marker = {};
+type MarkerArray = { markers: Marker[] };
+
+const publisher = (message: Message<MyCustomMsg>): MarkerArray => {
+  return { markers: [] };
+};
+
+export default publisher;
+```
diff --git a/packages/webviz-core/src/panels/NodePlayground/theme/vs-webviz.json b/packages/webviz-core/src/panels/NodePlayground/theme/vs-webviz.json
index c52a70975..64101309a 100644
--- a/packages/webviz-core/src/panels/NodePlayground/theme/vs-webviz.json
+++ b/packages/webviz-core/src/panels/NodePlayground/theme/vs-webviz.json
@@ -3,7 +3,7 @@
   "inherit": true,
   "rules": [
     {
-      "foreground": "f7f7f34d",
+      "foreground": "6c6783",
       "token": "comment"
     },
     {
diff --git a/packages/webviz-core/src/panels/NodePlayground/theme/vs-webviz.tmTheme b/packages/webviz-core/src/panels/NodePlayground/theme/vs-webviz.tmTheme
index a8fd82724..6b2f738f1 100644
--- a/packages/webviz-core/src/panels/NodePlayground/theme/vs-webviz.tmTheme
+++ b/packages/webviz-core/src/panels/NodePlayground/theme/vs-webviz.tmTheme
@@ -35,7 +35,7 @@
 			<key>settings</key>
 			<dict>
 				<key>foreground</key>
-				<string>#F7F7F34D</string>
+				<string>#6C6783</string>
 			</dict>
 		</dict>
 		<dict>
diff --git a/packages/webviz-core/src/panels/NumberOfRenders.js b/packages/webviz-core/src/panels/NumberOfRenders.js
index dbccddd07..be8b267d0 100644
--- a/packages/webviz-core/src/panels/NumberOfRenders.js
+++ b/packages/webviz-core/src/panels/NumberOfRenders.js
@@ -6,29 +6,68 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 import * as React from "react";
+import { hot } from "react-hot-loader/root";
 
 import Flex from "webviz-core/src/components/Flex";
 import MessageHistory from "webviz-core/src/components/MessageHistory";
+import { type MessagePipelineContext, useMessagePipeline } from "webviz-core/src/components/MessagePipeline";
 import Panel from "webviz-core/src/components/Panel";
 import PanelToolbar from "webviz-core/src/components/PanelToolbar";
+import * as PanelAPI from "webviz-core/src/PanelAPI";
+import inScreenshotTests from "webviz-core/src/stories/inScreenshotTests";
 
 // Little dummy panel that just shows the number of renders that happen when not subscribing
 // to anything. Useful for debugging performance issues.
 let panelRenderRenderCount = 0;
 let messageHistoryRenderCount = 0;
+let useMessagesRenderCount = 0;
+let messagePipelineRenderCount = 0;
+
+window.getNumberOfRendersCountsForTests = function() {
+  return {
+    panelRenderRenderCount,
+    messageHistoryRenderCount,
+    useMessagesRenderCount,
+    messagePipelineRenderCount,
+  };
+};
+
+function HooksComponent() {
+  PanelAPI.useMessages({
+    topics: [],
+    restore: React.useCallback(() => null, []),
+    addMessage: React.useCallback(() => null, []),
+  });
+  return `useMessagesRenderCount: ${++useMessagesRenderCount}`;
+}
+
+function MessagePipelineRendersComponent() {
+  // This is a private API, so panels should not be using it, but it's still bad if it renders too
+  // much. And in practice there might still be some panels that use it directly. :-(
+  useMessagePipeline<MessagePipelineContext>((context: MessagePipelineContext) => context);
+  return `messagePipelineRenderCount: ${++messagePipelineRenderCount}`;
+}
+
 function NumberOfRenders(): React.Node {
   panelRenderRenderCount++;
   return (
     <Flex col>
       <PanelToolbar />
-      <MessageHistory paths={[]}>
-        {() => (
-          <Flex row center style={{ fontSize: 20, lineHeight: 1.5, textAlign: "center" }}>
-            panelRenderRenderCount: {panelRenderRenderCount} <br />
-            messageHistoryRenderCount: {++messageHistoryRenderCount}
-          </Flex>
-        )}
-      </MessageHistory>
+      <Flex row center style={{ fontSize: 20, lineHeight: 1.5, textAlign: "center" }}>
+        <MessageHistory paths={[]}>
+          {() => (
+            <>
+              panelRenderRenderCount: {panelRenderRenderCount} <br />
+              messageHistoryRenderCount: {++messageHistoryRenderCount}
+            </>
+          )}
+        </MessageHistory>
+        <br />
+        <HooksComponent />
+        <br />
+        {!inScreenshotTests() && <MessagePipelineRendersComponent /> // Too flakey for screenshots.
+        }
+      </Flex>
     </Flex>
   );
 }
@@ -36,4 +75,4 @@ function NumberOfRenders(): React.Node {
 NumberOfRenders.panelType = "NumberOfRenders";
 NumberOfRenders.defaultConfig = {};
 
-export default Panel<{}>(NumberOfRenders);
+export default hot(Panel<{}>(NumberOfRenders));
diff --git a/packages/webviz-core/src/panels/PanelList.js b/packages/webviz-core/src/panels/PanelList/index.js
similarity index 84%
rename from packages/webviz-core/src/panels/PanelList.js
rename to packages/webviz-core/src/panels/PanelList/index.js
index 499c363a3..48c3f98ae 100644
--- a/packages/webviz-core/src/panels/PanelList.js
+++ b/packages/webviz-core/src/panels/PanelList/index.js
@@ -10,6 +10,7 @@ import * as React from "react";
 import { DragSource } from "react-dnd";
 import { MosaicDragType, getNodeAtPath, updateTree } from "react-mosaic-component";
 import { connect } from "react-redux";
+import styled from "styled-components";
 
 import { changePanelLayout, savePanelConfig } from "webviz-core/src/actions/panels";
 import { Item } from "webviz-core/src/components/Menu";
@@ -18,13 +19,25 @@ import { getGlobalHooks } from "webviz-core/src/loadWebviz";
 import type { State } from "webviz-core/src/reducers";
 import type { PanelConfig, SaveConfigPayload } from "webviz-core/src/types/panels";
 import { getPanelIdForType } from "webviz-core/src/util";
+import { colors } from "webviz-core/src/util/colors";
 import naturalSort from "webviz-core/src/util/naturalSort";
 
+const SearchInput = styled.input`
+  width: 100%;
+  min-width: 200px;
+  background-color: ${colors.DARK2} !important;
+  border-bottom-left-radius: 0;
+  border-bottom-right-radius: 0;
+  margin: 0;
+  position: sticky;
+  top: 0;
+  z-index: 2;
+`;
+
 type PanelListItem = {|
   title: string,
   component: React.ComponentType<any>,
   presets?: {| title: string, panelConfig?: PanelConfig |}[],
-  hideFromList?: boolean,
 |};
 
 // getPanelsByCategory() and getPanelsByType() are functions rather than top-level constants
@@ -71,6 +84,7 @@ type PanelItemProps = {
     title: string,
     panelConfig?: PanelConfig,
   |},
+  searchQuery: string,
   checked?: boolean,
   // this comes from react-dnd
   connectDragSource: (any) => React.Node,
@@ -84,11 +98,20 @@ type PanelItemProps = {
 
 class PanelItem extends React.Component<PanelItemProps> {
   render() {
-    const { connectDragSource, panel, onClick, checked } = this.props;
+    const { connectDragSource, searchQuery, panel, onClick, checked } = this.props;
+    const searchQueryIndex = !!searchQuery && panel.title.toLowerCase().indexOf(searchQuery);
     return connectDragSource(
       <div>
         <Item onClick={onClick} checked={checked}>
-          {panel.title}
+          {searchQueryIndex !== false ? (
+            <React.Fragment>
+              {panel.title.substring(0, searchQueryIndex)}
+              <u>{panel.title.substring(searchQueryIndex, searchQueryIndex + searchQuery.length)}</u>
+              {panel.title.substring(searchQueryIndex + searchQuery.length)}
+            </React.Fragment>
+          ) : (
+            panel.title
+          )}
         </Item>
       </div>
     );
@@ -135,7 +158,8 @@ type Props = {
   changePanelLayout: (panelLayout: any) => void,
   savePanelConfig: (SaveConfigPayload) => void,
 };
-class PanelList extends React.Component<Props> {
+class PanelList extends React.Component<Props, { searchQuery: string }> {
+  state = { searchQuery: "" };
   static getComponentForType(type: string): any | void {
     const panelsByCategory = getPanelsByCategory();
     const allPanels = flatten(Object.keys(panelsByCategory).map((category) => panelsByCategory[category]));
@@ -197,17 +221,31 @@ class PanelList extends React.Component<Props> {
     }
   }
 
+  _handleSearchChange = (e: SyntheticInputEvent<HTMLInputElement>) => {
+    // TODO(Audrey): press enter to select the first item, allow using arrow key to go up and down
+    this.setState({ searchQuery: e.target.value });
+  };
+
   render() {
     this._verifyPanels();
     const { mosaicId, onPanelSelect, selectedPanelType } = this.props;
+    const { searchQuery } = this.state;
     const panelCategories = getGlobalHooks().panelCategories();
     const panelsByCategory = getPanelsByCategory();
+    const lowerCaseSearchQuery = searchQuery.toLowerCase();
 
     return (
       <div data-test-panel-category>
+        <SearchInput
+          type="search"
+          placeholder="Filter panels"
+          value={searchQuery}
+          onChange={this._handleSearchChange}
+          autoFocus
+        />
         {panelCategories.map(({ label, key }, categoryIdx) =>
           panelsByCategory[key]
-            .filter(({ hideFromList }) => !hideFromList)
+            .filter(({ title }) => !title || title.toLowerCase().includes(lowerCaseSearchQuery))
             .sort(naturalSort("title"))
             .map(
               // $FlowFixMe - bug prevents requiring panelType: https://stackoverflow.com/q/52508434/23649
@@ -225,6 +263,7 @@ class PanelList extends React.Component<Props> {
                         }}
                         onDrop={this.onPanelMenuItemDrop}
                         onClick={() => onPanelSelect(panelType, subPanelListItem.panelConfig)}
+                        searchQuery=""
                       />
                     ))}
                   </SubMenu>
@@ -237,6 +276,7 @@ class PanelList extends React.Component<Props> {
                       onDrop={this.onPanelMenuItemDrop}
                       onClick={() => onPanelSelect(panelType)}
                       checked={panelType === selectedPanelType}
+                      searchQuery={lowerCaseSearchQuery}
                     />
                   </div>
                 )
diff --git a/packages/webviz-core/src/panels/PanelList/index.stories.js b/packages/webviz-core/src/panels/PanelList/index.stories.js
new file mode 100644
index 000000000..06aacb8a2
--- /dev/null
+++ b/packages/webviz-core/src/panels/PanelList/index.stories.js
@@ -0,0 +1,58 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { storiesOf } from "@storybook/react";
+import { createMemoryHistory } from "history";
+import * as React from "react";
+import { DragDropContextProvider } from "react-dnd";
+import HTML5Backend from "react-dnd-html5-backend";
+import TestUtils from "react-dom/test-utils";
+import { Provider } from "react-redux";
+import { withScreenshot } from "storybook-chrome-screenshot";
+
+import PanelList from "webviz-core/src/panels/PanelList";
+import createRootReducer from "webviz-core/src/reducers";
+import configureStore from "webviz-core/src/store/configureStore.testing";
+
+storiesOf("<PanelList>", module)
+  .addDecorator(withScreenshot())
+  .addDecorator((childrenRenderFcn) => (
+    <DragDropContextProvider backend={HTML5Backend}>
+      <Provider store={configureStore(createRootReducer(createMemoryHistory()))}>{childrenRenderFcn()}</Provider>
+    </DragDropContextProvider>
+  ))
+  .add("panel list", () => (
+    <PanelList
+      onPanelSelect={() => {}}
+      mosaicId=""
+      mosaicLayout=""
+      changePanelLayout={() => {}}
+      savePanelConfig={() => {}}
+    />
+  ))
+  .add("filtered panel list", () => (
+    <div
+      ref={(el) => {
+        if (el) {
+          const input: ?HTMLInputElement = (el.querySelector("input"): any);
+          if (input) {
+            input.focus();
+            input.value = "h";
+            TestUtils.Simulate.change(input);
+          }
+        }
+      }}>
+      <PanelList
+        onPanelSelect={() => {}}
+        mosaicId=""
+        mosaicLayout=""
+        changePanelLayout={() => {}}
+        savePanelConfig={() => {}}
+      />
+    </div>
+  ));
diff --git a/packages/webviz-core/src/panels/Plot/PlotChart.js b/packages/webviz-core/src/panels/Plot/PlotChart.js
index acb537e16..cd1f7b881 100644
--- a/packages/webviz-core/src/panels/Plot/PlotChart.js
+++ b/packages/webviz-core/src/panels/Plot/PlotChart.js
@@ -12,17 +12,13 @@ import { createSelector } from "reselect";
 import { Time } from "rosbag";
 
 import styles from "./PlotChart.module.scss";
-import MessageHistory, {
-  getTimestampForMessage,
-  type MessageHistoryData,
-  type MessageHistoryItemsByPath,
-} from "webviz-core/src/components/MessageHistory";
+import { getTimestampForMessage, type MessageHistoryItemsByPath } from "webviz-core/src/components/MessageHistory";
 import TimeBasedChart, { type TimeBasedChartTooltipData } from "webviz-core/src/components/TimeBasedChart";
 import filterMap from "webviz-core/src/filterMap";
 import derivative from "webviz-core/src/panels/Plot/derivative";
 import { type PlotPath, isReferenceLinePlotPathType } from "webviz-core/src/panels/Plot/internalTypes";
 import { lightColor, lineColors } from "webviz-core/src/util/plotColors";
-import { subtractTimes, toSec } from "webviz-core/src/util/time";
+import { subtractTimes, format, formatTimeRaw, toSec } from "webviz-core/src/util/time";
 
 export type PlotChartPoint = {|
   x: number,
@@ -30,6 +26,20 @@ export type PlotChartPoint = {|
   tooltip: TimeBasedChartTooltipData,
 |};
 
+export type DataSet = {|
+  borderColor: string,
+  borderWidth: number,
+  data: Array<PlotChartPoint>,
+  fill: boolean,
+  key: string,
+  label: string,
+  pointBackgroundColor: string,
+  pointBorderColor: string,
+  pointHoverRadius: number,
+  pointRadius: number,
+  showLine: boolean,
+|};
+
 const Y_AXIS_ID = "Y_AXIS_ID";
 
 function getDatasetFromMessagePlotPath(
@@ -48,12 +58,21 @@ function getDatasetFromMessagePlotPath(
     }
 
     for (const { value, path, constantName } of item.queriedData) {
+      const isTimeObj = value && typeof value === "object" && !isNaN(value.sec) && !isNaN(value.nsec);
       if (typeof value === "number" || typeof value === "boolean") {
         points.push({
           x: toSec(subtractTimes(timestamp, startTime)),
           y: Number(value),
           tooltip: { item, path, value, constantName, startTime },
         });
+      } else if (isTimeObj) {
+        const timeObj = { ...value };
+        const valueStr = `${format(timeObj)} (${formatTimeRaw(timeObj)})`;
+        points.push({
+          x: toSec(subtractTimes(timestamp, startTime)),
+          y: timeObj.sec + timeObj.nsec / 1e9,
+          tooltip: { item, path, value: valueStr, constantName, startTime },
+        });
       }
     }
     // If we have added more than one point for this message, make it a scatter plot.
@@ -102,7 +121,7 @@ function getAnnotationFromReferenceLine(path: PlotPath, index: number) {
   };
 }
 
-function getDatasets(paths: PlotPath[], itemsByPath: MessageHistoryItemsByPath, startTime: Time) {
+export function getDatasets(paths: PlotPath[], itemsByPath: MessageHistoryItemsByPath, startTime: Time): DataSet[] {
   return filterMap(paths, (path: PlotPath, index: number) => {
     if (!path.enabled) {
       return null;
@@ -155,39 +174,30 @@ type PlotChartProps = {|
   minYValue: number,
   maxYValue: number,
   saveCurrentYs: (minY: number, maxY: number) => void,
+  datasets: DataSet[],
 |};
 export default class PlotChart extends PureComponent<PlotChartProps> {
   render() {
-    const { paths, minYValue, maxYValue, saveCurrentYs } = this.props;
+    const { paths, minYValue, maxYValue, saveCurrentYs, datasets } = this.props;
+    const annotations = getAnnotations(paths);
     return (
-      // Don't filter out disabled paths when passing into <MessageHistory>, because we still want
-      // easy access to the history when turning the disabled paths back on.
-      <MessageHistory paths={paths.map((path) => path.value)}>
-        {({ itemsByPath, startTime }: MessageHistoryData) => {
-          const datasets = getDatasets(paths, itemsByPath, startTime);
-          const annotations = getAnnotations(paths);
-
-          return (
-            <div className={styles.root}>
-              <Dimensions>
-                {({ width, height }) => (
-                  <TimeBasedChart
-                    isSynced
-                    zoom
-                    width={width}
-                    height={height}
-                    data={{ datasets }}
-                    annotations={annotations}
-                    type="scatter"
-                    yAxes={yAxes({ minY: minYValue, maxY: maxYValue, scaleId: Y_AXIS_ID })}
-                    saveCurrentYs={saveCurrentYs}
-                  />
-                )}
-              </Dimensions>
-            </div>
-          );
-        }}
-      </MessageHistory>
+      <div className={styles.root}>
+        <Dimensions>
+          {({ width, height }) => (
+            <TimeBasedChart
+              isSynced
+              zoom
+              width={width}
+              height={height}
+              data={{ datasets }}
+              annotations={annotations}
+              type="scatter"
+              yAxes={yAxes({ minY: minYValue, maxY: maxYValue, scaleId: Y_AXIS_ID })}
+              saveCurrentYs={saveCurrentYs}
+            />
+          )}
+        </Dimensions>
+      </div>
     );
   }
 }
diff --git a/packages/webviz-core/src/panels/Plot/PlotLegend.js b/packages/webviz-core/src/panels/Plot/PlotLegend.js
index 2d8d4a971..9cb800141 100644
--- a/packages/webviz-core/src/panels/Plot/PlotLegend.js
+++ b/packages/webviz-core/src/panels/Plot/PlotLegend.js
@@ -7,6 +7,7 @@
 //  You may not use this file except in compliance with the License.
 
 import cx from "classnames";
+import { last } from "lodash";
 import React, { PureComponent } from "react";
 
 import { plotableRosTypes } from "./index";
@@ -41,6 +42,8 @@ export default class PlotLegend extends PureComponent<PlotLegendProps> {
   render() {
     const { paths, onChange } = this.props;
 
+    const lastPath = last(paths);
+
     return (
       <div className={styles.root}>
         {paths.map((path: PlotPath, index: number) => {
@@ -98,7 +101,19 @@ export default class PlotLegend extends PureComponent<PlotLegendProps> {
         })}
         <div
           className={styles.addLine}
-          onClick={() => onChange({ paths: [...paths, { value: "", enabled: true, timestampMethod: "receiveTime" }] })}>
+          onClick={() =>
+            onChange({
+              paths: [
+                ...paths,
+                {
+                  value: "",
+                  enabled: true,
+                  // For convenience, default to the `timestampMethod` of the last path.
+                  timestampMethod: lastPath ? lastPath.timestampMethod : "receiveTime",
+                },
+              ],
+            })
+          }>
           + add line
         </div>
       </div>
diff --git a/packages/webviz-core/src/panels/Plot/PlotMenu.js b/packages/webviz-core/src/panels/Plot/PlotMenu.js
index a5c40e6a7..3de110ee4 100644
--- a/packages/webviz-core/src/panels/Plot/PlotMenu.js
+++ b/packages/webviz-core/src/panels/Plot/PlotMenu.js
@@ -12,21 +12,63 @@ import React from "react";
 import styles from "./PlotMenu.module.scss";
 import Item from "webviz-core/src/components/Menu/Item";
 import type { PlotConfig } from "webviz-core/src/panels/Plot";
+import { type DataSet } from "webviz-core/src/panels/Plot/PlotChart";
+import { downloadFiles } from "webviz-core/src/util";
+import { formatTimeRaw } from "webviz-core/src/util/time";
 
 function isValidInput(value: string) {
   return value === "" || !isNaN(parseFloat(value));
 }
 
+export function getHeader(message: any) {
+  let header = null;
+  for (const key in message) {
+    if (key.includes("header")) {
+      header = message[key];
+    }
+  }
+  return header;
+}
+
+function formatData(data: any, label: string) {
+  const { x, y } = data;
+  const { receiveTime, message } = data.tooltip.item.message;
+  const receiveTimeFloat = formatTimeRaw(receiveTime);
+  const header = getHeader(message);
+  const stampTime = header ? formatTimeRaw(header.stamp) : "";
+  return [x, receiveTimeFloat, stampTime, label, y];
+}
+
+export function getCSVData(datasets: DataSet[]): string {
+  const headLine = ["elapsed time", "receive time", "header.stamp", "topic", "value"];
+  const combinedLines = [];
+  combinedLines.push(headLine);
+  datasets.forEach((dataset, idx) => {
+    dataset.data.forEach((data) => {
+      combinedLines.push(formatData(data, dataset.label));
+    });
+  });
+  return combinedLines.join("\n");
+}
+
+function downloadCsvFile(datasets: DataSet[]) {
+  const csv = getCSVData(datasets);
+  const blob = new Blob([csv], { type: "text/csv;charset=utf-8;" });
+  downloadFiles([{ blob, fileName: `plot_data_export.csv` }]);
+}
+
 export default function PlotMenu({
   minYValue,
   maxYValue,
   saveConfig,
   setMinMax,
+  datasets,
 }: {
   minYValue: string,
   maxYValue: string,
   saveConfig: ($Shape<PlotConfig>) => void,
   setMinMax: () => void,
+  datasets: DataSet[],
 }) {
   return (
     <>
@@ -57,6 +99,9 @@ export default function PlotMenu({
       <Item>
         <button onClick={setMinMax}>Set min and max</button>
       </Item>
+      <Item>
+        <button onClick={() => downloadCsvFile(datasets)}>Download plot data (csv)</button>
+      </Item>
     </>
   );
 }
diff --git a/packages/webviz-core/src/panels/Plot/PlotMenu.stories.js b/packages/webviz-core/src/panels/Plot/PlotMenu.stories.js
index cdfe8ae5d..b3286f4ec 100644
--- a/packages/webviz-core/src/panels/Plot/PlotMenu.stories.js
+++ b/packages/webviz-core/src/panels/Plot/PlotMenu.stories.js
@@ -5,7 +5,6 @@
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
-
 import { storiesOf } from "@storybook/react";
 import { noop } from "lodash";
 import * as React from "react";
@@ -21,11 +20,11 @@ storiesOf("<PlotMenu>", module)
   .addDecorator(withScreenshot())
   .add("With min and max y set", () => (
     <Wrapper>
-      <PlotMenu minYValue="-5" maxYValue="5" saveConfig={noop} setMinMax={noop} />
+      <PlotMenu minYValue="-5" maxYValue="5" saveConfig={noop} setMinMax={noop} datasets={[]} />
     </Wrapper>
   ))
   .add("With min and max y not set", () => (
     <Wrapper>
-      <PlotMenu minYValue="" maxYValue="" saveConfig={noop} setMinMax={noop} />
+      <PlotMenu minYValue="" maxYValue="" saveConfig={noop} setMinMax={noop} datasets={[]} />
     </Wrapper>
   ));
diff --git a/packages/webviz-core/src/panels/Plot/PlotMenu.test.js b/packages/webviz-core/src/panels/Plot/PlotMenu.test.js
new file mode 100644
index 000000000..df2b38d56
--- /dev/null
+++ b/packages/webviz-core/src/panels/Plot/PlotMenu.test.js
@@ -0,0 +1,222 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { cloneDeep } from "lodash";
+
+import { getCSVData, getHeader } from "./PlotMenu";
+
+const data = [
+  {
+    x: 0.010651803000000001,
+    y: 0,
+    tooltip: {
+      constantName: "",
+      item: {
+        message: {
+          op: "message",
+          topic: "/accel_vector_calibrated",
+          datatype: "imu_messages/IMUSensor",
+          receiveTime: {
+            sec: 1547062466,
+            nsec: 10664222,
+          },
+          message: {
+            header: {
+              seq: 475838,
+              stamp: {
+                sec: 1547062466,
+                nsec: 9726015,
+              },
+              frame_id: "",
+            },
+            using_gps_time: false,
+            vector: {
+              x: -1.6502913414892997,
+              y: 0.013979224999911806,
+              z: 9.956832079451333,
+            },
+          },
+        },
+        queriedData: [
+          {
+            constantName: "",
+            value: false,
+            path: "/accel_vector_calibrated.using_gps_time",
+          },
+        ],
+      },
+      path: "/accel_vector_calibrated.using_gps_time",
+      value: false,
+      startTime: {
+        sec: 1547062466,
+        nsec: 12419,
+      },
+    },
+  },
+  {
+    x: 0.031882799,
+    y: 0,
+    tooltip: {
+      constantName: "",
+      item: {
+        message: {
+          op: "message",
+          topic: "/accel_vector_calibrated",
+          datatype: "imu_messages/IMUSensor",
+          receiveTime: {
+            sec: 1547062466,
+            nsec: 31895218,
+          },
+          message: {
+            header: {
+              seq: 475839,
+              stamp: {
+                sec: 1547062466,
+                nsec: 31719273,
+              },
+              frame_id: "",
+            },
+            using_gps_time: false,
+            vector: {
+              x: -1.6793369565819012,
+              y: 0.04327456632615036,
+              z: 10.0864057092908,
+            },
+          },
+        },
+        queriedData: [
+          {
+            constantName: "",
+            value: false,
+            path: "/accel_vector_calibrated.using_gps_time",
+          },
+        ],
+      },
+      path: "/accel_vector_calibrated.using_gps_time",
+      value: false,
+      startTime: {
+        sec: 1547062466,
+        nsec: 12419,
+      },
+    },
+  },
+];
+
+const datasets_single_topic = [
+  {
+    borderColor: "#4e98e2",
+    label: "/accel_vector_calibrated.using_gps_time",
+    key: "0",
+    showLine: true,
+    fill: false,
+    borderWidth: 1,
+    pointRadius: 1.5,
+    pointHoverRadius: 3,
+    pointBackgroundColor: "#74beff",
+    pointBorderColor: "transparent",
+    data,
+  },
+];
+
+const datasets_multiple_topics = [1, 2, 3].map((num) => {
+  const numData = data.map((perData) => {
+    const newData = cloneDeep(perData);
+    newData.x = perData.x + num;
+    newData.y = perData.y + num;
+    return newData;
+  });
+  return {
+    borderColor: "#4e98e2",
+    label: `/topic${num}`,
+    key: "0",
+    showLine: true,
+    fill: false,
+    borderWidth: 1,
+    pointRadius: 1.5,
+    pointHoverRadius: 3,
+    pointBackgroundColor: "#74beff",
+    pointBorderColor: "transparent",
+    data: numData,
+  };
+});
+
+const datasets_no_header = [1, 2, 3].map((num) => {
+  const numData = data.map((perData) => {
+    const newData = cloneDeep(perData);
+    newData.x = perData.x + num;
+    newData.y = perData.y + num;
+    if (num === 3) {
+      delete newData.tooltip.item.message.message.header;
+    }
+    return newData;
+  });
+  return {
+    borderColor: "#4e98e2",
+    label: `/topic${num}`,
+    key: "0",
+    showLine: true,
+    fill: false,
+    borderWidth: 1,
+    pointRadius: 1.5,
+    pointHoverRadius: 3,
+    pointBackgroundColor: "#74beff",
+    pointBorderColor: "transparent",
+    data: numData,
+  };
+});
+
+const datasets_diff_timestamp = [1, 2, 3].map((num) => {
+  const numData = data.map((perData) => {
+    const newData = cloneDeep(perData);
+    newData.x = perData.x + num;
+    newData.y = perData.y + num;
+    newData.tooltip.item.message.message.header.stamp.sec = perData.tooltip.item.message.message.header.stamp.sec + num;
+    return newData;
+  });
+  return {
+    borderColor: "#4e98e2",
+    label: `/topic${num}`,
+    key: "0",
+    showLine: true,
+    fill: false,
+    borderWidth: 1,
+    pointRadius: 1.5,
+    pointHoverRadius: 3,
+    pointBackgroundColor: "#74beff",
+    pointBorderColor: "transparent",
+    data: numData,
+  };
+});
+
+describe("PlotMenu", () => {
+  it("Single topic", () => {
+    expect(getCSVData(datasets_single_topic)).toMatchSnapshot();
+  });
+
+  it("Multiple topics", () => {
+    expect(getCSVData(datasets_multiple_topics)).toMatchSnapshot();
+  });
+
+  it("Multiple topics with one topic don't have header.stamp", () => {
+    expect(getCSVData(datasets_no_header)).toMatchSnapshot();
+  });
+
+  it("Multiple topics with different header.stamp", () => {
+    expect(getCSVData(datasets_diff_timestamp)).toMatchSnapshot();
+  });
+
+  it("get right header", () => {
+    const message = {
+      whatever_header: {
+        sec: 123,
+        nsec: 456,
+      },
+    };
+    expect(getHeader(message)).toEqual({ sec: 123, nsec: 456 });
+  });
+});
diff --git a/packages/webviz-core/src/panels/Plot/__snapshots__/PlotMenu.test.js.snap b/packages/webviz-core/src/panels/Plot/__snapshots__/PlotMenu.test.js.snap
new file mode 100644
index 000000000..5be3de19f
--- /dev/null
+++ b/packages/webviz-core/src/panels/Plot/__snapshots__/PlotMenu.test.js.snap
@@ -0,0 +1,37 @@
+// Jest Snapshot v1, https://goo.gl/fbAQLP
+
+exports[`PlotMenu Multiple topics 1`] = `
+"elapsed time,receive time,header.stamp,topic,value
+1.010651803,1547062466.010664222,1547062466.009726015,/topic1,1
+1.031882799,1547062466.031895218,1547062466.031719273,/topic1,1
+2.010651803,1547062466.010664222,1547062466.009726015,/topic2,2
+2.031882799,1547062466.031895218,1547062466.031719273,/topic2,2
+3.010651803,1547062466.010664222,1547062466.009726015,/topic3,3
+3.031882799,1547062466.031895218,1547062466.031719273,/topic3,3"
+`;
+
+exports[`PlotMenu Multiple topics with different header.stamp 1`] = `
+"elapsed time,receive time,header.stamp,topic,value
+1.010651803,1547062466.010664222,1547062467.009726015,/topic1,1
+1.031882799,1547062466.031895218,1547062467.031719273,/topic1,1
+2.010651803,1547062466.010664222,1547062468.009726015,/topic2,2
+2.031882799,1547062466.031895218,1547062468.031719273,/topic2,2
+3.010651803,1547062466.010664222,1547062469.009726015,/topic3,3
+3.031882799,1547062466.031895218,1547062469.031719273,/topic3,3"
+`;
+
+exports[`PlotMenu Multiple topics with one topic don't have header.stamp 1`] = `
+"elapsed time,receive time,header.stamp,topic,value
+1.010651803,1547062466.010664222,1547062466.009726015,/topic1,1
+1.031882799,1547062466.031895218,1547062466.031719273,/topic1,1
+2.010651803,1547062466.010664222,1547062466.009726015,/topic2,2
+2.031882799,1547062466.031895218,1547062466.031719273,/topic2,2
+3.010651803,1547062466.010664222,,/topic3,3
+3.031882799,1547062466.031895218,,/topic3,3"
+`;
+
+exports[`PlotMenu Single topic 1`] = `
+"elapsed time,receive time,header.stamp,topic,value
+0.010651803000000001,1547062466.010664222,1547062466.009726015,/accel_vector_calibrated.using_gps_time,0
+0.031882799,1547062466.031895218,1547062466.031719273,/accel_vector_calibrated.using_gps_time,0"
+`;
diff --git a/packages/webviz-core/src/panels/Plot/index.js b/packages/webviz-core/src/panels/Plot/index.js
index ba4fbb7a3..45a278024 100644
--- a/packages/webviz-core/src/panels/Plot/index.js
+++ b/packages/webviz-core/src/panels/Plot/index.js
@@ -11,10 +11,11 @@ import { hot } from "react-hot-loader/root";
 
 import helpContent from "./index.help.md";
 import Flex from "webviz-core/src/components/Flex";
+import MessageHistory, { type MessageHistoryData } from "webviz-core/src/components/MessageHistory";
 import Panel from "webviz-core/src/components/Panel";
 import PanelToolbar from "webviz-core/src/components/PanelToolbar";
 import type { PlotPath } from "webviz-core/src/panels/Plot/internalTypes";
-import PlotChart from "webviz-core/src/panels/Plot/PlotChart";
+import PlotChart, { getDatasets } from "webviz-core/src/panels/Plot/PlotChart";
 import PlotLegend from "webviz-core/src/panels/Plot/PlotLegend";
 import PlotMenu from "webviz-core/src/panels/Plot/PlotMenu";
 
@@ -30,6 +31,8 @@ export const plotableRosTypes = [
   "uint64",
   "float32",
   "float64",
+  "time",
+  "duration",
 ];
 
 export type PlotConfig = {
@@ -81,24 +84,37 @@ class Plot extends PureComponent<Props, State> {
 
     return (
       <Flex col clip center style={{ position: "relative" }}>
-        <PanelToolbar
-          helpContent={helpContent}
-          floating
-          menuContent={
-            <PlotMenu
-              minYValue={minYValue}
-              maxYValue={maxYValue}
-              saveConfig={this.props.saveConfig}
-              setMinMax={this.setMinMax}
-            />
-          }
-        />
-        <PlotChart
-          paths={paths}
-          minYValue={parseFloat(minYValue)}
-          maxYValue={parseFloat(maxYValue)}
-          saveCurrentYs={this.saveCurrentYs}
-        />
+        {/* Don't filter out disabled paths when passing into <MessageHistory>, because we still want
+          easy access to the history when turning the disabled paths back on. */}
+        <MessageHistory paths={paths.map((path) => path.value)}>
+          {({ itemsByPath, startTime }: MessageHistoryData) => {
+            const datasets = getDatasets(paths, itemsByPath, startTime);
+            return (
+              <>
+                <PanelToolbar
+                  helpContent={helpContent}
+                  floating
+                  menuContent={
+                    <PlotMenu
+                      minYValue={minYValue}
+                      maxYValue={maxYValue}
+                      saveConfig={this.props.saveConfig}
+                      setMinMax={this.setMinMax}
+                      datasets={datasets}
+                    />
+                  }
+                />
+                <PlotChart
+                  paths={paths}
+                  minYValue={parseFloat(minYValue)}
+                  maxYValue={parseFloat(maxYValue)}
+                  saveCurrentYs={this.saveCurrentYs}
+                  datasets={datasets}
+                />
+              </>
+            );
+          }}
+        </MessageHistory>
         <PlotLegend paths={paths} onChange={this.props.saveConfig} />
       </Flex>
     );
diff --git a/packages/webviz-core/src/panels/Plot/index.stories.js b/packages/webviz-core/src/panels/Plot/index.stories.js
index e770e6a2b..59b9d20ce 100644
--- a/packages/webviz-core/src/panels/Plot/index.stories.js
+++ b/packages/webviz-core/src/panels/Plot/index.stories.js
@@ -11,130 +11,130 @@ import * as React from "react";
 import { withScreenshot } from "storybook-chrome-screenshot";
 
 import Plot from "webviz-core/src/panels/Plot";
-import PanelSetup from "webviz-core/src/stories/PanelSetup";
+import PanelSetup, { triggerWheel } from "webviz-core/src/stories/PanelSetup";
 
 const locationMessages = [
   {
-    header: { stamp: { sec: 1539, nsec: 574635076 } },
+    header: { stamp: { sec: 0, nsec: 574635076 } },
     pose: { acceleration: -0.00116662939, velocity: 1.184182664 },
   },
   {
-    header: { stamp: { sec: 1539, nsec: 673758203 } },
+    header: { stamp: { sec: 0, nsec: 673758203 } },
     pose: { acceleration: -0.0072101709, velocity: 1.182555127 },
   },
   {
-    header: { stamp: { sec: 1539, nsec: 770527187 } },
+    header: { stamp: { sec: 0, nsec: 770527187 } },
     pose: { acceleration: 0.0079536558, velocity: 1.185625054 },
   },
   {
-    header: { stamp: { sec: 1539, nsec: 871076484 } },
+    header: { stamp: { sec: 0, nsec: 871076484 } },
     pose: { acceleration: 0.037758707, velocity: 1.193871954 },
   },
   {
-    header: { stamp: { sec: 1539, nsec: 995802312 } },
+    header: { stamp: { sec: 0, nsec: 995802312 } },
     pose: { acceleration: 0.085267948, velocity: 1.210280466 },
   },
   {
-    header: { stamp: { sec: 1540, nsec: 81700551 } },
+    header: { stamp: { sec: 1, nsec: 81700551 } },
     pose: { acceleration: 0.34490595, velocity: 1.28371423 },
   },
   {
-    header: { stamp: { sec: 1540, nsec: 184463111 } },
+    header: { stamp: { sec: 1, nsec: 184463111 } },
     pose: { acceleration: 0.59131456, velocity: 1.379807198 },
   },
   {
-    header: { stamp: { sec: 1540, nsec: 285808851 } },
+    header: { stamp: { sec: 1, nsec: 285808851 } },
     pose: { acceleration: 0.78738064, velocity: 1.487955727 },
   },
   {
-    header: { stamp: { sec: 1540, nsec: 371183619 } },
+    header: { stamp: { sec: 1, nsec: 371183619 } },
     pose: { acceleration: 0.91150866, velocity: 1.581979428 },
   },
   {
-    header: { stamp: { sec: 1540, nsec: 479369260 } },
+    header: { stamp: { sec: 1, nsec: 479369260 } },
     pose: { acceleration: 1.03091162, velocity: 1.70297429 },
   },
   {
-    header: { stamp: { sec: 1540, nsec: 587095370 } },
+    header: { stamp: { sec: 1, nsec: 587095370 } },
     pose: { acceleration: 1.15341371, velocity: 1.857311045 },
   },
   {
-    header: { stamp: { sec: 1540, nsec: 685730694 } },
+    header: { stamp: { sec: 1, nsec: 685730694 } },
     pose: { acceleration: 1.06827219, velocity: 1.951372604 },
   },
   {
-    header: { stamp: { sec: 1540, nsec: 785737230 } },
+    header: { stamp: { sec: 1, nsec: 785737230 } },
     pose: { acceleration: 0.76826461, velocity: 1.98319952 },
   },
   {
-    header: { stamp: { sec: 1540, nsec: 869057829 } },
+    header: { stamp: { sec: 1, nsec: 869057829 } },
     pose: { acceleration: 0.52827271, velocity: 1.984654942 },
   },
   {
-    header: { stamp: { sec: 1540, nsec: 984145879 } },
+    header: { stamp: { sec: 1, nsec: 984145879 } },
     pose: { acceleration: 0.16827019, velocity: 1.958059206 },
   },
   {
-    header: { stamp: { sec: 1541, nsec: 85765716 } },
+    header: { stamp: { sec: 2, nsec: 85765716 } },
     pose: { acceleration: -0.13173667, velocity: 1.899877099 },
   },
   {
-    header: { stamp: { sec: 1541, nsec: 182717960 } },
+    header: { stamp: { sec: 2, nsec: 182717960 } },
     pose: { acceleration: -0.196482967, velocity: 1.87051731 },
   },
   {
-    header: { stamp: { sec: 1541, nsec: 286998440 } },
+    header: { stamp: { sec: 2, nsec: 286998440 } },
     pose: { acceleration: -0.204713665, velocity: 1.848811251 },
   },
   {
-    header: { stamp: { sec: 1541, nsec: 370689856 } },
+    header: { stamp: { sec: 2, nsec: 370689856 } },
     pose: { acceleration: -0.18596813, velocity: 1.837120153 },
   },
   {
-    header: { stamp: { sec: 1541, nsec: 483672422 } },
+    header: { stamp: { sec: 2, nsec: 483672422 } },
     pose: { acceleration: -0.13091373, velocity: 1.828568433 },
   },
   {
-    header: { stamp: { sec: 1541, nsec: 578787057 } },
+    header: { stamp: { sec: 2, nsec: 578787057 } },
     pose: { acceleration: -0.119039923, velocity: 1.82106361 },
   },
   {
-    header: { stamp: { sec: 1541, nsec: 677515597 } },
+    header: { stamp: { sec: 2, nsec: 677515597 } },
     pose: { acceleration: -0.419040352, velocity: 1.734159507 },
   },
   {
-    header: { stamp: { sec: 1541, nsec: 789110904 } },
+    header: { stamp: { sec: 2, nsec: 789110904 } },
     pose: { acceleration: -0.48790808, velocity: 1.666657974 },
   },
 ];
 
 const otherStateMessages = [
   {
-    header: { stamp: { sec: 1539, nsec: 574635076 } },
+    header: { stamp: { sec: 0, nsec: 574635076 } },
     items: [{ id: 42, speed: 0.1 }],
   },
   {
-    header: { stamp: { sec: 1539, nsec: 871076484 } },
+    header: { stamp: { sec: 0, nsec: 871076484 } },
     items: [{ id: 42, speed: 0.2 }],
   },
   {
-    header: { stamp: { sec: 1540, nsec: 81700551 } },
+    header: { stamp: { sec: 1, nsec: 81700551 } },
     items: [{ id: 42, speed: 0.3 }],
   },
   {
-    header: { stamp: { sec: 1540, nsec: 479369260 } },
+    header: { stamp: { sec: 1, nsec: 479369260 } },
     items: [{ id: 10, speed: 1.4 }, { id: 42, speed: 0.2 }],
   },
   {
-    header: { stamp: { sec: 1540, nsec: 785737230 } },
+    header: { stamp: { sec: 1, nsec: 785737230 } },
     items: [{ id: 10, speed: 1.5 }, { id: 42, speed: 0.1 }],
   },
   {
-    header: { stamp: { sec: 1541, nsec: 182717960 } },
+    header: { stamp: { sec: 2, nsec: 182717960 } },
     items: [{ id: 10, speed: 1.57 }, { id: 42, speed: 0.08 }],
   },
   {
-    header: { stamp: { sec: 1541, nsec: 578787057 } },
+    header: { stamp: { sec: 2, nsec: 578787057 } },
     items: [{ id: 10, speed: 1.63 }, { id: 42, speed: 0.06 }],
   },
 ];
@@ -204,51 +204,71 @@ const fixture = {
         op: "message",
         datatype: "std_msgs/Bool",
         topic: "/boolean_topic",
-        receiveTime: { sec: 1540, nsec: 0 },
+        receiveTime: { sec: 1, nsec: 0 },
         message: { data: true },
       },
     ],
   },
 };
 
+const paths = [
+  {
+    value: "/some_topic/location.pose.velocity",
+    enabled: true,
+    timestampMethod: "receiveTime",
+  },
+  {
+    value: "/some_topic/location.pose.acceleration",
+    enabled: true,
+    timestampMethod: "receiveTime",
+  },
+  {
+    value: "/some_topic/location.pose.acceleration.@derivative",
+    enabled: true,
+    timestampMethod: "receiveTime",
+  },
+  {
+    value: "/boolean_topic.data",
+    enabled: true,
+    timestampMethod: "receiveTime",
+  },
+  {
+    value: "/some_topic/state.items[0].speed",
+    enabled: true,
+    timestampMethod: "receiveTime",
+  },
+  {
+    value: "/some_topic/location.header.stamp",
+    enabled: true,
+    timestampMethod: "receiveTime",
+  },
+];
+
 storiesOf("<Plot>", module)
-  .addDecorator(withScreenshot())
+  .addDecorator(withScreenshot({ delay: 1000 }))
   .add("line graph", () => {
     return (
       <PanelSetup fixture={fixture}>
-        <Plot
-          config={{
-            paths: [
-              {
-                value: "/some_topic/location.pose.velocity",
-                enabled: true,
-                timestampMethod: "receiveTime",
-              },
-              {
-                value: "/some_topic/location.pose.acceleration",
-                enabled: true,
-                timestampMethod: "receiveTime",
-              },
-              {
-                value: "/some_topic/location.pose.acceleration.@derivative",
-                enabled: true,
-                timestampMethod: "receiveTime",
-              },
-              {
-                value: "/boolean_topic.data",
-                enabled: true,
-                timestampMethod: "receiveTime",
-              },
-              {
-                value: "/some_topic/state.items[0].speed",
-                enabled: true,
-                timestampMethod: "receiveTime",
-              },
-            ],
-            minYValue: "",
-            maxYValue: "5.5",
-          }}
-        />
+        <Plot config={{ paths, minYValue: "", maxYValue: "5.5" }} />
+      </PanelSetup>
+    );
+  })
+  .add("line graph after zoom", () => {
+    return (
+      <PanelSetup
+        fixture={fixture}
+        onMount={(el) => {
+          setTimeout(() => {
+            const canvasEl = el.querySelector("canvas");
+            // Zoom is a continuous event, so we need to simulate wheel multiple times
+            if (canvasEl) {
+              for (let i = 0; i < 10; i++) {
+                triggerWheel(canvasEl, 1);
+              }
+            }
+          }, 100);
+        }}>
+        <Plot config={{ paths, minYValue: "", maxYValue: "5.5" }} />
       </PanelSetup>
     );
   })
diff --git a/packages/webviz-core/src/panels/SubscribeToList.js b/packages/webviz-core/src/panels/SubscribeToList.js
new file mode 100644
index 000000000..bc02eac8f
--- /dev/null
+++ b/packages/webviz-core/src/panels/SubscribeToList.js
@@ -0,0 +1,47 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import * as React from "react";
+import { hot } from "react-hot-loader/root";
+
+import Flex from "webviz-core/src/components/Flex";
+import Panel from "webviz-core/src/components/Panel";
+import PanelToolbar from "webviz-core/src/components/PanelToolbar";
+import * as PanelAPI from "webviz-core/src/PanelAPI";
+import type { SaveConfig } from "webviz-core/src/types/panels";
+
+// Little dummy panel that just subscribes to a bunch of topics. Doesn't actually
+// do anything with them.
+
+type Config = { topics: string };
+type Props = { config: Config, saveConfig: SaveConfig<Config> };
+
+function SubscribeToList({ config, saveConfig }: Props): React.Node {
+  const topics = config.topics.split(/\s*(?:\n|,|\s)\s*/);
+  const { reducedValue: messagesSeen } = PanelAPI.useMessages<number>({
+    topics,
+    restore: React.useCallback(() => 0, []),
+    addMessage: React.useCallback((seenBefore) => seenBefore + 1, []),
+  });
+  return (
+    <Flex col>
+      <PanelToolbar floating />
+      <textarea
+        style={{ flexGrow: 1, border: "none" }}
+        placeholder="add /some/topics/here separated by newlines or commas or whitespace"
+        value={config.topics}
+        onChange={React.useCallback((event) => saveConfig({ topics: event.target.value }), [saveConfig])}
+      />
+      <div style={{ position: "absolute", bottom: 8, right: 12 }}>messages seen: {messagesSeen}</div>
+    </Flex>
+  );
+}
+
+SubscribeToList.panelType = "SubscribeToList";
+SubscribeToList.defaultConfig = { topics: "" };
+
+export default hot(Panel<Config>(SubscribeToList));
diff --git a/packages/webviz-core/src/panels/SubscribeToList.stories.js b/packages/webviz-core/src/panels/SubscribeToList.stories.js
new file mode 100644
index 000000000..d4378effb
--- /dev/null
+++ b/packages/webviz-core/src/panels/SubscribeToList.stories.js
@@ -0,0 +1,37 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import { storiesOf } from "@storybook/react";
+import React from "react";
+import { withScreenshot } from "storybook-chrome-screenshot";
+
+import SubscribeToList from "./SubscribeToList";
+import PanelSetup from "webviz-core/src/stories/PanelSetup";
+
+storiesOf("<SubscribeToList>", module)
+  .addDecorator(withScreenshot())
+  .add("shows a topic list", () => {
+    return (
+      <PanelSetup
+        fixture={{
+          topics: [{ name: "/my/topic", datatype: "my_datatype" }],
+          frame: {
+            "/my/topic": [
+              {
+                op: "message",
+                receiveTime: { sec: 1, nsec: 0 },
+                topic: "/my/topic",
+                datatype: "my_datatype",
+                message: {},
+              },
+            ],
+          },
+        }}>
+        <SubscribeToList config={{ topics: "/my/topic" }} />
+      </PanelSetup>
+    );
+  });
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Crosshair.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Crosshair.js
new file mode 100644
index 000000000..682fbaa5e
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Crosshair.js
@@ -0,0 +1,77 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { vec3, quat } from "gl-matrix";
+import React from "react";
+import { cameraStateSelectors, Lines, type CameraState } from "regl-worldview";
+
+import { getGlobalHooks } from "webviz-core/src/loadWebviz";
+
+type Props = {
+  cameraState: CameraState,
+};
+
+export default function Crosshair({ cameraState }: Props) {
+  const { target, targetOffset, distance, thetaOffset } = cameraState;
+  const targetHeading = cameraStateSelectors.targetHeading(cameraState);
+  // move the crosshair to the center of the camera's viewport: the target + targetOffset rotated by heading
+  const crosshairPoint = [0, 0, 0];
+  vec3.add(crosshairPoint, vec3.rotateZ(crosshairPoint, targetOffset, [0, 0, 0], -targetHeading), target);
+
+  // orient and size the crosshair so it remains visually fixed in the center
+  const length = 0.02 * distance;
+  const orientation = [0, 0, 0, 1];
+  const theta = targetHeading + thetaOffset;
+
+  quat.rotateZ(orientation, orientation, -theta);
+
+  const crosshair = (z, extraThickness) => {
+    const thickness = 0.004 * distance * (1 + extraThickness);
+    return {
+      header: {
+        frame_id: getGlobalHooks().rootTransformFrame,
+        stamp: { sec: 0, nsec: 0 },
+      },
+      type: 5,
+      action: 0,
+      id: "",
+      ns: "",
+      pose: {
+        position: { x: crosshairPoint[0], y: crosshairPoint[1], z },
+        orientation: {
+          x: orientation[0],
+          y: orientation[1],
+          z: orientation[2],
+          w: orientation[3],
+        },
+      },
+      points: [
+        { x: -length * (1 + 0.1 * extraThickness), y: 0, z: 0 },
+        { x: length * (1 + 0.1 * extraThickness), y: 0, z: 0 },
+        { x: 0, y: -length * (1 + 0.1 * extraThickness), z: 0 },
+        { x: 0, y: length * (1 + 0.1 * extraThickness), z: 0 },
+      ],
+      scale: { x: thickness, y: thickness, z: thickness },
+    };
+  };
+
+  return (
+    <Lines>
+      {[
+        {
+          ...crosshair(1000, 0.6),
+          color: { r: 0, g: 0, b: 0, a: 1 },
+        },
+        {
+          ...crosshair(1001, 0),
+          color: { r: 1, g: 1, b: 1, a: 1 },
+        },
+      ]}
+    </Lines>
+  );
+}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/CameraInfo.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/CameraInfo.js
index 8709c1d93..7c356bd24 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/CameraInfo.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/CameraInfo.js
@@ -24,6 +24,7 @@ import clipboard from "webviz-core/src/util/clipboard";
 
 const TEMP_VEC3 = [0, 0, 0];
 const ZERO_VEC3 = Object.freeze([0, 0, 0]);
+const DEFAULT_CAMERA_INFO_WIDTH = 260;
 
 const LABEL_WIDTH = 112;
 const SRow = styled.div`
@@ -48,6 +49,7 @@ export type CameraInfoPropsWithoutCameraState = {
   followOrientation: boolean,
   followOrientation: boolean,
   followTf?: string | false,
+  isPlaying?: boolean,
   onAlignXYAxis: () => void,
   onCameraStateChange: (CameraState) => void,
   showCrosshair?: boolean,
@@ -91,10 +93,11 @@ function CameraStateInfo({ cameraState, onAlignXYAxis }: CameraStateInfoProps) {
 
 export default function CameraInfo({
   cameraState,
+  followOrientation,
+  followTf,
+  isPlaying,
   onAlignXYAxis,
   onCameraStateChange,
-  followTf,
-  followOrientation,
   showCrosshair,
 }: CameraInfoProps) {
   const { updatePanelConfig, saveConfig } = React.useContext(PanelContext) || {};
@@ -106,12 +109,15 @@ export default function CameraInfo({
   const camPos2DTrimmed = camPos2D.map((num) => +num.toFixed(2));
 
   return (
-    <Flex col>
+    <Flex col style={{ minWidth: DEFAULT_CAMERA_INFO_WIDTH }}>
       <Flex row reverse>
         <Button tooltip="Copy cameraState" small onClick={() => clipboard.copy(JSON.stringify(cameraState, null, 2))}>
           Copy
         </Button>
-        <Button tooltip="Edit raw camera state object" onClick={() => setEdit(!edit)}>
+        <Button
+          disabled={!!isPlaying}
+          tooltip={isPlaying ? "Pause player to edit raw camera state object" : "Edit raw camera state object"}
+          onClick={() => setEdit(!edit)}>
           {edit ? "Done" : "Edit"}
         </Button>
         <Button
@@ -120,7 +126,7 @@ export default function CameraInfo({
           Sync
         </Button>
       </Flex>
-      {edit ? (
+      {edit && !isPlaying ? (
         <UncontrolledValidatedInput
           format="yaml"
           value={cameraState}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/MeasuringTool.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/MeasuringTool.js
index 44b404b5c..e45735ad3 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/MeasuringTool.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/MeasuringTool.js
@@ -11,7 +11,6 @@ import * as React from "react";
 import { type ReglClickInfo } from "regl-worldview";
 
 import type { Point } from "webviz-core/src/types/Messages";
-import type { MarkerProvider, MarkerCollector } from "webviz-core/src/types/Scene";
 import { arrayToPoint } from "webviz-core/src/util";
 
 export type MeasureState = "idle" | "place-start" | "place-finish" | "done";
@@ -26,18 +25,9 @@ type Props = {|
   ...MeasureInfo,
 |};
 
-const sphereSize: number = 0.3;
-const lineSize: number = 0.1;
+/* eslint-disable no-restricted-syntax */
 
-const defaultSphere: any = Object.freeze({
-  type: 2,
-  action: 0,
-  scale: { x: sphereSize, y: sphereSize, z: 0.1 },
-  color: { r: 1, g: 0.2, b: 0, a: 1 },
-});
-const defaultPose: any = Object.freeze({ orientation: { x: 0, y: 0, z: 0, w: 1 } });
-
-export default class MeasuringTool extends React.Component<Props> implements MarkerProvider {
+export default class MeasuringTool extends React.Component<Props> {
   mouseDownCoords: number[] = [-1, -1];
 
   toggleMeasureState = () => {
@@ -146,39 +136,6 @@ export default class MeasuringTool extends React.Component<Props> implements Mar
     return dist_string;
   }
 
-  renderMarkers(add: MarkerCollector) {
-    const { start, end } = this.props.measurePoints;
-
-    if (start) {
-      const startPoint = { ...start };
-
-      add.sphere({
-        ...defaultSphere,
-        id: "_measure_start",
-        pose: { position: startPoint, ...defaultPose },
-      });
-
-      if (end) {
-        const endPoint = { ...end };
-
-        add.lineStrip({
-          ...defaultSphere,
-          id: "_measure_line",
-          points: [start, end],
-          pose: { ...defaultPose, position: { x: 0, y: 0, z: 0 } },
-          scale: { x: lineSize, y: 1, z: 1 },
-          type: 4,
-        });
-
-        add.sphere({
-          ...defaultSphere,
-          id: "_measure_end",
-          pose: { position: endPoint, ...defaultPose },
-        });
-      }
-    }
-  }
-
   render() {
     return null;
   }
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/index.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/index.js
index 354525461..82f992148 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/index.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/index.js
@@ -8,7 +8,6 @@
 
 import CameraControlIcon from "@mdi/svg/svg/camera-control.svg";
 import PencilIcon from "@mdi/svg/svg/pencil.svg";
-import { keyBy } from "lodash";
 import * as React from "react";
 import { PolygonBuilder, Polygon, type CameraState } from "regl-worldview";
 
@@ -22,85 +21,69 @@ import CameraInfo, {
 import styles from "webviz-core/src/panels/ThreeDimensionalViz/Layout.module.scss";
 import colors from "webviz-core/src/styles/colors.module.scss";
 
-export type DrawingType = "Polygons" | "Camera";
-
-type Config = {
-  key: string,
-  type: DrawingType,
-  icon: string,
-};
-// create an config object based on type key so we can access fields easily using DRAWING_CONFIG.Polygon.type
-export const DRAWING_CONFIG: { [type: DrawingType]: Config } = keyBy(
-  [
-    {
-      key: "p",
-      type: "Polygons",
-      icon: PencilIcon,
-    },
-    {
-      key: "c",
-      type: "Camera",
-      icon: CameraControlIcon,
-    },
-  ],
-  (config: Config) => config.type
-);
-
-export type onSetType = (?DrawingType) => void;
+export const POLYGON_TAB_TYPE = "Polygons";
+export const CAMERA_TAB_TYPE = "Camera";
+export type DrawingTabType = typeof POLYGON_TAB_TYPE | typeof CAMERA_TAB_TYPE;
 export type Point2D = {| x: number, y: number |};
 type Props = {
+  isPlaying?: boolean,
   onCameraStateChange: (CameraState) => void,
   onSetPolygons: (polygons: Polygon[]) => void,
   polygonBuilder: PolygonBuilder,
   selectedPolygonEditFormat: EditFormat,
-  setType: (?DrawingType) => void,
-  type: ?DrawingType,
+  onSetDrawingTabType: (?DrawingTabType) => void,
   // Camera state is optional here because we want to avoid passing it in unless necessary: otherwise it would lead to
   // re-renders on every camera state change.
   cameraState: ?$Shape<CameraState>,
+  defaultSelectedTab?: DrawingTabType, // for UI testing
 } & CameraInfoPropsWithoutCameraState;
 
 // add more drawing shapes later, e.g. Grid, Axes, Crosshairs
 function DrawingTools({
   cameraState,
+  defaultSelectedTab,
   followOrientation,
   followTf,
+  isPlaying,
   onAlignXYAxis,
   onCameraStateChange,
+  onSetDrawingTabType,
   onSetPolygons,
   polygonBuilder,
   selectedPolygonEditFormat,
-  setType,
   showCrosshair,
-  type,
 }: Props) {
-  const config = (type && DRAWING_CONFIG[type]) || DRAWING_CONFIG.Polygons;
-  const IconName = type ? config.icon : PencilIcon;
+  const [selectedTab, setSelectedTab] = React.useState<?DrawingTabType>(defaultSelectedTab);
+  const IconName = selectedTab === CAMERA_TAB_TYPE ? CameraControlIcon : PencilIcon;
 
   return (
     <ExpandingToolbar
       tooltip="Drawing tools and camera"
       icon={
-        <Icon style={{ color: type ? colors.accent : "white" }}>
+        <Icon style={{ color: selectedTab ? colors.accent : "white" }}>
           <IconName />
         </Icon>
       }
       className={styles.buttons}
-      selectedTab={type}
-      onSelectTab={(newSelectedTab) => setType(newSelectedTab)}>
-      <ToolGroup name={DRAWING_CONFIG.Polygons.type}>
+      selectedTab={selectedTab}
+      onSelectTab={(newSelectedTab) => {
+        onSetDrawingTabType(newSelectedTab);
+        setSelectedTab(newSelectedTab);
+      }}>
+      <ToolGroup name={POLYGON_TAB_TYPE}>
         <Polygons
           onSetPolygons={onSetPolygons}
           polygonBuilder={polygonBuilder}
           selectedPolygonEditFormat={selectedPolygonEditFormat}
         />
       </ToolGroup>
-      <ToolGroup name={DRAWING_CONFIG.Camera.type}>
+      <ToolGroup name={CAMERA_TAB_TYPE}>
         {cameraState != null && (
           <CameraInfo
             cameraState={cameraState}
             followOrientation={followOrientation}
             followTf={followTf}
+            isPlaying={isPlaying}
             onAlignXYAxis={onAlignXYAxis}
             onCameraStateChange={onCameraStateChange}
             showCrosshair={showCrosshair}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/index.stories.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/index.stories.js
index 0e333584d..bf3256975 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/index.stories.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/index.stories.js
@@ -11,7 +11,7 @@ import React from "react";
 import { PolygonBuilder, DEFAULT_CAMERA_STATE } from "regl-worldview";
 import { withScreenshot } from "storybook-chrome-screenshot";
 
-import DrawingTools, { DRAWING_CONFIG } from "./index";
+import DrawingTools, { CAMERA_TAB_TYPE, POLYGON_TAB_TYPE } from "./index";
 import { pointsToPolygons } from "webviz-core/src/panels/ThreeDimensionalViz/utils/drawToolUtils";
 
 const polygons = pointsToPolygons([
@@ -24,9 +24,6 @@ const containerStyle = {
   display: "inline-block",
 };
 
-const POLYGON_TYPE = DRAWING_CONFIG.Polygons.type;
-const CAMERA_TYPE = DRAWING_CONFIG.Camera.type;
-
 const DEFAULT_PROPS = {
   cameraState: DEFAULT_CAMERA_STATE,
   expanded: true,
@@ -35,14 +32,13 @@ const DEFAULT_PROPS = {
   onAlignXYAxis: () => {},
   onCameraStateChange: () => {},
   onExpand: () => {},
+  onSetDrawingTabType: () => {},
   onSetPolygons: () => {},
-  onSetType: () => {},
   polygonBuilder: new PolygonBuilder(polygons),
   saveConfig: () => {},
   selectedPolygonEditFormat: "yaml",
-  setType: () => {},
   showCrosshair: false,
-  type: POLYGON_TYPE,
+  type: POLYGON_TAB_TYPE,
   updatePanelConfig: () => {},
 };
 
@@ -52,10 +48,10 @@ storiesOf("<DrawingTools>", module)
     return (
       <div style={containerStyle}>
         <div style={{ margin: 8 }}>
-          <DrawingTools {...DEFAULT_PROPS} type={POLYGON_TYPE} selectedPolygonEditFormat="yaml" />
+          <DrawingTools {...DEFAULT_PROPS} defaultSelectedTab={POLYGON_TAB_TYPE} selectedPolygonEditFormat="yaml" />
         </div>
         <div style={{ margin: 8 }}>
-          <DrawingTools {...DEFAULT_PROPS} type={POLYGON_TYPE} selectedPolygonEditFormat="json" />
+          <DrawingTools {...DEFAULT_PROPS} defaultSelectedTab={POLYGON_TAB_TYPE} selectedPolygonEditFormat="json" />
         </div>
       </div>
     );
@@ -65,22 +61,22 @@ storiesOf("<DrawingTools>", module)
       <div>
         <div style={containerStyle}>
           <h2>Default</h2>
-          <DrawingTools {...DEFAULT_PROPS} type={CAMERA_TYPE} />
+          <DrawingTools {...DEFAULT_PROPS} defaultSelectedTab={CAMERA_TAB_TYPE} />
         </div>
         <div style={containerStyle}>
           <h2>Follow orientation</h2>
-          <DrawingTools {...DEFAULT_PROPS} followOrientation type={CAMERA_TYPE} />
+          <DrawingTools {...DEFAULT_PROPS} followOrientation defaultSelectedTab={CAMERA_TAB_TYPE} />
         </div>
         <div style={containerStyle}>
           <h2>3D and showCrosshair</h2>
-          <DrawingTools {...DEFAULT_PROPS} type={CAMERA_TYPE} showCrosshair />
+          <DrawingTools {...DEFAULT_PROPS} defaultSelectedTab={CAMERA_TAB_TYPE} showCrosshair />
         </div>
         <div style={containerStyle}>
           <h2>2D and showCrosshair</h2>
           <DrawingTools
             {...DEFAULT_PROPS}
             cameraState={{ ...DEFAULT_CAMERA_STATE, perspective: false }}
-            type={CAMERA_TYPE}
+            defaultSelectedTab={CAMERA_TAB_TYPE}
             showCrosshair
           />
         </div>
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/FollowTFControl.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/FollowTFControl.js
index 5882a0505..5cf9660c6 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/FollowTFControl.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/FollowTFControl.js
@@ -85,7 +85,7 @@ const buildTfTree = (transforms: Transform[]): TfTree => {
 type Props = {
   transforms: any,
   tfToFollow?: string,
-  followingOrientation?: boolean,
+  followOrientation?: boolean,
   onFollowChange: (tfId?: string | false, followOrientation?: boolean) => void,
 };
 
@@ -124,7 +124,7 @@ const arePropsEqual = (prevProps, nextProps) => {
 };
 
 const FollowTFControl = memo<Props>((props: Props) => {
-  const { transforms, tfToFollow, followingOrientation, onFollowChange } = props;
+  const { transforms, tfToFollow, followOrientation, onFollowChange } = props;
   const [forceShowFrameList, setForceShowFrameList] = useState(false);
   const [hovering, setHovering] = useState(false);
   const [lastSelectedFrame, setLastSelectedFrame] = useState(undefined);
@@ -156,12 +156,12 @@ const FollowTFControl = memo<Props>((props: Props) => {
           return `Follow ${lastSelectedFrame}`;
         }
         return `Follow ${getDefaultFollowTransformFrame()}`;
-      } else if (!followingOrientation) {
+      } else if (!followOrientation) {
         return "Follow Orientation";
       }
       return "Unfollow";
     },
-    [tfToFollow, followingOrientation, lastSelectedFrame, getDefaultFollowTransformFrame]
+    [tfToFollow, followOrientation, lastSelectedFrame, getDefaultFollowTransformFrame]
   );
 
   const onClickFollowButton = useCallback(
@@ -171,21 +171,21 @@ const FollowTFControl = memo<Props>((props: Props) => {
           return onFollowChange(lastSelectedFrame);
         }
         return onFollowChange(getDefaultFollowTransformFrame());
-      } else if (!followingOrientation) {
+      } else if (!followOrientation) {
         return onFollowChange(tfToFollow, true);
       }
       return onFollowChange(false);
     },
-    [tfToFollow, lastSelectedFrame, onFollowChange, getDefaultFollowTransformFrame, followingOrientation]
+    [tfToFollow, lastSelectedFrame, onFollowChange, getDefaultFollowTransformFrame, followOrientation]
   );
 
   const onSelectFrame = useCallback(
     (id: string, item: mixed, autocomplete: Autocomplete) => {
       setLastSelectedFrame(id === getDefaultFollowTransformFrame() ? undefined : id);
-      onFollowChange(id, followingOrientation);
+      onFollowChange(id, followOrientation);
       autocomplete.blur();
     },
-    [setLastSelectedFrame, getDefaultFollowTransformFrame, onFollowChange, followingOrientation]
+    [setLastSelectedFrame, getDefaultFollowTransformFrame, onFollowChange, followOrientation]
   );
 
   const openFrameList = useCallback(
@@ -265,7 +265,7 @@ const FollowTFControl = memo<Props>((props: Props) => {
       ) : null}
       <Button tooltipProps={{ placement: "top" }} onClick={onClickFollowButton} tooltip={getFollowButtonTooltip()}>
         <Icon style={{ color: tfToFollow ? colors.accent : "white" }}>
-          {followingOrientation ? <CompassOutlineIcon /> : <CrosshairsGpsIcon />}
+          {followOrientation ? <CompassOutlineIcon /> : <CrosshairsGpsIcon />}
         </Icon>
       </Button>
     </Container>
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/LinkToGlobalVariable.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/LinkToGlobalVariable.js
index 356b0131a..e82247ffd 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/LinkToGlobalVariable.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/LinkToGlobalVariable.js
@@ -16,7 +16,7 @@ import UnlinkGlobalVariables from "./UnlinkGlobalVariables";
 import Button from "webviz-core/src/components/Button";
 import ChildToggle from "webviz-core/src/components/ChildToggle";
 import Icon from "webviz-core/src/components/Icon";
-import useGlobalData from "webviz-core/src/hooks/useGlobalData";
+import useGlobalVariables from "webviz-core/src/hooks/useGlobalVariables";
 import colors from "webviz-core/src/styles/colors.module.scss";
 
 type AddToLinkedGlobalVariable = {
@@ -58,12 +58,12 @@ export default function LinkToGlobalVariable({
     [markerKeyPath]
   );
 
-  const { setGlobalData } = useGlobalData();
+  const { setGlobalVariables } = useGlobalVariables();
   const { linkedGlobalVariables, setLinkedGlobalVariables } = useLinkedGlobalVariables();
 
   const addLink = (ev) => {
     ev.preventDefault();
-    setGlobalData({ [name]: variableValue });
+    setGlobalVariables({ [name]: variableValue });
     const newLinkedGlobalVariables = [...linkedGlobalVariables, { topic, markerKeyPath, name }];
     setLinkedGlobalVariables(newLinkedGlobalVariables);
     setIsOpen(false);
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/UnlinkGlobalVariables.stories.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/UnlinkGlobalVariables.stories.js
index 16f435f98..45cb2ded8 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/UnlinkGlobalVariables.stories.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/UnlinkGlobalVariables.stories.js
@@ -46,7 +46,7 @@ storiesOf("<UnlinkGlobalVariables>", module)
           datatypes: {},
           frame: {},
           linkedGlobalVariables,
-          globalData: {
+          globalVariables: {
             scaleY: 2.4,
             fooScaleX: 3,
           },
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/index.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/index.js
index 6bfe7d423..6f886d32f 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/index.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/index.js
@@ -39,7 +39,7 @@ export const SGlobalVariableLink = styled.span`
     color: ${colors.highlight};
   }
   .link-icon {
-    opacity: 0;
+    opacity: 0.2;
     display: none;
   }
   .highlight {
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/Interaction.stories.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/Interaction.stories.js
index d64fc8f3b..9e9e18d80 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/Interaction.stories.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/Interaction.stories.js
@@ -11,11 +11,11 @@ import * as React from "react";
 import { withScreenshot } from "storybook-chrome-screenshot";
 import styled from "styled-components";
 
-import Interactions, { OBJECT_TAB_TYPE, LINKED_VARIABLES_TAB_TYPE } from "./index";
+import Interactions, { OBJECT_TAB_TYPE, LINKED_VARIABLES_TAB_TYPE, type TabType } from "./index";
 import useLinkedGlobalVariables from "./useLinkedGlobalVariables";
 import Flex from "webviz-core/src/components/Flex";
 import { MockPanelContextProvider } from "webviz-core/src/components/Panel";
-import useGlobalData from "webviz-core/src/hooks/useGlobalData";
+import useGlobalVariables from "webviz-core/src/hooks/useGlobalVariables";
 import PanelSetup, { triggerInputChange } from "webviz-core/src/stories/PanelSetup";
 import colors from "webviz-core/src/styles/colors.module.scss";
 
@@ -65,16 +65,17 @@ const selectedObject = { object: markerObject, instanceIndex: null };
 const sharedProps = {
   selectedObject,
   interactionData: { topic: "/foo/bar" },
+  isDrawing: false,
   onClearSelectedObject: () => {},
   defaultSelectedTab: OBJECT_TAB_TYPE,
 };
 
 function GlobalVariablesDisplay() {
-  const { globalData } = useGlobalData();
+  const { globalVariables } = useGlobalVariables();
   return (
     <SP>
       <strong>Global variables: </strong>
-      {JSON.stringify(globalData)}
+      {JSON.stringify(globalVariables)}
     </SP>
   );
 }
@@ -142,7 +143,7 @@ function PanelSetupWithData({
             name: "scaleY",
           },
         ],
-        globalData: {
+        globalVariables: {
           id: 100,
           scaleY: 2.4,
           fooScaleX: 3,
@@ -170,7 +171,15 @@ function PanelSetupWithData({
   );
 }
 
-function AutoOpenCloseExample({ setObjectNullFirst }: { setObjectNullFirst?: boolean }) {
+function AutoOpenCloseExample({
+  setObjectNullFirst,
+  isDrawing,
+  ...rest
+}: {
+  setObjectNullFirst?: boolean,
+  isDrawing?: boolean,
+  defaultSelectedTab?: ?TabType,
+}) {
   const [object, setObject] = React.useState(setObjectNullFirst ? null : selectedObject);
 
   React.useEffect(
@@ -188,14 +197,14 @@ function AutoOpenCloseExample({ setObjectNullFirst }: { setObjectNullFirst?: boo
         disableAutoOpenClickedObject={false}
         title={<>auto closed the Clicked Object pane</>}
         style={{ margin: 8, display: "flex", overflow: "hidden" }}>
-        <Interactions {...sharedProps} selectedObject={object} />
+        <Interactions {...sharedProps} {...rest} selectedObject={object} isDrawing={!!isDrawing} />
       </PanelSetupWithData>
     </SWrapper>
   );
 }
 
 storiesOf("<Interaction>", module)
-  .addDecorator(withScreenshot({ width: 1001, height: 1101 }))
+  .addDecorator(withScreenshot({ viewport: { width: 1001, height: 1101 } }))
   .add("default", () => {
     return (
       <SWrapper>
@@ -376,6 +385,12 @@ storiesOf("<Interaction>", module)
   .add("auto opens the object details after selectedObject is set", () => {
     return <AutoOpenCloseExample setObjectNullFirst />;
   })
+  .add("does not auto open the object details during drawing when it's closed", () => {
+    return <AutoOpenCloseExample setObjectNullFirst isDrawing defaultSelectedTab={null} />;
+  })
+  .add("does not auto close the object details during drawing when it's opened", () => {
+    return <AutoOpenCloseExample setObjectNullFirst isDrawing />;
+  })
   .add("auto closes the object details when selectedObject becomes null", () => {
     return <AutoOpenCloseExample />;
   });
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/Interactions.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/Interactions.js
index 6e8c395cc..34fdf593c 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/Interactions.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/Interactions.js
@@ -51,10 +51,11 @@ export const LINKED_VARIABLES_TAB_TYPE = "Linked variables";
 export type TabType = typeof OBJECT_TAB_TYPE | typeof LINKED_VARIABLES_TAB_TYPE;
 
 type Props = {
-  selectedObject: ?MouseEventObject,
-  onClearSelectedObject: () => void,
-  defaultSelectedTab?: TabType, // for UI testing
+  defaultSelectedTab?: ?TabType, // for UI testing
   interactionData: ?InteractionData,
+  isDrawing: boolean,
+  onClearSelectedObject: () => void,
+  selectedObject: ?MouseEventObject,
 };
 
 type PropsWithConfig = Props & {
@@ -65,18 +66,19 @@ type PropsWithConfig = Props & {
 const InteractionsBaseComponent = React.memo<PropsWithConfig>(function InteractionsBaseComponent({
   selectedObject,
   interactionData,
+  isDrawing,
   onClearSelectedObject,
   defaultSelectedTab,
   disableAutoOpenClickedObject,
   saveConfig,
 }: PropsWithConfig) {
   const [selectedTab, setSelectedTab] = React.useState<?TabType>(defaultSelectedTab);
-  const shouldOpenTab = useChangeDetector([selectedObject], !!selectedObject);
+  const selectedObjectChanged = useChangeDetector([selectedObject], !!selectedObject);
   React.useEffect(
     () => {
-      if (!disableAutoOpenClickedObject) {
-        if (shouldOpenTab && selectedTab !== OBJECT_TAB_TYPE) {
-          // auto open Object tab if it's not already open
+      if (!disableAutoOpenClickedObject && !isDrawing) {
+        // auto open Object tab if the object changed, the tab is not already open, and the user is not drawing
+        if (selectedObjectChanged && selectedTab !== OBJECT_TAB_TYPE) {
           setSelectedTab(OBJECT_TAB_TYPE);
         } else if (!selectedObject && selectedTab === OBJECT_TAB_TYPE) {
           // auto collapse the Object pane when there is no object and auto open is enabled
@@ -84,7 +86,7 @@ const InteractionsBaseComponent = React.memo<PropsWithConfig>(function Interacti
         }
       }
     },
-    [disableAutoOpenClickedObject, shouldOpenTab, selectedTab, selectedObject]
+    [disableAutoOpenClickedObject, selectedObjectChanged, selectedTab, selectedObject, isDrawing]
   );
 
   const { object } = selectedObject || {};
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/ObjectDetails.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/ObjectDetails.js
index f59d44354..e89db7634 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/ObjectDetails.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/ObjectDetails.js
@@ -5,7 +5,6 @@
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
-
 import { first, omit } from "lodash";
 import * as React from "react";
 import Tree from "react-json-tree";
@@ -15,30 +14,77 @@ import styled from "styled-components";
 import GlobalVariableLink from "./GlobalVariableLink/index";
 import type { InteractionData } from "./types";
 import { type LinkedGlobalVariables } from "./useLinkedGlobalVariables";
+import Dropdown from "webviz-core/src/components/Dropdown";
 import { jsonTreeTheme } from "webviz-core/src/util/globalConstants";
 
 const SObjectDetails = styled.div`
   padding: 12px 0 16px 0;
 `;
 
-type Props = {
+type CommonProps = {
   interactionData: ?InteractionData,
   linkedGlobalVariables: LinkedGlobalVariables,
+};
+
+type WrapperProps = CommonProps & {
   selectedObject: MouseEventObject,
 };
 
-export default function ObjectDetails({
+type Props = CommonProps & {
+  objectToDisplay: any,
+};
+
+export const getInstanceObj = (marker: any, idx: number) => {
+  return marker.metadataByIndex && marker.metadataByIndex[idx];
+};
+
+export default function ObjectDetailsWrapper({
   interactionData,
   linkedGlobalVariables,
   selectedObject: { object, instanceIndex },
-}: Props) {
+}: WrapperProps) {
+  const [showInstance, setShowInstance] = React.useState(true);
+  const instanceObject = getInstanceObj(object, instanceIndex);
+  const dropdownText = {
+    instance: "Show instance object",
+    full: "Show full object",
+  };
+
+  return instanceObject ? (
+    <div>
+      <Dropdown
+        position="below"
+        value={showInstance}
+        text={showInstance ? dropdownText.instance : dropdownText.full}
+        onChange={setShowInstance}>
+        <span value={true}>{dropdownText.instance}</span>
+        <span value={false}>{dropdownText.full}</span>
+      </Dropdown>
+      <ObjectDetails
+        interactionData={interactionData}
+        linkedGlobalVariables={linkedGlobalVariables}
+        objectToDisplay={showInstance ? instanceObject : object}
+      />
+    </div>
+  ) : (
+    <ObjectDetails
+      interactionData={interactionData}
+      linkedGlobalVariables={linkedGlobalVariables}
+      objectToDisplay={object}
+    />
+  );
+}
+
+function ObjectDetails({ interactionData, linkedGlobalVariables, objectToDisplay }: Props) {
   const topic = (interactionData && interactionData.topic) || "";
+  const originalObject = omit(objectToDisplay, "interactionData");
+
   if (!topic) {
     // show the original object directly if there is no interaction data. e.g. DrawPolygons
     return (
       <SObjectDetails>
         <Tree
-          data={object}
+          data={objectToDisplay}
           shouldExpandNode={(markerKeyPath, data, level) => level < 2}
           invertTheme={false}
           theme={{ ...jsonTreeTheme, tree: { margin: 0 } }}
@@ -48,8 +94,6 @@ export default function ObjectDetails({
     );
   }
 
-  const originalObject = omit(object, "interactionData");
-
   return (
     <SObjectDetails>
       <Tree
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/PointCloudDetails.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/PointCloudDetails.js
index 8691d8c9f..20de82ab0 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/PointCloudDetails.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/PointCloudDetails.js
@@ -90,7 +90,7 @@ export default function PointCloudDetails({ selectedObject: { object, instanceIn
                 const copyPoints = getCopyPoints();
                 const dataStr = `x,y,z\n${copyPoints.join("\n")}`;
                 const blob = new Blob([dataStr], { type: "text/csv;charset=utf-8;" });
-                downloadFiles([blob], "points.csv");
+                downloadFiles([{ blob, fileName: "points.csv" }]);
                 setIsOpen(false);
               }}>
               Download all points as CSV
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Layout.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Layout.js
index 9874273d1..1779b9398 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Layout.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Layout.js
@@ -8,13 +8,11 @@
 
 import CloseIcon from "@mdi/svg/svg/close.svg";
 import cx from "classnames";
-import { vec3, quat } from "gl-matrix";
 import { get } from "lodash";
 import * as React from "react";
 import Draggable from "react-draggable";
 import KeyListener from "react-key-listener";
 import {
-  cameraStateSelectors,
   PolygonBuilder,
   DrawPolygons,
   type CameraState,
@@ -22,17 +20,20 @@ import {
   type MouseEventObject,
   type Polygon,
 } from "regl-worldview";
+import { type Time } from "rosbag";
 
 import type { ThreeDimensionalVizConfig } from ".";
 import Icon from "webviz-core/src/components/Icon";
 import PanelToolbar from "webviz-core/src/components/PanelToolbar";
 import filterMap from "webviz-core/src/filterMap";
-import useGlobalData, { type GlobalData } from "webviz-core/src/hooks/useGlobalData";
+import useGlobalVariables, { type GlobalVariables } from "webviz-core/src/hooks/useGlobalVariables";
 import { getGlobalHooks } from "webviz-core/src/loadWebviz";
+import Crosshair from "webviz-core/src/panels/ThreeDimensionalViz/Crosshair";
 import DebugStats from "webviz-core/src/panels/ThreeDimensionalViz/DebugStats";
 import DrawingTools, {
-  DRAWING_CONFIG,
-  type DrawingType,
+  POLYGON_TAB_TYPE,
+  CAMERA_TAB_TYPE,
+  type DrawingTabType,
 } from "webviz-core/src/panels/ThreeDimensionalViz/DrawingTools";
 import MeasuringTool, { type MeasureInfo } from "webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/MeasuringTool";
 import FollowTFControl from "webviz-core/src/panels/ThreeDimensionalViz/FollowTFControl";
@@ -45,6 +46,7 @@ import useLinkedGlobalVariables, {
 } from "webviz-core/src/panels/ThreeDimensionalViz/Interactions/useLinkedGlobalVariables";
 import styles from "webviz-core/src/panels/ThreeDimensionalViz/Layout.module.scss";
 import MainToolbar from "webviz-core/src/panels/ThreeDimensionalViz/MainToolbar";
+import MeasureMarker from "webviz-core/src/panels/ThreeDimensionalViz/MeasureMarker";
 import SceneBuilder, { type TopicSettingsCollection } from "webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder";
 import TopicSelector from "webviz-core/src/panels/ThreeDimensionalViz/TopicSelector";
 import type { Selections } from "webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/treeBuilder";
@@ -55,34 +57,52 @@ import type { Frame, Topic } from "webviz-core/src/players/types";
 import type { Extensions } from "webviz-core/src/reducers/extensions";
 import inScreenshotTests from "webviz-core/src/stories/inScreenshotTests";
 import type { SaveConfig } from "webviz-core/src/types/panels";
-import type { MarkerCollector, MarkerProvider } from "webviz-core/src/types/Scene";
 import { topicsByTopicName } from "webviz-core/src/util/selectors";
 import videoRecordingMode from "webviz-core/src/util/videoRecordingMode";
 
+const { useMemo, useRef, useState } = React;
+
 type EventName = "onDoubleClick" | "onMouseMove" | "onMouseDown" | "onMouseUp";
 export type ClickedPosition = { clientX: number, clientY: number };
 
-type WrapperProps = {
+function getUpdatedGlobalVariablesBySelectedObject(
+  selectedObject: MouseEventObject,
+  linkedGlobalVariables: LinkedGlobalVariables
+): ?GlobalVariables {
+  const interactionData = selectedObject && selectedObject.object.interactionData;
+  const objectTopic = interactionData && interactionData.topic;
+  if (!linkedGlobalVariables.length || !objectTopic) {
+    return;
+  }
+  const newGlobalVariables = {};
+  linkedGlobalVariables.forEach(({ topic, markerKeyPath, name }) => {
+    if (objectTopic === topic) {
+      const objectForPath = get(selectedObject.object, [...markerKeyPath].reverse());
+      newGlobalVariables[name] = objectForPath;
+    }
+  });
+  return newGlobalVariables;
+}
+
+type SharedProps = {
   autoTextBackgroundColor?: boolean,
   cameraState: $Shape<CameraState>,
   checkedNodes: string[],
   children?: React.Node,
   cleared?: boolean,
   convexHullOpacity: ?number,
-  currentTime: {| sec: number, nsec: number |},
   expandedNodes: string[],
   extensions: Extensions,
   followOrientation: boolean,
   followTf?: string | false,
-  frame?: Frame,
   helpContent: React.Node | string,
+  isPlaying?: boolean,
   modifiedNamespaceTopics: string[],
   onAlignXYAxis: () => void,
   onCameraStateChange: (CameraState) => void,
   onFollowChange: (followTf?: string | false, followOrientation?: boolean) => void,
   pinTopics: boolean,
   saveConfig: SaveConfig<ThreeDimensionalVizConfig>,
-  config: ThreeDimensionalVizConfig,
   selectedPolygonEditFormat: "json" | "yaml",
   selections: Selections,
   setSelections: (Selections) => void,
@@ -91,33 +111,41 @@ type WrapperProps = {
   topicSettings: TopicSettingsCollection,
   transforms: Transforms,
 };
-
-type Props = WrapperProps & {
-  globalData: GlobalData,
-  setGlobalData: (GlobalData) => void,
-  linkedGlobalVariables: LinkedGlobalVariables,
+type WrapperProps = SharedProps & {
+  currentTime: Time,
+  frame?: Frame,
 };
 
-type State = {
+type Props = SharedProps & {
   sceneBuilder: SceneBuilder,
   transformsBuilder: TransformsBuilder,
-  cachedTopicSettings: TopicSettingsCollection,
+  measureInfo: MeasureInfo,
+  setMeasureInfo: (MeasureInfo) => void,
+  showTopics: boolean,
+  setShowTopics: (boolean) => void,
+  toggleShowTopics: () => void,
+  globalVariables: GlobalVariables,
+  setGlobalVariables: (GlobalVariables) => void,
+  linkedGlobalVariables: LinkedGlobalVariables,
   editedTopics: string[],
+};
+
+type EditTopicState = { tooltipPosX: number, topic: Topic };
+
+type SelectedObjectState = {
+  clickedPosition: ClickedPosition,
+  selectedObject: ?MouseEventObject, // to be set when clicked a single object or selected one of the clicked topics from the context menu
+  selectedObjects: MouseEventObject[],
+};
+type State = {
   debug: boolean,
-  showTopics: boolean,
-  metadata: any,
-  editTipX: ?number,
-  editTipY: ?number,
-  editTopic: ?Topic,
-  drawingType: ?DrawingType,
+  editTopicState: ?EditTopicState,
+  drawingTabType: ?DrawingTabType,
   polygonBuilder: PolygonBuilder,
-  measureInfo: MeasureInfo,
-  selectedObject: ?MouseEventObject,
-  selectedObjects: ?(MouseEventObject[]),
-  clickedPosition: ?ClickedPosition,
+  selectedObjectState: ?SelectedObjectState,
 };
 
-class BaseComponent extends React.Component<Props, State> implements MarkerProvider {
+class BaseComponent extends React.Component<Props, State> {
   // overall element containing everything in this component
   el: ?HTMLDivElement;
   measuringTool: ?MeasuringTool;
@@ -132,76 +160,13 @@ class BaseComponent extends React.Component<Props, State> implements MarkerProvi
   };
 
   state: State = {
-    sceneBuilder: new SceneBuilder(),
-    transformsBuilder: new TransformsBuilder(),
-    cachedTopicSettings: {},
-    editedTopics: [],
     debug: false,
-    showTopics: false,
-    metadata: {},
-    editTipX: undefined,
-    editTipY: undefined,
-    editTopic: undefined,
-    drawingType: null,
+    editTopicState: null,
+    drawingTabType: null,
     polygonBuilder: new PolygonBuilder(),
-    measureInfo: {
-      measureState: "idle",
-      measurePoints: { start: null, end: null },
-    },
-    selectedObjects: [],
-    clickedPosition: null,
-    selectedObject: null,
+    selectedObjectState: null,
   };
 
-  static getDerivedStateFromProps(nextProps: Props, prevState: State) {
-    const { frame, cleared, transforms, followTf, selections, topics, topicSettings, currentTime } = nextProps;
-    const { sceneBuilder, transformsBuilder, cachedTopicSettings } = prevState;
-    if (!frame) {
-      return null;
-    }
-
-    const newState = { ...prevState };
-    if (topicSettings !== cachedTopicSettings) {
-      const nonEmptyTopicSettingsKeys = Object.keys(topicSettings).filter(
-        (settingKey) => Object.keys(topicSettings[settingKey]).length
-      );
-      newState.editedTopics = (nonEmptyTopicSettingsKeys: string[]);
-      newState.cachedTopicSettings = topicSettings;
-    }
-
-    if (cleared) {
-      sceneBuilder.clear();
-    }
-    const rootTfID = transforms.rootOfTransform(
-      followTf || getGlobalHooks().perPanelHooks().ThreeDimensionalViz.rootTransformFrame
-    ).id;
-    sceneBuilder.setTransforms(transforms, rootTfID);
-    sceneBuilder.setFlattenMarkers(selections.extensions.includes("Car.flattenMarkers"));
-    // toggle scene builder namespaces based on selected namespace nodes in the tree
-    sceneBuilder.setEnabledNamespaces(selections.namespaces);
-    sceneBuilder.setTopicSettings(topicSettings);
-
-    // toggle scene builder topics based on selected topic nodes in the tree
-    const topicsByName = topicsByTopicName(topics);
-    sceneBuilder.setTopics(filterMap(selections.topics, (name) => topicsByName[name]));
-    sceneBuilder.setGlobalData(nextProps.globalData);
-    sceneBuilder.setFrame(frame);
-    sceneBuilder.setCurrentTime(currentTime);
-    sceneBuilder.render();
-
-    // Update the transforms and set the selected ones to render.
-    transformsBuilder.setTransforms(transforms, rootTfID);
-    transformsBuilder.setSelectedTransforms(selections.extensions);
-
-    const metadata = getGlobalHooks()
-      .perPanelHooks()
-      .ThreeDimensionalViz.getMetadata(frame);
-    if (metadata) {
-      newState.metadata = metadata;
-    }
-    return newState;
-  }
-
   onDoubleClick = (ev: MouseEvent, args: ?ReglClickInfo) => {
     this._handleEvent("onDoubleClick", ev, args);
   };
@@ -214,46 +179,33 @@ class BaseComponent extends React.Component<Props, State> implements MarkerProvi
   onMouseUp = (ev: MouseEvent, args: ?ReglClickInfo) => {
     this._handleEvent("onMouseUp", ev, args);
   };
-  _updateLinkedGlobalVariables = ({ object }: MouseEventObject) => {
-    const { linkedGlobalVariables, setGlobalData } = this.props;
-    const interactionData = this._getInteractionData();
-    const objectTopic = interactionData && interactionData.topic;
-    if (!linkedGlobalVariables.length || !objectTopic) {
-      return;
+
+  _updateLinkedGlobalVariables = (selectedObject: MouseEventObject) => {
+    const { linkedGlobalVariables, setGlobalVariables } = this.props;
+    const newGlobalVariables = getUpdatedGlobalVariablesBySelectedObject(selectedObject, linkedGlobalVariables);
+    if (newGlobalVariables) {
+      setGlobalVariables(newGlobalVariables);
     }
-    const newGlobalVariables = {};
-    linkedGlobalVariables.forEach(({ topic, markerKeyPath, name }) => {
-      if (objectTopic === topic) {
-        const objectForPath = get(object, [...markerKeyPath].reverse());
-        newGlobalVariables[name] = objectForPath;
-      }
-    });
-    setGlobalData(newGlobalVariables);
   };
 
   onClick = (event: MouseEvent, args: ?ReglClickInfo) => {
     const selectedObjects = (args && args.objects) || [];
     const clickedPosition = { clientX: event.clientX, clientY: event.clientY };
     if (selectedObjects.length === 0) {
-      // unset all
-      this.setState({ selectedObjects, selectedObject: null, clickedPosition: null });
+      this.setState({ selectedObjectState: null });
     } else if (selectedObjects.length === 1) {
       // select the object directly if there is only one
       const selectedObject = selectedObjects[0];
-      this.setState({
-        selectedObjects: null,
-        selectedObject,
-        clickedPosition: null,
-      });
+      this.setState({ selectedObjectState: { selectedObjects, selectedObject, clickedPosition } });
       this._updateLinkedGlobalVariables(selectedObject);
     } else {
       // open up context menu to select one object to show details
-      this.setState({ selectedObjects, selectedObject: null, clickedPosition });
+      this.setState({ selectedObjectState: { selectedObjects, selectedObject: null, clickedPosition } });
     }
   };
 
   _onSelectObject = (selectedObject: MouseEventObject) => {
-    this.setState({ selectedObjects: null, selectedObject });
+    this.setState({ selectedObjectState: { ...this.state.selectedObjectState, selectedObject } });
     this._updateLinkedGlobalVariables(selectedObject);
   };
 
@@ -263,7 +215,6 @@ class BaseComponent extends React.Component<Props, State> implements MarkerProvi
   };
 
   _handleEvent = (eventName: EventName, ev: MouseEvent, args: ?ReglClickInfo) => {
-    const { drawingType } = this.state;
     if (!args) {
       return;
     }
@@ -273,7 +224,7 @@ class BaseComponent extends React.Component<Props, State> implements MarkerProvi
 
     if (measuringHandler && measureActive) {
       return measuringHandler(ev, args);
-    } else if (drawingType === DRAWING_CONFIG.Polygons.type) {
+    } else if (this.state.drawingTabType === POLYGON_TAB_TYPE) {
       this._handleDrawPolygons(eventName, ev, args);
     }
   };
@@ -282,27 +233,13 @@ class BaseComponent extends React.Component<Props, State> implements MarkerProvi
     "3": () => {
       this.toggleCameraMode();
     },
-    [DRAWING_CONFIG.Polygons.key]: () => {
-      this._toggleDrawing(DRAWING_CONFIG.Polygons.type);
-    },
-    [DRAWING_CONFIG.Camera.key]: () => {
-      this._toggleDrawing(DRAWING_CONFIG.Camera.type);
-    },
     Escape: () => {
       this._exitDrawing();
     },
   };
 
-  _toggleDrawing = (drawingType: DrawingType) => {
-    const newDrawingType = this.state.drawingType === drawingType ? null : drawingType;
-    this.setState({ drawingType: newDrawingType });
-    if (drawingType !== DRAWING_CONFIG.Camera.type) {
-      this.switchTo2DCameraIfNeeded();
-    }
-  };
-
   _exitDrawing = () => {
-    this.setState({ drawingType: null });
+    this.setState({ drawingTabType: null });
   };
 
   switchTo2DCameraIfNeeded = () => {
@@ -311,7 +248,7 @@ class BaseComponent extends React.Component<Props, State> implements MarkerProvi
       cameraState: { perspective },
       saveConfig,
     } = this.props;
-    if (this.state.drawingType && perspective) {
+    if (this.state.drawingTabType === POLYGON_TAB_TYPE && perspective) {
       saveConfig({ cameraState: { ...cameraState, perspective: false } });
     }
   };
@@ -324,25 +261,17 @@ class BaseComponent extends React.Component<Props, State> implements MarkerProvi
     }
   };
 
-  toggleShowTopics = () => {
-    const { showTopics } = this.state;
-    this.setState({ showTopics: !showTopics });
-  };
-
   toggleDebug = () => {
     this.setState({ debug: !this.state.debug });
   };
   // clicking on the body should hide any edit tip
   onEditClick = (e: SyntheticMouseEvent<HTMLElement>, topic: string) => {
     const { topics } = this.props;
+    const { editTopicState } = this.state;
     // if the same icon is clicked again, close the popup
-    const existingEditTopic = this.state.editTopic ? this.state.editTopic.name : undefined;
+    const existingEditTopic = editTopicState ? editTopicState.topic.name : undefined;
     if (topic === existingEditTopic) {
-      return this.setState({
-        editTipX: 0,
-        editTipY: 0,
-        editTopic: undefined,
-      });
+      return this.setState({ editTopicState: null });
     }
     const { el } = this;
 
@@ -353,33 +282,25 @@ class BaseComponent extends React.Component<Props, State> implements MarkerProvi
 
     const panelRect = el.getBoundingClientRect();
     const editBtnRect = e.currentTarget.getBoundingClientRect();
-    const editTopic = topics.find((t) => t.name === topic);
-    if (!editTopic) {
+    const newEditTopic = topics.find((t) => t.name === topic);
+    if (!newEditTopic) {
       return;
     }
     this.setState({
-      editTipX: editBtnRect.right - panelRect.left + 5,
-      editTipY: editBtnRect.top + editBtnRect.height / 2,
-      editTopic,
+      editTopicState: { tooltipPosX: editBtnRect.right - panelRect.left + 5, topic: newEditTopic },
     });
   };
 
   onSettingsChange = (settings: {}) => {
     const { saveConfig, topicSettings } = this.props;
-    const { editTopic } = this.state;
-    if (!editTopic) {
+    const { editTopicState } = this.state;
+    if (!editTopicState) {
       return;
     }
-    saveConfig({
-      topicSettings: {
-        ...topicSettings,
-        [editTopic.name]: settings,
-      },
-    });
+    saveConfig({ topicSettings: { ...topicSettings, [editTopicState.topic.name]: settings } });
   };
 
   onControlsOverlayClick = (e: SyntheticMouseEvent<HTMLDivElement>) => {
-    // statisfy flow
     const { el } = this;
     if (!el) {
       return;
@@ -390,7 +311,7 @@ class BaseComponent extends React.Component<Props, State> implements MarkerProvi
     if (!el.contains(target)) {
       return;
     }
-    this.setState({ showTopics: false });
+    this.props.setShowTopics(false);
   };
 
   cancelClick = (e: SyntheticMouseEvent<HTMLDivElement>) => {
@@ -400,25 +321,31 @@ class BaseComponent extends React.Component<Props, State> implements MarkerProvi
   };
 
   onClearSelectedObject = () => {
-    this.setState({ selectedObject: null });
+    this.setState({ selectedObjectState: null });
   };
 
   onSetPolygons = (polygons: Polygon[]) => this.setState({ polygonBuilder: new PolygonBuilder(polygons) });
-
-  setType = (newDrawingType: ?DrawingType) => this.setState({ drawingType: newDrawingType });
+  onSetDrawingTabType = (drawingTabType: ?DrawingTabType) => this.setState({ drawingTabType });
 
   _getInteractionData = (): ?InteractionData => {
-    if (this.state.selectedObject) {
-      return this.state.selectedObject.object.interactionData;
+    const { selectedObjectState } = this.state;
+    if (selectedObjectState && selectedObjectState.selectedObject) {
+      return selectedObjectState.selectedObject.object.interactionData;
     }
   };
 
+  _getIsDrawing = (): boolean => {
+    const measureActive = this.measuringTool && this.measuringTool.measureActive;
+    return this.state.drawingTabType === POLYGON_TAB_TYPE || !!measureActive;
+  };
+
   renderToolbars() {
     const {
       cameraState,
       cameraState: { perspective },
       followOrientation,
       followTf,
+      isPlaying,
       onAlignXYAxis,
       onCameraStateChange,
       onFollowChange,
@@ -426,8 +353,9 @@ class BaseComponent extends React.Component<Props, State> implements MarkerProvi
       selectedPolygonEditFormat,
       showCrosshair,
       transforms,
+      measureInfo,
     } = this.props;
-    const { measureInfo, debug, polygonBuilder, drawingType, selectedObject } = this.state;
+    const { debug, polygonBuilder, drawingTabType, selectedObjectState } = this.state;
 
     return (
       <div className={cx(styles.toolbar, styles.right)}>
@@ -435,7 +363,7 @@ class BaseComponent extends React.Component<Props, State> implements MarkerProvi
           <FollowTFControl
             transforms={transforms}
             tfToFollow={followTf ? followTf : undefined}
-            followingOrientation={followOrientation}
+            followOrientation={followOrientation}
             onFollowChange={onFollowChange}
           />
         </div>
@@ -449,42 +377,35 @@ class BaseComponent extends React.Component<Props, State> implements MarkerProvi
         />
         {this.measuringTool && this.measuringTool.measureDistance}
         <Interactions
+          isDrawing={this._getIsDrawing()}
           interactionData={this._getInteractionData()}
           onClearSelectedObject={this.onClearSelectedObject}
-          selectedObject={selectedObject}
+          selectedObject={selectedObjectState && selectedObjectState.selectedObject}
         />
         <DrawingTools
           // Save some unnecessary re-renders by not passing in the constantly changing cameraState unless it's needed
-          cameraState={drawingType === DRAWING_CONFIG.Camera.type ? cameraState : null}
+          cameraState={drawingTabType === CAMERA_TAB_TYPE ? cameraState : null}
           followOrientation={followOrientation}
           followTf={followTf}
+          isPlaying={isPlaying}
           onAlignXYAxis={onAlignXYAxis}
           onCameraStateChange={onCameraStateChange}
           onSetPolygons={this.onSetPolygons}
           polygonBuilder={polygonBuilder}
           saveConfig={saveConfig}
           selectedPolygonEditFormat={selectedPolygonEditFormat}
-          setType={this.setType}
+          onSetDrawingTabType={this.onSetDrawingTabType}
           showCrosshair={!!showCrosshair}
-          type={drawingType}
         />
       </div>
     );
   }
 
   render3d() {
+    const { debug, polygonBuilder, selectedObjectState } = this.state;
     const {
       sceneBuilder,
       transformsBuilder,
-      debug,
-      metadata,
-      polygonBuilder,
-      selectedObject,
-      selectedObjects,
-      clickedPosition,
-    } = this.state;
-    const scene = sceneBuilder.getScene();
-    const {
       autoTextBackgroundColor,
       extensions,
       cameraState,
@@ -492,19 +413,22 @@ class BaseComponent extends React.Component<Props, State> implements MarkerProvi
       children,
       selections,
       convexHullOpacity,
+      showCrosshair,
+      measureInfo,
     } = this.props;
+    const scene = sceneBuilder.getScene();
 
     const WorldComponent = getGlobalHooks().perPanelHooks().ThreeDimensionalViz.WorldComponent;
     // TODO(Audrey): update DrawPolygons to support custom key so the users don't have to press ctrl key all the time
 
     return (
       <WorldComponent
-        selectedObject={selectedObject}
+        selectedObject={selectedObjectState && selectedObjectState.selectedObject}
         autoTextBackgroundColor={!!autoTextBackgroundColor}
         cameraState={cameraState}
         convexHullOpacity={convexHullOpacity}
         debug={debug}
-        markerProviders={extensions.markerProviders.concat([sceneBuilder, this.measuringTool, transformsBuilder, this])}
+        markerProviders={extensions.markerProviders.concat([sceneBuilder, transformsBuilder])}
         onCameraStateChange={onCameraStateChange}
         onDoubleClick={this.onDoubleClick}
         onClick={this.onClick}
@@ -512,84 +436,34 @@ class BaseComponent extends React.Component<Props, State> implements MarkerProvi
         onMouseMove={this.onMouseMove}
         onMouseUp={this.onMouseUp}
         scene={scene}
-        extensions={selections.extensions}
-        metadata={metadata}>
+        extensions={selections.extensions}>
         {children}
         <DrawPolygons>{polygonBuilder.polygons}</DrawPolygons>
-        {selectedObjects && clickedPosition && (
-          <InteractionContextMenu
-            selectedObjects={selectedObjects}
-            clickedPosition={clickedPosition}
-            onSelectObject={this._onSelectObject}
-          />
-        )}
+        {selectedObjectState &&
+          selectedObjectState.selectedObjects.length > 1 &&
+          !selectedObjectState.selectedObject && (
+            <InteractionContextMenu
+              selectedObjects={selectedObjectState.selectedObjects}
+              clickedPosition={selectedObjectState.clickedPosition}
+              onSelectObject={this._onSelectObject}
+            />
+          )}
+        {!cameraState.perspective && showCrosshair && <Crosshair cameraState={cameraState} />}
+        <MeasureMarker measurePoints={measureInfo.measurePoints} />
         {process.env.NODE_ENV !== "production" && !inScreenshotTests() && <DebugStats />}
       </WorldComponent>
     );
   }
 
-  // draw a crosshair to show the center of the viewport
-  renderMarkers(add: MarkerCollector) {
-    const { cameraState, showCrosshair } = this.props;
-    if (!cameraState || cameraState.perspective || !showCrosshair) {
-      return;
-    }
-
-    const { target, targetOffset, distance, thetaOffset } = cameraState;
-    const targetHeading = cameraStateSelectors.targetHeading(cameraState);
-
-    // move the crosshair to the center of the camera's viewport: the target + targetOffset rotated by heading
-    const crosshairPoint = [0, 0, 0];
-    vec3.add(crosshairPoint, vec3.rotateZ(crosshairPoint, targetOffset, [0, 0, 0], -targetHeading), target);
-
-    // orient and size the crosshair so it remains visually fixed in the center
-    const length = 0.02 * distance;
-    const orientation = [0, 0, 0, 1];
-    const theta = targetHeading + thetaOffset;
-
-    quat.rotateZ(orientation, orientation, -theta);
-
-    const crosshair = (z, extraThickness) => {
-      const thickness = 0.004 * distance * (1 + extraThickness);
-      return {
-        header: { frame_id: getGlobalHooks().rootTransformFrame, stamp: { sec: 0, nsec: 0 } },
-        type: 5,
-        action: 0,
-        id: "",
-        ns: "",
-        pose: {
-          position: { x: crosshairPoint[0], y: crosshairPoint[1], z },
-          orientation: { x: orientation[0], y: orientation[1], z: orientation[2], w: orientation[3] },
-        },
-        points: [
-          { x: -length * (1 + 0.1 * extraThickness), y: 0, z: 0 },
-          { x: length * (1 + 0.1 * extraThickness), y: 0, z: 0 },
-          { x: 0, y: -length * (1 + 0.1 * extraThickness), z: 0 },
-          { x: 0, y: length * (1 + 0.1 * extraThickness), z: 0 },
-        ],
-        scale: { x: thickness, y: thickness, z: thickness },
-      };
-    };
-
-    add.lineList({
-      ...crosshair(1000, 0.6),
-      color: { r: 0, g: 0, b: 0, a: 1 },
-    });
-
-    add.lineList({
-      ...crosshair(1001, 0),
-      color: { r: 1, g: 1, b: 1, a: 1 },
-    });
-  }
-
   renderTopicSettingsEditor() {
-    const { topicSettings } = this.props;
-    const { editTopic, editTipX, editTipY, sceneBuilder } = this.state;
-    if (!editTopic || !editTipX || !editTipY) {
+    const { topicSettings, sceneBuilder } = this.props;
+    const { editTopicState } = this.state;
+
+    if (!editTopicState) {
       return null;
     }
-    // satisfy flow
-    const collector = sceneBuilder.collectors[editTopic.name];
+    const { tooltipPosX, topic } = editTopicState;
+    const collector = sceneBuilder.collectors[topic.name];
     const message = collector ? collector.getMessages()[0] : undefined;
 
     // need to place the draggable div into an absolute positioned element
@@ -603,18 +477,18 @@ class BaseComponent extends React.Component<Props, State> implements MarkerProvi
     };
     const bounds = { left: 0, top: 0 };
     // position the popup to the left and down from the topic selector
-    const defaultPosition = { x: editTipX + 30, y: 40 };
+    const defaultPosition = { x: tooltipPosX + 30, y: 40 };
     return (
       <div style={style}>
         <Draggable bounds={bounds} defaultPosition={defaultPosition} cancel="input">
           <div className={styles.topicSettingsEditor} onClick={this.cancelClick}>
-            <Icon className={styles.closeIcon} onClick={() => this.setState({ editTopic: undefined })}>
+            <Icon className={styles.closeIcon} onClick={() => this.setState({ editTopicState: null })}>
               <CloseIcon />
             </Icon>
             <TopicSettingsEditor
-              topic={editTopic}
+              topic={topic}
               message={message}
-              settings={topicSettings[editTopic.name]}
+              settings={topicSettings[topic.name]}
               onSettingsChange={this.onSettingsChange}
             />
           </div>
@@ -634,10 +508,12 @@ class BaseComponent extends React.Component<Props, State> implements MarkerProvi
       setSelections,
       topics,
       transforms,
+      editedTopics,
+      sceneBuilder,
+      toggleShowTopics,
+      showTopics,
     } = this.props;
 
-    const { showTopics, sceneBuilder, editedTopics } = this.state;
-
     return (
       <TopicSelector
         autoTextBackgroundColor={!!autoTextBackgroundColor}
@@ -658,18 +534,18 @@ class BaseComponent extends React.Component<Props, State> implements MarkerProvi
         // the transforms for this.
         transformsCount={transforms.values().length}
         onEditClick={this.onEditClick}
-        onToggleShowClick={this.toggleShowTopics}
+        onToggleShowClick={toggleShowTopics}
       />
     );
   }
 
   render() {
     const {
-      drawingType,
+      setMeasureInfo,
       measureInfo: { measureState, measurePoints },
-    } = this.state;
-    const measureActive = this.measuringTool && this.measuringTool.measureActive;
-    const cursorType = (drawingType && drawingType !== DRAWING_CONFIG.Camera.type) || measureActive ? "crosshair" : "";
+    } = this.props;
+    const isDrawing = this._getIsDrawing();
+    const cursorType = isDrawing ? "crosshair" : "";
 
     return (
       <div
@@ -681,7 +557,7 @@ class BaseComponent extends React.Component<Props, State> implements MarkerProvi
           ref={(el) => (this.measuringTool = el)}
           measureState={measureState}
           measurePoints={measurePoints}
-          onMeasureInfoChange={(measureInfo) => this.setState({ measureInfo })}
+          onMeasureInfoChange={setMeasureInfo}
         />
         <KeyListener keyDownHandlers={this.keyDownHandlers} />
         <PanelToolbar floating helpContent={this.props.helpContent} />
@@ -696,16 +572,116 @@ class BaseComponent extends React.Component<Props, State> implements MarkerProvi
   }
 }
 
-export default function Layout(props: WrapperProps) {
+export default function Layout({
+  cleared,
+  currentTime,
+  followTf,
+  frame,
+  selections,
+  topics,
+  topicSettings,
+  transforms,
+  ...rest
+}: WrapperProps) {
   const { linkedGlobalVariables } = useLinkedGlobalVariables();
-  const { globalData, setGlobalData } = useGlobalData();
+  const { globalVariables, setGlobalVariables } = useGlobalVariables();
+  const [showTopics, setShowTopics] = useState<boolean>(false);
+  const [measureInfo, setMeasureInfo] = useState<MeasureInfo>({
+    measureState: "idle",
+    measurePoints: { start: null, end: null },
+  });
+
+  const editedTopics = useMemo(
+    () => Object.keys(topicSettings).filter((settingKey) => Object.keys(topicSettings[settingKey]).length),
+    [topicSettings]
+  );
+
+  // initialize the SceneBuilder and TransformsBuilder
+  const { sceneBuilder, transformsBuilder } = useMemo(
+    () => ({
+      sceneBuilder: new SceneBuilder(),
+      transformsBuilder: new TransformsBuilder(),
+    }),
+    []
+  );
+
+  useMemo(
+    () => {
+      // TODO(Audrey): add tests for the clearing behavior
+      if (cleared) {
+        sceneBuilder.clear();
+      }
+      if (!frame) {
+        return;
+      }
+      const rootTfID = transforms.rootOfTransform(
+        followTf || getGlobalHooks().perPanelHooks().ThreeDimensionalViz.rootTransformFrame
+      ).id;
+
+      sceneBuilder.setTransforms(transforms, rootTfID);
+      sceneBuilder.setFlattenMarkers(selections.extensions.includes("Car.flattenMarkers"));
+      // toggle scene builder namespaces based on selected namespace nodes in the tree
+      sceneBuilder.setEnabledNamespaces(selections.namespaces);
+      sceneBuilder.setTopicSettings(topicSettings);
+
+      // toggle scene builder topics based on selected topic nodes in the tree
+      const topicsByName = topicsByTopicName(topics);
+      sceneBuilder.setTopics(filterMap(selections.topics, (name) => topicsByName[name]));
+      sceneBuilder.setGlobalVariables(globalVariables);
+      sceneBuilder.setFrame(frame);
+      sceneBuilder.setCurrentTime(currentTime);
+      sceneBuilder.render();
+
+      // update the transforms and set the selected ones to render
+      transformsBuilder.setTransforms(transforms, rootTfID);
+      transformsBuilder.setSelectedTransforms(selections.extensions);
+    },
+    [
+      cleared,
+      currentTime,
+      followTf,
+      frame,
+      globalVariables,
+      sceneBuilder,
+      selections.extensions,
+      selections.namespaces,
+      selections.topics,
+      topicSettings,
+      topics,
+      transforms,
+      transformsBuilder,
+    ]
+  );
+
+  // use callbackInputsRef to prevent unnecessary callback changes
+  const callbackInputsRef = useRef({ showTopics });
+  callbackInputsRef.current = { showTopics };
+
+  const { toggleShowTopics } = useMemo(() => {
+    return {
+      toggleShowTopics: () => setShowTopics(!callbackInputsRef.current.showTopics),
+    };
+  }, []);
 
   return (
     <BaseComponent
-      {...props}
+      {...rest}
+      measureInfo={measureInfo}
+      setMeasureInfo={setMeasureInfo}
+      showTopics={showTopics}
+      toggleShowTopics={toggleShowTopics}
+      setShowTopics={setShowTopics}
+      topicSettings={topicSettings}
+      topics={topics}
+      followTf={followTf}
+      transforms={transforms}
+      selections={selections}
+      editedTopics={editedTopics}
+      sceneBuilder={sceneBuilder}
+      transformsBuilder={transformsBuilder}
       linkedGlobalVariables={linkedGlobalVariables}
-      globalData={globalData}
-      setGlobalData={setGlobalData}
+      globalVariables={globalVariables}
+      setGlobalVariables={setGlobalVariables}
     />
   );
 }
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/MeasureMarker.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/MeasureMarker.js
new file mode 100644
index 000000000..fd43c67a1
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/MeasureMarker.js
@@ -0,0 +1,64 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import React from "react";
+import { Lines, Spheres, type Point } from "regl-worldview";
+
+type Props = {
+  measurePoints: { start: ?Point, end: ?Point },
+};
+
+const sphereSize: number = 0.3;
+const lineSize: number = 0.1;
+
+const defaultSphere: any = Object.freeze({
+  type: 2,
+  action: 0,
+  scale: { x: sphereSize, y: sphereSize, z: 0.1 },
+  color: { r: 1, g: 0.2, b: 0, a: 1 },
+});
+const defaultPose: any = Object.freeze({ orientation: { x: 0, y: 0, z: 0, w: 1 } });
+
+export default function MeasureMarker({ measurePoints: { start, end } }: Props) {
+  const spheres = [];
+  const lines = [];
+  if (start) {
+    const startPoint = { ...start };
+
+    spheres.push({
+      ...defaultSphere,
+      id: "_measure_start",
+      pose: { position: startPoint, ...defaultPose },
+    });
+
+    if (end) {
+      const endPoint = { ...end };
+      lines.push({
+        ...defaultSphere,
+        id: "_measure_line",
+        points: [start, end],
+        pose: { ...defaultPose, position: { x: 0, y: 0, z: 0 } },
+        scale: { x: lineSize, y: 1, z: 1 },
+        type: 4,
+      });
+
+      spheres.push({
+        ...defaultSphere,
+        id: "_measure_end",
+        pose: { position: endPoint, ...defaultPose },
+      });
+    }
+  }
+
+  return (
+    <>
+      {lines.length && <Lines>{lines}</Lines>}
+      {spheres.length && <Spheres>{spheres}</Spheres>}
+    </>
+  );
+}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder/index.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder/index.js
index b78c35574..e6e3413f9 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder/index.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder/index.js
@@ -140,11 +140,11 @@ export default class SceneBuilder implements MarkerProvider {
     this.enabledNamespaces = namespaces;
   }
 
-  setGlobalData = (globalData: any = {}) => {
+  setGlobalVariables = (globalVariables: any = {}) => {
     const { selectionState, topicsToRender } = getGlobalHooks()
       .perPanelHooks()
-      .ThreeDimensionalViz.setGlobalDataInSceneBuilder(
-        globalData,
+      .ThreeDimensionalViz.setGlobalVariablesInSceneBuilder(
+        globalVariables,
         this.selectionState,
         this.topicsToRender,
         this.topics
@@ -538,6 +538,7 @@ export default class SceneBuilder implements MarkerProvider {
       case 103: return add.poseMarker(marker);
       case 104: return add.laserScan(marker);
       case 107: return add.filledPolygon(marker);
+      case 108: return add.instancedLineList(marker);
       default: {
         getGlobalHooks()
           .perPanelHooks()
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/index.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/index.js
index cfd101ffd..d297ae29e 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/index.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/index.js
@@ -123,12 +123,12 @@ export default class TopicSelector extends React.PureComponent<Props, State> {
     // so only do it at initialization or when the data changes
     const needsNewTree =
       !prevState ||
-      prevState.cachedProps.namespaces !== namespaces ||
       prevState.cachedProps.topics !== topics ||
-      prevState.cachedProps.expandedNodes !== expandedNodes ||
+      prevState.cachedProps.namespaces !== namespaces ||
       prevState.cachedProps.checkedNodes !== checkedNodes ||
-      prevState.cachedProps.editedTopics !== editedTopics ||
-      prevState.cachedProps.transformsCount !== transformsCount;
+      prevState.cachedProps.expandedNodes !== expandedNodes ||
+      prevState.cachedProps.transformsCount !== transformsCount ||
+      prevState.cachedProps.editedTopics !== editedTopics;
 
     if (needsNewTree) {
       const filterText = (prevState && prevState.filterText) || undefined;
@@ -210,11 +210,6 @@ export default class TopicSelector extends React.PureComponent<Props, State> {
     this.props.onEditClick(e, topicNode.topic);
   };
 
-  togglePinTopics = () => {
-    const { pinTopics, saveConfig } = this.props;
-    saveConfig({ pinTopics: !pinTopics });
-  };
-
   toggleChecked = (node: Node) => {
     const { checkedNodes, saveConfig, modifiedNamespaceTopics, namespaces } = this.props;
     const { namespace, topic } = ((node: any): TopicTreeNode);
@@ -289,54 +284,58 @@ export default class TopicSelector extends React.PureComponent<Props, State> {
       color: "white",
       paddingLeft: 5,
     };
-    const hide = !pinTopics && !showTopics;
+    const hideTopicSelector = !pinTopics && !showTopics;
 
     return (
       <>
-        <div className={cx(styles.toolbar, styles.left)} style={{ display: hide ? "block" : "none" }}>
-          <div className={styles.buttons}>
-            <Button onClick={onToggleShowClick} tooltip="Show Topic Picker">
-              <Icon style={{ color: "white" }}>
-                <LayersIcon />
-              </Icon>
-            </Button>
-            {this.hasErrors() && <div className={styles.errorsBadge} />}
-          </div>
-        </div>
-        <div onClick={this.cancelClick} style={{ display: hide ? "none" : "block" }} className={styles.topicsContainer}>
-          <div className={styles.topics}>
-            <Flex col clip>
-              <Flex row className={styles.filterRow}>
-                <Icon style={{ color: "rgba(255,255,255, 0.3", padding: "10px 0 10px 10px" }}>
-                  <MagnifyIcon style={{ width: 16, height: 16 }} />
+        {hideTopicSelector && (
+          <div className={cx(styles.toolbar, styles.left)}>
+            <div className={styles.buttons}>
+              <Button onClick={onToggleShowClick} tooltip="Show Topic Picker">
+                <Icon style={{ color: "white" }}>
+                  <LayersIcon />
                 </Icon>
-                <input
-                  ref={(el) => (this.filterTextField = el)}
-                  type="text"
-                  style={inputStyle}
-                  placeholder="Type to filter"
-                  value={this.state.filterText || ""}
-                  onChange={this.onFilterTextChange}
-                />
-                <TopicSelectorMenu
-                  saveConfig={saveConfig}
-                  pinTopics={pinTopics}
-                  autoTextBackgroundColor={autoTextBackgroundColor}
-                />
-              </Flex>
-              <Flex col scroll>
-                <Tree
-                  hideRoot
-                  onToggleCheck={this.toggleChecked}
-                  onToggleExpand={this.toggleExpanded}
-                  onEditClick={this.onEditClick}
-                  root={tree}
-                />
+              </Button>
+              {this.hasErrors() && <div className={styles.errorsBadge} />}
+            </div>
+          </div>
+        )}
+        {!hideTopicSelector && (
+          <div onClick={this.cancelClick} className={styles.topicsContainer}>
+            <div className={styles.topics}>
+              <Flex col clip>
+                <Flex row className={styles.filterRow}>
+                  <Icon style={{ color: "rgba(255,255,255, 0.3)", padding: "10px 0 10px 10px" }}>
+                    <MagnifyIcon style={{ width: 16, height: 16 }} />
+                  </Icon>
+                  <input
+                    ref={(el) => (this.filterTextField = el)}
+                    type="text"
+                    style={inputStyle}
+                    placeholder="Type to filter"
+                    value={this.state.filterText || ""}
+                    onChange={this.onFilterTextChange}
+                  />
+                  <TopicSelectorMenu
+                    saveConfig={saveConfig}
+                    pinTopics={pinTopics}
+                    autoTextBackgroundColor={autoTextBackgroundColor}
+                  />
+                </Flex>
+                <Flex col scroll>
+                  <Tree
+                    hideRoot
+                    onToggleCheck={this.toggleChecked}
+                    onToggleExpand={this.toggleExpanded}
+                    onEditClick={this.onEditClick}
+                    root={tree}
+                  />
+                </Flex>
               </Flex>
-            </Flex>
-            {this.renderErrors()}
+              {this.renderErrors()}
+            </div>
           </div>
-        </div>
+        )}
       </>
     );
   }
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/World.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/World.js
index b3454d51f..1b6f62fe3 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/World.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/World.js
@@ -6,7 +6,6 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import { isEqual } from "lodash";
 import * as React from "react";
 import {
   Worldview,
@@ -21,7 +20,6 @@ import {
   FilledPolygons,
   type CameraState,
   type MouseHandler,
-  type Vec4,
 } from "regl-worldview";
 
 import {
@@ -41,7 +39,7 @@ type Props = {|
   convexHullOpacity: ?number,
   debug: boolean,
   extensions: string[],
-  markerProviders: (?MarkerProvider)[],
+  markerProviders: MarkerProvider[],
   onCameraStateChange: (CameraState) => void,
   onClick: MouseHandler,
   onDoubleClick: MouseHandler,
@@ -51,18 +49,7 @@ type Props = {|
   scene: Scene,
 |};
 
-type PerceptionAreaConfig = {
-  enabled: boolean,
-  colors: Vec4[],
-};
-
-type State = {|
-  zMin: number,
-  perceptionAreaConfig: PerceptionAreaConfig,
-  extensions: string[],
-|};
-
-function getMarkers(markerProviders: (?MarkerProvider)[]) {
+function getMarkers(markerProviders: MarkerProvider[]) {
   const markers = {
     lines: [],
     grids: [],
@@ -77,6 +64,7 @@ function getMarkers(markerProviders: (?MarkerProvider)[]) {
     laserScans: [],
     cylinders: [],
     filledPolygons: [],
+    instancedLineLists: [],
     linedConvexHulls: [],
   };
 
@@ -97,6 +85,7 @@ function getMarkers(markerProviders: (?MarkerProvider)[]) {
     pointcloud: (o) => markers.pointclouds.push(o),
     laserScan: (o) => markers.laserScans.push(o),
     filledPolygon: (o) => markers.filledPolygons.push(o),
+    instancedLineList: (o) => markers.instancedLineLists.push(o),
     linedConvexHull: (o) => markers.linedConvexHulls.push(o),
   };
 
@@ -109,114 +98,63 @@ function getMarkers(markerProviders: (?MarkerProvider)[]) {
   return markers;
 }
 
-const defaultPerceptionAreaConfig: PerceptionAreaConfig = {
-  enabled: false,
-  colors: [],
-};
-
-function getConfigFromExtensions(extensions: string[]): PerceptionAreaConfig {
-  return defaultPerceptionAreaConfig;
-}
-
-export default class World extends React.Component<Props, State> {
-  state = {
-    zMin: 0,
-    extensions: [],
-    perceptionAreaConfig: {
-      enabled: false,
-      colors: [],
-    },
-  };
-
-  static getDerivedStateFromProps(nextProps: Props, prevState: State) {
-    const { extensions } = nextProps;
-    const zMin = nextProps.scene.bounds.z.min - 1;
-
-    // Check if the extension array is the same reference.
-    // If it is not the same reference do a compare of each item (there are only a handful) and only
-    // update state if the extensions actually change - the topic selector emits a new list of extensions
-    // every time someone expands/collapses a node or types in the selection box...so if we don't check for
-    // item equality here we end up re-rendering more than we need to.
-    if (zMin >= prevState.zMin && isEqual(extensions, prevState.extensions)) {
-      return null;
-    }
-
-    return {
-      // save the extensions to compare next time we update
-      extensions: nextProps.extensions,
-      perceptionAreaConfig: getConfigFromExtensions(extensions),
-      // set the zMin to 1 lower than the actual new zMin so it updates less frequently
-      // otherwise the min going very slightly down every frame causes lots of renders
-      zMin: zMin > prevState.zMin ? prevState.zMin : zMin - 1,
-    };
-  }
-
-  render() {
-    const {
-      markerProviders,
-      autoTextBackgroundColor,
-      children,
-      onCameraStateChange,
-      onClick,
-      onMouseDown,
-      onMouseMove,
-      onMouseUp,
-      cameraState,
-      onDoubleClick,
-      convexHullOpacity,
-    } = this.props;
-
-    const {
-      lines,
-      arrows,
-      texts,
-      cubes,
-      spheres,
-      points,
-      triangles,
-      poseMarkers,
-      cylinders,
-      grids,
-      pointclouds,
-      laserScans,
-      filledPolygons,
-      linedConvexHulls,
-    } = getMarkers(markerProviders);
-    return (
-      <Worldview
-        cameraState={cameraState}
-        onCameraStateChange={onCameraStateChange}
-        onClick={onClick}
-        onDoubleClick={onDoubleClick}
-        onMouseDown={onMouseDown}
-        onMouseMove={onMouseMove}
-        onMouseUp={onMouseUp}
-        hitmapOnMouseMove={false}
-        backgroundColor={[0, 0, 0, 0]}
-        hideDebug={inScreenshotTests()}>
-        <OccupancyGrids layerIndex={-1} key="OccupancyGrids">
-          {grids}
-        </OccupancyGrids>
-        <Lines key="Lines">{lines}</Lines>
-        <Arrows key="Arrows">{arrows}</Arrows>
-        <Points key="Points">{points}</Points>
-        <PointClouds key="PointClouds">{pointclouds}</PointClouds>
-        <Triangles key="TriangleLists">{triangles}</Triangles>
-        <Spheres key="Spheres">{spheres}</Spheres>
-        <Cylinders key="Cylinders">{cylinders}</Cylinders>
-        <Cubes key="Cubes">{cubes}</Cubes>
-        <PoseMarkers key="PoseMarkers">{poseMarkers}</PoseMarkers>
-        <LaserScans key="LaserScans">{laserScans}</LaserScans>
-        <Text key="Text" autoBackgroundColor={autoTextBackgroundColor}>
-          {texts}
-        </Text>
-        <FilledPolygons key="FilledPolygons">{filledPolygons}</FilledPolygons>
-        {/* By default, make the convex hull fill completely transparent - they just provide a click layer. */}
-        <LinedConvexHulls opacity={convexHullOpacity || 0} key="LinedConvexHulls">
-          {linedConvexHulls}
-        </LinedConvexHulls>
-        {children}
-      </Worldview>
-    );
-  }
+export default function World({
+  markerProviders,
+  autoTextBackgroundColor,
+  children,
+  onCameraStateChange,
+  onClick,
+  onMouseDown,
+  onMouseMove,
+  onMouseUp,
+  cameraState,
+  onDoubleClick,
+  convexHullOpacity,
+}: Props) {
+  const {
+    lines,
+    arrows,
+    texts,
+    cubes,
+    spheres,
+    points,
+    triangles,
+    poseMarkers,
+    cylinders,
+    grids,
+    pointclouds,
+    laserScans,
+    filledPolygons,
+    linedConvexHulls,
+  } = getMarkers(markerProviders);
+
+  return (
+    <Worldview
+      cameraState={cameraState}
+      hideDebug={inScreenshotTests()}
+      onCameraStateChange={onCameraStateChange}
+      onClick={onClick}
+      onDoubleClick={onDoubleClick}
+      onMouseDown={onMouseDown}
+      onMouseMove={onMouseMove}
+      onMouseUp={onMouseUp}
+      backgroundColor={[0, 0, 0, 0]}>
+      <OccupancyGrids layerIndex={-1}>{grids}</OccupancyGrids>
+      <Lines>{lines}</Lines>
+      <Arrows>{arrows}</Arrows>
+      <Points>{points}</Points>
+      <PointClouds>{pointclouds}</PointClouds>
+      <Triangles>{triangles}</Triangles>
+      <Spheres>{spheres}</Spheres>
+      <Cylinders>{cylinders}</Cylinders>
+      <Cubes>{cubes}</Cubes>
+      <PoseMarkers>{poseMarkers}</PoseMarkers>
+      <LaserScans>{laserScans}</LaserScans>
+      <Text autoBackgroundColor={autoTextBackgroundColor}>{texts}</Text>
+      <FilledPolygons>{filledPolygons}</FilledPolygons>
+      {/* By default, make the convex hull fill completely transparent - they just provide a click layer. */}
+      <LinedConvexHulls opacity={convexHullOpacity || 0}>{linedConvexHulls}</LinedConvexHulls>
+      {children}
+    </Worldview>
+  );
 }
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/index.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/index.js
index 9a0b7eb57..f11ff754e 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/index.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/index.js
@@ -7,29 +7,33 @@
 //  You may not use this file except in compliance with the License.
 
 import { vec3 } from "gl-matrix";
-import { omit, mergeWith } from "lodash";
+import hoistNonReactStatics from "hoist-non-react-statics";
+import { omit } from "lodash";
 import * as React from "react";
 import { hot } from "react-hot-loader/root";
-import { connect } from "react-redux";
-import { DEFAULT_CAMERA_STATE, cameraStateSelectors, type Vec3, type Vec4, type CameraState } from "regl-worldview";
+import { useSelector } from "react-redux";
+import { cameraStateSelectors, type CameraState } from "regl-worldview";
 
-import getDebugStorybook from "./getDebugStorybook";
-import { registerMarkerProvider, unregisterMarkerProvider } from "webviz-core/src/actions/extensions";
 import { FrameCompatibility } from "webviz-core/src/components/MessageHistory/FrameCompatibility";
-import { MessagePipelineConsumer, type MessagePipelineContext } from "webviz-core/src/components/MessagePipeline";
+import { useShallowMemo } from "webviz-core/src/components/MessageHistory/hooks";
+import { useMessagePipeline } from "webviz-core/src/components/MessagePipeline";
 import Panel from "webviz-core/src/components/Panel";
 import { getGlobalHooks } from "webviz-core/src/loadWebviz";
 import helpContent from "webviz-core/src/panels/ThreeDimensionalViz/index.help.md";
 import Layout from "webviz-core/src/panels/ThreeDimensionalViz/Layout";
 import type { TopicSettingsCollection } from "webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder";
+import {
+  getEquivalentOffsetsWithoutTarget,
+  useComputedCameraState,
+} from "webviz-core/src/panels/ThreeDimensionalViz/threeDimensionalVizUtils";
 import treeBuilder, { Selections } from "webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/treeBuilder";
 import Transforms from "webviz-core/src/panels/ThreeDimensionalViz/Transforms";
 import withTransforms from "webviz-core/src/panels/ThreeDimensionalViz/withTransforms";
 import type { Frame, Topic } from "webviz-core/src/players/types";
 import type { SaveConfig } from "webviz-core/src/types/panels";
-import type { MarkerProvider } from "webviz-core/src/types/Scene";
 import { TRANSFORM_TOPIC } from "webviz-core/src/util/globalConstants";
-import { emptyPose } from "webviz-core/src/util/Pose";
+
+const { useState, useCallback, useEffect, useLayoutEffect } = React;
 
 export type ThreeDimensionalVizConfig = {
   autoTextBackgroundColor?: boolean,
@@ -54,307 +58,207 @@ export type ThreeDimensionalVizConfig = {
 };
 
 export type Props = {
-  topics: Topic[],
-  frame: Frame,
-  transforms: Transforms,
-  // these come from savedProps
+  cleared?: boolean,
   config: ThreeDimensionalVizConfig,
-
-  // For other panels that wrap this one.
+  frame: Frame,
   helpContent: React.Node | string,
   saveConfig: SaveConfig<ThreeDimensionalVizConfig>,
   setSubscriptions: (string[]) => void,
-  registerMarkerProvider: (MarkerProvider) => void,
-  unregisterMarkerProvider: (MarkerProvider) => void,
-  cleared?: boolean,
-};
-
-// Hold selections in the top level panel state.
-// This allows the check/uncheck logic to easily propagate out from the TopicSelector sub-component
-// (by calling setSelections) while still providing the current selections in a top-down manner
-// so they can be consumed elsewhere in the 3D Viz panel.
-type State = {|
-  selections: Selections,
   topics: Topic[],
-  checkedNodes: string[],
-  cameraState: CameraState,
-
-  // Store last seen target pose because the target may become available/unavailable over time as
-  // the player changes, and we want to avoid moving the camera when it disappears.
-  lastTargetPose: ?{|
-    target: Vec3,
-    targetOrientation: Vec4,
-  |},
-|};
-
-const ZOOM_LEVEL_URL_PARAM = "zoom";
-
-const getZoomDistanceFromURLParam = (): number | void => {
-  const params = new URLSearchParams(location && location.search);
-  if (params.has(ZOOM_LEVEL_URL_PARAM)) {
-    return parseFloat(params.get(ZOOM_LEVEL_URL_PARAM));
-  }
+  transforms: Transforms,
 };
 
-// Get the camera target position and orientation
-function getTargetPose(followTf?: string | false, transforms: Transforms) {
-  if (followTf) {
-    let pose = emptyPose();
-    pose = transforms.apply(pose, pose, followTf, transforms.rootOfTransform(followTf).id);
-    if (pose) {
-      const { x: px, y: py, z: pz } = pose.position;
-      const { x: ox, y: oy, z: oz, w: ow } = pose.orientation;
-      return {
-        target: [px, py, pz],
-        targetOrientation: [ox, oy, oz, ow],
-      };
-    }
-  }
-  return null;
-}
-
-// Return targetOffset and thetaOffset that would yield the same camera position as the
-// given offsets if the target were (0,0,0) and targetOrientation were identity.
-function getEquivalentOffsetsWithoutTarget(
-  offsets: { +targetOffset: Vec3, +thetaOffset: number },
-  targetPose: { +target: Vec3, +targetOrientation: Vec4 },
-  followingOrientation?: boolean
-): { targetOffset: Vec3, thetaOffset: number } {
-  const heading = followingOrientation
-    ? cameraStateSelectors.targetHeading({ targetOrientation: targetPose.targetOrientation })
-    : 0;
-  const targetOffset = vec3.rotateZ([0, 0, 0], offsets.targetOffset, [0, 0, 0], -heading);
-  vec3.add(targetOffset, targetOffset, targetPose.target);
-  const thetaOffset = offsets.thetaOffset + heading;
-  return { targetOffset, thetaOffset };
-}
-
-export class Renderer extends React.Component<Props, State> {
-  static displayName = "ThreeDimensionalViz";
-  static panelType = "3D Panel";
-  static defaultConfig = getGlobalHooks().perPanelHooks().ThreeDimensionalViz.defaultConfig;
-
-  state = {
-    selections: new Selections(),
-    topics: [],
-    checkedNodes: [],
-    cameraState: DEFAULT_CAMERA_STATE,
-    lastTargetPose: undefined,
-  };
-
-  onSelectionsChanged = (selections: Selections): void => {
-    this.setState({ selections });
-  };
-
-  onCameraStateChange = (cameraState: CameraState) => {
-    this.props.saveConfig(
-      { cameraState: omit(cameraState, ["target", "targetOrientation"]) },
-      { keepLayoutInUrl: true }
-    );
-  };
-
-  onAlignXYAxis = () => {
-    const {
-      saveConfig,
-      config: { cameraState },
-    } = this.props;
-    saveConfig({
-      followOrientation: false,
-      cameraState: { ...omit(cameraState, ["target", "targetOrientation"]), thetaOffset: 0 },
-    });
-  };
-
-  onFollowChange = (newFollowTf?: string | false, newFollowOrientation?: boolean) => {
-    const { config, saveConfig, transforms } = this.props;
-    const targetPose = getTargetPose(newFollowTf, transforms) || this.state.lastTargetPose;
-
-    const newCameraState = { ...config.cameraState };
-    const offsets = {
-      targetOffset: config.cameraState.targetOffset,
-      thetaOffset: config.cameraState.thetaOffset,
-    };
-
-    if (newFollowTf) {
-      // When switching to follow orientation, adjust thetaOffset to preserve camera rotation.
-      if (newFollowOrientation && !config.followOrientation && targetPose) {
-        const heading = cameraStateSelectors.targetHeading({ targetOrientation: targetPose.targetOrientation });
-        newCameraState.targetOffset = vec3.rotateZ([0, 0, 0], newCameraState.targetOffset, [0, 0, 0], heading);
-        newCameraState.thetaOffset -= heading;
-      }
-      // When following a frame for the first time, snap to the origin.
-      if (!config.followTf) {
-        newCameraState.targetOffset = [0, 0, 0];
-      }
-    } else if (config.followTf && targetPose) {
-      // When unfollowing, preserve the camera position and orientation.
-      Object.assign(newCameraState, getEquivalentOffsetsWithoutTarget(offsets, targetPose, config.followOrientation));
-    }
-
-    saveConfig({
-      followTf: newFollowTf,
-      followOrientation: newFollowOrientation,
-      cameraState: newCameraState,
+const BaseRenderer = (props: Props, ref) => {
+  const {
+    cleared,
+    config,
+    frame,
+    saveConfig,
+    setSubscriptions,
+    topics,
+    transforms,
+    config: {
+      autoTextBackgroundColor,
+      checkedNodes,
+      convexHullOpacity,
+      expandedNodes,
+      flattenMarkers,
+      follow,
+      followOrientation,
+      followTf,
+      hideMap,
+      modifiedNamespaceTopics,
+      pinTopics,
+      savedPropsVersion,
+      selectedPolygonEditFormat,
+      showCrosshair,
+      topicSettings,
+      useHeightMap,
+    },
+  } = props;
+  const extensions = useSelector((state) => state.extensions);
+
+  const currentTime = useMessagePipeline(
+    useCallback(({ playerState: { activeData } }) => (activeData && activeData.currentTime) || { sec: 0, nsec: 0 }, [])
+  );
+  const isPlaying = useMessagePipeline(
+    useCallback(({ playerState: { activeData } }) => !!(activeData && activeData.isPlaying), [])
+  );
+
+  const [selections, setSelections] = useState<Selections>(() => {
+    // build a copy of the tree to determine which topics are initially active
+    // subsequent updated will be done through Layout.js invoking `setSelections`
+    const root = treeBuilder({
+      checkedNodes,
+      expandedNodes: [],
+      modifiedNamespaceTopics: [],
+      namespaces: [],
+      topics,
+      transforms: transforms.values(),
     });
-  };
-
-  static getDerivedStateFromProps(nextProps: Props, prevState: State): ?$Shape<State> {
-    const { config, topics, setSubscriptions, transforms } = nextProps;
-    const { checkedNodes, followTf, followOrientation } = config;
-    const newState: $Shape<State> = {};
-
-    const newCameraState: $Shape<CameraState> = {};
-    const targetPose = getTargetPose(followTf, transforms);
-
-    if (targetPose) {
-      newState.lastTargetPose = targetPose;
-
-      newCameraState.target = targetPose.target;
-      if (followOrientation) {
-        newCameraState.targetOrientation = targetPose.targetOrientation;
-      }
-    } else if (followTf && prevState.lastTargetPose) {
-      // If follow is enabled but no target is available (such as when seeking), keep the camera
-      // position the same as it would have beeen by reusing the last seen target pose.
-      newCameraState.target = prevState.lastTargetPose.target;
-      if (followOrientation) {
-        newCameraState.targetOrientation = prevState.lastTargetPose.targetOrientation;
-      }
-    }
-
-    // Read the distance from URL when World is first loaded with empty cameraState
-    let { distance } = config.cameraState;
-    if (distance == null) {
-      distance = getZoomDistanceFromURLParam();
-    }
-
-    newState.cameraState = mergeWith(
-      {
-        ...config.cameraState,
-        ...newCameraState,
-        distance,
-      },
-      DEFAULT_CAMERA_STATE,
-      (objVal, srcVal) => (objVal == null ? srcVal : objVal)
-    );
-
-    // no need to derive state if topics & checked nodes haven't changed
-    if (topics !== prevState.topics || checkedNodes !== prevState.checkedNodes) {
-      // build a copy of the tree to determine which topics are active
-      const root = treeBuilder({
-        topics,
-        checkedNodes,
-        expandedNodes: [],
-        namespaces: [],
-        modifiedNamespaceTopics: [],
-        transforms: transforms.values(),
-      });
-
-      const selections = root.getSelections();
-      setSubscriptions(selections.topics);
-
+    return root.getSelections();
+  });
+  const { cameraState, targetPose } = useComputedCameraState({
+    currentCameraState: config.cameraState,
+    followTf,
+    followOrientation,
+    transforms,
+  });
+
+  // update subscriptions whenever selected topics change, use deep compare to prevent updating when expanding/collapsing topics
+  const memoizedSelectionTopics = useShallowMemo(selections.topics);
+  useEffect(() => setSubscriptions(memoizedSelectionTopics), [memoizedSelectionTopics, setSubscriptions]);
+
+  // update open source checked nodes
+  useLayoutEffect(
+    () => {
       const isOpenSource = checkedNodes.length === 1 && checkedNodes[0] === "name:Topics" && topics.length;
       if (isOpenSource) {
         const newCheckedNodes = isOpenSource ? checkedNodes.concat(topics.map((t) => t.name)) : checkedNodes;
-        nextProps.saveConfig({ checkedNodes: newCheckedNodes }, { keepLayoutInUrl: true });
+        saveConfig({ checkedNodes: newCheckedNodes }, { keepLayoutInUrl: true });
       }
+    },
+    [checkedNodes, saveConfig, topics]
+  );
+
+  // use callbackInputsRef to make sure the input changes don't trigger `onFollowChange` or `onAlignXYAxis` to change
+  const callbackInputsRef = React.useRef({
+    cameraState,
+    configCameraState: config.cameraState,
+    targetPose,
+    configFollowOrientation: config.followOrientation,
+    configFollowTf: config.followTf,
+  });
+  callbackInputsRef.current = {
+    cameraState,
+    configCameraState: config.cameraState,
+    targetPose,
+    configFollowOrientation: config.followOrientation,
+    configFollowTf: config.followTf,
+  };
+  const onFollowChange = useCallback(
+    (newFollowTf?: string | false, newFollowOrientation?: boolean) => {
+      const { configCameraState, configFollowOrientation, configFollowTf, targetPose } = callbackInputsRef.current;
+      const newCameraState = { ...configCameraState };
+      if (newFollowTf) {
+        // When switching to follow orientation, adjust thetaOffset to preserve camera rotation.
+        if (newFollowOrientation && !configFollowOrientation && targetPose) {
+          const heading = cameraStateSelectors.targetHeading({ targetOrientation: targetPose.targetOrientation });
+          newCameraState.targetOffset = vec3.rotateZ([0, 0, 0], newCameraState.targetOffset, [0, 0, 0], heading);
+          newCameraState.thetaOffset -= heading;
+        }
+        // When following a frame for the first time, snap to the origin.
+        if (!configFollowTf) {
+          newCameraState.targetOffset = [0, 0, 0];
+        }
+      } else if (configFollowTf && targetPose) {
+        // When unfollowing, preserve the camera position and orientation.
+        Object.assign(
+          newCameraState,
+          getEquivalentOffsetsWithoutTarget(
+            {
+              targetOffset: configCameraState.targetOffset || [0, 0, 0],
+              thetaOffset: configCameraState.thetaOffset,
+            },
+            targetPose,
+            configFollowOrientation
+          )
+        );
+      }
+      saveConfig({ followTf: newFollowTf, followOrientation: newFollowOrientation, cameraState: newCameraState });
+    },
+    [saveConfig]
+  );
+
+  const onAlignXYAxis = useCallback(
+    () =>
+      saveConfig({
+        followOrientation: false,
+        cameraState: {
+          ...omit(callbackInputsRef.current.cameraState, ["target", "targetOrientation"]),
+          thetaOffset: 0,
+        },
+      }),
+    [saveConfig]
+  );
+
+  const onCameraStateChange = useCallback(
+    (newCameraState) =>
+      saveConfig({ cameraState: omit(newCameraState, ["target", "targetOrientation"]) }, { keepLayoutInUrl: true }),
+    [saveConfig]
+  );
+
+  // useImperativeHandle so consumer component (e.g.Follow stories) can call onFollowChange directly.
+  React.useImperativeHandle(ref, (): any => ({ onFollowChange }));
+
+  return (
+    <Layout
+      autoTextBackgroundColor={autoTextBackgroundColor}
+      cameraState={cameraState}
+      checkedNodes={checkedNodes}
+      cleared={cleared}
+      convexHullOpacity={convexHullOpacity}
+      currentTime={currentTime}
+      expandedNodes={expandedNodes}
+      extensions={extensions}
+      flattenMarkers={flattenMarkers}
+      follow={follow}
+      followOrientation={!!followOrientation}
+      followTf={followTf}
+      frame={frame}
+      helpContent={helpContent}
+      hideMap={hideMap}
+      isPlaying={isPlaying}
+      modifiedNamespaceTopics={modifiedNamespaceTopics}
+      onAlignXYAxis={onAlignXYAxis}
+      onCameraStateChange={onCameraStateChange}
+      onFollowChange={onFollowChange}
+      pinTopics={pinTopics}
+      saveConfig={saveConfig}
+      savedPropsVersion={savedPropsVersion}
+      selectedPolygonEditFormat={selectedPolygonEditFormat || "yaml"}
+      selections={selections}
+      setSelections={setSelections}
+      showCrosshair={!!showCrosshair}
+      topics={topics}
+      topicSettings={topicSettings}
+      transforms={transforms}
+      useHeightMap={useHeightMap}
+    />
+  );
+};
 
-      newState.checkedNodes = checkedNodes;
-      newState.topics = topics;
-      newState.selections = prevState.selections;
-    }
-
-    return newState;
-  }
-
-  render() {
-    const { selections, topics, checkedNodes, cameraState } = this.state;
-    const {
-      config,
-      config: {
-        autoTextBackgroundColor,
-        expandedNodes,
-        flattenMarkers,
-        follow,
-        followOrientation,
-        followTf,
-        hideMap,
-        modifiedNamespaceTopics,
-        pinTopics,
-        savedPropsVersion,
-        selectedPolygonEditFormat,
-        showCrosshair,
-        topicSettings,
-        useHeightMap,
-        convexHullOpacity,
-      },
-    } = this.props;
-    return (
-      <MessagePipelineConsumer>
-        {({ playerState }: MessagePipelineContext) => {
-          const currentTime = playerState.activeData ? playerState.activeData.currentTime : { sec: 0, nsec: 0 };
-          getDebugStorybook(playerState, selections.topics, topics, config);
-          return (
-            // $FlowFixMe flow doesn't know about extensions prop
-            <Layout
-              helpContent={helpContent} // Can be overridden.
-              {...this.props}
-              // config
-              autoTextBackgroundColor={autoTextBackgroundColor}
-              convexHullOpacity={convexHullOpacity}
-              expandedNodes={expandedNodes}
-              flattenMarkers={flattenMarkers}
-              follow={follow}
-              followOrientation={followOrientation}
-              followTf={followTf}
-              hideMap={hideMap}
-              modifiedNamespaceTopics={modifiedNamespaceTopics}
-              pinTopics={pinTopics}
-              savedPropsVersion={savedPropsVersion}
-              selectedPolygonEditFormat={selectedPolygonEditFormat}
-              showCrosshair={showCrosshair}
-              topicSettings={topicSettings}
-              useHeightMap={useHeightMap}
-              // other props
-              cameraState={cameraState}
-              checkedNodes={checkedNodes}
-              selections={selections}
-              topics={topics}
-              // other
-              currentTime={currentTime}
-              onAlignXYAxis={this.onAlignXYAxis}
-              onCameraStateChange={this.onCameraStateChange}
-              onFollowChange={this.onFollowChange}
-              setSelections={this.onSelectionsChanged}
-            />
-          );
-        }}
-      </MessagePipelineConsumer>
-    );
-  }
-}
+BaseRenderer.displayName = "ThreeDimensionalViz";
+BaseRenderer.panelType = "3D Panel";
+BaseRenderer.defaultConfig = getGlobalHooks().perPanelHooks().ThreeDimensionalViz.defaultConfig;
 
-export const frameCompatibilityOptionsThreeDimensionalViz = {
-  // always subscribe to critical topics
-  topics: [
-    ...getGlobalHooks().perPanelHooks().ThreeDimensionalViz.topics,
-    TRANSFORM_TOPIC,
-    ...getGlobalHooks().perPanelHooks().ThreeDimensionalViz.getMetadata.topics,
-  ],
-  dontRemountOnSeek: true, // SceneBuilder is doing its own state management.
-};
+export const Renderer = hoistNonReactStatics(React.forwardRef<Props, typeof BaseRenderer>(BaseRenderer), BaseRenderer);
 
 export default hot(
   Panel<ThreeDimensionalVizConfig>(
-    FrameCompatibility(
-      withTransforms(
-        connect(
-          (state) => ({
-            extensions: state.extensions,
-          }),
-          { registerMarkerProvider, unregisterMarkerProvider }
-        )(Renderer)
-      ),
-      frameCompatibilityOptionsThreeDimensionalViz
-    )
+    FrameCompatibility(withTransforms(Renderer), [
+      ...getGlobalHooks().perPanelHooks().ThreeDimensionalViz.topics,
+      TRANSFORM_TOPIC,
+    ])
   )
 );
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/threeDimensionalVizUtils.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/threeDimensionalVizUtils.js
new file mode 100644
index 000000000..fff8e1a37
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/threeDimensionalVizUtils.js
@@ -0,0 +1,102 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import { vec3 } from "gl-matrix";
+import { mergeWith } from "lodash";
+import { useRef } from "react";
+import { type CameraState, type Vec3, type Vec4, cameraStateSelectors, DEFAULT_CAMERA_STATE } from "regl-worldview";
+
+import Transforms from "webviz-core/src/panels/ThreeDimensionalViz/Transforms";
+import { emptyPose } from "webviz-core/src/util/Pose";
+
+export type TargetPose = { target: Vec3, targetOrientation: Vec4 };
+
+const ZOOM_LEVEL_URL_PARAM = "zoom";
+
+function getZoomDistanceFromURLParam(): number | void {
+  const params = new URLSearchParams(location && location.search);
+  if (params.has(ZOOM_LEVEL_URL_PARAM)) {
+    return parseFloat(params.get(ZOOM_LEVEL_URL_PARAM));
+  }
+}
+
+// Get the camera target position and orientation
+function getTargetPose(followTf?: string | false, transforms: Transforms) {
+  if (followTf) {
+    let pose = emptyPose();
+    pose = transforms.apply(pose, pose, followTf, transforms.rootOfTransform(followTf).id);
+    if (pose) {
+      const { x: px, y: py, z: pz } = pose.position;
+      const { x: ox, y: oy, z: oz, w: ow } = pose.orientation;
+      return {
+        target: [px, py, pz],
+        targetOrientation: [ox, oy, oz, ow],
+      };
+    }
+  }
+  return null;
+}
+
+// Return targetOffset and thetaOffset that would yield the same camera position as the
+// given offsets if the target were (0,0,0) and targetOrientation were identity.
+export function getEquivalentOffsetsWithoutTarget(
+  offsets: { +targetOffset: Vec3, +thetaOffset: number },
+  targetPose: { +target: Vec3, +targetOrientation: Vec4 },
+  followOrientation?: boolean
+): { targetOffset: Vec3, thetaOffset: number } {
+  const heading = followOrientation
+    ? cameraStateSelectors.targetHeading({ targetOrientation: targetPose.targetOrientation })
+    : 0;
+  const targetOffset = vec3.rotateZ([0, 0, 0], offsets.targetOffset, [0, 0, 0], -heading);
+  vec3.add(targetOffset, targetOffset, targetPose.target);
+  const thetaOffset = offsets.thetaOffset + heading;
+  return { targetOffset, thetaOffset };
+}
+
+export function useComputedCameraState({
+  currentCameraState,
+  followTf,
+  followOrientation,
+  transforms,
+}: {
+  currentCameraState: $Shape<CameraState>,
+  followTf?: string | false,
+  followOrientation?: boolean,
+  transforms: Transforms,
+}): { cameraState: CameraState, targetPose: ?TargetPose } {
+  let newCameraState = { ...currentCameraState };
+  const targetPose = getTargetPose(followTf, transforms);
+  // Store last seen target pose because the target may become available/unavailable over time as
+  // the player changes, and we want to avoid moving the camera when it disappears.
+  const lastTargetPoseRef = useRef<?TargetPose>(null);
+  const lastTargetPose = lastTargetPoseRef.current;
+  // Recompute cameraState based on the new inputs at each render
+  if (targetPose) {
+    lastTargetPoseRef.current = targetPose;
+    newCameraState.target = targetPose.target;
+    if (followOrientation) {
+      newCameraState.targetOrientation = targetPose.targetOrientation;
+    }
+  } else if (followTf && lastTargetPose) {
+    // If follow is enabled but no target is available (such as when seeking), keep the camera
+    // position the same as it would have been by reusing the last seen target pose.
+    newCameraState.target = lastTargetPose.target;
+    if (followOrientation) {
+      newCameraState.targetOrientation = lastTargetPose.targetOrientation;
+    }
+  }
+  // Read the distance from URL when World is first loaded with empty cameraState distance in savedProps
+  if (currentCameraState.distance == null) {
+    newCameraState.distance = getZoomDistanceFromURLParam();
+  }
+
+  newCameraState = mergeWith(newCameraState, DEFAULT_CAMERA_STATE, (objVal, srcVal) =>
+    objVal == null ? srcVal : objVal
+  );
+
+  return { cameraState: newCameraState, targetPose: targetPose || lastTargetPose };
+}
diff --git a/packages/webviz-core/src/panels/diagnostics/DiagnosticSummary.js b/packages/webviz-core/src/panels/diagnostics/DiagnosticSummary.js
index 8da0294c6..01e421076 100644
--- a/packages/webviz-core/src/panels/diagnostics/DiagnosticSummary.js
+++ b/packages/webviz-core/src/panels/diagnostics/DiagnosticSummary.js
@@ -12,11 +12,10 @@ import { sortBy, compact } from "lodash";
 import React from "react";
 import { hot } from "react-hot-loader/root";
 
-import DiagnosticsHistory from "./DiagnosticsHistory";
 import type { Config as DiagnosticStatusConfig } from "./DiagnosticStatusPanel";
 import helpContent from "./DiagnosticSummary.help.md";
 import styles from "./DiagnosticSummary.module.scss";
-import { LEVELS, type DiagnosticId, type DiagnosticInfo } from "./util";
+import { LEVELS, type DiagnosticId, type DiagnosticInfo, getNodesByLevel } from "./util";
 import EmptyState from "webviz-core/src/components/EmptyState";
 import Flex from "webviz-core/src/components/Flex";
 import Icon from "webviz-core/src/components/Icon";
@@ -24,6 +23,7 @@ import LargeList from "webviz-core/src/components/LargeList";
 import Panel from "webviz-core/src/components/Panel";
 import PanelToolbar from "webviz-core/src/components/PanelToolbar";
 import { getGlobalHooks } from "webviz-core/src/loadWebviz";
+import DiagnosticsHistory from "webviz-core/src/panels/diagnostics/DiagnosticsHistory";
 import type { PanelConfig } from "webviz-core/src/types/panels";
 import toggle from "webviz-core/src/util/toggle";
 
@@ -67,7 +67,7 @@ class NodeRow extends React.PureComponent<NodeRowProps> {
   }
 }
 
-type Config = {| pinnedIds: DiagnosticId[] |};
+type Config = {| pinnedIds: DiagnosticId[], hardwareIdFilter: string |};
 type Props = {
   config: Config,
   saveConfig: ($Shape<Config>) => void,
@@ -112,10 +112,27 @@ class DiagnosticSummary extends React.Component<Props> {
     );
   };
 
+  renderMenuContent() {
+    const {
+      config: { hardwareIdFilter },
+      saveConfig,
+    } = this.props;
+    return (
+      <input
+        style={{ width: "100%", padding: "0", background: "transparent", opacity: "0.5" }}
+        value={hardwareIdFilter}
+        placeholder={"Filter hardware id"}
+        onChange={(e) => saveConfig({ hardwareIdFilter: e.target.value })}
+      />
+    );
+  }
+
   render() {
     return (
       <Flex col className={styles.panel}>
-        <PanelToolbar floating helpContent={helpContent} />
+        <PanelToolbar floating helpContent={helpContent}>
+          {this.renderMenuContent()}
+        </PanelToolbar>
         <Flex col scroll scrollX>
           <DiagnosticsHistory>
             {(buffer) => {
@@ -127,15 +144,15 @@ class DiagnosticSummary extends React.Component<Props> {
                 );
               }
 
-              const { pinnedIds } = this.props.config;
+              const { pinnedIds, hardwareIdFilter } = this.props.config;
               const pinnedNodes = pinnedIds.map((id) => buffer.diagnosticsById.get(id));
 
               const nodes: DiagnosticInfo[] = [
                 ...compact(pinnedNodes),
-                ...getSortedNodes(Array.from(buffer.diagnosticsByLevel[LEVELS.STALE].values()), pinnedIds),
-                ...getSortedNodes(Array.from(buffer.diagnosticsByLevel[LEVELS.ERROR].values()), pinnedIds),
-                ...getSortedNodes(Array.from(buffer.diagnosticsByLevel[LEVELS.WARN].values()), pinnedIds),
-                ...getSortedNodes(Array.from(buffer.diagnosticsByLevel[LEVELS.OK].values()), pinnedIds),
+                ...getSortedNodes(getNodesByLevel(buffer, hardwareIdFilter, LEVELS.STALE), pinnedIds),
+                ...getSortedNodes(getNodesByLevel(buffer, hardwareIdFilter, LEVELS.ERROR), pinnedIds),
+                ...getSortedNodes(getNodesByLevel(buffer, hardwareIdFilter, LEVELS.WARN), pinnedIds),
+                ...getSortedNodes(getNodesByLevel(buffer, hardwareIdFilter, LEVELS.OK), pinnedIds),
               ];
 
               return nodes.length === 0 ? null : (
diff --git a/packages/webviz-core/src/panels/diagnostics/DiagnosticsHistory.js b/packages/webviz-core/src/panels/diagnostics/DiagnosticsHistory.js
index fad0d705a..6822c3877 100644
--- a/packages/webviz-core/src/panels/diagnostics/DiagnosticsHistory.js
+++ b/packages/webviz-core/src/panels/diagnostics/DiagnosticsHistory.js
@@ -7,7 +7,7 @@
 //  You may not use this file except in compliance with the License.
 
 import { sortedIndexBy } from "lodash";
-import * as React from "react";
+import { useCallback, type Node } from "react";
 
 import {
   type DiagnosticStatusArray,
@@ -18,8 +18,7 @@ import {
   type Level,
   computeDiagnosticInfo,
 } from "./util";
-import { FrameCompatibility } from "webviz-core/src/components/MessageHistory/FrameCompatibility";
-import type { Frame } from "webviz-core/src/players/types";
+import * as PanelAPI from "webviz-core/src/PanelAPI";
 import { DIAGNOSTIC_TOPIC } from "webviz-core/src/util/globalConstants";
 
 export type DiagnosticAutocompleteEntry = {|
@@ -37,45 +36,52 @@ export type DiagnosticsBuffer = {|
 |};
 
 type Props = {|
-  children: (DiagnosticsBuffer) => React.Node,
-  frame: Frame,
+  children: (DiagnosticsBuffer) => Node,
 |};
 
-class DiagnosticsHistory extends React.Component<Props> {
-  _buffer: DiagnosticsBuffer = {
-    diagnosticsById: new Map(),
-    sortedAutocompleteEntries: [],
-    diagnosticsByLevel: {
-      [LEVELS.OK]: new Map(),
-      [LEVELS.WARN]: new Map(),
-      [LEVELS.ERROR]: new Map(),
-      [LEVELS.STALE]: new Map(),
-    },
-  };
+export function useDiagnostics(): DiagnosticsBuffer {
+  const { reducedValue: diagnostics } = PanelAPI.useMessages<DiagnosticsBuffer>({
+    topics: [DIAGNOSTIC_TOPIC],
 
-  render() {
-    for (const message of this.props.frame[DIAGNOSTIC_TOPIC] || []) {
+    restore: useCallback(
+      () => ({
+        diagnosticsById: new Map(),
+        sortedAutocompleteEntries: [],
+        diagnosticsByLevel: {
+          [LEVELS.OK]: new Map(),
+          [LEVELS.WARN]: new Map(),
+          [LEVELS.ERROR]: new Map(),
+          [LEVELS.STALE]: new Map(),
+        },
+      }),
+      []
+    ),
+
+    addMessage: useCallback((buffer, message) => {
       const statusArray: DiagnosticStatusArray = message.message;
+      if (statusArray.status.length === 0) {
+        return buffer;
+      }
       for (const status of statusArray.status) {
         const info = computeDiagnosticInfo(status, statusArray.header.stamp);
 
         // update diagnosticsByLevel
-        const keys: Level[] = (Object.keys(this._buffer.diagnosticsByLevel): any);
+        const keys: Level[] = (Object.keys(buffer.diagnosticsByLevel): any);
         for (const key of keys) {
-          const diags = this._buffer.diagnosticsByLevel[key];
+          const diags = buffer.diagnosticsByLevel[key];
 
           if (status.level !== key && diags.has(info.id)) {
             diags.delete(info.id);
           }
         }
-        if (status.level in this._buffer.diagnosticsByLevel) {
-          this._buffer.diagnosticsByLevel[status.level].set(info.id, info);
+        if (status.level in buffer.diagnosticsByLevel) {
+          buffer.diagnosticsByLevel[status.level].set(info.id, info);
         } else {
           console.warn("unrecognized status level", status);
         }
 
         // add to sortedAutocompleteEntries if we haven't seen this id before
-        if (!this._buffer.diagnosticsById.has(info.id)) {
+        if (!buffer.diagnosticsById.has(info.id)) {
           const newEntry = {
             hardware_id: info.status.hardware_id,
             name: info.status.name,
@@ -83,20 +89,21 @@ class DiagnosticsHistory extends React.Component<Props> {
             displayName: info.displayName,
             sortKey: info.displayName.replace(/^\//, "").toLowerCase(),
           };
-          const index = sortedIndexBy(this._buffer.sortedAutocompleteEntries, newEntry, "displayName");
-          this._buffer.sortedAutocompleteEntries.splice(index, 0, newEntry);
+          const index = sortedIndexBy(buffer.sortedAutocompleteEntries, newEntry, "displayName");
+          buffer.sortedAutocompleteEntries.splice(index, 0, newEntry);
         }
 
         // update diagnosticsById
-        this._buffer.diagnosticsById.set(info.id, info);
+        buffer.diagnosticsById.set(info.id, info);
       }
-    }
+      return { ...buffer };
+    }, []),
+  });
 
-    return this.props.children(this._buffer);
-  }
+  return diagnostics;
 }
 
-export default FrameCompatibility(DiagnosticsHistory, {
-  topics: [DIAGNOSTIC_TOPIC],
-  historySize: 2000,
-});
+export default function DiagnosticsHistory({ children }: Props) {
+  const diagnostics = useDiagnostics();
+  return children(diagnostics);
+}
diff --git a/packages/webviz-core/src/panels/diagnostics/util.js b/packages/webviz-core/src/panels/diagnostics/util.js
index 0af61fd97..d279c5f74 100644
--- a/packages/webviz-core/src/panels/diagnostics/util.js
+++ b/packages/webviz-core/src/panels/diagnostics/util.js
@@ -8,6 +8,7 @@
 
 import type { Time } from "rosbag";
 
+import { type DiagnosticsBuffer } from "webviz-core/src/panels/diagnostics/DiagnosticsHistory";
 import type { Header } from "webviz-core/src/types/Messages";
 
 export const LEVELS: { OK: 0, WARN: 1, ERROR: 2, STALE: 3 } = { OK: 0, WARN: 1, ERROR: 2, STALE: 3 };
@@ -79,3 +80,16 @@ export function computeDiagnosticInfo(status: DiagnosticStatusMessage, stamp: Ti
     displayName,
   };
 }
+
+export function getNodesByLevel(buffer: DiagnosticsBuffer, hardwareIdFilter: string, level: any): DiagnosticInfo[] {
+  if (!hardwareIdFilter) {
+    return Array.from(buffer.diagnosticsByLevel[level].values());
+  }
+  const nodeArray = [];
+  buffer.diagnosticsByLevel[level].forEach((value) => {
+    if (value.displayName.startsWith(hardwareIdFilter)) {
+      nodeArray.push(value);
+    }
+  });
+  return nodeArray;
+}
diff --git a/packages/webviz-core/src/panels/diagnostics/util.test.js b/packages/webviz-core/src/panels/diagnostics/util.test.js
index ce2d0e894..4d35ba84a 100644
--- a/packages/webviz-core/src/panels/diagnostics/util.test.js
+++ b/packages/webviz-core/src/panels/diagnostics/util.test.js
@@ -6,7 +6,68 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import { getDiagnosticId, getDisplayName } from "./util";
+import { getDiagnosticId, getDisplayName, getNodesByLevel, LEVELS } from "./util";
+
+const okMap = new Map();
+okMap.set("|watchdog|status|", {
+  status: { level: 0, name: "status", message: "Watchdog is in degraded state 0", hardware_id: "watchdog", values: [] },
+  stamp: { sec: 1547062465, nsec: 999879954 },
+  id: "|watchdog|status|",
+  displayName: "watchdog: status",
+});
+okMap.set("|mctm_logger|MCTM Logger|", {
+  status: {
+    level: 0,
+    name: "MCTM Logger",
+    message: "No triggers since launch!",
+    hardware_id: "mctm_logger",
+    values: [],
+  },
+  stamp: { sec: 1547062466, nsec: 1674890 },
+  id: "|mctm_logger|MCTM Logger|",
+  displayName: "mctm_logger: MCTM Logger",
+});
+
+const warnMap = new Map();
+warnMap.set("|camera_front_left_40/camera_ground_rendering|status|", {
+  status: {
+    level: 1,
+    name: "status",
+    message:
+      "Ground rendering using lidar_aligned frame. This is okay for playing back an old bag but NOT okay on the car.",
+    hardware_id: "camera_front_left_40/camera_ground_rendering",
+    values: [],
+  },
+  stamp: { sec: 1547062466, nsec: 37309350 },
+  id: "|camera_front_left_40/camera_ground_rendering|status|",
+  displayName: "camera_front_left_40/camera_ground_rendering: status",
+});
+
+const errorMap = new Map();
+errorMap.set("|usrr_rear_left_center/usrr_segmentation_node|status|", {
+  status: {
+    level: 2,
+    name: "status",
+    message:
+      "Error processing raw radar from: USRR Segmentation Node: car velocity exceeds threshold for Usrr Segmentation.",
+    hardware_id: "usrr_rear_left_center/usrr_segmentation_node",
+    values: [],
+  },
+  stamp: { sec: 1547062466, nsec: 98998486 },
+  id: "|usrr_rear_left_center/usrr_segmentation_node|status|",
+  displayName: "usrr_rear_left_center/usrr_segmentation_node: status",
+});
+
+const buffer = {
+  diagnosticsById: new Map(),
+  diagnosticsByLevel: {
+    [LEVELS.OK]: okMap,
+    [LEVELS.WARN]: warnMap,
+    [LEVELS.ERROR]: errorMap,
+    [LEVELS.STALE]: new Map(),
+  },
+  sortedAutocompleteEntries: [],
+};
 
 describe("diagnostics", () => {
   describe("getDiagnosticId", () => {
@@ -27,4 +88,16 @@ describe("diagnostics", () => {
       expect(getDisplayName("my_hardware_id", "foo")).toBe("my_hardware_id: foo");
     });
   });
+
+  describe("getNodesByLevel", () => {
+    it("removes leading slash from hardware_id if present", () => {
+      expect(getNodesByLevel(buffer, "", LEVELS.STALE)).toStrictEqual([]);
+      expect(getNodesByLevel(buffer, "", LEVELS.ERROR)).toStrictEqual([
+        errorMap.get("|usrr_rear_left_center/usrr_segmentation_node|status|"),
+      ]);
+      expect(getNodesByLevel(buffer, "watchdog", LEVELS.OK)).toStrictEqual([okMap.get("|watchdog|status|")]);
+      expect(getNodesByLevel(buffer, "mctm", LEVELS.OK)).toStrictEqual([okMap.get("|mctm_logger|MCTM Logger|")]);
+      expect(getNodesByLevel(buffer, "watchdog", LEVELS.WARN)).toStrictEqual([]);
+    });
+  });
 });
diff --git a/packages/webviz-core/src/players/RandomAccessPlayer.js b/packages/webviz-core/src/players/RandomAccessPlayer.js
index 6088e3334..f327f0587 100644
--- a/packages/webviz-core/src/players/RandomAccessPlayer.js
+++ b/packages/webviz-core/src/players/RandomAccessPlayer.js
@@ -48,12 +48,15 @@ const delay = (time) => new Promise((resolve) => setTimeout(resolve, time));
 // exceeds that frequency.
 export const SEEK_BACK_NANOSECONDS = 99 /* ms */ * 1000 * 1000;
 
+export const AUTOPLAY_START_DELAY_MS = 100;
+
 const capabilities = [PlayerCapabilities.setSpeed];
 
 // A `Player` that wraps around a tree of `DataProviders`.
 export default class RandomAccessPlayer implements Player {
   _provider: DataProvider;
   _isPlaying: boolean = false;
+  _wasPlayingBeforeTabSwitch = false;
   _listener: (PlayerState) => Promise<void>;
   _speed: number = 0.2;
   _start: Time;
@@ -77,6 +80,7 @@ export default class RandomAccessPlayer implements Player {
   _id: string = uuid.v4();
   _messages: Message[] = [];
   _hasError = false;
+  _closed = false;
 
   constructor(
     providerDescriptor: DataProviderDescriptor,
@@ -91,13 +95,31 @@ export default class RandomAccessPlayer implements Player {
     this._metricsCollector = metricsCollector;
 
     this._playerOptions = playerOptions || { autoplay: false, seekToTime: null };
+
+    document.addEventListener("visibilitychange", this._handleDocumentVisibilityChange, false);
   }
 
+  // If the user switches tabs, we won't actually play because no requestAnimationFrames will be called.
+  // Make sure this is reflected in application state and in metrics as a pause and resume.
+  _handleDocumentVisibilityChange = () => {
+    if (document.visibilityState === "hidden") {
+      if (this._isPlaying) {
+        this.pausePlayback();
+        this._wasPlayingBeforeTabSwitch = true;
+      }
+    } else if (document.visibilityState === "visible" && this._wasPlayingBeforeTabSwitch) {
+      this._wasPlayingBeforeTabSwitch = false;
+      this.startPlayback();
+    }
+  };
+
   _setError(message: string, details: string | Error, errorType: ErrorType) {
     reportError(message, details, errorType);
     this._hasError = true;
     this._isPlaying = false;
-    this._provider.close();
+    if (!this._initializing) {
+      this._provider.close();
+    }
     this._emitState();
   }
 
@@ -140,14 +162,29 @@ export default class RandomAccessPlayer implements Player {
           this._emitState();
         }
 
-        if (this._playerOptions.autoplay) {
-          // Wait a bit until panels have had the chance to subscribe to topics before we start
-          // playback.
-          // TODO(JP).
-          setTimeout(() => {
-            this.startPlayback();
-          }, 100);
-        }
+        // Wait a bit until panels have had the chance to subscribe to topics before we start
+        // playback.
+        // TODO(JP).
+        setTimeout(() => {
+          if (this._closed) {
+            return;
+          }
+
+          // If the autoplay is enabled, either start playback or, if this tab is not currently selected, start data
+          // loading.
+          if (this._playerOptions.autoplay) {
+            if (document.visibilityState === "visible") {
+              this.startPlayback();
+            } else {
+              this._wasPlayingBeforeTabSwitch = true;
+              // call seekPlayback so that we start data loading.
+              this.seekPlayback(this._currentTime);
+            }
+          } else {
+            // If autoplay is not enabled, still call seekPlayback so that we start data loading.
+            this.seekPlayback(this._currentTime);
+          }
+        }, AUTOPLAY_START_DELAY_MS);
       })
       .catch((error: Error) => {
         this._setError("Error initializing player", error, "app");
@@ -272,18 +309,22 @@ export default class RandomAccessPlayer implements Player {
     this._emitState();
   }
 
-  async _read(): Promise<void> {
-    while (this._isPlaying && !this._hasError) {
-      const start = Date.now();
-      await this._tick();
-      const time = Date.now() - start;
-      // make sure we've slept at least 16 millis or so (aprox 1 frame)
-      // to give the UI some time to breathe and not burn in a tight loop
-      if (time < 16) {
-        await delay(16 - time);
+  _read = debouncePromise(async () => {
+    try {
+      while (this._isPlaying && !this._hasError) {
+        const start = Date.now();
+        await this._tick();
+        const time = Date.now() - start;
+        // make sure we've slept at least 16 millis or so (aprox 1 frame)
+        // to give the UI some time to breathe and not burn in a tight loop
+        if (time < 16) {
+          await delay(16 - time);
+        }
       }
+    } catch (e) {
+      this._setError(e.message, e, "app");
     }
-  }
+  });
 
   async _getMessages(start: Time, end: Time): Promise<Message[]> {
     const topics = getSanitizedTopics(this._subscribedTopics, this._providerTopics);
@@ -342,9 +383,7 @@ export default class RandomAccessPlayer implements Player {
       this._emitState();
     }
 
-    this._read().catch((e: Error) => {
-      this._setError(e.message, e, "app");
-    });
+    this._read();
   }
 
   pausePlayback(): void {
@@ -439,7 +478,11 @@ export default class RandomAccessPlayer implements Player {
 
   close() {
     this._isPlaying = false;
-    this._provider.close();
+    this._closed = true;
+    if (!this._initializing) {
+      this._provider.close();
+    }
     this._metricsCollector.close();
+    document.removeEventListener("visibilitychange", this._handleDocumentVisibilityChange);
   }
 }
diff --git a/packages/webviz-core/src/players/RandomAccessPlayer.test.js b/packages/webviz-core/src/players/RandomAccessPlayer.test.js
index 237d0fd38..61b2898c6 100644
--- a/packages/webviz-core/src/players/RandomAccessPlayer.test.js
+++ b/packages/webviz-core/src/players/RandomAccessPlayer.test.js
@@ -15,7 +15,7 @@
 import { omit } from "lodash";
 import { TimeUtil, type Time } from "rosbag";
 
-import RandomAccessPlayer, { SEEK_BACK_NANOSECONDS } from "./RandomAccessPlayer";
+import RandomAccessPlayer, { SEEK_BACK_NANOSECONDS, AUTOPLAY_START_DELAY_MS } from "./RandomAccessPlayer";
 import delay from "webviz-core/shared/delay";
 import {
   type ExtensionPoint,
@@ -23,6 +23,7 @@ import {
   type DataProviderMessage,
   type DataProvider,
 } from "webviz-core/src/dataProviders/types";
+import NoopMetricsCollector from "webviz-core/src/players/NoopMetricsCollector";
 import {
   type PlayerMetricsCollectorInterface,
   type Topic,
@@ -30,6 +31,7 @@ import {
   PlayerCapabilities,
 } from "webviz-core/src/players/types";
 import type { RosDatatypes } from "webviz-core/src/types/RosDatatypes";
+import signal from "webviz-core/src/util/signal";
 
 jest.mock("webviz-core/src/util/reportError");
 
@@ -135,8 +137,10 @@ describe("RandomAccessPlayer", () => {
   beforeEach(() => {
     mockDateNow = jest.spyOn(Date, "now").mockReturnValue(0);
   });
-  afterEach(() => {
+  afterEach(async () => {
     mockDateNow.mockRestore();
+    // Always wait to start autoplay to ensure that errors are contained to their own tests.
+    await delay(AUTOPLAY_START_DELAY_MS + 10);
   });
 
   it("calls listener with player initial player state and data types", async () => {
@@ -175,6 +179,8 @@ describe("RandomAccessPlayer", () => {
     ]);
     // make sure capabilities don't change from one message to another
     expect(messages[0].capabilities).toBe(messages[1].capabilities);
+
+    source.close();
   });
 
   it("calls listener with player state changes on play/pause", async () => {
@@ -195,6 +201,8 @@ describe("RandomAccessPlayer", () => {
     source.pausePlayback();
     const messages3 = await store.done;
     expect(messages3.map((msg) => (msg.activeData || {}).isPlaying)).toEqual([false]);
+
+    source.close();
   });
 
   it("calls listener with speed changes", async () => {
@@ -214,6 +222,8 @@ describe("RandomAccessPlayer", () => {
     store.reset(1);
     source.setPlaybackSpeed(0.2);
     expect((await store.done).map((msg) => (msg.activeData || {}).speed)).toEqual([0.2]);
+
+    source.close();
   });
 
   it("reads messages when playing back", async () => {
@@ -382,6 +392,8 @@ describe("RandomAccessPlayer", () => {
       ],
       [], // this is the 'pause' messages payload - should be empty
     ]);
+
+    source.close();
   });
 
   it("seek during reading discards messages before seek", async () => {
@@ -447,6 +459,8 @@ describe("RandomAccessPlayer", () => {
       { sec: 0, nsec: 0 },
     ]);
     expect(activeDatas.map((d) => d.messages)).toEqual([undefined, [], [], [], [], []]);
+
+    source.close();
   });
 
   it("backfills previous messages on seek", async () => {
@@ -490,11 +504,14 @@ describe("RandomAccessPlayer", () => {
       }
     };
 
-    const store = new MessageStore(2);
+    const store = new MessageStore(4);
     source.setListener(store.add);
-    expect(await store.done).toEqual([
+    const done = await store.done;
+    expect(done).toEqual([
       expect.objectContaining({ activeData: undefined }),
       expect.objectContaining({ activeData: expect.any(Object) }),
+      expect.objectContaining({ activeData: expect.any(Object) }),
+      expect.objectContaining({ activeData: expect.any(Object) }),
     ]);
 
     store.reset(3);
@@ -534,6 +551,8 @@ describe("RandomAccessPlayer", () => {
       ],
       [],
     ]);
+
+    source.close();
   });
 
   it("discards backfilled messages if we started playing after the seek", async () => {
@@ -617,6 +636,8 @@ describe("RandomAccessPlayer", () => {
     };
     backfillPromiseCallback([result]);
     await delay(10);
+
+    source.close();
   });
 
   it("clamps times passed to the DataProvider", async () => {
@@ -658,6 +679,8 @@ describe("RandomAccessPlayer", () => {
       topics: ["/foo/bar"],
       resolve: expect.any(Function),
     });
+
+    source.close();
   });
 
   it("gets messages when valid topics subscriptions changed", async () => {
@@ -700,6 +723,7 @@ describe("RandomAccessPlayer", () => {
     source.startPlayback();
     const messages = await store.done;
     expect(messages.length).toEqual(7);
+
     source.close();
   });
 
@@ -779,15 +803,41 @@ describe("RandomAccessPlayer", () => {
         message: { payload: "foo bar 2" },
       },
     ]);
+
+    source.close();
   });
 
   it("closes provider when closed", async () => {
     const provider = new TestProvider();
     const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] });
+    await source.setListener(async () => {});
     await source.close();
     expect(provider.closed).toBe(true);
   });
 
+  it("doesn't try to close provider after initialization error", async () => {
+    class FailTestProvider extends TestProvider {
+      initialize() {
+        return Promise.reject(new Error("fake initialization failure"));
+      }
+    }
+    const provider = new FailTestProvider();
+    const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] });
+
+    const store = new MessageStore(2);
+    await source.setListener(store.add);
+    expect(provider.closed).toBe(false);
+
+    source.close();
+    const messages = await store.done;
+    expect(provider.closed).toBe(false);
+
+    expect(messages).toEqual([
+      expect.objectContaining({ showInitializing: true, activeData: undefined }),
+      expect.objectContaining({ showInitializing: false, activeData: undefined }),
+    ]);
+  });
+
   it("shows a spinner when a provider is reconnecting", (done) => {
     const provider = new TestProvider();
     const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] });
@@ -805,6 +855,98 @@ describe("RandomAccessPlayer", () => {
     });
   });
 
+  it("waits for previous read to finish when pausing and playing again", async () => {
+    const provider = new TestProvider();
+    const getMessages = jest.fn();
+    provider.getMessages = getMessages;
+
+    const message1 = {
+      topic: "/foo/bar",
+      receiveTime: { sec: 0, nsec: 1 },
+      message: { payload: "foo bar 1" },
+    };
+    const message2 = {
+      topic: "/foo/bar",
+      receiveTime: { sec: 0, nsec: 2 },
+      message: { payload: "foo bar 2" },
+    };
+
+    const player = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] });
+    player.setSubscriptions([{ topic: "/foo/bar" }]);
+
+    const firstGetMessagesCall = signal();
+    const firstGetMessagesReturn = signal();
+    const secondGetMessagesCall = signal();
+    const secondGetMessagesReturn = signal();
+
+    const messages1 = [message1];
+    getMessages.mockImplementation(async () => {
+      firstGetMessagesCall.resolve();
+      await firstGetMessagesReturn;
+      return Promise.resolve(messages1.splice(0, 1));
+    });
+
+    const store = new MessageStore(3);
+    await player.setListener(store.add);
+    player.startPlayback();
+
+    await firstGetMessagesCall;
+    expect(getMessages.mock.calls).toEqual([[{ sec: 0, nsec: 1 }, { sec: 0, nsec: 4000000 }, ["/foo/bar"]]]);
+
+    expect(await store.done).toEqual([
+      expect.objectContaining({ activeData: undefined }),
+      expect.objectContaining({ activeData: expect.objectContaining({ isPlaying: false, messages: [] }) }),
+      expect.objectContaining({ activeData: expect.objectContaining({ isPlaying: true, messages: [] }) }),
+    ]);
+
+    const messages2 = [message2];
+    getMessages.mockImplementation(async () => {
+      secondGetMessagesCall.resolve();
+      await secondGetMessagesReturn;
+      return Promise.resolve(messages2.splice(0, 1));
+    });
+    store.reset(2);
+
+    player.pausePlayback();
+    player.startPlayback();
+
+    expect(await store.done).toEqual([
+      expect.objectContaining({ activeData: expect.objectContaining({ isPlaying: false, messages: [] }) }),
+      expect.objectContaining({ activeData: expect.objectContaining({ isPlaying: true, messages: [] }) }),
+    ]);
+
+    store.reset(1);
+
+    // The second getMessages call should only happen once the first getMessages has returned
+    await Promise.resolve();
+    expect(getMessages).toHaveBeenCalledTimes(1);
+    firstGetMessagesReturn.resolve();
+    await secondGetMessagesCall;
+    expect(getMessages).toHaveBeenCalledTimes(2);
+
+    expect(await store.done).toEqual([
+      expect.objectContaining({
+        activeData: expect.objectContaining({ isPlaying: true, messages: [expect.objectContaining(message1)] }),
+      }),
+    ]);
+
+    store.reset(1);
+    secondGetMessagesReturn.resolve();
+    expect(await store.done).toEqual([
+      expect.objectContaining({
+        activeData: expect.objectContaining({ isPlaying: true, messages: [expect.objectContaining(message2)] }),
+      }),
+    ]);
+
+    store.reset(1);
+    player.pausePlayback();
+    expect(await store.done).toEqual([
+      expect.objectContaining({ activeData: expect.objectContaining({ isPlaying: false, messages: [] }) }),
+    ]);
+
+    player.close();
+  });
+
   describe("metrics collecting", () => {
     class TestMetricsCollector implements PlayerMetricsCollectorInterface {
       _initialized: number = 0;
@@ -927,4 +1069,130 @@ describe("RandomAccessPlayer", () => {
       });
     });
   });
+
+  it("pauses when document visibility changes", async () => {
+    const provider = new TestProvider();
+    const getMessages = jest.fn();
+    provider.getMessages = getMessages;
+
+    const message1 = {
+      topic: "/foo/bar",
+      receiveTime: { sec: 0, nsec: 1 },
+      message: { payload: "foo bar 1" },
+    };
+
+    const player = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] });
+    player.setSubscriptions([{ topic: "/foo/bar" }]);
+
+    const firstGetMessagesCall = signal();
+    const firstGetMessagesReturn = signal();
+
+    const messages1 = [message1];
+    getMessages.mockImplementation(async () => {
+      firstGetMessagesCall.resolve();
+      await firstGetMessagesReturn;
+      return Promise.resolve(messages1.splice(0, 1));
+    });
+
+    const store = new MessageStore(4);
+    await player.setListener(store.add);
+    player.startPlayback();
+
+    await firstGetMessagesCall;
+    expect(getMessages.mock.calls).toEqual([[{ sec: 0, nsec: 1 }, { sec: 0, nsec: 4000000 }, ["/foo/bar"]]]);
+
+    // $FlowFixMe
+    Object.defineProperty(document, "visibilityState", {
+      configurable: true,
+      get: () => "hidden",
+    });
+    document.dispatchEvent(new Event("visibilitychange"));
+    expect(await store.done).toEqual([
+      expect.objectContaining({ activeData: undefined }),
+      expect.objectContaining({ activeData: expect.objectContaining({ isPlaying: false, messages: [] }) }),
+      expect.objectContaining({ activeData: expect.objectContaining({ isPlaying: true, messages: [] }) }),
+      expect.objectContaining({ activeData: expect.objectContaining({ isPlaying: false, messages: [] }) }),
+    ]);
+
+    store.reset(1);
+
+    // $FlowFixMe
+    Object.defineProperty(document, "visibilityState", {
+      configurable: true,
+      get: () => "visible",
+    });
+    document.dispatchEvent(new Event("visibilitychange"));
+
+    expect(await store.done).toEqual([
+      expect.objectContaining({ activeData: expect.objectContaining({ isPlaying: true, messages: [] }) }),
+    ]);
+
+    player.close();
+  });
+
+  it("When autoplay is off, seeks the player after starting", async () => {
+    const provider = new TestProvider();
+    provider.getMessages = jest.fn().mockImplementation(async () => Promise.resolve([]));
+    const player = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] });
+    const store = new MessageStore(2);
+    player.setSubscriptions([{ topic: "/foo/bar" }]);
+    await player.setListener(store.add);
+    const firstMessages = await store.done;
+    expect(firstMessages).toEqual([
+      expect.objectContaining({ activeData: undefined }),
+      // isPlaying is set to false to begin
+      expect.objectContaining({ activeData: expect.objectContaining({ isPlaying: false, messages: [] }) }),
+    ]);
+    store.reset(2);
+    // Even after enough time to start callback
+    await delay(AUTOPLAY_START_DELAY_MS + 10);
+    const secondMessages = await store.done;
+    expect(secondMessages).toEqual([
+      expect.objectContaining({ activeData: expect.objectContaining({ isPlaying: false, messages: [] }) }),
+      expect.objectContaining({ activeData: expect.objectContaining({ isPlaying: false, messages: [] }) }),
+    ]);
+    expect(provider.getMessages).toHaveBeenCalled();
+
+    player.close();
+  });
+
+  it("When the tab starts hidden with autoplay, seeks the player", async () => {
+    // $FlowFixMe
+    Object.defineProperty(document, "visibilityState", {
+      configurable: true,
+      get: () => "hidden",
+    });
+    const provider = new TestProvider();
+    provider.getMessages = jest.fn().mockImplementation(async () => Promise.resolve([]));
+    const player = new RandomAccessPlayer(
+      { name: "TestProvider", args: { provider }, children: [] },
+      new NoopMetricsCollector(),
+      { autoplay: true, seekToTime: null }
+    );
+    const store = new MessageStore(2);
+    player.setSubscriptions([{ topic: "/foo/bar" }]);
+    await player.setListener(store.add);
+    const firstMessages = await store.done;
+    expect(firstMessages).toEqual([
+      expect.objectContaining({ activeData: undefined }),
+      // isPlaying is set to false to begin
+      expect.objectContaining({ activeData: expect.objectContaining({ isPlaying: false, messages: [] }) }),
+    ]);
+    store.reset(2);
+    // Even after enough time to start callback
+    await delay(AUTOPLAY_START_DELAY_MS + 10);
+    const secondMessages = await store.done;
+    expect(secondMessages).toEqual([
+      expect.objectContaining({ activeData: expect.objectContaining({ isPlaying: false, messages: [] }) }),
+      expect.objectContaining({ activeData: expect.objectContaining({ isPlaying: false, messages: [] }) }),
+    ]);
+    expect(provider.getMessages).toHaveBeenCalled();
+
+    player.close();
+    // $FlowFixMe
+    Object.defineProperty(document, "visibilityState", {
+      configurable: true,
+      get: () => "visible",
+    });
+  });
 });
diff --git a/packages/webviz-core/src/players/UserNodePlayer/index.js b/packages/webviz-core/src/players/UserNodePlayer/index.js
index 947f8d383..90877e4ab 100644
--- a/packages/webviz-core/src/players/UserNodePlayer/index.js
+++ b/packages/webviz-core/src/players/UserNodePlayer/index.js
@@ -13,7 +13,7 @@ import UserNodePlayerWorker from "worker-loader!webviz-core/src/players/UserNode
 // $FlowFixMe - flow does not like workers.
 import NodeDataWorker from "worker-loader!webviz-core/src/players/UserNodePlayer/nodeTransformerWorker"; // eslint-disable-line
 
-import { type SetNodeDiagnostics } from "webviz-core/src/actions/nodeDiagnostics";
+import type { SetUserNodeDiagnostics, AddUserNodeLogs, SetUserNodeTrust } from "webviz-core/src/actions/userNodes";
 import type {
   AdvertisePayload,
   Message,
@@ -24,11 +24,29 @@ import type {
   PlayerStateActiveData,
   Topic,
 } from "webviz-core/src/players/types";
-import { DiagnosticSeverity, type NodeData, type NodeRegistration } from "webviz-core/src/players/UserNodePlayer/types";
+import { isUserNodeTrusted } from "webviz-core/src/players/UserNodePlayer/nodeSecurity";
+import {
+  DiagnosticSeverity,
+  type NodeData,
+  type NodeRegistration,
+  type Diagnostic,
+  type ProcessMessageOutput,
+  type RegistrationOutput,
+  Sources,
+  ErrorCodes,
+} from "webviz-core/src/players/UserNodePlayer/types";
+import type { UserNodeLog } from "webviz-core/src/players/UserNodePlayer/types";
 import type { UserNodes } from "webviz-core/src/types/panels";
+import type { RosDatatypes } from "webviz-core/src/types/RosDatatypes";
 import Rpc from "webviz-core/src/util/Rpc";
 import signal from "webviz-core/src/util/signal";
 
+type UserNodeActions = {
+  setUserNodeDiagnostics: SetUserNodeDiagnostics,
+  addUserNodeLogs: AddUserNodeLogs,
+  setUserNodeTrust: SetUserNodeTrust,
+};
+
 // TODO: FUTURE - Performance tests
 // TODO: FUTURE - Consider how to incorporate with existing hardcoded nodes (esp re: stories/testing)
 // 1 - Do we convert them all over to the new node format / Typescript? What about imported libraries?
@@ -43,21 +61,38 @@ export default class UserNodePlayer implements Player {
   // Not sure if there is perf issue with unused workers (may just go idle) - requires more research
   _unusedNodeRuntimeWorkers: Rpc[] = [];
   _lastPlayerStateActiveData: ?PlayerStateActiveData;
-  _setUserNodeState: SetNodeDiagnostics;
+  _setUserNodeDiagnostics: (nodeId: string, diagnostics: Diagnostic[]) => void;
+  _addUserNodeLogs: (nodeId: string, logs: UserNodeLog[]) => void;
+  _setNodeTrust: (nodeId: string, trusted: boolean) => void;
   _nodeTransformWorker: Rpc = new Rpc(new NodeDataWorker());
+  _userDatatypes: RosDatatypes = {};
 
-  constructor(player: Player, setNodeDiagnostics: SetNodeDiagnostics) {
+  constructor(player: Player, userNodeActions: UserNodeActions) {
     this._player = player;
-    this._setUserNodeState = setNodeDiagnostics;
+    const { setUserNodeDiagnostics, addUserNodeLogs, setUserNodeTrust } = userNodeActions;
+
+    // TODO(troy): can we make the below action flow better? Might be better to
+    // just add an id, and the thing you want to update? Instead of passing in
+    // objects?
+    this._setUserNodeDiagnostics = (nodeId: string, diagnostics: Diagnostic[]) => {
+      setUserNodeDiagnostics({ [nodeId]: { diagnostics } });
+    };
+    this._addUserNodeLogs = (nodeId: string, logs: UserNodeLog[]) => {
+      addUserNodeLogs({ [nodeId]: { logs } });
+    };
+
+    this._setNodeTrust = (id: string, trusted: boolean) => {
+      setUserNodeTrust({ id, trusted });
+    };
   }
 
   // Called when userNode state is updated.
-  setUserNodes(userNodes: UserNodes) {
+  async setUserNodes(userNodes: UserNodes): Promise<void> {
     this._userNodes = userNodes;
 
     // TOOD: Currently the below causes us to reset workers twice, since we are
     // forcing a 'seek' here.
-    this._resetWorkers().then(() => {
+    return this._resetWorkers().then(() => {
       const currentTime = this._lastPlayerStateActiveData && this._lastPlayerStateActiveData.currentTime;
       const isPlaying = this._lastPlayerStateActiveData && this._lastPlayerStateActiveData.isPlaying;
       if (!currentTime || isPlaying) {
@@ -68,29 +103,67 @@ export default class UserNodePlayer implements Player {
   }
 
   // Defines the inputs/outputs and worker interface of a user node.
-  _getNodeRegistration(nodeData: NodeData): NodeRegistration {
-    const { inputTopics, outputTopic, transpiledCode: nodeCode } = nodeData;
+  _getNodeRegistration(nodeId: string, nodeData: NodeData): NodeRegistration {
+    const { inputTopics, outputTopic, transpiledCode: nodeCode, outputDatatype, datatypes } = nodeData;
+    // Update datatypes for the player state to consume.
+    this._userDatatypes = { ...this._userDatatypes, ...datatypes };
     let rpc;
     const terminateSignal = signal<void>();
     return {
       inputs: inputTopics,
-      output: { name: outputTopic, datatype: "std_msgs/Header" }, // TODO: TYPESCRIPT - extract datatype from Typescript
+      output: { name: outputTopic, datatype: outputDatatype },
       processMessage: async (message: Message) => {
+        // Register the node within a web worker to be executed.
         if (!rpc) {
           rpc = this._unusedNodeRuntimeWorkers.pop() || new Rpc(new UserNodePlayerWorker());
-          await rpc.send("registerNode", { nodeCode });
+          const { error, userNodeDiagnostics, userNodeLogs } = await rpc.send<RegistrationOutput>("registerNode", {
+            nodeCode,
+          });
+          if (error) {
+            this._setUserNodeDiagnostics(nodeId, [
+              ...userNodeDiagnostics,
+              {
+                source: Sources.Runtime,
+                severity: DiagnosticSeverity.Error,
+                message: error,
+                code: ErrorCodes.RUNTIME,
+              },
+            ]);
+            return;
+          }
+          this._addUserNodeLogs(nodeId, userNodeLogs);
+        }
+
+        const result = await Promise.race([
+          rpc.send<ProcessMessageOutput>("processMessage", { message }),
+          terminateSignal,
+        ]);
+
+        if (result && result.error) {
+          this._setUserNodeDiagnostics(nodeId, [
+            {
+              source: Sources.Runtime,
+              severity: DiagnosticSeverity.Error,
+              message: result.error,
+              code: ErrorCodes.RUNTIME,
+            },
+          ]);
+          return;
+        }
+
+        if (result) {
+          this._addUserNodeLogs(nodeId, result.userNodeLogs);
         }
 
         // TODO: FUTURE - surface runtime errors / infinite loop errors
-        const newMessage: ?Message = await Promise.race([rpc.send("processMessage", { message }), terminateSignal]);
-        if (!newMessage) {
+        if (!result || !result.message) {
           return;
         }
         return {
           topic: outputTopic,
-          datatype: "std_msgs/Header", // TODO: TYPESCRIPT - extract datatype from Typescript
+          datatype: nodeData.outputDatatype,
           op: "message",
-          message: newMessage,
+          message: result.message,
           receiveTime: message.receiveTime,
         };
       },
@@ -98,7 +171,6 @@ export default class UserNodePlayer implements Player {
         terminateSignal.resolve();
         if (rpc) {
           this._unusedNodeRuntimeWorkers.push(rpc);
-          rpc = undefined;
         }
       },
     };
@@ -117,22 +189,29 @@ export default class UserNodePlayer implements Player {
     }
 
     const nodeRegistrations: NodeRegistration[] = [];
-    for (const [nodeName, code] of Object.entries(this._userNodes)) {
-      const sourceCode = ((code: any): string);
-      const { topics = [], datatypes = {} } = this._lastPlayerStateActiveData || {};
+    for (const [nodeId, nodeObj] of Object.entries(this._userNodes)) {
+      const node = ((nodeObj: any): { name: string, sourceCode: string });
+      if (!isUserNodeTrusted({ id: nodeId, sourceCode: node.sourceCode })) {
+        this._setNodeTrust(nodeId, false);
+        continue;
+      } else {
+        this._setNodeTrust(nodeId, true);
+      }
+
+      const { topics = [], datatypes: playerDatatypes = {} } = this._lastPlayerStateActiveData || {};
       const nodeData = await this._nodeTransformWorker.send("transform", {
-        name: nodeName,
-        sourceCode,
-        playerInfo: { topics, datatypes },
-        priorRegistrations: nodeRegistrations,
+        name: node.name,
+        sourceCode: node.sourceCode,
+        playerInfo: { topics, playerDatatypes },
+        priorRegisteredTopics: nodeRegistrations.map(({ output }) => output),
       });
       const { diagnostics } = nodeData;
 
-      this._setUserNodeState({ [nodeName]: { diagnostics } });
+      this._setUserNodeDiagnostics(nodeId, diagnostics);
       if (diagnostics.some(({ severity }) => severity === DiagnosticSeverity.Error)) {
         continue;
       }
-      nodeRegistrations.push(this._getNodeRegistration(nodeData));
+      nodeRegistrations.push(this._getNodeRegistration(nodeId, nodeData));
     }
 
     this._nodeRegistrations = nodeRegistrations;
@@ -182,6 +261,10 @@ export default class UserNodePlayer implements Player {
             ...playerState.activeData,
             messages: [...messages, ...nodeMessages].sort((a, b) => TimeUtil.compare(a.receiveTime, b.receiveTime)),
             topics: this._getTopics(topics, this._nodeRegistrations),
+            datatypes: {
+              ...this._userDatatypes,
+              ...(playerState.activeData ? playerState.activeData.datatypes : {}),
+            },
           },
         };
 
diff --git a/packages/webviz-core/src/players/UserNodePlayer/index.test.js b/packages/webviz-core/src/players/UserNodePlayer/index.test.js
index 5c241088a..92afd4cf3 100644
--- a/packages/webviz-core/src/players/UserNodePlayer/index.test.js
+++ b/packages/webviz-core/src/players/UserNodePlayer/index.test.js
@@ -6,20 +6,46 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import { setNodeDiagnostics } from "webviz-core/src/actions/nodeDiagnostics";
+import { isPlainObject } from "lodash";
+
+import { type SetUserNodeTrust } from "webviz-core/src/actions/userNodes";
 import FakePlayer from "webviz-core/src/components/MessagePipeline/FakePlayer";
+import NodePlayer from "webviz-core/src/players/NodePlayer";
 import UserNodePlayer from "webviz-core/src/players/UserNodePlayer";
 import { registerNode, processMessage } from "webviz-core/src/players/UserNodePlayer/nodeRuntimeWorker/registry";
+import { trustUserNode } from "webviz-core/src/players/UserNodePlayer/nodeSecurity";
 import transform from "webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/transformer";
+import { Sources, DiagnosticSeverity, ErrorCodes } from "webviz-core/src/players/UserNodePlayer/types";
 import { DEFAULT_WEBVIZ_NODE_PREFIX } from "webviz-core/src/util/globalConstants";
 import Rpc from "webviz-core/src/util/Rpc";
 import signal from "webviz-core/src/util/signal";
 
+const nodeId = "nodeId";
+
+const hardcodedNode = {
+  inputs: ["/input/foo", "/input/bar"],
+  output: { name: "/webviz/test", datatype: "test" },
+  datatypes: { test: [{ type: "string", name: "foo" }] },
+  defaultState: {},
+  callback: ({ message, state }) => ({
+    messages: [
+      {
+        op: "message",
+        topic: "/webviz/test",
+        datatype: "test",
+        receiveTime: message.receiveTime,
+        message: message.message,
+      },
+    ],
+    state,
+  }),
+};
+
 const nodeUserCode = `
   export const inputs = ["/np_input"];
   export const output = "${DEFAULT_WEBVIZ_NODE_PREFIX}1";
   let lastStamp, lastReceiveTime;
-  export default (message) => {
+  export default (message: { message: { payload: string } }): { custom_np_field: string, value: string } => {
     return { custom_np_field: "abc", value: message.message.payload };
   };
 `;
@@ -31,29 +57,48 @@ jest.mock("webviz-core/src/util/Rpc", () =>
   }))
 );
 
+const validateWorkerArgs = (arg: any) => {
+  expect(arg).not.toBeInstanceOf(Function);
+
+  if (isPlainObject(arg)) {
+    Object.values(arg).forEach((val) => {
+      validateWorkerArgs(val);
+    });
+  } else if (Array.isArray(arg)) {
+    arg.forEach(validateWorkerArgs);
+  }
+};
+
+const defaultUserNodeActions = {
+  setUserNodeDiagnostics: jest.fn(),
+  addUserNodeLogs: jest.fn(),
+  setUserNodeTrust: jest.fn(),
+};
+
 describe("UserNodePlayer", () => {
   beforeEach(() => {
+    window.localStorage.clear();
     // Simply wires the RpcProvider interface into the user node registry.
     // $FlowFixMe - mocks are hard with flow
     Rpc.mockImplementation(() => ({
       send: (rpc, args) => {
-        if (rpc === "registerNode") {
-          return registerNode(args);
-        }
-        if (rpc === "processMessage") {
-          return processMessage(args);
-        }
-        if (rpc === "transform") {
-          return transform(args);
-        }
+        validateWorkerArgs(args);
+        const rpcFuncMap = { registerNode, processMessage, transform };
+        const result = rpcFuncMap[rpc](args);
+        validateWorkerArgs(result);
+        return result;
       },
     }));
   });
 
+  afterAll(() => {
+    window.localStorage.clear();
+  });
+
   describe("default player behavior", () => {
     it("subscribes to underlying topics when node topics are subscribed", () => {
       const fakePlayer = new FakePlayer();
-      const userNodePlayer = new UserNodePlayer(fakePlayer, setNodeDiagnostics);
+      const userNodePlayer = new UserNodePlayer(fakePlayer, defaultUserNodeActions);
       userNodePlayer.setListener(async (playerState) => {});
       userNodePlayer.setSubscriptions([{ topic: "/webviz/test" }, { topic: "/input/baz" }]);
       expect(fakePlayer.subscriptions).toEqual([{ topic: "/webviz/test" }, { topic: "/input/baz" }]);
@@ -63,7 +108,7 @@ describe("UserNodePlayer", () => {
       const fakePlayer = new FakePlayer();
       jest.spyOn(fakePlayer, "startPlayback");
       jest.spyOn(fakePlayer, "pausePlayback");
-      const userNodePlayer = new UserNodePlayer(fakePlayer, setNodeDiagnostics);
+      const userNodePlayer = new UserNodePlayer(fakePlayer, defaultUserNodeActions);
       const messages = [];
       userNodePlayer.setListener(async (playerState) => {
         messages.push(playerState);
@@ -81,7 +126,7 @@ describe("UserNodePlayer", () => {
     it("delegates setPlaybackSpeed to underlying player", () => {
       const fakePlayer = new FakePlayer();
       jest.spyOn(fakePlayer, "setPlaybackSpeed");
-      const userNodePlayer = new UserNodePlayer(fakePlayer, setNodeDiagnostics);
+      const userNodePlayer = new UserNodePlayer(fakePlayer, defaultUserNodeActions);
       const messages = [];
       userNodePlayer.setListener(async (playerState) => {
         messages.push(playerState);
@@ -94,7 +139,7 @@ describe("UserNodePlayer", () => {
     it("delegates seekPlayback to underlying player", () => {
       const fakePlayer = new FakePlayer();
       jest.spyOn(fakePlayer, "seekPlayback");
-      const userNodePlayer = new UserNodePlayer(fakePlayer, setNodeDiagnostics);
+      const userNodePlayer = new UserNodePlayer(fakePlayer, defaultUserNodeActions);
       const messages = [];
       userNodePlayer.setListener(async (playerState) => {
         messages.push(playerState);
@@ -108,7 +153,7 @@ describe("UserNodePlayer", () => {
       const fakePlayer = new FakePlayer();
       jest.spyOn(fakePlayer, "setPublishers");
       jest.spyOn(fakePlayer, "publish");
-      const userNodePlayer = new UserNodePlayer(fakePlayer, setNodeDiagnostics);
+      const userNodePlayer = new UserNodePlayer(fakePlayer, defaultUserNodeActions);
       expect(fakePlayer.setPublishers).not.toHaveBeenCalled();
       expect(fakePlayer.publish).not.toHaveBeenCalled();
       const publishers = [{ topic: "/foo", datatype: "foo" }];
@@ -121,6 +166,47 @@ describe("UserNodePlayer", () => {
     });
   });
 
+  describe("behavior with NodePlayer as player", () => {
+    it("subscribes to general topics when subscribed to, without any Webviz nodes", () => {
+      const fakePlayer = new FakePlayer();
+      const nodePlayer = new NodePlayer(fakePlayer);
+      const userNodePlayer = new UserNodePlayer(nodePlayer, defaultUserNodeActions);
+      userNodePlayer.setListener(async (playerState) => {});
+      userNodePlayer.setSubscriptions([{ topic: "/input/foo" }, { topic: "/input/baz" }]);
+      expect(fakePlayer.subscriptions).toEqual([{ topic: "/input/foo" }, { topic: "/input/baz" }]);
+    });
+
+    it("subscribes to Webviz node topic when subscribed to, if it exists as an active Webviz node topic", () => {
+      const fakePlayer = new FakePlayer();
+      jest.spyOn(fakePlayer, "setSubscriptions");
+      const nodePlayer = new NodePlayer(fakePlayer, [hardcodedNode]);
+      const userNodePlayer = new UserNodePlayer(nodePlayer, defaultUserNodeActions);
+      const messages = [];
+      userNodePlayer.setListener(async (playerState) => {
+        messages.push(playerState);
+      });
+      userNodePlayer.setSubscriptions([{ topic: "/webviz/test" }, { topic: "/input/baz" }]);
+      expect(fakePlayer.setSubscriptions.mock.calls).toEqual([
+        [
+          [
+            { topic: "/input/baz" },
+            { requester: { name: "/webviz/test", type: "node" }, topic: "/input/foo" },
+            { requester: { name: "/webviz/test", type: "node" }, topic: "/input/bar" },
+          ],
+        ],
+      ]);
+    });
+
+    it("does not subscribe to Webviz node topic when subscribed to, if it doesn't exist as an active Webviz node", () => {
+      const fakePlayer = new FakePlayer();
+      const nodePlayer = new NodePlayer(fakePlayer);
+      const userNodePlayer = new UserNodePlayer(nodePlayer, defaultUserNodeActions);
+      userNodePlayer.setListener(async (playerState) => {});
+      userNodePlayer.setSubscriptions([{ topic: "/webviz/foo" }, { topic: "/input/baz" }]);
+      expect(fakePlayer.subscriptions).toEqual([{ topic: "/input/baz" }]);
+    });
+  });
+
   describe("user node behavior", () => {
     const basicPlayerState = {
       startTime: { sec: 0, nsec: 0 },
@@ -168,10 +254,14 @@ describe("UserNodePlayer", () => {
 
     it("exposes user node topics when available", async () => {
       const fakePlayer = new FakePlayer();
-      const mockSetUserNodeState = jest.fn();
-      const userNodePlayer = new UserNodePlayer(fakePlayer, mockSetUserNodeState);
+      const mockSetNodeDiagnostics = jest.fn();
+      const userNodePlayer = new UserNodePlayer(fakePlayer, {
+        ...defaultUserNodeActions,
+        setUserNodeDiagnostics: mockSetNodeDiagnostics,
+      });
 
-      userNodePlayer.setUserNodes({ someNodeName: nodeUserCode });
+      trustUserNode({ id: nodeId, sourceCode: nodeUserCode });
+      userNodePlayer.setUserNodes({ nodeId: { name: "someNodeName", sourceCode: nodeUserCode } });
 
       const [done] = setListenerHelper(userNodePlayer);
 
@@ -179,20 +269,20 @@ describe("UserNodePlayer", () => {
         ...basicPlayerState,
         messages: [],
         currentTime: { sec: 0, nsec: 0 },
-        topics: [{ name: "/np_input", datatype: "std_msgs/Header" }],
+        topics: [{ name: "/np_input", datatype: `${DEFAULT_WEBVIZ_NODE_PREFIX}1` }],
         datatypes: { foo: [] },
       });
 
       const { topics, messages } = await done;
 
-      expect(mockSetUserNodeState).toHaveBeenCalledWith({ someNodeName: { diagnostics: [] } });
+      expect(mockSetNodeDiagnostics).toHaveBeenCalledWith({ nodeId: { diagnostics: [] } });
       expect(messages.length).toEqual(0);
-      expect(topics).toEqual(["/np_input", "/custom_node/1"]);
+      expect(topics).toEqual(["/np_input", `${DEFAULT_WEBVIZ_NODE_PREFIX}1`]);
     });
 
     it("subscribes to underlying topics when nodeInfo is added", async () => {
       const fakePlayer = new FakePlayer();
-      const userNodePlayer = new UserNodePlayer(fakePlayer, setNodeDiagnostics);
+      const userNodePlayer = new UserNodePlayer(fakePlayer, defaultUserNodeActions);
 
       const [done] = setListenerHelper(userNodePlayer);
 
@@ -205,14 +295,14 @@ describe("UserNodePlayer", () => {
       });
 
       const { topics } = await done;
-      userNodePlayer.setUserNodes({ someNodeName: nodeUserCode });
+      userNodePlayer.setUserNodes({ nodeId: { name: "someNodeName", sourceCode: nodeUserCode } });
       userNodePlayer.setSubscriptions(topics.map((topic) => ({ topic })));
       expect(fakePlayer.subscriptions).toEqual([{ topic: "/np_input" }]);
     });
 
     it("does not produce messages from UserNodes if not subscribed to", async () => {
       const fakePlayer = new FakePlayer();
-      const userNodePlayer = new UserNodePlayer(fakePlayer, setNodeDiagnostics);
+      const userNodePlayer = new UserNodePlayer(fakePlayer, defaultUserNodeActions);
 
       const [done] = setListenerHelper(userNodePlayer);
 
@@ -223,18 +313,19 @@ describe("UserNodePlayer", () => {
         topics: [{ name: "/np_input", datatype: "std_msgs/Header" }],
         datatypes: { foo: [] },
       });
+      trustUserNode({ id: nodeId, sourceCode: nodeUserCode });
       userNodePlayer.setUserNodes({
-        ["/custom_node/1"]: nodeUserCode,
+        [nodeId]: { name: `${DEFAULT_WEBVIZ_NODE_PREFIX}1`, sourceCode: nodeUserCode },
       });
 
       const { messages, topics } = await done;
-      expect(topics).toEqual(["/np_input", "/custom_node/1"]);
+      expect(topics).toEqual(["/np_input", `${DEFAULT_WEBVIZ_NODE_PREFIX}1`]);
       expect(messages).toEqual([upstreamMessages[0]]);
     });
 
     it("produces messages from user input node code with messages produced from underlying player", async () => {
       const fakePlayer = new FakePlayer();
-      const userNodePlayer = new UserNodePlayer(fakePlayer, setNodeDiagnostics);
+      const userNodePlayer = new UserNodePlayer(fakePlayer, defaultUserNodeActions);
 
       const [done] = setListenerHelper(userNodePlayer);
 
@@ -247,9 +338,10 @@ describe("UserNodePlayer", () => {
       });
 
       // TODO: test here to make sure the user node does not produce messages if not subscribed to.
-      userNodePlayer.setSubscriptions([{ topic: "/custom_node/1" }]);
+      userNodePlayer.setSubscriptions([{ topic: `${DEFAULT_WEBVIZ_NODE_PREFIX}1` }]);
+      trustUserNode({ id: nodeId, sourceCode: nodeUserCode });
       userNodePlayer.setUserNodes({
-        ["/custom_node/1"]: nodeUserCode,
+        [nodeId]: { name: `${DEFAULT_WEBVIZ_NODE_PREFIX}1`, sourceCode: nodeUserCode },
       });
 
       const { messages } = await done;
@@ -257,31 +349,41 @@ describe("UserNodePlayer", () => {
       expect(messages).toEqual([
         upstreamMessages[0],
         {
-          datatype: "std_msgs/Header",
+          datatype: `${DEFAULT_WEBVIZ_NODE_PREFIX}1`,
           op: "message",
           receiveTime: upstreamMessages[0].receiveTime,
           message: { custom_np_field: "abc", value: "bar" },
-          topic: "/custom_node/1",
+          topic: `${DEFAULT_WEBVIZ_NODE_PREFIX}1`,
         },
       ]);
     });
 
     it("should handle multiple user nodes", async () => {
       const fakePlayer = new FakePlayer();
-      const userNodePlayer = new UserNodePlayer(fakePlayer, setNodeDiagnostics);
+      const userNodePlayer = new UserNodePlayer(fakePlayer, defaultUserNodeActions);
 
       const [done] = setListenerHelper(userNodePlayer);
 
       userNodePlayer.setUserNodes({
-        ["/custom_node/1"]: nodeUserCode,
+        [`${DEFAULT_WEBVIZ_NODE_PREFIX}1`]: { name: `${DEFAULT_WEBVIZ_NODE_PREFIX}1`, sourceCode: nodeUserCode },
       });
 
+      trustUserNode({ id: nodeId, sourceCode: nodeUserCode });
+
+      const nodeUserCode2 = nodeUserCode.replace(`${DEFAULT_WEBVIZ_NODE_PREFIX}1`, `${DEFAULT_WEBVIZ_NODE_PREFIX}2`);
+      trustUserNode({ id: `${nodeId}2`, sourceCode: nodeUserCode2 });
       userNodePlayer.setUserNodes({
-        ["/custom_node/1"]: nodeUserCode,
-        ["/custom_node/2"]: nodeUserCode.replace("/custom_node/1", "/custom_node/2"),
+        [nodeId]: { name: `${DEFAULT_WEBVIZ_NODE_PREFIX}1`, sourceCode: nodeUserCode },
+        [`${nodeId}2`]: {
+          name: `${DEFAULT_WEBVIZ_NODE_PREFIX}2`,
+          sourceCode: nodeUserCode2,
+        },
       });
 
-      userNodePlayer.setSubscriptions([{ topic: "/custom_node/1" }, { topic: "/custom_node/2" }]);
+      userNodePlayer.setSubscriptions([
+        { topic: `${DEFAULT_WEBVIZ_NODE_PREFIX}1` },
+        { topic: `${DEFAULT_WEBVIZ_NODE_PREFIX}2` },
+      ]);
 
       fakePlayer.emit({
         ...basicPlayerState,
@@ -297,36 +399,38 @@ describe("UserNodePlayer", () => {
       expect(messages).toEqual([
         upstreamMessages[0],
         {
-          datatype: "std_msgs/Header",
+          datatype: `${DEFAULT_WEBVIZ_NODE_PREFIX}1`,
           op: "message",
           receiveTime: upstreamMessages[0].receiveTime,
           message: { custom_np_field: "abc", value: "bar" },
-          topic: "/custom_node/1",
+          topic: `${DEFAULT_WEBVIZ_NODE_PREFIX}1`,
         },
         {
-          datatype: "std_msgs/Header",
+          datatype: `${DEFAULT_WEBVIZ_NODE_PREFIX}2`,
           op: "message",
           receiveTime: upstreamMessages[0].receiveTime,
           message: { custom_np_field: "abc", value: "bar" },
-          topic: "/custom_node/2",
+          topic: `${DEFAULT_WEBVIZ_NODE_PREFIX}2`,
         },
       ]);
     });
     it("resets user node state on seek", async () => {
-      const code = `
+      const sourceCode = `
         let innerState = 0;
         export const inputs = ["/np_input"];
         export const output = "${DEFAULT_WEBVIZ_NODE_PREFIX}1";
-        export default (message) => {
+        export default (): { innerState: number } => {
           innerState += 1;
           return { innerState };
         };
       `;
 
       const fakePlayer = new FakePlayer();
-      const userNodePlayer = new UserNodePlayer(fakePlayer, setNodeDiagnostics);
+      const userNodePlayer = new UserNodePlayer(fakePlayer, defaultUserNodeActions);
+
+      trustUserNode({ id: nodeId, sourceCode });
       userNodePlayer.setUserNodes({
-        ["/custom_node/1"]: code,
+        [nodeId]: { name: `${DEFAULT_WEBVIZ_NODE_PREFIX}1`, sourceCode },
       });
 
       userNodePlayer.setSubscriptions([{ topic: `${DEFAULT_WEBVIZ_NODE_PREFIX}1` }]);
@@ -358,5 +462,431 @@ describe("UserNodePlayer", () => {
         innerState: 1,
       });
     });
+    it.each([
+      {
+        code: `
+          export const inputs = ["/np_input"];
+          export const output = "${DEFAULT_WEBVIZ_NODE_PREFIX}1";
+          export default (messages: any): { num: number } => {
+            if (messages.message) {
+              throw new Error("error path");
+            }
+            return { num: 42 };
+          };`,
+        error: "Error: error path",
+      },
+      {
+        code: `
+          export const inputs = ["/np_input"];
+          export const output = "${DEFAULT_WEBVIZ_NODE_PREFIX}1";
+          export default (messages: any): { num: number } => {
+            if (messages.message) {
+             const badPropertyAcess = messages.message.message.message;
+            }
+            return { num: 42 };
+          };`,
+        error: "TypeError: Cannot read property 'message' of undefined",
+      },
+      {
+        code: `
+          export const inputs = ["/np_input"];
+          export const output = "${DEFAULT_WEBVIZ_NODE_PREFIX}1";
+          const x: any = {};
+          const y = x.bad.bad;
+          export default (messages: any): { num: number } => {
+            return { num: 42 };
+          };`,
+        error: "TypeError: Cannot read property 'bad' of undefined",
+      },
+      {
+        code: `
+          export const inputs = ["/np_input"];
+          export const output = "${DEFAULT_WEBVIZ_NODE_PREFIX}1";
+          throw "";
+          export default (messages: any): { num: number } => {
+            return { num: 42 };
+          };`,
+        error: "Unknown error encountered registering this node.",
+      },
+      {
+        code: `
+        export const inputs = ["/np_input"];
+        export const output = "${DEFAULT_WEBVIZ_NODE_PREFIX}1";
+        export default (messages: any): { num: number } => {
+          throw ""
+          return { num: 42 };
+        };`,
+        error: "Unknown error encountered running this node.",
+      },
+
+      {
+        code: `
+          export const inputs = ["/np_input"];
+          export const output = "${DEFAULT_WEBVIZ_NODE_PREFIX}1";
+          export default (messages: any): { num: number } => {
+          if (messages.message) {
+            throw new Error("");
+          }
+            return { num: 42 };
+          };`,
+        error: "Error",
+      },
+      {
+        code: `
+        export const inputs = ["/np_input"];
+        export const output = "${DEFAULT_WEBVIZ_NODE_PREFIX}1";
+        if (inputs.length) {
+          throw new Error("");
+        }
+        export default (messages: any): { num: number } => {
+          return { num: 42 };
+        };`,
+        error: "Error",
+      },
+    ])("records runtime errors in the diagnostics handler", async ({ code, error }) => {
+      const fakePlayer = new FakePlayer();
+      const mockSetNodeDiagnostics = jest.fn();
+      const userNodePlayer = new UserNodePlayer(fakePlayer, {
+        ...defaultUserNodeActions,
+        setUserNodeDiagnostics: mockSetNodeDiagnostics,
+      });
+
+      const [done] = setListenerHelper(userNodePlayer);
+
+      fakePlayer.emit({
+        ...basicPlayerState,
+        messages: [upstreamMessages[0]],
+        currentTime: upstreamMessages[0].receiveTime,
+        topics: [{ name: "/np_input", datatype: "std_msgs/Header" }],
+        datatypes: { foo: [] },
+      });
+
+      trustUserNode({ id: nodeId, sourceCode: code });
+      userNodePlayer.setSubscriptions([{ topic: `${DEFAULT_WEBVIZ_NODE_PREFIX}1` }]);
+      userNodePlayer.setUserNodes({ nodeId: { name: "nodeName", sourceCode: code } });
+
+      const { topics, messages } = await done;
+      expect(mockSetNodeDiagnostics).toHaveBeenLastCalledWith({
+        nodeId: {
+          diagnostics: [
+            {
+              source: Sources.Runtime,
+              severity: DiagnosticSeverity.Error,
+              message: error,
+              code: ErrorCodes.RUNTIME,
+            },
+          ],
+        },
+      });
+      // Sanity check to ensure none of the user node messages made it through if there was an error.
+      expect(messages.map(({ topic }) => topic)).not.toContain(`${DEFAULT_WEBVIZ_NODE_PREFIX}1`);
+      expect(topics).toEqual(["/np_input", `${DEFAULT_WEBVIZ_NODE_PREFIX}1`]);
+    });
+
+    describe("user logging", () => {
+      it("records logs in the logs handler", async () => {
+        const code = `
+        import { Time, Message } from "ros";
+        type InputTopicMsg = {header: {stamp: Time}};
+        type Marker = {};
+        type MarkerArray = { markers: Marker[] }
+
+        export const inputs = ["/np_input"];
+        export const output = "${DEFAULT_WEBVIZ_NODE_PREFIX}1";
+        const publisher = (message: Message<InputTopicMsg>): MarkerArray => {
+          log("inside publisher", message.message);
+          return { markers: [] };
+        };
+
+        log(50, "ABC", null, undefined, 5 + 5);
+        log({ "abc": 2, "def": false, });
+        const add = (a: number, b: number): number => a + b;
+        log("SUM: " + add(1, 2));
+
+        export default publisher;
+      `;
+
+        const logs = [
+          [
+            { source: "registerNode", value: 50 },
+            { source: "registerNode", value: "ABC" },
+            { source: "registerNode", value: null },
+            { source: "registerNode", value: undefined },
+            { source: "registerNode", value: 10 },
+            { source: "registerNode", value: { abc: 2, def: false } },
+            { source: "registerNode", value: "SUM: 3" },
+          ],
+          [
+            { source: "processMessage", value: "inside publisher" },
+            { source: "processMessage", value: { payload: "bar" } },
+          ],
+        ];
+
+        const fakePlayer = new FakePlayer();
+        const mockAddNodeLogs = jest.fn();
+        const userNodePlayer = new UserNodePlayer(fakePlayer, {
+          ...defaultUserNodeActions,
+          addUserNodeLogs: mockAddNodeLogs,
+        });
+        const [done] = setListenerHelper(userNodePlayer);
+
+        fakePlayer.emit({
+          ...basicPlayerState,
+          messages: [upstreamMessages[0]],
+          currentTime: upstreamMessages[0].receiveTime,
+          topics: [{ name: "/np_input", datatype: "std_msgs/Header" }],
+          datatypes: { foo: [] },
+        });
+
+        trustUserNode({ id: nodeId, sourceCode: code });
+        userNodePlayer.setSubscriptions([{ topic: `${DEFAULT_WEBVIZ_NODE_PREFIX}1` }]);
+        userNodePlayer.setUserNodes({ [nodeId]: { name: "nodeName", sourceCode: code } });
+
+        const { topics } = await done;
+        expect(mockAddNodeLogs).toHaveBeenCalled();
+        expect(mockAddNodeLogs.mock.calls).toEqual(logs.map((log) => [{ nodeId: { logs: log } }]));
+        expect(topics).toEqual(["/np_input", `${DEFAULT_WEBVIZ_NODE_PREFIX}1`]);
+      });
+
+      it("does not record logs if there is an error", async () => {
+        const code = `
+        import { Time, Message } from "ros";
+        type InputTopicMsg = {header: {stamp: Time}};
+        type Marker = {};
+        type MarkerArray = { markers: Marker[] }
+
+        export const inputs = ["/np_input"];
+        export const output = "${DEFAULT_WEBVIZ_NODE_PREFIX}1";
+        const publisher = (message: Message<InputTopicMsg>): MarkerArray => {
+          log("inside publisher", message.message);
+          return { markers: [] };
+        };
+
+        print("HELLO");
+
+        export default publisher;
+      `;
+
+        const fakePlayer = new FakePlayer();
+        const mockAddNodeLogs = jest.fn();
+        const userNodePlayer = new UserNodePlayer(fakePlayer, {
+          ...defaultUserNodeActions,
+          addUserNodeLogs: mockAddNodeLogs,
+        });
+        const [done] = setListenerHelper(userNodePlayer);
+
+        fakePlayer.emit({
+          ...basicPlayerState,
+          messages: [upstreamMessages[0]],
+          currentTime: upstreamMessages[0].receiveTime,
+          topics: [{ name: "/np_input", datatype: "std_msgs/Header" }],
+          datatypes: { foo: [] },
+        });
+
+        userNodePlayer.setSubscriptions([{ topic: `${DEFAULT_WEBVIZ_NODE_PREFIX}1` }]);
+        userNodePlayer.setUserNodes({ nodeId: { name: "nodeName", sourceCode: code } });
+
+        const { topics } = await done;
+        expect(mockAddNodeLogs.mock.calls).toEqual([]);
+        expect(topics).toEqual(["/np_input"]);
+      });
+    });
+
+    describe("Node Security", () => {
+      beforeEach(() => {
+        global.wasExecuted = false;
+        window.localStorage.clear();
+      });
+
+      afterAll(() => {
+        delete global.wasExecuted;
+        window.localStorage.clear();
+      });
+
+      const attemptToExecute = async (id: string, code: string, mockSetUserNodeTrust: SetUserNodeTrust = jest.fn()) => {
+        const fakePlayer = new FakePlayer();
+        const mockSetNodeDiagnostics = jest.fn();
+        const userNodePlayer = new UserNodePlayer(fakePlayer, {
+          ...defaultUserNodeActions,
+          setUserNodeDiagnostics: mockSetNodeDiagnostics,
+          setUserNodeTrust: mockSetUserNodeTrust,
+        });
+        const [done] = setListenerHelper(userNodePlayer);
+
+        // This will trigger the node to register
+        userNodePlayer.setUserNodes({ [id]: { name: "nodeName", sourceCode: code } });
+        userNodePlayer.setSubscriptions([{ topic: `${DEFAULT_WEBVIZ_NODE_PREFIX}1` }]);
+
+        fakePlayer.emit({
+          ...basicPlayerState,
+          messages: [upstreamMessages[0]],
+          currentTime: upstreamMessages[0].receiveTime,
+          topics: [{ name: "/np_input", datatype: "std_msgs/Header" }],
+          datatypes: { foo: [] },
+        });
+
+        await done;
+      };
+
+      it("does not execute nodes that have not been explicitly approved", async () => {
+        const sourceCode = `
+          // @ts-ignore
+          global.wasExecuted = true;
+          export const inputs = ["/np_input"];
+          export const output = "${DEFAULT_WEBVIZ_NODE_PREFIX}1";
+          export default (message: any): { str: string } => {
+            return { str: '' };
+          };
+        `;
+
+        await attemptToExecute("mock_id", sourceCode);
+        expect(global.wasExecuted).toEqual(false);
+      });
+
+      it("executes nodes that have been explicitly approved", async () => {
+        const id = "mock_id";
+        const sourceCode = `
+          // @ts-ignore
+          global.wasExecuted = true;
+          export const inputs = ["/np_input"];
+          export const output = "${DEFAULT_WEBVIZ_NODE_PREFIX}1";
+          export default (message: any): { str: string } => {
+            return { str: '' };
+          };
+        `;
+
+        trustUserNode({ id, sourceCode });
+        await attemptToExecute(id, sourceCode);
+        expect(global.wasExecuted).toEqual(true);
+      });
+
+      it("flags nodes as a security risk that have not been approved", async () => {
+        const id = "mock_id";
+        const sourceCode = `
+          // @ts-ignore
+          global.wasExecuted = true;
+          export const inputs = ["/np_input"];
+          export const output = "${DEFAULT_WEBVIZ_NODE_PREFIX}1";
+          export default (message: any): { str: string } => {
+            return { str: '' };
+          };
+        `;
+
+        const mockSetUserNodeTrust = jest.fn();
+        await attemptToExecute(id, sourceCode, mockSetUserNodeTrust);
+        expect(global.wasExecuted).toEqual(false);
+        expect(mockSetUserNodeTrust).toHaveBeenCalledWith({ id, trusted: false });
+      });
+
+      it("flags nodes as secure if the user explicitly trusts them", async () => {
+        const id = "mock_id";
+        const sourceCode = `
+          // @ts-ignore
+          global.wasExecuted = true;
+          export const inputs = ["/np_input"];
+          export const output = "${DEFAULT_WEBVIZ_NODE_PREFIX}1";
+          export default (message: any): { str: string } => {
+            return { str: '' };
+          };
+        `;
+
+        const mockSetUserNodeTrust = jest.fn();
+
+        const fakePlayer = new FakePlayer();
+        const mockSetNodeDiagnostics = jest.fn();
+        const userNodePlayer = new UserNodePlayer(fakePlayer, {
+          ...defaultUserNodeActions,
+          setUserNodeDiagnostics: mockSetNodeDiagnostics,
+          setUserNodeTrust: mockSetUserNodeTrust,
+        });
+        const [done, nextDone] = setListenerHelper(userNodePlayer, 2);
+
+        // These actions will trigger the node to register
+        userNodePlayer.setUserNodes({ [id]: { name: "nodeName", sourceCode } });
+        userNodePlayer.setSubscriptions([{ topic: `${DEFAULT_WEBVIZ_NODE_PREFIX}1` }]);
+
+        fakePlayer.emit({
+          ...basicPlayerState,
+          messages: [upstreamMessages[0]],
+          currentTime: upstreamMessages[0].receiveTime,
+          topics: [{ name: "/np_input", datatype: "std_msgs/Header" }],
+          datatypes: { foo: [] },
+        });
+
+        await done;
+
+        expect(global.wasExecuted).toEqual(false);
+        expect(mockSetUserNodeTrust).toHaveBeenLastCalledWith({ id, trusted: false });
+
+        // Simulate user clicking 'trust'
+        trustUserNode({ id, sourceCode });
+        // Trigger workers to reset.
+        await userNodePlayer.setUserNodes({ [id]: { name: "nodeName", sourceCode } });
+
+        fakePlayer.emit({
+          ...basicPlayerState,
+          messages: [upstreamMessages[0]],
+          currentTime: upstreamMessages[0].receiveTime,
+          topics: [{ name: "/np_input", datatype: "std_msgs/Header" }],
+          datatypes: { foo: [] },
+        });
+
+        await nextDone;
+
+        expect(global.wasExecuted).toEqual(true);
+        expect(mockSetUserNodeTrust).toHaveBeenLastCalledWith({ id, trusted: true });
+      });
+    });
+
+    describe("datatypes", () => {
+      it("updates the extracted datatype on a user code change", async () => {
+        const sourceCode = `
+        let innerState = 0;
+        export const inputs = ["/np_input"];
+        export const output = "${DEFAULT_WEBVIZ_NODE_PREFIX}innerState";
+        export default (): { innerState: number } => {
+          innerState += 1;
+          return { innerState };
+        };
+      `;
+
+        const fakePlayer = new FakePlayer();
+        const userNodePlayer = new UserNodePlayer(fakePlayer, defaultUserNodeActions);
+        const firstName = `${DEFAULT_WEBVIZ_NODE_PREFIX}innerState`;
+
+        trustUserNode({ id: nodeId, sourceCode });
+        userNodePlayer.setUserNodes({
+          [nodeId]: { name: firstName, sourceCode },
+        });
+        userNodePlayer.setSubscriptions([{ topic: firstName }]);
+
+        // Update the name of the node.
+        const secondName = `${DEFAULT_WEBVIZ_NODE_PREFIX}state`;
+        const secondSourceCode = sourceCode.replace(/innerState/g, "state");
+
+        trustUserNode({ id: nodeId, sourceCode: secondSourceCode });
+        userNodePlayer.setUserNodes({
+          [nodeId]: {
+            name: secondName,
+            sourceCode: secondSourceCode,
+          },
+        });
+        userNodePlayer.setSubscriptions([{ topic: secondName }]);
+
+        const [done] = setListenerHelper(userNodePlayer);
+
+        fakePlayer.emit({
+          ...basicPlayerState,
+          messages: [upstreamMessages[0]],
+          currentTime: upstreamMessages[0].receiveTime,
+          topics: [{ name: "/np_input", datatype: "std_msgs/Header" }],
+          datatypes: { foo: [] },
+        });
+
+        const { messages } = await done;
+
+        expect(messages[messages.length - 1].datatype).toEqual(`${DEFAULT_WEBVIZ_NODE_PREFIX}state`);
+      });
+    });
   });
 });
diff --git a/packages/webviz-core/src/players/UserNodePlayer/nodeRuntimeWorker/registry.js b/packages/webviz-core/src/players/UserNodePlayer/nodeRuntimeWorker/registry.js
index 1c4de8485..3a72ce27d 100644
--- a/packages/webviz-core/src/players/UserNodePlayer/nodeRuntimeWorker/registry.js
+++ b/packages/webviz-core/src/players/UserNodePlayer/nodeRuntimeWorker/registry.js
@@ -5,7 +5,9 @@
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
-
+import type { ProcessMessageOutput, RegistrationOutput } from "webviz-core/src/players/UserNodePlayer/types";
+// Each node runtime worker runs one node at a time, hence why we have one
+// global declaration of 'nodeCallback'.
 let nodeCallback: (message: {}) => void | {} = () => {};
 
 if (process.env.NODE_ENV === "test") {
@@ -15,15 +17,95 @@ if (process.env.NODE_ENV === "test") {
   });
 }
 
-export const registerNode = ({ nodeCode }: { nodeCode: string }) => {
+export const containsFuncDeclaration = (args: any[]) => {
+  for (const arg of args) {
+    if (typeof arg === "function") {
+      return true;
+    } else if (arg != null && typeof arg === "object") {
+      for (const value of Object.values(arg)) {
+        if (containsFuncDeclaration([value])) {
+          return true;
+        }
+      }
+    }
+  }
+  return false;
+};
+
+export const stringifyFuncsInObject = (arg: any) => {
+  if (typeof arg === "function") {
+    return `${arg}`;
+  } else if (arg != null && typeof arg === "object") {
+    const newArg = { ...arg };
+    for (const [key, value] of Object.entries(arg)) {
+      newArg[key] = stringifyFuncsInObject(value);
+    }
+    return newArg;
+  }
+  return arg;
+};
+
+const getArgsToPrint = (args: any[]) => {
+  return args.map(stringifyFuncsInObject).map((arg) => (typeof arg === "object" ? JSON.stringify(arg) : arg));
+};
+
+export const registerNode = ({ nodeCode }: { nodeCode: string }): RegistrationOutput => {
+  const userNodeLogs = [];
+  const userNodeDiagnostics = [];
+  self.log = function(...args) {
+    // recursively check that args do not contain a function declaration
+    if (containsFuncDeclaration(args)) {
+      const argsToPrint = getArgsToPrint(args);
+      throw new Error(`Cannot invoke log() with a function argument (registerNode) - log(${argsToPrint.join(", ")})`);
+    }
+    userNodeLogs.push(...args.map((value) => ({ source: "registerNode", value })));
+  };
   // TODO: TYPESCRIPT - allow for importing helper functions
   // TODO: Blacklist global methods.
+  try {
+    const nodeExports = {};
 
-  // Using new Function in order to execute user-input text in Node Playground as code
-  // $FlowFixMe
-  nodeCallback = new Function(`const exports = {};\n${nodeCode}\nreturn exports.default`)(); // eslint-disable-line no-new-func
+    // Using new Function in order to execute user-input text in Node Playground as code
+    // $FlowFixMe
+    new Function("exports", nodeCode)(nodeExports); /* eslint-disable-line no-new-func */
+    nodeCallback = nodeExports.default;
+    return {
+      error: null,
+      userNodeLogs,
+      userNodeDiagnostics,
+    };
+  } catch (e) {
+    const error = e.toString();
+    return {
+      error: error.length ? error : `Unknown error encountered registering this node.`,
+      userNodeLogs,
+      userNodeDiagnostics,
+    };
+  }
 };
 
-export const processMessage = ({ message }: { message: {} }) => {
-  return nodeCallback(message);
+export const processMessage = ({ message }: { message: {} }): ProcessMessageOutput => {
+  const userNodeLogs = [];
+  const userNodeDiagnostics = [];
+  self.log = function(...args) {
+    // recursively check that args do not contain a function declaration
+    if (containsFuncDeclaration(args)) {
+      const argsToPrint = getArgsToPrint(args);
+      throw new Error(`Cannot invoke log() with a function argument (processMessage) - log(${argsToPrint.join(", ")})`);
+    }
+    userNodeLogs.push(...args.map((value) => ({ source: "processMessage", value })));
+  };
+  try {
+    const newMessage = nodeCallback(message);
+    return { message: newMessage, error: null, userNodeLogs, userNodeDiagnostics };
+  } catch (e) {
+    // TODO: Be able to map line numbers from errors.
+    const error = e.toString();
+    return {
+      message: null,
+      error: error.length ? error : "Unknown error encountered running this node.",
+      userNodeLogs,
+      userNodeDiagnostics,
+    };
+  }
 };
diff --git a/packages/webviz-core/src/players/UserNodePlayer/nodeRuntimeWorker/registry.test.js b/packages/webviz-core/src/players/UserNodePlayer/nodeRuntimeWorker/registry.test.js
new file mode 100644
index 000000000..a826db753
--- /dev/null
+++ b/packages/webviz-core/src/players/UserNodePlayer/nodeRuntimeWorker/registry.test.js
@@ -0,0 +1,50 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import { containsFuncDeclaration, stringifyFuncsInObject } from "./registry";
+
+const someFunc = (a, b) => a + b;
+const otherArgs = [1, false, "abc"];
+describe("containsFuncDeclaration", () => {
+  it("returns true if a single arg is a function declaration", () => {
+    expect(containsFuncDeclaration([someFunc])).toEqual(true);
+  });
+
+  it("returns true if one of many args is a function declaration", () => {
+    expect(containsFuncDeclaration([...otherArgs, () => {}])).toEqual(true);
+  });
+
+  it("returns true if a single arg contains a nested function declaration", () => {
+    expect(containsFuncDeclaration([{ someKey: someFunc }])).toEqual(true);
+  });
+
+  it("returns true if one of many args contains a nested function declaration", () => {
+    expect(containsFuncDeclaration([...otherArgs, { someKey: someFunc }])).toEqual(true);
+    expect(containsFuncDeclaration([...otherArgs, { someKey: { someNestedKey: someFunc } }])).toEqual(true);
+  });
+});
+
+describe("stringifyFuncsInObject", () => {
+  it("stringifies just the functions in an object", () => {
+    expect(stringifyFuncsInObject({ someKey: someFunc, anotherKey: someFunc })).toEqual({
+      someKey: "(a, b) => a + b",
+      anotherKey: "(a, b) => a + b",
+    });
+    expect(
+      stringifyFuncsInObject({ someKey: someFunc, anotherKey: { nestedKey: someFunc, anotherNestedKey: 5 } })
+    ).toEqual({
+      someKey: "(a, b) => a + b",
+      anotherKey: { nestedKey: "(a, b) => a + b", anotherNestedKey: 5 },
+    });
+    expect(
+      stringifyFuncsInObject({ someKey: true, anotherKey: { nestedKey: null, anotherNestedKey: undefined } })
+    ).toEqual({
+      someKey: true,
+      anotherKey: { nestedKey: null, anotherNestedKey: undefined },
+    });
+  });
+});
diff --git a/packages/webviz-core/src/players/UserNodePlayer/nodeSecurity.js b/packages/webviz-core/src/players/UserNodePlayer/nodeSecurity.js
new file mode 100644
index 000000000..f536486ec
--- /dev/null
+++ b/packages/webviz-core/src/players/UserNodePlayer/nodeSecurity.js
@@ -0,0 +1,38 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import stringHash from "string-hash";
+
+import Storage from "webviz-core/src/util/Storage";
+
+/**
+ * Node Security
+ *
+ * The following methods are used to tool the "trustworthiness" of our user
+ * defined scripts. Please note that the 'trustUserNode' method should only be used
+ * in the event of an explicit user action, which implies that they trust the
+ * script to be run.
+ *
+ * It is important that we both set a unique identifier to
+ * localStorage AND set a hashed instance of the code, as we do not want bad
+ * actors spoofing the id of a layout while shimming in their malicious code.
+ */
+
+type NodeSecInput = { id: string, sourceCode: string };
+
+const storage = new Storage();
+
+// ONLY TO BE USED IN THE EVENT OF EXPLICITY USER CONFIRMATION
+export const trustUserNode = ({ id, sourceCode }: NodeSecInput): void => {
+  storage.set(id, stringHash(sourceCode) /* returns a number between 0 and 4294967295 (inclusive) */);
+};
+
+export const isUserNodeTrusted = ({ id, sourceCode }: NodeSecInput): boolean => {
+  const hash = storage.get(id);
+  return hash === stringHash(sourceCode);
+};
diff --git a/packages/webviz-core/src/players/UserNodePlayer/nodeSecurity.test.js b/packages/webviz-core/src/players/UserNodePlayer/nodeSecurity.test.js
new file mode 100644
index 000000000..7f1725838
--- /dev/null
+++ b/packages/webviz-core/src/players/UserNodePlayer/nodeSecurity.test.js
@@ -0,0 +1,37 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import uuid from "uuid";
+
+import { trustUserNode, isUserNodeTrusted } from "webviz-core/src/players/UserNodePlayer/nodeSecurity";
+
+describe("nodeSecurity", () => {
+  beforeEach(() => {
+    window.localStorage.clear();
+  });
+
+  it("does not trust nodes not in localStorage", () => {
+    expect(isUserNodeTrusted({ id: uuid.v4(), sourceCode: "/* malicious code */" })).toBeFalsy();
+  });
+
+  it("trusts nodes saved to localStorage", () => {
+    const id = uuid.v4();
+    const sourceCode = "/* trust-worthy code */";
+
+    trustUserNode({ id, sourceCode });
+    expect(isUserNodeTrusted({ id, sourceCode })).toBeTruthy();
+  });
+
+  it("does not trust nodes saved to localStorage but with different code", () => {
+    const id = uuid.v4();
+    const sourceCode = "/* trusty code */";
+
+    trustUserNode({ id, sourceCode });
+    expect(isUserNodeTrusted({ id, sourceCode: "/* stubbed in malicious code */" })).toBeFalsy();
+  });
+});
diff --git a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/transformer.js b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/transformer.js
index 42dc8bc42..63f84d2ac 100644
--- a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/transformer.js
+++ b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/transformer.js
@@ -6,6 +6,18 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
+import type { Topic } from "webviz-core/src/players/types";
+import {
+  constructDatatypes,
+  findReturnType,
+  findDefaultExportFunction,
+  DatatypeExtractionError,
+} from "webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/ast";
+import { lib_es6_dts, lib_filename } from "webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/lib";
+import {
+  ros_lib_dts,
+  ros_lib_filename,
+} from "webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/ros";
 import {
   baseCompilerOptions,
   transformDiagnosticToMarkerData,
@@ -16,11 +28,11 @@ import {
   ErrorCodes,
   type NodeData,
   type Diagnostic,
-  type NodeRegistration,
   type PlayerInfo,
   type NodeDataTransformer,
 } from "webviz-core/src/players/UserNodePlayer/types";
 import { DEFAULT_WEBVIZ_NODE_PREFIX } from "webviz-core/src/util/globalConstants";
+import reportError from "webviz-core/src/util/reportError";
 
 // Typescript is required since the `import` syntax breaks VSCode, presumably
 // because VSCode has Typescript built in and our import is conflicting with
@@ -29,9 +41,10 @@ import { DEFAULT_WEBVIZ_NODE_PREFIX } from "webviz-core/src/util/globalConstants
 const ts = require("typescript/lib/typescript");
 
 export const getInputTopics = (nodeData: NodeData): NodeData => {
+  const inputTopicDeclaration = nodeData.sourceCode.match(/^\s*export\s+const\s+inputs\s*=\s*\[[^\]]*\]/gm);
   const inputTopics: $ReadOnlyArray<string> = Array.from(
     // $FlowFixMe - does not like matchAll
-    nodeData.sourceCode.matchAll(/^\s*export\s+const\s+inputs\s*=\s*\[\s*("([^"]+)"|'([^']+)')\s*\]/gm),
+    (inputTopicDeclaration ? inputTopicDeclaration[0] : "").matchAll(/("([^"]+)"|'([^']+)')/g),
     (match) => {
       // Pick either the first matching group or the second, which corresponds
       // to single quotes or double quotes respectively.
@@ -42,7 +55,7 @@ export const getInputTopics = (nodeData: NodeData): NodeData => {
   if (!inputTopics.length) {
     const error: Diagnostic = {
       severity: DiagnosticSeverity.Error,
-      message: 'Must include non-empty inputs array, e.g. "const inputs = ["/some_input_topic"];',
+      message: 'Must include non-empty inputs array, e.g. export const inputs = ["/some_input_topic"];',
       source: Sources.InputTopicsChecker,
       code: ErrorCodes.InputTopicsChecker.NO_INPUTS,
     };
@@ -68,7 +81,7 @@ export const getOutputTopic = (nodeData: NodeData): NodeData => {
   if (!outputTopic) {
     const error = {
       severity: DiagnosticSeverity.Error,
-      message: `Must include an output, e.g. const output = "${DEFAULT_WEBVIZ_NODE_PREFIX}your_output_topic";`,
+      message: `Must include an output, e.g. export const output = "${DEFAULT_WEBVIZ_NODE_PREFIX}your_output_topic";`,
       source: Sources.OutputTopicChecker,
       code: ErrorCodes.OutputTopicChecker.NO_OUTPUTS,
     };
@@ -85,7 +98,7 @@ export const getOutputTopic = (nodeData: NodeData): NodeData => {
   };
 };
 
-export const validateInputTopics = (nodeData: NodeData, playerStateActiveData: ?PlayerInfo): NodeData => {
+export const validateInputTopics = (nodeData: NodeData, playerStateActiveData: ?$ReadOnly<PlayerInfo>): NodeData => {
   const badInputTopic = nodeData.inputTopics.find((topic) => topic.startsWith(DEFAULT_WEBVIZ_NODE_PREFIX));
   if (badInputTopic) {
     const error = {
@@ -123,8 +136,8 @@ export const validateInputTopics = (nodeData: NodeData, playerStateActiveData: ?
 
 export const validateOutputTopic = (
   nodeData: NodeData,
-  playerStateActiveData: ?PlayerInfo,
-  priorRegistrations: $ReadOnlyArray<NodeRegistration>
+  playerStateActiveData: ?$ReadOnly<PlayerInfo>,
+  priorRegisteredTopics: $ReadOnlyArray<Topic>
 ): NodeData => {
   const { outputTopic } = nodeData;
 
@@ -143,7 +156,7 @@ export const validateOutputTopic = (
     };
   }
 
-  if (priorRegistrations.some(({ output }) => output.name === outputTopic)) {
+  if (priorRegisteredTopics.some((topic) => topic.name === outputTopic)) {
     return {
       ...nodeData,
       diagnostics: [
@@ -196,12 +209,15 @@ export const compile = (nodeData: NodeData): NodeData => {
   // Reference:
   // Using the compiler api: https://github.com/microsoft/TypeScript/wiki/Using-the-Compiler-API
   // CompilerHost: https://github.com/microsoft/TypeScript/blob/v3.5.3/lib/typescript.d.ts#L2752
+  // Architectual Overview: https://github.com/Microsoft/TypeScript/wiki/Architectural-Overview#overview-of-the-compilation-process
+
   const host: ts.CompilerHost = {
-    getDefaultLibFileName: () => "lib.d.ts",
+    getDefaultLibFileName: () => lib_filename,
     getCurrentDirectory: () => "",
     getCanonicalFileName: (fileName) => fileName,
     useCaseSensitiveFileNames: () => false,
-    fileExists: (fileName) => fileName === nodeFileName,
+    // TODO: path to ros lib differs for client vs. jest test
+    fileExists: (fileName) => fileName === nodeFileName || fileName.endsWith(`node_modules/${ros_lib_filename}`),
     writeFile: () => {
       throw new Error(
         "The compiler host `writeFile` was called, which does not have any handlers written for it. Please write one now that you have hit it!"
@@ -213,38 +229,85 @@ export const compile = (nodeData: NodeData): NodeData => {
       );
     },
     getSourceFile: (fileName) => {
-      // Typescript makes requests to `lib.d.ts`.
-      return ts.createSourceFile(
-        fileName,
-        fileName === nodeFileName ? sourceCode : "",
-        baseCompilerOptions.target,
-        true
-      );
+      let code = "";
+
+      if (fileName === nodeFileName) {
+        code = sourceCode;
+      } else if (fileName === lib_filename) {
+        code = lib_es6_dts;
+        // TODO: path to ros lib differs for client vs. jest test
+      } else if (fileName.endsWith(`node_modules/${ros_lib_filename}`)) {
+        code = ros_lib_dts;
+      }
+
+      return ts.createSourceFile(fileName, code, baseCompilerOptions.target, true);
     },
   };
 
   const program = ts.createProgram([nodeFileName], options, host);
   const diagnostics = [...program.getSemanticDiagnostics(), ...program.getSyntacticDiagnostics()];
 
-  // For getting the source file node later on for traversing ASTs.
-  // const sourceFile = program.getSourceFile(mainFileName);
   const newDiagnostics = diagnostics.map(transformDiagnosticToMarkerData);
+
   return {
     ...nodeData,
+    program,
     diagnostics: [...nodeData.diagnostics, ...newDiagnostics],
   };
 };
 
+export const extractDatatypes = (nodeData: NodeData): NodeData => {
+  const { program, name } = nodeData;
+  if (!program) {
+    throw new Error("No TypeScript 'program'. There is a problem with the `compile` step.");
+  }
+
+  // Do not attempt to run if there were any compile time errors.
+  if (nodeData.diagnostics.find(({ source }) => source === Sources.Typescript)) {
+    return nodeData;
+  }
+
+  const nodeFileName = `${name}.ts`;
+
+  const source: ts.SourceFile = program.getSourceFile(nodeFileName);
+  const checker = program.getTypeChecker();
+
+  try {
+    const exportNode = findDefaultExportFunction(source, checker);
+    const typeNode = findReturnType(checker, 0, exportNode);
+    const { outputDatatype, datatypes } = constructDatatypes(checker, typeNode, name);
+    return { ...nodeData, datatypes, outputDatatype };
+  } catch (error) {
+    if (error instanceof DatatypeExtractionError) {
+      return { ...nodeData, diagnostics: [...nodeData.diagnostics, error.diagnostic] };
+    }
+    // If we've hit this case, then we should fix it.
+    reportError("Unknown error encountered in Node Playground. Please report to the webviz team.", error, "app");
+    return {
+      ...nodeData,
+      diagnostics: [
+        ...nodeData.diagnostics,
+        {
+          severity: DiagnosticSeverity.Error,
+          message: "Unkown error encountered. This is likely a problem with Node Playground itself.",
+          source: Sources.DatatypeExtraction,
+          code: ErrorCodes.DatatypeExtraction.UNKNOWN_ERROR,
+        },
+      ],
+    };
+  }
+};
+
 /*
 TODO:
   - what happens when the `register` portion of the node pipeline fails to instantiate the code? can we get the stack trace?
 */
 export const compose = (...transformers: NodeDataTransformer[]): NodeDataTransformer => {
-  return (nodeData: NodeData, playerState: ?PlayerInfo, priorRegistrations: $ReadOnlyArray<NodeRegistration>) => {
+  return (nodeData: NodeData, playerState: ?$ReadOnly<PlayerInfo>, priorRegisteredTopics: $ReadOnlyArray<Topic>) => {
     let newNodeData = nodeData;
     // TODO: try/catch here?
     for (const transformer of transformers) {
-      newNodeData = transformer(newNodeData, playerState, priorRegistrations);
+      newNodeData = transformer(newNodeData, playerState, priorRegisteredTopics);
     }
     return newNodeData;
   };
@@ -266,34 +329,39 @@ const transform = ({
   name,
   sourceCode,
   playerInfo,
-  priorRegistrations,
+  priorRegisteredTopics,
 }: {
   name: string,
   sourceCode: string,
-  playerInfo: ?PlayerInfo,
-  priorRegistrations: $ReadOnlyArray<NodeRegistration>,
-}): NodeData => {
+  playerInfo: ?$ReadOnly<PlayerInfo>,
+  priorRegisteredTopics: $ReadOnlyArray<Topic>,
+}): NodeData & { program: ?void } => {
   const transformer = compose(
     getInputTopics,
     getOutputTopic,
     validateInputTopics,
     validateOutputTopic,
     transpile,
-    compile
+    compile,
+    extractDatatypes
   );
 
-  return transformer(
+  const result = transformer(
     {
       name,
       sourceCode,
       transpiledCode: "",
       inputTopics: [],
       outputTopic: "",
+      outputDatatype: "",
       diagnostics: [],
+      datatypes: {},
+      program: undefined,
     },
     playerInfo,
-    priorRegistrations
+    priorRegisteredTopics
   );
+  return { ...result, program: null };
 };
 
 export default transform;
diff --git a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/transformer.test.js b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/transformer.test.js
index f345c5a44..e71e738f7 100644
--- a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/transformer.test.js
+++ b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/transformer.test.js
@@ -12,17 +12,24 @@ import {
   validateInputTopics,
   compile,
   transpile,
+  extractDatatypes,
+  compose,
 } from "webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/transformer";
-import { DiagnosticSeverity, ErrorCodes } from "webviz-core/src/players/UserNodePlayer/types";
+import baseDatatypes from "webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/baseDatatypes";
+import { DiagnosticSeverity, ErrorCodes, Sources, type NodeData } from "webviz-core/src/players/UserNodePlayer/types";
+import type { RosDatatypes } from "webviz-core/src/types/RosDatatypes";
 import { DEFAULT_WEBVIZ_NODE_PREFIX } from "webviz-core/src/util/globalConstants";
 
-const baseNodeData = {
+const baseNodeData: NodeData = {
   name: "main",
   sourceCode: "",
   transpiledCode: "",
   diagnostics: [],
   inputTopics: [],
   outputTopic: "",
+  outputDatatype: "",
+  datatypes: {},
+  program: undefined,
 };
 
 describe("pipeline", () => {
@@ -33,17 +40,30 @@ describe("pipeline", () => {
       ["export const inputs = ['/some_topic'];", ["/some_topic"]],
       ["export const inputs = ['/some_topic'              ];", ["/some_topic"]],
       [`export const inputs = [ "/some_topic" ];`, ["/some_topic"]],
+      ['export const inputs = [ "/rosout", "/tf" ];', ["/rosout", "/tf"]],
+      ['export const inputs = [ "/rosout", "/tf", "/turtle" ];', ["/rosout", "/tf", "/turtle"]],
       [
         `export const otherVar = 'hi Jp';
         export const inputs = [ '/my_topic' ];`,
         ["/my_topic"],
       ],
+      ['export const inputs = [ "/rosout", \n"/tf", \n"/turtle" ];', ["/rosout", "/tf", "/turtle"]],
+      ['export const inputs = [ \n"/rosout", \n"/tf", \n"/turtle" \n];', ["/rosout", "/tf", "/turtle"]],
+      ['export const inputs = [ \n\n"/rosout", \n"/tf", \n"/turtle"\n ];', ["/rosout", "/tf", "/turtle"]],
+      ['export const inputs = \n[ \n"/rosout", \n"/tf", \n"/turtle" \n];', ["/rosout", "/tf", "/turtle"]],
+      ['\nexport const inputs = [ \n"/rosout", \n"/tf", \n"/turtle" \n];', ["/rosout", "/tf", "/turtle"]],
+      [
+        `export const inputs = [];
+         export const output = "${DEFAULT_WEBVIZ_NODE_PREFIX}1";
+         const randomVar = [];`,
+        [],
+      ],
     ])("should get each input topic", (sourceCode, expectedTopics) => {
       expect(getInputTopics({ ...baseNodeData, sourceCode }).inputTopics).toEqual(expectedTopics);
     });
     it.each([
       ["const inputs = '/some_topic'", ErrorCodes.InputTopicsChecker.NO_INPUTS],
-      ["console.log('no inputs here')", ErrorCodes.InputTopicsChecker.NO_INPUTS],
+      ["const x = 'no inputs here'", ErrorCodes.InputTopicsChecker.NO_INPUTS],
       ["", ErrorCodes.InputTopicsChecker.NO_INPUTS],
     ])("returns errors for badly formatted inputs", (sourceCode, errorCategory) => {
       const { diagnostics } = getInputTopics({ ...baseNodeData, sourceCode });
@@ -74,17 +94,10 @@ describe("pipeline", () => {
     it.each([
       {
         outputTopic: `${DEFAULT_WEBVIZ_NODE_PREFIX}my_topic`,
-        priorRegistrations: [
-          {
-            output: { name: `${DEFAULT_WEBVIZ_NODE_PREFIX}my_topic`, datatype: "std_msgs/Header" },
-            inputs: [],
-            processMessage: Promise.resolve(null),
-            terminate: () => {},
-          },
-        ],
-      },
-    ])("errs duplicate declarations", ({ outputTopic, priorRegistrations }) => {
-      const { diagnostics } = validateOutputTopic({ ...baseNodeData, outputTopic }, undefined, priorRegistrations);
+        priorRegisteredTopics: [{ name: `${DEFAULT_WEBVIZ_NODE_PREFIX}my_topic`, datatype: "std_msgs/Header" }],
+      },
+    ])("errs duplicate declarations", ({ outputTopic, priorRegisteredTopics }) => {
+      const { diagnostics } = validateOutputTopic({ ...baseNodeData, outputTopic }, undefined, priorRegisteredTopics);
       expect(diagnostics.length).toEqual(1);
       expect(diagnostics[0].severity).toEqual(DiagnosticSeverity.Error);
       expect(diagnostics[0].code).toEqual(ErrorCodes.OutputTopicChecker.NOT_UNIQUE);
@@ -125,11 +138,106 @@ describe("pipeline", () => {
       const { diagnostics } = compile({ ...baseNodeData, sourceCode });
       expect(diagnostics.length).toEqual(0);
     });
+    it.each([
+      "const x: number = Math.max(1, 2);",
+      "const x: string[] = [ 1, 2, 3 ].map(num => num.toString());",
+      "const x: number = Math.max(...[1, 2, 3]);",
+    ])("can compile globals", (sourceCode) => {
+      const { diagnostics } = compile({ ...baseNodeData, sourceCode });
+      expect(diagnostics.length).toEqual(0);
+    });
+    it.each([
+      "import { Time, Message, SphereMarker } from 'ros';",
+      "import { Time } from 'ros'; const myTime: Time = { sec: 0, nsec: 0 };",
+      `import { Header, Message } from 'ros';
+      type MyCustomMessageType = { header: Header };
+      const myMessage: Message<MyCustomMessageType> = {
+        topic: 'myTopic',
+        datatype: '/my/datatype',
+        op: 'message',
+        receiveTime: { sec: 0, nsec: 0 },
+        message: {
+          header: {
+            frame_id: 'my_frame',
+            stamp: { sec: 0, nsec: 0 }
+          }
+        }
+      };`,
+    ])("can compile type definitions from 'ros'", (sourceCode) => {
+      const { diagnostics } = compile({ ...baseNodeData, sourceCode });
+      expect(diagnostics.length).toEqual(0);
+    });
+    it.each([
+      "import { Time } from 'ros'; const myIncorrectTime: Time = 'abc'",
+      "import { Time } from 'ros'; const myIncompleteTime: Time = { sec: 0 }",
+    ])("throws errors when user code breaks 'ros' type definitions", (sourceCode) => {
+      const { diagnostics } = compile({ ...baseNodeData, sourceCode });
+      expect(diagnostics.length).toEqual(1);
+    });
+
+    describe("log function", () => {
+      it.each([
+        "log(1)",
+        "log(1, 1.5, 'A', false, undefined, null)",
+        "log({ 'a': 'hello' })",
+        "log({ 'a': { 'a': 'hello' } })",
+        "log({ 'a': { 'a': [ 42 ] } })",
+        "log({ 'a': { 'a': [ { 'a': 'hello' } ]} })",
+        "log({ 'a': { 'a': null } })",
+        "log({ 'a': { 'a': undefined } })",
+        "log({ 1: { 'a': undefined } })",
+        "const x: [number, number] = [ 1, 1, ]; log({ 'a': x })",
+        "const y: any = {}; log({ 'a': y })",
+        // TODO: Add back in after updating Typescript to support enums
+        // "enum Enums { Red, Green, Blue }; log({ 'a': Enums })",
+      ])("can compile logs", (sourceCode) => {
+        const { diagnostics } = compile({ ...baseNodeData, sourceCode });
+        expect(diagnostics.length).toEqual(0);
+      });
+      it.each([
+        "log(() => {})",
+        "log({someKey: () => {}})",
+        "log({someKey: {someNestedKey: () => {}}})",
+        "log(1, 1.5, 'A', false, undefined, null, () => {})",
+        "log(1, 1.5, 'A', false, undefined, null, {'someKey': () => {}})",
+        "log(1, 1.5, 'A', false, undefined, null, {'someKey': {'someNestedKey': () => {}}})",
+      ])("throws errors when user uses incorrect arguments with log function", (sourceCode) => {
+        const { diagnostics } = compile({ ...baseNodeData, sourceCode });
+        expect(diagnostics.length).toEqual(1);
+        const { source, severity } = diagnostics[0];
+        expect(source).toEqual(Sources.Typescript);
+        expect(severity).toEqual(DiagnosticSeverity.Error);
+      });
+    });
+
+    it.each([{ sourceCode: 'Promise.resolve("plz do not use");', errorCode: 2585 }])(
+      "catches inappropriate api usage",
+      ({ sourceCode, errorCode }) => {
+        const { diagnostics } = compile({ ...baseNodeData, sourceCode });
+        expect(diagnostics.length).toEqual(1);
+        const { source, message, severity, code } = diagnostics[0];
+        expect(code).toEqual(errorCode);
+        expect(source).toEqual("Typescript");
+        expect(typeof message).toEqual("string");
+        expect(severity).toEqual(DiagnosticSeverity.Error);
+      }
+    );
     it.each([
       { sourceCode: "const x: string = 42;", errorCode: 2322 },
       { sourceCode: "export const x: number = 'hello webviz';", errorCode: 2322 },
       { sourceCode: "import { x } from './y'", errorCode: 2307 },
       { sourceCode: "const x: string = [];", errorCode: 2322 },
+      {
+        sourceCode: `
+          const publisher = (isOk: boolean): { markers: [] } => {
+            if (isOk) {
+              return;
+            }
+            return { markers: [] };
+          };
+        `,
+        errorCode: 2322,
+      },
     ])("catches semantic errors", ({ sourceCode, errorCode }) => {
       const { diagnostics } = compile({ ...baseNodeData, sourceCode });
       expect(diagnostics.length).toEqual(1);
@@ -160,4 +268,740 @@ describe("pipeline", () => {
       expect(diagnostics.length).toEqual(0);
     });
   });
+
+  describe("compile + extractDatatypes", () => {
+    const extract = compose(
+      compile,
+      extractDatatypes
+    );
+
+    it("should not run extractDatatypes if there were any compile time errors", () => {
+      const nodeData = extract(
+        {
+          ...baseNodeData,
+          sourceCode: "const x: string = 41",
+        },
+        undefined,
+        []
+      );
+      expect(nodeData.diagnostics.map(({ source }) => source)).toEqual([Sources.Typescript]);
+    });
+
+    type TestCase = {
+      sourceCode: string,
+      description: string,
+      datatypes?: RosDatatypes,
+      error?: $Values<typeof ErrorCodes.DatatypeExtraction>,
+      outputDatatype?: string,
+      only?: boolean /* Debugging helper */,
+      skip?: boolean /* Debugging helper  */,
+    };
+
+    const numDataType = {
+      [`${baseNodeData.name}`]: [
+        {
+          name: "num",
+          isArray: false,
+          isComplex: false,
+          arrayLength: undefined,
+          type: "float64",
+        },
+      ],
+    };
+
+    const posDatatypes = {
+      [baseNodeData.name]: [
+        {
+          name: "pos",
+          isArray: false,
+          isComplex: true,
+          arrayLength: undefined,
+          type: `${baseNodeData.name}/pos`,
+        },
+      ],
+      [`${baseNodeData.name}/pos`]: [
+        {
+          name: "x",
+          isArray: false,
+          isComplex: false,
+          arrayLength: undefined,
+          type: "float64",
+        },
+        {
+          name: "y",
+          isArray: false,
+          isComplex: false,
+          arrayLength: undefined,
+          type: "float64",
+        },
+      ],
+    };
+
+    const posArrayDatatypes = {
+      [baseNodeData.name]: [
+        {
+          name: "pos",
+          isArray: true,
+          isComplex: true,
+          arrayLength: undefined,
+          type: `${baseNodeData.name}/pos`,
+        },
+      ],
+      [`${baseNodeData.name}/pos`]: [
+        {
+          name: "x",
+          isArray: false,
+          isComplex: false,
+          arrayLength: undefined,
+          type: "float64",
+        },
+        {
+          name: "y",
+          isArray: false,
+          isComplex: false,
+          arrayLength: undefined,
+          type: "float64",
+        },
+      ],
+    };
+
+    const mixedDatatypes = {
+      [baseNodeData.name]: [
+        {
+          name: "details",
+          isArray: false,
+          isComplex: true,
+          arrayLength: undefined,
+          type: `${baseNodeData.name}/details`,
+        },
+      ],
+      [`${baseNodeData.name}/details`]: [
+        {
+          name: "name",
+          isArray: false,
+          isComplex: false,
+          arrayLength: undefined,
+          type: "string",
+        },
+        {
+          name: "count",
+          isArray: false,
+          isComplex: false,
+          arrayLength: undefined,
+          type: "float64",
+        },
+      ],
+    };
+
+    const testCases: TestCase[] = [
+      {
+        description: "Multiple aliases",
+        sourceCode: `
+          interface NestedType { num: number };
+          type Nums = NestedType
+          type ReturnType = Nums;
+          export default (msg: any): ReturnType => {
+           return { num: 1 };
+          };`,
+        datatypes: numDataType,
+      },
+      {
+        description: "Multiple aliases with multiple declarations",
+        sourceCode: `
+          const NestedType = "not a type";
+          interface NestedType { num: number };
+          type Nums = NestedType
+          type ReturnType = Nums;
+          export default (msg: any): ReturnType => {
+           return { num: 1 };
+          };`,
+        datatypes: numDataType,
+      },
+      {
+        description: "Type alias as return type",
+        sourceCode: `
+          interface Nums { num: number };
+          type ReturnType = Nums;
+          export default (msg: any): ReturnType => {
+            return { num: 1 };
+          };`,
+        datatypes: numDataType,
+      },
+
+      {
+        description: "Type reference as return type",
+        sourceCode: `
+          type ReturnType = { num: number }
+          export default (msg: any): ReturnType => {
+            return { num: 1 };
+          };`,
+        datatypes: numDataType,
+      },
+      {
+        description: "Function type declaration assignment",
+        sourceCode: `
+          type MyFunc = (msg: any) => { num: number };
+          const publisher: MyFunc = (msg) => {
+            return { num: 1 };
+          };
+          export default publisher;`,
+        datatypes: numDataType,
+      },
+      {
+        description: "Default export identifier",
+        sourceCode: `
+          const publisher = (msg: any): { num: number } => {
+            return { num: 1 };
+          };
+          export default publisher;`,
+        datatypes: numDataType,
+      },
+      {
+        description: "Multiple exports",
+        sourceCode: `
+          export const inputs = [];
+          export const output = "${DEFAULT_WEBVIZ_NODE_PREFIX}";
+          export default (msg: any): { num: number } => {
+            return { num: 1 };
+          };`,
+        datatypes: numDataType,
+      },
+      {
+        description: "Type literal in default export",
+        sourceCode: `
+          export default (msg: any): { num: number } => {
+            return { num: 1 };
+          };`,
+        datatypes: numDataType,
+      },
+      {
+        description: "Function declaration",
+        sourceCode: `
+          export default function(msg: { str: string }): { num: number } {
+            return { num: 1 };
+          };`,
+        diagnostics: [],
+        datatypes: numDataType,
+      },
+      {
+        description: "Multiple exports with function declaration",
+        sourceCode: `
+          export const inputs = [];
+          export default function(msg: { str: string }): { num: number } {
+            return { num: 1 };
+          };`,
+        datatypes: numDataType,
+      },
+      {
+        description: "Function declaration reference",
+        sourceCode: `
+          function publish(msg: { str: string }): { num: number } {
+            return { num: 1 };
+          };
+          export default publish;`,
+        datatypes: numDataType,
+      },
+
+      {
+        description: "Multiple return type properties",
+        sourceCode: `
+          export default (msg: any): { num: number, str: string } => {
+            return { num: 1, str: 'hello' };
+          };`,
+        datatypes: {
+          [`${baseNodeData.name}`]: [
+            {
+              name: "num",
+              isArray: false,
+              isComplex: false,
+              arrayLength: undefined,
+              type: "float64",
+            },
+            {
+              name: "str",
+              isArray: false,
+              isComplex: false,
+              arrayLength: undefined,
+              type: "string",
+            },
+          ],
+        },
+      },
+      {
+        description: "number type alias",
+        sourceCode: `
+          type Num = number;
+          export default (msg: any): { num: Num } => {
+            return { num: 42 };
+          };`,
+        datatypes: numDataType,
+      },
+
+      {
+        description: "Nested properties",
+        sourceCode: `
+          export default (msg: any): { pos: { x: number, y: number } } => {
+            return { pos: { x: 1, y: 2 } };
+          };`,
+        datatypes: posDatatypes,
+      },
+      {
+        description: "Deeply nested properties",
+        sourceCode: `
+          type Header = { time: number };
+          export default (msg: any): { pos: { header: Header, x: number, y: number } } => {
+            return { pos: { header: { time: 42 }, x: 1, y: 2 } };
+          };`,
+        datatypes: {
+          [baseNodeData.name]: [
+            {
+              name: "pos",
+              isArray: false,
+              isComplex: true,
+              arrayLength: undefined,
+              type: `${baseNodeData.name}/pos`,
+            },
+          ],
+          [`${baseNodeData.name}/pos`]: [
+            {
+              name: "header",
+              isArray: false,
+              isComplex: true,
+              arrayLength: undefined,
+              type: `${baseNodeData.name}/pos/header`,
+            },
+            {
+              name: "x",
+              isArray: false,
+              isComplex: false,
+              arrayLength: undefined,
+              type: "float64",
+            },
+            {
+              name: "y",
+              isArray: false,
+              isComplex: false,
+              arrayLength: undefined,
+              type: "float64",
+            },
+          ],
+          [`${baseNodeData.name}/pos/header`]: [
+            {
+              name: "time",
+              isArray: false,
+              isComplex: false,
+              arrayLength: undefined,
+              type: "float64",
+            },
+          ],
+        },
+      },
+      {
+        description: "Nested properties with type reference",
+        sourceCode: `
+          type Pos = { x: number, y: number };
+          export default (msg: any): { pos: Pos } => {
+            return { pos: { x: 1, y: 2 } };
+          };`,
+        datatypes: posDatatypes,
+      },
+      {
+        description: "Nested properties with multiple nested type references",
+        sourceCode: `
+          type Num = number;
+          type Pos = { x: Num, y: Num };
+          export default (msg: any): { pos: Pos } => {
+            return { pos: { x: 1, y: 2 } };
+          };`,
+        datatypes: posDatatypes,
+      },
+      {
+        description: "Nested properties with interface reference",
+        sourceCode: `
+          interface Pos { x: number, y: number };
+          export default (msg: any): { pos: Pos } => {
+            return { pos: { x: 1, y: 2 } };
+          };`,
+        datatypes: posDatatypes,
+      },
+      {
+        description: "Array literal",
+        sourceCode: `
+          export default (msg: any): { pos: number[] } => {
+            return { pos: [ 1, 2, 3 ] };
+          };`,
+        datatypes: {
+          [baseNodeData.name]: [
+            {
+              name: "pos",
+              isArray: true,
+              isComplex: true,
+              arrayLength: undefined,
+              type: "float64",
+            },
+          ],
+        },
+      },
+      {
+        description: "Array literal type reference",
+        sourceCode: `
+          type Pos = { x: number, y: number };
+          export default (msg: any): { pos: Pos[] } => {
+            return { pos: [{ x: 1, y: 2 }] };
+          };`,
+        datatypes: posArrayDatatypes,
+      },
+      {
+        description: "Generics - interface",
+        sourceCode: `
+          interface Pos<T> { x: T, y: T };
+          export default (msg: any): { pos: Pos<number> } => {
+            return { pos: { x: 1, y: 2 } };
+          };`,
+        datatypes: posDatatypes,
+      },
+      {
+        description: "Generics - type declaration",
+        sourceCode: `
+          type Details<N, C> = { name: N, count: C };
+          export default (msg: any): { details: Details<string, number> } => {
+            return { details: { name: 'webviz', count: 1 } };
+          };`,
+        datatypes: mixedDatatypes,
+      },
+      {
+        description: "Generics - type declaration with defaults",
+        sourceCode: `
+          type Details<N, C = number> = { name: N, count: C };
+          export default (msg: any): { details: Details<string> } => {
+            return { details: { name: 'webviz', count: 1 } };
+          };`,
+        datatypes: mixedDatatypes,
+      },
+      {
+        description: "Generics - type declaration",
+        sourceCode: `
+          type Pos<T> = { x: T, y: T };
+          export default (msg: any): { pos: Pos<number> } => {
+            return { pos: { x: 1, y: 2 } };
+          };`,
+        datatypes: posDatatypes,
+      },
+      {
+        description: "Nested generics",
+        sourceCode: `
+          type PointType<P> = P;
+          type Pos<T> = { x: PointType<T>, y: number };
+          export default (msg: any): { pos: Pos<number> } => {
+            return { pos: { x: 1, y: 1 } };
+          };`,
+        datatypes: posDatatypes,
+      },
+
+      // MARKERS ARRAYS
+      {
+        description: "Should return marker array if the top level message returns 'markers'",
+        sourceCode: `
+          import { LineStripMarker, Message } from "ros";
+
+          type MarkerArray = {
+            markers: LineStripMarker[]
+          }
+
+          export const inputs = [];
+          export const output = "${DEFAULT_WEBVIZ_NODE_PREFIX}";
+
+          const publisher = (message: any): MarkerArray => {
+            return { markers: [] };
+          };
+
+          export default publisher;`,
+        datatypes: baseDatatypes,
+        outputDatatype: "visualization_msgs/MarkerArray",
+      },
+
+      /*
+        ERRORS
+      */
+      {
+        description: "Should not allow multiple properties in the return type if one is 'markers'",
+        sourceCode: `
+          import { LineStripMarker, Message } from "ros";
+
+          type MarkerArray = {
+            markers: LineStripMarker[],
+            fluff: number
+          }
+
+          export const inputs = [];
+          export const output = "${DEFAULT_WEBVIZ_NODE_PREFIX}";
+
+          const publisher = (message: any): MarkerArray => {
+            return { markers: [], fluff: 42  };
+          };
+
+          export default publisher;`,
+        error: ErrorCodes.DatatypeExtraction.STRICT_MARKERS_RETURN_TYPE,
+      },
+      {
+        description: "No default export",
+        sourceCode: `
+          export const inputs = [];
+          export const output = "/hello";`,
+        error: ErrorCodes.DatatypeExtraction.NO_DEFAULT_EXPORT,
+      },
+      {
+        description: "Exporting a publisher function without a type return",
+        sourceCode: `
+          export default () => {};`,
+        error: ErrorCodes.DatatypeExtraction.BAD_TYPE_RETURN,
+      },
+      {
+        description: "Exporting a publisher function with a return type 'any'",
+        sourceCode: `
+          export default (): any => {};`,
+        error: ErrorCodes.DatatypeExtraction.BAD_TYPE_RETURN,
+      },
+      {
+        description: "Exporting a publisher function with a return type alias of 'any'",
+        sourceCode: `
+          type MyAny = any;
+          export default (msg: any): MyAny => {
+            return 'BAD MSG';
+          };`,
+        error: ErrorCodes.DatatypeExtraction.BAD_TYPE_RETURN,
+      },
+      {
+        description: "Multiple declarations (type, const)",
+        sourceCode: `
+          const MyAny = 'a const';
+          type MyAny = 42;
+
+          export default (msg: any): MyAny => {
+            return 42;
+          };`,
+        error: ErrorCodes.DatatypeExtraction.BAD_TYPE_RETURN,
+      },
+
+      {
+        description: "Exporting a publisher function with a return type alias of 'any'",
+        sourceCode: `
+          type MyMyAny = any;
+          type MyAny = MyMyAny;
+          export default (msg: any): MyAny => {
+            return 'BAD MSG';
+          };`,
+        error: ErrorCodes.DatatypeExtraction.BAD_TYPE_RETURN,
+      },
+      {
+        description: "Exporting a publisher function with a return type 'void'",
+        sourceCode: `
+          export default (): void => {};`,
+        error: ErrorCodes.DatatypeExtraction.BAD_TYPE_RETURN,
+      },
+      {
+        description: "Exporting a type reference as default export",
+        sourceCode: `
+          type orange = { [name: string]: number };
+          export default orange;`,
+        error: ErrorCodes.DatatypeExtraction.NON_FUNC_DEFAULT_EXPORT,
+      },
+      {
+        description: "Export an object as default export.",
+        sourceCode: `
+          export default {};`,
+        error: ErrorCodes.DatatypeExtraction.NON_FUNC_DEFAULT_EXPORT,
+      },
+      {
+        description: "Export a number as default export.",
+        sourceCode: `
+          export default 42;`,
+        error: ErrorCodes.DatatypeExtraction.NON_FUNC_DEFAULT_EXPORT,
+      },
+      {
+        description: "Export a number reference as default export.",
+        sourceCode: `
+          const num = 42;
+          export default num;`,
+        error: ErrorCodes.DatatypeExtraction.NON_FUNC_DEFAULT_EXPORT,
+      },
+      {
+        description: "Export a string as default export.",
+        sourceCode: `
+          export default 'hello webviz';`,
+        error: ErrorCodes.DatatypeExtraction.NON_FUNC_DEFAULT_EXPORT,
+      },
+      {
+        description: "unions",
+        sourceCode: `
+          export default (msg: any): { num: number | string } => {
+            return { num: 42 };
+          };`,
+        error: ErrorCodes.DatatypeExtraction.NO_UNIONS,
+      },
+      {
+        description: "functions expression",
+        sourceCode: `
+          export default (msg: any): { func: () => void } => {
+            return { func: () => {} };
+          };`,
+        error: ErrorCodes.DatatypeExtraction.NO_FUNCTIONS,
+      },
+
+      {
+        description: "functions expression",
+        sourceCode: `
+          type Func = () => void;
+          export default (msg: any): { func: Func } => {
+            return { func: () => {} };
+          };`,
+        error: ErrorCodes.DatatypeExtraction.NO_FUNCTIONS,
+      },
+
+      {
+        description: "number literals",
+        sourceCode: `
+          export default (msg: any): { num: 42 } => {
+            return { num: 42 };
+          };`,
+        error: ErrorCodes.DatatypeExtraction.NO_TYPE_LITERALS,
+      },
+
+      {
+        description: "string literals",
+        sourceCode: `
+          export default (msg: any): { str: 'type_1' } => {
+            return { str: 'type_1' };
+          };`,
+        error: ErrorCodes.DatatypeExtraction.NO_TYPE_LITERALS,
+      },
+      {
+        description: "Tuples",
+        sourceCode: `
+          export default (msg: any): { pos: [ number, number ] } => {
+            return { pos: [ 1, 2 ] };
+          };`,
+        error: ErrorCodes.DatatypeExtraction.NO_TUPLES,
+      },
+      {
+        description: "Array keyword",
+        sourceCode: `
+          type Pos = { x: number, y: number };
+          export default (msg: any): { pos: Array<Pos> } => {
+            return { pos: [{ x: 1, y: 2 }] };
+          };`,
+        error: ErrorCodes.DatatypeExtraction.PREFER_ARRAY_LITERALS,
+      },
+      {
+        description: "Nested intersection types",
+        sourceCode: `
+          type A = { x: number };
+          type B = { y: number, z: number }
+          export default (msg: any): { pos: A & B } => {
+            return { pos: { x: 1, y: 2, z: 3 } };
+          };`,
+        error: ErrorCodes.DatatypeExtraction.NO_INTERSECTION_TYPES,
+      },
+      {
+        description: "Intersection types",
+        sourceCode: `
+          type A = { x: number };
+          type B = { y: number, z: number }
+          export default (msg: any): A & B => {
+            return { x: 1, y: 2, z: 3 };
+          };`,
+        error: ErrorCodes.DatatypeExtraction.NO_INTERSECTION_TYPES,
+      },
+      {
+        description: "Class types",
+        sourceCode: `
+          class MyClass {};
+          export default (msg: any): MyClass => {
+            return new MyClass();
+          };`,
+        error: ErrorCodes.DatatypeExtraction.NO_CLASSES,
+      },
+      {
+        description: "Nested class types",
+        sourceCode: `
+          class MyClass {};
+          type ReturnType = { myClass: MyClass }
+          export default (msg: any): { myClass: MyClass } => {
+            return { myClass: new MyClass() };
+          };`,
+        error: ErrorCodes.DatatypeExtraction.NO_CLASSES,
+      },
+      {
+        description: "typeof func",
+        sourceCode: `
+          const func = (): number => 42;
+          type MyAny = typeof func;
+
+          export default (msg: any): MyAny => {
+            return () => 1;
+          };`,
+        error: ErrorCodes.DatatypeExtraction.NO_TYPEOF,
+      },
+      {
+        description: "Nested typeof func",
+        sourceCode: `
+          const func = (): number => 42;
+          type MyAny = { func: typeof func };
+
+          export default (msg: any): MyAny => {
+            return { func: () => 1 };
+          };`,
+        error: ErrorCodes.DatatypeExtraction.NO_TYPEOF,
+      },
+      {
+        description: "typeof string literals",
+        sourceCode: `
+          const constant_1 = 'type_1';
+          export default (msg: any): { str: typeof constant_1 } => {
+            return { str: 'type_1' };
+          };`,
+        error: ErrorCodes.DatatypeExtraction.NO_TYPEOF,
+      },
+
+      {
+        description: "typeof number literals",
+        sourceCode: `
+          const constant_1 = 42;
+          export default (msg: any): { num: typeof constant_1 } => {
+            return { num: 42 };
+          };`,
+        error: ErrorCodes.DatatypeExtraction.NO_TYPEOF,
+      },
+      {
+        description: "Imports from 'ros'",
+        sourceCode: `
+          import { Point } from 'ros';
+          export default (msg: any): { point: Point } => {
+            return { point: { x: 1, y: 2, z: 3 } };
+          };`,
+        error: ErrorCodes.DatatypeExtraction.NO_IMPORTS_IN_RETURN_TYPE,
+      },
+    ];
+
+    describe("extracts datatypes from the return type of the publisher", () => {
+      // Run all tests if no only/skip params have been specified.
+      let filteredTestCases = testCases.filter(({ only }) => !!only);
+      if (filteredTestCases.length === 0) {
+        filteredTestCases = testCases;
+      }
+      filteredTestCases = filteredTestCases.filter(({ skip }) => (typeof skip === "boolean" ? !skip : true));
+      filteredTestCases.forEach(({ description, sourceCode, datatypes, error, outputDatatype }) => {
+        it(`${error ? "Expected Error: " : ""}${description}`, () => {
+          const nodeData = extract({ ...baseNodeData, sourceCode }, undefined, []);
+          if (!error) {
+            expect(nodeData.diagnostics).toEqual([]);
+            expect(nodeData.outputDatatype).toEqual(outputDatatype || nodeData.name);
+            expect(nodeData.datatypes).toEqual(datatypes);
+          } else {
+            expect(nodeData.diagnostics.map(({ code }) => code)).toEqual([error]);
+          }
+        });
+      });
+    });
+  });
 });
diff --git a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/ast.js b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/ast.js
new file mode 100644
index 000000000..bc647410b
--- /dev/null
+++ b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/ast.js
@@ -0,0 +1,387 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { without } from "lodash";
+
+import baseDatatypes from "webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/baseDatatypes";
+import {
+  noFuncError,
+  nonFuncError,
+  badTypeReturnError,
+  unionsError,
+  functionError,
+  noTypeLiteralsError,
+  noIntersectionTypesError,
+  preferArrayLiteral,
+  classError,
+  noTypeOfError,
+  noImportsInReturnType,
+  noTuples,
+} from "webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/errors";
+import { DiagnosticSeverity, Sources, ErrorCodes, type Diagnostic } from "webviz-core/src/players/UserNodePlayer/types";
+import type { RosDatatypes, RosMsgField } from "webviz-core/src/types/RosDatatypes";
+
+// Typescript is required since the `import` syntax breaks VSCode, presumably
+// because VSCode has Typescript built in and our import is conflicting with
+// some model of theirs. We could just manually insert the entire TS
+// source code.
+const ts = require("typescript/lib/typescript");
+
+type TypeParam = {
+  parent: TypeParam,
+  current: ts.TypeParameterDeclaration | ts.TypeNode,
+};
+
+type TypeMap = {
+  [string | number]: TypeParam,
+};
+
+// Ensures our recursive AST traversals don't too far down.
+const MAX_DEPTH = 100;
+
+// This class of error is explicitly for users debugging within NodePlayground.
+// In other words, it is the **known** set of errors. Since this error class requires
+// diagnostic information, it will enable users to figure out where their code
+// has broken according to our rules. It should **not** be used in code paths where we cannot
+// provide any helpful debugging information to the user. In the event we come across an unknown
+// error class, just throw a regular error. This error will be reported in the notification tab
+// as a true error, so that users can inform us when things are truly broken.
+export class DatatypeExtractionError extends Error {
+  diagnostic: Diagnostic;
+  constructor(diagnostic: Diagnostic) {
+    super();
+    this.diagnostic = diagnostic;
+  }
+}
+
+export const findChild = (node: ts.Node, kind: ts.SyntaxKind[]): ?ts.Node =>
+  ts.forEachChild(node, (child) => {
+    if (kind.includes(child.kind)) {
+      return child;
+    }
+  });
+
+// Symbols can have multiple declarations associated with them. For instance,
+// `const myType = 'my-type';` and `type myType = string` would map to the same
+// symbol. In those instances, we should ideally search through the declarations
+// on a symbol to explicitly find what we are looking for.
+export const findDeclaration = (symbol: ts.Symbol, kind: ts.SyntaxKind[]): ?ts.Node => {
+  for (const declaration of symbol.declarations) {
+    if (kind.includes(declaration.kind)) {
+      return declaration;
+    }
+  }
+};
+
+// These functions are used to build up mapping for generic types.
+const buildTypeMapFromParams = (typeParameters: ts.TypeParameterDeclaration[] = [], typeMap: TypeMap): TypeMap => {
+  const newTypeParamMap = {};
+  for (let i = 0; i < typeParameters.length; i++) {
+    const currentParam = typeParameters[i];
+    newTypeParamMap[currentParam.name.escapedText] = {
+      current: currentParam,
+      parent: typeMap[i] || { parent: null, current: currentParam.default },
+    };
+  }
+  return newTypeParamMap;
+};
+
+const buildTypeMapFromArgs = (typeArguments: ts.TypeNode[] = [], typeMap: TypeMap): TypeMap => {
+  const newTypeParamMap = {};
+  typeArguments.forEach((typeArg, i) => {
+    const text = typeArg.getText();
+    const parent = typeMap[text] || typeMap[i] || null;
+    const current = typeArg;
+    newTypeParamMap[i] = { current, parent };
+  });
+  return newTypeParamMap;
+};
+
+export const findDefaultExportFunction = (source: ts.SourceFile, checker: ts.TypeChecker): ts.Node => {
+  const defaultExportSymbol = checker.getExportsOfModule(source.symbol).find((node) => node.escapedName === "default");
+  if (!defaultExportSymbol) {
+    throw new DatatypeExtractionError(noFuncError);
+  }
+
+  const functionDeclarationNode = findDeclaration(defaultExportSymbol, [ts.SyntaxKind.FunctionDeclaration]);
+  if (functionDeclarationNode) {
+    return functionDeclarationNode;
+  }
+
+  const exportAssignmentNode = findDeclaration(defaultExportSymbol, [ts.SyntaxKind.ExportAssignment]);
+  const exportedNode = findChild(exportAssignmentNode, [
+    ts.SyntaxKind.FunctionDeclaration,
+    ts.SyntaxKind.FunctionExpression,
+    ts.SyntaxKind.ArrowFunction,
+    ts.SyntaxKind.Identifier,
+  ]);
+
+  if (!exportedNode) {
+    throw new DatatypeExtractionError(nonFuncError);
+  }
+
+  return exportedNode;
+};
+
+export const findReturnType = (
+  checker: ts.TypeChecker,
+  depth: number = 1,
+  node: ts.Node
+): ts.TypeLiteralNode | ts.InterfaceDeclaration => {
+  if (depth > MAX_DEPTH) {
+    throw new Error(`Max AST traversal depth exceeded ${MAX_DEPTH}.`);
+  }
+
+  if (!node) {
+    throw new Error("Node is undefined.");
+  }
+
+  const visitNext = findReturnType.bind(null, checker, depth + 1);
+
+  switch (node.kind) {
+    case ts.SyntaxKind.TypeLiteral:
+    case ts.SyntaxKind.InterfaceDeclaration:
+      return node;
+    case ts.SyntaxKind.ArrowFunction: {
+      const nextNode = findChild(node, [
+        ts.SyntaxKind.TypeReference,
+        ts.SyntaxKind.TypeLiteral,
+        ts.SyntaxKind.IntersectionType, // Unhandled type--let next recursive call handle error.
+      ]);
+      if (nextNode) {
+        return visitNext(nextNode);
+      }
+      throw new DatatypeExtractionError(badTypeReturnError);
+    }
+    case ts.SyntaxKind.Identifier: {
+      const symbol = checker.getSymbolAtLocation(node);
+      if (!symbol.valueDeclaration) {
+        throw new DatatypeExtractionError(nonFuncError);
+      }
+      return visitNext(symbol.valueDeclaration);
+    }
+    case ts.SyntaxKind.VariableDeclaration: {
+      const nextNode = findChild(node, [ts.SyntaxKind.TypeReference, ts.SyntaxKind.ArrowFunction]);
+      if (!nextNode) {
+        throw new DatatypeExtractionError(nonFuncError);
+      }
+      return visitNext(nextNode);
+    }
+    case ts.SyntaxKind.TypeReference: {
+      const symbol = checker.getSymbolAtLocation(node.typeName);
+      const nextNode = findDeclaration(symbol, [
+        ts.SyntaxKind.TypeAliasDeclaration,
+        ts.SyntaxKind.InterfaceDeclaration,
+        ts.SyntaxKind.ClassDeclaration,
+      ]);
+      return visitNext(nextNode);
+    }
+    case ts.SyntaxKind.FunctionDeclaration: {
+      const nextNode = findChild(node, [ts.SyntaxKind.TypeReference, ts.SyntaxKind.TypeLiteral]);
+      return visitNext(nextNode);
+    }
+    case ts.SyntaxKind.FunctionType: {
+      return visitNext(node.type);
+    }
+    case ts.SyntaxKind.TypeAliasDeclaration: {
+      return visitNext(node.type);
+    }
+    case ts.SyntaxKind.TypeQuery:
+      throw new DatatypeExtractionError(noTypeOfError);
+
+    case ts.SyntaxKind.AnyKeyword:
+    case ts.SyntaxKind.LiteralType: {
+      throw new DatatypeExtractionError(badTypeReturnError);
+    }
+    case ts.SyntaxKind.IntersectionType:
+      throw new DatatypeExtractionError(noIntersectionTypesError);
+    case ts.SyntaxKind.ClassDeclaration: {
+      throw new DatatypeExtractionError(classError);
+    }
+    default:
+      throw new Error("Unhandled node kind.");
+  }
+};
+
+export const constructDatatypes = (
+  checker: ts.TypeChecker,
+  node: ts.SyntaxKind.TypeLiteral | ts.SyntaxKind.InterfaceDeclaration,
+  currentDatatype: string,
+  depth: number = 1,
+  currentTypeParamMap: TypeMap = {}
+): { outputDatatype: string, datatypes: RosDatatypes } => {
+  if (++depth > MAX_DEPTH) {
+    throw new Error(`Max AST traversal depth exceeded.`);
+  }
+
+  // Hardcoded 'visualization_msgs/MarkerArray' flow.
+  const memberKeys = node.members.map(({ name }) => name.getText());
+  if (memberKeys.includes("markers")) {
+    if (memberKeys.length > 1) {
+      throw new DatatypeExtractionError({
+        severity: DiagnosticSeverity.Error,
+        message: `For marker return types, they must have only one property 'markers'. Please remove '${without(
+          memberKeys,
+          "markers"
+        ).join(", ")}', or rename 'markers'.`,
+        source: Sources.DatatypeExtraction,
+        code: ErrorCodes.DatatypeExtraction.STRICT_MARKERS_RETURN_TYPE,
+      });
+    }
+
+    return {
+      outputDatatype: "visualization_msgs/MarkerArray",
+      datatypes: baseDatatypes,
+    };
+  }
+
+  let datatypes: RosDatatypes = {};
+
+  const getRosMsgField = (
+    name: string,
+    node: ts.Node,
+    isArray: boolean = false,
+    isComplex: boolean = false,
+    typeMap: TypeMap = {},
+    innerDepth: number = 1
+  ): RosMsgField => {
+    if (innerDepth > MAX_DEPTH) {
+      throw new Error(`Max AST traversal depth exceeded.`);
+    }
+
+    switch (node.kind) {
+      case ts.SyntaxKind.InterfaceDeclaration:
+      case ts.SyntaxKind.TypeLiteral: {
+        const nestedType = `${currentDatatype}/${name}`;
+        const { datatypes: nestedDatatypes } = constructDatatypes(
+          checker,
+          node,
+          nestedType,
+          depth + 1,
+          node.typeParameters ? buildTypeMapFromParams(node.typeParameters, typeMap) : typeMap
+        );
+        datatypes = { ...datatypes, ...nestedDatatypes };
+        return {
+          name,
+          type: nestedType,
+          isArray,
+          isComplex: true,
+          arrayLength: undefined,
+        };
+      }
+
+      case ts.SyntaxKind.ArrayType: {
+        return getRosMsgField(name, node.elementType, true, true, typeMap, innerDepth + 1);
+      }
+
+      case ts.SyntaxKind.NumberKeyword:
+        return {
+          name,
+          type: "float64",
+          isArray,
+          isComplex,
+          arrayLength: undefined,
+        };
+      case ts.SyntaxKind.StringKeyword:
+        return {
+          name,
+          type: "string",
+          isArray,
+          isComplex,
+          arrayLength: undefined,
+        };
+
+      case ts.SyntaxKind.TypeAliasDeclaration: {
+        const newTypeParamMap = buildTypeMapFromParams(node.typeParameters, typeMap);
+        return getRosMsgField(name, node.type, isArray, isComplex, newTypeParamMap, innerDepth + 1);
+      }
+
+      case ts.SyntaxKind.TypeReference: {
+        const nextSymbol = checker.getSymbolAtLocation(node.typeName);
+
+        // There is a troubling discrepancy between how Typescript defines
+        // array literals 'number[]' and arrays of the form 'Array<number>'.
+        // In the latter case, as is handled here, 'Array' actually refers to
+        // the 'lib.d.ts' declaration of 'Array', which puts into a bit of a
+        // rabbit hole in terms of coming up with an appropriate ROS datatype.
+        // One solution could potentially to 'cast' this node as an
+        // ArrayTypeNode and recurse. Opting out of using 'Array' keyword for
+        // now.
+        if (nextSymbol.escapedName === "Array") {
+          throw new DatatypeExtractionError(preferArrayLiteral);
+        }
+
+        const typeParam = findDeclaration(nextSymbol, [ts.SyntaxKind.TypeParameter]);
+        if (typeParam) {
+          if (typeParam.name && typeMap[typeParam.name.escapedText]) {
+            let next = typeMap[typeParam.name.escapedText];
+            while (next.parent) {
+              next = next.parent;
+            }
+            return getRosMsgField(name, next.current, isArray, isComplex, typeMap, innerDepth + 1);
+          }
+          throw new Error(`Could not find type ${typeParam.getText()} in type map.`);
+        }
+
+        const nextNode = findDeclaration(nextSymbol, [
+          ts.SyntaxKind.TypeAliasDeclaration,
+          ts.SyntaxKind.InterfaceDeclaration,
+          ts.SyntaxKind.ImportSpecifier,
+          ts.SyntaxKind.ClassDeclaration,
+        ]);
+
+        return getRosMsgField(
+          name,
+          nextNode,
+          isArray,
+          isComplex,
+          buildTypeMapFromArgs(node.typeArguments, typeMap),
+          innerDepth + 1
+        );
+      }
+      // i.e. 'typeof'
+      case ts.SyntaxKind.TypeQuery: {
+        throw new DatatypeExtractionError(noTypeOfError);
+      }
+
+      case ts.SyntaxKind.ImportSpecifier: {
+        throw new DatatypeExtractionError(noImportsInReturnType);
+      }
+      case ts.SyntaxKind.IntersectionType: {
+        throw new DatatypeExtractionError(noIntersectionTypesError);
+      }
+      case ts.SyntaxKind.TupleType: {
+        throw new DatatypeExtractionError(noTuples);
+      }
+      case ts.SyntaxKind.StringLiteral:
+      case ts.SyntaxKind.NumericLiteral:
+      case ts.SyntaxKind.LiteralType: {
+        throw new DatatypeExtractionError(noTypeLiteralsError);
+      }
+      case ts.SyntaxKind.ClassDeclaration: {
+        throw new DatatypeExtractionError(classError);
+      }
+
+      case ts.SyntaxKind.UnionType: {
+        throw new DatatypeExtractionError(unionsError);
+      }
+      case ts.SyntaxKind.FunctionType:
+        throw new DatatypeExtractionError(functionError);
+
+      default:
+        throw new Error("Unhandled node kind.");
+    }
+  };
+
+  const { members } = node;
+  const rosMsgFields = members.map(({ type, name }) =>
+    getRosMsgField(name.getText(), type, false, false, currentTypeParamMap, depth + 1)
+  );
+
+  return { outputDatatype: currentDatatype, datatypes: { ...datatypes, [currentDatatype]: rosMsgFields } };
+};
diff --git a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/baseDatatypes.js b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/baseDatatypes.js
new file mode 100644
index 000000000..abddd6b65
--- /dev/null
+++ b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/baseDatatypes.js
@@ -0,0 +1,87 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+// TODO: Delete this file once we have a "smart" 3D panel that visualizes messages that look like markers.
+import type { RosDatatypes } from "webviz-core/src/types/RosDatatypes";
+
+const baseDatatypes: RosDatatypes = {
+  "visualization_msgs/MarkerArray": [
+    {
+      isArray: true,
+      isComplex: true,
+      arrayLength: undefined,
+      name: "markers",
+      type: "visualization_msgs/Marker",
+    },
+  ],
+  "visualization_msgs/Marker": [
+    { type: "uint8", name: "ARROW", isConstant: true, value: 0 },
+    { type: "uint8", name: "CUBE", isConstant: true, value: 1 },
+    { type: "uint8", name: "SPHERE", isConstant: true, value: 2 },
+    { type: "uint8", name: "CYLINDER", isConstant: true, value: 3 },
+    { type: "uint8", name: "LINE_STRIP", isConstant: true, value: 4 },
+    { type: "uint8", name: "LINE_LIST", isConstant: true, value: 5 },
+    { type: "uint8", name: "CUBE_LIST", isConstant: true, value: 6 },
+    { type: "uint8", name: "SPHERE_LIST", isConstant: true, value: 7 },
+    { type: "uint8", name: "POINTS", isConstant: true, value: 8 },
+    { type: "uint8", name: "TEXT_VIEW_FACING", isConstant: true, value: 9 },
+    { type: "uint8", name: "MESH_RESOURCE", isConstant: true, value: 10 },
+    { type: "uint8", name: "TRIANGLE_LIST", isConstant: true, value: 11 },
+    { type: "uint8", name: "ADD", isConstant: true, value: 0 },
+    { type: "uint8", name: "MODIFY", isConstant: true, value: 0 },
+    { type: "uint8", name: "DELETE", isConstant: true, value: 2 },
+    { type: "std_msgs/Header", name: "header", isArray: false, isComplex: true },
+    { type: "string", name: "ns", isArray: false, isComplex: false },
+    { type: "int32", name: "id", isArray: false, isComplex: false },
+    { type: "int32", name: "type", isArray: false, isComplex: false },
+    { type: "int32", name: "action", isArray: false, isComplex: false },
+    { type: "geometry_msgs/Pose", name: "pose", isArray: false, isComplex: true },
+    { type: "geometry_msgs/Vector3", name: "scale", isArray: false, isComplex: true },
+    { type: "std_msgs/ColorRGBA", name: "color", isArray: false, isComplex: true },
+    { type: "duration", name: "lifetime", isArray: false, isComplex: false },
+    { type: "bool", name: "frame_locked", isArray: false, isComplex: false },
+    { type: "geometry_msgs/Point", name: "points", isArray: true, arrayLength: undefined, isComplex: true },
+    { type: "std_msgs/ColorRGBA", name: "colors", isArray: true, arrayLength: undefined, isComplex: true },
+    { type: "string", name: "text", isArray: false, isComplex: false },
+    { type: "string", name: "mesh_resource", isArray: false, isComplex: false },
+    { type: "bool", name: "mesh_use_embedded_materials", isArray: false, isComplex: false },
+  ],
+  "std_msgs/ColorRGBA": [
+    { type: "float32", name: "r", isArray: false, isComplex: false },
+    { type: "float32", name: "g", isArray: false, isComplex: false },
+    { type: "float32", name: "b", isArray: false, isComplex: false },
+    { type: "float32", name: "a", isArray: false, isComplex: false },
+  ],
+  "std_msgs/Header": [
+    { type: "uint32", name: "seq", isArray: false, isComplex: false },
+    { type: "time", name: "stamp", isArray: false, isComplex: false },
+    { type: "string", name: "frame_id", isArray: false, isComplex: false },
+  ],
+  "geometry_msgs/Pose": [
+    { type: "geometry_msgs/Point", name: "position", isArray: false, isComplex: true },
+    { type: "geometry_msgs/Quaternion", name: "orientation", isArray: false, isComplex: true },
+  ],
+  "geometry_msgs/Vector3": [
+    { type: "float64", name: "x", isArray: false, isComplex: false },
+    { type: "float64", name: "y", isArray: false, isComplex: false },
+    { type: "float64", name: "z", isArray: false, isComplex: false },
+  ],
+  "geometry_msgs/Point": [
+    { type: "float64", name: "x", isArray: false, isComplex: false },
+    { type: "float64", name: "y", isArray: false, isComplex: false },
+    { type: "float64", name: "z", isArray: false, isComplex: false },
+  ],
+  "geometry_msgs/Quaternion": [
+    { type: "float64", name: "x", isArray: false, isComplex: false },
+    { type: "float64", name: "y", isArray: false, isComplex: false },
+    { type: "float64", name: "z", isArray: false, isComplex: false },
+    { type: "float64", name: "w", isArray: false, isComplex: false },
+  ],
+};
+
+export default baseDatatypes;
diff --git a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/debug.js b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/debug.js
new file mode 100644
index 000000000..ce1a7c783
--- /dev/null
+++ b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/debug.js
@@ -0,0 +1,102 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+/*
+  THIS IS DEAD CODE!!!
+
+  Kept in for utility purposes, e.g. when creating new test cases.
+
+  Other debugging resources:
+
+  - AST Explorer: https://astexplorer.net/
+  - Typescript Architecture: https://github.com/Microsoft/TypeScript/wiki/Architectural-Overview#overview-of-the-compilation-process
+  - Good article on custom AST transformer: https://levelup.gitconnected.com/writing-a-custom-typescript-ast-transformer-731e2b0b66e6
+
+  NOTE: When cross-referencing Typescript source-code, make sure you have checked
+  out the respective version used here.
+*/
+
+// Typescript is required since the `import` syntax breaks VSCode, presumably
+// because VSCode has Typescript built in and our import is conflicting with
+// some model of theirs. We could just manually insert the entire TS
+// source code.
+const ts = require("typescript/lib/typescript");
+
+export const visitEachChild = (node: ?ts.Node, cb: (ts.Node) => void) => {
+  if (!node) {
+    throw new Error("Node not defined.");
+  }
+  ts.forEachChild(node, (n) => {
+    cb(node);
+  });
+};
+
+// Useful for understanding where you are in the AST. e.g. if you are looking at
+// 'function myFunc() { ... }', this will log 'FunctionDeclaration'.
+export const logKind = (node: ?ts.Node, logText?: boolean = false) => {
+  if (!node) {
+    throw new Error("Node not defined.");
+  }
+  console.log(`${ts.SyntaxKind[node.kind]}${logText ? ` - ${node.getText()}` : ""}`);
+};
+
+// Can be used independently of 'logAllChildren' when you have depth.
+export const logFormattedDepth = (node: ts.Node, depth: number, logText?: boolean = false) => {
+  console.log(new Array(depth + 1).join("----"), `${ts.SyntaxKind[node.kind]}${logText ? ` - ${node.getText()}` : ""}`);
+};
+
+// Gives you a prettified view of all the children in the AST with depth
+// formatting. Useful for getting a quick snapshot of the AST you need to parse
+// through.
+export const logAllChildren = (node: ts.Node, depth: number = 0) => {
+  logFormattedDepth(node, depth);
+  depth++;
+  node.getChildren().forEach((c) => logAllChildren(c, depth));
+};
+
+// This is a laundry list of useful properties in a ts.Node. The reason you
+// don't typically want to log the entire node is that there's a lot of cirular
+// references to other nodes and other fluff you likely do not want to see. This
+// utility trims down the fluff. It would be good to break this function down by
+// node at some point though.
+const formatDetails = (node: ts.Node) => ({
+  kind: ts.SyntaxKind[node.kind],
+  pos: node.pos,
+  end: node.end,
+  transformFlags: ts.TransformFlags[node.transformFlags],
+  id: node.id,
+  flags: ts.NodeFlags[node.flags],
+  type: node.type,
+  typeName: node.typeName,
+  literal: node.literal,
+  name: node.name,
+  members: node.members && node.members.map(formatDetails),
+  exprName: node.exprName && formatDetails(node.exprName),
+  constraint: node.constraint,
+  default: node.default,
+  target: node.target,
+  mapper: node.mapper,
+  resolvedDefaultType: node.resolvedDefaultType,
+});
+
+export const logDetails = (node: ?ts.Node) => {
+  if (!node) {
+    throw new Error("Node not defined.");
+  }
+  console.log(formatDetails(node));
+};
+
+// Every node in the AST has associated source text from which it came. E.g.
+// 'StringKeyword' might refer to 'hello webviz'. It can be very useful to see
+// what's what when you're traversing the AST.
+export const logNodeText = (node: ?ts.Node) => {
+  if (!node) {
+    throw new Error("Node not defined.");
+  }
+  console.log(node.getText());
+};
diff --git a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/errors.js b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/errors.js
new file mode 100644
index 000000000..95e4b3cc5
--- /dev/null
+++ b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/errors.js
@@ -0,0 +1,92 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import { DiagnosticSeverity, Sources, ErrorCodes } from "webviz-core/src/players/UserNodePlayer/types";
+
+export const noFuncError = {
+  severity: DiagnosticSeverity.Error,
+  message: "No 'default export' function found.",
+  source: Sources.DatatypeExtraction,
+  code: ErrorCodes.DatatypeExtraction.NO_DEFAULT_EXPORT,
+};
+
+export const nonFuncError = {
+  severity: DiagnosticSeverity.Error,
+  message: "The 'default export' must be assigned to a function.",
+  source: Sources.DatatypeExtraction,
+  code: ErrorCodes.DatatypeExtraction.NON_FUNC_DEFAULT_EXPORT,
+};
+
+export const badTypeReturnError = {
+  severity: DiagnosticSeverity.Error,
+  message: "The 'default export' function must return an object type with at least one property.",
+  source: Sources.DatatypeExtraction,
+  code: ErrorCodes.DatatypeExtraction.BAD_TYPE_RETURN,
+};
+
+export const unionsError = {
+  severity: DiagnosticSeverity.Error,
+  message: "Unions are not allowed as or in return type.",
+  source: Sources.DatatypeExtraction,
+  code: ErrorCodes.DatatypeExtraction.NO_UNIONS,
+};
+
+export const functionError = {
+  severity: DiagnosticSeverity.Error,
+  message: "Functions are not allowed as or in the return type.",
+  source: Sources.DatatypeExtraction,
+  code: ErrorCodes.DatatypeExtraction.NO_FUNCTIONS,
+};
+
+export const noTypeLiteralsError = {
+  severity: DiagnosticSeverity.Error,
+  message: "Type literals are not allowed as or in the return type.",
+  source: Sources.DatatypeExtraction,
+  code: ErrorCodes.DatatypeExtraction.NO_TYPE_LITERALS,
+};
+
+export const noIntersectionTypesError = {
+  severity: DiagnosticSeverity.Error,
+  message: "Type intersections are not allowed as or in the return type.",
+  source: Sources.DatatypeExtraction,
+  code: ErrorCodes.DatatypeExtraction.NO_INTERSECTION_TYPES,
+};
+
+export const preferArrayLiteral = {
+  severity: DiagnosticSeverity.Error,
+  message: "Please use array literal syntax (e.g. 'number[]') instead of the 'Array<number>'.",
+  source: Sources.DatatypeExtraction,
+  code: ErrorCodes.DatatypeExtraction.PREFER_ARRAY_LITERALS,
+};
+
+export const classError = {
+  severity: DiagnosticSeverity.Error,
+  message: "Classes are not allowed as or in the return type.",
+  source: Sources.DatatypeExtraction,
+  code: ErrorCodes.DatatypeExtraction.NO_CLASSES,
+};
+
+export const noTypeOfError = {
+  severity: DiagnosticSeverity.Error,
+  message: "'typeof' cannot be used as or in the return type",
+  source: Sources.DatatypeExtraction,
+  code: ErrorCodes.DatatypeExtraction.NO_TYPEOF,
+};
+
+export const noImportsInReturnType = {
+  severity: DiagnosticSeverity.Error,
+  message: "Node Playground does not currently support imports in the return type.",
+  source: Sources.DatatypeExtraction,
+  code: ErrorCodes.DatatypeExtraction.NO_IMPORTS_IN_RETURN_TYPE,
+};
+
+export const noTuples = {
+  severity: DiagnosticSeverity.Error,
+  message: "Tuples are not allowed as types.",
+  source: Sources.DatatypeExtraction,
+  code: ErrorCodes.DatatypeExtraction.NO_TUPLES,
+};
diff --git a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/lib.js b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/lib.js
new file mode 100644
index 000000000..41c03e31e
--- /dev/null
+++ b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/lib.js
@@ -0,0 +1,42 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+export const lib_filename = "lib.d.ts";
+
+// For users debugging in Node Playground.
+const lib_logger = `
+  declare type BaseTypes<T> = number | string | boolean | void | null | T;
+  declare type LogArgs = { [key: string]: BaseTypes<LogArgs> | BaseTypes<LogArgs>[] };
+  declare var log: (...args: Array<BaseTypes<LogArgs> | BaseTypes<LogArgs>[]>) => void;
+`;
+
+const lib_es2015_symbol_dts =
+  '/*! *****************************************************************************\nCopyright (c) Microsoft Corporation. All rights reserved. \nLicensed under the Apache License, Version 2.0 (the "License"); you may not use\nthis file except in compliance with the License. You may obtain a copy of the\nLicense at http://www.apache.org/licenses/LICENSE-2.0  \n \nTHIS CODE IS PROVIDED ON AN *AS IS* BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY\nKIND, EITHER EXPRESS OR IMPLIED, INCLUDING WITHOUT LIMITATION ANY IMPLIED\nWARRANTIES OR CONDITIONS OF TITLE, FITNESS FOR A PARTICULAR PURPOSE, \nMERCHANTABLITY OR NON-INFRINGEMENT. \n \nSee the Apache Version 2.0 License for specific language governing permissions\nand limitations under the License.\n***************************************************************************** */\n\n\n\n/// <reference no-default-lib="true"/>\n\n\ninterface SymbolConstructor {\n    /**\n     * A reference to the prototype.\n     */\n    readonly prototype: Symbol;\n\n    /**\n     * Returns a new unique Symbol value.\n     * @param  description Description of the new Symbol object.\n     */\n    (description?: string | number): symbol;\n\n    /**\n     * Returns a Symbol object from the global symbol registry matching the given key if found.\n     * Otherwise, returns a new symbol with this key.\n     * @param key key to search for.\n     */\n    for(key: string): symbol;\n\n    /**\n     * Returns a key from the global symbol registry matching the given Symbol if found.\n     * Otherwise, returns a undefined.\n     * @param sym Symbol to find the key for.\n     */\n    keyFor(sym: symbol): string | undefined;\n}\n\ndeclare var Symbol: SymbolConstructor;';
+
+const lib_es2015_symbol_wellknown_dts = `/*! *****************************************************************************\nCopyright (c) Microsoft Corporation. All rights reserved. \nLicensed under the Apache License, Version 2.0 (the "License"); you may not use\nthis file except in compliance with the License. You may obtain a copy of the\nLicense at http://www.apache.org/licenses/LICENSE-2.0  \n \nTHIS CODE IS PROVIDED ON AN *AS IS* BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY\nKIND, EITHER EXPRESS OR IMPLIED, INCLUDING WITHOUT LIMITATION ANY IMPLIED\nWARRANTIES OR CONDITIONS OF TITLE, FITNESS FOR A PARTICULAR PURPOSE, \nMERCHANTABLITY OR NON-INFRINGEMENT. \n \nSee the Apache Version 2.0 License for specific language governing permissions\nand limitations under the License.\n***************************************************************************** */\n\n\n\n/// <reference no-default-lib="true"/>\n\n${lib_es2015_symbol_dts}\ninterface SymbolConstructor {\n    /**\n     * A method that determines if a constructor object recognizes an object as one of the\n     * constructor’s instances. Called by the semantics of the instanceof operator.\n     */\n    readonly hasInstance: symbol;\n\n    /**\n     * A Boolean value that if true indicates that an object should flatten to its array elements\n     * by Array.prototype.concat.\n     */\n    readonly isConcatSpreadable: symbol;\n\n    /**\n     * A regular expression method that matches the regular expression against a string. Called\n     * by the String.prototype.match method.\n     */\n    readonly match: symbol;\n\n    /**\n     * A regular expression method that replaces matched substrings of a string. Called by the\n     * String.prototype.replace method.\n     */\n    readonly replace: symbol;\n\n    /**\n     * A regular expression method that returns the index within a string that matches the\n     * regular expression. Called by the String.prototype.search method.\n     */\n    readonly search: symbol;\n\n    /**\n     * A function valued property that is the constructor function that is used to create\n     * derived objects.\n     */\n    readonly species: symbol;\n\n    /**\n     * A regular expression method that splits a string at the indices that match the regular\n     * expression. Called by the String.prototype.split method.\n     */\n    readonly split: symbol;\n\n    /**\n     * A method that converts an object to a corresponding primitive value.\n     * Called by the ToPrimitive abstract operation.\n     */\n    readonly toPrimitive: symbol;\n\n    /**\n     * A String value that is used in the creation of the default string description of an object.\n     * Called by the built-in method Object.prototype.toString.\n     */\n    readonly toStringTag: symbol;\n\n    /**\n     * An Object whose own property names are property names that are excluded from the 'with'\n     * environment bindings of the associated objects.\n     */\n    readonly unscopables: symbol;\n}\n\ninterface Symbol {\n    readonly [Symbol.toStringTag]: string;\n}\n\ninterface Array<T> {\n    /**\n     * Returns an object whose properties have the value 'true'\n     * when they will be absent when used in a 'with' statement.\n     */\n    [Symbol.unscopables](): {\n        copyWithin: boolean;\n        entries: boolean;\n        fill: boolean;\n        find: boolean;\n        findIndex: boolean;\n        keys: boolean;\n        values: boolean;\n    };\n}\n\ninterface Date {\n    /**\n     * Converts a Date object to a string.\n     */\n    [Symbol.toPrimitive](hint: "default"): string;\n    /**\n     * Converts a Date object to a string.\n     */\n    [Symbol.toPrimitive](hint: "string"): string;\n    /**\n     * Converts a Date object to a number.\n     */\n    [Symbol.toPrimitive](hint: "number"): number;\n    /**\n     * Converts a Date object to a string or number.\n     *\n     * @param hint The strings "number", "string", or "default" to specify what primitive to return.\n     *\n     * @throws {TypeError} If 'hint' was given something other than "number", "string", or "default".\n     * @returns A number if 'hint' was "number", a string if 'hint' was "string" or "default".\n     */\n    [Symbol.toPrimitive](hint: string): string | number;\n}\n\ninterface Map<K, V> {\n    readonly [Symbol.toStringTag]: string;\n}\n\ninterface WeakMap<K extends object, V> {\n    readonly [Symbol.toStringTag]: string;\n}\n\ninterface Set<T> {\n    readonly [Symbol.toStringTag]: string;\n}\n\ninterface WeakSet<T extends object> {\n    readonly [Symbol.toStringTag]: string;\n}\n\ninterface JSON {\n    readonly [Symbol.toStringTag]: string;\n}\n\ninterface Function {\n    /**\n     * Determines whether the given value inherits from this function if this function was used\n     * as a constructor function.\n     *\n     * A constructor function can control which objects are recognized as its instances by\n     * 'instanceof' by overriding this method.\n     */\n    [Symbol.hasInstance](value: any): boolean;\n}\n\ninterface GeneratorFunction {\n    readonly [Symbol.toStringTag]: string;\n}\n\ninterface Math {\n    readonly [Symbol.toStringTag]: string;\n}\n\ninterface Promise<T> {\n    readonly [Symbol.toStringTag]: string;\n}\n\ninterface PromiseConstructor {\n    readonly [Symbol.species]: PromiseConstructor;\n}\n\ninterface RegExp {\n    /**\n     * Matches a string with this regular expression, and returns an array containing the results of\n     * that search.\n     * @param string A string to search within.\n     */\n    [Symbol.match](string: string): RegExpMatchArray | null;\n\n    /**\n     * Replaces text in a string, using this regular expression.\n     * @param string A String object or string literal whose contents matching against\n     *               this regular expression will be replaced\n     * @param replaceValue A String object or string literal containing the text to replace for every\n     *                     successful match of this regular expression.\n     */\n    [Symbol.replace](string: string, replaceValue: string): string;\n\n    /**\n     * Replaces text in a string, using this regular expression.\n     * @param string A String object or string literal whose contents matching against\n     *               this regular expression will be replaced\n     * @param replacer A function that returns the replacement text.\n     */\n    [Symbol.replace](string: string, replacer: (substring: string, ...args: any[]) => string): string;\n\n    /**\n     * Finds the position beginning first substring match in a regular expression search\n     * using this regular expression.\n     *\n     * @param string The string to search within.\n     */\n    [Symbol.search](string: string): number;\n\n    /**\n     * Returns an array of substrings that were delimited by strings in the original input that\n     * match against this regular expression.\n     *\n     * If the regular expression contains capturing parentheses, then each time this\n     * regular expression matches, the results (including any undefined results) of the\n     * capturing parentheses are spliced.\n     *\n     * @param string string value to split\n     * @param limit if not undefined, the output array is truncated so that it contains no more\n     * than 'limit' elements.\n     */\n    [Symbol.split](string: string, limit?: number): string[];\n}\n\ninterface RegExpConstructor {\n    readonly [Symbol.species]: RegExpConstructor;\n}\n\ninterface String {\n    /**\n     * Matches a string an object that supports being matched against, and returns an array containing the results of that search.\n     * @param matcher An object that supports being matched against.\n     */\n    match(matcher: { [Symbol.match](string: string): RegExpMatchArray | null; }): RegExpMatchArray | null;\n\n    /**\n     * Replaces text in a string, using an object that supports replacement within a string.\n     * @param searchValue A object can search for and replace matches within a string.\n     * @param replaceValue A string containing the text to replace for every successful match of searchValue in this string.\n     */\n    replace(searchValue: { [Symbol.replace](string: string, replaceValue: string): string; }, replaceValue: string): string;\n\n    /**\n     * Replaces text in a string, using an object that supports replacement within a string.\n     * @param searchValue A object can search for and replace matches within a string.\n     * @param replacer A function that returns the replacement text.\n     */\n    replace(searchValue: { [Symbol.replace](string: string, replacer: (substring: string, ...args: any[]) => string): string; }, replacer: (substring: string, ...args: any[]) => string): string;\n\n    /**\n     * Finds the first substring match in a regular expression search.\n     * @param searcher An object which supports searching within a string.\n     */\n    search(searcher: { [Symbol.search](string: string): number; }): number;\n\n    /**\n     * Split a string into substrings using the specified separator and return them as an array.\n     * @param splitter An object that can split a string.\n     * @param limit A value used to limit the number of elements returned in the array.\n     */\n    split(splitter: { [Symbol.split](string: string, limit?: number): string[]; }, limit?: number): string[];\n}\n\ninterface ArrayBuffer {\n    readonly [Symbol.toStringTag]: string;\n}\n\ninterface DataView {\n    readonly [Symbol.toStringTag]: string;\n}\n\ninterface Int8Array {\n    readonly [Symbol.toStringTag]: "Int8Array";\n}\n\ninterface Uint8Array {\n    readonly [Symbol.toStringTag]: "UInt8Array";\n}\n\ninterface Uint8ClampedArray {\n    readonly [Symbol.toStringTag]: "Uint8ClampedArray";\n}\n\ninterface Int16Array {\n    readonly [Symbol.toStringTag]: "Int16Array";\n}\n\ninterface Uint16Array {\n    readonly [Symbol.toStringTag]: "Uint16Array";\n}\n\ninterface Int32Array {\n    readonly [Symbol.toStringTag]: "Int32Array";\n}\n\ninterface Uint32Array {\n    readonly [Symbol.toStringTag]: "Uint32Array";\n}\n\ninterface Float32Array {\n    readonly [Symbol.toStringTag]: "Float32Array";\n}\n\ninterface Float64Array {\n    readonly [Symbol.toStringTag]: "Float64Array";\n}\n\ninterface ArrayConstructor {\n    readonly [Symbol.species]: ArrayConstructor;\n}\ninterface MapConstructor {\n    readonly [Symbol.species]: MapConstructor;\n}\ninterface SetConstructor {\n    readonly [Symbol.species]: SetConstructor;\n}\ninterface ArrayBufferConstructor {\n    readonly [Symbol.species]: ArrayBufferConstructor;\n}`;
+
+const lib_es2015_reflect_dts =
+  '/*! *****************************************************************************\nCopyright (c) Microsoft Corporation. All rights reserved. \nLicensed under the Apache License, Version 2.0 (the "License"); you may not use\nthis file except in compliance with the License. You may obtain a copy of the\nLicense at http://www.apache.org/licenses/LICENSE-2.0  \n \nTHIS CODE IS PROVIDED ON AN *AS IS* BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY\nKIND, EITHER EXPRESS OR IMPLIED, INCLUDING WITHOUT LIMITATION ANY IMPLIED\nWARRANTIES OR CONDITIONS OF TITLE, FITNESS FOR A PARTICULAR PURPOSE, \nMERCHANTABLITY OR NON-INFRINGEMENT. \n \nSee the Apache Version 2.0 License for specific language governing permissions\nand limitations under the License.\n***************************************************************************** */\n\n\n\n/// <reference no-default-lib="true"/>\n\n\ndeclare namespace Reflect {\n    function apply(target: Function, thisArgument: any, argumentsList: ArrayLike<any>): any;\n    function construct(target: Function, argumentsList: ArrayLike<any>, newTarget?: any): any;\n    function defineProperty(target: object, propertyKey: PropertyKey, attributes: PropertyDescriptor): boolean;\n    function deleteProperty(target: object, propertyKey: PropertyKey): boolean;\n    function get(target: object, propertyKey: PropertyKey, receiver?: any): any;\n    function getOwnPropertyDescriptor(target: object, propertyKey: PropertyKey): PropertyDescriptor | undefined;\n    function getPrototypeOf(target: object): object;\n    function has(target: object, propertyKey: PropertyKey): boolean;\n    function isExtensible(target: object): boolean;\n    function ownKeys(target: object): PropertyKey[];\n    function preventExtensions(target: object): boolean;\n    function set(target: object, propertyKey: PropertyKey, value: any, receiver?: any): boolean;\n    function setPrototypeOf(target: object, proto: any): boolean;\n}\n';
+
+const lib_es2015_proxy_dts =
+  '/*! *****************************************************************************\nCopyright (c) Microsoft Corporation. All rights reserved. \nLicensed under the Apache License, Version 2.0 (the "License"); you may not use\nthis file except in compliance with the License. You may obtain a copy of the\nLicense at http://www.apache.org/licenses/LICENSE-2.0  \n \nTHIS CODE IS PROVIDED ON AN *AS IS* BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY\nKIND, EITHER EXPRESS OR IMPLIED, INCLUDING WITHOUT LIMITATION ANY IMPLIED\nWARRANTIES OR CONDITIONS OF TITLE, FITNESS FOR A PARTICULAR PURPOSE, \nMERCHANTABLITY OR NON-INFRINGEMENT. \n \nSee the Apache Version 2.0 License for specific language governing permissions\nand limitations under the License.\n***************************************************************************** */\n\n\n\n/// <reference no-default-lib="true"/>\n\n\ninterface ProxyHandler<T extends object> {\n    getPrototypeOf? (target: T): object | null;\n    setPrototypeOf? (target: T, v: any): boolean;\n    isExtensible? (target: T): boolean;\n    preventExtensions? (target: T): boolean;\n    getOwnPropertyDescriptor? (target: T, p: PropertyKey): PropertyDescriptor | undefined;\n    has? (target: T, p: PropertyKey): boolean;\n    get? (target: T, p: PropertyKey, receiver: any): any;\n    set? (target: T, p: PropertyKey, value: any, receiver: any): boolean;\n    deleteProperty? (target: T, p: PropertyKey): boolean;\n    defineProperty? (target: T, p: PropertyKey, attributes: PropertyDescriptor): boolean;\n    enumerate? (target: T): PropertyKey[];\n    ownKeys? (target: T): PropertyKey[];\n    apply? (target: T, thisArg: any, argArray?: any): any;\n    construct? (target: T, argArray: any, newTarget?: any): object;\n}\n\ninterface ProxyConstructor {\n    revocable<T extends object>(target: T, handler: ProxyHandler<T>): { proxy: T; revoke: () => void; };\n    new <T extends object>(target: T, handler: ProxyHandler<T>): T;\n}\ndeclare var Proxy: ProxyConstructor;\n';
+
+const lib_es2015_iterable_dts = `/*! *****************************************************************************\nCopyright (c) Microsoft Corporation. All rights reserved. \nLicensed under the Apache License, Version 2.0 (the "License"); you may not use\nthis file except in compliance with the License. You may obtain a copy of the\nLicense at http://www.apache.org/licenses/LICENSE-2.0  \n \nTHIS CODE IS PROVIDED ON AN *AS IS* BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY\nKIND, EITHER EXPRESS OR IMPLIED, INCLUDING WITHOUT LIMITATION ANY IMPLIED\nWARRANTIES OR CONDITIONS OF TITLE, FITNESS FOR A PARTICULAR PURPOSE, \nMERCHANTABLITY OR NON-INFRINGEMENT. \n \nSee the Apache Version 2.0 License for specific language governing permissions\nand limitations under the License.\n***************************************************************************** */\n\n\n\n/// <reference no-default-lib="true"/>\n\n${lib_es2015_symbol_dts}\ninterface SymbolConstructor {\n    /**\n     * A method that returns the default iterator for an object. Called by the semantics of the\n     * for-of statement.\n     */\n    readonly iterator: symbol;\n}\n\ninterface IteratorResult<T> {\n    done: boolean;\n    value: T;\n}\n\ninterface Iterator<T> {\n    next(value?: any): IteratorResult<T>;\n    return?(value?: any): IteratorResult<T>;\n    throw?(e?: any): IteratorResult<T>;\n}\n\ninterface Iterable<T> {\n    [Symbol.iterator](): Iterator<T>;\n}\n\ninterface IterableIterator<T> extends Iterator<T> {\n    [Symbol.iterator](): IterableIterator<T>;\n}\n\ninterface Array<T> {\n    /** Iterator */\n    [Symbol.iterator](): IterableIterator<T>;\n\n    /**\n     * Returns an iterable of key, value pairs for every entry in the array\n     */\n    entries(): IterableIterator<[number, T]>;\n\n    /**\n     * Returns an iterable of keys in the array\n     */\n    keys(): IterableIterator<number>;\n\n    /**\n     * Returns an iterable of values in the array\n     */\n    values(): IterableIterator<T>;\n}\n\ninterface ArrayConstructor {\n    /**\n     * Creates an array from an iterable object.\n     * @param iterable An iterable object to convert to an array.\n     */\n    from<T>(iterable: Iterable<T> | ArrayLike<T>): T[];\n\n    /**\n     * Creates an array from an iterable object.\n     * @param iterable An iterable object to convert to an array.\n     * @param mapfn A mapping function to call on every element of the array.\n     * @param thisArg Value of 'this' used to invoke the mapfn.\n     */\n    from<T, U>(iterable: Iterable<T> | ArrayLike<T>, mapfn: (v: T, k: number) => U, thisArg?: any): U[];\n}\n\ninterface ReadonlyArray<T> {\n    /** Iterator of values in the array. */\n    [Symbol.iterator](): IterableIterator<T>;\n\n    /**\n     * Returns an iterable of key, value pairs for every entry in the array\n     */\n    entries(): IterableIterator<[number, T]>;\n\n    /**\n     * Returns an iterable of keys in the array\n     */\n    keys(): IterableIterator<number>;\n\n    /**\n     * Returns an iterable of values in the array\n     */\n    values(): IterableIterator<T>;\n}\n\ninterface IArguments {\n    /** Iterator */\n    [Symbol.iterator](): IterableIterator<any>;\n}\n\ninterface Map<K, V> {\n    /** Returns an iterable of entries in the map. */\n    [Symbol.iterator](): IterableIterator<[K, V]>;\n\n    /**\n     * Returns an iterable of key, value pairs for every entry in the map.\n     */\n    entries(): IterableIterator<[K, V]>;\n\n    /**\n     * Returns an iterable of keys in the map\n     */\n    keys(): IterableIterator<K>;\n\n    /**\n     * Returns an iterable of values in the map\n     */\n    values(): IterableIterator<V>;\n}\n\ninterface ReadonlyMap<K, V> {\n    /** Returns an iterable of entries in the map. */\n    [Symbol.iterator](): IterableIterator<[K, V]>;\n\n    /**\n     * Returns an iterable of key, value pairs for every entry in the map.\n     */\n    entries(): IterableIterator<[K, V]>;\n\n    /**\n     * Returns an iterable of keys in the map\n     */\n    keys(): IterableIterator<K>;\n\n    /**\n     * Returns an iterable of values in the map\n     */\n    values(): IterableIterator<V>;\n}\n\ninterface MapConstructor {\n    new <K, V>(iterable: Iterable<readonly [K, V]>): Map<K, V>;\n}\n\ninterface WeakMap<K extends object, V> { }\n\ninterface WeakMapConstructor {\n    new <K extends object, V>(iterable: Iterable<[K, V]>): WeakMap<K, V>;\n}\n\ninterface Set<T> {\n    /** Iterates over values in the set. */\n    [Symbol.iterator](): IterableIterator<T>;\n    /**\n     * Returns an iterable of [v,v] pairs for every value \`v\` in the set.\n     */\n    entries(): IterableIterator<[T, T]>;\n    /**\n     * Despite its name, returns an iterable of the values in the set,\n     */\n    keys(): IterableIterator<T>;\n\n    /**\n     * Returns an iterable of values in the set.\n     */\n    values(): IterableIterator<T>;\n}\n\ninterface ReadonlySet<T> {\n    /** Iterates over values in the set. */\n    [Symbol.iterator](): IterableIterator<T>;\n\n    /**\n     * Returns an iterable of [v,v] pairs for every value \`v\` in the set.\n     */\n    entries(): IterableIterator<[T, T]>;\n\n    /**\n     * Despite its name, returns an iterable of the values in the set,\n     */\n    keys(): IterableIterator<T>;\n\n    /**\n     * Returns an iterable of values in the set.\n     */\n    values(): IterableIterator<T>;\n}\n\ninterface SetConstructor {\n    new <T>(iterable?: Iterable<T> | null): Set<T>;\n}\n\ninterface WeakSet<T extends object> { }\n\ninterface WeakSetConstructor {\n    new <T extends object = object>(iterable: Iterable<T>): WeakSet<T>;\n}\n\ninterface Promise<T> { }\n\ninterface PromiseConstructor {\n    /**\n     * Creates a Promise that is resolved with an array of results when all of the provided Promises\n     * resolve, or rejected when any Promise is rejected.\n     * @param values An array of Promises.\n     * @returns A new Promise.\n     */\n    all<TAll>(values: Iterable<TAll | PromiseLike<TAll>>): Promise<TAll[]>;\n\n    /**\n     * Creates a Promise that is resolved or rejected when any of the provided Promises are resolved\n     * or rejected.\n     * @param values An array of Promises.\n     * @returns A new Promise.\n     */\n    race<T>(values: Iterable<T | PromiseLike<T>>): Promise<T>;\n}\n\ndeclare namespace Reflect {\n    function enumerate(target: object): IterableIterator<any>;\n}\n\ninterface String {\n    /** Iterator */\n    [Symbol.iterator](): IterableIterator<string>;\n}\n\ninterface Int8Array {\n    [Symbol.iterator](): IterableIterator<number>;\n    /**\n     * Returns an array of key, value pairs for every entry in the array\n     */\n    entries(): IterableIterator<[number, number]>;\n    /**\n     * Returns an list of keys in the array\n     */\n    keys(): IterableIterator<number>;\n    /**\n     * Returns an list of values in the array\n     */\n    values(): IterableIterator<number>;\n}\n\ninterface Int8ArrayConstructor {\n    new (elements: Iterable<number>): Int8Array;\n\n    /**\n     * Creates an array from an array-like or iterable object.\n     * @param arrayLike An array-like or iterable object to convert to an array.\n     * @param mapfn A mapping function to call on every element of the array.\n     * @param thisArg Value of 'this' used to invoke the mapfn.\n     */\n    from(arrayLike: Iterable<number>, mapfn?: (v: number, k: number) => number, thisArg?: any): Int8Array;\n}\n\ninterface Uint8Array {\n    [Symbol.iterator](): IterableIterator<number>;\n    /**\n     * Returns an array of key, value pairs for every entry in the array\n     */\n    entries(): IterableIterator<[number, number]>;\n    /**\n     * Returns an list of keys in the array\n     */\n    keys(): IterableIterator<number>;\n    /**\n     * Returns an list of values in the array\n     */\n    values(): IterableIterator<number>;\n}\n\ninterface Uint8ArrayConstructor {\n    new (elements: Iterable<number>): Uint8Array;\n\n    /**\n     * Creates an array from an array-like or iterable object.\n     * @param arrayLike An array-like or iterable object to convert to an array.\n     * @param mapfn A mapping function to call on every element of the array.\n     * @param thisArg Value of 'this' used to invoke the mapfn.\n     */\n    from(arrayLike: Iterable<number>, mapfn?: (v: number, k: number) => number, thisArg?: any): Uint8Array;\n}\n\ninterface Uint8ClampedArray {\n    [Symbol.iterator](): IterableIterator<number>;\n    /**\n     * Returns an array of key, value pairs for every entry in the array\n     */\n    entries(): IterableIterator<[number, number]>;\n\n    /**\n     * Returns an list of keys in the array\n     */\n    keys(): IterableIterator<number>;\n\n    /**\n     * Returns an list of values in the array\n     */\n    values(): IterableIterator<number>;\n}\n\ninterface Uint8ClampedArrayConstructor {\n    new (elements: Iterable<number>): Uint8ClampedArray;\n\n\n    /**\n     * Creates an array from an array-like or iterable object.\n     * @param arrayLike An array-like or iterable object to convert to an array.\n     * @param mapfn A mapping function to call on every element of the array.\n     * @param thisArg Value of 'this' used to invoke the mapfn.\n     */\n    from(arrayLike: Iterable<number>, mapfn?: (v: number, k: number) => number, thisArg?: any): Uint8ClampedArray;\n}\n\ninterface Int16Array {\n    [Symbol.iterator](): IterableIterator<number>;\n    /**\n     * Returns an array of key, value pairs for every entry in the array\n     */\n    entries(): IterableIterator<[number, number]>;\n\n    /**\n     * Returns an list of keys in the array\n     */\n    keys(): IterableIterator<number>;\n\n    /**\n     * Returns an list of values in the array\n     */\n    values(): IterableIterator<number>;\n}\n\ninterface Int16ArrayConstructor {\n    new (elements: Iterable<number>): Int16Array;\n\n    /**\n     * Creates an array from an array-like or iterable object.\n     * @param arrayLike An array-like or iterable object to convert to an array.\n     * @param mapfn A mapping function to call on every element of the array.\n     * @param thisArg Value of 'this' used to invoke the mapfn.\n     */\n    from(arrayLike: Iterable<number>, mapfn?: (v: number, k: number) => number, thisArg?: any): Int16Array;\n}\n\ninterface Uint16Array {\n    [Symbol.iterator](): IterableIterator<number>;\n    /**\n     * Returns an array of key, value pairs for every entry in the array\n     */\n    entries(): IterableIterator<[number, number]>;\n    /**\n     * Returns an list of keys in the array\n     */\n    keys(): IterableIterator<number>;\n    /**\n     * Returns an list of values in the array\n     */\n    values(): IterableIterator<number>;\n}\n\ninterface Uint16ArrayConstructor {\n    new (elements: Iterable<number>): Uint16Array;\n\n    /**\n     * Creates an array from an array-like or iterable object.\n     * @param arrayLike An array-like or iterable object to convert to an array.\n     * @param mapfn A mapping function to call on every element of the array.\n     * @param thisArg Value of 'this' used to invoke the mapfn.\n     */\n    from(arrayLike: Iterable<number>, mapfn?: (v: number, k: number) => number, thisArg?: any): Uint16Array;\n}\n\ninterface Int32Array {\n    [Symbol.iterator](): IterableIterator<number>;\n    /**\n     * Returns an array of key, value pairs for every entry in the array\n     */\n    entries(): IterableIterator<[number, number]>;\n    /**\n     * Returns an list of keys in the array\n     */\n    keys(): IterableIterator<number>;\n    /**\n     * Returns an list of values in the array\n     */\n    values(): IterableIterator<number>;\n}\n\ninterface Int32ArrayConstructor {\n    new (elements: Iterable<number>): Int32Array;\n\n    /**\n     * Creates an array from an array-like or iterable object.\n     * @param arrayLike An array-like or iterable object to convert to an array.\n     * @param mapfn A mapping function to call on every element of the array.\n     * @param thisArg Value of 'this' used to invoke the mapfn.\n     */\n    from(arrayLike: Iterable<number>, mapfn?: (v: number, k: number) => number, thisArg?: any): Int32Array;\n}\n\ninterface Uint32Array {\n    [Symbol.iterator](): IterableIterator<number>;\n    /**\n     * Returns an array of key, value pairs for every entry in the array\n     */\n    entries(): IterableIterator<[number, number]>;\n    /**\n     * Returns an list of keys in the array\n     */\n    keys(): IterableIterator<number>;\n    /**\n     * Returns an list of values in the array\n     */\n    values(): IterableIterator<number>;\n}\n\ninterface Uint32ArrayConstructor {\n    new (elements: Iterable<number>): Uint32Array;\n\n    /**\n     * Creates an array from an array-like or iterable object.\n     * @param arrayLike An array-like or iterable object to convert to an array.\n     * @param mapfn A mapping function to call on every element of the array.\n     * @param thisArg Value of 'this' used to invoke the mapfn.\n     */\n    from(arrayLike: Iterable<number>, mapfn?: (v: number, k: number) => number, thisArg?: any): Uint32Array;\n}\n\ninterface Float32Array {\n    [Symbol.iterator](): IterableIterator<number>;\n    /**\n     * Returns an array of key, value pairs for every entry in the array\n     */\n    entries(): IterableIterator<[number, number]>;\n    /**\n     * Returns an list of keys in the array\n     */\n    keys(): IterableIterator<number>;\n    /**\n     * Returns an list of values in the array\n     */\n    values(): IterableIterator<number>;\n}\n\ninterface Float32ArrayConstructor {\n    new (elements: Iterable<number>): Float32Array;\n\n    /**\n     * Creates an array from an array-like or iterable object.\n     * @param arrayLike An array-like or iterable object to convert to an array.\n     * @param mapfn A mapping function to call on every element of the array.\n     * @param thisArg Value of 'this' used to invoke the mapfn.\n     */\n    from(arrayLike: Iterable<number>, mapfn?: (v: number, k: number) => number, thisArg?: any): Float32Array;\n}\n\ninterface Float64Array {\n    [Symbol.iterator](): IterableIterator<number>;\n    /**\n     * Returns an array of key, value pairs for every entry in the array\n     */\n    entries(): IterableIterator<[number, number]>;\n    /**\n     * Returns an list of keys in the array\n     */\n    keys(): IterableIterator<number>;\n    /**\n     * Returns an list of values in the array\n     */\n    values(): IterableIterator<number>;\n}\n\ninterface Float64ArrayConstructor {\n    new (elements: Iterable<number>): Float64Array;\n\n    /**\n     * Creates an array from an array-like or iterable object.\n     * @param arrayLike An array-like or iterable object to convert to an array.\n     * @param mapfn A mapping function to call on every element of the array.\n     * @param thisArg Value of 'this' used to invoke the mapfn.\n     */\n    from(arrayLike: Iterable<number>, mapfn?: (v: number, k: number) => number, thisArg?: any): Float64Array;\n}\n`;
+
+const lib_es2015_collection_dts =
+  '/*! *****************************************************************************\nCopyright (c) Microsoft Corporation. All rights reserved. \nLicensed under the Apache License, Version 2.0 (the "License"); you may not use\nthis file except in compliance with the License. You may obtain a copy of the\nLicense at http://www.apache.org/licenses/LICENSE-2.0  \n \nTHIS CODE IS PROVIDED ON AN *AS IS* BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY\nKIND, EITHER EXPRESS OR IMPLIED, INCLUDING WITHOUT LIMITATION ANY IMPLIED\nWARRANTIES OR CONDITIONS OF TITLE, FITNESS FOR A PARTICULAR PURPOSE, \nMERCHANTABLITY OR NON-INFRINGEMENT. \n \nSee the Apache Version 2.0 License for specific language governing permissions\nand limitations under the License.\n***************************************************************************** */\n\n\n\n/// <reference no-default-lib="true"/>\n\n\ninterface Map<K, V> {\n    clear(): void;\n    delete(key: K): boolean;\n    forEach(callbackfn: (value: V, key: K, map: Map<K, V>) => void, thisArg?: any): void;\n    get(key: K): V | undefined;\n    has(key: K): boolean;\n    set(key: K, value: V): this;\n    readonly size: number;\n}\n\ninterface MapConstructor {\n    new(): Map<any, any>;\n    new<K, V>(entries?: ReadonlyArray<readonly [K, V]> | null): Map<K, V>;\n    readonly prototype: Map<any, any>;\n}\ndeclare var Map: MapConstructor;\n\ninterface ReadonlyMap<K, V> {\n    forEach(callbackfn: (value: V, key: K, map: ReadonlyMap<K, V>) => void, thisArg?: any): void;\n    get(key: K): V | undefined;\n    has(key: K): boolean;\n    readonly size: number;\n}\n\ninterface WeakMap<K extends object, V> {\n    delete(key: K): boolean;\n    get(key: K): V | undefined;\n    has(key: K): boolean;\n    set(key: K, value: V): this;\n}\n\ninterface WeakMapConstructor {\n    new <K extends object = object, V = any>(entries?: ReadonlyArray<[K, V]> | null): WeakMap<K, V>;\n    readonly prototype: WeakMap<object, any>;\n}\ndeclare var WeakMap: WeakMapConstructor;\n\ninterface Set<T> {\n    add(value: T): this;\n    clear(): void;\n    delete(value: T): boolean;\n    forEach(callbackfn: (value: T, value2: T, set: Set<T>) => void, thisArg?: any): void;\n    has(value: T): boolean;\n    readonly size: number;\n}\n\ninterface SetConstructor {\n    new <T = any>(values?: ReadonlyArray<T> | null): Set<T>;\n    readonly prototype: Set<any>;\n}\ndeclare var Set: SetConstructor;\n\ninterface ReadonlySet<T> {\n    forEach(callbackfn: (value: T, value2: T, set: ReadonlySet<T>) => void, thisArg?: any): void;\n    has(value: T): boolean;\n    readonly size: number;\n}\n\ninterface WeakSet<T extends object> {\n    add(value: T): this;\n    delete(value: T): boolean;\n    has(value: T): boolean;\n}\n\ninterface WeakSetConstructor {\n    new <T extends object = object>(values?: ReadonlyArray<T> | null): WeakSet<T>;\n    readonly prototype: WeakSet<object>;\n}\ndeclare var WeakSet: WeakSetConstructor;\n';
+
+const lib_es2015_core_dts =
+  '/*! *****************************************************************************\nCopyright (c) Microsoft Corporation. All rights reserved. \nLicensed under the Apache License, Version 2.0 (the "License"); you may not use\nthis file except in compliance with the License. You may obtain a copy of the\nLicense at http://www.apache.org/licenses/LICENSE-2.0  \n \nTHIS CODE IS PROVIDED ON AN *AS IS* BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY\nKIND, EITHER EXPRESS OR IMPLIED, INCLUDING WITHOUT LIMITATION ANY IMPLIED\nWARRANTIES OR CONDITIONS OF TITLE, FITNESS FOR A PARTICULAR PURPOSE, \nMERCHANTABLITY OR NON-INFRINGEMENT. \n \nSee the Apache Version 2.0 License for specific language governing permissions\nand limitations under the License.\n***************************************************************************** */\n\n\n\n/// <reference no-default-lib="true"/>\n\n\ninterface Array<T> {\n    /**\n     * Returns the value of the first element in the array where predicate is true, and undefined\n     * otherwise.\n     * @param predicate find calls predicate once for each element of the array, in ascending\n     * order, until it finds one where predicate returns true. If such an element is found, find\n     * immediately returns that element value. Otherwise, find returns undefined.\n     * @param thisArg If provided, it will be used as the this value for each invocation of\n     * predicate. If it is not provided, undefined is used instead.\n     */\n    find<S extends T>(predicate: (this: void, value: T, index: number, obj: T[]) => value is S, thisArg?: any): S | undefined;\n    find(predicate: (value: T, index: number, obj: T[]) => unknown, thisArg?: any): T | undefined;\n\n    /**\n     * Returns the index of the first element in the array where predicate is true, and -1\n     * otherwise.\n     * @param predicate find calls predicate once for each element of the array, in ascending\n     * order, until it finds one where predicate returns true. If such an element is found,\n     * findIndex immediately returns that element index. Otherwise, findIndex returns -1.\n     * @param thisArg If provided, it will be used as the this value for each invocation of\n     * predicate. If it is not provided, undefined is used instead.\n     */\n    findIndex(predicate: (value: T, index: number, obj: T[]) => unknown, thisArg?: any): number;\n\n    /**\n     * Returns the this object after filling the section identified by start and end with value\n     * @param value value to fill array section with\n     * @param start index to start filling the array at. If start is negative, it is treated as\n     * length+start where length is the length of the array.\n     * @param end index to stop filling the array at. If end is negative, it is treated as\n     * length+end.\n     */\n    fill(value: T, start?: number, end?: number): this;\n\n    /**\n     * Returns the this object after copying a section of the array identified by start and end\n     * to the same array starting at position target\n     * @param target If target is negative, it is treated as length+target where length is the\n     * length of the array.\n     * @param start If start is negative, it is treated as length+start. If end is negative, it\n     * is treated as length+end.\n     * @param end If not specified, length of the this object is used as its default value.\n     */\n    copyWithin(target: number, start: number, end?: number): this;\n}\n\ninterface ArrayConstructor {\n    /**\n     * Creates an array from an array-like object.\n     * @param arrayLike An array-like object to convert to an array.\n     */\n    from<T>(arrayLike: ArrayLike<T>): T[];\n\n    /**\n     * Creates an array from an iterable object.\n     * @param arrayLike An array-like object to convert to an array.\n     * @param mapfn A mapping function to call on every element of the array.\n     * @param thisArg Value of \'this\' used to invoke the mapfn.\n     */\n    from<T, U>(arrayLike: ArrayLike<T>, mapfn: (v: T, k: number) => U, thisArg?: any): U[];\n\n    /**\n     * Returns a new array from a set of elements.\n     * @param items A set of elements to include in the new array object.\n     */\n    of<T>(...items: T[]): T[];\n}\n\ninterface DateConstructor {\n    new (value: number | string | Date): Date;\n}\n\ninterface Function {\n    /**\n     * Returns the name of the function. Function names are read-only and can not be changed.\n     */\n    readonly name: string;\n}\n\ninterface Math {\n    /**\n     * Returns the number of leading zero bits in the 32-bit binary representation of a number.\n     * @param x A numeric expression.\n     */\n    clz32(x: number): number;\n\n    /**\n     * Returns the result of 32-bit multiplication of two numbers.\n     * @param x First number\n     * @param y Second number\n     */\n    imul(x: number, y: number): number;\n\n    /**\n     * Returns the sign of the x, indicating whether x is positive, negative or zero.\n     * @param x The numeric expression to test\n     */\n    sign(x: number): number;\n\n    /**\n     * Returns the base 10 logarithm of a number.\n     * @param x A numeric expression.\n     */\n    log10(x: number): number;\n\n    /**\n     * Returns the base 2 logarithm of a number.\n     * @param x A numeric expression.\n     */\n    log2(x: number): number;\n\n    /**\n     * Returns the natural logarithm of 1 + x.\n     * @param x A numeric expression.\n     */\n    log1p(x: number): number;\n\n    /**\n     * Returns the result of (e^x - 1), which is an implementation-dependent approximation to\n     * subtracting 1 from the exponential function of x (e raised to the power of x, where e\n     * is the base of the natural logarithms).\n     * @param x A numeric expression.\n     */\n    expm1(x: number): number;\n\n    /**\n     * Returns the hyperbolic cosine of a number.\n     * @param x A numeric expression that contains an angle measured in radians.\n     */\n    cosh(x: number): number;\n\n    /**\n     * Returns the hyperbolic sine of a number.\n     * @param x A numeric expression that contains an angle measured in radians.\n     */\n    sinh(x: number): number;\n\n    /**\n     * Returns the hyperbolic tangent of a number.\n     * @param x A numeric expression that contains an angle measured in radians.\n     */\n    tanh(x: number): number;\n\n    /**\n     * Returns the inverse hyperbolic cosine of a number.\n     * @param x A numeric expression that contains an angle measured in radians.\n     */\n    acosh(x: number): number;\n\n    /**\n     * Returns the inverse hyperbolic sine of a number.\n     * @param x A numeric expression that contains an angle measured in radians.\n     */\n    asinh(x: number): number;\n\n    /**\n     * Returns the inverse hyperbolic tangent of a number.\n     * @param x A numeric expression that contains an angle measured in radians.\n     */\n    atanh(x: number): number;\n\n    /**\n     * Returns the square root of the sum of squares of its arguments.\n     * @param values Values to compute the square root for.\n     *     If no arguments are passed, the result is +0.\n     *     If there is only one argument, the result is the absolute value.\n     *     If any argument is +Infinity or -Infinity, the result is +Infinity.\n     *     If any argument is NaN, the result is NaN.\n     *     If all arguments are either +0 or −0, the result is +0.\n     */\n    hypot(...values: number[]): number;\n\n    /**\n     * Returns the integral part of the a numeric expression, x, removing any fractional digits.\n     * If x is already an integer, the result is x.\n     * @param x A numeric expression.\n     */\n    trunc(x: number): number;\n\n    /**\n     * Returns the nearest single precision float representation of a number.\n     * @param x A numeric expression.\n     */\n    fround(x: number): number;\n\n    /**\n     * Returns an implementation-dependent approximation to the cube root of number.\n     * @param x A numeric expression.\n     */\n    cbrt(x: number): number;\n}\n\ninterface NumberConstructor {\n    /**\n     * The value of Number.EPSILON is the difference between 1 and the smallest value greater than 1\n     * that is representable as a Number value, which is approximately:\n     * 2.2204460492503130808472633361816 x 10‍−‍16.\n     */\n    readonly EPSILON: number;\n\n    /**\n     * Returns true if passed value is finite.\n     * Unlike the global isFinite, Number.isFinite doesn\'t forcibly convert the parameter to a\n     * number. Only finite values of the type number, result in true.\n     * @param number A numeric value.\n     */\n    isFinite(number: number): boolean;\n\n    /**\n     * Returns true if the value passed is an integer, false otherwise.\n     * @param number A numeric value.\n     */\n    isInteger(number: number): boolean;\n\n    /**\n     * Returns a Boolean value that indicates whether a value is the reserved value NaN (not a\n     * number). Unlike the global isNaN(), Number.isNaN() doesn\'t forcefully convert the parameter\n     * to a number. Only values of the type number, that are also NaN, result in true.\n     * @param number A numeric value.\n     */\n    isNaN(number: number): boolean;\n\n    /**\n     * Returns true if the value passed is a safe integer.\n     * @param number A numeric value.\n     */\n    isSafeInteger(number: number): boolean;\n\n    /**\n     * The value of the largest integer n such that n and n + 1 are both exactly representable as\n     * a Number value.\n     * The value of Number.MAX_SAFE_INTEGER is 9007199254740991 2^53 − 1.\n     */\n    readonly MAX_SAFE_INTEGER: number;\n\n    /**\n     * The value of the smallest integer n such that n and n − 1 are both exactly representable as\n     * a Number value.\n     * The value of Number.MIN_SAFE_INTEGER is −9007199254740991 (−(2^53 − 1)).\n     */\n    readonly MIN_SAFE_INTEGER: number;\n\n    /**\n     * Converts a string to a floating-point number.\n     * @param string A string that contains a floating-point number.\n     */\n    parseFloat(string: string): number;\n\n    /**\n     * Converts A string to an integer.\n     * @param s A string to convert into a number.\n     * @param radix A value between 2 and 36 that specifies the base of the number in numString.\n     * If this argument is not supplied, strings with a prefix of \'0x\' are considered hexadecimal.\n     * All other strings are considered decimal.\n     */\n    parseInt(string: string, radix?: number): number;\n}\n\ninterface ObjectConstructor {\n    /**\n     * Copy the values of all of the enumerable own properties from one or more source objects to a\n     * target object. Returns the target object.\n     * @param target The target object to copy to.\n     * @param source The source object from which to copy properties.\n     */\n    assign<T, U>(target: T, source: U): T & U;\n\n    /**\n     * Copy the values of all of the enumerable own properties from one or more source objects to a\n     * target object. Returns the target object.\n     * @param target The target object to copy to.\n     * @param source1 The first source object from which to copy properties.\n     * @param source2 The second source object from which to copy properties.\n     */\n    assign<T, U, V>(target: T, source1: U, source2: V): T & U & V;\n\n    /**\n     * Copy the values of all of the enumerable own properties from one or more source objects to a\n     * target object. Returns the target object.\n     * @param target The target object to copy to.\n     * @param source1 The first source object from which to copy properties.\n     * @param source2 The second source object from which to copy properties.\n     * @param source3 The third source object from which to copy properties.\n     */\n    assign<T, U, V, W>(target: T, source1: U, source2: V, source3: W): T & U & V & W;\n\n    /**\n     * Copy the values of all of the enumerable own properties from one or more source objects to a\n     * target object. Returns the target object.\n     * @param target The target object to copy to.\n     * @param sources One or more source objects from which to copy properties\n     */\n    assign(target: object, ...sources: any[]): any;\n\n    /**\n     * Returns an array of all symbol properties found directly on object o.\n     * @param o Object to retrieve the symbols from.\n     */\n    getOwnPropertySymbols(o: any): symbol[];\n\n    /**\n      * Returns the names of the enumerable string properties and methods of an object.\n      * @param o Object that contains the properties and methods. This can be an object that you created or an existing Document Object Model (DOM) object.\n      */\n    keys(o: {}): string[];\n\n    /**\n     * Returns true if the values are the same value, false otherwise.\n     * @param value1 The first value.\n     * @param value2 The second value.\n     */\n    is(value1: any, value2: any): boolean;\n\n    /**\n     * Sets the prototype of a specified object o to  object proto or null. Returns the object o.\n     * @param o The object to change its prototype.\n     * @param proto The value of the new prototype or null.\n     */\n    setPrototypeOf(o: any, proto: object | null): any;\n}\n\ninterface ReadonlyArray<T> {\n    /**\n     * Returns the value of the first element in the array where predicate is true, and undefined\n     * otherwise.\n     * @param predicate find calls predicate once for each element of the array, in ascending\n     * order, until it finds one where predicate returns true. If such an element is found, find\n     * immediately returns that element value. Otherwise, find returns undefined.\n     * @param thisArg If provided, it will be used as the this value for each invocation of\n     * predicate. If it is not provided, undefined is used instead.\n     */\n    find<S extends T>(predicate: (this: void, value: T, index: number, obj: ReadonlyArray<T>) => value is S, thisArg?: any): S | undefined;\n    find(predicate: (value: T, index: number, obj: ReadonlyArray<T>) => unknown, thisArg?: any): T | undefined;\n\n    /**\n     * Returns the index of the first element in the array where predicate is true, and -1\n     * otherwise.\n     * @param predicate find calls predicate once for each element of the array, in ascending\n     * order, until it finds one where predicate returns true. If such an element is found,\n     * findIndex immediately returns that element index. Otherwise, findIndex returns -1.\n     * @param thisArg If provided, it will be used as the this value for each invocation of\n     * predicate. If it is not provided, undefined is used instead.\n     */\n    findIndex(predicate: (value: T, index: number, obj: ReadonlyArray<T>) => unknown, thisArg?: any): number;\n}\n\ninterface RegExp {\n    /**\n     * Returns a string indicating the flags of the regular expression in question. This field is read-only.\n     * The characters in this string are sequenced and concatenated in the following order:\n     *\n     *    - "g" for global\n     *    - "i" for ignoreCase\n     *    - "m" for multiline\n     *    - "u" for unicode\n     *    - "y" for sticky\n     *\n     * If no flags are set, the value is the empty string.\n     */\n    readonly flags: string;\n\n    /**\n     * Returns a Boolean value indicating the state of the sticky flag (y) used with a regular\n     * expression. Default is false. Read-only.\n     */\n    readonly sticky: boolean;\n\n    /**\n     * Returns a Boolean value indicating the state of the Unicode flag (u) used with a regular\n     * expression. Default is false. Read-only.\n     */\n    readonly unicode: boolean;\n}\n\ninterface RegExpConstructor {\n    new (pattern: RegExp, flags?: string): RegExp;\n    (pattern: RegExp, flags?: string): RegExp;\n}\n\ninterface String {\n    /**\n     * Returns a nonnegative integer Number less than 1114112 (0x110000) that is the code point\n     * value of the UTF-16 encoded code point starting at the string element at position pos in\n     * the String resulting from converting this object to a String.\n     * If there is no element at that position, the result is undefined.\n     * If a valid UTF-16 surrogate pair does not begin at pos, the result is the code unit at pos.\n     */\n    codePointAt(pos: number): number | undefined;\n\n    /**\n     * Returns true if searchString appears as a substring of the result of converting this\n     * object to a String, at one or more positions that are\n     * greater than or equal to position; otherwise, returns false.\n     * @param searchString search string\n     * @param position If position is undefined, 0 is assumed, so as to search all of the String.\n     */\n    includes(searchString: string, position?: number): boolean;\n\n    /**\n     * Returns true if the sequence of elements of searchString converted to a String is the\n     * same as the corresponding elements of this object (converted to a String) starting at\n     * endPosition – length(this). Otherwise returns false.\n     */\n    endsWith(searchString: string, endPosition?: number): boolean;\n\n    /**\n     * Returns the String value result of normalizing the string into the normalization form\n     * named by form as specified in Unicode Standard Annex #15, Unicode Normalization Forms.\n     * @param form Applicable values: "NFC", "NFD", "NFKC", or "NFKD", If not specified default\n     * is "NFC"\n     */\n    normalize(form: "NFC" | "NFD" | "NFKC" | "NFKD"): string;\n\n    /**\n     * Returns the String value result of normalizing the string into the normalization form\n     * named by form as specified in Unicode Standard Annex #15, Unicode Normalization Forms.\n     * @param form Applicable values: "NFC", "NFD", "NFKC", or "NFKD", If not specified default\n     * is "NFC"\n     */\n    normalize(form?: string): string;\n\n    /**\n     * Returns a String value that is made from count copies appended together. If count is 0,\n     * the empty string is returned.\n     * @param count number of copies to append\n     */\n    repeat(count: number): string;\n\n    /**\n     * Returns true if the sequence of elements of searchString converted to a String is the\n     * same as the corresponding elements of this object (converted to a String) starting at\n     * position. Otherwise returns false.\n     */\n    startsWith(searchString: string, position?: number): boolean;\n\n    /**\n     * Returns an <a> HTML anchor element and sets the name attribute to the text value\n     * @param name\n     */\n    anchor(name: string): string;\n\n    /** Returns a <big> HTML element */\n    big(): string;\n\n    /** Returns a <blink> HTML element */\n    blink(): string;\n\n    /** Returns a <b> HTML element */\n    bold(): string;\n\n    /** Returns a <tt> HTML element */\n    fixed(): string;\n\n    /** Returns a <font> HTML element and sets the color attribute value */\n    fontcolor(color: string): string;\n\n    /** Returns a <font> HTML element and sets the size attribute value */\n    fontsize(size: number): string;\n\n    /** Returns a <font> HTML element and sets the size attribute value */\n    fontsize(size: string): string;\n\n    /** Returns an <i> HTML element */\n    italics(): string;\n\n    /** Returns an <a> HTML element and sets the href attribute value */\n    link(url: string): string;\n\n    /** Returns a <small> HTML element */\n    small(): string;\n\n    /** Returns a <strike> HTML element */\n    strike(): string;\n\n    /** Returns a <sub> HTML element */\n    sub(): string;\n\n    /** Returns a <sup> HTML element */\n    sup(): string;\n}\n\ninterface StringConstructor {\n    /**\n     * Return the String value whose elements are, in order, the elements in the List elements.\n     * If length is 0, the empty string is returned.\n     */\n    fromCodePoint(...codePoints: number[]): string;\n\n    /**\n     * String.raw is intended for use as a tag function of a Tagged Template String. When called\n     * as such the first argument will be a well formed template call site object and the rest\n     * parameter will contain the substitution values.\n     * @param template A well-formed template string call site representation.\n     * @param substitutions A set of substitution values.\n     */\n    raw(template: TemplateStringsArray, ...substitutions: any[]): string;\n}\n';
+
+const lib_es5_dts =
+  "/*! *****************************************************************************\nCopyright (c) Microsoft Corporation. All rights reserved. \nLicensed under the Apache License, Version 2.0 (the \"License\"); you may not use\nthis file except in compliance with the License. You may obtain a copy of the\nLicense at http://www.apache.org/licenses/LICENSE-2.0  \n \nTHIS CODE IS PROVIDED ON AN *AS IS* BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY\nKIND, EITHER EXPRESS OR IMPLIED, INCLUDING WITHOUT LIMITATION ANY IMPLIED\nWARRANTIES OR CONDITIONS OF TITLE, FITNESS FOR A PARTICULAR PURPOSE, \nMERCHANTABLITY OR NON-INFRINGEMENT. \n \nSee the Apache Version 2.0 License for specific language governing permissions\nand limitations under the License.\n***************************************************************************** */\n\n\n\n/// <reference no-default-lib=\"true\"/>\n\n\n/////////////////////////////\n/// ECMAScript APIs\n/////////////////////////////\n\ndeclare var NaN: number;\ndeclare var Infinity: number;\n\n/**\n  * Evaluates JavaScript code and executes it.\n  * @param x A String value that contains valid JavaScript code.\n  */\ndeclare function eval(x: string): any;\n\n/**\n  * Converts A string to an integer.\n  * @param s A string to convert into a number.\n  * @param radix A value between 2 and 36 that specifies the base of the number in numString.\n  * If this argument is not supplied, strings with a prefix of '0x' are considered hexadecimal.\n  * All other strings are considered decimal.\n  */\ndeclare function parseInt(s: string, radix?: number): number;\n\n/**\n  * Converts a string to a floating-point number.\n  * @param string A string that contains a floating-point number.\n  */\ndeclare function parseFloat(string: string): number;\n\n/**\n  * Returns a Boolean value that indicates whether a value is the reserved value NaN (not a number).\n  * @param number A numeric value.\n  */\ndeclare function isNaN(number: number): boolean;\n\n/**\n  * Determines whether a supplied number is finite.\n  * @param number Any numeric value.\n  */\ndeclare function isFinite(number: number): boolean;\n\n/**\n  * Gets the unencoded version of an encoded Uniform Resource Identifier (URI).\n  * @param encodedURI A value representing an encoded URI.\n  */\ndeclare function decodeURI(encodedURI: string): string;\n\n/**\n  * Gets the unencoded version of an encoded component of a Uniform Resource Identifier (URI).\n  * @param encodedURIComponent A value representing an encoded URI component.\n  */\ndeclare function decodeURIComponent(encodedURIComponent: string): string;\n\n/**\n  * Encodes a text string as a valid Uniform Resource Identifier (URI)\n  * @param uri A value representing an encoded URI.\n  */\ndeclare function encodeURI(uri: string): string;\n\n/**\n  * Encodes a text string as a valid component of a Uniform Resource Identifier (URI).\n  * @param uriComponent A value representing an encoded URI component.\n  */\ndeclare function encodeURIComponent(uriComponent: string | number | boolean): string;\n\n/**\n  * Computes a new string in which certain characters have been replaced by a hexadecimal escape sequence.\n  * @param string A string value\n  */\ndeclare function escape(string: string): string;\n\n/**\n  * Computes a new string in which hexadecimal escape sequences are replaced with the character that it represents.\n  * @param string A string value\n  */\ndeclare function unescape(string: string): string;\n\ninterface Symbol {\n  /** Returns a string representation of an object. */\n  toString(): string;\n\n  /** Returns the primitive value of the specified object. */\n  valueOf(): symbol;\n}\n\ndeclare type PropertyKey = string | number | symbol;\n\ninterface PropertyDescriptor {\n    configurable?: boolean;\n    enumerable?: boolean;\n    value?: any;\n    writable?: boolean;\n    get?(): any;\n    set?(v: any): void;\n}\n\ninterface PropertyDescriptorMap {\n    [s: string]: PropertyDescriptor;\n}\n\ninterface Object {\n    /** The initial value of Object.prototype.constructor is the standard built-in Object constructor. */\n    constructor: Function;\n\n    /** Returns a string representation of an object. */\n    toString(): string;\n\n    /** Returns a date converted to a string using the current locale. */\n    toLocaleString(): string;\n\n    /** Returns the primitive value of the specified object. */\n    valueOf(): Object;\n\n    /**\n      * Determines whether an object has a property with the specified name.\n      * @param v A property name.\n      */\n    hasOwnProperty(v: PropertyKey): boolean;\n\n    /**\n      * Determines whether an object exists in another object's prototype chain.\n      * @param v Another object whose prototype chain is to be checked.\n      */\n    isPrototypeOf(v: Object): boolean;\n\n    /**\n      * Determines whether a specified property is enumerable.\n      * @param v A property name.\n      */\n    propertyIsEnumerable(v: PropertyKey): boolean;\n}\n\ninterface ObjectConstructor {\n    new(value?: any): Object;\n    (): any;\n    (value: any): any;\n\n    /** A reference to the prototype for a class of objects. */\n    readonly prototype: Object;\n\n    /**\n      * Returns the prototype of an object.\n      * @param o The object that references the prototype.\n      */\n    getPrototypeOf(o: any): any;\n\n    /**\n      * Gets the own property descriptor of the specified object.\n      * An own property descriptor is one that is defined directly on the object and is not inherited from the object's prototype.\n      * @param o Object that contains the property.\n      * @param p Name of the property.\n    */\n    getOwnPropertyDescriptor(o: any, p: PropertyKey): PropertyDescriptor | undefined;\n\n    /**\n      * Returns the names of the own properties of an object. The own properties of an object are those that are defined directly\n      * on that object, and are not inherited from the object's prototype. The properties of an object include both fields (objects) and functions.\n      * @param o Object that contains the own properties.\n      */\n    getOwnPropertyNames(o: any): string[];\n\n    /**\n      * Creates an object that has the specified prototype or that has null prototype.\n      * @param o Object to use as a prototype. May be null.\n      */\n    create(o: object | null): any;\n\n    /**\n      * Creates an object that has the specified prototype, and that optionally contains specified properties.\n      * @param o Object to use as a prototype. May be null\n      * @param properties JavaScript object that contains one or more property descriptors.\n      */\n    create(o: object | null, properties: PropertyDescriptorMap & ThisType<any>): any;\n\n    /**\n      * Adds a property to an object, or modifies attributes of an existing property.\n      * @param o Object on which to add or modify the property. This can be a native JavaScript object (that is, a user-defined object or a built in object) or a DOM object.\n      * @param p The property name.\n      * @param attributes Descriptor for the property. It can be for a data property or an accessor property.\n      */\n    defineProperty(o: any, p: PropertyKey, attributes: PropertyDescriptor & ThisType<any>): any;\n\n    /**\n      * Adds one or more properties to an object, and/or modifies attributes of existing properties.\n      * @param o Object on which to add or modify the properties. This can be a native JavaScript object or a DOM object.\n      * @param properties JavaScript object that contains one or more descriptor objects. Each descriptor object describes a data property or an accessor property.\n      */\n    defineProperties(o: any, properties: PropertyDescriptorMap & ThisType<any>): any;\n\n    /**\n      * Prevents the modification of attributes of existing properties, and prevents the addition of new properties.\n      * @param o Object on which to lock the attributes.\n      */\n    seal<T>(o: T): T;\n\n    /**\n      * Prevents the modification of existing property attributes and values, and prevents the addition of new properties.\n      * @param o Object on which to lock the attributes.\n      */\n    freeze<T>(a: T[]): ReadonlyArray<T>;\n\n    /**\n      * Prevents the modification of existing property attributes and values, and prevents the addition of new properties.\n      * @param o Object on which to lock the attributes.\n      */\n    freeze<T extends Function>(f: T): T;\n\n    /**\n      * Prevents the modification of existing property attributes and values, and prevents the addition of new properties.\n      * @param o Object on which to lock the attributes.\n      */\n    freeze<T>(o: T): Readonly<T>;\n\n    /**\n      * Prevents the addition of new properties to an object.\n      * @param o Object to make non-extensible.\n      */\n    preventExtensions<T>(o: T): T;\n\n    /**\n      * Returns true if existing property attributes cannot be modified in an object and new properties cannot be added to the object.\n      * @param o Object to test.\n      */\n    isSealed(o: any): boolean;\n\n    /**\n      * Returns true if existing property attributes and values cannot be modified in an object, and new properties cannot be added to the object.\n      * @param o Object to test.\n      */\n    isFrozen(o: any): boolean;\n\n    /**\n      * Returns a value that indicates whether new properties can be added to an object.\n      * @param o Object to test.\n      */\n    isExtensible(o: any): boolean;\n\n    /**\n      * Returns the names of the enumerable string properties and methods of an object.\n      * @param o Object that contains the properties and methods. This can be an object that you created or an existing Document Object Model (DOM) object.\n      */\n     keys(o: object): string[];\n}\n\n/**\n  * Provides functionality common to all JavaScript objects.\n  */\ndeclare var Object: ObjectConstructor;\n\n/**\n  * Creates a new function.\n  */\ninterface Function {\n    /**\n      * Calls the function, substituting the specified object for the this value of the function, and the specified array for the arguments of the function.\n      * @param thisArg The object to be used as the this object.\n      * @param argArray A set of arguments to be passed to the function.\n      */\n    apply(this: Function, thisArg: any, argArray?: any): any;\n\n    /**\n      * Calls a method of an object, substituting another object for the current object.\n      * @param thisArg The object to be used as the current object.\n      * @param argArray A list of arguments to be passed to the method.\n      */\n    call(this: Function, thisArg: any, ...argArray: any[]): any;\n\n    /**\n      * For a given function, creates a bound function that has the same body as the original function.\n      * The this object of the bound function is associated with the specified object, and has the specified initial parameters.\n      * @param thisArg An object to which the this keyword can refer inside the new function.\n      * @param argArray A list of arguments to be passed to the new function.\n      */\n    bind(this: Function, thisArg: any, ...argArray: any[]): any;\n\n    /** Returns a string representation of a function. */\n    toString(): string;\n\n    prototype: any;\n    readonly length: number;\n\n    // Non-standard extensions\n    arguments: any;\n    caller: Function;\n}\n\ninterface FunctionConstructor {\n    /**\n      * Creates a new function.\n      * @param args A list of arguments the function accepts.\n      */\n    new(...args: string[]): Function;\n    (...args: string[]): Function;\n    readonly prototype: Function;\n}\n\ndeclare var Function: FunctionConstructor;\n\n/**\n * Extracts the type of the 'this' parameter of a function type, or 'unknown' if the function type has no 'this' parameter.\n */\ntype ThisParameterType<T> = T extends (this: unknown, ...args: any[]) => any ? unknown : T extends (this: infer U, ...args: any[]) => any ? U : unknown;\n\n/**\n * Removes the 'this' parameter from a function type.\n */\ntype OmitThisParameter<T> = unknown extends ThisParameterType<T> ? T : T extends (...args: infer A) => infer R ? (...args: A) => R : T;\n\ninterface CallableFunction extends Function {\n    /**\n      * Calls the function with the specified object as the this value and the elements of specified array as the arguments.\n      * @param thisArg The object to be used as the this object.\n      * @param args An array of argument values to be passed to the function.\n      */\n    apply<T, R>(this: (this: T) => R, thisArg: T): R;\n    apply<T, A extends any[], R>(this: (this: T, ...args: A) => R, thisArg: T, args: A): R;\n\n    /**\n      * Calls the function with the specified object as the this value and the specified rest arguments as the arguments.\n      * @param thisArg The object to be used as the this object.\n      * @param args Argument values to be passed to the function.\n      */\n    call<T, A extends any[], R>(this: (this: T, ...args: A) => R, thisArg: T, ...args: A): R;\n\n    /**\n      * For a given function, creates a bound function that has the same body as the original function.\n      * The this object of the bound function is associated with the specified object, and has the specified initial parameters.\n      * @param thisArg The object to be used as the this object.\n      * @param args Arguments to bind to the parameters of the function.\n      */\n    bind<T>(this: T, thisArg: ThisParameterType<T>): OmitThisParameter<T>;\n    bind<T, A0, A extends any[], R>(this: (this: T, arg0: A0, ...args: A) => R, thisArg: T, arg0: A0): (...args: A) => R;\n    bind<T, A0, A1, A extends any[], R>(this: (this: T, arg0: A0, arg1: A1, ...args: A) => R, thisArg: T, arg0: A0, arg1: A1): (...args: A) => R;\n    bind<T, A0, A1, A2, A extends any[], R>(this: (this: T, arg0: A0, arg1: A1, arg2: A2, ...args: A) => R, thisArg: T, arg0: A0, arg1: A1, arg2: A2): (...args: A) => R;\n    bind<T, A0, A1, A2, A3, A extends any[], R>(this: (this: T, arg0: A0, arg1: A1, arg2: A2, arg3: A3, ...args: A) => R, thisArg: T, arg0: A0, arg1: A1, arg2: A2, arg3: A3): (...args: A) => R;\n    bind<T, AX, R>(this: (this: T, ...args: AX[]) => R, thisArg: T, ...args: AX[]): (...args: AX[]) => R;\n}\n\ninterface NewableFunction extends Function {\n    /**\n      * Calls the function with the specified object as the this value and the elements of specified array as the arguments.\n      * @param thisArg The object to be used as the this object.\n      * @param args An array of argument values to be passed to the function.\n      */\n    apply<T>(this: new () => T, thisArg: T): void;\n    apply<T, A extends any[]>(this: new (...args: A) => T, thisArg: T, args: A): void;\n\n    /**\n      * Calls the function with the specified object as the this value and the specified rest arguments as the arguments.\n      * @param thisArg The object to be used as the this object.\n      * @param args Argument values to be passed to the function.\n      */\n    call<T, A extends any[]>(this: new (...args: A) => T, thisArg: T, ...args: A): void;\n\n    /**\n      * For a given function, creates a bound function that has the same body as the original function.\n      * The this object of the bound function is associated with the specified object, and has the specified initial parameters.\n      * @param thisArg The object to be used as the this object.\n      * @param args Arguments to bind to the parameters of the function.\n      */\n    bind<T>(this: T, thisArg: any): T;\n    bind<A0, A extends any[], R>(this: new (arg0: A0, ...args: A) => R, thisArg: any, arg0: A0): new (...args: A) => R;\n    bind<A0, A1, A extends any[], R>(this: new (arg0: A0, arg1: A1, ...args: A) => R, thisArg: any, arg0: A0, arg1: A1): new (...args: A) => R;\n    bind<A0, A1, A2, A extends any[], R>(this: new (arg0: A0, arg1: A1, arg2: A2, ...args: A) => R, thisArg: any, arg0: A0, arg1: A1, arg2: A2): new (...args: A) => R;\n    bind<A0, A1, A2, A3, A extends any[], R>(this: new (arg0: A0, arg1: A1, arg2: A2, arg3: A3, ...args: A) => R, thisArg: any, arg0: A0, arg1: A1, arg2: A2, arg3: A3): new (...args: A) => R;\n    bind<AX, R>(this: new (...args: AX[]) => R, thisArg: any, ...args: AX[]): new (...args: AX[]) => R;\n}\n\ninterface IArguments {\n    [index: number]: any;\n    length: number;\n    callee: Function;\n}\n\ninterface String {\n    /** Returns a string representation of a string. */\n    toString(): string;\n\n    /**\n      * Returns the character at the specified index.\n      * @param pos The zero-based index of the desired character.\n      */\n    charAt(pos: number): string;\n\n    /**\n      * Returns the Unicode value of the character at the specified location.\n      * @param index The zero-based index of the desired character. If there is no character at the specified index, NaN is returned.\n      */\n    charCodeAt(index: number): number;\n\n    /**\n      * Returns a string that contains the concatenation of two or more strings.\n      * @param strings The strings to append to the end of the string.\n      */\n    concat(...strings: string[]): string;\n\n    /**\n      * Returns the position of the first occurrence of a substring.\n      * @param searchString The substring to search for in the string\n      * @param position The index at which to begin searching the String object. If omitted, search starts at the beginning of the string.\n      */\n    indexOf(searchString: string, position?: number): number;\n\n    /**\n      * Returns the last occurrence of a substring in the string.\n      * @param searchString The substring to search for.\n      * @param position The index at which to begin searching. If omitted, the search begins at the end of the string.\n      */\n    lastIndexOf(searchString: string, position?: number): number;\n\n    /**\n      * Determines whether two strings are equivalent in the current locale.\n      * @param that String to compare to target string\n      */\n    localeCompare(that: string): number;\n\n    /**\n      * Matches a string with a regular expression, and returns an array containing the results of that search.\n      * @param regexp A variable name or string literal containing the regular expression pattern and flags.\n      */\n    match(regexp: string | RegExp): RegExpMatchArray | null;\n\n    /**\n      * Replaces text in a string, using a regular expression or search string.\n      * @param searchValue A string to search for.\n      * @param replaceValue A string containing the text to replace for every successful match of searchValue in this string.\n      */\n    replace(searchValue: string | RegExp, replaceValue: string): string;\n\n    /**\n      * Replaces text in a string, using a regular expression or search string.\n      * @param searchValue A string to search for.\n      * @param replacer A function that returns the replacement text.\n      */\n    replace(searchValue: string | RegExp, replacer: (substring: string, ...args: any[]) => string): string;\n\n    /**\n      * Finds the first substring match in a regular expression search.\n      * @param regexp The regular expression pattern and applicable flags.\n      */\n    search(regexp: string | RegExp): number;\n\n    /**\n      * Returns a section of a string.\n      * @param start The index to the beginning of the specified portion of stringObj.\n      * @param end The index to the end of the specified portion of stringObj. The substring includes the characters up to, but not including, the character indicated by end.\n      * If this value is not specified, the substring continues to the end of stringObj.\n      */\n    slice(start?: number, end?: number): string;\n\n    /**\n      * Split a string into substrings using the specified separator and return them as an array.\n      * @param separator A string that identifies character or characters to use in separating the string. If omitted, a single-element array containing the entire string is returned.\n      * @param limit A value used to limit the number of elements returned in the array.\n      */\n    split(separator: string | RegExp, limit?: number): string[];\n\n    /**\n      * Returns the substring at the specified location within a String object.\n      * @param start The zero-based index number indicating the beginning of the substring.\n      * @param end Zero-based index number indicating the end of the substring. The substring includes the characters up to, but not including, the character indicated by end.\n      * If end is omitted, the characters from start through the end of the original string are returned.\n      */\n    substring(start: number, end?: number): string;\n\n    /** Converts all the alphabetic characters in a string to lowercase. */\n    toLowerCase(): string;\n\n    /** Converts all alphabetic characters to lowercase, taking into account the host environment's current locale. */\n    toLocaleLowerCase(): string;\n\n    /** Converts all the alphabetic characters in a string to uppercase. */\n    toUpperCase(): string;\n\n    /** Returns a string where all alphabetic characters have been converted to uppercase, taking into account the host environment's current locale. */\n    toLocaleUpperCase(): string;\n\n    /** Removes the leading and trailing white space and line terminator characters from a string. */\n    trim(): string;\n\n    /** Returns the length of a String object. */\n    readonly length: number;\n\n    // IE extensions\n    /**\n      * Gets a substring beginning at the specified location and having the specified length.\n      * @param from The starting position of the desired substring. The index of the first character in the string is zero.\n      * @param length The number of characters to include in the returned substring.\n      */\n    substr(from: number, length?: number): string;\n\n    /** Returns the primitive value of the specified object. */\n    valueOf(): string;\n\n    readonly [index: number]: string;\n}\n\ninterface StringConstructor {\n    new(value?: any): String;\n    (value?: any): string;\n    readonly prototype: String;\n    fromCharCode(...codes: number[]): string;\n}\n\n/**\n  * Allows manipulation and formatting of text strings and determination and location of substrings within strings.\n  */\ndeclare var String: StringConstructor;\n\ninterface Boolean {\n    /** Returns the primitive value of the specified object. */\n    valueOf(): boolean;\n}\n\ninterface BooleanConstructor {\n    new(value?: any): Boolean;\n    <T>(value?: T): boolean;\n    readonly prototype: Boolean;\n}\n\ndeclare var Boolean: BooleanConstructor;\n\ninterface Number {\n    /**\n      * Returns a string representation of an object.\n      * @param radix Specifies a radix for converting numeric values to strings. This value is only used for numbers.\n      */\n    toString(radix?: number): string;\n\n    /**\n      * Returns a string representing a number in fixed-point notation.\n      * @param fractionDigits Number of digits after the decimal point. Must be in the range 0 - 20, inclusive.\n      */\n    toFixed(fractionDigits?: number): string;\n\n    /**\n      * Returns a string containing a number represented in exponential notation.\n      * @param fractionDigits Number of digits after the decimal point. Must be in the range 0 - 20, inclusive.\n      */\n    toExponential(fractionDigits?: number): string;\n\n    /**\n      * Returns a string containing a number represented either in exponential or fixed-point notation with a specified number of digits.\n      * @param precision Number of significant digits. Must be in the range 1 - 21, inclusive.\n      */\n    toPrecision(precision?: number): string;\n\n    /** Returns the primitive value of the specified object. */\n    valueOf(): number;\n}\n\ninterface NumberConstructor {\n    new(value?: any): Number;\n    (value?: any): number;\n    readonly prototype: Number;\n\n    /** The largest number that can be represented in JavaScript. Equal to approximately 1.79E+308. */\n    readonly MAX_VALUE: number;\n\n    /** The closest number to zero that can be represented in JavaScript. Equal to approximately 5.00E-324. */\n    readonly MIN_VALUE: number;\n\n    /**\n      * A value that is not a number.\n      * In equality comparisons, NaN does not equal any value, including itself. To test whether a value is equivalent to NaN, use the isNaN function.\n      */\n    readonly NaN: number;\n\n    /**\n      * A value that is less than the largest negative number that can be represented in JavaScript.\n      * JavaScript displays NEGATIVE_INFINITY values as -infinity.\n      */\n    readonly NEGATIVE_INFINITY: number;\n\n    /**\n      * A value greater than the largest number that can be represented in JavaScript.\n      * JavaScript displays POSITIVE_INFINITY values as infinity.\n      */\n    readonly POSITIVE_INFINITY: number;\n}\n\n/** An object that represents a number of any kind. All JavaScript numbers are 64-bit floating-point numbers. */\ndeclare var Number: NumberConstructor;\n\ninterface TemplateStringsArray extends ReadonlyArray<string> {\n    readonly raw: ReadonlyArray<string>;\n}\n\n/**\n * The type of `import.meta`.\n *\n * If you need to declare that a given property exists on `import.meta`,\n * this type may be augmented via interface merging.\n */\ninterface ImportMeta {\n}\n\ninterface Math {\n    /** The mathematical constant e. This is Euler's number, the base of natural logarithms. */\n    readonly E: number;\n    /** The natural logarithm of 10. */\n    readonly LN10: number;\n    /** The natural logarithm of 2. */\n    readonly LN2: number;\n    /** The base-2 logarithm of e. */\n    readonly LOG2E: number;\n    /** The base-10 logarithm of e. */\n    readonly LOG10E: number;\n    /** Pi. This is the ratio of the circumference of a circle to its diameter. */\n    readonly PI: number;\n    /** The square root of 0.5, or, equivalently, one divided by the square root of 2. */\n    readonly SQRT1_2: number;\n    /** The square root of 2. */\n    readonly SQRT2: number;\n    /**\n      * Returns the absolute value of a number (the value without regard to whether it is positive or negative).\n      * For example, the absolute value of -5 is the same as the absolute value of 5.\n      * @param x A numeric expression for which the absolute value is needed.\n      */\n    abs(x: number): number;\n    /**\n      * Returns the arc cosine (or inverse cosine) of a number.\n      * @param x A numeric expression.\n      */\n    acos(x: number): number;\n    /**\n      * Returns the arcsine of a number.\n      * @param x A numeric expression.\n      */\n    asin(x: number): number;\n    /**\n      * Returns the arctangent of a number.\n      * @param x A numeric expression for which the arctangent is needed.\n      */\n    atan(x: number): number;\n    /**\n      * Returns the angle (in radians) from the X axis to a point.\n      * @param y A numeric expression representing the cartesian y-coordinate.\n      * @param x A numeric expression representing the cartesian x-coordinate.\n      */\n    atan2(y: number, x: number): number;\n    /**\n      * Returns the smallest integer greater than or equal to its numeric argument.\n      * @param x A numeric expression.\n      */\n    ceil(x: number): number;\n    /**\n      * Returns the cosine of a number.\n      * @param x A numeric expression that contains an angle measured in radians.\n      */\n    cos(x: number): number;\n    /**\n      * Returns e (the base of natural logarithms) raised to a power.\n      * @param x A numeric expression representing the power of e.\n      */\n    exp(x: number): number;\n    /**\n      * Returns the greatest integer less than or equal to its numeric argument.\n      * @param x A numeric expression.\n      */\n    floor(x: number): number;\n    /**\n      * Returns the natural logarithm (base e) of a number.\n      * @param x A numeric expression.\n      */\n    log(x: number): number;\n    /**\n      * Returns the larger of a set of supplied numeric expressions.\n      * @param values Numeric expressions to be evaluated.\n      */\n    max(...values: number[]): number;\n    /**\n      * Returns the smaller of a set of supplied numeric expressions.\n      * @param values Numeric expressions to be evaluated.\n      */\n    min(...values: number[]): number;\n    /**\n      * Returns the value of a base expression taken to a specified power.\n      * @param x The base value of the expression.\n      * @param y The exponent value of the expression.\n      */\n    pow(x: number, y: number): number;\n    /** Returns a pseudorandom number between 0 and 1. */\n    random(): number;\n    /**\n      * Returns a supplied numeric expression rounded to the nearest number.\n      * @param x The value to be rounded to the nearest number.\n      */\n    round(x: number): number;\n    /**\n      * Returns the sine of a number.\n      * @param x A numeric expression that contains an angle measured in radians.\n      */\n    sin(x: number): number;\n    /**\n      * Returns the square root of a number.\n      * @param x A numeric expression.\n      */\n    sqrt(x: number): number;\n    /**\n      * Returns the tangent of a number.\n      * @param x A numeric expression that contains an angle measured in radians.\n      */\n    tan(x: number): number;\n}\n/** An intrinsic object that provides basic mathematics functionality and constants. */\ndeclare var Math: Math;\n\n/** Enables basic storage and retrieval of dates and times. */\ninterface Date {\n    /** Returns a string representation of a date. The format of the string depends on the locale. */\n    toString(): string;\n    /** Returns a date as a string value. */\n    toDateString(): string;\n    /** Returns a time as a string value. */\n    toTimeString(): string;\n    /** Returns a value as a string value appropriate to the host environment's current locale. */\n    toLocaleString(): string;\n    /** Returns a date as a string value appropriate to the host environment's current locale. */\n    toLocaleDateString(): string;\n    /** Returns a time as a string value appropriate to the host environment's current locale. */\n    toLocaleTimeString(): string;\n    /** Returns the stored time value in milliseconds since midnight, January 1, 1970 UTC. */\n    valueOf(): number;\n    /** Gets the time value in milliseconds. */\n    getTime(): number;\n    /** Gets the year, using local time. */\n    getFullYear(): number;\n    /** Gets the year using Universal Coordinated Time (UTC). */\n    getUTCFullYear(): number;\n    /** Gets the month, using local time. */\n    getMonth(): number;\n    /** Gets the month of a Date object using Universal Coordinated Time (UTC). */\n    getUTCMonth(): number;\n    /** Gets the day-of-the-month, using local time. */\n    getDate(): number;\n    /** Gets the day-of-the-month, using Universal Coordinated Time (UTC). */\n    getUTCDate(): number;\n    /** Gets the day of the week, using local time. */\n    getDay(): number;\n    /** Gets the day of the week using Universal Coordinated Time (UTC). */\n    getUTCDay(): number;\n    /** Gets the hours in a date, using local time. */\n    getHours(): number;\n    /** Gets the hours value in a Date object using Universal Coordinated Time (UTC). */\n    getUTCHours(): number;\n    /** Gets the minutes of a Date object, using local time. */\n    getMinutes(): number;\n    /** Gets the minutes of a Date object using Universal Coordinated Time (UTC). */\n    getUTCMinutes(): number;\n    /** Gets the seconds of a Date object, using local time. */\n    getSeconds(): number;\n    /** Gets the seconds of a Date object using Universal Coordinated Time (UTC). */\n    getUTCSeconds(): number;\n    /** Gets the milliseconds of a Date, using local time. */\n    getMilliseconds(): number;\n    /** Gets the milliseconds of a Date object using Universal Coordinated Time (UTC). */\n    getUTCMilliseconds(): number;\n    /** Gets the difference in minutes between the time on the local computer and Universal Coordinated Time (UTC). */\n    getTimezoneOffset(): number;\n    /**\n      * Sets the date and time value in the Date object.\n      * @param time A numeric value representing the number of elapsed milliseconds since midnight, January 1, 1970 GMT.\n      */\n    setTime(time: number): number;\n    /**\n      * Sets the milliseconds value in the Date object using local time.\n      * @param ms A numeric value equal to the millisecond value.\n      */\n    setMilliseconds(ms: number): number;\n    /**\n      * Sets the milliseconds value in the Date object using Universal Coordinated Time (UTC).\n      * @param ms A numeric value equal to the millisecond value.\n      */\n    setUTCMilliseconds(ms: number): number;\n\n    /**\n      * Sets the seconds value in the Date object using local time.\n      * @param sec A numeric value equal to the seconds value.\n      * @param ms A numeric value equal to the milliseconds value.\n      */\n    setSeconds(sec: number, ms?: number): number;\n    /**\n      * Sets the seconds value in the Date object using Universal Coordinated Time (UTC).\n      * @param sec A numeric value equal to the seconds value.\n      * @param ms A numeric value equal to the milliseconds value.\n      */\n    setUTCSeconds(sec: number, ms?: number): number;\n    /**\n      * Sets the minutes value in the Date object using local time.\n      * @param min A numeric value equal to the minutes value.\n      * @param sec A numeric value equal to the seconds value.\n      * @param ms A numeric value equal to the milliseconds value.\n      */\n    setMinutes(min: number, sec?: number, ms?: number): number;\n    /**\n      * Sets the minutes value in the Date object using Universal Coordinated Time (UTC).\n      * @param min A numeric value equal to the minutes value.\n      * @param sec A numeric value equal to the seconds value.\n      * @param ms A numeric value equal to the milliseconds value.\n      */\n    setUTCMinutes(min: number, sec?: number, ms?: number): number;\n    /**\n      * Sets the hour value in the Date object using local time.\n      * @param hours A numeric value equal to the hours value.\n      * @param min A numeric value equal to the minutes value.\n      * @param sec A numeric value equal to the seconds value.\n      * @param ms A numeric value equal to the milliseconds value.\n      */\n    setHours(hours: number, min?: number, sec?: number, ms?: number): number;\n    /**\n      * Sets the hours value in the Date object using Universal Coordinated Time (UTC).\n      * @param hours A numeric value equal to the hours value.\n      * @param min A numeric value equal to the minutes value.\n      * @param sec A numeric value equal to the seconds value.\n      * @param ms A numeric value equal to the milliseconds value.\n      */\n    setUTCHours(hours: number, min?: number, sec?: number, ms?: number): number;\n    /**\n      * Sets the numeric day-of-the-month value of the Date object using local time.\n      * @param date A numeric value equal to the day of the month.\n      */\n    setDate(date: number): number;\n    /**\n      * Sets the numeric day of the month in the Date object using Universal Coordinated Time (UTC).\n      * @param date A numeric value equal to the day of the month.\n      */\n    setUTCDate(date: number): number;\n    /**\n      * Sets the month value in the Date object using local time.\n      * @param month A numeric value equal to the month. The value for January is 0, and other month values follow consecutively.\n      * @param date A numeric value representing the day of the month. If this value is not supplied, the value from a call to the getDate method is used.\n      */\n    setMonth(month: number, date?: number): number;\n    /**\n      * Sets the month value in the Date object using Universal Coordinated Time (UTC).\n      * @param month A numeric value equal to the month. The value for January is 0, and other month values follow consecutively.\n      * @param date A numeric value representing the day of the month. If it is not supplied, the value from a call to the getUTCDate method is used.\n      */\n    setUTCMonth(month: number, date?: number): number;\n    /**\n      * Sets the year of the Date object using local time.\n      * @param year A numeric value for the year.\n      * @param month A zero-based numeric value for the month (0 for January, 11 for December). Must be specified if numDate is specified.\n      * @param date A numeric value equal for the day of the month.\n      */\n    setFullYear(year: number, month?: number, date?: number): number;\n    /**\n      * Sets the year value in the Date object using Universal Coordinated Time (UTC).\n      * @param year A numeric value equal to the year.\n      * @param month A numeric value equal to the month. The value for January is 0, and other month values follow consecutively. Must be supplied if numDate is supplied.\n      * @param date A numeric value equal to the day of the month.\n      */\n    setUTCFullYear(year: number, month?: number, date?: number): number;\n    /** Returns a date converted to a string using Universal Coordinated Time (UTC). */\n    toUTCString(): string;\n    /** Returns a date as a string value in ISO format. */\n    toISOString(): string;\n    /** Used by the JSON.stringify method to enable the transformation of an object's data for JavaScript Object Notation (JSON) serialization. */\n    toJSON(key?: any): string;\n}\n\ninterface DateConstructor {\n    new(): Date;\n    new(value: number | string): Date;\n    new(year: number, month: number, date?: number, hours?: number, minutes?: number, seconds?: number, ms?: number): Date;\n    (): string;\n    readonly prototype: Date;\n    /**\n      * Parses a string containing a date, and returns the number of milliseconds between that date and midnight, January 1, 1970.\n      * @param s A date string\n      */\n    parse(s: string): number;\n    /**\n      * Returns the number of milliseconds between midnight, January 1, 1970 Universal Coordinated Time (UTC) (or GMT) and the specified date.\n      * @param year The full year designation is required for cross-century date accuracy. If year is between 0 and 99 is used, then year is assumed to be 1900 + year.\n      * @param month The month as an number between 0 and 11 (January to December).\n      * @param date The date as an number between 1 and 31.\n      * @param hours Must be supplied if minutes is supplied. An number from 0 to 23 (midnight to 11pm) that specifies the hour.\n      * @param minutes Must be supplied if seconds is supplied. An number from 0 to 59 that specifies the minutes.\n      * @param seconds Must be supplied if milliseconds is supplied. An number from 0 to 59 that specifies the seconds.\n      * @param ms An number from 0 to 999 that specifies the milliseconds.\n      */\n    UTC(year: number, month: number, date?: number, hours?: number, minutes?: number, seconds?: number, ms?: number): number;\n    now(): number;\n}\n\ndeclare var Date: DateConstructor;\n\ninterface RegExpMatchArray extends Array<string> {\n    index?: number;\n    input?: string;\n}\n\ninterface RegExpExecArray extends Array<string> {\n    index: number;\n    input: string;\n}\n\ninterface RegExp {\n    /**\n      * Executes a search on a string using a regular expression pattern, and returns an array containing the results of that search.\n      * @param string The String object or string literal on which to perform the search.\n      */\n    exec(string: string): RegExpExecArray | null;\n\n    /**\n      * Returns a Boolean value that indicates whether or not a pattern exists in a searched string.\n      * @param string String on which to perform the search.\n      */\n    test(string: string): boolean;\n\n    /** Returns a copy of the text of the regular expression pattern. Read-only. The regExp argument is a Regular expression object. It can be a variable name or a literal. */\n    readonly source: string;\n\n    /** Returns a Boolean value indicating the state of the global flag (g) used with a regular expression. Default is false. Read-only. */\n    readonly global: boolean;\n\n    /** Returns a Boolean value indicating the state of the ignoreCase flag (i) used with a regular expression. Default is false. Read-only. */\n    readonly ignoreCase: boolean;\n\n    /** Returns a Boolean value indicating the state of the multiline flag (m) used with a regular expression. Default is false. Read-only. */\n    readonly multiline: boolean;\n\n    lastIndex: number;\n\n    // Non-standard extensions\n    compile(): this;\n}\n\ninterface RegExpConstructor {\n    new(pattern: RegExp | string): RegExp;\n    new(pattern: string, flags?: string): RegExp;\n    (pattern: RegExp | string): RegExp;\n    (pattern: string, flags?: string): RegExp;\n    readonly prototype: RegExp;\n\n    // Non-standard extensions\n    $1: string;\n    $2: string;\n    $3: string;\n    $4: string;\n    $5: string;\n    $6: string;\n    $7: string;\n    $8: string;\n    $9: string;\n    lastMatch: string;\n}\n\ndeclare var RegExp: RegExpConstructor;\n\ninterface Error {\n    name: string;\n    message: string;\n    stack?: string;\n}\n\ninterface ErrorConstructor {\n    new(message?: string): Error;\n    (message?: string): Error;\n    readonly prototype: Error;\n}\n\ndeclare var Error: ErrorConstructor;\n\ninterface EvalError extends Error {\n}\n\ninterface EvalErrorConstructor {\n    new(message?: string): EvalError;\n    (message?: string): EvalError;\n    readonly prototype: EvalError;\n}\n\ndeclare var EvalError: EvalErrorConstructor;\n\ninterface RangeError extends Error {\n}\n\ninterface RangeErrorConstructor {\n    new(message?: string): RangeError;\n    (message?: string): RangeError;\n    readonly prototype: RangeError;\n}\n\ndeclare var RangeError: RangeErrorConstructor;\n\ninterface ReferenceError extends Error {\n}\n\ninterface ReferenceErrorConstructor {\n    new(message?: string): ReferenceError;\n    (message?: string): ReferenceError;\n    readonly prototype: ReferenceError;\n}\n\ndeclare var ReferenceError: ReferenceErrorConstructor;\n\ninterface SyntaxError extends Error {\n}\n\ninterface SyntaxErrorConstructor {\n    new(message?: string): SyntaxError;\n    (message?: string): SyntaxError;\n    readonly prototype: SyntaxError;\n}\n\ndeclare var SyntaxError: SyntaxErrorConstructor;\n\ninterface TypeError extends Error {\n}\n\ninterface TypeErrorConstructor {\n    new(message?: string): TypeError;\n    (message?: string): TypeError;\n    readonly prototype: TypeError;\n}\n\ndeclare var TypeError: TypeErrorConstructor;\n\ninterface URIError extends Error {\n}\n\ninterface URIErrorConstructor {\n    new(message?: string): URIError;\n    (message?: string): URIError;\n    readonly prototype: URIError;\n}\n\ndeclare var URIError: URIErrorConstructor;\n\ninterface JSON {\n    /**\n      * Converts a JavaScript Object Notation (JSON) string into an object.\n      * @param text A valid JSON string.\n      * @param reviver A function that transforms the results. This function is called for each member of the object.\n      * If a member contains nested objects, the nested objects are transformed before the parent object is.\n      */\n    parse(text: string, reviver?: (this: any, key: string, value: any) => any): any;\n    /**\n      * Converts a JavaScript value to a JavaScript Object Notation (JSON) string.\n      * @param value A JavaScript value, usually an object or array, to be converted.\n      * @param replacer A function that transforms the results.\n      * @param space Adds indentation, white space, and line break characters to the return-value JSON text to make it easier to read.\n      */\n    stringify(value: any, replacer?: (this: any, key: string, value: any) => any, space?: string | number): string;\n    /**\n      * Converts a JavaScript value to a JavaScript Object Notation (JSON) string.\n      * @param value A JavaScript value, usually an object or array, to be converted.\n      * @param replacer An array of strings and numbers that acts as a approved list for selecting the object properties that will be stringified.\n      * @param space Adds indentation, white space, and line break characters to the return-value JSON text to make it easier to read.\n      */\n    stringify(value: any, replacer?: (number | string)[] | null, space?: string | number): string;\n}\n\n/**\n  * An intrinsic object that provides functions to convert JavaScript values to and from the JavaScript Object Notation (JSON) format.\n  */\ndeclare var JSON: JSON;\n\n\n/////////////////////////////\n/// ECMAScript Array API (specially handled by compiler)\n/////////////////////////////\n\ninterface ReadonlyArray<T> {\n    /**\n      * Gets the length of the array. This is a number one higher than the highest element defined in an array.\n      */\n    readonly length: number;\n    /**\n      * Returns a string representation of an array.\n      */\n    toString(): string;\n    /**\n      * Returns a string representation of an array. The elements are converted to string using their toLocalString methods.\n      */\n    toLocaleString(): string;\n    /**\n      * Combines two or more arrays.\n      * @param items Additional items to add to the end of array1.\n      */\n    concat(...items: ConcatArray<T>[]): T[];\n    /**\n      * Combines two or more arrays.\n      * @param items Additional items to add to the end of array1.\n      */\n    concat(...items: (T | ConcatArray<T>)[]): T[];\n    /**\n      * Adds all the elements of an array separated by the specified separator string.\n      * @param separator A string used to separate one element of an array from the next in the resulting String. If omitted, the array elements are separated with a comma.\n      */\n    join(separator?: string): string;\n    /**\n      * Returns a section of an array.\n      * @param start The beginning of the specified portion of the array.\n      * @param end The end of the specified portion of the array.\n      */\n    slice(start?: number, end?: number): T[];\n    /**\n      * Returns the index of the first occurrence of a value in an array.\n      * @param searchElement The value to locate in the array.\n      * @param fromIndex The array index at which to begin the search. If fromIndex is omitted, the search starts at index 0.\n      */\n    indexOf(searchElement: T, fromIndex?: number): number;\n    /**\n      * Returns the index of the last occurrence of a specified value in an array.\n      * @param searchElement The value to locate in the array.\n      * @param fromIndex The array index at which to begin the search. If fromIndex is omitted, the search starts at the last index in the array.\n      */\n    lastIndexOf(searchElement: T, fromIndex?: number): number;\n    /**\n      * Determines whether all the members of an array satisfy the specified test.\n      * @param callbackfn A function that accepts up to three arguments. The every method calls the callbackfn function for each element in array1 until the callbackfn returns false, or until the end of the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function. If thisArg is omitted, undefined is used as the this value.\n      */\n    every(callbackfn: (value: T, index: number, array: ReadonlyArray<T>) => unknown, thisArg?: any): boolean;\n    /**\n      * Determines whether the specified callback function returns true for any element of an array.\n      * @param callbackfn A function that accepts up to three arguments. The some method calls the callbackfn function for each element in array1 until the callbackfn returns true, or until the end of the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function. If thisArg is omitted, undefined is used as the this value.\n      */\n    some(callbackfn: (value: T, index: number, array: ReadonlyArray<T>) => unknown, thisArg?: any): boolean;\n    /**\n      * Performs the specified action for each element in an array.\n      * @param callbackfn  A function that accepts up to three arguments. forEach calls the callbackfn function one time for each element in the array.\n      * @param thisArg  An object to which the this keyword can refer in the callbackfn function. If thisArg is omitted, undefined is used as the this value.\n      */\n    forEach(callbackfn: (value: T, index: number, array: ReadonlyArray<T>) => void, thisArg?: any): void;\n    /**\n      * Calls a defined callback function on each element of an array, and returns an array that contains the results.\n      * @param callbackfn A function that accepts up to three arguments. The map method calls the callbackfn function one time for each element in the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function. If thisArg is omitted, undefined is used as the this value.\n      */\n    map<U>(callbackfn: (value: T, index: number, array: ReadonlyArray<T>) => U, thisArg?: any): U[];\n    /**\n     * Returns the elements of an array that meet the condition specified in a callback function.\n     * @param callbackfn A function that accepts up to three arguments. The filter method calls the callbackfn function one time for each element in the array.\n     * @param thisArg An object to which the this keyword can refer in the callbackfn function. If thisArg is omitted, undefined is used as the this value.\n     */\n    filter<S extends T>(callbackfn: (value: T, index: number, array: ReadonlyArray<T>) => value is S, thisArg?: any): S[];\n    /**\n      * Returns the elements of an array that meet the condition specified in a callback function.\n      * @param callbackfn A function that accepts up to three arguments. The filter method calls the callbackfn function one time for each element in the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function. If thisArg is omitted, undefined is used as the this value.\n      */\n    filter(callbackfn: (value: T, index: number, array: ReadonlyArray<T>) => unknown, thisArg?: any): T[];\n    /**\n      * Calls the specified callback function for all the elements in an array. The return value of the callback function is the accumulated result, and is provided as an argument in the next call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduce method calls the callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start the accumulation. The first call to the callbackfn function provides this value as an argument instead of an array value.\n      */\n    reduce(callbackfn: (previousValue: T, currentValue: T, currentIndex: number, array: ReadonlyArray<T>) => T): T;\n    reduce(callbackfn: (previousValue: T, currentValue: T, currentIndex: number, array: ReadonlyArray<T>) => T, initialValue: T): T;\n    /**\n      * Calls the specified callback function for all the elements in an array. The return value of the callback function is the accumulated result, and is provided as an argument in the next call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduce method calls the callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start the accumulation. The first call to the callbackfn function provides this value as an argument instead of an array value.\n      */\n    reduce<U>(callbackfn: (previousValue: U, currentValue: T, currentIndex: number, array: ReadonlyArray<T>) => U, initialValue: U): U;\n    /**\n      * Calls the specified callback function for all the elements in an array, in descending order. The return value of the callback function is the accumulated result, and is provided as an argument in the next call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduceRight method calls the callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start the accumulation. The first call to the callbackfn function provides this value as an argument instead of an array value.\n      */\n    reduceRight(callbackfn: (previousValue: T, currentValue: T, currentIndex: number, array: ReadonlyArray<T>) => T): T;\n    reduceRight(callbackfn: (previousValue: T, currentValue: T, currentIndex: number, array: ReadonlyArray<T>) => T, initialValue: T): T;\n    /**\n      * Calls the specified callback function for all the elements in an array, in descending order. The return value of the callback function is the accumulated result, and is provided as an argument in the next call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduceRight method calls the callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start the accumulation. The first call to the callbackfn function provides this value as an argument instead of an array value.\n      */\n    reduceRight<U>(callbackfn: (previousValue: U, currentValue: T, currentIndex: number, array: ReadonlyArray<T>) => U, initialValue: U): U;\n\n    readonly [n: number]: T;\n}\n\ninterface ConcatArray<T> {\n    readonly length: number;\n    readonly [n: number]: T;\n    join(separator?: string): string;\n    slice(start?: number, end?: number): T[];\n}\n\ninterface Array<T> {\n    /**\n      * Gets or sets the length of the array. This is a number one higher than the highest element defined in an array.\n      */\n    length: number;\n    /**\n      * Returns a string representation of an array.\n      */\n    toString(): string;\n    /**\n      * Returns a string representation of an array. The elements are converted to string using their toLocalString methods.\n      */\n    toLocaleString(): string;\n    /**\n      * Removes the last element from an array and returns it.\n      */\n    pop(): T | undefined;\n    /**\n      * Appends new elements to an array, and returns the new length of the array.\n      * @param items New elements of the Array.\n      */\n    push(...items: T[]): number;\n    /**\n      * Combines two or more arrays.\n      * @param items Additional items to add to the end of array1.\n      */\n    concat(...items: ConcatArray<T>[]): T[];\n    /**\n      * Combines two or more arrays.\n      * @param items Additional items to add to the end of array1.\n      */\n    concat(...items: (T | ConcatArray<T>)[]): T[];\n    /**\n      * Adds all the elements of an array separated by the specified separator string.\n      * @param separator A string used to separate one element of an array from the next in the resulting String. If omitted, the array elements are separated with a comma.\n      */\n    join(separator?: string): string;\n    /**\n      * Reverses the elements in an Array.\n      */\n    reverse(): T[];\n    /**\n      * Removes the first element from an array and returns it.\n      */\n    shift(): T | undefined;\n    /**\n      * Returns a section of an array.\n      * @param start The beginning of the specified portion of the array.\n      * @param end The end of the specified portion of the array.\n      */\n    slice(start?: number, end?: number): T[];\n    /**\n      * Sorts an array.\n      * @param compareFn The name of the function used to determine the order of the elements. If omitted, the elements are sorted in ascending, ASCII character order.\n      */\n    sort(compareFn?: (a: T, b: T) => number): this;\n    /**\n      * Removes elements from an array and, if necessary, inserts new elements in their place, returning the deleted elements.\n      * @param start The zero-based location in the array from which to start removing elements.\n      * @param deleteCount The number of elements to remove.\n      */\n    splice(start: number, deleteCount?: number): T[];\n    /**\n      * Removes elements from an array and, if necessary, inserts new elements in their place, returning the deleted elements.\n      * @param start The zero-based location in the array from which to start removing elements.\n      * @param deleteCount The number of elements to remove.\n      * @param items Elements to insert into the array in place of the deleted elements.\n      */\n    splice(start: number, deleteCount: number, ...items: T[]): T[];\n    /**\n      * Inserts new elements at the start of an array.\n      * @param items  Elements to insert at the start of the Array.\n      */\n    unshift(...items: T[]): number;\n    /**\n      * Returns the index of the first occurrence of a value in an array.\n      * @param searchElement The value to locate in the array.\n      * @param fromIndex The array index at which to begin the search. If fromIndex is omitted, the search starts at index 0.\n      */\n    indexOf(searchElement: T, fromIndex?: number): number;\n    /**\n      * Returns the index of the last occurrence of a specified value in an array.\n      * @param searchElement The value to locate in the array.\n      * @param fromIndex The array index at which to begin the search. If fromIndex is omitted, the search starts at the last index in the array.\n      */\n    lastIndexOf(searchElement: T, fromIndex?: number): number;\n    /**\n      * Determines whether all the members of an array satisfy the specified test.\n      * @param callbackfn A function that accepts up to three arguments. The every method calls the callbackfn function for each element in array1 until the callbackfn returns false, or until the end of the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function. If thisArg is omitted, undefined is used as the this value.\n      */\n    every(callbackfn: (value: T, index: number, array: T[]) => unknown, thisArg?: any): boolean;\n    /**\n      * Determines whether the specified callback function returns true for any element of an array.\n      * @param callbackfn A function that accepts up to three arguments. The some method calls the callbackfn function for each element in array1 until the callbackfn returns true, or until the end of the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function. If thisArg is omitted, undefined is used as the this value.\n      */\n    some(callbackfn: (value: T, index: number, array: T[]) => unknown, thisArg?: any): boolean;\n    /**\n      * Performs the specified action for each element in an array.\n      * @param callbackfn  A function that accepts up to three arguments. forEach calls the callbackfn function one time for each element in the array.\n      * @param thisArg  An object to which the this keyword can refer in the callbackfn function. If thisArg is omitted, undefined is used as the this value.\n      */\n    forEach(callbackfn: (value: T, index: number, array: T[]) => void, thisArg?: any): void;\n    /**\n      * Calls a defined callback function on each element of an array, and returns an array that contains the results.\n      * @param callbackfn A function that accepts up to three arguments. The map method calls the callbackfn function one time for each element in the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function. If thisArg is omitted, undefined is used as the this value.\n      */\n    map<U>(callbackfn: (value: T, index: number, array: T[]) => U, thisArg?: any): U[];\n    /**\n     * Returns the elements of an array that meet the condition specified in a callback function.\n     * @param callbackfn A function that accepts up to three arguments. The filter method calls the callbackfn function one time for each element in the array.\n     * @param thisArg An object to which the this keyword can refer in the callbackfn function. If thisArg is omitted, undefined is used as the this value.\n     */\n    filter<S extends T>(callbackfn: (value: T, index: number, array: T[]) => value is S, thisArg?: any): S[];\n    /**\n      * Returns the elements of an array that meet the condition specified in a callback function.\n      * @param callbackfn A function that accepts up to three arguments. The filter method calls the callbackfn function one time for each element in the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function. If thisArg is omitted, undefined is used as the this value.\n      */\n    filter(callbackfn: (value: T, index: number, array: T[]) => unknown, thisArg?: any): T[];\n    /**\n      * Calls the specified callback function for all the elements in an array. The return value of the callback function is the accumulated result, and is provided as an argument in the next call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduce method calls the callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start the accumulation. The first call to the callbackfn function provides this value as an argument instead of an array value.\n      */\n    reduce(callbackfn: (previousValue: T, currentValue: T, currentIndex: number, array: T[]) => T): T;\n    reduce(callbackfn: (previousValue: T, currentValue: T, currentIndex: number, array: T[]) => T, initialValue: T): T;\n    /**\n      * Calls the specified callback function for all the elements in an array. The return value of the callback function is the accumulated result, and is provided as an argument in the next call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduce method calls the callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start the accumulation. The first call to the callbackfn function provides this value as an argument instead of an array value.\n      */\n    reduce<U>(callbackfn: (previousValue: U, currentValue: T, currentIndex: number, array: T[]) => U, initialValue: U): U;\n    /**\n      * Calls the specified callback function for all the elements in an array, in descending order. The return value of the callback function is the accumulated result, and is provided as an argument in the next call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduceRight method calls the callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start the accumulation. The first call to the callbackfn function provides this value as an argument instead of an array value.\n      */\n    reduceRight(callbackfn: (previousValue: T, currentValue: T, currentIndex: number, array: T[]) => T): T;\n    reduceRight(callbackfn: (previousValue: T, currentValue: T, currentIndex: number, array: T[]) => T, initialValue: T): T;\n    /**\n      * Calls the specified callback function for all the elements in an array, in descending order. The return value of the callback function is the accumulated result, and is provided as an argument in the next call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduceRight method calls the callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start the accumulation. The first call to the callbackfn function provides this value as an argument instead of an array value.\n      */\n    reduceRight<U>(callbackfn: (previousValue: U, currentValue: T, currentIndex: number, array: T[]) => U, initialValue: U): U;\n\n    [n: number]: T;\n}\n\ninterface ArrayConstructor {\n    new(arrayLength?: number): any[];\n    new <T>(arrayLength: number): T[];\n    new <T>(...items: T[]): T[];\n    (arrayLength?: number): any[];\n    <T>(arrayLength: number): T[];\n    <T>(...items: T[]): T[];\n    isArray(arg: any): arg is Array<any>;\n    readonly prototype: Array<any>;\n}\n\ndeclare var Array: ArrayConstructor;\n\ninterface TypedPropertyDescriptor<T> {\n    enumerable?: boolean;\n    configurable?: boolean;\n    writable?: boolean;\n    value?: T;\n    get?: () => T;\n    set?: (value: T) => void;\n}\n\ndeclare type ClassDecorator = <TFunction extends Function>(target: TFunction) => TFunction | void;\ndeclare type PropertyDecorator = (target: Object, propertyKey: string | symbol) => void;\ndeclare type MethodDecorator = <T>(target: Object, propertyKey: string | symbol, descriptor: TypedPropertyDescriptor<T>) => TypedPropertyDescriptor<T> | void;\ndeclare type ParameterDecorator = (target: Object, propertyKey: string | symbol, parameterIndex: number) => void;\n\ndeclare type PromiseConstructorLike = new <T>(executor: (resolve: (value?: T | PromiseLike<T>) => void, reject: (reason?: any) => void) => void) => PromiseLike<T>;\n\ninterface PromiseLike<T> {\n    /**\n     * Attaches callbacks for the resolution and/or rejection of the Promise.\n     * @param onfulfilled The callback to execute when the Promise is resolved.\n     * @param onrejected The callback to execute when the Promise is rejected.\n     * @returns A Promise for the completion of which ever callback is executed.\n     */\n    then<TResult1 = T, TResult2 = never>(onfulfilled?: ((value: T) => TResult1 | PromiseLike<TResult1>) | undefined | null, onrejected?: ((reason: any) => TResult2 | PromiseLike<TResult2>) | undefined | null): PromiseLike<TResult1 | TResult2>;\n}\n\n/**\n * Represents the completion of an asynchronous operation\n */\ninterface Promise<T> {\n    /**\n     * Attaches callbacks for the resolution and/or rejection of the Promise.\n     * @param onfulfilled The callback to execute when the Promise is resolved.\n     * @param onrejected The callback to execute when the Promise is rejected.\n     * @returns A Promise for the completion of which ever callback is executed.\n     */\n    then<TResult1 = T, TResult2 = never>(onfulfilled?: ((value: T) => TResult1 | PromiseLike<TResult1>) | undefined | null, onrejected?: ((reason: any) => TResult2 | PromiseLike<TResult2>) | undefined | null): Promise<TResult1 | TResult2>;\n\n    /**\n     * Attaches a callback for only the rejection of the Promise.\n     * @param onrejected The callback to execute when the Promise is rejected.\n     * @returns A Promise for the completion of the callback.\n     */\n    catch<TResult = never>(onrejected?: ((reason: any) => TResult | PromiseLike<TResult>) | undefined | null): Promise<T | TResult>;\n}\n\ninterface ArrayLike<T> {\n    readonly length: number;\n    readonly [n: number]: T;\n}\n\n/**\n * Make all properties in T optional\n */\ntype Partial<T> = {\n    [P in keyof T]?: T[P];\n};\n\n/**\n * Make all properties in T required\n */\ntype Required<T> = {\n    [P in keyof T]-?: T[P];\n};\n\n/**\n * Make all properties in T readonly\n */\ntype Readonly<T> = {\n    readonly [P in keyof T]: T[P];\n};\n\n/**\n * From T, pick a set of properties whose keys are in the union K\n */\ntype Pick<T, K extends keyof T> = {\n    [P in K]: T[P];\n};\n\n/**\n * Construct a type with a set of properties K of type T\n */\ntype Record<K extends keyof any, T> = {\n    [P in K]: T;\n};\n\n/**\n * Exclude from T those types that are assignable to U\n */\ntype Exclude<T, U> = T extends U ? never : T;\n\n/**\n * Extract from T those types that are assignable to U\n */\ntype Extract<T, U> = T extends U ? T : never;\n\n/**\n * Construct a type with the properties of T except for those in type K.\n */\ntype Omit<T, K extends keyof any> = Pick<T, Exclude<keyof T, K>>;\n\n/**\n * Exclude null and undefined from T\n */\ntype NonNullable<T> = T extends null | undefined ? never : T;\n\n/**\n * Obtain the parameters of a function type in a tuple\n */\ntype Parameters<T extends (...args: any) => any> = T extends (...args: infer P) => any ? P : never;\n\n/**\n * Obtain the parameters of a constructor function type in a tuple\n */\ntype ConstructorParameters<T extends new (...args: any) => any> = T extends new (...args: infer P) => any ? P : never;\n\n/**\n * Obtain the return type of a function type\n */\ntype ReturnType<T extends (...args: any) => any> = T extends (...args: any) => infer R ? R : any;\n\n/**\n * Obtain the return type of a constructor function type\n */\ntype InstanceType<T extends new (...args: any) => any> = T extends new (...args: any) => infer R ? R : any;\n\n/**\n * Marker for contextual 'this' type\n */\ninterface ThisType<T> { }\n\n/**\n  * Represents a raw buffer of binary data, which is used to store data for the\n  * different typed arrays. ArrayBuffers cannot be read from or written to directly,\n  * but can be passed to a typed array or DataView Object to interpret the raw\n  * buffer as needed.\n  */\ninterface ArrayBuffer {\n    /**\n      * Read-only. The length of the ArrayBuffer (in bytes).\n      */\n    readonly byteLength: number;\n\n    /**\n      * Returns a section of an ArrayBuffer.\n      */\n    slice(begin: number, end?: number): ArrayBuffer;\n}\n\n/**\n * Allowed ArrayBuffer types for the buffer of an ArrayBufferView and related Typed Arrays.\n */\ninterface ArrayBufferTypes {\n    ArrayBuffer: ArrayBuffer;\n}\ntype ArrayBufferLike = ArrayBufferTypes[keyof ArrayBufferTypes];\n\ninterface ArrayBufferConstructor {\n    readonly prototype: ArrayBuffer;\n    new(byteLength: number): ArrayBuffer;\n    isView(arg: any): arg is ArrayBufferView;\n}\ndeclare var ArrayBuffer: ArrayBufferConstructor;\n\ninterface ArrayBufferView {\n    /**\n      * The ArrayBuffer instance referenced by the array.\n      */\n    buffer: ArrayBufferLike;\n\n    /**\n      * The length in bytes of the array.\n      */\n    byteLength: number;\n\n    /**\n      * The offset in bytes of the array.\n      */\n    byteOffset: number;\n}\n\ninterface DataView {\n    readonly buffer: ArrayBuffer;\n    readonly byteLength: number;\n    readonly byteOffset: number;\n    /**\n      * Gets the Float32 value at the specified byte offset from the start of the view. There is\n      * no alignment constraint; multi-byte values may be fetched from any offset.\n      * @param byteOffset The place in the buffer at which the value should be retrieved.\n      */\n    getFloat32(byteOffset: number, littleEndian?: boolean): number;\n\n    /**\n      * Gets the Float64 value at the specified byte offset from the start of the view. There is\n      * no alignment constraint; multi-byte values may be fetched from any offset.\n      * @param byteOffset The place in the buffer at which the value should be retrieved.\n      */\n    getFloat64(byteOffset: number, littleEndian?: boolean): number;\n\n    /**\n      * Gets the Int8 value at the specified byte offset from the start of the view. There is\n      * no alignment constraint; multi-byte values may be fetched from any offset.\n      * @param byteOffset The place in the buffer at which the value should be retrieved.\n      */\n    getInt8(byteOffset: number): number;\n\n    /**\n      * Gets the Int16 value at the specified byte offset from the start of the view. There is\n      * no alignment constraint; multi-byte values may be fetched from any offset.\n      * @param byteOffset The place in the buffer at which the value should be retrieved.\n      */\n    getInt16(byteOffset: number, littleEndian?: boolean): number;\n    /**\n      * Gets the Int32 value at the specified byte offset from the start of the view. There is\n      * no alignment constraint; multi-byte values may be fetched from any offset.\n      * @param byteOffset The place in the buffer at which the value should be retrieved.\n      */\n    getInt32(byteOffset: number, littleEndian?: boolean): number;\n\n    /**\n      * Gets the Uint8 value at the specified byte offset from the start of the view. There is\n      * no alignment constraint; multi-byte values may be fetched from any offset.\n      * @param byteOffset The place in the buffer at which the value should be retrieved.\n      */\n    getUint8(byteOffset: number): number;\n\n    /**\n      * Gets the Uint16 value at the specified byte offset from the start of the view. There is\n      * no alignment constraint; multi-byte values may be fetched from any offset.\n      * @param byteOffset The place in the buffer at which the value should be retrieved.\n      */\n    getUint16(byteOffset: number, littleEndian?: boolean): number;\n\n    /**\n      * Gets the Uint32 value at the specified byte offset from the start of the view. There is\n      * no alignment constraint; multi-byte values may be fetched from any offset.\n      * @param byteOffset The place in the buffer at which the value should be retrieved.\n      */\n    getUint32(byteOffset: number, littleEndian?: boolean): number;\n\n    /**\n      * Stores an Float32 value at the specified byte offset from the start of the view.\n      * @param byteOffset The place in the buffer at which the value should be set.\n      * @param value The value to set.\n      * @param littleEndian If false or undefined, a big-endian value should be written,\n      * otherwise a little-endian value should be written.\n      */\n    setFloat32(byteOffset: number, value: number, littleEndian?: boolean): void;\n\n    /**\n      * Stores an Float64 value at the specified byte offset from the start of the view.\n      * @param byteOffset The place in the buffer at which the value should be set.\n      * @param value The value to set.\n      * @param littleEndian If false or undefined, a big-endian value should be written,\n      * otherwise a little-endian value should be written.\n      */\n    setFloat64(byteOffset: number, value: number, littleEndian?: boolean): void;\n\n    /**\n      * Stores an Int8 value at the specified byte offset from the start of the view.\n      * @param byteOffset The place in the buffer at which the value should be set.\n      * @param value The value to set.\n      */\n    setInt8(byteOffset: number, value: number): void;\n\n    /**\n      * Stores an Int16 value at the specified byte offset from the start of the view.\n      * @param byteOffset The place in the buffer at which the value should be set.\n      * @param value The value to set.\n      * @param littleEndian If false or undefined, a big-endian value should be written,\n      * otherwise a little-endian value should be written.\n      */\n    setInt16(byteOffset: number, value: number, littleEndian?: boolean): void;\n\n    /**\n      * Stores an Int32 value at the specified byte offset from the start of the view.\n      * @param byteOffset The place in the buffer at which the value should be set.\n      * @param value The value to set.\n      * @param littleEndian If false or undefined, a big-endian value should be written,\n      * otherwise a little-endian value should be written.\n      */\n    setInt32(byteOffset: number, value: number, littleEndian?: boolean): void;\n\n    /**\n      * Stores an Uint8 value at the specified byte offset from the start of the view.\n      * @param byteOffset The place in the buffer at which the value should be set.\n      * @param value The value to set.\n      */\n    setUint8(byteOffset: number, value: number): void;\n\n    /**\n      * Stores an Uint16 value at the specified byte offset from the start of the view.\n      * @param byteOffset The place in the buffer at which the value should be set.\n      * @param value The value to set.\n      * @param littleEndian If false or undefined, a big-endian value should be written,\n      * otherwise a little-endian value should be written.\n      */\n    setUint16(byteOffset: number, value: number, littleEndian?: boolean): void;\n\n    /**\n      * Stores an Uint32 value at the specified byte offset from the start of the view.\n      * @param byteOffset The place in the buffer at which the value should be set.\n      * @param value The value to set.\n      * @param littleEndian If false or undefined, a big-endian value should be written,\n      * otherwise a little-endian value should be written.\n      */\n    setUint32(byteOffset: number, value: number, littleEndian?: boolean): void;\n}\n\ninterface DataViewConstructor {\n    new(buffer: ArrayBufferLike, byteOffset?: number, byteLength?: number): DataView;\n}\ndeclare var DataView: DataViewConstructor;\n\n/**\n  * A typed array of 8-bit integer values. The contents are initialized to 0. If the requested\n  * number of bytes could not be allocated an exception is raised.\n  */\ninterface Int8Array {\n    /**\n      * The size in bytes of each element in the array.\n      */\n    readonly BYTES_PER_ELEMENT: number;\n\n    /**\n      * The ArrayBuffer instance referenced by the array.\n      */\n    readonly buffer: ArrayBufferLike;\n\n    /**\n      * The length in bytes of the array.\n      */\n    readonly byteLength: number;\n\n    /**\n      * The offset in bytes of the array.\n      */\n    readonly byteOffset: number;\n\n    /**\n      * Returns the this object after copying a section of the array identified by start and end\n      * to the same array starting at position target\n      * @param target If target is negative, it is treated as length+target where length is the\n      * length of the array.\n      * @param start If start is negative, it is treated as length+start. If end is negative, it\n      * is treated as length+end.\n      * @param end If not specified, length of the this object is used as its default value.\n      */\n    copyWithin(target: number, start: number, end?: number): this;\n\n    /**\n      * Determines whether all the members of an array satisfy the specified test.\n      * @param callbackfn A function that accepts up to three arguments. The every method calls\n      * the callbackfn function for each element in array1 until the callbackfn returns false,\n      * or until the end of the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    every(callbackfn: (value: number, index: number, array: Int8Array) => boolean, thisArg?: any): boolean;\n\n    /**\n        * Returns the this object after filling the section identified by start and end with value\n        * @param value value to fill array section with\n        * @param start index to start filling the array at. If start is negative, it is treated as\n        * length+start where length is the length of the array.\n        * @param end index to stop filling the array at. If end is negative, it is treated as\n        * length+end.\n        */\n    fill(value: number, start?: number, end?: number): this;\n\n    /**\n      * Returns the elements of an array that meet the condition specified in a callback function.\n      * @param callbackfn A function that accepts up to three arguments. The filter method calls\n      * the callbackfn function one time for each element in the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    filter(callbackfn: (value: number, index: number, array: Int8Array) => any, thisArg?: any): Int8Array;\n\n    /**\n      * Returns the value of the first element in the array where predicate is true, and undefined\n      * otherwise.\n      * @param predicate find calls predicate once for each element of the array, in ascending\n      * order, until it finds one where predicate returns true. If such an element is found, find\n      * immediately returns that element value. Otherwise, find returns undefined.\n      * @param thisArg If provided, it will be used as the this value for each invocation of\n      * predicate. If it is not provided, undefined is used instead.\n      */\n    find(predicate: (value: number, index: number, obj: Int8Array) => boolean, thisArg?: any): number | undefined;\n\n    /**\n      * Returns the index of the first element in the array where predicate is true, and -1\n      * otherwise.\n      * @param predicate find calls predicate once for each element of the array, in ascending\n      * order, until it finds one where predicate returns true. If such an element is found,\n      * findIndex immediately returns that element index. Otherwise, findIndex returns -1.\n      * @param thisArg If provided, it will be used as the this value for each invocation of\n      * predicate. If it is not provided, undefined is used instead.\n      */\n    findIndex(predicate: (value: number, index: number, obj: Int8Array) => boolean, thisArg?: any): number;\n\n    /**\n      * Performs the specified action for each element in an array.\n      * @param callbackfn  A function that accepts up to three arguments. forEach calls the\n      * callbackfn function one time for each element in the array.\n      * @param thisArg  An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    forEach(callbackfn: (value: number, index: number, array: Int8Array) => void, thisArg?: any): void;\n\n    /**\n      * Returns the index of the first occurrence of a value in an array.\n      * @param searchElement The value to locate in the array.\n      * @param fromIndex The array index at which to begin the search. If fromIndex is omitted, the\n      *  search starts at index 0.\n      */\n    indexOf(searchElement: number, fromIndex?: number): number;\n\n    /**\n      * Adds all the elements of an array separated by the specified separator string.\n      * @param separator A string used to separate one element of an array from the next in the\n      * resulting String. If omitted, the array elements are separated with a comma.\n      */\n    join(separator?: string): string;\n\n    /**\n      * Returns the index of the last occurrence of a value in an array.\n      * @param searchElement The value to locate in the array.\n      * @param fromIndex The array index at which to begin the search. If fromIndex is omitted, the\n      * search starts at index 0.\n      */\n    lastIndexOf(searchElement: number, fromIndex?: number): number;\n\n    /**\n      * The length of the array.\n      */\n    readonly length: number;\n\n    /**\n      * Calls a defined callback function on each element of an array, and returns an array that\n      * contains the results.\n      * @param callbackfn A function that accepts up to three arguments. The map method calls the\n      * callbackfn function one time for each element in the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    map(callbackfn: (value: number, index: number, array: Int8Array) => number, thisArg?: any): Int8Array;\n\n    /**\n      * Calls the specified callback function for all the elements in an array. The return value of\n      * the callback function is the accumulated result, and is provided as an argument in the next\n      * call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduce method calls the\n      * callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an argument\n      * instead of an array value.\n      */\n    reduce(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Int8Array) => number): number;\n    reduce(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Int8Array) => number, initialValue: number): number;\n\n    /**\n      * Calls the specified callback function for all the elements in an array. The return value of\n      * the callback function is the accumulated result, and is provided as an argument in the next\n      * call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduce method calls the\n      * callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an argument\n      * instead of an array value.\n      */\n    reduce<U>(callbackfn: (previousValue: U, currentValue: number, currentIndex: number, array: Int8Array) => U, initialValue: U): U;\n\n    /**\n      * Calls the specified callback function for all the elements in an array, in descending order.\n      * The return value of the callback function is the accumulated result, and is provided as an\n      * argument in the next call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduceRight method calls\n      * the callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an\n      * argument instead of an array value.\n      */\n    reduceRight(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Int8Array) => number): number;\n    reduceRight(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Int8Array) => number, initialValue: number): number;\n\n    /**\n      * Calls the specified callback function for all the elements in an array, in descending order.\n      * The return value of the callback function is the accumulated result, and is provided as an\n      * argument in the next call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduceRight method calls\n      * the callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an argument\n      * instead of an array value.\n      */\n    reduceRight<U>(callbackfn: (previousValue: U, currentValue: number, currentIndex: number, array: Int8Array) => U, initialValue: U): U;\n\n    /**\n      * Reverses the elements in an Array.\n      */\n    reverse(): Int8Array;\n\n    /**\n      * Sets a value or an array of values.\n      * @param array A typed or untyped array of values to set.\n      * @param offset The index in the current array at which the values are to be written.\n      */\n    set(array: ArrayLike<number>, offset?: number): void;\n\n    /**\n      * Returns a section of an array.\n      * @param start The beginning of the specified portion of the array.\n      * @param end The end of the specified portion of the array.\n      */\n    slice(start?: number, end?: number): Int8Array;\n\n    /**\n      * Determines whether the specified callback function returns true for any element of an array.\n      * @param callbackfn A function that accepts up to three arguments. The some method calls the\n      * callbackfn function for each element in array1 until the callbackfn returns true, or until\n      * the end of the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    some(callbackfn: (value: number, index: number, array: Int8Array) => boolean, thisArg?: any): boolean;\n\n    /**\n      * Sorts an array.\n      * @param compareFn The name of the function used to determine the order of the elements. If\n      * omitted, the elements are sorted in ascending, ASCII character order.\n      */\n    sort(compareFn?: (a: number, b: number) => number): this;\n\n    /**\n      * Gets a new Int8Array view of the ArrayBuffer store for this array, referencing the elements\n      * at begin, inclusive, up to end, exclusive.\n      * @param begin The index of the beginning of the array.\n      * @param end The index of the end of the array.\n      */\n    subarray(begin: number, end?: number): Int8Array;\n\n    /**\n      * Converts a number to a string by using the current locale.\n      */\n    toLocaleString(): string;\n\n    /**\n      * Returns a string representation of an array.\n      */\n    toString(): string;\n\n    [index: number]: number;\n}\ninterface Int8ArrayConstructor {\n    readonly prototype: Int8Array;\n    new(length: number): Int8Array;\n    new(arrayOrArrayBuffer: ArrayLike<number> | ArrayBufferLike): Int8Array;\n    new(buffer: ArrayBufferLike, byteOffset: number, length?: number): Int8Array;\n\n    /**\n      * The size in bytes of each element in the array.\n      */\n    readonly BYTES_PER_ELEMENT: number;\n\n    /**\n      * Returns a new array from a set of elements.\n      * @param items A set of elements to include in the new array object.\n      */\n    of(...items: number[]): Int8Array;\n\n    /**\n      * Creates an array from an array-like or iterable object.\n      * @param arrayLike An array-like or iterable object to convert to an array.\n      */\n    from(arrayLike: ArrayLike<number>): Int8Array;\n\n    /**\n      * Creates an array from an array-like or iterable object.\n      * @param arrayLike An array-like or iterable object to convert to an array.\n      * @param mapfn A mapping function to call on every element of the array.\n      * @param thisArg Value of 'this' used to invoke the mapfn.\n      */\n    from<T>(arrayLike: ArrayLike<T>, mapfn: (v: T, k: number) => number, thisArg?: any): Int8Array;\n\n\n}\ndeclare var Int8Array: Int8ArrayConstructor;\n\n/**\n  * A typed array of 8-bit unsigned integer values. The contents are initialized to 0. If the\n  * requested number of bytes could not be allocated an exception is raised.\n  */\ninterface Uint8Array {\n    /**\n      * The size in bytes of each element in the array.\n      */\n    readonly BYTES_PER_ELEMENT: number;\n\n    /**\n      * The ArrayBuffer instance referenced by the array.\n      */\n    readonly buffer: ArrayBufferLike;\n\n    /**\n      * The length in bytes of the array.\n      */\n    readonly byteLength: number;\n\n    /**\n      * The offset in bytes of the array.\n      */\n    readonly byteOffset: number;\n\n    /**\n      * Returns the this object after copying a section of the array identified by start and end\n      * to the same array starting at position target\n      * @param target If target is negative, it is treated as length+target where length is the\n      * length of the array.\n      * @param start If start is negative, it is treated as length+start. If end is negative, it\n      * is treated as length+end.\n      * @param end If not specified, length of the this object is used as its default value.\n      */\n    copyWithin(target: number, start: number, end?: number): this;\n\n    /**\n      * Determines whether all the members of an array satisfy the specified test.\n      * @param callbackfn A function that accepts up to three arguments. The every method calls\n      * the callbackfn function for each element in array1 until the callbackfn returns false,\n      * or until the end of the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    every(callbackfn: (value: number, index: number, array: Uint8Array) => boolean, thisArg?: any): boolean;\n\n    /**\n        * Returns the this object after filling the section identified by start and end with value\n        * @param value value to fill array section with\n        * @param start index to start filling the array at. If start is negative, it is treated as\n        * length+start where length is the length of the array.\n        * @param end index to stop filling the array at. If end is negative, it is treated as\n        * length+end.\n        */\n    fill(value: number, start?: number, end?: number): this;\n\n    /**\n      * Returns the elements of an array that meet the condition specified in a callback function.\n      * @param callbackfn A function that accepts up to three arguments. The filter method calls\n      * the callbackfn function one time for each element in the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    filter(callbackfn: (value: number, index: number, array: Uint8Array) => any, thisArg?: any): Uint8Array;\n\n    /**\n      * Returns the value of the first element in the array where predicate is true, and undefined\n      * otherwise.\n      * @param predicate find calls predicate once for each element of the array, in ascending\n      * order, until it finds one where predicate returns true. If such an element is found, find\n      * immediately returns that element value. Otherwise, find returns undefined.\n      * @param thisArg If provided, it will be used as the this value for each invocation of\n      * predicate. If it is not provided, undefined is used instead.\n      */\n    find(predicate: (value: number, index: number, obj: Uint8Array) => boolean, thisArg?: any): number | undefined;\n\n    /**\n      * Returns the index of the first element in the array where predicate is true, and -1\n      * otherwise.\n      * @param predicate find calls predicate once for each element of the array, in ascending\n      * order, until it finds one where predicate returns true. If such an element is found,\n      * findIndex immediately returns that element index. Otherwise, findIndex returns -1.\n      * @param thisArg If provided, it will be used as the this value for each invocation of\n      * predicate. If it is not provided, undefined is used instead.\n      */\n    findIndex(predicate: (value: number, index: number, obj: Uint8Array) => boolean, thisArg?: any): number;\n\n    /**\n      * Performs the specified action for each element in an array.\n      * @param callbackfn  A function that accepts up to three arguments. forEach calls the\n      * callbackfn function one time for each element in the array.\n      * @param thisArg  An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    forEach(callbackfn: (value: number, index: number, array: Uint8Array) => void, thisArg?: any): void;\n\n    /**\n      * Returns the index of the first occurrence of a value in an array.\n      * @param searchElement The value to locate in the array.\n      * @param fromIndex The array index at which to begin the search. If fromIndex is omitted, the\n      *  search starts at index 0.\n      */\n    indexOf(searchElement: number, fromIndex?: number): number;\n\n    /**\n      * Adds all the elements of an array separated by the specified separator string.\n      * @param separator A string used to separate one element of an array from the next in the\n      * resulting String. If omitted, the array elements are separated with a comma.\n      */\n    join(separator?: string): string;\n\n    /**\n      * Returns the index of the last occurrence of a value in an array.\n      * @param searchElement The value to locate in the array.\n      * @param fromIndex The array index at which to begin the search. If fromIndex is omitted, the\n      * search starts at index 0.\n      */\n    lastIndexOf(searchElement: number, fromIndex?: number): number;\n\n    /**\n      * The length of the array.\n      */\n    readonly length: number;\n\n    /**\n      * Calls a defined callback function on each element of an array, and returns an array that\n      * contains the results.\n      * @param callbackfn A function that accepts up to three arguments. The map method calls the\n      * callbackfn function one time for each element in the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    map(callbackfn: (value: number, index: number, array: Uint8Array) => number, thisArg?: any): Uint8Array;\n\n    /**\n      * Calls the specified callback function for all the elements in an array. The return value of\n      * the callback function is the accumulated result, and is provided as an argument in the next\n      * call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduce method calls the\n      * callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an argument\n      * instead of an array value.\n      */\n    reduce(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Uint8Array) => number): number;\n    reduce(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Uint8Array) => number, initialValue: number): number;\n\n    /**\n      * Calls the specified callback function for all the elements in an array. The return value of\n      * the callback function is the accumulated result, and is provided as an argument in the next\n      * call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduce method calls the\n      * callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an argument\n      * instead of an array value.\n      */\n    reduce<U>(callbackfn: (previousValue: U, currentValue: number, currentIndex: number, array: Uint8Array) => U, initialValue: U): U;\n\n    /**\n      * Calls the specified callback function for all the elements in an array, in descending order.\n      * The return value of the callback function is the accumulated result, and is provided as an\n      * argument in the next call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduceRight method calls\n      * the callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an\n      * argument instead of an array value.\n      */\n    reduceRight(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Uint8Array) => number): number;\n    reduceRight(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Uint8Array) => number, initialValue: number): number;\n\n    /**\n      * Calls the specified callback function for all the elements in an array, in descending order.\n      * The return value of the callback function is the accumulated result, and is provided as an\n      * argument in the next call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduceRight method calls\n      * the callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an argument\n      * instead of an array value.\n      */\n    reduceRight<U>(callbackfn: (previousValue: U, currentValue: number, currentIndex: number, array: Uint8Array) => U, initialValue: U): U;\n\n    /**\n      * Reverses the elements in an Array.\n      */\n    reverse(): Uint8Array;\n\n    /**\n      * Sets a value or an array of values.\n      * @param array A typed or untyped array of values to set.\n      * @param offset The index in the current array at which the values are to be written.\n      */\n    set(array: ArrayLike<number>, offset?: number): void;\n\n    /**\n      * Returns a section of an array.\n      * @param start The beginning of the specified portion of the array.\n      * @param end The end of the specified portion of the array.\n      */\n    slice(start?: number, end?: number): Uint8Array;\n\n    /**\n      * Determines whether the specified callback function returns true for any element of an array.\n      * @param callbackfn A function that accepts up to three arguments. The some method calls the\n      * callbackfn function for each element in array1 until the callbackfn returns true, or until\n      * the end of the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    some(callbackfn: (value: number, index: number, array: Uint8Array) => boolean, thisArg?: any): boolean;\n\n    /**\n      * Sorts an array.\n      * @param compareFn The name of the function used to determine the order of the elements. If\n      * omitted, the elements are sorted in ascending, ASCII character order.\n      */\n    sort(compareFn?: (a: number, b: number) => number): this;\n\n    /**\n      * Gets a new Uint8Array view of the ArrayBuffer store for this array, referencing the elements\n      * at begin, inclusive, up to end, exclusive.\n      * @param begin The index of the beginning of the array.\n      * @param end The index of the end of the array.\n      */\n    subarray(begin: number, end?: number): Uint8Array;\n\n    /**\n      * Converts a number to a string by using the current locale.\n      */\n    toLocaleString(): string;\n\n    /**\n      * Returns a string representation of an array.\n      */\n    toString(): string;\n\n    [index: number]: number;\n}\n\ninterface Uint8ArrayConstructor {\n    readonly prototype: Uint8Array;\n    new(length: number): Uint8Array;\n    new(arrayOrArrayBuffer: ArrayLike<number> | ArrayBufferLike): Uint8Array;\n    new(buffer: ArrayBufferLike, byteOffset: number, length?: number): Uint8Array;\n\n    /**\n      * The size in bytes of each element in the array.\n      */\n    readonly BYTES_PER_ELEMENT: number;\n\n    /**\n      * Returns a new array from a set of elements.\n      * @param items A set of elements to include in the new array object.\n      */\n    of(...items: number[]): Uint8Array;\n\n    /**\n      * Creates an array from an array-like or iterable object.\n      * @param arrayLike An array-like or iterable object to convert to an array.\n      */\n    from(arrayLike: ArrayLike<number>): Uint8Array;\n\n    /**\n      * Creates an array from an array-like or iterable object.\n      * @param arrayLike An array-like or iterable object to convert to an array.\n      * @param mapfn A mapping function to call on every element of the array.\n      * @param thisArg Value of 'this' used to invoke the mapfn.\n      */\n    from<T>(arrayLike: ArrayLike<T>, mapfn: (v: T, k: number) => number, thisArg?: any): Uint8Array;\n\n}\ndeclare var Uint8Array: Uint8ArrayConstructor;\n\n/**\n  * A typed array of 8-bit unsigned integer (clamped) values. The contents are initialized to 0.\n  * If the requested number of bytes could not be allocated an exception is raised.\n  */\ninterface Uint8ClampedArray {\n    /**\n      * The size in bytes of each element in the array.\n      */\n    readonly BYTES_PER_ELEMENT: number;\n\n    /**\n      * The ArrayBuffer instance referenced by the array.\n      */\n    readonly buffer: ArrayBufferLike;\n\n    /**\n      * The length in bytes of the array.\n      */\n    readonly byteLength: number;\n\n    /**\n      * The offset in bytes of the array.\n      */\n    readonly byteOffset: number;\n\n    /**\n      * Returns the this object after copying a section of the array identified by start and end\n      * to the same array starting at position target\n      * @param target If target is negative, it is treated as length+target where length is the\n      * length of the array.\n      * @param start If start is negative, it is treated as length+start. If end is negative, it\n      * is treated as length+end.\n      * @param end If not specified, length of the this object is used as its default value.\n      */\n    copyWithin(target: number, start: number, end?: number): this;\n\n    /**\n      * Determines whether all the members of an array satisfy the specified test.\n      * @param callbackfn A function that accepts up to three arguments. The every method calls\n      * the callbackfn function for each element in array1 until the callbackfn returns false,\n      * or until the end of the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    every(callbackfn: (value: number, index: number, array: Uint8ClampedArray) => boolean, thisArg?: any): boolean;\n\n    /**\n        * Returns the this object after filling the section identified by start and end with value\n        * @param value value to fill array section with\n        * @param start index to start filling the array at. If start is negative, it is treated as\n        * length+start where length is the length of the array.\n        * @param end index to stop filling the array at. If end is negative, it is treated as\n        * length+end.\n        */\n    fill(value: number, start?: number, end?: number): this;\n\n    /**\n      * Returns the elements of an array that meet the condition specified in a callback function.\n      * @param callbackfn A function that accepts up to three arguments. The filter method calls\n      * the callbackfn function one time for each element in the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    filter(callbackfn: (value: number, index: number, array: Uint8ClampedArray) => any, thisArg?: any): Uint8ClampedArray;\n\n    /**\n      * Returns the value of the first element in the array where predicate is true, and undefined\n      * otherwise.\n      * @param predicate find calls predicate once for each element of the array, in ascending\n      * order, until it finds one where predicate returns true. If such an element is found, find\n      * immediately returns that element value. Otherwise, find returns undefined.\n      * @param thisArg If provided, it will be used as the this value for each invocation of\n      * predicate. If it is not provided, undefined is used instead.\n      */\n    find(predicate: (value: number, index: number, obj: Uint8ClampedArray) => boolean, thisArg?: any): number | undefined;\n\n    /**\n      * Returns the index of the first element in the array where predicate is true, and -1\n      * otherwise.\n      * @param predicate find calls predicate once for each element of the array, in ascending\n      * order, until it finds one where predicate returns true. If such an element is found,\n      * findIndex immediately returns that element index. Otherwise, findIndex returns -1.\n      * @param thisArg If provided, it will be used as the this value for each invocation of\n      * predicate. If it is not provided, undefined is used instead.\n      */\n    findIndex(predicate: (value: number, index: number, obj: Uint8ClampedArray) => boolean, thisArg?: any): number;\n\n    /**\n      * Performs the specified action for each element in an array.\n      * @param callbackfn  A function that accepts up to three arguments. forEach calls the\n      * callbackfn function one time for each element in the array.\n      * @param thisArg  An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    forEach(callbackfn: (value: number, index: number, array: Uint8ClampedArray) => void, thisArg?: any): void;\n\n    /**\n      * Returns the index of the first occurrence of a value in an array.\n      * @param searchElement The value to locate in the array.\n      * @param fromIndex The array index at which to begin the search. If fromIndex is omitted, the\n      *  search starts at index 0.\n      */\n    indexOf(searchElement: number, fromIndex?: number): number;\n\n    /**\n      * Adds all the elements of an array separated by the specified separator string.\n      * @param separator A string used to separate one element of an array from the next in the\n      * resulting String. If omitted, the array elements are separated with a comma.\n      */\n    join(separator?: string): string;\n\n    /**\n      * Returns the index of the last occurrence of a value in an array.\n      * @param searchElement The value to locate in the array.\n      * @param fromIndex The array index at which to begin the search. If fromIndex is omitted, the\n      * search starts at index 0.\n      */\n    lastIndexOf(searchElement: number, fromIndex?: number): number;\n\n    /**\n      * The length of the array.\n      */\n    readonly length: number;\n\n    /**\n      * Calls a defined callback function on each element of an array, and returns an array that\n      * contains the results.\n      * @param callbackfn A function that accepts up to three arguments. The map method calls the\n      * callbackfn function one time for each element in the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    map(callbackfn: (value: number, index: number, array: Uint8ClampedArray) => number, thisArg?: any): Uint8ClampedArray;\n\n    /**\n      * Calls the specified callback function for all the elements in an array. The return value of\n      * the callback function is the accumulated result, and is provided as an argument in the next\n      * call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduce method calls the\n      * callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an argument\n      * instead of an array value.\n      */\n    reduce(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Uint8ClampedArray) => number): number;\n    reduce(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Uint8ClampedArray) => number, initialValue: number): number;\n\n    /**\n      * Calls the specified callback function for all the elements in an array. The return value of\n      * the callback function is the accumulated result, and is provided as an argument in the next\n      * call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduce method calls the\n      * callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an argument\n      * instead of an array value.\n      */\n    reduce<U>(callbackfn: (previousValue: U, currentValue: number, currentIndex: number, array: Uint8ClampedArray) => U, initialValue: U): U;\n\n    /**\n      * Calls the specified callback function for all the elements in an array, in descending order.\n      * The return value of the callback function is the accumulated result, and is provided as an\n      * argument in the next call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduceRight method calls\n      * the callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an\n      * argument instead of an array value.\n      */\n    reduceRight(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Uint8ClampedArray) => number): number;\n    reduceRight(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Uint8ClampedArray) => number, initialValue: number): number;\n\n    /**\n      * Calls the specified callback function for all the elements in an array, in descending order.\n      * The return value of the callback function is the accumulated result, and is provided as an\n      * argument in the next call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduceRight method calls\n      * the callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an argument\n      * instead of an array value.\n      */\n    reduceRight<U>(callbackfn: (previousValue: U, currentValue: number, currentIndex: number, array: Uint8ClampedArray) => U, initialValue: U): U;\n\n    /**\n      * Reverses the elements in an Array.\n      */\n    reverse(): Uint8ClampedArray;\n\n    /**\n      * Sets a value or an array of values.\n      * @param array A typed or untyped array of values to set.\n      * @param offset The index in the current array at which the values are to be written.\n      */\n    set(array: ArrayLike<number>, offset?: number): void;\n\n    /**\n      * Returns a section of an array.\n      * @param start The beginning of the specified portion of the array.\n      * @param end The end of the specified portion of the array.\n      */\n    slice(start?: number, end?: number): Uint8ClampedArray;\n\n    /**\n      * Determines whether the specified callback function returns true for any element of an array.\n      * @param callbackfn A function that accepts up to three arguments. The some method calls the\n      * callbackfn function for each element in array1 until the callbackfn returns true, or until\n      * the end of the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    some(callbackfn: (value: number, index: number, array: Uint8ClampedArray) => boolean, thisArg?: any): boolean;\n\n    /**\n      * Sorts an array.\n      * @param compareFn The name of the function used to determine the order of the elements. If\n      * omitted, the elements are sorted in ascending, ASCII character order.\n      */\n    sort(compareFn?: (a: number, b: number) => number): this;\n\n    /**\n      * Gets a new Uint8ClampedArray view of the ArrayBuffer store for this array, referencing the elements\n      * at begin, inclusive, up to end, exclusive.\n      * @param begin The index of the beginning of the array.\n      * @param end The index of the end of the array.\n      */\n    subarray(begin: number, end?: number): Uint8ClampedArray;\n\n    /**\n      * Converts a number to a string by using the current locale.\n      */\n    toLocaleString(): string;\n\n    /**\n      * Returns a string representation of an array.\n      */\n    toString(): string;\n\n    [index: number]: number;\n}\n\ninterface Uint8ClampedArrayConstructor {\n    readonly prototype: Uint8ClampedArray;\n    new(length: number): Uint8ClampedArray;\n    new(arrayOrArrayBuffer: ArrayLike<number> | ArrayBufferLike): Uint8ClampedArray;\n    new(buffer: ArrayBufferLike, byteOffset: number, length?: number): Uint8ClampedArray;\n\n    /**\n      * The size in bytes of each element in the array.\n      */\n    readonly BYTES_PER_ELEMENT: number;\n\n    /**\n      * Returns a new array from a set of elements.\n      * @param items A set of elements to include in the new array object.\n      */\n    of(...items: number[]): Uint8ClampedArray;\n\n    /**\n      * Creates an array from an array-like or iterable object.\n      * @param arrayLike An array-like or iterable object to convert to an array.\n      */\n    from(arrayLike: ArrayLike<number>): Uint8ClampedArray;\n\n    /**\n      * Creates an array from an array-like or iterable object.\n      * @param arrayLike An array-like or iterable object to convert to an array.\n      * @param mapfn A mapping function to call on every element of the array.\n      * @param thisArg Value of 'this' used to invoke the mapfn.\n      */\n    from<T>(arrayLike: ArrayLike<T>, mapfn: (v: T, k: number) => number, thisArg?: any): Uint8ClampedArray;\n}\ndeclare var Uint8ClampedArray: Uint8ClampedArrayConstructor;\n\n/**\n  * A typed array of 16-bit signed integer values. The contents are initialized to 0. If the\n  * requested number of bytes could not be allocated an exception is raised.\n  */\ninterface Int16Array {\n    /**\n      * The size in bytes of each element in the array.\n      */\n    readonly BYTES_PER_ELEMENT: number;\n\n    /**\n      * The ArrayBuffer instance referenced by the array.\n      */\n    readonly buffer: ArrayBufferLike;\n\n    /**\n      * The length in bytes of the array.\n      */\n    readonly byteLength: number;\n\n    /**\n      * The offset in bytes of the array.\n      */\n    readonly byteOffset: number;\n\n    /**\n      * Returns the this object after copying a section of the array identified by start and end\n      * to the same array starting at position target\n      * @param target If target is negative, it is treated as length+target where length is the\n      * length of the array.\n      * @param start If start is negative, it is treated as length+start. If end is negative, it\n      * is treated as length+end.\n      * @param end If not specified, length of the this object is used as its default value.\n      */\n    copyWithin(target: number, start: number, end?: number): this;\n\n    /**\n      * Determines whether all the members of an array satisfy the specified test.\n      * @param callbackfn A function that accepts up to three arguments. The every method calls\n      * the callbackfn function for each element in array1 until the callbackfn returns false,\n      * or until the end of the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    every(callbackfn: (value: number, index: number, array: Int16Array) => boolean, thisArg?: any): boolean;\n\n    /**\n        * Returns the this object after filling the section identified by start and end with value\n        * @param value value to fill array section with\n        * @param start index to start filling the array at. If start is negative, it is treated as\n        * length+start where length is the length of the array.\n        * @param end index to stop filling the array at. If end is negative, it is treated as\n        * length+end.\n        */\n    fill(value: number, start?: number, end?: number): this;\n\n    /**\n      * Returns the elements of an array that meet the condition specified in a callback function.\n      * @param callbackfn A function that accepts up to three arguments. The filter method calls\n      * the callbackfn function one time for each element in the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    filter(callbackfn: (value: number, index: number, array: Int16Array) => any, thisArg?: any): Int16Array;\n\n    /**\n      * Returns the value of the first element in the array where predicate is true, and undefined\n      * otherwise.\n      * @param predicate find calls predicate once for each element of the array, in ascending\n      * order, until it finds one where predicate returns true. If such an element is found, find\n      * immediately returns that element value. Otherwise, find returns undefined.\n      * @param thisArg If provided, it will be used as the this value for each invocation of\n      * predicate. If it is not provided, undefined is used instead.\n      */\n    find(predicate: (value: number, index: number, obj: Int16Array) => boolean, thisArg?: any): number | undefined;\n\n    /**\n      * Returns the index of the first element in the array where predicate is true, and -1\n      * otherwise.\n      * @param predicate find calls predicate once for each element of the array, in ascending\n      * order, until it finds one where predicate returns true. If such an element is found,\n      * findIndex immediately returns that element index. Otherwise, findIndex returns -1.\n      * @param thisArg If provided, it will be used as the this value for each invocation of\n      * predicate. If it is not provided, undefined is used instead.\n      */\n    findIndex(predicate: (value: number, index: number, obj: Int16Array) => boolean, thisArg?: any): number;\n\n    /**\n      * Performs the specified action for each element in an array.\n      * @param callbackfn  A function that accepts up to three arguments. forEach calls the\n      * callbackfn function one time for each element in the array.\n      * @param thisArg  An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    forEach(callbackfn: (value: number, index: number, array: Int16Array) => void, thisArg?: any): void;\n    /**\n      * Returns the index of the first occurrence of a value in an array.\n      * @param searchElement The value to locate in the array.\n      * @param fromIndex The array index at which to begin the search. If fromIndex is omitted, the\n      *  search starts at index 0.\n      */\n    indexOf(searchElement: number, fromIndex?: number): number;\n\n    /**\n      * Adds all the elements of an array separated by the specified separator string.\n      * @param separator A string used to separate one element of an array from the next in the\n      * resulting String. If omitted, the array elements are separated with a comma.\n      */\n    join(separator?: string): string;\n\n    /**\n      * Returns the index of the last occurrence of a value in an array.\n      * @param searchElement The value to locate in the array.\n      * @param fromIndex The array index at which to begin the search. If fromIndex is omitted, the\n      * search starts at index 0.\n      */\n    lastIndexOf(searchElement: number, fromIndex?: number): number;\n\n    /**\n      * The length of the array.\n      */\n    readonly length: number;\n\n    /**\n      * Calls a defined callback function on each element of an array, and returns an array that\n      * contains the results.\n      * @param callbackfn A function that accepts up to three arguments. The map method calls the\n      * callbackfn function one time for each element in the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    map(callbackfn: (value: number, index: number, array: Int16Array) => number, thisArg?: any): Int16Array;\n\n    /**\n      * Calls the specified callback function for all the elements in an array. The return value of\n      * the callback function is the accumulated result, and is provided as an argument in the next\n      * call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduce method calls the\n      * callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an argument\n      * instead of an array value.\n      */\n    reduce(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Int16Array) => number): number;\n    reduce(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Int16Array) => number, initialValue: number): number;\n\n    /**\n      * Calls the specified callback function for all the elements in an array. The return value of\n      * the callback function is the accumulated result, and is provided as an argument in the next\n      * call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduce method calls the\n      * callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an argument\n      * instead of an array value.\n      */\n    reduce<U>(callbackfn: (previousValue: U, currentValue: number, currentIndex: number, array: Int16Array) => U, initialValue: U): U;\n\n    /**\n      * Calls the specified callback function for all the elements in an array, in descending order.\n      * The return value of the callback function is the accumulated result, and is provided as an\n      * argument in the next call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduceRight method calls\n      * the callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an\n      * argument instead of an array value.\n      */\n    reduceRight(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Int16Array) => number): number;\n    reduceRight(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Int16Array) => number, initialValue: number): number;\n\n    /**\n      * Calls the specified callback function for all the elements in an array, in descending order.\n      * The return value of the callback function is the accumulated result, and is provided as an\n      * argument in the next call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduceRight method calls\n      * the callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an argument\n      * instead of an array value.\n      */\n    reduceRight<U>(callbackfn: (previousValue: U, currentValue: number, currentIndex: number, array: Int16Array) => U, initialValue: U): U;\n\n    /**\n      * Reverses the elements in an Array.\n      */\n    reverse(): Int16Array;\n\n    /**\n      * Sets a value or an array of values.\n      * @param array A typed or untyped array of values to set.\n      * @param offset The index in the current array at which the values are to be written.\n      */\n    set(array: ArrayLike<number>, offset?: number): void;\n\n    /**\n      * Returns a section of an array.\n      * @param start The beginning of the specified portion of the array.\n      * @param end The end of the specified portion of the array.\n      */\n    slice(start?: number, end?: number): Int16Array;\n\n    /**\n      * Determines whether the specified callback function returns true for any element of an array.\n      * @param callbackfn A function that accepts up to three arguments. The some method calls the\n      * callbackfn function for each element in array1 until the callbackfn returns true, or until\n      * the end of the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    some(callbackfn: (value: number, index: number, array: Int16Array) => boolean, thisArg?: any): boolean;\n\n    /**\n      * Sorts an array.\n      * @param compareFn The name of the function used to determine the order of the elements. If\n      * omitted, the elements are sorted in ascending, ASCII character order.\n      */\n    sort(compareFn?: (a: number, b: number) => number): this;\n\n    /**\n      * Gets a new Int16Array view of the ArrayBuffer store for this array, referencing the elements\n      * at begin, inclusive, up to end, exclusive.\n      * @param begin The index of the beginning of the array.\n      * @param end The index of the end of the array.\n      */\n    subarray(begin: number, end?: number): Int16Array;\n\n    /**\n      * Converts a number to a string by using the current locale.\n      */\n    toLocaleString(): string;\n\n    /**\n      * Returns a string representation of an array.\n      */\n    toString(): string;\n\n    [index: number]: number;\n}\n\ninterface Int16ArrayConstructor {\n    readonly prototype: Int16Array;\n    new(length: number): Int16Array;\n    new(arrayOrArrayBuffer: ArrayLike<number> | ArrayBufferLike): Int16Array;\n    new(buffer: ArrayBufferLike, byteOffset: number, length?: number): Int16Array;\n\n    /**\n      * The size in bytes of each element in the array.\n      */\n    readonly BYTES_PER_ELEMENT: number;\n\n    /**\n      * Returns a new array from a set of elements.\n      * @param items A set of elements to include in the new array object.\n      */\n    of(...items: number[]): Int16Array;\n\n    /**\n      * Creates an array from an array-like or iterable object.\n      * @param arrayLike An array-like or iterable object to convert to an array.\n      */\n    from(arrayLike: ArrayLike<number>): Int16Array;\n\n    /**\n      * Creates an array from an array-like or iterable object.\n      * @param arrayLike An array-like or iterable object to convert to an array.\n      * @param mapfn A mapping function to call on every element of the array.\n      * @param thisArg Value of 'this' used to invoke the mapfn.\n      */\n    from<T>(arrayLike: ArrayLike<T>, mapfn: (v: T, k: number) => number, thisArg?: any): Int16Array;\n\n\n}\ndeclare var Int16Array: Int16ArrayConstructor;\n\n/**\n  * A typed array of 16-bit unsigned integer values. The contents are initialized to 0. If the\n  * requested number of bytes could not be allocated an exception is raised.\n  */\ninterface Uint16Array {\n    /**\n      * The size in bytes of each element in the array.\n      */\n    readonly BYTES_PER_ELEMENT: number;\n\n    /**\n      * The ArrayBuffer instance referenced by the array.\n      */\n    readonly buffer: ArrayBufferLike;\n\n    /**\n      * The length in bytes of the array.\n      */\n    readonly byteLength: number;\n\n    /**\n      * The offset in bytes of the array.\n      */\n    readonly byteOffset: number;\n\n    /**\n      * Returns the this object after copying a section of the array identified by start and end\n      * to the same array starting at position target\n      * @param target If target is negative, it is treated as length+target where length is the\n      * length of the array.\n      * @param start If start is negative, it is treated as length+start. If end is negative, it\n      * is treated as length+end.\n      * @param end If not specified, length of the this object is used as its default value.\n      */\n    copyWithin(target: number, start: number, end?: number): this;\n\n    /**\n      * Determines whether all the members of an array satisfy the specified test.\n      * @param callbackfn A function that accepts up to three arguments. The every method calls\n      * the callbackfn function for each element in array1 until the callbackfn returns false,\n      * or until the end of the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    every(callbackfn: (value: number, index: number, array: Uint16Array) => boolean, thisArg?: any): boolean;\n\n    /**\n        * Returns the this object after filling the section identified by start and end with value\n        * @param value value to fill array section with\n        * @param start index to start filling the array at. If start is negative, it is treated as\n        * length+start where length is the length of the array.\n        * @param end index to stop filling the array at. If end is negative, it is treated as\n        * length+end.\n        */\n    fill(value: number, start?: number, end?: number): this;\n\n    /**\n      * Returns the elements of an array that meet the condition specified in a callback function.\n      * @param callbackfn A function that accepts up to three arguments. The filter method calls\n      * the callbackfn function one time for each element in the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    filter(callbackfn: (value: number, index: number, array: Uint16Array) => any, thisArg?: any): Uint16Array;\n\n    /**\n      * Returns the value of the first element in the array where predicate is true, and undefined\n      * otherwise.\n      * @param predicate find calls predicate once for each element of the array, in ascending\n      * order, until it finds one where predicate returns true. If such an element is found, find\n      * immediately returns that element value. Otherwise, find returns undefined.\n      * @param thisArg If provided, it will be used as the this value for each invocation of\n      * predicate. If it is not provided, undefined is used instead.\n      */\n    find(predicate: (value: number, index: number, obj: Uint16Array) => boolean, thisArg?: any): number | undefined;\n\n    /**\n      * Returns the index of the first element in the array where predicate is true, and -1\n      * otherwise.\n      * @param predicate find calls predicate once for each element of the array, in ascending\n      * order, until it finds one where predicate returns true. If such an element is found,\n      * findIndex immediately returns that element index. Otherwise, findIndex returns -1.\n      * @param thisArg If provided, it will be used as the this value for each invocation of\n      * predicate. If it is not provided, undefined is used instead.\n      */\n    findIndex(predicate: (value: number, index: number, obj: Uint16Array) => boolean, thisArg?: any): number;\n\n    /**\n      * Performs the specified action for each element in an array.\n      * @param callbackfn  A function that accepts up to three arguments. forEach calls the\n      * callbackfn function one time for each element in the array.\n      * @param thisArg  An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    forEach(callbackfn: (value: number, index: number, array: Uint16Array) => void, thisArg?: any): void;\n\n    /**\n      * Returns the index of the first occurrence of a value in an array.\n      * @param searchElement The value to locate in the array.\n      * @param fromIndex The array index at which to begin the search. If fromIndex is omitted, the\n      *  search starts at index 0.\n      */\n    indexOf(searchElement: number, fromIndex?: number): number;\n\n    /**\n      * Adds all the elements of an array separated by the specified separator string.\n      * @param separator A string used to separate one element of an array from the next in the\n      * resulting String. If omitted, the array elements are separated with a comma.\n      */\n    join(separator?: string): string;\n\n    /**\n      * Returns the index of the last occurrence of a value in an array.\n      * @param searchElement The value to locate in the array.\n      * @param fromIndex The array index at which to begin the search. If fromIndex is omitted, the\n      * search starts at index 0.\n      */\n    lastIndexOf(searchElement: number, fromIndex?: number): number;\n\n    /**\n      * The length of the array.\n      */\n    readonly length: number;\n\n    /**\n      * Calls a defined callback function on each element of an array, and returns an array that\n      * contains the results.\n      * @param callbackfn A function that accepts up to three arguments. The map method calls the\n      * callbackfn function one time for each element in the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    map(callbackfn: (value: number, index: number, array: Uint16Array) => number, thisArg?: any): Uint16Array;\n\n    /**\n      * Calls the specified callback function for all the elements in an array. The return value of\n      * the callback function is the accumulated result, and is provided as an argument in the next\n      * call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduce method calls the\n      * callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an argument\n      * instead of an array value.\n      */\n    reduce(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Uint16Array) => number): number;\n    reduce(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Uint16Array) => number, initialValue: number): number;\n\n    /**\n      * Calls the specified callback function for all the elements in an array. The return value of\n      * the callback function is the accumulated result, and is provided as an argument in the next\n      * call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduce method calls the\n      * callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an argument\n      * instead of an array value.\n      */\n    reduce<U>(callbackfn: (previousValue: U, currentValue: number, currentIndex: number, array: Uint16Array) => U, initialValue: U): U;\n\n    /**\n      * Calls the specified callback function for all the elements in an array, in descending order.\n      * The return value of the callback function is the accumulated result, and is provided as an\n      * argument in the next call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduceRight method calls\n      * the callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an\n      * argument instead of an array value.\n      */\n    reduceRight(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Uint16Array) => number): number;\n    reduceRight(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Uint16Array) => number, initialValue: number): number;\n\n    /**\n      * Calls the specified callback function for all the elements in an array, in descending order.\n      * The return value of the callback function is the accumulated result, and is provided as an\n      * argument in the next call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduceRight method calls\n      * the callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an argument\n      * instead of an array value.\n      */\n    reduceRight<U>(callbackfn: (previousValue: U, currentValue: number, currentIndex: number, array: Uint16Array) => U, initialValue: U): U;\n\n    /**\n      * Reverses the elements in an Array.\n      */\n    reverse(): Uint16Array;\n\n    /**\n      * Sets a value or an array of values.\n      * @param array A typed or untyped array of values to set.\n      * @param offset The index in the current array at which the values are to be written.\n      */\n    set(array: ArrayLike<number>, offset?: number): void;\n\n    /**\n      * Returns a section of an array.\n      * @param start The beginning of the specified portion of the array.\n      * @param end The end of the specified portion of the array.\n      */\n    slice(start?: number, end?: number): Uint16Array;\n\n    /**\n      * Determines whether the specified callback function returns true for any element of an array.\n      * @param callbackfn A function that accepts up to three arguments. The some method calls the\n      * callbackfn function for each element in array1 until the callbackfn returns true, or until\n      * the end of the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    some(callbackfn: (value: number, index: number, array: Uint16Array) => boolean, thisArg?: any): boolean;\n\n    /**\n      * Sorts an array.\n      * @param compareFn The name of the function used to determine the order of the elements. If\n      * omitted, the elements are sorted in ascending, ASCII character order.\n      */\n    sort(compareFn?: (a: number, b: number) => number): this;\n\n    /**\n      * Gets a new Uint16Array view of the ArrayBuffer store for this array, referencing the elements\n      * at begin, inclusive, up to end, exclusive.\n      * @param begin The index of the beginning of the array.\n      * @param end The index of the end of the array.\n      */\n    subarray(begin: number, end?: number): Uint16Array;\n\n    /**\n      * Converts a number to a string by using the current locale.\n      */\n    toLocaleString(): string;\n\n    /**\n      * Returns a string representation of an array.\n      */\n    toString(): string;\n\n    [index: number]: number;\n}\n\ninterface Uint16ArrayConstructor {\n    readonly prototype: Uint16Array;\n    new(length: number): Uint16Array;\n    new(arrayOrArrayBuffer: ArrayLike<number> | ArrayBufferLike): Uint16Array;\n    new(buffer: ArrayBufferLike, byteOffset: number, length?: number): Uint16Array;\n\n    /**\n      * The size in bytes of each element in the array.\n      */\n    readonly BYTES_PER_ELEMENT: number;\n\n    /**\n      * Returns a new array from a set of elements.\n      * @param items A set of elements to include in the new array object.\n      */\n    of(...items: number[]): Uint16Array;\n\n    /**\n      * Creates an array from an array-like or iterable object.\n      * @param arrayLike An array-like or iterable object to convert to an array.\n      */\n    from(arrayLike: ArrayLike<number>): Uint16Array;\n\n    /**\n      * Creates an array from an array-like or iterable object.\n      * @param arrayLike An array-like or iterable object to convert to an array.\n      * @param mapfn A mapping function to call on every element of the array.\n      * @param thisArg Value of 'this' used to invoke the mapfn.\n      */\n    from<T>(arrayLike: ArrayLike<T>, mapfn: (v: T, k: number) => number, thisArg?: any): Uint16Array;\n\n\n}\ndeclare var Uint16Array: Uint16ArrayConstructor;\n/**\n  * A typed array of 32-bit signed integer values. The contents are initialized to 0. If the\n  * requested number of bytes could not be allocated an exception is raised.\n  */\ninterface Int32Array {\n    /**\n      * The size in bytes of each element in the array.\n      */\n    readonly BYTES_PER_ELEMENT: number;\n\n    /**\n      * The ArrayBuffer instance referenced by the array.\n      */\n    readonly buffer: ArrayBufferLike;\n\n    /**\n      * The length in bytes of the array.\n      */\n    readonly byteLength: number;\n\n    /**\n      * The offset in bytes of the array.\n      */\n    readonly byteOffset: number;\n\n    /**\n      * Returns the this object after copying a section of the array identified by start and end\n      * to the same array starting at position target\n      * @param target If target is negative, it is treated as length+target where length is the\n      * length of the array.\n      * @param start If start is negative, it is treated as length+start. If end is negative, it\n      * is treated as length+end.\n      * @param end If not specified, length of the this object is used as its default value.\n      */\n    copyWithin(target: number, start: number, end?: number): this;\n\n    /**\n      * Determines whether all the members of an array satisfy the specified test.\n      * @param callbackfn A function that accepts up to three arguments. The every method calls\n      * the callbackfn function for each element in array1 until the callbackfn returns false,\n      * or until the end of the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    every(callbackfn: (value: number, index: number, array: Int32Array) => boolean, thisArg?: any): boolean;\n\n    /**\n        * Returns the this object after filling the section identified by start and end with value\n        * @param value value to fill array section with\n        * @param start index to start filling the array at. If start is negative, it is treated as\n        * length+start where length is the length of the array.\n        * @param end index to stop filling the array at. If end is negative, it is treated as\n        * length+end.\n        */\n    fill(value: number, start?: number, end?: number): this;\n\n    /**\n      * Returns the elements of an array that meet the condition specified in a callback function.\n      * @param callbackfn A function that accepts up to three arguments. The filter method calls\n      * the callbackfn function one time for each element in the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    filter(callbackfn: (value: number, index: number, array: Int32Array) => any, thisArg?: any): Int32Array;\n\n    /**\n      * Returns the value of the first element in the array where predicate is true, and undefined\n      * otherwise.\n      * @param predicate find calls predicate once for each element of the array, in ascending\n      * order, until it finds one where predicate returns true. If such an element is found, find\n      * immediately returns that element value. Otherwise, find returns undefined.\n      * @param thisArg If provided, it will be used as the this value for each invocation of\n      * predicate. If it is not provided, undefined is used instead.\n      */\n    find(predicate: (value: number, index: number, obj: Int32Array) => boolean, thisArg?: any): number | undefined;\n\n    /**\n      * Returns the index of the first element in the array where predicate is true, and -1\n      * otherwise.\n      * @param predicate find calls predicate once for each element of the array, in ascending\n      * order, until it finds one where predicate returns true. If such an element is found,\n      * findIndex immediately returns that element index. Otherwise, findIndex returns -1.\n      * @param thisArg If provided, it will be used as the this value for each invocation of\n      * predicate. If it is not provided, undefined is used instead.\n      */\n    findIndex(predicate: (value: number, index: number, obj: Int32Array) => boolean, thisArg?: any): number;\n\n    /**\n      * Performs the specified action for each element in an array.\n      * @param callbackfn  A function that accepts up to three arguments. forEach calls the\n      * callbackfn function one time for each element in the array.\n      * @param thisArg  An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    forEach(callbackfn: (value: number, index: number, array: Int32Array) => void, thisArg?: any): void;\n\n    /**\n      * Returns the index of the first occurrence of a value in an array.\n      * @param searchElement The value to locate in the array.\n      * @param fromIndex The array index at which to begin the search. If fromIndex is omitted, the\n      *  search starts at index 0.\n      */\n    indexOf(searchElement: number, fromIndex?: number): number;\n\n    /**\n      * Adds all the elements of an array separated by the specified separator string.\n      * @param separator A string used to separate one element of an array from the next in the\n      * resulting String. If omitted, the array elements are separated with a comma.\n      */\n    join(separator?: string): string;\n\n    /**\n      * Returns the index of the last occurrence of a value in an array.\n      * @param searchElement The value to locate in the array.\n      * @param fromIndex The array index at which to begin the search. If fromIndex is omitted, the\n      * search starts at index 0.\n      */\n    lastIndexOf(searchElement: number, fromIndex?: number): number;\n\n    /**\n      * The length of the array.\n      */\n    readonly length: number;\n\n    /**\n      * Calls a defined callback function on each element of an array, and returns an array that\n      * contains the results.\n      * @param callbackfn A function that accepts up to three arguments. The map method calls the\n      * callbackfn function one time for each element in the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    map(callbackfn: (value: number, index: number, array: Int32Array) => number, thisArg?: any): Int32Array;\n\n    /**\n      * Calls the specified callback function for all the elements in an array. The return value of\n      * the callback function is the accumulated result, and is provided as an argument in the next\n      * call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduce method calls the\n      * callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an argument\n      * instead of an array value.\n      */\n    reduce(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Int32Array) => number): number;\n    reduce(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Int32Array) => number, initialValue: number): number;\n\n    /**\n      * Calls the specified callback function for all the elements in an array. The return value of\n      * the callback function is the accumulated result, and is provided as an argument in the next\n      * call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduce method calls the\n      * callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an argument\n      * instead of an array value.\n      */\n    reduce<U>(callbackfn: (previousValue: U, currentValue: number, currentIndex: number, array: Int32Array) => U, initialValue: U): U;\n\n    /**\n      * Calls the specified callback function for all the elements in an array, in descending order.\n      * The return value of the callback function is the accumulated result, and is provided as an\n      * argument in the next call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduceRight method calls\n      * the callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an\n      * argument instead of an array value.\n      */\n    reduceRight(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Int32Array) => number): number;\n    reduceRight(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Int32Array) => number, initialValue: number): number;\n\n    /**\n      * Calls the specified callback function for all the elements in an array, in descending order.\n      * The return value of the callback function is the accumulated result, and is provided as an\n      * argument in the next call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduceRight method calls\n      * the callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an argument\n      * instead of an array value.\n      */\n    reduceRight<U>(callbackfn: (previousValue: U, currentValue: number, currentIndex: number, array: Int32Array) => U, initialValue: U): U;\n\n    /**\n      * Reverses the elements in an Array.\n      */\n    reverse(): Int32Array;\n\n    /**\n      * Sets a value or an array of values.\n      * @param array A typed or untyped array of values to set.\n      * @param offset The index in the current array at which the values are to be written.\n      */\n    set(array: ArrayLike<number>, offset?: number): void;\n\n    /**\n      * Returns a section of an array.\n      * @param start The beginning of the specified portion of the array.\n      * @param end The end of the specified portion of the array.\n      */\n    slice(start?: number, end?: number): Int32Array;\n\n    /**\n      * Determines whether the specified callback function returns true for any element of an array.\n      * @param callbackfn A function that accepts up to three arguments. The some method calls the\n      * callbackfn function for each element in array1 until the callbackfn returns true, or until\n      * the end of the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    some(callbackfn: (value: number, index: number, array: Int32Array) => boolean, thisArg?: any): boolean;\n\n    /**\n      * Sorts an array.\n      * @param compareFn The name of the function used to determine the order of the elements. If\n      * omitted, the elements are sorted in ascending, ASCII character order.\n      */\n    sort(compareFn?: (a: number, b: number) => number): this;\n\n    /**\n      * Gets a new Int32Array view of the ArrayBuffer store for this array, referencing the elements\n      * at begin, inclusive, up to end, exclusive.\n      * @param begin The index of the beginning of the array.\n      * @param end The index of the end of the array.\n      */\n    subarray(begin: number, end?: number): Int32Array;\n\n    /**\n      * Converts a number to a string by using the current locale.\n      */\n    toLocaleString(): string;\n\n    /**\n      * Returns a string representation of an array.\n      */\n    toString(): string;\n\n    [index: number]: number;\n}\n\ninterface Int32ArrayConstructor {\n    readonly prototype: Int32Array;\n    new(length: number): Int32Array;\n    new(arrayOrArrayBuffer: ArrayLike<number> | ArrayBufferLike): Int32Array;\n    new(buffer: ArrayBufferLike, byteOffset: number, length?: number): Int32Array;\n\n    /**\n      * The size in bytes of each element in the array.\n      */\n    readonly BYTES_PER_ELEMENT: number;\n\n    /**\n      * Returns a new array from a set of elements.\n      * @param items A set of elements to include in the new array object.\n      */\n    of(...items: number[]): Int32Array;\n\n    /**\n      * Creates an array from an array-like or iterable object.\n      * @param arrayLike An array-like or iterable object to convert to an array.\n      */\n    from(arrayLike: ArrayLike<number>): Int32Array;\n\n    /**\n      * Creates an array from an array-like or iterable object.\n      * @param arrayLike An array-like or iterable object to convert to an array.\n      * @param mapfn A mapping function to call on every element of the array.\n      * @param thisArg Value of 'this' used to invoke the mapfn.\n      */\n    from<T>(arrayLike: ArrayLike<T>, mapfn: (v: T, k: number) => number, thisArg?: any): Int32Array;\n\n}\ndeclare var Int32Array: Int32ArrayConstructor;\n\n/**\n  * A typed array of 32-bit unsigned integer values. The contents are initialized to 0. If the\n  * requested number of bytes could not be allocated an exception is raised.\n  */\ninterface Uint32Array {\n    /**\n      * The size in bytes of each element in the array.\n      */\n    readonly BYTES_PER_ELEMENT: number;\n\n    /**\n      * The ArrayBuffer instance referenced by the array.\n      */\n    readonly buffer: ArrayBufferLike;\n\n    /**\n      * The length in bytes of the array.\n      */\n    readonly byteLength: number;\n\n    /**\n      * The offset in bytes of the array.\n      */\n    readonly byteOffset: number;\n\n    /**\n      * Returns the this object after copying a section of the array identified by start and end\n      * to the same array starting at position target\n      * @param target If target is negative, it is treated as length+target where length is the\n      * length of the array.\n      * @param start If start is negative, it is treated as length+start. If end is negative, it\n      * is treated as length+end.\n      * @param end If not specified, length of the this object is used as its default value.\n      */\n    copyWithin(target: number, start: number, end?: number): this;\n\n    /**\n      * Determines whether all the members of an array satisfy the specified test.\n      * @param callbackfn A function that accepts up to three arguments. The every method calls\n      * the callbackfn function for each element in array1 until the callbackfn returns false,\n      * or until the end of the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    every(callbackfn: (value: number, index: number, array: Uint32Array) => boolean, thisArg?: any): boolean;\n\n    /**\n        * Returns the this object after filling the section identified by start and end with value\n        * @param value value to fill array section with\n        * @param start index to start filling the array at. If start is negative, it is treated as\n        * length+start where length is the length of the array.\n        * @param end index to stop filling the array at. If end is negative, it is treated as\n        * length+end.\n        */\n    fill(value: number, start?: number, end?: number): this;\n\n    /**\n      * Returns the elements of an array that meet the condition specified in a callback function.\n      * @param callbackfn A function that accepts up to three arguments. The filter method calls\n      * the callbackfn function one time for each element in the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    filter(callbackfn: (value: number, index: number, array: Uint32Array) => any, thisArg?: any): Uint32Array;\n\n    /**\n      * Returns the value of the first element in the array where predicate is true, and undefined\n      * otherwise.\n      * @param predicate find calls predicate once for each element of the array, in ascending\n      * order, until it finds one where predicate returns true. If such an element is found, find\n      * immediately returns that element value. Otherwise, find returns undefined.\n      * @param thisArg If provided, it will be used as the this value for each invocation of\n      * predicate. If it is not provided, undefined is used instead.\n      */\n    find(predicate: (value: number, index: number, obj: Uint32Array) => boolean, thisArg?: any): number | undefined;\n\n    /**\n      * Returns the index of the first element in the array where predicate is true, and -1\n      * otherwise.\n      * @param predicate find calls predicate once for each element of the array, in ascending\n      * order, until it finds one where predicate returns true. If such an element is found,\n      * findIndex immediately returns that element index. Otherwise, findIndex returns -1.\n      * @param thisArg If provided, it will be used as the this value for each invocation of\n      * predicate. If it is not provided, undefined is used instead.\n      */\n    findIndex(predicate: (value: number, index: number, obj: Uint32Array) => boolean, thisArg?: any): number;\n\n    /**\n      * Performs the specified action for each element in an array.\n      * @param callbackfn  A function that accepts up to three arguments. forEach calls the\n      * callbackfn function one time for each element in the array.\n      * @param thisArg  An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    forEach(callbackfn: (value: number, index: number, array: Uint32Array) => void, thisArg?: any): void;\n    /**\n      * Returns the index of the first occurrence of a value in an array.\n      * @param searchElement The value to locate in the array.\n      * @param fromIndex The array index at which to begin the search. If fromIndex is omitted, the\n      *  search starts at index 0.\n      */\n    indexOf(searchElement: number, fromIndex?: number): number;\n\n    /**\n      * Adds all the elements of an array separated by the specified separator string.\n      * @param separator A string used to separate one element of an array from the next in the\n      * resulting String. If omitted, the array elements are separated with a comma.\n      */\n    join(separator?: string): string;\n\n    /**\n      * Returns the index of the last occurrence of a value in an array.\n      * @param searchElement The value to locate in the array.\n      * @param fromIndex The array index at which to begin the search. If fromIndex is omitted, the\n      * search starts at index 0.\n      */\n    lastIndexOf(searchElement: number, fromIndex?: number): number;\n\n    /**\n      * The length of the array.\n      */\n    readonly length: number;\n\n    /**\n      * Calls a defined callback function on each element of an array, and returns an array that\n      * contains the results.\n      * @param callbackfn A function that accepts up to three arguments. The map method calls the\n      * callbackfn function one time for each element in the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    map(callbackfn: (value: number, index: number, array: Uint32Array) => number, thisArg?: any): Uint32Array;\n\n    /**\n      * Calls the specified callback function for all the elements in an array. The return value of\n      * the callback function is the accumulated result, and is provided as an argument in the next\n      * call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduce method calls the\n      * callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an argument\n      * instead of an array value.\n      */\n    reduce(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Uint32Array) => number): number;\n    reduce(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Uint32Array) => number, initialValue: number): number;\n\n    /**\n      * Calls the specified callback function for all the elements in an array. The return value of\n      * the callback function is the accumulated result, and is provided as an argument in the next\n      * call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduce method calls the\n      * callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an argument\n      * instead of an array value.\n      */\n    reduce<U>(callbackfn: (previousValue: U, currentValue: number, currentIndex: number, array: Uint32Array) => U, initialValue: U): U;\n\n    /**\n      * Calls the specified callback function for all the elements in an array, in descending order.\n      * The return value of the callback function is the accumulated result, and is provided as an\n      * argument in the next call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduceRight method calls\n      * the callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an\n      * argument instead of an array value.\n      */\n    reduceRight(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Uint32Array) => number): number;\n    reduceRight(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Uint32Array) => number, initialValue: number): number;\n\n    /**\n      * Calls the specified callback function for all the elements in an array, in descending order.\n      * The return value of the callback function is the accumulated result, and is provided as an\n      * argument in the next call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduceRight method calls\n      * the callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an argument\n      * instead of an array value.\n      */\n    reduceRight<U>(callbackfn: (previousValue: U, currentValue: number, currentIndex: number, array: Uint32Array) => U, initialValue: U): U;\n\n    /**\n      * Reverses the elements in an Array.\n      */\n    reverse(): Uint32Array;\n\n    /**\n      * Sets a value or an array of values.\n      * @param array A typed or untyped array of values to set.\n      * @param offset The index in the current array at which the values are to be written.\n      */\n    set(array: ArrayLike<number>, offset?: number): void;\n\n    /**\n      * Returns a section of an array.\n      * @param start The beginning of the specified portion of the array.\n      * @param end The end of the specified portion of the array.\n      */\n    slice(start?: number, end?: number): Uint32Array;\n\n    /**\n      * Determines whether the specified callback function returns true for any element of an array.\n      * @param callbackfn A function that accepts up to three arguments. The some method calls the\n      * callbackfn function for each element in array1 until the callbackfn returns true, or until\n      * the end of the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    some(callbackfn: (value: number, index: number, array: Uint32Array) => boolean, thisArg?: any): boolean;\n\n    /**\n      * Sorts an array.\n      * @param compareFn The name of the function used to determine the order of the elements. If\n      * omitted, the elements are sorted in ascending, ASCII character order.\n      */\n    sort(compareFn?: (a: number, b: number) => number): this;\n\n    /**\n      * Gets a new Uint32Array view of the ArrayBuffer store for this array, referencing the elements\n      * at begin, inclusive, up to end, exclusive.\n      * @param begin The index of the beginning of the array.\n      * @param end The index of the end of the array.\n      */\n    subarray(begin: number, end?: number): Uint32Array;\n\n    /**\n      * Converts a number to a string by using the current locale.\n      */\n    toLocaleString(): string;\n\n    /**\n      * Returns a string representation of an array.\n      */\n    toString(): string;\n\n    [index: number]: number;\n}\n\ninterface Uint32ArrayConstructor {\n    readonly prototype: Uint32Array;\n    new(length: number): Uint32Array;\n    new(arrayOrArrayBuffer: ArrayLike<number> | ArrayBufferLike): Uint32Array;\n    new(buffer: ArrayBufferLike, byteOffset: number, length?: number): Uint32Array;\n\n    /**\n      * The size in bytes of each element in the array.\n      */\n    readonly BYTES_PER_ELEMENT: number;\n\n    /**\n      * Returns a new array from a set of elements.\n      * @param items A set of elements to include in the new array object.\n      */\n    of(...items: number[]): Uint32Array;\n\n    /**\n      * Creates an array from an array-like or iterable object.\n      * @param arrayLike An array-like or iterable object to convert to an array.\n      */\n    from(arrayLike: ArrayLike<number>): Uint32Array;\n\n    /**\n      * Creates an array from an array-like or iterable object.\n      * @param arrayLike An array-like or iterable object to convert to an array.\n      * @param mapfn A mapping function to call on every element of the array.\n      * @param thisArg Value of 'this' used to invoke the mapfn.\n      */\n    from<T>(arrayLike: ArrayLike<T>, mapfn: (v: T, k: number) => number, thisArg?: any): Uint32Array;\n\n}\ndeclare var Uint32Array: Uint32ArrayConstructor;\n\n/**\n  * A typed array of 32-bit float values. The contents are initialized to 0. If the requested number\n  * of bytes could not be allocated an exception is raised.\n  */\ninterface Float32Array {\n    /**\n      * The size in bytes of each element in the array.\n      */\n    readonly BYTES_PER_ELEMENT: number;\n\n    /**\n      * The ArrayBuffer instance referenced by the array.\n      */\n    readonly buffer: ArrayBufferLike;\n\n    /**\n      * The length in bytes of the array.\n      */\n    readonly byteLength: number;\n\n    /**\n      * The offset in bytes of the array.\n      */\n    readonly byteOffset: number;\n\n    /**\n      * Returns the this object after copying a section of the array identified by start and end\n      * to the same array starting at position target\n      * @param target If target is negative, it is treated as length+target where length is the\n      * length of the array.\n      * @param start If start is negative, it is treated as length+start. If end is negative, it\n      * is treated as length+end.\n      * @param end If not specified, length of the this object is used as its default value.\n      */\n    copyWithin(target: number, start: number, end?: number): this;\n\n    /**\n      * Determines whether all the members of an array satisfy the specified test.\n      * @param callbackfn A function that accepts up to three arguments. The every method calls\n      * the callbackfn function for each element in array1 until the callbackfn returns false,\n      * or until the end of the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    every(callbackfn: (value: number, index: number, array: Float32Array) => boolean, thisArg?: any): boolean;\n\n    /**\n        * Returns the this object after filling the section identified by start and end with value\n        * @param value value to fill array section with\n        * @param start index to start filling the array at. If start is negative, it is treated as\n        * length+start where length is the length of the array.\n        * @param end index to stop filling the array at. If end is negative, it is treated as\n        * length+end.\n        */\n    fill(value: number, start?: number, end?: number): this;\n\n    /**\n      * Returns the elements of an array that meet the condition specified in a callback function.\n      * @param callbackfn A function that accepts up to three arguments. The filter method calls\n      * the callbackfn function one time for each element in the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    filter(callbackfn: (value: number, index: number, array: Float32Array) => any, thisArg?: any): Float32Array;\n\n    /**\n      * Returns the value of the first element in the array where predicate is true, and undefined\n      * otherwise.\n      * @param predicate find calls predicate once for each element of the array, in ascending\n      * order, until it finds one where predicate returns true. If such an element is found, find\n      * immediately returns that element value. Otherwise, find returns undefined.\n      * @param thisArg If provided, it will be used as the this value for each invocation of\n      * predicate. If it is not provided, undefined is used instead.\n      */\n    find(predicate: (value: number, index: number, obj: Float32Array) => boolean, thisArg?: any): number | undefined;\n\n    /**\n      * Returns the index of the first element in the array where predicate is true, and -1\n      * otherwise.\n      * @param predicate find calls predicate once for each element of the array, in ascending\n      * order, until it finds one where predicate returns true. If such an element is found,\n      * findIndex immediately returns that element index. Otherwise, findIndex returns -1.\n      * @param thisArg If provided, it will be used as the this value for each invocation of\n      * predicate. If it is not provided, undefined is used instead.\n      */\n    findIndex(predicate: (value: number, index: number, obj: Float32Array) => boolean, thisArg?: any): number;\n\n    /**\n      * Performs the specified action for each element in an array.\n      * @param callbackfn  A function that accepts up to three arguments. forEach calls the\n      * callbackfn function one time for each element in the array.\n      * @param thisArg  An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    forEach(callbackfn: (value: number, index: number, array: Float32Array) => void, thisArg?: any): void;\n\n    /**\n      * Returns the index of the first occurrence of a value in an array.\n      * @param searchElement The value to locate in the array.\n      * @param fromIndex The array index at which to begin the search. If fromIndex is omitted, the\n      *  search starts at index 0.\n      */\n    indexOf(searchElement: number, fromIndex?: number): number;\n\n    /**\n      * Adds all the elements of an array separated by the specified separator string.\n      * @param separator A string used to separate one element of an array from the next in the\n      * resulting String. If omitted, the array elements are separated with a comma.\n      */\n    join(separator?: string): string;\n\n    /**\n      * Returns the index of the last occurrence of a value in an array.\n      * @param searchElement The value to locate in the array.\n      * @param fromIndex The array index at which to begin the search. If fromIndex is omitted, the\n      * search starts at index 0.\n      */\n    lastIndexOf(searchElement: number, fromIndex?: number): number;\n\n    /**\n      * The length of the array.\n      */\n    readonly length: number;\n\n    /**\n      * Calls a defined callback function on each element of an array, and returns an array that\n      * contains the results.\n      * @param callbackfn A function that accepts up to three arguments. The map method calls the\n      * callbackfn function one time for each element in the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    map(callbackfn: (value: number, index: number, array: Float32Array) => number, thisArg?: any): Float32Array;\n\n    /**\n      * Calls the specified callback function for all the elements in an array. The return value of\n      * the callback function is the accumulated result, and is provided as an argument in the next\n      * call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduce method calls the\n      * callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an argument\n      * instead of an array value.\n      */\n    reduce(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Float32Array) => number): number;\n    reduce(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Float32Array) => number, initialValue: number): number;\n\n    /**\n      * Calls the specified callback function for all the elements in an array. The return value of\n      * the callback function is the accumulated result, and is provided as an argument in the next\n      * call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduce method calls the\n      * callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an argument\n      * instead of an array value.\n      */\n    reduce<U>(callbackfn: (previousValue: U, currentValue: number, currentIndex: number, array: Float32Array) => U, initialValue: U): U;\n\n    /**\n      * Calls the specified callback function for all the elements in an array, in descending order.\n      * The return value of the callback function is the accumulated result, and is provided as an\n      * argument in the next call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduceRight method calls\n      * the callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an\n      * argument instead of an array value.\n      */\n    reduceRight(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Float32Array) => number): number;\n    reduceRight(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Float32Array) => number, initialValue: number): number;\n\n    /**\n      * Calls the specified callback function for all the elements in an array, in descending order.\n      * The return value of the callback function is the accumulated result, and is provided as an\n      * argument in the next call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduceRight method calls\n      * the callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an argument\n      * instead of an array value.\n      */\n    reduceRight<U>(callbackfn: (previousValue: U, currentValue: number, currentIndex: number, array: Float32Array) => U, initialValue: U): U;\n\n    /**\n      * Reverses the elements in an Array.\n      */\n    reverse(): Float32Array;\n\n    /**\n      * Sets a value or an array of values.\n      * @param array A typed or untyped array of values to set.\n      * @param offset The index in the current array at which the values are to be written.\n      */\n    set(array: ArrayLike<number>, offset?: number): void;\n\n    /**\n      * Returns a section of an array.\n      * @param start The beginning of the specified portion of the array.\n      * @param end The end of the specified portion of the array.\n      */\n    slice(start?: number, end?: number): Float32Array;\n\n    /**\n      * Determines whether the specified callback function returns true for any element of an array.\n      * @param callbackfn A function that accepts up to three arguments. The some method calls the\n      * callbackfn function for each element in array1 until the callbackfn returns true, or until\n      * the end of the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    some(callbackfn: (value: number, index: number, array: Float32Array) => boolean, thisArg?: any): boolean;\n\n    /**\n      * Sorts an array.\n      * @param compareFn The name of the function used to determine the order of the elements. If\n      * omitted, the elements are sorted in ascending, ASCII character order.\n      */\n    sort(compareFn?: (a: number, b: number) => number): this;\n\n    /**\n      * Gets a new Float32Array view of the ArrayBuffer store for this array, referencing the elements\n      * at begin, inclusive, up to end, exclusive.\n      * @param begin The index of the beginning of the array.\n      * @param end The index of the end of the array.\n      */\n    subarray(begin: number, end?: number): Float32Array;\n\n    /**\n      * Converts a number to a string by using the current locale.\n      */\n    toLocaleString(): string;\n\n    /**\n      * Returns a string representation of an array.\n      */\n    toString(): string;\n\n    [index: number]: number;\n}\n\ninterface Float32ArrayConstructor {\n    readonly prototype: Float32Array;\n    new(length: number): Float32Array;\n    new(arrayOrArrayBuffer: ArrayLike<number> | ArrayBufferLike): Float32Array;\n    new(buffer: ArrayBufferLike, byteOffset: number, length?: number): Float32Array;\n\n    /**\n      * The size in bytes of each element in the array.\n      */\n    readonly BYTES_PER_ELEMENT: number;\n\n    /**\n      * Returns a new array from a set of elements.\n      * @param items A set of elements to include in the new array object.\n      */\n    of(...items: number[]): Float32Array;\n\n    /**\n      * Creates an array from an array-like or iterable object.\n      * @param arrayLike An array-like or iterable object to convert to an array.\n      */\n    from(arrayLike: ArrayLike<number>): Float32Array;\n\n    /**\n      * Creates an array from an array-like or iterable object.\n      * @param arrayLike An array-like or iterable object to convert to an array.\n      * @param mapfn A mapping function to call on every element of the array.\n      * @param thisArg Value of 'this' used to invoke the mapfn.\n      */\n    from<T>(arrayLike: ArrayLike<T>, mapfn: (v: T, k: number) => number, thisArg?: any): Float32Array;\n\n\n}\ndeclare var Float32Array: Float32ArrayConstructor;\n\n/**\n  * A typed array of 64-bit float values. The contents are initialized to 0. If the requested\n  * number of bytes could not be allocated an exception is raised.\n  */\ninterface Float64Array {\n    /**\n      * The size in bytes of each element in the array.\n      */\n    readonly BYTES_PER_ELEMENT: number;\n\n    /**\n      * The ArrayBuffer instance referenced by the array.\n      */\n    readonly buffer: ArrayBufferLike;\n\n    /**\n      * The length in bytes of the array.\n      */\n    readonly byteLength: number;\n\n    /**\n      * The offset in bytes of the array.\n      */\n    readonly byteOffset: number;\n\n    /**\n      * Returns the this object after copying a section of the array identified by start and end\n      * to the same array starting at position target\n      * @param target If target is negative, it is treated as length+target where length is the\n      * length of the array.\n      * @param start If start is negative, it is treated as length+start. If end is negative, it\n      * is treated as length+end.\n      * @param end If not specified, length of the this object is used as its default value.\n      */\n    copyWithin(target: number, start: number, end?: number): this;\n\n    /**\n      * Determines whether all the members of an array satisfy the specified test.\n      * @param callbackfn A function that accepts up to three arguments. The every method calls\n      * the callbackfn function for each element in array1 until the callbackfn returns false,\n      * or until the end of the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    every(callbackfn: (value: number, index: number, array: Float64Array) => boolean, thisArg?: any): boolean;\n\n    /**\n        * Returns the this object after filling the section identified by start and end with value\n        * @param value value to fill array section with\n        * @param start index to start filling the array at. If start is negative, it is treated as\n        * length+start where length is the length of the array.\n        * @param end index to stop filling the array at. If end is negative, it is treated as\n        * length+end.\n        */\n    fill(value: number, start?: number, end?: number): this;\n\n    /**\n      * Returns the elements of an array that meet the condition specified in a callback function.\n      * @param callbackfn A function that accepts up to three arguments. The filter method calls\n      * the callbackfn function one time for each element in the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    filter(callbackfn: (value: number, index: number, array: Float64Array) => any, thisArg?: any): Float64Array;\n\n    /**\n      * Returns the value of the first element in the array where predicate is true, and undefined\n      * otherwise.\n      * @param predicate find calls predicate once for each element of the array, in ascending\n      * order, until it finds one where predicate returns true. If such an element is found, find\n      * immediately returns that element value. Otherwise, find returns undefined.\n      * @param thisArg If provided, it will be used as the this value for each invocation of\n      * predicate. If it is not provided, undefined is used instead.\n      */\n    find(predicate: (value: number, index: number, obj: Float64Array) => boolean, thisArg?: any): number | undefined;\n\n    /**\n      * Returns the index of the first element in the array where predicate is true, and -1\n      * otherwise.\n      * @param predicate find calls predicate once for each element of the array, in ascending\n      * order, until it finds one where predicate returns true. If such an element is found,\n      * findIndex immediately returns that element index. Otherwise, findIndex returns -1.\n      * @param thisArg If provided, it will be used as the this value for each invocation of\n      * predicate. If it is not provided, undefined is used instead.\n      */\n    findIndex(predicate: (value: number, index: number, obj: Float64Array) => boolean, thisArg?: any): number;\n\n    /**\n      * Performs the specified action for each element in an array.\n      * @param callbackfn  A function that accepts up to three arguments. forEach calls the\n      * callbackfn function one time for each element in the array.\n      * @param thisArg  An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    forEach(callbackfn: (value: number, index: number, array: Float64Array) => void, thisArg?: any): void;\n\n    /**\n      * Returns the index of the first occurrence of a value in an array.\n      * @param searchElement The value to locate in the array.\n      * @param fromIndex The array index at which to begin the search. If fromIndex is omitted, the\n      *  search starts at index 0.\n      */\n    indexOf(searchElement: number, fromIndex?: number): number;\n\n    /**\n      * Adds all the elements of an array separated by the specified separator string.\n      * @param separator A string used to separate one element of an array from the next in the\n      * resulting String. If omitted, the array elements are separated with a comma.\n      */\n    join(separator?: string): string;\n\n    /**\n      * Returns the index of the last occurrence of a value in an array.\n      * @param searchElement The value to locate in the array.\n      * @param fromIndex The array index at which to begin the search. If fromIndex is omitted, the\n      * search starts at index 0.\n      */\n    lastIndexOf(searchElement: number, fromIndex?: number): number;\n\n    /**\n      * The length of the array.\n      */\n    readonly length: number;\n\n    /**\n      * Calls a defined callback function on each element of an array, and returns an array that\n      * contains the results.\n      * @param callbackfn A function that accepts up to three arguments. The map method calls the\n      * callbackfn function one time for each element in the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    map(callbackfn: (value: number, index: number, array: Float64Array) => number, thisArg?: any): Float64Array;\n\n    /**\n      * Calls the specified callback function for all the elements in an array. The return value of\n      * the callback function is the accumulated result, and is provided as an argument in the next\n      * call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduce method calls the\n      * callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an argument\n      * instead of an array value.\n      */\n    reduce(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Float64Array) => number): number;\n    reduce(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Float64Array) => number, initialValue: number): number;\n\n    /**\n      * Calls the specified callback function for all the elements in an array. The return value of\n      * the callback function is the accumulated result, and is provided as an argument in the next\n      * call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduce method calls the\n      * callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an argument\n      * instead of an array value.\n      */\n    reduce<U>(callbackfn: (previousValue: U, currentValue: number, currentIndex: number, array: Float64Array) => U, initialValue: U): U;\n\n    /**\n      * Calls the specified callback function for all the elements in an array, in descending order.\n      * The return value of the callback function is the accumulated result, and is provided as an\n      * argument in the next call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduceRight method calls\n      * the callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an\n      * argument instead of an array value.\n      */\n    reduceRight(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Float64Array) => number): number;\n    reduceRight(callbackfn: (previousValue: number, currentValue: number, currentIndex: number, array: Float64Array) => number, initialValue: number): number;\n\n    /**\n      * Calls the specified callback function for all the elements in an array, in descending order.\n      * The return value of the callback function is the accumulated result, and is provided as an\n      * argument in the next call to the callback function.\n      * @param callbackfn A function that accepts up to four arguments. The reduceRight method calls\n      * the callbackfn function one time for each element in the array.\n      * @param initialValue If initialValue is specified, it is used as the initial value to start\n      * the accumulation. The first call to the callbackfn function provides this value as an argument\n      * instead of an array value.\n      */\n    reduceRight<U>(callbackfn: (previousValue: U, currentValue: number, currentIndex: number, array: Float64Array) => U, initialValue: U): U;\n\n    /**\n      * Reverses the elements in an Array.\n      */\n    reverse(): Float64Array;\n\n    /**\n      * Sets a value or an array of values.\n      * @param array A typed or untyped array of values to set.\n      * @param offset The index in the current array at which the values are to be written.\n      */\n    set(array: ArrayLike<number>, offset?: number): void;\n\n    /**\n      * Returns a section of an array.\n      * @param start The beginning of the specified portion of the array.\n      * @param end The end of the specified portion of the array.\n      */\n    slice(start?: number, end?: number): Float64Array;\n\n    /**\n      * Determines whether the specified callback function returns true for any element of an array.\n      * @param callbackfn A function that accepts up to three arguments. The some method calls the\n      * callbackfn function for each element in array1 until the callbackfn returns true, or until\n      * the end of the array.\n      * @param thisArg An object to which the this keyword can refer in the callbackfn function.\n      * If thisArg is omitted, undefined is used as the this value.\n      */\n    some(callbackfn: (value: number, index: number, array: Float64Array) => boolean, thisArg?: any): boolean;\n\n    /**\n      * Sorts an array.\n      * @param compareFn The name of the function used to determine the order of the elements. If\n      * omitted, the elements are sorted in ascending, ASCII character order.\n      */\n    sort(compareFn?: (a: number, b: number) => number): this;\n\n    /**\n      * Gets a new Float64Array view of the ArrayBuffer store for this array, referencing the elements\n      * at begin, inclusive, up to end, exclusive.\n      * @param begin The index of the beginning of the array.\n      * @param end The index of the end of the array.\n      */\n    subarray(begin: number, end?: number): Float64Array;\n\n    /**\n      * Converts a number to a string by using the current locale.\n      */\n    toLocaleString(): string;\n\n    /**\n      * Returns a string representation of an array.\n      */\n    toString(): string;\n\n    [index: number]: number;\n}\n\ninterface Float64ArrayConstructor {\n    readonly prototype: Float64Array;\n    new(length: number): Float64Array;\n    new(arrayOrArrayBuffer: ArrayLike<number> | ArrayBufferLike): Float64Array;\n    new(buffer: ArrayBufferLike, byteOffset: number, length?: number): Float64Array;\n\n    /**\n      * The size in bytes of each element in the array.\n      */\n    readonly BYTES_PER_ELEMENT: number;\n\n    /**\n      * Returns a new array from a set of elements.\n      * @param items A set of elements to include in the new array object.\n      */\n    of(...items: number[]): Float64Array;\n\n    /**\n      * Creates an array from an array-like or iterable object.\n      * @param arrayLike An array-like or iterable object to convert to an array.\n      */\n    from(arrayLike: ArrayLike<number>): Float64Array;\n\n    /**\n      * Creates an array from an array-like or iterable object.\n      * @param arrayLike An array-like or iterable object to convert to an array.\n      * @param mapfn A mapping function to call on every element of the array.\n      * @param thisArg Value of 'this' used to invoke the mapfn.\n      */\n    from<T>(arrayLike: ArrayLike<T>, mapfn: (v: T, k: number) => number, thisArg?: any): Float64Array;\n\n}\ndeclare var Float64Array: Float64ArrayConstructor;\n\n/////////////////////////////\n/// ECMAScript Internationalization API\n/////////////////////////////\n\ndeclare namespace Intl {\n    interface CollatorOptions {\n        usage?: string;\n        localeMatcher?: string;\n        numeric?: boolean;\n        caseFirst?: string;\n        sensitivity?: string;\n        ignorePunctuation?: boolean;\n    }\n\n    interface ResolvedCollatorOptions {\n        locale: string;\n        usage: string;\n        sensitivity: string;\n        ignorePunctuation: boolean;\n        collation: string;\n        caseFirst: string;\n        numeric: boolean;\n    }\n\n    interface Collator {\n        compare(x: string, y: string): number;\n        resolvedOptions(): ResolvedCollatorOptions;\n    }\n    var Collator: {\n        new(locales?: string | string[], options?: CollatorOptions): Collator;\n        (locales?: string | string[], options?: CollatorOptions): Collator;\n        supportedLocalesOf(locales: string | string[], options?: CollatorOptions): string[];\n    };\n\n    interface NumberFormatOptions {\n        localeMatcher?: string;\n        style?: string;\n        currency?: string;\n        currencyDisplay?: string;\n        useGrouping?: boolean;\n        minimumIntegerDigits?: number;\n        minimumFractionDigits?: number;\n        maximumFractionDigits?: number;\n        minimumSignificantDigits?: number;\n        maximumSignificantDigits?: number;\n    }\n\n    interface ResolvedNumberFormatOptions {\n        locale: string;\n        numberingSystem: string;\n        style: string;\n        currency?: string;\n        currencyDisplay?: string;\n        minimumIntegerDigits: number;\n        minimumFractionDigits: number;\n        maximumFractionDigits: number;\n        minimumSignificantDigits?: number;\n        maximumSignificantDigits?: number;\n        useGrouping: boolean;\n    }\n\n    interface NumberFormat {\n        format(value: number): string;\n        resolvedOptions(): ResolvedNumberFormatOptions;\n    }\n    var NumberFormat: {\n        new(locales?: string | string[], options?: NumberFormatOptions): NumberFormat;\n        (locales?: string | string[], options?: NumberFormatOptions): NumberFormat;\n        supportedLocalesOf(locales: string | string[], options?: NumberFormatOptions): string[];\n    };\n\n    interface DateTimeFormatOptions {\n        localeMatcher?: string;\n        weekday?: string;\n        era?: string;\n        year?: string;\n        month?: string;\n        day?: string;\n        hour?: string;\n        minute?: string;\n        second?: string;\n        timeZoneName?: string;\n        formatMatcher?: string;\n        hour12?: boolean;\n        timeZone?: string;\n    }\n\n    interface ResolvedDateTimeFormatOptions {\n        locale: string;\n        calendar: string;\n        numberingSystem: string;\n        timeZone: string;\n        hour12?: boolean;\n        weekday?: string;\n        era?: string;\n        year?: string;\n        month?: string;\n        day?: string;\n        hour?: string;\n        minute?: string;\n        second?: string;\n        timeZoneName?: string;\n    }\n\n    interface DateTimeFormat {\n        format(date?: Date | number): string;\n        resolvedOptions(): ResolvedDateTimeFormatOptions;\n    }\n    var DateTimeFormat: {\n        new(locales?: string | string[], options?: DateTimeFormatOptions): DateTimeFormat;\n        (locales?: string | string[], options?: DateTimeFormatOptions): DateTimeFormat;\n        supportedLocalesOf(locales: string | string[], options?: DateTimeFormatOptions): string[];\n    };\n}\n\ninterface String {\n    /**\n      * Determines whether two strings are equivalent in the current or specified locale.\n      * @param that String to compare to target string\n      * @param locales A locale string or array of locale strings that contain one or more language or locale tags. If you include more than one locale string, list them in descending order of priority so that the first entry is the preferred locale. If you omit this parameter, the default locale of the JavaScript runtime is used. This parameter must conform to BCP 47 standards; see the Intl.Collator object for details.\n      * @param options An object that contains one or more properties that specify comparison options. see the Intl.Collator object for details.\n      */\n    localeCompare(that: string, locales?: string | string[], options?: Intl.CollatorOptions): number;\n}\n\ninterface Number {\n    /**\n      * Converts a number to a string by using the current or specified locale.\n      * @param locales A locale string or array of locale strings that contain one or more language or locale tags. If you include more than one locale string, list them in descending order of priority so that the first entry is the preferred locale. If you omit this parameter, the default locale of the JavaScript runtime is used.\n      * @param options An object that contains one or more properties that specify comparison options.\n      */\n    toLocaleString(locales?: string | string[], options?: Intl.NumberFormatOptions): string;\n}\n\ninterface Date {\n    /**\n      * Converts a date and time to a string by using the current or specified locale.\n      * @param locales A locale string or array of locale strings that contain one or more language or locale tags. If you include more than one locale string, list them in descending order of priority so that the first entry is the preferred locale. If you omit this parameter, the default locale of the JavaScript runtime is used.\n      * @param options An object that contains one or more properties that specify comparison options.\n      */\n    toLocaleString(locales?: string | string[], options?: Intl.DateTimeFormatOptions): string;\n    /**\n      * Converts a date to a string by using the current or specified locale.\n      * @param locales A locale string or array of locale strings that contain one or more language or locale tags. If you include more than one locale string, list them in descending order of priority so that the first entry is the preferred locale. If you omit this parameter, the default locale of the JavaScript runtime is used.\n      * @param options An object that contains one or more properties that specify comparison options.\n      */\n    toLocaleDateString(locales?: string | string[], options?: Intl.DateTimeFormatOptions): string;\n\n    /**\n      * Converts a time to a string by using the current or specified locale.\n      * @param locales A locale string or array of locale strings that contain one or more language or locale tags. If you include more than one locale string, list them in descending order of priority so that the first entry is the preferred locale. If you omit this parameter, the default locale of the JavaScript runtime is used.\n      * @param options An object that contains one or more properties that specify comparison options.\n      */\n    toLocaleTimeString(locales?: string | string[], options?: Intl.DateTimeFormatOptions): string;\n}\n";
+
+const lib_es2015_dts = `/*! *****************************************************************************\nCopyright (c) Microsoft Corporation. All rights reserved. \nLicensed under the Apache License, Version 2.0 (the "License"); you may not use\nthis file except in compliance with the License. You may obtain a copy of the\nLicense at http://www.apache.org/licenses/LICENSE-2.0  \n \nTHIS CODE IS PROVIDED ON AN *AS IS* BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY\nKIND, EITHER EXPRESS OR IMPLIED, INCLUDING WITHOUT LIMITATION ANY IMPLIED\nWARRANTIES OR CONDITIONS OF TITLE, FITNESS FOR A PARTICULAR PURPOSE, \nMERCHANTABLITY OR NON-INFRINGEMENT. \n \nSee the Apache Version 2.0 License for specific language governing permissions\nand limitations under the License.\n***************************************************************************** */\n\n\n\n/// <reference no-default-lib="true"/>\n\n${lib_es5_dts}${lib_es2015_core_dts}${lib_es2015_collection_dts}${lib_es2015_iterable_dts}${lib_es2015_proxy_dts}${lib_es2015_reflect_dts}${lib_es2015_symbol_dts}${lib_es2015_symbol_wellknown_dts}`;
+
+export const lib_es6_dts = `/*! *****************************************************************************\nCopyright (c) Microsoft Corporation. All rights reserved. \nLicensed under the Apache License, Version 2.0 (the "License"); you may not use\nthis file except in compliance with the License. You may obtain a copy of the\nLicense at http://www.apache.org/licenses/LICENSE-2.0  \n \nTHIS CODE IS PROVIDED ON AN *AS IS* BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY\nKIND, EITHER EXPRESS OR IMPLIED, INCLUDING WITHOUT LIMITATION ANY IMPLIED\nWARRANTIES OR CONDITIONS OF TITLE, FITNESS FOR A PARTICULAR PURPOSE, \nMERCHANTABLITY OR NON-INFRINGEMENT. \n \nSee the Apache Version 2.0 License for specific language governing permissions\nand limitations under the License.\n***************************************************************************** */\n\n\n\n/// <reference no-default-lib="true"/>\n\n${lib_es2015_dts}\n\n${lib_logger}`;
diff --git a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/ros.js b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/ros.js
new file mode 100644
index 000000000..7cfeea89c
--- /dev/null
+++ b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/ros.js
@@ -0,0 +1,135 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+export const ros_lib_filename = "ros/index.d.ts";
+export const ros_lib_dts = `
+export declare type RGBA = { // all values are scaled between 0-1 instead of 0-255
+  r: number,
+  g: number,
+  b: number,
+  a: number // opacity -- typically you should set this to 1.
+};
+
+export declare type Time = {
+  sec: number,
+  nsec: number
+}
+
+export declare type Message<T> = {
+  topic: string,
+  datatype: string,
+  op: "message",
+  receiveTime: Time,
+  message: T,
+}
+
+export declare type Header = {
+  frame_id: string,
+  stamp: Time,
+};
+
+export declare type Point = {
+  x: number,
+  y: number,
+  z: number
+};
+
+export declare type Scale = {
+  x: number,
+  y: number,
+  z: number
+};
+
+export declare type Orientation = {
+  x: number,
+  y: number,
+  z: number,
+  w: number
+};
+
+export declare type Pose = {
+  position: Point,
+  orientation: Orientation
+};
+
+export declare type BaseMarker = {
+  header: Header,
+  ns: string, // namespace that your marker is published under.
+  id: string | number, // IMPORTANT: Needs to be unique. Duplicate ids will overwrite other markers.
+  action: 0 | 1 | 2 | 3, // In most cases, you will want to use '0' here.
+  pose: Pose,
+  scale: Scale,
+  color: RGBA
+};
+
+export declare type MultiPointMarker = BaseMarker & {
+  points: Point[],
+  colors?: RGBA[]
+};
+
+export declare type ArrowMarker = BaseMarker & {
+  type: 0,
+  points?: Point[],
+  size?: ArrowSize,
+}
+
+export declare type ArrowSize = {
+  shaftWidth: number,
+  headLength: number,
+  headWidth: number
+};
+
+export declare type CubeMarker = BaseMarker & {
+  type: 1
+};
+
+export declare type CubeListMarker = MultiPointMarker & {
+  type: 6
+};
+
+export declare type SphereMarker = BaseMarker & {
+  type: 2
+};
+
+export declare type SphereListMarker = MultiPointMarker & {
+  type: 7
+};
+
+export declare type CylinderMarker = BaseMarker & {
+  type: 3
+};
+
+export declare type LineStripMarker = MultiPointMarker & {
+  type: 4
+};
+
+export declare type LineListMarker = MultiPointMarker & {
+  type: 5
+};
+
+export declare type PointsMarker = MultiPointMarker & {
+  type: 8
+};
+
+export declare type TextMarker = BaseMarker & {
+  type: 9,
+  text: string
+};
+
+export declare type TriangleListMarker = MultiPointMarker & {
+  type: 11
+};
+
+export declare type MeshMarker = MultiPointMarker & {
+  type: 11
+};
+
+export declare type FilledPolygonMarker = MultiPointMarker & {
+  type: 107
+};
+`;
diff --git a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/utils.js b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/utils.js
index 05564f9a1..b9c9f11b1 100644
--- a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/utils.js
+++ b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/utils.js
@@ -66,4 +66,9 @@ export const transformDiagnosticToMarkerData = (diagnostic: ts.Diagnostic): Diag
   };
 };
 
-export const baseCompilerOptions = { module: ts.ModuleKind.CommonJS, target: ts.ScriptTarget.ES5 };
+// https://www.typescriptlang.org/docs/handbook/compiler-options.html
+export const baseCompilerOptions = {
+  strict: true,
+  target: ts.ScriptTarget.ES5,
+  module: ts.ModuleKind.CommonJS,
+};
diff --git a/packages/webviz-core/src/players/UserNodePlayer/types.js b/packages/webviz-core/src/players/UserNodePlayer/types.js
index 3bf2f39d6..d4c2fafd6 100644
--- a/packages/webviz-core/src/players/UserNodePlayer/types.js
+++ b/packages/webviz-core/src/players/UserNodePlayer/types.js
@@ -17,23 +17,42 @@ export const DiagnosticSeverity = {
 
 export const Sources = {
   Typescript: "Typescript",
+  DatatypeExtraction: "DatatypeExtraction",
   InputTopicsChecker: "InputTopicsChecker",
   OutputTopicChecker: "OutputTopicChecker",
+  Runtime: "Runtime",
 };
 
 export const ErrorCodes = {
+  RUNTIME: 1,
+  DatatypeExtraction: {
+    NO_DEFAULT_EXPORT: 1,
+    NON_FUNC_DEFAULT_EXPORT: 2,
+    NO_TYPE_RETURN: 3,
+    BAD_TYPE_RETURN: 4,
+    UNKNOWN_ERROR: 5,
+    NO_UNIONS: 6,
+    NO_FUNCTIONS: 7,
+    NO_CLASSES: 8,
+    NO_TYPE_LITERALS: 9,
+    NO_TUPLES: 10,
+    NO_INTERSECTION_TYPES: 11,
+    NO_TYPEOF: 11,
+    PREFER_ARRAY_LITERALS: 13,
+    STRICT_MARKERS_RETURN_TYPE: 14,
+    NO_IMPORTS_IN_RETURN_TYPE: 15,
+  },
   InputTopicsChecker: {
-    NO_INPUTS: "NO_INPUTS",
-    TOPIC_UNAVAILABLE: "TOPIC_UNAVAILABLE",
-    CIRCULAR_IMPORT: "CIRCULAR_IMPORT",
+    NO_INPUTS: 1,
+    TOPIC_UNAVAILABLE: 2,
+    CIRCULAR_IMPORT: 3,
   },
   OutputTopicChecker: {
-    NO_OUTPUTS: "NO_OUTPUTS",
-    BAD_PREFIX: "BAD_PREFIX",
-    NOT_UNIQUE: "NOT_UNIQUE",
+    NO_OUTPUTS: 1,
+    BAD_PREFIX: 2,
+    NOT_UNIQUE: 3,
   },
 };
-
 export type NodeRegistration = {|
   inputs: $ReadOnlyArray<string>,
   output: Topic,
@@ -49,7 +68,7 @@ export type Diagnostic = {|
   startColumn?: number,
   endLineNumber?: number,
   endColumn?: number,
-  code: $Values<typeof ErrorCodes.InputTopicsChecker> | $Values<typeof ErrorCodes.OutputTopicChecker>,
+  code: number,
 |};
 
 export type NodeData = {|
@@ -59,6 +78,11 @@ export type NodeData = {|
   diagnostics: $ReadOnlyArray<Diagnostic>,
   inputTopics: $ReadOnlyArray<string>,
   outputTopic: string,
+  outputDatatype: string,
+  datatypes: RosDatatypes,
+  // Should be ts.Program. Not strongly typing here since we want to keep
+  // Typescript out of the main bundle.
+  program: ?any,
 |};
 
 export type PlayerInfo = $ReadOnly<{|
@@ -69,5 +93,26 @@ export type PlayerInfo = $ReadOnly<{|
 export type NodeDataTransformer = (
   nodeData: NodeData,
   playerStateActiveData: ?PlayerInfo,
-  priorRegistrations: $ReadOnlyArray<NodeRegistration>
+  priorRegistrations: $ReadOnlyArray<Topic>
 ) => NodeData;
+
+export type UserNodeLog = {
+  source: "registerNode" | "processMessage",
+  value: any, // TODO: This should ideally share the type def of `log()` in `lib.js`
+};
+
+export type UserNodeDiagnostics = { [nodeId: string]: { diagnostics: Diagnostic[] } };
+export type UserNodeLogs = { [nodeId: string]: { logs: UserNodeLog[] } };
+
+export type RegistrationOutput = {
+  error: null | string,
+  userNodeLogs: UserNodeLog[],
+  userNodeDiagnostics: Diagnostic[],
+};
+
+export type ProcessMessageOutput = {
+  message: ?{},
+  error: null | string,
+  userNodeLogs: UserNodeLog[],
+  userNodeDiagnostics: Diagnostic[],
+};
diff --git a/packages/webviz-core/src/reducers/index.js b/packages/webviz-core/src/reducers/index.js
index 90b0cb03a..04c930ebc 100644
--- a/packages/webviz-core/src/reducers/index.js
+++ b/packages/webviz-core/src/reducers/index.js
@@ -12,15 +12,15 @@ import { combineReducers } from "redux";
 import auth from "./auth";
 import extensions from "./extensions";
 import mosaic from "./mosaic";
-import nodeDiagnostics from "./nodeDiagnostics";
 import panels from "./panels";
+import userNodes from "./userNodes";
 
 const reducers = {
   panels,
   mosaic,
   auth,
   extensions,
-  nodeDiagnostics,
+  userNodes,
 };
 
 export default function createRootReducer(history: any) {
diff --git a/packages/webviz-core/src/reducers/nodeDiagnostics.js b/packages/webviz-core/src/reducers/nodeDiagnostics.js
deleted file mode 100644
index 4269cc244..000000000
--- a/packages/webviz-core/src/reducers/nodeDiagnostics.js
+++ /dev/null
@@ -1,32 +0,0 @@
-// @flow
-//
-//  Copyright (c) 2018-present, GM Cruise LLC
-//
-//  This source code is licensed under the Apache License, Version 2.0,
-//  found in the LICENSE file in the root directory of this source tree.
-//  You may not use this file except in compliance with the License.
-import type { ActionTypes } from "webviz-core/src/actions";
-import type { Diagnostic } from "webviz-core/src/players/UserNodePlayer/types";
-
-export type NodeDiagnostics = {
-  [nodeName: string]: { diagnostics: Diagnostic[] },
-};
-
-export default function nodeDiagnostics(state: NodeDiagnostics = {}, action: ActionTypes) {
-  switch (action.type) {
-    case "SET_NODE_DIAGNOSTICS": {
-      const nodeStates = { ...state, ...action.payload };
-
-      Object.keys(action.payload).forEach((key) => {
-        if (nodeStates[key] === undefined) {
-          delete nodeStates[key];
-        }
-      });
-
-      return nodeStates;
-    }
-
-    default:
-      return state;
-  }
-}
diff --git a/packages/webviz-core/src/reducers/panels.js b/packages/webviz-core/src/reducers/panels.js
index 2653e201d..bb93e4a9c 100644
--- a/packages/webviz-core/src/reducers/panels.js
+++ b/packages/webviz-core/src/reducers/panels.js
@@ -10,7 +10,7 @@ import { isEmpty, pick, cloneDeep } from "lodash";
 import { getLeaves } from "react-mosaic-component";
 
 import type { ActionTypes } from "webviz-core/src/actions";
-import { type GlobalData } from "webviz-core/src/hooks/useGlobalData";
+import { type GlobalVariables } from "webviz-core/src/hooks/useGlobalVariables";
 import { getGlobalHooks } from "webviz-core/src/loadWebviz";
 import { type LinkedGlobalVariables } from "webviz-core/src/panels/ThreeDimensionalViz/Interactions/useLinkedGlobalVariables";
 import type {
@@ -19,6 +19,7 @@ import type {
   ImportPanelLayoutPayload,
   PanelConfig,
   UserNodes,
+  PlaybackConfig,
 } from "webviz-core/src/types/panels";
 import { getPanelTypeFromId } from "webviz-core/src/util";
 import Storage from "webviz-core/src/util/Storage";
@@ -26,12 +27,14 @@ import Storage from "webviz-core/src/util/Storage";
 const storage = new Storage();
 
 export const GLOBAL_STATE_STORAGE_KEY = "webvizGlobalState";
+export const defaultPlaybackConfig = { speed: 0.2 };
 
 // TODO(Audrey): remove the storage migration logic and fallback to empty in late 2019
 const OLD_KEYS = {
   layout: "panels.layout",
   savedProps: "panels.savedProps",
   globalData: "panels.globalData",
+  globalVariables: "panels.globalVariables",
   userNodes: "panels.userNodes",
   linkedGlobalVariables: "panels.linkedGlobalVariables",
 };
@@ -45,9 +48,12 @@ export type PanelsState = {
   // This should at some point be renamed to `config` or `configById` or so,
   // but it's inconvenient to have this diverge from `PANEL_PROPS_KEY`.
   savedProps: { [panelId: string]: PanelConfig },
-  globalData: GlobalData,
+  globalVariables: GlobalVariables,
+  // old state which is migrated to globalVariables. Keeping it here to satisfy flow
+  globalData?: GlobalVariables,
   userNodes: UserNodes,
   linkedGlobalVariables: LinkedGlobalVariables,
+  playbackConfig: PlaybackConfig,
 };
 
 export function setStorageStateAndFallbackToDefault(globalState: any = {}) {
@@ -152,9 +158,10 @@ function importPanelLayout(state: PanelsState, payload: ImportPanelLayoutPayload
   const newGlobalState = {
     layout: migratedPayload.layout || {},
     savedProps: migratedPayload.savedProps || {},
-    globalData: migratedPayload.globalData || {},
+    globalVariables: migratedPayload.globalVariables || {},
     userNodes: migratedPayload.userNodes || {},
     linkedGlobalVariables: migratedPayload.linkedGlobalVariables || [],
+    playbackConfig: migratedPayload.playbackConfig || defaultPlaybackConfig,
   };
 
   return newGlobalState;
@@ -184,17 +191,17 @@ export default function panelsReducer(state: PanelsState = getDefaultState(), ac
       break;
 
     case "OVERWRITE_GLOBAL_DATA":
-      newGlobalState.globalData = action.payload;
+      newGlobalState.globalVariables = action.payload;
       break;
 
     case "SET_GLOBAL_DATA": {
-      const globalData = { ...state.globalData, ...action.payload };
-      Object.keys(globalData).forEach((key) => {
-        if (globalData[key] === undefined) {
-          delete globalData[key];
+      const globalVariables = { ...state.globalVariables, ...action.payload };
+      Object.keys(globalVariables).forEach((key) => {
+        if (globalVariables[key] === undefined) {
+          delete globalVariables[key];
         }
       });
-      newGlobalState.globalData = globalData;
+      newGlobalState.globalVariables = globalVariables;
       break;
     }
 
@@ -214,6 +221,11 @@ export default function panelsReducer(state: PanelsState = getDefaultState(), ac
       break;
     }
 
+    case "SET_PLAYBACK_CONFIG": {
+      newGlobalState.playbackConfig = action.payload;
+      break;
+    }
+
     default:
       break;
   }
diff --git a/packages/webviz-core/src/reducers/panels.test.js b/packages/webviz-core/src/reducers/panels.test.js
index 4170d8ca6..20caa2a8a 100644
--- a/packages/webviz-core/src/reducers/panels.test.js
+++ b/packages/webviz-core/src/reducers/panels.test.js
@@ -95,7 +95,7 @@ describe("state.panels", () => {
     });
   });
 
-  it("sets default globalData, linkedGlobalVariables, userNodes in local storage if values are not in migrated payload", () => {
+  it("sets default globalVariables, linkedGlobalVariables, userNodes in local storage if values are not in migrated payload", () => {
     const store = getStore();
     const payload = {
       layout: "foo!baz",
@@ -106,21 +106,36 @@ describe("state.panels", () => {
     store.checkState((panels) => {
       const storage = new Storage();
       const globalState = storage.get(GLOBAL_STATE_STORAGE_KEY) || {};
-      expect(globalState.globalData).toEqual({});
+      expect(globalState.globalVariables).toEqual({});
       expect(globalState.userNodes).toEqual({});
       expect(globalState.linkedGlobalVariables).toEqual([]);
     });
   });
 
-  it("sets globalData, userNodes, linkedGlobalVariables in local storage", () => {
+  it("sets default speed in local storage if playbackConfig object is not in migrated payload", () => {
     const store = getStore();
-    const globalData = { some_global_data_var: 1 };
+    const payload = {
+      layout: "foo!baz",
+      savedProps: { foo: { test: true } },
+    };
+
+    store.dispatch(importPanelLayout(payload, false));
+    store.checkState((panels) => {
+      const storage = new Storage();
+      const globalState = storage.get(GLOBAL_STATE_STORAGE_KEY) || {};
+      expect(globalState.playbackConfig).toEqual({ speed: 0.2 });
+    });
+  });
+
+  it("sets globalVariables, userNodes, linkedGlobalVariables in local storage", () => {
+    const store = getStore();
+    const globalVariables = { some_global_data_var: 1 };
     const linkedGlobalVariables = [{ topic: "/foo", markerKeyPath: ["bar", "1"], name: "someVariableName" }];
-    const userNodes = { foo: "foo node" };
+    const userNodes = { foo: { name: "foo", sourceCode: "foo node" } };
     const payload = {
       layout: "foo!baz",
       savedProps: { foo: { test: true } },
-      globalData,
+      globalVariables,
       userNodes,
       linkedGlobalVariables,
     };
@@ -129,12 +144,36 @@ describe("state.panels", () => {
     store.checkState((panels) => {
       const storage = new Storage();
       const globalState = storage.get(GLOBAL_STATE_STORAGE_KEY) || {};
-      expect(globalState.globalData).toEqual(globalData);
+      expect(globalState.globalVariables).toEqual(globalVariables);
       expect(globalState.userNodes).toEqual(userNodes);
       expect(globalState.linkedGlobalVariables).toEqual(linkedGlobalVariables);
     });
   });
 
+  it("change globalData key to globalVariables if only globalData key is present", () => {
+    const store = getStore();
+    const globalVariables = { some_global_data_var: 1 };
+    const payload = { globalData: globalVariables, layout: "foo!baz" };
+    store.dispatch(importPanelLayout(payload, true));
+    store.checkState((panels) => {
+      const storage = new Storage();
+      const globalState = storage.get(GLOBAL_STATE_STORAGE_KEY) || {};
+      expect(globalState.globalVariables).toEqual(globalVariables);
+    });
+  });
+
+  it("delete globalData key if both globalVariables and globalData are present", () => {
+    const store = getStore();
+    const globalVariables = { some_global_data_var: 1 };
+    const payload = { globalData: { some_var: 2 }, globalVariables, layout: "foo!baz" };
+    store.dispatch(importPanelLayout(payload, true));
+    store.checkState((panels) => {
+      const storage = new Storage();
+      const globalState = storage.get(GLOBAL_STATE_STORAGE_KEY) || {};
+      expect(globalState.globalData).toBe(undefined);
+    });
+  });
+
   const testUrlCleanup = (desc, actionCreator) => {
     it(desc, () => {
       const store = getStore();
@@ -228,8 +267,8 @@ describe("state.panels", () => {
 
   it("saves and overwrites Webviz nodes", () => {
     const store = getStore();
-    const firstPayload = { foo: "bar" };
-    const secondPayload = { bar: "baz" };
+    const firstPayload = { foo: { name: "foo", sourceCode: "bar" } };
+    const secondPayload = { bar: { name: "bar", sourceCode: "baz" } };
 
     store.dispatch(setUserNodes(firstPayload));
     store.checkState((panelState) => {
diff --git a/packages/webviz-core/src/reducers/userNodes.js b/packages/webviz-core/src/reducers/userNodes.js
new file mode 100644
index 000000000..281e69d91
--- /dev/null
+++ b/packages/webviz-core/src/reducers/userNodes.js
@@ -0,0 +1,73 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import type { ActionTypes } from "webviz-core/src/actions";
+import type { Diagnostic, UserNodeLog } from "webviz-core/src/players/UserNodePlayer/types";
+
+export type UserNodeState = {
+  diagnostics: Diagnostic[],
+  logs: UserNodeLog[],
+  trusted: boolean, // Security flag that indicates whether we should populate a dialogue box.
+};
+
+export type UserNodesState = {
+  [guid: string]: UserNodeState,
+};
+
+export default function userNodes(state: UserNodesState = {}, action: ActionTypes) {
+  switch (action.type) {
+    case "SET_USER_NODE_DIAGNOSTICS": {
+      const nodeStates = { ...state };
+      Object.keys(action.payload).forEach((nodeId) => {
+        const payloadDiagnostics = action.payload[nodeId].diagnostics;
+        if (action.payload[nodeId] === undefined) {
+          delete nodeStates[nodeId];
+        } else if (!nodeStates[nodeId]) {
+          nodeStates[nodeId] = { diagnostics: payloadDiagnostics, logs: [] };
+        } else {
+          nodeStates[nodeId] = { ...nodeStates[nodeId], diagnostics: payloadDiagnostics };
+        }
+      });
+      return nodeStates;
+    }
+
+    case "ADD_USER_NODE_LOGS": {
+      const nodeStates = { ...state };
+      for (const nodeId of Object.keys(action.payload)) {
+        const existingLogs = nodeStates[nodeId] && nodeStates[nodeId].logs;
+        const payloadLogs = action.payload[nodeId].logs;
+        if (action.payload[nodeId] === undefined) {
+          delete nodeStates[nodeId];
+        } else if (!nodeStates[nodeId]) {
+          nodeStates[nodeId] = { diagnostics: [], logs: payloadLogs };
+        } else {
+          nodeStates[nodeId] = { ...nodeStates[nodeId], logs: existingLogs.concat(payloadLogs) };
+        }
+      }
+      return nodeStates;
+    }
+
+    case "CLEAR_USER_NODE_LOGS": {
+      const nodeStates = { ...state };
+      const nodeId = action.payload;
+      if (nodeStates[nodeId]) {
+        nodeStates[nodeId] = { ...nodeStates[nodeId], logs: [] };
+      }
+      return nodeStates;
+    }
+
+    case "SET_USER_NODE_TRUST": {
+      const nodeStates = { ...state };
+      const { id, trusted } = action.payload;
+      nodeStates[id] = { logs: [], diagnostics: [], ...nodeStates[id], trusted };
+      return nodeStates;
+    }
+
+    default:
+      return state;
+  }
+}
diff --git a/packages/webviz-core/src/reducers/userNodes.test.js b/packages/webviz-core/src/reducers/userNodes.test.js
new file mode 100644
index 000000000..12a9f149c
--- /dev/null
+++ b/packages/webviz-core/src/reducers/userNodes.test.js
@@ -0,0 +1,43 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import { createMemoryHistory } from "history";
+
+import { setUserNodeTrust, addUserNodeLogs, setUserNodeDiagnostics } from "webviz-core/src/actions/userNodes";
+import { DiagnosticSeverity, Sources } from "webviz-core/src/players/UserNodePlayer/types";
+import createRootReducer from "webviz-core/src/reducers";
+import configureStore from "webviz-core/src/store/configureStore.testing";
+
+const getStore = () => configureStore(createRootReducer(createMemoryHistory()));
+
+describe("state.userNodes", () => {
+  describe("trusted", () => {
+    it("flags nodes as trusted", () => {
+      const store = getStore();
+      const id = "mock_id";
+      store.dispatch(setUserNodeTrust({ id, trusted: true }));
+      expect(store.getState().userNodes).toEqual({ [id]: { trusted: true, diagnostics: [], logs: [] } });
+    });
+    it("does not overwrite any diagnostics or logs", () => {
+      const store = getStore();
+      const id = "mock_id";
+      const logs = [{ source: "registerNode", value: "hello" }];
+      const diagnostics = [
+        {
+          severity: DiagnosticSeverity.Warning,
+          source: Sources.Typescript,
+          message: "",
+          code: 0,
+        },
+      ];
+      store.dispatch(addUserNodeLogs({ [id]: { logs } }));
+      store.dispatch(setUserNodeDiagnostics({ [id]: { diagnostics } }));
+      store.dispatch(setUserNodeTrust({ id, trusted: false }));
+      expect(store.getState().userNodes).toEqual({ [id]: { diagnostics, logs, trusted: false } });
+    });
+  });
+});
diff --git a/packages/webviz-core/src/store/getGlobalStore.js b/packages/webviz-core/src/store/getGlobalStore.js
new file mode 100644
index 000000000..79f67c5ed
--- /dev/null
+++ b/packages/webviz-core/src/store/getGlobalStore.js
@@ -0,0 +1,24 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import { routerMiddleware } from "connected-react-router";
+
+import createRootReducer from "webviz-core/src/reducers";
+import configureStore from "webviz-core/src/store";
+import history from "webviz-core/src/util/history";
+
+let store;
+// We have to wrap the actual creation of the global store in a function so that we only run it
+// after Cruise/open-source specific "hooks" have been initialized.
+function getGlobalStore() {
+  if (!store) {
+    store = configureStore(createRootReducer(history), [routerMiddleware(history)]);
+  }
+  return store;
+}
+
+export default getGlobalStore;
diff --git a/packages/webviz-core/src/stories/PanelSetup.js b/packages/webviz-core/src/stories/PanelSetup.js
index 60c2b221f..1aa84d9a0 100644
--- a/packages/webviz-core/src/stories/PanelSetup.js
+++ b/packages/webviz-core/src/stories/PanelSetup.js
@@ -13,11 +13,13 @@ import { DragDropContextProvider } from "react-dnd";
 import HTML5Backend from "react-dnd-html5-backend";
 
 import { setAuxiliaryData } from "webviz-core/src/actions/extensions";
-import { overwriteGlobalData, setUserNodes, setLinkedGlobalVariables } from "webviz-core/src/actions/panels";
+import { overwriteGlobalVariables, setUserNodes, setLinkedGlobalVariables } from "webviz-core/src/actions/panels";
+import { setUserNodeDiagnostics, addUserNodeLogs, setUserNodeTrust } from "webviz-core/src/actions/userNodes";
 import { MockMessagePipelineProvider } from "webviz-core/src/components/MessagePipeline";
-import { type GlobalData } from "webviz-core/src/hooks/useGlobalData";
+import { type GlobalVariables } from "webviz-core/src/hooks/useGlobalVariables";
 import { type LinkedGlobalVariables } from "webviz-core/src/panels/ThreeDimensionalViz/Interactions/useLinkedGlobalVariables";
 import type { Frame, Topic, PlayerStateActiveData } from "webviz-core/src/players/types";
+import type { UserNodeDiagnostics, UserNodeLogs } from "webviz-core/src/players/UserNodePlayer/types";
 import createRootReducer from "webviz-core/src/reducers";
 import configureStore from "webviz-core/src/store/configureStore.testing";
 import type { UserNodes } from "webviz-core/src/types/panels";
@@ -30,9 +32,12 @@ export type Fixture = {|
   activeData?: $Shape<PlayerStateActiveData>,
   datatypes?: RosDatatypes,
   auxiliaryData?: any,
-  globalData?: GlobalData,
+  globalVariables?: GlobalVariables,
   linkedGlobalVariables?: LinkedGlobalVariables,
   userNodes?: UserNodes,
+  userNodeDiagnostics?: UserNodeDiagnostics,
+  userNodeFlags?: { id: string, trusted: boolean },
+  userNodeLogs?: UserNodeLogs,
 |};
 
 type Props = {|
@@ -47,26 +52,61 @@ type State = {|
   store: *,
 |};
 
-export function triggerInputChange(node: window.HTMLInputElement, value: string = "") {
-  // trigger input change: https://stackoverflow.com/questions/23892547/what-is-the-best-way-to-trigger-onchange-event-in-react-js
+function setNativeValue(element, value) {
   // $FlowFixMe
-  const nativeInputValueSetter = Object.getOwnPropertyDescriptor(window.HTMLInputElement.prototype, "value").set;
+  const valueSetter = Object.getOwnPropertyDescriptor(element, "value").set;
+  const prototype = Object.getPrototypeOf(element);
   // $FlowFixMe
-  nativeInputValueSetter.call(node, value);
+  const prototypeValueSetter = Object.getOwnPropertyDescriptor(prototype, "value").set;
+  if (valueSetter && valueSetter !== prototypeValueSetter) {
+    // $FlowFixMe
+    prototypeValueSetter.call(element, value);
+  } else {
+    // $FlowFixMe
+    valueSetter.call(element, value);
+  }
+}
+
+export function triggerInputChange(node: window.HTMLInputElement | window.HTMLTextAreaElement, value: string = "") {
+  // force trigger textarea to change
+  node.value = `${value} `;
+  // trigger input change: https://stackoverflow.com/questions/23892547/what-is-the-best-way-to-trigger-onchange-event-in-react-js
+  setNativeValue(node, value);
+
+  const ev = new Event("input", { bubbles: true });
+  node.dispatchEvent(ev);
+}
 
-  const ev2 = new Event("input", { bubbles: true });
-  node.dispatchEvent(ev2);
+export function triggerInputBlur(node: window.HTMLInputElement | window.HTMLTextAreaElement) {
+  const ev = new Event("blur", { bubbles: true });
+  node.dispatchEvent(ev);
+}
+
+export function triggerWheel(target: HTMLElement, deltaX: number) {
+  const event = document.createEvent("MouseEvents");
+  event.initEvent("wheel", true, true);
+  // $FlowFixMe
+  event.deltaX = deltaX;
+  target.dispatchEvent(event);
 }
 
 export default class PanelSetup extends React.PureComponent<Props, State> {
   static getDerivedStateFromProps(props: Props, prevState: State) {
     const { store } = prevState;
-    const { auxiliaryData, globalData, userNodes, linkedGlobalVariables } = props.fixture;
+    const {
+      auxiliaryData,
+      globalVariables,
+      userNodes,
+      linkedGlobalVariables,
+      userNodeDiagnostics,
+      userNodeFlags,
+      userNodeLogs,
+    } = props.fixture;
     if (auxiliaryData) {
       store.dispatch(setAuxiliaryData(() => auxiliaryData));
     }
-    if (globalData) {
-      store.dispatch(overwriteGlobalData(globalData));
+    if (globalVariables) {
+      store.dispatch(overwriteGlobalVariables(globalVariables));
     }
     if (userNodes) {
       store.dispatch(setUserNodes(userNodes));
@@ -74,6 +114,15 @@ export default class PanelSetup extends React.PureComponent<Props, State> {
     if (linkedGlobalVariables) {
       store.dispatch(setLinkedGlobalVariables(linkedGlobalVariables));
     }
+    if (userNodeDiagnostics) {
+      store.dispatch(setUserNodeDiagnostics(userNodeDiagnostics));
+    }
+    if (userNodeFlags) {
+      store.dispatch(setUserNodeTrust(userNodeFlags));
+    }
+    if (userNodeLogs) {
+      store.dispatch(addUserNodeLogs(userNodeLogs));
+    }
     return { store };
   }
 
diff --git a/packages/webviz-core/src/styles/variables.scss b/packages/webviz-core/src/styles/variables.scss
new file mode 100644
index 000000000..40d227373
--- /dev/null
+++ b/packages/webviz-core/src/styles/variables.scss
@@ -0,0 +1,2 @@
+$topBarHeight: 36px;
+$playbackControlHeight: 44px;
diff --git a/packages/webviz-core/src/test/setup.js b/packages/webviz-core/src/test/setup.js
index 0ba2b8fe7..16960c3f8 100644
--- a/packages/webviz-core/src/test/setup.js
+++ b/packages/webviz-core/src/test/setup.js
@@ -38,6 +38,25 @@ if (typeof window !== "undefined") {
   window.URLSearchParams = UrlSearchParams;
 }
 
+// Disallow console.error and console.warn in tests. This should only be called
+// from libraries anyway, since for user-code we should be using `Logger`, which
+// automatically gets silenced on tests.
+// $FlowFixMe - Flow doens't like that we're overwriting this.
+console.error = function(message) {
+  // $FlowFixMe
+  fail(message); // eslint-disable-line
+};
+// $FlowFixMe - Flow doens't like that we're overwriting this.
+console.warn = function(message) {
+  // We'll have to update these methods, but for now we just ignore their
+  // warning messages.
+  if (message.includes("https://fb.me/react-unsafe-component-lifecycles")) {
+    return;
+  }
+  // $FlowFixMe
+  fail(message); // eslint-disable-line
+};
+
 // you can import fakes from fake-indexeddb and attach them to the jsdom global
 // https://github.com/dumbmatter/fakeIndexedDB#use
 global.indexedDB = require("fake-indexeddb");
diff --git a/packages/webviz-core/src/types/Messages.js b/packages/webviz-core/src/types/Messages.js
index 469b9c38a..9d91c1d55 100644
--- a/packages/webviz-core/src/types/Messages.js
+++ b/packages/webviz-core/src/types/Messages.js
@@ -54,8 +54,6 @@ export type Color = {
   a: number,
 };
 
-type Colors = Color[];
-
 export type Pose = {
   position: Point,
   orientation: Orientation,
@@ -94,7 +92,7 @@ export type BaseMarker = StampedMessage & {
   pose: Pose,
   name?: string,
   scale: Scale,
-  color: Color,
+  color?: Color,
   colors?: Color[],
   lifetime?: Time,
   frameLocked?: boolean, // TODO: Do we need this?
@@ -106,7 +104,7 @@ export type BaseMarker = StampedMessage & {
 
 type MultiPointMarker = {
   points: Points,
-  colors?: Colors,
+  colors?: Color[],
 };
 
 type ArrowSize = {
@@ -138,6 +136,7 @@ export type CylinderMarker = BaseMarker & {
 
 export type LineStripMarker = BaseMarker &
   MultiPointMarker & {
+    closed?: boolean,
     type: 4,
   };
 
@@ -199,6 +198,12 @@ export type FilledPolygonMarker = BaseMarker &
     type: 107,
   };
 
+export type InstancedLineListMarker = BaseMarker &
+  MultiPointMarker & {
+    type: 108,
+    metadataByIndex?: Array<any>,
+  };
+
 export type Marker =
   | ArrowMarker
   | CubeMarker
@@ -213,7 +218,8 @@ export type Marker =
   | TextMarker
   | TriangleListMarker
   | MeshMarker
-  | FilledPolygonMarker;
+  | FilledPolygonMarker
+  | InstancedLineListMarker;
 
 export type MarkerArray = {
   markers: Array<Marker>,
diff --git a/packages/webviz-core/src/types/Scene.js b/packages/webviz-core/src/types/Scene.js
index f0d9b9ff9..72dd30287 100644
--- a/packages/webviz-core/src/types/Scene.js
+++ b/packages/webviz-core/src/types/Scene.js
@@ -23,6 +23,7 @@ import type {
   OccupancyGridMessage,
   PointCloud,
   LaserScan,
+  InstancedLineListMarker,
 } from "webviz-core/src/types/Messages";
 import Bounds from "webviz-core/src/util/Bounds";
 
@@ -49,6 +50,7 @@ export interface MarkerCollector {
   laserScan(LaserScan): any;
   linedConvexHull(LineListMarker | LineStripMarker): any;
   filledPolygon(FilledPolygonMarker): any;
+  instancedLineList(InstancedLineListMarker): any;
 }
 
 export interface MarkerProvider {
diff --git a/packages/webviz-core/src/types/panels.js b/packages/webviz-core/src/types/panels.js
index 231e9d59c..a3d6ce19f 100644
--- a/packages/webviz-core/src/types/panels.js
+++ b/packages/webviz-core/src/types/panels.js
@@ -6,13 +6,18 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import { type GlobalData } from "webviz-core/src/hooks/useGlobalData";
+import { type GlobalVariables } from "webviz-core/src/hooks/useGlobalVariables";
 import { type LinkedGlobalVariables } from "webviz-core/src/panels/ThreeDimensionalViz/Interactions/useLinkedGlobalVariables";
 
 export type PanelConfig = { [key: string]: any };
 export type PerPanelFunc<Config> = (Config) => Config;
 
-export type UserNodes = { [nodeName: string]: string };
+export type PlaybackConfig = {
+  speed: number,
+};
+
+export type UserNode = { name: string, sourceCode: string };
+export type UserNodes = { [nodeId: string]: UserNode };
 
 export type SaveConfigPayload = {
   id: string,
@@ -33,7 +38,7 @@ export type ImportPanelLayoutPayload = {
   // layout is the object passed to react-mosaic
   layout: any,
   savedProps?: { [panelId: string]: PanelConfig },
-  globalData?: GlobalData,
+  globalVariables?: GlobalVariables,
   userNodes?: UserNodes,
   linkedGlobalVariables?: LinkedGlobalVariables,
   skipSettingLocalStorage?: boolean,
diff --git a/packages/webviz-core/src/util.js b/packages/webviz-core/src/util.js
index c97458f06..4c9b6fd05 100644
--- a/packages/webviz-core/src/util.js
+++ b/packages/webviz-core/src/util.js
@@ -69,11 +69,11 @@ export function encodeURLQueryParamValue(value: string): string {
 }
 
 // extra boundary added for jest testing, since jsdom's Blob doesn't support .text()
-export function downloadTextFile(text: string, filePrefixOrName: string) {
-  return downloadFiles([new Blob([text])], filePrefixOrName);
+export function downloadTextFile(text: string, fileName: string) {
+  return downloadFiles([{ blob: new Blob([text]), fileName }]);
 }
 
-export function downloadFiles(blobs: Blob[], filePrefixOrName: string) {
+export function downloadFiles(files: { blob: Blob, fileName: string }[]) {
   const { body } = document;
   if (!body) {
     return;
@@ -83,12 +83,12 @@ export function downloadFiles(blobs: Blob[], filePrefixOrName: string) {
   link.style.display = "none";
   body.appendChild(link);
 
-  const urls = blobs.map((blob) => window.URL.createObjectURL(blob));
-  urls.forEach((url, idx) => {
-    const fileName = blobs.length === 1 ? filePrefixOrName : `${filePrefixOrName}_${idx}`;
-    link.setAttribute("download", fileName);
+  const urls = files.map((file) => {
+    const url = window.URL.createObjectURL(file.blob);
+    link.setAttribute("download", file.fileName);
     link.setAttribute("href", url);
     link.click();
+    return url;
   });
 
   // remove the link after triggering download
diff --git a/packages/webviz-core/src/util/Logger.js b/packages/webviz-core/src/util/Logger.js
index f24ef85de..b9f4d8690 100644
--- a/packages/webviz-core/src/util/Logger.js
+++ b/packages/webviz-core/src/util/Logger.js
@@ -6,6 +6,8 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
+const showLogs = process.env.NODE_ENV !== "test" || process.env.SHOW_TEST_OUTPUT;
+
 export default class Logger {
   name: string;
 
@@ -14,25 +16,25 @@ export default class Logger {
   }
 
   debug(message: string, ...args: any[]) {
-    if (process.env.NODE_ENV !== "test") {
+    if (showLogs) {
       console.debug(this.name, message, ...args);
     }
   }
 
   info(message: string, ...args: any[]) {
-    if (process.env.NODE_ENV !== "test") {
+    if (showLogs) {
       console.info(this.name, message, ...args);
     }
   }
 
   warn(message: string, ...args: any[]) {
-    if (process.env.NODE_ENV !== "test") {
+    if (showLogs) {
       console.warn(this.name, message, ...args);
     }
   }
 
   error(message: string, ...args: any[]) {
-    if (process.env.NODE_ENV !== "test") {
+    if (showLogs) {
       console.error(this.name, message, ...args);
     }
   }
diff --git a/packages/webviz-core/src/util/colors.js b/packages/webviz-core/src/util/colors.js
index 18468acd7..11f61bd16 100644
--- a/packages/webviz-core/src/util/colors.js
+++ b/packages/webviz-core/src/util/colors.js
@@ -22,6 +22,7 @@ export const colors = {
   LIGHT2: "#cacacc",
 
   GRAY: "#9f9fa2",
+  GRAY2: "#2d2c33",
 
   MAGENTAL1: "#e05ffa",
   MAGENTA: "#c83deb",
@@ -58,4 +59,5 @@ export const colors = {
   REDL1: "#ff6b82",
   RED: "#f54966",
   RED1: "#db3553",
+  RED2: "#ff7c96",
 };
diff --git a/packages/webviz-core/src/util/demoLayout.json b/packages/webviz-core/src/util/demoLayout.json
index f84b6d256..bd479840b 100644
--- a/packages/webviz-core/src/util/demoLayout.json
+++ b/packages/webviz-core/src/util/demoLayout.json
@@ -177,7 +177,7 @@
       "maxYValue": ""
     }
   },
-  "globalData": {},
+  "globalVariables": {},
   "userNodes": {},
   "linkedGlobalVariables": []
 }
diff --git a/packages/webviz-core/src/util/globalConstants.js b/packages/webviz-core/src/util/globalConstants.js
index ee3402212..5df229d6c 100644
--- a/packages/webviz-core/src/util/globalConstants.js
+++ b/packages/webviz-core/src/util/globalConstants.js
@@ -8,16 +8,20 @@
 import { colors } from "webviz-core/src/util/colors";
 
 // URL params
+// DANGER: if you change this you break existing urls
 export const REMOTE_BAG_URL_QUERY_KEY = "remote-bag-url";
 export const LOAD_ENTIRE_BAG_QUERY_KEY = "load-entire-bag";
 export const MEASURE_DATA_PROVIDERS_QUERY_KEY = "_measureDataProviders";
-export const PANEL_PERF_QUERY_KEY = "_panelperf";
 export const DEMO_QUERY_KEY = "demo";
 export const AUTOPLAY_QUERY_KEY = "autoplay";
 export const ENABLE_NODE_PLAYGROUND_QUERY_KEY = "enable-node-playground";
+export const LAYOUT_QUERY_KEY = "layout";
+export const LAYOUT_URL_QUERY_KEY = "layout-url";
+export const PATCH_LAYOUT_QUERY_KEY = "layout-patch";
+export const OLD_GLOBAL_VARIABLES_QUERY_KEY = "global-variables";
+export const GLOBAL_VARIABLES_QUERY_KEY = "global-data";
 
-export const DEFAULT_WEBVIZ_NODE_PREFIX = "/custom_node/";
-export const DEFAULT_WEBVIZ_NODE_NAME = "my_webviz_node";
+export const DEFAULT_WEBVIZ_NODE_PREFIX = "/webviz_node/";
 
 export const TRANSFORM_TOPIC = "/tf";
 export const DIAGNOSTIC_TOPIC = "/diagnostics";
@@ -57,6 +61,7 @@ export const MARKER_MSG_TYPES = {
   TEXT_VIEW_FACING: 9,
   MESH_RESOURCE: 10,
   TRIANGLE_LIST: 11,
+  INSTANCED_LINE_LIST: 108,
 };
 
 export const POSE_MARKER_SCALE = { x: 2, y: 2, z: 0.1 };
@@ -66,7 +71,7 @@ export const MILES_PER_HOUR_TO_METERS_PER_SECOND = 0.44703;
 export const METERS_PER_SECOND_TO_MILES_PER_HOUR = 2.23694;
 
 export const jsonTreeTheme = {
-  base00: colors.DARK2, // bg
+  base00: "transparent", // bg
   base07: colors.BLUEL1, // text
   base0B: colors.YELLOW1, // string & date, item string
   base09: colors.REDL1, // # & boolean
diff --git a/packages/webviz-core/src/util/history.js b/packages/webviz-core/src/util/history.js
index 8f9c70af7..5fdaed898 100644
--- a/packages/webviz-core/src/util/history.js
+++ b/packages/webviz-core/src/util/history.js
@@ -7,6 +7,6 @@
 //  You may not use this file except in compliance with the License.
 import { createBrowserHistory } from "history";
 
-const history = createBrowserHistory();
+const history: any = createBrowserHistory();
 
 export default history;
diff --git a/packages/webviz-core/src/util/indexeddb/MetaDatabase.js b/packages/webviz-core/src/util/indexeddb/MetaDatabase.js
index 8dd9b7795..d6ea30455 100644
--- a/packages/webviz-core/src/util/indexeddb/MetaDatabase.js
+++ b/packages/webviz-core/src/util/indexeddb/MetaDatabase.js
@@ -51,7 +51,7 @@ const getConfig = (metadataDatabaseName: string) => ({
 // the next creation of a database will clean up all the old ones.
 function tryDelete(databaseName: string): Promise<boolean> {
   return new Promise((resolve, reject) => {
-    log.info("Deleting old database", databaseName);
+    log.info("Trying to delete old database", databaseName);
     let resolved = false;
     const done = (success: boolean) => {
       if (resolved) {
@@ -63,7 +63,10 @@ function tryDelete(databaseName: string): Promise<boolean> {
     const deleteRequest = global.indexedDB.deleteDatabase(databaseName);
     // if we don't hear anything after 500 milliseconds assume the request is blocked
     setTimeout(() => done(false), 500);
-    deleteRequest.onsuccess = () => done(true);
+    deleteRequest.onsuccess = () => {
+      log.info(`Successfully deleted indexeddb database ${databaseName}.`);
+      done(true);
+    };
     deleteRequest.onerror = (err) => {
       log.error(`Unable to delete indexeddb database ${databaseName}`, err);
       done(false);
@@ -111,6 +114,9 @@ export async function updateMetaDatabases(
   maxDatabases: number,
   metadataDatabaseName: string
 ): Promise<void> {
+  log.info("Updating MetaDatabase", {
+    newDatabaseName,
+  });
   await validateStorageQuota();
 
   const metadataDatabase = await Database.get(getConfig(metadataDatabaseName));
@@ -149,5 +155,6 @@ export async function doesDatabaseExist(databaseName: string, metadataDatabaseNa
   const metadataDatabase = await Database.get(getConfig(metadataDatabaseName));
   const entry = await metadataDatabase.get(metadataObjectStoreName, databaseName);
   await metadataDatabase.close();
+  log.info(`Checking if database exists returned ${!!entry} with...`, { databaseName });
   return !!entry;
 }
diff --git a/packages/webviz-core/src/util/migratePanels.js b/packages/webviz-core/src/util/migratePanels.js
new file mode 100644
index 000000000..7a21b62a1
--- /dev/null
+++ b/packages/webviz-core/src/util/migratePanels.js
@@ -0,0 +1,62 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { cloneDeep, isEmpty } from "lodash";
+
+import type { PanelsState } from "webviz-core/src/reducers/panels";
+
+export function migrateNodePlaygroundNodesToObjects(originalPanelsState: PanelsState): PanelsState {
+  if (originalPanelsState.userNodes) {
+    const panelsState = cloneDeep(originalPanelsState);
+    for (const [nodeName, fieldVal] of Object.entries(panelsState.userNodes)) {
+      if (typeof fieldVal === "string") {
+        panelsState.userNodes[nodeName] = { name: nodeName, sourceCode: fieldVal };
+      }
+    }
+    return panelsState;
+  }
+  return originalPanelsState;
+}
+
+// add panel related migrations
+export function migrateGlobalDataToGlobalVariables(originalPanelsState: PanelsState): PanelsState {
+  const globalData = originalPanelsState.globalData;
+  if (globalData) {
+    const panelsState = cloneDeep(originalPanelsState);
+    // If `globalVariables` key is not present, create a new key and assign the globalData value
+    if (!("globalVariables" in originalPanelsState)) {
+      panelsState.globalVariables = globalData;
+    }
+    delete panelsState.globalData;
+    return panelsState;
+  }
+  return originalPanelsState;
+}
+
+function migratePlaybackConfig(state: PanelsState): PanelsState {
+  const panelsState = cloneDeep(state);
+  const { playbackConfig } = panelsState;
+  return {
+    ...panelsState,
+    playbackConfig: playbackConfig && !isEmpty(playbackConfig) ? playbackConfig : { speed: 0.2 },
+  };
+}
+
+export default function migratePanels(originalPanelsState: PanelsState): PanelsState {
+  if (originalPanelsState.layout === undefined) {
+    return originalPanelsState;
+  }
+  try {
+    return [migrateGlobalDataToGlobalVariables, migratePlaybackConfig, migrateNodePlaygroundNodesToObjects].reduce(
+      (panelState, fn: (PanelsState) => PanelsState) => fn(panelState),
+      originalPanelsState
+    );
+  } catch (error) {
+    return originalPanelsState;
+  }
+}
diff --git a/packages/webviz-core/src/util/migratePanels.test.js b/packages/webviz-core/src/util/migratePanels.test.js
new file mode 100644
index 000000000..999e99fc7
--- /dev/null
+++ b/packages/webviz-core/src/util/migratePanels.test.js
@@ -0,0 +1,89 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import migratePanels from "./migratePanels";
+
+describe("migratePanels", () => {
+  it("migrates globalData to globalVariables", () => {
+    const globalVariables = { some_global_data_var: 1 };
+    const globalData = { some_other_var: 2 };
+    let panelsState = {
+      layout: "Foo!1",
+      savedProps: {},
+      globalVariables,
+      globalData,
+      linkedGlobalVariables: [],
+      userNodes: {},
+      playbackConfig: { speed: 0.2 },
+    };
+
+    // keep the old globalVariable value and delete globalData key
+    expect(migratePanels(panelsState)).toEqual({
+      globalVariables: {
+        some_global_data_var: 1,
+      },
+      layout: "Foo!1",
+      linkedGlobalVariables: [],
+      savedProps: {},
+      userNodes: {},
+      playbackConfig: { speed: 0.2 },
+    });
+
+    panelsState = {
+      layout: "Foo!1",
+      savedProps: {},
+      globalData,
+      linkedGlobalVariables: [],
+      userNodes: {},
+      playbackConfig: { speed: 0.2 },
+    };
+    // create a new key globalVariable, assign the globalData value to it, and delete the globalData key
+    // $FlowFixMe some old panelsState don't have globalVariables key
+    expect(migratePanels(panelsState)).toEqual({
+      globalVariables: {
+        some_other_var: 2,
+      },
+      layout: "Foo!1",
+      linkedGlobalVariables: [],
+      savedProps: {},
+      userNodes: {},
+      playbackConfig: { speed: 0.2 },
+    });
+  });
+
+  it("adds a playback config with speed", () => {
+    expect(
+      // $FlowFixMe some old panelsStates don't have a playbackConfig key
+      migratePanels({
+        savedProps: {},
+        linkedGlobalVariables: [],
+        globalVariables: {},
+        layout: "",
+        userNodes: {},
+      }).playbackConfig
+    ).toEqual({
+      speed: 0.2,
+    });
+  });
+
+  it("correctly defaults an empty playback config with appropriate speed", () => {
+    expect(
+      // $FlowFixMe some old panelsStates could have incorrect playbackConfig value
+      migratePanels({
+        savedProps: {},
+        linkedGlobalVariables: [],
+        globalVariables: {},
+        layout: "",
+        userNodes: {},
+        playbackConfig: {},
+      }).playbackConfig
+    ).toEqual({
+      speed: 0.2,
+    });
+  });
+});
diff --git a/packages/webviz-core/src/util/selectors.js b/packages/webviz-core/src/util/selectors.js
index 689416e64..3996dd69c 100644
--- a/packages/webviz-core/src/util/selectors.js
+++ b/packages/webviz-core/src/util/selectors.js
@@ -6,7 +6,7 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import { intersection } from "lodash";
+import { intersection, keyBy } from "lodash";
 import microMemoize from "micro-memoize";
 import { createSelectorCreator, defaultMemoize, createSelector } from "reselect";
 import shallowequal from "shallowequal";
@@ -28,11 +28,7 @@ export const getSanitizedTopics = microMemoize(
 export const topicsByTopicName = createSelector<*, *, *, _>(
   (topics: Topic[]) => topics,
   (topics: Topic[]): { [string]: Topic } => {
-    const results = {};
-    for (const topic of topics) {
-      results[topic.name] = topic;
-    }
-    return results;
+    return keyBy(topics, ({ name }) => name);
   }
 );
 
diff --git a/packages/webviz-core/src/util/time.test.js b/packages/webviz-core/src/util/time.test.js
index 75521509d..9c66c3429 100644
--- a/packages/webviz-core/src/util/time.test.js
+++ b/packages/webviz-core/src/util/time.test.js
@@ -93,7 +93,9 @@ describe("time.formatTimeRaw", () => {
   });
 
   it("does not format negative times", () => {
+    jest.spyOn(console, "error").mockReturnValue();
     expect(time.formatTimeRaw({ sec: -1, nsec: 0 })).toEqual("(invalid negative time)");
+    expect(console.error).toHaveBeenCalled();
   });
 });
 

From 37553397f32b569c17cc7ffbb31d0b40a46a727f Mon Sep 17 00:00:00 2001
From: Audrey Li <me@audreyli.me>
Date: Tue, 29 Oct 2019 09:33:35 -0700
Subject: [PATCH 04/50] Update packages/webviz-core from internal repo (#257)

Changelog:
- UI clean up in toolbar
- Fix RandomAccessPlayer to prevent emitting old messages after seeking
- Enable NodePlayground
- Properly clip Autocomplete to bottom of the screen
---
 packages/webviz-core/package-lock.json        |  27 +-
 .../src/components/AppMenu/index.js           |   8 +-
 .../src/components/Autocomplete.js            |   5 +-
 .../src/components/Autocomplete.module.scss   |   2 -
 .../src/components/DocumentDropListener.js    |   6 +-
 .../src/components/ErrorDisplay.js            |  26 +-
 .../webviz-core/src/components/LayoutMenu.js  |   6 +-
 packages/webviz-core/src/components/Modal.js  |   1 +
 .../src/components/PanelToolbar/index.js      |   8 +-
 .../components/PanelToolbar/index.module.scss |   3 +
 .../components/PanelToolbar/index.stories.js  |  17 +
 .../src/components/PlayerManager.js           |  15 +-
 .../webviz-core/src/components/TextField.js   |   8 +-
 .../src/components/TextField.stories.js       |   4 +-
 .../src/components/TimeBasedChart/index.js    |  53 +-
 .../src/components/TopicToRenderMenu.js       | 118 +++
 .../components/TopicToRenderMenu.stories.js   | 184 ++++
 .../webviz-core/src/components/validators.js  |   7 +
 .../src/components/validators.test.js         |  35 +-
 .../src/dataProviders/BrowserHttpReader.js    |  12 +-
 packages/webviz-core/src/loadWebviz.js        |  16 +-
 .../src/panels/NodePlayground/Editor.js       |   2 +-
 .../src/panels/NodePlayground/index.help.md   |  36 +-
 .../webviz-core/src/panels/NumberOfRenders.js |   8 +-
 .../webviz-core/src/panels/Plot/PlotChart.js  |   3 +-
 .../src/panels/Plot/index.stories.js          |  52 +-
 .../src/panels/ThreeDimensionalViz/Layout.js  | 838 +++++++-----------
 .../ThreeDimensionalViz/LayoutToolbar.js      | 125 +++
 .../LayoutTopicSettings.js                    |  97 ++
 .../commands/CarModel/carModel.glb            | Bin 553516 -> 669344 bytes
 .../src/panels/ThreeDimensionalViz/index.js   |  24 +-
 .../diagnostics/DiagnosticStatusPanel.js      |  33 +-
 .../panels/diagnostics/DiagnosticSummary.js   |  95 +-
 .../panels/diagnostics/DiagnosticsHistory.js  |  19 +-
 .../src/players/RandomAccessPlayer.js         |   8 +-
 .../src/players/RandomAccessPlayer.test.js    |   2 +-
 .../src/players/UserNodePlayer/index.js       |  73 +-
 .../src/players/UserNodePlayer/index.test.js  |  79 ++
 .../nodeTransformerWorker/typescript/ros.js   |  27 +-
 packages/webviz-core/src/players/types.js     |   1 +
 .../src/stories/PanelSetupWithBag.js          | 157 ++--
 .../webviz-core/src/util/globalConstants.js   |   2 +-
 ...RecordingMode.js => inAutomatedRunMode.js} |  12 +-
 .../src/util/indexeddb/clearIndexedDb.js      |  32 +
 44 files changed, 1516 insertions(+), 770 deletions(-)
 create mode 100644 packages/webviz-core/src/components/TopicToRenderMenu.js
 create mode 100644 packages/webviz-core/src/components/TopicToRenderMenu.stories.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/LayoutToolbar.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/LayoutTopicSettings.js
 rename packages/webviz-core/src/util/{videoRecordingMode.js => inAutomatedRunMode.js} (53%)
 create mode 100644 packages/webviz-core/src/util/indexeddb/clearIndexedDb.js

diff --git a/packages/webviz-core/package-lock.json b/packages/webviz-core/package-lock.json
index 0fac2bc8a..aee3bab61 100644
--- a/packages/webviz-core/package-lock.json
+++ b/packages/webviz-core/package-lock.json
@@ -19,6 +19,11 @@
         }
       }
     },
+    "@cruise-automation/hooks": {
+      "version": "0.0.1",
+      "resolved": "https://registry.npmjs.org/@cruise-automation/hooks/-/hooks-0.0.1.tgz",
+      "integrity": "sha512-sUwYShqRJAyg2XS7+uc9ZwdNkRArLdyjPTF6Ebl1GphXHX5QYU14aMt3SO3QtVg0fd/KSWM4FinRosxZDq5uZg=="
+    },
     "@mdi/svg": {
       "version": "3.2.89",
       "resolved": "https://registry.npmjs.org/@mdi/svg/-/svg-3.2.89.tgz",
@@ -1100,6 +1105,16 @@
       "resolved": "https://registry.npmjs.org/raven-js/-/raven-js-3.27.0.tgz",
       "integrity": "sha512-vChdOL+yzecfnGA+B5EhEZkJ3kY3KlMzxEhShKh6Vdtooyl0yZfYNFQfYzgMf2v4pyQa+OTZ5esTxxgOOZDHqw=="
     },
+    "react": {
+      "version": "16.10.2",
+      "resolved": "https://registry.npmjs.org/react/-/react-16.10.2.tgz",
+      "integrity": "sha512-MFVIq0DpIhrHFyqLU0S3+4dIcBhhOvBE8bJ/5kHPVOVaGdo0KuiQzpcjCPsf585WvhypqtrMILyoE2th6dT+Lw==",
+      "requires": {
+        "loose-envify": "^1.1.0",
+        "object-assign": "^4.1.1",
+        "prop-types": "^15.6.2"
+      }
+    },
     "react-autocomplete": {
       "version": "github:janpaul123/react-autocomplete#bc8737070b5744069719c8fcd4e0a197192b0d48",
       "from": "github:janpaul123/react-autocomplete#bc8737070b5744069719c8fcd4e0a197192b0d48",
@@ -1171,6 +1186,17 @@
       "resolved": "https://registry.npmjs.org/react-document-events/-/react-document-events-1.4.0.tgz",
       "integrity": "sha512-eJuzYYLAqtHA2uV3JUWKWhmKXPBfSCVZEpFQpCswd3gzfJWn9UbX+7pIe3MKaofLLIIE/KwZ06ay5QJePt9bHw=="
     },
+    "react-dom": {
+      "version": "16.10.2",
+      "resolved": "https://registry.npmjs.org/react-dom/-/react-dom-16.10.2.tgz",
+      "integrity": "sha512-kWGDcH3ItJK4+6Pl9DZB16BXYAZyrYQItU4OMy0jAkv5aNqc+mAKb4TpFtAteI6TJZu+9ZlNhaeNQSVQDHJzkw==",
+      "requires": {
+        "loose-envify": "^1.1.0",
+        "object-assign": "^4.1.1",
+        "prop-types": "^15.6.2",
+        "scheduler": "^0.16.2"
+      }
+    },
     "react-draggable": {
       "version": "3.0.5",
       "resolved": "https://registry.npmjs.org/react-draggable/-/react-draggable-3.0.5.tgz",
@@ -1573,7 +1599,6 @@
       "version": "0.16.2",
       "resolved": "https://registry.npmjs.org/scheduler/-/scheduler-0.16.2.tgz",
       "integrity": "sha512-BqYVWqwz6s1wZMhjFvLfVR5WXP7ZY32M/wYPo04CcuPM7XZEbV2TBNW7Z0UkguPTl0dWMA59VbNXxK6q+pHItg==",
-      "dev": true,
       "requires": {
         "loose-envify": "^1.1.0",
         "object-assign": "^4.1.1"
diff --git a/packages/webviz-core/src/components/AppMenu/index.js b/packages/webviz-core/src/components/AppMenu/index.js
index 447afc6ac..f063a485c 100644
--- a/packages/webviz-core/src/components/AppMenu/index.js
+++ b/packages/webviz-core/src/components/AppMenu/index.js
@@ -71,9 +71,11 @@ class UnconnectedAppMenu extends Component<Props, State> {
     const { isOpen } = this.state;
     return (
       <ChildToggle position="below" onToggle={this._onToggle} isOpen={isOpen}>
-        <Icon small fade active={isOpen} tooltip="Add Panel">
-          <PlusBoxIcon />
-        </Icon>
+        <div style={{ display: "flex", alignItems: "center" }}>
+          <Icon small fade active={isOpen} tooltip="Add Panel">
+            <PlusBoxIcon />
+          </Icon>
+        </div>
         <Menu>
           {/* $FlowFixMe - not sure why it thinks onPanelSelect is a Redux action */}
           <PanelList onPanelSelect={this._onPanelSelect} />
diff --git a/packages/webviz-core/src/components/Autocomplete.js b/packages/webviz-core/src/components/Autocomplete.js
index dfb0509c8..db0d984bd 100644
--- a/packages/webviz-core/src/components/Autocomplete.js
+++ b/packages/webviz-core/src/components/Autocomplete.js
@@ -331,6 +331,7 @@ export default class Autocomplete extends PureComponent<AutocompleteProps, Autoc
           // The longest string might not be the widest (e.g. "|||" vs "www"), but this is
           // quite a bit faster, so we throw in a nice padding and call it good enough! :-)
           const width = measureText(getItemText(maxBy(autocompleteItems, (item) => getItemText(item).length))) + 50;
+          const maxHeight = `calc(100vh - 10px - ${style.top}px)`;
 
           return (
             <div
@@ -339,8 +340,8 @@ export default class Autocomplete extends PureComponent<AutocompleteProps, Autoc
               style={
                 // If the autocomplete would fall off the screen, pin it to the right.
                 style.left + width <= window.innerWidth
-                  ? { ...menuStyle, ...style, width }
-                  : { ...menuStyle, ...style, width, left: "auto", right: 0 }
+                  ? { ...menuStyle, ...style, width, maxHeight }
+                  : { ...menuStyle, ...style, width, maxHeight, left: "auto", right: 0 }
               }
               onScroll={this._onScroll}>
               {/* Have to wrap onMouseEnter and onMouseLeave in a separate <div>, as react-autocomplete
diff --git a/packages/webviz-core/src/components/Autocomplete.module.scss b/packages/webviz-core/src/components/Autocomplete.module.scss
index 9887d1f20..e86230e1e 100644
--- a/packages/webviz-core/src/components/Autocomplete.module.scss
+++ b/packages/webviz-core/src/components/Autocomplete.module.scss
@@ -14,10 +14,8 @@ $row-height: 24px;
   box-shadow: 0 2px 12px rgba(0, 0, 0, 0.1);
   position: fixed;
   overflow: auto;
-  max-height: min-content;
   background: $toolbar;
   z-index: 1;
-  bottom: 40px;
   margin-left: -6px;
 }
 
diff --git a/packages/webviz-core/src/components/DocumentDropListener.js b/packages/webviz-core/src/components/DocumentDropListener.js
index 64b246005..95f5863e2 100644
--- a/packages/webviz-core/src/components/DocumentDropListener.js
+++ b/packages/webviz-core/src/components/DocumentDropListener.js
@@ -10,7 +10,11 @@ import * as React from "react";
 
 type Props = {
   children: React.Node, // Shown when dragging in a file.
-  filesSelected: ({ files: FileList | File[], shiftPressed: boolean }) => any,
+  filesSelected: ({
+    files: FileList | File[],
+    shiftPressed: boolean,
+    onConfirmLocalFilesModalClose?: () => void,
+  }) => any,
 };
 
 type State = {
diff --git a/packages/webviz-core/src/components/ErrorDisplay.js b/packages/webviz-core/src/components/ErrorDisplay.js
index 74ca86644..33e845cc3 100644
--- a/packages/webviz-core/src/components/ErrorDisplay.js
+++ b/packages/webviz-core/src/components/ErrorDisplay.js
@@ -19,6 +19,7 @@ import Modal, { Title } from "webviz-core/src/components/Modal";
 import renderToBody from "webviz-core/src/components/renderToBody";
 import { getGlobalHooks } from "webviz-core/src/loadWebviz";
 import colors from "webviz-core/src/styles/colors.module.scss";
+import { colors as RobotStylesColors } from "webviz-core/src/util/colors";
 import { setErrorHandler, unsetErrorHandler, type DetailsType } from "webviz-core/src/util/reportError";
 
 type ErrorMessage = {
@@ -32,8 +33,10 @@ type ErrorMessage = {
 const Container = styled.div`
   height: 100%;
   display: flex;
+  flex: 1 1 auto;
+  justify-content: flex-end;
   align-items: center;
-  padding: 0px 7px;
+  padding: 0px 8px;
   transition: background-color 200ms linear;
   background-color: ${(props) => (props.flash ? colors.red : "")};
   color: ${(props) => (props.flash ? "white" : props.unread ? colors.red : "rgba(255, 255, 255, 0.5)")};
@@ -221,23 +224,26 @@ export default class ErrorDisplay extends React.PureComponent<{}, State> {
     const { errors, showMostRecent, showErrorList } = this.state;
     const unreadCount = errors.reduce((acc, err) => acc + (err.read ? 0 : 1), 0);
     const hasUnread = unreadCount > 0;
-    const iconStyle = showMostRecent ? { color: "#991B30" } : {};
     return (
       <Container flash={showMostRecent} unread={hasUnread}>
-        {/* push everything to the right */}
-        <div style={{ flex: "1 1 auto" }} />
         {!!errors.length && (
           <ChildToggle position="below" isOpen={showErrorList} onToggle={this.toggleErrorList}>
-            <div>
-              <Fader visible={showMostRecent} style={{ paddingRight: 10 }}>
-                {errors[0].message}
-              </Fader>
-              <span style={iconStyle}>
+            <div style={{ display: "flex", flex: "1 1 auto", alignItems: "center" }}>
+              <div
+                style={{
+                  display: "flex",
+                  flex: "none",
+                  alignItems: "center",
+                  color: showMostRecent && RobotStylesColors.RED1,
+                }}>
                 <Fader visible={hasUnread}>{unreadCount || ""}</Fader>
                 <Icon small tooltip="Errors">
                   <BellIcon />
                 </Icon>
-              </span>
+              </div>
+              <Fader visible={showMostRecent} style={{ paddingLeft: 5, cursor: "pointer" }}>
+                {errors[0].message}
+              </Fader>
             </div>
             <ErrorList errors={errors} onClick={showErrorModal} />
           </ChildToggle>
diff --git a/packages/webviz-core/src/components/LayoutMenu.js b/packages/webviz-core/src/components/LayoutMenu.js
index cf511bc5b..429f94b6a 100644
--- a/packages/webviz-core/src/components/LayoutMenu.js
+++ b/packages/webviz-core/src/components/LayoutMenu.js
@@ -5,9 +5,9 @@
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
-
 import AppsIcon from "@mdi/svg/svg/apps.svg";
 import JsonIcon from "@mdi/svg/svg/json.svg";
+import NukeIcon from "@mdi/svg/svg/nuke.svg";
 import ScriptTextOutlineIcon from "@mdi/svg/svg/script-text-outline.svg";
 import React, { PureComponent } from "react";
 
@@ -15,6 +15,7 @@ import ChildToggle from "webviz-core/src/components/ChildToggle";
 import Icon from "webviz-core/src/components/Icon";
 import { openLayoutModal } from "webviz-core/src/components/LayoutModal";
 import Menu, { Item } from "webviz-core/src/components/Menu";
+import clearIndexedDb from "webviz-core/src/util/indexeddb/clearIndexedDb";
 
 type State = {
   isOpen: boolean,
@@ -46,6 +47,9 @@ export default class LayoutMenu extends PureComponent<{}, State> {
           <Item icon={<JsonIcon />} onClick={this._onImportClick}>
             Import/export layout
           </Item>
+          <Item icon={<NukeIcon />} onClick={clearIndexedDb}>
+            Clear bag cache
+          </Item>
           <hr />
           <Item
             icon={<ScriptTextOutlineIcon />}
diff --git a/packages/webviz-core/src/components/Modal.js b/packages/webviz-core/src/components/Modal.js
index 664274868..1a434b90a 100644
--- a/packages/webviz-core/src/components/Modal.js
+++ b/packages/webviz-core/src/components/Modal.js
@@ -22,6 +22,7 @@ export const Title = styled.h3`
   padding-bottom: 16px;
   color: ${colors.textBright};
   font-size: 22px;
+  line-height: 1.4;
 `;
 
 const Container = styled.div`
diff --git a/packages/webviz-core/src/components/PanelToolbar/index.js b/packages/webviz-core/src/components/PanelToolbar/index.js
index b5bb872db..19d113709 100644
--- a/packages/webviz-core/src/components/PanelToolbar/index.js
+++ b/packages/webviz-core/src/components/PanelToolbar/index.js
@@ -45,6 +45,7 @@ type Props = {|
   helpContent?: React.Node,
   menuContent?: React.Node,
   showPanelName?: boolean,
+  additionalIcons?: React.Node,
 |};
 
 // separated into a sub-component so it can always skip re-rendering
@@ -162,10 +163,12 @@ const ConnectedStandardMenuItems = connect(
 // whole PanelToolbar when only children change.
 const PanelToolbarControls = React.memo(function PanelToolbarControls(props: Props) {
   const panelData = useContext(PanelContext);
-  const { floating, helpContent, menuContent, showPanelName } = props;
+  const { floating, helpContent, menuContent, showPanelName, additionalIcons } = props;
+
   return (
     <div className={styles.iconContainer}>
       {showPanelName && panelData && <div className={styles.panelName}>{panelData.title}</div>}
+      {additionalIcons}
       {helpContent && <HelpButton>{helpContent}</HelpButton>}
       <Dropdown
         flatEdges={!floating}
@@ -195,7 +198,7 @@ const PanelToolbarControls = React.memo(function PanelToolbarControls(props: Pro
 // and has a place to add custom controls via it's children property
 export default class PanelToolbar extends React.PureComponent<Props> {
   render() {
-    const { children, floating, helpContent, menuContent } = this.props;
+    const { children, floating, helpContent, menuContent, additionalIcons } = this.props;
     return (
       <Dimensions>
         {({ width }) => (
@@ -213,6 +216,7 @@ export default class PanelToolbar extends React.PureComponent<Props> {
                   helpContent={helpContent}
                   menuContent={menuContent}
                   showPanelName={width > 360}
+                  additionalIcons={additionalIcons}
                 />
               </div>
             )}
diff --git a/packages/webviz-core/src/components/PanelToolbar/index.module.scss b/packages/webviz-core/src/components/PanelToolbar/index.module.scss
index 7d12fe1c2..ff5c4c890 100644
--- a/packages/webviz-core/src/components/PanelToolbar/index.module.scss
+++ b/packages/webviz-core/src/components/PanelToolbar/index.module.scss
@@ -17,6 +17,9 @@ $spacing: 4px;
   flex-direction: row;
   min-height: 22px;
   padding: 2px 2px 2px 6px;
+  svg {
+    font-size: 14px;
+  }
 }
 
 .panelName {
diff --git a/packages/webviz-core/src/components/PanelToolbar/index.stories.js b/packages/webviz-core/src/components/PanelToolbar/index.stories.js
index ce3ea2614..506af52a8 100644
--- a/packages/webviz-core/src/components/PanelToolbar/index.stories.js
+++ b/packages/webviz-core/src/components/PanelToolbar/index.stories.js
@@ -6,6 +6,7 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
+import DatabaseIcon from "@mdi/svg/svg/database.svg";
 import { storiesOf } from "@storybook/react";
 import { createMemoryHistory } from "history";
 import * as React from "react";
@@ -15,6 +16,7 @@ import { withScreenshot } from "storybook-chrome-screenshot";
 
 import PanelToolbar from "./index";
 import ChildToggle from "webviz-core/src/components/ChildToggle";
+import Icon from "webviz-core/src/components/Icon";
 import { MockPanelContextProvider } from "webviz-core/src/components/Panel";
 import createRootReducer from "webviz-core/src/reducers";
 import configureStore from "webviz-core/src/store/configureStore.testing";
@@ -100,6 +102,21 @@ storiesOf("<PanelToolbar>", module)
       </MosaicWrapper>
     );
   })
+  .add("one additional icon", () => {
+    const additionalIcons = (
+      <Icon>
+        <DatabaseIcon />
+      </Icon>
+    );
+    return (
+      <MosaicWrapper width={500}>
+        <PanelToolbar helpContent={<div />} additionalIcons={additionalIcons}>
+          <div style={{ width: "100%", lineHeight: "22px", paddingLeft: 5 }}>Some controls here</div>
+          <KeepToolbarVisibleHack />
+        </PanelToolbar>
+      </MosaicWrapper>
+    );
+  })
   .add("menu (only panel)", () => {
     class Story extends React.Component<{}> {
       render() {
diff --git a/packages/webviz-core/src/components/PlayerManager.js b/packages/webviz-core/src/components/PlayerManager.js
index 6ef06e747..6c41252c1 100644
--- a/packages/webviz-core/src/components/PlayerManager.js
+++ b/packages/webviz-core/src/components/PlayerManager.js
@@ -35,10 +35,10 @@ import type { ImportPanelLayoutPayload, UserNodes } from "webviz-core/src/types/
 import demoLayoutJson from "webviz-core/src/util/demoLayout.json";
 import {
   DEMO_QUERY_KEY,
-  ENABLE_NODE_PLAYGROUND_QUERY_KEY,
   LOAD_ENTIRE_BAG_QUERY_KEY,
   REMOTE_BAG_URL_QUERY_KEY,
   SECOND_BAG_PREFIX,
+  FRAME_SIZE_MS_QUERY_KEY,
 } from "webviz-core/src/util/globalConstants";
 import { getSeekToTime } from "webviz-core/src/util/time";
 
@@ -67,6 +67,10 @@ type Props = OwnProps & {
   setUserNodeTrust: SetUserNodeTrust,
 };
 
+export function getFrameSizeMs(params: URLSearchParams) {
+  return params.get(FRAME_SIZE_MS_QUERY_KEY) ? Number(params.get(FRAME_SIZE_MS_QUERY_KEY)) : null;
+}
+
 function PlayerManager({
   importPanelLayout,
   children,
@@ -90,14 +94,9 @@ function PlayerManager({
           const newPlayer = new RandomAccessPlayer(
             getRemoteBagDescriptor(url, guid, params.has(LOAD_ENTIRE_BAG_QUERY_KEY)),
             undefined,
-            { autoplay: true, seekToTime: getSeekToTime() }
+            { autoplay: true, seekToTime: getSeekToTime(), frameSizeMs: getFrameSizeMs(params) }
           );
-
-          if (new URLSearchParams(window.location.search).has(ENABLE_NODE_PLAYGROUND_QUERY_KEY)) {
-            setPlayer(new UserNodePlayer(newPlayer, { setUserNodeDiagnostics, addUserNodeLogs, setUserNodeTrust }));
-          } else {
-            setPlayer(new NodePlayer(newPlayer));
-          }
+          setPlayer(new UserNodePlayer(newPlayer, { setUserNodeDiagnostics, addUserNodeLogs, setUserNodeTrust }));
         });
         if (params.has(DEMO_QUERY_KEY)) {
           importPanelLayout(demoLayoutJson, false, true);
diff --git a/packages/webviz-core/src/components/TextField.js b/packages/webviz-core/src/components/TextField.js
index ac94cba6f..e77e289ae 100644
--- a/packages/webviz-core/src/components/TextField.js
+++ b/packages/webviz-core/src/components/TextField.js
@@ -32,10 +32,11 @@ type Props = {
   defaultValue?: string,
   focusOnMount?: boolean,
   inputStyle: { [string]: string | number },
+  hideInlineError?: boolean,
   label?: string,
   onBlur: () => void,
   onChange: (value: string) => void,
-  onError?: (error: string) => void,
+  onError?: (error: ?string) => void,
   placeholder?: string,
   style: { [string]: string | number },
   validateOnBlur?: boolean,
@@ -47,6 +48,7 @@ export default function TextField({
   defaultValue,
   focusOnMount,
   inputStyle,
+  hideInlineError,
   label,
   onBlur,
   onChange,
@@ -88,7 +90,7 @@ export default function TextField({
 
   useLayoutEffect(
     () => {
-      if (onError && error) {
+      if (onError) {
         onError(error);
       }
     },
@@ -147,7 +149,7 @@ export default function TextField({
         onChange={handleChange}
         {...rest}
       />
-      {error && !onError && <SError>{error}</SError>}
+      {error && !hideInlineError && <SError>{error}</SError>}
     </STextField>
   );
 }
diff --git a/packages/webviz-core/src/components/TextField.stories.js b/packages/webviz-core/src/components/TextField.stories.js
index de85f64f7..ff836831f 100644
--- a/packages/webviz-core/src/components/TextField.stories.js
+++ b/packages/webviz-core/src/components/TextField.stories.js
@@ -30,7 +30,7 @@ function ErrorExample() {
   const [error, setError] = React.useState<?string>();
   return (
     <>
-      <TextField value="foo" validator={validator} onError={setError} />
+      <TextField value="foo" validator={validator} onError={setError} hideInlineError />
       <strong>This is a custom error UI: {error}</strong>
     </>
   );
@@ -108,7 +108,7 @@ storiesOf("<TextField>", module)
         <Box title="focusOnMount">
           <TextField defaultValue="foo" focusOnMount />
         </Box>
-        <Box title="use onError to show custom error UI">
+        <Box title="use hideInlineError to show custom error UI">
           <ErrorExample />
         </Box>
         <Box title="by default, validate on mount">
diff --git a/packages/webviz-core/src/components/TimeBasedChart/index.js b/packages/webviz-core/src/components/TimeBasedChart/index.js
index d825b6375..cf024705a 100644
--- a/packages/webviz-core/src/components/TimeBasedChart/index.js
+++ b/packages/webviz-core/src/components/TimeBasedChart/index.js
@@ -18,6 +18,7 @@ import Button from "webviz-core/src/components/Button";
 import createSyncingComponent from "webviz-core/src/components/createSyncingComponent";
 import type { MessageHistoryItem } from "webviz-core/src/components/MessageHistory";
 import TimeBasedChartLegend from "webviz-core/src/components/TimeBasedChart/TimeBasedChartLegend";
+import Tooltip from "webviz-core/src/components/Tooltip";
 import Y_AXIS_ID from "webviz-core/src/panels/Plot/PlotChart";
 import mixins from "webviz-core/src/styles/mixins.module.scss";
 
@@ -244,7 +245,6 @@ export default class TimeBasedChart extends React.PureComponent<Props, State> {
       this._tooltip = document.createElement("div");
       chartInstance.canvas.parentNode.appendChild(this._tooltip);
     }
-
     if (this._tooltip) {
       ReactDOM.render(
         <TimeBasedChartTooltip
@@ -349,26 +349,31 @@ export default class TimeBasedChart extends React.PureComponent<Props, State> {
               },
             }))
           : [defaultXAxis],
-        yAxes: yAxes.map((yAxis) => ({
-          ...yAxis,
-          afterUpdate: this._onPlotChartUpdate,
-          ticks:
-            userMinY !== null && userMaxY !== null && (yAxis.ticks.min == null && yAxis.ticks.max == null)
-              ? {
-                  ...defaultYTicksSettings,
-                  ...yAxis.ticks,
-                  min: userMinY,
-                  max: userMaxY,
-                  callback: (...args) =>
-                    yAxis.ticks.callback ? yAxis.ticks.callback(...args) : this._onGetTick(...args),
-                }
-              : {
-                  ...defaultYTicksSettings,
-                  ...yAxis.ticks,
-                  callback: (...args) =>
-                    yAxis.ticks.callback ? yAxis.ticks.callback(...args) : this._onGetTick(...args),
-                },
-        })),
+        yAxes: yAxes.map((yAxis) => {
+          const ticks = {
+            ...defaultYTicksSettings,
+            ...yAxis.ticks,
+            callback: (...args) => (yAxis.ticks.callback ? yAxis.ticks.callback(...args) : this._onGetTick(...args)),
+          };
+          // If the user is manually panning or zooming, don't constrain the y-axis
+          if (this.state.showResetZoom) {
+            delete ticks.min;
+            delete ticks.max;
+          } else {
+            if (userMinY != null) {
+              ticks.min = userMinY;
+            }
+            if (userMaxY != null) {
+              ticks.max = userMaxY;
+            }
+          }
+
+          return {
+            ...yAxis,
+            afterUpdate: this._onPlotChartUpdate,
+            ticks,
+          };
+        }),
       },
       onClick: this.props.onClick,
       pan: {
@@ -454,6 +459,12 @@ export default class TimeBasedChart extends React.PureComponent<Props, State> {
             />
           </SRoot>
         </div>
+        <Tooltip contents={<div>Hold v to only scroll on vertically</div>} delay={0}>
+          <div style={{ position: "absolute", left: 0, top: 0, width: 30, bottom: 0 }} />
+        </Tooltip>
+        <Tooltip placement="top" contents={<div>Hold h to only scroll on horizontally</div>} delay={0}>
+          <div style={{ position: "absolute", left: 0, right: 0, height: 30, bottom: 0 }} />
+        </Tooltip>
         {drawLegend && (
           <SLegend>
             <TimeBasedChartLegend
diff --git a/packages/webviz-core/src/components/TopicToRenderMenu.js b/packages/webviz-core/src/components/TopicToRenderMenu.js
new file mode 100644
index 000000000..445763b35
--- /dev/null
+++ b/packages/webviz-core/src/components/TopicToRenderMenu.js
@@ -0,0 +1,118 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import CheckIcon from "@mdi/svg/svg/check.svg";
+import DatabaseIcon from "@mdi/svg/svg/database.svg";
+import { uniq } from "lodash";
+import React from "react";
+import styled from "styled-components";
+
+import Dropdown from "webviz-core/src/components/Dropdown";
+import Icon from "webviz-core/src/components/Icon";
+import type { Topic } from "webviz-core/src/players/types";
+import { colors } from "webviz-core/src/util/colors";
+
+type TopicGroup = {
+  suffix: string,
+  datatype: string,
+};
+
+type Props = {
+  onChange: (topic: string) => void,
+  topicToRender: string,
+  topics: $ReadOnlyArray<Topic>,
+  // Use either one of these:
+  // singleTopicDatatype only supports a single datatype (search and select based on datatype)
+  // topicsGroups selects the "parent" path of a group of topics (if either of the group topics suffixes+datatypes match)
+  singleTopicDatatype?: string,
+  topicsGroups?: TopicGroup[],
+  defaultTopicToRender: string,
+};
+
+const SDiv = styled.div`
+  display: flex;
+  cursor: pointer;
+  padding: 8px;
+  height: 32px;
+`;
+
+const SSpan = styled.span`
+  flex: flex-start;
+  min-width: 150px;
+  height: 17px;
+`;
+
+const SIconSpan = styled.span`
+  flex: flex-end;
+  svg {
+    fill: white;
+    width: 15px;
+    height: 15px;
+  }
+`;
+
+export default function TopicToRenderMenu({
+  onChange,
+  topicToRender,
+  topics,
+  topicsGroups,
+  singleTopicDatatype,
+  defaultTopicToRender,
+}: Props) {
+  if (topicsGroups && singleTopicDatatype) {
+    throw new Error("Cannot set both topicsGroups and singleTopicDatatype");
+  }
+  if (!topicsGroups && !singleTopicDatatype) {
+    throw new Error("Must set either topicsGroups or singleTopicDatatype");
+  }
+  const availableTopics: string[] = [];
+  for (const topic of topics) {
+    if (topicsGroups) {
+      for (const topicGroup of topicsGroups) {
+        if (topic.name.endsWith(topicGroup.suffix) && topic.datatype === topicGroup.datatype) {
+          const parentTopic = topic.name.slice(0, topic.name.length - topicGroup.suffix.length);
+          availableTopics.push(parentTopic);
+        }
+      }
+    } else {
+      if (topic.datatype === singleTopicDatatype) {
+        availableTopics.push(topic.name);
+      }
+    }
+  }
+  // Keeps only the first occurrence of each topic.
+  const renderTopics: string[] = uniq([defaultTopicToRender, ...availableTopics, topicToRender]);
+
+  return (
+    <Dropdown
+      toggleComponent={
+        <Icon
+          fade
+          tooltip={"Topic"}
+          style={{ color: topicToRender === defaultTopicToRender ? colors.LIGHT1 : colors.ORANGE }}
+          dataTest={"topic-set"}>
+          <DatabaseIcon />
+        </Icon>
+      }>
+      {renderTopics.map((topic, idx) => (
+        <SDiv
+          style={topicToRender === topic ? { backgroundColor: "rgba(59, 46, 118, 0.6)" } : {}}
+          key={topic}
+          onClick={() => {
+            onChange(topic);
+          }}>
+          <SSpan>{availableTopics.includes(topic) ? topic : `${topic} (not available)`}</SSpan>
+          {topicToRender === topic ? (
+            <SIconSpan>
+              <CheckIcon />
+            </SIconSpan>
+          ) : null}
+        </SDiv>
+      ))}
+    </Dropdown>
+  );
+}
diff --git a/packages/webviz-core/src/components/TopicToRenderMenu.stories.js b/packages/webviz-core/src/components/TopicToRenderMenu.stories.js
new file mode 100644
index 000000000..fa2849b79
--- /dev/null
+++ b/packages/webviz-core/src/components/TopicToRenderMenu.stories.js
@@ -0,0 +1,184 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import { storiesOf } from "@storybook/react";
+import * as React from "react";
+import { withScreenshot } from "storybook-chrome-screenshot";
+
+import TopicToRenderMenu from "webviz-core/src/components/TopicToRenderMenu";
+import PanelSetup from "webviz-core/src/stories/PanelSetup";
+
+const topics = [
+  {
+    name: "/default/foo",
+    datatype: "abc_msgs/foo",
+  },
+  {
+    name: "/webviz_bag_2/default/foo",
+    datatype: "abc_msgs/foo",
+  },
+  {
+    name: "/webviz_bag_2/default/foo",
+    datatype: "bad_datatype/abc_msgs/foo",
+  },
+];
+
+const topicsGroups = [
+  {
+    key: "foo",
+    suffix: "/foo",
+    datatype: "abc_msgs/foo",
+  },
+  {
+    key: "bar",
+    suffix: "/bar",
+    datatype: "abc_msgs/bar",
+  },
+];
+
+storiesOf("<TopicToRenderMenu>", module)
+  .addDecorator(withScreenshot())
+  .add("example (have topicsGroups)", () => {
+    return (
+      <PanelSetup
+        fixture={{ topics: [], datatypes: {}, frame: {} }}
+        onMount={(el) => {
+          const topicSet = el.querySelector("[data-test=topic-set]");
+          if (topicSet) {
+            topicSet.click();
+          }
+        }}>
+        <TopicToRenderMenu
+          onChange={() => {}}
+          topicToRender={"/default"}
+          topics={topics}
+          topicsGroups={topicsGroups}
+          defaultTopicToRender={"/default"}
+        />
+      </PanelSetup>
+    );
+  })
+  .add("example (have singleTopicDatatype)", () => {
+    return (
+      <PanelSetup
+        fixture={{ topics: [], datatypes: {}, frame: {} }}
+        onMount={(el) => {
+          const topicSet = el.querySelector("[data-test=topic-set]");
+          if (topicSet) {
+            topicSet.click();
+          }
+        }}>
+        <TopicToRenderMenu
+          onChange={() => {}}
+          topicToRender={"/default/foo"}
+          topics={topics}
+          singleTopicDatatype={"abc_msgs/foo"}
+          defaultTopicToRender={"/default/foo"}
+        />
+      </PanelSetup>
+    );
+  })
+  .add("select another topic (have singleTopicDatatype)", () => {
+    return (
+      <PanelSetup
+        fixture={{ topics: [], datatypes: {}, frame: {} }}
+        onMount={(el) => {
+          const topicSet = el.querySelector("[data-test=topic-set]");
+          if (topicSet) {
+            topicSet.click();
+          }
+        }}>
+        <TopicToRenderMenu
+          onChange={() => {}}
+          topicToRender={"/webviz_bag_2/default/foo"}
+          topics={topics}
+          singleTopicDatatype={"abc_msgs/foo"}
+          defaultTopicToRender={"/default/foo"}
+        />
+      </PanelSetup>
+    );
+  })
+  .add("no bag loaded, defaultTopicToRender === topicToRender (have topicsGroups)", () => {
+    return (
+      <PanelSetup
+        fixture={{ topics: [], datatypes: {}, frame: {} }}
+        onMount={(el) => {
+          const topicSet = el.querySelector("[data-test=topic-set]");
+          if (topicSet) {
+            topicSet.click();
+          }
+        }}>
+        <TopicToRenderMenu
+          onChange={() => {}}
+          topicToRender={"/default"}
+          topics={[]}
+          topicsGroups={topicsGroups}
+          defaultTopicToRender={"/default"}
+        />
+      </PanelSetup>
+    );
+  })
+  .add("no bag loaded, defaultTopicToRender !== topicToRender (have topicsGroups)", () => {
+    return (
+      <PanelSetup
+        fixture={{ topics: [], datatypes: {}, frame: {} }}
+        onMount={(el) => {
+          const topicSet = el.querySelector("[data-test=topic-set]");
+          if (topicSet) {
+            topicSet.click();
+          }
+        }}>
+        <TopicToRenderMenu
+          onChange={() => {}}
+          topicToRender={"/webviz_bag_2/default"}
+          topics={[]}
+          topicsGroups={topicsGroups}
+          defaultTopicToRender={"/default"}
+        />
+      </PanelSetup>
+    );
+  })
+  .add("bag loaded but topicToRender is not available (have singleTopicDatatype)", () => {
+    return (
+      <PanelSetup
+        fixture={{ topics: [], datatypes: {}, frame: {} }}
+        onMount={(el) => {
+          const topicSet = el.querySelector("[data-test=topic-set]");
+          if (topicSet) {
+            topicSet.click();
+          }
+        }}>
+        <TopicToRenderMenu
+          onChange={() => {}}
+          topicToRender={"/abc"}
+          topics={topics}
+          singleTopicDatatype={"abc_msgs/foo"}
+          defaultTopicToRender={"/default/foo"}
+        />
+      </PanelSetup>
+    );
+  })
+  .add("bag loaded but defaultTopicToRender is not available (have singleTopicDatatype)", () => {
+    return (
+      <PanelSetup
+        fixture={{ topics: [], datatypes: {}, frame: {} }}
+        onMount={(el) => {
+          const topicSet = el.querySelector("[data-test=topic-set]");
+          if (topicSet) {
+            topicSet.click();
+          }
+        }}>
+        <TopicToRenderMenu
+          onChange={() => {}}
+          topicToRender={"/default/bar"}
+          topics={topics}
+          singleTopicDatatype={"abc_msgs/foo"}
+          defaultTopicToRender={"/default/bar"}
+        />
+      </PanelSetup>
+    );
+  });
diff --git a/packages/webviz-core/src/components/validators.js b/packages/webviz-core/src/components/validators.js
index 32fc427d8..59fb82cc3 100644
--- a/packages/webviz-core/src/components/validators.js
+++ b/packages/webviz-core/src/components/validators.js
@@ -84,6 +84,13 @@ export const isNotPrivate = (value: any): ?string =>
 // return the first error
 const join = (rules) => (value) => rules.map((rule) => rule(value)).filter((error) => !!error)[0];
 
+export const isWebsocketUrl = (value: string): ?string => {
+  const pattern = new RegExp(`wss?://[a-z.-_\\d]+(:(d+))?`, "gi");
+  if (!pattern.test(value)) {
+    return `${value} is not a valid WebSocket URL`;
+  }
+};
+
 export const createValidator = (rules: Rules) => {
   return (data: any = {}): { [field: string]: string } => {
     const errors = {};
diff --git a/packages/webviz-core/src/components/validators.test.js b/packages/webviz-core/src/components/validators.test.js
index 11ee2189c..d066dee5a 100644
--- a/packages/webviz-core/src/components/validators.test.js
+++ b/packages/webviz-core/src/components/validators.test.js
@@ -6,7 +6,7 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import { cameraStateValidator, polygonPointsValidator, point2DValidator } from "./validators";
+import { cameraStateValidator, polygonPointsValidator, point2DValidator, isWebsocketUrl } from "./validators";
 
 describe("cameraStateValidator", () => {
   it("returns undefined for empty object input", () => {
@@ -76,37 +76,37 @@ describe("cameraStateValidator", () => {
 });
 
 describe("polygonPointsValidator", () => {
-  it("returns undefined for valid input", async () => {
+  it("returns undefined for valid input", () => {
     expect(polygonPointsValidator([[{ x: 1, y: 2 }]])).toEqual(undefined);
   });
-  it("returns undefined for null or empty input", async () => {
+  it("returns undefined for null or empty input", () => {
     expect(polygonPointsValidator([])).toEqual(undefined);
     expect(polygonPointsValidator()).toEqual(undefined);
     expect(polygonPointsValidator("")).toEqual(undefined);
     expect(polygonPointsValidator({})).toEqual(undefined);
   });
-  it("returns error for non-array input", async () => {
+  it("returns error for non-array input", () => {
     expect(polygonPointsValidator(123)).toEqual("must be an array of nested x and y points");
     expect(polygonPointsValidator([{}])).toEqual("must be an array of x and y points");
   });
-  it("returns error for non-number input", async () => {
+  it("returns error for non-number input", () => {
     expect(polygonPointsValidator([[{ x: "1", y: 1 }, { x: 2, y: 2 }, { x: 3, y: 3 }]])).toEqual(
       "x and y points must be numbers"
     );
   });
-  it("returns error when missing input for x/y point", async () => {
+  it("returns error when missing input for x/y point", () => {
     expect(polygonPointsValidator([[{ y: 1 }, { x: 2, y: 2 }, { x: 3, y: 3 }]])).toEqual("must contain x and y points");
   });
-  it("does not return error when the input points have 0 as coordinates", async () => {
+  it("does not return error when the input points have 0 as coordinates", () => {
     expect(polygonPointsValidator([[{ x: 0.000001, y: 0.0 }, { x: 0, y: 0.0 }]])).toEqual(undefined);
   });
 });
 
 describe("point2DValidator", () => {
-  it("returns undefined for valid input", async () => {
+  it("returns undefined for valid input", () => {
     expect(point2DValidator({ x: 1, y: 2 })).toEqual(undefined);
   });
-  it("returns error for non-array input", async () => {
+  it("returns error for non-array input", () => {
     expect(point2DValidator({})).toEqual({ x: "is required", y: "is required" });
     expect(point2DValidator()).toEqual({ x: "is required", y: "is required" });
     expect(point2DValidator("")).toEqual({ x: "is required", y: "is required" });
@@ -114,9 +114,24 @@ describe("point2DValidator", () => {
     expect(point2DValidator(123)).toEqual({ x: "is required", y: "is required" });
   });
 
-  it("returns error when x/y field validation fails", async () => {
+  it("returns error when x/y field validation fails", () => {
     expect(point2DValidator({ x: 1 })).toEqual({ y: "is required" });
     expect(point2DValidator({ x: "1" })).toEqual({ x: "must be a number", y: "is required" });
     expect(point2DValidator({ x: 1, y: "2" })).toEqual({ y: "must be a number" });
   });
 });
+
+describe("isWebsocketUrl", () => {
+  it("validates if the input string is websocket url", () => {
+    let val = " ";
+    expect(isWebsocketUrl(val)).toEqual(`${val} is not a valid WebSocket URL`);
+    val = "ws:";
+    expect(isWebsocketUrl(val)).toEqual(`${val} is not a valid WebSocket URL`);
+    expect(isWebsocketUrl("ws://example.com")).toEqual(undefined);
+    expect(isWebsocketUrl("wss://example.me")).toEqual(undefined);
+    expect(isWebsocketUrl("ws://localhost:3000")).toEqual(undefined);
+    expect(isWebsocketUrl("ws://some-desktop:3000")).toEqual(undefined);
+    expect(isWebsocketUrl("ws://some_desktop:80")).toEqual(undefined);
+    expect(isWebsocketUrl("wss://localhost:3000")).toEqual(undefined);
+  });
+});
diff --git a/packages/webviz-core/src/dataProviders/BrowserHttpReader.js b/packages/webviz-core/src/dataProviders/BrowserHttpReader.js
index 59daace97..ba6676255 100644
--- a/packages/webviz-core/src/dataProviders/BrowserHttpReader.js
+++ b/packages/webviz-core/src/dataProviders/BrowserHttpReader.js
@@ -9,7 +9,8 @@
 import FetchReader from "webviz-core/src/dataProviders/FetchReader";
 import type { FileReader, FileStream } from "webviz-core/src/util/CachedFilelike";
 
-const corsError = `Often this is due to missing CORS headers on the requested URL.
+function corsError(url: string): string {
+  return `Often this is due to missing CORS headers on the requested URL: ${url}
 
 First of all, be aware that redirects don't work with CORS. So you'll have to point to the resource directly. So https://webviz.io/try/?remote-bag-url=https%3A%2F%2Fopen-source-webviz-ui.s3.amazonaws.com%2Fdemo.bag will work (note the URL encoded using "encodeURIComponent"), but pointing to a server that then redirects to a URL like that will NOT work.
 
@@ -35,6 +36,7 @@ cors {
 You can also have your own server to host files, but be aware that it has to support both range requests and CORS, which can be quite complicated to set up. So we recommend hosting your bag files in a cloud provider like S3 or GCS.
 
 `;
+}
 
 // A file reader that reads from a remote HTTP URL, for usage in the browser (not for node.js).
 export default class BrowserHttpReader implements FileReader {
@@ -57,17 +59,17 @@ export default class BrowserHttpReader implements FileReader {
       response = await fetch(this._url, { signal: controller.signal });
       controller.abort();
     } catch (error) {
-      throw new Error(`Fetching remote file failed. ${corsError} ${error}`);
+      throw new Error(`Fetching remote file failed. ${corsError(this._url)} ${error}`);
     }
     if (!response || !response.ok) {
-      throw new Error(`Fetching remote file failed. ${corsError} Status code: ${response.status}.`);
+      throw new Error(`Fetching remote file failed. ${corsError(this._url)} Status code: ${response.status}.`);
     }
     if (response.headers.get("accept-ranges") !== "bytes") {
-      throw new Error(`Remote file does not support HTTP Range Requests. ${corsError}`);
+      throw new Error(`Remote file does not support HTTP Range Requests. ${corsError(this._url)}`);
     }
     const size = response.headers.get("content-length");
     if (!size) {
-      throw new Error(`Remote file is missing file size. ${corsError}`);
+      throw new Error(`Remote file is missing file size. ${corsError(this._url)}`);
     }
     return { size: parseInt(size), identifier: response.headers.get("etag") || response.headers.get("last-modified") };
   }
diff --git a/packages/webviz-core/src/loadWebviz.js b/packages/webviz-core/src/loadWebviz.js
index 31043d488..dac919d4c 100644
--- a/packages/webviz-core/src/loadWebviz.js
+++ b/packages/webviz-core/src/loadWebviz.js
@@ -10,6 +10,8 @@ import memoize from "lodash/memoize";
 import React from "react";
 import ReactDOM from "react-dom";
 
+import { DIAGNOSTIC_TOPIC } from "./util/globalConstants";
+
 // We put all the internal requires inside functions, so that when they load the hooks have been properly set.
 
 const defaultHooks = {
@@ -47,10 +49,6 @@ const defaultHooks = {
     ];
   },
   panelsByCategory() {
-    const { ENABLE_NODE_PLAYGROUND_QUERY_KEY } = require("webviz-core/src/util/globalConstants");
-    const params = new URLSearchParams(window.location.search);
-    const nodePlaygroundEnabled = params.has(ENABLE_NODE_PLAYGROUND_QUERY_KEY);
-
     const DiagnosticStatusPanel = require("webviz-core/src/panels/diagnostics/DiagnosticStatusPanel").default;
     const DiagnosticSummary = require("webviz-core/src/panels/diagnostics/DiagnosticSummary").default;
     const ImageViewPanel = require("webviz-core/src/panels/ImageView").default;
@@ -78,7 +76,7 @@ const defaultHooks = {
     ];
 
     const utilities = [
-      nodePlaygroundEnabled ? { title: "Node Playground", component: NodePlayground } : null,
+      { title: "Node Playground", component: NodePlayground },
       { title: "Notes", component: Note },
       { title: "Webviz Internals", component: Internals },
     ];
@@ -116,7 +114,13 @@ const defaultHooks = {
           },
         },
       },
-      DiagnosticSummary: { defaultConfig: { pinnedIds: [], hardwareIdFilter: "" } },
+      DiagnosticSummary: {
+        defaultConfig: {
+          pinnedIds: [],
+          hardwareIdFilter: "",
+          topicToRender: DIAGNOSTIC_TOPIC,
+        },
+      },
       ImageView: {
         defaultConfig: {
           cameraTopic: "",
diff --git a/packages/webviz-core/src/panels/NodePlayground/Editor.js b/packages/webviz-core/src/panels/NodePlayground/Editor.js
index 96c2bdb09..0d81c67a5 100644
--- a/packages/webviz-core/src/panels/NodePlayground/Editor.js
+++ b/packages/webviz-core/src/panels/NodePlayground/Editor.js
@@ -76,7 +76,7 @@ const Editor = ({ script, setScript, vimMode }: Props) => {
             model:
               monacoApi.editor.getModel("file:///main.ts") ||
               monacoApi.editor.createModel(script, "typescript", monacoApi.Uri.parse("file:///main.ts")),
-
+            wordWrap: "on",
             minimap: {
               enabled: false,
             },
diff --git a/packages/webviz-core/src/panels/NodePlayground/index.help.md b/packages/webviz-core/src/panels/NodePlayground/index.help.md
index 19e6403a1..de78ae373 100644
--- a/packages/webviz-core/src/panels/NodePlayground/index.help.md
+++ b/packages/webviz-core/src/panels/NodePlayground/index.help.md
@@ -19,7 +19,7 @@ Post in #stay-typesafe for TypeScript questions.
 
 ### Writing Your First Webviz Node
 
-Every webviz node must declare three exports that indicate how we should execute your node:
+Every Webviz node must declare 3 exports that determine how it should execute:
 
 - An inputs array of topic names.
 - An output topic with an enforced prefix: `/webviz_node/`.
@@ -52,7 +52,7 @@ export default publisher;
 
 If you drag in a bag, you should now be able to subscribe to the “/webviz_node/echo” topic in the Raw Messages panel.
 
-But let’s say you wanted to render some markers in the 3D panel. When you create a new node, you’ll be presented with some boilerplate:
+But let’s say you want to render some markers in the 3D panel. When you create a new node, you’ll be presented with some boilerplate:
 
 ```typescript
 import { Message } from "ros";
@@ -82,7 +82,9 @@ You'll need to define your own types here from your input topics.
 
 You will need to fill in this type's definition to include the output properties you care about. For markers, you _must_ return a type of the form `{ markers: MarkerType[] }`. Reference the Markers section below for example types.
 
-Strictly typing your nodes will help you debug issues at compile time rather than at runtime. It's not always obvious in Webviz how message properties are affecting the visualized output. The more you strictly type your nodes, the less likely you will make mistakes.
+Strictly typing your nodes will help you debug issues at compile time rather than at runtime. It's not always obvious in Webviz how message properties are affecting the visualized output, and so the more you strictly type your nodes, the less likely you will make mistakes.
+
+With that said, you can disable Typescript checks while getting a rough draft of your node working by adding `// @ts-ignore` on the line above the one you want to ignore.
 
 #### Using Multiple Input Topics
 
@@ -226,6 +228,13 @@ type Pose = {
 
 // Markers
 // All marker types build on this base marker type.
+/**
+ * For publishing markers, every other marker is built up on this base type.
+ * The 'id' property has to be unique, as duplicate ids will cause markers to
+ * be overwritten. The 'ns' property corresponds to namespace under which your
+ * marker is published. In most cases, you will just want to set the 'action'
+ * property to '0'.
+  */
 type BaseMarker = {
   header: Header,
   ns: string, // namespace that your marker is published under.
@@ -233,21 +242,32 @@ type BaseMarker = {
   action: 0 | 1 | 2 | 3, // In most cases, you will want to use '0' here.
   pose: Pose,
   scale: Scale,
-  color: RGBA
+  color?: RGBA,
+  customMetadata?: { [key: string]: any }
 };
 
 // MultiPointMarker
+/**
+ * When publishing markers with a 'points' array, the 'color' field takes 1 RGBA object to apply to all points,
+ * while the 'colors' field takes in an array of RGBA objects to apply to each point. When both are present,
+ * the 'colors' field overrides the 'color' field.
+  */
 type MultiPointMarker = BaseMarker & {
   points: Point[],
+  color?: RGBA,
   colors?: RGBA[]
 };
 
 // ArrowMarker
-type ArrowMarker = BaseMarker & {
+/**
+ * When publishing markers with a 'points' array, the 'color' field takes 1 RGBA object to apply to all points,
+ * while the 'colors' field takes in an array of RGBA objects to apply to each point. When both are present,
+ * the 'colors' field overrides the 'color' field.
+  */
+export declare type ArrowMarker = MultiPointMarker & {
   type: 0,
-  points?: Point[],
   size?: ArrowSize,
-};
+}
 
 type ArrowSize = {
   shaftWidth: number,
@@ -308,7 +328,7 @@ type TriangleListMarker = MultiPointMarker & {
 
 // MeshMarker
 type MeshMarker = MultiPointMarker & {
-  type: 11
+  type: 10
 };
 
 // FilledPolygonMarker
diff --git a/packages/webviz-core/src/panels/NumberOfRenders.js b/packages/webviz-core/src/panels/NumberOfRenders.js
index be8b267d0..13d0f4b8e 100644
--- a/packages/webviz-core/src/panels/NumberOfRenders.js
+++ b/packages/webviz-core/src/panels/NumberOfRenders.js
@@ -18,14 +18,14 @@ import inScreenshotTests from "webviz-core/src/stories/inScreenshotTests";
 
 // Little dummy panel that just shows the number of renders that happen when not subscribing
 // to anything. Useful for debugging performance issues.
-let panelRenderRenderCount = 0;
+let panelRenderCount = 0;
 let messageHistoryRenderCount = 0;
 let useMessagesRenderCount = 0;
 let messagePipelineRenderCount = 0;
 
 window.getNumberOfRendersCountsForTests = function() {
   return {
-    panelRenderRenderCount,
+    panelRenderCount,
     messageHistoryRenderCount,
     useMessagesRenderCount,
     messagePipelineRenderCount,
@@ -49,7 +49,7 @@ function MessagePipelineRendersComponent() {
 }
 
 function NumberOfRenders(): React.Node {
-  panelRenderRenderCount++;
+  panelRenderCount++;
   return (
     <Flex col>
       <PanelToolbar />
@@ -57,7 +57,7 @@ function NumberOfRenders(): React.Node {
         <MessageHistory paths={[]}>
           {() => (
             <>
-              panelRenderRenderCount: {panelRenderRenderCount} <br />
+              panelRenderCount: {panelRenderCount} <br />
               messageHistoryRenderCount: {++messageHistoryRenderCount}
             </>
           )}
diff --git a/packages/webviz-core/src/panels/Plot/PlotChart.js b/packages/webviz-core/src/panels/Plot/PlotChart.js
index cd1f7b881..16e96e965 100644
--- a/packages/webviz-core/src/panels/Plot/PlotChart.js
+++ b/packages/webviz-core/src/panels/Plot/PlotChart.js
@@ -10,6 +10,7 @@ import React, { PureComponent } from "react";
 import Dimensions from "react-container-dimensions";
 import { createSelector } from "reselect";
 import { Time } from "rosbag";
+import uuid from "uuid";
 
 import styles from "./PlotChart.module.scss";
 import { getTimestampForMessage, type MessageHistoryItemsByPath } from "webviz-core/src/components/MessageHistory";
@@ -93,7 +94,7 @@ function getDatasetFromMessagePlotPath(
 
   return {
     borderColor: lineColors[index % lineColors.length],
-    label: path.value,
+    label: path.value || uuid.v4(),
     key: index.toString(),
     showLine,
     fill: false,
diff --git a/packages/webviz-core/src/panels/Plot/index.stories.js b/packages/webviz-core/src/panels/Plot/index.stories.js
index 59b9d20ce..76d378137 100644
--- a/packages/webviz-core/src/panels/Plot/index.stories.js
+++ b/packages/webviz-core/src/panels/Plot/index.stories.js
@@ -249,7 +249,7 @@ storiesOf("<Plot>", module)
   .add("line graph", () => {
     return (
       <PanelSetup fixture={fixture}>
-        <Plot config={{ paths, minYValue: "", maxYValue: "5.5" }} />
+        <Plot config={{ paths, minYValue: "", maxYValue: "" }} />
       </PanelSetup>
     );
   })
@@ -262,13 +262,13 @@ storiesOf("<Plot>", module)
             const canvasEl = el.querySelector("canvas");
             // Zoom is a continuous event, so we need to simulate wheel multiple times
             if (canvasEl) {
-              for (let i = 0; i < 10; i++) {
+              for (let i = 0; i < 5; i++) {
                 triggerWheel(canvasEl, 1);
               }
             }
           }, 100);
         }}>
-        <Plot config={{ paths, minYValue: "", maxYValue: "5.5" }} />
+        <Plot config={{ paths, minYValue: "", maxYValue: "" }} />
       </PanelSetup>
     );
   })
@@ -387,13 +387,13 @@ storiesOf("<Plot>", module)
               },
             ],
             minYValue: "1",
-            maxYValue: "1.8",
+            maxYValue: "2.8",
           }}
         />
       </PanelSetup>
     );
   })
-  .add("with just min Y value", () => {
+  .add("with just min Y value less than minimum value", () => {
     return (
       <PanelSetup fixture={fixture}>
         <Plot
@@ -412,7 +412,26 @@ storiesOf("<Plot>", module)
       </PanelSetup>
     );
   })
-  .add("with just max Y value", () => {
+  .add("with just min Y value more than minimum value", () => {
+    return (
+      <PanelSetup fixture={fixture}>
+        <Plot
+          config={{
+            paths: [
+              {
+                value: "/some_topic/location.pose.velocity",
+                enabled: true,
+                timestampMethod: "receiveTime",
+              },
+            ],
+            minYValue: "1.4",
+            maxYValue: "",
+          }}
+        />
+      </PanelSetup>
+    );
+  })
+  .add("with just max Y value less than maximum value", () => {
     return (
       <PanelSetup fixture={fixture}>
         <Plot
@@ -431,6 +450,25 @@ storiesOf("<Plot>", module)
       </PanelSetup>
     );
   })
+  .add("with just max Y value more than maximum value", () => {
+    return (
+      <PanelSetup fixture={fixture}>
+        <Plot
+          config={{
+            paths: [
+              {
+                value: "/some_topic/location.pose.velocity",
+                enabled: true,
+                timestampMethod: "receiveTime",
+              },
+            ],
+            minYValue: "",
+            maxYValue: "2.8",
+          }}
+        />
+      </PanelSetup>
+    );
+  })
   .add("scatter plot plus line graph plus reference line", () => {
     return (
       <PanelSetup fixture={fixture}>
@@ -454,7 +492,7 @@ storiesOf("<Plot>", module)
               },
             ],
             minYValue: "",
-            maxYValue: "5.5",
+            maxYValue: "",
           }}
         />
       </PanelSetup>
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Layout.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Layout.js
index 1779b9398..52337ff9a 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Layout.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Layout.js
@@ -6,11 +6,8 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import CloseIcon from "@mdi/svg/svg/close.svg";
-import cx from "classnames";
 import { get } from "lodash";
 import * as React from "react";
-import Draggable from "react-draggable";
 import KeyListener from "react-key-listener";
 import {
   PolygonBuilder,
@@ -23,44 +20,34 @@ import {
 import { type Time } from "rosbag";
 
 import type { ThreeDimensionalVizConfig } from ".";
-import Icon from "webviz-core/src/components/Icon";
 import PanelToolbar from "webviz-core/src/components/PanelToolbar";
 import filterMap from "webviz-core/src/filterMap";
 import useGlobalVariables, { type GlobalVariables } from "webviz-core/src/hooks/useGlobalVariables";
 import { getGlobalHooks } from "webviz-core/src/loadWebviz";
-import Crosshair from "webviz-core/src/panels/ThreeDimensionalViz/Crosshair";
 import DebugStats from "webviz-core/src/panels/ThreeDimensionalViz/DebugStats";
-import DrawingTools, {
-  POLYGON_TAB_TYPE,
-  CAMERA_TAB_TYPE,
-  type DrawingTabType,
-} from "webviz-core/src/panels/ThreeDimensionalViz/DrawingTools";
+import { POLYGON_TAB_TYPE, type DrawingTabType } from "webviz-core/src/panels/ThreeDimensionalViz/DrawingTools";
 import MeasuringTool, { type MeasureInfo } from "webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/MeasuringTool";
-import FollowTFControl from "webviz-core/src/panels/ThreeDimensionalViz/FollowTFControl";
-import Interactions, {
-  InteractionContextMenu,
-  type InteractionData,
-} from "webviz-core/src/panels/ThreeDimensionalViz/Interactions";
+import { InteractionContextMenu } from "webviz-core/src/panels/ThreeDimensionalViz/Interactions";
 import useLinkedGlobalVariables, {
   type LinkedGlobalVariables,
 } from "webviz-core/src/panels/ThreeDimensionalViz/Interactions/useLinkedGlobalVariables";
 import styles from "webviz-core/src/panels/ThreeDimensionalViz/Layout.module.scss";
-import MainToolbar from "webviz-core/src/panels/ThreeDimensionalViz/MainToolbar";
-import MeasureMarker from "webviz-core/src/panels/ThreeDimensionalViz/MeasureMarker";
+import LayoutToolbar from "webviz-core/src/panels/ThreeDimensionalViz/LayoutToolbar";
+import LayoutTopicSettings from "webviz-core/src/panels/ThreeDimensionalViz/LayoutTopicSettings";
 import SceneBuilder, { type TopicSettingsCollection } from "webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder";
 import TopicSelector from "webviz-core/src/panels/ThreeDimensionalViz/TopicSelector";
 import type { Selections } from "webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/treeBuilder";
-import TopicSettingsEditor, { canEditDatatype } from "webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor";
+import { canEditDatatype } from "webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor";
 import Transforms from "webviz-core/src/panels/ThreeDimensionalViz/Transforms";
 import TransformsBuilder from "webviz-core/src/panels/ThreeDimensionalViz/TransformsBuilder";
 import type { Frame, Topic } from "webviz-core/src/players/types";
 import type { Extensions } from "webviz-core/src/reducers/extensions";
 import inScreenshotTests from "webviz-core/src/stories/inScreenshotTests";
 import type { SaveConfig } from "webviz-core/src/types/panels";
+import { videoRecordingMode } from "webviz-core/src/util/inAutomatedRunMode";
 import { topicsByTopicName } from "webviz-core/src/util/selectors";
-import videoRecordingMode from "webviz-core/src/util/videoRecordingMode";
 
-const { useMemo, useRef, useState } = React;
+const { useMemo, useRef, useState, useReducer, useCallback, useLayoutEffect } = React;
 
 type EventName = "onDoubleClick" | "onMouseMove" | "onMouseDown" | "onMouseUp";
 export type ClickedPosition = { clientX: number, clientY: number };
@@ -84,518 +71,124 @@ function getUpdatedGlobalVariablesBySelectedObject(
   return newGlobalVariables;
 }
 
-type SharedProps = {
+export type LayoutToolbarSharedProps = {|
   autoTextBackgroundColor?: boolean,
   cameraState: $Shape<CameraState>,
+  followOrientation: boolean,
+  followTf?: string | false,
+  onAlignXYAxis: () => void,
+  onCameraStateChange: (CameraState) => void,
+  onFollowChange: (followTf?: string | false, followOrientation?: boolean) => void,
+  saveConfig: SaveConfig<ThreeDimensionalVizConfig>,
+  selectedPolygonEditFormat: "json" | "yaml",
+  showCrosshair: ?boolean,
+  transforms: Transforms,
+  isPlaying?: boolean,
+|};
+
+export type LayoutTopicSettingsSharedProps = {|
+  transforms: Transforms,
+  topics: Topic[],
+  saveConfig: SaveConfig<ThreeDimensionalVizConfig>,
+  topicSettings: TopicSettingsCollection,
+|};
+
+type Props = {|
+  ...LayoutToolbarSharedProps,
+  ...LayoutTopicSettingsSharedProps,
   checkedNodes: string[],
   children?: React.Node,
   cleared?: boolean,
   convexHullOpacity: ?number,
+  currentTime: Time,
   expandedNodes: string[],
   extensions: Extensions,
-  followOrientation: boolean,
-  followTf?: string | false,
+  frame?: Frame,
   helpContent: React.Node | string,
   isPlaying?: boolean,
   modifiedNamespaceTopics: string[],
-  onAlignXYAxis: () => void,
-  onCameraStateChange: (CameraState) => void,
-  onFollowChange: (followTf?: string | false, followOrientation?: boolean) => void,
   pinTopics: boolean,
   saveConfig: SaveConfig<ThreeDimensionalVizConfig>,
-  selectedPolygonEditFormat: "json" | "yaml",
   selections: Selections,
   setSelections: (Selections) => void,
-  showCrosshair: ?boolean,
   topics: Topic[],
   topicSettings: TopicSettingsCollection,
   transforms: Transforms,
-};
-type WrapperProps = SharedProps & {
-  currentTime: Time,
-  frame?: Frame,
-};
-
-type Props = SharedProps & {
-  sceneBuilder: SceneBuilder,
-  transformsBuilder: TransformsBuilder,
-  measureInfo: MeasureInfo,
-  setMeasureInfo: (MeasureInfo) => void,
-  showTopics: boolean,
-  setShowTopics: (boolean) => void,
-  toggleShowTopics: () => void,
-  globalVariables: GlobalVariables,
-  setGlobalVariables: (GlobalVariables) => void,
-  linkedGlobalVariables: LinkedGlobalVariables,
-  editedTopics: string[],
-};
-
-type EditTopicState = { tooltipPosX: number, topic: Topic };
+|};
 
 type SelectedObjectState = {
   clickedPosition: ClickedPosition,
   selectedObject: ?MouseEventObject, // to be set when clicked a single object or selected one of the clicked topics from the context menu
   selectedObjects: MouseEventObject[],
 };
-type State = {
-  debug: boolean,
-  editTopicState: ?EditTopicState,
-  drawingTabType: ?DrawingTabType,
-  polygonBuilder: PolygonBuilder,
-  selectedObjectState: ?SelectedObjectState,
-};
-
-class BaseComponent extends React.Component<Props, State> {
-  // overall element containing everything in this component
-  el: ?HTMLDivElement;
-  measuringTool: ?MeasuringTool;
-
-  static defaultProps = {
-    checkedNodes: [],
-    expandedNodes: [],
-    modifiedNamespaceTopics: [],
-    topicSettings: {},
-    showTopics: false,
-    pinTopics: false,
-  };
-
-  state: State = {
-    debug: false,
-    editTopicState: null,
-    drawingTabType: null,
-    polygonBuilder: new PolygonBuilder(),
-    selectedObjectState: null,
-  };
-
-  onDoubleClick = (ev: MouseEvent, args: ?ReglClickInfo) => {
-    this._handleEvent("onDoubleClick", ev, args);
-  };
-  onMouseDown = (ev: MouseEvent, args: ?ReglClickInfo) => {
-    this._handleEvent("onMouseDown", ev, args);
-  };
-  onMouseMove = (ev: MouseEvent, args: ?ReglClickInfo) => {
-    this._handleEvent("onMouseMove", ev, args);
-  };
-  onMouseUp = (ev: MouseEvent, args: ?ReglClickInfo) => {
-    this._handleEvent("onMouseUp", ev, args);
-  };
-
-  _updateLinkedGlobalVariables = (selectedObject: MouseEventObject) => {
-    const { linkedGlobalVariables, setGlobalVariables } = this.props;
-    const newGlobalVariables = getUpdatedGlobalVariablesBySelectedObject(selectedObject, linkedGlobalVariables);
-    if (newGlobalVariables) {
-      setGlobalVariables(newGlobalVariables);
-    }
-  };
-
-  onClick = (event: MouseEvent, args: ?ReglClickInfo) => {
-    const selectedObjects = (args && args.objects) || [];
-    const clickedPosition = { clientX: event.clientX, clientY: event.clientY };
-    if (selectedObjects.length === 0) {
-      this.setState({ selectedObjectState: null });
-    } else if (selectedObjects.length === 1) {
-      // select the object directly if there is only one
-      const selectedObject = selectedObjects[0];
-      this.setState({ selectedObjectState: { selectedObjects, selectedObject, clickedPosition } });
-      this._updateLinkedGlobalVariables(selectedObject);
-    } else {
-      // open up context menu to select one object to show details
-      this.setState({ selectedObjectState: { selectedObjects, selectedObject: null, clickedPosition } });
-    }
-  };
-
-  _onSelectObject = (selectedObject: MouseEventObject) => {
-    this.setState({ selectedObjectState: { ...this.state.selectedObjectState, selectedObject } });
-    this._updateLinkedGlobalVariables(selectedObject);
-  };
-
-  _handleDrawPolygons = (eventName: EventName, ev: MouseEvent, args: ?ReglClickInfo) => {
-    this.state.polygonBuilder[eventName](ev, args);
-    this.forceUpdate();
-  };
-
-  _handleEvent = (eventName: EventName, ev: MouseEvent, args: ?ReglClickInfo) => {
-    if (!args) {
-      return;
-    }
-    // $FlowFixMe
-    const measuringHandler = this.measuringTool && this.measuringTool[eventName];
-    const measureActive = this.measuringTool && this.measuringTool.measureActive;
-
-    if (measuringHandler && measureActive) {
-      return measuringHandler(ev, args);
-    } else if (this.state.drawingTabType === POLYGON_TAB_TYPE) {
-      this._handleDrawPolygons(eventName, ev, args);
-    }
-  };
-
-  keyDownHandlers = {
-    "3": () => {
-      this.toggleCameraMode();
-    },
-    Escape: () => {
-      this._exitDrawing();
-    },
-  };
-
-  _exitDrawing = () => {
-    this.setState({ drawingTabType: null });
-  };
-
-  switchTo2DCameraIfNeeded = () => {
-    const {
-      cameraState,
-      cameraState: { perspective },
-      saveConfig,
-    } = this.props;
-    if (this.state.drawingTabType === POLYGON_TAB_TYPE && perspective) {
-      saveConfig({ cameraState: { ...cameraState, perspective: false } });
-    }
-  };
-
-  toggleCameraMode = () => {
-    const { cameraState, saveConfig } = this.props;
-    saveConfig({ cameraState: { ...cameraState, perspective: !cameraState.perspective } });
-    if (this.measuringTool && cameraState.perspective) {
-      this.measuringTool.reset();
-    }
-  };
-
-  toggleDebug = () => {
-    this.setState({ debug: !this.state.debug });
-  };
-  // clicking on the body should hide any edit tip
-  onEditClick = (e: SyntheticMouseEvent<HTMLElement>, topic: string) => {
-    const { topics } = this.props;
-    const { editTopicState } = this.state;
-    // if the same icon is clicked again, close the popup
-    const existingEditTopic = editTopicState ? editTopicState.topic.name : undefined;
-    if (topic === existingEditTopic) {
-      return this.setState({ editTopicState: null });
-    }
-    const { el } = this;
-
-    // satisfy flow
-    if (!el) {
-      return;
-    }
-
-    const panelRect = el.getBoundingClientRect();
-    const editBtnRect = e.currentTarget.getBoundingClientRect();
-    const newEditTopic = topics.find((t) => t.name === topic);
-    if (!newEditTopic) {
-      return;
-    }
-    this.setState({
-      editTopicState: { tooltipPosX: editBtnRect.right - panelRect.left + 5, topic: newEditTopic },
-    });
-  };
-
-  onSettingsChange = (settings: {}) => {
-    const { saveConfig, topicSettings } = this.props;
-    const { editTopicState } = this.state;
-    if (!editTopicState) {
-      return;
-    }
-    saveConfig({ topicSettings: { ...topicSettings, [editTopicState.topic.name]: settings } });
-  };
-
-  onControlsOverlayClick = (e: SyntheticMouseEvent<HTMLDivElement>) => {
-    const { el } = this;
-    if (!el) {
-      return;
-    }
-    const target = ((e.target: any): HTMLElement);
-    // don't close if the click target is outside the panel
-    // e.g. don't close when dropdown menus rendered in portals are clicked
-    if (!el.contains(target)) {
-      return;
-    }
-    this.props.setShowTopics(false);
-  };
-
-  cancelClick = (e: SyntheticMouseEvent<HTMLDivElement>) => {
-    // stop the event from bubbling up to onControlsOverlayClick
-    // (but don't preventDefault because checkboxes, buttons, etc. should continue to work)
-    e.stopPropagation();
-  };
-
-  onClearSelectedObject = () => {
-    this.setState({ selectedObjectState: null });
-  };
-
-  onSetPolygons = (polygons: Polygon[]) => this.setState({ polygonBuilder: new PolygonBuilder(polygons) });
-  onSetDrawingTabType = (drawingTabType: ?DrawingTabType) => this.setState({ drawingTabType });
-
-  _getInteractionData = (): ?InteractionData => {
-    const { selectedObjectState } = this.state;
-    if (selectedObjectState && selectedObjectState.selectedObject) {
-      return selectedObjectState.selectedObject.object.interactionData;
-    }
-  };
-
-  _getIsDrawing = (): boolean => {
-    const measureActive = this.measuringTool && this.measuringTool.measureActive;
-    return this.state.drawingTabType === POLYGON_TAB_TYPE || !!measureActive;
-  };
-
-  renderToolbars() {
-    const {
-      cameraState,
-      cameraState: { perspective },
-      followOrientation,
-      followTf,
-      isPlaying,
-      onAlignXYAxis,
-      onCameraStateChange,
-      onFollowChange,
-      saveConfig,
-      selectedPolygonEditFormat,
-      showCrosshair,
-      transforms,
-      measureInfo,
-    } = this.props;
-    const { debug, polygonBuilder, drawingTabType, selectedObjectState } = this.state;
-
-    return (
-      <div className={cx(styles.toolbar, styles.right)}>
-        <div className={styles.buttons}>
-          <FollowTFControl
-            transforms={transforms}
-            tfToFollow={followTf ? followTf : undefined}
-            followOrientation={followOrientation}
-            onFollowChange={onFollowChange}
-          />
-        </div>
-        <MainToolbar
-          measureInfo={measureInfo}
-          measuringTool={this.measuringTool}
-          perspective={perspective}
-          debug={debug}
-          onToggleCameraMode={this.toggleCameraMode}
-          onToggleDebug={this.toggleDebug}
-        />
-        {this.measuringTool && this.measuringTool.measureDistance}
-        <Interactions
-          isDrawing={this._getIsDrawing()}
-          interactionData={this._getInteractionData()}
-          onClearSelectedObject={this.onClearSelectedObject}
-          selectedObject={selectedObjectState && selectedObjectState.selectedObject}
-        />
-        <DrawingTools
-          // Save some unnecessary re-renders by not passing in the constantly changing cameraState unless it's needed
-          cameraState={drawingTabType === CAMERA_TAB_TYPE ? cameraState : null}
-          followOrientation={followOrientation}
-          followTf={followTf}
-          isPlaying={isPlaying}
-          onAlignXYAxis={onAlignXYAxis}
-          onCameraStateChange={onCameraStateChange}
-          onSetPolygons={this.onSetPolygons}
-          polygonBuilder={polygonBuilder}
-          saveConfig={saveConfig}
-          selectedPolygonEditFormat={selectedPolygonEditFormat}
-          onSetDrawingTabType={this.onSetDrawingTabType}
-          showCrosshair={!!showCrosshair}
-        />
-      </div>
-    );
-  }
-
-  render3d() {
-    const { debug, polygonBuilder, selectedObjectState } = this.state;
-    const {
-      sceneBuilder,
-      transformsBuilder,
-      autoTextBackgroundColor,
-      extensions,
-      cameraState,
-      onCameraStateChange,
-      children,
-      selections,
-      convexHullOpacity,
-      showCrosshair,
-      measureInfo,
-    } = this.props;
-    const scene = sceneBuilder.getScene();
-
-    const WorldComponent = getGlobalHooks().perPanelHooks().ThreeDimensionalViz.WorldComponent;
-    // TODO(Audrey): update DrawPolygons to support custom key so the users don't have to press ctrl key all the time
-
-    return (
-      <WorldComponent
-        selectedObject={selectedObjectState && selectedObjectState.selectedObject}
-        autoTextBackgroundColor={!!autoTextBackgroundColor}
-        cameraState={cameraState}
-        convexHullOpacity={convexHullOpacity}
-        debug={debug}
-        markerProviders={extensions.markerProviders.concat([sceneBuilder, transformsBuilder])}
-        onCameraStateChange={onCameraStateChange}
-        onDoubleClick={this.onDoubleClick}
-        onClick={this.onClick}
-        onMouseDown={this.onMouseDown}
-        onMouseMove={this.onMouseMove}
-        onMouseUp={this.onMouseUp}
-        scene={scene}
-        extensions={selections.extensions}>
-        {children}
-        <DrawPolygons>{polygonBuilder.polygons}</DrawPolygons>
-        {selectedObjectState &&
-          selectedObjectState.selectedObjects.length > 1 &&
-          !selectedObjectState.selectedObject && (
-            <InteractionContextMenu
-              selectedObjects={selectedObjectState.selectedObjects}
-              clickedPosition={selectedObjectState.clickedPosition}
-              onSelectObject={this._onSelectObject}
-            />
-          )}
-        {!cameraState.perspective && showCrosshair && <Crosshair cameraState={cameraState} />}
-        <MeasureMarker measurePoints={measureInfo.measurePoints} />
-        {process.env.NODE_ENV !== "production" && !inScreenshotTests() && <DebugStats />}
-      </WorldComponent>
-    );
-  }
-
-  renderTopicSettingsEditor() {
-    const { topicSettings, sceneBuilder } = this.props;
-    const { editTopicState } = this.state;
-
-    if (!editTopicState) {
-      return null;
-    }
-    const { tooltipPosX, topic } = editTopicState;
-    const collector = sceneBuilder.collectors[topic.name];
-    const message = collector ? collector.getMessages()[0] : undefined;
-
-    // need to place the draggable div into an absolute positioned element
-    const style = {
-      position: "absolute",
-      top: 0,
-      left: 0,
-      width: 0,
-      height: 0,
-      zIndex: 103,
-    };
-    const bounds = { left: 0, top: 0 };
-    // position the popup to the left and down from the topic selector
-    const defaultPosition = { x: tooltipPosX + 30, y: 40 };
-    return (
-      <div style={style}>
-        <Draggable bounds={bounds} defaultPosition={defaultPosition} cancel="input">
-          <div className={styles.topicSettingsEditor} onClick={this.cancelClick}>
-            <Icon className={styles.closeIcon} onClick={() => this.setState({ editTopicState: null })}>
-              <CloseIcon />
-            </Icon>
-            <TopicSettingsEditor
-              topic={topic}
-              message={message}
-              settings={topicSettings[topic.name]}
-              onSettingsChange={this.onSettingsChange}
-            />
-          </div>
-        </Draggable>
-      </div>
-    );
-  }
-
-  renderControlsOverlay() {
-    const {
-      autoTextBackgroundColor,
-      checkedNodes,
-      expandedNodes,
-      modifiedNamespaceTopics,
-      pinTopics,
-      saveConfig,
-      setSelections,
-      topics,
-      transforms,
-      editedTopics,
-      sceneBuilder,
-      toggleShowTopics,
-      showTopics,
-    } = this.props;
-
-    return (
-      <TopicSelector
-        autoTextBackgroundColor={!!autoTextBackgroundColor}
-        namespaces={sceneBuilder.allNamespaces}
-        sceneErrors={sceneBuilder.errors}
-        showTopics={showTopics || pinTopics}
-        topics={topics}
-        checkedNodes={checkedNodes}
-        editedTopics={editedTopics}
-        canEditDatatype={canEditDatatype}
-        expandedNodes={expandedNodes}
-        modifiedNamespaceTopics={modifiedNamespaceTopics}
-        pinTopics={pinTopics}
-        setSelections={setSelections}
-        saveConfig={saveConfig}
-        transforms={transforms}
-        // Because transforms are mutable, we need a key that tells us when to update the component. We use the count of
-        // the transforms for this.
-        transformsCount={transforms.values().length}
-        onEditClick={this.onEditClick}
-        onToggleShowClick={toggleShowTopics}
-      />
-    );
-  }
 
-  render() {
-    const {
-      setMeasureInfo,
-      measureInfo: { measureState, measurePoints },
-    } = this.props;
-    const isDrawing = this._getIsDrawing();
-    const cursorType = isDrawing ? "crosshair" : "";
-
-    return (
-      <div
-        className={styles.container}
-        ref={(el) => (this.el = el)}
-        style={{ cursor: cursorType }}
-        onClick={this.onControlsOverlayClick}>
-        <MeasuringTool
-          ref={(el) => (this.measuringTool = el)}
-          measureState={measureState}
-          measurePoints={measurePoints}
-          onMeasureInfoChange={setMeasureInfo}
-        />
-        <KeyListener keyDownHandlers={this.keyDownHandlers} />
-        <PanelToolbar floating helpContent={this.props.helpContent} />
-        <div style={{ visibility: videoRecordingMode() ? "hidden" : "visible" }}>
-          {this.renderToolbars()}
-          {this.renderControlsOverlay()}
-          {this.renderTopicSettingsEditor()}
-        </div>
-        <div className={styles.world}>{this.render3d()}</div>
-      </div>
-    );
-  }
-}
+export type EditTopicState = { tooltipPosX: number, topic: Topic };
 
 export default function Layout({
+  autoTextBackgroundColor,
+  cameraState,
+  checkedNodes,
+  children,
   cleared,
+  convexHullOpacity,
   currentTime,
+  expandedNodes,
+  extensions,
+  followOrientation,
   followTf,
   frame,
+  helpContent,
+  isPlaying,
+  modifiedNamespaceTopics,
+  onAlignXYAxis,
+  onCameraStateChange,
+  onFollowChange,
+  pinTopics,
+  saveConfig,
+  selectedPolygonEditFormat,
   selections,
+  setSelections,
+  showCrosshair,
   topics,
   topicSettings,
   transforms,
-  ...rest
-}: WrapperProps) {
+}: Props) {
   const { linkedGlobalVariables } = useLinkedGlobalVariables();
   const { globalVariables, setGlobalVariables } = useGlobalVariables();
-  const [showTopics, setShowTopics] = useState<boolean>(false);
+  const [debug, setDebug] = useState(false);
+  const [editTopicState, setEditTopicState] = useState<?EditTopicState>(null);
+  const [polygonBuilder, setPolygonBuilder] = useState(() => new PolygonBuilder());
+  const [showTopics, setShowTopics] = useState(false);
   const [measureInfo, setMeasureInfo] = useState<MeasureInfo>({
     measureState: "idle",
     measurePoints: { start: null, end: null },
   });
 
+  const [_, forceUpdate] = useReducer((x) => x + 1, 0); // used for updating DrawPolygon during mouse move
+  const wrapperRef = useRef<?HTMLDivElement>(null);
+  const measuringElRef = useRef<?MeasuringTool>(null);
+  const [drawingTabType, setDrawingTabType] = useState<?DrawingTabType>(null);
+  const [selectedObjectState, setSelectedObjectState] = useState<?SelectedObjectState>(null);
+  const selectedObject = selectedObjectState && selectedObjectState.selectedObject;
   const editedTopics = useMemo(
     () => Object.keys(topicSettings).filter((settingKey) => Object.keys(topicSettings[settingKey]).length),
     [topicSettings]
   );
 
+  useLayoutEffect(
+    () => {
+      if (!selectedObject) {
+        return;
+      }
+      const newGlobalVariables = getUpdatedGlobalVariablesBySelectedObject(selectedObject, linkedGlobalVariables);
+      if (newGlobalVariables) {
+        setGlobalVariables(newGlobalVariables);
+      }
+    },
+    // eslint-disable-next-line react-hooks/exhaustive-deps, only update global variables when selectedObject changes
+    [selectedObject]
+  );
+
   // initialize the SceneBuilder and TransformsBuilder
   const { sceneBuilder, transformsBuilder } = useMemo(
     () => ({
@@ -653,35 +246,260 @@ export default function Layout({
     ]
   );
 
+  const handleDrawPolygons = useCallback(
+    (eventName: EventName, ev: MouseEvent, args: ?ReglClickInfo) => {
+      polygonBuilder[eventName](ev, args);
+      forceUpdate();
+    },
+    [polygonBuilder]
+  );
+
   // use callbackInputsRef to prevent unnecessary callback changes
-  const callbackInputsRef = useRef({ showTopics });
-  callbackInputsRef.current = { showTopics };
+  const callbackInputsRef = useRef({
+    cameraState,
+    debug,
+    drawingTabType,
+    editTopicState,
+    handleDrawPolygons,
+    saveConfig,
+    selectedObjectState,
+    showTopics,
+    topics,
+  });
+  callbackInputsRef.current = {
+    cameraState,
+    debug,
+    drawingTabType,
+    editTopicState,
+    handleDrawPolygons,
+    saveConfig,
+    selectedObjectState,
+    showTopics,
+    topics,
+  };
 
-  const { toggleShowTopics } = useMemo(() => {
-    return {
-      toggleShowTopics: () => setShowTopics(!callbackInputsRef.current.showTopics),
-    };
+  const handleEvent = useCallback((eventName: EventName, ev: MouseEvent, args: ?ReglClickInfo) => {
+    if (!args) {
+      return;
+    }
+    const { drawingTabType, handleDrawPolygons } = callbackInputsRef.current;
+    // $FlowFixMe get around index signature error
+    const measuringHandler = measuringElRef.current && measuringElRef.current[eventName];
+    const measureActive = measuringElRef.current && measuringElRef.current.measureActive;
+    if (measuringHandler && measureActive) {
+      return measuringHandler(ev, args);
+    } else if (drawingTabType === POLYGON_TAB_TYPE) {
+      handleDrawPolygons(eventName, ev, args);
+    }
   }, []);
 
+  const {
+    onClick,
+    onDoubleClick,
+    onMouseDown,
+    onMouseMove,
+    onMouseUp,
+    onClearSelectedObject,
+    onControlsOverlayClick,
+    onEditClick,
+    onSelectObject,
+    onSetPolygons,
+    toggleCameraMode,
+    toggleDebug,
+    toggleShowTopics,
+  } = useMemo(
+    () => {
+      return {
+        onClick: (ev: MouseEvent, args: ?ReglClickInfo) => {
+          const selectedObjects = (args && args.objects) || [];
+          const clickedPosition = { clientX: ev.clientX, clientY: ev.clientY };
+          if (selectedObjects.length === 0) {
+            setSelectedObjectState(null);
+          } else if (selectedObjects.length === 1) {
+            // select the object directly if there is only one
+            setSelectedObjectState({ selectedObject: selectedObjects[0], selectedObjects, clickedPosition });
+          } else {
+            // open up context menu to select one object to show details
+            setSelectedObjectState({ selectedObject: null, selectedObjects, clickedPosition });
+          }
+        },
+        onControlsOverlayClick: (ev: SyntheticMouseEvent<HTMLDivElement>) => {
+          if (!wrapperRef.current) {
+            return;
+          }
+          const target = ((ev.target: any): HTMLElement);
+          //only close if the click target is inside the panel, e.g. don't close when dropdown menus rendered in portals are clicked
+          if (wrapperRef.current.contains(target)) {
+            setShowTopics(false);
+          }
+        },
+        onDoubleClick: (ev: MouseEvent, args: ?ReglClickInfo) => handleEvent("onDoubleClick", ev, args),
+        onMouseDown: (ev: MouseEvent, args: ?ReglClickInfo) => handleEvent("onMouseDown", ev, args),
+        onMouseMove: (ev: MouseEvent, args: ?ReglClickInfo) => handleEvent("onMouseMove", ev, args),
+        onMouseUp: (ev: MouseEvent, args: ?ReglClickInfo) => handleEvent("onMouseUp", ev, args),
+        onClearSelectedObject: () => setSelectedObjectState(null),
+        // clicking on the body should hide any edit tip
+        onEditClick: (ev: SyntheticMouseEvent<HTMLElement>, topic: string) => {
+          const { editTopicState, topics } = callbackInputsRef.current;
+          // if the same icon is clicked again, close the popup
+          const existingEditTopic = (editTopicState && editTopicState.topic.name) || undefined;
+          if (topic === existingEditTopic) {
+            setEditTopicState(null);
+            return;
+          }
+
+          if (!wrapperRef.current) {
+            return;
+          }
+          const panelRect = wrapperRef.current.getBoundingClientRect();
+          const editBtnRect = ev.currentTarget.getBoundingClientRect();
+          const newEditTopic = topics.find((t) => t.name === topic);
+          if (!newEditTopic) {
+            return;
+          }
+          setEditTopicState({
+            tooltipPosX: editBtnRect.right - panelRect.left + 5,
+            topic: newEditTopic,
+          });
+        },
+        onSelectObject: (selectedObject: MouseEventObject) =>
+          setSelectedObjectState({ ...callbackInputsRef.current.selectedObjectState, selectedObject }),
+        onSetPolygons: (polygons: Polygon[]) => setPolygonBuilder(new PolygonBuilder(polygons)),
+        toggleDebug: () => setDebug(!callbackInputsRef.current.debug),
+        toggleCameraMode: () => {
+          const { cameraState, saveConfig } = callbackInputsRef.current;
+          saveConfig({ cameraState: { ...cameraState, perspective: !cameraState.perspective } });
+          if (measuringElRef.current && cameraState.perspective) {
+            measuringElRef.current.reset();
+          }
+        },
+        toggleShowTopics: () => setShowTopics(!callbackInputsRef.current.showTopics),
+      };
+    },
+    [handleEvent]
+  );
+
+  const keyDownHandlers = useMemo(
+    () => ({
+      "3": () => {
+        toggleCameraMode();
+      },
+      Escape: () => {
+        setDrawingTabType(null);
+      },
+    }),
+    [toggleCameraMode]
+  );
+
+  const isDrawing = useMemo(
+    () => (measuringElRef.current && measuringElRef.current.measureActive) || drawingTabType === POLYGON_TAB_TYPE,
+    [drawingTabType]
+  );
+
+  const markerProviders = useMemo(() => extensions.markerProviders.concat([sceneBuilder, transformsBuilder]), [
+    extensions.markerProviders,
+    sceneBuilder,
+    transformsBuilder,
+  ]);
+
+  const cursorType = isDrawing ? "crosshair" : "";
+  const WorldComponent = useMemo(() => getGlobalHooks().perPanelHooks().ThreeDimensionalViz.WorldComponent, []);
+  const videoRecordingStyle = { visibility: videoRecordingMode() ? "hidden" : "visible" };
+
   return (
-    <BaseComponent
-      {...rest}
-      measureInfo={measureInfo}
-      setMeasureInfo={setMeasureInfo}
-      showTopics={showTopics}
-      toggleShowTopics={toggleShowTopics}
-      setShowTopics={setShowTopics}
-      topicSettings={topicSettings}
-      topics={topics}
-      followTf={followTf}
-      transforms={transforms}
-      selections={selections}
-      editedTopics={editedTopics}
-      sceneBuilder={sceneBuilder}
-      transformsBuilder={transformsBuilder}
-      linkedGlobalVariables={linkedGlobalVariables}
-      globalVariables={globalVariables}
-      setGlobalVariables={setGlobalVariables}
-    />
+    <div className={styles.container} ref={wrapperRef} style={{ cursor: cursorType }} onClick={onControlsOverlayClick}>
+      <KeyListener keyDownHandlers={keyDownHandlers} />
+      <PanelToolbar floating helpContent={helpContent} />
+      <div style={videoRecordingStyle}>
+        <TopicSelector
+          autoTextBackgroundColor={!!autoTextBackgroundColor}
+          canEditDatatype={canEditDatatype}
+          checkedNodes={checkedNodes}
+          editedTopics={editedTopics}
+          expandedNodes={expandedNodes}
+          modifiedNamespaceTopics={modifiedNamespaceTopics}
+          namespaces={sceneBuilder.allNamespaces}
+          onEditClick={onEditClick}
+          onToggleShowClick={toggleShowTopics}
+          pinTopics={pinTopics}
+          saveConfig={saveConfig}
+          sceneErrors={sceneBuilder.errors}
+          setSelections={setSelections}
+          showTopics={showTopics || pinTopics}
+          topics={topics}
+          transforms={transforms}
+          // Because transforms are mutable, we need a key that tells us when to update the component. We use the count of the transforms for this.
+          transformsCount={transforms.values().length}
+        />
+        <LayoutTopicSettings
+          saveConfig={saveConfig}
+          topics={topics}
+          transforms={transforms}
+          sceneBuilder={sceneBuilder}
+          topicSettings={topicSettings}
+          setEditTopicState={setEditTopicState}
+          editTopicState={editTopicState}
+        />
+      </div>
+      <div className={styles.world}>
+        <WorldComponent
+          autoTextBackgroundColor={!!autoTextBackgroundColor}
+          cameraState={cameraState}
+          convexHullOpacity={convexHullOpacity}
+          debug={debug}
+          extensions={selections.extensions}
+          markerProviders={markerProviders}
+          onCameraStateChange={onCameraStateChange}
+          onClick={onClick}
+          onDoubleClick={onDoubleClick}
+          onMouseDown={onMouseDown}
+          onMouseMove={onMouseMove}
+          onMouseUp={onMouseUp}
+          scene={sceneBuilder.getScene()}
+          selectedObject={selectedObjectState && selectedObjectState.selectedObject}>
+          {children}
+          <DrawPolygons>{polygonBuilder.polygons}</DrawPolygons>
+          <div style={videoRecordingStyle}>
+            <LayoutToolbar
+              cameraState={cameraState}
+              debug={debug}
+              drawingTabType={drawingTabType}
+              followOrientation={followOrientation}
+              followTf={followTf}
+              interactionData={selectedObject && selectedObject.object && selectedObject.object.interactionData}
+              isDrawing={isDrawing}
+              isPlaying={isPlaying}
+              measureInfo={measureInfo}
+              measuringElRef={measuringElRef}
+              onAlignXYAxis={onAlignXYAxis}
+              onCameraStateChange={onCameraStateChange}
+              onClearSelectedObject={onClearSelectedObject}
+              onFollowChange={onFollowChange}
+              onSetDrawingTabType={setDrawingTabType}
+              onSetPolygons={onSetPolygons}
+              onToggleCameraMode={toggleCameraMode}
+              onToggleDebug={toggleDebug}
+              polygonBuilder={polygonBuilder}
+              saveConfig={saveConfig}
+              selectedObject={selectedObject}
+              selectedPolygonEditFormat={selectedPolygonEditFormat}
+              setMeasureInfo={setMeasureInfo}
+              showCrosshair={showCrosshair}
+              transforms={transforms}
+            />
+          </div>
+          {selectedObjectState &&
+            selectedObjectState.selectedObjects.length > 1 &&
+            !selectedObjectState.selectedObject && (
+              <InteractionContextMenu
+                clickedPosition={selectedObjectState.clickedPosition}
+                onSelectObject={onSelectObject}
+                selectedObjects={selectedObjectState.selectedObjects}
+              />
+            )}
+          {process.env.NODE_ENV !== "production" && !inScreenshotTests() && debug && <DebugStats />}
+        </WorldComponent>
+      </div>
+    </div>
   );
 }
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/LayoutToolbar.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/LayoutToolbar.js
new file mode 100644
index 000000000..42fbeacb3
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/LayoutToolbar.js
@@ -0,0 +1,125 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import cx from "classnames";
+import * as React from "react";
+import { PolygonBuilder, type MouseEventObject, type Polygon } from "regl-worldview";
+
+import Crosshair from "webviz-core/src/panels/ThreeDimensionalViz/Crosshair";
+import DrawingTools, {
+  CAMERA_TAB_TYPE,
+  type DrawingTabType,
+} from "webviz-core/src/panels/ThreeDimensionalViz/DrawingTools";
+import MeasuringTool, { type MeasureInfo } from "webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/MeasuringTool";
+import FollowTFControl from "webviz-core/src/panels/ThreeDimensionalViz/FollowTFControl";
+import Interactions, { type InteractionData } from "webviz-core/src/panels/ThreeDimensionalViz/Interactions";
+import { type LayoutToolbarSharedProps } from "webviz-core/src/panels/ThreeDimensionalViz/Layout";
+import styles from "webviz-core/src/panels/ThreeDimensionalViz/Layout.module.scss";
+import MainToolbar from "webviz-core/src/panels/ThreeDimensionalViz/MainToolbar";
+import MeasureMarker from "webviz-core/src/panels/ThreeDimensionalViz/MeasureMarker";
+
+type Props = {|
+  ...LayoutToolbarSharedProps,
+  debug: boolean,
+  drawingTabType: ?DrawingTabType,
+  interactionData: ?InteractionData,
+  isDrawing: boolean,
+  measureInfo: MeasureInfo,
+  measuringElRef: { current: ?MeasuringTool },
+  onClearSelectedObject: () => void,
+  onSetDrawingTabType: (?DrawingTabType) => void,
+  onSetPolygons: (polygons: Polygon[]) => void,
+  onToggleCameraMode: () => void,
+  onToggleDebug: () => void,
+  polygonBuilder: PolygonBuilder,
+  selectedObject: ?MouseEventObject,
+  setMeasureInfo: (MeasureInfo) => void,
+|};
+
+function LayoutToolbar({
+  cameraState,
+  debug,
+  drawingTabType,
+  followOrientation,
+  followTf,
+  interactionData,
+  isDrawing,
+  isPlaying,
+  measureInfo,
+  measuringElRef,
+  onAlignXYAxis,
+  onCameraStateChange,
+  onClearSelectedObject,
+  onFollowChange,
+  onSetDrawingTabType,
+  onSetPolygons,
+  onToggleCameraMode,
+  onToggleDebug,
+  polygonBuilder,
+  saveConfig,
+  selectedObject,
+  selectedPolygonEditFormat,
+  setMeasureInfo,
+  showCrosshair,
+  transforms,
+}: Props) {
+  return (
+    <>
+      <MeasuringTool
+        ref={measuringElRef}
+        measureState={measureInfo.measureState}
+        measurePoints={measureInfo.measurePoints}
+        onMeasureInfoChange={setMeasureInfo}
+      />
+      <div className={cx(styles.toolbar, styles.right)}>
+        <div className={styles.buttons}>
+          <FollowTFControl
+            transforms={transforms}
+            tfToFollow={followTf ? followTf : undefined}
+            followOrientation={followOrientation}
+            onFollowChange={onFollowChange}
+          />
+        </div>
+        <MainToolbar
+          measureInfo={measureInfo}
+          measuringTool={measuringElRef.current}
+          perspective={cameraState.perspective}
+          debug={debug}
+          onToggleCameraMode={onToggleCameraMode}
+          onToggleDebug={onToggleDebug}
+        />
+        {measuringElRef.current && measuringElRef.current.measureDistance}
+        <Interactions
+          isDrawing={isDrawing}
+          interactionData={interactionData}
+          onClearSelectedObject={onClearSelectedObject}
+          selectedObject={selectedObject}
+        />
+        <DrawingTools
+          // Save some unnecessary re-renders by not passing in the constantly changing cameraState unless it's needed
+          cameraState={drawingTabType === CAMERA_TAB_TYPE ? cameraState : null}
+          followOrientation={followOrientation}
+          followTf={followTf}
+          isPlaying={isPlaying}
+          onAlignXYAxis={onAlignXYAxis}
+          onCameraStateChange={onCameraStateChange}
+          onSetPolygons={onSetPolygons}
+          polygonBuilder={polygonBuilder}
+          saveConfig={saveConfig}
+          selectedPolygonEditFormat={selectedPolygonEditFormat}
+          onSetDrawingTabType={onSetDrawingTabType}
+          showCrosshair={!!showCrosshair}
+        />
+      </div>
+      {!cameraState.perspective && showCrosshair && <Crosshair cameraState={cameraState} />}
+      <MeasureMarker measurePoints={measureInfo.measurePoints} />
+    </>
+  );
+}
+
+export default React.memo<Props>(LayoutToolbar);
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/LayoutTopicSettings.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/LayoutTopicSettings.js
new file mode 100644
index 000000000..4212d6c68
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/LayoutTopicSettings.js
@@ -0,0 +1,97 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import CloseIcon from "@mdi/svg/svg/close.svg";
+import * as React from "react";
+import Draggable from "react-draggable";
+
+import Icon from "webviz-core/src/components/Icon";
+import {
+  type LayoutTopicSettingsSharedProps,
+  type EditTopicState,
+} from "webviz-core/src/panels/ThreeDimensionalViz/Layout";
+import styles from "webviz-core/src/panels/ThreeDimensionalViz/Layout.module.scss";
+import SceneBuilder from "webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder";
+import TopicSettingsEditor from "webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor";
+
+const { useMemo } = React;
+
+type Props = {|
+  ...LayoutTopicSettingsSharedProps,
+  sceneBuilder: SceneBuilder,
+  editTopicState: ?EditTopicState,
+  setEditTopicState: (?EditTopicState) => void,
+|};
+
+function LayoutTopicSettings({
+  saveConfig,
+  sceneBuilder,
+  topics,
+  topicSettings,
+  transforms,
+  editTopicState,
+  setEditTopicState,
+}: Props) {
+  const { cancelClick, onCloseTopicSettings, onSettingsChange } = useMemo(
+    () => {
+      return {
+        // stop the event from bubbling up to onControlsOverlayClick but don't preventDefault because checkboxes, buttons, etc. should continue to work
+        cancelClick: (e: SyntheticMouseEvent<HTMLDivElement>) => e.stopPropagation(),
+        onCloseTopicSettings: () => setEditTopicState(null),
+        onSettingsChange: (settings: {}) => {
+          if (!editTopicState) {
+            return;
+          }
+          saveConfig({
+            topicSettings: { ...topicSettings, [editTopicState.topic.name]: settings },
+          });
+        },
+      };
+    },
+    [editTopicState, saveConfig, setEditTopicState, topicSettings]
+  );
+
+  return (
+    <>
+      {editTopicState && (
+        <div
+          style={{
+            position: "absolute",
+            top: 0,
+            left: 0,
+            width: 0,
+            height: 0,
+            zIndex: 103,
+          }}>
+          <Draggable
+            bounds={{ left: 0, top: 0 }}
+            defaultPosition={{ x: editTopicState.tooltipPosX + 30, y: 40 }}
+            cancel="input">
+            <div className={styles.topicSettingsEditor} onClick={cancelClick}>
+              <Icon className={styles.closeIcon} onClick={onCloseTopicSettings}>
+                <CloseIcon />
+              </Icon>
+              <TopicSettingsEditor
+                topic={editTopicState.topic}
+                message={
+                  sceneBuilder.collectors[editTopicState.topic.name]
+                    ? sceneBuilder.collectors[editTopicState.topic.name].getMessages()[0]
+                    : undefined
+                }
+                settings={topicSettings[editTopicState.topic.name]}
+                onSettingsChange={onSettingsChange}
+              />
+            </div>
+          </Draggable>
+        </div>
+      )}
+    </>
+  );
+}
+
+export default React.memo<Props>(LayoutTopicSettings);
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/CarModel/carModel.glb b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/CarModel/carModel.glb
index 20f3eead0905529f9a286c694e20d0c0db9c5f3c..eef96e760ab25029844f996ceb8ab0eaead01da6 100644
GIT binary patch
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diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/index.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/index.js
index f11ff754e..2a5fc6bf2 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/index.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/index.js
@@ -12,7 +12,7 @@ import { omit } from "lodash";
 import * as React from "react";
 import { hot } from "react-hot-loader/root";
 import { useSelector } from "react-redux";
-import { cameraStateSelectors, type CameraState } from "regl-worldview";
+import { cameraStateSelectors, type CameraState, DEFAULT_CAMERA_STATE } from "regl-worldview";
 
 import { FrameCompatibility } from "webviz-core/src/components/MessageHistory/FrameCompatibility";
 import { useShallowMemo } from "webviz-core/src/components/MessageHistory/hooks";
@@ -82,18 +82,13 @@ const BaseRenderer = (props: Props, ref) => {
       checkedNodes,
       convexHullOpacity,
       expandedNodes,
-      flattenMarkers,
-      follow,
       followOrientation,
       followTf,
-      hideMap,
       modifiedNamespaceTopics,
       pinTopics,
-      savedPropsVersion,
       selectedPolygonEditFormat,
       showCrosshair,
       topicSettings,
-      useHeightMap,
     },
   } = props;
   const extensions = useSelector((state) => state.extensions);
@@ -118,6 +113,7 @@ const BaseRenderer = (props: Props, ref) => {
     });
     return root.getSelections();
   });
+
   const { cameraState, targetPose } = useComputedCameraState({
     currentCameraState: config.cameraState,
     followTf,
@@ -164,7 +160,12 @@ const BaseRenderer = (props: Props, ref) => {
         // When switching to follow orientation, adjust thetaOffset to preserve camera rotation.
         if (newFollowOrientation && !configFollowOrientation && targetPose) {
           const heading = cameraStateSelectors.targetHeading({ targetOrientation: targetPose.targetOrientation });
-          newCameraState.targetOffset = vec3.rotateZ([0, 0, 0], newCameraState.targetOffset, [0, 0, 0], heading);
+          newCameraState.targetOffset = vec3.rotateZ(
+            [0, 0, 0],
+            newCameraState.targetOffset || DEFAULT_CAMERA_STATE.targetOffset,
+            [0, 0, 0],
+            heading
+          );
           newCameraState.thetaOffset -= heading;
         }
         // When following a frame for the first time, snap to the origin.
@@ -177,8 +178,8 @@ const BaseRenderer = (props: Props, ref) => {
           newCameraState,
           getEquivalentOffsetsWithoutTarget(
             {
-              targetOffset: configCameraState.targetOffset || [0, 0, 0],
-              thetaOffset: configCameraState.thetaOffset,
+              targetOffset: configCameraState.targetOffset || DEFAULT_CAMERA_STATE.targetOffset,
+              thetaOffset: configCameraState.thetaOffset || DEFAULT_CAMERA_STATE.thetaOffset,
             },
             targetPose,
             configFollowOrientation
@@ -221,13 +222,10 @@ const BaseRenderer = (props: Props, ref) => {
       currentTime={currentTime}
       expandedNodes={expandedNodes}
       extensions={extensions}
-      flattenMarkers={flattenMarkers}
-      follow={follow}
       followOrientation={!!followOrientation}
       followTf={followTf}
       frame={frame}
       helpContent={helpContent}
-      hideMap={hideMap}
       isPlaying={isPlaying}
       modifiedNamespaceTopics={modifiedNamespaceTopics}
       onAlignXYAxis={onAlignXYAxis}
@@ -235,7 +233,6 @@ const BaseRenderer = (props: Props, ref) => {
       onFollowChange={onFollowChange}
       pinTopics={pinTopics}
       saveConfig={saveConfig}
-      savedPropsVersion={savedPropsVersion}
       selectedPolygonEditFormat={selectedPolygonEditFormat || "yaml"}
       selections={selections}
       setSelections={setSelections}
@@ -243,7 +240,6 @@ const BaseRenderer = (props: Props, ref) => {
       topics={topics}
       topicSettings={topicSettings}
       transforms={transforms}
-      useHeightMap={useHeightMap}
     />
   );
 };
diff --git a/packages/webviz-core/src/panels/diagnostics/DiagnosticStatusPanel.js b/packages/webviz-core/src/panels/diagnostics/DiagnosticStatusPanel.js
index 45bed9187..e66515bba 100644
--- a/packages/webviz-core/src/panels/diagnostics/DiagnosticStatusPanel.js
+++ b/packages/webviz-core/src/panels/diagnostics/DiagnosticStatusPanel.js
@@ -6,7 +6,7 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import React, { Component } from "react";
+import * as React from "react";
 import { hot } from "react-hot-loader/root";
 
 import DiagnosticsHistory, { type DiagnosticAutocompleteEntry } from "./DiagnosticsHistory";
@@ -18,11 +18,14 @@ import EmptyState from "webviz-core/src/components/EmptyState";
 import Flex from "webviz-core/src/components/Flex";
 import Panel from "webviz-core/src/components/Panel";
 import PanelToolbar from "webviz-core/src/components/PanelToolbar";
+import TopicToRenderMenu from "webviz-core/src/components/TopicToRenderMenu";
+import { DIAGNOSTIC_TOPIC } from "webviz-core/src/util/globalConstants";
 
 export type Config = {
   selectedHardwareId?: ?string,
   selectedName?: ?string,
   splitFraction?: number,
+  topicToRender: string,
 };
 
 type Props = {
@@ -30,9 +33,9 @@ type Props = {
   saveConfig: ($Shape<Config>) => void,
 };
 // component to display a single diagnostic status from list
-class DiagnosticStatusPanel extends Component<Props> {
+class DiagnosticStatusPanel extends React.Component<Props> {
   static panelType = "DiagnosticStatusPanel";
-  static defaultConfig: Config = {};
+  static defaultConfig: Config = { topicToRender: DIAGNOSTIC_TOPIC };
 
   _onSelect = (value: string, entry: DiagnosticAutocompleteEntry, autocomplete: Autocomplete) => {
     this.props.saveConfig({
@@ -42,8 +45,24 @@ class DiagnosticStatusPanel extends Component<Props> {
     autocomplete.blur();
   };
 
+  renderTopicToRenderMenu = (topics) => {
+    const {
+      config: { topicToRender },
+      saveConfig,
+    } = this.props;
+    return (
+      <TopicToRenderMenu
+        topicToRender={topicToRender}
+        onChange={(topicToRender) => saveConfig({ topicToRender })}
+        topics={topics}
+        singleTopicDatatype={"diagnostic_msgs/DiagnosticArray"}
+        defaultTopicToRender={DIAGNOSTIC_TOPIC}
+      />
+    );
+  };
+
   render() {
-    const { selectedHardwareId, selectedName, splitFraction } = this.props.config;
+    const { selectedHardwareId, selectedName, splitFraction, topicToRender } = this.props.config;
 
     let hasSelection = false;
     let selectedId, selectedDisplayName;
@@ -55,13 +74,13 @@ class DiagnosticStatusPanel extends Component<Props> {
 
     return (
       <Flex scroll scrollX col>
-        <DiagnosticsHistory>
-          {(buffer) => {
+        <DiagnosticsHistory topic={topicToRender}>
+          {({ buffer, allTopics }) => {
             const selectedItem = selectedId ? buffer.diagnosticsById.get(selectedId) : null;
 
             return (
               <>
-                <PanelToolbar helpContent={helpContent}>
+                <PanelToolbar helpContent={helpContent} additionalIcons={this.renderTopicToRenderMenu(allTopics)}>
                   <Autocomplete
                     placeholder={hasSelection ? selectedDisplayName : "Select a diagnostic"}
                     items={buffer.sortedAutocompleteEntries}
diff --git a/packages/webviz-core/src/panels/diagnostics/DiagnosticSummary.js b/packages/webviz-core/src/panels/diagnostics/DiagnosticSummary.js
index 01e421076..6870961bf 100644
--- a/packages/webviz-core/src/panels/diagnostics/DiagnosticSummary.js
+++ b/packages/webviz-core/src/panels/diagnostics/DiagnosticSummary.js
@@ -9,7 +9,7 @@
 import PinIcon from "@mdi/svg/svg/pin.svg";
 import cx from "classnames";
 import { sortBy, compact } from "lodash";
-import React from "react";
+import * as React from "react"; // eslint-disable-line import/no-duplicates
 import { hot } from "react-hot-loader/root";
 
 import type { Config as DiagnosticStatusConfig } from "./DiagnosticStatusPanel";
@@ -22,9 +22,11 @@ import Icon from "webviz-core/src/components/Icon";
 import LargeList from "webviz-core/src/components/LargeList";
 import Panel from "webviz-core/src/components/Panel";
 import PanelToolbar from "webviz-core/src/components/PanelToolbar";
+import TopicToRenderMenu from "webviz-core/src/components/TopicToRenderMenu";
 import { getGlobalHooks } from "webviz-core/src/loadWebviz";
 import DiagnosticsHistory from "webviz-core/src/panels/diagnostics/DiagnosticsHistory";
 import type { PanelConfig } from "webviz-core/src/types/panels";
+import { DIAGNOSTIC_TOPIC } from "webviz-core/src/util/globalConstants";
 import toggle from "webviz-core/src/util/toggle";
 
 const LevelClasses = {
@@ -67,7 +69,7 @@ class NodeRow extends React.PureComponent<NodeRowProps> {
   }
 }
 
-type Config = {| pinnedIds: DiagnosticId[], hardwareIdFilter: string |};
+type Config = {| pinnedIds: DiagnosticId[], topicToRender: string, hardwareIdFilter: string |};
 type Props = {
   config: Config,
   saveConfig: ($Shape<Config>) => void,
@@ -82,7 +84,7 @@ const getSortedNodes = (nodes: DiagnosticInfo[], pinnedIds: DiagnosticId[]): Dia
 
 class DiagnosticSummary extends React.Component<Props> {
   static panelType = "DiagnosticSummary";
-  static defaultConfig = getGlobalHooks().perPanelHooks().DiagnosticSummary.defaultConfig;
+  static defaultConfig = { ...getGlobalHooks().perPanelHooks().DiagnosticSummary.defaultConfig };
 
   togglePinned = (info: DiagnosticInfo) => {
     this.props.saveConfig({ pinnedIds: toggle(this.props.config.pinnedIds, info.id) });
@@ -95,6 +97,7 @@ class DiagnosticSummary extends React.Component<Props> {
         ({
           selectedHardwareId: info.status.hardware_id,
           selectedName: info.status.name,
+          topicToRender: this.props.config.topicToRender,
         }: DiagnosticStatusConfig)
     );
   };
@@ -112,7 +115,7 @@ class DiagnosticSummary extends React.Component<Props> {
     );
   };
 
-  renderMenuContent() {
+  renderHardwareFilter() {
     const {
       config: { hardwareIdFilter },
       saveConfig,
@@ -127,41 +130,63 @@ class DiagnosticSummary extends React.Component<Props> {
     );
   }
 
+  renderTopicToRenderMenu = (topics) => {
+    const {
+      config: { topicToRender },
+      saveConfig,
+    } = this.props;
+    return (
+      <TopicToRenderMenu
+        topicToRender={topicToRender}
+        onChange={(topicToRender) => saveConfig({ topicToRender })}
+        topics={topics}
+        singleTopicDatatype={"diagnostic_msgs/DiagnosticArray"}
+        defaultTopicToRender={DIAGNOSTIC_TOPIC}
+      />
+    );
+  };
+
   render() {
+    const { topicToRender } = this.props.config;
     return (
-      <Flex col className={styles.panel}>
-        <PanelToolbar floating helpContent={helpContent}>
-          {this.renderMenuContent()}
-        </PanelToolbar>
-        <Flex col scroll scrollX>
-          <DiagnosticsHistory>
-            {(buffer) => {
-              if (buffer.diagnosticsById.size === 0) {
-                return (
-                  <EmptyState>
-                    Waiting for <code>/diagnostics</code> messages
-                  </EmptyState>
-                );
-              }
-
-              const { pinnedIds, hardwareIdFilter } = this.props.config;
-              const pinnedNodes = pinnedIds.map((id) => buffer.diagnosticsById.get(id));
-
-              const nodes: DiagnosticInfo[] = [
-                ...compact(pinnedNodes),
-                ...getSortedNodes(getNodesByLevel(buffer, hardwareIdFilter, LEVELS.STALE), pinnedIds),
-                ...getSortedNodes(getNodesByLevel(buffer, hardwareIdFilter, LEVELS.ERROR), pinnedIds),
-                ...getSortedNodes(getNodesByLevel(buffer, hardwareIdFilter, LEVELS.WARN), pinnedIds),
-                ...getSortedNodes(getNodesByLevel(buffer, hardwareIdFilter, LEVELS.OK), pinnedIds),
-              ];
-
-              return nodes.length === 0 ? null : (
+      <DiagnosticsHistory topic={topicToRender}>
+        {({ buffer, allTopics }) => {
+          let dataComponent;
+          if (buffer.diagnosticsById.size === 0) {
+            dataComponent = (
+              <EmptyState>
+                Waiting for <code>/diagnostics</code> messages
+              </EmptyState>
+            );
+          } else {
+            const { pinnedIds, hardwareIdFilter } = this.props.config;
+            const pinnedNodes = pinnedIds.map((id) => buffer.diagnosticsById.get(id));
+
+            const nodes: DiagnosticInfo[] = [
+              ...compact(pinnedNodes),
+              ...getSortedNodes(getNodesByLevel(buffer, hardwareIdFilter, LEVELS.STALE), pinnedIds),
+              ...getSortedNodes(getNodesByLevel(buffer, hardwareIdFilter, LEVELS.ERROR), pinnedIds),
+              ...getSortedNodes(getNodesByLevel(buffer, hardwareIdFilter, LEVELS.WARN), pinnedIds),
+              ...getSortedNodes(getNodesByLevel(buffer, hardwareIdFilter, LEVELS.OK), pinnedIds),
+            ];
+            dataComponent =
+              nodes.length === 0 ? null : (
                 <LargeList defaultRowHeight={25} items={nodes} disableScrollToBottom renderRow={this.renderRow} />
               );
-            }}
-          </DiagnosticsHistory>
-        </Flex>
-      </Flex>
+          }
+
+          return (
+            <Flex col className={styles.panel}>
+              <PanelToolbar helpContent={helpContent} additionalIcons={this.renderTopicToRenderMenu(allTopics)}>
+                {this.renderHardwareFilter()}
+              </PanelToolbar>
+              <Flex col scroll scrollX>
+                {dataComponent}
+              </Flex>
+            </Flex>
+          );
+        }}
+      </DiagnosticsHistory>
     );
   }
 }
diff --git a/packages/webviz-core/src/panels/diagnostics/DiagnosticsHistory.js b/packages/webviz-core/src/panels/diagnostics/DiagnosticsHistory.js
index 6822c3877..b907e4768 100644
--- a/packages/webviz-core/src/panels/diagnostics/DiagnosticsHistory.js
+++ b/packages/webviz-core/src/panels/diagnostics/DiagnosticsHistory.js
@@ -19,7 +19,7 @@ import {
   computeDiagnosticInfo,
 } from "./util";
 import * as PanelAPI from "webviz-core/src/PanelAPI";
-import { DIAGNOSTIC_TOPIC } from "webviz-core/src/util/globalConstants";
+import type { Topic } from "webviz-core/src/players/types";
 
 export type DiagnosticAutocompleteEntry = {|
   name: string,
@@ -36,12 +36,13 @@ export type DiagnosticsBuffer = {|
 |};
 
 type Props = {|
-  children: (DiagnosticsBuffer) => Node,
+  children: ({ buffer: DiagnosticsBuffer, allTopics: $ReadOnlyArray<Topic> }) => Node,
+  topic: string,
 |};
 
-export function useDiagnostics(): DiagnosticsBuffer {
+export function useDiagnostics(topic: string): { diagnostics: DiagnosticsBuffer, allTopics: $ReadOnlyArray<Topic> } {
   const { reducedValue: diagnostics } = PanelAPI.useMessages<DiagnosticsBuffer>({
-    topics: [DIAGNOSTIC_TOPIC],
+    topics: [topic],
 
     restore: useCallback(
       () => ({
@@ -100,10 +101,12 @@ export function useDiagnostics(): DiagnosticsBuffer {
     }, []),
   });
 
-  return diagnostics;
+  const allTopics = PanelAPI.useDataSourceInfo().topics;
+
+  return { diagnostics, allTopics };
 }
 
-export default function DiagnosticsHistory({ children }: Props) {
-  const diagnostics = useDiagnostics();
-  return children(diagnostics);
+export default function DiagnosticsHistory({ children, topic }: Props) {
+  const { diagnostics, allTopics } = useDiagnostics(topic);
+  return children({ buffer: diagnostics, allTopics });
 }
diff --git a/packages/webviz-core/src/players/RandomAccessPlayer.js b/packages/webviz-core/src/players/RandomAccessPlayer.js
index f327f0587..b131f5f8e 100644
--- a/packages/webviz-core/src/players/RandomAccessPlayer.js
+++ b/packages/webviz-core/src/players/RandomAccessPlayer.js
@@ -94,7 +94,7 @@ export default class RandomAccessPlayer implements Player {
     }
     this._metricsCollector = metricsCollector;
 
-    this._playerOptions = playerOptions || { autoplay: false, seekToTime: null };
+    this._playerOptions = playerOptions || { autoplay: false, seekToTime: null, frameSizeMs: null };
 
     document.addEventListener("visibilitychange", this._handleDocumentVisibilityChange, false);
   }
@@ -261,7 +261,7 @@ export default class RandomAccessPlayer implements Player {
     // if the UI lags substantially due to GC and the delay between reads is high
     // it can result in reading a very large chunk of messages which introduces
     // even _more_ delay before the next read loop triggers, causing serious cascading UI jank.
-    const rangeMillis = Math.min(durationMillis, 80) * this._speed;
+    const rangeMillis = this._playerOptions.frameSizeMs || Math.min(durationMillis, 80) * this._speed;
 
     // loop to the beginning if we pass the end of the playback range
     if (isEqual(this._currentTime, this._end)) {
@@ -429,6 +429,8 @@ export default class RandomAccessPlayer implements Player {
     const seekTime = Date.now();
     this._lastSeekTime = seekTime;
     this._cancelSeekBackfill = false;
+    // cancel any queued _emitState that might later emit messages from before we seeked
+    this._messages = [];
 
     // do not _emitState if subscriptions have changed, but time has not
     if (isEqual(this._currentTime, time)) {
@@ -479,7 +481,7 @@ export default class RandomAccessPlayer implements Player {
   close() {
     this._isPlaying = false;
     this._closed = true;
-    if (!this._initializing) {
+    if (!this._initializing && !this._hasError) {
       this._provider.close();
     }
     this._metricsCollector.close();
diff --git a/packages/webviz-core/src/players/RandomAccessPlayer.test.js b/packages/webviz-core/src/players/RandomAccessPlayer.test.js
index 61b2898c6..88bace920 100644
--- a/packages/webviz-core/src/players/RandomAccessPlayer.test.js
+++ b/packages/webviz-core/src/players/RandomAccessPlayer.test.js
@@ -1167,7 +1167,7 @@ describe("RandomAccessPlayer", () => {
     const player = new RandomAccessPlayer(
       { name: "TestProvider", args: { provider }, children: [] },
       new NoopMetricsCollector(),
-      { autoplay: true, seekToTime: null }
+      { autoplay: true, seekToTime: null, frameSizeMs: null }
     );
     const store = new MessageStore(2);
     player.setSubscriptions([{ topic: "/foo/bar" }]);
diff --git a/packages/webviz-core/src/players/UserNodePlayer/index.js b/packages/webviz-core/src/players/UserNodePlayer/index.js
index 90877e4ab..df5bf989f 100644
--- a/packages/webviz-core/src/players/UserNodePlayer/index.js
+++ b/packages/webviz-core/src/players/UserNodePlayer/index.js
@@ -55,7 +55,6 @@ export default class UserNodePlayer implements Player {
   _player: Player;
   _nodeRegistrations: NodeRegistration[] = [];
   _subscriptions: SubscribePayload[] = [];
-  _lastSeekTime: ?number;
   _userNodes: UserNodes = {};
   // TODO: FUTURE - Terminate unused workers (some sort of timeout, for whole array or per rpc)
   // Not sure if there is perf issue with unused workers (may just go idle) - requires more research
@@ -86,11 +85,37 @@ export default class UserNodePlayer implements Player {
     };
   }
 
+  _getTopics = microMemoize((topics: Topic[], nodeRegistrations: NodeRegistration[]) => {
+    return [...topics, ...nodeRegistrations.map((nodeRegistration) => nodeRegistration.output)];
+  });
+
+  // When updating Webviz nodes while paused, we seek to the current time
+  // (i.e. invoke _getMessages with an empty array) to refresh messages
+  _getMessages = microMemoize(
+    async (messages: Message[]): Promise<Message[]> => {
+      const promises = [];
+      for (const message of messages) {
+        for (const nodeRegistration of this._nodeRegistrations) {
+          if (
+            this._subscriptions.find(({ topic }) => topic === nodeRegistration.output.name) &&
+            nodeRegistration.inputs.includes(message.topic)
+          ) {
+            promises.push(nodeRegistration.processMessage(message));
+          }
+        }
+      }
+      const nodeMessages: Message[] = (await Promise.all(promises)).filter(Boolean);
+      return [...messages, ...nodeMessages].sort((a, b) => TimeUtil.compare(a.receiveTime, b.receiveTime));
+    }
+  );
+
+  _getDatatypes = microMemoize((datatypes, userDatatypes) => ({ ...userDatatypes, ...datatypes }));
+
   // Called when userNode state is updated.
   async setUserNodes(userNodes: UserNodes): Promise<void> {
     this._userNodes = userNodes;
 
-    // TOOD: Currently the below causes us to reset workers twice, since we are
+    // TODO: Currently the below causes us to reset workers twice, since we are
     // forcing a 'seek' here.
     return this._resetWorkers().then(() => {
       const currentTime = this._lastPlayerStateActiveData && this._lastPlayerStateActiveData.currentTime;
@@ -184,6 +209,13 @@ export default class UserNodePlayer implements Player {
   // For the time being, resetWorkers is a catchall for these circumstances. As
   // performance bottlenecks are identified, it will be subject to change.
   async _resetWorkers() {
+    // This early return is an optimization measure so that the
+    // `nodeRegistrations` array is not re-defined, which will invalidate
+    // downstream caches. (i.e. `this._getTopics`)
+    if (!this._nodeRegistrations.length && !Object.entries(this._userNodes).length) {
+      return;
+    }
+
     for (const nodeRegistration of this._nodeRegistrations) {
       nodeRegistration.terminate();
     }
@@ -219,16 +251,16 @@ export default class UserNodePlayer implements Player {
 
   setListener(listener: (PlayerState) => Promise<void>) {
     this._player.setListener(async (playerState: PlayerState) => {
-      if (playerState.activeData) {
-        const { lastSeekTime, messages, topics } = playerState.activeData;
-        this._lastSeekTime = lastSeekTime;
+      const { activeData } = playerState;
+      if (activeData) {
+        const { messages, topics, datatypes } = activeData;
 
         // For resetting node state after seeking.
         // TODO: Make resetWorkers more efficient in this case since we don't
         // need to recompile/validate anything.
         if (
           this._lastPlayerStateActiveData &&
-          playerState.activeData.lastSeekTime !== this._lastPlayerStateActiveData.lastSeekTime
+          activeData.lastSeekTime !== this._lastPlayerStateActiveData.lastSeekTime
         ) {
           await this._resetWorkers();
         }
@@ -236,35 +268,19 @@ export default class UserNodePlayer implements Player {
         // player just spun up, meaning we should re-run our user nodes in case
         // they have inputs that now exist in the current player context.
         if (!this._lastPlayerStateActiveData) {
-          this._lastPlayerStateActiveData = playerState.activeData;
+          this._lastPlayerStateActiveData = activeData;
           await this._resetWorkers().then(() => {
             this.setSubscriptions(this._subscriptions);
           });
         }
 
-        const promises = [];
-        for (const message of messages) {
-          for (const nodeRegistration of this._nodeRegistrations) {
-            if (
-              this._subscriptions.find(({ topic }) => topic === nodeRegistration.output.name) &&
-              nodeRegistration.inputs.includes(message.topic)
-            ) {
-              promises.push(nodeRegistration.processMessage(message));
-            }
-          }
-        }
-
-        const nodeMessages: Message[] = (await Promise.all(promises)).filter(Boolean);
         const newPlayerState = {
           ...playerState,
           activeData: {
-            ...playerState.activeData,
-            messages: [...messages, ...nodeMessages].sort((a, b) => TimeUtil.compare(a.receiveTime, b.receiveTime)),
+            ...activeData,
+            messages: await this._getMessages(messages),
             topics: this._getTopics(topics, this._nodeRegistrations),
-            datatypes: {
-              ...this._userDatatypes,
-              ...(playerState.activeData ? playerState.activeData.datatypes : {}),
-            },
+            datatypes: this._getDatatypes(datatypes, this._userDatatypes),
           },
         };
 
@@ -311,9 +327,4 @@ export default class UserNodePlayer implements Player {
   pausePlayback = () => this._player.pausePlayback();
   setPlaybackSpeed = (speed: number) => this._player.setPlaybackSpeed(speed);
   seekPlayback = (time: Time) => this._player.seekPlayback(time);
-
-  _getTopics = microMemoize((topics: Topic[], nodeRegistrations: NodeRegistration[]) => [
-    ...topics,
-    ...nodeRegistrations.map((nodeRegistration) => nodeRegistration.output),
-  ]);
 }
diff --git a/packages/webviz-core/src/players/UserNodePlayer/index.test.js b/packages/webviz-core/src/players/UserNodePlayer/index.test.js
index 92afd4cf3..abbd335bd 100644
--- a/packages/webviz-core/src/players/UserNodePlayer/index.test.js
+++ b/packages/webviz-core/src/players/UserNodePlayer/index.test.js
@@ -280,6 +280,51 @@ describe("UserNodePlayer", () => {
       expect(topics).toEqual(["/np_input", `${DEFAULT_WEBVIZ_NODE_PREFIX}1`]);
     });
 
+    it("gets memoized version of messages if they have not changed", async () => {
+      const fakePlayer = new FakePlayer();
+      const mockAddUserNodeLogs = jest.fn();
+      const userNodePlayer = new UserNodePlayer(fakePlayer, {
+        ...defaultUserNodeActions,
+        setUserNodeDiagnostics: jest.fn(),
+        addUserNodeLogs: mockAddUserNodeLogs,
+      });
+
+      trustUserNode({ id: nodeId, sourceCode: `${nodeUserCode}\nlog("LOG VALUE HERE");` });
+      userNodePlayer.setSubscriptions([{ topic: `${DEFAULT_WEBVIZ_NODE_PREFIX}1` }]);
+      userNodePlayer.setUserNodes({
+        nodeId: { name: "someNodeName", sourceCode: `${nodeUserCode}\nlog("LOG VALUE HERE");` },
+      });
+
+      const messagesArray = [upstreamMessages[0]];
+
+      const [done, nextDone] = setListenerHelper(userNodePlayer, 2);
+
+      fakePlayer.emit({
+        ...basicPlayerState,
+        messages: messagesArray,
+        currentTime: { sec: 0, nsec: 0 },
+        topics: [{ name: "/np_input", datatype: `${DEFAULT_WEBVIZ_NODE_PREFIX}1` }],
+        datatypes: { foo: [] },
+      });
+
+      const { messages } = await done;
+
+      fakePlayer.emit({
+        ...basicPlayerState,
+        messages: messagesArray,
+        currentTime: { sec: 0, nsec: 0 },
+        topics: [{ name: "/np_input", datatype: `${DEFAULT_WEBVIZ_NODE_PREFIX}1` }],
+        datatypes: { foo: [] },
+      });
+
+      const { messages: newMessages } = await nextDone;
+
+      // Node was run once with first set of messages,
+      // which includes 2 invocations of addUserNodeLogs in processMessage function
+      expect(mockAddUserNodeLogs).toHaveBeenCalledTimes(2);
+      expect(messages).toBe(newMessages);
+    });
+
     it("subscribes to underlying topics when nodeInfo is added", async () => {
       const fakePlayer = new FakePlayer();
       const userNodePlayer = new UserNodePlayer(fakePlayer, defaultUserNodeActions);
@@ -583,6 +628,40 @@ describe("UserNodePlayer", () => {
       expect(topics).toEqual(["/np_input", `${DEFAULT_WEBVIZ_NODE_PREFIX}1`]);
     });
 
+    it("properly clears user node registrations", async () => {
+      const fakePlayer = new FakePlayer();
+      const userNodePlayer = new UserNodePlayer(fakePlayer, defaultUserNodeActions);
+
+      trustUserNode({ id: nodeId, sourceCode: nodeUserCode });
+      userNodePlayer.setUserNodes({
+        [nodeId]: { name: `${DEFAULT_WEBVIZ_NODE_PREFIX}1`, sourceCode: nodeUserCode },
+      });
+
+      const [firstDone, secondDone] = setListenerHelper(userNodePlayer, 2);
+
+      fakePlayer.emit({
+        ...basicPlayerState,
+        messages: [upstreamMessages[0]],
+        currentTime: upstreamMessages[0].receiveTime,
+        topics: [{ name: "/np_input", datatype: "std_msgs/Header" }],
+        datatypes: { foo: [] },
+      });
+
+      const { topics: firstTopics } = await firstDone;
+      expect(firstTopics).toEqual(["/np_input", `${DEFAULT_WEBVIZ_NODE_PREFIX}1`]);
+
+      userNodePlayer.setUserNodes({});
+      fakePlayer.emit({
+        ...basicPlayerState,
+        messages: [upstreamMessages[0]],
+        currentTime: upstreamMessages[0].receiveTime,
+        topics: [{ name: "/np_input", datatype: "std_msgs/Header" }],
+        datatypes: { foo: [] },
+      });
+      const { topics: secondTopics } = await secondDone;
+      expect(secondTopics).toEqual(["/np_input"]);
+    });
+
     describe("user logging", () => {
       it("records logs in the logs handler", async () => {
         const code = `
diff --git a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/ros.js b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/ros.js
index 7cfeea89c..8d66cf02d 100644
--- a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/ros.js
+++ b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/ros.js
@@ -57,6 +57,13 @@ export declare type Pose = {
   orientation: Orientation
 };
 
+/**
+ * For publishing markers, every other marker is built up on this base type.
+ * The 'id' property has to be unique, as duplicate ids will cause markers to
+ * be overwritten. The 'ns' property corresponds to namespace under which your
+ * marker is published. In most cases, you will just want to set the 'action'
+ * property to '0'.
+  */
 export declare type BaseMarker = {
   header: Header,
   ns: string, // namespace that your marker is published under.
@@ -64,17 +71,27 @@ export declare type BaseMarker = {
   action: 0 | 1 | 2 | 3, // In most cases, you will want to use '0' here.
   pose: Pose,
   scale: Scale,
-  color: RGBA
+  color?: RGBA,
+  customMetadata?: { [key: string]: any }
 };
 
+/**
+ * When publishing markers with a 'points' array, the 'color' field takes 1 RGBA object to apply to all points,
+ * while the 'colors' field takes in an array of RGBA objects to apply to each point. When both are present,
+ * the 'colors' field overrides the 'color' field.
+  */
 export declare type MultiPointMarker = BaseMarker & {
-  points: Point[],
+  points: Point[]
   colors?: RGBA[]
 };
 
-export declare type ArrowMarker = BaseMarker & {
+/**
+ * When publishing markers with a 'points' array, the 'color' field takes 1 RGBA object to apply to all points,
+ * while the 'colors' field takes in an array of RGBA objects to apply to each point. When both are present,
+ * the 'colors' field overrides the 'color' field.
+  */
+export declare type ArrowMarker = MultiPointMarker & {
   type: 0,
-  points?: Point[],
   size?: ArrowSize,
 }
 
@@ -126,7 +143,7 @@ export declare type TriangleListMarker = MultiPointMarker & {
 };
 
 export declare type MeshMarker = MultiPointMarker & {
-  type: 11
+  type: 10
 };
 
 export declare type FilledPolygonMarker = MultiPointMarker & {
diff --git a/packages/webviz-core/src/players/types.js b/packages/webviz-core/src/players/types.js
index 200ef42e1..1a61d6e6d 100644
--- a/packages/webviz-core/src/players/types.js
+++ b/packages/webviz-core/src/players/types.js
@@ -239,4 +239,5 @@ export interface PlayerMetricsCollectorInterface {
 export type PlayerOptions = {|
   autoplay: ?boolean,
   seekToTime: ?Time,
+  frameSizeMs: ?number,
 |};
diff --git a/packages/webviz-core/src/stories/PanelSetupWithBag.js b/packages/webviz-core/src/stories/PanelSetupWithBag.js
index b24aec217..abf236dd6 100644
--- a/packages/webviz-core/src/stories/PanelSetupWithBag.js
+++ b/packages/webviz-core/src/stories/PanelSetupWithBag.js
@@ -6,10 +6,12 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
+import microMemoize from "micro-memoize";
 import * as React from "react"; // eslint-disable-line import/no-duplicates
 import { useEffect, useState } from "react"; // eslint-disable-line import/no-duplicates
 import rosbag from "rosbag";
 
+import { SECOND_BAG_PREFIX } from "../util/globalConstants";
 import PanelSetup, { type Fixture } from "webviz-core/src/stories/PanelSetup";
 import Logger from "webviz-core/src/util/Logger";
 
@@ -17,6 +19,7 @@ const log = new Logger(__filename);
 
 type Props = {
   bagFileUrl?: string,
+  bagFileUrl2?: string,
   children: React.Node,
   topics?: string[],
   // merge the bag data with existing fixture data
@@ -28,12 +31,101 @@ type Props = {
 
 const defaultGetMergedFixture = (bagFixture) => bagFixture;
 const defaultMapTopicToDatatype = () => "dummyType";
+
+const getFixtureFromBag = async (
+  bagFileUrl: string,
+  topics: string[],
+  mapTopicToDatatype: (topic: string) => string,
+  getMergedFixture: (bagFixture: Fixture) => Fixture,
+  second?: string = ""
+) => {
+  const response = await fetch(bagFileUrl);
+  if (!response) {
+    log.error(`failed to fetch the bag${second}`);
+  }
+  const blobs = await response.blob();
+  const bagFile = new File([blobs], "temp.bag");
+  const bag = await rosbag.open(bagFile).catch((err) => {
+    log.error(`error opening the bag${second}`, err);
+  });
+  if (bag == null) {
+    log.error(`bag${second} is not valid`);
+  }
+
+  // build the basic shape for fixture
+  const tempFixture = {
+    topics: topics.map((topic) => ({
+      name: second ? `${SECOND_BAG_PREFIX}${topic}` : topic,
+      datatype: mapTopicToDatatype(topic),
+    })),
+    frame: topics.reduce((memo, topic) => {
+      memo[second ? `${SECOND_BAG_PREFIX}${topic}` : topic] = [];
+      return memo;
+    }, {}),
+  };
+
+  await bag
+    .readMessages({ topics }, (result) => {
+      const { message, topic } = result;
+      tempFixture.frame[second ? `${SECOND_BAG_PREFIX}${topic}` : topic].push({
+        datatype: mapTopicToDatatype(topic),
+        topic: second ? `${SECOND_BAG_PREFIX}${topic}` : topic,
+        op: "message",
+        receiveTime: result.timestamp,
+        message,
+      });
+    })
+    .catch((err) => {
+      log.error(`error reading messages from the bag${second}`, err);
+    });
+
+  return getMergedFixture(tempFixture);
+};
+
+const mergeFixtures = microMemoize((fixture1: Fixture, fixture2: Fixture) => ({
+  topics: [...fixture1.topics, ...fixture2.topics],
+  frame: {
+    ...fixture1.frame,
+    ...fixture2.frame,
+  },
+}));
+
+async function loadBag(
+  bagFileUrl: ?string,
+  bagFileUrl2: ?string,
+  hasNestedMessageHistory: ?boolean,
+  getMergedFixture: (bagFixture: Fixture) => Fixture,
+  mapTopicToDatatype: (topic: string) => string,
+  topics: string[],
+  setFixture: (any) => void
+) {
+  if (!bagFileUrl || topics.length === 0) {
+    return;
+  }
+
+  const fixture1 = await getFixtureFromBag(bagFileUrl, topics, mapTopicToDatatype, getMergedFixture);
+  const fixture2 = bagFileUrl2
+    ? await getFixtureFromBag(bagFileUrl2, topics, mapTopicToDatatype, getMergedFixture, "2")
+    : { topics: [], frame: {} };
+  const mergedFixture = mergeFixtures(fixture1, fixture2);
+  setFixture(mergedFixture);
+
+  // Nesting two message history components within eachother causes the message history cache of messages to topics
+  // to not be refreshed properly since both components mount at the same time.  This is a hack to support
+  // stories for the image panel, which involve nested message histories, until we can get a proper fix for having
+  // nested message histories with different topic subscriptions working.
+  if (hasNestedMessageHistory) {
+    setFixture({ ...mergedFixture });
+  }
+}
+
 // A util component for testing panels that need to load the raw ROS bags.
 // Make sure the bag is uncompressed and is small (only contains related topics).
 // If the final fixture data is a mix of bag data (e.g. audio, image) and json/js data, you can
 // merge them together using getMergedFixture
 export default function PanelSetupWithBag({
   bagFileUrl,
+  bagFileUrl2,
   children,
   hasNestedMessageHistory,
   getMergedFixture = defaultGetMergedFixture,
@@ -45,62 +137,17 @@ export default function PanelSetupWithBag({
   // load the bag when component is mounted or updated
   useEffect(
     () => {
-      async function loadBag() {
-        if (!bagFileUrl || topics.length === 0) {
-          return;
-        }
-
-        const response = await fetch(bagFileUrl);
-        if (!response) {
-          log.error("failed to fetch the bag");
-        }
-        const blobs = await response.blob();
-        const bagFile = new File([blobs], "temp.bag");
-        const bag = await rosbag.open(bagFile).catch((err) => {
-          log.error("error openning the bag", err);
-        });
-        if (bag == null) {
-          log.error("bag is not valid");
-        }
-
-        // build the basic shape for fixture
-        const tempFixture = {
-          topics: topics.map((topic) => ({ name: topic, datatype: mapTopicToDatatype(topic) })),
-          frame: topics.reduce((memo, topic) => {
-            memo[topic] = [];
-            return memo;
-          }, {}),
-        };
-
-        await bag
-          .readMessages({ topics }, (result) => {
-            const { message, topic } = result;
-            tempFixture.frame[topic].push({
-              datatype: mapTopicToDatatype(topic),
-              topic,
-              op: "message",
-              receiveTime: result.timestamp,
-              message,
-            });
-          })
-          .catch((err) => {
-            log.error("error reading messages from the bag", err);
-          });
-
-        const fixture = getMergedFixture(tempFixture);
-        setFixture(fixture);
-
-        // Nesting two message history components within eachother causes the message history cache of messages to topics
-        // to not be refreshed properly since both components mount at the same time.  This is a hack to support
-        // stories for the image panel, which involve nested message histories, until we can get a proper fix for having
-        // nested message histories with different topic subscriptions working.
-        if (hasNestedMessageHistory) {
-          setFixture({ ...fixture });
-        }
-      }
-      loadBag();
+      loadBag(
+        bagFileUrl,
+        bagFileUrl2,
+        hasNestedMessageHistory,
+        getMergedFixture,
+        mapTopicToDatatype,
+        topics,
+        setFixture
+      );
     },
-    [bagFileUrl, topics, getMergedFixture, hasNestedMessageHistory, mapTopicToDatatype]
+    [bagFileUrl, bagFileUrl2, topics, getMergedFixture, hasNestedMessageHistory, mapTopicToDatatype]
   );
 
   return fixture ? (
diff --git a/packages/webviz-core/src/util/globalConstants.js b/packages/webviz-core/src/util/globalConstants.js
index 5df229d6c..10cc9466d 100644
--- a/packages/webviz-core/src/util/globalConstants.js
+++ b/packages/webviz-core/src/util/globalConstants.js
@@ -14,12 +14,12 @@ export const LOAD_ENTIRE_BAG_QUERY_KEY = "load-entire-bag";
 export const MEASURE_DATA_PROVIDERS_QUERY_KEY = "_measureDataProviders";
 export const DEMO_QUERY_KEY = "demo";
 export const AUTOPLAY_QUERY_KEY = "autoplay";
-export const ENABLE_NODE_PLAYGROUND_QUERY_KEY = "enable-node-playground";
 export const LAYOUT_QUERY_KEY = "layout";
 export const LAYOUT_URL_QUERY_KEY = "layout-url";
 export const PATCH_LAYOUT_QUERY_KEY = "layout-patch";
 export const OLD_GLOBAL_VARIABLES_QUERY_KEY = "global-variables";
 export const GLOBAL_VARIABLES_QUERY_KEY = "global-data";
+export const FRAME_SIZE_MS_QUERY_KEY = "frame-size-ms";
 
 export const DEFAULT_WEBVIZ_NODE_PREFIX = "/webviz_node/";
 
diff --git a/packages/webviz-core/src/util/videoRecordingMode.js b/packages/webviz-core/src/util/inAutomatedRunMode.js
similarity index 53%
rename from packages/webviz-core/src/util/videoRecordingMode.js
rename to packages/webviz-core/src/util/inAutomatedRunMode.js
index 67b13cdc0..b81ee8db0 100644
--- a/packages/webviz-core/src/util/videoRecordingMode.js
+++ b/packages/webviz-core/src/util/inAutomatedRunMode.js
@@ -6,8 +6,16 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-function videoRecordingMode() {
+export function videoRecordingMode() {
   return window.location.search.includes("video-recording-mode");
 }
 
-export default videoRecordingMode;
+export function performanceMeasuringMode() {
+  return window.location.search.includes("performance-measuring-mode");
+}
+
+function inAutomatedRunMode(): boolean {
+  return videoRecordingMode() || performanceMeasuringMode();
+}
+
+export default inAutomatedRunMode;
diff --git a/packages/webviz-core/src/util/indexeddb/clearIndexedDb.js b/packages/webviz-core/src/util/indexeddb/clearIndexedDb.js
new file mode 100644
index 000000000..bbb5b869e
--- /dev/null
+++ b/packages/webviz-core/src/util/indexeddb/clearIndexedDb.js
@@ -0,0 +1,32 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import Confirm from "webviz-core/src/components/Confirm";
+
+export default function clearIndexedDb() {
+  const config = {
+    prompt:
+      "This will clear out all locally cached bag data from IndexedDB.\n\nUse this if you're having consistency or performance issues (but then please still report them to us!).\n\nThis will only work if you've closed all Webviz windows, since we cannot delete active databases.",
+    ok: "Clear bag cache",
+  };
+  Confirm(config).then((okay) => {
+    if (!okay) {
+      return;
+    }
+    // From https://stackoverflow.com/a/54764150
+    window.indexedDB
+      .databases()
+      .then((databases) => {
+        for (const database of databases) {
+          window.indexedDB.deleteDatabase(database.name);
+        }
+      })
+      .then(() => {
+        window.location.reload();
+      });
+  });
+}

From 253a6280af136e83ee1e5b5e4bfbee7808a8d99b Mon Sep 17 00:00:00 2001
From: Troy Gibb <troy.gibb@gmail.com>
Date: Tue, 29 Oct 2019 14:15:41 -0700
Subject: [PATCH 05/50] Add monaco editor fix (#261)

---
 packages/webviz-core/package-lock.json | 5 -----
 packages/webviz-core/package.json      | 1 -
 2 files changed, 6 deletions(-)

diff --git a/packages/webviz-core/package-lock.json b/packages/webviz-core/package-lock.json
index aee3bab61..777432a27 100644
--- a/packages/webviz-core/package-lock.json
+++ b/packages/webviz-core/package-lock.json
@@ -952,11 +952,6 @@
         "moment": ">= 2.9.0"
       }
     },
-    "monaco-editor": {
-      "version": "0.17.1",
-      "resolved": "https://registry.npmjs.org/monaco-editor/-/monaco-editor-0.17.1.tgz",
-      "integrity": "sha512-JAc0mtW7NeO+0SwPRcdkfDbWLgkqL9WfP1NbpP9wNASsW6oWqgZqNIWt4teymGjZIXTElx3dnQmUYHmVrJ7HxA=="
-    },
     "monaco-editor-webpack-plugin": {
       "version": "1.7.0",
       "resolved": "https://registry.npmjs.org/monaco-editor-webpack-plugin/-/monaco-editor-webpack-plugin-1.7.0.tgz",
diff --git a/packages/webviz-core/package.json b/packages/webviz-core/package.json
index 82902d987..d380277b3 100644
--- a/packages/webviz-core/package.json
+++ b/packages/webviz-core/package.json
@@ -26,7 +26,6 @@
     "moment": "2.22.2",
     "moment-duration-format": "2.2.2",
     "moment-timezone": "0.5.23",
-    "monaco-editor": "0.17.1",
     "monaco-vim": "0.1.3",
     "natsort": "2.0.0",
     "nearley": "2.15.1",

From d01b28e51ed3c39e07c8675825ac536165c9782d Mon Sep 17 00:00:00 2001
From: Audrey Li <me@audreyli.me>
Date: Fri, 1 Nov 2019 20:18:09 -0700
Subject: [PATCH 06/50] Show /tf in the 3D panel topicTree (#263)

---
 packages/webviz-core/src/loadWebviz.js | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/packages/webviz-core/src/loadWebviz.js b/packages/webviz-core/src/loadWebviz.js
index dac919d4c..48a4a433d 100644
--- a/packages/webviz-core/src/loadWebviz.js
+++ b/packages/webviz-core/src/loadWebviz.js
@@ -165,7 +165,10 @@ const defaultHooks = {
         },
         consumePose: () => {},
         getMarkerColor: (topic, markerColor) => markerColor,
-        getDefaultTopicTree: () => ({ name: "root" }),
+        getDefaultTopicTree: () => ({
+          name: "root",
+          children: [{ name: "TF", children: [], description: "Visualize relationships between /tf frames." }],
+        }),
         hasBlacklistTopics: () => false,
         ungroupedNodesCategory: "Topics",
         rootTransformFrame: "map",

From ecdfdb8bd93cbab2646201f6030587ae6193d883 Mon Sep 17 00:00:00 2001
From: David Winegar <david.winegar@getcruise.com>
Date: Mon, 11 Nov 2019 10:47:27 -0800
Subject: [PATCH 07/50] Add option to only render triangles in the hitmap
 (#266)

## Summary

For performance reasons we sometimes want to only render triangles when clicking. Add an option to allow this. Modify the command API somewhat to enable this. Also do a small cleanup: move all of the `createInstancedGetChildrenForHitmap` calls out of the render functions of commands.

## Test plan

Added a story with this new behavior.

## Versioning impact

Minor package increment needed.
---
 docs/src/4.11.Triangles.mdx                    |  4 ++++
 packages/regl-worldview/package-lock.json      |  2 +-
 packages/regl-worldview/package.json           |  2 +-
 .../regl-worldview/src/WorldviewContext.js     |  4 ++--
 packages/regl-worldview/src/commands/Cones.js  |  3 ++-
 packages/regl-worldview/src/commands/Cubes.js  |  3 ++-
 .../regl-worldview/src/commands/Cylinders.js   |  3 ++-
 .../regl-worldview/src/commands/GLTFScene.js   | 17 ++++-------------
 packages/regl-worldview/src/commands/Points.js |  3 ++-
 .../regl-worldview/src/commands/Spheres.js     |  3 ++-
 .../regl-worldview/src/commands/Triangles.js   | 18 +++++++++++-------
 .../assertionStories/Triangles.stories.js      |  5 +++++
 packages/regl-worldview/src/types/index.js     |  2 ++
 13 files changed, 40 insertions(+), 29 deletions(-)

diff --git a/docs/src/4.11.Triangles.mdx b/docs/src/4.11.Triangles.mdx
index ea06e65dd..6a575ef3c 100755
--- a/docs/src/4.11.Triangles.mdx
+++ b/docs/src/4.11.Triangles.mdx
@@ -34,6 +34,10 @@ type Triangle = {
   color: Color,
   colors?: Color[],
   points: [{ x: number, y: number, z: number }]
+  // Pass true to not render the triangles to the screen - just the hitmap.
+  // This can be used to render the interior of a group of lines as transparent during normal rendering, but as 
+  // clickable for hitmap purposes.
+  onlyRenderInHitmap?: boolean,
 }
 ```
 
diff --git a/packages/regl-worldview/package-lock.json b/packages/regl-worldview/package-lock.json
index 8a0598ea6..dd6a940e2 100755
--- a/packages/regl-worldview/package-lock.json
+++ b/packages/regl-worldview/package-lock.json
@@ -1,6 +1,6 @@
 {
 	"name": "regl-worldview",
-	"version": "0.2.4",
+	"version": "0.2.5",
 	"lockfileVersion": 1,
 	"requires": true,
 	"dependencies": {
diff --git a/packages/regl-worldview/package.json b/packages/regl-worldview/package.json
index b54abd9f9..d4d67d93b 100755
--- a/packages/regl-worldview/package.json
+++ b/packages/regl-worldview/package.json
@@ -1,6 +1,6 @@
 {
   "name": "regl-worldview",
-  "version": "0.2.4",
+  "version": "0.2.5",
   "description": "A reusable component for rendering 2D and 3D views using regl",
   "license": "Apache-2.0",
   "repository": "cruise-automation/webviz/tree/master/packages/regl-worldview",
diff --git a/packages/regl-worldview/src/WorldviewContext.js b/packages/regl-worldview/src/WorldviewContext.js
index ada7eee51..084c6b424 100755
--- a/packages/regl-worldview/src/WorldviewContext.js
+++ b/packages/regl-worldview/src/WorldviewContext.js
@@ -347,10 +347,10 @@ export class WorldviewContext {
         };
         const hitmapProps = getChildrenForHitmap(children, assignNextColorsFn, excludedObjects || []);
         if (hitmapProps) {
-          cmd(hitmapProps);
+          cmd(hitmapProps, true);
         }
       } else if (!isHitmap) {
-        cmd(children);
+        cmd(children, false);
       }
     });
   };
diff --git a/packages/regl-worldview/src/commands/Cones.js b/packages/regl-worldview/src/commands/Cones.js
index 78635890c..2b914a098 100755
--- a/packages/regl-worldview/src/commands/Cones.js
+++ b/packages/regl-worldview/src/commands/Cones.js
@@ -18,6 +18,7 @@ const { points, sideFaces, endCapFaces } = createCylinderGeometry(30, true);
 
 const cones = fromGeometry(points, sideFaces.concat(endCapFaces));
 
+const getChildrenForHitmap = createInstancedGetChildrenForHitmap(1);
 export default function Cones(props: { ...CommonCommandProps, children: Cone[] }) {
-  return <Command getChildrenForHitmap={createInstancedGetChildrenForHitmap(1)} {...props} reglCommand={cones} />;
+  return <Command getChildrenForHitmap={getChildrenForHitmap} {...props} reglCommand={cones} />;
 }
diff --git a/packages/regl-worldview/src/commands/Cubes.js b/packages/regl-worldview/src/commands/Cubes.js
index 0882df52d..132e2a715 100755
--- a/packages/regl-worldview/src/commands/Cubes.js
+++ b/packages/regl-worldview/src/commands/Cubes.js
@@ -48,6 +48,7 @@ const cubes = fromGeometry(
   ]
 );
 
+const getChildrenForHitmap = createInstancedGetChildrenForHitmap(1);
 export default function Cubes(props: { ...CommonCommandProps, children: Cube[] }) {
-  return <Command getChildrenForHitmap={createInstancedGetChildrenForHitmap(1)} {...props} reglCommand={cubes} />;
+  return <Command getChildrenForHitmap={getChildrenForHitmap} {...props} reglCommand={cubes} />;
 }
diff --git a/packages/regl-worldview/src/commands/Cylinders.js b/packages/regl-worldview/src/commands/Cylinders.js
index 9e761d378..f141d4789 100755
--- a/packages/regl-worldview/src/commands/Cylinders.js
+++ b/packages/regl-worldview/src/commands/Cylinders.js
@@ -49,6 +49,7 @@ const { points, sideFaces, endCapFaces } = createCylinderGeometry(30, false);
 
 const cylinders = fromGeometry(points, sideFaces.concat(endCapFaces));
 
+const getChildrenForHitmap = createInstancedGetChildrenForHitmap(1);
 export default function Cylinders(props: { ...CommonCommandProps, children: Cylinder[] }) {
-  return <Command getChildrenForHitmap={createInstancedGetChildrenForHitmap(1)} {...props} reglCommand={cylinders} />;
+  return <Command getChildrenForHitmap={getChildrenForHitmap} {...props} reglCommand={cylinders} />;
 }
diff --git a/packages/regl-worldview/src/commands/GLTFScene.js b/packages/regl-worldview/src/commands/GLTFScene.js
index d59d5cdcb..4825bc5fe 100644
--- a/packages/regl-worldview/src/commands/GLTFScene.js
+++ b/packages/regl-worldview/src/commands/GLTFScene.js
@@ -10,7 +10,7 @@ import { mat4 } from "gl-matrix";
 import memoizeWeak from "memoize-weak";
 import React, { useContext, useState, useEffect, useCallback, useDebugValue } from "react";
 
-import type { Pose, Scale, MouseHandler, GetChildrenForHitmap } from "../types";
+import type { Pose, Scale, MouseHandler } from "../types";
 import { defaultBlend, pointToVec3, orientationToVec4 } from "../utils/commandUtils";
 import { getChildrenForHitmapWithOriginalMarker } from "../utils/getChildrenForHitmapDefaults";
 import parseGLB, { type GLBModel } from "../utils/parseGLB";
@@ -205,9 +205,9 @@ const drawModel = (regl) => {
     },
   });
 
-  return (props) => {
+  return (props, isHitmap) => {
     const drawCalls = getDrawCalls(props.model);
-    withContext(props, () => {
+    withContext(isHitmap ? { ...props, isHitmap } : props, () => {
       command(drawCalls);
     });
   };
@@ -269,15 +269,6 @@ function useModel(model: string | (() => Promise<GLBModel>)): ?GLBModel {
   );
 }
 
-// Override the default getChildrenForHitmap with our own implementation.
-const getChildrenForHitmap: GetChildrenForHitmap = <T: any>(prop: T, assignNextColors, excludedObjects) => {
-  const hitmapProp = getChildrenForHitmapWithOriginalMarker(prop, assignNextColors, excludedObjects);
-  if (hitmapProp) {
-    return { ...hitmapProp, isHitmap: true };
-  }
-  return hitmapProp;
-};
-
 export default function GLTFScene(props: Props) {
   const { children, model, ...rest } = props;
 
@@ -297,7 +288,7 @@ export default function GLTFScene(props: Props) {
   }
 
   return (
-    <Command {...rest} reglCommand={drawModel} getChildrenForHitmap={getChildrenForHitmap}>
+    <Command {...rest} reglCommand={drawModel} getChildrenForHitmap={getChildrenForHitmapWithOriginalMarker}>
       {{ ...children, model: loadedModel, originalMarker: children }}
     </Command>
   );
diff --git a/packages/regl-worldview/src/commands/Points.js b/packages/regl-worldview/src/commands/Points.js
index f5af1baae..704711d8e 100755
--- a/packages/regl-worldview/src/commands/Points.js
+++ b/packages/regl-worldview/src/commands/Points.js
@@ -63,6 +63,7 @@ const points = (regl: Regl) => {
   });
 };
 
+const getChildrenForHitmap = createInstancedGetChildrenForHitmap(1);
 export default function Points(props: { ...CommonCommandProps, children: PointType[] }) {
-  return <Command getChildrenForHitmap={createInstancedGetChildrenForHitmap(1)} {...props} reglCommand={points} />;
+  return <Command getChildrenForHitmap={getChildrenForHitmap} {...props} reglCommand={points} />;
 }
diff --git a/packages/regl-worldview/src/commands/Spheres.js b/packages/regl-worldview/src/commands/Spheres.js
index cc3da9170..d676b9997 100755
--- a/packages/regl-worldview/src/commands/Spheres.js
+++ b/packages/regl-worldview/src/commands/Spheres.js
@@ -56,6 +56,7 @@ for (let j = 0; j < NUM_MERIDIANS; j++) {
 
 const spheres = fromGeometry(points, faces);
 
+const getChildrenForHitmap = createInstancedGetChildrenForHitmap(1);
 export default function Spheres(props: { ...CommonCommandProps, children: SphereList[] }) {
-  return <Command getChildrenForHitmap={createInstancedGetChildrenForHitmap(1)} {...props} reglCommand={spheres} />;
+  return <Command getChildrenForHitmap={getChildrenForHitmap} {...props} reglCommand={spheres} />;
 }
diff --git a/packages/regl-worldview/src/commands/Triangles.js b/packages/regl-worldview/src/commands/Triangles.js
index d57a0fcf7..31bdf3440 100755
--- a/packages/regl-worldview/src/commands/Triangles.js
+++ b/packages/regl-worldview/src/commands/Triangles.js
@@ -149,15 +149,18 @@ const vertexColors = (regl) =>
 const triangles = (regl: Regl) => {
   const single = regl(singleColor(regl));
   const vertex = regl(vertexColors(regl));
-  return (props: any) => {
-    const items = Array.isArray(props) ? props : [props];
+  return (props: any, isHitmap: boolean) => {
+    const items: TriangleList[] = Array.isArray(props) ? props : [props];
     const singleColorItems = [];
     const vertexColorItems = [];
     items.forEach((item) => {
-      if (item.colors && item.colors.length) {
-        vertexColorItems.push(item);
-      } else {
-        singleColorItems.push(item);
+      // If the item has onlyRenderInHitmap set, only render it in the hitmap.
+      if (isHitmap || !item.onlyRenderInHitmap) {
+        if (item.colors && item.colors.length) {
+          vertexColorItems.push(item);
+        } else {
+          singleColorItems.push(item);
+        }
       }
     });
 
@@ -166,6 +169,7 @@ const triangles = (regl: Regl) => {
   };
 };
 
+const getChildrenForHitmap = createInstancedGetChildrenForHitmap(3);
 export default function Triangles(props: { ...CommonCommandProps, children: TriangleList[] }) {
-  return <Command getChildrenForHitmap={createInstancedGetChildrenForHitmap(3)} {...props} reglCommand={triangles} />;
+  return <Command getChildrenForHitmap={getChildrenForHitmap} {...props} reglCommand={triangles} />;
 }
diff --git a/packages/regl-worldview/src/stories/assertionStories/Triangles.stories.js b/packages/regl-worldview/src/stories/assertionStories/Triangles.stories.js
index 97e29692e..a051dd529 100644
--- a/packages/regl-worldview/src/stories/assertionStories/Triangles.stories.js
+++ b/packages/regl-worldview/src/stories/assertionStories/Triangles.stories.js
@@ -57,6 +57,11 @@ const stories = storiesOf("Integration/Triangles", module).addDecorator(withScre
 generateNonInstancedClickAssertions<TriangleList>("Triangle", Triangles, twoTrianglesInARow).forEach(
   ({ name, story }) => stories.add(name, story)
 );
+generateNonInstancedClickAssertions<TriangleList>(
+  "Triangle with onlyRenderInHitmap=true",
+  Triangles,
+  twoTrianglesInARow.map((triangle) => ({ ...triangle, onlyRenderInHitmap: true }))
+).forEach(({ name, story }) => stories.add(name, story));
 generateInstancedClickAssertions<TriangleList>("Triangle", Triangles, instancedTriangles).forEach(({ name, story }) =>
   stories.add(name, story)
 );
diff --git a/packages/regl-worldview/src/types/index.js b/packages/regl-worldview/src/types/index.js
index 20ff5a6ce..ed57eaf40 100755
--- a/packages/regl-worldview/src/types/index.js
+++ b/packages/regl-worldview/src/types/index.js
@@ -194,6 +194,8 @@ export type SphereList = BaseShape & {
 export type TriangleList = BaseShape & {
   points: (Point | Vec3)[],
   colors?: (Color | Vec4)[],
+  // Pass true to not render the triangles to the screen - just the hitmap.
+  onlyRenderInHitmap?: boolean,
 };
 
 export type PolygonType = BaseShape & {

From 126196097436ae2092c6f537f9854db4e5392dbe Mon Sep 17 00:00:00 2001
From: Robin Pham <robin.pham@gmail.com>
Date: Wed, 20 Nov 2019 10:38:07 -0800
Subject: [PATCH 08/50] A first take on stopPropagation within worldview (#268)

* stop propagation workin

* flow

* misleading test

* version bump, doc change
---
 docs/src/3.4.MouseEvents.mdx                  | 83 ++++++++++++++-----
 packages/regl-worldview/package.json          |  2 +-
 packages/regl-worldview/src/Worldview.js      | 28 ++++---
 .../DrawPolygon/PolygonBuilder.test.js        |  2 +-
 .../assertionStories/Worldview.stories.js     | 59 +++++++++++++
 packages/regl-worldview/src/types/index.js    |  2 +-
 6 files changed, 140 insertions(+), 36 deletions(-)

diff --git a/docs/src/3.4.MouseEvents.mdx b/docs/src/3.4.MouseEvents.mdx
index a3b9ef310..861649fad 100755
--- a/docs/src/3.4.MouseEvents.mdx
+++ b/docs/src/3.4.MouseEvents.mdx
@@ -1,17 +1,17 @@
-import { MouseEvents, MouseEventsInstanced } from './jsx/allLiveEditors';
+import { MouseEvents, MouseEventsInstanced } from "./jsx/allLiveEditors";
 
 # MouseEvents
 
 Currently Worldview supports the following mouse event handlers: `onDoubleClick`, `onMouseDown`, `onMouseUp`, `onMouseMove`, and `onClick`. When a supported DOM event is fired, the event handler will be triggered with the original event object and additional event information which can help build interactive views.
 
-| Name            | type              | Default | Description                                                                                                                                                              |
-| --------------- | ----------------- | ------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| `onDoubleClick` | `MouseHandler`    |         |                                                                                                                                                                          |
-| `onMouseDown`   | `MouseHandler`    |         |                                                                                                                                                                          |
-| `onMouseUp`     | `MouseHandler`    |         |                                                                                                                                                                          |
-| `onMouseMove`   | `MouseHandler`    |         | only available if the `hitmapOnMouseMove` prop is set to `true` on the Worldview component                                                                               |
-| `onClick`       | `MouseHandler`    |         |                                                                                                                                                                          |
-| `getChildrenForHitmap`     | `GetChildrenForHitmap` |         | Maps the `children` to props to be drawn on the hitmap. Optional, but required for any mouse interactions. Provided by default by all included Commands. See more below. |
+| Name                   | type                   | Default | Description                                                                                                                                                              |
+| ---------------------- | ---------------------- | ------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
+| `onDoubleClick`        | `MouseHandler`         |         |                                                                                                                                                                          |
+| `onMouseDown`          | `MouseHandler`         |         |                                                                                                                                                                          |
+| `onMouseUp`            | `MouseHandler`         |         |                                                                                                                                                                          |
+| `onMouseMove`          | `MouseHandler`         |         | only available if the `hitmapOnMouseMove` prop is set to `true` on the Worldview component                                                                               |
+| `onClick`              | `MouseHandler`         |         |                                                                                                                                                                          |
+| `getChildrenForHitmap` | `GetChildrenForHitmap` |         | Maps the `children` to props to be drawn on the hitmap. Optional, but required for any mouse interactions. Provided by default by all included Commands. See more below. |
 
 ## Event Handler
 
@@ -27,7 +27,6 @@ There are two kinds of event handlers:
 - `ray`: the raw raycasting information including `dir` (direction), `origin`, and `point` (all in `Vec3` format).
 - `objects`: an array of objects (`{ object, instanceIndex }`) from this command that you interacted with. There will always be at least one object. The `enableStackedObjectEvents` option must be set to `true` on `<Worldview>` for this handler to return more than one object.
 
-
 ```js
 <Worldview onClick={(evt, { objects }) => console.log("You clicked on", objects.length && objects[0].object.id)}>
   <Cubes onClick={(evt, { objects }) => console.log("You clicked on", objects[0].object.id)}>{cubes}</Cubes>
@@ -46,8 +45,9 @@ Example:
 ```js
 <Worldview>
   <Cubes
-    onClick={(evt, { objects }) => console.log(`You clicked on ${objects[0].object.id} at index ${objects[0].instanceIndex}`)}
-  >
+    onClick={(evt, { objects }) =>
+      console.log(`You clicked on ${objects[0].object.id} at index ${objects[0].instanceIndex}`)
+    }>
     {cubes}
   </Cubes>
 </Worldview>
@@ -59,23 +59,60 @@ How do we detect which object was interacted with? We use a process called picki
 
 The Worldview library allows a lot of control over this interaction, but most Commands can use one of three default `getChildrenForHitmap` functions.
 
-| Name                       | Description                                                                                                                                                                  | Usage                                                                                |
-| -------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------ |
-| `nonInstancedGetChildrenForHitmap`    | A default `getChildrenForHitmap` function for non-instanced commands.                                                                                                                   | `<Command getChildrenForHitmap={nonInstancedGetChildrenForHitmap} ... />`                                  |
-| `getChildrenForHitmapWithOriginalMarker`  | Almost identical to nonInstancedGetChildrenForHitmap, but instead the object passed to event callbacks is the object at `prop.originalMarker`, not just `prop`. This is useful for composing commands: see the code for `Arrows` for an example. | `<Command getChildrenForHitmap={getChildrenForHitmapWithOriginalMarker} ... />` |
-| `createInstancedGetChildrenForHitmap` | A factory function for instanced commands. It takes the number of points per instance: for example, a triangle has 3 points, whereas a sphere has 1 point (just the center). | `<Command getChildrenForHitmap={createInstancedGetChildrenForHitmap(1)} ... />` |
+| Name                                     | Description                                                                                                                                                                                                                                      | Usage                                                                           |
+| ---------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------------------------------------------------------------------- |
+| `nonInstancedGetChildrenForHitmap`       | A default `getChildrenForHitmap` function for non-instanced commands.                                                                                                                                                                            | `<Command getChildrenForHitmap={nonInstancedGetChildrenForHitmap} ... />`       |
+| `getChildrenForHitmapWithOriginalMarker` | Almost identical to nonInstancedGetChildrenForHitmap, but instead the object passed to event callbacks is the object at `prop.originalMarker`, not just `prop`. This is useful for composing commands: see the code for `Arrows` for an example. | `<Command getChildrenForHitmap={getChildrenForHitmapWithOriginalMarker} ... />` |
+| `createInstancedGetChildrenForHitmap`    | A factory function for instanced commands. It takes the number of points per instance: for example, a triangle has 3 points, whereas a sphere has 1 point (just the center).                                                                     | `<Command getChildrenForHitmap={createInstancedGetChildrenForHitmap(1)} ... />` |
 
 ##### Turning off interactivity for a layer
 
 All built in commands allow overriding the `getChildrenForHitmap` function, and we recommend that you also allow users to override it. If a user passes in `null` or `undefined` for `getChildrenForHitmap` in a command, any objects drawn by that command instance will not be visible for interaction purposes. Disabling interaction in this way may help improve performance.
 
+##### event.stopPropagation()
+
+`event.stopPropagation()` on Command Component Level Handlers will prevent other handlers from firing.
+
+```js
+/*
+  Command Component handler stopping the Worldview level one 
+*/
+<Worldview onClick={(evt, { objects }) => console.log("This wont fire")}>
+  <Cubes
+    onClick={(evt, { objects }) => {
+      evt.stopPropagation();
+      console.log("This will fire");
+    }}>
+    {cubes}
+  </Cubes>
+</Worldview>
+```
+
+```js
+/*
+  Command Component handler stopping another one (only happens when enableStackedObjectEvents={true})
+*/
+<Worldview enableStackedObjectEvents>
+  <Cubes
+    onClick={(evt, { objects }) => {
+      evt.stopPropagation();
+      console.log("This will fire");
+    }}>
+    {cubesInFront}
+  </Cubes>
+  <Cubes onClick={(evt, { objects }) => console.log("This wont fire")}>{cubesBehind}</Cubes>
+</Worldview>
+```
+
 ##### Customizing the getChildrenForHitmap function
 
 Each Command is passed the `reglCommand` function and `children`. Worldview compiles the `reglCommand` once by calling it with the `regl` object as an argument, and calls the resulting command each frame with `children`. `getChildrenForHitmap` takes in those `children` and returns new version of them that will be rendered into the hitmap.
 
 Some important things to remember:
- * The first argument of `getChildrenForHitmap` is the `children`.
- * The second argument is a function that helps us assign colors to each object. Each object or instance that you want to differentiate should receive a unique color, since these colors function as unique IDs.
+
+- The first argument of `getChildrenForHitmap` is the `children`.
+- The second argument is a function that helps us assign colors to each object. Each object or instance that you want to differentiate should receive a unique color, since these colors function as unique IDs.
+
 ```js
 /*
  * object: the object to pass to event callbacks when this object is interacted with.
@@ -84,8 +121,9 @@ Some important things to remember:
  */
 type AssignNextColorsFn = (object: Object, count: number) => Vec4[];
 ```
- *  * Each object that you want to support mouse events on requires a unique ID. If your command actually renders multiple items per input object (such as when using [instanced drawing](https://github.com/regl-project/regl/blob/gh-pages/example/instance-triangle.js)), you may want a separate ID for each item — in this case, call `assignNextColors` with a count gretaer than 1.
- * Once you have this ID, pass it to `intToRGB()` to get the color to paint your object. Don't apply any transparency or shading to your object or this will mess up the hitmap.
+
+- - Each object that you want to support mouse events on requires a unique ID. If your command actually renders multiple items per input object (such as when using [instanced drawing](https://github.com/regl-project/regl/blob/gh-pages/example/instance-triangle.js)), you may want a separate ID for each item — in this case, call `assignNextColors` with a count gretaer than 1.
+- Once you have this ID, pass it to `intToRGB()` to get the color to paint your object. Don't apply any transparency or shading to your object or this will mess up the hitmap.
 
 Example using composition of the default `getChildrenForHitmap` functions:
 
@@ -100,8 +138,7 @@ Example using composition of the default `getChildrenForHitmap` functions:
         hitmapProp.scale = { x: hitmapProps.scale.x * 1.1, y: hitmapProps.scale.y * 1.1, z: hitmapProps.scale.z * 1.1 };
       }
       return hitmapProps;
-    }}
-  >
+    }}>
     {points}
   </Points>
 </Worldview>
diff --git a/packages/regl-worldview/package.json b/packages/regl-worldview/package.json
index d4d67d93b..66256323b 100755
--- a/packages/regl-worldview/package.json
+++ b/packages/regl-worldview/package.json
@@ -1,6 +1,6 @@
 {
   "name": "regl-worldview",
-  "version": "0.2.5",
+  "version": "0.3.0",
   "description": "A reusable component for rendering 2D and 3D views using regl",
   "license": "Apache-2.0",
   "repository": "cruise-automation/webviz/tree/master/packages/regl-worldview",
diff --git a/packages/regl-worldview/src/Worldview.js b/packages/regl-worldview/src/Worldview.js
index 6ab2660e3..30fa292e1 100755
--- a/packages/regl-worldview/src/Worldview.js
+++ b/packages/regl-worldview/src/Worldview.js
@@ -62,7 +62,12 @@ type State = {|
   worldviewContext: WorldviewContext,
 |};
 
-function handleWorldviewMouseInteraction(objects: MouseEventObject[], ray: Ray, e: MouseEvent, handler: MouseHandler) {
+function handleWorldviewMouseInteraction(
+  objects: MouseEventObject[],
+  ray: Ray,
+  e: SyntheticMouseEvent<HTMLCanvasElement>,
+  handler: MouseHandler
+) {
   const args = { ray, objects };
 
   try {
@@ -158,20 +163,20 @@ export class WorldviewBase extends React.Component<BaseProps, State> {
     }
   }
 
-  _onDoubleClick = (e: MouseEvent) => {
+  _onDoubleClick = (e: SyntheticMouseEvent<HTMLCanvasElement>) => {
     this._onMouseInteraction(e, "onDoubleClick");
   };
 
-  _onMouseDown = (e: MouseEvent) => {
+  _onMouseDown = (e: SyntheticMouseEvent<HTMLCanvasElement>) => {
     this._dragStartPos = { x: e.clientX, y: e.clientY };
     this._onMouseInteraction(e, "onMouseDown");
   };
 
-  _onMouseMove = (e: MouseEvent) => {
+  _onMouseMove = (e: SyntheticMouseEvent<HTMLCanvasElement>) => {
     this._onMouseInteraction(e, "onMouseMove");
   };
 
-  _onMouseUp = (e: MouseEvent) => {
+  _onMouseUp = (e: SyntheticMouseEvent<HTMLCanvasElement>) => {
     this._onMouseInteraction(e, "onMouseUp");
     const { _dragStartPos } = this;
     if (_dragStartPos) {
@@ -185,7 +190,7 @@ export class WorldviewBase extends React.Component<BaseProps, State> {
     }
   };
 
-  _onMouseInteraction = (e: MouseEvent, mouseEventName: MouseEventEnum) => {
+  _onMouseInteraction = (e: SyntheticMouseEvent<HTMLCanvasElement>, mouseEventName: MouseEventEnum) => {
     const { worldviewContext } = this.state;
     const worldviewHandler = this.props[mouseEventName];
 
@@ -216,13 +221,16 @@ export class WorldviewBase extends React.Component<BaseProps, State> {
     worldviewContext
       .readHitmap(canvasX, canvasY, !!this.props.enableStackedObjectEvents, this.props.maxStackedObjectCount)
       .then((mouseEventsWithCommands) => {
-        if (worldviewHandler) {
-          const mouseEvents = mouseEventsWithCommands.map(([mouseEventObject]) => mouseEventObject);
-          handleWorldviewMouseInteraction(mouseEvents, ray, e, worldviewHandler);
-        }
         const mouseEventsByCommand: Map<Command, Array<MouseEventObject>> = aggregate(mouseEventsWithCommands);
         for (const [command, mouseEvents] of mouseEventsByCommand.entries()) {
           command.handleMouseEvent(mouseEvents, ray, e, mouseEventName);
+          if (e.isPropagationStopped()) {
+            break;
+          }
+        }
+        if (worldviewHandler && !e.isPropagationStopped()) {
+          const mouseEvents = mouseEventsWithCommands.map(([mouseEventObject]) => mouseEventObject);
+          handleWorldviewMouseInteraction(mouseEvents, ray, e, worldviewHandler);
         }
       })
       .catch((e) => {
diff --git a/packages/regl-worldview/src/commands/DrawPolygon/PolygonBuilder.test.js b/packages/regl-worldview/src/commands/DrawPolygon/PolygonBuilder.test.js
index 39c6bc9b1..c50e69e83 100644
--- a/packages/regl-worldview/src/commands/DrawPolygon/PolygonBuilder.test.js
+++ b/packages/regl-worldview/src/commands/DrawPolygon/PolygonBuilder.test.js
@@ -36,7 +36,7 @@ const getArgs: (number[], ?Object) => ReglClickInfo = (point, object) => {
   };
 };
 
-const event: (?boolean) => MouseEvent = (ctrlKey): any => ({
+const event: (?boolean) => SyntheticMouseEvent<HTMLCanvasElement> = (ctrlKey): any => ({
   ctrlKey,
   stopPropagation: () => {},
   preventDefault: () => {},
diff --git a/packages/regl-worldview/src/stories/assertionStories/Worldview.stories.js b/packages/regl-worldview/src/stories/assertionStories/Worldview.stories.js
index e9b8abaa2..1df83f210 100644
--- a/packages/regl-worldview/src/stories/assertionStories/Worldview.stories.js
+++ b/packages/regl-worldview/src/stories/assertionStories/Worldview.stories.js
@@ -26,6 +26,15 @@ const cube = {
   color: { r: 1, g: 0, b: 1, a: 0.5 },
 };
 
+const underCube = {
+  pose: {
+    orientation: { x: 0, y: 0, z: 0, w: 1 },
+    position: { x: 0, y: -30, z: 0 },
+  },
+  scale: { x: 10, y: 10, z: 10 },
+  color: { r: 0, g: 1, b: 1, a: 0.5 },
+};
+
 async function emitMouseEvent(eventName: "mousemove" | "mousedown" | "mouseup" | "dblclick"): Promise<void> {
   const [element] = document.getElementsByTagName("canvas");
   if (!element) {
@@ -175,4 +184,54 @@ stories
         expect(result[0].object).toEqual(cube);
       },
     })
+  )
+  .add(
+    `a component's mouse handlers can stop event propagation to worldview's global mouse handlers`,
+    assertionTest({
+      story: (setTestData) => (
+        <WorldviewWrapper onMouseDown={(_, { objects }) => setTestData([])}>
+          <Cubes
+            onMouseDown={(e, { objects }) => {
+              e.stopPropagation();
+              setTestData(objects);
+            }}>
+            {[cube]}
+          </Cubes>
+        </WorldviewWrapper>
+      ),
+      assertions: async (getTestData) => {
+        await emitMouseEvent("mousedown");
+        const result = await getTestData();
+        expect(result.length).toEqual(1);
+        expect(result[0].object).toEqual(cube);
+      },
+    })
+  )
+  .add(
+    `when there are overlapping objects from different commands, the command on top of the drawing layer can stop event propagation to other commands`,
+    assertionTest({
+      story: (setTestData) => (
+        <WorldviewWrapper enableStackedObjectEvents>
+          <Cubes
+            onMouseDown={(e, { objects }) => {
+              e.stopPropagation();
+              setTestData(objects);
+            }}>
+            {[cube]}
+          </Cubes>
+          <Cubes
+            onMouseDown={() => {
+              setTestData([]);
+            }}>
+            {[underCube]}
+          </Cubes>
+        </WorldviewWrapper>
+      ),
+      assertions: async (getTestData) => {
+        await emitMouseEvent("mousedown");
+        const result = await getTestData();
+        expect(result.length).toEqual(1);
+        expect(result[0].object).toEqual(cube);
+      },
+    })
   );
diff --git a/packages/regl-worldview/src/types/index.js b/packages/regl-worldview/src/types/index.js
index ed57eaf40..03f52b21d 100755
--- a/packages/regl-worldview/src/types/index.js
+++ b/packages/regl-worldview/src/types/index.js
@@ -110,7 +110,7 @@ export type ComponentReglClickInfo = {
   objects: Array<ClickedObject>,
 };
 
-export type MouseHandler = (MouseEvent, ReglClickInfo) => void;
+export type MouseHandler = (SyntheticMouseEvent<HTMLCanvasElement>, ReglClickInfo) => void;
 
 export type ComponentMouseHandler = (MouseEvent, ComponentReglClickInfo) => void;
 

From de0db289bad4e214d98d34887b4e4f27b95c0487 Mon Sep 17 00:00:00 2001
From: Jan Paul Posma <janpaul123@users.noreply.github.com>
Date: Thu, 21 Nov 2019 11:52:04 -0800
Subject: [PATCH 09/50] Move setupTestFramework.js to webviz-core package
 (#272)

So we can keep it in sync with our internal version more easily.
---
 jest/jest.config.js                                        | 2 +-
 .../webviz-core/src/test}/setupTestFramework.js            | 7 ++++++-
 2 files changed, 7 insertions(+), 2 deletions(-)
 rename {jest => packages/webviz-core/src/test}/setupTestFramework.js (89%)

diff --git a/jest/jest.config.js b/jest/jest.config.js
index 4926db2e4..194006e73 100644
--- a/jest/jest.config.js
+++ b/jest/jest.config.js
@@ -24,7 +24,7 @@ module.exports = {
     "<rootDir>/jest/configureEnzyme.js",
     "jest-canvas-mock",
   ],
-  setupTestFrameworkScriptFile: "<rootDir>/jest/setupTestFramework.js",
+  setupTestFrameworkScriptFile: "<rootDir>/packages/webviz-core/src/test/setupTestFramework.js",
   moduleNameMapper: {
     "worker-loader!./PngWorker.js": "<rootDir>/packages/webviz-core/src/test/MockWorker.js",
     "worker-loader!.*/UserNodePlayer/.+Worker":
diff --git a/jest/setupTestFramework.js b/packages/webviz-core/src/test/setupTestFramework.js
similarity index 89%
rename from jest/setupTestFramework.js
rename to packages/webviz-core/src/test/setupTestFramework.js
index a383a7bdb..217d4539c 100644
--- a/jest/setupTestFramework.js
+++ b/packages/webviz-core/src/test/setupTestFramework.js
@@ -1,8 +1,13 @@
 // @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
 
 import diff from "jest-diff";
 import { isEqual } from "lodash";
-import "react-hooks-testing-library/cleanup-after-each";
 
 // this file runs once jest has injected globals so you can modify the expect matchers
 global.expect.extend({

From a38a4d3b6cc46440692fe127bc2655e2e89799bc Mon Sep 17 00:00:00 2001
From: Jan Paul Posma <janpaul123@users.noreply.github.com>
Date: Thu, 21 Nov 2019 15:22:11 -0800
Subject: [PATCH 10/50] Update packages/webviz-core from internal repo (#273)

Changelog:
- Added a new "Flat" mode to the 3D panel topic picker. Now when playing multiple bags in the "Flat" mode, bag1 topics are grouped under `Bag` and bag2 topics are grouped under `Bag 2 /webviz_bag_2`. In the "Flat" mode, you can temporarily toggle the topic's visibility by clicking the eye icon next to the edit icon. This is the first step in the ongoing work to improve multi-bag comparison in the 3D panel.
- Sped up local bag reading by decompressing bag chunks ahead of playback.
- Added support for negative slices in the topic path syntax, e.g. to get the last element of an array.
- Added the ability to plot numerical values in Diagnostics - Detail panel.
- Added ability to pan, zoom and do auto zoom in imageView panel.
- Clicking on stacked objects is now automatically turned on in the 3D panel when playback is paused. If there are multiple clicked objects, the object id will be displayed in the context menu if available.
- Added ability to toggle visibility of Plot panel's legends.
- Implemented a workaround to runaway disk usage due to a Chrome bug, which has been causing very slow Webviz start up times. If possible, please clear out your local instance of IndexedDB on Webviz.
- Fixed image panel with synchronized markers not loading data when seeking, by increasing the amount of data we load when seeking.
- Fixed a `Time should never move backwards` error when seeking.
- Fixed negative numbers showing incorrect colors in the State Transitions panel. #271
---
 packages/webviz-core/package-lock.json        | 410 ++++++++++++-
 packages/webviz-core/package.json             |   5 +-
 packages/webviz-core/src/PanelAPI/index.js    |   1 +
 .../src/PanelAPI/useDataSourceInfo.js         |  19 +-
 .../src/PanelAPI/useDataSourceInfo.test.js    |  32 -
 packages/webviz-core/src/assets/Mark.svg      |   8 +
 .../src/components/AppMenu/index.js           |   2 +-
 .../src/components/Autocomplete.js            |   1 +
 .../webviz-core/src/components/Checkbox.js    |  51 +-
 .../src/components/ErrorBoundary.js           |   4 +-
 .../MessageHistory/MessageHistoryInput.js     |   4 +-
 .../MessageHistoryOnlyTopics.js               |  89 +--
 .../MessageHistory/getMessageHistoryItem.js   |  15 +-
 .../getMessageHistoryItem.test.js             |  35 ++
 .../src/components/MessageHistory/hooks.js    |  10 +
 .../components/MessageHistory/hooks.test.js   |  25 +
 .../src/components/MessageHistory/index.js    |   3 +-
 .../MessageHistory/index.stories.js           |   7 +-
 .../components/MessageHistory/index.test.js   |  98 +--
 .../MessageHistory/synchronizeMessages.js     |  94 ++-
 .../synchronizeMessages.test.js               | 120 +++-
 .../MessageHistory/topicPathSyntax.help.md    |   1 +
 .../MessageHistory/topicPrefixUtils.js        |  21 -
 .../MessageHistory/topicPrefixUtils.test.js   |  37 --
 .../warnOnOutOfSyncMessages.test.js           |   4 +-
 packages/webviz-core/src/components/Panel.js  | 126 +---
 .../src/components/Panel.module.scss          |  22 -
 .../webviz-core/src/components/Panel.test.js  |  22 +-
 .../src/components/PanelContext.js            |   1 -
 .../webviz-core/src/components/PanelLayout.js |   2 +-
 .../src/components/PanelToolbar/index.js      |   4 +-
 .../src/components/ShareJsonModal.js          |   4 +-
 .../src/components/TimeBasedChart/index.js    |  20 +-
 .../src/components/TopicToRenderMenu.js       |  23 +-
 .../components/TopicToRenderMenu.stories.js   |  34 +-
 .../webviz-core/src/components/Tree/Node.js   |   2 +-
 .../src/components/Tree/TreeNode.js           |  82 ++-
 .../webviz-core/src/components/Tree/index.js  |  20 +-
 .../src/components/Tree/index.module.scss     |  28 +-
 .../ApiCheckerDataProvider.test.js            | 193 +++---
 .../src/dataProviders/CombinedDataProvider.js |  38 +-
 .../dataProviders/MemoryCacheDataProvider.js  | 428 +++++++++++++
 .../MemoryCacheDataProvider.test.js           | 163 +++++
 .../ParseMessagesDataProvider.js              |  18 +-
 .../dataProviders/ReadAheadDataProvider.js    | 146 -----
 .../ReadAheadDataProvider.test.js             | 342 -----------
 .../WorkerDataProvider.worker.js              |   2 -
 .../src/dataProviders/rootGetDataProvider.js  |   4 +-
 .../standardDataProviderDescriptors.js        |   8 +-
 .../webviz-core/src/dataProviders/types.js    |   2 +-
 packages/webviz-core/src/globals.js.flow      |   2 +-
 packages/webviz-core/src/loadWebviz.js        |  47 +-
 .../src/panels/GlobalVariables/index.js       |  29 +-
 .../src/panels/ImageView/ImageCanvas.js       | 298 ++++++++-
 .../panels/ImageView/ImageCanvas.module.scss  |  75 ++-
 .../panels/ImageView/ImageCanvas.stories.js   |  30 +-
 .../src/panels/ImageView/index.help.md        |   8 +-
 .../webviz-core/src/panels/ImageView/index.js | 409 +++++++------
 .../webviz-core/src/panels/ImageView/util.js  |  24 +
 .../src/panels/NodePlayground/index.help.md   |  19 +-
 .../webviz-core/src/panels/PanelList/index.js |   2 +-
 .../webviz-core/src/panels/Plot/PlotChart.js  |  34 +-
 .../webviz-core/src/panels/Plot/PlotLegend.js | 212 ++++---
 .../src/panels/Plot/PlotLegend.module.scss    |  31 +-
 packages/webviz-core/src/panels/Plot/index.js | 127 ++--
 .../src/panels/Plot/index.stories.js          |  37 +-
 .../RawMessages/getValueActionForValue.js     |   8 +-
 .../getValueActionForValue.test.js            |  43 ++
 .../src/panels/StateTransitions/index.js      |   3 +-
 .../panels/StateTransitions/index.stories.js  |  19 +-
 .../Interactions/InteractionContextMenu.js    |  40 +-
 .../InteractionContextMenu.stories.js         |   2 +
 .../src/panels/ThreeDimensionalViz/Layout.js  | 193 ++++--
 .../ThreeDimensionalViz/Layout.module.scss    |  54 +-
 .../ThreeDimensionalViz/LayoutToolbar.js      |  15 +-
 .../TopicSelector/TopicDisplayModeSelector.js |  71 +++
 .../TopicSelector/TopicSelectorFlatList.js    | 127 ++++
 .../TopicSelector/TopicSelectorTree.js        |  92 +++
 .../TopicSelector/TopicSelectorWrapper.js     | 291 +++++++++
 .../TopicSelector/index.js                    | 347 +----------
 .../TopicSelector/topicTree.js                |  44 +-
 .../TopicSelector/treeBuilder.js              | 196 +++---
 .../src/panels/ThreeDimensionalViz/World.js   | 146 ++---
 .../__snapshots__/topicTreeUtils.test.js.snap | 159 +++++
 .../commands/LinedConvexHulls.js              |  26 +-
 .../commands/utils/index.js                   |  31 +-
 .../src/panels/ThreeDimensionalViz/index.js   |  44 +-
 .../threeDimensionalVizUtils.js               |   2 +-
 .../ThreeDimensionalViz/topicTreeUtils.js     | 211 +++++++
 .../topicTreeUtils.test.js                    | 570 ++++++++++++++++++
 .../panels/diagnostics/DiagnosticStatus.js    |  60 +-
 .../diagnostics/DiagnosticStatus.module.scss  |   8 +
 .../diagnostics/DiagnosticStatusPanel.js      |  15 +-
 .../panels/diagnostics/DiagnosticSummary.js   |  11 +-
 .../panels/diagnostics/DiagnosticsHistory.js  |  13 +-
 .../src/players/RandomAccessPlayer.js         |  18 +-
 .../src/players/RandomAccessPlayer.test.js    |  98 +--
 .../webviz-core/src/players/TestProvider.js   |  85 +++
 .../nodeTransformerWorker/transformer.js      |   2 +-
 .../automatedRun/AutomatedRunPlayer.js        | 287 +++++++++
 .../automatedRun/AutomatedRunPlayer.test.js   | 151 +++++
 .../performanceMeasuringClient.js             | 238 ++++++++
 .../performanceMeasuringClient.test.js        |  57 ++
 .../automatedRun/videoRecordingClient.js      | 102 ++++
 packages/webviz-core/src/reducers/auth.js     |   4 -
 .../webviz-core/src/reducers/auth.test.js     |  35 --
 packages/webviz-core/src/reducers/panels.js   |  10 +-
 .../webviz-core/src/reducers/panels.test.js   |  13 +-
 .../webviz-core/src/stories/PanelSetup.js     |  12 +-
 .../src/stories/PanelSetupWithBag.js          |   4 +-
 packages/webviz-core/src/test/setup.js        |   2 -
 .../src/test/setupTestFramework.js            |  28 +
 packages/webviz-core/src/types/panels.js      |   1 +
 packages/webviz-core/src/util.js              |   7 +
 packages/webviz-core/src/util.test.js         |  46 +-
 .../webviz-core/src/util/globalConstants.js   |   3 +
 .../src/util/indexeddb/Database.js            |   5 +
 .../src/util/indexeddb/Database.test.js       |  19 +
 .../src/util/indexeddb/clearIndexedDb.js      |  22 +-
 .../src/util/installDevtoolsFormatters.js     |   8 +-
 packages/webviz-core/src/util/ranges.js       |  17 +-
 packages/webviz-core/src/util/ranges.test.js  |  51 +-
 packages/webviz-core/src/util/reportError.js  |   1 +
 packages/webviz-core/src/util/selectors.js    |   6 +
 packages/webviz-core/src/util/sentry.js       |  30 -
 packages/webviz-core/src/util/time.js         |  12 +-
 126 files changed, 5926 insertions(+), 2503 deletions(-)
 create mode 100644 packages/webviz-core/src/assets/Mark.svg
 delete mode 100644 packages/webviz-core/src/components/MessageHistory/topicPrefixUtils.js
 delete mode 100644 packages/webviz-core/src/components/MessageHistory/topicPrefixUtils.test.js
 create mode 100644 packages/webviz-core/src/dataProviders/MemoryCacheDataProvider.js
 create mode 100644 packages/webviz-core/src/dataProviders/MemoryCacheDataProvider.test.js
 delete mode 100644 packages/webviz-core/src/dataProviders/ReadAheadDataProvider.js
 delete mode 100644 packages/webviz-core/src/dataProviders/ReadAheadDataProvider.test.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicDisplayModeSelector.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorFlatList.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorTree.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorWrapper.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/__snapshots__/topicTreeUtils.test.js.snap
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils.test.js
 create mode 100644 packages/webviz-core/src/players/TestProvider.js
 create mode 100644 packages/webviz-core/src/players/automatedRun/AutomatedRunPlayer.js
 create mode 100644 packages/webviz-core/src/players/automatedRun/AutomatedRunPlayer.test.js
 create mode 100644 packages/webviz-core/src/players/automatedRun/performanceMeasuringClient.js
 create mode 100644 packages/webviz-core/src/players/automatedRun/performanceMeasuringClient.test.js
 create mode 100644 packages/webviz-core/src/players/automatedRun/videoRecordingClient.js
 delete mode 100644 packages/webviz-core/src/reducers/auth.test.js
 delete mode 100644 packages/webviz-core/src/util/sentry.js

diff --git a/packages/webviz-core/package-lock.json b/packages/webviz-core/package-lock.json
index 777432a27..41f580576 100644
--- a/packages/webviz-core/package-lock.json
+++ b/packages/webviz-core/package-lock.json
@@ -29,6 +29,63 @@
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+      "resolved": "https://registry.npmjs.org/@sentry/core/-/core-5.7.1.tgz",
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+      "requires": {
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+        "@sentry/minimal": "5.7.1",
+        "@sentry/types": "5.7.1",
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+      "resolved": "https://registry.npmjs.org/@sentry/minimal/-/minimal-5.7.1.tgz",
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+      "requires": {
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+        "@sentry/types": "5.7.1",
+        "tslib": "^1.9.3"
+      }
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+    "@sentry/types": {
+      "version": "5.7.1",
+      "resolved": "https://registry.npmjs.org/@sentry/types/-/types-5.7.1.tgz",
+      "integrity": "sha512-tbUnTYlSliXvnou5D4C8Zr+7/wJrHLbpYX1YkLXuIJRU0NSi81bHMroAuHWILcQKWhVjaV/HZzr7Y/hhWtbXVQ=="
+    },
+    "@sentry/utils": {
+      "version": "5.7.1",
+      "resolved": "https://registry.npmjs.org/@sentry/utils/-/utils-5.7.1.tgz",
+      "integrity": "sha512-nhirUKj/qFLsR1i9kJ5BRvNyzdx/E2vorIsukuDrbo8e3iZ11JMgCOVrmC8Eq9YkHBqgwX4UnrPumjFyvGMZ2Q==",
+      "requires": {
+        "@sentry/types": "5.7.1",
+        "tslib": "^1.9.3"
+      }
+    },
     "@testing-library/react-hooks": {
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       "resolved": "https://registry.npmjs.org/@testing-library/react-hooks/-/react-hooks-1.1.0.tgz",
@@ -120,6 +177,48 @@
         "source-map": "^0.6.0"
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+      "resolved": "https://registry.npmjs.org/airbnb-prop-types/-/airbnb-prop-types-2.15.0.tgz",
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+      "requires": {
+        "array.prototype.find": "^2.1.0",
+        "function.prototype.name": "^1.1.1",
+        "has": "^1.0.3",
+        "is-regex": "^1.0.4",
+        "object-is": "^1.0.1",
+        "object.assign": "^4.1.0",
+        "object.entries": "^1.1.0",
+        "prop-types": "^15.7.2",
+        "prop-types-exact": "^1.2.0",
+        "react-is": "^16.9.0"
+      },
+      "dependencies": {
+        "prop-types": {
+          "version": "15.7.2",
+          "resolved": "https://registry.npmjs.org/prop-types/-/prop-types-15.7.2.tgz",
+          "integrity": "sha512-8QQikdH7//R2vurIJSutZ1smHYTcLpRWEOlHnzcWHmBYrOGUysKwSsrC89BCiFj3CbrfJ/nXFdJepOVrY1GCHQ==",
+          "requires": {
+            "loose-envify": "^1.4.0",
+            "object-assign": "^4.1.1",
+            "react-is": "^16.8.1"
+          }
+        },
+        "react-is": {
+          "version": "16.9.0",
+          "resolved": "https://registry.npmjs.org/react-is/-/react-is-16.9.0.tgz",
+          "integrity": "sha512-tJBzzzIgnnRfEm046qRcURvwQnZVXmuCbscxUO5RWrGTXpon2d4c8mI0D8WE6ydVIm29JiLB6+RslkIvym9Rjw=="
+        }
+      }
+    },
+    "amator": {
+      "version": "1.1.0",
+      "resolved": "https://registry.npmjs.org/amator/-/amator-1.1.0.tgz",
+      "integrity": "sha1-CMa2C8k67Cthu/wMTWd9MDI8wPE=",
+      "requires": {
+        "bezier-easing": "^2.0.3"
+      }
+    },
     "ansi-styles": {
       "version": "3.2.1",
       "resolved": "https://registry.npmjs.org/ansi-styles/-/ansi-styles-3.2.1.tgz",
@@ -156,6 +255,15 @@
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       "integrity": "sha1-r2rId6Jcx/dOBYiUdThY39sk/bY="
     },
+    "array.prototype.find": {
+      "version": "2.1.0",
+      "resolved": "https://registry.npmjs.org/array.prototype.find/-/array.prototype.find-2.1.0.tgz",
+      "integrity": "sha512-Wn41+K1yuO5p7wRZDl7890c3xvv5UBrfVXTVIe28rSQb6LS0fZMDrQB6PAcxQFRFy6vJTLDc3A2+3CjQdzVKRg==",
+      "requires": {
+        "define-properties": "^1.1.3",
+        "es-abstract": "^1.13.0"
+      }
+    },
     "asap": {
       "version": "2.0.6",
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@@ -215,6 +323,11 @@
       "resolved": "https://registry.npmjs.org/batch-processor/-/batch-processor-1.0.0.tgz",
       "integrity": "sha1-dclcMrdI4IUNEMKxaPa9vpiRrOg="
     },
+    "bezier-easing": {
+      "version": "2.1.0",
+      "resolved": "https://registry.npmjs.org/bezier-easing/-/bezier-easing-2.1.0.tgz",
+      "integrity": "sha1-wE3+i5JtbsrKGBPWn/F5t8ICXYY="
+    },
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@@ -354,6 +467,11 @@
         }
       }
     },
+    "consolidated-events": {
+      "version": "2.0.2",
+      "resolved": "https://registry.npmjs.org/consolidated-events/-/consolidated-events-2.0.2.tgz",
+      "integrity": "sha512-2/uRVMdRypf5z/TW/ncD/66l75P5hH2vM/GR8Jf8HLc2xnfJtmina6F6du8+v4Z2vTrMo7jC+W1tmEEuuELgkQ=="
+    },
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@@ -364,6 +482,14 @@
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+    "define-properties": {
+      "version": "1.1.3",
+      "resolved": "https://registry.npmjs.org/define-properties/-/define-properties-1.1.3.tgz",
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+      "requires": {
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+      }
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       "resolved": "https://registry.npmjs.org/discontinuous-range/-/discontinuous-range-1.0.0.tgz",
@@ -398,6 +524,14 @@
         }
       }
     },
+    "document.contains": {
+      "version": "1.0.1",
+      "resolved": "https://registry.npmjs.org/document.contains/-/document.contains-1.0.1.tgz",
+      "integrity": "sha512-A1KqlZq1w605bwiiLqVZehWE9S9UYlUXPoduFWi64pNVNQ9vy6wwH/7BS+iEfSlF1YyZgcg5PZw5HqDi7FCrUw==",
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@@ -481,6 +615,33 @@
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+    "es-abstract": {
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+      "resolved": "https://registry.npmjs.org/es-abstract/-/es-abstract-1.14.2.tgz",
+      "integrity": "sha512-DgoQmbpFNOofkjJtKwr87Ma5EW4Dc8fWhD0R+ndq7Oc456ivUfGOOP6oAZTTKl5/CcNMP+EN+e3/iUzgE0veZg==",
+      "requires": {
+        "es-to-primitive": "^1.2.0",
+        "function-bind": "^1.1.1",
+        "has": "^1.0.3",
+        "has-symbols": "^1.0.0",
+        "is-callable": "^1.1.4",
+        "is-regex": "^1.0.4",
+        "object-inspect": "^1.6.0",
+        "object-keys": "^1.1.1",
+        "string.prototype.trimleft": "^2.0.0",
+        "string.prototype.trimright": "^2.0.0"
+      }
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+    "es-to-primitive": {
+      "version": "1.2.0",
+      "resolved": "https://registry.npmjs.org/es-to-primitive/-/es-to-primitive-1.2.0.tgz",
+      "integrity": "sha512-qZryBOJjV//LaxLTV6UC//WewneB3LcXOL9NP++ozKVXsIIIpm/2c13UDiD9Jp2eThsecw9m3jPqDwTyobcdbg==",
+      "requires": {
+        "is-callable": "^1.1.4",
+        "is-date-object": "^1.0.1",
+        "is-symbol": "^1.0.2"
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@@ -1065,6 +1349,16 @@
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@@ -1324,6 +1618,35 @@
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@@ -1375,6 +1698,45 @@
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@@ -1869,6 +2264,11 @@
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diff --git a/packages/webviz-core/package.json b/packages/webviz-core/package.json
index d380277b3..7186aa2fd 100644
--- a/packages/webviz-core/package.json
+++ b/packages/webviz-core/package.json
@@ -6,6 +6,7 @@
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     "@mdi/svg": "3.2.89",
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@@ -29,9 +30,9 @@
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     "nearley": "2.15.1",
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     "react-monaco-editor": "0.28.0",
     "react-mosaic-component": "1.0.3",
+    "react-outside-click-handler": "1.2.4",
     "react-redux": "7.1.0",
+    "react-resize-detector": "4.2.1",
     "react-router": "5.0.1",
     "react-router-dom": "5.0.1",
     "react-select": "1.2.1",
diff --git a/packages/webviz-core/src/PanelAPI/index.js b/packages/webviz-core/src/PanelAPI/index.js
index c2e7965d1..ee373f96e 100644
--- a/packages/webviz-core/src/PanelAPI/index.js
+++ b/packages/webviz-core/src/PanelAPI/index.js
@@ -15,3 +15,4 @@ export { default as useDataSourceInfo } from "./useDataSourceInfo";
 export type { DataSourceInfo } from "./useDataSourceInfo";
 
 export { useMessages } from "webviz-core/src/components/MessageHistory/MessageHistoryOnlyTopics";
+export type { RequestedTopic } from "webviz-core/src/components/MessageHistory/MessageHistoryOnlyTopics";
diff --git a/packages/webviz-core/src/PanelAPI/useDataSourceInfo.js b/packages/webviz-core/src/PanelAPI/useDataSourceInfo.js
index 0b4f9bb98..ea7fb7dc0 100644
--- a/packages/webviz-core/src/PanelAPI/useDataSourceInfo.js
+++ b/packages/webviz-core/src/PanelAPI/useDataSourceInfo.js
@@ -6,12 +6,10 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import { useMemo, useContext, useCallback } from "react";
+import { useCallback } from "react";
 import { type Time } from "rosbag";
 
 import { useMessagePipeline } from "webviz-core/src/components/MessagePipeline";
-import PanelContext from "webviz-core/src/components/PanelContext";
-import filterMap from "webviz-core/src/filterMap";
 import { type Topic } from "webviz-core/src/players/types";
 import type { RosDatatypes } from "webviz-core/src/types/RosDatatypes";
 
@@ -26,9 +24,8 @@ export type DataSourceInfo = {|
 |};
 
 export default function useDataSourceInfo(): DataSourceInfo {
-  const { topicPrefix = "" } = useContext(PanelContext) || {};
   const datatypes = useMessagePipeline(useCallback(({ datatypes }) => datatypes, []));
-  const prefixedTopics = useMessagePipeline(useCallback(({ sortedTopics }) => sortedTopics, []));
+  const topics = useMessagePipeline(useCallback(({ sortedTopics }) => sortedTopics, []));
   const startTime = useMessagePipeline(
     useCallback(({ playerState: { activeData } }) => activeData && activeData.startTime, [])
   );
@@ -37,18 +34,8 @@ export default function useDataSourceInfo(): DataSourceInfo {
   );
   const capabilities = useMessagePipeline(useCallback(({ playerState: { capabilities } }) => capabilities, []));
 
-  const unprefixedTopics = useMemo(
-    () =>
-      topicPrefix
-        ? filterMap(prefixedTopics, ({ name, datatype }) =>
-            name.startsWith(topicPrefix) ? { name: name.slice(topicPrefix.length), datatype } : null
-          )
-        : prefixedTopics,
-    [topicPrefix, prefixedTopics]
-  );
-
   return {
-    topics: unprefixedTopics,
+    topics,
     datatypes,
     capabilities,
     startTime,
diff --git a/packages/webviz-core/src/PanelAPI/useDataSourceInfo.test.js b/packages/webviz-core/src/PanelAPI/useDataSourceInfo.test.js
index f7ed597d5..185f3cd17 100644
--- a/packages/webviz-core/src/PanelAPI/useDataSourceInfo.test.js
+++ b/packages/webviz-core/src/PanelAPI/useDataSourceInfo.test.js
@@ -11,7 +11,6 @@ import * as React from "react";
 
 import * as PanelAPI from ".";
 import { MockMessagePipelineProvider } from "webviz-core/src/components/MessagePipeline";
-import { MockPanelContextProvider } from "webviz-core/src/components/Panel";
 
 describe("useDataSourceInfo", () => {
   const topics = [{ name: "/foo", datatype: "Foo" }];
@@ -115,35 +114,4 @@ describe("useDataSourceInfo", () => {
 
     root.unmount();
   });
-
-  it("removes PanelContext.topicPrefix from topics", () => {
-    const Test = createTest();
-    const root = mount(
-      <MockPanelContextProvider topicPrefix={"/foo"}>
-        <MockMessagePipelineProvider
-          topics={[
-            { name: "/foo/abc", datatype: "FooAbc" },
-            { name: "/foo123", datatype: "Foo123" },
-            { name: "/bar/xyz", datatype: "BarXyz" },
-          ]}>
-          <Test />
-        </MockMessagePipelineProvider>
-      </MockPanelContextProvider>
-    );
-    expect(Test.renderFn.mock.calls).toEqual([
-      [
-        {
-          topics: [
-            { name: "123", datatype: "Foo123" }, // FIXME: prefixes probably shouldn't be stripped this way
-            { name: "/abc", datatype: "FooAbc" },
-          ],
-          datatypes: {},
-          capabilities: [],
-          startTime: { sec: 100, nsec: 0 },
-          endTime: { sec: 100, nsec: 0 },
-        },
-      ],
-    ]);
-    root.unmount();
-  });
 });
diff --git a/packages/webviz-core/src/assets/Mark.svg b/packages/webviz-core/src/assets/Mark.svg
new file mode 100644
index 000000000..4817be097
--- /dev/null
+++ b/packages/webviz-core/src/assets/Mark.svg
@@ -0,0 +1,8 @@
+<svg width="24" height="24" viewBox="0 0 24 24" fill="none" xmlns="http://www.w3.org/2000/svg">
+<path d="M11.9999 5.23712C10.9186 5.23712 10.042 4.28861 10.042 3.11856C10.042 1.94851 10.9186 1 11.9999 1C13.0812 1 13.9578 1.94851 13.9578 3.11856C13.9578 4.28861 13.0812 5.23712 11.9999 5.23712Z" fill="white"/>
+<path d="M4.95791 23.068C3.87659 23.068 3 22.1195 3 20.9494C3 19.7794 3.87659 18.8309 4.95791 18.8309C6.03923 18.8309 6.91582 19.7794 6.91582 20.9494C6.91582 22.1195 6.03923 23.068 4.95791 23.068Z" fill="white"/>
+<path d="M19.0419 23.068C17.9606 23.068 17.084 22.1195 17.084 20.9494C17.084 19.7794 17.9606 18.8309 19.0419 18.8309C20.1232 18.8309 20.9998 19.7794 20.9998 20.9494C20.9998 22.1195 20.1232 23.068 19.0419 23.068Z" fill="white"/>
+<path d="M7.49006 16.9745C7.28508 17.5159 6.71333 17.7749 6.21304 17.5531C5.71274 17.3313 5.47334 16.7127 5.67833 16.1713L9.13646 7.03864C9.34144 6.49729 9.91318 6.23825 10.4135 6.46005C10.9138 6.68186 11.1532 7.30051 10.9482 7.84186L7.49006 16.9745Z" fill="white"/>
+<path d="M16.4846 16.9745L13.0265 7.84186C12.8215 7.30051 13.0609 6.68186 13.5612 6.46005C14.0615 6.23825 14.6332 6.49729 14.8382 7.03864L18.2963 16.1713C18.5013 16.7127 18.2619 17.3313 17.7616 17.5531C17.2613 17.7749 16.6896 17.5159 16.4846 16.9745Z" fill="white"/>
+<path d="M9.40034 22.0087C8.85968 22.0087 8.42139 21.5345 8.42139 20.9494C8.42139 20.3644 8.85968 19.8902 9.40034 19.8902H14.876C15.4167 19.8902 15.855 20.3644 15.855 20.9494C15.855 21.5345 15.4167 22.0087 14.876 22.0087H9.40034Z" fill="white"/>
+</svg>
diff --git a/packages/webviz-core/src/components/AppMenu/index.js b/packages/webviz-core/src/components/AppMenu/index.js
index f063a485c..f96bd3f04 100644
--- a/packages/webviz-core/src/components/AppMenu/index.js
+++ b/packages/webviz-core/src/components/AppMenu/index.js
@@ -61,7 +61,7 @@ class UnconnectedAppMenu extends Component<Props, State> {
       newPanels = id;
     }
     if (panelConfig) {
-      savePanelConfig({ id, config: panelConfig });
+      savePanelConfig({ id, config: panelConfig, defaultConfig: {} });
     }
     changePanelLayout(newPanels);
     window.ga("send", "event", "Panel", "Select", panelType);
diff --git a/packages/webviz-core/src/components/Autocomplete.js b/packages/webviz-core/src/components/Autocomplete.js
index db0d984bd..c187359ed 100644
--- a/packages/webviz-core/src/components/Autocomplete.js
+++ b/packages/webviz-core/src/components/Autocomplete.js
@@ -290,6 +290,7 @@ export default class Autocomplete extends PureComponent<AutocompleteProps, Autoc
             <div
               key={itemValue}
               data-highlighted={isHighlighted}
+              data-test-auto-item
               className={cx(styles.autocompleteItem, {
                 [styles.highlighted]: isHighlighted,
                 [styles.selected]: selectedItemValue != null && itemValue === selectedItemValue,
diff --git a/packages/webviz-core/src/components/Checkbox.js b/packages/webviz-core/src/components/Checkbox.js
index d8da18d47..3194a1079 100644
--- a/packages/webviz-core/src/components/Checkbox.js
+++ b/packages/webviz-core/src/components/Checkbox.js
@@ -17,29 +17,40 @@ import { colors } from "webviz-core/src/util/colors";
 export const SCheckbox = styled.div`
   display: flex;
   align-items: center;
-  flex-direction: ${(props) => (props.isVertical ? "column" : "row")};
-  align-items: ${(props) => (props.isVertical ? "flex-start" : "center")};
+  flex-direction: ${(props) => (props.labelDirection === "top" ? "column" : "row")};
+  align-items: ${(props) => (props.labelDirection === "top" ? "flex-start" : "center")};
   color: ${(props) => (props.disabled ? colors.GRAY : colors.LIGHT1)};
   cursor: ${(props) => (props.disabled ? "not-allowed" : "pointer")};
 `;
 
 export const SLabel = styled.label`
-  margin: 6px;
-  margin: ${(props) => (props.isVertical ? "6px 6px 6px 0" : "6px")};
-  color: ${(props) => (props.disabled || props.isVertical ? colors.GRAY : colors.LIGHT1)};
+  margin: ${(props) => (props.labelDirection === "top" ? "6px 6px 6px 0" : "6px")};
+  color: ${(props) => (props.disabled || props.labelDirection === "top" ? colors.GRAY : colors.LIGHT1)};
 `;
 
 export type Props = {
   checked: boolean,
   disabled?: boolean,
   label: string,
+  labelStyle?: { [string]: string | number },
+  labelDirection?: "top" | "left" | "right",
   tooltip?: string,
   onChange: (newChecked: boolean) => void,
-  isVertical?: boolean,
   style?: { [string]: string | number },
+  dataTest?: string,
 };
 
-export default function Checkbox({ label, checked, tooltip, onChange, disabled, isVertical, style = {} }: Props) {
+export default function Checkbox({
+  label,
+  labelStyle,
+  labelDirection = "right",
+  checked,
+  tooltip,
+  onChange,
+  disabled,
+  style = {},
+  dataTest,
+}: Props) {
   const Component = checked ? CheckboxMarkedIcon : CheckboxBlankOutlineIcon;
   const onClick = React.useCallback(
     () => {
@@ -50,17 +61,27 @@ export default function Checkbox({ label, checked, tooltip, onChange, disabled,
     [checked, disabled, onChange]
   );
 
+  const styledLabel = (
+    <SLabel labelDirection={labelDirection} disabled={disabled} style={labelStyle}>
+      {label}
+    </SLabel>
+  );
+
+  if (labelDirection === "top") {
+    return (
+      <SCheckbox disabled={disabled} labelDirection={labelDirection} style={style}>
+        {styledLabel}
+      </SCheckbox>
+    );
+  }
+
   return (
-    <SCheckbox disabled={disabled} isVertical={isVertical} style={style}>
-      {isVertical && (
-        <SLabel isVertical={isVertical} disabled={disabled}>
-          {label}
-        </SLabel>
-      )}
-      <Icon small tooltip={tooltip} onClick={onClick}>
+    <SCheckbox disabled={disabled} labelDirection={labelDirection} style={style}>
+      {labelDirection === "left" && styledLabel}
+      <Icon small tooltip={tooltip} onClick={onClick} dataTest={dataTest}>
         <Component />
       </Icon>
-      {!isVertical && <SLabel disabled={disabled}>{label}</SLabel>}
+      {labelDirection === "right" && styledLabel}
     </SCheckbox>
   );
 }
diff --git a/packages/webviz-core/src/components/ErrorBoundary.js b/packages/webviz-core/src/components/ErrorBoundary.js
index 293e05179..9f0f35a1a 100644
--- a/packages/webviz-core/src/components/ErrorBoundary.js
+++ b/packages/webviz-core/src/components/ErrorBoundary.js
@@ -6,13 +6,13 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
+import * as Sentry from "@sentry/browser";
 import * as React from "react";
 import styled from "styled-components";
 
 import Button from "webviz-core/src/components/Button";
 import Flex from "webviz-core/src/components/Flex";
 import PanelToolbar from "webviz-core/src/components/PanelToolbar";
-import sentry from "webviz-core/src/util/sentry";
 
 const Heading = styled.div`
   font-size: 1.2em;
@@ -42,7 +42,7 @@ export default class ErrorBoundary extends React.Component<{ children: React.Nod
   };
 
   componentDidCatch(error: Error, errorInfo: any) {
-    sentry.captureException(error, {
+    Sentry.captureException(error, {
       extra: errorInfo,
     });
     this.setState({ error, errorInfo });
diff --git a/packages/webviz-core/src/components/MessageHistory/MessageHistoryInput.js b/packages/webviz-core/src/components/MessageHistory/MessageHistoryInput.js
index de355e388..bec7e3ba6 100644
--- a/packages/webviz-core/src/components/MessageHistory/MessageHistoryInput.js
+++ b/packages/webviz-core/src/components/MessageHistory/MessageHistoryInput.js
@@ -292,7 +292,7 @@ class MessageHistoryInputUnconnected extends React.PureComponent<MessageHistoryI
     const noHeaderStamp = topic && topicHasNoHeaderStamp(topic, datatypes);
 
     return (
-      <div style={{ display: "flex", flex: "1 1 auto", minWidth: 0 }}>
+      <div style={{ display: "flex", flex: "1 1 auto", minWidth: 0, justifyContent: "space-between" }}>
         <Autocomplete
           items={autocompleteItems}
           filterText={autocompleteFilterText}
@@ -314,7 +314,7 @@ class MessageHistoryInputUnconnected extends React.PureComponent<MessageHistoryI
               onChange={this._onTimestampMethodChange}
               value={timestampMethod}
               toggleComponent={
-                <Tooltip contents="Timestamp used for x-axis" placement="right">
+                <Tooltip contents="Timestamp used for x-axis" placement="top">
                   <div
                     className={cx({
                       [styles.timestampMethodDropdown]: true,
diff --git a/packages/webviz-core/src/components/MessageHistory/MessageHistoryOnlyTopics.js b/packages/webviz-core/src/components/MessageHistory/MessageHistoryOnlyTopics.js
index 3965f7080..532e174ca 100644
--- a/packages/webviz-core/src/components/MessageHistory/MessageHistoryOnlyTopics.js
+++ b/packages/webviz-core/src/components/MessageHistory/MessageHistoryOnlyTopics.js
@@ -11,13 +11,7 @@ import { type Node, useRef, useCallback, useMemo, useState, useEffect, useContex
 import type { Time } from "rosbag";
 import uuid from "uuid";
 
-import {
-  useChangeDetector,
-  useShallowMemo,
-  useMustNotChange,
-  useShouldNotChangeOften,
-  useContextSelector,
-} from "./hooks";
+import { useChangeDetector, useShouldNotChangeOften, useContextSelector, useDeepMemo } from "./hooks";
 import { useMessagePipeline } from "webviz-core/src/components/MessagePipeline";
 import PanelContext from "webviz-core/src/components/PanelContext";
 import type { Message, SubscribePayload } from "webviz-core/src/players/types";
@@ -34,10 +28,10 @@ type MessageHistoryOnlyTopicsData<T> = {|
 |};
 
 type MessageReducer<T> = (T, message: Message) => T;
+export type RequestedTopic = string | {| topic: string, imageScale: number |};
 
 type Props<T> = {|
-  topics: string[],
-  imageScale?: number,
+  topics: $ReadOnlyArray<RequestedTopic>,
 
   // Functions called when the reducers change and for each newly received message.
   // The object is assumed to be immutable, so in order to trigger a re-render, the reducers must
@@ -74,59 +68,35 @@ function useReducedValue<T>(
 
   // Use the addMessage reducer to process new messages.
   if (messagesChanged) {
-    reducedValueRef.current = messages.reduce(addMessage, reducedValueRef.current);
+    reducedValueRef.current = messages.reduce(
+      // .reduce() passes 4 args to callback function,
+      // but we want to call addMessage with only first 2 args
+      (value: T, message: Message) => addMessage(value, message),
+      reducedValueRef.current
+    );
   }
 
   return reducedValueRef.current;
 }
 
-// Create modified versions of topics and addMessage to support topic prefixes.
-function useTopicPrefix<T>(
-  topicPrefix: string,
-  unprefixedRequestedTopics: string[],
-  unprefixedAddMessage: MessageReducer<T>
-): [string[], MessageReducer<T>] {
-  const memoizedUnprefixedRequestedTopics = useShallowMemo(unprefixedRequestedTopics);
-  const requestedTopics = useMemo(
-    () => {
-      return memoizedUnprefixedRequestedTopics.map((topic) => topicPrefix + topic);
-    },
-    [topicPrefix, memoizedUnprefixedRequestedTopics]
-  );
-
-  const addMessage = useCallback(
-    (value: T, message) =>
-      message.topic.startsWith(topicPrefix)
-        ? unprefixedAddMessage(value, {
-            ...message,
-            topic: message.topic.slice(topicPrefix.length),
-          })
-        : value,
-    [unprefixedAddMessage, topicPrefix]
-  );
-
-  return [requestedTopics, addMessage];
-}
-
 // Compute the subscriptions to be requested from the player.
-function useSubscriptions(requestedTopics: string[], imageScale?: ?number, panelType?: ?string): SubscribePayload[] {
-  useMustNotChange(imageScale, "Changing imageScale is not supported; please remount instead.");
+function useSubscriptions(requestedTopics: $ReadOnlyArray<RequestedTopic>, panelType?: ?string): SubscribePayload[] {
   return useMemo(
     () => {
-      let encodingAndScalePayload = {};
-      if (imageScale !== undefined) {
-        // We might be able to remove the `encoding` field from the protocol entirely, and only
-        // use scale. Or we can deal with scaling down in a different way altogether, such as having
-        // special topics or syntax for scaled down versions of images or so. In any case, we should
-        // be cautious about having metadata on subscriptions, as that leads to the problem of how to
-        // deal with multiple subscriptions to the same topic but with different metadata.
-        encodingAndScalePayload = { encoding: "image/compressed", scale: imageScale };
-      }
-
       const requester = panelType ? { type: "panel", name: panelType } : undefined;
-      return requestedTopics.map((topic) => ({ topic, requester, ...encodingAndScalePayload }));
+      return requestedTopics.map((request) => {
+        if (typeof request === "object") {
+          // We might be able to remove the `encoding` field from the protocol entirely, and only
+          // use scale. Or we can deal with scaling down in a different way altogether, such as having
+          // special topics or syntax for scaled down versions of images or so. In any case, we should
+          // be cautious about having metadata on subscriptions, as that leads to the problem of how to
+          // deal with multiple subscriptions to the same topic but with different metadata.
+          return { topic: request.topic, requester, encoding: "image/compressed", scale: request.imageScale };
+        }
+        return { topic: request, requester };
+      });
     },
-    [requestedTopics, imageScale, panelType]
+    [requestedTopics, panelType]
   );
 }
 
@@ -135,7 +105,7 @@ const NO_MESSAGES = Object.freeze([]);
 // TODO: remove clearedRef and just return T
 export function useMessages<T>(props: Props<T>): {| reducedValue: T, _clearedRef: {| current: boolean |} |} {
   const [id] = useState(() => uuid.v4());
-  const { topicPrefix = "", type: panelType = undefined } = useContext(PanelContext) || {};
+  const { type: panelType = undefined } = useContext(PanelContext) || {};
 
   useShouldNotChangeOften(
     props.restore,
@@ -150,11 +120,12 @@ export function useMessages<T>(props: Props<T>): {| reducedValue: T, _clearedRef
       "shouldn't be created on each render. (If you're using Hooks, try useCallback.)"
   );
 
-  // TODO(jacob): is it safe to call restore() when topicPrefix changes?
-  const [requestedTopics, addMessage] = useTopicPrefix<T>(topicPrefix, props.topics, props.addMessage);
-  const requestedTopicsSet = useMemo(() => new Set(requestedTopics), [requestedTopics]);
-
-  const subscriptions = useSubscriptions(requestedTopics, props.imageScale, panelType);
+  const requestedTopics = useDeepMemo(props.topics);
+  const requestedTopicsSet = useMemo(
+    () => new Set(requestedTopics.map((req) => (typeof req === "object" ? req.topic : req))),
+    [requestedTopics]
+  );
+  const subscriptions = useSubscriptions(requestedTopics, panelType);
   const setSubscriptions = useMessagePipeline(useCallback(({ setSubscriptions }) => setSubscriptions, []));
   useEffect(() => setSubscriptions(id, subscriptions), [id, setSubscriptions, subscriptions]);
   useCleanup(() => setSubscriptions(id, []));
@@ -187,7 +158,7 @@ export function useMessages<T>(props: Props<T>): {| reducedValue: T, _clearedRef
   );
 
   const clearedRef = useRef(false);
-  const reducedValue = useReducedValue<T>(props.restore, addMessage, lastSeekTime, messages, clearedRef);
+  const reducedValue = useReducedValue<T>(props.restore, props.addMessage, lastSeekTime, messages, clearedRef);
   return { reducedValue, _clearedRef: clearedRef };
 }
 
diff --git a/packages/webviz-core/src/components/MessageHistory/getMessageHistoryItem.js b/packages/webviz-core/src/components/MessageHistory/getMessageHistoryItem.js
index 0b2a3632a..a5daf7743 100644
--- a/packages/webviz-core/src/components/MessageHistory/getMessageHistoryItem.js
+++ b/packages/webviz-core/src/components/MessageHistory/getMessageHistoryItem.js
@@ -100,7 +100,8 @@ export default function getMessageHistoryItem(
     } else if (pathItem.type === "slice" && structureItem.structureType === "array") {
       // If the `pathItem` is a slice, iterate over all the relevant elements in the array.
       for (let i = pathItem.start; i <= Math.min(pathItem.end, value.length - 1); i++) {
-        if (value[i] === undefined) {
+        const index = i >= 0 ? i : value.length + i;
+        if (value[index] === undefined) {
           continue;
         }
         // Ideally show something like `/topic.object[:]{some_id=123}` for the path, but fall
@@ -111,15 +112,19 @@ export default function getMessageHistoryItem(
           // If we have a filter set after this, it will update the path appropriately.
           newPath = `${path}[:]`;
         } else {
-          // See if `value[i]` has a property that we typically filter on. If so, show that.
-          const name = Object.keys(value[i]).find((key) => isTypicalFilterName(key));
+          // See if `value[index]` has a property that we typically filter on. If so, show that.
+          const name = Object.keys(value[index]).find((key) => isTypicalFilterName(key));
           if (name) {
-            newPath = `${path}[:]{${name}==${value[i][name]}}`;
+            newPath = `${path}[:]{${name}==${value[index][name]}}`;
           } else {
+            // Use `i` here instead of `index`, since it's only different when `i` is negative,
+            // and in that case it's probably more useful to show to the user how many elements
+            // from the end of the array this data is, since they clearly are thinking in that way
+            // (otherwise they wouldn't have chosen a negative slice).
             newPath = `${path}[${i}]`;
           }
         }
-        traverse(value[i], pathIndex + 1, newPath, structureItem.next);
+        traverse(value[index], pathIndex + 1, newPath, structureItem.next);
       }
     } else if (pathItem.type === "filter") {
       if (filterMatches(pathItem, value, globalVariables)) {
diff --git a/packages/webviz-core/src/components/MessageHistory/getMessageHistoryItem.test.js b/packages/webviz-core/src/components/MessageHistory/getMessageHistoryItem.test.js
index 803874c7c..48618222c 100644
--- a/packages/webviz-core/src/components/MessageHistory/getMessageHistoryItem.test.js
+++ b/packages/webviz-core/src/components/MessageHistory/getMessageHistoryItem.test.js
@@ -141,6 +141,41 @@ describe("getMessageHistoryItem", () => {
     ]);
   });
 
+  it("works with negative slices", () => {
+    const messages: Message[] = [
+      {
+        op: "message",
+        topic: "/some/topic",
+        datatype: "some_datatype",
+        receiveTime: { sec: 0, nsec: 0 },
+        message: { some_array: [1, 2, 3, 4, 5] },
+      },
+    ];
+    const topics: Topic[] = [{ name: "/some/topic", datatype: "some_datatype" }];
+    const datatypes: RosDatatypes = { some_datatype: [{ name: "some_array", type: "int32", isArray: true }] };
+
+    expect(
+      addValuesWithPathsToItems(
+        messages,
+        {
+          topicName: "/some/topic",
+          messagePath: [{ type: "name", name: "some_array" }, { type: "slice", start: -2, end: -1 }],
+          modifier: undefined,
+        },
+        topics,
+        datatypes
+      )
+    ).toEqual([
+      {
+        message: messages[0],
+        queriedData: [
+          { constantName: undefined, path: "/some/topic.some_array[-2]", value: 4 },
+          { constantName: undefined, path: "/some/topic.some_array[-1]", value: 5 },
+        ],
+      },
+    ]);
+  });
+
   it("returns nothing for invalid topics", () => {
     const messages: Message[] = [
       {
diff --git a/packages/webviz-core/src/components/MessageHistory/hooks.js b/packages/webviz-core/src/components/MessageHistory/hooks.js
index 02f58f3d8..a910f8bc5 100644
--- a/packages/webviz-core/src/components/MessageHistory/hooks.js
+++ b/packages/webviz-core/src/components/MessageHistory/hooks.js
@@ -37,6 +37,16 @@ export function useShallowMemo<T>(value: T): T {
   return value;
 }
 
+// Continues to return the same instance as long as deep equality is maintained.
+export function useDeepMemo<T>(value: T): T {
+  const ref = useRef(value);
+  if (isEqual(value, ref.current)) {
+    return ref.current;
+  }
+  ref.current = value;
+  return value;
+}
+
 function format(value: any): string {
   try {
     return JSON.stringify(value);
diff --git a/packages/webviz-core/src/components/MessageHistory/hooks.test.js b/packages/webviz-core/src/components/MessageHistory/hooks.test.js
index c053185af..53a2a8c0e 100644
--- a/packages/webviz-core/src/components/MessageHistory/hooks.test.js
+++ b/packages/webviz-core/src/components/MessageHistory/hooks.test.js
@@ -20,6 +20,7 @@ import {
   useContextSelector,
   type SelectableContext,
   useReducedValue,
+  useDeepMemo,
 } from "./hooks";
 
 describe("useChangeDetector", () => {
@@ -113,6 +114,30 @@ describe("useShallowMemo", () => {
   });
 });
 
+describe("useDeepMemo", () => {
+  it("returns original object when deep equal", () => {
+    let obj = { x: 1 };
+    const { result, rerender } = renderHook((val) => useDeepMemo(val), { initialProps: obj });
+    expect(result.current).toBe(obj);
+    rerender({ x: 1 });
+    expect(result.current).toBe(obj);
+
+    obj = ["abc", 123];
+    rerender(obj);
+    expect(result.current).toBe(obj);
+    rerender(["abc", 123]);
+    expect(result.current).toBe(obj);
+
+    obj = ["abc", { x: 1 }];
+    rerender(obj);
+    expect(result.current).toBe(obj);
+    rerender(["abc", { x: 1 }]);
+    expect(result.current).toBe(obj);
+    rerender(["abc", { x: 2 }]);
+    expect(result.current).not.toBe(obj);
+  });
+});
+
 describe("useMustNotChange", () => {
   it("throws when value changes", () => {
     const { result, rerender } = renderHook((val) => useMustNotChange(val, "hi"), { initialProps: 1 });
diff --git a/packages/webviz-core/src/components/MessageHistory/index.js b/packages/webviz-core/src/components/MessageHistory/index.js
index 5711e6986..50c49df71 100644
--- a/packages/webviz-core/src/components/MessageHistory/index.js
+++ b/packages/webviz-core/src/components/MessageHistory/index.js
@@ -302,8 +302,7 @@ export default React.memo<Props>(function MessageHistory({ children, paths, hist
 
   return (
     <MessageHistoryOnlyTopics
-      imageScale={imageScale}
-      topics={topics}
+      topics={imageScale == null ? topics : topics.map((topic) => ({ topic, imageScale }))}
       restore={restore}
       addMessage={addMessage}
       key={imageScale /* need to remount when imageScale changes */}>
diff --git a/packages/webviz-core/src/components/MessageHistory/index.stories.js b/packages/webviz-core/src/components/MessageHistory/index.stories.js
index 2956ed557..f41417bdd 100644
--- a/packages/webviz-core/src/components/MessageHistory/index.stories.js
+++ b/packages/webviz-core/src/components/MessageHistory/index.stories.js
@@ -66,11 +66,11 @@ const clickInput = (el) => {
   }
 };
 
-function MessageHistoryInputStory(props: {| path: string, topicPrefix?: string |}) {
+function MessageHistoryInputStory(props: {| path: string |}) {
   const [path, setPath] = React.useState(props.path);
 
   return (
-    <MockPanelContextProvider topicPrefix={props.topicPrefix}>
+    <MockPanelContextProvider>
       <PanelSetup fixture={fixture} onMount={clickInput}>
         <Flex style={{ margin: "10px" }}>
           <MessageHistoryInput path={path} onChange={(newPath) => setPath(newPath)} timestampMethod="receiveTime" />
@@ -85,9 +85,6 @@ storiesOf("<MessageHistoryInput>", module)
   .add("autocomplete topics", () => {
     return <MessageHistoryInputStory path="/" />;
   })
-  .add("autocomplete topics with topicPrefix", () => {
-    return <MessageHistoryInputStory path="/" topicPrefix="/some_topic" />;
-  })
   .add("autocomplete messagePath", () => {
     return <MessageHistoryInputStory path="/some_topic/location.po" />;
   })
diff --git a/packages/webviz-core/src/components/MessageHistory/index.test.js b/packages/webviz-core/src/components/MessageHistory/index.test.js
index 6f95624fb..dd7215ecf 100644
--- a/packages/webviz-core/src/components/MessageHistory/index.test.js
+++ b/packages/webviz-core/src/components/MessageHistory/index.test.js
@@ -12,22 +12,14 @@ import { last } from "lodash";
 import React from "react";
 
 import MessageHistory from ".";
-import { datatypes, messages, dualInputMessages } from "./fixture";
+import { datatypes, messages } from "./fixture";
 import { setGlobalVariables } from "webviz-core/src/actions/panels";
 import { MockMessagePipelineProvider } from "webviz-core/src/components/MessagePipeline";
-import { MockPanelContextProvider } from "webviz-core/src/components/Panel";
 import createRootReducer from "webviz-core/src/reducers";
 import configureStore from "webviz-core/src/store/configureStore.testing";
-import { SECOND_BAG_PREFIX } from "webviz-core/src/util/globalConstants";
 
 const singleTopic = [{ name: "/some/topic", datatype: "some/datatype" }];
 
-const allTopics = [
-  { name: "/some/topic", datatype: "some/datatype" },
-  { name: "/other/topic", datatype: "some/datatype" },
-  { name: "/webviz_bag_2/some/topic", datatype: "some/datatype" },
-];
-
 describe("<MessageHistory />", () => {
   it("passes through children", () => {
     const provider = mount(
@@ -546,92 +538,4 @@ describe("<MessageHistory />", () => {
     });
     expect(itemsByPath1).toBe(itemsByPath2);
   });
-
-  describe("setting topicPrefix", () => {
-    it("filters topics and strips topic names using topicPrefix", () => {
-      const childFn1 = jest.fn((x) => null);
-
-      const renderDualInputMessageHistory = () => {
-        return (
-          <MockMessagePipelineProvider
-            topics={allTopics}
-            datatypes={datatypes}
-            messages={messages.concat(dualInputMessages)}>
-            <MessageHistory paths={["/some/topic"]}>{childFn1}</MessageHistory>
-          </MockMessagePipelineProvider>
-        );
-      };
-      mount(
-        <MockPanelContextProvider topicPrefix={SECOND_BAG_PREFIX}>
-          {renderDualInputMessageHistory()}
-        </MockPanelContextProvider>
-      );
-
-      const secondBagPrefixResults = childFn1.mock.calls[0][0].itemsByPath;
-
-      expect(secondBagPrefixResults).toEqual({
-        "/some/topic": dualInputMessages.map((msg) =>
-          expect.objectContaining({
-            message: { ...msg, topic: msg.topic.slice(SECOND_BAG_PREFIX.length) },
-          })
-        ),
-      });
-    });
-
-    it("will send correctly filtered and stripped topics to MessageHistory components with different topicPrefixes", () => {
-      const noPrefixRenderer = jest.fn((x) => null);
-      const secondBagPrefixRenderer = jest.fn((x) => null);
-
-      const provider = mount(
-        <MockMessagePipelineProvider topics={allTopics} datatypes={datatypes} messages={[]}>
-          <MockPanelContextProvider topicPrefix="">
-            <MessageHistory paths={["/some/topic"]}>{noPrefixRenderer}</MessageHistory>
-          </MockPanelContextProvider>
-          <MockPanelContextProvider topicPrefix={SECOND_BAG_PREFIX}>
-            <MessageHistory paths={["/some/topic"]}>{secondBagPrefixRenderer}</MessageHistory>;
-          </MockPanelContextProvider>
-        </MockMessagePipelineProvider>
-      );
-      provider.setProps({ messages: messages.concat(dualInputMessages) });
-
-      const noPrefixResults = last(noPrefixRenderer.mock.calls)[0].itemsByPath;
-      const secondBagPrefixResults = last(secondBagPrefixRenderer.mock.calls)[0].itemsByPath;
-      expect(noPrefixResults["/some/topic"].map((item) => item.message)).toEqual(messages);
-      expect(secondBagPrefixResults["/some/topic"].map((item) => item.message)).toEqual(
-        dualInputMessages.map((msg) => {
-          delete msg.queriedData;
-          return { ...msg, topic: msg.topic.slice(SECOND_BAG_PREFIX.length) };
-        })
-      );
-    });
-
-    it("sets subscriptions on topics with topicPrefix, and changes subscription when changing topicPrefix", () => {
-      const setSubscriptionsFn = jest.fn((x) => undefined);
-
-      const renderDualInputMessageHistory = () => {
-        return (
-          <MockMessagePipelineProvider
-            topics={allTopics}
-            datatypes={datatypes}
-            messages={messages.concat(dualInputMessages)}
-            setSubscriptions={setSubscriptionsFn}>
-            <MessageHistory paths={["/some/topic"]}>{() => null}</MessageHistory>
-          </MockMessagePipelineProvider>
-        );
-      };
-
-      const provider = mount(
-        <MockPanelContextProvider topicPrefix={SECOND_BAG_PREFIX}>
-          {renderDualInputMessageHistory()}
-        </MockPanelContextProvider>
-      );
-
-      provider.setProps({ topicPrefix: "" });
-
-      expect(setSubscriptionsFn.mock.calls).toEqual([
-        [expect.any(String), [expect.objectContaining({ topic: `${SECOND_BAG_PREFIX}/some/topic` })]],
-        [expect.any(String), [expect.objectContaining({ topic: "/some/topic" })]],
-      ]);
-    });
-  });
 });
diff --git a/packages/webviz-core/src/components/MessageHistory/synchronizeMessages.js b/packages/webviz-core/src/components/MessageHistory/synchronizeMessages.js
index d6deea1b4..d15e56a6f 100644
--- a/packages/webviz-core/src/components/MessageHistory/synchronizeMessages.js
+++ b/packages/webviz-core/src/components/MessageHistory/synchronizeMessages.js
@@ -6,14 +6,14 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import get from "lodash/get";
+import { get, mapValues } from "lodash";
 import { TimeUtil, type Time } from "rosbag";
 
 import type { MessageHistoryItemsByPath } from ".";
 import type { Message } from "webviz-core/src/players/types";
 
 // Get all timestamps of all messages, newest first
-function allStampsNewestFirst(
+function allItemStampsNewestFirst(
   itemsByPath: MessageHistoryItemsByPath,
   getHeaderStamp?: (itemMessage: Message) => ?Time
 ): Time[] {
@@ -29,9 +29,21 @@ function allStampsNewestFirst(
   }
   return stamps.sort((a, b) => -TimeUtil.compare(a, b));
 }
+function allMessageStampsNewestFirst(messagesByTopic: { [topic: string]: Message[] }) {
+  const stamps = [];
+  for (const topic in messagesByTopic) {
+    for (const { message } of messagesByTopic[topic]) {
+      const stamp = get(message, ["header", "stamp"]);
+      if (stamp) {
+        stamps.push(stamp);
+      }
+    }
+  }
+  return stamps.sort((a, b) => -TimeUtil.compare(a, b));
+}
 
 // Get a subset of items matching a particular timestamp
-function messagesMatchingStamp(
+function itemsMatchingStamp(
   stamp: Time,
   itemsByPath: MessageHistoryItemsByPath,
   getHeaderStamp?: (itemMessage: Message) => ?Time
@@ -62,11 +74,83 @@ export default function synchronizeMessages(
   itemsByPath: MessageHistoryItemsByPath,
   getHeaderStamp?: (itemMessage: Message) => ?Time
 ): ?MessageHistoryItemsByPath {
-  for (const stamp of allStampsNewestFirst(itemsByPath, getHeaderStamp)) {
-    const synchronizedItemsByPath = messagesMatchingStamp(stamp, itemsByPath, getHeaderStamp);
+  for (const stamp of allItemStampsNewestFirst(itemsByPath, getHeaderStamp)) {
+    const synchronizedItemsByPath = itemsMatchingStamp(stamp, itemsByPath, getHeaderStamp);
     if (synchronizedItemsByPath) {
       return synchronizedItemsByPath;
     }
   }
   return null;
 }
+
+function getSynchronizedMessages(
+  stamp: Time,
+  topics: $ReadOnlyArray<string>,
+  messages: { [topic: string]: Message[] }
+): ?{ [topic: string]: Message } {
+  const synchronizedMessages = {};
+  for (const topic of topics) {
+    const matchingMessage = messages[topic].find(({ message }) => {
+      const thisStamp = get(message, ["header", "stamp"]);
+      return thisStamp && TimeUtil.areSame(stamp, thisStamp);
+    });
+    if (!matchingMessage) {
+      return null;
+    }
+    synchronizedMessages[topic] = matchingMessage;
+  }
+  return synchronizedMessages;
+}
+
+type ReducedValue = {|
+  messagesByTopic: { [topic: string]: Message[] },
+  synchronizedMessages: ?{ [topic: string]: Message },
+|};
+
+function getSynchronizedState(
+  topics: $ReadOnlyArray<string>,
+  { messagesByTopic, synchronizedMessages }: ReducedValue
+): ReducedValue {
+  let newMessagesByTopic = messagesByTopic;
+  let newSynchronizedMessages = synchronizedMessages;
+
+  for (const stamp of allMessageStampsNewestFirst(messagesByTopic)) {
+    const synchronizedMessages = getSynchronizedMessages(stamp, topics, messagesByTopic);
+    if (synchronizedMessages) {
+      // We've found a new synchronized set; remove messages older than these.
+      newSynchronizedMessages = synchronizedMessages;
+      newMessagesByTopic = mapValues(newMessagesByTopic, (messagesByTopic) =>
+        messagesByTopic.filter(({ message }) => {
+          const thisStamp = get(message, ["header", "stamp"]);
+          return !TimeUtil.isLessThan(thisStamp, stamp);
+        })
+      );
+      break;
+    }
+  }
+  return { messagesByTopic: newMessagesByTopic, synchronizedMessages: newSynchronizedMessages };
+}
+
+// Returns reducers for use with PanelAPI.useMessages
+export function getSynchronizingReducers(topics: $ReadOnlyArray<string>) {
+  return {
+    restore(previousValue: ?ReducedValue) {
+      const messagesByTopic = {};
+      for (const topic of topics) {
+        messagesByTopic[topic] = (previousValue && previousValue.messagesByTopic[topic]) || [];
+      }
+      return getSynchronizedState(topics, { messagesByTopic, synchronizedMessages: null });
+    },
+    addMessage({ messagesByTopic, synchronizedMessages }: ReducedValue, newMessage: Message) {
+      return getSynchronizedState(topics, {
+        messagesByTopic: {
+          ...messagesByTopic,
+          [newMessage.topic]: messagesByTopic[newMessage.topic]
+            ? messagesByTopic[newMessage.topic].concat(newMessage)
+            : [newMessage],
+        },
+        synchronizedMessages,
+      });
+    },
+  };
+}
diff --git a/packages/webviz-core/src/components/MessageHistory/synchronizeMessages.test.js b/packages/webviz-core/src/components/MessageHistory/synchronizeMessages.test.js
index f7e3cd276..e5c019dca 100644
--- a/packages/webviz-core/src/components/MessageHistory/synchronizeMessages.test.js
+++ b/packages/webviz-core/src/components/MessageHistory/synchronizeMessages.test.js
@@ -6,17 +6,21 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import synchronizeMessages from "./synchronizeMessages";
+import synchronizeMessages, { getSynchronizingReducers } from "./synchronizeMessages";
+
+function message(topic, stamp) {
+  return {
+    topic,
+    datatype: "Foo",
+    op: "message",
+    receiveTime: { sec: 0, nsec: 0 },
+    message: { header: { stamp } },
+  };
+}
 
 function item(topic, stamp) {
   return {
-    message: {
-      topic,
-      datatype: "Foo",
-      op: "message",
-      receiveTime: { sec: 0, nsec: 0 },
-      message: { header: { stamp } },
-    },
+    message: message(topic, stamp),
     queriedData: [],
   };
 }
@@ -93,3 +97,103 @@ describe("synchronizeMessages", () => {
     });
   });
 });
+
+describe("getSynchronizingReducers", () => {
+  it("restores all existing messages on the requested topics", () => {
+    const { restore } = getSynchronizingReducers(["/a", "/b"]);
+
+    expect(restore(undefined)).toEqual({
+      messagesByTopic: {
+        "/a": [],
+        "/b": [],
+      },
+      synchronizedMessages: null,
+    });
+
+    expect(
+      restore({
+        messagesByTopic: {
+          "/a": [message("/a", { sec: 1, nsec: 0 }), message("/a", { sec: 2, nsec: 0 })],
+          "/c": [message("/c", { sec: 1, nsec: 0 })],
+        },
+        synchronizedMessages: null,
+      })
+    ).toEqual({
+      messagesByTopic: {
+        "/a": [message("/a", { sec: 1, nsec: 0 }), message("/a", { sec: 2, nsec: 0 })],
+        "/b": [],
+      },
+      synchronizedMessages: null,
+    });
+  });
+
+  it("restores synchronized messages, removing old unneeded messages", () => {
+    const { restore } = getSynchronizingReducers(["/a", "/b"]);
+    expect(
+      restore({
+        messagesByTopic: {
+          "/a": [message("/a", { sec: 1, nsec: 0 }), message("/a", { sec: 2, nsec: 0 })],
+          "/b": [message("/b", { sec: 2, nsec: 0 })],
+          "/c": [message("/c", { sec: 1, nsec: 0 })],
+        },
+        synchronizedMessages: null,
+      })
+    ).toEqual({
+      messagesByTopic: {
+        "/a": [message("/a", { sec: 2, nsec: 0 })],
+        "/b": [message("/b", { sec: 2, nsec: 0 })],
+      },
+      synchronizedMessages: {
+        "/a": message("/a", { sec: 2, nsec: 0 }),
+        "/b": message("/b", { sec: 2, nsec: 0 }),
+      },
+    });
+  });
+
+  it("keeps old messages when adding a new ones if stamps don't match", () => {
+    const { addMessage } = getSynchronizingReducers(["/a", "/b"]);
+    expect(
+      addMessage(
+        {
+          messagesByTopic: {
+            "/a": [message("/a", { sec: 1, nsec: 0 })],
+            "/b": [message("/b", { sec: 2, nsec: 0 })],
+          },
+          synchronizedMessages: null,
+        },
+        message("/a", { sec: 3, nsec: 0 })
+      )
+    ).toEqual({
+      messagesByTopic: {
+        "/a": [message("/a", { sec: 1, nsec: 0 }), message("/a", { sec: 3, nsec: 0 })],
+        "/b": [message("/b", { sec: 2, nsec: 0 })],
+      },
+      synchronizedMessages: null,
+    });
+  });
+
+  it("synchronizes when adding a new message, removing old unneeded messages", () => {
+    const { addMessage } = getSynchronizingReducers(["/a", "/b"]);
+    expect(
+      addMessage(
+        {
+          messagesByTopic: {
+            "/a": [message("/a", { sec: 1, nsec: 0 })],
+            "/b": [message("/b", { sec: 2, nsec: 0 })],
+          },
+          synchronizedMessages: null,
+        },
+        message("/a", { sec: 2, nsec: 0 })
+      )
+    ).toEqual({
+      messagesByTopic: {
+        "/a": [message("/a", { sec: 2, nsec: 0 })],
+        "/b": [message("/b", { sec: 2, nsec: 0 })],
+      },
+      synchronizedMessages: {
+        "/a": message("/a", { sec: 2, nsec: 0 }),
+        "/b": message("/b", { sec: 2, nsec: 0 }),
+      },
+    });
+  });
+});
diff --git a/packages/webviz-core/src/components/MessageHistory/topicPathSyntax.help.md b/packages/webviz-core/src/components/MessageHistory/topicPathSyntax.help.md
index 539181942..c866b1758 100644
--- a/packages/webviz-core/src/components/MessageHistory/topicPathSyntax.help.md
+++ b/packages/webviz-core/src/components/MessageHistory/topicPathSyntax.help.md
@@ -6,6 +6,7 @@ The topic path syntax can be used in several panels to find the exact messages i
 - Then you point to the value within that topic, using dots: `/some/topic.some.deep.value`
 - You can also index into an array, like this: `/some/topic.many.values[0].x`
 - Slices are also allowed, and will return an array of values: `/some/topic.many.values[1:3].x` or even `/some/topic.many.values[:].x` to get all values.
+- Negative slices are allowed, and work backwards from the end of the array, e.g. `[-1]` to get the last element, or `[-2:-1]` to get the last two elements.
 - Filter on particular values, usually in combination with slices: `/some/topic.many.values[:]{some_id==123}.x` — for now only equality is supported.
 - You can also filter on a global variable, which you can set in the Global Variables Panel: `/some/topic.many.values[:]{some_id==$my_custom_id}`
 - Filters can be applied to fields in the top-level message, in which case entire messages that don't match the filter will be skipped: `/some/topic{foo.bar==123}`
diff --git a/packages/webviz-core/src/components/MessageHistory/topicPrefixUtils.js b/packages/webviz-core/src/components/MessageHistory/topicPrefixUtils.js
deleted file mode 100644
index 5d5bf6162..000000000
--- a/packages/webviz-core/src/components/MessageHistory/topicPrefixUtils.js
+++ /dev/null
@@ -1,21 +0,0 @@
-// @flow
-//
-//  Copyright (c) 2019-present, GM Cruise LLC
-//
-//  This source code is licensed under the Apache License, Version 2.0,
-//  found in the LICENSE file in the root directory of this source tree.
-//  You may not use this file except in compliance with the License.
-import microMemoize from "micro-memoize";
-
-import type { Topic } from "webviz-core/src/players/types";
-
-export const getFilteredFormattedTopics: (topics: Topic[], currentTopicPrefix: string) => Topic[] = microMemoize(
-  (topics: Topic[], currentTopicPrefix: string): Topic[] => {
-    const filteredTopics = topics.filter((topic) => topic.name.startsWith(currentTopicPrefix));
-    return filteredTopics.map((topic) => ({
-      ...topic,
-      name: topic.name.slice(currentTopicPrefix.length),
-    }));
-  },
-  { maxSize: 10 }
-);
diff --git a/packages/webviz-core/src/components/MessageHistory/topicPrefixUtils.test.js b/packages/webviz-core/src/components/MessageHistory/topicPrefixUtils.test.js
deleted file mode 100644
index ce0ab6ffb..000000000
--- a/packages/webviz-core/src/components/MessageHistory/topicPrefixUtils.test.js
+++ /dev/null
@@ -1,37 +0,0 @@
-// @flow
-//
-//  Copyright (c) 2018-present, GM Cruise LLC
-//
-//  This source code is licensed under the Apache License, Version 2.0,
-//  found in the LICENSE file in the root directory of this source tree.
-//  You may not use this file except in compliance with the License.
-import { getFilteredFormattedTopics } from "./topicPrefixUtils";
-import { SECOND_BAG_PREFIX } from "webviz-core/src/util/globalConstants";
-
-const datatype = "/some/datatype";
-
-const topic = "/some/topic";
-const anotherTopic = "/another/topic/";
-
-const topicSecondBag = `${SECOND_BAG_PREFIX}${topic}`;
-const anotherTopicSecondBag = `${SECOND_BAG_PREFIX}${anotherTopic}`;
-
-describe("topicPrefixUtils", () => {
-  describe("getFilteredFormattedTopics", () => {
-    it("gets filtered formatted topics if there is no topic prefix", () => {
-      const filteredFormattedTopics = getFilteredFormattedTopics(
-        [topicSecondBag, anotherTopicSecondBag].map((topicName) => ({ name: topicName, datatype })),
-        ""
-      );
-      expect(filteredFormattedTopics.map((topic) => topic.name)).toEqual([topicSecondBag, anotherTopicSecondBag]);
-    });
-
-    it("gets filtered formatted topics if there is a topic prefix", () => {
-      const filteredFormattedTopics = getFilteredFormattedTopics(
-        [topicSecondBag, anotherTopicSecondBag].map((topicName) => ({ name: topicName, datatype })),
-        SECOND_BAG_PREFIX
-      );
-      expect(filteredFormattedTopics.map((topic) => topic.name)).toEqual([topic, anotherTopic]);
-    });
-  });
-});
diff --git a/packages/webviz-core/src/components/MessagePipeline/warnOnOutOfSyncMessages.test.js b/packages/webviz-core/src/components/MessagePipeline/warnOnOutOfSyncMessages.test.js
index 71dbe7093..8969e93a7 100644
--- a/packages/webviz-core/src/components/MessagePipeline/warnOnOutOfSyncMessages.test.js
+++ b/packages/webviz-core/src/components/MessagePipeline/warnOnOutOfSyncMessages.test.js
@@ -9,8 +9,6 @@
 import warnOnOutOfSyncMessages from "./warnOnOutOfSyncMessages";
 import reportError from "webviz-core/src/util/reportError";
 
-jest.mock("webviz-core/src/util/reportError");
-
 describe("MessagePipeline/warnOnOutOfSyncMessages", () => {
   it("calls report error when messages are out of order", () => {
     warnOnOutOfSyncMessages({
@@ -53,6 +51,6 @@ describe("MessagePipeline/warnOnOutOfSyncMessages", () => {
         ],
       },
     });
-    expect(reportError).toHaveBeenCalled();
+    reportError.expectCalledDuringTest();
   });
 });
diff --git a/packages/webviz-core/src/components/Panel.js b/packages/webviz-core/src/components/Panel.js
index 1000e2e09..f2303adfe 100644
--- a/packages/webviz-core/src/components/Panel.js
+++ b/packages/webviz-core/src/components/Panel.js
@@ -11,7 +11,6 @@ import FullscreenIcon from "@mdi/svg/svg/fullscreen.svg";
 import GridLargeIcon from "@mdi/svg/svg/grid-large.svg";
 import TrashCanOutlineIcon from "@mdi/svg/svg/trash-can-outline.svg";
 import cx from "classnames";
-import { omit } from "lodash";
 import PropTypes from "prop-types";
 import * as React from "react";
 import DocumentEvents from "react-document-events";
@@ -23,15 +22,10 @@ import { bindActionCreators } from "redux";
 
 import styles from "./Panel.module.scss";
 import Button from "webviz-core/src/components/Button";
-import ChildToggle from "webviz-core/src/components/ChildToggle";
-import Dropdown from "webviz-core/src/components/Dropdown";
 import ErrorBoundary from "webviz-core/src/components/ErrorBoundary";
 import Flex from "webviz-core/src/components/Flex";
-import { Item } from "webviz-core/src/components/Menu";
-import { getFilteredFormattedTopics } from "webviz-core/src/components/MessageHistory/topicPrefixUtils";
 import PanelContext, { type PanelContextType } from "webviz-core/src/components/PanelContext";
 import MosaicDragHandle from "webviz-core/src/components/PanelToolbar/MosaicDragHandle";
-import { getGlobalHooks } from "webviz-core/src/loadWebviz";
 import * as PanelAPI from "webviz-core/src/PanelAPI";
 import PanelList, { getPanelsByType } from "webviz-core/src/panels/PanelList";
 import type { Topic } from "webviz-core/src/players/types";
@@ -56,9 +50,7 @@ import { getPanelTypeFromId } from "webviz-core/src/util";
 //
 // The panel also gets wrapped in an error boundary and flex box.
 
-export const TOPIC_PREFIX_CONFIG_KEY = "webviz___topicPrefix";
-
-type Props<Config> = {| childId?: string, config?: Config |};
+type Props<Config> = {| childId?: string, config?: Config, saveConfig?: () => void |};
 type State = {
   quickActionsKeyPressed: boolean,
   shiftKeyPressed: boolean,
@@ -69,77 +61,13 @@ type State = {
 interface PanelStatics<Config> {
   panelType: string;
   defaultConfig: Config;
-  canSetTopicPrefix?: boolean;
 }
 
-const getTopicPrefixIconPrefix = (topicPrefix?: string) => {
-  return (
-    <span style={{ marginLeft: 3, marginTop: 3 }}>
-      {getGlobalHooks().perPanelHooks().Panel.topicPrefixes[topicPrefix].iconPrefix}
-    </span>
-  );
-};
-
-const getTopicPrefixTooltip = (topicPrefix?: string) => {
-  return getGlobalHooks().perPanelHooks().Panel.topicPrefixes[topicPrefix].tooltipText;
-};
-
-const getTopicPrefixOptionText = (topicPrefix?: string) => {
-  return getGlobalHooks().perPanelHooks().Panel.topicPrefixes[topicPrefix].labelText;
-};
-
-const getTopicPrefixIcon = (topicPrefix?: string) => {
-  const IconComponent = getGlobalHooks().perPanelHooks().Panel.topicPrefixes[topicPrefix].icon;
-  return <IconComponent style={{ height: 14, marginLeft: -5, marginTop: 2 }} />;
-};
-
-const TopicPrefixDropdown = (props: {|
-  topicPrefix: string,
-  saveTopicPrefix: (newTopicPrefix: string) => () => void,
-|}) => {
-  const { topicPrefix, saveTopicPrefix } = props;
-  return (
-    <ChildToggle.ContainsOpen>
-      {(containsOpen) => (
-        <Dropdown
-          position="above"
-          toggleComponent={
-            <div
-              data-test-topic-prefix-toggle
-              className={cx(styles.topicPrefixLabel, {
-                [styles.hasEmptyTopicPrefix]: !topicPrefix && !containsOpen,
-              })}>
-              {getTopicPrefixIconPrefix(topicPrefix)}
-              {getTopicPrefixIcon(topicPrefix)}
-            </div>
-          }>
-          <Item key="title" disabled>
-            Show topics from:
-          </Item>
-          {Object.keys(getGlobalHooks().perPanelHooks().Panel.topicPrefixes).map((prefix) => {
-            return (
-              <Item
-                key={prefix || "none"}
-                checked={topicPrefix === prefix}
-                icon={getTopicPrefixIcon(prefix)}
-                tooltip={prefix && getTopicPrefixTooltip(prefix)}
-                onClick={saveTopicPrefix(prefix)}>
-                {getTopicPrefixOptionText(prefix)}
-              </Item>
-            );
-          })}
-        </Dropdown>
-      )}
-    </ChildToggle.ContainsOpen>
-  );
-};
-
 type MockProps = $Rest<PanelContextType<any>, {}>;
 const DEFAULT_MOCK_PANEL_CONTEXT: PanelContextType<any> = {
   type: "foo",
   id: "bar",
   title: "Foo Panel",
-  topicPrefix: "",
   config: {},
   saveConfig: () => {},
   updatePanelConfig: () => {},
@@ -182,6 +110,7 @@ export default function Panel<Config: PanelConfig>(
   type ReduxMappedProps = {|
     childId?: string,
     config: Config,
+    saveConfig?: (any) => void,
     isOnlyPanel: boolean,
 
     // keep the whole store to avoid unnecessary re-renders when panel state changes
@@ -196,7 +125,6 @@ export default function Panel<Config: PanelConfig>(
   |};
 
   const defaultConfig: Config = PanelComponent.defaultConfig;
-  const canSetTopicPrefix: boolean = PanelComponent.canSetTopicPrefix || false;
 
   class UnconnectedPanel extends React.PureComponent<
     ReduxMappedProps &
@@ -225,14 +153,16 @@ export default function Panel<Config: PanelConfig>(
     // Save the config, by mixing in the partial config with the current config, or if that does
     // not exist, with the `defaultConfig`. That way we always save complete configs.
     _saveConfig = (config: $Shape<Config>, options: { keepLayoutInUrl?: boolean } = {}) => {
-      if (config[TOPIC_PREFIX_CONFIG_KEY]) {
-        throw new Error("Panel is not allowed to set TOPIC_PREFIX_CONFIG_KEY");
+      const { childId, savePanelConfig, saveConfig } = this.props;
+      if (saveConfig) {
+        saveConfig(config);
       }
-      if (this.props.childId) {
-        this.props.savePanelConfig({
-          id: this.props.childId,
+      if (childId) {
+        savePanelConfig({
+          id: childId,
           silent: !!options.keepLayoutInUrl,
-          config: { ...defaultConfig, ...this.props.config, ...config },
+          config,
+          defaultConfig,
         });
       }
     };
@@ -241,19 +171,6 @@ export default function Panel<Config: PanelConfig>(
       this.props.saveFullPanelConfig({ panelType, perPanelFunc });
     };
 
-    // this is same as above _saveConfig, but is internal to this file / allows you to save the TOPIC_PREFIX_CONFIG_KEY
-    _saveTopicPrefix = (newTopicPrefix: string) => {
-      return () => {
-        if (this.props.childId) {
-          this.props.savePanelConfig({
-            id: this.props.childId,
-            silent: false,
-            config: { ...this.props.config, ...{ [TOPIC_PREFIX_CONFIG_KEY]: newTopicPrefix } },
-          });
-        }
-      };
-    };
-
     // Open a panel next to the current panel, of the specified `panelType`. If such a panel already
     // exist, we update it with the new props.
     _openSiblingPanel = (panelType: string, siblingConfigCreator: (PanelConfig) => PanelConfig) => {
@@ -273,7 +190,11 @@ export default function Panel<Config: PanelConfig>(
       const siblingId = getNodeAtPath(mosaicActions.getRoot(), siblingPath);
       if (typeof siblingId === "string" && getPanelTypeFromId(siblingId) === panelType) {
         const siblingConfig: PanelConfig = { ...defaultSiblingConfig, ...(panelConfigById[siblingId]: any) };
-        this.props.savePanelConfig({ id: siblingId, config: siblingConfigCreator(siblingConfig) });
+        this.props.savePanelConfig({
+          id: siblingId,
+          config: siblingConfigCreator(siblingConfig),
+          defaultConfig: defaultSiblingConfig,
+        });
         return;
       }
 
@@ -281,7 +202,11 @@ export default function Panel<Config: PanelConfig>(
       const newPanelPath = ownPath.concat("second");
       mosaicWindowActions.split({ type: panelType }).then(() => {
         const newPanelId = getNodeAtPath(mosaicActions.getRoot(), newPanelPath);
-        this.props.savePanelConfig({ id: newPanelId, config: siblingConfigCreator(defaultSiblingConfig) });
+        this.props.savePanelConfig({
+          id: newPanelId,
+          config: siblingConfigCreator(defaultSiblingConfig),
+          defaultConfig: defaultSiblingConfig,
+        });
       });
     };
 
@@ -375,8 +300,6 @@ export default function Panel<Config: PanelConfig>(
       const type = PanelComponent.panelType;
       const title = panelsByType[type] && panelsByType[type].title;
 
-      const currentTopicPrefix = config[TOPIC_PREFIX_CONFIG_KEY] || "";
-
       return (
         // $FlowFixMe - bug prevents requiring panelType on PanelComponent: https://stackoverflow.com/q/52508434/23649
         <PanelContext.Provider
@@ -384,7 +307,6 @@ export default function Panel<Config: PanelConfig>(
             type,
             id: childId,
             title,
-            topicPrefix: currentTopicPrefix,
             config,
             saveConfig: this._saveConfig,
             updatePanelConfig: this._updatePanelConfig,
@@ -431,17 +353,14 @@ export default function Panel<Config: PanelConfig>(
             <ErrorBoundary>
               {/* $FlowFixMe - https://github.com/facebook/flow/issues/6479 */}
               <PanelComponent
-                config={{ ...defaultConfig, ...omit(config, TOPIC_PREFIX_CONFIG_KEY) }}
+                config={{ ...defaultConfig, ...config }}
                 saveConfig={this._saveConfig}
                 updatePanelConfig={this._updatePanelConfig}
                 openSiblingPanel={this._openSiblingPanel}
-                topics={getFilteredFormattedTopics(topics, currentTopicPrefix)}
+                topics={topics}
                 datatypes={datatypes}
                 capabilities={capabilities}
               />
-              {canSetTopicPrefix ? (
-                <TopicPrefixDropdown topicPrefix={currentTopicPrefix} saveTopicPrefix={this._saveTopicPrefix} />
-              ) : null}
             </ErrorBoundary>
           </Flex>
         </PanelContext.Provider>
@@ -478,7 +397,6 @@ export default function Panel<Config: PanelConfig>(
 
   ConnectedPanel.defaultConfig = defaultConfig;
   ConnectedPanel.panelType = PanelComponent.panelType;
-  ConnectedPanel.canSetTopicPrefix = PanelComponent.canSetTopicPrefix;
 
   return ConnectedPanel;
 }
diff --git a/packages/webviz-core/src/components/Panel.module.scss b/packages/webviz-core/src/components/Panel.module.scss
index 7b7f16328..b8b4e8a34 100644
--- a/packages/webviz-core/src/components/Panel.module.scss
+++ b/packages/webviz-core/src/components/Panel.module.scss
@@ -96,28 +96,6 @@
   }
 }
 
-.topicPrefixLabel {
-  display: flex;
-  position: absolute;
-  bottom: 10px;
-  right: 10px;
-  fill: gray;
-  color: gray;
-  border-radius: 10px;
-  opacity: 1;
-  font-size: 12px;
-  background-color: rgba(255, 255, 255, 0.2);
-  padding: 3px;
-
-  &.hasEmptyTopicPrefix {
-    display: none;
-
-    :global(.mosaic-window):hover & {
-      display: flex;
-    }
-  }
-}
-
 .exitFullScreen {
   position: fixed;
   top: 75px;
diff --git a/packages/webviz-core/src/components/Panel.test.js b/packages/webviz-core/src/components/Panel.test.js
index b8148a239..2fc22f3d7 100644
--- a/packages/webviz-core/src/components/Panel.test.js
+++ b/packages/webviz-core/src/components/Panel.test.js
@@ -11,12 +11,10 @@ import { createMemoryHistory } from "history";
 import * as React from "react";
 
 import { savePanelConfig } from "webviz-core/src/actions/panels";
-import { getFilteredFormattedTopics } from "webviz-core/src/components/MessageHistory/topicPrefixUtils";
 import { MockMessagePipelineProvider } from "webviz-core/src/components/MessagePipeline";
 import Panel from "webviz-core/src/components/Panel";
 import createRootReducer from "webviz-core/src/reducers";
 import configureStore from "webviz-core/src/store/configureStore.testing";
-import { SECOND_BAG_PREFIX } from "webviz-core/src/util/globalConstants";
 
 function getDummyPanel(renderFn) {
   type DummyConfig = {
@@ -87,7 +85,7 @@ describe("Panel", () => {
     const someString = "someNewString";
 
     const store = getStore();
-    store.dispatch(savePanelConfig({ id: childId, config: { someString } }));
+    store.dispatch(savePanelConfig({ id: childId, config: { someString }, defaultConfig: {} }));
     mount(
       <Context store={store}>
         <DummyPanel childId={childId} />
@@ -120,23 +118,7 @@ describe("Panel", () => {
     );
 
     expect(renderFn.mock.calls.length).toEqual(1);
-    store.dispatch(savePanelConfig({ id: "someOtherId", config: {} }));
+    store.dispatch(savePanelConfig({ id: "someOtherId", config: {}, defaultConfig: {} }));
     expect(renderFn.mock.calls.length).toEqual(1);
   });
 });
-
-it("filters and formats topics appropriately, according to topicPrefix", () => {
-  const topics = [
-    { name: "/topicA", datatype: "some/datatype" },
-    { name: "/other_prefix/topicA", datatype: "some/datatype" },
-    { name: "/topicB", datatype: "some/datatype" },
-    { name: "/other_prefix/topicB", datatype: "some/datatype" },
-    { name: "/topicC", datatype: "some/datatype" },
-    { name: "/webviz_bag_2/topicC", datatype: "some/datatype" },
-    { name: "/topicD", datatype: "some/datatype" },
-    { name: "/webviz_bag_2/topicD", datatype: "some/datatype" },
-  ];
-
-  expect(getFilteredFormattedTopics(topics, SECOND_BAG_PREFIX).map((t) => t.name)).toEqual(["/topicC", "/topicD"]);
-  expect(getFilteredFormattedTopics(topics, "")).toEqual(topics);
-});
diff --git a/packages/webviz-core/src/components/PanelContext.js b/packages/webviz-core/src/components/PanelContext.js
index 08fe3d1a9..a69f9b558 100644
--- a/packages/webviz-core/src/components/PanelContext.js
+++ b/packages/webviz-core/src/components/PanelContext.js
@@ -15,7 +15,6 @@ export type PanelContextType<T> = {|
   type: string,
   id: string,
   title: string,
-  topicPrefix?: string,
 
   // TODO(PanelAPI): move to usePanelConfig()
   config: PanelConfig,
diff --git a/packages/webviz-core/src/components/PanelLayout.js b/packages/webviz-core/src/components/PanelLayout.js
index fab02aa3c..d9f07a494 100644
--- a/packages/webviz-core/src/components/PanelLayout.js
+++ b/packages/webviz-core/src/components/PanelLayout.js
@@ -48,7 +48,7 @@ class PanelLayout extends PureComponent<Props> {
     const type = config ? config.type || defaultPanelType : defaultPanelType;
     const id = getPanelIdForType(type);
     if (config.panelConfig) {
-      this.props.savePanelConfig({ id, config: config.panelConfig });
+      this.props.savePanelConfig({ id, config: config.panelConfig, defaultConfig: {} });
     }
     return id;
   };
diff --git a/packages/webviz-core/src/components/PanelToolbar/index.js b/packages/webviz-core/src/components/PanelToolbar/index.js
index 19d113709..556a5e541 100644
--- a/packages/webviz-core/src/components/PanelToolbar/index.js
+++ b/packages/webviz-core/src/components/PanelToolbar/index.js
@@ -80,7 +80,7 @@ class StandardMenuItems extends React.PureComponent<{| savePanelConfig: (SaveCon
 
     const config = store.getState().panels.savedProps[id];
     const newId = getPanelIdForType(type);
-    this.props.savePanelConfig({ id: newId, config });
+    this.props.savePanelConfig({ id: newId, config, defaultConfig: {} });
 
     const path = mosaicWindowActions.getPath();
     const root = mosaicActions.getRoot();
@@ -101,7 +101,7 @@ class StandardMenuItems extends React.PureComponent<{| savePanelConfig: (SaveCon
       <ShareJsonModal
         onRequestClose={() => modal.remove()}
         value={panelConfigById[id] || {}}
-        onChange={(config) => this.props.savePanelConfig({ id, config, override: true })}
+        onChange={(config) => this.props.savePanelConfig({ id, config, override: true, defaultConfig: {} })}
         noun="panel configuration"
       />
     );
diff --git a/packages/webviz-core/src/components/ShareJsonModal.js b/packages/webviz-core/src/components/ShareJsonModal.js
index c4d2ba70e..55963b0d6 100644
--- a/packages/webviz-core/src/components/ShareJsonModal.js
+++ b/packages/webviz-core/src/components/ShareJsonModal.js
@@ -6,6 +6,7 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
+import * as Sentry from "@sentry/browser";
 import cx from "classnames";
 import React, { Component } from "react";
 
@@ -14,7 +15,6 @@ import Button from "webviz-core/src/components/Button";
 import Flex from "webviz-core/src/components/Flex";
 import Modal from "webviz-core/src/components/Modal";
 import clipboard from "webviz-core/src/util/clipboard";
-import sentry from "webviz-core/src/util/sentry";
 
 type Props = {
   onRequestClose: () => void,
@@ -35,7 +35,7 @@ function encode(value: any): string {
   try {
     return JSON.stringify(value, null, 2);
   } catch (e) {
-    sentry.captureException(e, { extra: value });
+    Sentry.captureException(e, { extra: value });
     console.error("Error encoding value", e);
     return "";
   }
diff --git a/packages/webviz-core/src/components/TimeBasedChart/index.js b/packages/webviz-core/src/components/TimeBasedChart/index.js
index cf024705a..8ea9aefdd 100644
--- a/packages/webviz-core/src/components/TimeBasedChart/index.js
+++ b/packages/webviz-core/src/components/TimeBasedChart/index.js
@@ -72,6 +72,19 @@ const SLegend = styled.div`
   padding: 30px 0px 10px 0px;
 `;
 
+const MemoizedTooltips = React.memo<{}>(function Tooltips() {
+  return (
+    <React.Fragment>
+      <Tooltip contents={<div>Hold v to only scroll vertically</div>} delay={0}>
+        <div style={{ position: "absolute", left: 0, top: 0, width: 30, bottom: 0 }} />
+      </Tooltip>
+      <Tooltip placement="top" contents={<div>Hold h to only scroll horizontally</div>} delay={0}>
+        <div style={{ position: "absolute", left: 0, right: 0, height: 30, bottom: 0 }} />
+      </Tooltip>
+    </React.Fragment>
+  );
+});
+
 type Props = {|
   type: "scatter" | "multicolorLine",
   width: number,
@@ -459,12 +472,7 @@ export default class TimeBasedChart extends React.PureComponent<Props, State> {
             />
           </SRoot>
         </div>
-        <Tooltip contents={<div>Hold v to only scroll on vertically</div>} delay={0}>
-          <div style={{ position: "absolute", left: 0, top: 0, width: 30, bottom: 0 }} />
-        </Tooltip>
-        <Tooltip placement="top" contents={<div>Hold h to only scroll on horizontally</div>} delay={0}>
-          <div style={{ position: "absolute", left: 0, right: 0, height: 30, bottom: 0 }} />
-        </Tooltip>
+        <MemoizedTooltips />
         {drawLegend && (
           <SLegend>
             <TimeBasedChartLegend
diff --git a/packages/webviz-core/src/components/TopicToRenderMenu.js b/packages/webviz-core/src/components/TopicToRenderMenu.js
index 445763b35..0198f7d0e 100644
--- a/packages/webviz-core/src/components/TopicToRenderMenu.js
+++ b/packages/webviz-core/src/components/TopicToRenderMenu.js
@@ -13,10 +13,11 @@ import styled from "styled-components";
 
 import Dropdown from "webviz-core/src/components/Dropdown";
 import Icon from "webviz-core/src/components/Icon";
+import styles from "webviz-core/src/components/PanelToolbar/index.module.scss";
 import type { Topic } from "webviz-core/src/players/types";
 import { colors } from "webviz-core/src/util/colors";
 
-type TopicGroup = {
+export type TopicGroup = {
   suffix: string,
   datatype: string,
 };
@@ -86,16 +87,30 @@ export default function TopicToRenderMenu({
   }
   // Keeps only the first occurrence of each topic.
   const renderTopics: string[] = uniq([defaultTopicToRender, ...availableTopics, topicToRender]);
+  const parentTopicSpan = (topic: string, available: boolean) => {
+    const topicDiv = topic ? topic : <span style={{ fontStyle: "italic" }}>Default</span>;
+    return (
+      <span>
+        {topicDiv}
+        {available ? "" : " (not available)"}
+      </span>
+    );
+  };
 
   return (
     <Dropdown
       toggleComponent={
         <Icon
           fade
-          tooltip={"Topic"}
+          tooltip={
+            topicsGroups
+              ? `Parent topics selected by topic suffixes:\n ${topicsGroups.map((group) => group.suffix).join("\n")}`
+              : `Topics selected by datatype: ${singleTopicDatatype || ""}` // add || "" is to fix flow here
+          }
+          tooltipProps={{ placement: "top" }}
           style={{ color: topicToRender === defaultTopicToRender ? colors.LIGHT1 : colors.ORANGE }}
           dataTest={"topic-set"}>
-          <DatabaseIcon />
+          <DatabaseIcon className={styles.icon} />
         </Icon>
       }>
       {renderTopics.map((topic, idx) => (
@@ -105,7 +120,7 @@ export default function TopicToRenderMenu({
           onClick={() => {
             onChange(topic);
           }}>
-          <SSpan>{availableTopics.includes(topic) ? topic : `${topic} (not available)`}</SSpan>
+          <SSpan>{parentTopicSpan(topic, availableTopics.includes(topic))}</SSpan>
           {topicToRender === topic ? (
             <SIconSpan>
               <CheckIcon />
diff --git a/packages/webviz-core/src/components/TopicToRenderMenu.stories.js b/packages/webviz-core/src/components/TopicToRenderMenu.stories.js
index fa2849b79..29f831406 100644
--- a/packages/webviz-core/src/components/TopicToRenderMenu.stories.js
+++ b/packages/webviz-core/src/components/TopicToRenderMenu.stories.js
@@ -14,15 +14,15 @@ import PanelSetup from "webviz-core/src/stories/PanelSetup";
 
 const topics = [
   {
-    name: "/default/foo",
+    name: "/foo",
     datatype: "abc_msgs/foo",
   },
   {
-    name: "/webviz_bag_2/default/foo",
+    name: "/webviz_bag_2/foo",
     datatype: "abc_msgs/foo",
   },
   {
-    name: "/webviz_bag_2/default/foo",
+    name: "/webviz_bag_2/foo",
     datatype: "bad_datatype/abc_msgs/foo",
   },
 ];
@@ -54,10 +54,10 @@ storiesOf("<TopicToRenderMenu>", module)
         }}>
         <TopicToRenderMenu
           onChange={() => {}}
-          topicToRender={"/default"}
+          topicToRender=""
           topics={topics}
           topicsGroups={topicsGroups}
-          defaultTopicToRender={"/default"}
+          defaultTopicToRender=""
         />
       </PanelSetup>
     );
@@ -74,10 +74,10 @@ storiesOf("<TopicToRenderMenu>", module)
         }}>
         <TopicToRenderMenu
           onChange={() => {}}
-          topicToRender={"/default/foo"}
+          topicToRender="/foo"
           topics={topics}
           singleTopicDatatype={"abc_msgs/foo"}
-          defaultTopicToRender={"/default/foo"}
+          defaultTopicToRender="/foo"
         />
       </PanelSetup>
     );
@@ -94,10 +94,10 @@ storiesOf("<TopicToRenderMenu>", module)
         }}>
         <TopicToRenderMenu
           onChange={() => {}}
-          topicToRender={"/webviz_bag_2/default/foo"}
+          topicToRender="/webviz_bag_2/foo"
           topics={topics}
           singleTopicDatatype={"abc_msgs/foo"}
-          defaultTopicToRender={"/default/foo"}
+          defaultTopicToRender="/foo"
         />
       </PanelSetup>
     );
@@ -114,10 +114,10 @@ storiesOf("<TopicToRenderMenu>", module)
         }}>
         <TopicToRenderMenu
           onChange={() => {}}
-          topicToRender={"/default"}
+          topicToRender=""
           topics={[]}
           topicsGroups={topicsGroups}
-          defaultTopicToRender={"/default"}
+          defaultTopicToRender=""
         />
       </PanelSetup>
     );
@@ -134,10 +134,10 @@ storiesOf("<TopicToRenderMenu>", module)
         }}>
         <TopicToRenderMenu
           onChange={() => {}}
-          topicToRender={"/webviz_bag_2/default"}
+          topicToRender="/webviz_bag_2"
           topics={[]}
           topicsGroups={topicsGroups}
-          defaultTopicToRender={"/default"}
+          defaultTopicToRender=""
         />
       </PanelSetup>
     );
@@ -154,10 +154,10 @@ storiesOf("<TopicToRenderMenu>", module)
         }}>
         <TopicToRenderMenu
           onChange={() => {}}
-          topicToRender={"/abc"}
+          topicToRender="/abc"
           topics={topics}
           singleTopicDatatype={"abc_msgs/foo"}
-          defaultTopicToRender={"/default/foo"}
+          defaultTopicToRender="/foo"
         />
       </PanelSetup>
     );
@@ -174,10 +174,10 @@ storiesOf("<TopicToRenderMenu>", module)
         }}>
         <TopicToRenderMenu
           onChange={() => {}}
-          topicToRender={"/default/bar"}
+          topicToRender="/bar"
           topics={topics}
           singleTopicDatatype={"abc_msgs/foo"}
-          defaultTopicToRender={"/default/bar"}
+          defaultTopicToRender="/bar"
         />
       </PanelSetup>
     );
diff --git a/packages/webviz-core/src/components/Tree/Node.js b/packages/webviz-core/src/components/Tree/Node.js
index df820fc54..b3d043fd6 100644
--- a/packages/webviz-core/src/components/Tree/Node.js
+++ b/packages/webviz-core/src/components/Tree/Node.js
@@ -19,8 +19,8 @@ export type Node = {
   disabled: boolean,
   expanded: boolean,
   visible: boolean,
+  filtered: boolean,
   missing: boolean,
-  filterMatch: boolean,
   children: any[],
   canEdit: boolean,
   hasEdit: boolean,
diff --git a/packages/webviz-core/src/components/Tree/TreeNode.js b/packages/webviz-core/src/components/Tree/TreeNode.js
index 9ac34ad28..6bf397177 100644
--- a/packages/webviz-core/src/components/Tree/TreeNode.js
+++ b/packages/webviz-core/src/components/Tree/TreeNode.js
@@ -12,6 +12,8 @@ import CheckboxBlankIcon from "@mdi/svg/svg/checkbox-blank.svg";
 import CheckboxMarkedIcon from "@mdi/svg/svg/checkbox-marked.svg";
 import ChevronDownIcon from "@mdi/svg/svg/chevron-down.svg";
 import ChevronRightIcon from "@mdi/svg/svg/chevron-right.svg";
+import EyeOffOutlineIcon from "@mdi/svg/svg/eye-off-outline.svg";
+import EyeOutlineIcon from "@mdi/svg/svg/eye-outline.svg";
 import FolderIcon from "@mdi/svg/svg/folder.svg";
 import LeadPencilIcon from "@mdi/svg/svg/lead-pencil.svg";
 import cx from "classnames";
@@ -26,7 +28,9 @@ import colors from "webviz-core/src/styles/colors.module.scss";
 type Props = {
   node: Node,
   depth: number,
+  enableVisibilityToggle?: boolean,
   onToggleExpand: (node: Node) => void,
+  onToggleVisibility?: (node: Node) => void,
   onToggleCheck: (node: Node) => void,
   onEditClick: (e: SyntheticMouseEvent<HTMLElement>, node: Node) => void,
 };
@@ -39,6 +43,15 @@ export default class TreeNode extends Component<Props> {
     }
   };
 
+  onToggleVisibility = (e: SyntheticEvent<HTMLElement>) => {
+    const { onToggleVisibility, node } = this.props;
+    if (onToggleVisibility) {
+      // stop propagation so it does not trigger expanding/collapsing topics with namespaces
+      e.stopPropagation();
+      onToggleVisibility(node);
+    }
+  };
+
   onExpandClick = (e: SyntheticEvent<HTMLElement>) => {
     const { onToggleExpand, node } = this.props;
     // if the node has no children, have the entire container be a hitbox for toggling checked
@@ -50,19 +63,29 @@ export default class TreeNode extends Component<Props> {
   };
 
   renderChildren() {
-    const { node, onToggleCheck, onToggleExpand, onEditClick, depth } = this.props;
+    const {
+      depth,
+      enableVisibilityToggle,
+      node,
+      onEditClick,
+      onToggleCheck,
+      onToggleExpand,
+      onToggleVisibility,
+    } = this.props;
     if (!node.expanded || !node.children) {
       return null;
     }
     return node.children.map((child) => {
       return (
         <TreeNode
+          depth={depth + 1}
+          enableVisibilityToggle={enableVisibilityToggle}
           key={child.id}
           node={child}
-          depth={depth + 1}
+          onEditClick={onEditClick}
           onToggleCheck={onToggleCheck}
           onToggleExpand={onToggleExpand}
-          onEditClick={onEditClick}
+          onToggleVisibility={onToggleVisibility}
         />
       );
     });
@@ -92,17 +115,11 @@ export default class TreeNode extends Component<Props> {
   };
 
   render() {
-    const { node, depth } = this.props;
-    const { expanded, children, icon, disabled, tooltip, filterMatch, canEdit, hasEdit } = node;
-
-    const expandClasses = cx(styles["expand-icon"], {
-      [styles.invisible]: !children || !children.length,
-    });
-
+    const { node, depth, enableVisibilityToggle } = this.props;
+    const { expanded, children, icon, disabled, tooltip, canEdit, hasEdit, filtered, visible } = node;
     const headerClasses = cx(styles.header, {
       [styles.hasChildren]: children && children.length,
       [styles.disabled]: disabled,
-      [styles.filterMatch]: filterMatch,
       [styles.canEdit]: canEdit,
     });
 
@@ -114,41 +131,58 @@ export default class TreeNode extends Component<Props> {
       [styles.disabled]: disabled,
     });
 
-    const extraIconClasses = cx(styles["type-icon"], {
-      [styles.disabled]: disabled,
-    });
     const extraIcon = icon && (
-      <Icon className={extraIconClasses} style={{ color: hasEdit ? colors.accent : "#666" }}>
+      <Icon
+        fade
+        className={cx(styles.extraIcon, { [styles.disabled]: disabled })}
+        style={{ color: hasEdit ? colors.accent : "#666" }}>
         {icon}
       </Icon>
     );
 
-    const editIcon = icon && (
-      <span onClick={this.onEditClick}>
-        <Icon className={styles["type-icon-edit"]}>
-          <LeadPencilIcon />
-        </Icon>
-      </span>
+    const editIcon = icon && canEdit && (
+      <Icon style={{ padding: 4 }} fade tooltip="Edit topic settings" onClick={this.onEditClick}>
+        <LeadPencilIcon />
+      </Icon>
     );
 
+    let visibilityIcon = null;
+    // only enable visibility toggle for topics
+    if (enableVisibilityToggle && node.topic && !node.namespace) {
+      visibilityIcon = (
+        <Icon
+          style={{ padding: 4 }}
+          fade
+          tooltip={visible ? "Hide topic temporarily" : "Show topic"}
+          onClick={this.onToggleVisibility}
+          dataTest={`node-${node.topic || node.name}`}>
+          {visible ? <EyeOutlineIcon /> : <EyeOffOutlineIcon />}
+        </Icon>
+      );
+    }
     // Wrap in a fragment to avoid missing key warnings
     const tooltipContents =
       !tooltip || tooltip.length === 0 ? null : React.createElement(React.Fragment, {}, ...tooltip);
 
     return (
-      <div style={{ display: node.visible ? "" : "none" }}>
+      <div style={filtered ? { display: "none" } : {}}>
         <div style={style} className={headerClasses} onClick={this.onExpandClick}>
           <Icon className={checkboxClasses} onClick={this.onCheckboxClick}>
             {this.getCheckboxIcon()}
           </Icon>
           {extraIcon}
-          <span className={styles.text}>
+          <span className={cx("node-text", styles.text)}>
             <Tooltip contents={tooltipContents} offset={{ x: 0, y: 8 }}>
               <span>{node.text}</span>
             </Tooltip>
           </span>
+          {visibilityIcon}
           {editIcon}
-          <Icon className={expandClasses} style={{ left: paddingLeft + depth * indentWidth - 16 }}>
+          <Icon
+            className={cx(styles["expand-icon"], {
+              [styles.invisible]: !children || !children.length,
+            })}
+            style={{ left: paddingLeft + depth * indentWidth - 16 }}>
             {expanded ? <ChevronDownIcon /> : <ChevronRightIcon />}
           </Icon>
         </div>
diff --git a/packages/webviz-core/src/components/Tree/index.js b/packages/webviz-core/src/components/Tree/index.js
index 794f7c020..e41719747 100644
--- a/packages/webviz-core/src/components/Tree/index.js
+++ b/packages/webviz-core/src/components/Tree/index.js
@@ -15,11 +15,13 @@ import TreeNode from "./TreeNode";
 export type { Node } from "./Node";
 
 type Props = {
-  root: Node,
+  enableVisibilityToggle?: boolean,
   hideRoot?: boolean,
-  onToggleExpand: (node: Node) => void,
-  onToggleCheck: (node: Node) => void,
   onEditClick: (e: SyntheticMouseEvent<HTMLElement>, node: Node) => void,
+  onToggleCheck: (node: Node) => void,
+  onToggleExpand: (node: Node) => void,
+  onToggleVisibility?: (node: Node) => void,
+  root: Node,
 };
 
 export default class Tree extends PureComponent<Props> {
@@ -29,15 +31,17 @@ export default class Tree extends PureComponent<Props> {
   };
 
   renderNode = (node: Node) => {
-    const { onToggleExpand, onToggleCheck, onEditClick } = this.props;
+    const { onToggleExpand, onToggleCheck, onEditClick, onToggleVisibility, enableVisibilityToggle } = this.props;
     return (
       <TreeNode
-        key={node.id}
         depth={0}
-        onToggleExpand={onToggleExpand}
-        onToggleCheck={onToggleCheck}
-        onEditClick={onEditClick}
+        enableVisibilityToggle={enableVisibilityToggle}
+        key={node.id}
         node={node}
+        onEditClick={onEditClick}
+        onToggleCheck={onToggleCheck}
+        onToggleExpand={onToggleExpand}
+        onToggleVisibility={onToggleVisibility}
       />
     );
   };
diff --git a/packages/webviz-core/src/components/Tree/index.module.scss b/packages/webviz-core/src/components/Tree/index.module.scss
index 0cbe8a118..96679b123 100644
--- a/packages/webviz-core/src/components/Tree/index.module.scss
+++ b/packages/webviz-core/src/components/Tree/index.module.scss
@@ -71,31 +71,11 @@ $padding: 6px;
     margin-right: 4px;
   }
 
-  .type-icon,
-  .type-icon-edit {
-    font-size: 14px;
-    &.disabled {
-      opacity: 0.3;
-    }
-  }
-
-  .type-icon {
+  .extraIcon {
+    opacity: 0.5;
     margin-right: 6px;
   }
 
-  .type-icon-edit {
-    display: none;
-    color: #666;
-    margin-left: 6px;
-  }
-
-  &.canEdit .type-icon-edit {
-    display: unset;
-    &:hover {
-      color: white;
-    }
-  }
-
   .expand-icon {
     font-size: 14px;
     opacity: 0.75;
@@ -112,10 +92,6 @@ $padding: 6px;
   color: $text-bright;
 }
 
-.filterMatch .text {
-  color: $highlight;
-}
-
 .disabled {
   color: $text-disabled;
   cursor: auto;
diff --git a/packages/webviz-core/src/dataProviders/ApiCheckerDataProvider.test.js b/packages/webviz-core/src/dataProviders/ApiCheckerDataProvider.test.js
index 2a28735c6..08ea1d68f 100644
--- a/packages/webviz-core/src/dataProviders/ApiCheckerDataProvider.test.js
+++ b/packages/webviz-core/src/dataProviders/ApiCheckerDataProvider.test.js
@@ -8,6 +8,7 @@
 import ApiCheckerDataProvider from "webviz-core/src/dataProviders/ApiCheckerDataProvider";
 import MemoryDataProvider from "webviz-core/src/dataProviders/MemoryDataProvider";
 import { mockExtensionPoint } from "webviz-core/src/dataProviders/mockExtensionPoint";
+import reportError from "webviz-core/src/util/reportError";
 
 function getProvider() {
   const memoryDataProvider = new MemoryDataProvider({
@@ -56,30 +57,36 @@ describe("ApiCheckerDataProvider", () => {
       });
     });
 
-    it("throws when calling twice", async () => {
-      const { provider } = getProvider();
-      await provider.initialize(mockExtensionPoint().extensionPoint);
-      await expect(provider.initialize(mockExtensionPoint().extensionPoint)).rejects.toThrow();
-    });
+    describe("failure", () => {
+      afterEach(() => {
+        reportError.expectCalledDuringTest();
+      });
 
-    it("throws when there are no topics", async () => {
-      const { provider, memoryDataProvider } = getProvider();
-      memoryDataProvider.topics = [];
-      await expect(provider.initialize(mockExtensionPoint().extensionPoint)).rejects.toThrow();
-    });
+      it("throws when calling twice", async () => {
+        const { provider } = getProvider();
+        await provider.initialize(mockExtensionPoint().extensionPoint);
+        await expect(provider.initialize(mockExtensionPoint().extensionPoint)).rejects.toThrow();
+      });
 
-    it("throws when topic datatype is missing", async () => {
-      const { provider, memoryDataProvider } = getProvider();
-      memoryDataProvider.datatypes = { some_other_datatype: [] };
-      await expect(provider.initialize(mockExtensionPoint().extensionPoint)).rejects.toThrow();
-    });
+      it("throws when there are no topics", async () => {
+        const { provider, memoryDataProvider } = getProvider();
+        memoryDataProvider.topics = [];
+        await expect(provider.initialize(mockExtensionPoint().extensionPoint)).rejects.toThrow();
+      });
 
-    it("throws when topic is missing from connectionsByTopic", async () => {
-      const { provider, memoryDataProvider } = getProvider();
-      memoryDataProvider.connectionsByTopic = {
-        "/some_other_topic": { messageDefinition: "dummy", md5sum: "dummy", topic: "dummy", type: "dummy" },
-      };
-      await expect(provider.initialize(mockExtensionPoint().extensionPoint)).rejects.toThrow();
+      it("throws when topic datatype is missing", async () => {
+        const { provider, memoryDataProvider } = getProvider();
+        memoryDataProvider.datatypes = { some_other_datatype: [] };
+        await expect(provider.initialize(mockExtensionPoint().extensionPoint)).rejects.toThrow();
+      });
+
+      it("throws when topic is missing from connectionsByTopic", async () => {
+        const { provider, memoryDataProvider } = getProvider();
+        memoryDataProvider.connectionsByTopic = {
+          "/some_other_topic": { messageDefinition: "dummy", md5sum: "dummy", topic: "dummy", type: "dummy" },
+        };
+        await expect(provider.initialize(mockExtensionPoint().extensionPoint)).rejects.toThrow();
+      });
     });
   });
 
@@ -94,66 +101,73 @@ describe("ApiCheckerDataProvider", () => {
       ]);
     });
 
-    it("throws when calling getMessages before initialize", async () => {
-      const { provider } = getProvider();
-      await expect(
-        provider.getMessages({ sec: 100, nsec: 0 }, { sec: 105, nsec: 0 }, ["/some_topic"])
-      ).rejects.toThrow();
-    });
-
-    it("throws when calling getMessages with invalid ranges", async () => {
-      const { provider } = getProvider();
-      await provider.initialize(mockExtensionPoint().extensionPoint);
-      await expect(provider.getMessages({ sec: 90, nsec: 0 }, { sec: 95, nsec: 0 }, ["/some_topic"])).rejects.toThrow();
-      await expect(
-        provider.getMessages({ sec: 110, nsec: 0 }, { sec: 115, nsec: 0 }, ["/some_topic"])
-      ).rejects.toThrow();
-      await expect(
-        provider.getMessages({ sec: 105, nsec: 0 }, { sec: 100, nsec: 0 }, ["/some_topic"])
-      ).rejects.toThrow();
-    });
+    describe("failure", () => {
+      afterEach(() => {
+        reportError.expectCalledDuringTest();
+      });
+      it("throws when calling getMessages before initialize", async () => {
+        const { provider } = getProvider();
+        await expect(
+          provider.getMessages({ sec: 100, nsec: 0 }, { sec: 105, nsec: 0 }, ["/some_topic"])
+        ).rejects.toThrow();
+      });
 
-    it("throws when calling getMessages with invalid topics", async () => {
-      const { provider } = getProvider();
-      await provider.initialize(mockExtensionPoint().extensionPoint);
-      await expect(provider.getMessages({ sec: 100, nsec: 0 }, { sec: 105, nsec: 0 }, [])).rejects.toThrow();
-      await expect(
-        provider.getMessages({ sec: 100, nsec: 0 }, { sec: 105, nsec: 0 }, ["/invalid_topic"])
-      ).rejects.toThrow();
-    });
+      it("throws when calling getMessages with invalid ranges", async () => {
+        const { provider } = getProvider();
+        await provider.initialize(mockExtensionPoint().extensionPoint);
+        await expect(
+          provider.getMessages({ sec: 90, nsec: 0 }, { sec: 95, nsec: 0 }, ["/some_topic"])
+        ).rejects.toThrow();
+        await expect(
+          provider.getMessages({ sec: 110, nsec: 0 }, { sec: 115, nsec: 0 }, ["/some_topic"])
+        ).rejects.toThrow();
+        await expect(
+          provider.getMessages({ sec: 105, nsec: 0 }, { sec: 100, nsec: 0 }, ["/some_topic"])
+        ).rejects.toThrow();
+      });
 
-    it("throws when getMessages returns invalid messages", async () => {
-      const { provider, memoryDataProvider } = getProvider();
-      await provider.initialize(mockExtensionPoint().extensionPoint);
+      it("throws when calling getMessages with invalid topics", async () => {
+        const { provider } = getProvider();
+        await provider.initialize(mockExtensionPoint().extensionPoint);
+        await expect(provider.getMessages({ sec: 100, nsec: 0 }, { sec: 105, nsec: 0 }, [])).rejects.toThrow();
+        await expect(
+          provider.getMessages({ sec: 100, nsec: 0 }, { sec: 105, nsec: 0 }, ["/invalid_topic"])
+        ).rejects.toThrow();
+      });
 
-      let returnMessages = [];
-      jest.spyOn(memoryDataProvider, "getMessages").mockImplementation(() => returnMessages);
-
-      // Return messages that are still within the global range, but outside of the requested range.
-      returnMessages = [{ topic: "/some_topic", receiveTime: { sec: 100, nsec: 0 }, message: 0 }];
-      await expect(
-        provider.getMessages({ sec: 102, nsec: 0 }, { sec: 103, nsec: 0 }, ["/some_topic"])
-      ).rejects.toThrow();
-
-      returnMessages = [{ topic: "/some_topic", receiveTime: { sec: 104, nsec: 0 }, message: 0 }];
-      await expect(
-        provider.getMessages({ sec: 102, nsec: 0 }, { sec: 103, nsec: 0 }, ["/some_topic"])
-      ).rejects.toThrow();
-
-      // Incorrect order.
-      returnMessages = [
-        { topic: "/some_topic", receiveTime: { sec: 105, nsec: 0 }, message: 1 },
-        { topic: "/some_topic", receiveTime: { sec: 100, nsec: 0 }, message: 0 },
-      ];
-      await expect(
-        provider.getMessages({ sec: 100, nsec: 0 }, { sec: 105, nsec: 0 }, ["/some_topic"])
-      ).rejects.toThrow();
-
-      // Valid topic, but not requested
-      returnMessages = [{ topic: "/some_other_topic", receiveTime: { sec: 100, nsec: 0 }, message: 0 }];
-      await expect(
-        provider.getMessages({ sec: 100, nsec: 0 }, { sec: 105, nsec: 0 }, ["/some_topic"])
-      ).rejects.toThrow();
+      it("throws when getMessages returns invalid messages", async () => {
+        const { provider, memoryDataProvider } = getProvider();
+        await provider.initialize(mockExtensionPoint().extensionPoint);
+
+        let returnMessages = [];
+        jest.spyOn(memoryDataProvider, "getMessages").mockImplementation(() => returnMessages);
+
+        // Return messages that are still within the global range, but outside of the requested range.
+        returnMessages = [{ topic: "/some_topic", receiveTime: { sec: 100, nsec: 0 }, message: 0 }];
+        await expect(
+          provider.getMessages({ sec: 102, nsec: 0 }, { sec: 103, nsec: 0 }, ["/some_topic"])
+        ).rejects.toThrow();
+
+        returnMessages = [{ topic: "/some_topic", receiveTime: { sec: 104, nsec: 0 }, message: 0 }];
+        await expect(
+          provider.getMessages({ sec: 102, nsec: 0 }, { sec: 103, nsec: 0 }, ["/some_topic"])
+        ).rejects.toThrow();
+
+        // Incorrect order.
+        returnMessages = [
+          { topic: "/some_topic", receiveTime: { sec: 105, nsec: 0 }, message: 1 },
+          { topic: "/some_topic", receiveTime: { sec: 100, nsec: 0 }, message: 0 },
+        ];
+        await expect(
+          provider.getMessages({ sec: 100, nsec: 0 }, { sec: 105, nsec: 0 }, ["/some_topic"])
+        ).rejects.toThrow();
+
+        // Valid topic, but not requested
+        returnMessages = [{ topic: "/some_other_topic", receiveTime: { sec: 100, nsec: 0 }, message: 0 }];
+        await expect(
+          provider.getMessages({ sec: 100, nsec: 0 }, { sec: 105, nsec: 0 }, ["/some_topic"])
+        ).rejects.toThrow();
+      });
     });
   });
 
@@ -164,16 +178,21 @@ describe("ApiCheckerDataProvider", () => {
       expect(await provider.close()).toEqual(undefined);
     });
 
-    it("throws when calling close before initialize", async () => {
-      const { provider } = getProvider();
-      await expect(provider.close()).rejects.toThrow();
-    });
+    describe("failure", () => {
+      afterEach(() => {
+        reportError.expectCalledDuringTest();
+      });
+      it("throws when calling close before initialize", async () => {
+        const { provider } = getProvider();
+        await expect(provider.close()).rejects.toThrow();
+      });
 
-    it("throws when calling twice", async () => {
-      const { provider } = getProvider();
-      await provider.initialize(mockExtensionPoint().extensionPoint);
-      await provider.close();
-      await expect(provider.close()).rejects.toThrow();
+      it("throws when calling twice", async () => {
+        const { provider } = getProvider();
+        await provider.initialize(mockExtensionPoint().extensionPoint);
+        await provider.close();
+        await expect(provider.close()).rejects.toThrow();
+      });
     });
   });
 });
diff --git a/packages/webviz-core/src/dataProviders/CombinedDataProvider.js b/packages/webviz-core/src/dataProviders/CombinedDataProvider.js
index be658ef7c..f461fd36c 100644
--- a/packages/webviz-core/src/dataProviders/CombinedDataProvider.js
+++ b/packages/webviz-core/src/dataProviders/CombinedDataProvider.js
@@ -139,23 +139,27 @@ export default class CombinedDataProvider implements DataProvider {
   }
 
   async initialize(extensionPoint: ExtensionPoint): Promise<InitializationResult> {
-    const results: InitializationResult[] = await Promise.all(
-      this._providers.map(({ provider, prefix, deleteTopics }: InternalProviderInfo, idx) => {
-        const childExtensionPoint = {
-          progressCallback: (progress: Progress) => {
-            this._progressPerProvider[idx] = progress;
-            // Assume empty for unreported progress
-            const cleanProgresses = this._progressPerProvider.map((p) => p || emptyProgress());
-            const intersected = intersectProgress(cleanProgresses);
-            extensionPoint.progressCallback(intersected);
-          },
-          reportMetadataCallback: (data: DataProviderMetadata) => {
-            extensionPoint.reportMetadataCallback(data);
-          },
-        };
-        return provider.initialize(childExtensionPoint);
-      })
-    );
+    const results: InitializationResult[] = [];
+    // NOTE: Initialization is done serially instead of concurrently here as a
+    // temporary workaround for a major IndexedDB bug that results in runaway
+    // disk usage. TODO: Reference chromium ticket.
+    for (let idx = 0; idx < this._providers.length; idx++) {
+      const { provider } = this._providers[idx];
+      const childExtensionPoint = {
+        progressCallback: (progress: Progress) => {
+          this._progressPerProvider[idx] = progress;
+          // Assume empty for unreported progress
+          const cleanProgresses = this._progressPerProvider.map((p) => p || emptyProgress());
+          const intersected = intersectProgress(cleanProgresses);
+          extensionPoint.progressCallback(intersected);
+        },
+        reportMetadataCallback: (data: DataProviderMetadata) => {
+          extensionPoint.reportMetadataCallback(data);
+        },
+      };
+      const result = await provider.initialize(childExtensionPoint);
+      results.push(result);
+    }
 
     // Any providers that didn't report progress in `initialize` are assumed fully loaded
     this._progressPerProvider.forEach((p, i) => {
diff --git a/packages/webviz-core/src/dataProviders/MemoryCacheDataProvider.js b/packages/webviz-core/src/dataProviders/MemoryCacheDataProvider.js
new file mode 100644
index 000000000..c9e82543c
--- /dev/null
+++ b/packages/webviz-core/src/dataProviders/MemoryCacheDataProvider.js
@@ -0,0 +1,428 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { simplify } from "intervals-fn";
+import { isEqual, uniq } from "lodash";
+import { TimeUtil, type Time } from "rosbag";
+import uuid from "uuid";
+
+import type {
+  DataProvider,
+  DataProviderDescriptor,
+  ExtensionPoint,
+  GetDataProvider,
+  InitializationResult,
+  DataProviderMessage,
+} from "webviz-core/src/dataProviders/types";
+import filterMap from "webviz-core/src/filterMap";
+import { getNewConnection } from "webviz-core/src/util/getNewConnection";
+import Logger from "webviz-core/src/util/Logger";
+import { type Range, mergeNewRangeIntoUnsortedNonOverlappingList } from "webviz-core/src/util/ranges";
+import reportError from "webviz-core/src/util/reportError";
+import { fromNanoSec, subtractTimes, toNanoSec } from "webviz-core/src/util/time";
+
+const log = new Logger(__filename);
+
+// I (JP) mostly just made these numbers up. It might be worth experimenting with different values
+// for these, but it seems to work reasonably well in my tests.
+const BLOCK_SIZE_NS = 0.1e9; // Messages are laid out in blocks with a fixed number of milliseconds.
+const MINIMUM_CACHE_SIZE_NS = 35e9; // Number of nanoseconds that we'll always keep in the cache.
+const READ_AHEAD_NS = 3e9; // Number of nanoseconds to read ahead from the last `getMessages` call.
+const CACHE_SIZE_BYTES = 2.5e9; // Number of bytes that we aim to keep in the cache.
+
+// For each memory block we store the actual messages (grouped by topic), and a total byte size of
+// the underlying ArrayBuffers.
+type MemoryCacheBlock = { messagesByTopic: { [topic: string]: DataProviderMessage[] }, sizeInBytes: number };
+
+function getNormalizedTopics(topics: string[]): string[] {
+  return uniq(topics).sort();
+}
+
+// Get the blocks to keep for the current cache purge, given the most recently accessed ranges, the
+// blocks byte sizes, the minimum number of blocks to always keep, and the maximum cache size.
+//
+// TODO(JP): It would be good to eventually get rid of the `minimumBlocksToKeep`, since that's a
+// bit of a hack. The reason to have it is so we can read ahead indefinitely when we're reading a
+// bag that is shorter than MINIMUM_CACHE_SIZE_NS. It's a bit harder to do a read-ahead for as long
+// as we don't get any cache evictions, since that is not something we can currently express easily
+// with our `getNewConnection` and `_setConnection` model. But it shouldn't be too much of an
+// overhaul to properly change that. For now we just keep a `minimumBlocksToKeep` so that most users
+// (with relatively short bags) get a great experience, where we buffer the entire bag.
+//
+// Exported for tests.
+export function getBlocksToKeep({
+  recentBlockRanges,
+  blockSizesInBytes,
+  minimumBlocksToKeep,
+  maxCacheSizeInBytes,
+}: {|
+  // The most recently requested block ranges, ordered from most recent to least recent.
+  recentBlockRanges: Range[],
+  // For each block, its size, if it exists. Note that it's allowed for a `recentBlockRange` to
+  // not have all blocks actually available (i.e. a seek happened before the whole range was
+  // downloaded).
+  blockSizesInBytes: (?number)[],
+  // The minimum number of blocks to keep, regardless of byte size.
+  minimumBlocksToKeep: number,
+  // The maximum cache size in bytes.
+  maxCacheSizeInBytes: number,
+|}): { blockIndexesToKeep: Set<number>, newRecentRanges: Range[] } {
+  let cacheSizeInBytes = 0;
+  const blockIndexesToKeep = new Set<number>();
+  // Go through all the ranges, from most to least recent.
+  for (let blockRangeIndex = 0; blockRangeIndex < recentBlockRanges.length; blockRangeIndex++) {
+    const blockRange = recentBlockRanges[blockRangeIndex];
+
+    // Work backwards from the end of the range, since those blocks are most relevant to keep.
+    for (let blockIndex = blockRange.end - 1; blockIndex >= blockRange.start; blockIndex--) {
+      // If we don't have size, there are no blocks to keep!
+      const sizeInBytes = blockSizesInBytes[blockIndex];
+      if (!sizeInBytes) {
+        continue;
+      }
+
+      // Then always add the block. But only add to `cacheSizeInBytes` if we didn't already count it.
+      if (!blockIndexesToKeep.has(blockIndex)) {
+        blockIndexesToKeep.add(blockIndex);
+        cacheSizeInBytes += sizeInBytes;
+      }
+
+      // Terminate if we have exceeded both `minimumBlocksToKeep` and `maxCacheSizeInBytes`.
+      if (blockIndexesToKeep.size > minimumBlocksToKeep && cacheSizeInBytes > maxCacheSizeInBytes) {
+        return {
+          blockIndexesToKeep,
+          // Adjust the oldest `newRecentRanges`.
+          newRecentRanges: [...recentBlockRanges.slice(0, blockRangeIndex), { start: blockIndex, end: blockRange.end }],
+        };
+      }
+    }
+  }
+  return { blockIndexesToKeep, newRecentRanges: recentBlockRanges };
+}
+
+// This fills up the memory with messages from an underlying DataProvider. The messages have to be
+// unparsed ROS messages. The messages are evicted from this in-memory cache based on some constants
+// defined at the top of this file.
+export default class MemoryCacheDataProvider implements DataProvider {
+  _id: string;
+  _provider: DataProvider;
+  _extensionPoint: ExtensionPoint;
+
+  // The actual blocks that contain the messages. Blocks have a set "width" in terms of nanoseconds
+  // since the start time of the bag. If a block has some messages for a topic, then by definition
+  // it has *all* messages for that topic and timespan.
+  _blocks: (?MemoryCacheBlock)[];
+
+  // The start time of the bag. Used for computing from and to nanoseconds since the start.
+  _startTime: Time;
+
+  // The topics that we were most recently asked to load.
+  // This is always set by the last `getMessages` call.
+  _preloadTopics: string[] = [];
+
+  // Total length of the data in nanoseconds. Used to compute progress with.
+  _totalNs: number;
+
+  // The current "connection", which represents the range that we're downloading.
+  _currentConnection: ?{| id: string, topics: string[], remainingBlockRange: Range |};
+
+  // The read requests we've received via `getMessages`.
+  _readRequests: {|
+    timeRange: Range, // Actual range of messages, in nanoseconds since `this._startTime`.
+    blockRange: Range, // The range of blocks.
+    topics: string[],
+    resolve: (DataProviderMessage[]) => void,
+  |}[] = [];
+
+  // Recently requested ranges of blocks, sorted by most recent to least recent. There should never
+  // be any overlapping ranges. Ranges *are* allowed to cover blocks that haven't been downloaded
+  // (yet).
+  _recentBlockRanges: Range[] = [];
+
+  // The end time of the last callback that we've resolved. This is useful for preloading new data
+  // around this time.
+  _lastResolvedCallbackEnd: ?number;
+
+  constructor({ id }: {| id: string |}, children: DataProviderDescriptor[], getDataProvider: GetDataProvider) {
+    this._id = id;
+    if (children.length !== 1) {
+      throw new Error(`Incorrect number of children to MemoryCacheDataProvider: ${children.length}`);
+    }
+    this._provider = getDataProvider(children[0]);
+  }
+
+  async initialize(extensionPoint: ExtensionPoint): Promise<InitializationResult> {
+    this._extensionPoint = extensionPoint;
+
+    const result = await this._provider.initialize({ ...extensionPoint, progressCallback: () => {} });
+    this._startTime = result.start;
+    this._totalNs = toNanoSec(subtractTimes(result.end, result.start)) + 1; // +1 since times are inclusive.
+    if (this._totalNs > Number.MAX_SAFE_INTEGER * 0.9) {
+      throw new Error("Time range is too long to be supported");
+    }
+    this._blocks = new Array(Math.ceil(this._totalNs / BLOCK_SIZE_NS));
+    this._updateProgress();
+
+    return result;
+  }
+
+  async getMessages(startTime: Time, endTime: Time, topics: string[]): Promise<DataProviderMessage[]> {
+    // We might have a new set of topics.
+    topics = getNormalizedTopics(topics);
+    this._preloadTopics = topics;
+
+    // Push a new entry to `this._readRequests`, and call `this._updateState()`.
+    const timeRange = {
+      start: toNanoSec(subtractTimes(startTime, this._startTime)),
+      end: toNanoSec(subtractTimes(endTime, this._startTime)) + 1, // `Range` defines `end` as exclusive.
+    };
+    const blockRange = {
+      start: Math.floor(timeRange.start / BLOCK_SIZE_NS),
+      end: Math.floor((timeRange.end - 1) / BLOCK_SIZE_NS) + 1, // `Range` defines `end` as exclusive.
+    };
+    return new Promise((resolve) => {
+      this._readRequests.push({ timeRange, blockRange, topics, resolve });
+      this._updateState();
+    });
+  }
+
+  close(): Promise<void> {
+    delete this._currentConnection; // Make sure that the current "connection" loop stops executing.
+    return this._provider.close();
+  }
+
+  // We're primarily interested in the topics for the first outstanding read request, and after that
+  // we're interested in preloading topics (based on the *last* read request).
+  _getCurrentTopics(): string[] {
+    if (this._readRequests[0]) {
+      return this._readRequests[0].topics;
+    }
+    return this._preloadTopics;
+  }
+
+  // Gets called any time our "connection", read requests, or topics change.
+  _updateState() {
+    // First, see if there are any read requests that we can resolve now.
+    this._readRequests = this._readRequests.filter(({ timeRange, blockRange, topics, resolve }) => {
+      if (topics.length === 0) {
+        resolve([]);
+        return false;
+      }
+
+      // If any of the requested blocks are not fully downloaded yet, bail out.
+      for (let blockIndex = blockRange.start; blockIndex < blockRange.end; blockIndex++) {
+        const block = this._blocks[blockIndex];
+        if (!block) {
+          return true;
+        }
+        for (const topic of topics) {
+          if (!block.messagesByTopic[topic]) {
+            return true;
+          }
+        }
+      }
+
+      // Now that we know we have the blocks and messages, read them, and filter out just the
+      // messages for the requested time range and topics.
+      const messages = [];
+      for (let blockIndex = blockRange.start; blockIndex < blockRange.end; blockIndex++) {
+        const block = this._blocks[blockIndex];
+        if (!block) {
+          throw new Error("Block should have been available, but it was not");
+        }
+        for (const topic of topics) {
+          const messagesFromBlock = block.messagesByTopic[topic];
+          if (!messagesFromBlock) {
+            throw new Error("Block messages should have been available, but they were not");
+          }
+          for (const message of messagesFromBlock) {
+            const messageTime = toNanoSec(subtractTimes(message.receiveTime, this._startTime));
+            if (timeRange.start /* inclusive */ <= messageTime && messageTime < timeRange.end /* exclusive */) {
+              messages.push(message);
+            }
+          }
+        }
+      }
+      resolve(messages.sort((a, b) => TimeUtil.compare(a.receiveTime, b.receiveTime)));
+      this._lastResolvedCallbackEnd = blockRange.end;
+
+      return false;
+    });
+
+    if (this._currentConnection && !isEqual(this._currentConnection.topics, this._getCurrentTopics())) {
+      // If we have a different set of topics, stop the current "connection", and refresh everything.
+      delete this._currentConnection;
+    }
+
+    // Then see if we need to set a new connection based on the new connection and read requests state.
+    const newConnection = getNewConnection({
+      currentRemainingRange: this._currentConnection ? this._currentConnection.remainingBlockRange : undefined,
+      readRequestRange: this._readRequests[0] ? this._readRequests[0].blockRange : undefined,
+      downloadedRanges: this._getDownloadedBlockRanges(),
+      lastResolvedCallbackEnd: this._lastResolvedCallbackEnd,
+      cacheSize: this._totalNs <= MINIMUM_CACHE_SIZE_NS ? Infinity : Math.ceil(READ_AHEAD_NS / BLOCK_SIZE_NS),
+      fileSize: this._blocks.length,
+      continueDownloadingThreshold: 3, // Somewhat arbitrary number to not create new connections all the time.
+    });
+    if (newConnection) {
+      this._setConnection(newConnection).catch((err) => {
+        reportError(
+          `MemoryCacheDataProvider connection ${this._currentConnection ? this._currentConnection.id : ""}`,
+          err ? err.message : "<unknown error>",
+          "app"
+        );
+      });
+    }
+  }
+
+  // Replace the current connection with a new one, spanning a certain range of blocks.
+  async _setConnection(blockRange: Range) {
+    if (!this._getCurrentTopics().length) {
+      delete this._currentConnection;
+      return;
+    }
+
+    const id = uuid.v4();
+    this._currentConnection = { id, topics: this._getCurrentTopics(), remainingBlockRange: blockRange };
+
+    // Merge the new `blockRange` into `_recentBlockRanges`, which upholds the invariant that
+    // these ranges are never overlapping.
+    this._recentBlockRanges = mergeNewRangeIntoUnsortedNonOverlappingList(blockRange, this._recentBlockRanges);
+
+    const isCurrent = () => {
+      return this._currentConnection && this._currentConnection.id === id;
+    };
+
+    // Just loop infinitely, but break if the connection is not current any more.
+    while (true) {
+      const currentConnection = this._currentConnection;
+      if (!currentConnection || !isCurrent()) {
+        return;
+      }
+
+      const currentBlockIndex = currentConnection.remainingBlockRange.start;
+      // Only request topics that we don't already have.
+      const topics = this._blocks[currentBlockIndex]
+        ? currentConnection.topics.filter(
+            (topic) => !this._blocks[currentBlockIndex] || !this._blocks[currentBlockIndex].messagesByTopic[topic]
+          )
+        : currentConnection.topics;
+
+      // Get messages from the underlying provider.
+      const startTime = TimeUtil.add(this._startTime, fromNanoSec(currentBlockIndex * BLOCK_SIZE_NS));
+      const endTime = TimeUtil.add(
+        this._startTime,
+        fromNanoSec(Math.min(this._totalNs, (currentBlockIndex + 1) * BLOCK_SIZE_NS) - 1) // endTime is inclusive.
+      );
+      const messages = topics.length ? await this._provider.getMessages(startTime, endTime, topics) : [];
+
+      // If we're not current any more, discard the messages, because otherwise we might write duplicate messages.
+      if (!isCurrent()) {
+        return;
+      }
+
+      // Create a new block if necessary.
+      this._blocks[currentBlockIndex] = this._blocks[currentBlockIndex] || { messagesByTopic: {}, sizeInBytes: 0 };
+      const currentBlock = this._blocks[currentBlockIndex];
+      if (!currentBlock) {
+        throw new Error("currentBlock should be set here");
+      }
+
+      // Fill up the block with messages.
+      for (const topic of topics) {
+        currentBlock.messagesByTopic[topic] = [];
+      }
+      for (const message of messages) {
+        if (!(message.message instanceof ArrayBuffer)) {
+          reportError("MemoryCacheDataProvider can only be used with unparsed ROS messages", "", "app");
+          return;
+        }
+        if (message.message.byteLength > 10000000) {
+          log.warn(`Message on ${message.topic} is suspiciously large (${message.message.byteLength} bytes)`);
+        }
+        currentBlock.messagesByTopic[message.topic].push(message);
+        currentBlock.sizeInBytes += message.message.byteLength;
+      }
+
+      // Now `this._recentBlockRanges` and `this._blocks` have been updated, so we can purge the
+      // cache and report progress.
+      this._purgeOldBlocks();
+      this._updateProgress();
+
+      // Check *again* if we're not current any more, because now we're going to update connection
+      // information.
+      if (!isCurrent()) {
+        return;
+      }
+
+      if (currentBlockIndex >= blockRange.end - 1) {
+        // If we're at the end of the range, we're done.
+        delete this._currentConnection;
+        this._updateState();
+        return;
+      }
+      // Otherwise, update the `remainingBlockRange`.
+      this._currentConnection = {
+        ...this._currentConnection,
+        remainingBlockRange: { start: currentBlockIndex + 1, end: blockRange.end },
+      };
+      this._updateState();
+    }
+  }
+
+  // For the relevant downloaded ranges, we look at `this._blocks` and the most relevant topics.
+  _getDownloadedBlockRanges(): Range[] {
+    const topics: string[] = this._getCurrentTopics();
+    return simplify(
+      filterMap(this._blocks, (block, blockIndex) => {
+        if (!block) {
+          return;
+        }
+        for (const topic of topics) {
+          if (!block.messagesByTopic[topic]) {
+            return;
+          }
+        }
+        return { start: blockIndex, end: blockIndex + 1 };
+      })
+    );
+  }
+
+  _purgeOldBlocks() {
+    // If we have less data than the minimum cache size, then we never need to purge.
+    if (this._totalNs <= MINIMUM_CACHE_SIZE_NS) {
+      return;
+    }
+
+    // Call the getBlocksToKeep helper.
+    const { blockIndexesToKeep, newRecentRanges } = getBlocksToKeep({
+      recentBlockRanges: this._recentBlockRanges,
+      blockSizesInBytes: this._blocks.map((block) => (block ? block.sizeInBytes : undefined)),
+      minimumBlocksToKeep: Math.ceil(MINIMUM_CACHE_SIZE_NS / BLOCK_SIZE_NS),
+      maxCacheSizeInBytes: CACHE_SIZE_BYTES,
+    });
+
+    // Update our state.
+    this._recentBlockRanges = newRecentRanges;
+    for (let blockIndex = 0; blockIndex < this._blocks.length; blockIndex++) {
+      if (this._blocks[blockIndex] && !blockIndexesToKeep.has(blockIndex)) {
+        this._blocks[blockIndex] = undefined;
+      }
+    }
+  }
+
+  _updateProgress() {
+    this._extensionPoint.progressCallback({
+      fullyLoadedFractionRanges: this._getDownloadedBlockRanges().map((range) => ({
+        // Convert block ranges into fractions.
+        start: range.start / this._blocks.length,
+        end: range.end / this._blocks.length,
+      })),
+    });
+  }
+}
diff --git a/packages/webviz-core/src/dataProviders/MemoryCacheDataProvider.test.js b/packages/webviz-core/src/dataProviders/MemoryCacheDataProvider.test.js
new file mode 100644
index 000000000..474aea503
--- /dev/null
+++ b/packages/webviz-core/src/dataProviders/MemoryCacheDataProvider.test.js
@@ -0,0 +1,163 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { flatten, last } from "lodash";
+import { TimeUtil } from "rosbag";
+
+import MemoryCacheDataProvider, { getBlocksToKeep } from "./MemoryCacheDataProvider";
+import delay from "webviz-core/shared/delay";
+import MemoryDataProvider from "webviz-core/src/dataProviders/MemoryDataProvider";
+import { mockExtensionPoint } from "webviz-core/src/dataProviders/mockExtensionPoint";
+import type { DataProviderMessage } from "webviz-core/src/dataProviders/types";
+import naturalSort from "webviz-core/src/util/naturalSort";
+import reportError from "webviz-core/src/util/reportError";
+
+function sortMessages(messages: DataProviderMessage[]) {
+  return messages.sort((a, b) => TimeUtil.compare(a.receiveTime, b.receiveTime) || naturalSort()(a.topic, b.topic));
+}
+
+function generateMessages(): DataProviderMessage[] {
+  return sortMessages([
+    { topic: "/foo", receiveTime: { sec: 100, nsec: 0 }, message: new ArrayBuffer(10) },
+    { topic: "/foo", receiveTime: { sec: 101, nsec: 0 }, message: new ArrayBuffer(10) },
+    { topic: "/foo", receiveTime: { sec: 102, nsec: 0 }, message: new ArrayBuffer(10) },
+    { topic: "/bar", receiveTime: { sec: 100, nsec: 0 }, message: new ArrayBuffer(10) },
+    { topic: "/bar", receiveTime: { sec: 101, nsec: 0 }, message: new ArrayBuffer(10) },
+    { topic: "/bar", receiveTime: { sec: 102, nsec: 0 }, message: new ArrayBuffer(10) },
+  ]);
+}
+
+function getProvider(messages: DataProviderMessage[]) {
+  const memoryDataProvider = new MemoryDataProvider({ messages });
+  return {
+    provider: new MemoryCacheDataProvider(
+      { id: "some-id" },
+      [{ name: "IdbCacheWriterDataProvider", args: {}, children: [] }],
+      () => memoryDataProvider
+    ),
+    memoryDataProvider,
+  };
+}
+
+describe("MemoryCacheDataProvider", () => {
+  it("initializes", async () => {
+    const { provider } = getProvider(generateMessages());
+    expect(await provider.initialize(mockExtensionPoint().extensionPoint)).toEqual({
+      start: { nsec: 0, sec: 100 },
+      end: { nsec: 0, sec: 102 },
+      topics: [],
+      datatypes: {},
+    });
+  });
+
+  it("suppresses the underlying progress updates, and only publishes its own", async () => {
+    const { provider, memoryDataProvider } = getProvider(generateMessages());
+    const { extensionPoint } = mockExtensionPoint();
+    const mockProgressCallback = jest.spyOn(extensionPoint, "progressCallback");
+
+    await provider.initialize(extensionPoint);
+    memoryDataProvider.extensionPoint.progressCallback({ fullyLoadedFractionRanges: [{ start: 0, end: 0.5 }] });
+    expect(mockProgressCallback.mock.calls).toEqual([[{ fullyLoadedFractionRanges: [] }]]);
+  });
+
+  it("reads ahead data when some topics are given", async () => {
+    const { provider, memoryDataProvider } = getProvider(generateMessages());
+    const { extensionPoint } = mockExtensionPoint();
+    const mockProgressCallback = jest.spyOn(extensionPoint, "progressCallback");
+    jest.spyOn(memoryDataProvider, "getMessages");
+
+    await provider.initialize(extensionPoint);
+    await provider.getMessages({ sec: 100, nsec: 0 }, { sec: 100, nsec: 0 }, ["/foo"]);
+    await delay(10);
+    expect(last(mockProgressCallback.mock.calls)).toEqual([{ fullyLoadedFractionRanges: [{ start: 0, end: 1 }] }]);
+    expect(last(memoryDataProvider.getMessages.mock.calls)).toEqual([
+      // The last block will typically be exactly one timestamp since BLOCK_SIZE_NS divides seconds.
+      { sec: 102, nsec: 0 },
+      { sec: 102, nsec: 0 },
+      // Has the right topic:
+      ["/foo"],
+    ]);
+  });
+
+  it("returns messages", async () => {
+    const { provider } = getProvider(generateMessages());
+    await provider.initialize(mockExtensionPoint().extensionPoint);
+    // Make a bunch of different calls in quick succession and out of order, and stitch them
+    // together, to test a bit more thoroughly.
+    const messages = sortMessages(
+      flatten(
+        await Promise.all([
+          provider.getMessages({ sec: 102, nsec: 0 }, { sec: 102, nsec: 0 }, ["/foo"]),
+          provider.getMessages({ sec: 100, nsec: 0 }, { sec: 100, nsec: 0 }, ["/foo", "/bar"]),
+          provider.getMessages({ sec: 100, nsec: 1 }, { sec: 101, nsec: 1e9 - 1 }, ["/foo"]),
+          provider.getMessages({ sec: 100, nsec: 1 }, { sec: 101, nsec: 1e9 - 1 }, ["/bar"]),
+          provider.getMessages({ sec: 102, nsec: 0 }, { sec: 102, nsec: 0 }, ["/bar"]),
+        ])
+      )
+    );
+    expect(messages).toEqual(generateMessages());
+  });
+
+  it("does not allow storing non-ArrayBuffer messages", async () => {
+    const { provider } = getProvider([{ topic: "/foo", receiveTime: { sec: 100, nsec: 0 }, message: 0 }]);
+    await provider.initialize(mockExtensionPoint().extensionPoint);
+    provider.getMessages({ sec: 100, nsec: 0 }, { sec: 102, nsec: 0 }, ["/foo"]);
+    await delay(10);
+    reportError.expectCalledDuringTest();
+  });
+
+  // TODO(JP): We test getBlocksToKeep separately, but never as part of MemoryCacheDataProvider.
+  // This is a bit more work to set up properly, so I haven't done that for now since I feel like
+  // the units themselves are sufficiently tested, but in the future it would be good to add some
+  // more coverage, especially as this code matures.
+  describe("getBlocksToKeep", () => {
+    it("keeps all blocks if we haven't reached the minimum yet", () => {
+      expect(
+        getBlocksToKeep({
+          recentBlockRanges: [{ start: 0, end: 5 }],
+          blockSizesInBytes: [1, 2, undefined, undefined, undefined],
+          minimumBlocksToKeep: 3,
+          maxCacheSizeInBytes: 5,
+        })
+      ).toEqual({ blockIndexesToKeep: new Set([1, 0]), newRecentRanges: [{ start: 0, end: 5 }] });
+    });
+
+    it("keeps all blocks if we haven't reached the maximum cache size yet", () => {
+      expect(
+        getBlocksToKeep({
+          recentBlockRanges: [{ start: 0, end: 5 }],
+          blockSizesInBytes: [1, 2, undefined, undefined, undefined],
+          minimumBlocksToKeep: 0,
+          maxCacheSizeInBytes: 5,
+        })
+      ).toEqual({ blockIndexesToKeep: new Set([1, 0]), newRecentRanges: [{ start: 0, end: 5 }] });
+    });
+
+    it("keeps blocks when we *just* exceed the maximum", () => {
+      expect(
+        getBlocksToKeep({
+          recentBlockRanges: [{ start: 0, end: 5 }],
+          blockSizesInBytes: [1, 2, 3, undefined, undefined],
+          minimumBlocksToKeep: 0,
+          maxCacheSizeInBytes: 5,
+        })
+      ).toEqual({ blockIndexesToKeep: new Set([2, 1, 0]), newRecentRanges: [{ start: 0, end: 5 }] });
+    });
+
+    it("removes blocks when exceeding the maximum (and updates newRecentRanges)", () => {
+      expect(
+        getBlocksToKeep({
+          recentBlockRanges: [{ start: 0, end: 5 }],
+          blockSizesInBytes: [1, 2, 3, 4, undefined],
+          minimumBlocksToKeep: 0,
+          maxCacheSizeInBytes: 5,
+        })
+      ).toEqual({ blockIndexesToKeep: new Set([3, 2]), newRecentRanges: [{ start: 2, end: 5 }] });
+    });
+  });
+});
diff --git a/packages/webviz-core/src/dataProviders/ParseMessagesDataProvider.js b/packages/webviz-core/src/dataProviders/ParseMessagesDataProvider.js
index 31030f1a5..42061f776 100644
--- a/packages/webviz-core/src/dataProviders/ParseMessagesDataProvider.js
+++ b/packages/webviz-core/src/dataProviders/ParseMessagesDataProvider.js
@@ -10,7 +10,9 @@ import { type Time } from "rosbag";
 
 import { type DataProvider, type DataProviderMessage, type InitializationResult, type ExtensionPoint } from "./types";
 import type { DataProviderDescriptor, Connection, GetDataProvider } from "webviz-core/src/dataProviders/types";
+import filterMap from "webviz-core/src/filterMap";
 import MessageReaderStore from "webviz-core/src/util/MessageReaderStore";
+import reportError from "webviz-core/src/util/reportError";
 
 const readers = new MessageReaderStore();
 
@@ -36,17 +38,23 @@ export default class ParseMessagesDataProvider implements DataProvider {
   }
 
   async getMessages(start: Time, end: Time, topics: string[]): Promise<DataProviderMessage[]> {
-    return (await this._provider.getMessages(start, end, topics)).map((message) => {
+    const allMessages = await this._provider.getMessages(start, end, topics);
+    return filterMap(allMessages, (message) => {
       const connection = this._connectionsByTopic[message.topic];
       if (!connection) {
         throw new Error("Could not find connection in bag for message");
       }
       const { type, md5sum, messageDefinition } = connection;
       const reader = readers.get(type, md5sum, messageDefinition);
-      return {
-        ...message,
-        message: reader.readMessage(Buffer.from(message.message)),
-      };
+      try {
+        return {
+          ...message,
+          message: reader.readMessage(Buffer.from(message.message)),
+        };
+      } catch (error) {
+        reportError(`Error reading messages from ${message.topic}: ${error.message}`, error, "user");
+        return undefined;
+      }
     });
   }
 
diff --git a/packages/webviz-core/src/dataProviders/ReadAheadDataProvider.js b/packages/webviz-core/src/dataProviders/ReadAheadDataProvider.js
deleted file mode 100644
index 471a68fe2..000000000
--- a/packages/webviz-core/src/dataProviders/ReadAheadDataProvider.js
+++ /dev/null
@@ -1,146 +0,0 @@
-// @flow
-//
-//  Copyright (c) 2018-present, GM Cruise LLC
-//
-//  This source code is licensed under the Apache License, Version 2.0,
-//  found in the LICENSE file in the root directory of this source tree.
-//  You may not use this file except in compliance with the License.
-
-import { intersection } from "lodash";
-import PromiseQueue from "promise-queue";
-import { TimeUtil, type Time } from "rosbag";
-
-import type {
-  DataProvider,
-  DataProviderDescriptor,
-  ExtensionPoint,
-  GetDataProvider,
-  InitializationResult,
-  DataProviderMessage,
-} from "webviz-core/src/dataProviders/types";
-import Logger from "webviz-core/src/util/Logger";
-import { clampTime } from "webviz-core/src/util/time";
-
-const log = new Logger(__filename);
-
-export class ReadResult {
-  start: Time;
-  end: Time;
-  _promise: Promise<DataProviderMessage[]>;
-  _isResolved: boolean = false;
-
-  constructor(start: Time, end: Time, promise: Promise<DataProviderMessage[]>) {
-    this.start = start;
-    this.end = end;
-    this._promise = promise;
-    promise.then(() => (this._isResolved = true));
-  }
-
-  static empty() {
-    return new ReadResult({ sec: 0, nsec: 0 }, { sec: 0, nsec: 0 }, Promise.resolve([]));
-  }
-
-  overlaps(start: Time, end: Time) {
-    return !TimeUtil.isLessThan(end, this.start) && !TimeUtil.isLessThan(this.end, start);
-  }
-
-  async getMessages(start: Time, end: Time): Promise<DataProviderMessage[]> {
-    if (!this._isResolved) {
-      log.info(
-        "reading from cache before cache is loaded - this should not happen too often or playback will be degraded"
-      );
-    }
-    const all = await this._promise;
-    return all.filter(
-      (msg) => TimeUtil.compare(start, msg.receiveTime) < 1 && TimeUtil.compare(end, msg.receiveTime) > -1
-    );
-  }
-}
-
-const oneNanoSecond = { sec: 0, nsec: 1 };
-// A caching adapter for a DataProvider which does eager, non-blocking read ahead of time ranges
-// based on a readAheadRange (default to 100 milliseconds).
-export default class ReadAheadDataProvider implements DataProvider {
-  _initResult: InitializationResult;
-  _provider: DataProvider;
-  _topics: string[] = [];
-  _current: ?ReadResult;
-  _next: ?ReadResult;
-  _topics: string[] = [];
-  _readAheadRange: Time;
-  _taskQueue = new PromiseQueue(1);
-
-  constructor(
-    { readAheadRange }: { readAheadRange?: Time },
-    children: DataProviderDescriptor[],
-    getDataProvider: GetDataProvider
-  ) {
-    if (children.length !== 1) {
-      throw new Error(`Incorrect number of children to ReadAheadDataProvider: ${children.length}`);
-    }
-    this._provider = getDataProvider(children[0]);
-    this._readAheadRange = readAheadRange || { sec: 0, nsec: 100 * 1e6 };
-  }
-
-  async initialize(extensionPoint: ExtensionPoint): Promise<InitializationResult> {
-    const initResult = await this._provider.initialize(extensionPoint);
-    this._initResult = initResult;
-    return initResult;
-  }
-
-  close(): Promise<void> {
-    return this._provider.close();
-  }
-
-  _makeReadResult(start: Time, end: Time, topics: string[]): ReadResult {
-    start = clampTime(start, this._initResult.start, this._initResult.end);
-    end = clampTime(end, this._initResult.start, this._initResult.end);
-    return new ReadResult(start, end, this._provider.getMessages(start, end, topics));
-  }
-
-  getMessages(start: Time, end: Time, topics: string[]): Promise<DataProviderMessage[]> {
-    // The implementation of _getMessages() is not reentrant, so wait for all previous calls to return before starting a new one.
-    return this._taskQueue.add(() => this._getMessages(start, end, topics));
-  }
-
-  async _getMessages(start: Time, end: Time, topics: string[]): Promise<DataProviderMessage[]> {
-    // if our topics change we need to clear out the cached ranges, or if we're
-    // reading from before the first range.
-    if (
-      intersection(this._topics, topics).length !== topics.length ||
-      !this._current ||
-      TimeUtil.isLessThan(start, this._current.start)
-    ) {
-      this._topics = topics;
-      this._current = undefined;
-      this._next = undefined;
-    }
-    let messages = [];
-    const currentMatches = this._current && this._current.overlaps(start, end);
-    const nextMatches = this._next && this._next.overlaps(start, end);
-    if (/*:: this._current && */ currentMatches) {
-      messages = messages.concat(await this._current.getMessages(start, end));
-    }
-    if (/*:: this._next && */ nextMatches) {
-      messages = messages.concat(await this._next.getMessages(start, end));
-    }
-    if ((!currentMatches && !nextMatches) || (this._next && TimeUtil.isGreaterThan(end, this._next.end))) {
-      let startTime = start;
-      if (/*:: this._next && */ nextMatches) {
-        startTime = TimeUtil.add(this._next.end, oneNanoSecond);
-        log.info("readahead cache overrun - consider expanding readAheadRange");
-      }
-      this._current = this._makeReadResult(startTime, end, topics);
-      await this._current.getMessages(startTime, end);
-      const nextStart = TimeUtil.add(end, oneNanoSecond);
-      this._next = this._makeReadResult(nextStart, TimeUtil.add(nextStart, this._readAheadRange), topics);
-      messages = messages.concat(await this._getMessages(startTime, end, topics));
-    } else if (/*:: this._next && */ nextMatches) {
-      this._current = this._next;
-      const nextStart = TimeUtil.add(this._current.end, oneNanoSecond);
-      const nextEnd = TimeUtil.add(nextStart, this._readAheadRange);
-      this._next = this._makeReadResult(nextStart, nextEnd, topics);
-    }
-    return messages.filter((message) => topics.includes(message.topic));
-  }
-}
diff --git a/packages/webviz-core/src/dataProviders/ReadAheadDataProvider.test.js b/packages/webviz-core/src/dataProviders/ReadAheadDataProvider.test.js
deleted file mode 100644
index cfd96235f..000000000
--- a/packages/webviz-core/src/dataProviders/ReadAheadDataProvider.test.js
+++ /dev/null
@@ -1,342 +0,0 @@
-// @flow
-//
-//  Copyright (c) 2018-present, GM Cruise LLC
-//
-//  This source code is licensed under the Apache License, Version 2.0,
-//  found in the LICENSE file in the root directory of this source tree.
-//  You may not use this file except in compliance with the License.
-
-import { TimeUtil } from "rosbag";
-
-import ReadAheadDataProvider, { ReadResult } from "./ReadAheadDataProvider";
-import MemoryDataProvider from "webviz-core/src/dataProviders/MemoryDataProvider";
-import { mockExtensionPoint } from "webviz-core/src/dataProviders/mockExtensionPoint";
-import { fromMillis } from "webviz-core/src/util/time";
-
-function generateMessages() {
-  const result = [];
-  const start = { sec: 0, nsec: 0 };
-  for (let i = 0; i < 100; i++) {
-    const millis = i * 10;
-    const message = {
-      receiveTime: TimeUtil.add(start, fromMillis(millis)),
-      message: `message: ${i}`,
-    };
-    result.push({
-      ...message,
-      topic: "/foo",
-    });
-    result.push({
-      ...message,
-      topic: "/bar",
-    });
-  }
-  return result;
-}
-
-function getProvider() {
-  const memoryDataProvider = new MemoryDataProvider({ messages: generateMessages() });
-  return {
-    memoryDataProvider,
-    provider: new ReadAheadDataProvider(
-      { readAheadRange: { sec: 0, nsec: 10 * 1e6 } },
-      [{ name: "MemoryDataProvider", args: {}, children: [] }],
-      () => memoryDataProvider
-    ),
-  };
-}
-
-describe("ReadResult", () => {
-  it("properly response to ranges it overlaps", () => {
-    const result = new ReadResult({ sec: 0, nsec: 2 }, { sec: 1, nsec: 0 }, Promise.resolve([]));
-    expect(result.overlaps({ sec: 0, nsec: 0 }, { sec: 0, nsec: 1 })).toBe(false);
-    expect(result.overlaps({ sec: 0, nsec: 0 }, { sec: 0, nsec: 2 })).toBe(true);
-    expect(result.overlaps({ sec: 0, nsec: 0 }, { sec: 2, nsec: 0 })).toBe(true);
-    expect(result.overlaps({ sec: 0, nsec: 10 }, { sec: 0, nsec: 11 })).toBe(true);
-    expect(result.overlaps({ sec: 1, nsec: 0 }, { sec: 2, nsec: 0 })).toBe(true);
-    expect(result.overlaps({ sec: 1, nsec: 1 }, { sec: 2, nsec: 0 })).toBe(false);
-  });
-  it("handles equal start & end", () => {
-    const result = new ReadResult({ sec: 0, nsec: 2 }, { sec: 0, nsec: 2 }, Promise.resolve([]));
-    expect(result.overlaps({ sec: 0, nsec: 0 }, { sec: 0, nsec: 1 })).toBe(false);
-    expect(result.overlaps({ sec: 0, nsec: 0 }, { sec: 0, nsec: 2 })).toBe(true);
-    expect(result.overlaps({ sec: 0, nsec: 1 }, { sec: 0, nsec: 2 })).toBe(true);
-    expect(result.overlaps({ sec: 0, nsec: 2 }, { sec: 0, nsec: 2 })).toBe(true);
-    expect(result.overlaps({ sec: 0, nsec: 2 }, { sec: 0, nsec: 3 })).toBe(true);
-    expect(result.overlaps({ sec: 0, nsec: 3 }, { sec: 0, nsec: 3 })).toBe(false);
-  });
-});
-
-describe("ReadAheadDataProvider", () => {
-  it("can get messages", async () => {
-    const { provider } = getProvider();
-    await provider.initialize(mockExtensionPoint().extensionPoint);
-    const messages = await provider.getMessages(fromMillis(0), fromMillis(10), ["/foo"]);
-    expect(messages).toEqual([
-      {
-        receiveTime: fromMillis(0),
-        topic: "/foo",
-        message: "message: 0",
-      },
-      {
-        receiveTime: fromMillis(10),
-        topic: "/foo",
-        message: "message: 1",
-      },
-    ]);
-  });
-
-  it("can get messages spanning two read ranges", async () => {
-    const { provider } = getProvider();
-    await provider.initialize(mockExtensionPoint().extensionPoint);
-    const messages = await provider.getMessages(fromMillis(0), fromMillis(20), ["/foo"]);
-    expect(messages).toEqual([
-      {
-        receiveTime: fromMillis(0),
-        topic: "/foo",
-        message: "message: 0",
-      },
-      {
-        receiveTime: fromMillis(10),
-        topic: "/foo",
-        message: "message: 1",
-      },
-      {
-        receiveTime: fromMillis(20),
-        topic: "/foo",
-        message: "message: 2",
-      },
-    ]);
-  });
-
-  it("can get messages spanning many read ranges", async () => {
-    const { provider } = getProvider();
-    await provider.initialize(mockExtensionPoint().extensionPoint);
-    const messages = await provider.getMessages(fromMillis(0), fromMillis(40), ["/foo"]);
-    expect(messages).toEqual([
-      {
-        receiveTime: fromMillis(0),
-        topic: "/foo",
-        message: "message: 0",
-      },
-      {
-        receiveTime: fromMillis(10),
-        topic: "/foo",
-        message: "message: 1",
-      },
-      {
-        receiveTime: fromMillis(20),
-        topic: "/foo",
-        message: "message: 2",
-      },
-      {
-        receiveTime: fromMillis(30),
-        topic: "/foo",
-        message: "message: 3",
-      },
-      {
-        receiveTime: fromMillis(40),
-        topic: "/foo",
-        message: "message: 4",
-      },
-    ]);
-  });
-
-  it("clears cache on topic change", async () => {
-    const { provider } = getProvider();
-    await provider.initialize(mockExtensionPoint().extensionPoint);
-    const messages = await provider.getMessages(fromMillis(0), fromMillis(10), ["/foo"]);
-    expect(messages).toEqual([
-      {
-        receiveTime: fromMillis(0),
-        topic: "/foo",
-        message: "message: 0",
-      },
-      {
-        receiveTime: fromMillis(10),
-        topic: "/foo",
-        message: "message: 1",
-      },
-    ]);
-    const messages2 = await provider.getMessages(fromMillis(0), fromMillis(10), ["/foo", "/bar"]);
-    expect(messages2).toEqual([
-      {
-        receiveTime: fromMillis(0),
-        topic: "/foo",
-        message: "message: 0",
-      },
-      {
-        receiveTime: fromMillis(0),
-        topic: "/bar",
-        message: "message: 0",
-      },
-      {
-        receiveTime: fromMillis(10),
-        topic: "/foo",
-        message: "message: 1",
-      },
-      {
-        receiveTime: fromMillis(10),
-        topic: "/bar",
-        message: "message: 1",
-      },
-    ]);
-  });
-
-  it("reuses cache when looking at fewer topics (but does not return the old topics)", async () => {
-    const { provider, memoryDataProvider } = getProvider();
-    await provider.initialize(mockExtensionPoint().extensionPoint);
-    jest.spyOn(memoryDataProvider, "getMessages");
-    const messages1 = await provider.getMessages(fromMillis(0), fromMillis(10), ["/foo", "/bar"]);
-    expect(messages1).toEqual([
-      {
-        receiveTime: fromMillis(0),
-        topic: "/foo",
-        message: "message: 0",
-      },
-      {
-        receiveTime: fromMillis(0),
-        topic: "/bar",
-        message: "message: 0",
-      },
-      {
-        receiveTime: fromMillis(10),
-        topic: "/foo",
-        message: "message: 1",
-      },
-      {
-        receiveTime: fromMillis(10),
-        topic: "/bar",
-        message: "message: 1",
-      },
-    ]);
-    const originalCalls = memoryDataProvider.getMessages.mock.calls.length;
-    expect(memoryDataProvider.getMessages).toHaveBeenCalledTimes(2);
-    const messages2 = await provider.getMessages(fromMillis(0), fromMillis(10), ["/foo"]);
-    expect(messages2).toEqual([
-      {
-        receiveTime: fromMillis(0),
-        topic: "/foo",
-        message: "message: 0",
-      },
-      {
-        receiveTime: fromMillis(10),
-        topic: "/foo",
-        message: "message: 1",
-      },
-    ]);
-    expect(memoryDataProvider.getMessages.mock.calls.length).toEqual(originalCalls);
-  });
-
-  it("clears cache when going back in time", async () => {
-    const { provider } = getProvider();
-    await provider.initialize(mockExtensionPoint().extensionPoint);
-    // Get messages from 10-20ms.
-    const messages = await provider.getMessages(fromMillis(10), fromMillis(20), ["/foo"]);
-    expect(messages).toEqual([
-      {
-        receiveTime: fromMillis(10),
-        topic: "/foo",
-        message: "message: 1",
-      },
-      {
-        receiveTime: fromMillis(20),
-        topic: "/foo",
-        message: "message: 2",
-      },
-    ]);
-    // Now request messages from 0-10ms. Since this has overlap with the previously requested
-    // messages (in that the message at 10ms occurs in both ranges) we previously incorrectly
-    // assumed that we could just use the previously cached result, but then we would miss the
-    // message from before 10ms. We should now properly clear the cache in that case and also
-    // return the message at 0ms.
-    const messages2 = await provider.getMessages(fromMillis(0), fromMillis(10), ["/foo"]);
-    expect(messages2).toEqual([
-      {
-        receiveTime: fromMillis(0),
-        topic: "/foo",
-        message: "message: 0",
-      },
-      {
-        receiveTime: fromMillis(10),
-        topic: "/foo",
-        message: "message: 1",
-      },
-    ]);
-  });
-
-  it("works when multiple seeks happen in rapid succession", async () => {
-    const { provider } = getProvider();
-    await provider.initialize(mockExtensionPoint().extensionPoint);
-
-    // Start 2 non-overlapping requests in quick succession.
-    const messages = provider.getMessages(fromMillis(30), fromMillis(40), ["/foo"]);
-    const messages2 = provider.getMessages(fromMillis(0), fromMillis(10), ["/foo"]);
-
-    // Ensure both requests are eventually resolved with the right data.
-    expect(await messages).toEqual([
-      {
-        receiveTime: fromMillis(30),
-        topic: "/foo",
-        message: "message: 3",
-      },
-      {
-        receiveTime: fromMillis(40),
-        topic: "/foo",
-        message: "message: 4",
-      },
-    ]);
-
-    expect(await messages2).toEqual([
-      {
-        receiveTime: fromMillis(0),
-        topic: "/foo",
-        message: "message: 0",
-      },
-      {
-        receiveTime: fromMillis(10),
-        topic: "/foo",
-        message: "message: 1",
-      },
-    ]);
-  });
-
-  it("works with 3 requests with small ranges", async () => {
-    const { provider } = getProvider();
-    await provider.initialize(mockExtensionPoint().extensionPoint);
-
-    // Start 2 non-overlapping requests in quick succession.
-    const messages1 = provider.getMessages(fromMillis(30), fromMillis(30), ["/foo"]);
-    const messages2 = provider.getMessages(fromMillis(30), fromMillis(30), ["/foo"]);
-    const messages3 = provider.getMessages(fromMillis(40), fromMillis(50), ["/foo"]);
-
-    expect(await messages1).toEqual([
-      {
-        receiveTime: fromMillis(30),
-        topic: "/foo",
-        message: "message: 3",
-      },
-    ]);
-
-    expect(await messages2).toEqual([
-      {
-        receiveTime: fromMillis(30),
-        topic: "/foo",
-        message: "message: 3",
-      },
-    ]);
-
-    expect(await messages3).toEqual([
-      {
-        receiveTime: fromMillis(40),
-        topic: "/foo",
-        message: "message: 4",
-      },
-      {
-        receiveTime: fromMillis(50),
-        topic: "/foo",
-        message: "message: 5",
-      },
-    ]);
-  });
-});
diff --git a/packages/webviz-core/src/dataProviders/WorkerDataProvider.worker.js b/packages/webviz-core/src/dataProviders/WorkerDataProvider.worker.js
index 8cd1a3bdc..631f7580f 100644
--- a/packages/webviz-core/src/dataProviders/WorkerDataProvider.worker.js
+++ b/packages/webviz-core/src/dataProviders/WorkerDataProvider.worker.js
@@ -11,7 +11,6 @@ import BagDataProvider from "webviz-core/src/dataProviders/BagDataProvider";
 import createGetDataProvider from "webviz-core/src/dataProviders/createGetDataProvider";
 import IdbCacheWriterDataProvider from "webviz-core/src/dataProviders/IdbCacheWriterDataProvider";
 import MeasureDataProvider from "webviz-core/src/dataProviders/MeasureDataProvider";
-import ReadAheadDataProvider from "webviz-core/src/dataProviders/ReadAheadDataProvider";
 import RpcDataProviderRemote from "webviz-core/src/dataProviders/RpcDataProviderRemote";
 import Rpc from "webviz-core/src/util/Rpc";
 
@@ -21,7 +20,6 @@ const getDataProvider = createGetDataProvider({
   ApiCheckerDataProvider,
   BagDataProvider,
   MeasureDataProvider,
-  ReadAheadDataProvider,
   IdbCacheWriterDataProvider,
 });
 
diff --git a/packages/webviz-core/src/dataProviders/rootGetDataProvider.js b/packages/webviz-core/src/dataProviders/rootGetDataProvider.js
index aa0d0e160..ae0ed737c 100644
--- a/packages/webviz-core/src/dataProviders/rootGetDataProvider.js
+++ b/packages/webviz-core/src/dataProviders/rootGetDataProvider.js
@@ -15,8 +15,8 @@ import IdbCacheReaderDataProvider from "webviz-core/src/dataProviders/IdbCacheRe
 import MeasureDataProvider, {
   instrumentTreeWithMeasureDataProvider,
 } from "webviz-core/src/dataProviders/MeasureDataProvider";
+import MemoryCacheDataProvider from "webviz-core/src/dataProviders/MemoryCacheDataProvider";
 import ParseMessagesDataProvider from "webviz-core/src/dataProviders/ParseMessagesDataProvider";
-import ReadAheadDataProvider from "webviz-core/src/dataProviders/ReadAheadDataProvider";
 import type { DataProviderDescriptor, DataProvider } from "webviz-core/src/dataProviders/types";
 import WorkerDataProvider from "webviz-core/src/dataProviders/WorkerDataProvider";
 import { getGlobalHooks } from "webviz-core/src/loadWebviz";
@@ -27,9 +27,9 @@ const getDataProviderBase = createGetDataProvider({
   BagDataProvider,
   MeasureDataProvider,
   ParseMessagesDataProvider,
-  ReadAheadDataProvider,
   WorkerDataProvider,
   IdbCacheReaderDataProvider,
+  MemoryCacheDataProvider,
   CombinedDataProvider,
   ...getGlobalHooks().getAdditionalDataProviders(),
 });
diff --git a/packages/webviz-core/src/dataProviders/standardDataProviderDescriptors.js b/packages/webviz-core/src/dataProviders/standardDataProviderDescriptors.js
index 4b8c28520..d22bd3bc9 100644
--- a/packages/webviz-core/src/dataProviders/standardDataProviderDescriptors.js
+++ b/packages/webviz-core/src/dataProviders/standardDataProviderDescriptors.js
@@ -10,11 +10,11 @@ import type { DataProviderDescriptor } from "webviz-core/src/dataProviders/types
 
 export function getLocalBagDescriptor(file: File): DataProviderDescriptor {
   return {
-    name: "ReadAheadDataProvider",
+    name: "ParseMessagesDataProvider",
     args: {},
     children: [
       {
-        name: "ParseMessagesDataProvider",
+        name: "MemoryCacheDataProvider",
         args: {},
         children: [
           {
@@ -65,11 +65,11 @@ export function getRemoteBagDescriptor(url: string, guid: ?string, loadEntireBag
         ],
       }
     : {
-        name: "ReadAheadDataProvider",
+        name: "ParseMessagesDataProvider",
         args: {},
         children: [
           {
-            name: "ParseMessagesDataProvider",
+            name: "MemoryCacheDataProvider",
             args: {},
             children: [
               {
diff --git a/packages/webviz-core/src/dataProviders/types.js b/packages/webviz-core/src/dataProviders/types.js
index 81bd0463d..9f02de2b3 100644
--- a/packages/webviz-core/src/dataProviders/types.js
+++ b/packages/webviz-core/src/dataProviders/types.js
@@ -33,7 +33,7 @@ import type { RosDatatypes } from "webviz-core/src/types/RosDatatypes";
 // DataProviders. For example, you can have a BagDataProvider which reads from a ROS bag, but which
 // takes a bit of time to decompress the ROS bag. So you might wrap it in a WorkerDataProvider,
 // which puts its children in a Web Worker, therefore allowing the decompression to happen in
-// parallel to the main thread. And you might wrap that in turn in a ReadAheadDataProvider, which
+// parallel to the main thread. And you might wrap that in turn in a MemoryCacheDataProvider, which
 // does some in-memory read-ahead caching based on the most recent time range that was requested.
 // These trees of DataProviders are described by `DataProviderDescriptor`.
 //
diff --git a/packages/webviz-core/src/globals.js.flow b/packages/webviz-core/src/globals.js.flow
index 9c7ef42a6..3fc42c1c3 100644
--- a/packages/webviz-core/src/globals.js.flow
+++ b/packages/webviz-core/src/globals.js.flow
@@ -34,7 +34,7 @@ declare type WebvizExpectType = {
 
 /** The expect function is used every time you want to test a value */
 // redeclare this from the jest flowtype definition and include our custom matchers
-// which are defined in ./jest/setupTestFramework.js
+// which are defined in ./webviz-core/src/test/setupTestFramework.js
 declare var expect: {
   /** The object that you want to make assertions against */
   (value: any): JestExpectType & JestPromiseType & EnzymeMatchersType & WebvizExpectType,
diff --git a/packages/webviz-core/src/loadWebviz.js b/packages/webviz-core/src/loadWebviz.js
index 48a4a433d..14753ba0a 100644
--- a/packages/webviz-core/src/loadWebviz.js
+++ b/packages/webviz-core/src/loadWebviz.js
@@ -90,30 +90,10 @@ const defaultHooks = {
   },
   helpPageFootnote: () => null,
   perPanelHooks: memoize(() => {
-    const World = require("webviz-core/src/panels/ThreeDimensionalViz/World").default;
     const LaserScanVert = require("webviz-core/src/panels/ThreeDimensionalViz/LaserScanVert").default;
-    const FileMultipleIcon = require("@mdi/svg/svg/file-multiple.svg").default;
-    const CheckboxBlankCircleOutline = require("@mdi/svg/svg/checkbox-blank-circle-outline.svg").default;
     const { defaultMapPalette } = require("webviz-core/src/panels/ThreeDimensionalViz/commands/utils");
 
-    const { SECOND_BAG_PREFIX } = require("webviz-core/src/util/globalConstants");
-
     return {
-      Panel: {
-        topicPrefixes: {
-          "": {
-            labelText: "Default",
-            icon: CheckboxBlankCircleOutline,
-            iconPrefix: "",
-          },
-          [SECOND_BAG_PREFIX]: {
-            labelText: "Input 2",
-            icon: FileMultipleIcon,
-            iconPrefix: "2",
-            tooltipText: "topics prefixed with '/webviz_bag_2'",
-          },
-        },
-      },
       DiagnosticSummary: {
         defaultConfig: {
           pinnedIds: [],
@@ -128,6 +108,9 @@ const defaultHooks = {
           scale: 0.2,
           transformMarkers: false,
           synchronize: false,
+          mode: "fit",
+          zoomPercentage: 100,
+          offset: [0, 0],
         },
         imageMarkerDatatypes: ["visualization_msgs/ImageMarker"],
         imageMarkerArrayDatatypes: [],
@@ -144,9 +127,30 @@ const defaultHooks = {
           pinTopics: false,
           topicSettings: {},
         },
+        allSupportedMarkers: [
+          "arrow",
+          "cube",
+          "cubeList",
+          "cylinder",
+          "filledPolygon",
+          "grid",
+          "instancedLineList",
+          "laserScan",
+          "linedConvexHull",
+          "lineList",
+          "lineStrip",
+          "pointcloud",
+          "points",
+          "poseMarker",
+          "sphere",
+          "sphereList",
+          "text",
+          "triangleList",
+        ],
+        renderAdditionalMarkers: () => {},
         topics: [],
         icons: {},
-        WorldComponent: World,
+        AdditionalToolbarItems: () => null,
         LaserScanVert,
         setGlobalVariablesInSceneBuilder: (globalVariables, selectionState, topicsToRender) => ({
           selectionState,
@@ -183,7 +187,6 @@ const defaultHooks = {
     return <Root store={store} />;
   },
   topicsWithIncorrectHeaders: () => [],
-  useRaven: () => true,
   load: () => {},
   onPanelClose: () => {},
   onPanelSwap: () => {},
diff --git a/packages/webviz-core/src/panels/GlobalVariables/index.js b/packages/webviz-core/src/panels/GlobalVariables/index.js
index b3807ac23..388172cd8 100644
--- a/packages/webviz-core/src/panels/GlobalVariables/index.js
+++ b/packages/webviz-core/src/panels/GlobalVariables/index.js
@@ -8,7 +8,7 @@
 
 import TrashCanOutlineIcon from "@mdi/svg/svg/trash-can-outline.svg";
 import { pick, partition } from "lodash";
-import React, { type Node, useState } from "react";
+import React, { type Node, useState, useCallback } from "react";
 import { hot } from "react-hot-loader/root";
 import styled from "styled-components";
 
@@ -137,15 +137,6 @@ const changeGlobalVal = (newVal, name, setGlobalVariables) => {
   setGlobalVariables({ [name]: newVal === undefined ? undefined : JSON.parse(String(newVal)) });
 };
 
-const getUpdatedURL = (globalVariables) => {
-  const queryParams = new URLSearchParams(window.location.search);
-  queryParams.set(GLOBAL_VARIABLES_QUERY_KEY, JSON.stringify(globalVariables));
-  if (inScreenshotTests()) {
-    return `http://localhost:3000/?${queryParams.toString()}`;
-  }
-  return `${window.location.host}/?${queryParams.toString()}`;
-};
-
 function GlobalVariables(props: Props): Node {
   const input = React.createRef<HTMLInputElement>();
   const [btnMessage, setBtnMessage] = useState<string>("Copy");
@@ -197,6 +188,18 @@ function GlobalVariables(props: Props): Node {
     );
   }
 
+  const getUpdatedURL = useCallback(
+    () => {
+      const queryParams = new URLSearchParams(window.location.search);
+      queryParams.set(GLOBAL_VARIABLES_QUERY_KEY, JSON.stringify(globalVariables));
+      if (inScreenshotTests()) {
+        return `http://localhost:3000/?${queryParams.toString()}`;
+      }
+      return `${window.location.host}/?${queryParams.toString()}`;
+    },
+    [globalVariables]
+  );
+
   return (
     <SGlobalVariables>
       <PanelToolbar helpContent={helpContent} floating />
@@ -302,10 +305,8 @@ function GlobalVariables(props: Props): Node {
       </SButtonContainer>
       <SSection>
         <Flex>
-          <input readOnly style={{ width: "100%" }} type="text" value={getUpdatedURL(globalVariables)} />
-          {document.queryCommandSupported("copy") && (
-            <button onClick={copyURL(getUpdatedURL(globalVariables))}>{btnMessage}</button>
-          )}
+          <input readOnly style={{ width: "100%" }} type="text" value={getUpdatedURL()} />
+          {document.queryCommandSupported("copy") && <button onClick={copyURL(getUpdatedURL())}>{btnMessage}</button>}
         </Flex>
       </SSection>
     </SGlobalVariables>
diff --git a/packages/webviz-core/src/panels/ImageView/ImageCanvas.js b/packages/webviz-core/src/panels/ImageView/ImageCanvas.js
index 3399f0493..bf7d11a5c 100644
--- a/packages/webviz-core/src/panels/ImageView/ImageCanvas.js
+++ b/packages/webviz-core/src/panels/ImageView/ImageCanvas.js
@@ -6,7 +6,13 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
+import MagnifyIcon from "@mdi/svg/svg/magnify.svg";
+import cx from "classnames";
+import panzoom from "panzoom";
 import React from "react";
+import KeyListener from "react-key-listener";
+import OutsideClickHandler from "react-outside-click-handler";
+import ReactResizeDetector from "react-resize-detector";
 import shallowequal from "shallowequal";
 import styled from "styled-components";
 
@@ -24,7 +30,8 @@ import {
   decodeMono16,
 } from "./decodings";
 import styles from "./ImageCanvas.module.scss";
-import { type ImageViewPanelHooks } from "./index";
+import type { ImageViewPanelHooks, Config, SaveConfig } from "./index";
+import { checkOutOfBounds } from "./util";
 import ContextMenu from "webviz-core/src/components/ContextMenu";
 import Menu, { Item } from "webviz-core/src/components/Menu";
 import { getGlobalHooks } from "webviz-core/src/loadWebviz";
@@ -33,6 +40,7 @@ import colors from "webviz-core/src/styles/colors.module.scss";
 import type { ImageMarker, Color, Point } from "webviz-core/src/types/Messages";
 import { downloadFiles } from "webviz-core/src/util";
 import debouncePromise from "webviz-core/src/util/debouncePromise";
+import reportError from "webviz-core/src/util/reportError";
 
 type Props = {|
   topic: string,
@@ -44,10 +52,13 @@ type Props = {|
     cameraModel: ?CameraModel, // null means no transformation is needed
   |},
   panelHooks?: ImageViewPanelHooks,
+  config: Config,
+  saveConfig: SaveConfig,
 |};
 
 type State = {|
   error: ?Error,
+  openZoomChart: boolean,
 |};
 
 function toRGBA(color: Color) {
@@ -74,13 +85,20 @@ const SErrorMessage = styled.div`
   color: ${colors.red};
 `;
 
+const MAX_ZOOM_PERCENTAGE = 150;
+const ZOOM_STEP = 5;
 export default class ImageCanvas extends React.Component<Props, State> {
   _canvasRef = React.createRef<HTMLCanvasElement>();
+  _divRef = React.createRef<HTMLElement>();
 
   state = {
     error: undefined,
+    openZoomChart: false,
   };
 
+  panZoomCanvas: any = null;
+  bitmapDimensions: { width: number, height: number } = { width: 0, height: 0 };
+
   decodeMessageToBitmap = async (msg: any): Promise<?ImageBitmap> => {
     let image: ImageData | Image | Blob | void;
     const { data: rawData, is_bigendian } = msg.message;
@@ -142,21 +160,116 @@ export default class ImageCanvas extends React.Component<Props, State> {
     }
   };
 
+  keepInBounds = (div: HTMLElement) => {
+    const { x, y, scale } = this.panZoomCanvas.getTransform();
+    // When zoom is 1, the percentage is fitPercentage
+    // (fitPercent * scale) / 100) is the zoomScale for now
+    const updatedPercentage = scale * 100;
+    const rect = div.getBoundingClientRect();
+    const { width, height } = rect;
+    const offset = checkOutOfBounds(
+      x,
+      y,
+      width,
+      height,
+      // calculate the true width and height of image right now
+      (this.bitmapDimensions.width * updatedPercentage) / 100,
+      (this.bitmapDimensions.height * updatedPercentage) / 100
+    );
+    this.props.saveConfig({ mode: "other", offset, zoomPercentage: updatedPercentage });
+    if (offset[0] !== x || offset[1] !== y) {
+      this.panZoomCanvas.moveTo(offset[0], offset[1]);
+    }
+  };
+
+  createPanZoom = () => {
+    const canvas = this._canvasRef.current;
+    const div = this._divRef.current;
+    if (canvas && div) {
+      this.panZoomCanvas = panzoom(canvas, {
+        maxZoom: 1.5,
+        minZoom: 0,
+        zoomSpeed: 0.05,
+        smoothScroll: false,
+        filterKey(e, dx, dy, dz) {
+          // don't let panzoom handle keyboard event
+          // because zoom in and out has the wrong offset change
+          // left right up and down is different what we use in our daily life
+          return true;
+        },
+      });
+      this.panZoomCanvas.on("zoom", (e) => {
+        const { scale } = this.panZoomCanvas.getTransform();
+        const minPercent = this.fitPercent() * 0.8;
+        if (scale < minPercent / 100) {
+          this.goToTargetPercentage(minPercent);
+        }
+        this.keepInBounds(div);
+      });
+      this.panZoomCanvas.on("pan", (e) => this.keepInBounds(div));
+    }
+  };
+
+  getImageViewport = () => {
+    const div = this._divRef.current;
+
+    if (!div) {
+      throw new Error("Don't have div to get width and height");
+    }
+    return { imageViewportWidth: div.offsetWidth, imageViewportHeight: div.offsetHeight };
+  };
+
+  moveToCenter = () => {
+    if (!this.panZoomCanvas) {
+      console.warn("Tried to center when there is no panZoomCanvas");
+      return;
+    }
+    const { width, height } = this.bitmapDimensions;
+    const { imageViewportWidth, imageViewportHeight } = this.getImageViewport();
+    this.panZoomCanvas.moveTo(
+      (imageViewportWidth - (width * imageViewportHeight) / height) / 2,
+      (imageViewportHeight - (height * imageViewportWidth) / width) / 2
+    );
+  };
+
+  fitPercent = () => {
+    const { width, height } = this.bitmapDimensions;
+    const { imageViewportWidth, imageViewportHeight } = this.getImageViewport();
+    return Math.min(imageViewportWidth / width, imageViewportHeight / height) * 100;
+  };
+
+  fillPercent = () => {
+    const { width, height } = this.bitmapDimensions;
+    const { imageViewportWidth, imageViewportHeight } = this.getImageViewport();
+    return Math.max(imageViewportWidth / width, imageViewportHeight / height) * 100;
+  };
+
+  loadZoomFromConfig = () => {
+    if (this.panZoomCanvas) {
+      return;
+    }
+    this.createPanZoom();
+    this.applyPanZoom();
+  };
+
   paintBitmap = (bitmap: ?ImageBitmap) => {
     const { markerData } = this.props;
     const canvas = this._canvasRef.current;
+    const div = this._divRef.current;
 
-    if (!canvas) {
+    if (!div || !canvas) {
       return;
     }
     if (!bitmap) {
       this.clearCanvas();
       return;
     }
+    this.bitmapDimensions = { width: bitmap.width, height: bitmap.height };
     const ctx = canvas.getContext("2d");
-
     if (!markerData) {
       this.resizeCanvas(bitmap.width, bitmap.height);
+      this.loadZoomFromConfig();
+      ctx.transform(1, 0, 0, 1, 0, 0);
       ctx.drawImage(bitmap, 0, 0);
       return;
     }
@@ -170,7 +283,9 @@ export default class ImageCanvas extends React.Component<Props, State> {
       originalHeight = bitmap.height;
     }
 
+    this.bitmapDimensions = { width: originalWidth, height: originalHeight };
     this.resizeCanvas(originalWidth, originalHeight);
+    this.loadZoomFromConfig();
     ctx.save();
     ctx.scale(originalWidth / bitmap.width, originalHeight / bitmap.height);
     ctx.drawImage(bitmap, 0, 0);
@@ -390,6 +505,41 @@ export default class ImageCanvas extends React.Component<Props, State> {
     );
   };
 
+  clickMagnify = () => {
+    this.setState((state) => ({ openZoomChart: !state.openZoomChart }));
+  };
+
+  onZoomFit = () => {
+    const fitPercent = this.fitPercent();
+    this.panZoomCanvas.zoomAbs(0, 0, fitPercent / 100);
+    this.moveToCenter();
+    this.props.saveConfig({ mode: "fit", zoomPercentage: fitPercent });
+  };
+
+  onZoomFill = () => {
+    const fillPercent = this.fillPercent();
+    this.panZoomCanvas.zoomAbs(0, 0, fillPercent / 100);
+    this.moveToCenter();
+    this.props.saveConfig({ mode: "fill", zoomPercentage: fillPercent });
+  };
+
+  goToTargetPercentage = (targetPercentage: number) => {
+    const { imageViewportWidth, imageViewportHeight } = this.getImageViewport();
+    this.panZoomCanvas.zoomAbs(imageViewportWidth / 2, imageViewportHeight / 2, targetPercentage / 100);
+  };
+
+  onZoomMinus = () => {
+    const { zoomPercentage } = this.props.config;
+    const targetPercentage = Math.max((zoomPercentage || 100) - ZOOM_STEP, this.fitPercent() * 0.8);
+    this.goToTargetPercentage(targetPercentage);
+  };
+
+  onZoomPlus = () => {
+    const { zoomPercentage } = this.props.config;
+    const targetPercentage = Math.min((zoomPercentage || 100) + ZOOM_STEP, MAX_ZOOM_PERCENTAGE);
+    this.goToTargetPercentage(targetPercentage);
+  };
+
   renderCurrentImage = debouncePromise(async () => {
     const { image } = this.props;
     if (!image) {
@@ -413,12 +563,146 @@ export default class ImageCanvas extends React.Component<Props, State> {
     }
   });
 
+  renderZoomChart = () => {
+    return this.state.openZoomChart ? (
+      <div className={styles.zoomChart} data-zoom-menu>
+        <div className={cx(styles.menuItem, styles.notInteractive)}>Use mousewheel or buttons to zoom</div>
+        <div className={cx(styles.menuItem, styles.borderBottom)}>
+          <button className={styles.round} onClick={this.onZoomMinus} data-panel-minus-zoom>
+            -
+          </button>
+          <span>{`${(this.props.config.zoomPercentage || 100).toFixed(1)}%`}</span>
+          <button className={styles.round} onClick={this.onZoomPlus} data-panel-add-zoom>
+            +
+          </button>
+        </div>
+        <Item className={styles.borderBottom} onClick={() => this.goToTargetPercentage(100)} dataTest={"hundred-zoom"}>
+          Zoom to 100%
+        </Item>
+        <Item className={styles.borderBottom} onClick={this.onZoomFit} dataTest={"fit-zoom"}>
+          Zoom to fit
+        </Item>
+        <Item onClick={this.onZoomFill} dataTest={"fill-zoom"}>
+          Zoom to fill
+        </Item>
+      </div>
+    ) : null;
+  };
+
+  applyPanZoom = () => {
+    if (this.panZoomCanvas) {
+      const { mode, zoomPercentage, offset } = this.props.config;
+      if (!mode || mode === "fit") {
+        this.onZoomFit();
+      } else if (mode === "fill") {
+        this.onZoomFill();
+      } else if (mode === "other") {
+        // Go to prevPercentage
+        this.goToTargetPercentage(zoomPercentage || 100);
+        this.panZoomCanvas.moveTo(offset ? offset[0] : 0, offset ? offset[1] : 0);
+      }
+    }
+  };
+
+  keyDownHandlers = {
+    "=": () => {
+      this.onZoomPlus();
+    },
+    "-": () => {
+      this.onZoomMinus();
+    },
+    "1": (e: KeyboardEvent) => {
+      if (e.metaKey) {
+        this.goToTargetPercentage(10);
+      }
+    },
+    "2": (e: KeyboardEvent) => {
+      if (e.metaKey) {
+        this.goToTargetPercentage(20);
+      }
+    },
+    "3": (e: KeyboardEvent) => {
+      if (e.metaKey) {
+        this.goToTargetPercentage(30);
+      }
+    },
+    "4": (e: KeyboardEvent) => {
+      if (e.metaKey) {
+        this.goToTargetPercentage(40);
+      }
+    },
+    "5": (e: KeyboardEvent) => {
+      if (e.metaKey) {
+        this.goToTargetPercentage(50);
+      }
+    },
+    "6": (e: KeyboardEvent) => {
+      if (e.metaKey) {
+        this.goToTargetPercentage(60);
+      }
+    },
+    "7": (e: KeyboardEvent) => {
+      if (e.metaKey) {
+        this.goToTargetPercentage(70);
+      }
+    },
+    "8": (e: KeyboardEvent) => {
+      if (e.metaKey) {
+        this.goToTargetPercentage(80);
+      }
+    },
+    "9": (e: KeyboardEvent) => {
+      if (e.metaKey) {
+        this.goToTargetPercentage(90);
+      }
+    },
+    "0": (e: KeyboardEvent) => {
+      if (e.metaKey) {
+        this.goToTargetPercentage(100);
+      }
+    },
+  };
+
   render() {
+    const { mode, zoomPercentage, offset } = this.props.config;
+    if (zoomPercentage && (zoomPercentage > 150 || zoomPercentage < 0)) {
+      reportError(
+        `zoomPercentage for the image panel was ${zoomPercentage}, but must be between 0 and 150. It has been reset to 100.`,
+        "",
+        "user"
+      );
+      this.props.saveConfig({ zoomPercentage: 100 });
+    }
+    if (offset && offset.length !== 2) {
+      reportError(
+        `offset for the image panel was ${JSON.stringify(
+          offset
+        )}, but should be an array of length 2. It has been reset to [0, 0].`,
+        "",
+        "user"
+      );
+      this.props.saveConfig({ offset: [0, 0] });
+    }
     return (
-      <div style={{ height: "100%", position: "relative", display: "flex" }}>
-        {this.state.error && <SErrorMessage>Error: {this.state.error.message}</SErrorMessage>}
-        <canvas onContextMenu={this.onCanvasRightClick} ref={this._canvasRef} className={styles.canvas} />
-      </div>
+      <ReactResizeDetector handleWidth handleHeight onResize={this.applyPanZoom}>
+        <div className={styles.root} ref={this._divRef}>
+          <KeyListener keyDownHandlers={this.keyDownHandlers} />
+          <div>
+            {this.state.error && <SErrorMessage>Error: {this.state.error.message}</SErrorMessage>}
+            <canvas onContextMenu={this.onCanvasRightClick} ref={this._canvasRef} className={styles.canvas} />
+          </div>
+          <OutsideClickHandler
+            onOutsideClick={() => {
+              this.setState({ openZoomChart: false });
+            }}>
+            {this.renderZoomChart()}
+            <button className={styles.magnify} onClick={this.clickMagnify} data-magnify-icon>
+              <MagnifyIcon />{" "}
+              {mode === "other" ? <span>{zoomPercentage ? `${zoomPercentage.toFixed(1)}%` : "null"}</span> : null}
+            </button>
+          </OutsideClickHandler>
+        </div>
+      </ReactResizeDetector>
     );
   }
 }
diff --git a/packages/webviz-core/src/panels/ImageView/ImageCanvas.module.scss b/packages/webviz-core/src/panels/ImageView/ImageCanvas.module.scss
index a81e6ea08..977908ea8 100644
--- a/packages/webviz-core/src/panels/ImageView/ImageCanvas.module.scss
+++ b/packages/webviz-core/src/panels/ImageView/ImageCanvas.module.scss
@@ -5,13 +5,14 @@
 //  You may not use this file except in compliance with the License.
 @import "~webviz-core/src/styles/colors.module.scss";
 
-.canvas {
-  flex: 1 1 100%;
+.root {
+  height: 100%;
+  position: relative;
+}
 
-  // size to fit while preserving aspect ratio
+.canvas {
   min-width: 0;
   min-height: 0;
-  object-fit: contain;
   object-position: top left;
 }
 
@@ -39,3 +40,69 @@
     opacity: 1;
   }
 }
+
+.magnify {
+  position: absolute;
+  bottom: 5px;
+  left: 0;
+  z-index: 102;
+  opacity: 1;
+  background-color: $toolbar;
+  display: none;
+  .root:hover & {
+    display: block;
+  }
+  &:global(.hoverScreenshot) {
+    display: block;
+  }
+  svg {
+    width: 16px;
+    height: 16px;
+    fill: white;
+    float: left;
+  }
+  span {
+    color: orange;
+    float: right;
+    padding-left: 3px;
+  }
+}
+
+.zoomChart {
+  position: absolute;
+  bottom: 45px;
+  left: 0;
+  z-index: 102;
+  opacity: 1;
+  background-color: $toolbar;
+  width: 145px;
+  border-radius: 4%;
+  display: none;
+  .root:hover & {
+    display: block;
+  }
+  &:global(.hoverScreenshot) {
+    display: block;
+  }
+}
+
+.round {
+  margin: 0;
+  padding: 1px 5px 1px 5px;
+  border-radius: 100%;
+}
+
+.borderBottom {
+  border-bottom: 1px solid rgba(255, 255, 255, 0.1);
+}
+
+.menuItem {
+  display: flex;
+  align-items: center;
+  justify-content: space-between;
+  padding: 8px 12px 8px 12px;
+}
+
+.notInteractive {
+  opacity: 0.5;
+}
diff --git a/packages/webviz-core/src/panels/ImageView/ImageCanvas.stories.js b/packages/webviz-core/src/panels/ImageView/ImageCanvas.stories.js
index f7e2a2058..23e0b8630 100644
--- a/packages/webviz-core/src/panels/ImageView/ImageCanvas.stories.js
+++ b/packages/webviz-core/src/panels/ImageView/ImageCanvas.stories.js
@@ -7,10 +7,11 @@
 //  You may not use this file except in compliance with the License.
 
 import { storiesOf } from "@storybook/react";
-import { range } from "lodash";
+import { range, noop } from "lodash";
 import * as React from "react";
 import { withScreenshot } from "storybook-chrome-screenshot";
 
+import { getGlobalHooks } from "webviz-core/src/loadWebviz";
 import CameraModel from "webviz-core/src/panels/ImageView/CameraModel";
 import ImageCanvas from "webviz-core/src/panels/ImageView/ImageCanvas";
 
@@ -190,10 +191,11 @@ const markers = [
 ];
 
 const topics = ["/camera_front_medium/image_rect_color_compressed", "/storybook_image"];
+const config = getGlobalHooks().perPanelHooks().ImageView.defaultConfig;
 
 function RGBStory({ encoding }: { encoding: string }) {
-  const width = 256;
-  const height = 200;
+  const width = 2560;
+  const height = 2000;
   const data = new Uint8Array(3 * height * width);
   let idx = 0;
   for (let row = 0; row < height; row++) {
@@ -217,13 +219,15 @@ function RGBStory({ encoding }: { encoding: string }) {
         message: { data, width, height, encoding },
       }}
       markerData={null}
+      config={config}
+      saveConfig={noop}
     />
   );
 }
 
 function BayerStory({ encoding }: { encoding: string }) {
-  const width = 256;
-  const height = 200;
+  const width = 2560;
+  const height = 2000;
   const data = new Uint8Array(height * width);
   for (let row = 0; row < height; row++) {
     for (let col = 0; col < width; col++) {
@@ -257,13 +261,15 @@ function BayerStory({ encoding }: { encoding: string }) {
         message: { data, width, height, encoding },
       }}
       markerData={null}
+      config={config}
+      saveConfig={noop}
     />
   );
 }
 
 function Mono16Story({ bigEndian }: { bigEndian: boolean }) {
-  const width = 200;
-  const height = 100;
+  const width = 2000;
+  const height = 1000;
   const data = new Uint8Array(width * height * 2);
   const view = new DataView(data.buffer);
   for (let r = 0; r < height; r++) {
@@ -283,6 +289,8 @@ function Mono16Story({ bigEndian }: { bigEndian: boolean }) {
         message: { data, width, height, encoding: "16UC1", is_bigendian: 0 },
       }}
       markerData={null}
+      config={config}
+      saveConfig={noop}
     />
   );
 }
@@ -301,6 +309,8 @@ storiesOf("<ImageCanvas>", module)
           originalWidth: null,
           originalHeight: null,
         }}
+        config={config}
+        saveConfig={noop}
       />
       <br />
       <h2>transformed markers</h2>
@@ -313,6 +323,8 @@ storiesOf("<ImageCanvas>", module)
           originalWidth: null,
           originalHeight: null,
         }}
+        config={config}
+        saveConfig={noop}
       />
       <h2>markers with different original image size</h2>
       <ImageCanvas
@@ -324,6 +336,8 @@ storiesOf("<ImageCanvas>", module)
           originalWidth: 200,
           originalHeight: 150,
         }}
+        config={config}
+        saveConfig={noop}
       />
     </div>
   ))
@@ -339,6 +353,8 @@ storiesOf("<ImageCanvas>", module)
           message: { data: new Uint8Array([]), width: 100, height: 50, encoding: "Foo" },
         }}
         markerData={null}
+        config={config}
+        saveConfig={noop}
       />
     );
   })
diff --git a/packages/webviz-core/src/panels/ImageView/index.help.md b/packages/webviz-core/src/panels/ImageView/index.help.md
index af394b871..2d032cecd 100644
--- a/packages/webviz-core/src/panels/ImageView/index.help.md
+++ b/packages/webviz-core/src/panels/ImageView/index.help.md
@@ -4,6 +4,12 @@ The Image View panel displays images from `sensor_msgs/Image` or `sensor_msgs/Co
 
 16-bit images (`16UC1`) are currently displayed assuming the values fall into the 0&ndash;10000 range, consistent with the defaults of the ROS `image_view` tool.
 
-The **markers** dropdown can be used to toggle on and off topics with `visualization_msgs/ImageMarkers`, which will be overlayed on top of the selected image topic. Note that markers are only available if the `CameraInfo` for the selected camera is being published. If the image is unrectified, the markers will be transformed by webviz based on `CameraInfo`.
+The **markers** dropdown can be used to toggle on and off topics with type `visualization_msgs/ImageMarker`, which will be overlayed on top of the selected image topic. Note that markers are only available if the `CameraInfo` for the selected camera is being published. If the image is unrectified, the markers will be transformed by webviz based on `CameraInfo`.
 
 The **scale** dropdown allows you to adjust the scale of the image.  Since the images are fairly large, it is recommended to use the smallest scale you need to conserve bandwidth.  Currently using `scale 1.0` can negatively impact rendering speed, particularly if you have a limited bandwidth connection. (Note: only applies to streaming connections, which is not part of the open source version yet.)
+
+Shortcuts:
+
+- =: Zoom in
+- -: Zoom out
+- Command + (1 2 3 ... 9 0): Go to percentage 10% - 100%. Note that 10% may be less than the minimum zoom size based on panel and image size.
diff --git a/packages/webviz-core/src/panels/ImageView/index.js b/packages/webviz-core/src/panels/ImageView/index.js
index 220ab384c..d58347ed4 100644
--- a/packages/webviz-core/src/panels/ImageView/index.js
+++ b/packages/webviz-core/src/panels/ImageView/index.js
@@ -11,11 +11,12 @@ import CheckboxMarkedIcon from "@mdi/svg/svg/checkbox-marked.svg";
 import MenuDownIcon from "@mdi/svg/svg/menu-down.svg";
 import WavesIcon from "@mdi/svg/svg/waves.svg";
 import cx from "classnames";
-import { sortBy, pick, get, isEqual, omit } from "lodash";
+import { sortBy, last, get, isEqual, omit } from "lodash";
 import memoizeOne from "memoize-one";
 import * as React from "react";
 import { hot } from "react-hot-loader/root";
 import { createSelector } from "reselect";
+import type { Time } from "rosbag";
 import styled from "styled-components";
 
 import CameraModel from "./CameraModel";
@@ -31,16 +32,14 @@ import EmptyState from "webviz-core/src/components/EmptyState";
 import Flex from "webviz-core/src/components/Flex";
 import Icon from "webviz-core/src/components/Icon";
 import { Item, SubMenu } from "webviz-core/src/components/Menu";
-import MessageHistory, {
-  type MessageHistoryData,
-  type MessageHistoryItemsByPath,
-} from "webviz-core/src/components/MessageHistory";
-import synchronizeMessages from "webviz-core/src/components/MessageHistory/synchronizeMessages";
+import { useShallowMemo, useDeepMemo } from "webviz-core/src/components/MessageHistory/hooks";
+import { getSynchronizingReducers } from "webviz-core/src/components/MessageHistory/synchronizeMessages";
 import Panel from "webviz-core/src/components/Panel";
 import PanelToolbar from "webviz-core/src/components/PanelToolbar";
 import filterMap from "webviz-core/src/filterMap";
 import { getGlobalHooks } from "webviz-core/src/loadWebviz";
-import type { Topic, Message } from "webviz-core/src/players/types";
+import * as PanelAPI from "webviz-core/src/PanelAPI";
+import type { Topic, Message, TypedMessage } from "webviz-core/src/players/types";
 import inScreenshotTests from "webviz-core/src/stories/inScreenshotTests";
 import colors from "webviz-core/src/styles/colors.module.scss";
 import type { CameraInfo } from "webviz-core/src/types/Messages";
@@ -49,8 +48,7 @@ import reportError from "webviz-core/src/util/reportError";
 import { formatTimeRaw } from "webviz-core/src/util/time";
 import toggle from "webviz-core/src/util/toggle";
 
-const IMAGE_QUEUE_SIZE = 3;
-const MARKER_QUEUE_SIZE = 12;
+const { useMemo, useCallback } = React;
 
 export type ImageViewPanelHooks = {
   defaultConfig: {
@@ -63,14 +61,18 @@ export type ImageViewPanelHooks = {
   imageMarkerDatatypes: string[],
 };
 
-export type Config = {
+export type Config = {|
   cameraTopic: string,
   enabledMarkerNames: string[],
   scale: number,
   panelHooks?: ImageViewPanelHooks,
   transformMarkers: boolean,
   synchronize: boolean,
-};
+  mode: "fit" | "fill" | "other" | null,
+  zoomPercentage: ?number,
+  offset: ?(number[]),
+  saveStoryConfig?: () => void,
+|};
 
 export type SaveConfig = ($Shape<Config>) => void;
 
@@ -80,16 +82,6 @@ type Props = {
   topics: Topic[],
 };
 
-const formatTimeForPath = (items: MessageHistoryItemsByPath, path: string): string => {
-  const stamp = get(items, [path, "0", "message", "message", "header", "stamp"]);
-
-  if (stamp === undefined) {
-    return "";
-  }
-
-  return formatTimeRaw(stamp);
-};
-
 const TopicTimestampSpan = styled.span`
   padding: 0px 0px 0px 15px;
   font-size: 10px;
@@ -129,8 +121,8 @@ const ToggleComponent = ({
 
 // Group image topics by the first component of their name
 const imageTopicsByNamespaceSelector = createSelector(
-  (topics?: Topic[]) => topics || [],
-  (topics: Topic[]): Map<string, Topic[]> => {
+  (topics?: $ReadOnlyArray<Topic>) => topics || [],
+  (topics: $ReadOnlyArray<Topic>): Map<string, Topic[]> => {
     const imageTopics = topics.filter(
       (topic) => topic.datatype === "sensor_msgs/Image" || topic.datatype === "sensor_msgs/CompressedImage"
     );
@@ -139,8 +131,8 @@ const imageTopicsByNamespaceSelector = createSelector(
 );
 
 const markerTopicSelector = createSelector(
-  (topics?: Topic[]) => topics || [],
-  (topics: Topic[], imageViewHooksProp: ?ImageViewPanelHooks): Topic[] => {
+  (topics?: $ReadOnlyArray<Topic>) => topics || [],
+  (topics: $ReadOnlyArray<Topic>, imageViewHooksProp: ?ImageViewPanelHooks): Topic[] => {
     const imageViewHooks = imageViewHooksProp || getGlobalHooks().perPanelHooks().ImageView;
     const markerTopics = topics.filter((topic) =>
       imageViewHooks.imageMarkerDatatypes.concat(imageViewHooks.imageMarkerArrayDatatypes).includes(topic.datatype)
@@ -149,7 +141,12 @@ const markerTopicSelector = createSelector(
   }
 );
 
-function renderEmptyState(cameraTopic: string, markerTopics: string[], shouldSynchronize: boolean) {
+function renderEmptyState(
+  cameraTopic: string,
+  markerTopics: string[],
+  shouldSynchronize: boolean,
+  messagesByTopic: { [topic: string]: Message[] }
+) {
   return (
     <EmptyState>
       Waiting for images {markerTopics.length > 0 && "and markers"} on:
@@ -164,9 +161,21 @@ function renderEmptyState(cameraTopic: string, markerTopics: string[], shouldSyn
         ))}
       </ul>
       {shouldSynchronize && (
-        <p>
-          Synchronization is enabled, so all <code>header.stamp</code>s must match exactly.
-        </p>
+        <>
+          <p>
+            Synchronization is enabled, so all <code>header.stamp</code>s must match exactly.
+          </p>
+          <ul>
+            {Object.keys(messagesByTopic).map((topic) => (
+              <li key={topic}>
+                <code>{topic}</code>:{" "}
+                {messagesByTopic[topic] && messagesByTopic[topic].length
+                  ? messagesByTopic[topic].map(({ message }) => formatTimeRaw(message.header.stamp)).join(", ")
+                  : "no messages"}
+              </li>
+            ))}
+          </ul>
+        </>
       )}
     </EmptyState>
   );
@@ -229,31 +238,76 @@ export function buildMarkerData(markers: Message[], scale: number, transformMark
   };
 }
 
-class ImageView extends React.Component<Props> {
-  static panelType = "ImageViewPanel";
-  static defaultConfig = getGlobalHooks().perPanelHooks().ImageView.defaultConfig;
+function useOptionallySynchronizedMessages(
+  shouldSynchronize: boolean,
+  topics: $ReadOnlyArray<PanelAPI.RequestedTopic>
+) {
+  const memoizedTopics = useDeepMemo(topics);
+  const reducers = useMemo(
+    () =>
+      shouldSynchronize
+        ? getSynchronizingReducers(
+            memoizedTopics.map((request) => (typeof request === "string" ? request : request.topic))
+          )
+        : {
+            restore: (previousValue) => ({
+              messagesByTopic: previousValue ? previousValue.messagesByTopic : {},
+              synchronizedMessages: null,
+            }),
+            addMessage: ({ messagesByTopic, synchronizedMessages }, newMessage) => ({
+              messagesByTopic: { ...messagesByTopic, [newMessage.topic]: [newMessage] },
+              synchronizedMessages: null,
+            }),
+          },
+    [shouldSynchronize, memoizedTopics]
+  );
+  return PanelAPI.useMessages({
+    topics,
+    ...reducers,
+  }).reducedValue;
+}
 
-  onToggleMarkerName = (markerName: string) => {
-    this.props.saveConfig({ enabledMarkerNames: toggle(this.props.config.enabledMarkerNames, markerName) });
-  };
+function ImageView(props: Props) {
+  const { config, saveConfig } = props;
+  const { scale, synchronize, cameraTopic, enabledMarkerNames, panelHooks, transformMarkers } = config;
+  const { topics } = PanelAPI.useDataSourceInfo();
 
-  onChangeTopic = (cameraTopic: string) => {
-    this.props.saveConfig({
-      cameraTopic,
-      transformMarkers: getGlobalHooks()
-        .perPanelHooks()
-        .ImageView.canTransformMarkersByTopic(cameraTopic),
-    });
-  };
+  const onToggleMarkerName = useCallback(
+    (markerName: string) => {
+      saveConfig({ enabledMarkerNames: toggle(enabledMarkerNames, markerName) });
+    },
+    [saveConfig, enabledMarkerNames]
+  );
 
-  onChangeScale = (scale: number) => {
-    this.props.saveConfig({ scale });
-  };
+  const onChangeTopic = useCallback(
+    (cameraTopic: string) => {
+      saveConfig({
+        cameraTopic,
+        transformMarkers: getGlobalHooks()
+          .perPanelHooks()
+          .ImageView.canTransformMarkersByTopic(cameraTopic),
+      });
+    },
+    [saveConfig]
+  );
+
+  const onChangeScale = useCallback(
+    (scale: number) => {
+      saveConfig({ scale });
+    },
+    [saveConfig]
+  );
 
-  renderImageTopicDropdown(allItemsByPath: MessageHistoryItemsByPath) {
-    const { cameraTopic } = this.props.config;
+  const onToggleSynchronize = useCallback(
+    () => {
+      saveConfig({ synchronize: !config.synchronize });
+    },
+    [saveConfig, config.synchronize]
+  );
+
+  const renderImageTopicDropdown = () => {
     const cameraNamespace = getCameraNamespace(cameraTopic);
-    const imageTopicsByNamespace = imageTopicsByNamespaceSelector(this.props.topics);
+    const imageTopicsByNamespace = imageTopicsByNamespaceSelector(topics);
 
     if (!imageTopicsByNamespace || imageTopicsByNamespace.size === 0) {
       return (
@@ -286,7 +340,7 @@ class ImageView extends React.Component<Props> {
                 key={topic.name}
                 value={topic.name}
                 checked={topic.name === cameraTopic}
-                onClick={() => this.onChangeTopic(topic.name)}>
+                onClick={() => onChangeTopic(topic.name)}>
                 {topic.name}
               </Item>
             );
@@ -297,25 +351,22 @@ class ImageView extends React.Component<Props> {
     return (
       <Dropdown toggleComponent={<ToggleComponent dataTest={"topics-dropdown"} text={cameraTopic} />}>{items}</Dropdown>
     );
-  }
+  };
 
-  renderMarkerDropdown(allItemsByPath: MessageHistoryItemsByPath) {
-    const { cameraTopic, enabledMarkerNames, scale } = this.props.config;
-    const imageTopicsByNamespace = imageTopicsByNamespaceSelector(this.props.topics);
-    const markerTopics = markerTopicSelector(this.props.topics, this.props.config.panelHooks);
+  const renderMarkerDropdown = (cameraInfo: ?CameraInfo, renderedMarkerTimestamps: { [topic: string]: Time }) => {
+    const imageTopicsByNamespace = imageTopicsByNamespaceSelector(topics);
+    const markerTopics = markerTopicSelector(topics, panelHooks);
 
     const allCameraNamespaces = imageTopicsByNamespace ? [...imageTopicsByNamespace.keys()] : [];
     const markerOptions = getMarkerOptions(cameraTopic, (markerTopics || []).map((t) => t.name), allCameraNamespaces);
 
-    const cameraInfoTopic = getCameraInfoTopic(cameraTopic);
-    const hasCameraInfo = cameraInfoTopic && get(allItemsByPath, [cameraInfoTopic, "length"]) > 0;
-    const missingRequiredCameraInfo = scale !== 1 && !hasCameraInfo;
+    const missingRequiredCameraInfo = scale !== 1 && !cameraInfo;
 
     return (
       <Dropdown
         dataTest={"markers-dropdown"}
         closeOnChange={false}
-        onChange={this.onToggleMarkerName}
+        onChange={onToggleMarkerName}
         value={enabledMarkerNames}
         text={markerOptions.length > 0 ? "markers" : "no markers"}
         tooltip={
@@ -330,161 +381,151 @@ class ImageView extends React.Component<Props> {
             key={option.name}
             value={option.name}>
             <span>{option.topic}</span>
-            <TopicTimestamp text={formatTimeForPath(allItemsByPath, option.topic)} />
+            <TopicTimestamp
+              text={renderedMarkerTimestamps[option.topic] ? formatTimeRaw(renderedMarkerTimestamps[option.topic]) : ""}
+            />
           </Item>
         ))}
       </Dropdown>
     );
-  }
-
-  _renderToolbar(allItemsByPath: MessageHistoryItemsByPath) {
-    return (
-      <PanelToolbar floating helpContent={helpContent} menuContent={this._renderMenuContent()}>
-        <div className={style.controls}>
-          {this.renderImageTopicDropdown(allItemsByPath)}
-          {this.renderMarkerDropdown(allItemsByPath)}
-        </div>
-      </PanelToolbar>
-    );
-  }
-
-  _toggleSynchronize = () => {
-    this.props.saveConfig({ synchronize: !this.props.config.synchronize });
   };
 
-  _renderMenuContent() {
-    const { scale, synchronize } = this.props.config;
-    return (
+  const menuContent = useMemo(
+    () => (
       <>
-        <Item
-          icon={synchronize ? <CheckboxMarkedIcon /> : <CheckboxBlankOutlineIcon />}
-          onClick={this._toggleSynchronize}
-          tooltip={`Image queue size: ${IMAGE_QUEUE_SIZE}\nMarker queue size: ${MARKER_QUEUE_SIZE}`}>
+        <Item icon={synchronize ? <CheckboxMarkedIcon /> : <CheckboxBlankOutlineIcon />} onClick={onToggleSynchronize}>
           <span>Synchronize images and markers</span>
         </Item>
         <hr />
         <SubMenu direction="right" text={`Image resolution: ${(scale * 100).toFixed()}%`}>
           {[0.2, 0.5, 1].map((value) => {
             return (
-              <Item key={value} value={value} checked={scale === value} onClick={() => this.onChangeScale(value)}>
+              <Item key={value} value={value} checked={scale === value} onClick={() => onChangeScale(value)}>
                 {(value * 100).toFixed()}%
               </Item>
             );
           })}
         </SubMenu>
       </>
-    );
-  }
+    ),
+    [scale, onChangeScale, synchronize, onToggleSynchronize]
+  );
 
-  render() {
-    const {
-      saveConfig,
-      config,
-      config: { cameraTopic, enabledMarkerNames, scale, panelHooks, transformMarkers },
-    } = this.props;
+  const cameraInfoTopic = getCameraInfoTopic(cameraTopic);
+  const cameraInfo: ?CameraInfo = PanelAPI.useMessages({
+    topics: cameraInfoTopic ? [cameraInfoTopic] : [],
+    restore: useCallback((value) => value, []),
+    addMessage: useCallback((value, { message }: TypedMessage<CameraInfo>) => message, []),
+  }).reducedValue;
 
-    const cameraInfoTopic = getCameraInfoTopic(cameraTopic);
-    const allMarkerTopics = markerTopicSelector(this.props.topics, this.props.config.panelHooks);
-    const markerTopics = getMarkerTopics(cameraTopic, enabledMarkerNames).filter((markerTopic) =>
+  const allMarkerTopics = markerTopicSelector(topics, panelHooks);
+  const markerTopics = useShallowMemo(
+    getMarkerTopics(cameraTopic, enabledMarkerNames).filter((markerTopic) =>
       allMarkerTopics.some(({ name }) => markerTopic === name)
-    );
+    )
+  );
 
-    const shouldSynchronize = config.synchronize && markerTopics.length > 0;
+  const shouldSynchronize = config.synchronize && markerTopics.length > 0;
+  const imageAndMarkerTopics = useShallowMemo([{ topic: cameraTopic, imageScale: scale }, ...markerTopics]);
+  const { messagesByTopic, synchronizedMessages } = useOptionallySynchronizedMessages(
+    shouldSynchronize,
+    imageAndMarkerTopics
+  );
+  const imageMessage = get(messagesByTopic, [cameraTopic, 0]);
+
+  const markersToRender: Message[] = useMemo(
+    () =>
+      shouldSynchronize
+        ? synchronizedMessages
+          ? markerTopics.map((topic) => synchronizedMessages[topic])
+          : []
+        : filterMap(markerTopics, (topic) => last(messagesByTopic[topic])),
+    [markerTopics, messagesByTopic, shouldSynchronize, synchronizedMessages]
+  );
+  // Timestamps are displayed for informational purposes in the markers menu
+  const renderedMarkerTimestamps = useMemo(
+    () => {
+      const stamps = {};
+      for (const { topic, message } of markersToRender) {
+        stamps[topic] = message.header.stamp;
+      }
+      return stamps;
+    },
+    [markersToRender]
+  );
+  const markerData = buildMarkerData(markersToRender, scale, transformMarkers, cameraInfo);
 
-    // When synchronizing, keep some extra historical messages so we can synchronize over
-    // significant time delays.
-    const imageHistorySize = shouldSynchronize ? IMAGE_QUEUE_SIZE : 1;
-    const markerHistorySize = shouldSynchronize ? MARKER_QUEUE_SIZE : 1;
+  const renderToolbar = () => {
+    return (
+      <PanelToolbar floating helpContent={helpContent} menuContent={menuContent}>
+        <div className={style.controls}>
+          {renderImageTopicDropdown()}
+          {renderMarkerDropdown(cameraInfo, renderedMarkerTimestamps)}
+        </div>
+      </PanelToolbar>
+    );
+  };
 
+  if (!imageMessage || (shouldSynchronize && !synchronizedMessages)) {
     return (
       <Flex col clip>
-        <MessageHistory paths={[cameraTopic]} imageScale={scale} historySize={imageHistorySize}>
-          {({ itemsByPath: imageItemsByPath }: MessageHistoryData) => (
-            <MessageHistory
-              paths={markerTopics.concat(cameraInfoTopic ? [cameraInfoTopic] : [])}
-              historySize={markerHistorySize}>
-              {({ itemsByPath: markerItemsByPath }: MessageHistoryData) => {
-                const allItemsByPath: ?MessageHistoryItemsByPath = (() => {
-                  const items = {
-                    ...imageItemsByPath,
-                    ...pick(markerItemsByPath, markerTopics),
-                  };
-                  return shouldSynchronize ? synchronizeMessages(items) : items;
-                })();
-
-                if (!allItemsByPath || allItemsByPath[cameraTopic].length === 0) {
-                  return (
-                    <>
-                      {this._renderToolbar({})}
-                      {renderEmptyState(cameraTopic, markerTopics, shouldSynchronize)}
-                    </>
-                  );
-                }
-                if (cameraInfoTopic) {
-                  // _renderToolbar needs access to camera info
-                  allItemsByPath[cameraInfoTopic] = markerItemsByPath[cameraInfoTopic];
-                }
-
-                const markerData = buildMarkerData(
-                  filterMap(markerTopics, (topic) => get(allItemsByPath[topic], [0, "message"])),
-                  scale,
-                  transformMarkers,
-                  cameraInfoTopic ? get(markerItemsByPath, [cameraInfoTopic, 0, "message", "message"]) : null
-                );
-
-                return (
-                  <>
-                    {this._renderToolbar(allItemsByPath)}
-                    <ImageCanvas
-                      panelHooks={panelHooks}
-                      topic={cameraTopic}
-                      image={allItemsByPath[cameraTopic][0] && allItemsByPath[cameraTopic][0].message}
-                      markerData={markerData}
-                    />
-                    <ChildToggle.ContainsOpen>
-                      {(containsOpen) => {
-                        const canTransformMarkers = getGlobalHooks()
-                          .perPanelHooks()
-                          .ImageView.canTransformMarkersByTopic(cameraTopic);
-
-                        const topicTimestamp = (
-                          <TopicTimestamp
-                            style={{ padding: "8px 8px 0px 0px" }}
-                            text={formatTimeForPath(allItemsByPath, cameraTopic)}
-                          />
-                        );
-
-                        if (!canTransformMarkers) {
-                          return <BottomBar containsOpen={containsOpen}>{topicTimestamp}</BottomBar>;
-                        }
-
-                        return (
-                          <BottomBar containsOpen={containsOpen}>
-                            {topicTimestamp}
-                            <Icon
-                              onClick={() => saveConfig({ transformMarkers: !transformMarkers })}
-                              tooltip={
-                                transformMarkers
-                                  ? "Markers are being transformed by webviz based on the camera model. Click to turn it off."
-                                  : `Markers can be transformed by webviz based on the camera model. Click to turn it on.`
-                              }
-                              fade
-                              medium>
-                              <WavesIcon style={{ color: transformMarkers ? colors.orange : colors.textBright }} />
-                            </Icon>
-                          </BottomBar>
-                        );
-                      }}
-                    </ChildToggle.ContainsOpen>
-                  </>
-                );
-              }}
-            </MessageHistory>
-          )}
-        </MessageHistory>
+        {renderToolbar()}
+        {renderEmptyState(cameraTopic, markerTopics, shouldSynchronize, messagesByTopic)}
       </Flex>
     );
   }
+
+  return (
+    <Flex col clip>
+      {renderToolbar()}
+      <ImageCanvas
+        panelHooks={panelHooks}
+        topic={cameraTopic}
+        image={imageMessage}
+        markerData={markerData}
+        config={config}
+        saveConfig={saveConfig}
+      />
+      <ChildToggle.ContainsOpen>
+        {(containsOpen) => {
+          const canTransformMarkers = getGlobalHooks()
+            .perPanelHooks()
+            .ImageView.canTransformMarkersByTopic(cameraTopic);
+
+          const topicTimestamp = (
+            <TopicTimestamp
+              style={{ padding: "8px 8px 0px 0px" }}
+              text={imageMessage ? formatTimeRaw(imageMessage.message.header.stamp) : ""}
+            />
+          );
+
+          if (!canTransformMarkers) {
+            return <BottomBar containsOpen={containsOpen}>{topicTimestamp}</BottomBar>;
+          }
+
+          return (
+            <BottomBar containsOpen={containsOpen}>
+              {topicTimestamp}
+              <Icon
+                onClick={() => saveConfig({ transformMarkers: !transformMarkers })}
+                tooltip={
+                  transformMarkers
+                    ? "Markers are being transformed by webviz based on the camera model. Click to turn it off."
+                    : `Markers can be transformed by webviz based on the camera model. Click to turn it on.`
+                }
+                fade
+                medium>
+                <WavesIcon style={{ color: transformMarkers ? colors.orange : colors.textBright }} />
+              </Icon>
+            </BottomBar>
+          );
+        }}
+      </ChildToggle.ContainsOpen>
+    </Flex>
+  );
 }
 
+ImageView.panelType = "ImageViewPanel";
+ImageView.defaultConfig = getGlobalHooks().perPanelHooks().ImageView.defaultConfig;
+
 export default hot(Panel<Config>(ImageView));
diff --git a/packages/webviz-core/src/panels/ImageView/util.js b/packages/webviz-core/src/panels/ImageView/util.js
index f49400881..5065776bd 100644
--- a/packages/webviz-core/src/panels/ImageView/util.js
+++ b/packages/webviz-core/src/panels/ImageView/util.js
@@ -6,6 +6,8 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
+import clamp from "lodash/clamp";
+
 import type { Topic } from "webviz-core/src/players/types";
 
 export type MarkerOption = {
@@ -74,3 +76,25 @@ export function groupTopics(topics: Topic[]): Map<string, Topic[]> {
   }
   return imageTopicsByNamespace;
 }
+
+// check if we pan out of bounds with the given top, left, right, bottom
+// x, y, scale is the state after we pan
+// if out of bound, return newX and newY satisfying the bounds
+// else, return the original x and y
+export function checkOutOfBounds(
+  x: number,
+  y: number,
+  outsideWidth: number,
+  outsideHeight: number,
+  insideWidth: number,
+  insideHeight: number
+): number[] {
+  const leftX = 0;
+  const topY = 0;
+  const rightX = outsideWidth - insideWidth;
+  const bottomY = outsideHeight - insideHeight;
+  return [
+    clamp(x, Math.min(leftX, rightX), Math.max(leftX, rightX)),
+    clamp(y, Math.min(topY, bottomY), Math.max(topY, bottomY)),
+  ];
+}
diff --git a/packages/webviz-core/src/panels/NodePlayground/index.help.md b/packages/webviz-core/src/panels/NodePlayground/index.help.md
index de78ae373..8574bf65b 100644
--- a/packages/webviz-core/src/panels/NodePlayground/index.help.md
+++ b/packages/webviz-core/src/panels/NodePlayground/index.help.md
@@ -103,14 +103,19 @@ type RosOutMsg = {
 };
 type RosOut = BaseMessage<"/rosout", RosOutMsg>;
 
-type TfMsg = {
-  transforms: {
-    header: Header,
-    child_frame_id: string,
-    /* ... */
-  }
+type Transform = {
+  translation: number[],
+  rotation: number[]
+}
+type TransformMsg = {
+  header: Header,  
+  child_frame_id: string,
+  transform: Transform
+}
+type TransformMsgArray = {
+  transforms: TransformMsg[]
 };
-type Tf = BaseMessage<"/tf", TfMsg>;
+type Tf = BaseMessage<"/tf", TransformMsgArray>;
 
 type Marker = LineStripMarker;
 type MarkerArray = {
diff --git a/packages/webviz-core/src/panels/PanelList/index.js b/packages/webviz-core/src/panels/PanelList/index.js
index 48c3f98ae..45e198af4 100644
--- a/packages/webviz-core/src/panels/PanelList/index.js
+++ b/packages/webviz-core/src/panels/PanelList/index.js
@@ -189,7 +189,7 @@ class PanelList extends React.Component<Props, { searchQuery: string }> {
       },
     ];
     if (config.panelConfig) {
-      savePanelConfig({ id: newNode, config: config.panelConfig });
+      savePanelConfig({ id: newNode, config: config.panelConfig, defaultConfig: {} });
     }
     const newLayout = updateTree(mosaicLayout, updates);
     changePanelLayout(newLayout);
diff --git a/packages/webviz-core/src/panels/Plot/PlotChart.js b/packages/webviz-core/src/panels/Plot/PlotChart.js
index 16e96e965..fe3ce8043 100644
--- a/packages/webviz-core/src/panels/Plot/PlotChart.js
+++ b/packages/webviz-core/src/panels/Plot/PlotChart.js
@@ -19,7 +19,7 @@ import filterMap from "webviz-core/src/filterMap";
 import derivative from "webviz-core/src/panels/Plot/derivative";
 import { type PlotPath, isReferenceLinePlotPathType } from "webviz-core/src/panels/Plot/internalTypes";
 import { lightColor, lineColors } from "webviz-core/src/util/plotColors";
-import { subtractTimes, format, formatTimeRaw, toSec } from "webviz-core/src/util/time";
+import { isTime, subtractTimes, format, formatTimeRaw, toSec } from "webviz-core/src/util/time";
 
 export type PlotChartPoint = {|
   x: number,
@@ -59,20 +59,28 @@ function getDatasetFromMessagePlotPath(
     }
 
     for (const { value, path, constantName } of item.queriedData) {
-      const isTimeObj = value && typeof value === "object" && !isNaN(value.sec) && !isNaN(value.nsec);
-      if (typeof value === "number" || typeof value === "boolean") {
+      if (typeof value === "number" || typeof value === "boolean" || typeof value === "string") {
+        const valueNum = Number(value);
+        if (!isNaN(valueNum)) {
+          points.push({
+            x: toSec(subtractTimes(timestamp, startTime)),
+            y: valueNum,
+            tooltip: { item, path, value, constantName, startTime },
+          });
+        }
+      } else if (isTime(value)) {
+        // $FlowFixMe - %checks on isTime can't convince Flow that the object is actually a Time. Related: https://github.com/facebook/flow/issues/3614
+        const timeValue = (value: Time);
         points.push({
           x: toSec(subtractTimes(timestamp, startTime)),
-          y: Number(value),
-          tooltip: { item, path, value, constantName, startTime },
-        });
-      } else if (isTimeObj) {
-        const timeObj = { ...value };
-        const valueStr = `${format(timeObj)} (${formatTimeRaw(timeObj)})`;
-        points.push({
-          x: toSec(subtractTimes(timestamp, startTime)),
-          y: timeObj.sec + timeObj.nsec / 1e9,
-          tooltip: { item, path, value: valueStr, constantName, startTime },
+          y: toSec(timeValue),
+          tooltip: {
+            item,
+            path,
+            value: `${format(timeValue)} (${formatTimeRaw(timeValue)})`,
+            constantName,
+            startTime,
+          },
         });
       }
     }
diff --git a/packages/webviz-core/src/panels/Plot/PlotLegend.js b/packages/webviz-core/src/panels/Plot/PlotLegend.js
index 9cb800141..ecd5433e3 100644
--- a/packages/webviz-core/src/panels/Plot/PlotLegend.js
+++ b/packages/webviz-core/src/panels/Plot/PlotLegend.js
@@ -6,117 +6,143 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
+import MenuIcon from "@mdi/svg/svg/menu.svg";
 import cx from "classnames";
 import { last } from "lodash";
-import React, { PureComponent } from "react";
+import React, { useCallback } from "react";
 
-import { plotableRosTypes } from "./index";
+import { plotableRosTypes, type PlotConfig } from "./index";
 import styles from "./PlotLegend.module.scss";
+import Icon from "webviz-core/src/components/Icon";
 import { MessageHistoryInput, type MessageHistoryTimestampMethod } from "webviz-core/src/components/MessageHistory";
 import { type PlotPath, isReferenceLinePlotPathType } from "webviz-core/src/panels/Plot/internalTypes";
 import { lineColors } from "webviz-core/src/util/plotColors";
 
 type PlotLegendProps = {|
   paths: PlotPath[],
-  onChange: ({ paths: PlotPath[] }) => void,
+  saveConfig: ($Shape<PlotConfig>) => void,
+  showLegend: boolean,
 |};
-export default class PlotLegend extends PureComponent<PlotLegendProps> {
-  _onInputChange = (value: string, index: ?number) => {
-    if (index == null) {
-      throw new Error("index not set");
-    }
-    const newPaths = this.props.paths.slice();
-    newPaths[index] = { ...newPaths[index], value: value.trim() };
-    this.props.onChange({ paths: newPaths });
-  };
 
-  _onInputTimestampMethodChange = (value: MessageHistoryTimestampMethod, index: ?number) => {
-    if (index == null) {
-      throw new Error("index not set");
-    }
-    const newPaths = this.props.paths.slice();
-    newPaths[index] = { ...newPaths[index], timestampMethod: value };
-    this.props.onChange({ paths: newPaths });
-  };
+function PlotLegendToggle(props: { onToggle: () => void }) {
+  return (
+    <div className={styles.legendToggle} onClick={props.onToggle}>
+      <Icon>
+        <MenuIcon />
+      </Icon>
+    </div>
+  );
+}
+
+export default function PlotLegend(props: PlotLegendProps) {
+  const { paths, saveConfig, showLegend } = props;
+  const lastPath = last(paths);
 
-  render() {
-    const { paths, onChange } = this.props;
+  const onInputChange = useCallback(
+    (value: string, index: ?number) => {
+      if (index == null) {
+        throw new Error("index not set");
+      }
+      const newPaths = paths.slice();
+      newPaths[index] = { ...newPaths[index], value: value.trim() };
+      saveConfig({ paths: newPaths });
+    },
+    [paths, saveConfig]
+  );
 
-    const lastPath = last(paths);
+  const onInputTimestampMethodChange = useCallback(
+    (value: MessageHistoryTimestampMethod, index: ?number) => {
+      if (index == null) {
+        throw new Error("index not set");
+      }
+      const newPaths = paths.slice();
+      newPaths[index] = { ...newPaths[index], timestampMethod: value };
+      saveConfig({ paths: newPaths });
+    },
+    [paths, saveConfig]
+  );
 
+  if (!showLegend) {
     return (
       <div className={styles.root}>
-        {paths.map((path: PlotPath, index: number) => {
-          const isReferenceLinePlotPath = isReferenceLinePlotPathType(path);
-          let timestampMethod;
-          // Only allow chosing the timestamp method if it is applicable (not a reference line) and there is at least
-          // one character typed.
-          if (!isReferenceLinePlotPath && path.value.length > 0) {
-            timestampMethod = path.timestampMethod;
-          }
-          return (
-            <React.Fragment key={index}>
-              <div className={styles.item}>
-                <div
-                  className={styles.itemIconContainer}
-                  onClick={() => {
-                    const newPaths = paths.slice();
-                    newPaths[index] = { ...newPaths[index], enabled: !newPaths[index].enabled };
-                    onChange({ paths: newPaths });
-                  }}>
-                  <div
-                    className={styles.itemIcon}
-                    style={{ color: path.enabled ? lineColors[index % lineColors.length] : "#777" }}
-                  />
-                </div>
-                <div
-                  className={styles.itemRemove}
-                  onClick={() => {
-                    const newPaths = paths.slice();
-                    newPaths.splice(index, 1);
-                    onChange({ paths: newPaths });
-                  }}>
-                  ✕
-                </div>
-                <div
-                  className={cx({
-                    [styles.itemInput]: true,
-                    [styles.itemInputDisabled]: !path.enabled,
-                  })}>
-                  <MessageHistoryInput
-                    path={path.value}
-                    onChange={this._onInputChange}
-                    onTimestampMethodChange={this._onInputTimestampMethodChange}
-                    validTypes={plotableRosTypes}
-                    placeholder="Enter a topic name or a number"
-                    index={index}
-                    autoSize
-                    disableAutocomplete={isReferenceLinePlotPath}
-                    timestampMethod={timestampMethod}
-                  />
-                </div>
-              </div>
-            </React.Fragment>
-          );
-        })}
-        <div
-          className={styles.addLine}
-          onClick={() =>
-            onChange({
-              paths: [
-                ...paths,
-                {
-                  value: "",
-                  enabled: true,
-                  // For convenience, default to the `timestampMethod` of the last path.
-                  timestampMethod: lastPath ? lastPath.timestampMethod : "receiveTime",
-                },
-              ],
-            })
-          }>
-          + add line
-        </div>
+        <PlotLegendToggle onToggle={() => saveConfig({ showLegend: !showLegend })} />
       </div>
     );
   }
+
+  return (
+    <div className={styles.root}>
+      <PlotLegendToggle onToggle={() => saveConfig({ showLegend: !showLegend })} />
+      {paths.map((path: PlotPath, index: number) => {
+        const isReferenceLinePlotPath = isReferenceLinePlotPathType(path);
+        let timestampMethod;
+        // Only allow chosing the timestamp method if it is applicable (not a reference line) and there is at least
+        // one character typed.
+        if (!isReferenceLinePlotPath && path.value.length > 0) {
+          timestampMethod = path.timestampMethod;
+        }
+        return (
+          <React.Fragment key={index}>
+            <div className={styles.item}>
+              <div
+                className={styles.itemIconContainer}
+                onClick={() => {
+                  const newPaths = paths.slice();
+                  newPaths[index] = { ...newPaths[index], enabled: !newPaths[index].enabled };
+                  saveConfig({ paths: newPaths });
+                }}>
+                <div
+                  className={styles.itemIcon}
+                  style={{ color: path.enabled ? lineColors[index % lineColors.length] : "#777" }}
+                />
+              </div>
+              <div
+                className={cx({
+                  [styles.itemInput]: true,
+                  [styles.itemInputDisabled]: !path.enabled,
+                })}>
+                <MessageHistoryInput
+                  path={path.value}
+                  onChange={onInputChange}
+                  onTimestampMethodChange={onInputTimestampMethodChange}
+                  validTypes={plotableRosTypes}
+                  placeholder="Enter a topic name or a number"
+                  index={index}
+                  autoSize
+                  disableAutocomplete={isReferenceLinePlotPath}
+                  timestampMethod={timestampMethod}
+                />
+              </div>
+              <div
+                className={styles.itemRemove}
+                onClick={() => {
+                  const newPaths = paths.slice();
+                  newPaths.splice(index, 1);
+                  saveConfig({ paths: newPaths });
+                }}>
+                ✕
+              </div>
+            </div>
+          </React.Fragment>
+        );
+      })}
+      <div
+        className={styles.addLine}
+        onClick={() =>
+          saveConfig({
+            paths: [
+              ...paths,
+              {
+                value: "",
+                enabled: true,
+                // For convenience, default to the `timestampMethod` of the last path.
+                timestampMethod: lastPath ? lastPath.timestampMethod : "receiveTime",
+              },
+            ],
+          })
+        }>
+        + add line
+      </div>
+    </div>
+  );
 }
diff --git a/packages/webviz-core/src/panels/Plot/PlotLegend.module.scss b/packages/webviz-core/src/panels/Plot/PlotLegend.module.scss
index 2dcf3f985..795aa0baf 100644
--- a/packages/webviz-core/src/panels/Plot/PlotLegend.module.scss
+++ b/packages/webviz-core/src/panels/Plot/PlotLegend.module.scss
@@ -15,7 +15,7 @@ $legend-item-height: 20px;
   $legend-root-left: 65px;
   position: absolute;
   left: $legend-root-left;
-  top: 10px;
+  top: 25px;
   background: $legend-highlight-color;
   color: #eee;
   max-width: calc(100% - #{$legend-root-left});
@@ -83,20 +83,40 @@ $legend-item-height: 20px;
   top: calc(50% - 1px);
 }
 
+.legendToggle {
+  visibility: hidden;
+  padding: 6px;
+  cursor: pointer;
+  position: absolute;
+  top: 0;
+  left: -30px;
+  height: 25px;
+  border-radius: 5px;
+  user-select: none;
+  background: $legend-highlight-color-bright;
+
+  &:hover {
+    background: $legend-highlight-color-bright;
+  }
+
+  :global(.mosaic-window):hover & {
+    visibility: initial;
+  }
+}
+
 .itemRemove {
   visibility: hidden;
   padding: 0 6px;
   cursor: pointer;
   position: absolute;
-  top: 0px;
-  left: -21px;
+  right: -21px;
+  background: transparent;
   height: $legend-item-height;
   line-height: $legend-item-height;
   user-select: none;
-  background: $legend-highlight-color-bright;
 
   &:hover {
-    background: $legend-highlight-color-brighter;
+    background: $legend-highlight-color-bright;
   }
 
   .item:hover & {
@@ -106,6 +126,7 @@ $legend-item-height: 20px;
 
 .itemInput {
   overflow: hidden;
+  width: 100%;
 }
 
 // <input> is several levels deeper, and there's not too much chance
diff --git a/packages/webviz-core/src/panels/Plot/index.js b/packages/webviz-core/src/panels/Plot/index.js
index 45a278024..2ee150861 100644
--- a/packages/webviz-core/src/panels/Plot/index.js
+++ b/packages/webviz-core/src/panels/Plot/index.js
@@ -6,7 +6,7 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import React, { PureComponent } from "react";
+import React, { useEffect, useState, useCallback } from "react";
 import { hot } from "react-hot-loader/root";
 
 import helpContent from "./index.help.md";
@@ -33,12 +33,14 @@ export const plotableRosTypes = [
   "float64",
   "time",
   "duration",
+  "string",
 ];
 
 export type PlotConfig = {
   paths: PlotPath[],
   minYValue: string,
   maxYValue: string,
+  showLegend: boolean,
 };
 
 type Props = {
@@ -46,79 +48,70 @@ type Props = {
   saveConfig: ($Shape<PlotConfig>) => void,
 };
 
-type State = {
-  currentMinY: ?number,
-  currentMaxY: ?number,
-};
-
-class Plot extends PureComponent<Props, State> {
-  static panelType = "Plot";
-  static defaultConfig = { paths: [], minYValue: "", maxYValue: "" };
-
-  state = {
-    currentMinY: null,
-    currentMaxY: null,
-  };
+function Plot(props: Props) {
+  const { saveConfig, config } = props;
+  const { paths, minYValue, maxYValue, showLegend } = config;
+  const [currentMinY, setCurrentMinY] = useState(null);
+  const [currentMaxY, setCurrentMaxY] = useState(null);
 
-  saveCurrentYs = (minY: number, maxY: number) => {
-    this.setState({
-      currentMinY: minY,
-      currentMaxY: maxY,
-    });
-  };
+  const saveCurrentYs = useCallback((minY: number, maxY: number) => {
+    setCurrentMinY(maxY);
+    setCurrentMaxY(maxY);
+  }, []);
 
-  setMinMax = () => {
-    const { currentMinY, currentMaxY } = this.state;
-    this.props.saveConfig({
-      minYValue: currentMinY ? currentMinY.toString() : "",
-      maxYValue: currentMaxY ? currentMaxY.toString() : "",
-    });
-  };
+  const setMinMax = useCallback(
+    () =>
+      saveConfig({
+        minYValue: currentMinY ? currentMinY.toString() : "",
+        maxYValue: currentMaxY ? currentMaxY.toString() : "",
+      }),
+    [currentMaxY, currentMinY, saveConfig]
+  );
 
-  render() {
-    const { minYValue, maxYValue } = this.props.config;
-    let { paths } = this.props.config;
+  useEffect(() => {
     if (!paths.length) {
-      paths = [{ value: "", enabled: true, timestampMethod: "receiveTime" }];
+      saveConfig({ paths: [{ value: "", enabled: true, timestampMethod: "receiveTime" }] });
     }
+  });
 
-    return (
-      <Flex col clip center style={{ position: "relative" }}>
-        {/* Don't filter out disabled paths when passing into <MessageHistory>, because we still want
+  return (
+    <Flex col clip center style={{ position: "relative" }}>
+      {/* Don't filter out disabled paths when passing into <MessageHistory>, because we still want
           easy access to the history when turning the disabled paths back on. */}
-        <MessageHistory paths={paths.map((path) => path.value)}>
-          {({ itemsByPath, startTime }: MessageHistoryData) => {
-            const datasets = getDatasets(paths, itemsByPath, startTime);
-            return (
-              <>
-                <PanelToolbar
-                  helpContent={helpContent}
-                  floating
-                  menuContent={
-                    <PlotMenu
-                      minYValue={minYValue}
-                      maxYValue={maxYValue}
-                      saveConfig={this.props.saveConfig}
-                      setMinMax={this.setMinMax}
-                      datasets={datasets}
-                    />
-                  }
-                />
-                <PlotChart
-                  paths={paths}
-                  minYValue={parseFloat(minYValue)}
-                  maxYValue={parseFloat(maxYValue)}
-                  saveCurrentYs={this.saveCurrentYs}
-                  datasets={datasets}
-                />
-              </>
-            );
-          }}
-        </MessageHistory>
-        <PlotLegend paths={paths} onChange={this.props.saveConfig} />
-      </Flex>
-    );
-  }
+      <MessageHistory paths={paths.map((path) => path.value)}>
+        {({ itemsByPath, startTime }: MessageHistoryData) => {
+          const datasets = getDatasets(paths, itemsByPath, startTime);
+          return (
+            <>
+              <PanelToolbar
+                helpContent={helpContent}
+                floating
+                menuContent={
+                  <PlotMenu
+                    minYValue={minYValue}
+                    maxYValue={maxYValue}
+                    saveConfig={saveConfig}
+                    setMinMax={setMinMax}
+                    datasets={datasets}
+                  />
+                }
+              />
+              <PlotChart
+                paths={paths}
+                minYValue={parseFloat(minYValue)}
+                maxYValue={parseFloat(maxYValue)}
+                saveCurrentYs={saveCurrentYs}
+                datasets={datasets}
+              />
+            </>
+          );
+        }}
+      </MessageHistory>
+      <PlotLegend paths={paths} saveConfig={saveConfig} showLegend={showLegend} />
+    </Flex>
+  );
 }
+Plot.panelType = "Plot";
+Plot.defaultConfig = { paths: [], minYValue: "", maxYValue: "", showLegend: true };
 
 export default hot(Panel<PlotConfig>(Plot));
diff --git a/packages/webviz-core/src/panels/Plot/index.stories.js b/packages/webviz-core/src/panels/Plot/index.stories.js
index 76d378137..9bf8c2c75 100644
--- a/packages/webviz-core/src/panels/Plot/index.stories.js
+++ b/packages/webviz-core/src/panels/Plot/index.stories.js
@@ -179,8 +179,8 @@ const fixture = {
     { name: "/boolean_topic", datatype: "std_msgs/Bool" },
   ],
   activeData: {
-    startTime: { sec: 1527, nsec: 202050 },
-    endTime: { sec: 1551, nsec: 999997069 },
+    startTime: { sec: 0, nsec: 202050 },
+    endTime: { sec: 24, nsec: 999997069 },
     isPlaying: false,
     speed: 0.2,
   },
@@ -244,12 +244,20 @@ const paths = [
   },
 ];
 
+const exampleConfig = { paths, minYValue: "", maxYValue: "", showLegend: true };
 storiesOf("<Plot>", module)
   .addDecorator(withScreenshot({ delay: 1000 }))
   .add("line graph", () => {
     return (
       <PanelSetup fixture={fixture}>
-        <Plot config={{ paths, minYValue: "", maxYValue: "" }} />
+        <Plot config={exampleConfig} />
+      </PanelSetup>
+    );
+  })
+  .add("line graph with legends hidden", () => {
+    return (
+      <PanelSetup fixture={fixture}>
+        <Plot config={{ ...exampleConfig, showLegend: false }} />
       </PanelSetup>
     );
   })
@@ -268,7 +276,7 @@ storiesOf("<Plot>", module)
             }
           }, 100);
         }}>
-        <Plot config={{ paths, minYValue: "", maxYValue: "" }} />
+        <Plot config={exampleConfig} />
       </PanelSetup>
     );
   })
@@ -277,6 +285,7 @@ storiesOf("<Plot>", module)
       <PanelSetup fixture={fixture}>
         <Plot
           config={{
+            ...exampleConfig,
             paths: [
               {
                 value: "/some_topic/location.pose.velocity",
@@ -289,8 +298,6 @@ storiesOf("<Plot>", module)
                 timestampMethod: "headerStamp",
               },
             ],
-            minYValue: "",
-            maxYValue: "",
           }}
         />
       </PanelSetup>
@@ -301,6 +308,7 @@ storiesOf("<Plot>", module)
       <PanelSetup fixture={fixture} style={{ maxWidth: 250 }}>
         <Plot
           config={{
+            ...exampleConfig,
             paths: [
               {
                 value: "/some_topic/location.pose.velocity",
@@ -308,8 +316,6 @@ storiesOf("<Plot>", module)
                 timestampMethod: "receiveTime",
               },
             ],
-            minYValue: "",
-            maxYValue: "",
           }}
         />
       </PanelSetup>
@@ -320,6 +326,7 @@ storiesOf("<Plot>", module)
       <PanelSetup fixture={fixture}>
         <Plot
           config={{
+            ...exampleConfig,
             paths: [
               {
                 value: "/some_topic/location.pose.velocity",
@@ -332,8 +339,6 @@ storiesOf("<Plot>", module)
                 timestampMethod: "receiveTime",
               },
             ],
-            minYValue: "",
-            maxYValue: "",
           }}
         />
       </PanelSetup>
@@ -369,6 +374,7 @@ storiesOf("<Plot>", module)
             ],
             minYValue: "-1",
             maxYValue: "2",
+            showLegend: true,
           }}
         />
       </PanelSetup>
@@ -388,6 +394,7 @@ storiesOf("<Plot>", module)
             ],
             minYValue: "1",
             maxYValue: "2.8",
+            showLegend: true,
           }}
         />
       </PanelSetup>
@@ -407,6 +414,7 @@ storiesOf("<Plot>", module)
             ],
             minYValue: "1",
             maxYValue: "",
+            showLegend: true,
           }}
         />
       </PanelSetup>
@@ -426,6 +434,7 @@ storiesOf("<Plot>", module)
             ],
             minYValue: "1.4",
             maxYValue: "",
+            showLegend: true,
           }}
         />
       </PanelSetup>
@@ -445,6 +454,7 @@ storiesOf("<Plot>", module)
             ],
             minYValue: "",
             maxYValue: "1.8",
+            showLegend: true,
           }}
         />
       </PanelSetup>
@@ -464,6 +474,7 @@ storiesOf("<Plot>", module)
             ],
             minYValue: "",
             maxYValue: "2.8",
+            showLegend: true,
           }}
         />
       </PanelSetup>
@@ -474,6 +485,7 @@ storiesOf("<Plot>", module)
       <PanelSetup fixture={fixture}>
         <Plot
           config={{
+            ...exampleConfig,
             paths: [
               {
                 value: "/some_topic/state.items[:].speed",
@@ -491,8 +503,6 @@ storiesOf("<Plot>", module)
                 timestampMethod: "receiveTime",
               },
             ],
-            minYValue: "",
-            maxYValue: "",
           }}
         />
       </PanelSetup>
@@ -526,6 +536,7 @@ storiesOf("<Plot>", module)
         }}>
         <Plot
           config={{
+            ...exampleConfig,
             paths: [
               {
                 value: "/some_number.data",
@@ -533,8 +544,6 @@ storiesOf("<Plot>", module)
                 timestampMethod: "receiveTime",
               },
             ],
-            minYValue: "",
-            maxYValue: "",
           }}
         />
       </PanelSetup>
diff --git a/packages/webviz-core/src/panels/RawMessages/getValueActionForValue.js b/packages/webviz-core/src/panels/RawMessages/getValueActionForValue.js
index e12a92f41..a2596bf29 100644
--- a/packages/webviz-core/src/panels/RawMessages/getValueActionForValue.js
+++ b/packages/webviz-core/src/panels/RawMessages/getValueActionForValue.js
@@ -45,7 +45,7 @@ export function getValueActionForValue(
       value = value[pathItem];
       if (multiSlicePath.endsWith("[:]")) {
         // We're just inside a message that is inside an array, so we might want to pivot on this new value.
-        pivotPath = `${multiSlicePath}{${pathItem}==${(value: any)}}`;
+        pivotPath = `${multiSlicePath}{${pathItem}==${JSON.stringify(value) || ""}}`;
       } else {
         pivotPath = "";
       }
@@ -65,7 +65,7 @@ export function getValueActionForValue(
         typicalFilterName = Object.keys(structureItem.nextByName).find((key) => isTypicalFilterName(key));
       }
       if (typeof value === "object" && value != null && typeof typicalFilterName === "string") {
-        singleSlicePath += `[:]{${typicalFilterName}==${(value[typicalFilterName]: any)}}`;
+        singleSlicePath += `[:]{${typicalFilterName}==${JSON.stringify(value[typicalFilterName]) || ""}}`;
       } else {
         singleSlicePath += `[${pathItem}]`;
       }
@@ -74,7 +74,7 @@ export function getValueActionForValue(
       // support looking inside them.
       return;
     } else {
-      throw new Error(`Invalid strutureType: ${structureItem.structureType} for value/pathItem.`);
+      throw new Error(`Invalid structureType: ${structureItem.structureType} for value/pathItem.`);
     }
   }
   // At this point we should be looking at a primitive. If not, just return nothing.
@@ -122,7 +122,7 @@ export const getStructureItemForPath = memoizeWeak(
         // support looking inside them.
         return structureItem;
       } else {
-        throw new Error(`Invalid strutureType: ${structureItem.structureType} for value/pathItem.`);
+        throw new Error(`Invalid structureType: ${structureItem.structureType} for value/pathItem.`);
       }
     }
     return structureItem;
diff --git a/packages/webviz-core/src/panels/RawMessages/getValueActionForValue.test.js b/packages/webviz-core/src/panels/RawMessages/getValueActionForValue.test.js
index cc471ddf4..2bbbd9ce4 100644
--- a/packages/webviz-core/src/panels/RawMessages/getValueActionForValue.test.js
+++ b/packages/webviz-core/src/panels/RawMessages/getValueActionForValue.test.js
@@ -181,4 +181,47 @@ describe("getStructureItemForPath", () => {
       datatype: "",
     });
   });
+
+  it(`wraps string path filters with ""`, () => {
+    const rootValue = {
+      status: [
+        {
+          level: 0,
+          node_id: "/my_node",
+        },
+      ],
+    };
+    const rootStructureItem = {
+      structureType: "message",
+      nextByName: {
+        status: {
+          structureType: "array",
+          next: {
+            structureType: "message",
+            nextByName: {
+              level: {
+                structureType: "primitive",
+                primitiveType: "int8",
+                datatype: "msgs/node",
+              },
+              node_id: {
+                structureType: "primitive",
+                primitiveType: "string",
+                datatype: "msgs/node",
+              },
+            },
+            datatype: "msgs/node",
+          },
+          datatype: "msgs/nodeArray",
+        },
+      },
+      datatype: "msgs/nodeArray",
+    };
+    expect(getValueActionForValue(rootValue, rootStructureItem, ["status", 0, "level"])).toEqual({
+      type: "primitive",
+      singleSlicePath: '.status[:]{node_id=="/my_node"}.level',
+      multiSlicePath: ".status[:].level",
+      primitiveType: "int8",
+    });
+  });
 });
diff --git a/packages/webviz-core/src/panels/StateTransitions/index.js b/packages/webviz-core/src/panels/StateTransitions/index.js
index 767fa8585..e092faf4b 100644
--- a/packages/webviz-core/src/panels/StateTransitions/index.js
+++ b/packages/webviz-core/src/panels/StateTransitions/index.js
@@ -31,6 +31,7 @@ import TimeBasedChart, { type TimeBasedChartTooltipData } from "webviz-core/src/
 import { getGlobalHooks } from "webviz-core/src/loadWebviz";
 import colors from "webviz-core/src/styles/colors.module.scss";
 import mixins from "webviz-core/src/styles/mixins.module.scss";
+import { positiveModulo } from "webviz-core/src/util";
 import { darkColor, lineColors } from "webviz-core/src/util/plotColors";
 import { subtractTimes, toSec } from "webviz-core/src/util/time";
 import { grey } from "webviz-core/src/util/toolsColorScheme";
@@ -276,7 +277,7 @@ class StateTransitions extends React.PureComponent<Props> {
                   }
 
                   const valueForColor = typeof value === "string" ? stringHash(value) : Math.round(Number(value));
-                  const color = baseColors[valueForColor % Object.values(baseColors).length];
+                  const color = baseColors[positiveModulo(valueForColor, Object.values(baseColors).length)];
                   dataItem.pointBackgroundColor.push(darkColor(color));
                   dataItem.colors.push(color);
                   dataItem.datalabels.display.push(previousValue === undefined || previousValue !== value);
diff --git a/packages/webviz-core/src/panels/StateTransitions/index.stories.js b/packages/webviz-core/src/panels/StateTransitions/index.stories.js
index 4b826b72f..975f49ae6 100644
--- a/packages/webviz-core/src/panels/StateTransitions/index.stories.js
+++ b/packages/webviz-core/src/panels/StateTransitions/index.stories.js
@@ -33,21 +33,22 @@ const systemStateMessages = [
   { header: { stamp: { sec: 1526191541, nsec: 182717960 } }, state: 3 },
   { header: { stamp: { sec: 1526191541, nsec: 286998440 } }, state: 3 },
   { header: { stamp: { sec: 1526191541, nsec: 370689856 } }, state: 3 },
-  { header: { stamp: { sec: 1526191541, nsec: 483672422 } }, state: 3 },
-  { header: { stamp: { sec: 1526191541, nsec: 578787057 } }, state: 3 },
-  { header: { stamp: { sec: 1526191541, nsec: 677515597 } }, state: 3 },
-  { header: { stamp: { sec: 1526191541, nsec: 789110904 } }, state: 3 },
+  { header: { stamp: { sec: 1526191541, nsec: 483672422 } }, state: -1 },
+  { header: { stamp: { sec: 1526191541, nsec: 578787057 } }, state: -1 },
+  { header: { stamp: { sec: 1526191541, nsec: 677515597 } }, state: -1 },
+  { header: { stamp: { sec: 1526191541, nsec: 789110904 } }, state: -1 },
 ];
 
 const fixture = {
   datatypes: {
     "msgs/SystemState": [
       { type: "std_msgs/Header", name: "header", isArray: false },
-      { type: "uint8", name: "ERROR", isConstant: true, value: 0 },
-      { type: "uint8", name: "OFF", isConstant: true, value: 1 },
-      { type: "uint8", name: "BOOTING", isConstant: true, value: 2 },
-      { type: "uint8", name: "ACTIVE", isConstant: true, value: 3 },
-      { type: "uint8", name: "state", isArray: false },
+      { type: "int8", name: "UNKNOWN", isConstant: true, value: -1 },
+      { type: "int8", name: "ERROR", isConstant: true, value: 0 },
+      { type: "int8", name: "OFF", isConstant: true, value: 1 },
+      { type: "int8", name: "BOOTING", isConstant: true, value: 2 },
+      { type: "int8", name: "ACTIVE", isConstant: true, value: 3 },
+      { type: "int8", name: "state", isArray: false },
     ],
     "std_msgs/Header": [
       { name: "seq", type: "uint32", isArray: false },
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/InteractionContextMenu.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/InteractionContextMenu.js
index de329d978..3fa919960 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/InteractionContextMenu.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/InteractionContextMenu.js
@@ -11,13 +11,13 @@ import { type MouseEventObject } from "regl-worldview";
 import styled from "styled-components";
 
 import { type ClickedPosition } from "webviz-core/src/panels/ThreeDimensionalViz/Layout";
-import colors from "webviz-core/src/styles/colors.module.scss";
+import { colors } from "webviz-core/src/util/colors";
 
 const SInteractionContextMenu = styled.div`
   position: fixed;
   width: 240px;
-  background: ${colors.toolbar};
-  z-index: 100; /* above the Text marker */
+  background: ${colors.DARK4};
+  z-index: 1000; /* above the Text marker */
 `;
 
 const SMenu = styled.ul`
@@ -27,7 +27,7 @@ const SMenu = styled.ul`
 
 const STooltip = styled.div`
   cursor: pointer;
-  background: #3b2e76;
+  background: ${colors.PURPLE1};
   position: absolute;
   top: 0;
   left: 0;
@@ -40,7 +40,7 @@ const SMenuItem = styled.li`
   padding: 8px;
   position: relative;
   &:hover {
-    background: #3b2e76;
+    background: ${colors.PURPLE1};
     ${STooltip} {
       display: block;
     }
@@ -54,6 +54,10 @@ const STopic = styled.div`
   overflow: hidden;
 `;
 
+const SId = styled.span`
+  color: ${colors.YELLOW1};
+`;
+
 type Props = {
   clickedPosition: ClickedPosition,
   selectedObjects: MouseEventObject[],
@@ -68,16 +72,24 @@ export default function InteractionContextMenu({ selectedObjects = [], clickedPo
         left: clickedPosition.clientX,
       }}>
       <SMenu>
-        {selectedObjects.map(({ object, instanceIndex }, index) => (
-          <SMenuItem key={index}>
-            <STopic
-              key={object.id || (object.interactionData && object.interactionData.topic)}
-              onClick={() => onSelectObject({ object, instanceIndex })}>
+        {selectedObjects.map(({ object, instanceIndex }, index) => {
+          const menuText = (
+            <>
+              {object.id && <SId>{object.id}</SId>}
               {object.interactionData && object.interactionData.topic}
-              <STooltip>{object.interactionData && object.interactionData.topic}</STooltip>
-            </STopic>
-          </SMenuItem>
-        ))}
+            </>
+          );
+          return (
+            <SMenuItem key={index}>
+              <STopic
+                key={object.id || (object.interactionData && object.interactionData.topic)}
+                onClick={() => onSelectObject({ object, instanceIndex })}>
+                {menuText}
+                <STooltip>{menuText}</STooltip>
+              </STopic>
+            </SMenuItem>
+          );
+        })}
       </SMenu>
     </SInteractionContextMenu>
   );
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/InteractionContextMenu.stories.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/InteractionContextMenu.stories.js
index 51176bfe7..73cd4e7db 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/InteractionContextMenu.stories.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/InteractionContextMenu.stories.js
@@ -47,10 +47,12 @@ const sharedProps = {
   onSelectObject: () => {},
   selectedObjects: [
     { object: { ...selectedObject, interactionData: { topic: "/foo/bar" } }, instanceIndex: undefined },
+    { object: { ...selectedObject, interactionData: { topic: "/foo1/bar" }, id: null }, instanceIndex: undefined },
     { object: { ...selectedObject, interactionData: { topic: "/abc/xyz" } }, instanceIndex: 10 },
     {
       object: {
         ...selectedObject,
+        id: null,
         interactionData: { topic: "/some_topic_name/nested_name/with_very_very_very_longer_name/" },
       },
       instanceIndex: 10,
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Layout.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Layout.js
index 52337ff9a..d33bbf4d1 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Layout.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Layout.js
@@ -6,8 +6,17 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import { get } from "lodash";
-import * as React from "react";
+import { get, difference } from "lodash";
+import React, {
+  type Node,
+  useMemo,
+  useRef,
+  useState,
+  useReducer,
+  useCallback,
+  useLayoutEffect,
+  useEffect,
+} from "react";
 import KeyListener from "react-key-listener";
 import {
   PolygonBuilder,
@@ -20,6 +29,7 @@ import {
 import { type Time } from "rosbag";
 
 import type { ThreeDimensionalVizConfig } from ".";
+import { useShallowMemo } from "webviz-core/src/components/MessageHistory/hooks";
 import PanelToolbar from "webviz-core/src/components/PanelToolbar";
 import filterMap from "webviz-core/src/filterMap";
 import useGlobalVariables, { type GlobalVariables } from "webviz-core/src/hooks/useGlobalVariables";
@@ -36,10 +46,13 @@ import LayoutToolbar from "webviz-core/src/panels/ThreeDimensionalViz/LayoutTool
 import LayoutTopicSettings from "webviz-core/src/panels/ThreeDimensionalViz/LayoutTopicSettings";
 import SceneBuilder, { type TopicSettingsCollection } from "webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder";
 import TopicSelector from "webviz-core/src/panels/ThreeDimensionalViz/TopicSelector";
-import type { Selections } from "webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/treeBuilder";
+import { type TopicDisplayMode } from "webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicDisplayModeSelector";
+import treeBuilder from "webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/treeBuilder";
 import { canEditDatatype } from "webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor";
+import { getTopicConfig } from "webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils";
 import Transforms from "webviz-core/src/panels/ThreeDimensionalViz/Transforms";
 import TransformsBuilder from "webviz-core/src/panels/ThreeDimensionalViz/TransformsBuilder";
+import World from "webviz-core/src/panels/ThreeDimensionalViz/World";
 import type { Frame, Topic } from "webviz-core/src/players/types";
 import type { Extensions } from "webviz-core/src/reducers/extensions";
 import inScreenshotTests from "webviz-core/src/stories/inScreenshotTests";
@@ -47,8 +60,6 @@ import type { SaveConfig } from "webviz-core/src/types/panels";
 import { videoRecordingMode } from "webviz-core/src/util/inAutomatedRunMode";
 import { topicsByTopicName } from "webviz-core/src/util/selectors";
 
-const { useMemo, useRef, useState, useReducer, useCallback, useLayoutEffect } = React;
-
 type EventName = "onDoubleClick" | "onMouseMove" | "onMouseDown" | "onMouseUp";
 export type ClickedPosition = { clientX: number, clientY: number };
 
@@ -97,20 +108,19 @@ type Props = {|
   ...LayoutToolbarSharedProps,
   ...LayoutTopicSettingsSharedProps,
   checkedNodes: string[],
-  children?: React.Node,
+  children?: Node,
   cleared?: boolean,
-  convexHullOpacity: ?number,
   currentTime: Time,
   expandedNodes: string[],
   extensions: Extensions,
   frame?: Frame,
-  helpContent: React.Node | string,
+  helpContent: Node | string,
   isPlaying?: boolean,
   modifiedNamespaceTopics: string[],
   pinTopics: boolean,
   saveConfig: SaveConfig<ThreeDimensionalVizConfig>,
-  selections: Selections,
-  setSelections: (Selections) => void,
+  setSubscriptions: (subscriptions: string[]) => void,
+  topicDisplayMode: TopicDisplayMode,
   topics: Topic[],
   topicSettings: TopicSettingsCollection,
   transforms: Transforms,
@@ -130,7 +140,6 @@ export default function Layout({
   checkedNodes,
   children,
   cleared,
-  convexHullOpacity,
   currentTime,
   expandedNodes,
   extensions,
@@ -146,19 +155,36 @@ export default function Layout({
   pinTopics,
   saveConfig,
   selectedPolygonEditFormat,
-  selections,
-  setSelections,
   showCrosshair,
+  topicDisplayMode,
   topics,
   topicSettings,
   transforms,
+  setSubscriptions,
 }: Props) {
+  // toggle visibility on topics by temporarily storing a list of hidden topics on the state
+  const [hiddenTopics, setHiddenTopics] = useState([]);
+
+  const { topicConfig, newCheckedNodes } = useMemo(
+    () =>
+      getTopicConfig({
+        checkedNodes,
+        topicDisplayMode,
+        topics,
+      }),
+    [checkedNodes, topicDisplayMode, topics]
+  );
+  useLayoutEffect(() => saveConfig({ checkedNodes: newCheckedNodes }), [newCheckedNodes, saveConfig]);
+
   const { linkedGlobalVariables } = useLinkedGlobalVariables();
   const { globalVariables, setGlobalVariables } = useGlobalVariables();
   const [debug, setDebug] = useState(false);
   const [editTopicState, setEditTopicState] = useState<?EditTopicState>(null);
   const [polygonBuilder, setPolygonBuilder] = useState(() => new PolygonBuilder());
-  const [showTopics, setShowTopics] = useState(false);
+  // use hideTopicTreeCount to trigger auto hide topic tree when clicked outside of the topic tree
+  const [hideTopicTreeCount, setHideTopicTreeCount] = useState(0);
+  // debounced filterText which will trigger auto creation of a new topic tree
+  const [filterText, setFilterText] = useState("");
   const [measureInfo, setMeasureInfo] = useState<MeasureInfo>({
     measureState: "idle",
     measurePoints: { start: null, end: null },
@@ -197,6 +223,40 @@ export default function Layout({
     }),
     []
   );
+  const defaultTree = useMemo(
+    () =>
+      treeBuilder({
+        checkedNodes,
+        expandedNodes: [],
+        modifiedNamespaceTopics: [],
+        namespaces: [],
+        topics,
+        transforms: transforms.values(),
+        topicDisplayMode,
+        topicConfig,
+      }),
+    //eslint-disable-next-line react-hooks/exhaustive-deps, only need to build once
+    []
+  );
+  const topicTreeRef = useRef(defaultTree);
+  // sceneBuilder relies on topic tree selection; topic tree selection also relies on sceneBuilder namespaces.
+  // useLayoutEffect will update the topic tree and selections, which in turn re-triggers rendering of the topic tree.
+  const [selections, setSelections] = useState(() => topicTreeRef.current.getSelections());
+
+  // update subscriptions whenever selected topics change, use deep compare to prevent updating when expanding/collapsing topics
+  const memoizedSelectedTopics = useShallowMemo(selections.topics);
+  useEffect(() => setSubscriptions(memoizedSelectedTopics), [memoizedSelectedTopics, setSubscriptions]);
+
+  // use the selection to decide which topics to render in SceneBuilder
+  const checkedVisibleTopicNames = useMemo(() => difference(memoizedSelectedTopics, hiddenTopics), [
+    hiddenTopics,
+    memoizedSelectedTopics,
+  ]);
+
+  // Use isEqual compare to update only when the extensions actually changed: the topic selector emits a new list of extensions
+  // every time someone expands/collapses a node or types in the selection box...so if we don't check for
+  // item equality here we end up re-rendering the map significantly more than we need to.
+  const memoizedExtensions = useShallowMemo(selections.extensions);
 
   useMemo(
     () => {
@@ -212,14 +272,16 @@ export default function Layout({
       ).id;
 
       sceneBuilder.setTransforms(transforms, rootTfID);
-      sceneBuilder.setFlattenMarkers(selections.extensions.includes("Car.flattenMarkers"));
+      sceneBuilder.setFlattenMarkers(memoizedExtensions.includes("Car.flattenMarkers"));
       // toggle scene builder namespaces based on selected namespace nodes in the tree
       sceneBuilder.setEnabledNamespaces(selections.namespaces);
       sceneBuilder.setTopicSettings(topicSettings);
 
       // toggle scene builder topics based on selected topic nodes in the tree
       const topicsByName = topicsByTopicName(topics);
-      sceneBuilder.setTopics(filterMap(selections.topics, (name) => topicsByName[name]));
+      const checkedVisibleTopics = filterMap(checkedVisibleTopicNames, (name) => topicsByName[name]);
+
+      sceneBuilder.setTopics(checkedVisibleTopics);
       sceneBuilder.setGlobalVariables(globalVariables);
       sceneBuilder.setFrame(frame);
       sceneBuilder.setCurrentTime(currentTime);
@@ -227,18 +289,18 @@ export default function Layout({
 
       // update the transforms and set the selected ones to render
       transformsBuilder.setTransforms(transforms, rootTfID);
-      transformsBuilder.setSelectedTransforms(selections.extensions);
+      transformsBuilder.setSelectedTransforms(memoizedExtensions);
     },
     [
+      checkedVisibleTopicNames,
       cleared,
       currentTime,
       followTf,
       frame,
       globalVariables,
       sceneBuilder,
-      selections.extensions,
+      memoizedExtensions,
       selections.namespaces,
-      selections.topics,
       topicSettings,
       topics,
       transforms,
@@ -246,6 +308,40 @@ export default function Layout({
     ]
   );
 
+  const transformCount = transforms.values().length;
+  useEffect(
+    () => {
+      topicTreeRef.current = treeBuilder({
+        topics,
+        namespaces: sceneBuilder.allNamespaces,
+        checkedNodes,
+        expandedNodes,
+        modifiedNamespaceTopics,
+        transforms: transforms.values(),
+        editedTopics,
+        canEditDatatype,
+        filterText,
+        topicDisplayMode,
+        topicConfig,
+      });
+      // trigger another render
+      setSelections(topicTreeRef.current.getSelections());
+    },
+    // eslint-disable-next-line react-hooks/exhaustive-deps, instead of trigger change on transforms, we need to use transforms.values().length
+    [
+      checkedNodes,
+      editedTopics,
+      expandedNodes,
+      filterText,
+      modifiedNamespaceTopics,
+      sceneBuilder.allNamespaces,
+      topics,
+      transformCount,
+      topicConfig,
+      topicDisplayMode,
+    ]
+  );
+
   const handleDrawPolygons = useCallback(
     (eventName: EventName, ev: MouseEvent, args: ?ReglClickInfo) => {
       polygonBuilder[eventName](ev, args);
@@ -263,7 +359,7 @@ export default function Layout({
     handleDrawPolygons,
     saveConfig,
     selectedObjectState,
-    showTopics,
+    hideTopicTreeCount,
     topics,
   });
   callbackInputsRef.current = {
@@ -274,7 +370,7 @@ export default function Layout({
     handleDrawPolygons,
     saveConfig,
     selectedObjectState,
-    showTopics,
+    hideTopicTreeCount,
     topics,
   };
 
@@ -306,7 +402,6 @@ export default function Layout({
     onSetPolygons,
     toggleCameraMode,
     toggleDebug,
-    toggleShowTopics,
   } = useMemo(
     () => {
       return {
@@ -330,7 +425,7 @@ export default function Layout({
           const target = ((ev.target: any): HTMLElement);
           //only close if the click target is inside the panel, e.g. don't close when dropdown menus rendered in portals are clicked
           if (wrapperRef.current.contains(target)) {
-            setShowTopics(false);
+            setHideTopicTreeCount((callbackInputsRef.current.hideTopicTreeCount + 1) % 100);
           }
         },
         onDoubleClick: (ev: MouseEvent, args: ?ReglClickInfo) => handleEvent("onDoubleClick", ev, args),
@@ -373,7 +468,6 @@ export default function Layout({
             measuringElRef.current.reset();
           }
         },
-        toggleShowTopics: () => setShowTopics(!callbackInputsRef.current.showTopics),
       };
     },
     [handleEvent]
@@ -403,8 +497,28 @@ export default function Layout({
   ]);
 
   const cursorType = isDrawing ? "crosshair" : "";
-  const WorldComponent = useMemo(() => getGlobalHooks().perPanelHooks().ThreeDimensionalViz.WorldComponent, []);
-  const videoRecordingStyle = { visibility: videoRecordingMode() ? "hidden" : "visible" };
+
+  const { MapComponent, videoRecordingStyle } = useMemo(
+    () => ({
+      MapComponent: getGlobalHooks().perPanelHooks().ThreeDimensionalViz.MapComponent,
+      videoRecordingStyle: { visibility: videoRecordingMode() ? "hidden" : "visible" },
+    }),
+    []
+  );
+
+  const memoizedScene = useShallowMemo(sceneBuilder.getScene());
+  const mapElement = useMemo(
+    () =>
+      MapComponent && (
+        <MapComponent
+          extensions={memoizedExtensions}
+          scene={memoizedScene}
+          debug={debug}
+          perspective={!!cameraState.perspective}
+        />
+      ),
+    [MapComponent, cameraState.perspective, debug, memoizedExtensions, memoizedScene]
+  );
 
   return (
     <div className={styles.container} ref={wrapperRef} style={{ cursor: cursorType }} onClick={onControlsOverlayClick}>
@@ -413,23 +527,21 @@ export default function Layout({
       <div style={videoRecordingStyle}>
         <TopicSelector
           autoTextBackgroundColor={!!autoTextBackgroundColor}
-          canEditDatatype={canEditDatatype}
           checkedNodes={checkedNodes}
           editedTopics={editedTopics}
           expandedNodes={expandedNodes}
+          hideTopicTreeCount={hideTopicTreeCount}
           modifiedNamespaceTopics={modifiedNamespaceTopics}
           namespaces={sceneBuilder.allNamespaces}
           onEditClick={onEditClick}
-          onToggleShowClick={toggleShowTopics}
+          onTopicSearchChange={setFilterText}
           pinTopics={pinTopics}
           saveConfig={saveConfig}
           sceneErrors={sceneBuilder.errors}
-          setSelections={setSelections}
-          showTopics={showTopics || pinTopics}
-          topics={topics}
-          transforms={transforms}
-          // Because transforms are mutable, we need a key that tells us when to update the component. We use the count of the transforms for this.
-          transformsCount={transforms.values().length}
+          tree={topicTreeRef.current}
+          topicDisplayMode={topicDisplayMode}
+          hiddenTopics={hiddenTopics}
+          setHiddenTopics={setHiddenTopics}
         />
         <LayoutTopicSettings
           saveConfig={saveConfig}
@@ -442,21 +554,18 @@ export default function Layout({
         />
       </div>
       <div className={styles.world}>
-        <WorldComponent
+        <World
           autoTextBackgroundColor={!!autoTextBackgroundColor}
           cameraState={cameraState}
-          convexHullOpacity={convexHullOpacity}
-          debug={debug}
-          extensions={selections.extensions}
+          isPlaying={!!isPlaying}
           markerProviders={markerProviders}
           onCameraStateChange={onCameraStateChange}
           onClick={onClick}
           onDoubleClick={onDoubleClick}
           onMouseDown={onMouseDown}
           onMouseMove={onMouseMove}
-          onMouseUp={onMouseUp}
-          scene={sceneBuilder.getScene()}
-          selectedObject={selectedObjectState && selectedObjectState.selectedObject}>
+          onMouseUp={onMouseUp}>
+          {mapElement}
           {children}
           <DrawPolygons>{polygonBuilder.polygons}</DrawPolygons>
           <div style={videoRecordingStyle}>
@@ -498,7 +607,7 @@ export default function Layout({
               />
             )}
           {process.env.NODE_ENV !== "production" && !inScreenshotTests() && debug && <DebugStats />}
-        </WorldComponent>
+        </World>
       </div>
     </div>
   );
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Layout.module.scss b/packages/webviz-core/src/panels/ThreeDimensionalViz/Layout.module.scss
index 0877f2994..9b53d92f5 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Layout.module.scss
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Layout.module.scss
@@ -19,15 +19,6 @@ $spacing: 15px;
   right: 0;
 }
 
-.topicsContainer {
-  position: absolute;
-  top: $spacing;
-  left: $spacing;
-  bottom: $spacing;
-  z-index: 102;
-  max-width: 60%;
-}
-
 .topicSettingsEditor {
   @extend %floating-box;
   background-color: $panel-background;
@@ -39,14 +30,6 @@ $spacing: 15px;
   }
 }
 
-.topics {
-  @extend %floating-box;
-  max-height: 100%;
-  display: flex;
-  flex-direction: column;
-  overflow: hidden;
-}
-
 .toolbar {
   position: absolute;
   top: $spacing;
@@ -97,34 +80,6 @@ $spacing: 15px;
   }
 }
 
-.filterRow {
-  height: 36px;
-  flex-shrink: 0;
-  border-bottom: 1px solid $divider;
-  background-color: rgba(255, 255, 255, 0.1);
-}
-
-.errorsBadge {
-  $size: 10px;
-  position: absolute;
-  z-index: 9999;
-  top: -$size/3;
-  right: -$size/3;
-  width: $size;
-  height: $size;
-  border-radius: $size;
-  background-color: $red;
-}
-
-.errors {
-  color: $red;
-  padding: 8px;
-  line-height: 1.2;
-  li {
-    margin-left: 1em;
-  }
-}
-
 .cameraWarning {
   margin-top: 0.5em;
   font-size: 0.9em;
@@ -136,3 +91,12 @@ $spacing: 15px;
   width: 0;
   min-width: 100%;
 }
+
+.cartographer {
+  padding: 0px;
+  button {
+    width: 31px !important;
+    height: 36px !important;
+    margin: 0px;
+  }
+}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/LayoutToolbar.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/LayoutToolbar.js
index 42fbeacb3..d095044dd 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/LayoutToolbar.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/LayoutToolbar.js
@@ -7,9 +7,10 @@
 //  You may not use this file except in compliance with the License.
 
 import cx from "classnames";
-import * as React from "react";
+import React, { useMemo } from "react";
 import { PolygonBuilder, type MouseEventObject, type Polygon } from "regl-worldview";
 
+import { getGlobalHooks } from "webviz-core/src/loadWebviz";
 import Crosshair from "webviz-core/src/panels/ThreeDimensionalViz/Crosshair";
 import DrawingTools, {
   CAMERA_TAB_TYPE,
@@ -68,6 +69,17 @@ function LayoutToolbar({
   showCrosshair,
   transforms,
 }: Props) {
+  const additionalToolbarItemsElem = useMemo(
+    () => {
+      const AdditionalToolbarItems = getGlobalHooks().perPanelHooks().ThreeDimensionalViz.AdditionalToolbarItems;
+      return (
+        <div className={cx(styles.buttons, styles.cartographer)}>
+          <AdditionalToolbarItems transforms={transforms} />
+        </div>
+      );
+    },
+    [transforms]
+  );
   return (
     <>
       <MeasuringTool
@@ -115,6 +127,7 @@ function LayoutToolbar({
           onSetDrawingTabType={onSetDrawingTabType}
           showCrosshair={!!showCrosshair}
         />
+        {additionalToolbarItemsElem}
       </div>
       {!cameraState.perspective && showCrosshair && <Crosshair cameraState={cameraState} />}
       <MeasureMarker measurePoints={measureInfo.measurePoints} />
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicDisplayModeSelector.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicDisplayModeSelector.js
new file mode 100644
index 000000000..fbb7a6bc7
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicDisplayModeSelector.js
@@ -0,0 +1,71 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import FileTreeIcon from "@mdi/svg/svg/file-tree.svg";
+import React, { useState } from "react";
+
+import ChildToggle from "webviz-core/src/components/ChildToggle";
+import Icon from "webviz-core/src/components/Icon";
+import Menu from "webviz-core/src/components/Menu";
+import Item from "webviz-core/src/components/Menu/Item";
+
+import type { Save3DConfig } from "..";
+
+export const TOPIC_DISPLAY_MODES = {
+  SHOW_TREE: {
+    value: "SHOW_TREE",
+    label: "Tree (default)",
+    filterInputPlaceholder: "Type to filter",
+  },
+  SHOW_SELECTED: {
+    value: "SHOW_SELECTED",
+    label: "Flat (checked topics)",
+    filterInputPlaceholder: "Filter visible topics",
+  },
+  SHOW_AVAILABLE: {
+    value: "SHOW_AVAILABLE",
+    label: "Flat (available topics)",
+    filterInputPlaceholder: "Filter available topics",
+  },
+  SHOW_ALL: {
+    value: "SHOW_ALL",
+    label: "Flat (all topics)",
+    filterInputPlaceholder: "Filter all topics",
+  },
+};
+
+export type TopicDisplayMode = $Keys<typeof TOPIC_DISPLAY_MODES>;
+
+type Props = {
+  menuTooltip: string,
+  saveConfig: Save3DConfig,
+  topicDisplayMode: TopicDisplayMode,
+};
+export default function TopicDisplayModeSelector({ menuTooltip, saveConfig, topicDisplayMode }: Props) {
+  const [isOpen, setIsOpen] = useState(false);
+
+  return (
+    <ChildToggle position="below" onToggle={() => setIsOpen(!isOpen)} isOpen={isOpen}>
+      <Icon small fade active={isOpen} tooltip={menuTooltip}>
+        <FileTreeIcon />
+      </Icon>
+      <Menu>
+        {/* $FlowFixMe */}
+        {Object.values(TOPIC_DISPLAY_MODES).map(({ value, label }) => (
+          <Item
+            checked={value === topicDisplayMode}
+            value={value}
+            key={value}
+            onClick={() => saveConfig({ topicDisplayMode: value })}>
+            {label}
+          </Item>
+        ))}
+      </Menu>
+    </ChildToggle>
+  );
+}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorFlatList.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorFlatList.js
new file mode 100644
index 000000000..b8593c589
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorFlatList.js
@@ -0,0 +1,127 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import React, { useCallback } from "react";
+import styled from "styled-components";
+
+import { TopicTreeNode, getId } from "./treeBuilder";
+import Tree, { type Node } from "webviz-core/src/components/Tree";
+import { setVisibleByHiddenTopics } from "webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils";
+import type { Namespace } from "webviz-core/src/types/Messages";
+import { colors } from "webviz-core/src/util/colors";
+import toggle from "webviz-core/src/util/toggle";
+
+import type { Save3DConfig } from "..";
+
+const SMutedText = styled.div`
+  color: ${colors.GRAY};
+  line-height: 1.4;
+  margin: 8px 12px;
+`;
+export type TopicSelectorFlatListProps = {|
+  checkedNodes: string[],
+  expandedNodes: string[],
+  modifiedNamespaceTopics: string[],
+  namespaces: Namespace[],
+  onEditClick: (e: SyntheticMouseEvent<HTMLElement>, topic: string) => void,
+  saveConfig: Save3DConfig,
+  tree: TopicTreeNode,
+  hiddenTopics: string[],
+  setHiddenTopics: ((prevTopics: string[]) => string[]) => void,
+|};
+
+export default function TopicSelectorFlatList({
+  checkedNodes,
+  expandedNodes,
+  modifiedNamespaceTopics,
+  namespaces,
+  onEditClick,
+  saveConfig,
+  tree,
+  hiddenTopics,
+  setHiddenTopics,
+}: TopicSelectorFlatListProps) {
+  // update the topic visibility based on hiddenTopics
+  React.useMemo(() => setVisibleByHiddenTopics(tree, hiddenTopics), [hiddenTopics, tree]);
+
+  const toggleExpanded = useCallback(
+    ({ legacyIds, id }: Node) => {
+      // don't invalidate layout url just because a node was expanded/collapsed
+      saveConfig(
+        { expandedNodes: toggle(expandedNodes, id, (item) => legacyIds.includes(item) || item === id) },
+        { keepLayoutInUrl: true }
+      );
+    },
+    [expandedNodes, saveConfig]
+  );
+
+  const onEditClickLocal = useCallback(
+    (e: SyntheticMouseEvent<HTMLElement>, node: Node) => {
+      const { topic }: TopicTreeNode = ((node: Node): TopicTreeNode);
+      if (!topic) {
+        return;
+      }
+      onEditClick(e, topic);
+    },
+    [onEditClick]
+  );
+
+  const toggleChecked = useCallback(
+    (node: Node) => {
+      const { namespace, topic, legacyIds, id } = ((node: Node): TopicTreeNode);
+      // If we are interacting with a namespace, mark its topic as modified.
+      // This helps us avoid re-checking topics when new namespaces show up (on app load).
+      if (namespace && topic && !modifiedNamespaceTopics.includes(topic)) {
+        // check all namespaces under this topic *except* the clicked one
+        const newCheckedNodes = checkedNodes.slice();
+        namespaces.forEach((ns) => {
+          if (ns.topic === topic && ns.name !== namespace) {
+            newCheckedNodes.push(getId(ns));
+          }
+        });
+        saveConfig({
+          modifiedNamespaceTopics: modifiedNamespaceTopics.concat(topic),
+          checkedNodes: newCheckedNodes,
+        });
+      } else {
+        saveConfig({ checkedNodes: toggle(checkedNodes, id, (item) => legacyIds.includes(item) || item === id) });
+      }
+    },
+    [checkedNodes, modifiedNamespaceTopics, namespaces, saveConfig]
+  );
+
+  const toggleVisibility = useCallback(
+    (node: Node) => {
+      const { topic, visible } = ((node: Node): TopicTreeNode);
+      if (!topic) {
+        console.error("Toggling on non-topic tree nodes is not yet supported");
+        return;
+      }
+      setHiddenTopics((prevHiddenTopics) =>
+        visible ? prevHiddenTopics.concat(topic) : prevHiddenTopics.filter((t) => t !== topic)
+      );
+    },
+    //eslint-disable-next-line react-hooks/exhaustive-deps, callback needs to be updated when hiddenTopics changes
+    [setHiddenTopics, hiddenTopics]
+  );
+
+  return (
+    <>
+      <SMutedText>This flat topic tree is an experimental feature under active development.</SMutedText>
+      <Tree
+        enableVisibilityToggle
+        hideRoot
+        onEditClick={onEditClickLocal}
+        onToggleCheck={toggleChecked}
+        onToggleExpand={toggleExpanded}
+        onToggleVisibility={toggleVisibility}
+        root={tree}
+      />
+    </>
+  );
+}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorTree.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorTree.js
new file mode 100644
index 000000000..7813c4efb
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorTree.js
@@ -0,0 +1,92 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import React, { useCallback } from "react";
+
+import { TopicTreeNode, getId } from "./treeBuilder";
+import Tree, { type Node } from "webviz-core/src/components/Tree";
+import type { Namespace } from "webviz-core/src/types/Messages";
+import toggle from "webviz-core/src/util/toggle";
+
+import type { Save3DConfig } from "..";
+
+export type TopicSelectorTreeProps = {|
+  checkedNodes: string[],
+  expandedNodes: string[],
+  modifiedNamespaceTopics: string[],
+  namespaces: Namespace[],
+  onEditClick: (e: SyntheticMouseEvent<HTMLElement>, topic: string) => void,
+  saveConfig: Save3DConfig,
+  tree: TopicTreeNode,
+|};
+
+export default function TopicSelectorTree({
+  checkedNodes,
+  expandedNodes,
+  modifiedNamespaceTopics,
+  namespaces,
+  onEditClick,
+  saveConfig,
+  tree,
+}: TopicSelectorTreeProps) {
+  const toggleExpanded = useCallback(
+    ({ legacyIds, id }: Node) => {
+      // don't invalidate layout url just because a node was expanded/collapsed
+      saveConfig(
+        { expandedNodes: toggle(expandedNodes, id, (item) => legacyIds.includes(item) || item === id) },
+        { keepLayoutInUrl: true }
+      );
+    },
+    [expandedNodes, saveConfig]
+  );
+
+  const onEditClickLocal = useCallback(
+    (e: SyntheticMouseEvent<HTMLElement>, node: Node) => {
+      const { topic }: TopicTreeNode = ((node: Node): TopicTreeNode);
+      if (!topic) {
+        return;
+      }
+      onEditClick(e, topic);
+    },
+    [onEditClick]
+  );
+
+  const toggleChecked = useCallback(
+    (node: Node) => {
+      const { namespace, topic, legacyIds, id } = ((node: Node): TopicTreeNode);
+      // If we are interacting with a namespace, mark its topic as modified.
+      // This helps us avoid re-checking topics when new namespaces show up (on app load).
+      if (namespace && topic && !modifiedNamespaceTopics.includes(topic)) {
+        // check all namespaces under this topic *except* the clicked one
+        const newCheckedNodes = checkedNodes.slice();
+        namespaces.forEach((ns) => {
+          if (ns.topic === topic && ns.name !== namespace) {
+            newCheckedNodes.push(getId(ns));
+          }
+        });
+        saveConfig({
+          modifiedNamespaceTopics: modifiedNamespaceTopics.concat(topic),
+          checkedNodes: newCheckedNodes,
+        });
+      } else {
+        saveConfig({ checkedNodes: toggle(checkedNodes, id, (item) => legacyIds.includes(item) || item === id) });
+      }
+    },
+    [checkedNodes, modifiedNamespaceTopics, namespaces, saveConfig]
+  );
+
+  return (
+    <Tree
+      hideRoot
+      onToggleCheck={toggleChecked}
+      onToggleExpand={toggleExpanded}
+      onEditClick={onEditClickLocal}
+      root={tree}
+    />
+  );
+}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorWrapper.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorWrapper.js
new file mode 100644
index 000000000..6ca0991fa
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorWrapper.js
@@ -0,0 +1,291 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import LayersIcon from "@mdi/svg/svg/layers.svg";
+import MagnifyIcon from "@mdi/svg/svg/magnify.svg";
+import cx from "classnames";
+import { debounce } from "lodash";
+import React, { useState, useRef, useCallback, useEffect } from "react";
+import styled from "styled-components";
+
+import styles from "../Layout.module.scss";
+import type { SceneErrors, ErrorDetails } from "../SceneBuilder";
+import TopicDisplayModeSelector, { type TopicDisplayMode, TOPIC_DISPLAY_MODES } from "./TopicDisplayModeSelector";
+import TopicSelectorFlatList, { type TopicSelectorFlatListProps } from "./TopicSelectorFlatList";
+import TopicSelectorMenu from "./TopicSelectorMenu";
+import TopicSelectorTree from "./TopicSelectorTree";
+import Button from "webviz-core/src/components/Button";
+import Flex from "webviz-core/src/components/Flex";
+import Icon from "webviz-core/src/components/Icon";
+import { colors } from "webviz-core/src/util/colors";
+
+const SErrors = styled.div`
+  color: ${colors.RED};
+  padding: 8px;
+  line-height: 1.2;
+  li {
+    margin-left: 1em;
+  }
+`;
+const SErrorsBadge = styled.div`
+  position: absolute;
+  z-index: 9999;
+  top: -3px;
+  right: -3px;
+  width: 10px;
+  height: 10px;
+  border-radius: 10px;
+  background-color: ${colors.RED};
+`;
+const SFilterRow = styled.div`
+  display: flex;
+  flex-direction: row;
+  align-items: center;
+  height: 36px;
+  flex-shrink: 0;
+  padding-left: 8px;
+  border-bottom: 1px solid ${colors.DARK8};
+  background-color: rgba(255, 255, 255, 0.1);
+`;
+
+const SFloatingBox = styled.div`
+  background-color: ${colors.DARK4};
+  border-radius: 4px;
+  padding: 0;
+  box-shadow: 0 6px 40px rgba(0, 0, 0, 0.5), 0 0 0 1px rgba(0, 0, 0, 0.25);
+  overflow: hidden;
+  pointer-events: auto;
+  flex-shrink: 0;
+`;
+
+const STopicSelectorWrapper = styled(SFloatingBox)`
+  max-height: 100%;
+  display: flex;
+  flex-direction: column;
+  overflow: hidden;
+`;
+const STreeWrapper = styled.div`
+  display: flex;
+  flex-direction: column;
+  overflow: auto;
+  .icon {
+    font-size: 14px;
+  }
+  &.filtered {
+    .node-text {
+      color: ${colors.BLUEL1};
+    }
+  }
+`;
+
+function listToString(kind: string, data: Iterable<string>) {
+  const items = Array.from(data).filter(Boolean);
+  if (!items.length) {
+    return null;
+  }
+  return `${kind}: ${items.sort().join(", ")}`;
+}
+function renderErrorSection(description: string, values: Map<string, ErrorDetails>) {
+  if (values.size === 0) {
+    return null;
+  }
+  const items = [];
+  values.forEach((value, topic) => {
+    const details = [
+      listToString(value.frameIds.size === 1 ? "frame" : "frames", value.frameIds),
+      listToString(value.namespaces.size === 1 ? "namespace" : "namespaces", value.namespaces),
+    ].filter(Boolean);
+    if (details.length > 0) {
+      items.push(`${topic} (${details.join("; ")})`);
+    } else {
+      items.push(topic);
+    }
+  });
+  return (
+    <div>
+      {`${values.size} topic${values.size === 1 ? "" : "s"} ${description}`}:
+      <ul>
+        {items.map((name) => (
+          <li key={name}>{name}</li>
+        ))}
+      </ul>
+    </div>
+  );
+}
+
+export function TopicErrors({ sceneErrors }: { sceneErrors: SceneErrors }) {
+  const genericTopicErrors = [];
+  for (const [topic, message] of sceneErrors.topicsWithError) {
+    const html = <div key={topic}>{`${topic}: ${message}`}</div>;
+    genericTopicErrors.push(html);
+  }
+
+  return (
+    <SErrors>
+      {renderErrorSection("missing frame ids", sceneErrors.topicsMissingFrameIds)}
+      {renderErrorSection(`missing transforms to ${sceneErrors.rootTransformID}`, sceneErrors.topicsMissingTransforms)}
+      {genericTopicErrors}
+    </SErrors>
+  );
+}
+
+export type TopicSelectorWrapperProps = {|
+  ...TopicSelectorFlatListProps,
+  autoTextBackgroundColor: boolean,
+  editedTopics: string[],
+  topicDisplayMode: TopicDisplayMode,
+  hideTopicTreeCount: number,
+  onTopicSearchChange: (filterText: string) => void,
+  pinTopics: boolean,
+  sceneErrors: SceneErrors,
+  hiddenTopics: string[],
+  setHiddenTopics: ((prevTopics: string[]) => string[]) => void,
+|};
+
+// A wrapper component for TopicSelectorTree and TopicSelectorFlatList to share search menu, error UI and states
+export default function TopicSelectorWrapper({
+  autoTextBackgroundColor,
+  checkedNodes,
+  expandedNodes,
+  topicDisplayMode,
+  hideTopicTreeCount,
+  modifiedNamespaceTopics,
+  namespaces,
+  onEditClick,
+  onTopicSearchChange,
+  pinTopics,
+  saveConfig,
+  sceneErrors,
+  tree,
+  hiddenTopics,
+  setHiddenTopics,
+}: TopicSelectorWrapperProps) {
+  const [filterText, setFilterText] = useState("");
+  const [showTopics, setShowTopics] = useState(pinTopics);
+  const filterTextFieldRef = useRef();
+  const debouncedOnTopicSearch = useCallback(debounce(onTopicSearchChange, 150), [onTopicSearchChange]);
+  const displayMode = TOPIC_DISPLAY_MODES[topicDisplayMode] ? topicDisplayMode : TOPIC_DISPLAY_MODES.SHOW_TREE.value;
+
+  const { filterInputPlaceholder, label } = TOPIC_DISPLAY_MODES[displayMode];
+
+  const onToggleShowClick = useCallback(() => setShowTopics(!showTopics), [showTopics]);
+  const onFilterTextChange = useCallback(
+    (e: SyntheticEvent<HTMLInputElement>) => {
+      const newFilterText = e.currentTarget.value;
+      setFilterText(newFilterText);
+      debouncedOnTopicSearch(newFilterText);
+    },
+    [debouncedOnTopicSearch]
+  );
+
+  useEffect(
+    () => {
+      if (pinTopics) {
+        setShowTopics(true);
+      }
+    },
+    [pinTopics]
+  );
+
+  useEffect(
+    () => {
+      // hide topicTree whenever the count changes
+      if (hideTopicTreeCount >= 0) {
+        setShowTopics(false);
+      }
+    },
+    [hideTopicTreeCount]
+  );
+
+  useEffect(
+    () => {
+      // auto focus whenever switching to showTopics
+      if (showTopics && filterTextFieldRef.current) {
+        filterTextFieldRef.current.focus();
+      }
+    },
+    [showTopics]
+  );
+  const hasErrors = !!(
+    sceneErrors.topicsMissingFrameIds.size ||
+    sceneErrors.topicsMissingTransforms.size ||
+    sceneErrors.topicsWithError.size
+  );
+
+  const hideTopicSelector = !pinTopics && !showTopics;
+  if (hideTopicSelector) {
+    return (
+      <div className={styles.buttons}>
+        <Button onClick={onToggleShowClick} tooltip="Show Topic Picker">
+          <Icon style={{ color: "white" }}>
+            <LayersIcon />
+          </Icon>
+        </Button>
+        {hasErrors && <SErrorsBadge />}
+      </div>
+    );
+  }
+
+  return (
+    <STopicSelectorWrapper>
+      <Flex col clip>
+        <SFilterRow>
+          <TopicDisplayModeSelector menuTooltip={label} saveConfig={saveConfig} topicDisplayMode={displayMode} />
+          <Icon style={{ color: "rgba(255,255,255, 0.3)", padding: "10px 0 10px 10px" }}>
+            <MagnifyIcon style={{ width: 16, height: 16 }} />
+          </Icon>
+          <input
+            style={{
+              flex: 1,
+              margin: 0,
+              background: "transparent",
+              color: colors.LIGHT,
+              paddingLeft: 5,
+            }}
+            ref={filterTextFieldRef}
+            type="text"
+            placeholder={filterInputPlaceholder}
+            value={filterText || ""}
+            onChange={onFilterTextChange}
+          />
+          <TopicSelectorMenu
+            saveConfig={saveConfig}
+            pinTopics={pinTopics}
+            autoTextBackgroundColor={autoTextBackgroundColor}
+          />
+        </SFilterRow>
+        <STreeWrapper className={cx({ filtered: !!filterText })}>
+          {topicDisplayMode === TOPIC_DISPLAY_MODES.SHOW_TREE.value ? (
+            <TopicSelectorTree
+              checkedNodes={checkedNodes}
+              expandedNodes={expandedNodes}
+              modifiedNamespaceTopics={modifiedNamespaceTopics}
+              namespaces={namespaces}
+              onEditClick={onEditClick}
+              saveConfig={saveConfig}
+              tree={tree}
+            />
+          ) : (
+            <TopicSelectorFlatList
+              checkedNodes={checkedNodes}
+              expandedNodes={expandedNodes}
+              modifiedNamespaceTopics={modifiedNamespaceTopics}
+              namespaces={namespaces}
+              onEditClick={onEditClick}
+              saveConfig={saveConfig}
+              tree={tree}
+              setHiddenTopics={setHiddenTopics}
+              hiddenTopics={hiddenTopics}
+            />
+          )}
+        </STreeWrapper>
+      </Flex>
+      {hasErrors && <TopicErrors sceneErrors={sceneErrors} />}
+    </STopicSelectorWrapper>
+  );
+}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/index.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/index.js
index d297ae29e..999d76784 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/index.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/index.js
@@ -5,338 +5,37 @@
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
-import LayersIcon from "@mdi/svg/svg/layers.svg";
-import MagnifyIcon from "@mdi/svg/svg/magnify.svg";
-import cx from "classnames";
-import { debounce } from "lodash";
-import * as React from "react";
 
-import styles from "../Layout.module.scss";
-import type { SceneErrors, ErrorDetails } from "../SceneBuilder";
-import TopicSelectorMenu from "./TopicSelectorMenu";
-import treeBuilder, { TopicTreeNode, Selections, getId } from "./treeBuilder";
-import Button from "webviz-core/src/components/Button";
-import Flex from "webviz-core/src/components/Flex";
-import Icon from "webviz-core/src/components/Icon";
-import Tree, { type Node } from "webviz-core/src/components/Tree";
-import Transforms from "webviz-core/src/panels/ThreeDimensionalViz/Transforms";
-import type { Topic } from "webviz-core/src/players/types";
-import type { Namespace } from "webviz-core/src/types/Messages";
-import type { SaveConfig } from "webviz-core/src/types/panels";
-import toggle from "webviz-core/src/util/toggle";
+import React, { useCallback } from "react";
+import styled from "styled-components";
 
-import type { ThreeDimensionalVizConfig } from "..";
+import TopicSelectorWrapper, { type TopicSelectorWrapperProps } from "./TopicSelectorWrapper";
 
-type Props = {|
-  autoTextBackgroundColor: boolean,
-  sceneErrors: SceneErrors,
-  namespaces: Namespace[],
-
-  // config and props forwarded from the panel
-  topics: Topic[],
-  checkedNodes: string[],
-  expandedNodes: string[],
-  modifiedNamespaceTopics: string[],
-  pinTopics: boolean,
-  transforms: Transforms,
-  // Because transforms are mutable, we need a key that tells us when to update the component. We use the count of the
-  // transforms for this.
-  transformsCount: number,
-  editedTopics: string[],
-  canEditDatatype: (string) => boolean,
-  onToggleShowClick: () => void,
-  onEditClick: (e: SyntheticMouseEvent<HTMLElement>, topic: string) => void,
-
-  setSelections: (Selections) => void,
+const STopicsContainer = styled.div`
+  position: absolute;
+  top: 15px;
+  left: 15px;
+  bottom: 15px;
+  z-index: 102;
+  max-width: 60%;
+`;
 
-  saveConfig: SaveConfig<ThreeDimensionalVizConfig>,
-  showTopics: boolean,
+type Props = {|
+  ...TopicSelectorWrapperProps,
 |};
 
-type State = {|
-  filterText: ?string,
-  tree: TopicTreeNode,
-  cachedProps: Props,
-|};
+// TODO(Audrey): add TopicSetting from Layout here
+function TopicSelector(props: Props) {
+  const cancelClick = useCallback((e: SyntheticMouseEvent<HTMLDivElement>) => {
+    e.preventDefault();
+    e.stopPropagation();
+  }, []);
 
-function renderErrorSection(description: string, values: Map<string, ErrorDetails>) {
-  if (values.size === 0) {
-    return null;
-  }
-  const items = [];
-  values.forEach((value, topic) => {
-    const details = [
-      listToString(value.frameIds.size === 1 ? "frame" : "frames", value.frameIds),
-      listToString(value.namespaces.size === 1 ? "namespace" : "namespaces", value.namespaces),
-    ].filter(Boolean);
-    if (details.length > 0) {
-      items.push(`${topic} (${details.join("; ")})`);
-    } else {
-      items.push(topic);
-    }
-  });
   return (
-    <div>
-      {`${values.size} topic${values.size === 1 ? "" : "s"} ${description}`}:
-      <ul>
-        {items.map((name) => (
-          <li key={name}>{name}</li>
-        ))}
-      </ul>
-    </div>
+    <STopicsContainer onClick={cancelClick}>
+      <TopicSelectorWrapper {...props} />
+    </STopicsContainer>
   );
 }
 
-function listToString(kind: string, data: Iterable<string>) {
-  const items = Array.from(data).filter(Boolean);
-  if (items.length === 0) {
-    return null;
-  }
-  return `${kind}: ${items.sort().join(", ")}`;
-}
-
-export default class TopicSelector extends React.PureComponent<Props, State> {
-  topicList: ?Element;
-  filterTextField: ?HTMLInputElement;
-
-  static defaultProps = {
-    editedTopics: [],
-  };
-
-  // $FlowFixMe, for sure we'll get the state from getDerivedStateFromProps
-  state: State = TopicSelector.getDerivedStateFromProps(this.props);
-
-  static getDerivedStateFromProps(nextProps: Props, prevState?: State) {
-    const {
-      topics,
-      namespaces,
-      checkedNodes,
-      expandedNodes,
-      modifiedNamespaceTopics,
-      transforms,
-      transformsCount,
-      editedTopics,
-      canEditDatatype,
-    } = nextProps;
-
-    // building the tree is kind of expensive
-    // so only do it at initialization or when the data changes
-    const needsNewTree =
-      !prevState ||
-      prevState.cachedProps.topics !== topics ||
-      prevState.cachedProps.namespaces !== namespaces ||
-      prevState.cachedProps.checkedNodes !== checkedNodes ||
-      prevState.cachedProps.expandedNodes !== expandedNodes ||
-      prevState.cachedProps.transformsCount !== transformsCount ||
-      prevState.cachedProps.editedTopics !== editedTopics;
-
-    if (needsNewTree) {
-      const filterText = (prevState && prevState.filterText) || undefined;
-      const tree = treeBuilder({
-        topics,
-        namespaces,
-        checkedNodes,
-        expandedNodes,
-        modifiedNamespaceTopics,
-        transforms: transforms.values(),
-        editedTopics,
-        canEditDatatype,
-        filterText,
-      });
-
-      nextProps.setSelections(tree.getSelections());
-
-      return {
-        filterText,
-        tree,
-        cachedProps: nextProps,
-      };
-    }
-    return null;
-  }
-
-  componentDidUpdate(prevProps: Props, prevState: State) {
-    const { showTopics } = this.props;
-
-    if (prevProps.showTopics !== showTopics) {
-      if (showTopics && this.filterTextField) {
-        this.filterTextField.focus();
-      }
-    }
-  }
-
-  cancelClick = (e: SyntheticMouseEvent<HTMLDivElement>) => {
-    e.preventDefault();
-    e.stopPropagation();
-  };
-
-  _updateTreeDebounced = debounce(() => {
-    const tree = treeBuilder({
-      topics: this.props.topics,
-      filterText: this.state.filterText,
-      namespaces: this.props.namespaces,
-      checkedNodes: this.props.checkedNodes,
-      expandedNodes: this.props.expandedNodes,
-      modifiedNamespaceTopics: this.props.modifiedNamespaceTopics,
-      transforms: this.props.transforms.values(),
-      editedTopics: this.props.editedTopics,
-      canEditDatatype: this.props.canEditDatatype,
-    });
-
-    this.setState({ tree });
-    this.props.setSelections(tree.getSelections());
-  }, 150);
-
-  onFilterTextChange = (e: SyntheticEvent<HTMLInputElement>) => {
-    this.setState({ filterText: e.currentTarget.value });
-    this._updateTreeDebounced();
-  };
-
-  toggleExpanded = (node: Node) => {
-    const { expandedNodes, saveConfig } = this.props;
-    const { legacyIds, id } = node;
-    // don't invalidate layout url just because a node was expanded/collapsed
-    saveConfig(
-      { expandedNodes: toggle(expandedNodes, id, (item) => legacyIds.includes(item) || item === id) },
-      { keepLayoutInUrl: true }
-    );
-  };
-
-  onEditClick = (e: SyntheticMouseEvent<HTMLElement>, node: Node) => {
-    const topicNode: TopicTreeNode = ((node: any): TopicTreeNode);
-    if (!topicNode.topic) {
-      return;
-    }
-    this.props.onEditClick(e, topicNode.topic);
-  };
-
-  toggleChecked = (node: Node) => {
-    const { checkedNodes, saveConfig, modifiedNamespaceTopics, namespaces } = this.props;
-    const { namespace, topic } = ((node: any): TopicTreeNode);
-    // if we are interacting with a namespace, mark its topic as modified
-    // this way when future namespaces show up for this topic, on this page load or after an app reload
-    // we don't check them automatically
-    if (namespace && topic && !modifiedNamespaceTopics.includes(topic)) {
-      // check all namespaces under this topic *except* the clicked one
-      const newCheckedNodes = checkedNodes.slice();
-      namespaces.forEach((ns) => {
-        if (ns.topic === topic && ns.name !== namespace) {
-          newCheckedNodes.push(getId(ns));
-        }
-      });
-      saveConfig({
-        modifiedNamespaceTopics: modifiedNamespaceTopics.concat(topic),
-        checkedNodes: newCheckedNodes,
-      });
-    } else {
-      const { legacyIds, id } = node;
-      saveConfig({ checkedNodes: toggle(checkedNodes, id, (item) => legacyIds.includes(item) || item === id) });
-    }
-  };
-
-  renderErrors() {
-    if (!this.hasErrors()) {
-      return null;
-    }
-
-    const { sceneErrors } = this.props;
-
-    const genericTopicErrors = [];
-    for (const [topic, message] of sceneErrors.topicsWithError) {
-      const html = <div key={topic}>{`${topic}: ${message}`}</div>;
-      genericTopicErrors.push(html);
-    }
-
-    return (
-      <div className={styles.errors}>
-        {renderErrorSection("missing frame ids", sceneErrors.topicsMissingFrameIds)}
-        {renderErrorSection(
-          `missing transforms to ${sceneErrors.rootTransformID}`,
-          sceneErrors.topicsMissingTransforms
-        )}
-        {genericTopicErrors}
-      </div>
-    );
-  }
-
-  hasErrors() {
-    const { sceneErrors } = this.props;
-    return (
-      sceneErrors.topicsMissingFrameIds.size !== 0 ||
-      sceneErrors.topicsMissingTransforms.size !== 0 ||
-      sceneErrors.topicsWithError.size !== 0
-    );
-  }
-
-  render() {
-    const { tree } = this.state;
-    if (!tree) {
-      return null;
-    }
-    const { pinTopics, showTopics, onToggleShowClick, autoTextBackgroundColor, saveConfig } = this.props;
-    const inputStyle = {
-      flex: 1,
-      borderBottomLeftRadius: 0,
-      borderTopRightRadius: 0,
-      borderBottomRightRadius: 0,
-      margin: 0,
-      background: "transparent",
-      color: "white",
-      paddingLeft: 5,
-    };
-    const hideTopicSelector = !pinTopics && !showTopics;
-
-    return (
-      <>
-        {hideTopicSelector && (
-          <div className={cx(styles.toolbar, styles.left)}>
-            <div className={styles.buttons}>
-              <Button onClick={onToggleShowClick} tooltip="Show Topic Picker">
-                <Icon style={{ color: "white" }}>
-                  <LayersIcon />
-                </Icon>
-              </Button>
-              {this.hasErrors() && <div className={styles.errorsBadge} />}
-            </div>
-          </div>
-        )}
-        {!hideTopicSelector && (
-          <div onClick={this.cancelClick} className={styles.topicsContainer}>
-            <div className={styles.topics}>
-              <Flex col clip>
-                <Flex row className={styles.filterRow}>
-                  <Icon style={{ color: "rgba(255,255,255, 0.3)", padding: "10px 0 10px 10px" }}>
-                    <MagnifyIcon style={{ width: 16, height: 16 }} />
-                  </Icon>
-                  <input
-                    ref={(el) => (this.filterTextField = el)}
-                    type="text"
-                    style={inputStyle}
-                    placeholder="Type to filter"
-                    value={this.state.filterText || ""}
-                    onChange={this.onFilterTextChange}
-                  />
-                  <TopicSelectorMenu
-                    saveConfig={saveConfig}
-                    pinTopics={pinTopics}
-                    autoTextBackgroundColor={autoTextBackgroundColor}
-                  />
-                </Flex>
-                <Flex col scroll>
-                  <Tree
-                    hideRoot
-                    onToggleCheck={this.toggleChecked}
-                    onToggleExpand={this.toggleExpanded}
-                    onEditClick={this.onEditClick}
-                    root={tree}
-                  />
-                </Flex>
-              </Flex>
-              {this.renderErrors()}
-            </div>
-          </div>
-        )}
-      </>
-    );
-  }
-}
+export default React.memo<Props>(TopicSelector);
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/topicTree.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/topicTree.js
index 6165b3fb1..dd3296ee3 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/topicTree.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/topicTree.js
@@ -7,36 +7,22 @@
 //  You may not use this file except in compliance with the License.
 import * as React from "react";
 
-import { type Topic } from "webviz-core/src/players/types";
+export type TopicConfig = {|
+  // topicConfig fields
+  name?: string,
+  topic?: string,
+  extension?: string,
+  children?: TopicConfig[],
+  icon?: React.Node,
+  description?: string,
+
+  // dynamic fields
+  disabled?: boolean,
+  hasCheckbox?: boolean,
+  checked?: boolean,
 
-export type TopicTreeConfig = (
-  | {
-      name: string,
-      topic?: void,
-      extension?: void,
-      children: TopicTreeConfig[] | ((topic: Topic) => boolean),
-    }
-  | {
-      name?: string,
-      topic: string,
-      extension?: void,
-      children?: TopicTreeConfig[] | ((topic: Topic) => boolean),
-    }
-  | {
-      name: string,
-      topic?: void,
-      extension: string,
-      children?: TopicTreeConfig[] | ((topic: Topic) => boolean),
-    }
-) & {
   // Previous names or ids for this item under which it might be saved in old layouts.
   // Used for automatic conversion so that old saved layouts continue to work when tree nodes are renamed.
   legacyIds?: string[],
-
-  icon?: React.Node,
-
-  description?: string,
-
-  // Synthetic groups don't have a checkbox, they can only expand/collapse
-  isSyntheticGroup?: boolean,
-};
+  isSyntheticGroup?: boolean, // Synthetic groups don't have a checkbox, they can only expand/collapse
+|};
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/treeBuilder.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/treeBuilder.js
index d72e8d340..93adca7ae 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/treeBuilder.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/treeBuilder.js
@@ -16,9 +16,13 @@ import { find } from "lodash";
 import * as React from "react";
 import styled from "styled-components";
 
-import { type TopicTreeConfig } from "./topicTree";
+import { type TopicConfig } from "./topicTree";
 import filterMap from "webviz-core/src/filterMap";
 import { getGlobalHooks } from "webviz-core/src/loadWebviz";
+import {
+  type TopicDisplayMode,
+  TOPIC_DISPLAY_MODES,
+} from "webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicDisplayModeSelector";
 import type { Transform } from "webviz-core/src/panels/ThreeDimensionalViz/Transforms";
 import type { Topic } from "webviz-core/src/players/types";
 import colors from "webviz-core/src/styles/colors.module.scss";
@@ -30,11 +34,23 @@ type Props = {
   // list of all topics available in the current bag
   topics: Topic[],
   namespaces: Namespace[],
+  transforms: Array<Transform>,
+  checkedNodes: string[],
+  expandedNodes: string[],
+  modifiedNamespaceTopics: string[],
+  filterText?: ?string,
+  editedTopics?: string[],
+  canEditDatatype?: ?(string) => boolean,
+  topicConfig: TopicConfig,
+  topicDisplayMode: TopicDisplayMode,
+};
+
+type UpdateTreeProps = {
+  topics: Topic[],
   checkedNodes: string[],
   expandedNodes: string[],
   modifiedNamespaceTopics: string[],
   filterText?: ?string,
-  transforms: Array<Transform>,
   editedTopics?: string[],
   canEditDatatype?: ?(string) => boolean,
 };
@@ -49,11 +65,11 @@ const icons = {
   [POSE_STAMPED_DATATYPE]: <CarIcon />,
 };
 
-export class Selections {
-  topics: string[] = [];
-  namespaces: Namespace[] = [];
-  extensions: string[] = [];
-}
+type Selections = {|
+  topics: string[],
+  namespaces: Namespace[],
+  extensions: string[],
+|};
 
 // ids for namespace nodes are the topic name, namespace name
 // and an 'ns' string to make sure they don't collide in any way with topic names
@@ -93,6 +109,7 @@ const TooltipTable = styled.table`
 export class TopicTreeNode {
   id: string;
   text: string;
+  name: ?string;
   icon: ?React.Node;
   expanded: boolean;
   missing: boolean;
@@ -102,28 +119,26 @@ export class TopicTreeNode {
   hasCheckbox: boolean;
   disabled: boolean = false;
   children: TopicTreeNode[] = [];
-  filterMatch: boolean = false;
   canEdit: boolean = false;
   hasEdit: boolean = false;
-
   // whether this node or any descendants match the filter
   descendantFilterMatch: boolean = false;
-
+  // whether the node has been filtered out during search
+  filtered: boolean = false;
+  // all nodes are visible by default
+  // only in flat list mode, visible can be false if hiddenTopics contain the topic node
   visible: boolean = true;
-
   // true if this node or all descendent nodes are missing from
   // the available topics in a bag
   missing: boolean = false;
-
   topic: ?string;
   namespace: ?string;
   extension: ?string;
-
   // outdated ids under which the node might have been checked/expanded
   legacyIds: string[];
 
   // create a topic node from a json config file node
-  static fromJson(config: TopicTreeConfig, topics: Topic[]) {
+  static fromJson(config: TopicConfig, topics: Topic[]) {
     const result = new TopicTreeNode(config);
     // extension nodes start as enabled-by-default for now
     if (!config.extension) {
@@ -138,13 +153,20 @@ export class TopicTreeNode {
     return result;
   }
 
-  constructor(config: TopicTreeConfig, namespace: ?string) {
-    this.text = config.name || "";
-    this.icon = config.icon;
-    this.legacyIds = config.legacyIds || [];
-    this.hasCheckbox = !config.isSyntheticGroup;
-    this.description = config.description;
-    const { topic } = config;
+  constructor(
+    { isSyntheticGroup, name, icon, legacyIds, description, checked, topic, extension }: TopicConfig,
+    namespace: ?string
+  ) {
+    this.text = name || "";
+    this.icon = icon;
+    this.legacyIds = legacyIds || [];
+    this.description = description;
+    if (checked) {
+      this.checked = true;
+      this.hasCheckbox = true;
+    }
+    this.hasCheckbox = !isSyntheticGroup;
+
     if (topic) {
       if (namespace) {
         this.namespace = namespace;
@@ -153,13 +175,13 @@ export class TopicTreeNode {
         this.legacyIds.push(topic);
         this.id = `t:${topic}`;
       }
-      this.text = config.name || topic;
+      this.text = name || topic;
       this.topic = topic;
-    } else if (config.extension) {
-      this.id = `x:${config.extension}`;
-      this.extension = config.extension;
-    } else if (config.name) {
-      this.id = `name:${config.name}`;
+    } else if (extension) {
+      this.id = `x:${extension}`;
+      this.extension = extension;
+    } else if (name) {
+      this.id = `name:${name}`;
     } else {
       throw new Error("encountered TopicTree node with no topic, extension, or name");
     }
@@ -206,17 +228,26 @@ export class TopicTreeNode {
 
   // recursively update this node & its children based on the selected/expanded state
   // collects all node ids along the way to check for duplicates
-  _updateState(props: Props, disabled: boolean, ids: string[], ancestorFilterMatch: boolean): void {
+  updateState(props: UpdateTreeProps, disabled: boolean, ids: string[], ancestorFilterMatch: boolean): void {
+    const {
+      expandedNodes,
+      checkedNodes,
+      modifiedNamespaceTopics,
+      canEditDatatype,
+      editedTopics,
+      filterText,
+      topics,
+    } = props;
     // Wrapper to help handle nodes that were checked under an old-style id.
     const containsThisNode = (ids: string[]) => {
       return ids.includes(this.id) || this.legacyIds.some((id) => ids.includes(id));
     };
 
-    this.expanded = containsThisNode(props.expandedNodes);
-    this.checked = !this.hasCheckbox || containsThisNode(props.checkedNodes);
+    this.expanded = containsThisNode(expandedNodes);
+    this.checked = !this.hasCheckbox || containsThisNode(checkedNodes);
 
     // if a topic hasn't had its namespaces modified, check its namespaces by default
-    if (this.namespace && !props.modifiedNamespaceTopics.includes(this.topic)) {
+    if (this.namespace && !modifiedNamespaceTopics.includes(this.topic)) {
       this.checked = true;
     }
 
@@ -229,11 +260,11 @@ export class TopicTreeNode {
     const topicName = this.topic;
     if (topicName) {
       // topic nodes are disabled if they are not in the list of active topics
-      const matchingTopic = find(props.topics, { name: topicName });
+      const matchingTopic = find(topics, { name: topicName });
       this.missing = !matchingTopic;
       this.disabled = disabled || this.missing;
-      this.canEdit = !!matchingTopic && !!props.canEditDatatype && props.canEditDatatype(matchingTopic.datatype);
-      this.hasEdit = !!props.editedTopics && props.editedTopics.indexOf(topicName) > -1;
+      this.canEdit = !!matchingTopic && !!canEditDatatype && canEditDatatype(matchingTopic.datatype);
+      this.hasEdit = !!editedTopics && editedTopics.indexOf(topicName) > -1;
 
       if (matchingTopic) {
         this.tooltip.push(
@@ -271,17 +302,15 @@ export class TopicTreeNode {
       this.tooltip.push(<TooltipDescription>{this.description}</TooltipDescription>);
     }
 
-    const { filterText } = props;
-    this.filterMatch = filterText ? this.text.toLocaleLowerCase().includes(filterText.toLowerCase()) : false;
-    if (!this.filterMatch && this.topic) {
-      this.filterMatch = filterText ? this.topic.toLocaleLowerCase().includes(filterText.toLowerCase()) : false;
+    let filterMatch = filterText ? this.text.toLocaleLowerCase().includes(filterText.toLowerCase()) : false;
+    if (!filterMatch && this.topic) {
+      filterMatch = filterText ? this.topic.toLocaleLowerCase().includes(filterText.toLowerCase()) : false;
     }
 
     let missingChildrenCount = 0;
     const childDisabled = this.disabled || !this.checked;
     this.children.forEach((child) => {
-      // eslint-disable-next-line no-underscore-dangle
-      child._updateState(props, childDisabled, ids, ancestorFilterMatch || this.filterMatch);
+      child.updateState(props, childDisabled, ids, ancestorFilterMatch || filterMatch);
       if (child.missing) {
         missingChildrenCount++;
       }
@@ -295,15 +324,15 @@ export class TopicTreeNode {
     }
 
     if (filterText) {
-      this.descendantFilterMatch = this.filterMatch || this.children.some((child) => child.descendantFilterMatch);
+      this.descendantFilterMatch = filterMatch || this.children.some((child) => child.descendantFilterMatch);
       if (this.descendantFilterMatch || ancestorFilterMatch) {
-        this.visible = true;
+        this.filtered = false;
         this.expanded = true;
       } else {
-        this.visible = false;
+        this.filtered = true;
       }
     } else {
-      this.visible = true;
+      this.filtered = false;
     }
   }
 
@@ -331,7 +360,7 @@ export class TopicTreeNode {
   // walks the tree and gets the selected topics and namespaces
   // based on cascading checked/unchecked state of parents
   getSelections(): Selections {
-    const selections: Selections = new Selections();
+    const selections: Selections = { topics: [], namespaces: [], extensions: [] };
     this._collectSelections(selections);
     return selections;
   }
@@ -391,32 +420,31 @@ function createUngroupedNode(ungroupedNodes: TopicTreeNode[]): TopicTreeNode {
 
 // build tree - use either the json config supplied
 // or optionally a custom config used in testing
-export default function buildTree(
-  props: Props,
-  jsonConfig: any = getGlobalHooks()
-    .perPanelHooks()
-    .ThreeDimensionalViz.getDefaultTopicTree()
-): TopicTreeNode {
-  const { topics, transforms } = props;
-
-  const rootNode = TopicTreeNode.fromJson(jsonConfig, props.topics);
-
+export default function buildTree({
+  topics,
+  transforms,
+  namespaces,
+  topicDisplayMode,
+  topicConfig,
+  ...rest
+}: Props): TopicTreeNode {
+  const rootNode = TopicTreeNode.fromJson(topicConfig, topics);
   rootNode.disabled = false;
   rootNode.checked = true;
   const ungroupedNodes = [];
+  const showSelectedTopicsOnly = topicDisplayMode === TOPIC_DISPLAY_MODES.SHOW_SELECTED.value;
+  const showFlattenedTopics = topicDisplayMode !== TOPIC_DISPLAY_MODES.SHOW_TREE.value;
+
+  const { hasBlacklistTopics, icons: configIcons } = getGlobalHooks().perPanelHooks().ThreeDimensionalViz;
 
   // apply the topics from the bag to the tree
   topics.forEach((topic: Topic) => {
-    if (
-      getGlobalHooks()
-        .perPanelHooks()
-        .ThreeDimensionalViz.hasBlacklistTopics(topic.name)
-    ) {
+    if (hasBlacklistTopics(topic.name)) {
       return;
     }
 
     const icon = {
-      ...getGlobalHooks().perPanelHooks().ThreeDimensionalViz.icons,
+      ...configIcons,
       ...icons,
     }[topic.datatype];
     if (!icon) {
@@ -432,18 +460,23 @@ export default function buildTree(
       node.icon = icon;
       ungroupedNodes.push(node);
     }
-    node.consumeNamespaces(props.namespaces);
+    node.consumeNamespaces(namespaces);
   });
 
   const tfRootNode = rootNode.find((node) => node.id === "name:TF");
   if (transforms.length > 0) {
     if (tfRootNode) {
+      const checkedNodesSet = new Set(rest.checkedNodes);
       transforms.forEach((transform) => {
-        let node = rootNode.find((node) => node.id === `x:TF.${transform.id}`);
-        if (node) {
-          node.disabled = false;
-        } else {
-          node = new TopicTreeNode({ name: transform.id, extension: `TF.${transform.id}`, disabled: false });
+        const nodeId = `x:TF.${transform.id}`;
+        const addChildTfNode =
+          !showFlattenedTopics || (showFlattenedTopics && (checkedNodesSet.has(nodeId) || !showSelectedTopicsOnly));
+        if (addChildTfNode) {
+          const node = new TopicTreeNode({
+            name: `TF / ${transform.id}`,
+            extension: `TF.${transform.id}`,
+            disabled: false,
+          });
           tfRootNode.add(node);
         }
       });
@@ -452,20 +485,21 @@ export default function buildTree(
     }
   }
 
-  const ids: string[] = [];
-
-  const ungroupedNode = createUngroupedNode(ungroupedNodes);
-
-  // sort the uncategorized nodes by topic name
-  ungroupedNode.children = ungroupedNode.children.sort(naturalSort("text"));
-
-  rootNode.add(ungroupedNode);
+  // skip creating ungroupedNode when showing flattened topics since it's handled in getTopicConfig
+  if (!showFlattenedTopics) {
+    const ungroupedNode = createUngroupedNode(ungroupedNodes);
+    // sort the uncategorized nodes by topic name
+    ungroupedNode.children = ungroupedNode.children.sort(naturalSort("text"));
+    rootNode.add(ungroupedNode);
+  }
+  updateTree(rootNode, { topics, ...rest });
+  return rootNode;
+}
 
-  // now that we have built the tree, update the state
-  rootNode.children.forEach((child) => {
-    // eslint-disable-next-line no-underscore-dangle
-    child._updateState(props, false, ids, false);
+export function updateTree(tree: TopicTreeNode, props: UpdateTreeProps): TopicTreeNode {
+  const ids: string[] = [];
+  tree.children.forEach((child) => {
+    child.updateState(props, false, ids, false);
   });
-
-  return rootNode;
+  return tree;
 }
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/World.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/World.js
index 1b6f62fe3..3496680a7 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/World.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/World.js
@@ -1,12 +1,12 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2019-present, GM Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import * as React from "react";
+import React, { useMemo, type Node } from "react";
 import {
   Worldview,
   Arrows,
@@ -20,8 +20,10 @@ import {
   FilledPolygons,
   type CameraState,
   type MouseHandler,
+  createInstancedGetChildrenForHitmap,
 } from "regl-worldview";
 
+import { getGlobalHooks } from "webviz-core/src/loadWebviz";
 import {
   OccupancyGrids,
   LaserScans,
@@ -30,15 +32,13 @@ import {
   LinedConvexHulls,
 } from "webviz-core/src/panels/ThreeDimensionalViz/commands";
 import inScreenshotTests from "webviz-core/src/stories/inScreenshotTests";
-import type { Scene, MarkerProvider } from "webviz-core/src/types/Scene";
+import type { MarkerCollector, MarkerProvider } from "webviz-core/src/types/Scene";
 
 type Props = {|
   autoTextBackgroundColor: boolean,
   cameraState: CameraState,
-  children?: React.Node,
-  convexHullOpacity: ?number,
-  debug: boolean,
-  extensions: string[],
+  children?: Node,
+  isPlaying: boolean,
   markerProviders: MarkerProvider[],
   onCameraStateChange: (CameraState) => void,
   onClick: MouseHandler,
@@ -46,52 +46,23 @@ type Props = {|
   onMouseDown?: MouseHandler,
   onMouseMove?: MouseHandler,
   onMouseUp?: MouseHandler,
-  scene: Scene,
 |};
 
 function getMarkers(markerProviders: MarkerProvider[]) {
-  const markers = {
-    lines: [],
-    grids: [],
-    arrows: [],
-    texts: [],
-    cubes: [],
-    spheres: [],
-    points: [],
-    pointclouds: [],
-    poseMarkers: [],
-    triangles: [],
-    laserScans: [],
-    cylinders: [],
-    filledPolygons: [],
-    instancedLineLists: [],
-    linedConvexHulls: [],
-  };
-
-  const collector = {
-    arrow: (o) => markers.arrows.push(o),
-    cube: (o) => markers.cubes.push(o),
-    cubeList: (o) => markers.cubes.push(o),
-    sphere: (o) => markers.spheres.push(o),
-    sphereList: (o) => markers.spheres.push(o),
-    cylinder: (o) => markers.cylinders.push(o),
-    lineStrip: (o) => markers.lines.push(o),
-    lineList: (o) => markers.lines.push(o),
-    points: (o) => markers.points.push(o),
-    text: (o) => markers.texts.push(o),
-    triangleList: (o) => markers.triangles.push(o),
-    poseMarker: (o) => markers.poseMarkers.push(o),
-    grid: (o) => markers.grids.push(o),
-    pointcloud: (o) => markers.pointclouds.push(o),
-    laserScan: (o) => markers.laserScans.push(o),
-    filledPolygon: (o) => markers.filledPolygons.push(o),
-    instancedLineList: (o) => markers.instancedLineLists.push(o),
-    linedConvexHull: (o) => markers.linedConvexHulls.push(o),
-  };
+  const markers = {};
+  const collector = {};
+  getGlobalHooks()
+    .perPanelHooks()
+    .ThreeDimensionalViz.allSupportedMarkers.forEach((field) => {
+      if (!markers[field]) {
+        markers[field] = [];
+      }
+      collector[field] = (o) => markers[field].push(o);
+    });
 
   markerProviders.forEach((provider) => {
     if (provider) {
-      provider.renderMarkers(collector);
+      provider.renderMarkers(((collector: any): MarkerCollector));
     }
   });
 
@@ -99,62 +70,73 @@ function getMarkers(markerProviders: MarkerProvider[]) {
 }
 
 export default function World({
-  markerProviders,
+  onClick,
   autoTextBackgroundColor,
   children,
   onCameraStateChange,
-  onClick,
+  cameraState,
+  cameraState: { perspective },
+  isPlaying,
+  markerProviders,
+  onDoubleClick,
   onMouseDown,
   onMouseMove,
   onMouseUp,
-  cameraState,
-  onDoubleClick,
-  convexHullOpacity,
 }: Props) {
+  const getChildrenForHitmap = useMemo(() => createInstancedGetChildrenForHitmap(2), []);
   const {
-    lines,
-    arrows,
-    texts,
-    cubes,
-    spheres,
+    arrow,
+    cube,
+    cubeList,
+    cylinder,
+    filledPolygon,
+    grid,
+    instancedLineList,
+    laserScan,
+    linedConvexHull,
+    lineList,
+    lineStrip,
+    pointcloud,
     points,
-    triangles,
-    poseMarkers,
-    cylinders,
-    grids,
-    pointclouds,
-    laserScans,
-    filledPolygons,
-    linedConvexHulls,
+    poseMarker,
+    sphere,
+    sphereList,
+    text,
+    triangleList,
+    ...rest
   } = getMarkers(markerProviders);
+  const additionalMarkers = getGlobalHooks()
+    .perPanelHooks()
+    .ThreeDimensionalViz.renderAdditionalMarkers(rest);
 
   return (
     <Worldview
       cameraState={cameraState}
+      enableStackedObjectEvents={!isPlaying}
       hideDebug={inScreenshotTests()}
       onCameraStateChange={onCameraStateChange}
       onClick={onClick}
       onDoubleClick={onDoubleClick}
       onMouseDown={onMouseDown}
       onMouseMove={onMouseMove}
-      onMouseUp={onMouseUp}
-      backgroundColor={[0, 0, 0, 0]}>
-      <OccupancyGrids layerIndex={-1}>{grids}</OccupancyGrids>
-      <Lines>{lines}</Lines>
-      <Arrows>{arrows}</Arrows>
-      <Points>{points}</Points>
-      <PointClouds>{pointclouds}</PointClouds>
-      <Triangles>{triangles}</Triangles>
-      <Spheres>{spheres}</Spheres>
-      <Cylinders>{cylinders}</Cylinders>
-      <Cubes>{cubes}</Cubes>
-      <PoseMarkers>{poseMarkers}</PoseMarkers>
-      <LaserScans>{laserScans}</LaserScans>
-      <Text autoBackgroundColor={autoTextBackgroundColor}>{texts}</Text>
-      <FilledPolygons>{filledPolygons}</FilledPolygons>
-      {/* By default, make the convex hull fill completely transparent - they just provide a click layer. */}
-      <LinedConvexHulls opacity={convexHullOpacity || 0}>{linedConvexHulls}</LinedConvexHulls>
+      onMouseUp={onMouseUp}>
       {children}
+      <OccupancyGrids layerIndex={-1}>{grid}</OccupancyGrids>
+      {additionalMarkers}
+      <Lines>{[...lineList, ...lineStrip]}</Lines>
+      <Arrows>{arrow}</Arrows>
+      <Points>{points}</Points>
+      <PointClouds>{pointcloud}</PointClouds>
+      <Triangles>{triangleList}</Triangles>
+      <Spheres>{[...sphere, ...sphereList]}</Spheres>
+      <Cylinders>{cylinder}</Cylinders>
+      <Cubes>{[...cube, ...cubeList]}</Cubes>
+      <PoseMarkers>{poseMarker}</PoseMarkers>
+      <LaserScans>{laserScan}</LaserScans>
+      <Text autoBackgroundColor={autoTextBackgroundColor}>{text}</Text>
+      <FilledPolygons>{filledPolygon}</FilledPolygons>
+      <Lines getChildrenForHitmap={getChildrenForHitmap}>{instancedLineList}</Lines>
+      <LinedConvexHulls>{linedConvexHull}</LinedConvexHulls>
     </Worldview>
   );
 }
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/__snapshots__/topicTreeUtils.test.js.snap b/packages/webviz-core/src/panels/ThreeDimensionalViz/__snapshots__/topicTreeUtils.test.js.snap
new file mode 100644
index 000000000..fb8066bbb
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/__snapshots__/topicTreeUtils.test.js.snap
@@ -0,0 +1,159 @@
+// Jest Snapshot v1, https://goo.gl/fbAQLP
+
+exports[`getTopicConfig topicConfig show flat list topicDisplayMode.SHOW_AVAILABLE 1`] = `
+Object {
+  "newCheckedNodes": Array [
+    "name:Ext A",
+    "name:Deeply Nested Group",
+    "t:/topic_b",
+    "x:ExtA.a",
+    "x:ExtC.c",
+    "ns:/topic_c:some_namespace",
+    "ns:/webviz_bag_2/topic_c:some_namespace",
+    "ns:/ns_to_ignore_due_to_lacking_of_topic_checked:some_name",
+    "t:/topic_c",
+    "t:/webviz_bag_2/topic_c",
+    "name:Bag",
+    "name:Bag 2 /webviz_bag_2",
+  ],
+  "topicConfig": Object {
+    "children": Array [
+      Object {
+        "children": Array [
+          Object {
+            "extension": "ExtA.a",
+            "name": "Ext A",
+          },
+          Object {
+            "extension": "ExtB.b",
+            "name": "Ext A / Ext B",
+          },
+          Object {
+            "extension": "ExtC.c",
+            "name": "Ext A / Ext C",
+          },
+          Object {
+            "name": "Nested Group / Topic A",
+            "topic": "/topic_a",
+          },
+          Object {
+            "name": "Nested Group / Topic B",
+            "topic": "/topic_b",
+          },
+          Object {
+            "name": "Nested Group / Deeply Nested Group /topic_c",
+            "topic": "/topic_c",
+          },
+          Object {
+            "name": "/topic_not_in_json_tree",
+            "topic": "/topic_not_in_json_tree",
+          },
+          Object {
+            "children": Array [],
+            "description": "Visualize relationships between /tf frames.",
+            "name": "TF",
+          },
+        ],
+        "name": "Bag",
+      },
+      Object {
+        "children": Array [
+          Object {
+            "name": "Nested Group / Topic A",
+            "topic": "/webviz_bag_2/topic_a",
+          },
+          Object {
+            "name": "Nested Group / Topic B",
+            "topic": "/webviz_bag_2/topic_b",
+          },
+          Object {
+            "name": "Nested Group / Deeply Nested Group /topic_c",
+            "topic": "/webviz_bag_2/topic_c",
+          },
+          Object {
+            "name": "/topic_not_in_json_tree",
+            "topic": "/webviz_bag_2/topic_not_in_json_tree",
+          },
+        ],
+        "name": "Bag 2 /webviz_bag_2",
+      },
+    ],
+    "name": "root",
+  },
+}
+`;
+
+exports[`getTopicConfig topicConfig show flat list topicDisplayMode.showAll 1`] = `
+Object {
+  "children": Array [
+    Object {
+      "children": Array [
+        Object {
+          "extension": "ExtA.a",
+          "name": "Ext A",
+        },
+        Object {
+          "extension": "ExtB.b",
+          "name": "Ext A / Ext B",
+        },
+        Object {
+          "extension": "ExtC.c",
+          "name": "Ext A / Ext C",
+        },
+        Object {
+          "name": "Some Topic in JSON Tree",
+          "topic": "/topic_in_json_tree",
+        },
+        Object {
+          "name": "Nested Group / Topic A",
+          "topic": "/topic_a",
+        },
+        Object {
+          "name": "Nested Group / Topic B",
+          "topic": "/topic_b",
+        },
+        Object {
+          "name": "Nested Group / Deeply Nested Group /topic_c",
+          "topic": "/topic_c",
+        },
+        Object {
+          "name": "/topic_not_in_json_tree",
+          "topic": "/topic_not_in_json_tree",
+        },
+        Object {
+          "children": Array [],
+          "description": "Visualize relationships between /tf frames.",
+          "name": "TF",
+        },
+      ],
+      "name": "Bag",
+    },
+    Object {
+      "children": Array [
+        Object {
+          "name": "Some Topic in JSON Tree",
+          "topic": "/webviz_bag_2/topic_in_json_tree",
+        },
+        Object {
+          "name": "Nested Group / Topic A",
+          "topic": "/webviz_bag_2/topic_a",
+        },
+        Object {
+          "name": "Nested Group / Topic B",
+          "topic": "/webviz_bag_2/topic_b",
+        },
+        Object {
+          "name": "Nested Group / Deeply Nested Group /topic_c",
+          "topic": "/webviz_bag_2/topic_c",
+        },
+        Object {
+          "name": "/topic_not_in_json_tree",
+          "topic": "/webviz_bag_2/topic_not_in_json_tree",
+        },
+      ],
+      "name": "Bag 2 /webviz_bag_2",
+    },
+  ],
+  "name": "root",
+}
+`;
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/LinedConvexHulls.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/LinedConvexHulls.js
index 8b353dc04..6f21d577f 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/LinedConvexHulls.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/LinedConvexHulls.js
@@ -14,6 +14,7 @@ import {
   Triangles,
   Lines,
   type Line,
+  type TriangleList,
   type CommonCommandProps,
   getChildrenForHitmapWithOriginalMarker,
   nonInstancedGetChildrenForHitmap,
@@ -23,13 +24,13 @@ import {
 } from "regl-worldview";
 
 type Props = {
-  children: Array<Line>,
-  opacity: number,
+  children: Line[],
   ...CommonCommandProps,
 };
 
-export default function LinedConvexHulls({ children, opacity, ...rest }: Props) {
-  const triangles = children
+function getTriangleChildrenForHitmap(props: Line[], assignNextColors, excludedObjects): TriangleList[] {
+  // This getChildrenForHitmap function takes lines and returns triangles.
+  const triangles = props
     .map((line) => {
       // Make sure all points are in vec3 format and unique.
       const points = uniqBy(
@@ -54,25 +55,32 @@ export default function LinedConvexHulls({ children, opacity, ...rest }: Props)
         return [points[index1], points[index2], points[index3]];
       });
       const convertedColor = typeof line.color.r === "number" ? line.color : vec4ToRGBA(line.color);
-      const colorWithAlpha = { ...convertedColor, a: opacity };
       return {
         pose: line.pose,
         scale: line.scale,
-        color: colorWithAlpha,
+        color: convertedColor,
         points: trianglePoints,
-        originalMarker: line,
+        originalMarker: line.originalMarker,
       };
     })
     .filter(Boolean);
 
+  return getChildrenForHitmapWithOriginalMarker(triangles, assignNextColors, excludedObjects);
+}
+
+export default function LinedConvexHulls({ children, ...rest }: Props) {
   return (
     <React.Fragment>
       {/* Render all the lines, even if we can't generate a convex hull from them. */}
       <Lines getChildrenForHitmap={nonInstancedGetChildrenForHitmap} {...rest}>
         {children}
       </Lines>
-      <Triangles getChildrenForHitmap={getChildrenForHitmapWithOriginalMarker} {...rest}>
-        {triangles}
+      <Triangles getChildrenForHitmap={getTriangleChildrenForHitmap} {...rest}>
+        {/*
+         * These Line objects are not renderable by the Triangle shader. But since we're only rendering them inside the
+         * hitmap, we convert them from lines to triangle objects in the `getTriangleChildrenForHitmap` function above.
+         */}
+        {children.map((line) => ({ ...line, originalMarker: line, onlyRenderInHitmap: true }))}
       </Triangles>
     </React.Fragment>
   );
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/utils/index.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/utils/index.js
index 8ea49c25a..c31f2bebc 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/utils/index.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/utils/index.js
@@ -9,6 +9,23 @@ import tinycolor from "tinycolor2";
 
 import type { OccupancyGridMessage } from "webviz-core/src/types/Messages";
 
+export const COLORS = {
+  BLACK: tinycolor("black"),
+  RED: tinycolor("red"),
+  PINK: tinycolor("pink"),
+  LIME: tinycolor("lime"),
+  CYAN: tinycolor("cyan"),
+  WHITE: tinycolor("white"),
+  AQUA: tinycolor("aqua"),
+  BLUE: tinycolor("blue"),
+  ORANGE: tinycolor("orange"),
+  MAGENTA: tinycolor("magenta"),
+  YELLOW: tinycolor("yellow"),
+  GRAY: tinycolor("darkgray"), // gray and darkgray are named reversed for some reason
+  DARKGRAY: tinycolor("gray"), // gray and darkgray are named reversed for some reason
+  PURPLE: tinycolor("purple"),
+};
+
 export function setRgba(buffer: Uint8Array, index: number, color: tinycolor) {
   const rgba255 = color.toRgb();
   rgba255.a *= 255;
@@ -35,14 +52,22 @@ export const defaultMapPalette = (() => {
   }
 
   // illegal negative (char) values
-  for (let i = 128; i <= 254; i++) {
+  for (let i = 128; i <= 248; i++) {
     const idx = i * 4;
     const t = (i - 128) / (254 - 128);
     setRgba(buff, idx, tinycolor.fromRatio({ r: t, g: 0.2, b: 0.6, a: Math.max(1 - t, 0.2) }));
   }
 
-  // legal -1 value
-  setRgba(buff, 255 * 4, tinycolor("#99d6b1").setAlpha(0.25));
+  // legal negative values
+  setRgba(buff, 255 * 4, COLORS.GRAY.setAlpha(0.5)); // -1 UNKNOWN
+  setRgba(buff, 254 * 4, COLORS.ORANGE.setAlpha(0.5)); // -2 UNDRIVEABLE
+  setRgba(buff, 253 * 4, COLORS.CYAN.setAlpha(0.5)); // -3 SIDEWALK
+  setRgba(buff, 252 * 4, COLORS.YELLOW.setAlpha(0.5)); // -4 UNOBSERVED
+  setRgba(buff, 101 * 4, COLORS.PURPLE.setAlpha(0.5)); // 101 UNOCCUPIED_NULL
+  setRgba(buff, 110 * 4, COLORS.PINK.setAlpha(0.5)); // 110 TRACKED_UNKNOWN_TO_UNOCCUPIED
+  setRgba(buff, 111 * 4, COLORS.LIME.setAlpha(0.5)); // 111 TRACKED_OCCUPIED_TO_UNOCCUPIED
+  setRgba(buff, 112 * 4, COLORS.AQUA.setAlpha(0.5)); // 112 TRACKED_OCCUPIED_TO_UNKNOWN
+
   return buff;
 })();
 
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/index.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/index.js
index 2a5fc6bf2..7fb0c0607 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/index.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/index.js
@@ -9,13 +9,12 @@
 import { vec3 } from "gl-matrix";
 import hoistNonReactStatics from "hoist-non-react-statics";
 import { omit } from "lodash";
-import * as React from "react";
+import React, { type Node, useCallback, useLayoutEffect } from "react";
 import { hot } from "react-hot-loader/root";
 import { useSelector } from "react-redux";
 import { cameraStateSelectors, type CameraState, DEFAULT_CAMERA_STATE } from "regl-worldview";
 
 import { FrameCompatibility } from "webviz-core/src/components/MessageHistory/FrameCompatibility";
-import { useShallowMemo } from "webviz-core/src/components/MessageHistory/hooks";
 import { useMessagePipeline } from "webviz-core/src/components/MessagePipeline";
 import Panel from "webviz-core/src/components/Panel";
 import { getGlobalHooks } from "webviz-core/src/loadWebviz";
@@ -26,15 +25,16 @@ import {
   getEquivalentOffsetsWithoutTarget,
   useComputedCameraState,
 } from "webviz-core/src/panels/ThreeDimensionalViz/threeDimensionalVizUtils";
-import treeBuilder, { Selections } from "webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/treeBuilder";
+import {
+  type TopicDisplayMode,
+  TOPIC_DISPLAY_MODES,
+} from "webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicDisplayModeSelector";
 import Transforms from "webviz-core/src/panels/ThreeDimensionalViz/Transforms";
 import withTransforms from "webviz-core/src/panels/ThreeDimensionalViz/withTransforms";
 import type { Frame, Topic } from "webviz-core/src/players/types";
 import type { SaveConfig } from "webviz-core/src/types/panels";
 import { TRANSFORM_TOPIC } from "webviz-core/src/util/globalConstants";
 
-const { useState, useCallback, useEffect, useLayoutEffect } = React;
-
 export type ThreeDimensionalVizConfig = {
   autoTextBackgroundColor?: boolean,
   checkedNodes: string[],
@@ -46,7 +46,7 @@ export type ThreeDimensionalVizConfig = {
   modifiedNamespaceTopics: string[],
   pinTopics: boolean,
   savedPropsVersion?: ?number, // eslint-disable-line react/no-unused-prop-types
-  convexHullOpacity?: number,
+  topicDisplayMode?: TopicDisplayMode,
 
   // legacy props
   hideMap?: ?boolean, // eslint-disable-line react/no-unused-prop-types
@@ -56,14 +56,15 @@ export type ThreeDimensionalVizConfig = {
   selectedPolygonEditFormat?: "json" | "yaml",
   showCrosshair?: boolean,
 };
+export type Save3DConfig = SaveConfig<ThreeDimensionalVizConfig>;
 
 export type Props = {
   cleared?: boolean,
   config: ThreeDimensionalVizConfig,
   frame: Frame,
-  helpContent: React.Node | string,
-  saveConfig: SaveConfig<ThreeDimensionalVizConfig>,
-  setSubscriptions: (string[]) => void,
+  helpContent: Node | string,
+  saveConfig: Save3DConfig,
+  setSubscriptions: (subscriptions: string[]) => void,
   topics: Topic[],
   transforms: Transforms,
 };
@@ -80,7 +81,6 @@ const BaseRenderer = (props: Props, ref) => {
     config: {
       autoTextBackgroundColor,
       checkedNodes,
-      convexHullOpacity,
       expandedNodes,
       followOrientation,
       followTf,
@@ -88,6 +88,7 @@ const BaseRenderer = (props: Props, ref) => {
       pinTopics,
       selectedPolygonEditFormat,
       showCrosshair,
+      topicDisplayMode,
       topicSettings,
     },
   } = props;
@@ -100,20 +101,6 @@ const BaseRenderer = (props: Props, ref) => {
     useCallback(({ playerState: { activeData } }) => !!(activeData && activeData.isPlaying), [])
   );
 
-  const [selections, setSelections] = useState<Selections>(() => {
-    // build a copy of the tree to determine which topics are initially active
-    // subsequent updated will be done through Layout.js invoking `setSelections`
-    const root = treeBuilder({
-      checkedNodes,
-      expandedNodes: [],
-      modifiedNamespaceTopics: [],
-      namespaces: [],
-      topics,
-      transforms: transforms.values(),
-    });
-    return root.getSelections();
-  });
-
   const { cameraState, targetPose } = useComputedCameraState({
     currentCameraState: config.cameraState,
     followTf,
@@ -121,10 +108,6 @@ const BaseRenderer = (props: Props, ref) => {
     transforms,
   });
 
-  // update subscriptions whenever selected topics change, use deep compare to prevent updating when expanding/collapsing topics
-  const memoizedSelectionTopics = useShallowMemo(selections.topics);
-  useEffect(() => setSubscriptions(memoizedSelectionTopics), [memoizedSelectionTopics, setSubscriptions]);
-
   // update open source checked nodes
   useLayoutEffect(
     () => {
@@ -218,7 +201,6 @@ const BaseRenderer = (props: Props, ref) => {
       cameraState={cameraState}
       checkedNodes={checkedNodes}
       cleared={cleared}
-      convexHullOpacity={convexHullOpacity}
       currentTime={currentTime}
       expandedNodes={expandedNodes}
       extensions={extensions}
@@ -234,12 +216,12 @@ const BaseRenderer = (props: Props, ref) => {
       pinTopics={pinTopics}
       saveConfig={saveConfig}
       selectedPolygonEditFormat={selectedPolygonEditFormat || "yaml"}
-      selections={selections}
-      setSelections={setSelections}
       showCrosshair={!!showCrosshair}
+      topicDisplayMode={topicDisplayMode || TOPIC_DISPLAY_MODES.SHOW_TREE.value}
       topics={topics}
       topicSettings={topicSettings}
       transforms={transforms}
+      setSubscriptions={setSubscriptions}
     />
   );
 };
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/threeDimensionalVizUtils.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/threeDimensionalVizUtils.js
index fff8e1a37..d32f473cb 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/threeDimensionalVizUtils.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/threeDimensionalVizUtils.js
@@ -25,7 +25,7 @@ function getZoomDistanceFromURLParam(): number | void {
 }
 
 // Get the camera target position and orientation
-function getTargetPose(followTf?: string | false, transforms: Transforms) {
+export function getTargetPose(followTf?: string | false, transforms: Transforms) {
   if (followTf) {
     let pose = emptyPose();
     pose = transforms.apply(pose, pose, followTf, transforms.rootOfTransform(followTf).id);
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils.js
new file mode 100644
index 000000000..2dfb7c594
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils.js
@@ -0,0 +1,211 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { intersection, omit, flatten } from "lodash";
+import microMemoize from "micro-memoize";
+
+import filterMap from "webviz-core/src/filterMap";
+import { getGlobalHooks } from "webviz-core/src/loadWebviz";
+import {
+  type TopicDisplayMode,
+  TOPIC_DISPLAY_MODES,
+} from "webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicDisplayModeSelector";
+import { type TopicConfig } from "webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/topicTree";
+import { TopicTreeNode } from "webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/treeBuilder";
+import type { Topic } from "webviz-core/src/players/types";
+import { SECOND_BAG_PREFIX } from "webviz-core/src/util/globalConstants";
+import { getTopicPrefixes } from "webviz-core/src/util/selectors";
+
+export const BAG1_TOPIC_GROUP_NAME = "Bag";
+export const BAG2_TOPIC_GROUP_NAME = `Bag 2 ${SECOND_BAG_PREFIX}`;
+
+const TOPIC_CONFIG = getGlobalHooks()
+  .perPanelHooks()
+  .ThreeDimensionalViz.getDefaultTopicTree();
+
+// traverse the tree and flatten the children items in the topicConfig
+function* flattenItem(item: TopicConfig, name: string) {
+  const childrenItems = item.children;
+  // extensions or leaf nodes
+  if (!childrenItems || item.extension) {
+    // remove children before adding a new node for extensions, otherwise add the node directly
+    yield { ...omit(item, "children"), name };
+  }
+  if (childrenItems) {
+    for (const subItem of childrenItems) {
+      let subItemName = `${name} / ${subItem.name || ""}`;
+      if (!subItem.name && subItem.topic) {
+        subItemName = `${name} ${subItem.topic}`;
+      }
+      yield* flattenItem(subItem, subItemName);
+    }
+  }
+}
+
+// memoize the flattened nodes since it only needs to be computed once
+const getFlattenedTreeNodes = microMemoize((topicConfig) => {
+  return flatten(topicConfig.children.map((item) => Array.from(flattenItem(item, item.name || ""))));
+});
+
+export function getCheckedTopicsAndExtensions(
+  checkedNodes: string[]
+): { selectedTopicsSet: Set<string>, selectedExtensionsSet: Set<string> } {
+  const selectedExtensionsSet = new Set();
+  const selectedTopicsSet = new Set();
+
+  checkedNodes.forEach((item) => {
+    if (item.startsWith("t:")) {
+      selectedTopicsSet.add(item.substr("t:".length));
+    } else if (item.startsWith("x:")) {
+      selectedExtensionsSet.add(item.substr("x:".length));
+    }
+  });
+  return { selectedExtensionsSet, selectedTopicsSet };
+}
+
+// check if we need to turn on any group names, return the original checkedNodes if not
+export function getNewCheckedNodes(selectedAndAvailableTopics: string[], checkedNodes: string[]): string[] {
+  let newCheckedNodes = checkedNodes;
+  const hasBag1Topics = selectedAndAvailableTopics.some((topic) => !topic.startsWith(SECOND_BAG_PREFIX));
+  const hasBag2Topics = selectedAndAvailableTopics.some((topic) => topic.startsWith(SECOND_BAG_PREFIX));
+  if (hasBag1Topics && !checkedNodes.includes(`name:${BAG1_TOPIC_GROUP_NAME}`)) {
+    newCheckedNodes = [...checkedNodes, `name:${BAG1_TOPIC_GROUP_NAME}`];
+  }
+  if (hasBag2Topics && !checkedNodes.includes(`name:${BAG2_TOPIC_GROUP_NAME}`)) {
+    newCheckedNodes = [...newCheckedNodes, `name:${BAG2_TOPIC_GROUP_NAME}`];
+  }
+  return newCheckedNodes;
+}
+
+// remove all the bag prefixes for now, can add support for other prefixes later
+export function removeTopicPrefixes(topicNames: string[]): string[] {
+  const uniqueName = new Set(topicNames.map((topic) => topic.replace(/^\/webviz_bag_\d+\//, "/")));
+  return [...uniqueName];
+}
+
+// get the treeConfig based on various inputs
+// add 'name:Bag' and 'name:Bag 2 /webviz_bag_2' to checkedNodes if needed
+export function getTopicConfig({
+  checkedNodes,
+  topicDisplayMode,
+  topics,
+}: {
+  checkedNodes: string[],
+  topicDisplayMode: TopicDisplayMode,
+  topics: Topic[],
+}): { topicConfig: TopicConfig, newCheckedNodes: string[] } {
+  const newCheckedNodes = checkedNodes;
+  const showFlattened = topicDisplayMode !== TOPIC_DISPLAY_MODES.SHOW_TREE.value;
+  const showSelected = topicDisplayMode === TOPIC_DISPLAY_MODES.SHOW_SELECTED.value;
+  const showAvailable = topicDisplayMode === TOPIC_DISPLAY_MODES.SHOW_AVAILABLE.value;
+  const showAll = topicDisplayMode === TOPIC_DISPLAY_MODES.SHOW_ALL.value;
+
+  if (!showFlattened) {
+    return { topicConfig: TOPIC_CONFIG, newCheckedNodes };
+  }
+
+  const availableTopicsNames = topics.map((topic) => topic.name);
+  const topicPrefixes = getTopicPrefixes(availableTopicsNames);
+  const hasMultiBag = topicPrefixes.length > 0;
+  const { selectedTopicsSet, selectedExtensionsSet } = getCheckedTopicsAndExtensions(checkedNodes);
+
+  const selectedAndAvailableTopics = intersection([...selectedTopicsSet], availableTopicsNames);
+  const selectedAvailableTopicsWithoutPrefix = removeTopicPrefixes(selectedAndAvailableTopics);
+  const availableTopicsWithoutPrefix = removeTopicPrefixes(availableTopicsNames);
+  let flattenedTopicNodes = getFlattenedTreeNodes(TOPIC_CONFIG);
+
+  if (showSelected) {
+    // show checked and available topics
+    flattenedTopicNodes = filterMap(flattenedTopicNodes, (item) => {
+      if (item.topic) {
+        // use the topics without prefix so that if one topic is checked in one of the bags
+        // the corresponding topic in other bags will be visible as well
+        return selectedAvailableTopicsWithoutPrefix.includes(item.topic) ? item : null;
+      }
+      if (item.extension) {
+        return selectedExtensionsSet.has(item.extension) ? item : null;
+      }
+      return null;
+    });
+  } else if (showAvailable) {
+    const availableTopicsWithoutPrefixSet = new Set(availableTopicsWithoutPrefix);
+
+    flattenedTopicNodes = filterMap(flattenedTopicNodes, (item) => {
+      if (item.topic) {
+        return availableTopicsWithoutPrefixSet.has(item.topic) ? item : null;
+      }
+      return item;
+    });
+  }
+
+  const topicConfigTopicNames = new Set(filterMap(flattenedTopicNodes, (node) => (node.topic ? node.topic : null)));
+
+  // to make sure we can toggle topics between bag1 and bag2, always show the uncategorized
+  // topics across multiple bags so long they are available in one of the bags
+  const uncategorizedNodes = (showSelected ? selectedAvailableTopicsWithoutPrefix : availableTopicsWithoutPrefix)
+    .filter((topic) => !topicConfigTopicNames.has(topic))
+    .map((topic) => ({ topic, name: topic }));
+
+  flattenedTopicNodes.push(...uncategorizedNodes);
+
+  // TF node doesn't associate with any topic, we want to show it conditionally based on the display mode
+  const tfNode =
+    showAll || (showAvailable && topics.length > 0) || (showSelected && checkedNodes.includes("name:TF"))
+      ? [{ name: "TF", children: [], description: "Visualize relationships between /tf frames." }]
+      : [];
+
+  // return flattened nodes directly for a single bag
+  if (!hasMultiBag) {
+    return {
+      topicConfig: {
+        ...TOPIC_CONFIG,
+        children: [...flattenedTopicNodes, ...tfNode],
+      },
+      newCheckedNodes: checkedNodes,
+    };
+  }
+
+  // construct two topic groups for two bags
+  const topicConfig = {
+    name: "root",
+    children: [
+      {
+        name: BAG1_TOPIC_GROUP_NAME,
+        children: [...flattenedTopicNodes, ...tfNode],
+      },
+      {
+        name: BAG2_TOPIC_GROUP_NAME,
+        children: filterMap(flattenedTopicNodes, (item) => {
+          if (!item.topic) {
+            return null;
+          }
+          return ({ ...item, topic: `${SECOND_BAG_PREFIX}${item.topic}` }: TopicConfig);
+        }),
+      },
+    ],
+  };
+
+  return {
+    topicConfig,
+    newCheckedNodes: getNewCheckedNodes(selectedAndAvailableTopics, checkedNodes),
+  };
+}
+
+// traverse once through the flat topic nodes and set visibility based on hiddenTopics
+export function setVisibleByHiddenTopics(flatListTree: TopicTreeNode, hiddenTopics: string[]): void {
+  if (flatListTree.children) {
+    flatListTree.children.forEach((child) => {
+      if (child.topic) {
+        // update visible field after finding a topic match
+        child.visible = !hiddenTopics.includes(child.topic);
+      }
+      // continue to set visibility for two bags
+      setVisibleByHiddenTopics(child, hiddenTopics);
+    });
+  }
+}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils.test.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils.test.js
new file mode 100644
index 000000000..0cfb586b1
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils.test.js
@@ -0,0 +1,570 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import AnimationOutlineIcon from "@mdi/svg/svg/animation-outline.svg";
+import { get } from "lodash";
+
+import { TOPIC_DISPLAY_MODES } from "webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicDisplayModeSelector";
+import buildTree, { TopicTreeNode } from "webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/treeBuilder";
+import {
+  getCheckedTopicsAndExtensions,
+  getTopicConfig,
+  removeTopicPrefixes,
+  getNewCheckedNodes,
+  setVisibleByHiddenTopics,
+  BAG1_TOPIC_GROUP_NAME,
+  BAG2_TOPIC_GROUP_NAME,
+} from "webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils";
+import type { Topic } from "webviz-core/src/players/types";
+
+const BAG1_NODE_NAME = `name:${BAG1_TOPIC_GROUP_NAME}`;
+const BAG2_NODE_NAME = `name:${BAG2_TOPIC_GROUP_NAME}`;
+const TOPIC_CONFIG = {
+  name: "root",
+  children: [
+    {
+      name: "Ext A",
+      extension: "ExtA.a",
+      children: [
+        {
+          name: "Ext B",
+          extension: "ExtB.b",
+        },
+        {
+          name: "Ext C",
+          extension: "ExtC.c",
+        },
+      ],
+    },
+    {
+      name: "Some Topic in JSON Tree",
+      topic: "/topic_in_json_tree",
+    },
+    {
+      name: "Nested Group",
+      children: [
+        {
+          name: "Topic A",
+          topic: "/topic_a",
+        },
+        {
+          name: "Topic B",
+          topic: "/topic_b",
+        },
+        {
+          name: "Deeply Nested Group",
+          children: [{ topic: "/topic_c" }],
+        },
+      ],
+    },
+  ],
+};
+
+jest.mock("webviz-core/src/loadWebviz", () => ({
+  getGlobalHooks: () => ({
+    perPanelHooks: () => ({
+      ThreeDimensionalViz: {
+        getDefaultTopicTree: () => ({
+          name: "root",
+          children: [
+            {
+              name: "Ext A",
+              extension: "ExtA.a",
+              children: [
+                {
+                  name: "Ext B",
+                  extension: "ExtB.b",
+                },
+                {
+                  name: "Ext C",
+                  extension: "ExtC.c",
+                },
+              ],
+            },
+            {
+              name: "Some Topic in JSON Tree",
+              topic: "/topic_in_json_tree",
+            },
+            {
+              name: "Nested Group",
+              children: [
+                {
+                  name: "Topic A",
+                  topic: "/topic_a",
+                },
+                {
+                  name: "Topic B",
+                  topic: "/topic_b",
+                },
+                {
+                  name: "Deeply Nested Group",
+                  children: [{ topic: "/topic_c" }],
+                },
+              ],
+            },
+          ],
+        }),
+      },
+    }),
+  }),
+}));
+
+const checkedNodes = [
+  "name:Ext A",
+  "name:Deeply Nested Group",
+  "t:/topic_b",
+  "x:ExtA.a",
+  "x:ExtC.c",
+  "ns:/topic_c:some_namespace",
+  "ns:/webviz_bag_2/topic_c:some_namespace",
+  "ns:/ns_to_ignore_due_to_lacking_of_topic_checked:some_name",
+  "t:/topic_c",
+  "t:/webviz_bag_2/topic_c",
+];
+
+function makeTopic(topics: string[]): Topic[] {
+  return topics.map((name) => ({ name, datatype: "some_type" }));
+}
+
+const bag1Topics = [
+  "/topic_a",
+  "/topic_not_in_json_tree", // this topic is not in the topicConfig
+  "/topic_c",
+  "/topic_b",
+];
+const bag2Topics = [
+  "/webviz_bag_2/topic_a",
+  "/webviz_bag_2/topic_b",
+  "/webviz_bag_2/topic_c",
+  "/webviz_bag_2/topic_not_in_json_tree",
+];
+
+const defaultGetTopicConfigInput = {
+  topicDisplayMode: TOPIC_DISPLAY_MODES.SHOW_SELECTED.value,
+  checkedNodes,
+  topics: makeTopic([...bag1Topics, ...bag2Topics]),
+};
+
+const defaultExpectedBag1Nodes = [
+  {
+    name: "Ext A",
+    extension: "ExtA.a",
+  },
+  {
+    name: "Ext A / Ext C",
+    extension: "ExtC.c",
+  },
+  {
+    name: "Nested Group / Topic B",
+    topic: "/topic_b",
+  },
+  {
+    name: "Nested Group / Deeply Nested Group /topic_c",
+    topic: "/topic_c",
+  },
+];
+
+const defaultExpectedBag2Nodes = [
+  {
+    name: "Nested Group / Topic B",
+    topic: "/webviz_bag_2/topic_b",
+  },
+  {
+    name: "Nested Group / Deeply Nested Group /topic_c",
+    topic: "/webviz_bag_2/topic_c",
+  },
+];
+
+describe("getTopicConfig", () => {
+  describe("topicConfig", () => {
+    describe("show tree structure", () => {
+      it("returns the default tree", () => {
+        expect(
+          getTopicConfig({
+            topicDisplayMode: TOPIC_DISPLAY_MODES.SHOW_TREE.value,
+            checkedNodes: [],
+            topics: [],
+          }).topicConfig
+        ).toEqual(TOPIC_CONFIG);
+      });
+    });
+
+    describe("show flat list", () => {
+      it("topicDisplayMode.SHOW_SELECTED", () => {
+        expect(
+          getTopicConfig({
+            ...defaultGetTopicConfigInput,
+          }).topicConfig
+        ).toEqual({
+          children: [
+            {
+              name: BAG1_TOPIC_GROUP_NAME,
+              children: defaultExpectedBag1Nodes,
+            },
+            {
+              name: BAG2_TOPIC_GROUP_NAME,
+              children: defaultExpectedBag2Nodes,
+            },
+          ],
+          name: "root",
+        });
+      });
+      it("topicDisplayMode.SHOW_AVAILABLE", () => {
+        expect(
+          getTopicConfig({
+            ...defaultGetTopicConfigInput,
+            topicDisplayMode: TOPIC_DISPLAY_MODES.SHOW_AVAILABLE.value,
+          })
+        ).toMatchSnapshot();
+      });
+      it("topicDisplayMode.showAll", () => {
+        expect(
+          getTopicConfig({
+            ...defaultGetTopicConfigInput,
+            topicDisplayMode: TOPIC_DISPLAY_MODES.SHOW_ALL.value,
+          }).topicConfig
+        ).toMatchSnapshot();
+      });
+
+      it("shows flat topic list for bag1 topics", () => {
+        expect(
+          getTopicConfig({
+            ...defaultGetTopicConfigInput,
+            topics: makeTopic(bag1Topics),
+          }).topicConfig.children
+        ).toEqual(defaultExpectedBag1Nodes);
+      });
+      it("shows bag1 and bag2 for topics that are all prefixed with /webviz_bag_2", () => {
+        expect(
+          getTopicConfig({
+            ...defaultGetTopicConfigInput,
+            checkedNodes: ["t:/webviz_bag_2/topic_b", "t:/webviz_bag_2/topic_not_in_json_tree"],
+            topics: makeTopic(bag2Topics),
+          }).topicConfig.children
+        ).toEqual([
+          {
+            name: BAG1_TOPIC_GROUP_NAME,
+            children: [
+              { name: "Nested Group / Topic B", topic: "/topic_b" },
+              { name: "/topic_not_in_json_tree", topic: "/topic_not_in_json_tree" },
+            ],
+          },
+          {
+            name: BAG2_TOPIC_GROUP_NAME,
+            children: [
+              { name: "Nested Group / Topic B", topic: "/webviz_bag_2/topic_b" },
+              { name: "/topic_not_in_json_tree", topic: "/webviz_bag_2/topic_not_in_json_tree" },
+            ],
+          },
+        ]);
+      });
+
+      it("adds uncategorized topics to bag1 and bag2", () => {
+        const expected = [
+          {
+            children: [
+              ...defaultExpectedBag1Nodes,
+              { name: "/topic_not_in_json_tree", topic: "/topic_not_in_json_tree" },
+            ],
+            name: BAG1_TOPIC_GROUP_NAME,
+          },
+          {
+            children: [
+              ...defaultExpectedBag2Nodes,
+              {
+                name: "/topic_not_in_json_tree",
+                topic: "/webviz_bag_2/topic_not_in_json_tree",
+              },
+            ],
+            name: BAG2_TOPIC_GROUP_NAME,
+          },
+        ];
+
+        expect(
+          getTopicConfig({
+            ...defaultGetTopicConfigInput,
+            checkedNodes: [...checkedNodes, "t:/topic_not_in_json_tree"],
+            topics: makeTopic([...bag1Topics, ...bag2Topics]),
+          }).topicConfig.children
+        ).toEqual(expected);
+
+        expect(
+          getTopicConfig({
+            ...defaultGetTopicConfigInput,
+            checkedNodes: [...checkedNodes, "t:/webviz_bag_2/topic_not_in_json_tree"],
+            topics: makeTopic([...bag1Topics, ...bag2Topics]),
+          }).topicConfig.children
+        ).toEqual(expected);
+
+        expect(
+          getTopicConfig({
+            ...defaultGetTopicConfigInput,
+            checkedNodes: [...checkedNodes, "t:/webviz_bag_2/topic_b", "t:/webviz_bag_2/topic_not_in_json_tree"],
+            topics: makeTopic(bag2Topics),
+          }).topicConfig.children
+        ).toEqual(expected);
+      });
+    });
+
+    it("does not add prefixed topic to uncategorized (usually does not have preconfigured node name)", () => {
+      expect(
+        getTopicConfig({
+          ...defaultGetTopicConfigInput,
+          topicDisplayMode: TOPIC_DISPLAY_MODES.SHOW_AVAILABLE.value,
+          checkedNodes: ["t:/webviz_bag_2/topic_in_json_tree"],
+          topics: makeTopic(["/webviz_bag_2/topic_in_json_tree"]),
+        }).topicConfig.children
+      ).toEqual([
+        {
+          children: [
+            { extension: "ExtA.a", name: "Ext A" },
+            { extension: "ExtB.b", name: "Ext A / Ext B" },
+            { extension: "ExtC.c", name: "Ext A / Ext C" },
+            // `/topic_in_json_tree` is only available in the 2nd bag, we'll remove the bag prefix
+            // and use that to look up the topic node's name `Some Topic in JSON Tree`
+            { name: "Some Topic in JSON Tree", topic: "/topic_in_json_tree" },
+            { children: [], description: "Visualize relationships between /tf frames.", name: "TF" },
+          ],
+          name: "Bag",
+        },
+        {
+          children: [{ name: "Some Topic in JSON Tree", topic: "/webviz_bag_2/topic_in_json_tree" }],
+          name: "Bag 2 /webviz_bag_2",
+        },
+      ]);
+    });
+  });
+
+  describe("checkedNodes", () => {
+    it("returns the checkedNodes identity when none of the checked topics are available", () => {
+      const checkedNodes = [];
+      expect(
+        getTopicConfig({
+          ...defaultGetTopicConfigInput,
+          checkedNodes,
+        }).newCheckedNodes
+      ).toBe(checkedNodes);
+    });
+
+    it("creates new checkedNodes with bag1/bag2 group names", () => {
+      expect(
+        getTopicConfig({
+          ...defaultGetTopicConfigInput,
+          checkedNodes: ["t:/topic_c"],
+        }).newCheckedNodes
+      ).toEqual(["t:/topic_c", BAG1_NODE_NAME]);
+      expect(
+        getTopicConfig({
+          ...defaultGetTopicConfigInput,
+          checkedNodes: ["t:/webviz_bag_2/topic_c"],
+        }).newCheckedNodes
+      ).toEqual(["t:/webviz_bag_2/topic_c", BAG2_NODE_NAME]);
+      const checkedNodes1 = [...checkedNodes, "/webviz_bag_2/topic_b"];
+      expect(
+        getTopicConfig({
+          ...defaultGetTopicConfigInput,
+          checkedNodes: checkedNodes1,
+        }).newCheckedNodes
+      ).toEqual([...checkedNodes1, BAG1_NODE_NAME, BAG2_NODE_NAME]);
+    });
+  });
+
+  describe("tf node", () => {
+    it("adds tf node when showing all topics", () => {
+      const children = getTopicConfig({
+        ...defaultGetTopicConfigInput,
+        topicDisplayMode: TOPIC_DISPLAY_MODES.SHOW_ALL.value,
+      }).topicConfig.children;
+      const bag1TfNode = get(children, ["0", "children"]).find((node) => node.name === "TF");
+      expect(bag1TfNode).toEqual({
+        children: [],
+        description: "Visualize relationships between /tf frames.",
+        name: "TF",
+      });
+    });
+
+    it("adds tf node to the bag1 nodes when showing available topics and topics are not empty (while playing)", () => {
+      // no tf node when `topics` is empty
+      expect(
+        getTopicConfig({
+          ...defaultGetTopicConfigInput,
+          topics: [],
+          topicDisplayMode: TOPIC_DISPLAY_MODES.SHOW_AVAILABLE.value,
+        }).topicConfig.children
+      ).toEqual([
+        {
+          name: "Ext A",
+          extension: "ExtA.a",
+        },
+        {
+          name: "Ext A / Ext B",
+          extension: "ExtB.b",
+        },
+        {
+          name: "Ext A / Ext C",
+          extension: "ExtC.c",
+        },
+      ]);
+
+      const children = getTopicConfig({
+        ...defaultGetTopicConfigInput,
+        topicDisplayMode: TOPIC_DISPLAY_MODES.SHOW_AVAILABLE.value,
+      }).topicConfig.children;
+
+      const bag1TfNode = get(children, ["0", "children"]).find((node) => node.name === "TF");
+      const bag2TfNode = get(children, ["1", "children"]).find((node) => node.name === "TF");
+      expect(bag1TfNode).toEqual({
+        children: [],
+        description: "Visualize relationships between /tf frames.",
+        name: "TF",
+      });
+      expect(bag2TfNode).toBeUndefined();
+    });
+
+    it("adds tf node to bag1 when showing checked and checkedNodes has 'name:TF'", () => {
+      expect(
+        getTopicConfig({
+          ...defaultGetTopicConfigInput,
+          topicDisplayMode: TOPIC_DISPLAY_MODES.SHOW_SELECTED.value,
+        }).topicConfig.children
+      ).toEqual([
+        {
+          children: defaultExpectedBag1Nodes,
+          name: BAG1_TOPIC_GROUP_NAME,
+        },
+        {
+          children: defaultExpectedBag2Nodes,
+          name: BAG2_TOPIC_GROUP_NAME,
+        },
+      ]);
+      expect(
+        getTopicConfig({
+          ...defaultGetTopicConfigInput,
+          checkedNodes: [...checkedNodes, "name:TF"],
+          topicDisplayMode: TOPIC_DISPLAY_MODES.SHOW_SELECTED.value,
+        }).topicConfig.children
+      ).toEqual([
+        {
+          children: [
+            ...defaultExpectedBag1Nodes,
+            { children: [], description: "Visualize relationships between /tf frames.", name: "TF" },
+          ],
+          name: BAG1_TOPIC_GROUP_NAME,
+        },
+        {
+          children: defaultExpectedBag2Nodes,
+          name: BAG2_TOPIC_GROUP_NAME,
+        },
+      ]);
+    });
+  });
+});
+
+describe("getCheckedTopicsAndExtensions", () => {
+  it("returns extensions and topics", () => {
+    const expected = getCheckedTopicsAndExtensions(checkedNodes);
+    expect([...expected.selectedExtensionsSet]).toEqual(["ExtA.a", "ExtC.c"]);
+    expect([...expected.selectedTopicsSet]).toEqual(["/topic_b", "/topic_c", "/webviz_bag_2/topic_c"]);
+  });
+});
+
+describe("removeTopicPrefixes", () => {
+  it("removes webviz bag prefixes", () => {
+    expect(removeTopicPrefixes(["/foo/bar", "/webviz_bag_2/foo", "/webviz_bag_121/bar"])).toEqual([
+      "/foo/bar",
+      "/foo",
+      "/bar",
+    ]);
+  });
+});
+
+describe("getNewCheckedNodes", () => {
+  const checkedNodes = ["t:/foo/bar", "t:/webviz_bag_2/foo", "t:/webviz_bag_121/bar", "t:/foo1"];
+  it("returns new checkedNodes with bag1 topic group name when any bag1 topics are checked", () => {
+    expect(getNewCheckedNodes(["/foo1", "/foo/bar"], checkedNodes)).not.toBe(checkedNodes);
+    expect(getNewCheckedNodes(["/foo1", "/foo/bar"], checkedNodes)).toEqual([...checkedNodes, BAG1_NODE_NAME]);
+  });
+  it("returns new checkedNodes with bag2 topic group name when any bag2 topics are checked", () => {
+    expect(getNewCheckedNodes(["/webviz_bag_2/foo/bar"], checkedNodes)).toEqual([...checkedNodes, BAG2_NODE_NAME]);
+  });
+  it("returns new checkedNodes with both bag1 and bag2 topic group names", () => {
+    expect(getNewCheckedNodes(["/foo1", "/webviz_bag_2/foo/bar"], checkedNodes)).toEqual([
+      ...checkedNodes,
+      BAG1_NODE_NAME,
+      BAG2_NODE_NAME,
+    ]);
+  });
+  it("returns the original checkedNodes if it already contains bag1/bag2 topic group names", () => {
+    const checkedNodes1 = [BAG1_NODE_NAME, ...checkedNodes];
+    expect(getNewCheckedNodes(["/foo/bar"], checkedNodes1)).toBe(checkedNodes1);
+    const checkedNodes2 = [BAG2_NODE_NAME, ...checkedNodes];
+    expect(getNewCheckedNodes(["/webviz_bag_2/foo/bar"], checkedNodes2)).toBe(checkedNodes2);
+    const checkedNodes3 = [BAG1_NODE_NAME, BAG2_NODE_NAME, ...checkedNodes];
+    expect(getNewCheckedNodes(["/foo1", "/webviz_bag_2/foo/bar"], checkedNodes3)).toBe(checkedNodes3);
+  });
+});
+
+describe("setVisibleByHiddenTopics", () => {
+  it("sets visible on the tree nodes based on hiddenTopics (single bag)", () => {
+    const checkedNodes = ["t:/topic_not_in_json_tree"];
+    const topicConfig = getTopicConfig({
+      ...defaultGetTopicConfigInput,
+      topics: makeTopic(bag1Topics),
+      checkedNodes,
+      topicDisplayMode: TOPIC_DISPLAY_MODES.SHOW_SELECTED.value,
+    }).topicConfig;
+    const props = {
+      topics: [],
+      namespaces: [],
+      checkedNodes,
+      expandedNodes: [],
+      modifiedNamespaceTopics: [],
+      transforms: [],
+      icons: { "visualization_msgs/Marker": AnimationOutlineIcon },
+      topicDisplayMode: TOPIC_DISPLAY_MODES.SHOW_SELECTED.value,
+      topicConfig,
+    };
+    const tree = buildTree(props);
+    const node = tree.find((node) => node.topic === "/topic_not_in_json_tree");
+    expect(node).toBeInstanceOf(TopicTreeNode);
+    expect(node && node.visible).toBe(true);
+    setVisibleByHiddenTopics(tree, ["/topic_not_in_json_tree"]);
+    expect(node && node.visible).toBe(false);
+  });
+
+  it("sets visible on the tree nodes based on hiddenTopics (2 bags)", () => {
+    const checkedNodes = ["t:/topic_b", "t:/webviz_bag_2/topic_c"];
+    const topicConfig = getTopicConfig({
+      ...defaultGetTopicConfigInput,
+      checkedNodes,
+      topicDisplayMode: TOPIC_DISPLAY_MODES.SHOW_SELECTED.value,
+    }).topicConfig;
+    const props = {
+      topics: [],
+      namespaces: [],
+      checkedNodes,
+      expandedNodes: [],
+      modifiedNamespaceTopics: [],
+      transforms: [],
+      icons: { "visualization_msgs/Marker": AnimationOutlineIcon },
+      topicDisplayMode: TOPIC_DISPLAY_MODES.SHOW_SELECTED.value,
+      topicConfig,
+    };
+    const tree = buildTree(props);
+    const node = tree.find((node) => node.topic === "/topic_b");
+    expect(node && node.visible).toBe(true);
+    setVisibleByHiddenTopics(tree, ["/topic_b"]);
+    expect(node && node.visible).toBe(false);
+
+    const node2 = tree.find((node) => node.topic === "/webviz_bag_2/topic_c");
+    expect(node2).toBeInstanceOf(TopicTreeNode);
+    expect(node2 && node2.visible).toBe(true);
+    setVisibleByHiddenTopics(tree, ["/webviz_bag_2/topic_c"]);
+    expect(node2 && node2.visible).toBe(false);
+  });
+});
diff --git a/packages/webviz-core/src/panels/diagnostics/DiagnosticStatus.js b/packages/webviz-core/src/panels/diagnostics/DiagnosticStatus.js
index 9265e68df..960a81abe 100644
--- a/packages/webviz-core/src/panels/diagnostics/DiagnosticStatus.js
+++ b/packages/webviz-core/src/panels/diagnostics/DiagnosticStatus.js
@@ -6,8 +6,9 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
+import ChartLineVariantIcon from "@mdi/svg/svg/chart-line-variant.svg";
 import cx from "classnames";
-import { clamp } from "lodash";
+import { clamp, uniq } from "lodash";
 import * as React from "react";
 import { createSelector } from "reselect";
 import sanitizeHtml from "sanitize-html";
@@ -16,8 +17,11 @@ import styled from "styled-components";
 import style from "./DiagnosticStatus.module.scss";
 import { LEVEL_NAMES, type DiagnosticInfo, type KeyValue, type DiagnosticStatusMessage } from "./util";
 import Flex from "webviz-core/src/components/Flex";
+import Icon from "webviz-core/src/components/Icon";
 import Tooltip from "webviz-core/src/components/Tooltip";
+import Plot, { type PlotConfig } from "webviz-core/src/panels/Plot";
 import colors from "webviz-core/src/styles/colors.module.scss";
+import type { PanelConfig } from "webviz-core/src/types/panels";
 
 const MIN_SPLIT_FRACTION = 0.1;
 
@@ -25,6 +29,8 @@ type Props = {|
   info: DiagnosticInfo,
   splitFraction: number,
   onChangeSplitFraction: ?(number) => void,
+  topicToRender: string,
+  openSiblingPanel: (string, cb: (PanelConfig) => PanelConfig) => void,
 |};
 
 const ResizeHandle = styled.div.attrs({
@@ -181,14 +187,28 @@ class DiagnosticStatus extends React.Component<Props, *> {
     window.removeEventListener("mouseup", this._resizeMouseUp);
   }
 
-  _renderKeyValueCell(cls: string, html: ?{ __html: string }, str: string) {
+  _renderKeyValueCell(cls: string, html: ?{ __html: string }, str: string, openPlotPanelIconElem?: React.Node) {
     if (html) {
-      return <td className={style.valueCell} dangerouslySetInnerHTML={html} />;
+      return (
+        <td className={style.valueCell} dangerouslySetInnerHTML={html}>
+          {openPlotPanelIconElem}
+        </td>
+      );
     }
-    return <td className={style.valueCell}>{str || "\xa0"}</td>;
+    return (
+      <td className={style.valueCell}>
+        {str || "\xa0"}
+        {openPlotPanelIconElem}
+      </td>
+    );
   }
 
   _renderKeyValueSections = (values: FormattedKeyValue[]): React.Node => {
+    // get topicToRender, hardware_id and idx
+    // Add a icon and open plot panel with this path:
+    // /${topicToRender}.status[:]{hardware_id==${hardware_id}}.values[idx].value
+    const { info, topicToRender, openSiblingPanel } = this.props;
+    const hardware_id = info.status.hardware_id;
     let inCollapsedSection = false;
     let ellipsisShown = false;
     return values.map((kv, idx) => {
@@ -216,10 +236,40 @@ class DiagnosticStatus extends React.Component<Props, *> {
           </tr>
         );
       }
+      const openPlotPanelIconElem =
+        kv.value && kv.value.length > 0 && !isNaN(Number(kv.value)) ? (
+          <Icon
+            fade
+            dataTest="open-plot-icon"
+            className={style.plotIcon}
+            onClick={() =>
+              openSiblingPanel(
+                // $FlowFixMe: https://stackoverflow.com/questions/52508434/adding-static-variable-to-union-of-class-types
+                Plot.panelType,
+                (config: PlotConfig) =>
+                  ({
+                    ...config,
+                    paths: uniq([
+                      ...config.paths,
+                      {
+                        value: `${topicToRender}.status[:]{hardware_id=="${hardware_id}"}.values[:]{key=="${
+                          kv.key
+                        }"}.value`,
+                        enabled: true,
+                        timestampMethod: "receiveTime",
+                      },
+                    ]),
+                  }: PlotConfig)
+              )
+            }
+            tooltip="Line chart">
+            <ChartLineVariantIcon />
+          </Icon>
+        ) : null;
       return (
         <tr key={idx}>
           {this._renderKeyValueCell(style.keyCell, kv.keyHtml, kv.key)}
-          {this._renderKeyValueCell(style.valueCell, kv.valueHtml, kv.value)}
+          {this._renderKeyValueCell(style.valueCell, kv.valueHtml, kv.value, openPlotPanelIconElem)}
         </tr>
       );
     });
diff --git a/packages/webviz-core/src/panels/diagnostics/DiagnosticStatus.module.scss b/packages/webviz-core/src/panels/diagnostics/DiagnosticStatus.module.scss
index 80897f4c6..a8b244b0c 100644
--- a/packages/webviz-core/src/panels/diagnostics/DiagnosticStatus.module.scss
+++ b/packages/webviz-core/src/panels/diagnostics/DiagnosticStatus.module.scss
@@ -57,3 +57,11 @@ td.collapsedSection {
   text-align: center;
   color: $red;
 }
+
+.plotIcon {
+  color: white;
+
+  > svg {
+    vertical-align: top;
+  }
+}
diff --git a/packages/webviz-core/src/panels/diagnostics/DiagnosticStatusPanel.js b/packages/webviz-core/src/panels/diagnostics/DiagnosticStatusPanel.js
index e66515bba..db5bd7d85 100644
--- a/packages/webviz-core/src/panels/diagnostics/DiagnosticStatusPanel.js
+++ b/packages/webviz-core/src/panels/diagnostics/DiagnosticStatusPanel.js
@@ -19,6 +19,8 @@ import Flex from "webviz-core/src/components/Flex";
 import Panel from "webviz-core/src/components/Panel";
 import PanelToolbar from "webviz-core/src/components/PanelToolbar";
 import TopicToRenderMenu from "webviz-core/src/components/TopicToRenderMenu";
+import type { Topic } from "webviz-core/src/players/types";
+import type { PanelConfig } from "webviz-core/src/types/panels";
 import { DIAGNOSTIC_TOPIC } from "webviz-core/src/util/globalConstants";
 
 export type Config = {
@@ -31,6 +33,8 @@ export type Config = {
 type Props = {
   config: Config,
   saveConfig: ($Shape<Config>) => void,
+  topics: Topic[],
+  openSiblingPanel: (string, cb: (PanelConfig) => PanelConfig) => void,
 };
 // component to display a single diagnostic status from list
 class DiagnosticStatusPanel extends React.Component<Props> {
@@ -62,7 +66,8 @@ class DiagnosticStatusPanel extends React.Component<Props> {
   };
 
   render() {
-    const { selectedHardwareId, selectedName, splitFraction, topicToRender } = this.props.config;
+    const { openSiblingPanel, config } = this.props;
+    const { selectedHardwareId, selectedName, splitFraction, topicToRender } = config;
 
     let hasSelection = false;
     let selectedId, selectedDisplayName;
@@ -75,12 +80,14 @@ class DiagnosticStatusPanel extends React.Component<Props> {
     return (
       <Flex scroll scrollX col>
         <DiagnosticsHistory topic={topicToRender}>
-          {({ buffer, allTopics }) => {
+          {(buffer) => {
             const selectedItem = selectedId ? buffer.diagnosticsById.get(selectedId) : null;
 
             return (
               <>
-                <PanelToolbar helpContent={helpContent} additionalIcons={this.renderTopicToRenderMenu(allTopics)}>
+                <PanelToolbar
+                  helpContent={helpContent}
+                  additionalIcons={this.renderTopicToRenderMenu(this.props.topics)}>
                   <Autocomplete
                     placeholder={hasSelection ? selectedDisplayName : "Select a diagnostic"}
                     items={buffer.sortedAutocompleteEntries}
@@ -96,6 +103,8 @@ class DiagnosticStatusPanel extends React.Component<Props> {
                     info={selectedItem}
                     splitFraction={splitFraction}
                     onChangeSplitFraction={(splitFraction) => this.props.saveConfig({ splitFraction })}
+                    topicToRender={topicToRender}
+                    openSiblingPanel={openSiblingPanel}
                   />
                 ) : selectedId ? (
                   <EmptyState>
diff --git a/packages/webviz-core/src/panels/diagnostics/DiagnosticSummary.js b/packages/webviz-core/src/panels/diagnostics/DiagnosticSummary.js
index 6870961bf..b9cef6b4b 100644
--- a/packages/webviz-core/src/panels/diagnostics/DiagnosticSummary.js
+++ b/packages/webviz-core/src/panels/diagnostics/DiagnosticSummary.js
@@ -25,6 +25,7 @@ import PanelToolbar from "webviz-core/src/components/PanelToolbar";
 import TopicToRenderMenu from "webviz-core/src/components/TopicToRenderMenu";
 import { getGlobalHooks } from "webviz-core/src/loadWebviz";
 import DiagnosticsHistory from "webviz-core/src/panels/diagnostics/DiagnosticsHistory";
+import type { Topic } from "webviz-core/src/players/types";
 import type { PanelConfig } from "webviz-core/src/types/panels";
 import { DIAGNOSTIC_TOPIC } from "webviz-core/src/util/globalConstants";
 import toggle from "webviz-core/src/util/toggle";
@@ -74,6 +75,7 @@ type Props = {
   config: Config,
   saveConfig: ($Shape<Config>) => void,
   openSiblingPanel: (string, cb: (PanelConfig) => PanelConfig) => void,
+  topics: Topic[],
 };
 
 const getSortedNodes = (nodes: DiagnosticInfo[], pinnedIds: DiagnosticId[]): DiagnosticInfo[] => {
@@ -147,10 +149,13 @@ class DiagnosticSummary extends React.Component<Props> {
   };
 
   render() {
-    const { topicToRender } = this.props.config;
+    const {
+      config: { topicToRender },
+      topics,
+    } = this.props;
     return (
       <DiagnosticsHistory topic={topicToRender}>
-        {({ buffer, allTopics }) => {
+        {(buffer) => {
           let dataComponent;
           if (buffer.diagnosticsById.size === 0) {
             dataComponent = (
@@ -177,7 +182,7 @@ class DiagnosticSummary extends React.Component<Props> {
 
           return (
             <Flex col className={styles.panel}>
-              <PanelToolbar helpContent={helpContent} additionalIcons={this.renderTopicToRenderMenu(allTopics)}>
+              <PanelToolbar helpContent={helpContent} additionalIcons={this.renderTopicToRenderMenu(topics)}>
                 {this.renderHardwareFilter()}
               </PanelToolbar>
               <Flex col scroll scrollX>
diff --git a/packages/webviz-core/src/panels/diagnostics/DiagnosticsHistory.js b/packages/webviz-core/src/panels/diagnostics/DiagnosticsHistory.js
index b907e4768..0d91a4f4a 100644
--- a/packages/webviz-core/src/panels/diagnostics/DiagnosticsHistory.js
+++ b/packages/webviz-core/src/panels/diagnostics/DiagnosticsHistory.js
@@ -19,7 +19,6 @@ import {
   computeDiagnosticInfo,
 } from "./util";
 import * as PanelAPI from "webviz-core/src/PanelAPI";
-import type { Topic } from "webviz-core/src/players/types";
 
 export type DiagnosticAutocompleteEntry = {|
   name: string,
@@ -36,11 +35,11 @@ export type DiagnosticsBuffer = {|
 |};
 
 type Props = {|
-  children: ({ buffer: DiagnosticsBuffer, allTopics: $ReadOnlyArray<Topic> }) => Node,
+  children: (DiagnosticsBuffer) => Node,
   topic: string,
 |};
 
-export function useDiagnostics(topic: string): { diagnostics: DiagnosticsBuffer, allTopics: $ReadOnlyArray<Topic> } {
+export function useDiagnostics(topic: string): DiagnosticsBuffer {
   const { reducedValue: diagnostics } = PanelAPI.useMessages<DiagnosticsBuffer>({
     topics: [topic],
 
@@ -101,12 +100,10 @@ export function useDiagnostics(topic: string): { diagnostics: DiagnosticsBuffer,
     }, []),
   });
 
-  const allTopics = PanelAPI.useDataSourceInfo().topics;
-
-  return { diagnostics, allTopics };
+  return diagnostics;
 }
 
 export default function DiagnosticsHistory({ children, topic }: Props) {
-  const { diagnostics, allTopics } = useDiagnostics(topic);
-  return children({ buffer: diagnostics, allTopics });
+  const diagnostics = useDiagnostics(topic);
+  return children(diagnostics);
 }
diff --git a/packages/webviz-core/src/players/RandomAccessPlayer.js b/packages/webviz-core/src/players/RandomAccessPlayer.js
index b131f5f8e..2e65a0b83 100644
--- a/packages/webviz-core/src/players/RandomAccessPlayer.js
+++ b/packages/webviz-core/src/players/RandomAccessPlayer.js
@@ -42,11 +42,19 @@ const LOOP_MIN_BAG_TIME_IN_SEC = 1;
 const delay = (time) => new Promise((resolve) => setTimeout(resolve, time));
 
 // The number of nanoseconds to seek backwards to build context during a seek
-// operation larger values mean more oportunity to capture context before the
-// seek event, but are slower operations. We've chosen 99ms since our internal tool (Tableflow)
-// publishes at 10hz, and we do NOT want to pull in a range of messages that
-// exceeds that frequency.
-export const SEEK_BACK_NANOSECONDS = 99 /* ms */ * 1000 * 1000;
+// operation larger values mean more opportunity to capture context before the
+// seek event, but are slower operations. We shouldn't make this number too big,
+// otherwise we pull in too many unnecessary messages, making seeking slow. But
+// we also don't want it to be too low, otherwise you don't see enough data when
+// seeking.
+// Unfortunately right now we need a pretty high number here, especially when
+// using "synchronized topics" (e.g. in the Image panel) when one of the topics
+// is publishing at a fairly low rate.
+// TODO(JP): Add support for subscribers to express that we're only interested
+// in the last message on a topic, and then support that in `getMessages` as
+// well, so we can fetch pretty old messages without incurring the cost of
+// fetching too many.
+export const SEEK_BACK_NANOSECONDS = 299 /* ms */ * 1000 * 1000;
 
 export const AUTOPLAY_START_DELAY_MS = 100;
 
diff --git a/packages/webviz-core/src/players/RandomAccessPlayer.test.js b/packages/webviz-core/src/players/RandomAccessPlayer.test.js
index 88bace920..001277daa 100644
--- a/packages/webviz-core/src/players/RandomAccessPlayer.test.js
+++ b/packages/webviz-core/src/players/RandomAccessPlayer.test.js
@@ -6,98 +6,22 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-//  Copyright (c) 2018-present, GM Cruise LLC
-//
-//  This source code is licensed under the Apache License, Version 2.0,
-//  found in the LICENSE file in the root directory of this source tree.
-//  You may not use this file except in compliance with the License.
-
 import { omit } from "lodash";
 import { TimeUtil, type Time } from "rosbag";
 
 import RandomAccessPlayer, { SEEK_BACK_NANOSECONDS, AUTOPLAY_START_DELAY_MS } from "./RandomAccessPlayer";
+import TestProvider from "./TestProvider";
 import delay from "webviz-core/shared/delay";
-import {
-  type ExtensionPoint,
-  type InitializationResult,
-  type DataProviderMessage,
-  type DataProvider,
-} from "webviz-core/src/dataProviders/types";
+import { type DataProviderMessage } from "webviz-core/src/dataProviders/types";
 import NoopMetricsCollector from "webviz-core/src/players/NoopMetricsCollector";
 import {
   type PlayerMetricsCollectorInterface,
-  type Topic,
   type PlayerState,
   PlayerCapabilities,
 } from "webviz-core/src/players/types";
-import type { RosDatatypes } from "webviz-core/src/types/RosDatatypes";
+import reportError from "webviz-core/src/util/reportError";
 import signal from "webviz-core/src/util/signal";
 
-jest.mock("webviz-core/src/util/reportError");
-
-type GetMessages = (start: Time, end: Time, topics: string[]) => Promise<DataProviderMessage[]>;
-
-const start = { sec: 0, nsec: 0 };
-const end = { sec: 100, nsec: 0 };
-const datatypes: RosDatatypes = {
-  fooBar: [
-    {
-      name: "val",
-      type: "number",
-    },
-  ],
-  baz: [
-    {
-      name: "val",
-      type: "number",
-    },
-  ],
-};
-const topics: Topic[] = [
-  {
-    name: "/foo/bar",
-    datatype: "fooBar",
-  },
-  {
-    name: "/baz",
-    datatype: "baz",
-  },
-];
-class TestProvider implements DataProvider {
-  _start: Time;
-  _end: Time;
-  _topics: Topic[];
-  _datatypes: RosDatatypes;
-  extensionPoint: ExtensionPoint;
-  closed: boolean = false;
-
-  constructor() {
-    this._start = start;
-    this._end = end;
-    this._topics = topics;
-    this._datatypes = datatypes;
-  }
-
-  initialize(extensionPoint: ExtensionPoint): Promise<InitializationResult> {
-    this.extensionPoint = extensionPoint;
-    return Promise.resolve({
-      start: this._start,
-      end: this._end,
-      topics: this._topics,
-      datatypes: this._datatypes,
-    });
-  }
-
-  getMessages: GetMessages = (start: Time, end: Time, topics: string[]): Promise<DataProviderMessage[]> => {
-    throw new Error("not implemented");
-  };
-
-  close(): Promise<void> {
-    this.closed = true;
-    return Promise.resolve();
-  }
-}
-
 class MessageStore {
   _messages: PlayerState[] = [];
   done: Promise<PlayerState[]>;
@@ -259,7 +183,7 @@ describe("RandomAccessPlayer", () => {
     };
 
     const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] });
-    const store = new MessageStore(6);
+    const store = new MessageStore(5);
     await source.setListener(store.add);
 
     source.setSubscriptions([{ topic: "/foo/bar" }]);
@@ -283,7 +207,6 @@ describe("RandomAccessPlayer", () => {
           message: { payload: "foo bar" },
         },
       ],
-      [],
     ]);
   });
 
@@ -303,8 +226,8 @@ describe("RandomAccessPlayer", () => {
           return Promise.resolve([]);
 
         case 2:
-          expect(start).toEqual({ sec: 0, nsec: 2 });
-          expect(end).toEqual({ sec: 0, nsec: 4000001 });
+          expect(start).toEqual({ sec: 0, nsec: 1 });
+          expect(end).toEqual({ sec: 0, nsec: 4000000 });
           expect(topics).toEqual(["/foo/bar"]);
           source.pausePlayback();
           return Promise.resolve([]);
@@ -314,7 +237,7 @@ describe("RandomAccessPlayer", () => {
       }
     };
 
-    const store = new MessageStore(5);
+    const store = new MessageStore(4);
     await source.setListener(store.add);
     source.setSubscriptions([{ topic: "/foo/bar" }]);
     source.startPlayback();
@@ -322,7 +245,7 @@ describe("RandomAccessPlayer", () => {
     // close the player to stop more reads
     source.close();
     const messagePayloads = messages.map((msg) => (msg.activeData || {}).messages || []);
-    expect(messagePayloads).toEqual([[], [], [], [], []]);
+    expect(messagePayloads).toEqual([[], [], [], []]);
   });
 
   it("pauses and does not emit messages after pause", async () => {
@@ -645,7 +568,7 @@ describe("RandomAccessPlayer", () => {
     const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] });
     source.setSubscriptions([{ topic: "/foo/bar" }]);
     let lastGetMessagesCall;
-    const getMessages: GetMessages = (start: Time, end: Time, topics: string[]): Promise<DataProviderMessage[]> => {
+    const getMessages = (start: Time, end: Time, topics: string[]): Promise<DataProviderMessage[]> => {
       return new Promise((resolve) => {
         lastGetMessagesCall = { start, end, topics, resolve };
       });
@@ -836,6 +759,9 @@ describe("RandomAccessPlayer", () => {
       expect.objectContaining({ showInitializing: true, activeData: undefined }),
       expect.objectContaining({ showInitializing: false, activeData: undefined }),
     ]);
+    expect(reportError).toHaveBeenCalledWith("Error initializing player", expect.any(Error), "app");
+    // $FlowFixMe
+    reportError.mockClear();
   });
 
   it("shows a spinner when a provider is reconnecting", (done) => {
diff --git a/packages/webviz-core/src/players/TestProvider.js b/packages/webviz-core/src/players/TestProvider.js
new file mode 100644
index 000000000..295dd38cc
--- /dev/null
+++ b/packages/webviz-core/src/players/TestProvider.js
@@ -0,0 +1,85 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { type Time } from "rosbag";
+
+import {
+  type ExtensionPoint,
+  type InitializationResult,
+  type DataProviderMessage,
+  type DataProvider,
+} from "webviz-core/src/dataProviders/types";
+import { type Topic } from "webviz-core/src/players/types";
+import type { RosDatatypes } from "webviz-core/src/types/RosDatatypes";
+
+const start = { sec: 0, nsec: 0 };
+const end = { sec: 100, nsec: 0 };
+const datatypes: RosDatatypes = {
+  fooBar: [
+    {
+      name: "val",
+      type: "number",
+    },
+  ],
+  baz: [
+    {
+      name: "val",
+      type: "number",
+    },
+  ],
+};
+const topics: Topic[] = [
+  {
+    name: "/foo/bar",
+    datatype: "fooBar",
+  },
+  {
+    name: "/baz",
+    datatype: "baz",
+  },
+];
+
+type GetMessages = (start: Time, end: Time, topics: string[]) => Promise<DataProviderMessage[]>;
+
+export default class TestProvider implements DataProvider {
+  _start: Time;
+  _end: Time;
+  _topics: Topic[];
+  _datatypes: RosDatatypes;
+  extensionPoint: ExtensionPoint;
+  closed: boolean = false;
+
+  constructor({ getMessages }: { getMessages: GetMessages } = {}) {
+    this._start = start;
+    this._end = end;
+    this._topics = topics;
+    this._datatypes = datatypes;
+    if (getMessages) {
+      this.getMessages = getMessages;
+    }
+  }
+
+  initialize(extensionPoint: ExtensionPoint): Promise<InitializationResult> {
+    this.extensionPoint = extensionPoint;
+    return Promise.resolve({
+      start: this._start,
+      end: this._end,
+      topics: this._topics,
+      datatypes: this._datatypes,
+    });
+  }
+
+  getMessages: GetMessages = (start: Time, end: Time, topics: string[]): Promise<DataProviderMessage[]> => {
+    throw new Error("not implemented");
+  };
+
+  close(): Promise<void> {
+    this.closed = true;
+    return Promise.resolve();
+  }
+}
diff --git a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/transformer.js b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/transformer.js
index 63f84d2ac..4e85e88e8 100644
--- a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/transformer.js
+++ b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/transformer.js
@@ -289,7 +289,7 @@ export const extractDatatypes = (nodeData: NodeData): NodeData => {
         ...nodeData.diagnostics,
         {
           severity: DiagnosticSeverity.Error,
-          message: "Unkown error encountered. This is likely a problem with Node Playground itself.",
+          message: "Unknown error encountered. This is likely a problem with Node Playground itself.",
           source: Sources.DatatypeExtraction,
           code: ErrorCodes.DatatypeExtraction.UNKNOWN_ERROR,
         },
diff --git a/packages/webviz-core/src/players/automatedRun/AutomatedRunPlayer.js b/packages/webviz-core/src/players/automatedRun/AutomatedRunPlayer.js
new file mode 100644
index 000000000..e7439ea1c
--- /dev/null
+++ b/packages/webviz-core/src/players/automatedRun/AutomatedRunPlayer.js
@@ -0,0 +1,287 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { type Time, TimeUtil } from "rosbag";
+import uuid from "uuid";
+
+import type { DataProvider, DataProviderMetadata, InitializationResult } from "webviz-core/src/dataProviders/types";
+import type {
+  AdvertisePayload,
+  Message,
+  Player,
+  PlayerState,
+  Progress,
+  PublishPayload,
+  SubscribePayload,
+  Topic,
+} from "webviz-core/src/players/types";
+import { USER_ERROR_PREFIX } from "webviz-core/src/util/globalConstants";
+import Logger from "webviz-core/src/util/Logger";
+import reportError, {
+  type ErrorType,
+  type DetailsType,
+  detailsToString,
+  setErrorHandler,
+} from "webviz-core/src/util/reportError";
+import { getSanitizedTopics } from "webviz-core/src/util/selectors";
+import { clampTime, subtractTimes, toMillis } from "webviz-core/src/util/time";
+
+export interface AutomatedRunClient {
+  speed: number;
+  msPerFrame: number;
+  shouldLoadDataBeforePlaying: boolean;
+  onError(any): void;
+  start({ bagLengthMs: number }): void;
+  markTotalFrameStart(): void;
+  markTotalFrameEnd(): void;
+  markFrameRenderStart(): void;
+  markFrameRenderEnd(): void;
+  onFrameFinished(frameIndex: number): Promise<void>;
+  finish(): any;
+}
+
+export const AUTOMATED_RUN_START_DELAY = 2000;
+
+const logger = new Logger(__filename);
+
+export default class AutomatedRunPlayer implements Player {
+  static className = "AutomatedRunPlayer";
+  _isPlaying: boolean = false;
+  _provider: DataProvider;
+  _providerResult: InitializationResult;
+  _progress: Progress;
+  _topics: Set<string> = new Set();
+  _listener: (PlayerState) => Promise<void>;
+  _initializeTimeout: TimeoutID;
+  _initialized: boolean = false;
+  _id: string = uuid.v4();
+  _speed: number;
+  _msPerFrame: number;
+  _client: AutomatedRunClient;
+  _error: ?Error;
+  _startCalled: boolean = false;
+
+  constructor(provider: DataProvider, client: AutomatedRunClient) {
+    this._provider = provider;
+    this._speed = client.speed;
+    this._msPerFrame = client.msPerFrame;
+    this._client = client;
+    // Report errors from reportError and those thrown on the window object to the client.
+    setErrorHandler((message: string, details: DetailsType, type: ErrorType) => {
+      let error;
+      if (type === "user") {
+        error = new Error(`${USER_ERROR_PREFIX} ${message} // ${detailsToString(details)}`);
+      } else if (type === "app") {
+        error = new Error(`[WEBVIZ APPLICATION ERROR] ${message} // ${detailsToString(details)}`);
+      } else {
+        (type: void);
+        error = new Error(`Unknown error type! ${type} // ${detailsToString(details)}`);
+      }
+      this._error = error;
+      client.onError(error);
+    });
+    window.addEventListener("error", (e: Error) => {
+      this._error = e;
+      client.onError(e);
+    });
+  }
+
+  async _getMessages(start: Time, end: Time): Promise<Message[]> {
+    const topics = getSanitizedTopics(this._topics, this._providerResult.topics);
+    if (topics.length === 0) {
+      return [];
+    }
+    start = clampTime(start, this._providerResult.start, this._providerResult.end);
+    end = clampTime(end, this._providerResult.start, this._providerResult.end);
+    const messages = await this._provider.getMessages(start, end, topics);
+    return messages.map((message) => {
+      const topic: ?Topic = this._providerResult.topics.find((t) => t.name === message.topic);
+      if (!topic) {
+        throw new Error(`Could not find topic for message ${message.topic}`);
+      }
+
+      if (!topic.datatype) {
+        throw new Error(`Missing datatype for topic: ${message.topic}`);
+      }
+
+      return {
+        op: "message",
+        topic: message.topic,
+        datatype: topic.datatype,
+        receiveTime: message.receiveTime,
+        message: message.message,
+      };
+    });
+  }
+
+  async _emitState(messages: Message[], currentTime: Time): Promise<void> {
+    if (!this._listener) {
+      return;
+    }
+    return this._listener({
+      isPresent: true,
+      showSpinner: false,
+      showInitializing: false,
+      progress: this._progress,
+      capabilities: [],
+      playerId: this._id,
+      activeData: {
+        messages,
+        currentTime,
+        startTime: this._providerResult.start,
+        endTime: this._providerResult.end,
+        isPlaying: this._isPlaying,
+        speed: this._speed,
+        lastSeekTime: 0,
+        topics: this._providerResult.topics,
+        datatypes: this._providerResult.datatypes,
+      },
+    });
+  }
+
+  setListener(callback: (PlayerState) => Promise<void>): void {
+    this._listener = callback;
+  }
+
+  setSubscriptions(subscriptions: SubscribePayload[]): void {
+    this._topics = new Set(subscriptions.map(({ topic }) => topic));
+
+    // Wait with running until we've subscribed to a bunch of topics.
+    clearTimeout(this._initializeTimeout);
+    this._initializeTimeout = setTimeout(() => this._initialize(), AUTOMATED_RUN_START_DELAY);
+  }
+
+  async _initialize() {
+    if (this._initialized) {
+      return; // Prevent double loads.
+    }
+    this._initialized = true;
+    logger.info(`AutomatedRunPlayer._initialize()`);
+
+    this._providerResult = await this._provider.initialize({
+      progressCallback: (progress: Progress) => {
+        this._progress = progress;
+        this._onUpdateProgress();
+      },
+      reportMetadataCallback: (metadata: DataProviderMetadata) => {
+        switch (metadata.type) {
+          case "updateReconnecting":
+            reportError(
+              "updateReconnecting should never be called here",
+              `AutomatedRunPlayer only supports local playback`,
+              "app"
+            );
+            break;
+          default:
+            (metadata.type: empty);
+        }
+      },
+    });
+
+    await this._start();
+  }
+
+  async _start() {
+    // Call _getMessages to start data loading and rendering for the first frame.
+    const messages = await this._getMessages(this._providerResult.start, this._providerResult.start);
+    await this._emitState(messages, this._providerResult.start);
+    this._startCalled = true;
+    this._maybeStartPlayback();
+  }
+
+  async _onUpdateProgress() {
+    this._maybeStartPlayback();
+  }
+
+  async _maybeStartPlayback() {
+    if (!this._startCalled) {
+      return;
+    }
+    if (!this._client.shouldLoadDataBeforePlaying && this._providerResult) {
+      this._run();
+    } else if (
+      this._client.shouldLoadDataBeforePlaying &&
+      this._providerResult &&
+      this._progress &&
+      this._progress.fullyLoadedFractionRanges &&
+      this._progress.fullyLoadedFractionRanges.length &&
+      this._progress.fullyLoadedFractionRanges.every(({ start, end }) => start === 0 && end === 1)
+    ) {
+      // If the client has shouldLoadDataBeforePlaying set to true, only start playback once all data has loaded.
+      this._run();
+    }
+  }
+
+  async _run() {
+    if (this._isPlaying) {
+      return; // Only run once
+    }
+    this._isPlaying = true;
+    logger.info("AutomatedRunPlayer._run()");
+    await this._emitState([], this._providerResult.start);
+
+    let currentTime = this._providerResult.start;
+    this._client.start({
+      bagLengthMs: toMillis(subtractTimes(this._providerResult.end, this._providerResult.start), "round-up"),
+    });
+
+    const nsBagTimePerFrame = Math.round(this._msPerFrame * this._speed * 1000000);
+
+    let frameCount = 0;
+    while (TimeUtil.isLessThan(currentTime, this._providerResult.end)) {
+      if (this._error) {
+        return;
+      }
+      const end = TimeUtil.add(currentTime, { sec: 0, nsec: nsBagTimePerFrame });
+      this._client.markTotalFrameStart();
+      const messages = await this._getMessages(currentTime, end);
+
+      this._client.markFrameRenderStart();
+      await this._emitState(messages, end);
+      this._client.markTotalFrameEnd();
+      this._client.markFrameRenderEnd();
+
+      await this._client.onFrameFinished(frameCount);
+
+      currentTime = TimeUtil.add(end, { sec: 0, nsec: 1 });
+      frameCount++;
+    }
+
+    this._client.finish();
+    logger.info("AutomatedRunPlayer._run() finished");
+  }
+
+  /* Public API shared functions */
+
+  requestMessages() {}
+  setPublishers(publishers: AdvertisePayload[]) {}
+
+  publish(payload: PublishPayload) {
+    throw new Error(`Unsupported in AutomatedRunPlayer`);
+  }
+
+  async close() {
+    throw new Error(`Unsupported in AutomatedRunPlayer`);
+  }
+
+  startPlayback() {
+    throw new Error(`Unsupported in AutomatedRunPlayer`);
+  }
+
+  pausePlayback() {
+    throw new Error(`Unsupported in AutomatedRunPlayer`);
+  }
+
+  setPlaybackSpeed(speed: number) {
+    // This should be passed into the constructor and should not be changed.
+  }
+
+  seekPlayback(time: Time) {
+    throw new Error(`Unsupported in AutomatedRunPlayer`);
+  }
+}
diff --git a/packages/webviz-core/src/players/automatedRun/AutomatedRunPlayer.test.js b/packages/webviz-core/src/players/automatedRun/AutomatedRunPlayer.test.js
new file mode 100644
index 000000000..2f019de4c
--- /dev/null
+++ b/packages/webviz-core/src/players/automatedRun/AutomatedRunPlayer.test.js
@@ -0,0 +1,151 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import TestProvider from "../TestProvider";
+import AutomatedRunPlayer, { type AutomatedRunClient, AUTOMATED_RUN_START_DELAY } from "./AutomatedRunPlayer";
+import delay from "webviz-core/shared/delay";
+import { type Progress } from "webviz-core/src/players/types";
+import signal from "webviz-core/src/util/signal";
+
+class TestRunClient implements AutomatedRunClient {
+  speed = 1;
+  msPerFrame = 20000;
+  shouldLoadDataBeforePlaying = false;
+
+  finished = false;
+  frameStarted = false;
+
+  constructor({ shouldLoadDataBeforePlaying }: { shouldLoadDataBeforePlaying?: boolean } = {}) {
+    this.shouldLoadDataBeforePlaying = shouldLoadDataBeforePlaying || false;
+  }
+
+  onError(err) {
+    throw err;
+  }
+  start() {}
+  markTotalFrameStart() {
+    this.frameStarted = true;
+  }
+  markTotalFrameEnd() {}
+  markFrameRenderStart() {}
+  markFrameRenderEnd() {}
+  async onFrameFinished() {}
+  finish() {
+    this.finished = true;
+  }
+}
+
+/* eslint-disable no-underscore-dangle */
+describe("AutomatedRunPlayer", () => {
+  it("waits to start playing until all frames are loaded when shouldLoadDataBeforePlaying=true", async () => {
+    const provider = new TestProvider({ getMessages: async () => [] });
+    const client = new TestRunClient({ shouldLoadDataBeforePlaying: true });
+    const player = new AutomatedRunPlayer(provider, client);
+    player.setSubscriptions([{ topic: "/foo/bar" }]);
+    await delay(AUTOMATED_RUN_START_DELAY + 1000);
+    expect(player._initialized).toEqual(true);
+    expect(player._isPlaying).toEqual(false);
+
+    const unfinishedProgress: Progress = { fullyLoadedFractionRanges: [{ start: 0, end: 0.5 }] };
+    provider.extensionPoint.progressCallback(unfinishedProgress);
+    expect(player._isPlaying).toEqual(false);
+
+    const finishedProgress: Progress = { fullyLoadedFractionRanges: [{ start: 0, end: 1 }] };
+    provider.extensionPoint.progressCallback(finishedProgress);
+    expect(player._isPlaying).toEqual(true);
+  });
+
+  it("makes calls to getMessages with the correct frames", async () => {
+    const frames = [];
+    const provider = new TestProvider({
+      getMessages: async (startTime, endTime) => {
+        frames.push({ startTime, endTime });
+        return [];
+      },
+    });
+    const client = new TestRunClient();
+
+    const player = new AutomatedRunPlayer(provider, client);
+    player.setSubscriptions([{ topic: "/foo/bar" }]);
+    await delay(AUTOMATED_RUN_START_DELAY + 1000);
+    expect(player._initialized).toEqual(true);
+    expect(player._isPlaying).toEqual(true);
+    const listener = { signal: signal() };
+    player.setListener((state) => {
+      return listener.signal;
+    });
+    while (!client.finished) {
+      // Resolve the previous emit promise, then go to the next frame.
+      const previousEmitSignal = listener.signal;
+      listener.signal = signal();
+      previousEmitSignal.resolve();
+      await delay(1);
+    }
+    expect(frames).toEqual([
+      { startTime: { sec: 0, nsec: 0 }, endTime: { sec: 0, nsec: 0 } },
+      { startTime: { sec: 0, nsec: 0 }, endTime: { sec: 20, nsec: 0 } },
+      { startTime: { sec: 20, nsec: 1 }, endTime: { sec: 40, nsec: 1 } },
+      { startTime: { sec: 40, nsec: 2 }, endTime: { sec: 60, nsec: 2 } },
+      { startTime: { sec: 60, nsec: 3 }, endTime: { sec: 80, nsec: 3 } },
+      { startTime: { sec: 80, nsec: 4 }, endTime: { sec: 100, nsec: 0 } },
+    ]);
+  });
+
+  it("awaits the previous emit promise before calling getMessages", async () => {
+    let getMessagesCallCount = 0;
+    const getMessagesSignal = { signal: signal() };
+    const provider = new TestProvider({
+      getMessages: async (startTime, endTime) => {
+        getMessagesCallCount++;
+        return getMessagesSignal.signal;
+      },
+    });
+    function resolveNextGetMessages() {
+      const previousGetMessagesSignal = getMessagesSignal.signal;
+      getMessagesSignal.signal = signal();
+      previousGetMessagesSignal.resolve([]);
+    }
+
+    const client = new TestRunClient();
+
+    const player = new AutomatedRunPlayer(provider, client);
+    player.setSubscriptions([{ topic: "/foo/bar" }]);
+    await delay(AUTOMATED_RUN_START_DELAY + 1000);
+    const listener = { signal: signal() };
+    player.setListener(() => {
+      return listener.signal;
+    });
+    function resolveNextEmitState() {
+      const previousEmitSignal = listener.signal;
+      listener.signal = signal();
+      previousEmitSignal.resolve();
+    }
+
+    // We make one getMessages call at the beginning that we have to resolve.
+    resolveNextGetMessages();
+    // Get us into the event loop.
+    while (!client.frameStarted) {
+      resolveNextEmitState();
+      await delay(10);
+    }
+    // Make sure we've resolved our last emit state, so that there is no state waiting to go out.
+    resolveNextEmitState();
+    await delay(10);
+
+    // Now we're in the run loop.
+    // Reset the call count to 0.
+    getMessagesCallCount = 0;
+    resolveNextGetMessages();
+    await delay(10);
+    // Don't call getMessages until the previous listener has resolved.
+    expect(getMessagesCallCount).toEqual(0);
+    resolveNextEmitState();
+    await delay(10);
+    expect(getMessagesCallCount).toEqual(1);
+  });
+});
diff --git a/packages/webviz-core/src/players/automatedRun/performanceMeasuringClient.js b/packages/webviz-core/src/players/automatedRun/performanceMeasuringClient.js
new file mode 100644
index 000000000..373980335
--- /dev/null
+++ b/packages/webviz-core/src/players/automatedRun/performanceMeasuringClient.js
@@ -0,0 +1,238 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import round from "lodash/round";
+import sum from "lodash/sum";
+
+export type PerformanceStats = {|
+  bagLengthMs: number,
+  speed: number,
+  msPerFrame: number,
+  frameRenderCount: number,
+
+  // The "benchmark playback score" is the speed adjusted ratio of the bag length to the playback time.
+  // It is not perfectly analagous to the playback ratio in production, which is capped at 1. In benchmarking we have a
+  // fixed data frame size and we render as fast as possible, so this number can be greater than 1 and correlates with
+  // but is not identical to what playback ratio would be when playing in production.
+  // Higher is better for this metric.
+  benchmarkPlaybackScore: number,
+  playbackTimeMs: number,
+  averageRenderMs: number,
+  averageFrameTimeMs: number,
+  idbReadDataByTopic: {
+    [string]: { count: number, totalTimeMs: number, averageTimeMs: number },
+  },
+|};
+
+type Status = {| status: "errored", error: Error |} | {| status: "finished", stats: PerformanceStats |};
+
+let error: ?Error = null;
+let finishedPerformanceStats: ?PerformanceStats = null;
+
+global.performanceMeasurement = {
+  pollStatus(): Status | false {
+    if (error) {
+      return { status: "errored", error };
+    } else if (finishedPerformanceStats) {
+      return { status: "finished", stats: finishedPerformanceStats };
+    }
+    return false;
+  },
+};
+
+const PERFORMANCE_MEASURING_MS_FRAMERATE_PARAM = "performance-measuring-framerate";
+const PERFORMANCE_MEASURING_SPEED_PARAM = "performance-measuring-speed";
+const PERFORMANCE_MEASURING_SHOULD_MEASURE_IDB_PERF = "performance-measuring-enable-idb-measurement";
+
+const params = new URLSearchParams(location.search);
+const shouldMeasureIdbTimes = params.has(PERFORMANCE_MEASURING_SHOULD_MEASURE_IDB_PERF);
+const msPerFrame = params.has(PERFORMANCE_MEASURING_MS_FRAMERATE_PARAM)
+  ? 1000 / parseFloat(params.get(PERFORMANCE_MEASURING_MS_FRAMERATE_PARAM))
+  : 1000 / 30;
+const speed = params.has(PERFORMANCE_MEASURING_SPEED_PARAM)
+  ? parseFloat(params.get(PERFORMANCE_MEASURING_SPEED_PARAM))
+  : 1;
+if (isNaN(speed)) {
+  throw new Error(`Invalid param ${PERFORMANCE_MEASURING_SPEED_PARAM}`);
+}
+if (isNaN(msPerFrame)) {
+  throw new Error(`Invalid param ${PERFORMANCE_MEASURING_MS_FRAMERATE_PARAM}`);
+}
+
+// Marks are expensive: only enable marking performance when we can plausibly see and use the markings, IE in local
+// development builds when we aren't doing benchmarking.
+const enablePerformanceMarks = process.env.NODE_ENV === "development";
+
+export class PerformanceMeasuringClient {
+  shouldLoadDataBeforePlaying = true;
+  shouldMeasureIdbTimes = shouldMeasureIdbTimes;
+  enablePerformanceMarks = enablePerformanceMarks;
+
+  speed = speed;
+  msPerFrame = msPerFrame;
+  bagLengthMs: ?number;
+
+  startTime: ?number;
+  startedMeasuringPerformance = false;
+  frameRenderStart: ?number;
+  frameRenderTimes: number[] = [];
+  totalFrameMs: ?number;
+  totalFrameTimes: number[] = [];
+  idbStart: ?number;
+  idbTimesByTopic = {};
+
+  start({ bagLengthMs }: { bagLengthMs: number }) {
+    this.bagLengthMs = bagLengthMs;
+    this.startTime = performance.now();
+    this.startedMeasuringPerformance = true;
+  }
+
+  // This client a singleton, so it should only be reset in tests.
+  resetInTests() {
+    if (process.env.NODE_ENV !== "test") {
+      throw new Error("resetInTests can only be called in a test environment.");
+    }
+
+    this.shouldLoadDataBeforePlaying = true;
+    this.shouldMeasureIdbTimes = shouldMeasureIdbTimes;
+    this.enablePerformanceMarks = enablePerformanceMarks;
+
+    this.bagLengthMs = undefined;
+    this.speed = speed;
+    this.msPerFrame = msPerFrame;
+
+    this.startTime = undefined;
+    this.startedMeasuringPerformance = false;
+    this.frameRenderStart = undefined;
+    this.frameRenderTimes = [];
+    this.totalFrameMs = undefined;
+    this.totalFrameTimes = [];
+    this.idbStart = undefined;
+    this.idbTimesByTopic = {};
+  }
+
+  markFrameRenderStart() {
+    this.frameRenderStart = performance.now();
+    if (this.enablePerformanceMarks) {
+      performance.mark("FRAME_RENDER_START");
+    }
+  }
+
+  markFrameRenderEnd() {
+    const frameRenderStart = this.frameRenderStart;
+    if (frameRenderStart == null) {
+      throw new Error("Called markFrameRenderEnd without calling markFrameRenderStart");
+    }
+    if (this.enablePerformanceMarks) {
+      performance.mark("FRAME_RENDER_END");
+      performance.measure("FRAME_RENDER", "FRAME_RENDER_START", "FRAME_RENDER_END");
+    }
+    this.frameRenderTimes.push(round(performance.now() - frameRenderStart));
+    this.frameRenderStart = null;
+  }
+
+  markTotalFrameStart() {
+    this.totalFrameMs = performance.now();
+  }
+
+  markTotalFrameEnd() {
+    const totalFrameMs = this.totalFrameMs;
+    if (totalFrameMs == null) {
+      throw new Error("Called markTotalFrameEnd without calling markTotalFrameStart");
+    }
+    this.totalFrameTimes.push(round(performance.now() - totalFrameMs));
+    this.totalFrameMs = null;
+  }
+
+  markIdbReadStart() {
+    if (!this.startedMeasuringPerformance || !this.shouldMeasureIdbTimes) {
+      return;
+    }
+    if (this.idbStart != null) {
+      throw new Error("Cannot start measuring idb reads twice in a row");
+    }
+    this.idbStart = performance.now();
+  }
+
+  markIdbReadEnd(value: any) {
+    if (!this.startedMeasuringPerformance || !this.shouldMeasureIdbTimes) {
+      return;
+    }
+    const idbStart = this.idbStart;
+    if (idbStart == null) {
+      throw new Error("Cannot cannot call markIdbReadEnd if markIdbReadStart is not called first");
+    }
+    if (value && value.message && value.message.topic) {
+      // Only measure IDB performance for ROS messages right now - other types of messages might not work.
+      const topic = value.message.topic;
+      this.idbTimesByTopic[topic] = this.idbTimesByTopic[topic] || [];
+      this.idbTimesByTopic[topic].push(performance.now() - idbStart);
+    }
+    this.idbStart = null;
+  }
+
+  clearIdbReadStart() {
+    if (!this.startedMeasuringPerformance || !this.shouldMeasureIdbTimes) {
+      return;
+    }
+    this.idbStart = null;
+  }
+
+  onError(e: Error) {
+    error = e;
+  }
+
+  async onFrameFinished() {}
+
+  finish() {
+    const startTime = this.startTime;
+    const bagLengthMs = this.bagLengthMs;
+    if (startTime == null || bagLengthMs == null) {
+      throw new Error("Cannot call finish() without calling start()");
+    }
+
+    const speed = this.speed;
+    const playbackTimeMs = round(performance.now() - startTime);
+    const benchmarkPlaybackScore = round(bagLengthMs / (playbackTimeMs * speed), 3);
+    const averageRenderMs = round(
+      this.frameRenderTimes.length ? sum(this.frameRenderTimes) / this.frameRenderTimes.length : 0,
+      2
+    );
+    const averageFrameTimeMs = round(
+      this.totalFrameTimes.length ? sum(this.totalFrameTimes) / this.totalFrameTimes.length : 0,
+      2
+    );
+    const frameRenderCount = this.frameRenderTimes.length;
+    const idbReadDataByTopic = {};
+    for (const key of Object.keys(this.idbTimesByTopic)) {
+      const values = this.idbTimesByTopic[key];
+      idbReadDataByTopic[key] = {
+        count: values.length,
+        totalTimeMs: round(sum(values), 2),
+        averageTimeMs: round(sum(values) / values.length, 2),
+      };
+    }
+    const stats = {
+      bagLengthMs,
+      speed,
+      msPerFrame: this.msPerFrame,
+      frameRenderCount,
+
+      benchmarkPlaybackScore,
+      playbackTimeMs,
+      averageRenderMs,
+      averageFrameTimeMs,
+      idbReadDataByTopic,
+    };
+
+    finishedPerformanceStats = stats;
+    return stats;
+  }
+}
+
+export default new PerformanceMeasuringClient();
diff --git a/packages/webviz-core/src/players/automatedRun/performanceMeasuringClient.test.js b/packages/webviz-core/src/players/automatedRun/performanceMeasuringClient.test.js
new file mode 100644
index 000000000..56b7d9693
--- /dev/null
+++ b/packages/webviz-core/src/players/automatedRun/performanceMeasuringClient.test.js
@@ -0,0 +1,57 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import performanceMeasuringClient, { PerformanceMeasuringClient } from "./performanceMeasuringClient";
+
+describe("performanceMeasuringClient", () => {
+  it("resetInTests correctly resets all state", () => {
+    const clientWithDefaults = new PerformanceMeasuringClient();
+    // Set all the keys in the performance measuring client to some weird value.
+    for (const key of Object.keys(performanceMeasuringClient)) {
+      // $FlowFixMe
+      performanceMeasuringClient[key] = "fake";
+    }
+    performanceMeasuringClient.resetInTests();
+
+    const toObject = (client) => {
+      const result = {};
+      Object.keys(client).forEach((key) => {
+        // $FlowFixMe
+        result[key] = client[key];
+      });
+      return result;
+    };
+    expect(toObject(performanceMeasuringClient)).toEqual(toObject(clientWithDefaults));
+  });
+
+  it("Generates stats", () => {
+    performanceMeasuringClient.shouldMeasureIdbTimes = true;
+
+    performanceMeasuringClient.start({ bagLengthMs: 1000 });
+    performanceMeasuringClient.markFrameRenderStart();
+    performanceMeasuringClient.markFrameRenderEnd();
+    performanceMeasuringClient.markTotalFrameStart();
+    performanceMeasuringClient.markTotalFrameEnd();
+    performanceMeasuringClient.markIdbReadStart();
+    performanceMeasuringClient.markIdbReadEnd({ message: { topic: "foo" } });
+
+    const stats = performanceMeasuringClient.finish();
+    expect(stats).toMatchObject({
+      bagLengthMs: expect.any(Number),
+      speed: expect.any(Number),
+      msPerFrame: expect.any(Number),
+      frameRenderCount: expect.any(Number),
+
+      playbackTimeMs: expect.any(Number),
+      averageRenderMs: expect.any(Number),
+      averageFrameTimeMs: expect.any(Number),
+    });
+
+    performanceMeasuringClient.resetInTests();
+  });
+});
diff --git a/packages/webviz-core/src/players/automatedRun/videoRecordingClient.js b/packages/webviz-core/src/players/automatedRun/videoRecordingClient.js
new file mode 100644
index 000000000..8fd9f6dfc
--- /dev/null
+++ b/packages/webviz-core/src/players/automatedRun/videoRecordingClient.js
@@ -0,0 +1,102 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import delay from "webviz-core/shared/delay";
+
+// This is the interface between the video recording server (recordVideo.js) and
+// the client (whomever uses `videoRecordingClient`). The idea is that the server opens a webpage
+// that runs a client, and from that point on, the client is in control. Essentially, the client
+// makes remote procedure calls to the server, which the server executes and then acknowledges.
+// Right now there are only three calls to the server:
+// - "error" (which throws an error and aborts);
+// - "finish" (to close the browser and generate the actual video);
+// - "screenshot" (take a screenshot and acknowledge when done, so we can continue).
+//
+
+let screenshotResolve: ?() => void;
+let finishedMsPerFrame: ?number;
+let error: ?Error;
+
+window.videoRecording = {
+  nextAction() {
+    if (error) {
+      return { action: "error", error };
+    }
+    if (finishedMsPerFrame) {
+      return { action: "finish", msPerFrame: finishedMsPerFrame };
+    }
+    if (screenshotResolve) {
+      return { action: "screenshot" };
+    }
+    return false;
+  },
+
+  hasTakenScreenshot() {
+    if (!screenshotResolve) {
+      throw new Error("No screenshotResolve found!");
+    }
+    const resolve = screenshotResolve;
+    screenshotResolve = undefined;
+    resolve();
+  },
+};
+
+const params = new URLSearchParams(location.search);
+const msPerFrame = params.has("video-recording-framerate")
+  ? 1000 / parseFloat(params.get("video-recording-framerate"))
+  : 200;
+const speed = params.has("video-recording-speed") ? parseFloat(params.get("video-recording-speed")) : 0.2;
+
+class VideoRecordingClient {
+  msPerFrame = msPerFrame;
+  speed = speed;
+  shouldLoadDataBeforePlaying = false;
+
+  start() {
+    console.log("videoRecordingClient.start()");
+  }
+
+  markFrameRenderStart() {}
+
+  markFrameRenderEnd() {}
+
+  markTotalFrameStart() {}
+
+  markTotalFrameEnd() {}
+
+  onError(e: Error) {
+    error = e;
+  }
+
+  async onFrameFinished(frameCount: number) {
+    // Don't take screenshots of the first few frames, and then wait a bit,
+    // to allow for the camera to get in position and images to load.
+    if (frameCount < 5) {
+      return;
+    } else if (frameCount === 5) {
+      await delay(3000);
+      return;
+    }
+
+    await delay(60); // Give PlayerDispatcher time to dispatch a frame, and then render everything.
+    console.log("videoRecordingClient.takeScreenshot()");
+    if (screenshotResolve) {
+      throw new Error("Already have a screenshot queued!");
+    }
+    return (new Promise((resolve) => {
+      screenshotResolve = resolve;
+    }): Promise<void>);
+  }
+
+  finish() {
+    console.log("videoRecordingClient.finish()");
+    finishedMsPerFrame = msPerFrame;
+  }
+}
+
+export default new VideoRecordingClient();
diff --git a/packages/webviz-core/src/reducers/auth.js b/packages/webviz-core/src/reducers/auth.js
index 70727fcb8..1fcd3a6d5 100644
--- a/packages/webviz-core/src/reducers/auth.js
+++ b/packages/webviz-core/src/reducers/auth.js
@@ -7,7 +7,6 @@
 //  You may not use this file except in compliance with the License.
 
 import type { Auth } from "webviz-core/src/types/Auth";
-import sentry from "webviz-core/src/util/sentry";
 
 const initialState: Auth = Object.freeze({
   username: undefined,
@@ -15,8 +14,5 @@ const initialState: Auth = Object.freeze({
 
 // boilerplate reducer to hold the auth shape returned from the server or an empty shape if missing
 export default function(state: Auth = initialState): Auth {
-  if (state.username) {
-    sentry.setUserContext({ username: state.username });
-  }
   return state;
 }
diff --git a/packages/webviz-core/src/reducers/auth.test.js b/packages/webviz-core/src/reducers/auth.test.js
deleted file mode 100644
index 6d7e1711f..000000000
--- a/packages/webviz-core/src/reducers/auth.test.js
+++ /dev/null
@@ -1,35 +0,0 @@
-// @flow
-//
-//  Copyright (c) 2018-present, GM Cruise LLC
-//
-//  This source code is licensed under the Apache License, Version 2.0,
-//  found in the LICENSE file in the root directory of this source tree.
-//  You may not use this file except in compliance with the License.
-
-import { createMemoryHistory } from "history";
-import { createStore } from "redux";
-import { spy } from "sinon";
-
-import createRootReducer from "webviz-core/src/reducers";
-import sentry from "webviz-core/src/util/sentry";
-
-describe("auth reducer", () => {
-  beforeEach(() => {
-    spy(sentry, "setUserContext");
-  });
-
-  afterEach(() => {
-    sentry.setUserContext.restore();
-  });
-
-  it("does nothing when there is no username in initial state", () => {
-    createStore(createRootReducer(createMemoryHistory()));
-    expect(sentry.setUserContext.called).toBe(false);
-  });
-
-  it("sets user context if a username is provided to the store", () => {
-    createStore(createRootReducer(createMemoryHistory()), { auth: { username: "foo" } });
-    expect(sentry.setUserContext.called).toBe(true);
-    expect(sentry.setUserContext.getCall(0).args[0]).toEqual({ username: "foo" });
-  });
-});
diff --git a/packages/webviz-core/src/reducers/panels.js b/packages/webviz-core/src/reducers/panels.js
index bb93e4a9c..83277ff73 100644
--- a/packages/webviz-core/src/reducers/panels.js
+++ b/packages/webviz-core/src/reducers/panels.js
@@ -111,7 +111,7 @@ function changePanelLayout(state: PanelsState, layout: any): PanelsState {
 }
 
 function savePanelConfig(state: PanelsState, payload: SaveConfigPayload): PanelsState {
-  const { id, config } = payload;
+  const { id, config, defaultConfig } = payload;
   // imutable update of key/value pairs
   const newProps = payload.override
     ? { ...state.savedProps, [id]: config }
@@ -120,6 +120,14 @@ function savePanelConfig(state: PanelsState, payload: SaveConfigPayload): Panels
         [id]: {
           // merge new config with old one
           // similar to how this.setState merges props
+          // When updating the panel state, we merge the new config (which may be just a part of config) with the old config and the default config every time.
+          // Previously this was done inside the component, but since the lifecycle of Redux is Action => Reducer => new state => Component,
+          // dispatching an update to the panel state is not instant and can take some time to propagate back to the component.
+          // If the existing panel config is the complete config1, and two actions were fired in quick succession the component with partial config2 and config3,
+          // the correct behavior is to merge config2 with config1 and dispatch that, and then merge config 3 with the combined config2 and config1.
+          // Instead we had stale state so we would merge config3 with config1 and overwrite any keys that exist in config2 but do not exist in config3.
+          // The solution is to do this merge inside the reducer itself, since the state inside the reducer is never stale (unlike the state inside the component).
+          ...defaultConfig,
           ...state.savedProps[id],
           ...config,
         },
diff --git a/packages/webviz-core/src/reducers/panels.test.js b/packages/webviz-core/src/reducers/panels.test.js
index 20caa2a8a..f13869901 100644
--- a/packages/webviz-core/src/reducers/panels.test.js
+++ b/packages/webviz-core/src/reducers/panels.test.js
@@ -84,7 +84,7 @@ describe("state.panels", () => {
       expect(globalState.savedProps).toEqual(panels.savedProps);
     });
 
-    store.dispatch(savePanelConfig({ id: "foo", config: { testing: true } }));
+    store.dispatch(savePanelConfig({ id: "foo", config: { testing: true }, defaultConfig: { testing: false } }));
     store.checkState((panels) => {
       expect(panels.layout).toEqual("foo");
       expect(panels.savedProps).toEqual({ foo: { test: true, testing: true } });
@@ -201,7 +201,7 @@ describe("state.panels", () => {
   };
 
   testUrlCleanup("removes layout when config changes", () => {
-    return savePanelConfig({ id: "bar", config: { baz: true } });
+    return savePanelConfig({ id: "bar", config: { baz: true }, defaultConfig: {} });
   });
 
   testUrlCleanup("removes layout when layout changes", () => {
@@ -258,6 +258,7 @@ describe("state.panels", () => {
         id: "foo",
         silent: true,
         config: { bar: true },
+        defaultConfig: { bar: false },
       })
     );
     store.checkState((panels, routing) => {
@@ -309,9 +310,11 @@ describe("state.panels", () => {
         expect(panels.savedProps).toEqual({});
       });
 
-      const panelConfig = { id: "SecondPanel!2wydzut", config: { foo: "bar" } };
+      const panelConfig = { id: "SecondPanel!2wydzut", config: { foo: "bar" }, defaultConfig: { foo: "" } };
       store.dispatch(savePanelConfig(panelConfig));
-      store.dispatch(savePanelConfig({ id: "FirstPanel!34otwwt", config: { baz: true } }));
+      store.dispatch(
+        savePanelConfig({ id: "FirstPanel!34otwwt", config: { baz: true }, defaultConfig: { baz: false } })
+      );
       store.checkState((panels) => {
         expect(panels.savedProps).toEqual({
           "SecondPanel!2wydzut": { foo: "bar" },
@@ -337,7 +340,7 @@ describe("state.panels", () => {
       store.checkState((panels) => {
         expect(panels.savedProps).toEqual({});
       });
-      store.dispatch(savePanelConfig({ id: "foo!1234", config: { okay: true } }));
+      store.dispatch(savePanelConfig({ id: "foo!1234", config: { okay: true }, defaultConfig: { okay: false } }));
       store.checkState((panels) => {
         expect(panels.savedProps).toEqual({
           "foo!1234": { okay: true },
diff --git a/packages/webviz-core/src/stories/PanelSetup.js b/packages/webviz-core/src/stories/PanelSetup.js
index 1aa84d9a0..47ff8f3ee 100644
--- a/packages/webviz-core/src/stories/PanelSetup.js
+++ b/packages/webviz-core/src/stories/PanelSetup.js
@@ -45,6 +45,7 @@ type Props = {|
   fixture: Fixture,
   omitDragAndDrop?: boolean,
   onMount?: (HTMLDivElement) => void,
+  onFirstMount?: (HTMLDivElement) => void,
   style?: { [string]: any },
 |};
 
@@ -126,6 +127,8 @@ export default class PanelSetup extends React.PureComponent<Props, State> {
     return { store };
   }
 
+  _hasMounted: boolean = false;
+
   state = {
     store: configureStore(createRootReducer(createMemoryHistory())),
   };
@@ -144,8 +147,13 @@ export default class PanelSetup extends React.PureComponent<Props, State> {
       <div
         style={{ width: "100%", height: "100%", display: "flex", ...this.props.style }}
         ref={(el: ?HTMLDivElement) => {
-          if (el && this.props.onMount) {
-            this.props.onMount(el);
+          const { onFirstMount, onMount } = this.props;
+          if (el && onFirstMount && !this._hasMounted) {
+            this._hasMounted = true;
+            onFirstMount(el);
+          }
+          if (el && onMount) {
+            onMount(el);
           }
         }}>
         {/* $FlowFixMe - for some reason Flow doesn't like this :( */}
diff --git a/packages/webviz-core/src/stories/PanelSetupWithBag.js b/packages/webviz-core/src/stories/PanelSetupWithBag.js
index abf236dd6..27202f4a1 100644
--- a/packages/webviz-core/src/stories/PanelSetupWithBag.js
+++ b/packages/webviz-core/src/stories/PanelSetupWithBag.js
@@ -27,6 +27,7 @@ type Props = {
   mapTopicToDatatype?: (topic: string) => string,
   hasNestedMessageHistory?: ?boolean,
   onMount?: (HTMLDivElement) => void,
+  onFirstMount?: (HTMLDivElement) => void,
 };
 
 const defaultGetMergedFixture = (bagFixture) => bagFixture;
@@ -132,6 +133,7 @@ export default function PanelSetupWithBag({
   mapTopicToDatatype = defaultMapTopicToDatatype,
   topics = [],
   onMount,
+  onFirstMount,
 }: Props) {
   const [fixture, setFixture] = useState();
   // load the bag when component is mounted or updated
@@ -151,7 +153,7 @@ export default function PanelSetupWithBag({
   );
 
   return fixture ? (
-    <PanelSetup fixture={fixture} onMount={onMount}>
+    <PanelSetup fixture={fixture} onMount={onMount} onFirstMount={onFirstMount}>
       {children}
     </PanelSetup>
   ) : null;
diff --git a/packages/webviz-core/src/test/setup.js b/packages/webviz-core/src/test/setup.js
index 16960c3f8..61d98b5ee 100644
--- a/packages/webviz-core/src/test/setup.js
+++ b/packages/webviz-core/src/test/setup.js
@@ -14,7 +14,6 @@ import ws from "ws";
 import MemoryStorage from "./MemoryStorage";
 
 global.CURRENT_VERSION = "testing";
-global.RAVEN_URL = "testing";
 
 process.env.WASM_LZ4_ENVIRONMENT = "NODE";
 
@@ -32,7 +31,6 @@ if (typeof window !== "undefined") {
     global.requestAnimationFrame || ((cb) => setTimeout(cb, 0));
 
   global.cancelAnimationFrame = window.cancelAnimationFrame = global.cancelAnimationFrame || ((id) => clearTimeout(id));
-  global.GIT_INFO = {};
   global.TextDecoder = TextDecoder;
   // polyfill URLSearchParams in jsdom
   window.URLSearchParams = UrlSearchParams;
diff --git a/packages/webviz-core/src/test/setupTestFramework.js b/packages/webviz-core/src/test/setupTestFramework.js
index 217d4539c..a9dab6606 100644
--- a/packages/webviz-core/src/test/setupTestFramework.js
+++ b/packages/webviz-core/src/test/setupTestFramework.js
@@ -9,6 +9,34 @@
 import diff from "jest-diff";
 import { isEqual } from "lodash";
 
+// Always mock reportError and fail if it was called during the test without resetting it. Note that
+// we have to do this here instead of in setup.js since here we have access to jest methods.
+jest.mock("webviz-core/src/util/reportError", () => {
+  const fn = jest.fn();
+  // $FlowFixMe
+  fn.setErrorHandler = () => {};
+  return fn;
+});
+beforeEach(() => {
+  const reportError: any = require("webviz-core/src/util/reportError");
+  reportError.expectCalledDuringTest = () => {
+    if (reportError.mock.calls.length === 0) {
+      // $FlowFixMe
+      fail("Expected reportError to have been called during the test, but it was never called!"); // eslint-disable-line
+    }
+    reportError.mockReset();
+  };
+});
+afterEach(() => {
+  const reportError: any = require("webviz-core/src/util/reportError");
+  if (reportError.mock.calls.length > 0) {
+    const calls = reportError.mock.calls;
+    reportError.mockReset();
+    // $FlowFixMe
+    fail(`reportError has been called during this test (call reportError.expectCalledDuringTest(); at the end of your test if you expect this): ${JSON.stringify(calls)}`); // eslint-disable-line
+  }
+});
+
 // this file runs once jest has injected globals so you can modify the expect matchers
 global.expect.extend({
   // expects an array to contain exactly the other elements
diff --git a/packages/webviz-core/src/types/panels.js b/packages/webviz-core/src/types/panels.js
index a3d6ce19f..54a3e6a02 100644
--- a/packages/webviz-core/src/types/panels.js
+++ b/packages/webviz-core/src/types/panels.js
@@ -27,6 +27,7 @@ export type SaveConfigPayload = {
   // if you set override to true, existing config will be completely overriden by new passed in config
   override?: boolean,
   config: PanelConfig,
+  defaultConfig: PanelConfig,
 };
 
 export type SaveFullConfigPayload = {
diff --git a/packages/webviz-core/src/util.js b/packages/webviz-core/src/util.js
index 4c9b6fd05..6a5024a49 100644
--- a/packages/webviz-core/src/util.js
+++ b/packages/webviz-core/src/util.js
@@ -99,3 +99,10 @@ export function downloadFiles(files: { blob: Blob, fileName: string }[]) {
     });
   });
 }
+
+// Equivalent to `number % modulus`, but always returns a positive number (given that modulus is
+// a positive number). This is the same as the `%` in e.g. Python.
+// See https://stackoverflow.com/a/4467559 and https://en.wikipedia.org/wiki/Modulo_operation
+export function positiveModulo(number: number, modulus: number): number {
+  return ((number % modulus) + modulus) % modulus;
+}
diff --git a/packages/webviz-core/src/util.test.js b/packages/webviz-core/src/util.test.js
index 2bda6a26f..2ae458b0d 100644
--- a/packages/webviz-core/src/util.test.js
+++ b/packages/webviz-core/src/util.test.js
@@ -6,25 +6,37 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import { encodeURLQueryParamValue } from "./util";
+import { encodeURLQueryParamValue, positiveModulo } from "./util";
 
-describe("encodeURLQueryParamValue()", () => {
-  const test = (input, expected) => {
-    const output = encodeURLQueryParamValue(input);
-    expect(output).toBe(expected);
+describe("util", () => {
+  describe("encodeURLQueryParamValue()", () => {
+    const test = (input, expected) => {
+      const output = encodeURLQueryParamValue(input);
+      expect(output).toBe(expected);
 
-    // encoded output should be decoded by URLSearchParams as the original value
-    const params = new URLSearchParams(`x=${output}`);
-    expect(params.get("x")).toBe(input);
-  };
-  it("escapes disallowed characters", () => {
-    test("&#[]%+\\", "%26%23%5B%5D%25%2B%5C");
+      // encoded output should be decoded by URLSearchParams as the original value
+      const params = new URLSearchParams(`x=${output}`);
+      expect(params.get("x")).toBe(input);
+    };
+    it("escapes disallowed characters", () => {
+      test("&#[]%+\\", "%26%23%5B%5D%25%2B%5C");
+    });
+    it("doesn't escape allowed characters", () => {
+      test(":/?@", ":/?@");
+      test("-._~!$'()*,;=", "-._~!$'()*,;="); // sub-delims minus & and +
+    });
+    it("handles giant unicode code points", () => {
+      test(String.fromCodePoint(0x10000), "%F0%90%80%80");
+    });
   });
-  it("doesn't escape allowed characters", () => {
-    test(":/?@", ":/?@");
-    test("-._~!$'()*,;=", "-._~!$'()*,;="); // sub-delims minus & and +
-  });
-  it("handles giant unicode code points", () => {
-    test(String.fromCodePoint(0x10000), "%F0%90%80%80");
+  describe("positiveModulo", () => {
+    it("returns a positive value between 0 (inclusive) and modulus (exclusive)", () => {
+      expect(positiveModulo(0, 10)).toEqual(0);
+      expect(positiveModulo(10, 10)).toEqual(0);
+      expect(positiveModulo(11, 10)).toEqual(1);
+      expect(positiveModulo(21, 10)).toEqual(1);
+      expect(positiveModulo(-1, 10)).toEqual(9);
+      expect(positiveModulo(-11, 10)).toEqual(9);
+    });
   });
 });
diff --git a/packages/webviz-core/src/util/globalConstants.js b/packages/webviz-core/src/util/globalConstants.js
index 10cc9466d..657d229e7 100644
--- a/packages/webviz-core/src/util/globalConstants.js
+++ b/packages/webviz-core/src/util/globalConstants.js
@@ -14,6 +14,7 @@ export const LOAD_ENTIRE_BAG_QUERY_KEY = "load-entire-bag";
 export const MEASURE_DATA_PROVIDERS_QUERY_KEY = "_measureDataProviders";
 export const DEMO_QUERY_KEY = "demo";
 export const AUTOPLAY_QUERY_KEY = "autoplay";
+export const SEEK_TO_QUERY_KEY = "seek-to";
 export const LAYOUT_QUERY_KEY = "layout";
 export const LAYOUT_URL_QUERY_KEY = "layout-url";
 export const PATCH_LAYOUT_QUERY_KEY = "layout-patch";
@@ -32,6 +33,8 @@ export const POINT_CLOUD_DATATYPE = "sensor_msgs/PointCloud2";
 export const POSE_STAMPED_DATATYPE = "geometry_msgs/PoseStamped";
 export const LASER_SCAN_DATATYPE = "sensor_msgs/LaserScan";
 
+export const USER_ERROR_PREFIX = "[WEBVIZ USER ERROR]";
+
 export const COLORS = {
   RED: { r: 1.0, g: 0.2, b: 0.2, a: 1.0 },
   BLUE: { r: 0.4, g: 0.4, b: 1.0, a: 1.0 },
diff --git a/packages/webviz-core/src/util/indexeddb/Database.js b/packages/webviz-core/src/util/indexeddb/Database.js
index df0c11b48..068e5d4ec 100644
--- a/packages/webviz-core/src/util/indexeddb/Database.js
+++ b/packages/webviz-core/src/util/indexeddb/Database.js
@@ -10,6 +10,7 @@ import idb, { type DB, type UpgradeDB, type Transaction } from "idb";
 
 import DbWriter from "./DbWriter";
 import type { WritableStreamOptions } from "./types";
+import performanceMeasuringClient from "webviz-core/src/players/automatedRun/performanceMeasuringClient";
 
 type IDBValidKey = number | string | Date | Array<IDBValidKey>;
 
@@ -202,12 +203,16 @@ export default class Database {
     }
     const range = IDBKeyRange.bound(start, end);
     const items = [];
+    performanceMeasuringClient.clearIdbReadStart();
+    performanceMeasuringClient.markIdbReadStart();
     store.iterateCursor(range, (cursor) => {
       if (!cursor) {
         return;
       }
       const { key, value } = cursor;
       items.push({ key, value });
+      performanceMeasuringClient.markIdbReadEnd(value);
+      performanceMeasuringClient.markIdbReadStart();
       cursor.continue();
     });
     await tx.complete;
diff --git a/packages/webviz-core/src/util/indexeddb/Database.test.js b/packages/webviz-core/src/util/indexeddb/Database.test.js
index 79db6b991..d33a8daa0 100644
--- a/packages/webviz-core/src/util/indexeddb/Database.test.js
+++ b/packages/webviz-core/src/util/indexeddb/Database.test.js
@@ -7,6 +7,7 @@
 //  You may not use this file except in compliance with the License.
 
 import Database from "./Database";
+import performanceMeasuringClient from "webviz-core/src/players/automatedRun/performanceMeasuringClient";
 
 async function put(db: Database, objectStore: string, values: any[]) {
   const tx = db.transaction(objectStore, "readwrite");
@@ -85,6 +86,24 @@ describe("Database", () => {
     return db.close();
   });
 
+  it("can read a range of ROS messages with the performance measuring client measuring idb times", async () => {
+    performanceMeasuringClient.start({ bagLengthMs: 1 });
+    performanceMeasuringClient.shouldMeasureIdbTimes = true;
+    const db = await Database.open("range_ros", 1, (db) => {
+      db.createObjectStore("bar", { autoIncrement: true });
+    });
+    await put(db, "bar", [{ message: { topic: "one" } }, { message: { topic: "two" } }, { three: 3 }]);
+    const range = await db.getRange("bar", undefined, 1, 100);
+    expect(range).toEqual([
+      { key: 1, value: { message: { topic: "one" } } },
+      { key: 2, value: { message: { topic: "two" } } },
+      { key: 3, value: { three: 3 } },
+    ]);
+    expect(Object.keys(performanceMeasuringClient.idbTimesByTopic)).toEqual(["one", "two"]);
+    performanceMeasuringClient.resetInTests();
+    return db.close();
+  });
+
   it("can read a range by index", async () => {
     const db = await Database.open("range-with-index", 1, (db) => {
       const store = db.createObjectStore("bar", { autoIncrement: true });
diff --git a/packages/webviz-core/src/util/indexeddb/clearIndexedDb.js b/packages/webviz-core/src/util/indexeddb/clearIndexedDb.js
index bbb5b869e..56fa1fc1d 100644
--- a/packages/webviz-core/src/util/indexeddb/clearIndexedDb.js
+++ b/packages/webviz-core/src/util/indexeddb/clearIndexedDb.js
@@ -7,6 +7,15 @@
 //  You may not use this file except in compliance with the License.
 import Confirm from "webviz-core/src/components/Confirm";
 
+// For browser-based integration tests
+window.clearIndexedDb = () => {
+  return window.indexedDB.databases().then((databases) => {
+    for (const database of databases) {
+      window.indexedDB.deleteDatabase(database.name);
+    }
+  });
+};
+
 export default function clearIndexedDb() {
   const config = {
     prompt:
@@ -18,15 +27,8 @@ export default function clearIndexedDb() {
       return;
     }
     // From https://stackoverflow.com/a/54764150
-    window.indexedDB
-      .databases()
-      .then((databases) => {
-        for (const database of databases) {
-          window.indexedDB.deleteDatabase(database.name);
-        }
-      })
-      .then(() => {
-        window.location.reload();
-      });
+    window.clearIndexedDb().then(() => {
+      window.location.reload();
+    });
   });
 }
diff --git a/packages/webviz-core/src/util/installDevtoolsFormatters.js b/packages/webviz-core/src/util/installDevtoolsFormatters.js
index 7f11ed02f..d41858a6d 100644
--- a/packages/webviz-core/src/util/installDevtoolsFormatters.js
+++ b/packages/webviz-core/src/util/installDevtoolsFormatters.js
@@ -9,15 +9,11 @@
 // Custom formatters for Chrome dev tools. See documentation: http://bit.ly/object-formatters
 // Note that the "Enable custom formatters" setting must be turned on in order to use these formatters.
 
-import { isEqual } from "lodash";
 import seedrandom from "seedrandom";
 
-const timeFormatter = (() => {
-  const timeFields = new Set(["sec", "nsec"]);
-  function isTime(obj) {
-    return isEqual(new Set(Object.getOwnPropertyNames(obj)), timeFields);
-  }
+import { isTime } from "./time";
 
+const timeFormatter = (() => {
   function groupDigits(str) {
     const result = ["span", {}];
     let start = 0;
diff --git a/packages/webviz-core/src/util/ranges.js b/packages/webviz-core/src/util/ranges.js
index ef59aaae3..f4640302b 100644
--- a/packages/webviz-core/src/util/ranges.js
+++ b/packages/webviz-core/src/util/ranges.js
@@ -5,7 +5,7 @@
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
-import { complement, intersect, isBefore, isDuring, simplify } from "intervals-fn";
+import { complement, intersect, isBefore, isDuring, isMeeting, isOverlappingSimple, simplify } from "intervals-fn";
 
 export type Range = {| start: number /* inclusive */, end: number /* exclusive */ |};
 
@@ -35,3 +35,18 @@ export function missingRanges(bounds: Range, ranges: Range[]) {
   // so we first clip `ranges` to `bounds`.
   return complement(bounds, intersect([bounds], ranges));
 }
+
+// Given a list of unsorted, non-overlapping ranges, and a new range, produce another such list,
+// with the new range in the first position, with any ranges that overlapped the new range merged
+// into it.
+export function mergeNewRangeIntoUnsortedNonOverlappingList(newRange: Range, unsortedNonOverlappingRanges: Range[]) {
+  const newRanges = [];
+  for (const range of unsortedNonOverlappingRanges) {
+    if (isOverlappingSimple(newRange, range) || isMeeting(newRange, range)) {
+      newRange = { start: Math.min(range.start, newRange.start), end: Math.max(range.end, newRange.end) };
+    } else {
+      newRanges.push(range);
+    }
+  }
+  return [newRange, ...newRanges];
+}
diff --git a/packages/webviz-core/src/util/ranges.test.js b/packages/webviz-core/src/util/ranges.test.js
index ea635c343..9b31f3d5e 100644
--- a/packages/webviz-core/src/util/ranges.test.js
+++ b/packages/webviz-core/src/util/ranges.test.js
@@ -6,7 +6,12 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import { isRangeCoveredByRanges, deepIntersect, missingRanges } from "./ranges";
+import {
+  isRangeCoveredByRanges,
+  deepIntersect,
+  missingRanges,
+  mergeNewRangeIntoUnsortedNonOverlappingList,
+} from "./ranges";
 
 describe("ranges", () => {
   describe("isRangeCoveredByRanges", () => {
@@ -69,4 +74,48 @@ describe("ranges", () => {
       expect(missingRanges(bounds, ranges)).toEqual([{ start: 2, end: 7 }]);
     });
   });
+
+  describe("mergeNewRangeIntoUnsortedNonOverlappingList", () => {
+    it("returns `newRange` when `ranges` is empty", () => {
+      const newRange = { start: 20, end: 30 };
+      const unsortedNonOverlappingRanges = [];
+      expect(mergeNewRangeIntoUnsortedNonOverlappingList(newRange, unsortedNonOverlappingRanges)).toEqual([newRange]);
+    });
+
+    it("keeps the returned list unsorted", () => {
+      const newRange = { start: 20, end: 30 };
+      const unsortedNonOverlappingRanges = [{ start: 0, end: 10 }];
+      expect(mergeNewRangeIntoUnsortedNonOverlappingList(newRange, unsortedNonOverlappingRanges)).toEqual([
+        { start: 20, end: 30 },
+        { start: 0, end: 10 },
+      ]);
+    });
+
+    it("merges with an overlapping range", () => {
+      const newRange = { start: 20, end: 30 };
+      const unsortedNonOverlappingRanges = [{ start: 25, end: 35 }, { start: 0, end: 10 }];
+      expect(mergeNewRangeIntoUnsortedNonOverlappingList(newRange, unsortedNonOverlappingRanges)).toEqual([
+        { start: 20, end: 35 },
+        { start: 0, end: 10 },
+      ]);
+    });
+
+    it("merges with a touching range", () => {
+      const newRange = { start: 20, end: 30 };
+      const unsortedNonOverlappingRanges = [{ start: 30, end: 40 }, { start: 0, end: 10 }];
+      expect(mergeNewRangeIntoUnsortedNonOverlappingList(newRange, unsortedNonOverlappingRanges)).toEqual([
+        { start: 20, end: 40 },
+        { start: 0, end: 10 },
+      ]);
+    });
+
+    it("merges with multiple ranges at once", () => {
+      const newRange = { start: 20, end: 30 };
+      const unsortedNonOverlappingRanges = [{ start: 30, end: 40 }, { start: 0, end: 10 }, { start: 15, end: 25 }];
+      expect(mergeNewRangeIntoUnsortedNonOverlappingList(newRange, unsortedNonOverlappingRanges)).toEqual([
+        { start: 15, end: 40 },
+        { start: 0, end: 10 },
+      ]);
+    });
+  });
 });
diff --git a/packages/webviz-core/src/util/reportError.js b/packages/webviz-core/src/util/reportError.js
index fe8881e3e..a2040b9a2 100644
--- a/packages/webviz-core/src/util/reportError.js
+++ b/packages/webviz-core/src/util/reportError.js
@@ -70,3 +70,4 @@ export function detailsToString(details: DetailsType): string {
 export default function reportError(message: string, details: DetailsType, type: ErrorType): void {
   addError(message, details, type);
 }
+reportError.expectCalledDuringTest = () => {}; // Overridden in tests; added here so Flow doesn't complain.
diff --git a/packages/webviz-core/src/util/selectors.js b/packages/webviz-core/src/util/selectors.js
index 3996dd69c..e2aeaac3e 100644
--- a/packages/webviz-core/src/util/selectors.js
+++ b/packages/webviz-core/src/util/selectors.js
@@ -13,6 +13,7 @@ import shallowequal from "shallowequal";
 
 import type { Topic } from "webviz-core/src/players/types";
 import type { RosDatatypes } from "webviz-core/src/types/RosDatatypes";
+import { SECOND_BAG_PREFIX } from "webviz-core/src/util/globalConstants";
 
 export const getTopicNames = createSelector<*, *, *, _>(
   (topics: Topic[]) => topics,
@@ -25,6 +26,11 @@ export const getSanitizedTopics = microMemoize(
   }
 );
 
+export function getTopicPrefixes(topics: string[]): string[] {
+  // only support one prefix now, can add more such as `/webviz_bag_3` later
+  return topics.some((topic) => topic.startsWith(SECOND_BAG_PREFIX)) ? [SECOND_BAG_PREFIX] : [];
+}
+
 export const topicsByTopicName = createSelector<*, *, *, _>(
   (topics: Topic[]) => topics,
   (topics: Topic[]): { [string]: Topic } => {
diff --git a/packages/webviz-core/src/util/sentry.js b/packages/webviz-core/src/util/sentry.js
deleted file mode 100644
index a53fadcea..000000000
--- a/packages/webviz-core/src/util/sentry.js
+++ /dev/null
@@ -1,30 +0,0 @@
-/* eslint-disable header/header */
-
-//  Copyright (c) 2018-present, GM Cruise LLC
-//
-//  This source code is licensed under the Apache License, Version 2.0,
-//  found in the LICENSE file in the root directory of this source tree.
-//  You may not use this file except in compliance with the License.
-
-import Raven from "raven-js";
-
-if (process.env.NODE_ENV !== "test" && RAVEN_URL) {
-  const config = {
-    logger: "client",
-    release: CURRENT_VERSION,
-    tags: {
-      git_commit: GIT_INFO.hash,
-    },
-    shouldSendCallback() {
-      const { getGlobalHooks } = require("webviz-core/src/loadWebviz");
-      return process.env.NODE_ENV === "production" && getGlobalHooks().useRaven();
-    },
-    environment: process.env.NODE_ENV,
-  };
-
-  const ravenUrl = RAVEN_URL;
-
-  Raven.config(ravenUrl, config).install();
-}
-
-export default Raven;
diff --git a/packages/webviz-core/src/util/time.js b/packages/webviz-core/src/util/time.js
index 8c67702e1..c4ef15fb6 100644
--- a/packages/webviz-core/src/util/time.js
+++ b/packages/webviz-core/src/util/time.js
@@ -6,10 +6,13 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
+import { isEqual } from "lodash";
 import momentDurationFormatSetup from "moment-duration-format";
 import moment from "moment-timezone";
 import { type Time, TimeUtil } from "rosbag";
 
+import { SEEK_TO_QUERY_KEY } from "webviz-core/src/util/globalConstants";
+
 type BatchTimestamp = {
   seconds: number,
   nanoseconds: number,
@@ -17,6 +20,13 @@ type BatchTimestamp = {
 
 momentDurationFormatSetup(moment);
 
+// Unfortunately, using %checks on this function doesn't actually allow Flow to conclude that the object is a Time.
+// Related: https://github.com/facebook/flow/issues/3614
+const timeFields = new Set(["sec", "nsec"]);
+export function isTime(obj: mixed): boolean {
+  return !!obj && typeof obj === "object" && isEqual(new Set(Object.getOwnPropertyNames(obj)), timeFields);
+}
+
 export function format(stamp: Time) {
   return `${formatDate(stamp)} ${formatTime(stamp)}`;
 }
@@ -236,6 +246,6 @@ export function parseTimeStr(str: string): ?Time {
 
 export function getSeekToTime(): ?Time {
   const params = new URLSearchParams(window.location.search);
-  const seekToParam = params.get("seek-to");
+  const seekToParam = params.get(SEEK_TO_QUERY_KEY);
   return seekToParam ? fromMillis(parseInt(seekToParam)) : null;
 }

From ef3d91ad67d856ae29af8ac7ddb6ab9e1f7f3313 Mon Sep 17 00:00:00 2001
From: Troy Gibb <troy.gibb@gmail.com>
Date: Fri, 22 Nov 2019 10:54:10 -0800
Subject: [PATCH 11/50] Capture error in requestAnimationFrame (#265)

## Summary

This particular block of code throws a lot of exceptions (`(regl) context lost
`) when the OS occasionally resets the GPU (More [info here](https://www.khronos.org/webgl/wiki/HandlingContextLost)). Since it was running in `requestAnimationFrame`, our React Error Boundaries were not catching the error.

## Test plan

I've been having a hard time reproducing this particular error. You basically have to intentionally over-utilize the GPU to get this to occur, but it's very inconsistent.

## Versioning impact

Needs a minor bump.
---
 packages/regl-worldview/package-lock.json |  2 +-
 packages/regl-worldview/package.json      |  2 +-
 packages/regl-worldview/src/Worldview.js  | 12 +++++++++++-
 3 files changed, 13 insertions(+), 3 deletions(-)

diff --git a/packages/regl-worldview/package-lock.json b/packages/regl-worldview/package-lock.json
index dd6a940e2..c78b116b2 100755
--- a/packages/regl-worldview/package-lock.json
+++ b/packages/regl-worldview/package-lock.json
@@ -1,6 +1,6 @@
 {
 	"name": "regl-worldview",
-	"version": "0.2.5",
+	"version": "0.3.1",
 	"lockfileVersion": 1,
 	"requires": true,
 	"dependencies": {
diff --git a/packages/regl-worldview/package.json b/packages/regl-worldview/package.json
index 66256323b..25b10cb4b 100755
--- a/packages/regl-worldview/package.json
+++ b/packages/regl-worldview/package.json
@@ -1,6 +1,6 @@
 {
   "name": "regl-worldview",
-  "version": "0.3.0",
+  "version": "0.3.1",
   "description": "A reusable component for rendering 2D and 3D views using regl",
   "license": "Apache-2.0",
   "repository": "cruise-automation/webviz/tree/master/packages/regl-worldview",
diff --git a/packages/regl-worldview/src/Worldview.js b/packages/regl-worldview/src/Worldview.js
index 30fa292e1..247b9b54d 100755
--- a/packages/regl-worldview/src/Worldview.js
+++ b/packages/regl-worldview/src/Worldview.js
@@ -158,7 +158,17 @@ export class WorldviewBase extends React.Component<BaseProps, State> {
     if (!this._tick) {
       this._tick = requestAnimationFrame(() => {
         this._tick = undefined;
-        worldviewContext.paint();
+        try {
+          worldviewContext.paint();
+        } catch (error) {
+          // Regl automatically tries to reconnect when losing the canvas 3d context.
+          // We should log this error, but it's not important to throw it.
+          if (error.message === "(regl) context lost") {
+            console.warn(error);
+          } else {
+            throw error;
+          }
+        }
       });
     }
   }

From fed85466e3ee7345b524ea3eafa98d832d37968a Mon Sep 17 00:00:00 2001
From: Jacob Bandes-Storch <jacob@getcruise.com>
Date: Wed, 27 Nov 2019 15:02:27 -0800
Subject: [PATCH 12/50] enable nullish coalescing operator (#276)

---
 babel.config.js                        |   1 +
 package-lock.json                      | 233 ++++++++++++-------------
 package.json                           |   1 +
 packages/webviz-core/package-lock.json |  37 +---
 4 files changed, 115 insertions(+), 157 deletions(-)

diff --git a/babel.config.js b/babel.config.js
index 34da8ffa9..268ac5da3 100644
--- a/babel.config.js
+++ b/babel.config.js
@@ -9,6 +9,7 @@ module.exports = {
   plugins: [
     "@babel/plugin-transform-modules-commonjs",
     "@babel/plugin-proposal-class-properties",
+    "@babel/plugin-proposal-nullish-coalescing-operator",
     "@babel/plugin-syntax-dynamic-import",
     ["@babel/plugin-proposal-object-rest-spread", { useBuiltIns: true }],
   ],
diff --git a/package-lock.json b/package-lock.json
index a72306bfc..95a11a6ef 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -356,6 +356,16 @@
         "@babel/plugin-syntax-json-strings": "^7.2.0"
       }
     },
+    "@babel/plugin-proposal-nullish-coalescing-operator": {
+      "version": "7.7.4",
+      "resolved": "https://registry.npmjs.org/@babel/plugin-proposal-nullish-coalescing-operator/-/plugin-proposal-nullish-coalescing-operator-7.7.4.tgz",
+      "integrity": "sha512-TbYHmr1Gl1UC7Vo2HVuj/Naci5BEGNZ0AJhzqD2Vpr6QPFWpUmBRLrIDjedzx7/CShq0bRDS2gI4FIs77VHLVQ==",
+      "dev": true,
+      "requires": {
+        "@babel/helper-plugin-utils": "^7.0.0",
+        "@babel/plugin-syntax-nullish-coalescing-operator": "^7.7.4"
+      }
+    },
     "@babel/plugin-proposal-object-rest-spread": {
       "version": "7.2.0",
       "resolved": "https://registry.npmjs.org/@babel/plugin-proposal-object-rest-spread/-/plugin-proposal-object-rest-spread-7.2.0.tgz",
@@ -432,6 +442,15 @@
         "@babel/helper-plugin-utils": "^7.0.0"
       }
     },
+    "@babel/plugin-syntax-nullish-coalescing-operator": {
+      "version": "7.7.4",
+      "resolved": "https://registry.npmjs.org/@babel/plugin-syntax-nullish-coalescing-operator/-/plugin-syntax-nullish-coalescing-operator-7.7.4.tgz",
+      "integrity": "sha512-XKh/yIRPiQTOeBg0QJjEus5qiSKucKAiApNtO1psqG7D17xmE+X2i5ZqBEuSvo0HRuyPaKaSN/Gy+Ha9KFQolw==",
+      "dev": true,
+      "requires": {
+        "@babel/helper-plugin-utils": "^7.0.0"
+      }
+    },
     "@babel/plugin-syntax-object-rest-spread": {
       "version": "7.2.0",
       "resolved": "https://registry.npmjs.org/@babel/plugin-syntax-object-rest-spread/-/plugin-syntax-object-rest-spread-7.2.0.tgz",
@@ -9390,28 +9409,27 @@
       "dependencies": {
         "abbrev": {
           "version": "1.1.1",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/abbrev/-/abbrev-1.1.1.tgz",
           "integrity": "sha512-nne9/IiQ/hzIhY6pdDnbBtz7DjPTKrY00P/zvPSm5pOFkl6xuGrGnXn/VtTNNfNtAfZ9/1RtehkszU9qcTii0Q==",
           "dev": true,
           "optional": true
         },
         "ansi-regex": {
           "version": "2.1.1",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/ansi-regex/-/ansi-regex-2.1.1.tgz",
           "integrity": "sha1-w7M6te42DYbg5ijwRorn7yfWVN8=",
-          "dev": true,
-          "optional": true
+          "dev": true
         },
         "aproba": {
           "version": "1.2.0",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/aproba/-/aproba-1.2.0.tgz",
           "integrity": "sha512-Y9J6ZjXtoYh8RnXVCMOU/ttDmk1aBjunq9vO0ta5x85WDQiQfUF9sIPBITdbiiIVcBo03Hi3jMxigBtsddlXRw==",
           "dev": true,
           "optional": true
         },
         "are-we-there-yet": {
           "version": "1.1.4",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/are-we-there-yet/-/are-we-there-yet-1.1.4.tgz",
           "integrity": "sha1-u13KOCu5TwXhUZQ3PRb9O6HKEQ0=",
           "dev": true,
           "optional": true,
@@ -9422,17 +9440,15 @@
         },
         "balanced-match": {
           "version": "1.0.0",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/balanced-match/-/balanced-match-1.0.0.tgz",
           "integrity": "sha1-ibTRmasr7kneFk6gK4nORi1xt2c=",
-          "dev": true,
-          "optional": true
+          "dev": true
         },
         "brace-expansion": {
           "version": "1.1.11",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/brace-expansion/-/brace-expansion-1.1.11.tgz",
           "integrity": "sha512-iCuPHDFgrHX7H2vEI/5xpz07zSHB00TpugqhmYtVmMO6518mCuRMoOYFldEBl0g187ufozdaHgWKcYFb61qGiA==",
           "dev": true,
-          "optional": true,
           "requires": {
             "balanced-match": "^1.0.0",
             "concat-map": "0.0.1"
@@ -9440,42 +9456,39 @@
         },
         "chownr": {
           "version": "1.0.1",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/chownr/-/chownr-1.0.1.tgz",
           "integrity": "sha1-4qdQQqlVGQi+vSW4Uj1fl2nXkYE=",
           "dev": true,
           "optional": true
         },
         "code-point-at": {
           "version": "1.1.0",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/code-point-at/-/code-point-at-1.1.0.tgz",
           "integrity": "sha1-DQcLTQQ6W+ozovGkDi7bPZpMz3c=",
-          "dev": true,
-          "optional": true
+          "dev": true
         },
         "concat-map": {
           "version": "0.0.1",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/concat-map/-/concat-map-0.0.1.tgz",
           "integrity": "sha1-2Klr13/Wjfd5OnMDajug1UBdR3s=",
-          "dev": true,
-          "optional": true
+          "dev": true
         },
         "console-control-strings": {
           "version": "1.1.0",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/console-control-strings/-/console-control-strings-1.1.0.tgz",
           "integrity": "sha1-PXz0Rk22RG6mRL9LOVB/mFEAjo4=",
-          "dev": true,
-          "optional": true
+          "dev": true
         },
         "core-util-is": {
           "version": "1.0.2",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/core-util-is/-/core-util-is-1.0.2.tgz",
           "integrity": "sha1-tf1UIgqivFq1eqtxQMlAdUUDwac=",
           "dev": true,
           "optional": true
         },
         "debug": {
           "version": "2.6.9",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/debug/-/debug-2.6.9.tgz",
           "integrity": "sha512-bC7ElrdJaJnPbAP+1EotYvqZsb3ecl5wi6Bfi6BJTUcNowp6cvspg0jXznRTKDjm/E7AdgFBVeAPVMNcKGsHMA==",
           "dev": true,
           "optional": true,
@@ -9485,28 +9498,28 @@
         },
         "deep-extend": {
           "version": "0.5.1",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/deep-extend/-/deep-extend-0.5.1.tgz",
           "integrity": "sha512-N8vBdOa+DF7zkRrDCsaOXoCs/E2fJfx9B9MrKnnSiHNh4ws7eSys6YQE4KvT1cecKmOASYQBhbKjeuDD9lT81w==",
           "dev": true,
           "optional": true
         },
         "delegates": {
           "version": "1.0.0",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/delegates/-/delegates-1.0.0.tgz",
           "integrity": "sha1-hMbhWbgZBP3KWaDvRM2HDTElD5o=",
           "dev": true,
           "optional": true
         },
         "detect-libc": {
           "version": "1.0.3",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/detect-libc/-/detect-libc-1.0.3.tgz",
           "integrity": "sha1-+hN8S9aY7fVc1c0CrFWfkaTEups=",
           "dev": true,
           "optional": true
         },
         "fs-minipass": {
           "version": "1.2.5",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/fs-minipass/-/fs-minipass-1.2.5.tgz",
           "integrity": "sha512-JhBl0skXjUPCFH7x6x61gQxrKyXsxB5gcgePLZCwfyCGGsTISMoIeObbrvVeP6Xmyaudw4TT43qV2Gz+iyd2oQ==",
           "dev": true,
           "optional": true,
@@ -9516,14 +9529,14 @@
         },
         "fs.realpath": {
           "version": "1.0.0",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/fs.realpath/-/fs.realpath-1.0.0.tgz",
           "integrity": "sha1-FQStJSMVjKpA20onh8sBQRmU6k8=",
           "dev": true,
           "optional": true
         },
         "gauge": {
           "version": "2.7.4",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/gauge/-/gauge-2.7.4.tgz",
           "integrity": "sha1-LANAXHU4w51+s3sxcCLjJfsBi/c=",
           "dev": true,
           "optional": true,
@@ -9540,7 +9553,7 @@
         },
         "glob": {
           "version": "7.1.2",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/glob/-/glob-7.1.2.tgz",
           "integrity": "sha512-MJTUg1kjuLeQCJ+ccE4Vpa6kKVXkPYJ2mOCQyUuKLcLQsdrMCpBPUi8qVE6+YuaJkozeA9NusTAw3hLr8Xe5EQ==",
           "dev": true,
           "optional": true,
@@ -9555,14 +9568,14 @@
         },
         "has-unicode": {
           "version": "2.0.1",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/has-unicode/-/has-unicode-2.0.1.tgz",
           "integrity": "sha1-4Ob+aijPUROIVeCG0Wkedx3iqLk=",
           "dev": true,
           "optional": true
         },
         "iconv-lite": {
           "version": "0.4.21",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/iconv-lite/-/iconv-lite-0.4.21.tgz",
           "integrity": "sha512-En5V9za5mBt2oUA03WGD3TwDv0MKAruqsuxstbMUZaj9W9k/m1CV/9py3l0L5kw9Bln8fdHQmzHSYtvpvTLpKw==",
           "dev": true,
           "optional": true,
@@ -9572,7 +9585,7 @@
         },
         "ignore-walk": {
           "version": "3.0.1",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/ignore-walk/-/ignore-walk-3.0.1.tgz",
           "integrity": "sha512-DTVlMx3IYPe0/JJcYP7Gxg7ttZZu3IInhuEhbchuqneY9wWe5Ojy2mXLBaQFUQmo0AW2r3qG7m1mg86js+gnlQ==",
           "dev": true,
           "optional": true,
@@ -9582,7 +9595,7 @@
         },
         "inflight": {
           "version": "1.0.6",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/inflight/-/inflight-1.0.6.tgz",
           "integrity": "sha1-Sb1jMdfQLQwJvJEKEHW6gWW1bfk=",
           "dev": true,
           "optional": true,
@@ -9593,58 +9606,53 @@
         },
         "inherits": {
           "version": "2.0.3",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/inherits/-/inherits-2.0.3.tgz",
           "integrity": "sha1-Yzwsg+PaQqUC9SRmAiSA9CCCYd4=",
-          "dev": true,
-          "optional": true
+          "dev": true
         },
         "ini": {
           "version": "1.3.5",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/ini/-/ini-1.3.5.tgz",
           "integrity": "sha512-RZY5huIKCMRWDUqZlEi72f/lmXKMvuszcMBduliQ3nnWbx9X/ZBQO7DijMEYS9EhHBb2qacRUMtC7svLwe0lcw==",
           "dev": true,
           "optional": true
         },
         "is-fullwidth-code-point": {
           "version": "1.0.0",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/is-fullwidth-code-point/-/is-fullwidth-code-point-1.0.0.tgz",
           "integrity": "sha1-754xOG8DGn8NZDr4L95QxFfvAMs=",
           "dev": true,
-          "optional": true,
           "requires": {
             "number-is-nan": "^1.0.0"
           }
         },
         "isarray": {
           "version": "1.0.0",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/isarray/-/isarray-1.0.0.tgz",
           "integrity": "sha1-u5NdSFgsuhaMBoNJV6VKPgcSTxE=",
           "dev": true,
           "optional": true
         },
         "minimatch": {
           "version": "3.0.4",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/minimatch/-/minimatch-3.0.4.tgz",
           "integrity": "sha512-yJHVQEhyqPLUTgt9B83PXu6W3rx4MvvHvSUvToogpwoGDOUQ+yDrR0HRot+yOCdCO7u4hX3pWft6kWBBcqh0UA==",
           "dev": true,
-          "optional": true,
           "requires": {
             "brace-expansion": "^1.1.7"
           }
         },
         "minimist": {
           "version": "0.0.8",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/minimist/-/minimist-0.0.8.tgz",
           "integrity": "sha1-hX/Kv8M5fSYluCKCYuhqp6ARsF0=",
-          "dev": true,
-          "optional": true
+          "dev": true
         },
         "minipass": {
           "version": "2.2.4",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/minipass/-/minipass-2.2.4.tgz",
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diff --git a/package.json b/package.json
index 98fc74210..9ef17c216 100755
--- a/package.json
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diff --git a/packages/webviz-core/package-lock.json b/packages/webviz-core/package-lock.json
index 41f580576..d60b73f46 100644
--- a/packages/webviz-core/package-lock.json
+++ b/packages/webviz-core/package-lock.json
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-      "version": "16.10.2",
-      "resolved": "https://registry.npmjs.org/react/-/react-16.10.2.tgz",
-      "integrity": "sha512-MFVIq0DpIhrHFyqLU0S3+4dIcBhhOvBE8bJ/5kHPVOVaGdo0KuiQzpcjCPsf585WvhypqtrMILyoE2th6dT+Lw==",
-      "requires": {
-        "loose-envify": "^1.1.0",
-        "object-assign": "^4.1.1",
-        "prop-types": "^15.6.2"
-      }
-    },
     "react-autocomplete": {
       "version": "github:janpaul123/react-autocomplete#bc8737070b5744069719c8fcd4e0a197192b0d48",
       "from": "github:janpaul123/react-autocomplete#bc8737070b5744069719c8fcd4e0a197192b0d48",
@@ -1464,7 +1449,7 @@
     },
     "react-dnd-html5-backend": {
       "version": "2.6.0",
-      "resolved": "http://registry.npmjs.org/react-dnd-html5-backend/-/react-dnd-html5-backend-2.6.0.tgz",
+      "resolved": "https://registry.npmjs.org/react-dnd-html5-backend/-/react-dnd-html5-backend-2.6.0.tgz",
       "integrity": "sha1-WQzRzKeEQbsnTt1XH+9MCxbdz44=",
       "requires": {
         "lodash": "^4.2.0"
@@ -1475,17 +1460,6 @@
       "resolved": "https://registry.npmjs.org/react-document-events/-/react-document-events-1.4.0.tgz",
       "integrity": "sha512-eJuzYYLAqtHA2uV3JUWKWhmKXPBfSCVZEpFQpCswd3gzfJWn9UbX+7pIe3MKaofLLIIE/KwZ06ay5QJePt9bHw=="
     },
-    "react-dom": {
-      "version": "16.10.2",
-      "resolved": "https://registry.npmjs.org/react-dom/-/react-dom-16.10.2.tgz",
-      "integrity": "sha512-kWGDcH3ItJK4+6Pl9DZB16BXYAZyrYQItU4OMy0jAkv5aNqc+mAKb4TpFtAteI6TJZu+9ZlNhaeNQSVQDHJzkw==",
-      "requires": {
-        "loose-envify": "^1.1.0",
-        "object-assign": "^4.1.1",
-        "prop-types": "^15.6.2",
-        "scheduler": "^0.16.2"
-      }
-    },
     "react-draggable": {
       "version": "3.0.5",
       "resolved": "https://registry.npmjs.org/react-draggable/-/react-draggable-3.0.5.tgz",
@@ -1966,6 +1940,7 @@
       "version": "0.16.2",
       "resolved": "https://registry.npmjs.org/scheduler/-/scheduler-0.16.2.tgz",
       "integrity": "sha512-BqYVWqwz6s1wZMhjFvLfVR5WXP7ZY32M/wYPo04CcuPM7XZEbV2TBNW7Z0UkguPTl0dWMA59VbNXxK6q+pHItg==",
+      "dev": true,
       "requires": {
         "loose-envify": "^1.1.0",
         "object-assign": "^4.1.1"
@@ -2137,7 +2112,7 @@
     },
     "underscore": {
       "version": "1.4.4",
-      "resolved": "http://registry.npmjs.org/underscore/-/underscore-1.4.4.tgz",
+      "resolved": "https://registry.npmjs.org/underscore/-/underscore-1.4.4.tgz",
       "integrity": "sha1-YaajIBBiKvoHljvzJSA88SI51gQ="
     },
     "unherit": {

From 7464556b772aa296b7a041438d5294e6ca107ae9 Mon Sep 17 00:00:00 2001
From: Jacob Bandes-Storch <jacob@getcruise.com>
Date: Wed, 27 Nov 2019 15:51:07 -0800
Subject: [PATCH 13/50] enable optional chaining (#277)

---
 babel.config.js   |  1 +
 package-lock.json | 19 +++++++++++++++++++
 package.json      |  1 +
 3 files changed, 21 insertions(+)

diff --git a/babel.config.js b/babel.config.js
index 268ac5da3..2beb91213 100644
--- a/babel.config.js
+++ b/babel.config.js
@@ -10,6 +10,7 @@ module.exports = {
     "@babel/plugin-transform-modules-commonjs",
     "@babel/plugin-proposal-class-properties",
     "@babel/plugin-proposal-nullish-coalescing-operator",
+    "@babel/plugin-proposal-optional-chaining",
     "@babel/plugin-syntax-dynamic-import",
     ["@babel/plugin-proposal-object-rest-spread", { useBuiltIns: true }],
   ],
diff --git a/package-lock.json b/package-lock.json
index 95a11a6ef..1faa6be64 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -386,6 +386,16 @@
         "@babel/plugin-syntax-optional-catch-binding": "^7.2.0"
       }
     },
+    "@babel/plugin-proposal-optional-chaining": {
+      "version": "7.7.4",
+      "resolved": "https://registry.npmjs.org/@babel/plugin-proposal-optional-chaining/-/plugin-proposal-optional-chaining-7.7.4.tgz",
+      "integrity": "sha512-JmgaS+ygAWDR/STPe3/7y0lNlHgS+19qZ9aC06nYLwQ/XB7c0q5Xs+ksFU3EDnp9EiEsO0dnRAOKeyLHTZuW3A==",
+      "dev": true,
+      "requires": {
+        "@babel/helper-plugin-utils": "^7.0.0",
+        "@babel/plugin-syntax-optional-chaining": "^7.7.4"
+      }
+    },
     "@babel/plugin-proposal-unicode-property-regex": {
       "version": "7.2.0",
       "resolved": "https://registry.npmjs.org/@babel/plugin-proposal-unicode-property-regex/-/plugin-proposal-unicode-property-regex-7.2.0.tgz",
@@ -469,6 +479,15 @@
         "@babel/helper-plugin-utils": "^7.0.0"
       }
     },
+    "@babel/plugin-syntax-optional-chaining": {
+      "version": "7.7.4",
+      "resolved": "https://registry.npmjs.org/@babel/plugin-syntax-optional-chaining/-/plugin-syntax-optional-chaining-7.7.4.tgz",
+      "integrity": "sha512-2MqYD5WjZSbJdUagnJvIdSfkb/ucOC9/1fRJxm7GAxY6YQLWlUvkfxoNbUPcPLHJyetKUDQ4+yyuUyAoc0HriA==",
+      "dev": true,
+      "requires": {
+        "@babel/helper-plugin-utils": "^7.0.0"
+      }
+    },
     "@babel/plugin-transform-arrow-functions": {
       "version": "7.2.0",
       "resolved": "https://registry.npmjs.org/@babel/plugin-transform-arrow-functions/-/plugin-transform-arrow-functions-7.2.0.tgz",
diff --git a/package.json b/package.json
index 9ef17c216..5a4434bfc 100755
--- a/package.json
+++ b/package.json
@@ -11,6 +11,7 @@
     "@babel/plugin-proposal-class-properties": "^7.2.1",
     "@babel/plugin-proposal-nullish-coalescing-operator": "^7.7.4",
     "@babel/plugin-proposal-object-rest-spread": "^7.2.0",
+    "@babel/plugin-proposal-optional-chaining": "^7.7.4",
     "@babel/plugin-syntax-dynamic-import": "^7.2.0",
     "@babel/plugin-transform-modules-commonjs": "^7.2.0",
     "@babel/plugin-transform-runtime": "^7.2.0",

From 18f455848eb6fac53396479f29f71837edd067d7 Mon Sep 17 00:00:00 2001
From: Jacob Bandes-Storch <jacob@getcruise.com>
Date: Wed, 27 Nov 2019 16:44:55 -0800
Subject: [PATCH 14/50] enable optional chaining in Flow (#278)

---
 .flowconfig | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.flowconfig b/.flowconfig
index 3903f2795..59ac87b4f 100755
--- a/.flowconfig
+++ b/.flowconfig
@@ -12,6 +12,7 @@ dist
 emoji=true
 esproposal.class_static_fields=enable
 esproposal.class_instance_fields=enable
+esproposal.optional_chaining=enable
 # Cheap workaround to make flow typechecking work across packages in the monorepo
 module.system.node.resolve_dirname=node_modules
 module.system.node.resolve_dirname=./packages

From b19b7bbea5e7fdb52fa0ca99e604a8227507bceb Mon Sep 17 00:00:00 2001
From: Jacob Bandes-Storch <jacob@getcruise.com>
Date: Mon, 2 Dec 2019 13:07:21 -0800
Subject: [PATCH 15/50] fix jest config for CSS files imported from
 node_modules (#279)

CSS files directly imported from node_modules would cause an error when jest failed to parse them. CSS files were being handled in the `transforms`, but these are ignored for node_modules, so use `moduleNameMapper` instead.
---
 jest/cssTransform.js | 11 -----------
 jest/jest.config.js  |  4 ++--
 jest/jsTransform.js  |  8 --------
 jest/styleMock.js    |  2 ++
 4 files changed, 4 insertions(+), 21 deletions(-)
 delete mode 100644 jest/cssTransform.js
 delete mode 100644 jest/jsTransform.js
 create mode 100644 jest/styleMock.js

diff --git a/jest/cssTransform.js b/jest/cssTransform.js
deleted file mode 100644
index 507e37078..000000000
--- a/jest/cssTransform.js
+++ /dev/null
@@ -1,11 +0,0 @@
-// This is a custom Jest transformer turning style imports into empty objects.
-
-module.exports = {
-  process() {
-    return "module.exports = {};";
-  },
-  getCacheKey() {
-    // The output is always the same.
-    return "cssTransform";
-  },
-};
diff --git a/jest/jest.config.js b/jest/jest.config.js
index 194006e73..37cad6fdc 100644
--- a/jest/jest.config.js
+++ b/jest/jest.config.js
@@ -11,8 +11,7 @@ module.exports = {
   testMatch: ["**/*.test.js"],
   testURL: "http://localhost",
   transform: {
-    "^.+\\.(js|jsx)$": "<rootDir>/jest/jsTransform.js",
-    "^.+\\.css$": "<rootDir>/jest/cssTransform.js",
+    "^.+\\.(js|jsx)$": "babel-jest",
     "^.+\\.ne$": "<rootDir>/jest/neTransform.js",
     "^(?!.*\\.(js|jsx|css|json)$)": "<rootDir>/jest/fileTransform.js",
   },
@@ -31,5 +30,6 @@ module.exports = {
       "<rootDir>/packages/webviz-core/src/players/UserNodePlayer/worker.mock.js",
     "\\.svg$": "<rootDir>/packages/webviz-core/src/test/MockSvg.js",
     "react-monaco-editor": "<rootDir>/packages/webviz-core/src/test/stubs/MonacoEditor.js",
+    "\\.css$": "<rootDir>/jest/styleMock.js",
   },
 };
diff --git a/jest/jsTransform.js b/jest/jsTransform.js
deleted file mode 100644
index ed0993082..000000000
--- a/jest/jsTransform.js
+++ /dev/null
@@ -1,8 +0,0 @@
-//  Copyright (c) 2018-present, GM Cruise LLC
-//
-//  This source code is licensed under the Apache License, Version 2.0,
-//  found in the LICENSE file in the root directory of this source tree.
-//  You may not use this file except in compliance with the License.
-
-// we use the same babel config from the .babelrc lookup path (package.json in our case)
-module.exports = require("babel-jest").createTransformer();
diff --git a/jest/styleMock.js b/jest/styleMock.js
new file mode 100644
index 000000000..151a86065
--- /dev/null
+++ b/jest/styleMock.js
@@ -0,0 +1,2 @@
+// @flow
+module.exports = {};

From 72ece33235c6da24a020e8066e5826b4c3e3ce73 Mon Sep 17 00:00:00 2001
From: Jan Paul Posma <janpaul123@users.noreply.github.com>
Date: Tue, 3 Dec 2019 15:46:46 -0800
Subject: [PATCH 16/50] Update packages/webviz-core from internal repo (#283)

Changelog:
- Now we always show some data in panels upon first load, even if a `seek-to` URL query parameter is not given.
- Replaced toggle action with delete action when showing flat selected topics in the 3D panel, and added option to allow different bag topic groups to have different topics (previously topics can't be unchecked unless they are removed from both bag1 and bag2 groups).
- Various improvements to playback performance, including using threads for rendering images, a Playback Performance panel, more playback speed options, and other more minor improvements.
- Added ability to view and export all point cloud fields upon clicking a point in the 3D panel.
- Removed automatic playback when loading Webviz, in all cases. This simplifies Webviz's behavior and implementation. Just press the spacebar to start playback.
- Fixed flicker of all panels when seeking.
- Fixed bug where unhelpful errors were thrown when an invalid `?seek-to` parameter was given.
- Fixed bug where bag data was not properly loaded. #281
---
 packages/webviz-core/package-lock.json        |  37 +-
 .../{src/util => shared}/signal.js            |   0
 .../src/PanelAPI/useDataSourceInfo.js         |   3 +
 .../src/PanelAPI/useDataSourceInfo.test.js    |   3 +
 .../src/components/AutoSizingCanvas/index.js  |  83 ++--
 .../AutoSizingCanvas/index.stories.js         |  69 ++++
 .../src/components/Autocomplete.js            |   2 +-
 .../src/components/Dropdown/index.stories.js  |  82 ++--
 .../components/MessagePipeline/index.test.js  |   2 +-
 .../PlaybackControls/ProgressPlot.js          |  69 +---
 .../src/components/PlaybackControls/index.js  |  35 +-
 .../PlaybackControls/index.stories.js         |  80 +---
 .../src/components/PlaybackSpeedControls.js   |  69 ++++
 .../PlaybackSpeedControls.stories.js          |  61 +++
 .../src/components/PlayerManager.js           |  37 +-
 packages/webviz-core/src/components/Radio.js  |  66 +++
 .../src/components/Radio.stories.js           |  83 ++++
 ...{SegmentControl.js => SegmentedControl.js} |  14 +-
 ...stories.js => SegmentedControl.stories.js} |   8 +-
 .../webviz-core/src/components/Sparkline.js   |  68 +++
 .../src/components/Sparkline.stories.js       |  45 ++
 .../src/components/Tree/TreeNode.js           |  67 ++-
 .../webviz-core/src/components/Tree/index.js  |  14 +-
 .../src/components/Tree/index.module.scss     |   1 +
 .../src/components/Tree/index.stories.js      |  53 ++-
 .../dataProviders/MemoryCacheDataProvider.js  |  18 +-
 .../MemoryCacheDataProvider.test.js           |  11 +
 .../src/dataProviders/RpcDataProvider.js      |   6 +-
 .../dataProviders/RpcDataProviderRemote.js    |  10 +-
 packages/webviz-core/src/loadWebviz.js        |   2 +
 .../src/panels/ImageView/ImageCanvas.js       | 386 +++++-------------
 .../panels/ImageView/ImageCanvas.stories.js   | 215 ++++++----
 .../panels/ImageView/ImageCanvas.worker.js    |  52 +++
 .../ImageView/ImageCanvasWorkerProvider.js    |  52 +++
 .../ImageCanvasWorkerProvider.test.js         |  69 ++++
 .../webviz-core/src/panels/ImageView/index.js |  74 +---
 .../src/panels/ImageView/index.test.js        |  67 ---
 .../src/panels/ImageView/renderImage.js       | 308 ++++++++++++++
 .../webviz-core/src/panels/ImageView/util.js  |  84 +++-
 .../src/panels/ImageView/util.test.js         |  63 ++-
 .../src/panels/PlaybackPerformance.js         | 107 +++++
 .../DrawingTools/CameraInfo.js                |  13 +-
 .../DrawingTools/Polygons.js                  |   7 +-
 .../Interactions/Interaction.stories.js       |  57 ++-
 .../Interactions/Interactions.js              |  20 +-
 .../Interactions/PointCloudDetails.js         | 105 ++---
 .../src/panels/ThreeDimensionalViz/Layout.js  |  11 +-
 .../TopicSelector/TopicSelectorFlatList.js    |  16 +
 .../TopicSelector/TopicSelectorWrapper.js     |   1 +
 .../TopicSettingsEditor/PoseSettingsEditor.js |   6 +-
 .../commands/CarModel/carModel.glb            | Bin 669344 -> 684476 bytes
 .../commands/Pointclouds/PointCloudBuilder.js | 356 ++++++++--------
 .../Pointclouds/PointCloudBuilder.test.js     | 241 ++++-------
 .../commands/Pointclouds/Readers.js           |  89 ++++
 .../Pointclouds/fixture/pointCloudData.js     | 267 ++++++++++++
 .../commands/Pointclouds/index.js             |  15 +-
 .../commands/PoseMarkers.stories.js           | 100 ++---
 .../threeDimensionalVizUtils.js               |   4 +-
 .../ThreeDimensionalViz/topicTreeUtils.js     |  24 +-
 .../topicTreeUtils.test.js                    | 111 +++--
 .../src/players/NodePlayer.test.js            |   2 +-
 .../src/players/RandomAccessPlayer.js         | 114 +++---
 .../src/players/RandomAccessPlayer.test.js    | 176 ++++----
 .../src/players/UserNodePlayer/index.js       |   4 +-
 .../src/players/UserNodePlayer/index.test.js  |   2 +-
 .../automatedRun/AutomatedRunPlayer.js        |   2 +-
 .../automatedRun/AutomatedRunPlayer.test.js   |   2 +-
 .../performanceMeasuringClient.js             | 143 ++-----
 .../performanceMeasuringClient.test.js        |  98 +++--
 .../automatedRun/videoRecordingClient.js      |   1 -
 packages/webviz-core/src/players/types.js     |  11 -
 .../src/test/setupTestFramework.js            |  22 +-
 packages/webviz-core/src/util/Rpc.js          |   3 +
 packages/webviz-core/src/util/Rpc.test.js     |   2 +
 packages/webviz-core/src/util/RpcUtils.js     |  31 ++
 .../webviz-core/src/util/RpcUtils.test.js     |  59 +++
 packages/webviz-core/src/util/colors.js       |   8 +-
 .../src/util/debouncePromise.test.js          |   2 +-
 .../webviz-core/src/util/globalConstants.js   |   2 -
 .../src/util/indexeddb/Database.js            |   5 -
 .../src/util/indexeddb/Database.test.js       |  19 -
 packages/webviz-core/src/util/reportError.js  |   4 +-
 82 files changed, 3016 insertions(+), 1714 deletions(-)
 rename packages/webviz-core/{src/util => shared}/signal.js (100%)
 create mode 100644 packages/webviz-core/src/components/AutoSizingCanvas/index.stories.js
 create mode 100644 packages/webviz-core/src/components/PlaybackSpeedControls.js
 create mode 100644 packages/webviz-core/src/components/PlaybackSpeedControls.stories.js
 create mode 100644 packages/webviz-core/src/components/Radio.js
 create mode 100644 packages/webviz-core/src/components/Radio.stories.js
 rename packages/webviz-core/src/components/{SegmentControl.js => SegmentedControl.js} (78%)
 rename packages/webviz-core/src/components/{SegmentControl.stories.js => SegmentedControl.stories.js} (82%)
 create mode 100644 packages/webviz-core/src/components/Sparkline.js
 create mode 100644 packages/webviz-core/src/components/Sparkline.stories.js
 create mode 100644 packages/webviz-core/src/panels/ImageView/ImageCanvas.worker.js
 create mode 100644 packages/webviz-core/src/panels/ImageView/ImageCanvasWorkerProvider.js
 create mode 100644 packages/webviz-core/src/panels/ImageView/ImageCanvasWorkerProvider.test.js
 delete mode 100644 packages/webviz-core/src/panels/ImageView/index.test.js
 create mode 100644 packages/webviz-core/src/panels/ImageView/renderImage.js
 create mode 100644 packages/webviz-core/src/panels/PlaybackPerformance.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/Readers.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/fixture/pointCloudData.js
 create mode 100644 packages/webviz-core/src/util/RpcUtils.js
 create mode 100644 packages/webviz-core/src/util/RpcUtils.test.js

diff --git a/packages/webviz-core/package-lock.json b/packages/webviz-core/package-lock.json
index d60b73f46..41f580576 100644
--- a/packages/webviz-core/package-lock.json
+++ b/packages/webviz-core/package-lock.json
@@ -19,6 +19,11 @@
         }
       }
     },
+    "@cruise-automation/hooks": {
+      "version": "0.0.1",
+      "resolved": "https://registry.npmjs.org/@cruise-automation/hooks/-/hooks-0.0.1.tgz",
+      "integrity": "sha512-sUwYShqRJAyg2XS7+uc9ZwdNkRArLdyjPTF6Ebl1GphXHX5QYU14aMt3SO3QtVg0fd/KSWM4FinRosxZDq5uZg=="
+    },
     "@mdi/svg": {
       "version": "3.2.89",
       "resolved": "https://registry.npmjs.org/@mdi/svg/-/svg-3.2.89.tgz",
@@ -422,7 +427,7 @@
     },
     "color-convert": {
       "version": "0.5.3",
-      "resolved": "https://registry.npmjs.org/color-convert/-/color-convert-0.5.3.tgz",
+      "resolved": "http://registry.npmjs.org/color-convert/-/color-convert-0.5.3.tgz",
       "integrity": "sha1-vbbGnOZg+t/+CwAHzER+G59ygr0="
     },
     "color-name": {
@@ -432,7 +437,7 @@
     },
     "colors": {
       "version": "0.5.1",
-      "resolved": "https://registry.npmjs.org/colors/-/colors-0.5.1.tgz",
+      "resolved": "http://registry.npmjs.org/colors/-/colors-0.5.1.tgz",
       "integrity": "sha1-fQAj6usVTo7p/Oddy5I9DtFmd3Q="
     },
     "connected-react-router": {
@@ -497,7 +502,7 @@
     },
     "dnd-core": {
       "version": "2.6.0",
-      "resolved": "https://registry.npmjs.org/dnd-core/-/dnd-core-2.6.0.tgz",
+      "resolved": "http://registry.npmjs.org/dnd-core/-/dnd-core-2.6.0.tgz",
       "integrity": "sha1-ErrWbVh0LG5ffPKUP7aFlED4CcQ=",
       "requires": {
         "asap": "^2.0.6",
@@ -1389,6 +1394,16 @@
         "ret": "~0.1.10"
       }
     },
+    "react": {
+      "version": "16.10.2",
+      "resolved": "https://registry.npmjs.org/react/-/react-16.10.2.tgz",
+      "integrity": "sha512-MFVIq0DpIhrHFyqLU0S3+4dIcBhhOvBE8bJ/5kHPVOVaGdo0KuiQzpcjCPsf585WvhypqtrMILyoE2th6dT+Lw==",
+      "requires": {
+        "loose-envify": "^1.1.0",
+        "object-assign": "^4.1.1",
+        "prop-types": "^15.6.2"
+      }
+    },
     "react-autocomplete": {
       "version": "github:janpaul123/react-autocomplete#bc8737070b5744069719c8fcd4e0a197192b0d48",
       "from": "github:janpaul123/react-autocomplete#bc8737070b5744069719c8fcd4e0a197192b0d48",
@@ -1449,7 +1464,7 @@
     },
     "react-dnd-html5-backend": {
       "version": "2.6.0",
-      "resolved": "https://registry.npmjs.org/react-dnd-html5-backend/-/react-dnd-html5-backend-2.6.0.tgz",
+      "resolved": "http://registry.npmjs.org/react-dnd-html5-backend/-/react-dnd-html5-backend-2.6.0.tgz",
       "integrity": "sha1-WQzRzKeEQbsnTt1XH+9MCxbdz44=",
       "requires": {
         "lodash": "^4.2.0"
@@ -1460,6 +1475,17 @@
       "resolved": "https://registry.npmjs.org/react-document-events/-/react-document-events-1.4.0.tgz",
       "integrity": "sha512-eJuzYYLAqtHA2uV3JUWKWhmKXPBfSCVZEpFQpCswd3gzfJWn9UbX+7pIe3MKaofLLIIE/KwZ06ay5QJePt9bHw=="
     },
+    "react-dom": {
+      "version": "16.10.2",
+      "resolved": "https://registry.npmjs.org/react-dom/-/react-dom-16.10.2.tgz",
+      "integrity": "sha512-kWGDcH3ItJK4+6Pl9DZB16BXYAZyrYQItU4OMy0jAkv5aNqc+mAKb4TpFtAteI6TJZu+9ZlNhaeNQSVQDHJzkw==",
+      "requires": {
+        "loose-envify": "^1.1.0",
+        "object-assign": "^4.1.1",
+        "prop-types": "^15.6.2",
+        "scheduler": "^0.16.2"
+      }
+    },
     "react-draggable": {
       "version": "3.0.5",
       "resolved": "https://registry.npmjs.org/react-draggable/-/react-draggable-3.0.5.tgz",
@@ -1940,7 +1966,6 @@
       "version": "0.16.2",
       "resolved": "https://registry.npmjs.org/scheduler/-/scheduler-0.16.2.tgz",
       "integrity": "sha512-BqYVWqwz6s1wZMhjFvLfVR5WXP7ZY32M/wYPo04CcuPM7XZEbV2TBNW7Z0UkguPTl0dWMA59VbNXxK6q+pHItg==",
-      "dev": true,
       "requires": {
         "loose-envify": "^1.1.0",
         "object-assign": "^4.1.1"
@@ -2112,7 +2137,7 @@
     },
     "underscore": {
       "version": "1.4.4",
-      "resolved": "https://registry.npmjs.org/underscore/-/underscore-1.4.4.tgz",
+      "resolved": "http://registry.npmjs.org/underscore/-/underscore-1.4.4.tgz",
       "integrity": "sha1-YaajIBBiKvoHljvzJSA88SI51gQ="
     },
     "unherit": {
diff --git a/packages/webviz-core/src/util/signal.js b/packages/webviz-core/shared/signal.js
similarity index 100%
rename from packages/webviz-core/src/util/signal.js
rename to packages/webviz-core/shared/signal.js
diff --git a/packages/webviz-core/src/PanelAPI/useDataSourceInfo.js b/packages/webviz-core/src/PanelAPI/useDataSourceInfo.js
index ea7fb7dc0..b0dba605c 100644
--- a/packages/webviz-core/src/PanelAPI/useDataSourceInfo.js
+++ b/packages/webviz-core/src/PanelAPI/useDataSourceInfo.js
@@ -21,6 +21,7 @@ export type DataSourceInfo = {|
   capabilities: string[],
   startTime: ?Time,
   endTime: ?Time,
+  playerId: string,
 |};
 
 export default function useDataSourceInfo(): DataSourceInfo {
@@ -33,6 +34,7 @@ export default function useDataSourceInfo(): DataSourceInfo {
     useCallback(({ playerState: { activeData } }) => activeData && activeData.endTime, [])
   );
   const capabilities = useMessagePipeline(useCallback(({ playerState: { capabilities } }) => capabilities, []));
+  const playerId = useMessagePipeline(useCallback(({ playerState: { playerId } }) => playerId, []));
 
   return {
     topics,
@@ -40,5 +42,6 @@ export default function useDataSourceInfo(): DataSourceInfo {
     capabilities,
     startTime,
     endTime,
+    playerId,
   };
 }
diff --git a/packages/webviz-core/src/PanelAPI/useDataSourceInfo.test.js b/packages/webviz-core/src/PanelAPI/useDataSourceInfo.test.js
index 185f3cd17..ab8d07524 100644
--- a/packages/webviz-core/src/PanelAPI/useDataSourceInfo.test.js
+++ b/packages/webviz-core/src/PanelAPI/useDataSourceInfo.test.js
@@ -64,6 +64,7 @@ describe("useDataSourceInfo", () => {
           capabilities: ["hello"],
           startTime: { sec: 0, nsec: 1 },
           endTime: { sec: 10, nsec: 0 },
+          playerId: "1",
         },
       ],
     ]);
@@ -91,6 +92,7 @@ describe("useDataSourceInfo", () => {
           capabilities: ["hello"],
           startTime: { sec: 0, nsec: 1 },
           endTime: { sec: 10, nsec: 0 },
+          playerId: "1",
         },
       ],
     ]);
@@ -108,6 +110,7 @@ describe("useDataSourceInfo", () => {
           capabilities: ["hello"],
           startTime: { sec: 0, nsec: 1 },
           endTime: { sec: 10, nsec: 0 },
+          playerId: "1",
         },
       ],
     ]);
diff --git a/packages/webviz-core/src/components/AutoSizingCanvas/index.js b/packages/webviz-core/src/components/AutoSizingCanvas/index.js
index dcedd0a2f..0845bae54 100644
--- a/packages/webviz-core/src/components/AutoSizingCanvas/index.js
+++ b/packages/webviz-core/src/components/AutoSizingCanvas/index.js
@@ -6,7 +6,7 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import * as React from "react";
+import React, { useRef, useLayoutEffect } from "react";
 import Dimensions from "react-container-dimensions";
 
 type Draw = (context: CanvasRenderingContext2D, width: number, height: number) => void;
@@ -15,64 +15,57 @@ type CanvasProps = {
   draw: Draw,
   width: number,
   height: number,
+  overrideDevicePixelRatioForTest?: number,
 };
 
 type AutoSizingCanvasProps = {
   draw: Draw,
+  overrideDevicePixelRatioForTest?: number,
 };
 
 // Nested within `AutoSizingCanvas` so that componentDidUpdate fires on width/height changes.
 // Adding a hook into the 'react-container-dimensions' project on resize changes might be a good improvement!
-class Canvas extends React.Component<CanvasProps> {
-  canvas = React.createRef<HTMLCanvasElement>();
-
-  _draw(context) {
-    const { width, height } = this.props;
-    this.props.draw(context, width, height);
-  }
-
-  componentDidMount() {
-    const canvas = this.canvas.current;
-    if (!canvas) {
-      return;
-    }
-    this._draw(canvas.getContext("2d"));
-  }
-
-  componentDidUpdate() {
-    const canvas = this.canvas.current;
+function Canvas({
+  draw,
+  width,
+  height,
+  overrideDevicePixelRatioForTest: ratio = window.devicePixelRatio || 1,
+}: CanvasProps) {
+  const canvasRef = useRef();
+  useLayoutEffect(() => {
+    const canvas = canvasRef.current;
     if (!canvas) {
       return;
     }
-    const context = canvas.getContext("2d");
-    const RATIO = window.devicePixelRatio;
-
-    // Fix blurry text, can also use scale with context save & restore
-    context.setTransform(RATIO, 0, 0, RATIO, 0, 0);
-    this._draw(context);
-  }
-
-  render() {
-    const { width, height } = this.props;
-    const RATIO = window.devicePixelRatio;
+    const ctx = canvas.getContext("2d");
+    ctx.setTransform(ratio, 0, 0, ratio, 0, 0);
+    draw(ctx, width, height);
+  });
 
-    // Must set canvas width, height, style width and style height to avoid blurry text
-    return (
-      <canvas
-        ref={this.canvas}
-        width={width * RATIO}
-        height={height * RATIO}
-        style={{
-          width,
-          height,
-        }}
-      />
-    );
-  }
+  return (
+    <canvas
+      ref={canvasRef}
+      width={width * ratio}
+      height={height * ratio}
+      style={{
+        width,
+        height,
+      }}
+    />
+  );
 }
 
-const AutoSizingCanvas = ({ draw }: AutoSizingCanvasProps) => (
-  <Dimensions>{({ width, height }) => <Canvas width={width} height={height} draw={draw} />}</Dimensions>
+const AutoSizingCanvas = ({ draw, overrideDevicePixelRatioForTest }: AutoSizingCanvasProps) => (
+  <Dimensions>
+    {({ width, height }) => (
+      <Canvas
+        width={width}
+        height={height}
+        draw={draw}
+        overrideDevicePixelRatioForTest={overrideDevicePixelRatioForTest}
+      />
+    )}
+  </Dimensions>
 );
 
 export default AutoSizingCanvas;
diff --git a/packages/webviz-core/src/components/AutoSizingCanvas/index.stories.js b/packages/webviz-core/src/components/AutoSizingCanvas/index.stories.js
new file mode 100644
index 000000000..b4ff7bd24
--- /dev/null
+++ b/packages/webviz-core/src/components/AutoSizingCanvas/index.stories.js
@@ -0,0 +1,69 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { storiesOf } from "@storybook/react";
+import React, { useState, useEffect } from "react";
+import { withScreenshot } from "storybook-chrome-screenshot";
+
+import AutoSizingCanvas from ".";
+
+function Example({
+  changeSize,
+  changePixelRatio,
+  devicePixelRatio,
+}: {
+  changeSize?: boolean,
+  changePixelRatio?: boolean,
+  devicePixelRatio?: number,
+}) {
+  const [width, setWidth] = useState(300);
+  const [pixelRatio, setPixelRatio] = useState(devicePixelRatio);
+  useEffect(
+    () => {
+      setTimeout(() => {
+        if (changeSize) {
+          setWidth(150);
+        }
+        if (changePixelRatio) {
+          setPixelRatio(2);
+        }
+      }, 10);
+    },
+    [changePixelRatio, changeSize]
+  );
+
+  return (
+    <div style={{ width, height: 100, backgroundColor: "green" }}>
+      <AutoSizingCanvas
+        overrideDevicePixelRatioForTest={pixelRatio}
+        draw={(ctx, width, height) => {
+          ctx.fillStyle = "white";
+          ctx.fillRect(0, 0, width, height);
+          ctx.strokeStyle = "red";
+          ctx.lineWidth = 2;
+          ctx.font = "24px Arial";
+          ctx.strokeRect(0, 0, width, height);
+
+          // $FlowFixMe
+          const text = `hello ${ctx.getTransform().a}`;
+          const size = ctx.measureText(text);
+          ctx.fillStyle = "black";
+          ctx.textBaseline = "middle";
+          ctx.fillText(text, width / 2 - size.width / 2, height / 2);
+        }}
+      />
+    </div>
+  );
+}
+
+storiesOf("<AutoSizingCanvas>", module)
+  .addDecorator(withScreenshot())
+  .add("static", () => <Example />)
+  .add("changing size", () => <Example changeSize />)
+  .add("pixel ratio 2", () => <Example devicePixelRatio={2} />)
+  .add("changing pixel ratio", () => <Example changePixelRatio />);
diff --git a/packages/webviz-core/src/components/Autocomplete.js b/packages/webviz-core/src/components/Autocomplete.js
index c187359ed..88299e606 100644
--- a/packages/webviz-core/src/components/Autocomplete.js
+++ b/packages/webviz-core/src/components/Autocomplete.js
@@ -262,7 +262,7 @@ export default class Autocomplete extends PureComponent<AutocompleteProps, Autoc
       items,
       placeholder,
       selectedItem,
-      value = this.state.value != null ? this.state.value : selectedItem ? getItemText(selectedItem) : null,
+      value = this.state.value ?? (selectedItem ? getItemText(selectedItem) : null),
       filterText = value,
       sortWhenFiltering,
       minWidth,
diff --git a/packages/webviz-core/src/components/Dropdown/index.stories.js b/packages/webviz-core/src/components/Dropdown/index.stories.js
index 8fd96f2ee..8a320bdb8 100644
--- a/packages/webviz-core/src/components/Dropdown/index.stories.js
+++ b/packages/webviz-core/src/components/Dropdown/index.stories.js
@@ -6,60 +6,46 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import { withState } from "@dump247/storybook-state";
 import SettingsIcon from "@mdi/svg/svg/settings.svg";
-import { withKnobs, select } from "@storybook/addon-knobs";
 import { storiesOf } from "@storybook/react";
-import * as React from "react";
+import React, { useState } from "react";
 import { withScreenshot } from "storybook-chrome-screenshot";
 
 import Dropdown from "webviz-core/src/components/Dropdown";
 import Icon from "webviz-core/src/components/Icon";
 
+function Example({
+  position = "below",
+  showCustomBtn = false,
+}: {
+  position?: "left" | "right" | "below",
+  showCustomBtn?: boolean,
+}) {
+  const [value, setValue] = useState("foo");
+  const text = value === "foo" ? "one" : "";
+  const additionalProps = showCustomBtn
+    ? {
+        toggleComponent: (
+          <Icon fade>
+            <SettingsIcon />
+          </Icon>
+        ),
+      }
+    : {};
+  return (
+    <div style={{ margin: 20 }}>
+      <Dropdown position={position} text={text} value={value} onChange={setValue} {...additionalProps}>
+        <span value="foo">one</span>
+        <span value="two">two</span>
+        <hr />
+        <span value="three">three</span>
+      </Dropdown>
+    </div>
+  );
+}
 storiesOf("<Dropdown>", module)
   .addDecorator(withScreenshot())
-  .addDecorator(withKnobs)
-  .add(
-    "standard",
-    withState({ value: "foo" }, (store) => {
-      const { value } = store.state;
-      const text = value === "foo" ? "one" : "";
-      const position: "left" | "right" | "below" = select("position", ["left", "right", "below"], "below");
-      return (
-        <div style={{ margin: 20 }}>
-          <Dropdown position={position} text={text} value={value} onChange={(value) => store.set({ value })}>
-            <span value="foo">one</span>
-            <span value="two">two</span>
-            <hr />
-            <span value="three">three</span>
-          </Dropdown>
-        </div>
-      );
-    })
-  )
-  .add(
-    "with custom button",
-    withState({ value: "foo" }, (store) => {
-      const { value } = store.state;
-      const text = value === "foo" ? "one" : "";
-      return (
-        <div style={{ margin: 20 }}>
-          <Dropdown
-            position="below"
-            text={text}
-            value={value}
-            onChange={(value) => store.set({ value })}
-            toggleComponent={
-              <Icon fade>
-                <SettingsIcon />
-              </Icon>
-            }>
-            <span value="foo">one</span>
-            <span value="two">two</span>
-            <hr />
-            <span value="three">three</span>
-          </Dropdown>
-        </div>
-      );
-    })
-  );
+  .add("position_below", () => <Example position="below" />)
+  .add("position_left", () => <Example position="left" />)
+  .add("position_right", () => <Example position="right" />)
+  .add("with custom button", () => <Example showCustomBtn />);
diff --git a/packages/webviz-core/src/components/MessagePipeline/index.test.js b/packages/webviz-core/src/components/MessagePipeline/index.test.js
index d7bee3dc9..ca39d30be 100644
--- a/packages/webviz-core/src/components/MessagePipeline/index.test.js
+++ b/packages/webviz-core/src/components/MessagePipeline/index.test.js
@@ -13,7 +13,7 @@ import { act } from "react-dom/test-utils";
 
 import { MessagePipelineProvider, MessagePipelineConsumer } from ".";
 import FakePlayer from "./FakePlayer";
-import signal from "webviz-core/src/util/signal";
+import signal from "webviz-core/shared/signal";
 
 describe("MessagePipelineProvider/MessagePipelineConsumer", () => {
   it("returns empty data when no player is given", () => {
diff --git a/packages/webviz-core/src/components/PlaybackControls/ProgressPlot.js b/packages/webviz-core/src/components/PlaybackControls/ProgressPlot.js
index 917999e20..2d534569d 100644
--- a/packages/webviz-core/src/components/PlaybackControls/ProgressPlot.js
+++ b/packages/webviz-core/src/components/PlaybackControls/ProgressPlot.js
@@ -9,7 +9,6 @@ import { complement } from "intervals-fn";
 import React, { Component } from "react";
 
 import AutoSizingCanvas from "webviz-core/src/components/AutoSizingCanvas";
-import filterMap from "webviz-core/src/filterMap";
 import type { Progress } from "webviz-core/src/players/types";
 
 const BAR_HEIGHT = 40;
@@ -20,64 +19,15 @@ type ProgressProps = {|
   progress: Progress,
 |};
 
-type ProgressState = {|
-  showComplete: boolean,
-|};
-
-function areDownloadsComplete(progress: Progress) {
-  // satisfy flow
-  const values: [?number] = (Object.values(progress.percentageByTopic || {}): any);
-  // we are completed if all progresses are numbers and are greater than 99
-  return values.length === 0 || !values.some((val: ?number) => val == null || val < 100);
-}
-
-export class ProgressPlot extends Component<ProgressProps, ProgressState> {
-  state = { showComplete: false };
-  _timeoutId: ?TimeoutID;
-
-  shouldComponentUpdate(nextProps: ProgressProps, nextState: ProgressState) {
-    return nextProps.progress !== this.props.progress || nextState.showComplete !== this.state.showComplete;
-  }
-
-  componentWillUnmount() {
-    if (this._timeoutId) {
-      clearTimeout(this._timeoutId);
-    }
+export class ProgressPlot extends Component<ProgressProps> {
+  shouldComponentUpdate(nextProps: ProgressProps) {
+    return nextProps.progress !== this.props.progress;
   }
 
   _draw = (context: CanvasRenderingContext2D, width: number, height: number) => {
     const { progress } = this.props;
-    const { showComplete } = this.state;
-    const { percentageByTopic = {} } = progress;
 
     context.clearRect(0, 0, width, height);
-    let pendingCount = 0;
-    let text = filterMap(Object.keys(percentageByTopic), (key) => {
-      const percent = percentageByTopic[key];
-      // null or undefined means download is queued but not started
-      if (percent == null) {
-        pendingCount++;
-        return undefined;
-      }
-      // because files can span a longer distance than the drive range percent can go over 100%
-      if (percent >= 100) {
-        return undefined;
-      }
-      // if download is 0 percent we're ingesting data before the drive range
-      return percent ? `${key} ${percent}%` : key;
-    }).join(" ");
-
-    if (pendingCount > 0) {
-      text += ` — ${pendingCount} topic${pendingCount > 1 ? "s" : ""} queued...`;
-    }
-
-    context.fillStyle = "white";
-
-    if (text) {
-      context.fillText(`Downloading ${text}`, 0, 11);
-    } else if (showComplete) {
-      context.fillText("All topics downloaded.", 0, 11);
-    }
 
     if (progress.fullyLoadedFractionRanges) {
       context.fillStyle = "rgba(0, 0, 0, 0.5)";
@@ -90,19 +40,6 @@ export class ProgressPlot extends Component<ProgressProps, ProgressState> {
     }
   };
 
-  componentDidUpdate(prevProps: ProgressProps) {
-    const wasComplete = areDownloadsComplete(prevProps.progress);
-    const isComplete = areDownloadsComplete(this.props.progress);
-    if (!wasComplete && isComplete) {
-      this.setState({ showComplete: true });
-      clearTimeout(this._timeoutId);
-      this._timeoutId = setTimeout(() => {
-        delete this._timeoutId;
-        this.setState({ showComplete: false });
-      }, 5000);
-    }
-  }
-
   render() {
     return (
       <div style={{ height: BAR_HEIGHT }}>
diff --git a/packages/webviz-core/src/components/PlaybackControls/index.js b/packages/webviz-core/src/components/PlaybackControls/index.js
index 5cb5dea40..f5c77c69c 100644
--- a/packages/webviz-core/src/components/PlaybackControls/index.js
+++ b/packages/webviz-core/src/components/PlaybackControls/index.js
@@ -13,23 +13,20 @@ import PlayIcon from "@mdi/svg/svg/play.svg";
 import classnames from "classnames";
 import React, { useCallback } from "react";
 import KeyListener from "react-key-listener";
-import { useSelector, useDispatch } from "react-redux";
 import type { Time } from "rosbag";
 import styled from "styled-components";
 
 import styles from "./index.module.scss";
 import { ProgressPlot } from "./ProgressPlot";
-import { setPlaybackConfig as setPlaybackConfigAction } from "webviz-core/src/actions/panels";
-import Dropdown from "webviz-core/src/components/Dropdown";
 import EmptyState from "webviz-core/src/components/EmptyState";
 import Flex from "webviz-core/src/components/Flex";
 import Icon from "webviz-core/src/components/Icon";
 import { MessagePipelineConsumer } from "webviz-core/src/components/MessagePipeline";
+import PlaybackSpeedControls from "webviz-core/src/components/PlaybackSpeedControls";
 import Slider from "webviz-core/src/components/Slider";
 import tooltipStyles from "webviz-core/src/components/Tooltip.module.scss";
-import { type PlayerState, PlayerCapabilities } from "webviz-core/src/players/types";
+import { type PlayerState } from "webviz-core/src/players/types";
 import colors from "webviz-core/src/styles/colors.module.scss";
-import { times } from "webviz-core/src/util/entities";
 import { formatTime, formatTimeRaw, subtractTimes, toSec, fromSec } from "webviz-core/src/util/time";
 
 const StyledFullWidthBar = styled.div`
@@ -53,11 +50,9 @@ const StyledMarker = styled.div.attrs({
 `;
 
 type Props = {|
-  playbackSpeed: number,
   player: PlayerState,
   pause: () => void,
   play: () => void,
-  setSpeed: (number) => void,
   seek: (Time) => void,
 |};
 
@@ -128,8 +123,8 @@ export class UnconnectedPlaybackControls extends React.PureComponent<Props> {
   };
 
   render() {
-    const { pause, play, setSpeed, player } = this.props;
-    const { activeData, showInitializing, progress, capabilities } = player;
+    const { pause, play, player } = this.props;
+    const { activeData, showInitializing, progress } = player;
 
     if (!activeData) {
       const message = showInitializing ? (
@@ -151,7 +146,7 @@ export class UnconnectedPlaybackControls extends React.PureComponent<Props> {
       );
     }
 
-    const { isPlaying, startTime, endTime, currentTime, speed } = activeData;
+    const { isPlaying, startTime, endTime, currentTime } = activeData;
 
     const min = toSec(startTime);
     const max = toSec(endTime);
@@ -165,14 +160,7 @@ export class UnconnectedPlaybackControls extends React.PureComponent<Props> {
           <Icon large>{isPlaying ? <PauseIcon /> : <PlayIcon />}</Icon>
         </div>
         <div>
-          {capabilities.includes(PlayerCapabilities.setSpeed) && speed != null && speed !== 0 && (
-            <Dropdown position="above" value={speed} text={`${speed.toFixed(1)}${times}`} onChange={setSpeed}>
-              <span value={0.1}>0.1&times;</span>
-              <span value={0.2}>0.2&times;</span>
-              <span value={0.5}>0.5&times;</span>
-              <span value={1}>1.0&times;</span>
-            </Dropdown>
-          )}
+          <PlaybackSpeedControls />
         </div>
 
         <div className={styles.bar}>
@@ -203,10 +191,6 @@ export class UnconnectedPlaybackControls extends React.PureComponent<Props> {
 }
 
 function PlaybackControls() {
-  const playbackSpeed = useSelector((state) => state.panels.playbackConfig.speed);
-  const dispatch = useDispatch();
-  const setPlaybackConfig = useCallback((config) => dispatch(setPlaybackConfigAction(config)), [dispatch]);
-
   const renderUnconnectedPlaybackControls = useCallback(
     (context) => (
       <UnconnectedPlaybackControls
@@ -214,14 +198,9 @@ function PlaybackControls() {
         play={context.startPlayback}
         pause={context.pausePlayback}
         seek={context.seekPlayback}
-        setSpeed={(speed) => {
-          context.setPlaybackSpeed(speed);
-          setPlaybackConfig({ speed });
-        }}
-        playbackSpeed={playbackSpeed}
       />
     ),
-    [setPlaybackConfig, playbackSpeed]
+    []
   );
   return <MessagePipelineConsumer>{renderUnconnectedPlaybackControls}</MessagePipelineConsumer>;
 }
diff --git a/packages/webviz-core/src/components/PlaybackControls/index.stories.js b/packages/webviz-core/src/components/PlaybackControls/index.stories.js
index c42243f03..ed042a215 100644
--- a/packages/webviz-core/src/components/PlaybackControls/index.stories.js
+++ b/packages/webviz-core/src/components/PlaybackControls/index.stories.js
@@ -8,10 +8,11 @@
 
 import { action } from "@storybook/addon-actions";
 import { storiesOf } from "@storybook/react";
-import React from "react";
+import * as React from "react";
 import { withScreenshot } from "storybook-chrome-screenshot";
 
 import { UnconnectedPlaybackControls } from ".";
+import { MockMessagePipelineProvider } from "webviz-core/src/components/MessagePipeline";
 import { PlayerCapabilities, type PlayerState } from "webviz-core/src/players/types";
 
 const START_TIME = 1531761690;
@@ -39,51 +40,30 @@ function getPlayerState(): PlayerState {
   return player;
 }
 
+function Wrapper({ children }: { children: React.Node }) {
+  return (
+    <MockMessagePipelineProvider capabilities={["setSpeed"]}>
+      <div style={{ padding: 20, margin: 100 }}>{children}</div>
+    </MockMessagePipelineProvider>
+  );
+}
+
 storiesOf("<PlaybackControls>", module)
   .addDecorator(withScreenshot())
   .add("playing", () => {
     const pause = action("pause");
     const play = action("play");
-    const setSpeed = action("setSpeed");
-    const seek = action("seek");
-    const player = getPlayerState();
-    return (
-      <div style={{ padding: 20, margin: 100 }}>
-        <UnconnectedPlaybackControls
-          player={player}
-          pause={pause}
-          play={play}
-          setSpeed={setSpeed}
-          seek={seek}
-          playbackSpeed={0.2}
-        />
-      </div>
-    );
-  })
-  .add("without speed control", () => {
-    const pause = action("pause");
-    const play = action("play");
-    const setSpeed = action("setSpeed");
     const seek = action("seek");
     const player = getPlayerState();
-    player.capabilities = [];
     return (
-      <div style={{ padding: 20, margin: 100 }}>
-        <UnconnectedPlaybackControls
-          player={player}
-          pause={pause}
-          play={play}
-          setSpeed={setSpeed}
-          seek={seek}
-          playbackSpeed={0.2}
-        />
-      </div>
+      <Wrapper>
+        <UnconnectedPlaybackControls player={player} pause={pause} play={play} seek={seek} />
+      </Wrapper>
     );
   })
   .add("paused", () => {
     const pause = action("pause");
     const play = action("play");
-    const setSpeed = action("setSpeed");
     const seek = action("seek");
     const player = getPlayerState();
 
@@ -94,22 +74,14 @@ storiesOf("<PlaybackControls>", module)
       player.activeData.endTime.sec += 1;
     }
     return (
-      <div style={{ padding: 20, margin: 100 }}>
-        <UnconnectedPlaybackControls
-          player={player}
-          pause={pause}
-          play={play}
-          setSpeed={setSpeed}
-          seek={seek}
-          playbackSpeed={0.2}
-        />
-      </div>
+      <Wrapper>
+        <UnconnectedPlaybackControls player={player} pause={pause} play={play} seek={seek} />
+      </Wrapper>
     );
   })
   .add("tooltip", () => {
     const pause = action("pause");
     const play = action("play");
-    const setSpeed = action("setSpeed");
     const seek = action("seek");
     const player = getPlayerState();
 
@@ -146,36 +118,26 @@ storiesOf("<PlaybackControls>", module)
             player={player}
             pause={pause}
             play={play}
-            setSpeed={setSpeed}
             seek={seek}
-            playbackSpeed={0.2}
           />
         );
       }
     }
     return (
-      <div style={{ padding: 20, margin: 100 }}>
+      <Wrapper>
         <ControlsWithTooltip />
-      </div>
+      </Wrapper>
     );
   })
   .add("download progress by ranges", () => {
     const player = getPlayerState();
     const pause = action("pause");
     const play = action("play");
-    const setSpeed = action("setSpeed");
     const seek = action("seek");
     player.progress.fullyLoadedFractionRanges = [{ start: 0.23, end: 0.6 }, { start: 0.7, end: 1 }];
     return (
-      <div style={{ padding: 20, margin: 100 }}>
-        <UnconnectedPlaybackControls
-          player={player}
-          pause={pause}
-          play={play}
-          setSpeed={setSpeed}
-          seek={seek}
-          playbackSpeed={0.2}
-        />
-      </div>
+      <Wrapper>
+        <UnconnectedPlaybackControls player={player} pause={pause} play={play} seek={seek} />
+      </Wrapper>
     );
   });
diff --git a/packages/webviz-core/src/components/PlaybackSpeedControls.js b/packages/webviz-core/src/components/PlaybackSpeedControls.js
new file mode 100644
index 000000000..cc36b843f
--- /dev/null
+++ b/packages/webviz-core/src/components/PlaybackSpeedControls.js
@@ -0,0 +1,69 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import React, { useCallback, useEffect } from "react";
+import { useDispatch, useSelector } from "react-redux";
+
+import { setPlaybackConfig } from "webviz-core/src/actions/panels";
+import Dropdown from "webviz-core/src/components/Dropdown";
+import { useMessagePipeline } from "webviz-core/src/components/MessagePipeline";
+import { useDataSourceInfo } from "webviz-core/src/PanelAPI";
+import { PlayerCapabilities } from "webviz-core/src/players/types";
+import { ndash, times } from "webviz-core/src/util/entities";
+
+const SPEEDS = ["0.01", "0.02", "0.05", "0.1", "0.2", "0.5", "0.8", "1.0", "5.0"];
+
+export default function PlaybackSpeedControls() {
+  const configSpeed = useSelector((state) => state.panels.playbackConfig.speed);
+  const speed = useMessagePipeline(
+    useCallback(({ playerState }) => playerState.activeData && playerState.activeData.speed, [])
+  );
+  const { capabilities, playerId } = useDataSourceInfo();
+  const canSetSpeed = capabilities.includes(PlayerCapabilities.setSpeed);
+
+  // TODO(JP): Might be nice to move all this logic a bit deeper down. It's a bit weird to be doing
+  // all this in what's otherwise just a view component.
+  const dispatch = useDispatch();
+  const setPlaybackSpeed = useMessagePipeline(useCallback(({ setPlaybackSpeed }) => setPlaybackSpeed, []));
+  const setSpeed = useCallback(
+    (speed) => {
+      dispatch(setPlaybackConfig({ speed }));
+      if (canSetSpeed) {
+        setPlaybackSpeed(speed);
+      }
+    },
+    [canSetSpeed, dispatch, setPlaybackSpeed]
+  );
+
+  // Set the speed to the speed that we got from the config whenever we get a new Player.
+  useEffect(
+    () => {
+      setSpeed(configSpeed);
+    },
+    [playerId, setSpeed, configSpeed]
+  );
+
+  if (!canSetSpeed) {
+    return null;
+  }
+
+  return (
+    <Dropdown
+      position="above"
+      value={speed || configSpeed}
+      text={!speed ? ndash : speed < 0.1 ? `${speed.toFixed(2)}${times}` : `${speed.toFixed(1)}${times}`}
+      onChange={setSpeed}
+      dataTest="PlaybackSpeedControls-Dropdown">
+      {SPEEDS.map((speed: string) => (
+        <span key={speed} value={parseFloat(speed)}>
+          {speed}&times;
+        </span>
+      ))}
+    </Dropdown>
+  );
+}
diff --git a/packages/webviz-core/src/components/PlaybackSpeedControls.stories.js b/packages/webviz-core/src/components/PlaybackSpeedControls.stories.js
new file mode 100644
index 000000000..42ba52082
--- /dev/null
+++ b/packages/webviz-core/src/components/PlaybackSpeedControls.stories.js
@@ -0,0 +1,61 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import { storiesOf } from "@storybook/react";
+import React from "react";
+import { withScreenshot } from "storybook-chrome-screenshot";
+
+import { MockMessagePipelineProvider } from "webviz-core/src/components/MessagePipeline";
+import PlaybackSpeedControls from "webviz-core/src/components/PlaybackSpeedControls";
+
+function ControlsStory() {
+  return (
+    <div
+      style={{ padding: 20, paddingTop: 300 }}
+      ref={(el) => {
+        setImmediate(() => {
+          if (el) {
+            // $FlowFixMe - just crash when we can't find this dropdown.
+            el.querySelector("[data-test=PlaybackSpeedControls-Dropdown]").click();
+          }
+        });
+      }}>
+      <PlaybackSpeedControls />
+    </div>
+  );
+}
+
+storiesOf("<PlaybackSpeedControls>", module)
+  .addDecorator(withScreenshot())
+  .add("without speed capability", () => {
+    return (
+      <MockMessagePipelineProvider>
+        <ControlsStory />
+      </MockMessagePipelineProvider>
+    );
+  })
+  .add("without a speed from the player", () => {
+    return (
+      <MockMessagePipelineProvider capabilities={["setSpeed"]} activeData={{ speed: undefined }}>
+        <ControlsStory />
+      </MockMessagePipelineProvider>
+    );
+  })
+  .add("with a speed", () => {
+    return (
+      <MockMessagePipelineProvider capabilities={["setSpeed"]}>
+        <ControlsStory />
+      </MockMessagePipelineProvider>
+    );
+  })
+  .add("with a very small speed", () => {
+    return (
+      <MockMessagePipelineProvider capabilities={["setSpeed"]} activeData={{ speed: 0.01 }}>
+        <ControlsStory />
+      </MockMessagePipelineProvider>
+    );
+  });
diff --git a/packages/webviz-core/src/components/PlayerManager.js b/packages/webviz-core/src/components/PlayerManager.js
index 6c41252c1..14025b884 100644
--- a/packages/webviz-core/src/components/PlayerManager.js
+++ b/packages/webviz-core/src/components/PlayerManager.js
@@ -38,21 +38,27 @@ import {
   LOAD_ENTIRE_BAG_QUERY_KEY,
   REMOTE_BAG_URL_QUERY_KEY,
   SECOND_BAG_PREFIX,
-  FRAME_SIZE_MS_QUERY_KEY,
 } from "webviz-core/src/util/globalConstants";
 import { getSeekToTime } from "webviz-core/src/util/time";
 
+function getPlayerOptions() {
+  return { metricsCollector: undefined, seekToTime: getSeekToTime() };
+}
+
 function buildPlayer(files: File[]): ?Player {
   if (files.length === 0) {
     return undefined;
   } else if (files.length === 1) {
-    return new RandomAccessPlayer(getLocalBagDescriptor(files[0]), undefined);
+    return new RandomAccessPlayer(getLocalBagDescriptor(files[0]), getPlayerOptions());
   } else if (files.length === 2) {
-    return new RandomAccessPlayer({
-      name: "CombinedDataProvider",
-      args: { providerInfos: [{}, { prefix: SECOND_BAG_PREFIX }] },
-      children: [getLocalBagDescriptor(files[0]), getLocalBagDescriptor(files[1])],
-    });
+    return new RandomAccessPlayer(
+      {
+        name: "CombinedDataProvider",
+        args: { providerInfos: [{}, { prefix: SECOND_BAG_PREFIX }] },
+        children: [getLocalBagDescriptor(files[0]), getLocalBagDescriptor(files[1])],
+      },
+      getPlayerOptions()
+    );
   }
   throw new Error(`Unsupported number of files: ${files.length}`);
 }
@@ -67,10 +73,6 @@ type Props = OwnProps & {
   setUserNodeTrust: SetUserNodeTrust,
 };
 
-export function getFrameSizeMs(params: URLSearchParams) {
-  return params.get(FRAME_SIZE_MS_QUERY_KEY) ? Number(params.get(FRAME_SIZE_MS_QUERY_KEY)) : null;
-}
-
 function PlayerManager({
   importPanelLayout,
   children,
@@ -93,10 +95,17 @@ function PlayerManager({
         getRemoteBagGuid(url).then((guid: ?string) => {
           const newPlayer = new RandomAccessPlayer(
             getRemoteBagDescriptor(url, guid, params.has(LOAD_ENTIRE_BAG_QUERY_KEY)),
-            undefined,
-            { autoplay: true, seekToTime: getSeekToTime(), frameSizeMs: getFrameSizeMs(params) }
+            getPlayerOptions()
           );
-          setPlayer(new UserNodePlayer(newPlayer, { setUserNodeDiagnostics, addUserNodeLogs, setUserNodeTrust }));
+          const player = new UserNodePlayer(newPlayer, { setUserNodeDiagnostics, addUserNodeLogs, setUserNodeTrust });
+          if (params.has(DEMO_QUERY_KEY)) {
+            // When we're showing a demo, then automatically start playback (we don't normally
+            // do that).
+            setTimeout(() => {
+              player.startPlayback();
+            }, 1000);
+          }
+          setPlayer(player);
         });
         if (params.has(DEMO_QUERY_KEY)) {
           importPanelLayout(demoLayoutJson, false, true);
diff --git a/packages/webviz-core/src/components/Radio.js b/packages/webviz-core/src/components/Radio.js
new file mode 100644
index 000000000..6395fea20
--- /dev/null
+++ b/packages/webviz-core/src/components/Radio.js
@@ -0,0 +1,66 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import RadioButtonUncheckedIcon from "@mdi/svg/svg/radiobox-blank.svg";
+import RadioButtonCheckedIcon from "@mdi/svg/svg/radiobox-marked.svg";
+import * as React from "react";
+import styled from "styled-components";
+
+import Icon from "./Icon";
+import { colorToAlpha } from "./SegmentedControl";
+import { colors } from "webviz-core/src/util/colors";
+
+export type RadioOption = {
+  id: string,
+  label: React.Node,
+};
+
+export type RadioProps = {
+  options: RadioOption[],
+  selectedId?: string,
+  onChange: (selectedId: string) => void,
+};
+
+const SOption = styled.div`
+  display: flex;
+  align-items: center;
+  cursor: pointer;
+  outline: 0;
+  &:not(:last-child) {
+    margin-bottom: 8px;
+  }
+  > .icon svg {
+    flex: none;
+    transition: all 80ms ease-in-out;
+    border-radius: 50%;
+  }
+  &:hover {
+    > .icon svg {
+      opacity: 0.8;
+    }
+  }
+  &:focus-within,
+  &:focus,
+  &:active {
+    > .icon svg {
+      box-shadow: 0 0 0 2px ${colorToAlpha(colors.LIGHT, 0.2)};
+    }
+  }
+`;
+const SLabel = styled.div`
+  margin-left: 8px;
+`;
+
+export default function Radio(props: RadioProps): React.Node {
+  const { options, selectedId, onChange, ...restProps } = props;
+  return options.map(({ id, label }: RadioOption) => (
+    <SOption tabIndex={0} key={id} data-test={id} onClick={() => onChange(id)} {...restProps}>
+      <Icon small>{id === selectedId ? <RadioButtonCheckedIcon /> : <RadioButtonUncheckedIcon />}</Icon>
+      <SLabel>{label}</SLabel>
+    </SOption>
+  ));
+}
diff --git a/packages/webviz-core/src/components/Radio.stories.js b/packages/webviz-core/src/components/Radio.stories.js
new file mode 100644
index 000000000..3e1e5daf2
--- /dev/null
+++ b/packages/webviz-core/src/components/Radio.stories.js
@@ -0,0 +1,83 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { storiesOf } from "@storybook/react";
+import * as React from "react";
+import { withScreenshot } from "storybook-chrome-screenshot";
+
+import Radio, { type RadioOption } from "webviz-core/src/components/Radio";
+
+const OPTIONS = {
+  first: {
+    id: "first",
+    label: "First Option",
+  },
+  second: {
+    id: "second",
+    label: <i>Second Option</i>,
+  },
+  third: {
+    id: "third",
+    label: "Third Option",
+  },
+};
+
+function Box({
+  title = "",
+  children,
+  onMount,
+}: {
+  title?: string,
+  children: React.Node,
+  onMount?: (HTMLDivElement) => void,
+}) {
+  const ref = React.useRef();
+  React.useLayoutEffect(
+    () => {
+      if (ref.current && onMount) {
+        onMount(ref.current);
+      }
+    },
+    [onMount]
+  );
+  return (
+    <div style={{ margin: 24, width: 432 }} ref={ref}>
+      <p>{title}</p>
+      <div style={{ width: 432 }}>{children}</div>
+    </div>
+  );
+}
+
+// $FlowFixMe
+const optionArr: RadioOption[] = Object.values(OPTIONS);
+
+function ControlledExample() {
+  const [selectedId, setSelectedId] = React.useState(OPTIONS.first.id);
+  return (
+    <Box
+      title="clicked the 2nd option manually"
+      onMount={React.useCallback((el) => {
+        const secondOptionEl = el.querySelector("[data-test='second']");
+        if (secondOptionEl) {
+          secondOptionEl.click();
+        }
+      }, [])}>
+      <Radio options={optionArr} selectedId={selectedId} onChange={(newId) => setSelectedId(newId)} />
+    </Box>
+  );
+}
+storiesOf("<Radio>", module)
+  .addDecorator(withScreenshot())
+  .add("basic", () => (
+    <div>
+      <Box title="default">
+        <Radio options={optionArr} selectedId="first" onChange={() => {}} />
+      </Box>
+      <ControlledExample />
+    </div>
+  ));
diff --git a/packages/webviz-core/src/components/SegmentControl.js b/packages/webviz-core/src/components/SegmentedControl.js
similarity index 78%
rename from packages/webviz-core/src/components/SegmentControl.js
rename to packages/webviz-core/src/components/SegmentedControl.js
index f4356fb86..da4c5c15b 100644
--- a/packages/webviz-core/src/components/SegmentControl.js
+++ b/packages/webviz-core/src/components/SegmentedControl.js
@@ -12,13 +12,13 @@ import tinyColor from "tinycolor2";
 
 import { colors } from "webviz-core/src/util/colors";
 
-const colorToAlpha = (hex, alpha) => {
+export const colorToAlpha = (hex: string, alpha: number) => {
   const color = tinyColor(hex);
   color.setAlpha(alpha);
   return color.toRgbString();
 };
 
-const SSegmentControl = styled.div`
+const SSegmentedControl = styled.div`
   display: inline-flex;
   padding: 4px;
   border-radius: 6px;
@@ -36,7 +36,7 @@ const SOption = styled.div`
   cursor: pointer;
   transition: all 80ms ease-in-out;
   border-radius: 4px;
-  background-color: ${(props) => (props.isSelected ? colors.DARK2 : "transparent")};
+  background-color: ${(props) => (props.isSelected ? colors.BLUE1 : "transparent")};
   color: ${(props) => (props.isSelected ? colors.LIGHT : colors.LIGHT)};
   padding: 8px 16px;
   &:hover {
@@ -55,18 +55,18 @@ type Props = {|
   onChange: (id: string) => void,
 |};
 
-export default function SegmentControl({ options, selectedId, onChange }: Props) {
+export default function SegmentedControl({ options, selectedId, onChange }: Props) {
   if (options.length === 0) {
-    throw new Error("<SegmentControl> requires at least one option");
+    throw new Error("<SegmentedControl> requires at least one option");
   }
 
   return (
-    <SSegmentControl tabIndex={0}>
+    <SSegmentedControl tabIndex={0}>
       {options.map(({ id, label }) => (
         <SOption key={id} data-test={id} onClick={() => onChange(id)} isSelected={selectedId === id}>
           {label}
         </SOption>
       ))}
-    </SSegmentControl>
+    </SSegmentedControl>
   );
 }
diff --git a/packages/webviz-core/src/components/SegmentControl.stories.js b/packages/webviz-core/src/components/SegmentedControl.stories.js
similarity index 82%
rename from packages/webviz-core/src/components/SegmentControl.stories.js
rename to packages/webviz-core/src/components/SegmentedControl.stories.js
index 5ffae9acf..56ad81876 100644
--- a/packages/webviz-core/src/components/SegmentControl.stories.js
+++ b/packages/webviz-core/src/components/SegmentedControl.stories.js
@@ -10,7 +10,7 @@ import { storiesOf } from "@storybook/react";
 import * as React from "react";
 import { withScreenshot } from "storybook-chrome-screenshot";
 
-import SegmentControl, { type Option } from "webviz-core/src/components/SegmentControl";
+import SegmentedControl, { type Option } from "webviz-core/src/components/SegmentedControl";
 
 const OPTIONS = {
   first: {
@@ -64,16 +64,16 @@ function ControlledExample() {
           secondOptionEl.click();
         }
       }}>
-      <SegmentControl options={optionArr} selectedId={selectedId} onChange={(newId) => setSelectedId(newId)} />
+      <SegmentedControl options={optionArr} selectedId={selectedId} onChange={(newId) => setSelectedId(newId)} />
     </Box>
   );
 }
-storiesOf("<SegmentControl>", module)
+storiesOf("<SegmentedControl>", module)
   .addDecorator(withScreenshot())
   .add("basic", () => (
     <div>
       <Box title="default">
-        <SegmentControl options={optionArr} selectedId="first" onChange={() => {}} />
+        <SegmentedControl options={optionArr} selectedId="first" onChange={() => {}} />
       </Box>
       <ControlledExample />
     </div>
diff --git a/packages/webviz-core/src/components/Sparkline.js b/packages/webviz-core/src/components/Sparkline.js
new file mode 100644
index 000000000..bfe351fee
--- /dev/null
+++ b/packages/webviz-core/src/components/Sparkline.js
@@ -0,0 +1,68 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import { max } from "lodash";
+import * as React from "react";
+
+import AutoSizingCanvas from "webviz-core/src/components/AutoSizingCanvas";
+
+export type SparklinePoint = {| value: number, timestamp: number |};
+
+type SparklineProps = {|
+  points: SparklinePoint[],
+  width: number,
+  height: number,
+  timeRange: number,
+  maximum?: number,
+  nowStamp?: number, // Mostly for testing.
+|};
+
+function draw(
+  points: SparklinePoint[],
+  maximum: number,
+  timeRange: number,
+  nowStamp: number,
+  context: CanvasRenderingContext2D,
+  width: number,
+  height: number
+) {
+  const maxValue = Math.max(maximum, max(points.map(({ value }) => value)));
+  context.clearRect(0, 0, width, height);
+  context.beginPath();
+  context.strokeStyle = "white";
+  let first = true;
+  for (const { value, timestamp } of points) {
+    const x = ((timeRange + timestamp - nowStamp) / timeRange) * width;
+    const y = (1 - value / maxValue) * height;
+    if (first) {
+      context.moveTo(x, y);
+      first = false;
+    } else {
+      context.lineTo(x, y);
+    }
+  }
+  context.stroke();
+}
+
+export function Sparkline(props: SparklineProps) {
+  return (
+    <div
+      style={{
+        display: "inline-block",
+        verticalAlign: "-10px",
+        backgroundColor: "#333",
+        width: props.width,
+        height: props.height,
+      }}>
+      <AutoSizingCanvas
+        draw={(context: CanvasRenderingContext2D, width: number, height: number) => {
+          draw(props.points, props.maximum || 0, props.timeRange, props.nowStamp || Date.now(), context, width, height);
+        }}
+      />
+    </div>
+  );
+}
diff --git a/packages/webviz-core/src/components/Sparkline.stories.js b/packages/webviz-core/src/components/Sparkline.stories.js
new file mode 100644
index 000000000..b51f013ca
--- /dev/null
+++ b/packages/webviz-core/src/components/Sparkline.stories.js
@@ -0,0 +1,45 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { storiesOf } from "@storybook/react";
+import React from "react";
+import { withScreenshot } from "storybook-chrome-screenshot";
+
+import { Sparkline, type SparklinePoint } from "webviz-core/src/components/Sparkline";
+
+const points: SparklinePoint[] = [
+  { value: 5, timestamp: 10 },
+  { value: 50, timestamp: 30 },
+  { value: 30, timestamp: 60 },
+  { value: 100, timestamp: 100 },
+];
+
+const props = {
+  points,
+  width: 300,
+  height: 100,
+  timeRange: 100,
+  nowStamp: 100,
+};
+
+storiesOf("<Sparkline>", module)
+  .addDecorator(withScreenshot())
+  .add("standard", () => {
+    return (
+      <div style={{ padding: 8 }}>
+        <Sparkline {...props} />
+      </div>
+    );
+  })
+  .add("with explicit maximum of 200", () => {
+    return (
+      <div style={{ padding: 8 }}>
+        <Sparkline {...props} maximum={200} />
+      </div>
+    );
+  });
diff --git a/packages/webviz-core/src/components/Tree/TreeNode.js b/packages/webviz-core/src/components/Tree/TreeNode.js
index 6bf397177..1af5dac9c 100644
--- a/packages/webviz-core/src/components/Tree/TreeNode.js
+++ b/packages/webviz-core/src/components/Tree/TreeNode.js
@@ -12,6 +12,7 @@ import CheckboxBlankIcon from "@mdi/svg/svg/checkbox-blank.svg";
 import CheckboxMarkedIcon from "@mdi/svg/svg/checkbox-marked.svg";
 import ChevronDownIcon from "@mdi/svg/svg/chevron-down.svg";
 import ChevronRightIcon from "@mdi/svg/svg/chevron-right.svg";
+import CloseIcon from "@mdi/svg/svg/close.svg";
 import EyeOffOutlineIcon from "@mdi/svg/svg/eye-off-outline.svg";
 import EyeOutlineIcon from "@mdi/svg/svg/eye-outline.svg";
 import FolderIcon from "@mdi/svg/svg/folder.svg";
@@ -28,7 +29,9 @@ import colors from "webviz-core/src/styles/colors.module.scss";
 type Props = {
   node: Node,
   depth: number,
+  disableCheckbox: ?boolean,
   enableVisibilityToggle?: boolean,
+  onRemoveNode: ?(node: Node) => void,
   onToggleExpand: (node: Node) => void,
   onToggleVisibility?: (node: Node) => void,
   onToggleCheck: (node: Node) => void,
@@ -43,6 +46,12 @@ export default class TreeNode extends Component<Props> {
     }
   };
 
+  onRemoveNode = () => {
+    if (this.props.onRemoveNode) {
+      this.props.onRemoveNode(this.props.node);
+    }
+  };
+
   onToggleVisibility = (e: SyntheticEvent<HTMLElement>) => {
     const { onToggleVisibility, node } = this.props;
     if (onToggleVisibility) {
@@ -65,8 +74,10 @@ export default class TreeNode extends Component<Props> {
   renderChildren() {
     const {
       depth,
+      disableCheckbox,
       enableVisibilityToggle,
       node,
+      onRemoveNode,
       onEditClick,
       onToggleCheck,
       onToggleExpand,
@@ -79,10 +90,12 @@ export default class TreeNode extends Component<Props> {
       return (
         <TreeNode
           depth={depth + 1}
+          disableCheckbox={disableCheckbox}
           enableVisibilityToggle={enableVisibilityToggle}
           key={child.id}
           node={child}
           onEditClick={onEditClick}
+          onRemoveNode={onRemoveNode}
           onToggleCheck={onToggleCheck}
           onToggleExpand={onToggleExpand}
           onToggleVisibility={onToggleVisibility}
@@ -115,8 +128,8 @@ export default class TreeNode extends Component<Props> {
   };
 
   render() {
-    const { node, depth, enableVisibilityToggle } = this.props;
-    const { expanded, children, icon, disabled, tooltip, canEdit, hasEdit, filtered, visible } = node;
+    const { node, depth, enableVisibilityToggle, disableCheckbox } = this.props;
+    const { expanded, children, icon, disabled, tooltip, canEdit, hasEdit, filtered, visible, namespace } = node;
     const headerClasses = cx(styles.header, {
       [styles.hasChildren]: children && children.length,
       [styles.disabled]: disabled,
@@ -141,25 +154,36 @@ export default class TreeNode extends Component<Props> {
     );
 
     const editIcon = icon && canEdit && (
-      <Icon style={{ padding: 4 }} fade tooltip="Edit topic settings" onClick={this.onEditClick}>
+      <Icon style={{ padding: "0 4px" }} fade tooltip="Edit topic settings" onClick={this.onEditClick}>
         <LeadPencilIcon />
       </Icon>
     );
 
-    let visibilityIcon = null;
     // only enable visibility toggle for topics
-    if (enableVisibilityToggle && node.topic && !node.namespace) {
-      visibilityIcon = (
-        <Icon
-          style={{ padding: 4 }}
-          fade
-          tooltip={visible ? "Hide topic temporarily" : "Show topic"}
-          onClick={this.onToggleVisibility}
-          dataTest={`node-${node.topic || node.name}`}>
-          {visible ? <EyeOutlineIcon /> : <EyeOffOutlineIcon />}
-        </Icon>
-      );
-    }
+    const visibilityIcon = enableVisibilityToggle && node.topic && !node.namespace && (
+      <Icon
+        style={{ padding: "0 4px" }}
+        fade
+        tooltip={visible ? "Hide topic temporarily" : "Show topic"}
+        onClick={this.onToggleVisibility}
+        dataTest={`node-${node.topic || node.name}`}>
+        {visible ? <EyeOutlineIcon /> : <EyeOffOutlineIcon />}
+      </Icon>
+    );
+
+    // for simplicity, don't render remove UI for namespaces
+    const renderRemoveIcon = disableCheckbox && !namespace;
+    const removeIcon = renderRemoveIcon && (
+      <Icon
+        style={{ padding: "0 4px" }}
+        fade
+        tooltip="Remove the item from the list"
+        onClick={this.onRemoveNode}
+        dataTest={`node-remove-${node.topic || node.name}`}>
+        <CloseIcon />
+      </Icon>
+    );
+
     // Wrap in a fragment to avoid missing key warnings
     const tooltipContents =
       !tooltip || tooltip.length === 0 ? null : React.createElement(React.Fragment, {}, ...tooltip);
@@ -167,17 +191,20 @@ export default class TreeNode extends Component<Props> {
     return (
       <div style={filtered ? { display: "none" } : {}}>
         <div style={style} className={headerClasses} onClick={this.onExpandClick}>
-          <Icon className={checkboxClasses} onClick={this.onCheckboxClick}>
-            {this.getCheckboxIcon()}
-          </Icon>
+          {!renderRemoveIcon && (
+            <Icon className={checkboxClasses} onClick={this.onCheckboxClick}>
+              {this.getCheckboxIcon()}
+            </Icon>
+          )}
           {extraIcon}
           <span className={cx("node-text", styles.text)}>
             <Tooltip contents={tooltipContents} offset={{ x: 0, y: 8 }}>
               <span>{node.text}</span>
             </Tooltip>
           </span>
-          {visibilityIcon}
           {editIcon}
+          {visibilityIcon}
+          {removeIcon}
           <Icon
             className={cx(styles["expand-icon"], {
               [styles.invisible]: !children || !children.length,
diff --git a/packages/webviz-core/src/components/Tree/index.js b/packages/webviz-core/src/components/Tree/index.js
index e41719747..b5f46274e 100644
--- a/packages/webviz-core/src/components/Tree/index.js
+++ b/packages/webviz-core/src/components/Tree/index.js
@@ -15,9 +15,11 @@ import TreeNode from "./TreeNode";
 export type { Node } from "./Node";
 
 type Props = {
+  disableCheckbox?: boolean,
   enableVisibilityToggle?: boolean,
   hideRoot?: boolean,
   onEditClick: (e: SyntheticMouseEvent<HTMLElement>, node: Node) => void,
+  onRemoveNode?: (node: Node) => void,
   onToggleCheck: (node: Node) => void,
   onToggleExpand: (node: Node) => void,
   onToggleVisibility?: (node: Node) => void,
@@ -31,14 +33,24 @@ export default class Tree extends PureComponent<Props> {
   };
 
   renderNode = (node: Node) => {
-    const { onToggleExpand, onToggleCheck, onEditClick, onToggleVisibility, enableVisibilityToggle } = this.props;
+    const {
+      disableCheckbox,
+      enableVisibilityToggle,
+      onEditClick,
+      onRemoveNode,
+      onToggleCheck,
+      onToggleExpand,
+      onToggleVisibility,
+    } = this.props;
     return (
       <TreeNode
         depth={0}
+        disableCheckbox={disableCheckbox}
         enableVisibilityToggle={enableVisibilityToggle}
         key={node.id}
         node={node}
         onEditClick={onEditClick}
+        onRemoveNode={onRemoveNode}
         onToggleCheck={onToggleCheck}
         onToggleExpand={onToggleExpand}
         onToggleVisibility={onToggleVisibility}
diff --git a/packages/webviz-core/src/components/Tree/index.module.scss b/packages/webviz-core/src/components/Tree/index.module.scss
index 96679b123..2a416378b 100644
--- a/packages/webviz-core/src/components/Tree/index.module.scss
+++ b/packages/webviz-core/src/components/Tree/index.module.scss
@@ -47,6 +47,7 @@ $padding: 6px;
   display: flex;
   flex-direction: row;
   padding-right: $padding;
+  align-items: center;
 
   $height: 30px;
 
diff --git a/packages/webviz-core/src/components/Tree/index.stories.js b/packages/webviz-core/src/components/Tree/index.stories.js
index 7003f411d..0f7be8cb9 100644
--- a/packages/webviz-core/src/components/Tree/index.stories.js
+++ b/packages/webviz-core/src/components/Tree/index.stories.js
@@ -6,12 +6,10 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import { withState } from "@dump247/storybook-state";
 import GridIcon from "@mdi/svg/svg/grid.svg";
 import MapMarkerIcon from "@mdi/svg/svg/map-marker.svg";
-import { withKnobs, boolean } from "@storybook/addon-knobs";
 import { storiesOf } from "@storybook/react";
-import React from "react";
+import React, { useState } from "react";
 import { withScreenshot } from "storybook-chrome-screenshot";
 
 import Menu from "webviz-core/src/components/Menu";
@@ -121,31 +119,28 @@ function getInitialState() {
   };
 }
 
-storiesOf("<Tree>", module)
-  .addDecorator(withScreenshot())
-  .addDecorator(withKnobs)
-  .add(
-    "standard",
-    withState(getInitialState(), (store) => {
-      const root = store.state.root;
-      const onNodeCheck = (node: Node) => {
-        node.checked = !node.checked;
-        store.set({ root });
-      };
-
-      const onNodeExpand = (node: Node) => {
-        node.expanded = !node.expanded;
-        store.set({ root });
-      };
-
-      const hideRoot = boolean("Hide root node?", true);
+function Example({ hideRoot }: { hideRoot?: boolean }) {
+  const [state, setState] = useState(() => getInitialState());
+  const { root } = state;
+  const onNodeCheck = (node: Node) => {
+    node.checked = !node.checked;
+    setState({ ...state, root });
+  };
+  const onNodeExpand = (node: Node) => {
+    node.expanded = !node.expanded;
+    setState({ ...state, root });
+  };
 
-      return (
-        <div style={{ backgroundColor: "pink", padding: 20, maxWidth: 350 }}>
-          <Menu>
-            <Tree hideRoot={hideRoot} onToggleCheck={onNodeCheck} onToggleExpand={onNodeExpand} root={root} />
-          </Menu>
-        </div>
-      );
-    })
+  return (
+    <div style={{ backgroundColor: "pink", padding: 20, maxWidth: 350 }}>
+      <Menu>
+        <Tree hideRoot={hideRoot} onToggleCheck={onNodeCheck} onToggleExpand={onNodeExpand} root={root} />
+      </Menu>
+    </div>
   );
+}
+
+storiesOf("<Tree>", module)
+  .addDecorator(withScreenshot())
+  .add("standard hideRoot_true", () => <Example hideRoot />)
+  .add("standard hideRoot_false", () => <Example />);
diff --git a/packages/webviz-core/src/dataProviders/MemoryCacheDataProvider.js b/packages/webviz-core/src/dataProviders/MemoryCacheDataProvider.js
index c9e82543c..b4e1040c4 100644
--- a/packages/webviz-core/src/dataProviders/MemoryCacheDataProvider.js
+++ b/packages/webviz-core/src/dataProviders/MemoryCacheDataProvider.js
@@ -30,7 +30,7 @@ const log = new Logger(__filename);
 
 // I (JP) mostly just made these numbers up. It might be worth experimenting with different values
 // for these, but it seems to work reasonably well in my tests.
-const BLOCK_SIZE_NS = 0.1e9; // Messages are laid out in blocks with a fixed number of milliseconds.
+export const MEM_CACHE_BLOCK_SIZE_NS = 0.1e9; // Messages are laid out in blocks with a fixed number of milliseconds.
 const MINIMUM_CACHE_SIZE_NS = 35e9; // Number of nanoseconds that we'll always keep in the cache.
 const READ_AHEAD_NS = 3e9; // Number of nanoseconds to read ahead from the last `getMessages` call.
 const CACHE_SIZE_BYTES = 2.5e9; // Number of bytes that we aim to keep in the cache.
@@ -82,7 +82,7 @@ export function getBlocksToKeep({
     for (let blockIndex = blockRange.end - 1; blockIndex >= blockRange.start; blockIndex--) {
       // If we don't have size, there are no blocks to keep!
       const sizeInBytes = blockSizesInBytes[blockIndex];
-      if (!sizeInBytes) {
+      if (sizeInBytes === undefined) {
         continue;
       }
 
@@ -165,7 +165,7 @@ export default class MemoryCacheDataProvider implements DataProvider {
     if (this._totalNs > Number.MAX_SAFE_INTEGER * 0.9) {
       throw new Error("Time range is too long to be supported");
     }
-    this._blocks = new Array(Math.ceil(this._totalNs / BLOCK_SIZE_NS));
+    this._blocks = new Array(Math.ceil(this._totalNs / MEM_CACHE_BLOCK_SIZE_NS));
     this._updateProgress();
 
     return result;
@@ -182,8 +182,8 @@ export default class MemoryCacheDataProvider implements DataProvider {
       end: toNanoSec(subtractTimes(endTime, this._startTime)) + 1, // `Range` defines `end` as exclusive.
     };
     const blockRange = {
-      start: Math.floor(timeRange.start / BLOCK_SIZE_NS),
-      end: Math.floor((timeRange.end - 1) / BLOCK_SIZE_NS) + 1, // `Range` defines `end` as exclusive.
+      start: Math.floor(timeRange.start / MEM_CACHE_BLOCK_SIZE_NS),
+      end: Math.floor((timeRange.end - 1) / MEM_CACHE_BLOCK_SIZE_NS) + 1, // `Range` defines `end` as exclusive.
     };
     return new Promise((resolve) => {
       this._readRequests.push({ timeRange, blockRange, topics, resolve });
@@ -265,7 +265,7 @@ export default class MemoryCacheDataProvider implements DataProvider {
       readRequestRange: this._readRequests[0] ? this._readRequests[0].blockRange : undefined,
       downloadedRanges: this._getDownloadedBlockRanges(),
       lastResolvedCallbackEnd: this._lastResolvedCallbackEnd,
-      cacheSize: this._totalNs <= MINIMUM_CACHE_SIZE_NS ? Infinity : Math.ceil(READ_AHEAD_NS / BLOCK_SIZE_NS),
+      cacheSize: this._totalNs <= MINIMUM_CACHE_SIZE_NS ? Infinity : Math.ceil(READ_AHEAD_NS / MEM_CACHE_BLOCK_SIZE_NS),
       fileSize: this._blocks.length,
       continueDownloadingThreshold: 3, // Somewhat arbitrary number to not create new connections all the time.
     });
@@ -314,10 +314,10 @@ export default class MemoryCacheDataProvider implements DataProvider {
         : currentConnection.topics;
 
       // Get messages from the underlying provider.
-      const startTime = TimeUtil.add(this._startTime, fromNanoSec(currentBlockIndex * BLOCK_SIZE_NS));
+      const startTime = TimeUtil.add(this._startTime, fromNanoSec(currentBlockIndex * MEM_CACHE_BLOCK_SIZE_NS));
       const endTime = TimeUtil.add(
         this._startTime,
-        fromNanoSec(Math.min(this._totalNs, (currentBlockIndex + 1) * BLOCK_SIZE_NS) - 1) // endTime is inclusive.
+        fromNanoSec(Math.min(this._totalNs, (currentBlockIndex + 1) * MEM_CACHE_BLOCK_SIZE_NS) - 1) // endTime is inclusive.
       );
       const messages = topics.length ? await this._provider.getMessages(startTime, endTime, topics) : [];
 
@@ -403,7 +403,7 @@ export default class MemoryCacheDataProvider implements DataProvider {
     const { blockIndexesToKeep, newRecentRanges } = getBlocksToKeep({
       recentBlockRanges: this._recentBlockRanges,
       blockSizesInBytes: this._blocks.map((block) => (block ? block.sizeInBytes : undefined)),
-      minimumBlocksToKeep: Math.ceil(MINIMUM_CACHE_SIZE_NS / BLOCK_SIZE_NS),
+      minimumBlocksToKeep: Math.ceil(MINIMUM_CACHE_SIZE_NS / MEM_CACHE_BLOCK_SIZE_NS),
       maxCacheSizeInBytes: CACHE_SIZE_BYTES,
     });
 
diff --git a/packages/webviz-core/src/dataProviders/MemoryCacheDataProvider.test.js b/packages/webviz-core/src/dataProviders/MemoryCacheDataProvider.test.js
index 474aea503..c342108db 100644
--- a/packages/webviz-core/src/dataProviders/MemoryCacheDataProvider.test.js
+++ b/packages/webviz-core/src/dataProviders/MemoryCacheDataProvider.test.js
@@ -138,6 +138,17 @@ describe("MemoryCacheDataProvider", () => {
       ).toEqual({ blockIndexesToKeep: new Set([1, 0]), newRecentRanges: [{ start: 0, end: 5 }] });
     });
 
+    it("keeps all blocks if we haven't reached the maximum cache size yet, even when having some empty blocks", () => {
+      expect(
+        getBlocksToKeep({
+          recentBlockRanges: [{ start: 0, end: 5 }],
+          blockSizesInBytes: [1, 0, 2, undefined, undefined],
+          minimumBlocksToKeep: 0,
+          maxCacheSizeInBytes: 5,
+        })
+      ).toEqual({ blockIndexesToKeep: new Set([2, 1, 0]), newRecentRanges: [{ start: 0, end: 5 }] });
+    });
+
     it("keeps blocks when we *just* exceed the maximum", () => {
       expect(
         getBlocksToKeep({
diff --git a/packages/webviz-core/src/dataProviders/RpcDataProvider.js b/packages/webviz-core/src/dataProviders/RpcDataProvider.js
index de702afe9..82eb428c7 100644
--- a/packages/webviz-core/src/dataProviders/RpcDataProvider.js
+++ b/packages/webviz-core/src/dataProviders/RpcDataProvider.js
@@ -8,6 +8,7 @@
 
 import { Time } from "rosbag";
 
+import { setupReceiveReportErrorHandler } from "webviz-core/src//util/RpcUtils";
 import {
   type DataProviderDescriptor,
   type ExtensionPoint,
@@ -15,7 +16,6 @@ import {
   type DataProviderMessage,
   type DataProvider,
 } from "webviz-core/src/dataProviders/types";
-import reportError from "webviz-core/src/util/reportError";
 import Rpc from "webviz-core/src/util/Rpc";
 
 // Looks a bit like a regular `DataProvider`, but is not intended to be used directly in a
@@ -29,9 +29,7 @@ export default class RpcDataProvider implements DataProvider {
 
   constructor(rpc: Rpc, children: DataProviderDescriptor[]) {
     this._rpc = rpc;
-    this._rpc.receive("reportError", ({ message, details, type }) => {
-      reportError(message, details, type);
-    });
+    setupReceiveReportErrorHandler(this._rpc);
     if (children.length !== 1) {
       throw new Error(`RpcDataProvider requires exactly 1 child, but received ${children.length}`);
     }
diff --git a/packages/webviz-core/src/dataProviders/RpcDataProviderRemote.js b/packages/webviz-core/src/dataProviders/RpcDataProviderRemote.js
index 534226c01..3855311da 100644
--- a/packages/webviz-core/src/dataProviders/RpcDataProviderRemote.js
+++ b/packages/webviz-core/src/dataProviders/RpcDataProviderRemote.js
@@ -6,8 +6,8 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
+import { setupSendReportErrorHandler } from "webviz-core/src//util/RpcUtils";
 import type { DataProvider, DataProviderDescriptor, DataProviderMetadata } from "webviz-core/src/dataProviders/types";
-import { type DetailsType, type ErrorType, setErrorHandler } from "webviz-core/src/util/reportError";
 import Rpc from "webviz-core/src/util/Rpc";
 
 // The "other side" of `RpcDataProvider`. Instantiates a `DataProviderDescriptor` tree underneath,
@@ -17,13 +17,7 @@ export default class RpcDataProviderRemote {
   constructor(rpc: Rpc, getDataProvider: (DataProviderDescriptor) => DataProvider) {
     let provider: DataProvider;
     if (process.env.NODE_ENV !== "test") {
-      setErrorHandler((message: string, details: DetailsType, type: ErrorType) => {
-        rpc.send("reportError", {
-          message,
-          details: details instanceof Error ? details.toString() : JSON.stringify(details),
-          type,
-        });
-      });
+      setupSendReportErrorHandler(rpc);
     }
     rpc.receive("initialize", async ({ childDescriptor, hasExtensionPoint }) => {
       provider = getDataProvider(childDescriptor);
diff --git a/packages/webviz-core/src/loadWebviz.js b/packages/webviz-core/src/loadWebviz.js
index 14753ba0a..933eaddaf 100644
--- a/packages/webviz-core/src/loadWebviz.js
+++ b/packages/webviz-core/src/loadWebviz.js
@@ -56,6 +56,7 @@ const defaultHooks = {
     const NodePlayground = require("webviz-core/src/panels/NodePlayground").default;
     const Note = require("webviz-core/src/panels/Note").default;
     const NumberOfRenders = require("webviz-core/src/panels/NumberOfRenders").default;
+    const PlaybackPerformance = require("webviz-core/src/panels/PlaybackPerformance").default;
     const Plot = require("webviz-core/src/panels/Plot").default;
     const RawMessages = require("webviz-core/src/panels/RawMessages").default;
     const Rosout = require("webviz-core/src/panels/Rosout").default;
@@ -83,6 +84,7 @@ const defaultHooks = {
 
     const debugging = [
       { title: "Number of Renders", component: NumberOfRenders },
+      { title: "Playback Performance", component: PlaybackPerformance },
       { title: "Subscribe to List", component: SubscribeToList },
     ];
 
diff --git a/packages/webviz-core/src/panels/ImageView/ImageCanvas.js b/packages/webviz-core/src/panels/ImageView/ImageCanvas.js
index bf7d11a5c..ad04cd659 100644
--- a/packages/webviz-core/src/panels/ImageView/ImageCanvas.js
+++ b/packages/webviz-core/src/panels/ImageView/ImageCanvas.js
@@ -8,6 +8,8 @@
 
 import MagnifyIcon from "@mdi/svg/svg/magnify.svg";
 import cx from "classnames";
+import isEqual from "lodash/isEqual";
+import omit from "lodash/omit";
 import panzoom from "panzoom";
 import React from "react";
 import KeyListener from "react-key-listener";
@@ -15,45 +17,37 @@ import OutsideClickHandler from "react-outside-click-handler";
 import ReactResizeDetector from "react-resize-detector";
 import shallowequal from "shallowequal";
 import styled from "styled-components";
+import uuid from "uuid";
 
-import CameraModel from "./CameraModel";
-import {
-  decodeYUV,
-  decodeRGB8,
-  decodeBGR8,
-  decodeFloat1c,
-  decodeBayerRGGB8,
-  decodeBayerBGGR8,
-  decodeBayerGBRG8,
-  decodeBayerGRBG8,
-  decodeMono8,
-  decodeMono16,
-} from "./decodings";
 import styles from "./ImageCanvas.module.scss";
+import { registerImageCanvasWorkerListener, unregisterImageCanvasWorkerListener } from "./ImageCanvasWorkerProvider";
 import type { ImageViewPanelHooks, Config, SaveConfig } from "./index";
-import { checkOutOfBounds } from "./util";
+import { renderImage } from "./renderImage";
+import { checkOutOfBounds, type Dimensions, supportsOffscreenCanvas } from "./util";
 import ContextMenu from "webviz-core/src/components/ContextMenu";
 import Menu, { Item } from "webviz-core/src/components/Menu";
 import { getGlobalHooks } from "webviz-core/src/loadWebviz";
 import type { Message } from "webviz-core/src/players/types";
 import colors from "webviz-core/src/styles/colors.module.scss";
-import type { ImageMarker, Color, Point } from "webviz-core/src/types/Messages";
+import type { CameraInfo } from "webviz-core/src/types/Messages";
 import { downloadFiles } from "webviz-core/src/util";
 import debouncePromise from "webviz-core/src/util/debouncePromise";
 import reportError from "webviz-core/src/util/reportError";
+import Rpc from "webviz-core/src/util/Rpc";
 
 type Props = {|
   topic: string,
   image: ?Message,
-  markerData: ?{|
+  rawMarkerData: {|
     markers: Message[],
-    originalWidth: ?number, // null means no scaling is needed (use the image's size)
-    originalHeight: ?number, // null means no scaling is needed (use the image's size)
-    cameraModel: ?CameraModel, // null means no transformation is needed
+    scale: number,
+    transformMarkers: boolean,
+    cameraInfo: ?CameraInfo,
   |},
   panelHooks?: ImageViewPanelHooks,
   config: Config,
   saveConfig: SaveConfig,
+  useMainThreadRenderingForTesting?: boolean,
 |};
 
 type State = {|
@@ -61,18 +55,6 @@ type State = {|
   openZoomChart: boolean,
 |};
 
-function toRGBA(color: Color) {
-  const { r, g, b, a } = color;
-  return `rgba(${r}, ${g}, ${b}, ${a || 1})`;
-}
-
-function maybeUnrectifyPoint(cameraModel: ?CameraModel, point: Point): { x: number, y: number } {
-  if (cameraModel) {
-    return cameraModel.unrectifyPoint(point);
-  }
-  return point;
-}
-
 const SErrorMessage = styled.div`
   top: 0;
   left: 0;
@@ -87,81 +69,74 @@ const SErrorMessage = styled.div`
 
 const MAX_ZOOM_PERCENTAGE = 150;
 const ZOOM_STEP = 5;
+
+type CanvasRenderer =
+  | {|
+      type: "rpc",
+      // This is nullable because we destroy the worker whenever we unmount and recreate it if we remount.
+      worker: ?Rpc,
+    |}
+  | {|
+      type: "mainThread",
+    |};
+
 export default class ImageCanvas extends React.Component<Props, State> {
   _canvasRef = React.createRef<HTMLCanvasElement>();
   _divRef = React.createRef<HTMLElement>();
-
+  _id: string;
+  _canvasRenderer: CanvasRenderer;
   state = {
     error: undefined,
     openZoomChart: false,
   };
 
-  panZoomCanvas: any = null;
-  bitmapDimensions: { width: number, height: number } = { width: 0, height: 0 };
-
-  decodeMessageToBitmap = async (msg: any): Promise<?ImageBitmap> => {
-    let image: ImageData | Image | Blob | void;
-    const { data: rawData, is_bigendian } = msg.message;
-    if (rawData instanceof Uint8Array) {
-      // Binary message processing
-      if (msg.datatype === "sensor_msgs/Image") {
-        const { width, height, encoding } = msg.message;
-        image = new ImageData(width, height);
-        // prettier-ignore
-        switch (encoding) {
-          case "yuv422": decodeYUV(rawData, width, height, image.data); break;
-          case "rgb8": decodeRGB8(rawData, width, height, image.data); break;
-          case "bgr8": decodeBGR8(rawData, width, height, image.data); break;
-          case "32FC1": decodeFloat1c(rawData, width, height, is_bigendian, image.data); break;
-          case "bayer_rggb8": decodeBayerRGGB8(rawData, width, height, image.data); break;
-          case "bayer_bggr8": decodeBayerBGGR8(rawData, width, height, image.data); break;
-          case "bayer_gbrg8": decodeBayerGBRG8(rawData, width, height, image.data); break;
-          case "bayer_grbg8": decodeBayerGRBG8(rawData, width, height, image.data); break;
-          case "mono8":
-          case "8UC1":
-              decodeMono8(rawData, width, height, image.data); break;
-          case "mono16":
-          case "16UC1":
-              decodeMono16(rawData, width, height, is_bigendian, image.data); break;
-          default:
-            throw new Error(`Unsupported encoding ${encoding}`);
-        }
-      } else if (msg.datatype === "sensor_msgs/CompressedImage") {
-        image = new Blob([rawData], { type: `image/${msg.message.format}` });
-      }
-    } else {
-      image = new Image();
-      image.src = `data:image/png;base64,${rawData}`;
-      const imageElement = image; // for flow
-      await new Promise((resolve, reject) => {
-        imageElement.onload = resolve;
-        imageElement.onerror = reject;
-      });
-    }
+  constructor(props: Props) {
+    super(props);
+    this._id = uuid.v4();
+    // If we support offscreen canvas, use the ImageCanvasWorker because it improves performance by moving canvas
+    // operations off of the main thread. Allow an override for testing / stories.
+    this._canvasRenderer =
+      !supportsOffscreenCanvas() || props.useMainThreadRenderingForTesting
+        ? { type: "mainThread" }
+        : { type: "rpc", worker: registerImageCanvasWorkerListener(this._id) };
+  }
 
-    if (image) {
-      return self.createImageBitmap(image);
+  // Returns the existing RPC worker, or initializes one if it doesn't exist yet.
+  _getRpcWorker = (): Rpc => {
+    const canvasRenderer = this._canvasRenderer;
+    if (canvasRenderer.type === "rpc") {
+      // Create the worker if it hasn't been initialized yet.
+      const worker = canvasRenderer.worker || registerImageCanvasWorkerListener(this._id);
+      if (!canvasRenderer.worker) {
+        canvasRenderer.worker = worker;
+      }
+      return worker;
     }
+    throw new Error("_getRpcWorker can only be called with canvasRenderer type rpc");
   };
 
-  clearCanvas = () => {
-    const canvas = this._canvasRef.current;
-    if (!canvas) {
-      return;
+  _setCanvasRef = (canvas: ?HTMLCanvasElement) => {
+    if (canvas) {
+      this.loadZoomFromConfig();
+      if (this._canvasRenderer.type === "rpc") {
+        const worker = this._getRpcWorker();
+        // $FlowFixMe This is a function that is not yet in Flow.
+        const transferableCanvas = canvas.transferControlToOffscreen();
+        worker.send<void>("initialize", { id: this._id, canvas: transferableCanvas }, [transferableCanvas]);
+      }
+      this._canvasRef.current = canvas;
     }
-    canvas.getContext("2d").clearRect(0, 0, canvas.width, canvas.height);
   };
 
-  resizeCanvas = (width: number, height: number) => {
-    const canvas = this._canvasRef.current;
-    if (canvas && (canvas.width !== width || canvas.height !== height)) {
-      canvas.width = width;
-      canvas.height = height;
-    }
-  };
+  panZoomCanvas: any = null;
+  bitmapDimensions: Dimensions = { width: 0, height: 0 };
 
   keepInBounds = (div: HTMLElement) => {
     const { x, y, scale } = this.panZoomCanvas.getTransform();
+    if (isNaN(x) || isNaN(y)) {
+      reportError("Tried to keep canvas in bounds but encountered invalid transform values", "", "app");
+      return;
+    }
     // When zoom is 1, the percentage is fitPercentage
     // (fitPercent * scale) / 100) is the zoomScale for now
     const updatedPercentage = scale * 100;
@@ -221,7 +196,7 @@ export default class ImageCanvas extends React.Component<Props, State> {
 
   moveToCenter = () => {
     if (!this.panZoomCanvas) {
-      console.warn("Tried to center when there is no panZoomCanvas");
+      reportError("Tried to center when there is no panZoomCanvas", "", "app");
       return;
     }
     const { width, height } = this.bitmapDimensions;
@@ -252,186 +227,6 @@ export default class ImageCanvas extends React.Component<Props, State> {
     this.applyPanZoom();
   };
 
-  paintBitmap = (bitmap: ?ImageBitmap) => {
-    const { markerData } = this.props;
-    const canvas = this._canvasRef.current;
-    const div = this._divRef.current;
-
-    if (!div || !canvas) {
-      return;
-    }
-    if (!bitmap) {
-      this.clearCanvas();
-      return;
-    }
-    this.bitmapDimensions = { width: bitmap.width, height: bitmap.height };
-    const ctx = canvas.getContext("2d");
-    if (!markerData) {
-      this.resizeCanvas(bitmap.width, bitmap.height);
-      this.loadZoomFromConfig();
-      ctx.transform(1, 0, 0, 1, 0, 0);
-      ctx.drawImage(bitmap, 0, 0);
-      return;
-    }
-
-    const { markers, cameraModel } = markerData;
-    let { originalWidth, originalHeight } = markerData;
-    if (originalWidth == null) {
-      originalWidth = bitmap.width;
-    }
-    if (originalHeight == null) {
-      originalHeight = bitmap.height;
-    }
-
-    this.bitmapDimensions = { width: originalWidth, height: originalHeight };
-    this.resizeCanvas(originalWidth, originalHeight);
-    this.loadZoomFromConfig();
-    ctx.save();
-    ctx.scale(originalWidth / bitmap.width, originalHeight / bitmap.height);
-    ctx.drawImage(bitmap, 0, 0);
-    ctx.restore();
-    ctx.save();
-    try {
-      this.paintMarkers(ctx, markers, cameraModel);
-    } catch (err) {
-      console.warn("error painting markers:", err);
-    } finally {
-      ctx.restore();
-    }
-  };
-
-  paintMarkers(ctx: CanvasRenderingContext2D, markers: Message[], cameraModel: ?CameraModel) {
-    const imageViewHooks = this.props.panelHooks || getGlobalHooks().perPanelHooks().ImageView;
-
-    for (const msg of markers) {
-      ctx.save();
-      if (imageViewHooks.imageMarkerArrayDatatypes.includes(msg.datatype)) {
-        for (const marker of msg.message.markers) {
-          this.paintMarker(ctx, marker, cameraModel);
-        }
-      } else if (imageViewHooks.imageMarkerDatatypes.includes(msg.datatype)) {
-        this.paintMarker(ctx, msg.message, cameraModel);
-      } else {
-        console.warn("unrecognized image marker datatype", msg);
-      }
-      ctx.restore();
-    }
-  }
-
-  paintMarker(ctx: CanvasRenderingContext2D, marker: ImageMarker, cameraModel: ?CameraModel) {
-    switch (marker.type) {
-      case 0: {
-        // CIRCLE
-        ctx.beginPath();
-        const { x, y } = maybeUnrectifyPoint(cameraModel, marker.position);
-        ctx.arc(x, y, marker.scale, 0, 2 * Math.PI);
-        if (marker.thickness <= 0) {
-          ctx.fillStyle = toRGBA(marker.outline_color);
-          ctx.fill();
-        } else {
-          ctx.lineWidth = marker.thickness;
-          ctx.strokeStyle = toRGBA(marker.outline_color);
-          ctx.stroke();
-        }
-        break;
-      }
-
-      // LINE_LIST
-      case 2:
-        if (marker.points.length % 2 !== 0) {
-          break;
-        }
-        ctx.strokeStyle = toRGBA(marker.outline_color);
-        ctx.lineWidth = marker.thickness;
-        for (let i = 0; i < marker.points.length; i += 2) {
-          const { x: x1, y: y1 } = maybeUnrectifyPoint(cameraModel, marker.points[i]);
-          const { x: x2, y: y2 } = maybeUnrectifyPoint(cameraModel, marker.points[i + 1]);
-          ctx.beginPath();
-          ctx.moveTo(x1, y1);
-          ctx.lineTo(x2, y2);
-          ctx.stroke();
-        }
-        break;
-
-      // LINE_STRIP, POLYGON
-      case 1:
-      case 3: {
-        if (marker.points.length === 0) {
-          break;
-        }
-        ctx.beginPath();
-        const { x, y } = maybeUnrectifyPoint(cameraModel, marker.points[0]);
-        ctx.moveTo(x, y);
-        for (let i = 1; i < marker.points.length; i++) {
-          const { x, y } = maybeUnrectifyPoint(cameraModel, marker.points[i]);
-          ctx.lineTo(x, y);
-        }
-        if (marker.type === 3) {
-          ctx.closePath();
-        }
-        if (marker.thickness <= 0) {
-          ctx.fillStyle = toRGBA(marker.outline_color);
-          ctx.fill();
-        } else {
-          ctx.strokeStyle = toRGBA(marker.outline_color);
-          ctx.lineWidth = marker.thickness;
-          ctx.stroke();
-        }
-        break;
-      }
-
-      case 4: {
-        // POINTS
-        if (marker.points.length === 0) {
-          break;
-        }
-
-        const size = marker.scale || 4;
-        if (marker.outline_colors && marker.outline_colors.length === marker.points.length) {
-          for (let i = 0; i < marker.points.length; i++) {
-            const { x, y } = maybeUnrectifyPoint(cameraModel, marker.points[i]);
-            ctx.fillStyle = toRGBA(marker.outline_colors[i]);
-            ctx.beginPath();
-            ctx.arc(x, y, size, 0, 2 * Math.PI);
-            ctx.fill();
-          }
-        } else {
-          ctx.beginPath();
-          for (let i = 0; i < marker.points.length; i++) {
-            const { x, y } = maybeUnrectifyPoint(cameraModel, marker.points[i]);
-            ctx.arc(x, y, size, 0, 2 * Math.PI);
-            ctx.closePath();
-          }
-          ctx.fillStyle = toRGBA(marker.fill_color);
-          ctx.fill();
-        }
-        break;
-      }
-
-      case 5: {
-        // TEXT (our own extension on visualization_msgs/Marker)
-        const { x, y } = maybeUnrectifyPoint(cameraModel, marker.position);
-
-        const fontSize = marker.scale * 12;
-        const padding = 4 * marker.scale;
-        ctx.font = `${fontSize}px sans-serif`;
-        ctx.textBaseline = "bottom";
-        if (marker.filled) {
-          const metrics = ctx.measureText(marker.text.data);
-          const height = fontSize * 1.2; // Chrome doesn't yet support height in TextMetrics
-          ctx.fillStyle = toRGBA(marker.fill_color);
-          ctx.fillRect(x, y - height, Math.ceil(metrics.width + 2 * padding), Math.ceil(height));
-        }
-        ctx.fillStyle = toRGBA(marker.outline_color);
-        ctx.fillText(marker.text.data, x + padding, y);
-        break;
-      }
-
-      default:
-        console.warn("unrecognized image marker type", marker);
-    }
-  }
-
   componentDidMount() {
     this.renderCurrentImage();
     document.addEventListener("visibilitychange", this._onVisibilityChange);
@@ -452,15 +247,23 @@ export default class ImageCanvas extends React.Component<Props, State> {
   };
 
   componentWillUnmount() {
+    const canvasRenderer = this._canvasRenderer;
+    if (canvasRenderer.type === "rpc") {
+      // Unset the PRC worker so that we can destroy the worker if it's no longer necessary.
+      unregisterImageCanvasWorkerListener(this._id);
+      canvasRenderer.worker = null;
+    }
     document.removeEventListener("visibilitychange", this._onVisibilityChange);
   }
 
   componentDidUpdate(prevProps: Props) {
     const imageChanged = !shallowequal(prevProps, this.props, (a, b, key) => {
-      if (key === "markerData") {
+      if (key === "rawMarkerData") {
         return shallowequal(a, b, (a, b, key) => {
           if (key === "markers") {
             return shallowequal(a, b);
+          } else if (key === "cameraInfo") {
+            return isEqual(omit(a, "header"), omit(b, "header"));
           }
         });
       }
@@ -508,7 +311,6 @@ export default class ImageCanvas extends React.Component<Props, State> {
   clickMagnify = () => {
     this.setState((state) => ({ openZoomChart: !state.openZoomChart }));
   };
-
   onZoomFit = () => {
     const fitPercent = this.fitPercent();
     this.panZoomCanvas.zoomAbs(0, 0, fitPercent / 100);
@@ -541,24 +343,40 @@ export default class ImageCanvas extends React.Component<Props, State> {
   };
 
   renderCurrentImage = debouncePromise(async () => {
-    const { image } = this.props;
-    if (!image) {
-      this.clearCanvas();
-      return;
-    }
-
+    const { image, rawMarkerData } = this.props;
     try {
-      const bitmap = await this.decodeMessageToBitmap(image);
-      this.paintBitmap(bitmap);
-      if (bitmap) {
-        bitmap.close();
+      const { imageMarkerDatatypes, imageMarkerArrayDatatypes } = getGlobalHooks().perPanelHooks().ImageView;
+      let dimensions;
+      const canvasRenderer = this._canvasRenderer;
+      if (canvasRenderer.type === "rpc") {
+        const worker = this._getRpcWorker();
+        dimensions = await worker.send<?Dimensions>("renderImage", {
+          id: this._id,
+          imageMessage: image,
+          rawMarkerData,
+          imageMarkerDatatypes,
+          imageMarkerArrayDatatypes,
+        });
+      } else {
+        dimensions = await renderImage({
+          canvas: this._canvasRef.current,
+          imageMessage: image,
+          rawMarkerData,
+          imageMarkerDatatypes,
+          imageMarkerArrayDatatypes,
+        });
+      }
+
+      if (dimensions) {
+        this.bitmapDimensions = dimensions;
+        this.loadZoomFromConfig();
       }
       if (this.state.error) {
         this.setState({ error: undefined });
       }
     } catch (error) {
-      console.warn(`failed to decode image on ${image.topic}:`, error);
-      this.clearCanvas();
+      const topic = image ? image.topic : "";
+      reportError(`failed to decode image on ${topic}:`, "", "user");
       this.setState({ error });
     }
   });
@@ -689,7 +507,7 @@ export default class ImageCanvas extends React.Component<Props, State> {
           <KeyListener keyDownHandlers={this.keyDownHandlers} />
           <div>
             {this.state.error && <SErrorMessage>Error: {this.state.error.message}</SErrorMessage>}
-            <canvas onContextMenu={this.onCanvasRightClick} ref={this._canvasRef} className={styles.canvas} />
+            <canvas onContextMenu={this.onCanvasRightClick} ref={this._setCanvasRef} className={styles.canvas} />
           </div>
           <OutsideClickHandler
             onOutsideClick={() => {
diff --git a/packages/webviz-core/src/panels/ImageView/ImageCanvas.stories.js b/packages/webviz-core/src/panels/ImageView/ImageCanvas.stories.js
index 23e0b8630..9e9cfbc44 100644
--- a/packages/webviz-core/src/panels/ImageView/ImageCanvas.stories.js
+++ b/packages/webviz-core/src/panels/ImageView/ImageCanvas.stories.js
@@ -12,7 +12,6 @@ import * as React from "react";
 import { withScreenshot } from "storybook-chrome-screenshot";
 
 import { getGlobalHooks } from "webviz-core/src/loadWebviz";
-import CameraModel from "webviz-core/src/panels/ImageView/CameraModel";
 import ImageCanvas from "webviz-core/src/panels/ImageView/ImageCanvas";
 
 const cameraInfo = {
@@ -34,21 +33,43 @@ const cameraInfo = {
   },
 };
 
-const imageData = (() => {
-  const canvas = document.createElement("canvas");
-  canvas.width = 400;
-  canvas.height = 300;
-  const ctx = canvas.getContext("2d");
-  const gradient = ctx.createLinearGradient(0, 0, 400, 300);
-  gradient.addColorStop(0, "cyan");
-  gradient.addColorStop(1, "green");
-  ctx.fillStyle = gradient;
-  ctx.fillRect(0, 0, 400, 300);
-  ctx.lineWidth = 5;
-  ctx.strokeStyle = "red";
-  ctx.strokeRect(0, 0, 400, 300);
-  return canvas.toDataURL().replace(/^data:image\/png;base64,/, "");
-})();
+const imageFormat = "image/png";
+// Image data has to be loaded asynchronously, so use this component to load it for stories.
+function LoadImageMessage({ children }) {
+  const [imageData, setImageData] = React.useState(null);
+  React.useEffect(() => {
+    const canvas = document.createElement("canvas");
+    canvas.width = 400;
+    canvas.height = 300;
+    const ctx = canvas.getContext("2d");
+    const gradient = ctx.createLinearGradient(0, 0, 400, 300);
+    gradient.addColorStop(0, "cyan");
+    gradient.addColorStop(1, "green");
+    ctx.fillStyle = gradient;
+    ctx.fillRect(0, 0, 400, 300);
+    ctx.lineWidth = 5;
+    ctx.strokeStyle = "red";
+    ctx.strokeRect(0, 0, 400, 300);
+    canvas.toBlob((blob) => {
+      // $FlowFixMe arrayBuffer function is available Chrome 76+
+      blob.arrayBuffer().then((arrayBuffer) => {
+        setImageData(new Uint8Array(arrayBuffer));
+      });
+    }, imageFormat);
+  }, []);
+  const imageMessage = {
+    op: "message",
+    datatype: "sensor_msgs/CompressedImage",
+    topic: "/foo",
+    receiveTime: { sec: 0, nsec: 0 },
+    message: { format: imageFormat, data: imageData },
+  };
+
+  if (imageData) {
+    return children(imageMessage);
+  }
+  return null;
+}
 
 function marker(type: number, props: {}) {
   return {
@@ -60,14 +81,6 @@ function marker(type: number, props: {}) {
   };
 }
 
-const imageMessage = {
-  op: "message",
-  datatype: "dummy",
-  topic: "/foo",
-  receiveTime: { sec: 0, nsec: 0 },
-  message: { data: imageData },
-};
-
 function makeLines(xOffset: number) {
   return [
     { x: xOffset + 30, y: 50 },
@@ -190,6 +203,13 @@ const markers = [
   }),
 ];
 
+const noMarkersMarkerData = {
+  markers: [],
+  cameraInfo: null,
+  scale: 1,
+  transformMarkers: false,
+};
+
 const topics = ["/camera_front_medium/image_rect_color_compressed", "/storybook_image"];
 const config = getGlobalHooks().perPanelHooks().ImageView.defaultConfig;
 
@@ -218,7 +238,7 @@ function RGBStory({ encoding }: { encoding: string }) {
         receiveTime: { sec: 0, nsec: 0 },
         message: { data, width, height, encoding },
       }}
-      markerData={null}
+      rawMarkerData={noMarkersMarkerData}
       config={config}
       saveConfig={noop}
     />
@@ -260,7 +280,7 @@ function BayerStory({ encoding }: { encoding: string }) {
         receiveTime: { sec: 0, nsec: 0 },
         message: { data, width, height, encoding },
       }}
-      markerData={null}
+      rawMarkerData={noMarkersMarkerData}
       config={config}
       saveConfig={noop}
     />
@@ -288,7 +308,7 @@ function Mono16Story({ bigEndian }: { bigEndian: boolean }) {
         receiveTime: { sec: 0, nsec: 0 },
         message: { data, width, height, encoding: "16UC1", is_bigendian: 0 },
       }}
-      markerData={null}
+      rawMarkerData={noMarkersMarkerData}
       config={config}
       saveConfig={noop}
     />
@@ -298,48 +318,103 @@ function Mono16Story({ bigEndian }: { bigEndian: boolean }) {
 storiesOf("<ImageCanvas>", module)
   .addDecorator(withScreenshot())
   .add("markers", () => (
-    <div>
-      <h2>original markers</h2>
-      <ImageCanvas
-        topic={topics[0]}
-        image={imageMessage}
-        markerData={{
-          markers,
-          cameraModel: null,
-          originalWidth: null,
-          originalHeight: null,
-        }}
-        config={config}
-        saveConfig={noop}
-      />
-      <br />
-      <h2>transformed markers</h2>
-      <ImageCanvas
-        topic={topics[1]}
-        image={imageMessage}
-        markerData={{
-          markers,
-          cameraModel: new CameraModel(cameraInfo),
-          originalWidth: null,
-          originalHeight: null,
-        }}
-        config={config}
-        saveConfig={noop}
-      />
-      <h2>markers with different original image size</h2>
-      <ImageCanvas
-        topic={topics[1]}
-        image={imageMessage}
-        markerData={{
-          markers,
-          cameraModel: new CameraModel(cameraInfo),
-          originalWidth: 200,
-          originalHeight: 150,
-        }}
-        config={config}
-        saveConfig={noop}
-      />
-    </div>
+    <LoadImageMessage>
+      {(imageMessage) => (
+        <div>
+          <h2>original markers</h2>
+          <ImageCanvas
+            topic={topics[0]}
+            image={imageMessage}
+            rawMarkerData={{
+              markers,
+              cameraInfo: null,
+              scale: 1,
+              transformMarkers: false,
+            }}
+            config={config}
+            saveConfig={noop}
+          />
+          <br />
+          <h2>transformed markers</h2>
+          <ImageCanvas
+            topic={topics[1]}
+            image={imageMessage}
+            rawMarkerData={{
+              markers,
+              cameraInfo,
+              scale: 1,
+              transformMarkers: true,
+            }}
+            config={config}
+            saveConfig={noop}
+          />
+          <h2>markers with different original image size</h2>
+          <ImageCanvas
+            topic={topics[1]}
+            image={imageMessage}
+            rawMarkerData={{
+              markers,
+              cameraInfo: { ...cameraInfo, width: 200, height: 150 },
+              scale: 1,
+              transformMarkers: true,
+            }}
+            config={config}
+            saveConfig={noop}
+          />
+        </div>
+      )}
+    </LoadImageMessage>
+  ))
+  .add("Markers with fallback rendering using the main thread", () => (
+    <LoadImageMessage>
+      {(imageMessage) => (
+        <div>
+          <h2>original markers</h2>
+          <ImageCanvas
+            topic={topics[0]}
+            image={imageMessage}
+            rawMarkerData={{
+              markers,
+              cameraInfo: null,
+              scale: 1,
+              transformMarkers: false,
+            }}
+            config={config}
+            saveConfig={noop}
+            useMainThreadRenderingForTesting
+          />
+          <br />
+          <h2>transformed markers</h2>
+          <ImageCanvas
+            topic={topics[1]}
+            image={imageMessage}
+            rawMarkerData={{
+              markers,
+              cameraInfo,
+              scale: 1,
+              transformMarkers: true,
+            }}
+            config={config}
+            saveConfig={noop}
+            useMainThreadRenderingForTesting
+          />
+          <h2>markers with different original image size</h2>
+          <ImageCanvas
+            topic={topics[1]}
+            image={imageMessage}
+            rawMarkerData={{
+              markers,
+              cameraInfo: { ...cameraInfo, width: 200, height: 150 },
+              scale: 1,
+              transformMarkers: true,
+            }}
+            config={config}
+            saveConfig={noop}
+            useMainThreadRenderingForTesting
+          />
+        </div>
+      )}
+    </LoadImageMessage>
   ))
   .add("error state", () => {
     return (
@@ -352,7 +427,7 @@ storiesOf("<ImageCanvas>", module)
           receiveTime: { sec: 0, nsec: 0 },
           message: { data: new Uint8Array([]), width: 100, height: 50, encoding: "Foo" },
         }}
-        markerData={null}
+        rawMarkerData={noMarkersMarkerData}
         config={config}
         saveConfig={noop}
       />
diff --git a/packages/webviz-core/src/panels/ImageView/ImageCanvas.worker.js b/packages/webviz-core/src/panels/ImageView/ImageCanvas.worker.js
new file mode 100644
index 000000000..cf4fe9ad0
--- /dev/null
+++ b/packages/webviz-core/src/panels/ImageView/ImageCanvas.worker.js
@@ -0,0 +1,52 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { renderImage } from "./renderImage";
+import { type Dimensions, type RawMarkerData, type OffscreenCanvas } from "./util";
+import Rpc from "webviz-core/src/util/Rpc";
+import { setupSendReportErrorHandler } from "webviz-core/src/util/RpcUtils";
+
+export default class ImageCanvasWorker {
+  _idToCanvas: { [string]: OffscreenCanvas } = {};
+  _rpc: Rpc;
+
+  constructor(rpc: Rpc) {
+    this._rpc = rpc;
+    if (process.env.NODE_ENV !== "test") {
+      setupSendReportErrorHandler(this._rpc);
+    }
+
+    rpc.receive("initialize", async ({ id, canvas }: { id: string, canvas: OffscreenCanvas }) => {
+      this._idToCanvas[id] = canvas;
+    });
+
+    rpc.receive(
+      "renderImage",
+      async ({
+        id,
+        imageMessage,
+        rawMarkerData,
+        imageMarkerDatatypes,
+        imageMarkerArrayDatatypes,
+      }: {
+        id: string,
+        imageMessage: any,
+        rawMarkerData: RawMarkerData,
+        imageMarkerDatatypes: string[],
+        imageMarkerArrayDatatypes: string[],
+      }): Promise<?Dimensions> => {
+        const canvas = this._idToCanvas[id];
+        return renderImage({ canvas, imageMessage, rawMarkerData, imageMarkerDatatypes, imageMarkerArrayDatatypes });
+      }
+    );
+  }
+}
+
+if (global.postMessage && !global.onmessage) {
+  new ImageCanvasWorker(new Rpc(global));
+}
diff --git a/packages/webviz-core/src/panels/ImageView/ImageCanvasWorkerProvider.js b/packages/webviz-core/src/panels/ImageView/ImageCanvasWorkerProvider.js
new file mode 100644
index 000000000..7969ef059
--- /dev/null
+++ b/packages/webviz-core/src/panels/ImageView/ImageCanvasWorkerProvider.js
@@ -0,0 +1,52 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import ImageCanvasWorker from "./ImageCanvas.worker";
+import Rpc from "webviz-core/src/util/Rpc";
+import { setupReceiveReportErrorHandler } from "webviz-core/src/util/RpcUtils";
+
+let rpc = null;
+let worker = null;
+let listenerIds: string[] = [];
+
+export function registerImageCanvasWorkerListener(id: string) {
+  if (!rpc) {
+    // $FlowFixMe flow does not like workers
+    worker = new ImageCanvasWorker();
+    rpc = new Rpc(worker);
+    setupReceiveReportErrorHandler(rpc);
+  }
+  listenerIds.push(id);
+  return rpc;
+}
+
+export function unregisterImageCanvasWorkerListener(id: string) {
+  if (rpc && listenerIds.includes(id)) {
+    listenerIds = listenerIds.filter((_id) => _id !== id);
+    if (listenerIds.length === 0) {
+      rpc = null;
+      // $FlowFixMe Flow doesn't know how to handle web workers.
+      worker.terminate();
+      worker = null;
+    }
+  }
+}
+
+export function testing_reset() {
+  rpc = null;
+  worker = null;
+  listenerIds = [];
+}
+
+export function testing_GetInternalState() {
+  return {
+    rpc,
+    worker,
+    listenerIds,
+  };
+}
diff --git a/packages/webviz-core/src/panels/ImageView/ImageCanvasWorkerProvider.test.js b/packages/webviz-core/src/panels/ImageView/ImageCanvasWorkerProvider.test.js
new file mode 100644
index 000000000..c4e7a67b3
--- /dev/null
+++ b/packages/webviz-core/src/panels/ImageView/ImageCanvasWorkerProvider.test.js
@@ -0,0 +1,69 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import {
+  registerImageCanvasWorkerListener,
+  unregisterImageCanvasWorkerListener,
+  testing_GetInternalState,
+  testing_reset,
+} from "./ImageCanvasWorkerProvider";
+
+jest.mock("webviz-core/src/util/Rpc", () => {
+  return class FakeRpc {
+    receive() {}
+  };
+});
+jest.mock("./ImageCanvas.worker", () => {
+  return class FakeWorker {
+    terminated = false;
+    terminate() {
+      this.terminated = true;
+    }
+  };
+});
+
+describe("ImageCanvasWorkerProvider", () => {
+  afterEach(() => {
+    testing_reset();
+  });
+
+  it("kills the worker when unregistering it", () => {
+    registerImageCanvasWorkerListener("1");
+    const worker = testing_GetInternalState().worker;
+    // $FlowFixMe
+    expect(worker.terminated).toEqual(false);
+    unregisterImageCanvasWorkerListener("1");
+    // $FlowFixMe
+    expect(worker.terminated).toEqual(true);
+    expect(testing_GetInternalState().rpc).toEqual(null);
+    expect(testing_GetInternalState().worker).toEqual(null);
+    expect(testing_GetInternalState().listenerIds).toEqual([]);
+  });
+
+  it("does not unregister the worker until the last listener stops listening", () => {
+    // We create two listeners for the same worker.
+    const firstRpc = registerImageCanvasWorkerListener("0");
+    registerImageCanvasWorkerListener("1");
+
+    const worker = testing_GetInternalState().worker;
+    // $FlowFixMe
+    expect(worker.terminated).toEqual(false);
+    unregisterImageCanvasWorkerListener("0");
+    // $FlowFixMe
+    expect(worker.terminated).toEqual(false);
+    expect(testing_GetInternalState().rpc).toEqual(firstRpc);
+    expect(testing_GetInternalState().listenerIds).toEqual(["1"]);
+
+    unregisterImageCanvasWorkerListener("1");
+    // $FlowFixMe
+    expect(worker.terminated).toEqual(true);
+    expect(testing_GetInternalState().worker).toEqual(null);
+    expect(testing_GetInternalState().rpc).toEqual(null);
+    expect(testing_GetInternalState().listenerIds).toEqual([]);
+  });
+});
diff --git a/packages/webviz-core/src/panels/ImageView/index.js b/packages/webviz-core/src/panels/ImageView/index.js
index d58347ed4..5a3c4ab67 100644
--- a/packages/webviz-core/src/panels/ImageView/index.js
+++ b/packages/webviz-core/src/panels/ImageView/index.js
@@ -11,15 +11,13 @@ import CheckboxMarkedIcon from "@mdi/svg/svg/checkbox-marked.svg";
 import MenuDownIcon from "@mdi/svg/svg/menu-down.svg";
 import WavesIcon from "@mdi/svg/svg/waves.svg";
 import cx from "classnames";
-import { sortBy, last, get, isEqual, omit } from "lodash";
-import memoizeOne from "memoize-one";
+import { sortBy, last, get } from "lodash";
 import * as React from "react";
 import { hot } from "react-hot-loader/root";
 import { createSelector } from "reselect";
 import type { Time } from "rosbag";
 import styled from "styled-components";
 
-import CameraModel from "./CameraModel";
 import ImageCanvas from "./ImageCanvas";
 import imageCanvasStyles from "./ImageCanvas.module.scss";
 import helpContent from "./index.help.md";
@@ -44,7 +42,6 @@ import inScreenshotTests from "webviz-core/src/stories/inScreenshotTests";
 import colors from "webviz-core/src/styles/colors.module.scss";
 import type { CameraInfo } from "webviz-core/src/types/Messages";
 import naturalSort from "webviz-core/src/util/naturalSort";
-import reportError from "webviz-core/src/util/reportError";
 import { formatTimeRaw } from "webviz-core/src/util/time";
 import toggle from "webviz-core/src/util/toggle";
 
@@ -57,8 +54,8 @@ export type ImageViewPanelHooks = {
     scale: number,
     synchronize: boolean,
   },
-  imageMarkerArrayDatatypes: string[],
   imageMarkerDatatypes: string[],
+  imageMarkerArrayDatatypes: string[],
 };
 
 export type Config = {|
@@ -181,63 +178,6 @@ function renderEmptyState(
   );
 }
 
-const getCameraModel = memoizeOne(
-  function getCameraModel(cameraInfo: ?CameraInfo): ?CameraModel {
-    if (!cameraInfo) {
-      return null;
-    }
-    try {
-      return new CameraModel(cameraInfo);
-    } catch (err) {
-      reportError(`Failed to initialize camera model from CameraInfo`, err, "user");
-      return null;
-    }
-  },
-  ([cameraInfo]: mixed[], [prevCameraInfo]: mixed[]) => {
-    return isEqual(omit(cameraInfo, "header"), omit(prevCameraInfo, "header"));
-  }
-);
-
-export function buildMarkerData(markers: Message[], scale: number, transformMarkers: boolean, cameraInfo: ?CameraInfo) {
-  if (markers.length === 0) {
-    return {
-      markers,
-      cameraModel: null,
-      originalHeight: undefined,
-      originalWidth: undefined,
-    };
-  }
-  let cameraModel;
-  if (transformMarkers) {
-    cameraModel = getCameraModel(cameraInfo);
-    if (!cameraModel) {
-      return null;
-    }
-  }
-
-  // Markers can only be rendered if we know the original size of the image.
-  let originalWidth;
-  let originalHeight;
-  if (cameraInfo && cameraInfo.width && cameraInfo.height) {
-    // Prefer using CameraInfo can be used to determine the image size.
-    originalWidth = cameraInfo.width;
-    originalHeight = cameraInfo.height;
-  } else if (scale === 1) {
-    // Otherwise, if scale === 1, the image was not downsampled, so the size of the bitmap is accurate.
-    originalWidth = undefined;
-    originalHeight = undefined;
-  } else {
-    return null;
-  }
-
-  return {
-    markers,
-    cameraModel,
-    originalWidth,
-    originalHeight,
-  };
-}
-
 function useOptionallySynchronizedMessages(
   shouldSynchronize: boolean,
   topics: $ReadOnlyArray<PanelAPI.RequestedTopic>
@@ -453,7 +393,13 @@ function ImageView(props: Props) {
     },
     [markersToRender]
   );
-  const markerData = buildMarkerData(markersToRender, scale, transformMarkers, cameraInfo);
+
+  const rawMarkerData = {
+    markers: markersToRender,
+    scale,
+    transformMarkers,
+    cameraInfo: markersToRender.length > 0 ? cameraInfo : null,
+  };
 
   const renderToolbar = () => {
     return (
@@ -482,7 +428,7 @@ function ImageView(props: Props) {
         panelHooks={panelHooks}
         topic={cameraTopic}
         image={imageMessage}
-        markerData={markerData}
+        rawMarkerData={rawMarkerData}
         config={config}
         saveConfig={saveConfig}
       />
diff --git a/packages/webviz-core/src/panels/ImageView/index.test.js b/packages/webviz-core/src/panels/ImageView/index.test.js
deleted file mode 100644
index 7a24ac88f..000000000
--- a/packages/webviz-core/src/panels/ImageView/index.test.js
+++ /dev/null
@@ -1,67 +0,0 @@
-// @flow
-//
-//  Copyright (c) 2019-present, GM Cruise LLC
-//
-//  This source code is licensed under the Apache License, Version 2.0,
-//  found in the LICENSE file in the root directory of this source tree.
-//  You may not use this file except in compliance with the License.
-
-import { buildMarkerData } from "./index";
-
-describe("buildMarkerData", () => {
-  const cameraInfo = {
-    width: 10,
-    height: 5,
-    binning_x: 0,
-    binning_y: 0,
-    roi: {
-      x_offset: 0,
-      y_offset: 0,
-      height: 0,
-      width: 0,
-      do_rectify: false,
-    },
-    distortion_model: ("": any),
-    D: [],
-    K: [],
-    P: [],
-    R: [],
-  };
-
-  const marker = {
-    topic: "foo",
-    datatype: "bar",
-    op: "message",
-    receiveTime: { sec: 0, nsec: 0 },
-    message: {},
-  };
-
-  it("returns nothing if markers are empty", () => {
-    expect(buildMarkerData([], 1, true, cameraInfo)).toEqual({
-      markers: [],
-      originalHeight: undefined,
-      originalWidth: undefined,
-      cameraModel: null,
-    });
-  });
-
-  it("requires cameraInfo if transformMarkers is true", () => {
-    expect(buildMarkerData([marker], 1, false, null)).toEqual({
-      markers: [marker],
-      cameraModel: undefined,
-      originalWidth: undefined,
-      originalHeight: undefined,
-    });
-    expect(buildMarkerData([marker], 1, true, null)).toEqual(null);
-  });
-
-  it("requires either cameraInfo or scale==1", () => {
-    expect(buildMarkerData([marker], 1, false, cameraInfo)).toEqual({
-      markers: [marker],
-      cameraModel: undefined,
-      originalWidth: 10,
-      originalHeight: 5,
-    });
-    expect(buildMarkerData([marker], 0.5, false, null)).toEqual(null);
-  });
-});
diff --git a/packages/webviz-core/src/panels/ImageView/renderImage.js b/packages/webviz-core/src/panels/ImageView/renderImage.js
new file mode 100644
index 000000000..c7e39e296
--- /dev/null
+++ b/packages/webviz-core/src/panels/ImageView/renderImage.js
@@ -0,0 +1,308 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import CameraModel from "./CameraModel";
+import {
+  decodeYUV,
+  decodeRGB8,
+  decodeBGR8,
+  decodeFloat1c,
+  decodeBayerRGGB8,
+  decodeBayerBGGR8,
+  decodeBayerGBRG8,
+  decodeBayerGRBG8,
+  decodeMono8,
+  decodeMono16,
+} from "./decodings";
+import { buildMarkerData, type Dimensions, type RawMarkerData, type MarkerData, type OffscreenCanvas } from "./util";
+import type { Message } from "webviz-core/src/players/types";
+import type { ImageMarker, Color, Point } from "webviz-core/src/types/Messages";
+import reportError from "webviz-core/src/util/reportError";
+
+// Given a canvas, an image message, and marker info, render the image to the canvas.
+// Nothing in this module should have state.
+export async function renderImage({
+  canvas,
+  imageMessage,
+  rawMarkerData,
+  imageMarkerDatatypes,
+  imageMarkerArrayDatatypes,
+}: {
+  canvas: ?(HTMLCanvasElement | OffscreenCanvas),
+  imageMessage: any,
+  rawMarkerData: RawMarkerData,
+  imageMarkerDatatypes: string[],
+  imageMarkerArrayDatatypes: string[],
+}): Promise<?Dimensions> {
+  if (!canvas) {
+    return null;
+  }
+  if (!imageMessage) {
+    clearCanvas(canvas);
+    return null;
+  }
+  let markerData = null;
+  try {
+    markerData = buildMarkerData(rawMarkerData);
+  } catch (error) {
+    reportError(`Failed to initialize camera model from CameraInfo`, error, "user");
+  }
+
+  try {
+    const bitmap = await decodeMessageToBitmap(imageMessage);
+    const dimensions = paintBitmap(canvas, bitmap, markerData, imageMarkerDatatypes, imageMarkerArrayDatatypes);
+    bitmap.close();
+    return dimensions;
+  } catch (error) {
+    // If there is an error, clear the image and re-throw it.
+    clearCanvas(canvas);
+    throw error;
+  }
+}
+
+function toRGBA(color: Color) {
+  const { r, g, b, a } = color;
+  return `rgba(${r}, ${g}, ${b}, ${a || 1})`;
+}
+
+function maybeUnrectifyPoint(cameraModel: ?CameraModel, point: Point): { x: number, y: number } {
+  if (cameraModel) {
+    return cameraModel.unrectifyPoint(point);
+  }
+  return point;
+}
+
+async function decodeMessageToBitmap(msg: any): Promise<ImageBitmap> {
+  let image: ImageData | Image | Blob;
+  const { data: rawData, is_bigendian } = msg.message;
+  if (!(rawData instanceof Uint8Array)) {
+    throw new Error("Message must have data of type Uint8Array");
+  }
+
+  // Binary message processing
+  if (msg.datatype === "sensor_msgs/Image") {
+    const { width, height, encoding } = msg.message;
+    image = new ImageData(width, height);
+    // prettier-ignore
+    switch (encoding) {
+      case "yuv422": decodeYUV(rawData, width, height, image.data); break;
+      case "rgb8": decodeRGB8(rawData, width, height, image.data); break;
+      case "bgr8": decodeBGR8(rawData, width, height, image.data); break;
+      case "32FC1": decodeFloat1c(rawData, width, height, is_bigendian, image.data); break;
+      case "bayer_rggb8": decodeBayerRGGB8(rawData, width, height, image.data); break;
+      case "bayer_bggr8": decodeBayerBGGR8(rawData, width, height, image.data); break;
+      case "bayer_gbrg8": decodeBayerGBRG8(rawData, width, height, image.data); break;
+      case "bayer_grbg8": decodeBayerGRBG8(rawData, width, height, image.data); break;
+      case "mono8":
+      case "8UC1":
+          decodeMono8(rawData, width, height, image.data); break;
+      case "mono16":
+      case "16UC1":
+          decodeMono16(rawData, width, height, is_bigendian, image.data); break;
+      default:
+        throw new Error(`Unsupported encoding ${encoding}`);
+    }
+  } else if (msg.datatype === "sensor_msgs/CompressedImage") {
+    image = new Blob([rawData], { type: `image/${msg.message.format}` });
+  } else {
+    throw new Error(`Message datatype ${msg.datatype} not usable for rendering images.`);
+  }
+
+  return self.createImageBitmap(image);
+}
+
+function clearCanvas(canvas: ?HTMLCanvasElement) {
+  if (canvas) {
+    canvas.getContext("2d").clearRect(0, 0, canvas.width, canvas.height);
+  }
+}
+
+function paintBitmap(
+  canvas: HTMLCanvasElement,
+  bitmap: ImageBitmap,
+  markerData: MarkerData,
+  imageMarkerDatatypes: string[],
+  imageMarkerArrayDatatypes: string[]
+): ?Dimensions {
+  let bitmapDimensions = { width: bitmap.width, height: bitmap.height };
+  const ctx = canvas.getContext("2d");
+  if (!markerData) {
+    resizeCanvas(canvas, bitmap.width, bitmap.height);
+    ctx.transform(1, 0, 0, 1, 0, 0);
+    ctx.drawImage(bitmap, 0, 0);
+    return bitmapDimensions;
+  }
+
+  const { markers, cameraModel } = markerData;
+  let { originalWidth, originalHeight } = markerData;
+  if (originalWidth == null) {
+    originalWidth = bitmap.width;
+  }
+  if (originalHeight == null) {
+    originalHeight = bitmap.height;
+  }
+
+  bitmapDimensions = { width: originalWidth, height: originalHeight };
+  resizeCanvas(canvas, originalWidth, originalHeight);
+  ctx.save();
+  ctx.scale(originalWidth / bitmap.width, originalHeight / bitmap.height);
+  ctx.drawImage(bitmap, 0, 0);
+  ctx.restore();
+  ctx.save();
+  try {
+    paintMarkers(ctx, markers, cameraModel, imageMarkerDatatypes, imageMarkerArrayDatatypes);
+  } catch (err) {
+    console.warn("error painting markers:", err);
+  } finally {
+    ctx.restore();
+  }
+  return bitmapDimensions;
+}
+
+function paintMarkers(
+  ctx: CanvasRenderingContext2D,
+  markers: Message[],
+  cameraModel: ?CameraModel,
+  imageMarkerDatatypes: string[],
+  imageMarkerArrayDatatypes: string[]
+) {
+  for (const msg of markers) {
+    ctx.save();
+    if (imageMarkerArrayDatatypes.includes(msg.datatype)) {
+      for (const marker of msg.message.markers) {
+        paintMarker(ctx, marker, cameraModel);
+      }
+    } else if (imageMarkerDatatypes.includes(msg.datatype)) {
+      paintMarker(ctx, msg.message, cameraModel);
+    } else {
+      console.warn("unrecognized image marker datatype", msg);
+    }
+    ctx.restore();
+  }
+}
+
+function paintMarker(ctx: CanvasRenderingContext2D, marker: ImageMarker, cameraModel: ?CameraModel) {
+  switch (marker.type) {
+    case 0: {
+      // CIRCLE
+      ctx.beginPath();
+      const { x, y } = maybeUnrectifyPoint(cameraModel, marker.position);
+      ctx.arc(x, y, marker.scale, 0, 2 * Math.PI);
+      if (marker.thickness <= 0) {
+        ctx.fillStyle = toRGBA(marker.outline_color);
+        ctx.fill();
+      } else {
+        ctx.lineWidth = marker.thickness;
+        ctx.strokeStyle = toRGBA(marker.outline_color);
+        ctx.stroke();
+      }
+      break;
+    }
+
+    // LINE_LIST
+    case 2:
+      if (marker.points.length % 2 !== 0) {
+        break;
+      }
+      ctx.strokeStyle = toRGBA(marker.outline_color);
+      ctx.lineWidth = marker.thickness;
+      for (let i = 0; i < marker.points.length; i += 2) {
+        const { x: x1, y: y1 } = maybeUnrectifyPoint(cameraModel, marker.points[i]);
+        const { x: x2, y: y2 } = maybeUnrectifyPoint(cameraModel, marker.points[i + 1]);
+        ctx.beginPath();
+        ctx.moveTo(x1, y1);
+        ctx.lineTo(x2, y2);
+        ctx.stroke();
+      }
+      break;
+
+    // LINE_STRIP, POLYGON
+    case 1:
+    case 3: {
+      if (marker.points.length === 0) {
+        break;
+      }
+      ctx.beginPath();
+      const { x, y } = maybeUnrectifyPoint(cameraModel, marker.points[0]);
+      ctx.moveTo(x, y);
+      for (let i = 1; i < marker.points.length; i++) {
+        const { x, y } = maybeUnrectifyPoint(cameraModel, marker.points[i]);
+        ctx.lineTo(x, y);
+      }
+      if (marker.type === 3) {
+        ctx.closePath();
+      }
+      if (marker.thickness <= 0) {
+        ctx.fillStyle = toRGBA(marker.outline_color);
+        ctx.fill();
+      } else {
+        ctx.strokeStyle = toRGBA(marker.outline_color);
+        ctx.lineWidth = marker.thickness;
+        ctx.stroke();
+      }
+      break;
+    }
+
+    case 4: {
+      // POINTS
+      if (marker.points.length === 0) {
+        break;
+      }
+
+      const size = marker.scale || 4;
+      if (marker.outline_colors && marker.outline_colors.length === marker.points.length) {
+        for (let i = 0; i < marker.points.length; i++) {
+          const { x, y } = maybeUnrectifyPoint(cameraModel, marker.points[i]);
+          ctx.fillStyle = toRGBA(marker.outline_colors[i]);
+          ctx.beginPath();
+          ctx.arc(x, y, size, 0, 2 * Math.PI);
+          ctx.fill();
+        }
+      } else {
+        ctx.beginPath();
+        for (let i = 0; i < marker.points.length; i++) {
+          const { x, y } = maybeUnrectifyPoint(cameraModel, marker.points[i]);
+          ctx.arc(x, y, size, 0, 2 * Math.PI);
+          ctx.closePath();
+        }
+        ctx.fillStyle = toRGBA(marker.fill_color);
+        ctx.fill();
+      }
+      break;
+    }
+
+    case 5: {
+      // TEXT (our own extension on visualization_msgs/Marker)
+      const { x, y } = maybeUnrectifyPoint(cameraModel, marker.position);
+
+      const fontSize = marker.scale * 12;
+      const padding = 4 * marker.scale;
+      ctx.font = `${fontSize}px sans-serif`;
+      ctx.textBaseline = "bottom";
+      if (marker.filled) {
+        const metrics = ctx.measureText(marker.text.data);
+        const height = fontSize * 1.2; // Chrome doesn't yet support height in TextMetrics
+        ctx.fillStyle = toRGBA(marker.fill_color);
+        ctx.fillRect(x, y - height, Math.ceil(metrics.width + 2 * padding), Math.ceil(height));
+      }
+      ctx.fillStyle = toRGBA(marker.outline_color);
+      ctx.fillText(marker.text.data, x + padding, y);
+      break;
+    }
+
+    default:
+      console.warn("unrecognized image marker type", marker);
+  }
+}
+
+function resizeCanvas(canvas: ?HTMLCanvasElement, width: number, height: number) {
+  if (canvas && (canvas.width !== width || canvas.height !== height)) {
+    canvas.width = width;
+    canvas.height = height;
+  }
+}
diff --git a/packages/webviz-core/src/panels/ImageView/util.js b/packages/webviz-core/src/panels/ImageView/util.js
index 5065776bd..234ade02d 100644
--- a/packages/webviz-core/src/panels/ImageView/util.js
+++ b/packages/webviz-core/src/panels/ImageView/util.js
@@ -7,14 +7,38 @@
 //  You may not use this file except in compliance with the License.
 
 import clamp from "lodash/clamp";
+import memoize from "lodash/memoize";
 
-import type { Topic } from "webviz-core/src/players/types";
+import CameraModel from "./CameraModel";
+import type { Topic, Message } from "webviz-core/src/players/types";
+import type { CameraInfo } from "webviz-core/src/types/Messages";
+import reportError from "webviz-core/src/util/reportError";
+
+// The OffscreenCanvas type is not yet in Flow. It's similar to, but more restrictive than HTMLCanvasElement.
+// TODO: change this to the Flow definition once it's been added.
+export type OffscreenCanvas = HTMLCanvasElement;
+
+export type Dimensions = {| width: number, height: number |};
 
 export type MarkerOption = {
   topic: string,
   name: string,
 };
 
+export type RawMarkerData = {|
+  markers: Message[],
+  scale: number,
+  transformMarkers: boolean,
+  cameraInfo: ?CameraInfo,
+|};
+
+export type MarkerData = ?{|
+  markers: Message[],
+  originalWidth: ?number, // null means no scaling is needed (use the image's size)
+  originalHeight: ?number, // null means no scaling is needed (use the image's size)
+  cameraModel: ?CameraModel, // null means no transformation is needed
+|};
+
 // given all available marker topics, filter out the names that are available for this image topic
 export function getMarkerOptions(
   imageTopic: string,
@@ -98,3 +122,61 @@ export function checkOutOfBounds(
     clamp(y, Math.min(topY, bottomY), Math.max(topY, bottomY)),
   ];
 }
+
+export function buildMarkerData(rawMarkerData: RawMarkerData): ?MarkerData {
+  const { markers, scale, transformMarkers, cameraInfo } = rawMarkerData;
+  if (markers.length === 0) {
+    return {
+      markers,
+      cameraModel: null,
+      originalHeight: undefined,
+      originalWidth: undefined,
+    };
+  }
+  let cameraModel;
+  if (transformMarkers) {
+    if (!cameraInfo) {
+      return null;
+    }
+    cameraModel = new CameraModel(cameraInfo);
+  }
+
+  // Markers can only be rendered if we know the original size of the image.
+  let originalWidth;
+  let originalHeight;
+  if (cameraInfo && cameraInfo.width && cameraInfo.height) {
+    // Prefer using CameraInfo can be used to determine the image size.
+    originalWidth = cameraInfo.width;
+    originalHeight = cameraInfo.height;
+  } else if (scale === 1) {
+    // Otherwise, if scale === 1, the image was not downsampled, so the size of the bitmap is accurate.
+    originalWidth = undefined;
+    originalHeight = undefined;
+  } else {
+    return null;
+  }
+
+  return {
+    markers,
+    cameraModel,
+    originalWidth,
+    originalHeight,
+  };
+}
+
+export const supportsOffscreenCanvas: () => boolean = memoize(
+  (): boolean => {
+    try {
+      // $FlowFixMe This is a function that is not yet in Flow.
+      document.createElement("canvas").transferControlToOffscreen();
+    } catch (error) {
+      reportError(
+        "Rendering the image view in a worker is unsupported in this browser, falling back to rendering using the main thread",
+        "",
+        "app"
+      );
+      return false;
+    }
+    return true;
+  }
+);
diff --git a/packages/webviz-core/src/panels/ImageView/util.test.js b/packages/webviz-core/src/panels/ImageView/util.test.js
index 1d9d85e3c..423f514a8 100644
--- a/packages/webviz-core/src/panels/ImageView/util.test.js
+++ b/packages/webviz-core/src/panels/ImageView/util.test.js
@@ -6,7 +6,7 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import { getCameraInfoTopic, getMarkerOptions, getMarkerTopics, groupTopics } from "./util";
+import { getCameraInfoTopic, getMarkerOptions, getMarkerTopics, groupTopics, buildMarkerData } from "./util";
 
 describe("ImageView", () => {
   describe("getCameraInfoTopic", () => {
@@ -76,4 +76,65 @@ describe("ImageView", () => {
       );
     });
   });
+
+  describe("buildMarkerData", () => {
+    const cameraInfo = {
+      width: 10,
+      height: 5,
+      binning_x: 0,
+      binning_y: 0,
+      roi: {
+        x_offset: 0,
+        y_offset: 0,
+        height: 0,
+        width: 0,
+        do_rectify: false,
+      },
+      distortion_model: ("": any),
+      D: [],
+      K: [],
+      P: [],
+      R: [],
+    };
+
+    const marker = {
+      topic: "foo",
+      datatype: "bar",
+      op: "message",
+      receiveTime: { sec: 0, nsec: 0 },
+      message: {},
+    };
+
+    it("returns nothing if markers are empty", () => {
+      expect(buildMarkerData({ markers: [], scale: 1, transformMarkers: true, cameraInfo })).toEqual({
+        markers: [],
+        originalHeight: undefined,
+        originalWidth: undefined,
+        cameraModel: null,
+      });
+    });
+
+    it("requires cameraInfo if transformMarkers is true", () => {
+      expect(buildMarkerData({ markers: [marker], scale: 1, transformMarkers: false, cameraInfo: null })).toEqual({
+        markers: [marker],
+        cameraModel: undefined,
+        originalWidth: undefined,
+        originalHeight: undefined,
+      });
+
+      expect(buildMarkerData({ markers: [marker], scale: 1, transformMarkers: true, cameraInfo: null })).toEqual(null);
+    });
+
+    it("requires either cameraInfo or scale==1", () => {
+      expect(buildMarkerData({ markers: [marker], scale: 1, transformMarkers: false, cameraInfo })).toEqual({
+        markers: [marker],
+        cameraModel: undefined,
+        originalWidth: 10,
+        originalHeight: 5,
+      });
+      expect(buildMarkerData({ markers: [marker], scale: 0.5, transformMarkers: false, cameraInfo: null })).toEqual(
+        null
+      );
+    });
+  });
 });
diff --git a/packages/webviz-core/src/panels/PlaybackPerformance.js b/packages/webviz-core/src/panels/PlaybackPerformance.js
new file mode 100644
index 000000000..d61d109d7
--- /dev/null
+++ b/packages/webviz-core/src/panels/PlaybackPerformance.js
@@ -0,0 +1,107 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import { last, sumBy } from "lodash";
+import * as React from "react";
+import { hot } from "react-hot-loader/root";
+
+import Flex from "webviz-core/src/components/Flex";
+import { useMessagePipeline } from "webviz-core/src/components/MessagePipeline";
+import Panel from "webviz-core/src/components/Panel";
+import PanelToolbar from "webviz-core/src/components/PanelToolbar";
+import { Sparkline, type SparklinePoint } from "webviz-core/src/components/Sparkline";
+import type { PlayerStateActiveData } from "webviz-core/src/players/types";
+import { subtractTimes, toSec } from "webviz-core/src/util/time";
+
+const TIME_RANGE = 5000;
+
+type PlaybackPerformanceItemProps = {|
+  points: SparklinePoint[],
+  maximum: number,
+  decimalPlaces: number,
+  children: React.Node,
+|};
+
+function PlaybackPerformanceItem(props: PlaybackPerformanceItemProps): React.Node {
+  return (
+    <div style={{ margin: 8 }}>
+      <Sparkline points={props.points} maximum={props.maximum} width={100} height={30} timeRange={TIME_RANGE} />
+      <div style={{ display: "inline-block", marginLeft: 12, verticalAlign: "middle" }}>
+        {(last(props.points) || { value: 0 }).value.toFixed(props.decimalPlaces)}
+        {props.children}
+        <div style={{ color: "#aaa" }}>
+          {(sumBy(props.points, "value") / props.points.length).toFixed(props.decimalPlaces)} avg
+        </div>
+      </div>
+    </div>
+  );
+}
+
+function PlaybackPerformance(): React.Node {
+  const timestamp = Date.now();
+  const activeData = useMessagePipeline(React.useCallback(({ playerState }) => playerState.activeData, []));
+  const playbackInfo = React.useRef<?{| timestamp: number, activeData: PlayerStateActiveData |}>();
+  const lastPlaybackInfo = playbackInfo.current;
+  if (activeData && (!playbackInfo.current || playbackInfo.current.activeData !== activeData)) {
+    playbackInfo.current = { timestamp: Date.now(), activeData };
+  }
+
+  const perfPoints = React.useRef<{|
+    speed: SparklinePoint[],
+    framerate: SparklinePoint[],
+    bagTimeMs: SparklinePoint[],
+  |}>({
+    speed: [],
+    framerate: [],
+    bagTimeMs: [],
+  });
+
+  if (
+    activeData &&
+    playbackInfo.current &&
+    lastPlaybackInfo &&
+    lastPlaybackInfo.activeData !== activeData &&
+    lastPlaybackInfo.activeData.isPlaying &&
+    activeData.isPlaying &&
+    lastPlaybackInfo.activeData.lastSeekTime === activeData.lastSeekTime &&
+    lastPlaybackInfo.activeData.currentTime !== activeData.currentTime
+  ) {
+    const renderTimeMs = Date.now() - lastPlaybackInfo.timestamp;
+    const bagTimeMs = toSec(subtractTimes(activeData.currentTime, lastPlaybackInfo.activeData.currentTime)) * 1000;
+    perfPoints.current.speed.push({ value: bagTimeMs / renderTimeMs, timestamp });
+    perfPoints.current.framerate.push({ value: 1000 / renderTimeMs, timestamp });
+    perfPoints.current.bagTimeMs.push({ value: bagTimeMs, timestamp });
+    for (const name in perfPoints.current) {
+      const points = perfPoints.current[name];
+      while (points[0] && points[0].timestamp < timestamp - TIME_RANGE) {
+        points.shift();
+      }
+    }
+  }
+
+  return (
+    <Flex col>
+      <PanelToolbar floating />
+      <Flex col wrap center start style={{ lineHeight: 1, whiteSpace: "nowrap" }}>
+        <PlaybackPerformanceItem points={perfPoints.current.speed} maximum={1.6} decimalPlaces={2}>
+          &times; realtime
+        </PlaybackPerformanceItem>
+        <PlaybackPerformanceItem points={perfPoints.current.framerate} maximum={30} decimalPlaces={1}>
+          fps
+        </PlaybackPerformanceItem>
+        <PlaybackPerformanceItem points={perfPoints.current.bagTimeMs} maximum={300} decimalPlaces={0}>
+          ms bag frame
+        </PlaybackPerformanceItem>
+      </Flex>
+    </Flex>
+  );
+}
+
+PlaybackPerformance.panelType = "PlaybackPerformance";
+PlaybackPerformance.defaultConfig = {};
+
+export default hot(Panel<{}>(PlaybackPerformance));
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/CameraInfo.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/CameraInfo.js
index 7c356bd24..c2a76c122 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/CameraInfo.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/CameraInfo.js
@@ -19,27 +19,20 @@ import { UncontrolledValidatedInput, YamlInput } from "webviz-core/src/component
 import { point2DValidator, cameraStateValidator } from "webviz-core/src/components/validators";
 import { getGlobalHooks } from "webviz-core/src/loadWebviz";
 import { Renderer } from "webviz-core/src/panels/ThreeDimensionalViz/index";
+import { SValue, SLabel } from "webviz-core/src/panels/ThreeDimensionalViz/Interactions/Interactions";
 import colors from "webviz-core/src/styles/colors.module.scss";
 import clipboard from "webviz-core/src/util/clipboard";
 
+const LABEL_WIDTH = 112;
 const TEMP_VEC3 = [0, 0, 0];
 const ZERO_VEC3 = Object.freeze([0, 0, 0]);
 const DEFAULT_CAMERA_INFO_WIDTH = 260;
 
-const LABEL_WIDTH = 112;
 const SRow = styled.div`
   display: flex;
   align-items: center;
 `;
 
-const SLabel = styled.label`
-  width: ${LABEL_WIDTH}px;
-  margin: 4px 0;
-`;
-export const SValue = styled.span`
-  color: ${colors.highlight};
-`;
-
 type CameraStateInfoProps = {
   cameraState: $Shape<CameraState>,
   onAlignXYAxis: () => void,
@@ -77,7 +70,7 @@ function CameraStateInfo({ cameraState, onAlignXYAxis }: CameraStateInfoProps) {
         })
         .map(([key, val]) => (
           <SRow key={key}>
-            <SLabel>{key}:</SLabel> <SValue>{val}</SValue>
+            <SLabel width={LABEL_WIDTH}>{key}:</SLabel> <SValue>{val}</SValue>
             {key === "thetaOffset" && (
               <Button
                 onClick={onAlignXYAxis}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/Polygons.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/Polygons.js
index 6cbdb13f0..361d360de 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/Polygons.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/Polygons.js
@@ -14,7 +14,7 @@ import Button from "webviz-core/src/components/Button";
 import PanelContext from "webviz-core/src/components/PanelContext";
 import ValidatedInput, { type EditFormat } from "webviz-core/src/components/ValidatedInput";
 import { polygonPointsValidator } from "webviz-core/src/components/validators";
-import { SValue } from "webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/CameraInfo";
+import { SValue, SLabel } from "webviz-core/src/panels/ThreeDimensionalViz/Interactions/Interactions";
 import {
   polygonsToPoints,
   getFormattedString,
@@ -31,11 +31,6 @@ export const SRow = styled.div`
   padding: 8px 0;
 `;
 
-export const SLabel = styled.label`
-  width: 80px;
-  margin: 4px 0;
-`;
-
 type Props = {
   onSetPolygons: (polygons: Polygon[]) => void,
   polygonBuilder: PolygonBuilder,
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/Interaction.stories.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/Interaction.stories.js
index 9e9e18d80..3bdd2f7c0 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/Interaction.stories.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/Interaction.stories.js
@@ -16,6 +16,11 @@ import useLinkedGlobalVariables from "./useLinkedGlobalVariables";
 import Flex from "webviz-core/src/components/Flex";
 import { MockPanelContextProvider } from "webviz-core/src/components/Panel";
 import useGlobalVariables from "webviz-core/src/hooks/useGlobalVariables";
+import {
+  POINT_CLOUD_MESSAGE,
+  POINT_CLOUD_WITH_ADDITIONAL_FIELDS,
+} from "webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/fixture/pointCloudData";
+import { mapMarker } from "webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/PointCloudBuilder";
 import PanelSetup, { triggerInputChange } from "webviz-core/src/stories/PanelSetup";
 import colors from "webviz-core/src/styles/colors.module.scss";
 
@@ -217,21 +222,6 @@ storiesOf("<Interaction>", module)
         <PanelSetupWithData title="With interactionData">
           <Interactions {...sharedProps} />
         </PanelSetupWithData>
-        <PanelSetupWithData title="PointCloud">
-          <Interactions
-            {...sharedProps}
-            selectedObject={{
-              instanceIndex: 0,
-              object: {
-                ...selectedObject.object,
-                type: 102,
-                points: [1, 2, 3, 4, 5, 6],
-                colors: [124, 212, 214, 14, 45, 116],
-              },
-            }}
-            interactionData={{ topic: "/foo/bar", associatedTopics: ["/track/foo", "/track/bar"] }}
-          />
-        </PanelSetupWithData>
         <PanelSetupWithData
           title="Clicked link button"
           onMount={(el) => {
@@ -261,6 +251,43 @@ storiesOf("<Interaction>", module)
       </SWrapper>
     );
   })
+  .add("PointCloud", () => {
+    const result = mapMarker(POINT_CLOUD_MESSAGE);
+    const resultWithAdditionalFields = mapMarker(POINT_CLOUD_WITH_ADDITIONAL_FIELDS);
+
+    return (
+      <SWrapper>
+        <PanelSetupWithData title="default with point color">
+          <Interactions
+            {...sharedProps}
+            selectedObject={{
+              instanceIndex: 0,
+              object: {
+                ...selectedObject.object,
+                type: 102,
+                ...result,
+              },
+            }}
+            interactionData={{ topic: "/foo/bar", associatedTopics: ["/track/foo", "/track/bar"] }}
+          />
+        </PanelSetupWithData>
+        <PanelSetupWithData title="with additional fields">
+          <Interactions
+            {...sharedProps}
+            selectedObject={{
+              instanceIndex: 0,
+              object: {
+                ...selectedObject.object,
+                type: 102,
+                ...resultWithAdditionalFields,
+              },
+            }}
+            interactionData={{ topic: "/foo/bar", associatedTopics: ["/track/foo", "/track/bar"] }}
+          />
+        </PanelSetupWithData>
+      </SWrapper>
+    );
+  })
   .add("link and multi-link global variables", () => {
     return (
       <SWrapper>
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/Interactions.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/Interactions.js
index 34fdf593c..92a07f0fd 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/Interactions.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/Interactions.js
@@ -22,9 +22,10 @@ import ExpandingToolbar, { ToolGroup, ToolGroupFixedSizePane } from "webviz-core
 import Icon from "webviz-core/src/components/Icon";
 import { useChangeDetector } from "webviz-core/src/components/MessageHistory/hooks";
 import PanelContext from "webviz-core/src/components/PanelContext";
+import { decodeAdditionalFields } from "webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/PointCloudBuilder";
 import styles from "webviz-core/src/panels/ThreeDimensionalViz/Layout.module.scss";
-import colors from "webviz-core/src/styles/colors.module.scss";
 import type { SaveConfig, PanelConfig } from "webviz-core/src/types/panels";
+import { colors } from "webviz-core/src/util/colors";
 
 export const SRow = styled.div`
   display: flex;
@@ -33,15 +34,15 @@ export const SRow = styled.div`
   margin: 4px 0;
 `;
 export const SLabel = styled.label`
-  width: 96px;
+  width: ${(props) => (props.width ? `${props.width}px` : "80px")};
   margin: 4px 0;
 `;
 export const SValue = styled.div`
-  color: ${colors.lightPurple};
+  color: ${colors.HIGHLIGHT};
   word-break: break-word;
 `;
 export const SEmptyState = styled.div`
-  color: ${colors.textMuted};
+  color: ${colors.TEXT_MUTED};
   line-height: 1.4;
   margin-bottom: 8px;
 `;
@@ -91,6 +92,11 @@ const InteractionsBaseComponent = React.memo<PropsWithConfig>(function Interacti
 
   const { object } = selectedObject || {};
   const isPointCloud = object && object.type === 102;
+  const maybeFullyDecodedObject = React.useMemo(
+    () => (isPointCloud ? { ...selectedObject, object: decodeAdditionalFields(object) } : selectedObject),
+    [isPointCloud, object, selectedObject]
+  );
+
   const { linkedGlobalVariables } = useLinkedGlobalVariables();
 
   return (
@@ -115,10 +121,12 @@ const InteractionsBaseComponent = React.memo<PropsWithConfig>(function Interacti
           {selectedObject ? (
             <>
               {interactionData && <GeneralInfo selectedObject={selectedObject} interactionData={interactionData} />}
-              {isPointCloud && <PointCloudDetails selectedObject={selectedObject} interactionData={interactionData} />}
+              {isPointCloud && (
+                <PointCloudDetails selectedObject={maybeFullyDecodedObject} interactionData={interactionData} />
+              )}
               <ObjectDetails
                 linkedGlobalVariables={linkedGlobalVariables}
-                selectedObject={selectedObject}
+                selectedObject={maybeFullyDecodedObject}
                 interactionData={interactionData}
               />
             </>
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/PointCloudDetails.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/PointCloudDetails.js
index 20de82ab0..778f8ead5 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/PointCloudDetails.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/PointCloudDetails.js
@@ -7,14 +7,16 @@
 //  You may not use this file except in compliance with the License.
 
 import ExportVariantIcon from "@mdi/svg/svg/export-variant.svg";
-import * as React from "react";
+import { get } from "lodash";
+import React, { useMemo, useState, useCallback } from "react";
 import { type MouseEventObject } from "regl-worldview";
 
-import { SRow, SValue } from "./index";
+import { SRow, SValue, SLabel } from "./index";
 import ChildToggle from "webviz-core/src/components/ChildToggle";
 import Icon from "webviz-core/src/components/Icon";
 import Menu from "webviz-core/src/components/Menu";
 import Item from "webviz-core/src/components/Menu/Item";
+import { getClickedInfo } from "webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/PointCloudBuilder";
 import { downloadFiles } from "webviz-core/src/util";
 import clipboard from "webviz-core/src/util/clipboard";
 
@@ -23,58 +25,52 @@ type Props = {
 };
 
 export default function PointCloudDetails({ selectedObject: { object, instanceIndex } }: Props) {
-  const [isOpen, setIsOpen] = React.useState<boolean>(false);
-
+  const [isOpen, setIsOpen] = useState<boolean>(false);
   const allPoints: number[] = object.points || [];
 
-  const [clickedPoint, clickedPointColor] = React.useMemo(
+  const { clickedPoint, clickedPointColor, additionalFieldValues } =
+    useMemo(() => getClickedInfo(object, instanceIndex), [instanceIndex, object]) || {};
+
+  const additionalFieldNames = useMemo(() => (additionalFieldValues && Object.keys(additionalFieldValues)) || [], [
+    additionalFieldValues,
+  ]);
+
+  const hasAdditionalFieldNames = !!additionalFieldNames.length;
+  const onCopy = useCallback(
     () => {
-      let clickedPoint = null;
-      let clickedPointColor = null;
-      if (allPoints.length && instanceIndex != null && instanceIndex >= 0 && instanceIndex * 3 < allPoints.length) {
-        clickedPoint = [];
-        const baseIdx = instanceIndex * 3;
-        clickedPoint.push(allPoints[baseIdx]);
-        clickedPoint.push(allPoints[baseIdx + 1]);
-        clickedPoint.push(allPoints[baseIdx + 2]);
-        const allColors: number[] = object.colors || [];
-        const baseColorR = allColors[baseIdx];
-        const baseColorG = allColors[baseIdx + 1];
-        const baseColorB = allColors[baseIdx + 2];
-        if (baseColorR && baseColorG && baseColorB) {
-          clickedPointColor = [baseColorR, baseColorG, baseColorB, 1];
-        }
+      const dataRows = [];
+      const len = allPoints.length / 3;
+      // get copy data
+      for (let i = 0; i < len; i++) {
+        const rowData = [allPoints[i * 3], allPoints[i * 3 + 1], allPoints[i * 3 + 2]];
+        rowData.push(...additionalFieldNames.map((fieldName) => get(object, [fieldName, i])));
+        dataRows.push(rowData.join(","));
       }
-      return [clickedPoint, clickedPointColor];
+
+      const additionalColumns = hasAdditionalFieldNames ? `,${additionalFieldNames.join(",")}` : "";
+      const dataStr = `x,y,z${additionalColumns}\n${dataRows.join("\n")}`;
+      const blob = new Blob([dataStr], { type: "text/csv;charset=utf-8;" });
+      downloadFiles([{ blob, fileName: "PointCloud.csv" }]);
+      setIsOpen(false);
     },
-    [allPoints, instanceIndex, object.colors]
+    [additionalFieldNames, hasAdditionalFieldNames, allPoints, object]
   );
 
   if (!clickedPoint || allPoints.length === 0) {
     return null;
   }
 
-  function getCopyPoints() {
-    const copyPoints = [];
-    const len = allPoints.length / 3;
-    for (let i = 0; i < len; i++) {
-      const point = [allPoints[i * 3], allPoints[i * 3 + 1], allPoints[i * 3 + 2]];
-      copyPoints.push(point.join(","));
-    }
-    return copyPoints;
-  }
   const colorStyle = clickedPointColor ? { color: `rgba(${clickedPointColor.join(",")})` } : {};
 
   return (
-    <SRow>
-      <SValue style={{ display: "flex", alignItems: "center", flex: 1 }}>
-        <span style={{ flex: 1, lineHeight: 1.4, ...colorStyle }}>
-          {clickedPoint.map((x) => (typeof x === "number" && x.toFixed(1)) || JSON.stringify(x)).join(", ")}
-          <br /> (point {instanceIndex} of {allPoints.length})
-        </span>
-
+    <>
+      <SRow style={{ display: "flex", justifyContent: "flex-end" }}>
         <ChildToggle position="below" onToggle={() => setIsOpen(!isOpen)} isOpen={isOpen}>
-          <Icon small fade active={isOpen} tooltip="Export points">
+          <Icon
+            small
+            fade
+            active={isOpen}
+            tooltip={hasAdditionalFieldNames ? "Export points and fields" : "Export points"}>
             <ExportVariantIcon />
           </Icon>
           <Menu>
@@ -85,19 +81,28 @@ export default function PointCloudDetails({ selectedObject: { object, instanceIn
               }}>
               Copy clicked point to clipboard
             </Item>
-            <Item
-              onClick={() => {
-                const copyPoints = getCopyPoints();
-                const dataStr = `x,y,z\n${copyPoints.join("\n")}`;
-                const blob = new Blob([dataStr], { type: "text/csv;charset=utf-8;" });
-                downloadFiles([{ blob, fileName: "points.csv" }]);
-                setIsOpen(false);
-              }}>
-              Download all points as CSV
+            <Item onClick={onCopy}>
+              {hasAdditionalFieldNames ? "Download all points and fields as CSV" : "Download all points as CSV"}
             </Item>
           </Menu>
         </ChildToggle>
-      </SValue>
-    </SRow>
+      </SRow>
+      <SRow>
+        <SLabel width={hasAdditionalFieldNames ? 72 : 44}>Point:</SLabel>
+        <SValue style={{ flex: 1, lineHeight: 1.4, ...colorStyle }}>
+          {clickedPoint.map((x) => (typeof x === "number" ? x : JSON.stringify(x))).join(", ")}
+        </SValue>
+      </SRow>
+      {additionalFieldValues && (
+        <>
+          {Object.keys(additionalFieldValues).map((fieldName) => (
+            <SRow key={fieldName}>
+              <SLabel width={72}>{fieldName.charAt(0).toUpperCase() + fieldName.slice(1)}:</SLabel>
+              <SValue>{additionalFieldValues[fieldName]}</SValue>
+            </SRow>
+          ))}
+        </>
+      )}
+    </>
   );
 }
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Layout.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Layout.js
index d33bbf4d1..2f035f000 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Layout.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Layout.js
@@ -6,7 +6,7 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import { get, difference } from "lodash";
+import { get, difference, isEqual } from "lodash";
 import React, {
   type Node,
   useMemo,
@@ -174,7 +174,14 @@ export default function Layout({
       }),
     [checkedNodes, topicDisplayMode, topics]
   );
-  useLayoutEffect(() => saveConfig({ checkedNodes: newCheckedNodes }), [newCheckedNodes, saveConfig]);
+  useLayoutEffect(
+    () => {
+      if (!isEqual(checkedNodes.sort(), newCheckedNodes.sort())) {
+        saveConfig({ checkedNodes: newCheckedNodes });
+      }
+    },
+    [checkedNodes, newCheckedNodes, saveConfig]
+  );
 
   const { linkedGlobalVariables } = useLinkedGlobalVariables();
   const { globalVariables, setGlobalVariables } = useGlobalVariables();
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorFlatList.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorFlatList.js
index b8593c589..65816eda2 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorFlatList.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorFlatList.js
@@ -25,6 +25,7 @@ const SMutedText = styled.div`
 `;
 export type TopicSelectorFlatListProps = {|
   checkedNodes: string[],
+  disableCheckbox?: boolean,
   expandedNodes: string[],
   modifiedNamespaceTopics: string[],
   namespaces: Namespace[],
@@ -37,6 +38,7 @@ export type TopicSelectorFlatListProps = {|
 
 export default function TopicSelectorFlatList({
   checkedNodes,
+  disableCheckbox,
   expandedNodes,
   modifiedNamespaceTopics,
   namespaces,
@@ -95,6 +97,18 @@ export default function TopicSelectorFlatList({
     [checkedNodes, modifiedNamespaceTopics, namespaces, saveConfig]
   );
 
+  const onRemoveNode = useCallback(
+    (node: Node) => {
+      const { namespace, topic, legacyIds, id } = ((node: Node): TopicTreeNode);
+      if (topic && namespace) {
+        console.error("Removing namespace nodes is not yet supported");
+        return;
+      }
+      saveConfig({ checkedNodes: toggle(checkedNodes, id, (item) => legacyIds.includes(item) || item === id) });
+    },
+    [checkedNodes, saveConfig]
+  );
+
   const toggleVisibility = useCallback(
     (node: Node) => {
       const { topic, visible } = ((node: Node): TopicTreeNode);
@@ -114,9 +128,11 @@ export default function TopicSelectorFlatList({
     <>
       <SMutedText>This flat topic tree is an experimental feature under active development.</SMutedText>
       <Tree
+        disableCheckbox={disableCheckbox}
         enableVisibilityToggle
         hideRoot
         onEditClick={onEditClickLocal}
+        onRemoveNode={onRemoveNode}
         onToggleCheck={toggleChecked}
         onToggleExpand={toggleExpanded}
         onToggleVisibility={toggleVisibility}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorWrapper.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorWrapper.js
index 6ca0991fa..0b734cd3b 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorWrapper.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorWrapper.js
@@ -281,6 +281,7 @@ export default function TopicSelectorWrapper({
               tree={tree}
               setHiddenTopics={setHiddenTopics}
               hiddenTopics={hiddenTopics}
+              disableCheckbox={topicDisplayMode === TOPIC_DISPLAY_MODES.SHOW_SELECTED.value}
             />
           )}
         </STreeWrapper>
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/PoseSettingsEditor.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/PoseSettingsEditor.js
index 77c47ad8d..e07cfbaf6 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/PoseSettingsEditor.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/PoseSettingsEditor.js
@@ -46,9 +46,9 @@ export default function PoseSettingsEditor(props: TopicSettingsEditorProps<PoseS
       />
     </Flex>
   );
-  const currentShaftWidth = settings.size && settings.size.shaftWidth != null ? settings.size.shaftWidth : 2;
-  const currentHeadWidth = settings.size && settings.size.headWidth != null ? settings.size.headWidth : 2;
-  const currentHeadLength = settings.size && settings.size.headLength != null ? settings.size.headLength : 0.1;
+  const currentShaftWidth = settings.size?.shaftWidth ?? 2;
+  const currentHeadWidth = settings.size?.headWidth ?? 2;
+  const currentHeadLength = settings.size?.headLength ?? 0.1;
   const colorInputFields = (
     <Flex col>
       <SLabel>Color (r,g,b,a)</SLabel>
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/CarModel/carModel.glb b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/CarModel/carModel.glb
index eef96e760ab25029844f996ceb8ab0eaead01da6..d90cbae2e6ec8f1890df81ff07a3037e1525866e 100644
GIT binary patch
delta 261168
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diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/PointCloudBuilder.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/PointCloudBuilder.js
index f5b516962..5fc5bcf26 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/PointCloudBuilder.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/PointCloudBuilder.js
@@ -5,169 +5,116 @@
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
-import { find, omit } from "lodash";
+import { omit, isEqual, difference } from "lodash";
+import microMemoize from "micro-memoize";
+import { type MouseEventObject } from "regl-worldview";
 
+import { type FieldReader, Float32Reader, Int32Reader, Uint16Reader, Int16Reader, Uint8Reader } from "./Readers";
 import log from "webviz-core/src/panels/ThreeDimensionalViz/logger";
 import type { PointCloud2, PointCloud2Field } from "webviz-core/src/types/Messages";
 
-const datatype = {
+const EMPTY_ARRAY = [];
+const POINT_STEP = 12;
+const COLOR_STEP = 3;
+const FLOAT32_FIELDS = ["x", "y", "z"];
+const DATATYPE = {
   uint8: 2,
   uint16: 4,
+  int16: 3,
   int32: 5,
   float32: 7,
 };
 
-interface FieldReader {
-  read(data: number[], index: number): number;
-}
-
-class Float32Reader implements FieldReader {
-  offset: number;
-  view: DataView;
-  constructor(offset: number) {
-    this.offset = offset;
-    const buffer = new ArrayBuffer(4);
-    this.view = new DataView(buffer);
-  }
-
-  read(data: number[], index: number): number {
-    this.view.setUint8(0, data[index + this.offset]);
-    this.view.setUint8(1, data[index + this.offset + 1]);
-    this.view.setUint8(2, data[index + this.offset + 2]);
-    this.view.setUint8(3, data[index + this.offset + 3]);
-    return this.view.getFloat32(0, true);
-  }
-}
-
-class Int32Reader implements FieldReader {
-  offset: number;
-  view: DataView;
-  constructor(offset: number) {
-    this.offset = offset;
-    const buffer = new ArrayBuffer(4);
-    this.view = new DataView(buffer);
-  }
-
-  read(data: number[], index: number): number {
-    this.view.setUint8(0, data[index + this.offset]);
-    this.view.setUint8(1, data[index + this.offset + 1]);
-    this.view.setUint8(2, data[index + this.offset + 2]);
-    this.view.setUint8(3, data[index + this.offset + 3]);
-    return this.view.getInt32(0, true);
-  }
-}
-
-class Uint16Reader implements FieldReader {
-  offset: number;
-  view: DataView;
-  constructor(offset: number) {
-    this.offset = offset;
-    const buffer = new ArrayBuffer(2);
-    this.view = new DataView(buffer);
-  }
-
-  read(data: number[], index: number): number {
-    this.view.setUint8(0, data[index + this.offset]);
-    this.view.setUint8(1, data[index + this.offset + 1]);
-    return this.view.getUint16(0, true);
-  }
-}
-
-class Uint8Reader implements FieldReader {
-  offset: number;
-  constructor(offset: number) {
-    this.offset = offset;
-  }
+type FieldOffsetsAndReaders = {
+  x: { offset: number },
+  y: { offset: number },
+  z: { offset: number },
+  rgb?: { offset: number },
+  rgbOverride?: { offset: number, reader: ?FieldReader },
+  [additionalFieldName: string]: { offset: number, reader: FieldReader },
+};
 
-  read(data: number[], index: number): number {
-    return data[index + this.offset];
+function getReader(datatype, offset: number, isColorField?: boolean) {
+  switch (datatype) {
+    case DATATYPE.float32:
+      return new Float32Reader(offset);
+    case DATATYPE.uint8:
+      return new Uint8Reader(offset);
+    case DATATYPE.uint16:
+      return new Uint16Reader(offset);
+    case DATATYPE.int16:
+      return new Int16Reader(offset);
+    case DATATYPE.int32:
+      return new Int32Reader(offset);
+    default:
+      if (isColorField) {
+        log.error("colorField of value other than float32, uint16, int32, or uint8 not supported", datatype);
+      } else {
+        log.error("Unsupported datatype", datatype);
+      }
   }
 }
 
-class FieldOffsets {
-  x: number = 0;
-  y: number = 0;
-  z: number = 0;
-  rgb: number = 0;
-  reader: ?FieldReader;
-}
+function getFieldOffsetsAndReaders(
+  fields: PointCloud2Field[],
+  colorField: ?string,
+  decodeAllFields?: boolean
+): ?FieldOffsetsAndReaders {
+  const result = {};
+  fields.forEach((field) => {
+    const { name, datatype, offset = 0 } = field;
+    if (name === colorField) {
+      result.rgbOverride = { offset, reader: getReader(datatype, offset, true) };
+    }
+    if (FLOAT32_FIELDS.includes(name)) {
+      if (datatype !== DATATYPE.float32) {
+        log.error(`${name} value not represented as float32`);
+      } else {
+        result[name] = { offset };
+      }
+    } else if (name === "rgb") {
+      result.rgb = field;
+    } else if (decodeAllFields) {
+      // additional field to be decoded after interacting with the point cloud
+      result[name] = { offset, reader: getReader(datatype, offset) };
+    }
+  });
 
-function getFieldOffsets(fields: PointCloud2Field[], colorField: ?string): ?FieldOffsets {
-  const result = new FieldOffsets();
-  const xField = find(fields, { name: "x" });
-  if (!xField) {
+  if (result.x == null) {
     log.error("Unable to find x field for point cloud");
-    return null;
-  }
-  if (xField.datatype !== datatype.float32) {
-    log.error("x value not represented as float32");
-    return null;
+    return;
   }
-  result.x = xField.offset;
-
-  const yField = find(fields, { name: "y" });
-  if (!yField) {
+  if (result.y == null) {
     log.error("Unable to find y field for point cloud");
-    return null;
-  }
-  if (yField.datatype !== datatype.float32) {
-    log.error("y value not represented as float32");
-    return null;
+    return;
   }
-  result.y = yField.offset;
-
-  const zField = find(fields, { name: "z" });
-  if (!zField) {
+  if (result.z == null) {
     log.error("Unable to find z field for point cloud");
-    return null;
-  }
-  if (zField.datatype !== datatype.float32) {
-    log.error("z value not represented ast float32");
-    return null;
+    return;
   }
-  result.z = zField.offset;
-
-  const rgbField = find(fields, { name: "rgb" });
-  result.rgb = rgbField ? rgbField.offset : -1;
-
-  const field = colorField ? find(fields, { name: colorField }) : false;
-  if (field) {
-    switch (field.datatype) {
-      case datatype.float32:
-        result.reader = new Float32Reader(field.offset);
-        break;
-      case datatype.uint8:
-        result.reader = new Uint8Reader(field.offset);
-        break;
-      case datatype.uint16:
-        result.reader = new Uint16Reader(field.offset);
-        break;
-      case datatype.int32:
-        result.reader = new Int32Reader(field.offset);
-        break;
-      default:
-        log.error("colorField of value other than float32, uint16, int32, or uint8 not supported", field.datatype);
-    }
+  if (result.rgb == null) {
+    result.rgb = { offset: -1 };
   }
 
   return result;
 }
 
-const emptyArray = [];
-
-export function mapMarker(marker: PointCloud2) {
+export function mapMarker(marker: PointCloud2, decodeAllFields?: boolean) {
   // http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud2.html
   const { fields, data, width, row_step: rowStep, height, point_step: dataStep, colorField, color } = marker;
+  const offsetAndReaders = getFieldOffsetsAndReaders(fields, colorField);
 
-  const offsets = getFieldOffsets(fields, colorField);
-
-  if (!offsets) {
+  if (!offsetAndReaders) {
     console.warn("missing field offsets for marker");
     return { points: [], colors: [] };
   }
-
-  const pointStep = 12;
-  const colorStep = 3;
+  const {
+    x: { offset: xOffset },
+    y: { offset: yOffset },
+    z: { offset: zOffset },
+    rgb: { offset: rgbOffset } = {},
+    rgbOverride: { reader: rgbOverrideReader } = {},
+  } = offsetAndReaders;
   const points = new Uint8Array(width * height * 12);
   const colors = new Uint8Array(width * height * 3);
   let pointCount = 0;
@@ -176,24 +123,23 @@ export function mapMarker(marker: PointCloud2) {
   // the field "rgb" has a special parsing code path - it's packed into the first three bytes of a float32
   // so if the colorField is rgb don't use a reader - its faster to just read the value directly
   // it also is the default rendering option if no custom colorField is specified
-  const useRGB = offsets.rgb !== -1 && (!colorField || colorField === "rgb");
-  const useColorField = !useRGB && offsets.reader;
-
+  const useRGB = rgbOffset !== -1 && (!colorField || colorField === "rgb");
+  const useColorField = !useRGB && offsetAndReaders.rgbOverride;
   // use empty array if not coloring with colorField to avoid unneeded allocation
-  const colorFieldValues = useColorField ? new Array(width * height) : emptyArray;
+  const colorFieldValues = useColorField ? new Array(width * height) : EMPTY_ARRAY;
 
   // in practice we use height:1 pointCloud2 messages
   // but for completeness sake, we support any height of array
-  for (let j = 0; j < height; j++) {
-    const dataOffset = j * rowStep;
-    for (let i = 0; i < width; i++) {
-      const dataStart = i * dataStep + dataOffset;
-      const x1 = data[dataStart + offsets.x];
-      const x2 = data[dataStart + offsets.x + 1];
-      const x3 = data[dataStart + offsets.x + 2];
-      const x4 = data[dataStart + offsets.x + 3];
+  for (let row = 0; row < height; row++) {
+    const dataOffset = row * rowStep;
+    for (let col = 0; col < width; col++) {
+      const dataStart = col * dataStep + dataOffset;
+      const x1 = data[dataStart + xOffset];
+      const x2 = data[dataStart + xOffset + 1];
+      const x3 = data[dataStart + xOffset + 2];
+      const x4 = data[dataStart + xOffset + 3];
 
-      const pointStart = pointCount * pointStep;
+      const pointStart = pointCount * POINT_STEP;
 
       // if the value is NaN then don't count this point
       // this is to support non-dense point clouds
@@ -209,26 +155,25 @@ export function mapMarker(marker: PointCloud2) {
       points[pointStart + 3] = x4;
 
       // add y point
-      points[pointStart + 4] = data[dataStart + offsets.y];
-      points[pointStart + 5] = data[dataStart + offsets.y + 1];
-      points[pointStart + 6] = data[dataStart + offsets.y + 2];
-      points[pointStart + 7] = data[dataStart + offsets.y + 3];
+      points[pointStart + 4] = data[dataStart + yOffset];
+      points[pointStart + 5] = data[dataStart + yOffset + 1];
+      points[pointStart + 6] = data[dataStart + yOffset + 2];
+      points[pointStart + 7] = data[dataStart + yOffset + 3];
 
       // add z point
-      points[pointStart + 8] = data[dataStart + offsets.z];
-      points[pointStart + 9] = data[dataStart + offsets.z + 1];
-      points[pointStart + 10] = data[dataStart + offsets.z + 2];
-      points[pointStart + 11] = data[dataStart + offsets.z + 3];
+      points[pointStart + 8] = data[dataStart + zOffset];
+      points[pointStart + 9] = data[dataStart + zOffset + 1];
+      points[pointStart + 10] = data[dataStart + zOffset + 2];
+      points[pointStart + 11] = data[dataStart + zOffset + 3];
 
       // add color
-      const colorStart = pointCount * colorStep;
-
+      const colorStart = pointCount * COLOR_STEP;
       if (useRGB) {
-        colors[colorStart] = data[dataStart + offsets.rgb];
-        colors[colorStart + 1] = data[dataStart + offsets.rgb + 1];
-        colors[colorStart + 2] = data[dataStart + offsets.rgb + 2];
-      } else if (useColorField && offsets.reader) {
-        const colorValue = offsets.reader.read(data, dataStart);
+        colors[colorStart] = data[dataStart + rgbOffset];
+        colors[colorStart + 1] = data[dataStart + rgbOffset + 1];
+        colors[colorStart + 2] = data[dataStart + rgbOffset + 2];
+      } else if (useColorField && rgbOverrideReader) {
+        const colorValue = rgbOverrideReader.read(data, dataStart);
         colorFieldValues[pointCount] = colorValue;
         if (!Number.isNaN(colorValue)) {
           minColorFieldValue = Math.min(minColorFieldValue, colorValue);
@@ -240,7 +185,6 @@ export function mapMarker(marker: PointCloud2) {
         colors[colorStart + 1] = 255;
         colors[colorStart + 2] = 255;
       }
-
       // increase point count by 1
       pointCount++;
     }
@@ -271,12 +215,89 @@ export function mapMarker(marker: PointCloud2) {
   }
 
   return {
-    ...omit(marker, "data"), // no need to show data in the Object details since we already translated to markers
+    ...marker,
     points: new Float32Array(points.buffer, 0, pointCount * 3),
     colors,
   };
 }
 
+type ClickedInfo = {
+  clickedPoint: number[],
+  clickedPointColor?: number[],
+  additionalFieldValues?: { [name: string]: ?number },
+};
+
+// extract clicked point's position, color and additional field values to display in the UI
+export function getClickedInfo(maybeFullyDecodedMarker: MouseEventObject, instanceIndex: ?number): ?ClickedInfo {
+  const { points, colors, fields, ...rest } = maybeFullyDecodedMarker;
+  const allPoints: number[] = points || [];
+  let result: ?ClickedInfo;
+  if (allPoints.length && instanceIndex != null && instanceIndex >= 0 && instanceIndex * 3 < allPoints.length) {
+    result = { clickedPoint: [] };
+    const baseIdx = instanceIndex * 3;
+    result.clickedPoint.push(allPoints[baseIdx]);
+    result.clickedPoint.push(allPoints[baseIdx + 1]);
+    result.clickedPoint.push(allPoints[baseIdx + 2]);
+    const allColors: number[] = colors || [];
+    const baseColorR = allColors[baseIdx];
+    const baseColorG = allColors[baseIdx + 1];
+    const baseColorB = allColors[baseIdx + 2];
+    if (baseColorR && baseColorG && baseColorB) {
+      result.clickedPointColor = [baseColorR, baseColorG, baseColorB, 1];
+    }
+    const additionalField = getAdditionalFieldNames(fields);
+    if (additionalField.length) {
+      result.additionalFieldValues = additionalField.reduce((memo, fieldName) => {
+        if (rest[fieldName]) {
+          memo[fieldName] = rest[fieldName][instanceIndex];
+        }
+        return memo;
+      }, {});
+    }
+  }
+  return result;
+}
+
+function getAdditionalFieldNames(fields: PointCloud2Field[]): string[] {
+  const allFields = fields.map((field) => field.name);
+  return difference(allFields, ["rgb", "rgbOverride", "x", "y", "z"]);
+}
+
+export function decodeAdditionalFields(marker: PointCloud2): { [fieldName: string]: number[] } {
+  const { fields, data, width, row_step: rowStep, height, point_step: dataStep, colorField } = marker;
+  const offsets = getFieldOffsetsAndReaders(fields, colorField, true);
+  if (!offsets) {
+    return {};
+  }
+
+  let pointCount = 0;
+  const additionalField = getAdditionalFieldNames(fields);
+  const otherFieldsValues = additionalField.reduce((memo, name) => {
+    memo[name] = new Array(width * height);
+    return memo;
+  }, {});
+  for (let row = 0; row < height; row++) {
+    const dataOffset = row * rowStep;
+    for (let col = 0; col < width; col++) {
+      const dataStart = col * dataStep + dataOffset;
+      for (const fieldName of additionalField) {
+        const reader = offsets[fieldName].reader;
+        if (reader) {
+          const fieldValue = reader.read(data, dataStart);
+          otherFieldsValues[fieldName][pointCount] = fieldValue;
+        }
+      }
+      // increase point count by 1
+      pointCount++;
+    }
+  }
+
+  return {
+    ...omit(marker, "data"), // no need to include data since all fields have been decoded
+    ...otherFieldsValues,
+  };
+}
+
 function getParsedColor(color) {
   if (color) {
     const rgbVals = color.split(",").map((char) => parseInt(char));
@@ -328,3 +349,16 @@ function setColorFieldColor(colors: Uint8Array, idx: number, val: number, color?
   colors[idx + 1] = g * 255;
   colors[idx + 2] = b * 255;
 }
+
+// Compare `data` field by reference because the same marker msg contains the same binary data,
+// and `settings` field by deep-equality check since it's recreated whenever Layout re-renders.
+const isPointCloudEqual = (a, b) => {
+  return a.data === b.data && isEqual(a.settings, b.settings);
+};
+
+export const memoizedMapMarker = microMemoize(
+  ({ data, settings = {}, ...rest }) => {
+    return mapMarker({ data, ...rest, ...settings });
+  },
+  { isEqual: isPointCloudEqual, maxSize: 30 }
+);
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/PointCloudBuilder.test.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/PointCloudBuilder.test.js
index 568654ad6..90821bda5 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/PointCloudBuilder.test.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/PointCloudBuilder.test.js
@@ -5,162 +5,17 @@
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
-import { mapMarker } from "./PointCloudBuilder";
 
-const fields = [
-  {
-    name: "x",
-    offset: 0,
-    datatype: 7,
-    count: 1,
-  },
-  {
-    name: "y",
-    offset: 4,
-    datatype: 7,
-    count: 1,
-  },
-  {
-    name: "z",
-    offset: 8,
-    datatype: 7,
-    count: 1,
-  },
-  {
-    name: "rgb",
-    offset: 16,
-    datatype: 7,
-    count: 1,
-  },
-];
-
-const msg = {
-  fields,
-  type: 102,
-  name: "foo",
-  pose: {
-    position: { x: 0, y: 0, z: 0 },
-    orientation: { x: 0, y: 0, z: 0, w: 0 },
-  },
-  header: {
-    frame_id: "root_frame_id",
-    stamp: {
-      sec: 10,
-      nsec: 10,
-    },
-  },
-  height: 1,
-  is_bigendian: 0,
-  is_dense: 1,
-  point_step: 32,
-  row_step: 32,
-  width: 2,
-  data: [
-    // point 1
-    125,
-    236,
-    11,
-    197,
-    118,
-    102,
-    48,
-    196,
-    50,
-    194,
-    23,
-    192,
-    0,
-    0,
-    128,
-    63,
-    255,
-    225,
-    127,
-    0,
-    254,
-    127,
-    0,
-    0,
-    16,
-    142,
-    140,
-    0,
-    161,
-    254,
-    127,
-    0,
-    // point 2
-    125,
-    236,
-    11,
-    197,
-    118,
-    102,
-    48,
-    196,
-    50,
-    194,
-    23,
-    192,
-    0,
-    0,
-    128,
-    63,
-    255,
-    255,
-    127,
-    0,
-    254,
-    127,
-    0,
-    0,
-    16,
-    142,
-    140,
-    0,
-    161,
-    254,
-    127,
-    0,
-    // point 3
-    118,
-    102,
-    48,
-    196,
-    125,
-    236,
-    11,
-    197,
-    50,
-    194,
-    23,
-    192,
-    0,
-    0,
-    128,
-    63,
-    127,
-    255,
-    127,
-    0,
-    254,
-    127,
-    0,
-    0,
-    16,
-    142,
-    140,
-    0,
-    161,
-    254,
-    127,
-    8,
-  ],
-};
+import { mapMarker, memoizedMapMarker, decodeAdditionalFields, getClickedInfo } from "./PointCloudBuilder";
+import {
+  POINT_CLOUD_MESSAGE,
+  POINT_CLOUD_WITH_ADDITIONAL_FIELDS,
+} from "webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/fixture/pointCloudData";
+import type { PointCloud2 } from "webviz-core/src/types/Messages";
 
 describe("PointCloudBuilder", () => {
   it("builds point cloud out of simple PointCloud2", () => {
-    const result = mapMarker(msg);
+    const result = mapMarker(POINT_CLOUD_MESSAGE);
     const pos = result.points;
     const colorCodes = result.colors;
     expect(pos).toHaveLength(6);
@@ -179,7 +34,7 @@ describe("PointCloudBuilder", () => {
   });
 
   it("uses rgb values when rendering by rgb colorfield", () => {
-    const result = mapMarker({ ...msg, colorField: "rgb" });
+    const result = mapMarker({ ...POINT_CLOUD_MESSAGE, colorField: "rgb" });
     const pos = result.points;
     const colorCodes = result.colors;
     expect(pos).toHaveLength(6);
@@ -199,7 +54,7 @@ describe("PointCloudBuilder", () => {
 
   it("builds point cloud with custom colors", () => {
     const input = {
-      ...msg,
+      ...POINT_CLOUD_MESSAGE,
       colorField: "x",
     };
     const result = mapMarker(input);
@@ -222,7 +77,7 @@ describe("PointCloudBuilder", () => {
 
   it("builds a point cloud with height 3", () => {
     const result = mapMarker({
-      ...msg,
+      ...POINT_CLOUD_MESSAGE,
       height: 3,
       width: 1,
       row_step: 32,
@@ -446,4 +301,80 @@ describe("PointCloudBuilder", () => {
       expect(result.colors).toEqual(new Uint8Array([255, 0, 0, 255, 0, 255]));
     });
   });
+
+  describe("decodeAdditionalFields", () => {
+    it("decodes additional fields", () => {
+      const fullyDecodedMarker = decodeAdditionalFields(POINT_CLOUD_WITH_ADDITIONAL_FIELDS);
+      expect(fullyDecodedMarker.bar).toEqual([6, 8]);
+      expect(fullyDecodedMarker.baz).toEqual([5, 7]);
+      expect(fullyDecodedMarker.foo).toEqual([7, 9]);
+      expect(fullyDecodedMarker.foo16).toEqual([265, 2]);
+    });
+  });
+
+  describe("getClickedInfo", () => {
+    it("returns undefined when points field is empty", () => {
+      const partiallyDecodedMarker = ((mapMarker(POINT_CLOUD_WITH_ADDITIONAL_FIELDS): any): PointCloud2);
+      const fullyDecodedMarker = decodeAdditionalFields(partiallyDecodedMarker);
+      fullyDecodedMarker.points = [];
+      expect(getClickedInfo(fullyDecodedMarker, 1000)).toEqual(undefined);
+    });
+
+    it("returns undefined when instanceIndex does not match any point", () => {
+      const partiallyDecodedMarker = ((mapMarker(POINT_CLOUD_WITH_ADDITIONAL_FIELDS): any): PointCloud2);
+      const fullyDecodedMarker = decodeAdditionalFields(partiallyDecodedMarker);
+      expect(getClickedInfo(fullyDecodedMarker, null)).toEqual(undefined);
+      expect(getClickedInfo(fullyDecodedMarker, 1000)).toEqual(undefined);
+    });
+
+    it("returns the clicked point and color", () => {
+      const partiallyDecodedMarker = ((mapMarker(POINT_CLOUD_MESSAGE): any): PointCloud2);
+      const fullyDecodedMarker = decodeAdditionalFields(partiallyDecodedMarker);
+      expect(getClickedInfo(fullyDecodedMarker, 0)).toEqual({
+        clickedPoint: [-2238.780517578125, -705.6009521484375, -2.371227741241455],
+        clickedPointColor: [255, 225, 127, 1],
+      });
+    });
+
+    it("returns the clicked point, color and additional field values", () => {
+      const partiallyDecodedMarker = ((mapMarker(POINT_CLOUD_WITH_ADDITIONAL_FIELDS): any): PointCloud2);
+      const fullyDecodedMarker = decodeAdditionalFields(partiallyDecodedMarker);
+      expect(getClickedInfo(fullyDecodedMarker, 0)).toEqual({
+        additionalFieldValues: { bar: 6, baz: 5, foo: 7, foo16: 265 },
+        clickedPoint: [0, 1, 2],
+        clickedPointColor: [255, 255, 255, 1],
+      });
+      expect(getClickedInfo(fullyDecodedMarker, 1)).toEqual({
+        additionalFieldValues: { bar: 8, baz: 7, foo: 9, foo16: 2 },
+        clickedPoint: [0, 1, 2],
+        clickedPointColor: [255, 255, 255, 1],
+      });
+    });
+  });
+
+  describe("memoizedMapMarker", () => {
+    it("returns the cached result for the same marker message without settings", () => {
+      const result1 = mapMarker({ ...POINT_CLOUD_MESSAGE });
+      const result2 = mapMarker({ ...POINT_CLOUD_MESSAGE });
+      const result3 = memoizedMapMarker({ ...POINT_CLOUD_MESSAGE });
+      const result4 = memoizedMapMarker({ ...POINT_CLOUD_MESSAGE });
+      expect(result1).not.toBe(result2);
+      expect(result3).toBe(result4);
+    });
+
+    it("caches results based on equality check on 'data' field", () => {
+      const result1 = memoizedMapMarker({ ...POINT_CLOUD_MESSAGE, data: [1] });
+      const result2 = memoizedMapMarker({ ...POINT_CLOUD_MESSAGE, data: [1] });
+      expect(result1).not.toBe(result2);
+      const data = [1];
+      const result3 = memoizedMapMarker({ ...POINT_CLOUD_MESSAGE, data });
+      const result4 = memoizedMapMarker({ ...POINT_CLOUD_MESSAGE, data });
+      expect(result3).toBe(result4);
+    });
+    it("caches results based on deep-equality check on 'settings' field", () => {
+      const result1 = memoizedMapMarker({ ...POINT_CLOUD_MESSAGE, settings: { colorField: "foo" } });
+      const result2 = memoizedMapMarker({ ...POINT_CLOUD_MESSAGE, settings: { colorField: "foo" } });
+      expect(result1).toBe(result2);
+    });
+  });
 });
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/Readers.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/Readers.js
new file mode 100644
index 000000000..a7b6c18f4
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/Readers.js
@@ -0,0 +1,89 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+export interface FieldReader {
+  read(data: number[], index: number): number;
+}
+
+export class Float32Reader implements FieldReader {
+  offset: number;
+  view: DataView;
+  constructor(offset: number) {
+    this.offset = offset;
+    const buffer = new ArrayBuffer(4);
+    this.view = new DataView(buffer);
+  }
+
+  read(data: number[], index: number): number {
+    this.view.setUint8(0, data[index + this.offset]);
+    this.view.setUint8(1, data[index + this.offset + 1]);
+    this.view.setUint8(2, data[index + this.offset + 2]);
+    this.view.setUint8(3, data[index + this.offset + 3]);
+    return this.view.getFloat32(0, true);
+  }
+}
+
+export class Int32Reader implements FieldReader {
+  offset: number;
+  view: DataView;
+  constructor(offset: number) {
+    this.offset = offset;
+    const buffer = new ArrayBuffer(4);
+    this.view = new DataView(buffer);
+  }
+
+  read(data: number[], index: number): number {
+    this.view.setUint8(0, data[index + this.offset]);
+    this.view.setUint8(1, data[index + this.offset + 1]);
+    this.view.setUint8(2, data[index + this.offset + 2]);
+    this.view.setUint8(3, data[index + this.offset + 3]);
+    return this.view.getInt32(0, true);
+  }
+}
+
+export class Uint16Reader implements FieldReader {
+  offset: number;
+  view: DataView;
+  constructor(offset: number) {
+    this.offset = offset;
+    const buffer = new ArrayBuffer(2);
+    this.view = new DataView(buffer);
+  }
+
+  read(data: number[], index: number): number {
+    this.view.setUint8(0, data[index + this.offset]);
+    this.view.setUint8(1, data[index + this.offset + 1]);
+    return this.view.getUint16(0, true);
+  }
+}
+export class Int16Reader implements FieldReader {
+  offset: number;
+  view: DataView;
+  constructor(offset: number) {
+    this.offset = offset;
+    const buffer = new ArrayBuffer(2);
+    this.view = new DataView(buffer);
+  }
+
+  read(data: number[], index: number): number {
+    this.view.setUint8(0, data[index + this.offset]);
+    this.view.setUint8(1, data[index + this.offset + 1]);
+    return this.view.getInt16(0, true);
+  }
+}
+
+export class Uint8Reader implements FieldReader {
+  offset: number;
+  constructor(offset: number) {
+    this.offset = offset;
+  }
+
+  read(data: number[], index: number): number {
+    return data[index + this.offset];
+  }
+}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/fixture/pointCloudData.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/fixture/pointCloudData.js
new file mode 100644
index 000000000..e650af41f
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/fixture/pointCloudData.js
@@ -0,0 +1,267 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+export const POINT_CLOUD_MESSAGE = {
+  fields: [
+    {
+      name: "x",
+      offset: 0,
+      datatype: 7,
+      count: 1,
+    },
+    {
+      name: "y",
+      offset: 4,
+      datatype: 7,
+      count: 1,
+    },
+    {
+      name: "z",
+      offset: 8,
+      datatype: 7,
+      count: 1,
+    },
+    {
+      name: "rgb",
+      offset: 16,
+      datatype: 7,
+      count: 1,
+    },
+  ],
+  type: 102,
+  name: "foo",
+  pose: {
+    position: { x: 0, y: 0, z: 0 },
+    orientation: { x: 0, y: 0, z: 0, w: 0 },
+  },
+  header: {
+    frame_id: "root_frame_id",
+    stamp: {
+      sec: 10,
+      nsec: 10,
+    },
+  },
+  height: 1,
+  is_bigendian: 0,
+  is_dense: 1,
+  point_step: 32,
+  row_step: 32,
+  width: 2,
+  data: [
+    // point 1
+    125,
+    236,
+    11,
+    197,
+    118,
+    102,
+    48,
+    196,
+    50,
+    194,
+    23,
+    192,
+    0,
+    0,
+    128,
+    63,
+    255,
+    225,
+    127,
+    0,
+    254,
+    127,
+    0,
+    0,
+    16,
+    142,
+    140,
+    0,
+    161,
+    254,
+    127,
+    0,
+    // point 2
+    125,
+    236,
+    11,
+    197,
+    118,
+    102,
+    48,
+    196,
+    50,
+    194,
+    23,
+    192,
+    0,
+    0,
+    128,
+    63,
+    255,
+    255,
+    127,
+    0,
+    254,
+    127,
+    0,
+    0,
+    16,
+    142,
+    140,
+    0,
+    161,
+    254,
+    127,
+    0,
+    // point 3
+    118,
+    102,
+    48,
+    196,
+    125,
+    236,
+    11,
+    197,
+    50,
+    194,
+    23,
+    192,
+    0,
+    0,
+    128,
+    63,
+    127,
+    255,
+    127,
+    0,
+    254,
+    127,
+    0,
+    0,
+    16,
+    142,
+    140,
+    0,
+    161,
+    254,
+    127,
+    8,
+  ],
+};
+
+export const POINT_CLOUD_WITH_ADDITIONAL_FIELDS = {
+  fields: [
+    {
+      name: "x",
+      offset: 0,
+      datatype: 7,
+      count: 1,
+    },
+    {
+      name: "y",
+      offset: 4,
+      datatype: 7,
+      count: 1,
+    },
+    {
+      name: "z",
+      offset: 8,
+      datatype: 7,
+      count: 1,
+    },
+    {
+      name: "foo",
+      offset: 12,
+      datatype: 2,
+      count: 1,
+    },
+    {
+      name: "bar",
+      offset: 13,
+      datatype: 4,
+      count: 1,
+    },
+    {
+      name: "baz",
+      offset: 15,
+      datatype: 5,
+      count: 1,
+    },
+    {
+      name: "foo16",
+      offset: 19,
+      datatype: 3,
+      count: 1,
+    },
+  ],
+  type: 102,
+  name: "foo",
+  pose: {
+    position: { x: 0, y: 0, z: 0 },
+    orientation: { x: 0, y: 0, z: 0, w: 0 },
+  },
+  header: {
+    frame_id: "root_frame_id",
+    stamp: {
+      sec: 10,
+      nsec: 10,
+    },
+  },
+  height: 1,
+  is_bigendian: 0,
+  is_dense: 1,
+  point_step: 21,
+  row_step: 21,
+  width: 2,
+  data: [
+    0, //   1, start of point 1
+    0, //   2
+    0, //   3
+    0, //   4, x: float32 = 0
+    0, //   5
+    0, //   6
+    128, // 7
+    63, //  8, y: float32 = 1
+    0, //   9
+    0, //   10
+    0, //   11
+    64, //  12, z: float32 =  2
+    7, //   13, foo: uint8 = 7
+    6, //   14
+    0, //   15, bar: uint16 = 6
+    5, //   16
+    0, //   17
+    0, //   18
+    0, //   19, baz: int32 = 5
+    9, //   20
+    1, //   21, foo16: int16 = 265
+    // ---------- another row
+    0, //   22, start of point 2
+    0, //   23
+    0, //   24
+    0, //   25 x: float32 = 0
+    0, //   26
+    0, //   27
+    128, // 28
+    63, //  29 y: float32 = 1
+    0, //   30
+    0, //   31
+    0, //   32
+    64, //  33, z: float32 =  2
+    9, //   34, foo: uint8 = 9
+    8, //   35
+    0, //   36, bar: uint16 = 8
+    7, //   37
+    0, //   38
+    0, //   39
+    0, //   40, baz: int32 = 7
+    2, //   41
+    0, //   42, foo16: int16 = 2
+  ],
+};
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/index.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/index.js
index 85b3602bb..2deb8a34b 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/index.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/index.js
@@ -17,7 +17,7 @@ import {
 } from "regl-worldview";
 
 import filterMap from "webviz-core/src/filterMap";
-import { mapMarker } from "webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/PointCloudBuilder";
+import { memoizedMapMarker } from "webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/PointCloudBuilder";
 import { type PointCloud } from "webviz-core/src/types/Messages";
 
 const pointCloud = (regl: Regl) => {
@@ -118,19 +118,10 @@ function instancedGetChildrenForHitmap<T: { points: Float32Array, pointSize?: nu
 type Props = { ...CommonCommandProps, children: PointCloud[] };
 
 export default function PointClouds({ children, ...rest }: Props) {
-  const arr = (Array.isArray(children) ? children : [children]).filter(Boolean);
-  const markers = arr.map((prop) => {
-    return prop.settings
-      ? mapMarker({
-          ...prop,
-          ...prop.settings,
-        })
-      : mapMarker(prop);
-  });
-
+  const decodedMarkers = children.map(memoizedMapMarker);
   return (
     <Command getChildrenForHitmap={instancedGetChildrenForHitmap} {...rest} reglCommand={pointCloud}>
-      {markers}
+      {decodedMarkers}
     </Command>
   );
 }
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/PoseMarkers.stories.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/PoseMarkers.stories.js
index 175707711..e5010eb6f 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/PoseMarkers.stories.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/PoseMarkers.stories.js
@@ -6,7 +6,6 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import { withKnobs, number, text } from "@storybook/addon-knobs";
 import { storiesOf } from "@storybook/react";
 import * as React from "react";
 import { Worldview, DEFAULT_CAMERA_STATE } from "regl-worldview";
@@ -27,54 +26,57 @@ const MARKER_DATA = {
 const targetPosition = MARKER_DATA.pose.position;
 const targetOffset = [targetPosition.x, targetPosition.y, targetPosition.z];
 
-storiesOf("<PoseMarkers>", module)
-  .addDecorator(withScreenshot({ delay: 3000 }))
-  .addDecorator(withKnobs)
-  .add("with and without custom settings", () => {
-    const alpha = number("alpha", 0.3, { range: true, min: 0, max: 1, step: 0.01 });
+function Example({ alpha = 0.3, color = "50,150,50,0.3" }: { alpha?: number, color?: string }) {
+  const marker = MARKER_DATA;
+  const markerWithoutColor = {
+    ...MARKER_DATA,
+    color: undefined,
+    pose: {
+      position: { x: -1937.7028138723192, y: 1775.5034239982174, z: 52.870026489273044 },
+      orientation: { x: 0, y: 0, z: -0.9928242172830276, w: 0.11958291506876588 },
+    },
+  };
 
-    const marker = MARKER_DATA;
-    const markerWithoutColor = {
-      ...MARKER_DATA,
-      color: undefined,
-      pose: {
-        position: { x: -1937.7028138723192, y: 1775.5034239982174, z: 52.870026489273044 },
-        orientation: { x: 0, y: 0, z: -0.9928242172830276, w: 0.11958291506876588 },
-      },
-    };
-    const markerWithSettings = {
-      ...MARKER_DATA,
-      pose: {
-        position: { x: -1947.7028138723192, y: 1770.5034239982174, z: 52.870026489273044 },
-        orientation: { x: -0.9928242172830276, y: 0, z: 0, w: 0.11958291506876588 },
-      },
-      settings: {
-        color: text("color", "50,150,50,0.3"),
-        size: {
-          shaftWidth: 0.5,
-          headWidth: 2,
-          headLength: 2,
-        },
-      },
-    };
-    const markerWithCarModel = {
-      ...MARKER_DATA,
-      pose: {
-        position: { x: -1951.7028138723192, y: 1770.5034239982174, z: 52.870026489273044 },
-        orientation: { x: 0, y: 0, z: -0.9928242172830276, w: 0.11958291506876588 },
+  const markerWithSettings = {
+    ...MARKER_DATA,
+    pose: {
+      position: { x: -1947.7028138723192, y: 1770.5034239982174, z: 52.870026489273044 },
+      orientation: { x: -0.9928242172830276, y: 0, z: 0, w: 0.11958291506876588 },
+    },
+    settings: {
+      color,
+      size: {
+        shaftWidth: 0.5,
+        headWidth: 2,
+        headLength: 2,
       },
-      settings: {
-        useCarModel: true,
-        alpha,
-      },
-    };
+    },
+  };
+  const markerWithCarModel = {
+    ...MARKER_DATA,
+    pose: {
+      position: { x: -1951.7028138723192, y: 1770.5034239982174, z: 52.870026489273044 },
+      orientation: { x: 0, y: 0, z: -0.9928242172830276, w: 0.11958291506876588 },
+    },
+    settings: {
+      useCarModel: true,
+      alpha,
+    },
+  };
+
+  return (
+    <Worldview
+      defaultCameraState={{ ...DEFAULT_CAMERA_STATE, distance: 50, targetOffset, perspective: false }}
+      cameraMode="perspective"
+      hideDebug>
+      <PoseMarkers>{[marker, markerWithoutColor, markerWithSettings, markerWithCarModel]}</PoseMarkers>
+    </Worldview>
+  );
+}
 
-    return (
-      <Worldview
-        defaultCameraState={{ ...DEFAULT_CAMERA_STATE, distance: 50, targetOffset, perspective: false }}
-        cameraMode="perspective"
-        hideDebug>
-        <PoseMarkers>{[marker, markerWithoutColor, markerWithSettings, markerWithCarModel]}</PoseMarkers>
-      </Worldview>
-    );
-  });
+storiesOf("<3DViz> - PoseMarkers", module)
+  .addDecorator(withScreenshot({ delay: 3000 }))
+  .add("alpha_0.3", () => <Example alpha={0.3} />)
+  .add("alpha_0.5, color_50,200,50,0.8", () => <Example alpha={0.5} color="50,200,50,0.8" />)
+  .add("alpha 0.8", () => <Example alpha={0.8} />)
+  .add("alpha 1", () => <Example alpha={1} />);
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/threeDimensionalVizUtils.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/threeDimensionalVizUtils.js
index d32f473cb..c59d9c6fd 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/threeDimensionalVizUtils.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/threeDimensionalVizUtils.js
@@ -94,9 +94,7 @@ export function useComputedCameraState({
     newCameraState.distance = getZoomDistanceFromURLParam();
   }
 
-  newCameraState = mergeWith(newCameraState, DEFAULT_CAMERA_STATE, (objVal, srcVal) =>
-    objVal == null ? srcVal : objVal
-  );
+  newCameraState = mergeWith(newCameraState, DEFAULT_CAMERA_STATE, (objVal, srcVal) => objVal ?? srcVal);
 
   return { cameraState: newCameraState, targetPose: targetPose || lastTargetPose };
 }
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils.js
index 2dfb7c594..2cdd4caea 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils.js
@@ -160,6 +160,7 @@ export function getTopicConfig({
       : [];
 
   // return flattened nodes directly for a single bag
+
   if (!hasMultiBag) {
     return {
       topicConfig: {
@@ -170,22 +171,31 @@ export function getTopicConfig({
     };
   }
 
+  let bag1Children = [...flattenedTopicNodes, ...tfNode];
+  let bag2Children = filterMap(flattenedTopicNodes, (item) => {
+    if (!item.topic) {
+      return null;
+    }
+    return ({ ...item, topic: `${SECOND_BAG_PREFIX}${item.topic}` }: TopicConfig);
+  });
+
+  // show only the selected topics at each bag
+  if (showSelected) {
+    bag1Children = bag1Children.filter((node) => (node.topic ? selectedTopicsSet.has(node.topic) : true));
+    bag2Children = bag2Children.filter((node) => (node.topic ? selectedTopicsSet.has(node.topic) : true));
+  }
+
   // construct two topic groups for two bags
   const topicConfig = {
     name: "root",
     children: [
       {
         name: BAG1_TOPIC_GROUP_NAME,
-        children: [...flattenedTopicNodes, ...tfNode],
+        children: bag1Children,
       },
       {
         name: BAG2_TOPIC_GROUP_NAME,
-        children: filterMap(flattenedTopicNodes, (item) => {
-          if (!item.topic) {
-            return null;
-          }
-          return ({ ...item, topic: `${SECOND_BAG_PREFIX}${item.topic}` }: TopicConfig);
-        }),
+        children: bag2Children,
       },
     ],
   };
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils.test.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils.test.js
index 0cfb586b1..36dae6901 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils.test.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils.test.js
@@ -169,17 +169,6 @@ const defaultExpectedBag1Nodes = [
   },
 ];
 
-const defaultExpectedBag2Nodes = [
-  {
-    name: "Nested Group / Topic B",
-    topic: "/webviz_bag_2/topic_b",
-  },
-  {
-    name: "Nested Group / Deeply Nested Group /topic_c",
-    topic: "/webviz_bag_2/topic_c",
-  },
-];
-
 describe("getTopicConfig", () => {
   describe("topicConfig", () => {
     describe("show tree structure", () => {
@@ -208,7 +197,12 @@ describe("getTopicConfig", () => {
             },
             {
               name: BAG2_TOPIC_GROUP_NAME,
-              children: defaultExpectedBag2Nodes,
+              children: [
+                {
+                  name: "Nested Group / Deeply Nested Group /topic_c",
+                  topic: "/webviz_bag_2/topic_c",
+                },
+              ],
             },
           ],
           name: "root",
@@ -249,10 +243,7 @@ describe("getTopicConfig", () => {
         ).toEqual([
           {
             name: BAG1_TOPIC_GROUP_NAME,
-            children: [
-              { name: "Nested Group / Topic B", topic: "/topic_b" },
-              { name: "/topic_not_in_json_tree", topic: "/topic_not_in_json_tree" },
-            ],
+            children: [],
           },
           {
             name: BAG2_TOPIC_GROUP_NAME,
@@ -265,33 +256,28 @@ describe("getTopicConfig", () => {
       });
 
       it("adds uncategorized topics to bag1 and bag2", () => {
-        const expected = [
+        expect(
+          getTopicConfig({
+            ...defaultGetTopicConfigInput,
+            checkedNodes: [...checkedNodes, "t:/topic_not_in_json_tree"],
+            topics: makeTopic([...bag1Topics, ...bag2Topics]),
+          }).topicConfig.children
+        ).toEqual([
           {
             children: [
-              ...defaultExpectedBag1Nodes,
+              { extension: "ExtA.a", name: "Ext A" },
+              { extension: "ExtC.c", name: "Ext A / Ext C" },
+              { name: "Nested Group / Topic B", topic: "/topic_b" },
+              { name: "Nested Group / Deeply Nested Group /topic_c", topic: "/topic_c" },
               { name: "/topic_not_in_json_tree", topic: "/topic_not_in_json_tree" },
             ],
             name: BAG1_TOPIC_GROUP_NAME,
           },
           {
-            children: [
-              ...defaultExpectedBag2Nodes,
-              {
-                name: "/topic_not_in_json_tree",
-                topic: "/webviz_bag_2/topic_not_in_json_tree",
-              },
-            ],
+            children: [{ name: "Nested Group / Deeply Nested Group /topic_c", topic: "/webviz_bag_2/topic_c" }],
             name: BAG2_TOPIC_GROUP_NAME,
           },
-        ];
-
-        expect(
-          getTopicConfig({
-            ...defaultGetTopicConfigInput,
-            checkedNodes: [...checkedNodes, "t:/topic_not_in_json_tree"],
-            topics: makeTopic([...bag1Topics, ...bag2Topics]),
-          }).topicConfig.children
-        ).toEqual(expected);
+        ]);
 
         expect(
           getTopicConfig({
@@ -299,7 +285,24 @@ describe("getTopicConfig", () => {
             checkedNodes: [...checkedNodes, "t:/webviz_bag_2/topic_not_in_json_tree"],
             topics: makeTopic([...bag1Topics, ...bag2Topics]),
           }).topicConfig.children
-        ).toEqual(expected);
+        ).toEqual([
+          {
+            children: [
+              { extension: "ExtA.a", name: "Ext A" },
+              { extension: "ExtC.c", name: "Ext A / Ext C" },
+              { name: "Nested Group / Topic B", topic: "/topic_b" },
+              { name: "Nested Group / Deeply Nested Group /topic_c", topic: "/topic_c" },
+            ],
+            name: BAG1_TOPIC_GROUP_NAME,
+          },
+          {
+            children: [
+              { name: "Nested Group / Deeply Nested Group /topic_c", topic: "/webviz_bag_2/topic_c" },
+              { name: "/topic_not_in_json_tree", topic: "/webviz_bag_2/topic_not_in_json_tree" },
+            ],
+            name: BAG2_TOPIC_GROUP_NAME,
+          },
+        ]);
 
         expect(
           getTopicConfig({
@@ -307,7 +310,25 @@ describe("getTopicConfig", () => {
             checkedNodes: [...checkedNodes, "t:/webviz_bag_2/topic_b", "t:/webviz_bag_2/topic_not_in_json_tree"],
             topics: makeTopic(bag2Topics),
           }).topicConfig.children
-        ).toEqual(expected);
+        ).toEqual([
+          {
+            children: [
+              { extension: "ExtA.a", name: "Ext A" },
+              { extension: "ExtC.c", name: "Ext A / Ext C" },
+              { name: "Nested Group / Topic B", topic: "/topic_b" },
+              { name: "Nested Group / Deeply Nested Group /topic_c", topic: "/topic_c" },
+            ],
+            name: BAG1_TOPIC_GROUP_NAME,
+          },
+          {
+            children: [
+              { name: "Nested Group / Topic B", topic: "/webviz_bag_2/topic_b" },
+              { name: "Nested Group / Deeply Nested Group /topic_c", topic: "/webviz_bag_2/topic_c" },
+              { name: "/topic_not_in_json_tree", topic: "/webviz_bag_2/topic_not_in_json_tree" },
+            ],
+            name: BAG2_TOPIC_GROUP_NAME,
+          },
+        ]);
       });
     });
 
@@ -330,11 +351,11 @@ describe("getTopicConfig", () => {
             { name: "Some Topic in JSON Tree", topic: "/topic_in_json_tree" },
             { children: [], description: "Visualize relationships between /tf frames.", name: "TF" },
           ],
-          name: "Bag",
+          name: BAG1_TOPIC_GROUP_NAME,
         },
         {
           children: [{ name: "Some Topic in JSON Tree", topic: "/webviz_bag_2/topic_in_json_tree" }],
-          name: "Bag 2 /webviz_bag_2",
+          name: BAG2_TOPIC_GROUP_NAME,
         },
       ]);
     });
@@ -438,7 +459,12 @@ describe("getTopicConfig", () => {
           name: BAG1_TOPIC_GROUP_NAME,
         },
         {
-          children: defaultExpectedBag2Nodes,
+          children: [
+            {
+              name: "Nested Group / Deeply Nested Group /topic_c",
+              topic: "/webviz_bag_2/topic_c",
+            },
+          ],
           name: BAG2_TOPIC_GROUP_NAME,
         },
       ]);
@@ -457,7 +483,12 @@ describe("getTopicConfig", () => {
           name: BAG1_TOPIC_GROUP_NAME,
         },
         {
-          children: defaultExpectedBag2Nodes,
+          children: [
+            {
+              name: "Nested Group / Deeply Nested Group /topic_c",
+              topic: "/webviz_bag_2/topic_c",
+            },
+          ],
           name: BAG2_TOPIC_GROUP_NAME,
         },
       ]);
diff --git a/packages/webviz-core/src/players/NodePlayer.test.js b/packages/webviz-core/src/players/NodePlayer.test.js
index 796b8b870..427d5479f 100644
--- a/packages/webviz-core/src/players/NodePlayer.test.js
+++ b/packages/webviz-core/src/players/NodePlayer.test.js
@@ -7,8 +7,8 @@
 //  You may not use this file except in compliance with the License.
 
 import NodePlayer from "./NodePlayer";
+import signal from "webviz-core/shared/signal";
 import FakePlayer from "webviz-core/src/components/MessagePipeline/FakePlayer";
-import signal from "webviz-core/src/util/signal";
 
 const node = {
   inputs: ["/input/foo", "/input/bar"],
diff --git a/packages/webviz-core/src/players/RandomAccessPlayer.js b/packages/webviz-core/src/players/RandomAccessPlayer.js
index 2e65a0b83..1f96d61ca 100644
--- a/packages/webviz-core/src/players/RandomAccessPlayer.js
+++ b/packages/webviz-core/src/players/RandomAccessPlayer.js
@@ -9,6 +9,7 @@ import { isEqual } from "lodash";
 import { TimeUtil, type Time } from "rosbag";
 import uuid from "uuid";
 
+import { MEM_CACHE_BLOCK_SIZE_NS } from "webviz-core/src/dataProviders/MemoryCacheDataProvider";
 import { rootGetDataProvider } from "webviz-core/src/dataProviders/rootGetDataProvider";
 import {
   type DataProvider,
@@ -23,7 +24,6 @@ import {
   type Player,
   PlayerCapabilities,
   type PlayerMetricsCollectorInterface,
-  type PlayerOptions,
   type PlayerState,
   type Progress,
   type PublishPayload,
@@ -35,7 +35,7 @@ import type { RosDatatypes } from "webviz-core/src/types/RosDatatypes";
 import debouncePromise from "webviz-core/src/util/debouncePromise";
 import reportError, { type ErrorType } from "webviz-core/src/util/reportError";
 import { getSanitizedTopics } from "webviz-core/src/util/selectors";
-import { clampTime, toSec, fromMillis, subtractTimes } from "webviz-core/src/util/time";
+import { clampTime, fromMillis, fromNanoSec, subtractTimes, toSec } from "webviz-core/src/util/time";
 
 const LOOP_MIN_BAG_TIME_IN_SEC = 1;
 
@@ -54,9 +54,25 @@ const delay = (time) => new Promise((resolve) => setTimeout(resolve, time));
 // in the last message on a topic, and then support that in `getMessages` as
 // well, so we can fetch pretty old messages without incurring the cost of
 // fetching too many.
-export const SEEK_BACK_NANOSECONDS = 299 /* ms */ * 1000 * 1000;
+export const SEEK_BACK_NANOSECONDS = 299 /* ms */ * 1e6;
+
+// Amount to seek into the bag from the start when loading the player, to show
+// something useful on the screen. Ideally this is less than BLOCK_SIZE_NS from
+// MemoryCacheDataProvider so we still stay within the first block when fetching
+// initial data.
+export const SEEK_ON_START_NS = 99 /* ms */ * 1e6;
+if (SEEK_ON_START_NS >= MEM_CACHE_BLOCK_SIZE_NS) {
+  throw new Error(
+    "SEEK_ON_START_NS should be less than MEM_CACHE_BLOCK_SIZE_NS (to keep initial backfill within one block)"
+  );
+}
+if (SEEK_ON_START_NS >= SEEK_BACK_NANOSECONDS) {
+  throw new Error(
+    "SEEK_ON_START_NS should be less than SEEK_BACK_NANOSECONDS (otherwise we skip over messages at the start)"
+  );
+}
 
-export const AUTOPLAY_START_DELAY_MS = 100;
+export const SEEK_START_DELAY_MS = 100;
 
 const capabilities = [PlayerCapabilities.setSpeed];
 
@@ -80,7 +96,6 @@ export default class RandomAccessPlayer implements Player {
   _providerTopics: Topic[] = [];
   _providerDatatypes: RosDatatypes = {};
   _metricsCollector: PlayerMetricsCollectorInterface;
-  _playerOptions: PlayerOptions;
   _initializing: boolean = true;
   _initialized: boolean = false;
   _reconnecting: boolean = false;
@@ -89,20 +104,20 @@ export default class RandomAccessPlayer implements Player {
   _messages: Message[] = [];
   _hasError = false;
   _closed = false;
+  _seekToTime: ?Time;
+  _lastRangeMillis: ?number;
 
   constructor(
     providerDescriptor: DataProviderDescriptor,
-    metricsCollector: PlayerMetricsCollectorInterface = new NoopMetricsCollector(),
-    playerOptions: ?PlayerOptions
+    { metricsCollector, seekToTime }: { metricsCollector: ?PlayerMetricsCollectorInterface, seekToTime: ?Time }
   ) {
     if (process.env.NODE_ENV === "test" && providerDescriptor.name === "TestProvider") {
       this._provider = providerDescriptor.args.provider;
     } else {
       this._provider = rootGetDataProvider(providerDescriptor);
     }
-    this._metricsCollector = metricsCollector;
-
-    this._playerOptions = playerOptions || { autoplay: false, seekToTime: null, frameSizeMs: null };
+    this._metricsCollector = metricsCollector || new NoopMetricsCollector();
+    this._seekToTime = seekToTime;
 
     document.addEventListener("visibilitychange", this._handleDocumentVisibilityChange, false);
   }
@@ -157,57 +172,38 @@ export default class RandomAccessPlayer implements Player {
           throw new Error("Use ParseMessagesDataProvider to parse raw messages");
         }
 
+        const initialTime = clampTime(
+          this._seekToTime || TimeUtil.add(start, fromNanoSec(SEEK_ON_START_NS)),
+          start,
+          end
+        );
+
         this._start = start;
-        this._currentTime = this._playerOptions.seekToTime || start;
+        this._currentTime = initialTime;
         this._end = end;
         this._providerTopics = topics;
         this._providerDatatypes = datatypes;
         this._initializing = false;
-
-        if (this._playerOptions.seekToTime && !this._playerOptions.autoplay) {
-          this.seekPlayback(this._currentTime);
-        } else {
-          this._emitState();
-        }
+        this._reportInitialized();
 
         // Wait a bit until panels have had the chance to subscribe to topics before we start
         // playback.
-        // TODO(JP).
         setTimeout(() => {
           if (this._closed) {
             return;
           }
-
-          // If the autoplay is enabled, either start playback or, if this tab is not currently selected, start data
-          // loading.
-          if (this._playerOptions.autoplay) {
-            if (document.visibilityState === "visible") {
-              this.startPlayback();
-            } else {
-              this._wasPlayingBeforeTabSwitch = true;
-              // call seekPlayback so that we start data loading.
-              this.seekPlayback(this._currentTime);
-            }
-          } else {
-            // If autoplay is not enabled, still call seekPlayback so that we start data loading.
-            this.seekPlayback(this._currentTime);
+          // Only do the initial seek if we haven't started playing already.
+          if (!this._isPlaying && TimeUtil.areSame(this._currentTime, initialTime)) {
+            this.seekPlayback(initialTime);
           }
-        }, AUTOPLAY_START_DELAY_MS);
+        }, SEEK_START_DELAY_MS);
       })
       .catch((error: Error) => {
         this._setError("Error initializing player", error, "app");
       });
   }
 
-  _emitState() {
-    // reportInitialized needs to be outside of the debounced function, because we don't want
-    // the listener's callback (which may be waiting on a requestAnimationFrame) to block us from
-    // measuring when initialization finished.
-    this._reportInitialized();
-    return this._emitStateDebounced();
-  }
-
-  _emitStateDebounced = debouncePromise(() => {
+  _emitState = debouncePromise(() => {
     if (!this._listener) {
       return Promise.resolve();
     }
@@ -265,11 +261,14 @@ export default class RandomAccessPlayer implements Player {
     const durationMillis = this._lastTickMillis ? tickTime - this._lastTickMillis : 20;
     this._lastTickMillis = tickTime;
 
-    // Read at most 80 ms * speed messages. Without this,
-    // if the UI lags substantially due to GC and the delay between reads is high
-    // it can result in reading a very large chunk of messages which introduces
-    // even _more_ delay before the next read loop triggers, causing serious cascading UI jank.
-    const rangeMillis = this._playerOptions.frameSizeMs || Math.min(durationMillis, 80) * this._speed;
+    // Read at most 300ms worth of messages, otherwise things can get out of control if rendering
+    // is very slow. Also, smooth over the range that we request, so that a single slow frame won't
+    // cause the next frame to also be unnecessarily slow by increasing the frame size.
+    let rangeMillis = Math.min(durationMillis * this._speed, 300);
+    if (this._lastRangeMillis != null) {
+      rangeMillis = this._lastRangeMillis * 0.9 + rangeMillis * 0.1;
+    }
+    this._lastRangeMillis = rangeMillis;
 
     // loop to the beginning if we pass the end of the playback range
     if (isEqual(this._currentTime, this._end)) {
@@ -296,7 +295,7 @@ export default class RandomAccessPlayer implements Player {
     const start: Time = clampTime(TimeUtil.add(this._currentTime, { sec: 0, nsec: 1 }), this._start, this._end);
     const end: Time = clampTime(TimeUtil.add(this._currentTime, fromMillis(rangeMillis)), this._start, this._end);
     const messages = await this._getMessages(start, end);
-    await this._emitStateDebounced.currentPromise;
+    await this._emitState.currentPromise;
 
     // if we seeked while reading the do not emit messages
     // just start reading again from the new seek position
@@ -406,6 +405,7 @@ export default class RandomAccessPlayer implements Player {
   }
 
   setPlaybackSpeed(speed: number): void {
+    delete this._lastRangeMillis;
     this._speed = speed;
     this._metricsCollector.setSpeed(speed);
     this._emitState();
@@ -415,14 +415,8 @@ export default class RandomAccessPlayer implements Player {
     if (this._initializing || this._initialized) {
       return;
     }
-
-    if (
-      !this._progress.percentageByTopic ||
-      Object.values(this._progress.percentageByTopic).every((percentage) => Number(percentage) >= 100)
-    ) {
-      this._metricsCollector.initialized();
-      this._initialized = true;
-    }
+    this._metricsCollector.initialized();
+    this._initialized = true;
   }
 
   _setCurrentTime(time: Time): void {
@@ -440,10 +434,10 @@ export default class RandomAccessPlayer implements Player {
     // cancel any queued _emitState that might later emit messages from before we seeked
     this._messages = [];
 
-    // do not _emitState if subscriptions have changed, but time has not
-    if (isEqual(this._currentTime, time)) {
-      this._emitState();
-    }
+    // No need to emit state here. Either we are playing, in which case we'll emit state soon
+    // anyway, or we're not, in which case we'll go down the `if` below and emit state when that
+    // `getMessages` call finishes. This prevents flickering in the UI when seeking, since we don't
+    // clear out panels until we actually receive new data.
 
     if (!this._isPlaying) {
       this._getMessages(
diff --git a/packages/webviz-core/src/players/RandomAccessPlayer.test.js b/packages/webviz-core/src/players/RandomAccessPlayer.test.js
index 001277daa..ebbc823c0 100644
--- a/packages/webviz-core/src/players/RandomAccessPlayer.test.js
+++ b/packages/webviz-core/src/players/RandomAccessPlayer.test.js
@@ -9,18 +9,21 @@
 import { omit } from "lodash";
 import { TimeUtil, type Time } from "rosbag";
 
-import RandomAccessPlayer, { SEEK_BACK_NANOSECONDS, AUTOPLAY_START_DELAY_MS } from "./RandomAccessPlayer";
+import RandomAccessPlayer, { SEEK_BACK_NANOSECONDS, SEEK_ON_START_NS, SEEK_START_DELAY_MS } from "./RandomAccessPlayer";
 import TestProvider from "./TestProvider";
 import delay from "webviz-core/shared/delay";
+import signal from "webviz-core/shared/signal";
 import { type DataProviderMessage } from "webviz-core/src/dataProviders/types";
-import NoopMetricsCollector from "webviz-core/src/players/NoopMetricsCollector";
 import {
   type PlayerMetricsCollectorInterface,
   type PlayerState,
   PlayerCapabilities,
 } from "webviz-core/src/players/types";
 import reportError from "webviz-core/src/util/reportError";
-import signal from "webviz-core/src/util/signal";
+import { fromNanoSec } from "webviz-core/src/util/time";
+
+// By default seek to the start of the bag, since that makes things a bit simpler to reason about.
+const playerOptions = { metricsCollector: undefined, seekToTime: { sec: 0, nsec: 0 } };
 
 class MessageStore {
   _messages: PlayerState[] = [];
@@ -63,13 +66,13 @@ describe("RandomAccessPlayer", () => {
   });
   afterEach(async () => {
     mockDateNow.mockRestore();
-    // Always wait to start autoplay to ensure that errors are contained to their own tests.
-    await delay(AUTOPLAY_START_DELAY_MS + 10);
+    // Always wait to ensure that errors are contained to their own tests.
+    await delay(SEEK_START_DELAY_MS + 10);
   });
 
   it("calls listener with player initial player state and data types", async () => {
     const provider = new TestProvider();
-    const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] });
+    const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] }, playerOptions);
     const store = new MessageStore(2);
     await source.setListener(store.add);
     const messages = await store.done;
@@ -107,9 +110,23 @@ describe("RandomAccessPlayer", () => {
     source.close();
   });
 
+  it("without a specified seekToTime it seeks into the bag by a bit, so that there's something useful on the screen", async () => {
+    const provider = new TestProvider();
+    const source = new RandomAccessPlayer(
+      { name: "TestProvider", args: { provider }, children: [] },
+      { ...playerOptions, seekToTime: undefined }
+    );
+    const store = new MessageStore(2);
+    await source.setListener(store.add);
+    const messages: any = await store.done;
+    expect(messages[1].activeData.currentTime).toEqual(fromNanoSec(SEEK_ON_START_NS));
+
+    source.close();
+  });
+
   it("calls listener with player state changes on play/pause", async () => {
     const provider = new TestProvider();
-    const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] });
+    const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] }, playerOptions);
     const store = new MessageStore(2);
     await source.setListener(store.add);
     // make getMessages do nothing since we're going to start reading
@@ -131,7 +148,7 @@ describe("RandomAccessPlayer", () => {
 
   it("calls listener with speed changes", async () => {
     const provider = new TestProvider();
-    const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] });
+    const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] }, playerOptions);
     const store = new MessageStore(2);
     await source.setListener(store.add);
     // allow initialization messages to come in
@@ -151,7 +168,7 @@ describe("RandomAccessPlayer", () => {
   });
 
   it("reads messages when playing back", async () => {
-    expect.assertions(6);
+    expect.assertions(7);
     const provider = new TestProvider();
     let callCount = 0;
     provider.getMessages = (start: Time, end: Time, topics: string[]): Promise<DataProviderMessage[]> => {
@@ -177,12 +194,17 @@ describe("RandomAccessPlayer", () => {
           return Promise.resolve(result);
         }
 
+        case 3: {
+          expect(start).toEqual({ sec: 0, nsec: 4000001 });
+          return Promise.resolve([]);
+        }
+
         default:
           throw new Error("getMessages called too many times");
       }
     };
 
-    const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] });
+    const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] }, playerOptions);
     const store = new MessageStore(5);
     await source.setListener(store.add);
 
@@ -197,7 +219,6 @@ describe("RandomAccessPlayer", () => {
       [],
       [],
       [],
-      [],
       [
         {
           op: "message",
@@ -207,12 +228,13 @@ describe("RandomAccessPlayer", () => {
           message: { payload: "foo bar" },
         },
       ],
+      [],
     ]);
   });
 
   it("still moves forward time if there are no messages", async () => {
     const provider = new TestProvider();
-    const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] });
+    const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] }, playerOptions);
 
     let callCount = 0;
     provider.getMessages = (start: Time, end: Time, topics: string[]): Promise<DataProviderMessage[]> => {
@@ -250,7 +272,7 @@ describe("RandomAccessPlayer", () => {
 
   it("pauses and does not emit messages after pause", async () => {
     const provider = new TestProvider();
-    const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] });
+    const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] }, playerOptions);
 
     let callCount = 0;
     provider.getMessages = (start: Time, end: Time, topics: string[]): Promise<DataProviderMessage[]> => {
@@ -292,7 +314,7 @@ describe("RandomAccessPlayer", () => {
       }
     };
 
-    const store = new MessageStore(6);
+    const store = new MessageStore(5);
     await source.setListener(store.add);
     source.setSubscriptions([{ topic: "/foo/bar" }]);
 
@@ -303,7 +325,6 @@ describe("RandomAccessPlayer", () => {
       [],
       [],
       [],
-      [],
       [
         {
           op: "message",
@@ -321,7 +342,7 @@ describe("RandomAccessPlayer", () => {
 
   it("seek during reading discards messages before seek", async () => {
     const provider = new TestProvider();
-    const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] });
+    const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] }, playerOptions);
     let callCount = 0;
     provider.getMessages = async (start: Time, end: Time, topics: string[]): Promise<DataProviderMessage[]> => {
       expect(topics).toContainOnly(["/foo/bar"]);
@@ -365,30 +386,28 @@ describe("RandomAccessPlayer", () => {
       }
     };
 
-    const store = new MessageStore(6);
+    const store = new MessageStore(4);
     await source.setListener(store.add);
     source.setSubscriptions([{ topic: "/foo/bar" }]);
     source.startPlayback();
 
     const messages = await store.done;
-    expect(messages).toHaveLength(6);
+    expect(messages).toHaveLength(4);
     const activeDatas = messages.map((msg) => msg.activeData || {});
     expect(activeDatas.map((d) => d.currentTime)).toEqual([
       undefined, // "start up" message
       { sec: 0, nsec: 0 },
       { sec: 0, nsec: 0 },
       { sec: 0, nsec: 0 },
-      { sec: 0, nsec: 0 },
-      { sec: 0, nsec: 0 },
     ]);
-    expect(activeDatas.map((d) => d.messages)).toEqual([undefined, [], [], [], [], []]);
+    expect(activeDatas.map((d) => d.messages)).toEqual([undefined, [], [], []]);
 
     source.close();
   });
 
   it("backfills previous messages on seek", async () => {
     const provider = new TestProvider();
-    const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] });
+    const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] }, playerOptions);
     let callCount = 0;
     provider.getMessages = (start: Time, end: Time, topics: string[]): Promise<DataProviderMessage[]> => {
       callCount++;
@@ -427,17 +446,15 @@ describe("RandomAccessPlayer", () => {
       }
     };
 
-    const store = new MessageStore(4);
+    const store = new MessageStore(2);
     source.setListener(store.add);
     const done = await store.done;
     expect(done).toEqual([
       expect.objectContaining({ activeData: undefined }),
       expect.objectContaining({ activeData: expect.any(Object) }),
-      expect.objectContaining({ activeData: expect.any(Object) }),
-      expect.objectContaining({ activeData: expect.any(Object) }),
     ]);
 
-    store.reset(3);
+    store.reset(1);
     source.setSubscriptions([{ topic: "/foo/bar" }]);
     // ensure results from the automatic backfill during setSubscriptions are always thrown away
     // after the new seek, by making the lastSeekTime change
@@ -446,8 +463,6 @@ describe("RandomAccessPlayer", () => {
 
     const messages = await store.done;
     expect(messages.map((msg) => (msg.activeData ? msg.activeData.messages : []))).toEqual([
-      [],
-      [],
       [
         {
           op: "message",
@@ -480,7 +495,7 @@ describe("RandomAccessPlayer", () => {
 
   it("discards backfilled messages if we started playing after the seek", async () => {
     const provider = new TestProvider();
-    const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] });
+    const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] }, playerOptions);
     let callCount = 0;
     let backfillPromiseCallback;
     provider.getMessages = (start: Time, end: Time, topics: string[]): Promise<DataProviderMessage[]> => {
@@ -522,23 +537,21 @@ describe("RandomAccessPlayer", () => {
       expect.objectContaining({ activeData: expect.any(Object) }),
     ]);
 
-    store.reset(5);
+    store.reset(3);
     source.setSubscriptions([{ topic: "/foo/bar" }]);
     // ensure results from the automatic backfill during setSubscriptions are always thrown away
     // after the new seek, by making the lastSeekTime change
     mockDateNow.mockReturnValue(Date.now() + 1);
     source.seekPlayback({ sec: 20, nsec: 50 });
 
-    await delay(10);
+    await delay(100);
     if (!backfillPromiseCallback) {
       throw new Error("backfillPromiseCallback should be set");
     }
     source.startPlayback();
     const messages = await store.done;
     expect(messages.map((msg) => (msg.activeData || {}).messages)).toEqual([
-      [], // seek from setSubscriptions
-      [], // seekPlayback
-      [], // startPlayback
+      [],
       [
         {
           topic: "/foo/bar",
@@ -565,7 +578,7 @@ describe("RandomAccessPlayer", () => {
 
   it("clamps times passed to the DataProvider", async () => {
     const provider = new TestProvider();
-    const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] });
+    const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] }, playerOptions);
     source.setSubscriptions([{ topic: "/foo/bar" }]);
     let lastGetMessagesCall;
     const getMessages = (start: Time, end: Time, topics: string[]): Promise<DataProviderMessage[]> => {
@@ -609,7 +622,7 @@ describe("RandomAccessPlayer", () => {
   it("gets messages when valid topics subscriptions changed", async () => {
     expect.assertions(4);
     const provider = new TestProvider();
-    const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] });
+    const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] }, playerOptions);
 
     let callCount = 0;
     provider.getMessages = (start: Time, end: Time, topics: string[]): Promise<DataProviderMessage[]> => {
@@ -686,7 +699,7 @@ describe("RandomAccessPlayer", () => {
       return Promise.resolve([next]);
     };
 
-    const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] });
+    const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] }, playerOptions);
     const received = [];
     await source.setListener((msg) => {
       received.push(...((msg.activeData || {}).messages || []));
@@ -732,7 +745,7 @@ describe("RandomAccessPlayer", () => {
 
   it("closes provider when closed", async () => {
     const provider = new TestProvider();
-    const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] });
+    const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] }, playerOptions);
     await source.setListener(async () => {});
     await source.close();
     expect(provider.closed).toBe(true);
@@ -745,7 +758,7 @@ describe("RandomAccessPlayer", () => {
       }
     }
     const provider = new FailTestProvider();
-    const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] });
+    const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] }, playerOptions);
 
     const store = new MessageStore(2);
     await source.setListener(store.add);
@@ -766,7 +779,7 @@ describe("RandomAccessPlayer", () => {
 
   it("shows a spinner when a provider is reconnecting", (done) => {
     const provider = new TestProvider();
-    const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] });
+    const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] }, playerOptions);
     source.setListener((state) => {
       if (!state.showInitializing) {
         if (!state.showSpinner) {
@@ -797,7 +810,7 @@ describe("RandomAccessPlayer", () => {
       message: { payload: "foo bar 2" },
     };
 
-    const player = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] });
+    const player = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] }, playerOptions);
     player.setSubscriptions([{ topic: "/foo/bar" }]);
 
     const firstGetMessagesCall = signal();
@@ -812,7 +825,7 @@ describe("RandomAccessPlayer", () => {
       return Promise.resolve(messages1.splice(0, 1));
     });
 
-    const store = new MessageStore(3);
+    const store = new MessageStore(2);
     await player.setListener(store.add);
     player.startPlayback();
 
@@ -821,7 +834,6 @@ describe("RandomAccessPlayer", () => {
 
     expect(await store.done).toEqual([
       expect.objectContaining({ activeData: undefined }),
-      expect.objectContaining({ activeData: expect.objectContaining({ isPlaying: false, messages: [] }) }),
       expect.objectContaining({ activeData: expect.objectContaining({ isPlaying: true, messages: [] }) }),
     ]);
 
@@ -914,9 +926,12 @@ describe("RandomAccessPlayer", () => {
       const provider = new TestProvider();
       provider.getMessages = () => Promise.resolve([]);
 
-      const collector = new TestMetricsCollector();
-      const source = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] }, collector);
-      expect(collector.stats()).toEqual({
+      const metricsCollector = new TestMetricsCollector();
+      const source = new RandomAccessPlayer(
+        { name: "TestProvider", args: { provider }, children: [] },
+        { ...playerOptions, metricsCollector }
+      );
+      expect(metricsCollector.stats()).toEqual({
         initialized: 0,
         played: 0,
         paused: 0,
@@ -940,7 +955,7 @@ describe("RandomAccessPlayer", () => {
         throw new Error("listener wasn't called");
       }
       await Promise.resolve();
-      expect(collector.stats()).toEqual({
+      expect(metricsCollector.stats()).toEqual({
         initialized: 1,
         played: 0,
         paused: 0,
@@ -949,7 +964,7 @@ describe("RandomAccessPlayer", () => {
       });
       resolveListener();
       await Promise.resolve();
-      expect(collector.stats()).toEqual({
+      expect(metricsCollector.stats()).toEqual({
         initialized: 1,
         played: 0,
         paused: 0,
@@ -959,7 +974,7 @@ describe("RandomAccessPlayer", () => {
 
       source.startPlayback();
       source.startPlayback();
-      expect(collector.stats()).toEqual({
+      expect(metricsCollector.stats()).toEqual({
         initialized: 1,
         played: 1,
         paused: 0,
@@ -968,7 +983,7 @@ describe("RandomAccessPlayer", () => {
       });
       source.seekPlayback({ sec: 0, nsec: 500 });
       source.seekPlayback({ sec: 1, nsec: 0 });
-      expect(collector.stats()).toEqual({
+      expect(metricsCollector.stats()).toEqual({
         initialized: 1,
         played: 1,
         paused: 0,
@@ -977,7 +992,7 @@ describe("RandomAccessPlayer", () => {
       });
       source.pausePlayback();
       source.pausePlayback();
-      expect(collector.stats()).toEqual({
+      expect(metricsCollector.stats()).toEqual({
         initialized: 1,
         played: 1,
         paused: 1,
@@ -986,7 +1001,7 @@ describe("RandomAccessPlayer", () => {
       });
       source.setPlaybackSpeed(0.5);
       source.setPlaybackSpeed(1);
-      expect(collector.stats()).toEqual({
+      expect(metricsCollector.stats()).toEqual({
         initialized: 1,
         played: 1,
         paused: 1,
@@ -1007,7 +1022,7 @@ describe("RandomAccessPlayer", () => {
       message: { payload: "foo bar 1" },
     };
 
-    const player = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] });
+    const player = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] }, playerOptions);
     player.setSubscriptions([{ topic: "/foo/bar" }]);
 
     const firstGetMessagesCall = signal();
@@ -1020,7 +1035,7 @@ describe("RandomAccessPlayer", () => {
       return Promise.resolve(messages1.splice(0, 1));
     });
 
-    const store = new MessageStore(4);
+    const store = new MessageStore(3);
     await player.setListener(store.add);
     player.startPlayback();
 
@@ -1035,7 +1050,6 @@ describe("RandomAccessPlayer", () => {
     document.dispatchEvent(new Event("visibilitychange"));
     expect(await store.done).toEqual([
       expect.objectContaining({ activeData: undefined }),
-      expect.objectContaining({ activeData: expect.objectContaining({ isPlaying: false, messages: [] }) }),
       expect.objectContaining({ activeData: expect.objectContaining({ isPlaying: true, messages: [] }) }),
       expect.objectContaining({ activeData: expect.objectContaining({ isPlaying: false, messages: [] }) }),
     ]);
@@ -1056,10 +1070,10 @@ describe("RandomAccessPlayer", () => {
     player.close();
   });
 
-  it("When autoplay is off, seeks the player after starting", async () => {
+  it("seeks the player after starting", async () => {
     const provider = new TestProvider();
     provider.getMessages = jest.fn().mockImplementation(async () => Promise.resolve([]));
-    const player = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] });
+    const player = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] }, playerOptions);
     const store = new MessageStore(2);
     player.setSubscriptions([{ topic: "/foo/bar" }]);
     await player.setListener(store.add);
@@ -1069,56 +1083,8 @@ describe("RandomAccessPlayer", () => {
       // isPlaying is set to false to begin
       expect.objectContaining({ activeData: expect.objectContaining({ isPlaying: false, messages: [] }) }),
     ]);
-    store.reset(2);
-    // Even after enough time to start callback
-    await delay(AUTOPLAY_START_DELAY_MS + 10);
-    const secondMessages = await store.done;
-    expect(secondMessages).toEqual([
-      expect.objectContaining({ activeData: expect.objectContaining({ isPlaying: false, messages: [] }) }),
-      expect.objectContaining({ activeData: expect.objectContaining({ isPlaying: false, messages: [] }) }),
-    ]);
-    expect(provider.getMessages).toHaveBeenCalled();
-
-    player.close();
-  });
-
-  it("When the tab starts hidden with autoplay, seeks the player", async () => {
-    // $FlowFixMe
-    Object.defineProperty(document, "visibilityState", {
-      configurable: true,
-      get: () => "hidden",
-    });
-    const provider = new TestProvider();
-    provider.getMessages = jest.fn().mockImplementation(async () => Promise.resolve([]));
-    const player = new RandomAccessPlayer(
-      { name: "TestProvider", args: { provider }, children: [] },
-      new NoopMetricsCollector(),
-      { autoplay: true, seekToTime: null, frameSizeMs: null }
-    );
-    const store = new MessageStore(2);
-    player.setSubscriptions([{ topic: "/foo/bar" }]);
-    await player.setListener(store.add);
-    const firstMessages = await store.done;
-    expect(firstMessages).toEqual([
-      expect.objectContaining({ activeData: undefined }),
-      // isPlaying is set to false to begin
-      expect.objectContaining({ activeData: expect.objectContaining({ isPlaying: false, messages: [] }) }),
-    ]);
-    store.reset(2);
-    // Even after enough time to start callback
-    await delay(AUTOPLAY_START_DELAY_MS + 10);
-    const secondMessages = await store.done;
-    expect(secondMessages).toEqual([
-      expect.objectContaining({ activeData: expect.objectContaining({ isPlaying: false, messages: [] }) }),
-      expect.objectContaining({ activeData: expect.objectContaining({ isPlaying: false, messages: [] }) }),
-    ]);
     expect(provider.getMessages).toHaveBeenCalled();
 
     player.close();
-    // $FlowFixMe
-    Object.defineProperty(document, "visibilityState", {
-      configurable: true,
-      get: () => "visible",
-    });
   });
 });
diff --git a/packages/webviz-core/src/players/UserNodePlayer/index.js b/packages/webviz-core/src/players/UserNodePlayer/index.js
index df5bf989f..9f9982f48 100644
--- a/packages/webviz-core/src/players/UserNodePlayer/index.js
+++ b/packages/webviz-core/src/players/UserNodePlayer/index.js
@@ -8,12 +8,13 @@
 import microMemoize from "micro-memoize";
 import { TimeUtil, type Time } from "rosbag";
 
+import signal from "webviz-core/shared/signal";
+import type { SetUserNodeDiagnostics, AddUserNodeLogs, SetUserNodeTrust } from "webviz-core/src/actions/userNodes";
 // $FlowFixMe - flow does not like workers.
 import UserNodePlayerWorker from "worker-loader!webviz-core/src/players/UserNodePlayer/nodeRuntimeWorker"; // eslint-disable-line
 // $FlowFixMe - flow does not like workers.
 import NodeDataWorker from "worker-loader!webviz-core/src/players/UserNodePlayer/nodeTransformerWorker"; // eslint-disable-line
 
-import type { SetUserNodeDiagnostics, AddUserNodeLogs, SetUserNodeTrust } from "webviz-core/src/actions/userNodes";
 import type {
   AdvertisePayload,
   Message,
@@ -39,7 +40,6 @@ import type { UserNodeLog } from "webviz-core/src/players/UserNodePlayer/types";
 import type { UserNodes } from "webviz-core/src/types/panels";
 import type { RosDatatypes } from "webviz-core/src/types/RosDatatypes";
 import Rpc from "webviz-core/src/util/Rpc";
-import signal from "webviz-core/src/util/signal";
 
 type UserNodeActions = {
   setUserNodeDiagnostics: SetUserNodeDiagnostics,
diff --git a/packages/webviz-core/src/players/UserNodePlayer/index.test.js b/packages/webviz-core/src/players/UserNodePlayer/index.test.js
index abbd335bd..4ce390c03 100644
--- a/packages/webviz-core/src/players/UserNodePlayer/index.test.js
+++ b/packages/webviz-core/src/players/UserNodePlayer/index.test.js
@@ -8,6 +8,7 @@
 
 import { isPlainObject } from "lodash";
 
+import signal from "webviz-core/shared/signal";
 import { type SetUserNodeTrust } from "webviz-core/src/actions/userNodes";
 import FakePlayer from "webviz-core/src/components/MessagePipeline/FakePlayer";
 import NodePlayer from "webviz-core/src/players/NodePlayer";
@@ -18,7 +19,6 @@ import transform from "webviz-core/src/players/UserNodePlayer/nodeTransformerWor
 import { Sources, DiagnosticSeverity, ErrorCodes } from "webviz-core/src/players/UserNodePlayer/types";
 import { DEFAULT_WEBVIZ_NODE_PREFIX } from "webviz-core/src/util/globalConstants";
 import Rpc from "webviz-core/src/util/Rpc";
-import signal from "webviz-core/src/util/signal";
 
 const nodeId = "nodeId";
 
diff --git a/packages/webviz-core/src/players/automatedRun/AutomatedRunPlayer.js b/packages/webviz-core/src/players/automatedRun/AutomatedRunPlayer.js
index e7439ea1c..bb7c4244d 100644
--- a/packages/webviz-core/src/players/automatedRun/AutomatedRunPlayer.js
+++ b/packages/webviz-core/src/players/automatedRun/AutomatedRunPlayer.js
@@ -252,7 +252,7 @@ export default class AutomatedRunPlayer implements Player {
       frameCount++;
     }
 
-    this._client.finish();
+    await this._client.finish();
     logger.info("AutomatedRunPlayer._run() finished");
   }
 
diff --git a/packages/webviz-core/src/players/automatedRun/AutomatedRunPlayer.test.js b/packages/webviz-core/src/players/automatedRun/AutomatedRunPlayer.test.js
index 2f019de4c..4b557808a 100644
--- a/packages/webviz-core/src/players/automatedRun/AutomatedRunPlayer.test.js
+++ b/packages/webviz-core/src/players/automatedRun/AutomatedRunPlayer.test.js
@@ -9,8 +9,8 @@
 import TestProvider from "../TestProvider";
 import AutomatedRunPlayer, { type AutomatedRunClient, AUTOMATED_RUN_START_DELAY } from "./AutomatedRunPlayer";
 import delay from "webviz-core/shared/delay";
+import signal from "webviz-core/shared/signal";
 import { type Progress } from "webviz-core/src/players/types";
-import signal from "webviz-core/src/util/signal";
 
 class TestRunClient implements AutomatedRunClient {
   speed = 1;
diff --git a/packages/webviz-core/src/players/automatedRun/performanceMeasuringClient.js b/packages/webviz-core/src/players/automatedRun/performanceMeasuringClient.js
index 373980335..bda1c68ad 100644
--- a/packages/webviz-core/src/players/automatedRun/performanceMeasuringClient.js
+++ b/packages/webviz-core/src/players/automatedRun/performanceMeasuringClient.js
@@ -9,6 +9,20 @@
 import round from "lodash/round";
 import sum from "lodash/sum";
 
+import Database from "webviz-core/src/util/indexeddb/Database";
+
+type DbInfo = { name: string, version: number, objectStoreRowCounts: { name: string, rowCount: number }[] };
+type IdbInfo = {
+  dbs: DbInfo[],
+  /*
+   * NOTE: The value below is added server-side by directly reading the
+   * IndexedDB usage on disk. The reason we don't use
+   * navigator.storage.estimate() here is because it does not return info on
+   * IndexedDB usage in Puppeteer for some reason.
+   */
+  diskUsageMb?: number,
+};
+
 export type PerformanceStats = {|
   bagLengthMs: number,
   speed: number,
@@ -24,33 +38,13 @@ export type PerformanceStats = {|
   playbackTimeMs: number,
   averageRenderMs: number,
   averageFrameTimeMs: number,
-  idbReadDataByTopic: {
-    [string]: { count: number, totalTimeMs: number, averageTimeMs: number },
-  },
+  idb: IdbInfo,
 |};
 
-type Status = {| status: "errored", error: Error |} | {| status: "finished", stats: PerformanceStats |};
-
-let error: ?Error = null;
-let finishedPerformanceStats: ?PerformanceStats = null;
-
-global.performanceMeasurement = {
-  pollStatus(): Status | false {
-    if (error) {
-      return { status: "errored", error };
-    } else if (finishedPerformanceStats) {
-      return { status: "finished", stats: finishedPerformanceStats };
-    }
-    return false;
-  },
-};
-
 const PERFORMANCE_MEASURING_MS_FRAMERATE_PARAM = "performance-measuring-framerate";
 const PERFORMANCE_MEASURING_SPEED_PARAM = "performance-measuring-speed";
-const PERFORMANCE_MEASURING_SHOULD_MEASURE_IDB_PERF = "performance-measuring-enable-idb-measurement";
 
 const params = new URLSearchParams(location.search);
-const shouldMeasureIdbTimes = params.has(PERFORMANCE_MEASURING_SHOULD_MEASURE_IDB_PERF);
 const msPerFrame = params.has(PERFORMANCE_MEASURING_MS_FRAMERATE_PARAM)
   ? 1000 / parseFloat(params.get(PERFORMANCE_MEASURING_MS_FRAMERATE_PARAM))
   : 1000 / 30;
@@ -68,9 +62,8 @@ if (isNaN(msPerFrame)) {
 // development builds when we aren't doing benchmarking.
 const enablePerformanceMarks = process.env.NODE_ENV === "development";
 
-export class PerformanceMeasuringClient {
+class PerformanceMeasuringClient {
   shouldLoadDataBeforePlaying = true;
-  shouldMeasureIdbTimes = shouldMeasureIdbTimes;
   enablePerformanceMarks = enablePerformanceMarks;
 
   speed = speed;
@@ -83,8 +76,6 @@ export class PerformanceMeasuringClient {
   frameRenderTimes: number[] = [];
   totalFrameMs: ?number;
   totalFrameTimes: number[] = [];
-  idbStart: ?number;
-  idbTimesByTopic = {};
 
   start({ bagLengthMs }: { bagLengthMs: number }) {
     this.bagLengthMs = bagLengthMs;
@@ -92,30 +83,6 @@ export class PerformanceMeasuringClient {
     this.startedMeasuringPerformance = true;
   }
 
-  // This client a singleton, so it should only be reset in tests.
-  resetInTests() {
-    if (process.env.NODE_ENV !== "test") {
-      throw new Error("resetInTests can only be called in a test environment.");
-    }
-
-    this.shouldLoadDataBeforePlaying = true;
-    this.shouldMeasureIdbTimes = shouldMeasureIdbTimes;
-    this.enablePerformanceMarks = enablePerformanceMarks;
-
-    this.bagLengthMs = undefined;
-    this.speed = speed;
-    this.msPerFrame = msPerFrame;
-
-    this.startTime = undefined;
-    this.startedMeasuringPerformance = false;
-    this.frameRenderStart = undefined;
-    this.frameRenderTimes = [];
-    this.totalFrameMs = undefined;
-    this.totalFrameTimes = [];
-    this.idbStart = undefined;
-    this.idbTimesByTopic = {};
-  }
-
   markFrameRenderStart() {
     this.frameRenderStart = performance.now();
     if (this.enablePerformanceMarks) {
@@ -149,49 +116,38 @@ export class PerformanceMeasuringClient {
     this.totalFrameMs = null;
   }
 
-  markIdbReadStart() {
-    if (!this.startedMeasuringPerformance || !this.shouldMeasureIdbTimes) {
-      return;
-    }
-    if (this.idbStart != null) {
-      throw new Error("Cannot start measuring idb reads twice in a row");
-    }
-    this.idbStart = performance.now();
+  onError(e: Error) {
+    const event = new CustomEvent("playbackError", { detail: e.toString() });
+    window.dispatchEvent(event);
   }
 
-  markIdbReadEnd(value: any) {
-    if (!this.startedMeasuringPerformance || !this.shouldMeasureIdbTimes) {
-      return;
-    }
-    const idbStart = this.idbStart;
-    if (idbStart == null) {
-      throw new Error("Cannot cannot call markIdbReadEnd if markIdbReadStart is not called first");
-    }
-    if (value && value.message && value.message.topic) {
-      // Only measure IDB performance for ROS messages right now - other types of messages might not work.
-      const topic = value.message.topic;
-      this.idbTimesByTopic[topic] = this.idbTimesByTopic[topic] || [];
-      this.idbTimesByTopic[topic].push(performance.now() - idbStart);
-    }
-    this.idbStart = null;
-  }
+  async onFrameFinished() {}
 
-  clearIdbReadStart() {
-    if (!this.startedMeasuringPerformance || !this.shouldMeasureIdbTimes) {
-      return;
+  async _collectIdbStats(): Promise<IdbInfo> {
+    const databases = await window.indexedDB.databases();
+    const databasesWithInfo = [];
+
+    for (const { name, version } of databases) {
+      const dbWrapper = await Database.open(name, version, () => {});
+      const objectStoreNames = dbWrapper.db.objectStoreNames;
+      const objectStoreRowCounts = [];
+      for (const objectStoreName of objectStoreNames) {
+        const rowCount = await dbWrapper.count(objectStoreName);
+        objectStoreRowCounts.push({ name: objectStoreName, rowCount });
+      }
+
+      databasesWithInfo.push({ name, version, objectStoreRowCounts });
     }
-    this.idbStart = null;
-  }
 
-  onError(e: Error) {
-    error = e;
+    return {
+      dbs: databasesWithInfo,
+    };
   }
 
-  async onFrameFinished() {}
-
-  finish() {
+  async finish() {
     const startTime = this.startTime;
     const bagLengthMs = this.bagLengthMs;
+
     if (startTime == null || bagLengthMs == null) {
       throw new Error("Cannot call finish() without calling start()");
     }
@@ -208,31 +164,22 @@ export class PerformanceMeasuringClient {
       2
     );
     const frameRenderCount = this.frameRenderTimes.length;
-    const idbReadDataByTopic = {};
-    for (const key of Object.keys(this.idbTimesByTopic)) {
-      const values = this.idbTimesByTopic[key];
-      idbReadDataByTopic[key] = {
-        count: values.length,
-        totalTimeMs: round(sum(values), 2),
-        averageTimeMs: round(sum(values) / values.length, 2),
-      };
-    }
-    const stats = {
+    const idb = await this._collectIdbStats();
+    const detail: PerformanceStats = {
       bagLengthMs,
       speed,
       msPerFrame: this.msPerFrame,
       frameRenderCount,
-
       benchmarkPlaybackScore,
       playbackTimeMs,
       averageRenderMs,
       averageFrameTimeMs,
-      idbReadDataByTopic,
+      idb,
     };
 
-    finishedPerformanceStats = stats;
-    return stats;
+    const event = new CustomEvent("playbackFinished", { detail });
+    window.dispatchEvent(event);
   }
 }
 
-export default new PerformanceMeasuringClient();
+export default PerformanceMeasuringClient;
diff --git a/packages/webviz-core/src/players/automatedRun/performanceMeasuringClient.test.js b/packages/webviz-core/src/players/automatedRun/performanceMeasuringClient.test.js
index 56b7d9693..d511b8fc4 100644
--- a/packages/webviz-core/src/players/automatedRun/performanceMeasuringClient.test.js
+++ b/packages/webviz-core/src/players/automatedRun/performanceMeasuringClient.test.js
@@ -6,52 +6,66 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import performanceMeasuringClient, { PerformanceMeasuringClient } from "./performanceMeasuringClient";
+import PerformanceMeasuringClient from "./performanceMeasuringClient";
+import Database from "webviz-core/src/util/indexeddb/Database";
 
 describe("performanceMeasuringClient", () => {
-  it("resetInTests correctly resets all state", () => {
-    const clientWithDefaults = new PerformanceMeasuringClient();
-    // Set all the keys in the performance measuring client to some weird value.
-    for (const key of Object.keys(performanceMeasuringClient)) {
-      // $FlowFixMe
-      performanceMeasuringClient[key] = "fake";
-    }
-    performanceMeasuringClient.resetInTests();
-
-    const toObject = (client) => {
-      const result = {};
-      Object.keys(client).forEach((key) => {
-        // $FlowFixMe
-        result[key] = client[key];
-      });
-      return result;
+  let onPlaybackFinished, onPlaybackError;
+  beforeEach(() => {
+    window.indexedDB.databases = () => {
+      const dbs = [];
+      // until indexedDB.databases() lands in the spec, get the databases on the fake by reaching into it
+      // eslint-disable-next-line no-underscore-dangle
+      for (const [_, db] of global.indexedDB._databases) {
+        dbs.push(db);
+      }
+      return dbs;
     };
-    expect(toObject(performanceMeasuringClient)).toEqual(toObject(clientWithDefaults));
+    onPlaybackFinished = jest.fn();
+    onPlaybackError = jest.fn();
+    window.addEventListener("playbackFinished", (e) => {
+      onPlaybackFinished(e.detail);
+    });
+    window.addEventListener("playbackError", (e) => {
+      onPlaybackError(e.detail);
+    });
   });
-
-  it("Generates stats", () => {
-    performanceMeasuringClient.shouldMeasureIdbTimes = true;
-
-    performanceMeasuringClient.start({ bagLengthMs: 1000 });
-    performanceMeasuringClient.markFrameRenderStart();
-    performanceMeasuringClient.markFrameRenderEnd();
-    performanceMeasuringClient.markTotalFrameStart();
-    performanceMeasuringClient.markTotalFrameEnd();
-    performanceMeasuringClient.markIdbReadStart();
-    performanceMeasuringClient.markIdbReadEnd({ message: { topic: "foo" } });
-
-    const stats = performanceMeasuringClient.finish();
-    expect(stats).toMatchObject({
-      bagLengthMs: expect.any(Number),
-      speed: expect.any(Number),
-      msPerFrame: expect.any(Number),
-      frameRenderCount: expect.any(Number),
-
-      playbackTimeMs: expect.any(Number),
-      averageRenderMs: expect.any(Number),
-      averageFrameTimeMs: expect.any(Number),
+  it("emits a 'finishedPlayback' event when finished", async () => {
+    const perfClient = new PerformanceMeasuringClient();
+    perfClient.start({ bagLengthMs: 1 });
+    await perfClient.finish();
+    expect(onPlaybackFinished).toHaveBeenCalled();
+    expect(onPlaybackError).not.toHaveBeenCalled();
+  });
+  it("emits an error event when encountered", () => {
+    const perfClient = new PerformanceMeasuringClient();
+    perfClient.start({ bagLengthMs: 1 });
+    const error = new Error("playback_error");
+    perfClient.onError(error);
+    expect(onPlaybackFinished).not.toHaveBeenCalled();
+    expect(onPlaybackError).toHaveBeenCalledWith(error.toString());
+  });
+  it("collects IndexedDB stats", async () => {
+    const db = await Database.open("dummy-db", 1, (db) => {
+      db.createObjectStore("bar", { keyPath: "key" });
     });
-
-    performanceMeasuringClient.resetInTests();
+    for (let i = 0; i < 10; i++) {
+      await db.put("bar", { key: i, data: new Uint8Array(10) });
+    }
+    const perfClient = new PerformanceMeasuringClient();
+    perfClient.start({ bagLengthMs: 1 });
+    await perfClient.finish();
+    const stats = onPlaybackFinished.mock.calls[0][0];
+    expect(stats.idb).toEqual(
+      expect.objectContaining({
+        dbs: [
+          {
+            name: "dummy-db",
+            version: 1,
+            objectStoreRowCounts: [{ name: "bar", rowCount: 10 }],
+          },
+        ],
+      })
+    );
   });
 });
diff --git a/packages/webviz-core/src/players/automatedRun/videoRecordingClient.js b/packages/webviz-core/src/players/automatedRun/videoRecordingClient.js
index 8fd9f6dfc..4240d78a8 100644
--- a/packages/webviz-core/src/players/automatedRun/videoRecordingClient.js
+++ b/packages/webviz-core/src/players/automatedRun/videoRecordingClient.js
@@ -84,7 +84,6 @@ class VideoRecordingClient {
     }
 
     await delay(60); // Give PlayerDispatcher time to dispatch a frame, and then render everything.
-    console.log("videoRecordingClient.takeScreenshot()");
     if (screenshotResolve) {
       throw new Error("Already have a screenshot queued!");
     }
diff --git a/packages/webviz-core/src/players/types.js b/packages/webviz-core/src/players/types.js
index 1a61d6e6d..7050ddcb7 100644
--- a/packages/webviz-core/src/players/types.js
+++ b/packages/webviz-core/src/players/types.js
@@ -158,10 +158,6 @@ export type Message = TypedMessage<any>;
 
 // Contains different kinds of progress indications, mostly used in the playback bar.
 export type Progress = {
-  // Percentages by topic. Currently only used by the old Airavata code path,
-  // should be considered deprecated.
-  percentageByTopic?: { [string]: ?number },
-
   // Used to show progress bar. Ranges are fractions, e.g. `{ start: 0, end: 0.5 }`.
   fullyLoadedFractionRanges?: Range[],
 
@@ -234,10 +230,3 @@ export interface PlayerMetricsCollectorInterface {
   recordBytesReceived(bytes: number): void;
   recordPlaybackTime(time: Time): void;
 }
-
-// Common (but not required) options to initialize a `Player` with.
-export type PlayerOptions = {|
-  autoplay: ?boolean,
-  seekToTime: ?Time,
-  frameSizeMs: ?number,
-|};
diff --git a/packages/webviz-core/src/test/setupTestFramework.js b/packages/webviz-core/src/test/setupTestFramework.js
index a9dab6606..5e9f9aafa 100644
--- a/packages/webviz-core/src/test/setupTestFramework.js
+++ b/packages/webviz-core/src/test/setupTestFramework.js
@@ -12,9 +12,17 @@ import { isEqual } from "lodash";
 // Always mock reportError and fail if it was called during the test without resetting it. Note that
 // we have to do this here instead of in setup.js since here we have access to jest methods.
 jest.mock("webviz-core/src/util/reportError", () => {
-  const fn = jest.fn();
-  // $FlowFixMe
-  fn.setErrorHandler = () => {};
+  // Duplicate the report error functionality here with passing errors to handlers, if they exist.
+  const fn: any = jest.fn((...args) => {
+    if (fn.handler) {
+      fn.handler(...args);
+    }
+  });
+  fn.setErrorHandler = (handler) => {
+    fn.handler = handler;
+  };
+  // Ensure that there is no handler by default.
+  fn.setErrorHandler(null);
   return fn;
 });
 beforeEach(() => {
@@ -24,14 +32,18 @@ beforeEach(() => {
       // $FlowFixMe
       fail("Expected reportError to have been called during the test, but it was never called!"); // eslint-disable-line
     }
-    reportError.mockReset();
+    reportError.mockClear();
+    // Reset the error handler to the default (no error handler).
+    reportError.setErrorHandler(null);
   };
 });
 afterEach(() => {
   const reportError: any = require("webviz-core/src/util/reportError");
   if (reportError.mock.calls.length > 0) {
     const calls = reportError.mock.calls;
-    reportError.mockReset();
+    reportError.mockClear();
+    // Reset the error handler to the default (no error handler).
+    reportError.setErrorHandler(null);
     // $FlowFixMe
     fail(`reportError has been called during this test (call reportError.expectCalledDuringTest(); at the end of your test if you expect this): ${JSON.stringify(calls)}`); // eslint-disable-line
   }
diff --git a/packages/webviz-core/src/util/Rpc.js b/packages/webviz-core/src/util/Rpc.js
index c897b6385..5fce15f00 100644
--- a/packages/webviz-core/src/util/Rpc.js
+++ b/packages/webviz-core/src/util/Rpc.js
@@ -11,6 +11,7 @@
 export interface Channel {
   postMessage(data: any, transfer?: any[]): void;
   onmessage: ?(ev: MessageEvent) => void;
+  terminate: () => void;
 }
 
 const RESPONSE = "$$RESPONSE";
@@ -27,6 +28,7 @@ export function createLinkedChannels(): { local: Channel, remote: Channel } {
         remote.onmessage(ev); // eslint-disable-line no-use-before-define
       }
     },
+    terminate: () => {},
   };
 
   const remote: Channel = {
@@ -37,6 +39,7 @@ export function createLinkedChannels(): { local: Channel, remote: Channel } {
         local.onmessage(ev);
       }
     },
+    terminate: () => {},
   };
   return { local, remote };
 }
diff --git a/packages/webviz-core/src/util/Rpc.test.js b/packages/webviz-core/src/util/Rpc.test.js
index 22364a575..bbf01e10c 100644
--- a/packages/webviz-core/src/util/Rpc.test.js
+++ b/packages/webviz-core/src/util/Rpc.test.js
@@ -100,6 +100,7 @@ describe("Rpc", () => {
           workerChannel.onmessage(ev); // eslint-disable-line no-use-before-define
         }
       },
+      terminate: () => {},
     };
 
     const workerChannel: Channel = {
@@ -113,6 +114,7 @@ describe("Rpc", () => {
           mainChannel.onmessage(ev);
         }
       },
+      terminate: () => {},
     };
 
     const local = new Rpc(mainChannel);
diff --git a/packages/webviz-core/src/util/RpcUtils.js b/packages/webviz-core/src/util/RpcUtils.js
new file mode 100644
index 000000000..baba9c2d3
--- /dev/null
+++ b/packages/webviz-core/src/util/RpcUtils.js
@@ -0,0 +1,31 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import Rpc from "./Rpc";
+import reportError, { setErrorHandler, type DetailsType, type ErrorType } from "webviz-core/src/util/reportError";
+
+// We frequently want to propagate errors to the main thread so that they can be displayed to the user.
+// This function should be called inside the worker; it sets up sending a message to the parent thread when
+// reportError is called.
+export function setupSendReportErrorHandler(rpc: Rpc) {
+  setErrorHandler((message: string, details: DetailsType, type: ErrorType) => {
+    rpc.send("reportError", {
+      message,
+      details: details instanceof Error ? details.toString() : JSON.stringify(details),
+      type,
+    });
+  });
+}
+
+// This function should be called inside the parent thread; it sets up receiving a message from the worker thread and
+// calling reportError.
+export function setupReceiveReportErrorHandler(rpc: Rpc) {
+  rpc.receive("reportError", ({ message, details, type }) => {
+    reportError(message, details, type);
+  });
+}
diff --git a/packages/webviz-core/src/util/RpcUtils.test.js b/packages/webviz-core/src/util/RpcUtils.test.js
new file mode 100644
index 000000000..a62e7d16a
--- /dev/null
+++ b/packages/webviz-core/src/util/RpcUtils.test.js
@@ -0,0 +1,59 @@
+// @flow
+//
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import Rpc, { createLinkedChannels } from "./Rpc";
+import { setupSendReportErrorHandler, setupReceiveReportErrorHandler } from "./RpcUtils";
+import reportError, { setErrorHandler } from "webviz-core/src/util/reportError";
+
+const delay = (time) => new Promise((resolve) => setTimeout(resolve, time));
+
+describe("RpcUtils", () => {
+  // We have to test sending and receiving errors separately because in tests we really only have one thread, so we
+  // can't separate `reportError` calls on the local and remote threads.
+  it("propagates sending errors correctly", async () => {
+    const { local: mainChannel, remote: workerChannel } = createLinkedChannels();
+    const local = new Rpc(mainChannel);
+    let errorObject;
+    local.receive("reportError", (err) => {
+      errorObject = err;
+    });
+
+    const worker = new Rpc(workerChannel);
+    setupSendReportErrorHandler(worker);
+    reportError("test", new Error("details"), "user");
+    await delay(10);
+    expect(errorObject).toEqual({
+      message: "test",
+      details: "Error: details",
+      type: "user",
+    });
+
+    reportError.expectCalledDuringTest();
+  });
+
+  it("propagates receiving errors correctly", async () => {
+    const { local: mainChannel, remote: workerChannel } = createLinkedChannels();
+    const local = new Rpc(mainChannel);
+    setupReceiveReportErrorHandler(local);
+    let errorObject;
+    setErrorHandler((message, details, type) => {
+      errorObject = { message, details, type };
+    });
+
+    const worker = new Rpc(workerChannel);
+    worker.send("reportError", { message: "test", details: "Error: details", type: "user" });
+    await delay(10);
+    expect(errorObject).toEqual({
+      message: "test",
+      details: "Error: details",
+      type: "user",
+    });
+
+    reportError.expectCalledDuringTest();
+  });
+});
diff --git a/packages/webviz-core/src/util/colors.js b/packages/webviz-core/src/util/colors.js
index 11f61bd16..2df5b293f 100644
--- a/packages/webviz-core/src/util/colors.js
+++ b/packages/webviz-core/src/util/colors.js
@@ -5,7 +5,7 @@
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
-export const colors = {
+const baseColors = {
   DARK: "#08080a",
   DARK1: "#111114",
   DARK2: "#1a1a1f",
@@ -61,3 +61,9 @@ export const colors = {
   RED1: "#db3553",
   RED2: "#ff7c96",
 };
+
+export const colors = {
+  ...baseColors,
+  TEXT_MUTED: baseColors.GRAY,
+  HIGHLIGHT: baseColors.PURPLEL1,
+};
diff --git a/packages/webviz-core/src/util/debouncePromise.test.js b/packages/webviz-core/src/util/debouncePromise.test.js
index cbf852775..212dc1232 100644
--- a/packages/webviz-core/src/util/debouncePromise.test.js
+++ b/packages/webviz-core/src/util/debouncePromise.test.js
@@ -7,7 +7,7 @@
 //  You may not use this file except in compliance with the License.
 
 import debouncePromise from "./debouncePromise";
-import signal from "./signal";
+import signal from "webviz-core/shared/signal";
 
 /* eslint-disable jest/valid-expect-in-promise */
 
diff --git a/packages/webviz-core/src/util/globalConstants.js b/packages/webviz-core/src/util/globalConstants.js
index 657d229e7..eb69606fb 100644
--- a/packages/webviz-core/src/util/globalConstants.js
+++ b/packages/webviz-core/src/util/globalConstants.js
@@ -13,14 +13,12 @@ export const REMOTE_BAG_URL_QUERY_KEY = "remote-bag-url";
 export const LOAD_ENTIRE_BAG_QUERY_KEY = "load-entire-bag";
 export const MEASURE_DATA_PROVIDERS_QUERY_KEY = "_measureDataProviders";
 export const DEMO_QUERY_KEY = "demo";
-export const AUTOPLAY_QUERY_KEY = "autoplay";
 export const SEEK_TO_QUERY_KEY = "seek-to";
 export const LAYOUT_QUERY_KEY = "layout";
 export const LAYOUT_URL_QUERY_KEY = "layout-url";
 export const PATCH_LAYOUT_QUERY_KEY = "layout-patch";
 export const OLD_GLOBAL_VARIABLES_QUERY_KEY = "global-variables";
 export const GLOBAL_VARIABLES_QUERY_KEY = "global-data";
-export const FRAME_SIZE_MS_QUERY_KEY = "frame-size-ms";
 
 export const DEFAULT_WEBVIZ_NODE_PREFIX = "/webviz_node/";
 
diff --git a/packages/webviz-core/src/util/indexeddb/Database.js b/packages/webviz-core/src/util/indexeddb/Database.js
index 068e5d4ec..df0c11b48 100644
--- a/packages/webviz-core/src/util/indexeddb/Database.js
+++ b/packages/webviz-core/src/util/indexeddb/Database.js
@@ -10,7 +10,6 @@ import idb, { type DB, type UpgradeDB, type Transaction } from "idb";
 
 import DbWriter from "./DbWriter";
 import type { WritableStreamOptions } from "./types";
-import performanceMeasuringClient from "webviz-core/src/players/automatedRun/performanceMeasuringClient";
 
 type IDBValidKey = number | string | Date | Array<IDBValidKey>;
 
@@ -203,16 +202,12 @@ export default class Database {
     }
     const range = IDBKeyRange.bound(start, end);
     const items = [];
-    performanceMeasuringClient.clearIdbReadStart();
-    performanceMeasuringClient.markIdbReadStart();
     store.iterateCursor(range, (cursor) => {
       if (!cursor) {
         return;
       }
       const { key, value } = cursor;
       items.push({ key, value });
-      performanceMeasuringClient.markIdbReadEnd(value);
-      performanceMeasuringClient.markIdbReadStart();
       cursor.continue();
     });
     await tx.complete;
diff --git a/packages/webviz-core/src/util/indexeddb/Database.test.js b/packages/webviz-core/src/util/indexeddb/Database.test.js
index d33a8daa0..79db6b991 100644
--- a/packages/webviz-core/src/util/indexeddb/Database.test.js
+++ b/packages/webviz-core/src/util/indexeddb/Database.test.js
@@ -7,7 +7,6 @@
 //  You may not use this file except in compliance with the License.
 
 import Database from "./Database";
-import performanceMeasuringClient from "webviz-core/src/players/automatedRun/performanceMeasuringClient";
 
 async function put(db: Database, objectStore: string, values: any[]) {
   const tx = db.transaction(objectStore, "readwrite");
@@ -86,24 +85,6 @@ describe("Database", () => {
     return db.close();
   });
 
-  it("can read a range of ROS messages with the performance measuring client measuring idb times", async () => {
-    performanceMeasuringClient.start({ bagLengthMs: 1 });
-    performanceMeasuringClient.shouldMeasureIdbTimes = true;
-    const db = await Database.open("range_ros", 1, (db) => {
-      db.createObjectStore("bar", { autoIncrement: true });
-    });
-    await put(db, "bar", [{ message: { topic: "one" } }, { message: { topic: "two" } }, { three: 3 }]);
-    const range = await db.getRange("bar", undefined, 1, 100);
-    expect(range).toEqual([
-      { key: 1, value: { message: { topic: "one" } } },
-      { key: 2, value: { message: { topic: "two" } } },
-      { key: 3, value: { three: 3 } },
-    ]);
-    expect(Object.keys(performanceMeasuringClient.idbTimesByTopic)).toEqual(["one", "two"]);
-    performanceMeasuringClient.resetInTests();
-    return db.close();
-  });
-
   it("can read a range by index", async () => {
     const db = await Database.open("range-with-index", 1, (db) => {
       const store = db.createObjectStore("bar", { autoIncrement: true });
diff --git a/packages/webviz-core/src/util/reportError.js b/packages/webviz-core/src/util/reportError.js
index a2040b9a2..3c7d33e8f 100644
--- a/packages/webviz-core/src/util/reportError.js
+++ b/packages/webviz-core/src/util/reportError.js
@@ -11,10 +11,10 @@
 // etc). We should generally prevent users from making mistakes in the first place, but sometimes
 // its unavoidable to bail out with a generic error message (e.g. when dragging in a malformed
 // ROS bag).
-import * as React from "react";
+import type { Node } from "react";
 
 export type ErrorType = "app" | "user";
-export type DetailsType = string | Error | React.Node;
+export type DetailsType = string | Error | Node;
 
 type ErrorHandler = (message: string, details: DetailsType, type: ErrorType) => void;
 

From fbea603ba439fb4ee0983b26364d1c8142904da9 Mon Sep 17 00:00:00 2001
From: Jacob Bandes-Storch <jacob@getcruise.com>
Date: Wed, 4 Dec 2019 01:03:29 -0800
Subject: [PATCH 17/50] Update packages/webviz-core from internal repo (#284)

Changes:
- PointCloud2 topics can now be colored with a custom gradient, and the min/max value can be customized for both custom gradients and the default rainbow palette.
- PointCloud2 automatic coloring now works correctly for negative values.
---
 packages/webviz-core/package-lock.json        |  15 +
 packages/webviz-core/package.json             |   1 +
 .../webviz-core/src/components/ColorPicker.js |  89 +++++
 .../src/components/ColorPicker.stories.js     |  68 ++++
 .../src/components/GradientPicker.js          |  92 ++++++
 .../src/components/GradientPicker.stories.js  |  96 ++++++
 .../src/components/Select/Select.js           |   3 +-
 .../src/components/Select/Select.module.scss  |  10 +-
 .../src/panels/ThreeDimensionalViz/Layout.js  |  13 +-
 .../LayoutTopicSettings.js                    |   8 +-
 .../MarkerSettingsEditor.js                   |   3 +-
 .../PointCloudSettingsEditor.js               | 226 ++++++++++---
 .../TopicSettingsEditor/PoseSettingsEditor.js |   3 +-
 .../TopicSettingsEditor/common.js             |  25 ++
 .../TopicSettingsEditor/index.js              |  35 +-
 .../commands/Pointclouds/PointCloudBuilder.js | 304 +++++++++---------
 .../Pointclouds/PointCloudBuilder.test.js     | 128 +++++++-
 .../commands/Pointclouds/index.js             |  21 +-
 packages/webviz-core/src/types/Messages.js    |   4 +-
 packages/webviz-core/src/util.js              |  10 +
 20 files changed, 913 insertions(+), 241 deletions(-)
 create mode 100644 packages/webviz-core/src/components/ColorPicker.js
 create mode 100644 packages/webviz-core/src/components/ColorPicker.stories.js
 create mode 100644 packages/webviz-core/src/components/GradientPicker.js
 create mode 100644 packages/webviz-core/src/components/GradientPicker.stories.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/common.js

diff --git a/packages/webviz-core/package-lock.json b/packages/webviz-core/package-lock.json
index 41f580576..bf5b8430e 100644
--- a/packages/webviz-core/package-lock.json
+++ b/packages/webviz-core/package-lock.json
@@ -86,6 +86,21 @@
         "tslib": "^1.9.3"
       }
     },
+    "@simonwep/pickr": {
+      "version": "1.4.7",
+      "resolved": "https://registry.npmjs.org/@simonwep/pickr/-/pickr-1.4.7.tgz",
+      "integrity": "sha512-dnx46+3KiZJ5YNXoWDdaOPLZGPCOFsFsa5uT3Eg+lYCUw8yZ+UxOGG9kEbUX+HgM35bJvAnOfq0l1qEr3CLVzw==",
+      "requires": {
+        "core-js": "^3.3.6"
+      },
+      "dependencies": {
+        "core-js": {
+          "version": "3.4.5",
+          "resolved": "https://registry.npmjs.org/core-js/-/core-js-3.4.5.tgz",
+          "integrity": "sha512-OuvejWH6vIaUo59Ndlh89purNm4DCIy/v3QoYlcGnn+PkYI8BhNHfCuAESrWX+ZPfq9JccVJ+XXgOMy77PJexg=="
+        }
+      }
+    },
     "@testing-library/react-hooks": {
       "version": "1.1.0",
       "resolved": "https://registry.npmjs.org/@testing-library/react-hooks/-/react-hooks-1.1.0.tgz",
diff --git a/packages/webviz-core/package.json b/packages/webviz-core/package.json
index 7186aa2fd..0272fd59e 100644
--- a/packages/webviz-core/package.json
+++ b/packages/webviz-core/package.json
@@ -7,6 +7,7 @@
     "@cruise-automation/hooks": "0.0.1",
     "@mdi/svg": "3.2.89",
     "@sentry/browser": "5.7.1",
+    "@simonwep/pickr": "1.4.7",
     "chart.js": "2.7.3",
     "chartjs-plugin-annotation": "0.5.7",
     "chartjs-plugin-datalabels": "0.4.0",
diff --git a/packages/webviz-core/src/components/ColorPicker.js b/packages/webviz-core/src/components/ColorPicker.js
new file mode 100644
index 000000000..3c309b1f1
--- /dev/null
+++ b/packages/webviz-core/src/components/ColorPicker.js
@@ -0,0 +1,89 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import Pickr from "@simonwep/pickr";
+import React, { forwardRef, useRef, useLayoutEffect, useImperativeHandle } from "react";
+import styled from "styled-components";
+
+import { colors } from "webviz-core/src/util/colors";
+
+import "@simonwep/pickr/dist/themes/monolith.min.css";
+
+export const COLOR_PICKER_SIZE = 29;
+
+const SColorPicker = styled.div.attrs({
+  style: (props) => ({ backgroundColor: props.color }),
+  "data-test": "ColorPicker",
+})`
+  display: inline-block;
+  vertical-align: middle;
+  width: ${COLOR_PICKER_SIZE}px;
+  height: ${COLOR_PICKER_SIZE}px;
+  border-radius: 50%;
+  border: 1px solid ${colors.LIGHT2};
+`;
+
+type Props = { color: string, onChange: (string) => void };
+
+function ColorPicker({ color, onChange }: Props, ref) {
+  const container = useRef();
+  const pickr = useRef<?Pickr>();
+  useImperativeHandle(ref, () => ({
+    getPickrForTesting: () => pickr.current,
+  }));
+
+  const onChangeRef = useRef(onChange);
+  onChangeRef.current = onChange;
+
+  const colorRef = useRef(color);
+  colorRef.current = color;
+
+  useLayoutEffect(() => {
+    if (!container.current) {
+      throw new Error("missing container element");
+    }
+    pickr.current = new Pickr({
+      el: container.current,
+
+      // Pickr internally calls setColor() after initialization, so if our setColor
+      // happens too early it will be overridden by the default color
+      default: colorRef.current,
+
+      theme: "monolith",
+      useAsButton: true,
+      comparison: false,
+      lockOpacity: true,
+      components: {
+        preview: false,
+        hue: true,
+        interaction: {
+          input: true,
+        },
+      },
+    })
+      .on("show", () => {
+        // Make sure color is up to date from props when picker is opened
+        if (pickr.current) {
+          pickr.current.setColor(colorRef.current);
+        }
+      })
+      .on("change", (color) => {
+        onChangeRef.current(color.toHEXA().toString());
+      });
+
+    return () => {
+      if (pickr.current) {
+        pickr.current.destroyAndRemove();
+      }
+    };
+  }, []);
+
+  return <SColorPicker innerRef={container} color={color} />;
+}
+
+export default forwardRef<Props, ?Pickr>(ColorPicker);
diff --git a/packages/webviz-core/src/components/ColorPicker.stories.js b/packages/webviz-core/src/components/ColorPicker.stories.js
new file mode 100644
index 000000000..61737d84a
--- /dev/null
+++ b/packages/webviz-core/src/components/ColorPicker.stories.js
@@ -0,0 +1,68 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { storiesOf } from "@storybook/react";
+import React, { useRef, useLayoutEffect, useState } from "react";
+import { withScreenshot } from "storybook-chrome-screenshot";
+
+import ColorPicker from "./ColorPicker";
+
+function Story({
+  openOnMount,
+  changeColorAfterMount,
+  initialColor,
+}: {
+  openOnMount?: boolean,
+  changeColorAfterMount?: boolean,
+  initialColor?: string,
+}) {
+  const pickerRef = useRef();
+  const containerRef = useRef<?HTMLDivElement>();
+  const [color, setColor] = useState(initialColor || "");
+
+  useLayoutEffect(
+    () => {
+      if (openOnMount && containerRef.current) {
+        // $FlowFixMe - flow upgrade will allow function calls in optional chains
+        containerRef.current.querySelector('[data-test="ColorPicker"]').click();
+      }
+    },
+    [openOnMount]
+  );
+
+  useLayoutEffect(
+    () => {
+      setImmediate(() => {
+        if (changeColorAfterMount && pickerRef.current) {
+          const palette = pickerRef.current.getPickrForTesting().getRoot().palette.palette;
+          const rect = palette.getBoundingClientRect();
+          palette.dispatchEvent(
+            new MouseEvent("mousedown", {
+              clientX: rect.left + rect.width / 2,
+              clientY: rect.top + rect.height / 2,
+            })
+          );
+        }
+      });
+    },
+    [changeColorAfterMount]
+  );
+
+  return (
+    <div ref={containerRef}>
+      <ColorPicker ref={pickerRef} color={color} onChange={setColor} />
+    </div>
+  );
+}
+
+storiesOf("<ColorPicker>", module)
+  .addDecorator(withScreenshot({ viewport: { width: 250, height: 150 } }))
+  .add("invalid color", () => <Story />)
+  .add("hex color", () => <Story initialColor="#cacad0" />)
+  .add("click to open", () => <Story initialColor="#cacad0" openOnMount />)
+  .add("click to set color", () => <Story initialColor="#cacad0" openOnMount changeColorAfterMount />);
diff --git a/packages/webviz-core/src/components/GradientPicker.js b/packages/webviz-core/src/components/GradientPicker.js
new file mode 100644
index 000000000..f84055643
--- /dev/null
+++ b/packages/webviz-core/src/components/GradientPicker.js
@@ -0,0 +1,92 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import React, { useCallback } from "react";
+import styled from "styled-components";
+
+import ColorPicker, { COLOR_PICKER_SIZE } from "./ColorPicker";
+import AutoSizingCanvas from "webviz-core/src/components/AutoSizingCanvas";
+import { colors } from "webviz-core/src/util/colors";
+
+const GRADIENT_BAR_INSET = Math.floor(COLOR_PICKER_SIZE / 2);
+const GRADIENT_BAR_HEIGHT = 10;
+const GRADIENT_LINE_HEIGHT = 6;
+
+const SPickerWrapper = styled.div`
+  flex: 1 1 auto;
+  display: flex;
+  flex-direction: row;
+  justify-content: space-between;
+`;
+const SBarWrapper = styled.div`
+  flex: 1 1 auto;
+  display: flex;
+  flex-direction: row;
+  align-items: flex-end;
+  margin-left: ${GRADIENT_BAR_INSET}px;
+  margin-right: ${GRADIENT_BAR_INSET}px;
+`;
+const SLine = styled.div`
+  flex: 0 0 auto;
+  width: 1px;
+  height: ${GRADIENT_BAR_HEIGHT + GRADIENT_LINE_HEIGHT}px;
+  background-color: ${colors.LIGHT2};
+`;
+const SBar = styled.div`
+  flex: 1 1 auto;
+  height: ${GRADIENT_BAR_HEIGHT}px;
+`;
+
+export default function GradientPicker({
+  minColor,
+  maxColor,
+  onChange,
+  minColorRefForTesting,
+  maxColorRefForTesting,
+}: {
+  minColor: string,
+  maxColor: string,
+  onChange: ({ minColor: string, maxColor: string }) => void,
+  maxColorRefForTesting?: any,
+  minColorRefForTesting?: any,
+}) {
+  const drawGradient = useCallback(
+    (ctx, width, height) => {
+      const gradient = ctx.createLinearGradient(0, 0, width, 0);
+      gradient.addColorStop(0, minColor);
+      gradient.addColorStop(1, maxColor);
+      ctx.fillStyle = gradient;
+      ctx.fillRect(0, 0, width, height);
+    },
+    [maxColor, minColor]
+  );
+
+  return (
+    <>
+      <SPickerWrapper>
+        <ColorPicker
+          ref={minColorRefForTesting}
+          color={minColor}
+          onChange={useCallback((newColor) => onChange({ minColor: newColor, maxColor }), [maxColor, onChange])}
+        />
+        <ColorPicker
+          ref={maxColorRefForTesting}
+          color={maxColor}
+          onChange={useCallback((newColor) => onChange({ minColor, maxColor: newColor }), [minColor, onChange])}
+        />
+      </SPickerWrapper>
+      <SBarWrapper>
+        <SLine />
+        <SBar>
+          <AutoSizingCanvas draw={drawGradient} />
+        </SBar>
+        <SLine />
+      </SBarWrapper>
+    </>
+  );
+}
diff --git a/packages/webviz-core/src/components/GradientPicker.stories.js b/packages/webviz-core/src/components/GradientPicker.stories.js
new file mode 100644
index 000000000..576156096
--- /dev/null
+++ b/packages/webviz-core/src/components/GradientPicker.stories.js
@@ -0,0 +1,96 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { storiesOf } from "@storybook/react";
+import React, { useRef, useLayoutEffect, useState } from "react";
+import { withScreenshot } from "storybook-chrome-screenshot";
+
+import GradientPicker from "./GradientPicker";
+
+function Story({
+  openOnMount,
+  changeMinColorAfterMount,
+  changeMaxColorAfterMount,
+  initialMinColor,
+  initialMaxColor,
+}: {
+  openOnMount?: boolean,
+  changeMinColorAfterMount?: boolean,
+  changeMaxColorAfterMount?: boolean,
+  initialMinColor?: string,
+  initialMaxColor?: string,
+}) {
+  const containerRef = useRef<?HTMLDivElement>();
+  const minRef = useRef();
+  const maxRef = useRef();
+  const [minColor, setMinColor] = useState(initialMinColor || "");
+  const [maxColor, setMaxColor] = useState(initialMaxColor || "");
+
+  useLayoutEffect(
+    () => {
+      if (changeMinColorAfterMount && containerRef.current) {
+        containerRef.current.querySelectorAll('[data-test="ColorPicker"]')[0].click();
+      }
+      if (changeMaxColorAfterMount && containerRef.current) {
+        containerRef.current.querySelectorAll('[data-test="ColorPicker"]')[1].click();
+      }
+    },
+    [changeMaxColorAfterMount, changeMinColorAfterMount]
+  );
+
+  useLayoutEffect(
+    () => {
+      setImmediate(() => {
+        if (changeMinColorAfterMount && minRef.current) {
+          const slider = minRef.current.getPickrForTesting().getRoot().hue.slider;
+          const rect = slider.getBoundingClientRect();
+          slider.dispatchEvent(
+            new MouseEvent("mousedown", {
+              clientX: rect.left + rect.width * 0.2,
+              clientY: rect.top + rect.height / 2,
+            })
+          );
+        }
+        if (changeMaxColorAfterMount && maxRef.current) {
+          const slider = maxRef.current.getPickrForTesting().getRoot().hue.slider;
+          const rect = slider.getBoundingClientRect();
+          slider.dispatchEvent(
+            new MouseEvent("mousedown", {
+              clientX: rect.left + rect.width * 0.8,
+              clientY: rect.top + rect.height / 2,
+            })
+          );
+        }
+      });
+    },
+    [changeMaxColorAfterMount, changeMinColorAfterMount]
+  );
+
+  return (
+    <div ref={containerRef} style={{ width: "400px", padding: "100px" }}>
+      <GradientPicker
+        minColorRefForTesting={minRef}
+        maxColorRefForTesting={maxRef}
+        minColor={minColor}
+        maxColor={maxColor}
+        onChange={({ minColor, maxColor }) => {
+          setMinColor(minColor);
+          setMaxColor(maxColor);
+        }}
+      />
+    </div>
+  );
+}
+
+storiesOf("<GradientPicker>", module)
+  .addDecorator(withScreenshot({ viewport: { width: 585, height: 500 } }))
+  .add("basic", () => <Story initialMinColor="#ff0000" initialMaxColor="#0000ff" />)
+  .add("change min color", () => <Story initialMinColor="#ff0000" initialMaxColor="#0000ff" changeMinColorAfterMount />)
+  .add("change max color", () => (
+    <Story initialMinColor="#ff0000" initialMaxColor="#0000ff" changeMaxColorAfterMount />
+  ));
diff --git a/packages/webviz-core/src/components/Select/Select.js b/packages/webviz-core/src/components/Select/Select.js
index c57901103..0263f46eb 100644
--- a/packages/webviz-core/src/components/Select/Select.js
+++ b/packages/webviz-core/src/components/Select/Select.js
@@ -24,7 +24,7 @@ const SEmpty = styled.div`
 type Props = {
   children: React.Node,
   // specify text specifically if the value is not a string
-  text?: string,
+  text?: ?string,
   value: any,
   icon: React.Node,
   onChange: (value: any) => void,
@@ -51,6 +51,7 @@ export default class Select extends React.Component<Props, State> {
   };
 
   open = (e: SyntheticEvent<HTMLDivElement>) => {
+    e.stopPropagation();
     this.setState({ isOpen: true });
     // let this event hit the window before adding close listener
     setImmediate(() => {
diff --git a/packages/webviz-core/src/components/Select/Select.module.scss b/packages/webviz-core/src/components/Select/Select.module.scss
index 5abc46a1c..44482a825 100644
--- a/packages/webviz-core/src/components/Select/Select.module.scss
+++ b/packages/webviz-core/src/components/Select/Select.module.scss
@@ -2,8 +2,8 @@
 .container {
   position: relative;
   margin: $control-margin;
-  margin-bottom: 8px;
   flex: 1 1 auto;
+  display: flex;
 
   &.open {
     @extend %floating-box;
@@ -11,6 +11,9 @@
 }
 
 .select {
+  flex: 1 1 auto;
+  display: flex;
+  align-items: center;
   background-color: rgba(255, 255, 255, 0.5);
   background-color: transparentize($text-normal, 0.2);
   border-radius: 4px;
@@ -19,12 +22,11 @@
   border: none;
   padding: $control-padding;
   cursor: pointer;
-  // make sure content does not overlap icon
-  padding-right: 20px;
   color: $text-input;
 
   .value {
     @include sans-serif;
+    flex: 1 1 auto;
   }
 
   &.open {
@@ -37,9 +39,7 @@
   }
 
   .icon {
-    position: absolute;
     font-size: 14px;
-    right: 4px;
   }
 }
 
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Layout.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Layout.js
index 2f035f000..6ba138cd9 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Layout.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Layout.js
@@ -203,9 +203,14 @@ export default function Layout({
   const [drawingTabType, setDrawingTabType] = useState<?DrawingTabType>(null);
   const [selectedObjectState, setSelectedObjectState] = useState<?SelectedObjectState>(null);
   const selectedObject = selectedObjectState && selectedObjectState.selectedObject;
-  const editedTopics = useMemo(
-    () => Object.keys(topicSettings).filter((settingKey) => Object.keys(topicSettings[settingKey]).length),
-    [topicSettings]
+
+  // If topic settings are changing rapidly, such as when dragging a slider or color picker,
+  // the topicSettings will change, but we don't want to rebuild the tree each time so we
+  // check for shallow equality on the list of edited topics.
+  const editedTopics = useShallowMemo(
+    useMemo(() => Object.keys(topicSettings).filter((settingKey) => Object.keys(topicSettings[settingKey]).length), [
+      topicSettings,
+    ])
   );
 
   useLayoutEffect(
@@ -460,7 +465,7 @@ export default function Layout({
             return;
           }
           setEditTopicState({
-            tooltipPosX: editBtnRect.right - panelRect.left + 5,
+            tooltipPosX: Math.ceil(editBtnRect.right - panelRect.left + 5),
             topic: newEditTopic,
           });
         },
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/LayoutTopicSettings.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/LayoutTopicSettings.js
index 4212d6c68..2f4dc1c66 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/LayoutTopicSettings.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/LayoutTopicSettings.js
@@ -43,12 +43,16 @@ function LayoutTopicSettings({
         // stop the event from bubbling up to onControlsOverlayClick but don't preventDefault because checkboxes, buttons, etc. should continue to work
         cancelClick: (e: SyntheticMouseEvent<HTMLDivElement>) => e.stopPropagation(),
         onCloseTopicSettings: () => setEditTopicState(null),
-        onSettingsChange: (settings: {}) => {
+        onSettingsChange: (settings: {} | ((prevSettings: {}) => {})) => {
           if (!editTopicState) {
             return;
           }
           saveConfig({
-            topicSettings: { ...topicSettings, [editTopicState.topic.name]: settings },
+            topicSettings: {
+              ...topicSettings,
+              [editTopicState.topic.name]:
+                typeof settings === "function" ? settings(topicSettings[editTopicState.topic.name] || {}) : settings,
+            },
           });
         },
       };
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/MarkerSettingsEditor.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/MarkerSettingsEditor.js
index d64b188df..340b40276 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/MarkerSettingsEditor.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/MarkerSettingsEditor.js
@@ -9,7 +9,8 @@
 import React from "react";
 import styled from "styled-components";
 
-import { LINED_CONVEX_HULL_RENDERING_SETTING, SLabel, SDescription, SInput, type TopicSettingsEditorProps } from ".";
+import { LINED_CONVEX_HULL_RENDERING_SETTING, type TopicSettingsEditorProps } from ".";
+import { SLabel, SDescription, SInput } from "./common";
 import Dropdown from "webviz-core/src/components/Dropdown";
 import Flex from "webviz-core/src/components/Flex";
 import type { Marker, MarkerArray } from "webviz-core/src/types/Messages";
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/PointCloudSettingsEditor.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/PointCloudSettingsEditor.js
index ce149eaf3..be204af76 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/PointCloudSettingsEditor.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/PointCloudSettingsEditor.js
@@ -6,62 +6,212 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import React from "react";
+import React, { useCallback } from "react";
+import styled from "styled-components";
 
-import { SLabel, SInput, CommonPointSettings, CommonDecaySettings, type TopicSettingsEditorProps } from ".";
+import { CommonPointSettings, CommonDecaySettings, type TopicSettingsEditorProps } from ".";
+import { SLabel, SInput } from "./common";
+import ColorPicker from "webviz-core/src/components/ColorPicker";
 import Flex from "webviz-core/src/components/Flex";
+import GradientPicker from "webviz-core/src/components/GradientPicker";
+import Radio from "webviz-core/src/components/Radio";
+import SegmentedControl from "webviz-core/src/components/SegmentedControl";
 import { Select, Option } from "webviz-core/src/components/Select";
 import type { PointCloud2 } from "webviz-core/src/types/Messages";
 
-type PointCloudSettings = {|
+export type ColorMode =
+  | {| mode: "rgb" |}
+  | {| mode: "flat", flatColor: string |}
+  | {|
+      mode: "gradient",
+      colorField: string,
+      minColor: string,
+      maxColor: string,
+      minValue?: number,
+      maxValue?: number,
+    |}
+  | {|
+      mode: "rainbow",
+      colorField: string,
+      minValue?: number,
+      maxValue?: number,
+    |};
+
+export const DEFAULT_FLAT_COLOR = "#ffffff";
+
+export type PointCloudSettings = {|
   pointSize?: ?number,
   pointShape?: ?string,
   decayTime?: ?number,
-  colorField?: ?string,
-  color?: ?string,
+
+  colorMode: ?ColorMode,
 |};
 
-export default function PointCloudSettingsEditor(props: TopicSettingsEditorProps<PointCloud2, PointCloudSettings>) {
-  const { message, settings, onFieldChange, onSettingsChange } = props;
-  if (!message || !message.fields) {
-    return null;
+const SValueRangeInput = styled(SInput).attrs({ type: "number", placeholder: "auto" })`
+  width: 0px;
+  margin-left: 8px;
+  flex: 1 1 auto;
+`;
+
+const RainbowText = React.memo(function RainbowText({ children: text }: { children: string }) {
+  const result = [];
+  for (let i = 0; i < text.length; i++) {
+    result.push(
+      // Rainbow gradient goes from magenta (300) to red (0)
+      <span key={i} style={{ color: `hsl(${300 - 300 * (i / (text.length - 1))}, 100%, 60%)` }}>
+        {text[i]}
+      </span>
+    );
   }
-  const colorField = settings.colorField;
-  const colorFieldValue = colorField ? colorField : "rgb";
+  return result;
+});
 
-  const color = settings.color;
-  const colorValue = color || "";
+export default function PointCloudSettingsEditor(props: TopicSettingsEditorProps<PointCloud2, PointCloudSettings>) {
+  const { message, settings = {}, onFieldChange, onSettingsChange } = props;
 
-  const colorFieldOptions = message.fields.map((field) => (
-    <Option key={field.name} value={field.name}>
-      {field.name}
-    </Option>
-  ));
+  const onColorModeChange = useCallback(
+    (newValue: ?ColorMode | ((?ColorMode) => ?ColorMode)) => {
+      onSettingsChange((settings) => ({
+        ...settings,
+        colorMode: typeof newValue === "function" ? newValue(settings.colorMode) : newValue,
+      }));
+    },
+    [onSettingsChange]
+  );
+
+  const hasRGB = message && message.fields && message.fields.some(({ name }) => name === "rgb");
+  const defaultColorField = message && message.fields && message.fields.find(({ name }) => name !== "rgb")?.name;
+  const colorMode: ColorMode = settings.colorMode
+    ? settings.colorMode
+    : hasRGB
+    ? { mode: "rgb" }
+    : { mode: "flat", flatColor: DEFAULT_FLAT_COLOR };
 
   return (
     <Flex col>
       <CommonPointSettings settings={settings} defaultPointSize={2} onFieldChange={onFieldChange} />
-      <SLabel strikethrough={!!colorValue}>Color by {!!colorValue && "(overridden)"}</SLabel>
-      <Select
-        text={colorFieldValue}
-        value={colorFieldValue}
-        onChange={(value) => {
-          onSettingsChange({
-            ...settings,
-            colorField: value,
-            color: undefined,
-          });
-        }}>
-        {colorFieldOptions}
-      </Select>
-      <SLabel>Point color (overrides Color by)</SLabel>
-      <SInput
-        type="text"
-        value={colorValue}
-        placeholder="RGB e.g. 255, 0, 100"
-        onChange={(e) => onFieldChange("color", e.target.value)}
-      />
       <CommonDecaySettings settings={settings} onFieldChange={onFieldChange} />
+
+      <SLabel>Color by</SLabel>
+      <Flex row style={{ justifyContent: "space-between", marginBottom: "8px" }}>
+        <SegmentedControl
+          selectedId={colorMode.mode === "flat" ? "flat" : "data"}
+          onChange={(id) =>
+            onColorModeChange((colorMode) =>
+              id === "flat"
+                ? {
+                    mode: "flat",
+                    flatColor: colorMode && colorMode.mode === "gradient" ? colorMode.minColor : DEFAULT_FLAT_COLOR,
+                  }
+                : hasRGB
+                ? { mode: "rgb" }
+                : defaultColorField
+                ? { mode: "rainbow", colorField: defaultColorField }
+                : null
+            )
+          }
+          options={[{ id: "flat", label: "Flat" }, { id: "data", label: "Point data" }]}
+        />
+
+        <Flex row style={{ margin: "2px 0 2px 12px", alignItems: "center" }}>
+          {colorMode.mode === "flat" ? (
+            // For flat mode, pick a single color
+            <ColorPicker
+              color={colorMode.flatColor}
+              onChange={(flatColor) => onColorModeChange({ mode: "flat", flatColor })}
+            />
+          ) : (
+            // Otherwise, choose a field from the point cloud to color by
+            <Select
+              text={colorMode.mode === "rgb" ? "rgb" : colorMode.colorField}
+              value={colorMode.mode === "rgb" ? "rgb" : colorMode.colorField}
+              onChange={(value) =>
+                onColorModeChange(
+                  (colorMode): ColorMode => {
+                    if (value === "rgb") {
+                      return { mode: "rgb" };
+                    }
+                    if (colorMode && colorMode.mode === "gradient") {
+                      return { ...colorMode, colorField: value };
+                    }
+                    if (colorMode && colorMode.mode === "rainbow") {
+                      return { ...colorMode, colorField: value };
+                    }
+                    return { mode: "rainbow", colorField: value };
+                  }
+                )
+              }>
+              {!message
+                ? []
+                : message.fields.map(({ name }) => (
+                    <Option key={name} value={name}>
+                      {name}
+                    </Option>
+                  ))}
+            </Select>
+          )}
+        </Flex>
+      </Flex>
+
+      {(colorMode.mode === "gradient" || colorMode.mode === "rainbow") && (
+        <Flex col style={{ marginBottom: "8px" }}>
+          <SLabel>Value range</SLabel>
+          <Flex row style={{ marginLeft: "8px" }}>
+            <Flex row style={{ flex: "1 1 100%", alignItems: "baseline", marginRight: "20px" }}>
+              Min
+              <SValueRangeInput
+                value={colorMode.minValue ?? ""}
+                onChange={({ target: { value } }) =>
+                  onColorModeChange((colorMode: any) => ({
+                    ...colorMode,
+                    minValue: value === "" ? null : value,
+                  }))
+                }
+              />
+            </Flex>
+            <Flex row style={{ flex: "1 1 100%", alignItems: "baseline" }}>
+              Max
+              <SValueRangeInput
+                value={colorMode.maxValue ?? ""}
+                onChange={({ target: { value } }) =>
+                  onColorModeChange((colorMode: any) => ({
+                    ...colorMode,
+                    maxValue: value === "" ? null : +value,
+                  }))
+                }
+              />
+            </Flex>
+          </Flex>
+          <Radio
+            selectedId={colorMode.mode}
+            onChange={(id) =>
+              onColorModeChange(({ colorField, minValue, maxValue }: any) =>
+                id === "rainbow"
+                  ? { mode: "rainbow", colorField, minValue, maxValue }
+                  : { mode: "gradient", colorField, minValue, maxValue, minColor: "#0000ff", maxColor: "#ff0000" }
+              )
+            }
+            options={[
+              {
+                id: "rainbow",
+                label: colorMode.mode === "rainbow" ? <RainbowText>Rainbow</RainbowText> : "Rainbow",
+              },
+              { id: "gradient", label: "Custom gradient" },
+            ]}
+          />
+        </Flex>
+      )}
+      {colorMode.mode === "gradient" && (
+        <div style={{ margin: "8px" }}>
+          <GradientPicker
+            minColor={colorMode.minColor}
+            maxColor={colorMode.maxColor}
+            onChange={({ minColor, maxColor }) =>
+              onColorModeChange((colorMode) => ({ mode: "gradient", ...colorMode, minColor, maxColor }))
+            }
+          />
+        </div>
+      )}
     </Flex>
   );
 }
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/PoseSettingsEditor.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/PoseSettingsEditor.js
index e07cfbaf6..55ed294e5 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/PoseSettingsEditor.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/PoseSettingsEditor.js
@@ -10,7 +10,8 @@ import CheckboxBlankOutlineIcon from "@mdi/svg/svg/checkbox-blank-outline.svg";
 import CheckboxMarkedIcon from "@mdi/svg/svg/checkbox-marked.svg";
 import React from "react";
 
-import { SLabel, SInput, type TopicSettingsEditorProps } from ".";
+import { type TopicSettingsEditorProps } from ".";
+import { SLabel, SInput } from "./common";
 import Flex from "webviz-core/src/components/Flex";
 import type { PoseStamped } from "webviz-core/src/types/Messages";
 
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/common.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/common.js
new file mode 100644
index 000000000..a54f51ccf
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/common.js
@@ -0,0 +1,25 @@
+// @flow
+//
+//  Copyright (c) 2019-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import styled from "styled-components";
+
+export const SLabel = styled.label`
+  display: block;
+  font-size: 14px;
+  margin: 6px 2px;
+  text-decoration: ${(props) => (props.strikethrough ? "line-through" : null)};
+`;
+export const SDescription = styled.label`
+  display: block;
+  margin: 6px 2px;
+  opacity: 0.8;
+`;
+
+export const SInput = styled.input`
+  flex: 1 1 auto;
+  margin-bottom: 8px;
+`;
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/index.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/index.js
index bb7f94e90..241570104 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/index.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/index.js
@@ -8,8 +8,9 @@
 
 import { upperFirst } from "lodash";
 import React, { useCallback, type ComponentType } from "react";
-import styled from "styled-components";
+import { hot } from "react-hot-loader/root";
 
+import { SLabel, SDescription, SInput } from "./common";
 import LaserScanSettingsEditor from "./LaserScanSettingsEditor";
 import MarkerSettingsEditor from "./MarkerSettingsEditor";
 import PointCloudSettingsEditor from "./PointCloudSettingsEditor";
@@ -24,23 +25,6 @@ import { POINT_CLOUD_DATATYPE, POSE_STAMPED_DATATYPE, LASER_SCAN_DATATYPE } from
 
 export const LINED_CONVEX_HULL_RENDERING_SETTING = "LinedConvexHull";
 
-export const SLabel = styled.label`
-  display: block;
-  font-size: 14px;
-  margin: 6px 2px;
-  text-decoration: ${(props) => (props.strikethrough ? "line-through" : null)};
-`;
-export const SDescription = styled.label`
-  display: block;
-  margin: 6px 2px;
-  opacity: 0.8;
-`;
-
-export const SInput = styled.input`
-  flex: 1 1 auto;
-  margin-bottom: 8px;
-`;
-
 // Parse color saved into topic settings into {r, g, b, a} form.
 export function parseColorSetting(rgba: ?string) {
   const [r = 255, g = 255, b = 255, a = 1] = (rgba || "")
@@ -134,7 +118,7 @@ export type TopicSettingsEditorProps<Msg, Settings: {}> = {|
   message: ?Msg,
   settings: Settings,
   onFieldChange: (name: string, value: any) => void,
-  onSettingsChange: ({}) => void,
+  onSettingsChange: ({} | (({}) => {})) => void,
 |};
 
 function topicSettingsEditorForDatatype(datatype: string): ?ComponentType<TopicSettingsEditorProps<any, any>> {
@@ -167,12 +151,17 @@ type Props = {|
   onSettingsChange: ({}) => void,
 |};
 
-export default React.memo<Props>(function TopicSettingsEditor({ topic, message, settings, onSettingsChange }: Props) {
+const TopicSettingsEditor = React.memo<Props>(function TopicSettingsEditor({
+  topic,
+  message,
+  settings,
+  onSettingsChange,
+}: Props) {
   const onFieldChange = useCallback(
     (fieldName: string, value: any) => {
-      onSettingsChange({ ...settings, [fieldName]: value });
+      onSettingsChange((settings) => ({ ...settings, [fieldName]: value }));
     },
-    [settings, onSettingsChange]
+    [onSettingsChange]
   );
 
   const Editor = topicSettingsEditorForDatatype(topic.datatype);
@@ -198,3 +187,5 @@ export default React.memo<Props>(function TopicSettingsEditor({ topic, message,
     </div>
   );
 });
+
+export default hot(TopicSettingsEditor);
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/PointCloudBuilder.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/PointCloudBuilder.js
index 5fc5bcf26..1d8d80337 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/PointCloudBuilder.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/PointCloudBuilder.js
@@ -11,12 +11,16 @@ import { type MouseEventObject } from "regl-worldview";
 
 import { type FieldReader, Float32Reader, Int32Reader, Uint16Reader, Int16Reader, Uint8Reader } from "./Readers";
 import log from "webviz-core/src/panels/ThreeDimensionalViz/logger";
-import type { PointCloud2, PointCloud2Field } from "webviz-core/src/types/Messages";
+import {
+  DEFAULT_FLAT_COLOR,
+  type PointCloudSettings,
+  type ColorMode,
+} from "webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/PointCloudSettingsEditor";
+import type { PointCloud2, PointField } from "webviz-core/src/types/Messages";
+import { lerp } from "webviz-core/src/util";
 
 const EMPTY_ARRAY = [];
-const POINT_STEP = 12;
-const COLOR_STEP = 3;
-const FLOAT32_FIELDS = ["x", "y", "z"];
+const REQUIRED_FLOAT32_FIELDS = ["x", "y", "z"];
 const DATATYPE = {
   uint8: 2,
   uint16: 4,
@@ -26,15 +30,10 @@ const DATATYPE = {
 };
 
 type FieldOffsetsAndReaders = {
-  x: { offset: number },
-  y: { offset: number },
-  z: { offset: number },
-  rgb?: { offset: number },
-  rgbOverride?: { offset: number, reader: ?FieldReader },
-  [additionalFieldName: string]: { offset: number, reader: FieldReader },
+  [name: string]: { datatype: string, offset: number, reader: ?FieldReader },
 };
 
-function getReader(datatype, offset: number, isColorField?: boolean) {
+function getReader(datatype, offset: number) {
   switch (datatype) {
     case DATATYPE.float32:
       return new Float32Reader(offset);
@@ -47,99 +46,96 @@ function getReader(datatype, offset: number, isColorField?: boolean) {
     case DATATYPE.int32:
       return new Int32Reader(offset);
     default:
-      if (isColorField) {
-        log.error("colorField of value other than float32, uint16, int32, or uint8 not supported", datatype);
-      } else {
-        log.error("Unsupported datatype", datatype);
-      }
+      log.error("Unsupported datatype", datatype);
   }
 }
 
-function getFieldOffsetsAndReaders(
-  fields: PointCloud2Field[],
-  colorField: ?string,
-  decodeAllFields?: boolean
-): ?FieldOffsetsAndReaders {
+function getFieldOffsetsAndReaders(fields: PointField[]): FieldOffsetsAndReaders {
   const result = {};
-  fields.forEach((field) => {
-    const { name, datatype, offset = 0 } = field;
-    if (name === colorField) {
-      result.rgbOverride = { offset, reader: getReader(datatype, offset, true) };
-    }
-    if (FLOAT32_FIELDS.includes(name)) {
-      if (datatype !== DATATYPE.float32) {
-        log.error(`${name} value not represented as float32`);
-      } else {
-        result[name] = { offset };
-      }
-    } else if (name === "rgb") {
-      result.rgb = field;
-    } else if (decodeAllFields) {
-      // additional field to be decoded after interacting with the point cloud
-      result[name] = { offset, reader: getReader(datatype, offset) };
-    }
-  });
-
-  if (result.x == null) {
-    log.error("Unable to find x field for point cloud");
-    return;
-  }
-  if (result.y == null) {
-    log.error("Unable to find y field for point cloud");
-    return;
-  }
-  if (result.z == null) {
-    log.error("Unable to find z field for point cloud");
-    return;
-  }
-  if (result.rgb == null) {
-    result.rgb = { offset: -1 };
+  for (const { name, datatype, offset = 0 } of fields) {
+    result[name] = { datatype, offset, reader: getReader(datatype, offset) };
   }
-
   return result;
 }
 
-export function mapMarker(marker: PointCloud2, decodeAllFields?: boolean) {
+function parseHexColor(color: string) {
+  console.assert(color.length === 7);
+  return parseInt(color.slice(1), 16);
+}
+
+export function mapMarker(marker: PointCloud2 & { settings?: PointCloudSettings }, decodeAllFields?: boolean) {
   // http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud2.html
-  const { fields, data, width, row_step: rowStep, height, point_step: dataStep, colorField, color } = marker;
-  const offsetAndReaders = getFieldOffsetsAndReaders(fields, colorField);
+  const { fields, data, width, row_step, height, point_step, settings = {} } = marker;
+  const offsetsAndReaders = getFieldOffsetsAndReaders(fields);
 
-  if (!offsetAndReaders) {
-    console.warn("missing field offsets for marker");
-    return { points: [], colors: [] };
+  for (const float32Field of REQUIRED_FLOAT32_FIELDS) {
+    if (!offsetsAndReaders[float32Field]) {
+      log.error(`point cloud is missing field '${float32Field}'`);
+      return { points: [], colors: [] };
+    } else if (offsetsAndReaders[float32Field].datatype !== DATATYPE.float32) {
+      log.error(`expected '${float32Field}' to be a float32 field (found ${offsetsAndReaders[float32Field].datatype})`);
+      return { points: [], colors: [] };
+    }
   }
   const {
     x: { offset: xOffset },
     y: { offset: yOffset },
     z: { offset: zOffset },
     rgb: { offset: rgbOffset } = {},
-    rgbOverride: { reader: rgbOverrideReader } = {},
-  } = offsetAndReaders;
+  } = offsetsAndReaders;
+
+  const colorMode: ColorMode = settings.colorMode
+    ? settings.colorMode
+    : rgbOffset != null
+    ? { mode: "rgb" }
+    : { mode: "flat", flatColor: DEFAULT_FLAT_COLOR };
+
   const points = new Uint8Array(width * height * 12);
   const colors = new Uint8Array(width * height * 3);
-  let pointCount = 0;
-  let minColorFieldValue = Number.MAX_VALUE;
-  let maxColorFieldValue = Number.MIN_VALUE;
+
+  let autoMinValue = true;
+  let autoMaxValue = true;
+  let minColorFieldValue = Infinity;
+  let maxColorFieldValue = -Infinity;
+  if (colorMode.mode === "gradient" || colorMode.mode === "rainbow") {
+    if (colorMode.minValue != null) {
+      autoMinValue = false;
+      minColorFieldValue = colorMode.minValue;
+    }
+    if (colorMode.maxValue != null) {
+      autoMaxValue = false;
+      maxColorFieldValue = colorMode.maxValue;
+    }
+  }
+
   // the field "rgb" has a special parsing code path - it's packed into the first three bytes of a float32
   // so if the colorField is rgb don't use a reader - its faster to just read the value directly
   // it also is the default rendering option if no custom colorField is specified
-  const useRGB = rgbOffset !== -1 && (!colorField || colorField === "rgb");
-  const useColorField = !useRGB && offsetAndReaders.rgbOverride;
-  // use empty array if not coloring with colorField to avoid unneeded allocation
-  const colorFieldValues = useColorField ? new Array(width * height) : EMPTY_ARRAY;
+  const useRGB = colorMode.mode === "rgb" && rgbOffset != null;
+
+  const useFlatColor = colorMode.mode === "flat";
+  const parsedFlatColor = colorMode.mode === "flat" ? parseHexColor(colorMode.flatColor) : 0;
+  const flatColorR = (parsedFlatColor >> 16) & 0xff;
+  const flatColorG = (parsedFlatColor >> 8) & 0xff;
+  const flatColorB = parsedFlatColor & 0xff;
+
+  const colorFieldReader =
+    colorMode.mode === "rainbow" || colorMode.mode === "gradient"
+      ? offsetsAndReaders[colorMode.colorField]?.reader
+      : null;
+  if (colorMode.colorField && !colorFieldReader) {
+    log.warn(`color field ${colorMode.colorField} not found in point cloud`);
+  }
+  const colorFieldValues = colorFieldReader ? new Float64Array(width * height) : EMPTY_ARRAY;
 
-  // in practice we use height:1 pointCloud2 messages
-  // but for completeness sake, we support any height of array
+  let pointCount = 0;
   for (let row = 0; row < height; row++) {
-    const dataOffset = row * rowStep;
     for (let col = 0; col < width; col++) {
-      const dataStart = col * dataStep + dataOffset;
-      const x1 = data[dataStart + xOffset];
-      const x2 = data[dataStart + xOffset + 1];
-      const x3 = data[dataStart + xOffset + 2];
-      const x4 = data[dataStart + xOffset + 3];
-
-      const pointStart = pointCount * POINT_STEP;
+      const pointDataStart = row * row_step + col * point_step;
+      const x1 = data[pointDataStart + xOffset];
+      const x2 = data[pointDataStart + xOffset + 1];
+      const x3 = data[pointDataStart + xOffset + 2];
+      const x4 = data[pointDataStart + xOffset + 3];
 
       // if the value is NaN then don't count this point
       // this is to support non-dense point clouds
@@ -148,6 +144,8 @@ export function mapMarker(marker: PointCloud2, decodeAllFields?: boolean) {
         continue;
       }
 
+      const pointStart = pointCount * 12;
+
       // add x point
       points[pointStart] = x1;
       points[pointStart + 1] = x2;
@@ -155,63 +153,88 @@ export function mapMarker(marker: PointCloud2, decodeAllFields?: boolean) {
       points[pointStart + 3] = x4;
 
       // add y point
-      points[pointStart + 4] = data[dataStart + yOffset];
-      points[pointStart + 5] = data[dataStart + yOffset + 1];
-      points[pointStart + 6] = data[dataStart + yOffset + 2];
-      points[pointStart + 7] = data[dataStart + yOffset + 3];
+      points[pointStart + 4] = data[pointDataStart + yOffset];
+      points[pointStart + 5] = data[pointDataStart + yOffset + 1];
+      points[pointStart + 6] = data[pointDataStart + yOffset + 2];
+      points[pointStart + 7] = data[pointDataStart + yOffset + 3];
 
       // add z point
-      points[pointStart + 8] = data[dataStart + zOffset];
-      points[pointStart + 9] = data[dataStart + zOffset + 1];
-      points[pointStart + 10] = data[dataStart + zOffset + 2];
-      points[pointStart + 11] = data[dataStart + zOffset + 3];
+      points[pointStart + 8] = data[pointDataStart + zOffset];
+      points[pointStart + 9] = data[pointDataStart + zOffset + 1];
+      points[pointStart + 10] = data[pointDataStart + zOffset + 2];
+      points[pointStart + 11] = data[pointDataStart + zOffset + 3];
 
       // add color
-      const colorStart = pointCount * COLOR_STEP;
-      if (useRGB) {
-        colors[colorStart] = data[dataStart + rgbOffset];
-        colors[colorStart + 1] = data[dataStart + rgbOffset + 1];
-        colors[colorStart + 2] = data[dataStart + rgbOffset + 2];
-      } else if (useColorField && rgbOverrideReader) {
-        const colorValue = rgbOverrideReader.read(data, dataStart);
-        colorFieldValues[pointCount] = colorValue;
-        if (!Number.isNaN(colorValue)) {
-          minColorFieldValue = Math.min(minColorFieldValue, colorValue);
-          maxColorFieldValue = Math.max(maxColorFieldValue, colorValue);
+      const colorStart = pointCount * 3;
+      if (useFlatColor) {
+        colors[colorStart] = flatColorR;
+        colors[colorStart + 1] = flatColorG;
+        colors[colorStart + 2] = flatColorB;
+      } else if (useRGB) {
+        colors[colorStart] = data[pointDataStart + rgbOffset];
+        colors[colorStart + 1] = data[pointDataStart + rgbOffset + 1];
+        colors[colorStart + 2] = data[pointDataStart + rgbOffset + 2];
+      } else if (colorFieldReader) {
+        const colorFieldValue = colorFieldReader.read(data, pointDataStart);
+        colorFieldValues[pointCount] = colorFieldValue;
+        if (!Number.isNaN(colorFieldValue)) {
+          if (autoMinValue) {
+            minColorFieldValue = Math.min(minColorFieldValue, colorFieldValue);
+          }
+          if (autoMaxValue) {
+            maxColorFieldValue = Math.max(maxColorFieldValue, colorFieldValue);
+          }
         }
       } else {
-        // rgb isn't mandatory - color white if not found in fields
-        colors[colorStart] = 255;
-        colors[colorStart + 1] = 255;
-        colors[colorStart + 2] = 255;
+        throw new Error(`unexpected color mode ${colorMode.mode}`);
       }
-      // increase point count by 1
       pointCount++;
     }
   }
 
-  // we need to loop through colorField values again now that we know min/max
-  // and assign a color to the pointCloud for each colorField value
-  if (useColorField || color) {
+  if (colorFieldReader) {
     // if min and max are equal set the diff to something huge
     // so when we divide by it we effectively get zero.
     // taken from http://docs.ros.org/jade/api/rviz/html/c++/point__cloud__transformers_8cpp_source.html
     // line 132
-    const colorFieldRange = maxColorFieldValue - minColorFieldValue || 1e20;
-    const parsedColor = getParsedColor(color);
-    for (let i = 0; i < pointCount; i++) {
-      const idx = i * 3;
-      const val = colorFieldValues[i];
-      const pct = (val - minColorFieldValue) / colorFieldRange;
-
-      if (parsedColor) {
-        colors[idx] = parsedColor[0];
-        colors[idx + 1] = parsedColor[1];
-        colors[idx + 2] = parsedColor[2];
-      } else {
-        setColorFieldColor(colors, idx, pct, color);
+    const colorFieldRange = maxColorFieldValue - minColorFieldValue || Infinity;
+
+    // we need to loop through colorField values again now that we know min/max
+    // and assign a color to the pointCloud for each colorField value
+
+    // use custom gradient
+    if (colorMode.mode === "gradient") {
+      const parsedMinColor = parseHexColor(colorMode.minColor);
+      const parsedMaxColor = parseHexColor(colorMode.maxColor);
+      for (let i = 0; i < pointCount; i++) {
+        const offset = i * 3;
+        const val = colorFieldValues[i];
+        const pct = Math.max(0, Math.min((val - minColorFieldValue) / colorFieldRange, 1));
+
+        const minR = (parsedMinColor >> 16) & 0xff;
+        const minG = (parsedMinColor >> 8) & 0xff;
+        const minB = parsedMinColor & 0xff;
+
+        const maxR = (parsedMaxColor >> 16) & 0xff;
+        const maxG = (parsedMaxColor >> 8) & 0xff;
+        const maxB = parsedMaxColor & 0xff;
+
+        colors[offset] = lerp(pct, minR, maxR);
+        colors[offset + 1] = lerp(pct, minG, maxG);
+        colors[offset + 2] = lerp(pct, minB, maxB);
       }
     }
+    // use rainbow
+    else if (colorMode.mode === "rainbow") {
+      for (let i = 0; i < pointCount; i++) {
+        const offset = i * 3;
+        const val = colorFieldValues[i];
+        const pct = Math.max(0, Math.min((val - minColorFieldValue) / colorFieldRange, 1));
+        setRainbowColor(colors, offset, pct);
+      }
+    } else {
+      throw new Error(`unexpected color mode ${colorMode.mode}`);
+    }
   }
 
   return {
@@ -258,14 +281,14 @@ export function getClickedInfo(maybeFullyDecodedMarker: MouseEventObject, instan
   return result;
 }
 
-function getAdditionalFieldNames(fields: PointCloud2Field[]): string[] {
+function getAdditionalFieldNames(fields: PointField[]): string[] {
   const allFields = fields.map((field) => field.name);
-  return difference(allFields, ["rgb", "rgbOverride", "x", "y", "z"]);
+  return difference(allFields, ["rgb", "x", "y", "z"]);
 }
 
 export function decodeAdditionalFields(marker: PointCloud2): { [fieldName: string]: number[] } {
-  const { fields, data, width, row_step: rowStep, height, point_step: dataStep, colorField } = marker;
-  const offsets = getFieldOffsetsAndReaders(fields, colorField, true);
+  const { fields, data, width, row_step, height, point_step } = marker;
+  const offsets = getFieldOffsetsAndReaders(fields);
   if (!offsets) {
     return {};
   }
@@ -277,9 +300,9 @@ export function decodeAdditionalFields(marker: PointCloud2): { [fieldName: strin
     return memo;
   }, {});
   for (let row = 0; row < height; row++) {
-    const dataOffset = row * rowStep;
+    const dataOffset = row * row_step;
     for (let col = 0; col < width; col++) {
-      const dataStart = col * dataStep + dataOffset;
+      const dataStart = col * point_step + dataOffset;
       for (const fieldName of additionalField) {
         const reader = offsets[fieldName].reader;
         if (reader) {
@@ -298,22 +321,10 @@ export function decodeAdditionalFields(marker: PointCloud2): { [fieldName: strin
   };
 }
 
-function getParsedColor(color) {
-  if (color) {
-    const rgbVals = color.split(",").map((char) => parseInt(char));
-    const r = rgbVals[0] || 0;
-    const g = rgbVals[1] || 0;
-    const b = rgbVals[2] || 0;
-    return [r, g, b];
-  }
-  return null;
-}
-
 // taken from http://docs.ros.org/jade/api/rviz/html/c++/point__cloud__transformers_8cpp_source.html
 // line 47
-// TODO - implement 1 solid color, hue change (e.g. spread from (55, 0, 0, 1) => (30, 0, 0, 1));
-function setColorFieldColor(colors: Uint8Array, idx: number, val: number, color?: string) {
-  const h = (1 - val) * 5.0 + 1.0;
+function setRainbowColor(colors: Uint8Array, offset: number, pct: number) {
+  const h = (1 - pct) * 5.0 + 1.0;
   const i = Math.floor(h);
   let f = h % 1.0;
   // if i is even
@@ -345,9 +356,9 @@ function setColorFieldColor(colors: Uint8Array, idx: number, val: number, color?
     g = n;
     b = 0;
   }
-  colors[idx] = r * 255;
-  colors[idx + 1] = g * 255;
-  colors[idx + 2] = b * 255;
+  colors[offset] = r * 255;
+  colors[offset + 1] = g * 255;
+  colors[offset + 2] = b * 255;
 }
 
 // Compare `data` field by reference because the same marker msg contains the same binary data,
@@ -356,9 +367,4 @@ const isPointCloudEqual = (a, b) => {
   return a.data === b.data && isEqual(a.settings, b.settings);
 };
 
-export const memoizedMapMarker = microMemoize(
-  ({ data, settings = {}, ...rest }) => {
-    return mapMarker({ data, ...rest, ...settings });
-  },
-  { isEqual: isPointCloudEqual, maxSize: 30 }
-);
+export const memoizedMapMarker = microMemoize(mapMarker, { isEqual: isPointCloudEqual, maxSize: 30 });
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/PointCloudBuilder.test.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/PointCloudBuilder.test.js
index 90821bda5..97be8d5e3 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/PointCloudBuilder.test.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/PointCloudBuilder.test.js
@@ -34,7 +34,10 @@ describe("PointCloudBuilder", () => {
   });
 
   it("uses rgb values when rendering by rgb colorfield", () => {
-    const result = mapMarker({ ...POINT_CLOUD_MESSAGE, colorField: "rgb" });
+    const result = mapMarker({
+      ...POINT_CLOUD_MESSAGE,
+      settings: { colorMode: { mode: "rgb" } },
+    });
     const pos = result.points;
     const colorCodes = result.colors;
     expect(pos).toHaveLength(6);
@@ -55,7 +58,7 @@ describe("PointCloudBuilder", () => {
   it("builds point cloud with custom colors", () => {
     const input = {
       ...POINT_CLOUD_MESSAGE,
-      colorField: "x",
+      settings: { colorMode: { mode: "rainbow", colorField: "x" } },
     };
     const result = mapMarker(input);
     const pos = result.points;
@@ -75,6 +78,29 @@ describe("PointCloudBuilder", () => {
     expect(colorCodes[5]).toBe(0);
   });
 
+  it("builds point cloud with custom flat color", () => {
+    const input = {
+      ...POINT_CLOUD_MESSAGE,
+      settings: { colorMode: { mode: "flat", flatColor: "#123456" } },
+    };
+    const result = mapMarker(input);
+    const pos = result.points;
+    const colorCodes = result.colors;
+    expect(pos).toHaveLength(6);
+    expect(Math.floor(pos[0])).toBe(-2239);
+    expect(Math.floor(pos[1])).toBe(-706);
+    expect(Math.floor(pos[2])).toBe(-3);
+    expect(Math.floor(pos[3])).toBe(-2239);
+    expect(Math.floor(pos[4])).toBe(-706);
+    expect(Math.floor(pos[5])).toBe(-3);
+    expect(colorCodes[0]).toBe(0x12);
+    expect(colorCodes[1]).toBe(0x34);
+    expect(colorCodes[2]).toBe(0x56);
+    expect(colorCodes[3]).toBe(0x12);
+    expect(colorCodes[4]).toBe(0x34);
+    expect(colorCodes[5]).toBe(0x56);
+  });
+
   it("builds a point cloud with height 3", () => {
     const result = mapMarker({
       ...POINT_CLOUD_MESSAGE,
@@ -283,20 +309,106 @@ describe("PointCloudBuilder", () => {
       ],
     };
 
-    it("reads uint8", () => {
-      const result = mapMarker({ ...marker, colorField: "foo" });
-      // because we only have 2 values, the colors should be min/max of rainbow spectrum
-      expect(result.colors).toEqual(new Uint8Array([255, 0, 0, 255, 0, 255]));
+    it("reads uint8 rainbow with min/max value", () => {
+      // because we only have 2 values, the colors should be min/max
+      expect(
+        mapMarker({
+          ...marker,
+          settings: {
+            colorMode: {
+              mode: "rainbow",
+              colorField: "foo",
+            },
+          },
+        }).colors
+      ).toEqual(new Uint8Array([255, 0, 0, 255, 0, 255]));
+
+      // point 1 is halfway between minValue=5 and point 2, so color should be halfway in between
+      expect(
+        mapMarker({
+          ...marker,
+          settings: {
+            colorMode: {
+              mode: "rainbow",
+              colorField: "foo",
+              minValue: 5,
+            },
+          },
+        }).colors
+      ).toEqual(new Uint8Array([0, 255, 127, 255, 0, 255]));
+
+      // point 2 is halfway between point 1 and maxValue=11, so color should be halfway in between
+      expect(
+        mapMarker({
+          ...marker,
+          settings: {
+            colorMode: {
+              mode: "rainbow",
+              colorField: "foo",
+              maxValue: 11,
+            },
+          },
+        }).colors
+      ).toEqual(new Uint8Array([255, 0, 0, 0, 255, 127]));
+    });
+
+    it("reads uint8 custom gradient with min/max value", () => {
+      // because we only have 2 values, the colors should be min/max
+      expect(
+        mapMarker({
+          ...marker,
+          settings: {
+            colorMode: {
+              mode: "gradient",
+              colorField: "foo",
+              minColor: "#ff7700",
+              maxColor: "#0000ff",
+            },
+          },
+        }).colors
+      ).toEqual(new Uint8Array([0xff, 0x77, 0, 0, 0, 0xff]));
+
+      // point 1 is halfway between minValue=5 and point 2, so color should be halfway in between
+      expect(
+        mapMarker({
+          ...marker,
+          settings: {
+            colorMode: {
+              mode: "gradient",
+              colorField: "foo",
+              minValue: 5,
+              minColor: "#ff7700",
+              maxColor: "#0000ff",
+            },
+          },
+        }).colors
+      ).toEqual(new Uint8Array([0x7f, 0x3b, 0x7f, 0, 0, 0xff]));
+
+      // point 2 is halfway between point 1 and maxValue=11, so color should be halfway in between
+      expect(
+        mapMarker({
+          ...marker,
+          settings: {
+            colorMode: {
+              mode: "gradient",
+              colorField: "foo",
+              maxValue: 11,
+              minColor: "#ff7700",
+              maxColor: "#0000ff",
+            },
+          },
+        }).colors
+      ).toEqual(new Uint8Array([0xff, 0x77, 0, 0x7f, 0x3b, 0x7f]));
     });
 
     it("reads uint16", () => {
-      const result = mapMarker({ ...marker, colorField: "bar" });
+      const result = mapMarker({ ...marker, settings: { colorMode: { mode: "rainbow", colorField: "bar" } } });
       // because we only have 2 values, the colors should be min/max of rainbow spectrum
       expect(result.colors).toEqual(new Uint8Array([255, 0, 0, 255, 0, 255]));
     });
 
     it("reads int32", () => {
-      const result = mapMarker({ ...marker, colorField: "baz" });
+      const result = mapMarker({ ...marker, settings: { colorMode: { mode: "rainbow", colorField: "baz" } } });
       // because we only have 2 values, the colors should be min/max of rainbow spectrum
       expect(result.colors).toEqual(new Uint8Array([255, 0, 0, 255, 0, 255]));
     });
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/index.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/index.js
index 2deb8a34b..365499c5c 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/index.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/index.js
@@ -65,10 +65,10 @@ const pointCloud = (regl: Regl) => {
 
     uniforms: {
       pointSize: (context, props) => {
-        return props.pointSize || 2;
+        return props.settings?.pointSize || 2;
       },
       isCircle: (context, props) => {
-        return props.pointShape ? props.pointShape === "circle" : true;
+        return props.settings?.pointShape ? props.settings?.pointShape === "circle" : true;
       },
     },
 
@@ -84,11 +84,15 @@ const pointCloud = (regl: Regl) => {
   };
 };
 
-function instancedGetChildrenForHitmap<T: { points: Float32Array, pointSize?: number, colors: Uint8Array | number[] }>(
-  props: T[],
-  assignNextColors: AssignNextColorsFn,
-  excludedObjects: MouseEventObject[]
-): T[] {
+function instancedGetChildrenForHitmap<
+  T: {
+    points: Float32Array,
+    colors: Uint8Array | number[],
+    settings: {
+      pointSize?: number,
+    },
+  }
+>(props: T[], assignNextColors: AssignNextColorsFn, excludedObjects: MouseEventObject[]): T[] {
   return filterMap(props, (prop) => {
     // exclude all points if one has been interacted with because iterating through all points in
     // in pointcloud object is expensive
@@ -110,7 +114,8 @@ function instancedGetChildrenForHitmap<T: { points: Float32Array, pointSize?: nu
     });
     hitmapProp.colors = allColors;
     // expand the interaction area
-    hitmapProp.pointSize = (hitmapProp.pointSize || 2) * 5;
+    hitmapProp.settings = hitmapProp.settings ? { ...hitmapProp.settings } : {};
+    hitmapProp.settings.pointSize = (hitmapProp.settings.pointSize || 2) * 5;
     return hitmapProp;
   });
 }
diff --git a/packages/webviz-core/src/types/Messages.js b/packages/webviz-core/src/types/Messages.js
index 9d91c1d55..d8ada4382 100644
--- a/packages/webviz-core/src/types/Messages.js
+++ b/packages/webviz-core/src/types/Messages.js
@@ -236,7 +236,7 @@ type PointCloud1 = StampedMessage & {
   type: "PointCloud1",
 };
 
-export type PointCloud2Field = {
+export type PointField = {
   name: string,
   offset: number,
   datatype: number,
@@ -244,7 +244,7 @@ export type PointCloud2Field = {
 };
 
 export type PointCloud2 = StampedMessage & {
-  fields: PointCloud2Field[],
+  fields: PointField[],
   height: number,
   width: number,
   is_bigendian: number, // TODO: Do we need this?
diff --git a/packages/webviz-core/src/util.js b/packages/webviz-core/src/util.js
index 6a5024a49..9bd485971 100644
--- a/packages/webviz-core/src/util.js
+++ b/packages/webviz-core/src/util.js
@@ -52,6 +52,16 @@ export function arrayToPoint(v: ?[number, number, number]) {
   return { x: v[0], y: v[1], z: v[2] };
 }
 
+// returns the linear interpolation between a and b based on unit-range variable t
+export function lerp(t: number, a: number, b: number): number {
+  // Clamp t to (0, 1)
+  t = Math.min(Math.max(t, 0.0), 1.0);
+  if (a === b) {
+    return a;
+  }
+  return a + t * (b - a);
+}
+
 // the following regex captures characters allowed in the value of a kv-pair in the query component
 // of a URI, minus "&" and "+" because they are handled specially by browsers.
 //   https://tools.ietf.org/html/rfc3986

From a2a31c044569ef95976e899b98f8d08fe982b384 Mon Sep 17 00:00:00 2001
From: David Winegar <david.winegar@getcruise.com>
Date: Wed, 11 Dec 2019 16:32:46 -0800
Subject: [PATCH 18/50] Update worldview hitmap docs (#285)

These docs were incorrect: they were based on an earlier version of
the hitmap code. Update them to correct the hitmap usage.
---
 docs/src/3.4.MouseEvents.mdx | 10 ++++------
 1 file changed, 4 insertions(+), 6 deletions(-)

diff --git a/docs/src/3.4.MouseEvents.mdx b/docs/src/3.4.MouseEvents.mdx
index 861649fad..1f43373c1 100755
--- a/docs/src/3.4.MouseEvents.mdx
+++ b/docs/src/3.4.MouseEvents.mdx
@@ -122,8 +122,8 @@ Some important things to remember:
 type AssignNextColorsFn = (object: Object, count: number) => Vec4[];
 ```
 
-- - Each object that you want to support mouse events on requires a unique ID. If your command actually renders multiple items per input object (such as when using [instanced drawing](https://github.com/regl-project/regl/blob/gh-pages/example/instance-triangle.js)), you may want a separate ID for each item — in this case, call `assignNextColors` with a count gretaer than 1.
-- Once you have this ID, pass it to `intToRGB()` to get the color to paint your object. Don't apply any transparency or shading to your object or this will mess up the hitmap.
+- - Each object that you want to support mouse events on requires a unique color. This color serves as the unique object ID. If your command actually renders multiple items per input object (such as when using [instanced drawing](https://github.com/regl-project/regl/blob/gh-pages/example/instance-triangle.js)), you may want a separate color for each item — in this case, call `assignNextColors` with a count greater than 1.
+- Once you have this color, make sure to use it as the color of your object. Don't apply any transparency or shading to your object or this will mess up the hitmap.
 
 Example using composition of the default `getChildrenForHitmap` functions:
 
@@ -161,10 +161,8 @@ Example using a custom `getChildrenForHitmap` function:
         }
         // We copy each point array.
         const hitmapProp = { ...prop };
-        // We get 1 new ID, and pass in the original prop so it will be the object passed to any event handlers.
-        const [id] = assignNextColors(object, 1);
-        // We turn the objectHitmapId into a color and use it for the points.
-        const hitmapColor = intToRGB(id);
+        // We get 1 new color, and pass in the original prop so it will be the object passed to any event handlers.
+        const [hitmapColor] = assignNextColors(object, 1);
         hitmapProp.color = hitmapColor;
         if (hitmapProp.points) {
           hitmapProp.colors = new Array(hitmapProp.points.length).fill(hitmapColor);

From 2e7db3aafffec39b541728668c97ce7d83eee007 Mon Sep 17 00:00:00 2001
From: David Crawford <david.crawford@gmail.com>
Date: Wed, 18 Dec 2019 09:29:27 -0800
Subject: [PATCH 19/50] Update packages/webviz-core from internal repo (#289)

Changelog:
- In the 3D panel, moved "Flatten markers" from the topic selector to the panel settings since it's not associated with any topics.
- Added ability to set min and max values for both x and y axes in the 2D Plot panel.
- Added support for slices using global variables in the topic path syntax, e.g. to get $my_idx of an array.
- Added ability to diff messages from 2 different topics in Raw Messages panel.
- Added a warning when a topic in the 3D panel is in the non-root frame. Webviz has a known bug with applying transforms correctly when they are not in the root frame, so this change alerts users to that fact when it is affecting their view.
- Fixed edge case where wrapping around playback to the start of the bag would miss messages which timestamp are at the very start of the bag.
- Fixed inability to copy large messages to the clipboard in JSON format from the Raw Messages panel.
- Fixed a Plot panel bug where looping through the bag caused it to crash.
- Allow skip publishing in Node Playground by returning 'undefined'.
- Fixed topics disappearing in the 3D panel flat topic list.
- Fixed inability to play markers from webviz_bag_2 in the image panel. The webviz_bag_2 image topics in the image panel topic selector menu are also now grouped the same way that image topics from the first bag are.
- Now we always show some data in panels upon first load, even if a seek-to URL query parameter is not given.
- Various improvements to playback performance, including using threads for rendering images, a Playback Performance panel, more playback speed options, and other more minor improvements.
---
 packages/webviz-core/.eslintrc.js             |   7 +-
 packages/webviz-core/package-lock.json        | 108 +++
 packages/webviz-core/package.json             |   1 +
 .../public/fixtures/only-a-cube.bag           | Bin 26405 -> 17755 bytes
 packages/webviz-core/public/index.html        |   2 +-
 packages/webviz-core/shared/delay.js          |   2 +-
 ...ntTopicStyles.js => panelToolbarStyles.js} |   7 +-
 packages/webviz-core/shared/signal.js         |   2 +-
 packages/webviz-core/src/PanelAPI/index.js    |   2 +-
 .../src/PanelAPI/useDataSourceInfo.js         |  12 +-
 .../src/PanelAPI/useDataSourceInfo.test.js    |  10 +-
 .../src/PanelAPI/useMessages.test.js          |   2 +-
 .../webviz-core/src/actions/extensions.js     |   2 +-
 packages/webviz-core/src/actions/index.js     |   2 +-
 packages/webviz-core/src/actions/mosaic.js    |   2 +-
 packages/webviz-core/src/actions/panels.js    |   2 +-
 packages/webviz-core/src/actions/userNodes.js |   2 +-
 packages/webviz-core/src/assets/logo.svg      |   2 +-
 .../src/components/AppMenu/index.js           |  11 +-
 .../src/components/AppMenu/index.stories.js   |   2 +-
 .../src/components/AutoSizingCanvas/index.js  |   2 +-
 .../AutoSizingCanvas/index.stories.js         |  10 +-
 .../src/components/Autocomplete.js            |  24 +-
 .../src/components/Autocomplete.module.scss   |   2 +-
 .../src/components/Autocomplete.stories.js    |   2 +-
 packages/webviz-core/src/components/Button.js |   2 +-
 .../webviz-core/src/components/Checkbox.js    |   2 +-
 .../src/components/ChildToggle/index.js       |   2 +-
 .../components/ChildToggle/index.module.scss  |   2 +-
 .../components/ChildToggle/index.stories.js   |   2 +-
 .../webviz-core/src/components/ColorPicker.js |   8 +-
 .../src/components/ColorPicker.stories.js     |   2 +-
 .../webviz-core/src/components/Confirm.js     |   2 +-
 .../src/components/Confirm.module.scss        |   2 +-
 .../src/components/Confirm.stories.js         |   2 +-
 .../src/components/ContextMenu/index.js       |   2 +-
 .../components/ContextMenu/index.stories.js   |   2 +-
 .../webviz-core/src/components/CopyText.js    |   2 +-
 .../src/components/CopyToClipboard.js         |   4 +-
 .../src/components/DocumentDropListener.js    |   2 +-
 .../webviz-core/src/components/DropOverlay.js |   2 +-
 .../src/components/DropOverlay.stories.js     |   2 +-
 .../src/components/Dropdown/index.js          |   2 +-
 .../src/components/Dropdown/index.module.scss |   2 +-
 .../src/components/Dropdown/index.stories.js  |   2 +-
 .../webviz-core/src/components/EmptyState.js  |   2 +-
 .../src/components/ErrorBoundary.js           |   2 +-
 .../src/components/ErrorBoundary.stories.js   |   2 +-
 .../src/components/ErrorDisplay.js            |   2 +-
 .../src/components/ErrorDisplay.stories.js    |   2 +-
 .../src/components/ExpandingToolbar.js        |   2 +-
 .../components/ExpandingToolbar.module.scss   |   2 +-
 .../ExperimentalFeatures.fixture.js           |  55 ++
 .../src/components/ExperimentalFeatures.js    | 196 +++++
 .../ExperimentalFeatures.stories.js           |  27 +
 .../components/ExperimentalFeatures.test.js   |  68 ++
 packages/webviz-core/src/components/Flex.js   |  14 +-
 .../src/components/Flex.module.scss           |   2 +-
 .../GlobalVariablesAccessor/index.js          |   2 +-
 .../src/components/GradientPicker.js          |   2 +-
 .../src/components/GradientPicker.stories.js  |   8 +-
 .../webviz-core/src/components/HelpModal.js   |   2 +-
 packages/webviz-core/src/components/Icon.js   |   2 +-
 .../webviz-core/src/components/Icon.test.js   |   2 +-
 .../webviz-core/src/components/IconButton.js  |   2 +-
 .../webviz-core/src/components/LargeList.js   |   6 +-
 .../src/components/LargeList.stories.js       |   2 +-
 .../webviz-core/src/components/LayoutMenu.js  |  16 +-
 .../webviz-core/src/components/LayoutModal.js |   8 +-
 .../webviz-core/src/components/Menu/Item.js   |   2 +-
 .../webviz-core/src/components/Menu/Menu.js   |   2 +-
 .../src/components/Menu/SubMenu.js            |   2 +-
 .../webviz-core/src/components/Menu/index.js  |   2 +-
 .../src/components/Menu/index.module.scss     |   2 +-
 .../src/components/Menu/index.stories.js      |   2 +-
 .../MessageHistory/FrameCompatibility.js      |   2 +-
 .../MessageHistory/FrameCompatibility.test.js |   2 +-
 .../MessageHistory/MessageHistoryInput.js     |  24 +-
 .../MessageHistoryInput.module.scss           |   2 +-
 .../MessageHistoryOnlyTopics.js               |   6 +-
 .../src/components/MessageHistory/fixture.js  |   4 +-
 .../MessageHistory/getMessageHistoryItem.js   |  11 +-
 .../getMessageHistoryItem.test.js             | 308 +++++---
 .../src/components/MessageHistory/hooks.js    |   6 +-
 .../components/MessageHistory/hooks.test.js   |   2 +-
 .../src/components/MessageHistory/index.js    |  18 +-
 .../MessageHistory/index.stories.js           |  90 ++-
 .../components/MessageHistory/index.test.js   |  10 +-
 .../MessageHistory/internalCommon.js          |  10 +-
 .../MessageHistory/messagePathsForDatatype.js |   8 +-
 .../messagePathsForDatatype.test.js           |  41 +-
 .../components/MessageHistory/parseRosPath.js |   6 +-
 .../MessageHistory/parseRosPath.test.js       |  87 ++-
 .../MessageHistory/rosPathGrammar.ne          |  13 +-
 .../MessageHistory/synchronizeMessages.js     |  12 +-
 .../synchronizeMessages.test.js               |   4 +-
 .../MessageHistory/topicPathSyntax.help.md    |   1 +
 .../components/MessagePipeline/FakePlayer.js  |   2 +-
 .../src/components/MessagePipeline/index.js   |   2 +-
 .../components/MessagePipeline/index.test.js  |   4 +-
 .../warnOnOutOfSyncMessages.js                |   2 +-
 .../warnOnOutOfSyncMessages.test.js           |   2 +-
 packages/webviz-core/src/components/Modal.js  |   4 +-
 .../src/components/Modal.stories.js           |   2 +-
 packages/webviz-core/src/components/Panel.js  |  21 +-
 .../webviz-core/src/components/Panel.test.js  |   8 +-
 .../src/components/PanelContext.js            |   4 +-
 .../webviz-core/src/components/PanelLayout.js |  12 +-
 .../src/components/PanelLayout.scss           |   2 +-
 .../src/components/PanelLayout.stories.js     |   2 +-
 .../src/components/PanelToolbar/HelpButton.js |   2 +-
 .../PanelToolbar/MosaicDragHandle.js          |  11 +-
 .../src/components/PanelToolbar/index.js      |  69 +-
 .../components/PanelToolbar/index.module.scss |  19 +-
 .../components/PanelToolbar/index.stories.js  |   3 +-
 .../src/components/PanelToolbar/utils.js      |   2 +-
 .../PlaybackControls/ProgressPlot.js          |   2 +-
 .../src/components/PlaybackControls/index.js  |   4 +-
 .../PlaybackControls/index.module.scss        |   2 +-
 .../PlaybackControls/index.stories.js         |   2 +-
 .../src/components/PlaybackSpeedControls.js   |  18 +-
 .../PlaybackSpeedControls.stories.js          |   2 +-
 .../src/components/PlayerManager.js           |  28 +-
 .../webviz-core/src/components/Progress.js    |   2 +-
 packages/webviz-core/src/components/Radio.js  |   2 +-
 .../src/components/Radio.stories.js           |   2 +-
 packages/webviz-core/src/components/Root.js   |   2 +-
 .../src/components/Root.module.scss           |   2 +-
 .../src/components/SegmentedControl.js        |   2 +-
 .../components/SegmentedControl.stories.js    |   2 +-
 .../src/components/Select/Option.js           |   2 +-
 .../src/components/Select/Select.js           |   2 +-
 .../src/components/Select/index.js            |   2 +-
 .../src/components/Select/index.stories.js    |   2 +-
 .../src/components/ShareJsonModal.js          |  10 +-
 .../src/components/ShareJsonModal.module.scss |   2 +-
 .../src/components/ShareJsonModal.stories.js  |   2 +-
 .../src/components/ShareJsonModal.test.js     |   2 +-
 packages/webviz-core/src/components/Slider.js |   4 +-
 .../src/components/Slider.stories.js          |   2 +-
 .../webviz-core/src/components/Sparkline.js   |   2 +-
 .../src/components/Sparkline.stories.js       |   2 +-
 .../src/components/SpinningLoadingIcon.js     |   2 +-
 .../SpinningLoadingIcon.module.scss           |   2 +-
 .../webviz-core/src/components/TextContent.js |   2 +-
 .../src/components/TextContent.module.scss    |   2 +-
 .../webviz-core/src/components/TextField.js   |  15 +-
 .../src/components/TextField.stories.js       |   2 +-
 .../TimeBasedChart/TimeBasedChartLegend.js    |   2 +-
 .../TimeBasedChart/TimeBasedChartTooltip.js   |   2 +-
 .../TimeBasedChartTooltip.module.scss         |   2 +-
 .../TimeBasedChartTooltip.stories.js          |   2 +-
 .../components/TimeBasedChart/constants.js    |   2 +-
 .../src/components/TimeBasedChart/index.js    |  70 +-
 .../TimeBasedChart/index.stories.js           |  94 +++
 .../webviz-core/src/components/Toolbar.js     |   2 +-
 .../src/components/Toolbar.module.scss        |   2 +-
 .../webviz-core/src/components/Tooltip.js     |   2 +-
 .../src/components/Tooltip.module.scss        |   2 +-
 .../src/components/Tooltip.stories.js         |   2 +-
 .../src/components/TopicToRenderMenu.js       |   2 +-
 .../components/TopicToRenderMenu.stories.js   |   2 +-
 .../webviz-core/src/components/Tree/Node.js   |   2 +-
 .../src/components/Tree/TreeNode.js           |   2 +-
 .../webviz-core/src/components/Tree/index.js  |   2 +-
 .../src/components/Tree/index.module.scss     |   2 +-
 .../src/components/Tree/index.stories.js      |   2 +-
 .../src/components/ValidatedInput.js          |  10 +-
 .../src/components/ValidatedInput.stories.js  |   2 +-
 .../src/components/createSyncingComponent.js  |   2 +-
 .../components/createSyncingComponent.test.js |   2 +-
 .../src/components/icon.module.scss           |   2 +-
 .../src/components/renderToBody.js            |   2 +-
 .../webviz-core/src/components/validators.js  |   2 +-
 .../src/components/validators.test.js         |   2 +-
 .../src/components/withDragDropContext.js     |   2 +-
 .../dataProviders/ApiCheckerDataProvider.js   |   2 +-
 .../ApiCheckerDataProvider.test.js            |   8 +-
 .../src/dataProviders/BagDataProvider.js      |   2 +-
 .../src/dataProviders/BagDataProvider.test.js |   2 +-
 .../src/dataProviders/BrowserHttpReader.js    |   2 +-
 .../src/dataProviders/CombinedDataProvider.js |  27 +-
 .../CombinedDataProvider.test.js              |  52 +-
 .../src/dataProviders/FetchReader.js          |   2 +-
 .../IdbCacheDataProviderDatabase.js           |   2 +-
 .../IdbCacheReaderDataProvider.js             |   2 +-
 .../IdbCacheReaderDataProvider.test.js        |   2 +-
 .../IdbCacheWriterDataProvider.js             |   2 +-
 .../IdbCacheWriterDataProvider.test.js        |   2 +-
 .../src/dataProviders/MeasureDataProvider.js  |   2 +-
 .../dataProviders/MemoryCacheDataProvider.js  |   2 +-
 .../MemoryCacheDataProvider.test.js           |   2 +-
 .../src/dataProviders/MemoryDataProvider.js   |   2 +-
 .../ParseMessagesDataProvider.js              |   2 +-
 .../ParseMessagesDataProvider.test.js         |   2 +-
 .../src/dataProviders/RpcDataProvider.js      |   2 +-
 .../src/dataProviders/RpcDataProvider.test.js |   6 +-
 .../dataProviders/RpcDataProviderRemote.js    |   2 +-
 .../src/dataProviders/WorkerDataProvider.js   |   2 +-
 .../WorkerDataProvider.worker.js              |   2 +-
 .../dataProviders/createGetDataProvider.js    |   2 +-
 .../src/dataProviders/getRemoteBagGuid.js     |   2 +-
 .../dataProviders/getRemoteBagGuid.test.js    |   2 +-
 .../src/dataProviders/mockExtensionPoint.js   |   2 +-
 .../src/dataProviders/rootGetDataProvider.js  |   2 +-
 .../standardDataProviderDescriptors.js        |  23 +-
 .../webviz-core/src/dataProviders/types.js    |   2 +-
 packages/webviz-core/src/filterMap.js         |   2 +-
 packages/webviz-core/src/filterMap.test.js    |   2 +-
 packages/webviz-core/src/globals.js.flow      |   3 +-
 .../src/hooks/useGlobalVariables.js           |   2 +-
 .../webviz-core/src/hooks/useUserNodes.js     |   2 +-
 packages/webviz-core/src/index.js             |   2 +-
 packages/webviz-core/src/loadWebviz.js        |  28 +-
 .../src/panels/GlobalVariables/index.js       |  10 +-
 .../panels/GlobalVariables/index.stories.js   |  13 +-
 .../src/panels/ImageView/CameraModel.js       |   2 +-
 .../src/panels/ImageView/ImageCanvas.js       |  30 +-
 .../panels/ImageView/ImageCanvas.module.scss  |   2 +-
 .../panels/ImageView/ImageCanvas.stories.js   |   2 +-
 .../panels/ImageView/ImageCanvas.worker.js    |   2 +-
 .../ImageView/ImageCanvasWorkerProvider.js    |   2 +-
 .../ImageCanvasWorkerProvider.test.js         |   2 +-
 .../src/panels/ImageView/decodings.js         |   2 +-
 .../src/panels/ImageView/decodings.test.js    |   2 +-
 .../webviz-core/src/panels/ImageView/index.js |  31 +-
 .../src/panels/ImageView/index.module.scss    |   2 +-
 .../src/panels/ImageView/renderImage.js       |  15 +-
 .../webviz-core/src/panels/ImageView/util.js  |  12 +-
 .../src/panels/ImageView/util.test.js         |  45 +-
 packages/webviz-core/src/panels/Internals.js  |  22 +-
 .../webviz-core/src/panels/Internals.test.js  |   2 +-
 .../BottomBar/DiagnosticsSection.js           |   2 +-
 .../NodePlayground/BottomBar/LogsSection.js   |   2 +-
 .../panels/NodePlayground/BottomBar/index.js  |   2 +-
 .../src/panels/NodePlayground/Editor.js       |   2 +-
 .../src/panels/NodePlayground/Sidebar.js      |   2 +-
 .../src/panels/NodePlayground/index.help.md   |  26 +-
 .../src/panels/NodePlayground/index.js        |  46 +-
 .../panels/NodePlayground/index.stories.js    |   2 +-
 packages/webviz-core/src/panels/Note/index.js |   2 +-
 .../src/panels/Note/index.stories.js          |   4 +-
 .../webviz-core/src/panels/NumberOfRenders.js |   2 +-
 .../webviz-core/src/panels/PanelList/index.js |  12 +-
 .../src/panels/PanelList/index.stories.js     |   2 +-
 .../src/panels/PlaybackPerformance.js         |   2 +-
 .../webviz-core/src/panels/Plot/PlotChart.js  |   9 +-
 .../src/panels/Plot/PlotChart.module.scss     |   2 +-
 .../webviz-core/src/panels/Plot/PlotLegend.js |   2 +-
 .../src/panels/Plot/PlotLegend.module.scss    |   2 +-
 .../webviz-core/src/panels/Plot/PlotMenu.js   |   2 +-
 .../src/panels/Plot/PlotMenu.module.scss      |   2 +-
 .../src/panels/Plot/PlotMenu.stories.js       |   2 +-
 .../src/panels/Plot/PlotMenu.test.js          |   2 +-
 .../webviz-core/src/panels/Plot/derivative.js |   2 +-
 .../src/panels/Plot/derivative.test.js        |   2 +-
 packages/webviz-core/src/panels/Plot/index.js |   2 +-
 .../src/panels/Plot/index.stories.js          | 113 ++-
 .../src/panels/Plot/internalTypes.js          |   2 +-
 .../src/panels/RawMessages/Diff.js            |  85 +++
 .../src/panels/RawMessages/Metadata.js        |  56 ++
 .../panels/RawMessages/RawMessagesIcons.js    |  72 ++
 .../src/panels/RawMessages/fixture.js         | 128 +++-
 .../src/panels/RawMessages/getDiff.js         | 115 +++
 .../src/panels/RawMessages/getDiff.test.js    | 127 ++++
 .../RawMessages/getValueActionForValue.js     |   2 +-
 .../getValueActionForValue.test.js            |   2 +-
 .../src/panels/RawMessages/index.js           | 678 ++++++++----------
 .../src/panels/RawMessages/index.module.scss  |   4 +-
 .../src/panels/RawMessages/index.stories.js   |  57 +-
 .../src/panels/RawMessages/utils.js           | 161 +++++
 .../src/panels/Rosout/LevelToString.js        |   2 +-
 .../src/panels/Rosout/LogMessage.js           |   2 +-
 .../src/panels/Rosout/LogMessage.module.scss  |   2 +-
 .../webviz-core/src/panels/Rosout/index.js    |  20 +-
 .../src/panels/Rosout/index.module.scss       |   2 +-
 .../src/panels/Rosout/index.stories.js        |   2 +-
 .../src/panels/Rosout/index.test.js           |   2 +-
 .../src/panels/StateTransitions/index.js      |   2 +-
 .../panels/StateTransitions/index.stories.js  |  42 +-
 .../StateTransitions/labelVisibilityMap.js    |   2 +-
 .../webviz-core/src/panels/SubscribeToList.js |   2 +-
 .../src/panels/SubscribeToList.stories.js     |   2 +-
 .../panels/ThreeDimensionalViz/Crosshair.js   |   2 +-
 .../panels/ThreeDimensionalViz/DebugStats.js  |   2 +-
 .../DrawingTools/CameraInfo.js                |  24 +-
 .../DrawingTools/MeasuringTool.js             |   2 +-
 .../DrawingTools/Polygons.js                  |  14 +-
 .../ThreeDimensionalViz/DrawingTools/index.js |   2 +-
 .../DrawingTools/index.stories.js             |   2 +-
 .../ThreeDimensionalViz/FollowTFControl.js    |   6 +-
 .../Interactions/GeneralInfo.js               |   2 +-
 .../LinkToGlobalVariable.js                   |   2 +-
 .../UnlinkGlobalVariable.js                   |   2 +-
 .../UnlinkGlobalVariables.js                  |   6 +-
 .../UnlinkGlobalVariables.stories.js          |   2 +-
 .../GlobalVariableLink/UnlinkWrapper.js       |   2 +-
 .../Interactions/GlobalVariableLink/index.js  |   6 +-
 .../Interactions/GlobalVariableName.js        |   2 +-
 .../Interactions/Interaction.stories.js       |   2 +-
 .../Interactions/InteractionContextMenu.js    |   2 +-
 .../InteractionContextMenu.stories.js         |   2 +-
 .../Interactions/Interactions.js              |   2 +-
 .../Interactions/LinkedGlobalVariableList.js  |   2 +-
 .../Interactions/ObjectDetails.js             |   2 +-
 .../Interactions/PointCloudDetails.js         |   7 +-
 .../Interactions/TopicLink.js                 |   2 +-
 .../ThreeDimensionalViz/Interactions/index.js |   2 +-
 .../Interactions/interactionUtils.js          |   2 +-
 .../ThreeDimensionalViz/Interactions/types.js |   2 +-
 .../Interactions/useLinkedGlobalVariables.js  |   2 +-
 .../ThreeDimensionalViz/LaserScanVert.js      |   2 +-
 .../src/panels/ThreeDimensionalViz/Layout.js  | 156 ++--
 .../ThreeDimensionalViz/LayoutToolbar.js      |   4 +-
 .../LayoutTopicSettings.js                    |   5 +-
 .../panels/ThreeDimensionalViz/MainToolbar.js |   2 +-
 .../ThreeDimensionalViz/MeasureMarker.js      |   2 +-
 .../ThreeDimensionalViz/PositionControl.js    |   2 +-
 .../PositionControl.test.js                   |   2 +-
 .../ThreeDimensionalViz/ReglLeakChecker.js    |   2 +-
 .../SceneBuilder/MessageCollector.js          |   2 +-
 .../SceneBuilder/MessageCollector.test.js     |   2 +-
 .../ThreeDimensionalViz/SceneBuilder/index.js |  72 +-
 .../SceneBuilder/index.test.js                |   2 +-
 .../TopicGroups/ItemMap.js                    |  24 +
 .../TopicGroups/ItemRow.js                    |  50 ++
 .../ThreeDimensionalViz/TopicGroups/ItemTf.js |  24 +
 .../TopicGroups/ItemTopic.js                  |  25 +
 .../TopicGroups/LayoutForTopicGroups.js       | 648 +++++++++++++++++
 .../TopicGroups/TopicGroup.js                 |  53 ++
 .../TopicGroups/TopicGroups.js                |  45 ++
 .../TopicGroups/constants.js                  |  15 +
 .../ThreeDimensionalViz/TopicGroups/index.js  |  11 +
 .../TopicGroups/topicGroupsUtils.js           |  95 +++
 .../TopicGroups/topicGroupsUtils.test.js      |  83 +++
 .../ThreeDimensionalViz/TopicGroups/types.js  |  83 +++
 .../TopicSelector/TopicDisplayModeSelector.js |   2 +-
 .../TopicSelector/TopicSelectorFlatList.js    |   2 +-
 .../TopicSelector/TopicSelectorMenu.js        |   2 +-
 .../TopicSelector/TopicSelectorTree.js        |   2 +-
 .../TopicSelector/TopicSelectorWrapper.js     |   2 +-
 .../TopicSelector/index.js                    |   2 +-
 .../TopicSelector/topicTree.js                |   2 +-
 .../TopicSelector/treeBuilder.js              |   8 +-
 .../LaserScanSettingsEditor.js                |   2 +-
 .../MarkerSettingsEditor.js                   |   2 +-
 .../PointCloudSettingsEditor.js               |  33 +-
 .../TopicSettingsEditor/PoseSettingsEditor.js |   2 +-
 .../TopicSettingsEditor/common.js             |   2 +-
 .../TopicSettingsEditor/index.js              |   4 +-
 .../TopicSettingsEditor/index.test.js         |   2 +-
 .../panels/ThreeDimensionalViz/Transforms.js  |   2 +-
 .../ThreeDimensionalViz/TransformsBuilder.js  |   9 +-
 .../src/panels/ThreeDimensionalViz/World.js   |   2 +-
 .../__snapshots__/topicTreeUtils.test.js.snap |   8 +-
 .../src/panels/ThreeDimensionalViz/color.js   |   2 +-
 .../commands/CarModel/index.js                |   2 +-
 .../commands/LaserScans.js                    |   2 +-
 .../commands/LinedConvexHulls.js              |   2 +-
 .../commands/OccupancyGrids.js                |   2 +-
 .../commands/Pointclouds/PointCloudBuilder.js |   2 +-
 .../Pointclouds/PointCloudBuilder.test.js     |   2 +-
 .../commands/Pointclouds/Readers.js           |   2 +-
 .../Pointclouds/fixture/pointCloudData.js     |   2 +-
 .../commands/Pointclouds/index.js             |   2 +-
 .../commands/PoseMarkers.js                   |   2 +-
 .../commands/PoseMarkers.stories.js           |   2 +-
 .../ThreeDimensionalViz/commands/index.js     |   2 +-
 .../commands/utils/index.js                   |   2 +-
 .../ThreeDimensionalViz/getDebugStorybook.js  |   2 +-
 .../src/panels/ThreeDimensionalViz/index.js   | 132 ++--
 .../src/panels/ThreeDimensionalViz/logger.js  |   2 +-
 .../threeDimensionalVizUtils.js               |  34 +-
 .../ThreeDimensionalViz/topicTreeUtils.js     |  50 +-
 .../topicTreeUtils.test.js                    | 118 +--
 .../utils/drawToolUtils.js                    |   2 +-
 .../utils/drawToolUtils.test.js               |   2 +-
 .../ThreeDimensionalViz/withTransforms.js     |   2 +-
 .../panels/TwoDimensionalPlot/index.help.md   |  83 +++
 .../src/panels/TwoDimensionalPlot/index.js    | 265 +++++++
 .../TwoDimensionalPlot/index.stories.js       | 100 +++
 .../panels/diagnostics/DiagnosticStatus.js    |   4 +-
 .../diagnostics/DiagnosticStatus.module.scss  |   2 +-
 .../diagnostics/DiagnosticStatusPanel.js      |   8 +-
 .../panels/diagnostics/DiagnosticSummary.js   |   4 +-
 .../diagnostics/DiagnosticSummary.module.scss |   2 +-
 .../panels/diagnostics/DiagnosticsHistory.js  |   2 +-
 .../src/panels/diagnostics/util.js            |   2 +-
 .../src/panels/diagnostics/util.test.js       |   2 +-
 .../webviz-core/src/players/NodePlayer.js     |   2 +-
 .../src/players/NodePlayer.test.js            |  16 +-
 .../src/players/NoopMetricsCollector.js       |   2 +-
 .../src/players/RandomAccessPlayer.js         |  32 +-
 .../src/players/RandomAccessPlayer.test.js    | 164 +++--
 .../webviz-core/src/players/TestProvider.js   |  50 +-
 .../src/players/UserNodePlayer/index.js       |   6 +-
 .../src/players/UserNodePlayer/index.test.js  | 156 ++--
 .../UserNodePlayer/nodeRuntimeWorker/index.js |   2 +-
 .../nodeRuntimeWorker/registry.js             |   2 +-
 .../nodeRuntimeWorker/registry.test.js        |   2 +-
 .../players/UserNodePlayer/nodeSecurity.js    |  27 +-
 .../UserNodePlayer/nodeSecurity.test.js       |  28 +-
 .../nodeTransformerWorker/index.js            |   2 +-
 .../nodeTransformerWorker/transformer.js      |   2 +-
 .../nodeTransformerWorker/transformer.test.js | 350 +++++----
 .../nodeTransformerWorker/typescript/ast.js   |  31 +-
 .../typescript/baseDatatypes.js               | 162 +++--
 .../nodeTransformerWorker/typescript/debug.js |   9 +-
 .../typescript/errors.js                      |  11 +-
 .../nodeTransformerWorker/typescript/lib.js   |   2 +-
 .../nodeTransformerWorker/typescript/ros.js   |   2 +-
 .../nodeTransformerWorker/utils.js            |   2 +-
 .../src/players/UserNodePlayer/types.js       |   3 +-
 .../src/players/UserNodePlayer/worker.mock.js |   2 +-
 .../automatedRun/AutomatedRunPlayer.js        |   2 +-
 .../automatedRun/AutomatedRunPlayer.test.js   |  14 +-
 .../performanceMeasuringClient.js             |   7 +-
 .../performanceMeasuringClient.test.js        |   6 +-
 .../automatedRun/videoRecordingClient.js      |   2 +-
 packages/webviz-core/src/players/nodes.js     |   2 +-
 .../webviz-core/src/players/nodes.test.js     |   2 +-
 packages/webviz-core/src/players/types.js     |   2 +-
 packages/webviz-core/src/reducers/auth.js     |   2 +-
 .../webviz-core/src/reducers/extensions.js    |   2 +-
 packages/webviz-core/src/reducers/index.js    |   2 +-
 packages/webviz-core/src/reducers/mosaic.js   |   2 +-
 packages/webviz-core/src/reducers/panels.js   |   2 +-
 .../webviz-core/src/reducers/panels.test.js   |   2 +-
 .../webviz-core/src/reducers/userNodes.js     |   2 +-
 .../src/reducers/userNodes.test.js            |   2 +-
 .../webviz-core/src/store/configureStore.js   |   2 +-
 .../src/store/configureStore.testing.js       |   2 +-
 .../webviz-core/src/store/getGlobalStore.js   |   2 +-
 packages/webviz-core/src/store/index.js       |   2 +-
 .../webviz-core/src/stories/PanelSetup.js     |   6 +-
 .../src/stories/PanelSetupWithBag.js          |   2 +-
 .../src/stories/helpPages.stories.js          |   2 +-
 .../src/stories/inScreenshotTests.js          |   2 +-
 .../src/stories/prepareForScreenshots.js      |   2 +-
 .../webviz-core/src/styles/colors.module.scss |   2 +-
 packages/webviz-core/src/styles/global.scss   |   2 +-
 .../webviz-core/src/styles/mixins.module.scss |   2 +-
 .../webviz-core/src/styles/waitForFonts.js    |   2 +-
 .../webviz-core/src/test/MemoryStorage.js     |   2 +-
 packages/webviz-core/src/test/MockSvg.js      |   2 +-
 packages/webviz-core/src/test/MockWorker.js   |   2 +-
 packages/webviz-core/src/test/sentry-stub.js  |   2 +-
 packages/webviz-core/src/test/setup.js        |  11 +-
 .../src/test/setupTestFramework.js            |   2 +-
 .../src/test/stubs/MonacoEditor.js            |   2 +-
 packages/webviz-core/src/types/Auth.js        |   2 +-
 packages/webviz-core/src/types/Messages.js    |   2 +-
 .../webviz-core/src/types/RosDatatypes.js     |   8 +-
 packages/webviz-core/src/types/Scene.js       |   2 +-
 packages/webviz-core/src/types/Store.js       |   2 +-
 packages/webviz-core/src/types/layouts.js     |   2 +-
 .../src/types/modules/CSSModule.js.flow       |   2 +-
 .../src/types/modules/Markdown.js.flow        |   2 +-
 .../src/types/modules/Nearley.js.flow         |   2 +-
 .../src/types/modules/WorkerLoader.js.flow    |   2 +-
 packages/webviz-core/src/types/panels.js      |   2 +-
 packages/webviz-core/src/types/router.js      |   2 +-
 packages/webviz-core/src/util.js              |   2 +-
 packages/webviz-core/src/util.test.js         |   2 +-
 packages/webviz-core/src/util/Bounds.js       |   2 +-
 .../webviz-core/src/util/CachedFilelike.js    |   2 +-
 .../src/util/CachedFilelike.test.js           |   6 +-
 packages/webviz-core/src/util/Logger.js       |   2 +-
 .../src/util/MessageReaderStore.js            |   2 +-
 .../src/util/MessageReaderStore.test.js       |   2 +-
 packages/webviz-core/src/util/Pose.js         |   2 +-
 packages/webviz-core/src/util/Rpc.js          |   2 +-
 packages/webviz-core/src/util/Rpc.test.js     |   2 +-
 packages/webviz-core/src/util/RpcUtils.js     |   2 +-
 .../webviz-core/src/util/RpcUtils.test.js     |   2 +-
 packages/webviz-core/src/util/Storage.js      |   2 +-
 packages/webviz-core/src/util/Storage.test.js |   2 +-
 .../webviz-core/src/util/VirtualLRUBuffer.js  |   2 +-
 .../src/util/VirtualLRUBuffer.test.js         |   2 +-
 .../src/util/bagConnectionsHelper.js          |   9 +-
 .../src/util/bagConnectionsHelper.test.js     |  16 +-
 packages/webviz-core/src/util/clipboard.js    |  36 +-
 packages/webviz-core/src/util/colors.js       |  12 +-
 .../webviz-core/src/util/debouncePromise.js   |   2 +-
 .../src/util/debouncePromise.test.js          |   2 +-
 packages/webviz-core/src/util/dev.js          |   2 +-
 packages/webviz-core/src/util/entities.js     |   2 +-
 packages/webviz-core/src/util/fuzzyFilter.js  |   2 +-
 .../webviz-core/src/util/fuzzyFilter.test.js  |   2 +-
 .../webviz-core/src/util/getNewConnection.js  |   2 +-
 .../src/util/getNewConnection.test.js         |   2 +-
 .../webviz-core/src/util/globalConstants.js   |   2 +-
 packages/webviz-core/src/util/history.js      |   2 +-
 .../src/util/inAutomatedRunMode.js            |   2 +-
 .../src/util/indexeddb/Database.js            |   4 +-
 .../src/util/indexeddb/Database.test.js       |  34 +-
 .../src/util/indexeddb/DbWriter.js            |   2 +-
 .../src/util/indexeddb/MetaDatabase.js        |   2 +-
 .../src/util/indexeddb/MetaDatabase.test.js   |   2 +-
 .../src/util/indexeddb/clearIndexedDb.js      |   2 +-
 .../src/util/indexeddb/getDatabasesInTests.js |   2 +-
 .../webviz-core/src/util/indexeddb/types.js   |   2 +-
 .../webviz-core/src/util/installChartjs.js    |   2 +-
 .../src/util/installDevtoolsFormatters.js     |   2 +-
 .../webviz-core/src/util/migratePanels.js     |   2 +-
 .../src/util/migratePanels.test.js            |   2 +-
 .../src/util/multicolorLineChart.js           |   6 +-
 packages/webviz-core/src/util/naturalSort.js  |   2 +-
 .../webviz-core/src/util/naturalSort.test.js  |   2 +-
 .../src/util/performanceMeasurements.js       |   2 +-
 packages/webviz-core/src/util/plotColors.js   |   2 +-
 .../src/util/quaternionFromEuler.js           |   2 +-
 .../webviz-core/src/util/quaternionToEuler.js |   2 +-
 packages/webviz-core/src/util/ranges.js       |   2 +-
 packages/webviz-core/src/util/ranges.test.js  |   2 +-
 packages/webviz-core/src/util/reportError.js  |   2 +-
 packages/webviz-core/src/util/selectors.js    |   6 +-
 .../webviz-core/src/util/selectors.test.js    |  76 +-
 packages/webviz-core/src/util/time.js         |   2 +-
 packages/webviz-core/src/util/time.test.js    |   2 +-
 packages/webviz-core/src/util/toggle.js       |   2 +-
 packages/webviz-core/src/util/toggle.test.js  |   2 +-
 .../webviz-core/src/util/toolsColorScheme.js  |   2 +-
 packages/webviz-core/src/util/yaml.js         |   2 +-
 524 files changed, 5913 insertions(+), 2184 deletions(-)
 rename packages/webviz-core/shared/{parentTopicStyles.js => panelToolbarStyles.js} (68%)
 create mode 100644 packages/webviz-core/src/components/ExperimentalFeatures.fixture.js
 create mode 100644 packages/webviz-core/src/components/ExperimentalFeatures.js
 create mode 100644 packages/webviz-core/src/components/ExperimentalFeatures.stories.js
 create mode 100644 packages/webviz-core/src/components/ExperimentalFeatures.test.js
 create mode 100644 packages/webviz-core/src/components/TimeBasedChart/index.stories.js
 create mode 100644 packages/webviz-core/src/panels/RawMessages/Diff.js
 create mode 100644 packages/webviz-core/src/panels/RawMessages/Metadata.js
 create mode 100644 packages/webviz-core/src/panels/RawMessages/RawMessagesIcons.js
 create mode 100644 packages/webviz-core/src/panels/RawMessages/getDiff.js
 create mode 100644 packages/webviz-core/src/panels/RawMessages/getDiff.test.js
 create mode 100644 packages/webviz-core/src/panels/RawMessages/utils.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/ItemMap.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/ItemRow.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/ItemTf.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/ItemTopic.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/LayoutForTopicGroups.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroup.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroups.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/constants.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/index.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsUtils.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsUtils.test.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/types.js
 create mode 100644 packages/webviz-core/src/panels/TwoDimensionalPlot/index.help.md
 create mode 100644 packages/webviz-core/src/panels/TwoDimensionalPlot/index.js
 create mode 100644 packages/webviz-core/src/panels/TwoDimensionalPlot/index.stories.js

diff --git a/packages/webviz-core/.eslintrc.js b/packages/webviz-core/.eslintrc.js
index a6d6048a0..18f915071 100644
--- a/packages/webviz-core/.eslintrc.js
+++ b/packages/webviz-core/.eslintrc.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -21,6 +21,7 @@ module.exports = {
         patterns: ["client/*", "shared/*", "server/*"],
       },
     ],
+    "no-shadow": "error",
     "no-restricted-syntax": [
       "error",
       {
@@ -39,8 +40,8 @@ module.exports = {
         " @flow",
         "",
         {
-          pattern: "^  Copyright \\(c\\) \\d{4}-present, GM Cruise LLC$",
-          template: "  Copyright (c) 2019-present, GM Cruise LLC",
+          pattern: "^  Copyright \\(c\\) \\d{4}-present, Cruise LLC$",
+          template: "  Copyright (c) 2019-present, Cruise LLC",
         },
         "",
         "  This source code is licensed under the Apache License, Version 2.0,",
diff --git a/packages/webviz-core/package-lock.json b/packages/webviz-core/package-lock.json
index bf5b8430e..38209d9c2 100644
--- a/packages/webviz-core/package-lock.json
+++ b/packages/webviz-core/package-lock.json
@@ -129,6 +129,28 @@
         }
       }
     },
+    "@trust/keyto": {
+      "version": "0.3.7",
+      "resolved": "https://registry.npmjs.org/@trust/keyto/-/keyto-0.3.7.tgz",
+      "integrity": "sha512-t5kWWCTkPgg24JWVuCTPMx7l13F7YHdxBeJkT1vmoHjROgiOIEAN8eeY+iRmP1Hwsx+S7U55HyuqSsECr08a8A==",
+      "requires": {
+        "asn1.js": "^5.0.1",
+        "base64url": "^3.0.1",
+        "elliptic": "^6.4.1"
+      }
+    },
+    "@trust/webcrypto": {
+      "version": "0.9.2",
+      "resolved": "https://registry.npmjs.org/@trust/webcrypto/-/webcrypto-0.9.2.tgz",
+      "integrity": "sha512-5iMAVcGYKhqLJGjefB1nzuQSqUJTru0nG4CytpBT/GGp1Piz/MVnj2jORdYf4JBYzggCIa8WZUr2rchP2Ngn/w==",
+      "requires": {
+        "@trust/keyto": "^0.3.4",
+        "base64url": "^3.0.0",
+        "elliptic": "^6.4.0",
+        "node-rsa": "^0.4.0",
+        "text-encoding": "^0.6.1"
+      }
+    },
     "@types/anymatch": {
       "version": "1.3.1",
       "resolved": "https://registry.npmjs.org/@types/anymatch/-/anymatch-1.3.1.tgz",
@@ -284,6 +306,21 @@
       "resolved": "https://registry.npmjs.org/asap/-/asap-2.0.6.tgz",
       "integrity": "sha1-5QNHYR1+aQlDIIu9r+vLwvuGbUY="
     },
+    "asn1": {
+      "version": "0.2.3",
+      "resolved": "https://registry.npmjs.org/asn1/-/asn1-0.2.3.tgz",
+      "integrity": "sha1-2sh4dxPJlmhJ/IGAd36+nB3fO4Y="
+    },
+    "asn1.js": {
+      "version": "5.2.0",
+      "resolved": "https://registry.npmjs.org/asn1.js/-/asn1.js-5.2.0.tgz",
+      "integrity": "sha512-Q7hnYGGNYbcmGrCPulXfkEw7oW7qjWeM4ZTALmgpuIcZLxyqqKYWxCZg2UBm8bklrnB4m2mGyJPWfoktdORD8A==",
+      "requires": {
+        "bn.js": "^4.0.0",
+        "inherits": "^2.0.1",
+        "minimalistic-assert": "^1.0.0"
+      }
+    },
     "babel-polyfill": {
       "version": "6.26.0",
       "resolved": "https://registry.npmjs.org/babel-polyfill/-/babel-polyfill-6.26.0.tgz",
@@ -333,6 +370,11 @@
       "resolved": "https://registry.npmjs.org/base64-js/-/base64-js-1.3.0.tgz",
       "integrity": "sha512-ccav/yGvoa80BQDljCxsmmQ3Xvx60/UpBIij5QN21W3wBi/hhIC9OoO+KLpu9IJTS9j4DRVJ3aDDF9cMSoa2lw=="
     },
+    "base64url": {
+      "version": "3.0.1",
+      "resolved": "https://registry.npmjs.org/base64url/-/base64url-3.0.1.tgz",
+      "integrity": "sha512-ir1UPr3dkwexU7FdV8qBBbNDRUhMmIekYMFZfi+C/sLNnRESKPl23nB9b2pltqfOQNnGzsDdId90AEtG5tCx4A=="
+    },
     "batch-processor": {
       "version": "1.0.0",
       "resolved": "https://registry.npmjs.org/batch-processor/-/batch-processor-1.0.0.tgz",
@@ -348,6 +390,16 @@
       "resolved": "https://registry.npmjs.org/big.js/-/big.js-5.2.2.tgz",
       "integrity": "sha512-vyL2OymJxmarO8gxMr0mhChsO9QGwhynfuu4+MHTAW6czfq9humCB7rKpUjDd9YUiDPU4mzpyupFSvOClAwbmQ=="
     },
+    "bn.js": {
+      "version": "4.11.8",
+      "resolved": "https://registry.npmjs.org/bn.js/-/bn.js-4.11.8.tgz",
+      "integrity": "sha512-ItfYfPLkWHUjckQCk8xC+LwxgK8NYcXywGigJgSwOP8Y2iyWT4f2vsZnoOXTTbo+o5yXmIUJ4gn5538SO5S3gA=="
+    },
+    "brorand": {
+      "version": "1.1.0",
+      "resolved": "https://registry.npmjs.org/brorand/-/brorand-1.1.0.tgz",
+      "integrity": "sha1-EsJe/kCkXjwyPrhnWgoM5XsiNx8="
+    },
     "buffer": {
       "version": "5.2.1",
       "resolved": "https://registry.npmjs.org/buffer/-/buffer-5.2.1.tgz",
@@ -620,6 +672,20 @@
         "batch-processor": "1.0.0"
       }
     },
+    "elliptic": {
+      "version": "6.5.2",
+      "resolved": "https://registry.npmjs.org/elliptic/-/elliptic-6.5.2.tgz",
+      "integrity": "sha512-f4x70okzZbIQl/NSRLkI/+tteV/9WqL98zx+SQ69KbXxmVrmjwsNUPn/gYJJ0sHvEak24cZgHIPegRePAtA/xw==",
+      "requires": {
+        "bn.js": "^4.4.0",
+        "brorand": "^1.0.1",
+        "hash.js": "^1.0.0",
+        "hmac-drbg": "^1.0.0",
+        "inherits": "^2.0.1",
+        "minimalistic-assert": "^1.0.0",
+        "minimalistic-crypto-utils": "^1.0.0"
+      }
+    },
     "emojis-list": {
       "version": "2.1.0",
       "resolved": "https://registry.npmjs.org/emojis-list/-/emojis-list-2.1.0.tgz",
@@ -795,6 +861,15 @@
       "resolved": "https://registry.npmjs.org/has-symbols/-/has-symbols-1.0.0.tgz",
       "integrity": "sha1-uhqPGvKg/DllD1yFA2dwQSIGO0Q="
     },
+    "hash.js": {
+      "version": "1.1.7",
+      "resolved": "https://registry.npmjs.org/hash.js/-/hash.js-1.1.7.tgz",
+      "integrity": "sha512-taOaskGt4z4SOANNseOviYDvjEJinIkRgmp7LbKP2YTTmVxWBl87s/uzK9r+44BclBSp2X7K1hqeNfz9JbBeXA==",
+      "requires": {
+        "inherits": "^2.0.3",
+        "minimalistic-assert": "^1.0.1"
+      }
+    },
     "heap": {
       "version": "0.2.6",
       "resolved": "https://registry.npmjs.org/heap/-/heap-0.2.6.tgz",
@@ -813,6 +888,16 @@
         "value-equal": "^0.4.0"
       }
     },
+    "hmac-drbg": {
+      "version": "1.0.1",
+      "resolved": "https://registry.npmjs.org/hmac-drbg/-/hmac-drbg-1.0.1.tgz",
+      "integrity": "sha1-0nRXAQJabHdabFRXk+1QL8DGSaE=",
+      "requires": {
+        "hash.js": "^1.0.3",
+        "minimalistic-assert": "^1.0.0",
+        "minimalistic-crypto-utils": "^1.0.1"
+      }
+    },
     "hoist-non-react-statics": {
       "version": "3.0.1",
       "resolved": "https://registry.npmjs.org/hoist-non-react-statics/-/hoist-non-react-statics-3.0.1.tgz",
@@ -1165,6 +1250,16 @@
         }
       }
     },
+    "minimalistic-assert": {
+      "version": "1.0.1",
+      "resolved": "https://registry.npmjs.org/minimalistic-assert/-/minimalistic-assert-1.0.1.tgz",
+      "integrity": "sha512-UtJcAD4yEaGtjPezWuO9wC4nwUnVH/8/Im3yEHQP4b67cXlD/Qr9hdITCU1xDbSEXg2XKNaP8jsReV7vQd00/A=="
+    },
+    "minimalistic-crypto-utils": {
+      "version": "1.0.1",
+      "resolved": "https://registry.npmjs.org/minimalistic-crypto-utils/-/minimalistic-crypto-utils-1.0.1.tgz",
+      "integrity": "sha1-9sAMHAsIIkblxNmd+4x8CDsrWCo="
+    },
     "minimist": {
       "version": "1.2.0",
       "resolved": "https://registry.npmjs.org/minimist/-/minimist-1.2.0.tgz",
@@ -1229,6 +1324,14 @@
       "resolved": "https://registry.npmjs.org/ngraph.events/-/ngraph.events-1.0.0.tgz",
       "integrity": "sha512-Z7wyywdw8IKjOW0bDiOG4FUqX5fwqW7SDMO1huemDXho7Qy1b02RoBkPS43KLIZU2wrW2orju99k8wIr+xXvVA=="
     },
+    "node-rsa": {
+      "version": "0.4.2",
+      "resolved": "https://registry.npmjs.org/node-rsa/-/node-rsa-0.4.2.tgz",
+      "integrity": "sha1-1jkXKewWqDDtWjgEKzFX0tXXJTA=",
+      "requires": {
+        "asn1": "0.2.3"
+      }
+    },
     "nomnom": {
       "version": "1.6.2",
       "resolved": "https://registry.npmjs.org/nomnom/-/nomnom-1.6.2.tgz",
@@ -2075,6 +2178,11 @@
       "resolved": "https://registry.npmjs.org/symbol-observable/-/symbol-observable-1.2.0.tgz",
       "integrity": "sha512-e900nM8RRtGhlV36KGEU9k65K3mPb1WV70OdjfxlG2EAuM1noi/E/BaW/uMhL7bPEssK8QV57vN3esixjUvcXQ=="
     },
+    "text-encoding": {
+      "version": "0.6.4",
+      "resolved": "https://registry.npmjs.org/text-encoding/-/text-encoding-0.6.4.tgz",
+      "integrity": "sha1-45mpgiV6J22uQou5KEXLcb3CbRk="
+    },
     "text-width": {
       "version": "1.2.0",
       "resolved": "https://registry.npmjs.org/text-width/-/text-width-1.2.0.tgz",
diff --git a/packages/webviz-core/package.json b/packages/webviz-core/package.json
index 0272fd59e..dc2ff66a5 100644
--- a/packages/webviz-core/package.json
+++ b/packages/webviz-core/package.json
@@ -8,6 +8,7 @@
     "@mdi/svg": "3.2.89",
     "@sentry/browser": "5.7.1",
     "@simonwep/pickr": "1.4.7",
+    "@trust/webcrypto": "0.9.2",
     "chart.js": "2.7.3",
     "chartjs-plugin-annotation": "0.5.7",
     "chartjs-plugin-datalabels": "0.4.0",
diff --git a/packages/webviz-core/public/fixtures/only-a-cube.bag b/packages/webviz-core/public/fixtures/only-a-cube.bag
index 0a57b9c9a9d2630199f3e4800446730bb1e2f29e..47909c8a1cc8652b8a704890721b6b00beeb3541 100644
GIT binary patch
delta 344
zcmZ2_j`4OE;{+2CCI$uuAt27oOG&MWFUT*p?b6=paf@GRpA-Xw08k=1KewPLwYWGl
zKhHKVKQEO9D3)Jf%eqf$^9P&f9Fw&rwT#n&VvIlx0xJ%P$2>o`Ns$N0E=Vj&%`1sd
zD@x2w<p%PTGct2hAl%6<k`}CHKrz|L2PH++kX3SmROaX9*@BFOTE}h#bPHH153<tD
z6T$=qCM#$OPR_RGoouJ2fGRuRnuC$e_v{0KSCU}IQpG}f0Y;|D8`2_0K%oNyAZNlb
E0C)0V3IG5A

delta 634
zcmccJ#klkw;{+2CW(EcZAt27oOG&MWFUT*p{baMz;}*ZtV{HZo0iZ;3er`cgYH@L9
zex7Y!eqJgIP%OW|mi4jr<__)W9Fw&rwe*vLVvIlx0xJ%P$2>o`Ns$N0PA)3VEKZG2
zD@x2wWe4#y5`hL4PwtSk2r>Zj#eujazaTT&RzEkfC_A+%J~J;KqKOlvJU=hb7Gy5e
zPIeujgK+EFEGMNbz#OP^bFzz;78}Hv$t7ADd=2(MGho1e@<c7EP(vVB0*Enfhd2>#
zJrht7%z9m*_4qVxmY32OP)E|iv=C}5EKraFVRMxh2O}HMwF0*!C%bBEGBQoh*A{0I
ofdngUf=5VzW*!$5n0()bkCA!uJC{fqP#}Q-DDGew6f7V%0LgHqsQ>@~

diff --git a/packages/webviz-core/public/index.html b/packages/webviz-core/public/index.html
index f51c7a5fe..8971f5248 100644
--- a/packages/webviz-core/public/index.html
+++ b/packages/webviz-core/public/index.html
@@ -1,5 +1,5 @@
 <!--
-  Copyright (c) 2018-present, GM Cruise LLC
+  Copyright (c) 2018-present, Cruise LLC
 
   This source code is licensed under the Apache License, Version 2.0,
   found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/shared/delay.js b/packages/webviz-core/shared/delay.js
index 79554f0d9..ffdea2b64 100644
--- a/packages/webviz-core/shared/delay.js
+++ b/packages/webviz-core/shared/delay.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/shared/parentTopicStyles.js b/packages/webviz-core/shared/panelToolbarStyles.js
similarity index 68%
rename from packages/webviz-core/shared/parentTopicStyles.js
rename to packages/webviz-core/shared/panelToolbarStyles.js
index 690bc8b6e..badbfbc9f 100644
--- a/packages/webviz-core/shared/parentTopicStyles.js
+++ b/packages/webviz-core/shared/panelToolbarStyles.js
@@ -1,17 +1,18 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 import styled from "styled-components";
 
-export const ParentTopicLabel = styled.label`
+export const PanelToolbarLabel = styled.label`
   display: block;
   padding-bottom: 5px;
 `;
 
-export const ParentTopicInput = styled.input`
+export const PanelToolbarInput = styled.input`
   width: 100%;
+  margin: 0;
 `;
diff --git a/packages/webviz-core/shared/signal.js b/packages/webviz-core/shared/signal.js
index 05855d587..f1cdce75d 100644
--- a/packages/webviz-core/shared/signal.js
+++ b/packages/webviz-core/shared/signal.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/PanelAPI/index.js b/packages/webviz-core/src/PanelAPI/index.js
index ee373f96e..b67658356 100644
--- a/packages/webviz-core/src/PanelAPI/index.js
+++ b/packages/webviz-core/src/PanelAPI/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/PanelAPI/useDataSourceInfo.js b/packages/webviz-core/src/PanelAPI/useDataSourceInfo.js
index b0dba605c..3e4070c71 100644
--- a/packages/webviz-core/src/PanelAPI/useDataSourceInfo.js
+++ b/packages/webviz-core/src/PanelAPI/useDataSourceInfo.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -25,7 +25,7 @@ export type DataSourceInfo = {|
 |};
 
 export default function useDataSourceInfo(): DataSourceInfo {
-  const datatypes = useMessagePipeline(useCallback(({ datatypes }) => datatypes, []));
+  const datatypes = useMessagePipeline(useCallback(({ datatypes: pipelineDatatypes }) => pipelineDatatypes, []));
   const topics = useMessagePipeline(useCallback(({ sortedTopics }) => sortedTopics, []));
   const startTime = useMessagePipeline(
     useCallback(({ playerState: { activeData } }) => activeData && activeData.startTime, [])
@@ -33,8 +33,12 @@ export default function useDataSourceInfo(): DataSourceInfo {
   const endTime = useMessagePipeline(
     useCallback(({ playerState: { activeData } }) => activeData && activeData.endTime, [])
   );
-  const capabilities = useMessagePipeline(useCallback(({ playerState: { capabilities } }) => capabilities, []));
-  const playerId = useMessagePipeline(useCallback(({ playerState: { playerId } }) => playerId, []));
+  const capabilities = useMessagePipeline(
+    useCallback(({ playerState: { capabilities: playerStateCapabilities } }) => playerStateCapabilities, [])
+  );
+  const playerId = useMessagePipeline(
+    useCallback(({ playerState: { playerId: playerStatePlayerId } }) => playerStatePlayerId, [])
+  );
 
   return {
     topics,
diff --git a/packages/webviz-core/src/PanelAPI/useDataSourceInfo.test.js b/packages/webviz-core/src/PanelAPI/useDataSourceInfo.test.js
index ab8d07524..394df2645 100644
--- a/packages/webviz-core/src/PanelAPI/useDataSourceInfo.test.js
+++ b/packages/webviz-core/src/PanelAPI/useDataSourceInfo.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -31,7 +31,7 @@ describe("useDataSourceInfo", () => {
     },
   ];
   const datatypes = {
-    Foo: [],
+    Foo: { fields: [] },
   };
 
   // Create a helper component that exposes the results of the hook in a Jest mock function
@@ -60,7 +60,7 @@ describe("useDataSourceInfo", () => {
       [
         {
           topics: [{ name: "/foo", datatype: "Foo" }],
-          datatypes: { Foo: [] },
+          datatypes: { Foo: { fields: [] } },
           capabilities: ["hello"],
           startTime: { sec: 0, nsec: 1 },
           endTime: { sec: 10, nsec: 0 },
@@ -88,7 +88,7 @@ describe("useDataSourceInfo", () => {
       [
         {
           topics: [{ name: "/foo", datatype: "Foo" }],
-          datatypes: { Foo: [] },
+          datatypes: { Foo: { fields: [] } },
           capabilities: ["hello"],
           startTime: { sec: 0, nsec: 1 },
           endTime: { sec: 10, nsec: 0 },
@@ -106,7 +106,7 @@ describe("useDataSourceInfo", () => {
       [
         {
           topics: [{ name: "/bar", datatype: "Bar" }, { name: "/foo", datatype: "Foo" }],
-          datatypes: { Foo: [] },
+          datatypes: { Foo: { fields: [] } },
           capabilities: ["hello"],
           startTime: { sec: 0, nsec: 1 },
           endTime: { sec: 10, nsec: 0 },
diff --git a/packages/webviz-core/src/PanelAPI/useMessages.test.js b/packages/webviz-core/src/PanelAPI/useMessages.test.js
index 4afdde57c..06bae9c06 100644
--- a/packages/webviz-core/src/PanelAPI/useMessages.test.js
+++ b/packages/webviz-core/src/PanelAPI/useMessages.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/actions/extensions.js b/packages/webviz-core/src/actions/extensions.js
index a7c472966..0d6001183 100644
--- a/packages/webviz-core/src/actions/extensions.js
+++ b/packages/webviz-core/src/actions/extensions.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/actions/index.js b/packages/webviz-core/src/actions/index.js
index e7b35b19f..d78ace3fe 100644
--- a/packages/webviz-core/src/actions/index.js
+++ b/packages/webviz-core/src/actions/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/actions/mosaic.js b/packages/webviz-core/src/actions/mosaic.js
index 9edeaa42d..28cec0c37 100644
--- a/packages/webviz-core/src/actions/mosaic.js
+++ b/packages/webviz-core/src/actions/mosaic.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/actions/panels.js b/packages/webviz-core/src/actions/panels.js
index fb48df118..035eb6ac2 100644
--- a/packages/webviz-core/src/actions/panels.js
+++ b/packages/webviz-core/src/actions/panels.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/actions/userNodes.js b/packages/webviz-core/src/actions/userNodes.js
index c11b1caf2..34725c176 100644
--- a/packages/webviz-core/src/actions/userNodes.js
+++ b/packages/webviz-core/src/actions/userNodes.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/assets/logo.svg b/packages/webviz-core/src/assets/logo.svg
index 31e749cb6..ef86e177b 100644
--- a/packages/webviz-core/src/assets/logo.svg
+++ b/packages/webviz-core/src/assets/logo.svg
@@ -1,5 +1,5 @@
 <!--
-Copyright (c) 2018-present, GM Cruise LLC
+Copyright (c) 2018-present, Cruise LLC
 
 This source code is licensed under the Apache License, Version 2.0,
 found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/AppMenu/index.js b/packages/webviz-core/src/components/AppMenu/index.js
index f96bd3f04..c370a0813 100644
--- a/packages/webviz-core/src/components/AppMenu/index.js
+++ b/packages/webviz-core/src/components/AppMenu/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -50,20 +50,19 @@ class UnconnectedAppMenu extends Component<Props, State> {
   };
 
   _onPanelSelect = (panelType: string, panelConfig?: PanelConfig) => {
-    const { panels, changePanelLayout, savePanelConfig } = this.props;
     const id = getPanelIdForType(panelType);
     let newPanels = {
       direction: "row",
       first: id,
-      second: panels.layout,
+      second: this.props.panels.layout,
     };
-    if (isEmpty(panels.layout)) {
+    if (isEmpty(this.props.panels.layout)) {
       newPanels = id;
     }
     if (panelConfig) {
-      savePanelConfig({ id, config: panelConfig, defaultConfig: {} });
+      this.props.savePanelConfig({ id, config: panelConfig, defaultConfig: {} });
     }
-    changePanelLayout(newPanels);
+    this.props.changePanelLayout(newPanels);
     window.ga("send", "event", "Panel", "Select", panelType);
   };
 
diff --git a/packages/webviz-core/src/components/AppMenu/index.stories.js b/packages/webviz-core/src/components/AppMenu/index.stories.js
index 36e49e255..12a5aa465 100644
--- a/packages/webviz-core/src/components/AppMenu/index.stories.js
+++ b/packages/webviz-core/src/components/AppMenu/index.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/AutoSizingCanvas/index.js b/packages/webviz-core/src/components/AutoSizingCanvas/index.js
index 0845bae54..204f5765b 100644
--- a/packages/webviz-core/src/components/AutoSizingCanvas/index.js
+++ b/packages/webviz-core/src/components/AutoSizingCanvas/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/AutoSizingCanvas/index.stories.js b/packages/webviz-core/src/components/AutoSizingCanvas/index.stories.js
index b4ff7bd24..11cb1f6b4 100644
--- a/packages/webviz-core/src/components/AutoSizingCanvas/index.stories.js
+++ b/packages/webviz-core/src/components/AutoSizingCanvas/index.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -41,20 +41,20 @@ function Example({
     <div style={{ width, height: 100, backgroundColor: "green" }}>
       <AutoSizingCanvas
         overrideDevicePixelRatioForTest={pixelRatio}
-        draw={(ctx, width, height) => {
+        draw={(ctx, drawWidth, drawHeight) => {
           ctx.fillStyle = "white";
-          ctx.fillRect(0, 0, width, height);
+          ctx.fillRect(0, 0, drawWidth, drawHeight);
           ctx.strokeStyle = "red";
           ctx.lineWidth = 2;
           ctx.font = "24px Arial";
-          ctx.strokeRect(0, 0, width, height);
+          ctx.strokeRect(0, 0, drawWidth, drawHeight);
 
           // $FlowFixMe
           const text = `hello ${ctx.getTransform().a}`;
           const size = ctx.measureText(text);
           ctx.fillStyle = "black";
           ctx.textBaseline = "middle";
-          ctx.fillText(text, width / 2 - size.width / 2, height / 2);
+          ctx.fillText(text, drawWidth / 2 - size.width / 2, drawHeight / 2);
         }}
       />
     </div>
diff --git a/packages/webviz-core/src/components/Autocomplete.js b/packages/webviz-core/src/components/Autocomplete.js
index 88299e606..3657bb5c5 100644
--- a/packages/webviz-core/src/components/Autocomplete.js
+++ b/packages/webviz-core/src/components/Autocomplete.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -176,7 +176,7 @@ export default class Autocomplete extends PureComponent<AutocompleteProps, Autoc
     if (this.state.focused) {
       return;
     }
-    const onMouseUp = (event: MouseEvent) => {
+    const onMouseUp = (e: MouseEvent) => {
       document.removeEventListener("mouseup", onMouseUp, true);
 
       if (
@@ -189,8 +189,8 @@ export default class Autocomplete extends PureComponent<AutocompleteProps, Autoc
           this._autocomplete.current.refs.input.selectionStart === this._autocomplete.current.refs.input.selectionEnd
         ) {
           this._autocomplete.current.refs.input.select();
-          event.stopPropagation();
-          event.preventDefault();
+          e.stopPropagation();
+          e.preventDefault();
         }
         // Also set `state.focused` for good measure, since we know here that we're focused.
         this.setState({ focused: true });
@@ -319,15 +319,15 @@ export default class Autocomplete extends PureComponent<AutocompleteProps, Autoc
           onMouseDown: this._onMouseDown,
           onKeyDown: this._onKeyDown,
         }}
-        renderMenu={(items, value, style) => {
-          // Hacky virtualization. Either don't show all items (typical when the user is still
+        renderMenu={(menuItems, val, style) => {
+          // Hacky virtualization. Either don't show all menuItems (typical when the user is still
           // typing in the autcomplete), or do show them all (once the user scrolls). Not the most
           // sophisticated, but good enough!
           const maxNumberOfItems = Math.ceil(window.innerHeight / rowHeight + 10);
-          const itemsToShow =
-            this.state.showAllItems || items.length <= maxNumberOfItems * 2
-              ? items
-              : items.slice(0, maxNumberOfItems).concat(items.slice(-maxNumberOfItems));
+          const menuItemsToShow =
+            this.state.showAllItems || menuItems.length <= maxNumberOfItems * 2
+              ? menuItems
+              : menuItems.slice(0, maxNumberOfItems).concat(menuItems.slice(-maxNumberOfItems));
 
           // The longest string might not be the widest (e.g. "|||" vs "www"), but this is
           // quite a bit faster, so we throw in a nice padding and call it good enough! :-)
@@ -351,10 +351,10 @@ export default class Autocomplete extends PureComponent<AutocompleteProps, Autoc
                 onMouseEnter={() => (this._ignoreBlur = true)}
                 onMouseLeave={() => (this._ignoreBlur = false)}
                 style={{
-                  height: items.length * rowHeight,
+                  height: menuItems.length * rowHeight,
                   overflow: "hidden",
                 }}>
-                {itemsToShow}
+                {menuItemsToShow}
               </div>
             </div>
           );
diff --git a/packages/webviz-core/src/components/Autocomplete.module.scss b/packages/webviz-core/src/components/Autocomplete.module.scss
index e86230e1e..7203cab8d 100644
--- a/packages/webviz-core/src/components/Autocomplete.module.scss
+++ b/packages/webviz-core/src/components/Autocomplete.module.scss
@@ -1,4 +1,4 @@
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Autocomplete.stories.js b/packages/webviz-core/src/components/Autocomplete.stories.js
index a156b38e6..9e3cfe078 100644
--- a/packages/webviz-core/src/components/Autocomplete.stories.js
+++ b/packages/webviz-core/src/components/Autocomplete.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Button.js b/packages/webviz-core/src/components/Button.js
index 5f8b05053..18e6a6859 100644
--- a/packages/webviz-core/src/components/Button.js
+++ b/packages/webviz-core/src/components/Button.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Checkbox.js b/packages/webviz-core/src/components/Checkbox.js
index 3194a1079..304ad1da2 100644
--- a/packages/webviz-core/src/components/Checkbox.js
+++ b/packages/webviz-core/src/components/Checkbox.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/ChildToggle/index.js b/packages/webviz-core/src/components/ChildToggle/index.js
index 4e6ae666f..829edc63d 100644
--- a/packages/webviz-core/src/components/ChildToggle/index.js
+++ b/packages/webviz-core/src/components/ChildToggle/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/ChildToggle/index.module.scss b/packages/webviz-core/src/components/ChildToggle/index.module.scss
index 163850246..b3a043560 100644
--- a/packages/webviz-core/src/components/ChildToggle/index.module.scss
+++ b/packages/webviz-core/src/components/ChildToggle/index.module.scss
@@ -1,4 +1,4 @@
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/ChildToggle/index.stories.js b/packages/webviz-core/src/components/ChildToggle/index.stories.js
index edec0b4d4..c014a468a 100644
--- a/packages/webviz-core/src/components/ChildToggle/index.stories.js
+++ b/packages/webviz-core/src/components/ChildToggle/index.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/ColorPicker.js b/packages/webviz-core/src/components/ColorPicker.js
index 3c309b1f1..da15c7a04 100644
--- a/packages/webviz-core/src/components/ColorPicker.js
+++ b/packages/webviz-core/src/components/ColorPicker.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -72,8 +72,8 @@ function ColorPicker({ color, onChange }: Props, ref) {
           pickr.current.setColor(colorRef.current);
         }
       })
-      .on("change", (color) => {
-        onChangeRef.current(color.toHEXA().toString());
+      .on("change", (newColor) => {
+        onChangeRef.current(newColor.toHEXA().toString());
       });
 
     return () => {
@@ -83,7 +83,7 @@ function ColorPicker({ color, onChange }: Props, ref) {
     };
   }, []);
 
-  return <SColorPicker innerRef={container} color={color} />;
+  return <SColorPicker ref={container} color={color} />;
 }
 
 export default forwardRef<Props, ?Pickr>(ColorPicker);
diff --git a/packages/webviz-core/src/components/ColorPicker.stories.js b/packages/webviz-core/src/components/ColorPicker.stories.js
index 61737d84a..84f5ac035 100644
--- a/packages/webviz-core/src/components/ColorPicker.stories.js
+++ b/packages/webviz-core/src/components/ColorPicker.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Confirm.js b/packages/webviz-core/src/components/Confirm.js
index 284369c1d..7b6e17e44 100644
--- a/packages/webviz-core/src/components/Confirm.js
+++ b/packages/webviz-core/src/components/Confirm.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Confirm.module.scss b/packages/webviz-core/src/components/Confirm.module.scss
index b5d4af62b..74fb2b035 100644
--- a/packages/webviz-core/src/components/Confirm.module.scss
+++ b/packages/webviz-core/src/components/Confirm.module.scss
@@ -1,4 +1,4 @@
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Confirm.stories.js b/packages/webviz-core/src/components/Confirm.stories.js
index 6daf4f335..1019d99b6 100644
--- a/packages/webviz-core/src/components/Confirm.stories.js
+++ b/packages/webviz-core/src/components/Confirm.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/ContextMenu/index.js b/packages/webviz-core/src/components/ContextMenu/index.js
index 9e40cbfdd..2412f264f 100644
--- a/packages/webviz-core/src/components/ContextMenu/index.js
+++ b/packages/webviz-core/src/components/ContextMenu/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/ContextMenu/index.stories.js b/packages/webviz-core/src/components/ContextMenu/index.stories.js
index 6ca6b0da9..2f992537c 100644
--- a/packages/webviz-core/src/components/ContextMenu/index.stories.js
+++ b/packages/webviz-core/src/components/ContextMenu/index.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/CopyText.js b/packages/webviz-core/src/components/CopyText.js
index 5143e5441..4195131a2 100644
--- a/packages/webviz-core/src/components/CopyText.js
+++ b/packages/webviz-core/src/components/CopyText.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/CopyToClipboard.js b/packages/webviz-core/src/components/CopyToClipboard.js
index e7303dbd1..eca32db4d 100644
--- a/packages/webviz-core/src/components/CopyToClipboard.js
+++ b/packages/webviz-core/src/components/CopyToClipboard.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -53,7 +53,7 @@ class CopyToClipboardComponent extends React.Component<Props> {
       <Wrapper
         style={this.props.styles}
         onClick={this.copy}
-        innerRef={(wrapper) => {
+        ref={(wrapper) => {
           this.wrapper = wrapper;
         }}>
         {this.props.children}
diff --git a/packages/webviz-core/src/components/DocumentDropListener.js b/packages/webviz-core/src/components/DocumentDropListener.js
index 95f5863e2..6326d0b85 100644
--- a/packages/webviz-core/src/components/DocumentDropListener.js
+++ b/packages/webviz-core/src/components/DocumentDropListener.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/DropOverlay.js b/packages/webviz-core/src/components/DropOverlay.js
index 48a00081a..036d19ccf 100644
--- a/packages/webviz-core/src/components/DropOverlay.js
+++ b/packages/webviz-core/src/components/DropOverlay.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/DropOverlay.stories.js b/packages/webviz-core/src/components/DropOverlay.stories.js
index 8ad9f1c99..371166a0b 100644
--- a/packages/webviz-core/src/components/DropOverlay.stories.js
+++ b/packages/webviz-core/src/components/DropOverlay.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Dropdown/index.js b/packages/webviz-core/src/components/Dropdown/index.js
index 92d65cac4..d3760b7bb 100644
--- a/packages/webviz-core/src/components/Dropdown/index.js
+++ b/packages/webviz-core/src/components/Dropdown/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Dropdown/index.module.scss b/packages/webviz-core/src/components/Dropdown/index.module.scss
index ce9184d6e..37a44cdd8 100644
--- a/packages/webviz-core/src/components/Dropdown/index.module.scss
+++ b/packages/webviz-core/src/components/Dropdown/index.module.scss
@@ -1,4 +1,4 @@
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Dropdown/index.stories.js b/packages/webviz-core/src/components/Dropdown/index.stories.js
index 8a320bdb8..2204aa2a8 100644
--- a/packages/webviz-core/src/components/Dropdown/index.stories.js
+++ b/packages/webviz-core/src/components/Dropdown/index.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/EmptyState.js b/packages/webviz-core/src/components/EmptyState.js
index 9e17a2e6f..d2888e22c 100644
--- a/packages/webviz-core/src/components/EmptyState.js
+++ b/packages/webviz-core/src/components/EmptyState.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/ErrorBoundary.js b/packages/webviz-core/src/components/ErrorBoundary.js
index 9f0f35a1a..981bdfb99 100644
--- a/packages/webviz-core/src/components/ErrorBoundary.js
+++ b/packages/webviz-core/src/components/ErrorBoundary.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/ErrorBoundary.stories.js b/packages/webviz-core/src/components/ErrorBoundary.stories.js
index 6eabd708d..10845b2e2 100644
--- a/packages/webviz-core/src/components/ErrorBoundary.stories.js
+++ b/packages/webviz-core/src/components/ErrorBoundary.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/ErrorDisplay.js b/packages/webviz-core/src/components/ErrorDisplay.js
index 33e845cc3..601cd3923 100644
--- a/packages/webviz-core/src/components/ErrorDisplay.js
+++ b/packages/webviz-core/src/components/ErrorDisplay.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/ErrorDisplay.stories.js b/packages/webviz-core/src/components/ErrorDisplay.stories.js
index 2170f0f0d..3be8caf38 100644
--- a/packages/webviz-core/src/components/ErrorDisplay.stories.js
+++ b/packages/webviz-core/src/components/ErrorDisplay.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/ExpandingToolbar.js b/packages/webviz-core/src/components/ExpandingToolbar.js
index 9045b6d01..4457a8cbc 100644
--- a/packages/webviz-core/src/components/ExpandingToolbar.js
+++ b/packages/webviz-core/src/components/ExpandingToolbar.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/ExpandingToolbar.module.scss b/packages/webviz-core/src/components/ExpandingToolbar.module.scss
index 493b0ce0e..d8921c3c2 100644
--- a/packages/webviz-core/src/components/ExpandingToolbar.module.scss
+++ b/packages/webviz-core/src/components/ExpandingToolbar.module.scss
@@ -1,4 +1,4 @@
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/ExperimentalFeatures.fixture.js b/packages/webviz-core/src/components/ExperimentalFeatures.fixture.js
new file mode 100644
index 000000000..1c806ac95
--- /dev/null
+++ b/packages/webviz-core/src/components/ExperimentalFeatures.fixture.js
@@ -0,0 +1,55 @@
+// @flow
+//
+//  Copyright (c) 2019-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import type {
+  FeatureDescriptions,
+  FeatureSettings,
+  FeatureStorage,
+} from "webviz-core/src/components/ExperimentalFeatures";
+
+export const dummyExperimentalFeaturesList: FeatureDescriptions = {
+  topicTree: {
+    name: "Customizable topic tree",
+    description:
+      "We're revamping the topic tree to be customizable directly from Webviz. You'll be able to create your own groups and toggle them easily.",
+    developmentDefault: true,
+    productionDefault: false,
+  },
+  topicTree2: {
+    name: "Customizable topic tree",
+    description:
+      "We're revamping the topic tree to be customizable directly from Webviz. You'll be able to create your own groups and toggle them easily.",
+    developmentDefault: true,
+    productionDefault: false,
+  },
+  topicTree3: {
+    name: "Customizable topic tree",
+    description:
+      "We're revamping the topic tree to be customizable directly from Webviz. You'll be able to create your own groups and toggle them easily.",
+    developmentDefault: true,
+    productionDefault: false,
+  },
+  topicTree4: {
+    name: "Customizable topic tree",
+    description:
+      "We're revamping the topic tree to be customizable directly from Webviz. You'll be able to create your own groups and toggle them easily.",
+    developmentDefault: true,
+    productionDefault: false,
+  },
+};
+
+export const dummyExperimentalFeaturesSettings: FeatureSettings = {
+  topicTree: { enabled: true, manuallySet: false },
+  topicTree2: { enabled: false, manuallySet: false },
+  topicTree3: { enabled: true, manuallySet: true },
+  topicTree4: { enabled: false, manuallySet: true },
+};
+
+export const dummyExperimentalFeaturesStorage: FeatureStorage = {
+  topicTree3: "alwaysOn",
+  topicTree4: "alwaysOff",
+};
diff --git a/packages/webviz-core/src/components/ExperimentalFeatures.js b/packages/webviz-core/src/components/ExperimentalFeatures.js
new file mode 100644
index 000000000..e48dabe4d
--- /dev/null
+++ b/packages/webviz-core/src/components/ExperimentalFeatures.js
@@ -0,0 +1,196 @@
+// @flow
+//
+//  Copyright (c) 2018-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import AccountIcon from "@mdi/svg/svg/account.svg";
+import CheckIcon from "@mdi/svg/svg/check.svg";
+import CloseIcon from "@mdi/svg/svg/close.svg";
+import { noop } from "lodash";
+import * as React from "react";
+
+import Modal, { Title } from "webviz-core/src/components/Modal";
+import Radio from "webviz-core/src/components/Radio";
+import TextContent from "webviz-core/src/components/TextContent";
+import Tooltip from "webviz-core/src/components/Tooltip";
+import { getGlobalHooks } from "webviz-core/src/loadWebviz";
+import colors from "webviz-core/src/styles/colors.module.scss";
+import Storage from "webviz-core/src/util/Storage";
+
+// All these are exported for tests; please don't use them directly in your code.
+export type FeatureDescriptions = {
+  [id: string]: {|
+    name: string,
+    description: string | React.Node,
+    developmentDefault: boolean,
+    productionDefault: boolean,
+  |},
+};
+export type FeatureStorage = { [id: string]: "alwaysOn" | "alwaysOff" };
+export type FeatureSettings = { [id: string]: { enabled: boolean, manuallySet: boolean } };
+export const EXPERIMENTAL_FEATURES_STORAGE_KEY = "experimentalFeaturesSettings";
+
+function getExperimentalFeaturesList(): FeatureDescriptions {
+  return getGlobalHooks().experimentalFeaturesList();
+}
+
+function getDefaultKey(): "productionDefault" | "developmentDefault" {
+  return process.env.NODE_ENV === "production" ? "productionDefault" : "developmentDefault";
+}
+
+function getExperimentalFeatureSettings(): FeatureSettings {
+  const experimentalFeaturesList = getExperimentalFeaturesList();
+  const settings: FeatureSettings = {};
+  const featureStorage = new Storage().get<FeatureStorage>(EXPERIMENTAL_FEATURES_STORAGE_KEY) || {};
+  for (const id in experimentalFeaturesList) {
+    if (["alwaysOn", "alwaysOff"].includes(featureStorage[id])) {
+      settings[id] = { enabled: featureStorage[id] === "alwaysOn", manuallySet: true };
+    } else {
+      settings[id] = { enabled: experimentalFeaturesList[id][getDefaultKey()], manuallySet: false };
+    }
+  }
+  return settings;
+}
+
+let subscribedComponents: (() => void)[] = [];
+
+function useAllExperimentalFeatures(): FeatureSettings {
+  const [settings, setSettings] = React.useState<FeatureSettings>(() => getExperimentalFeatureSettings());
+  React.useEffect(() => {
+    function update() {
+      setSettings(getExperimentalFeatureSettings());
+    }
+    subscribedComponents.push(update);
+    return () => {
+      subscribedComponents = subscribedComponents.filter((fn) => fn !== update);
+    };
+  }, []);
+
+  return settings;
+}
+
+export function useExperimentalFeature(id: string): boolean {
+  const settings = useAllExperimentalFeatures();
+  if (!settings[id]) {
+    return false;
+  }
+  return settings[id].enabled;
+}
+
+// NOT RECOMMENDED! Whenever possible, use `useExperimentalFeature`, since that will make sure that
+// the UI automatically rerenders when a feature is toggled. Only use `getExperimentalFeature` for
+// features that are not closely tied to React.
+export function getExperimentalFeature(id: string): boolean {
+  const settings = getExperimentalFeatureSettings();
+  if (!settings[id]) {
+    return false;
+  }
+  return settings[id].enabled;
+}
+
+function IconOn() {
+  return (
+    <Tooltip contents="on" placement="top">
+      <span>
+        <CheckIcon style={{ fill: colors.green, verticalAlign: "-6px" }} />
+      </span>
+    </Tooltip>
+  );
+}
+
+function IconOff() {
+  return (
+    <Tooltip contents="off" placement="top">
+      <span>
+        <CloseIcon style={{ fill: colors.red, verticalAlign: "-6px" }} />
+      </span>
+    </Tooltip>
+  );
+}
+
+function IconManuallySet() {
+  return (
+    <Tooltip contents="manually set" placement="top">
+      <span>
+        <AccountIcon style={{ fill: colors.orange, verticalAlign: "-6px" }} />
+      </span>
+    </Tooltip>
+  );
+}
+
+export function ExperimentalFeaturesModal(props: {|
+  onRequestClose?: () => void,
+  listForStories?: FeatureDescriptions,
+  settingsForStories?: FeatureSettings,
+|}) {
+  const actualSettings = useAllExperimentalFeatures();
+  const settings = props.settingsForStories || actualSettings;
+  const list = props.listForStories || getExperimentalFeaturesList();
+
+  return (
+    <Modal onRequestClose={props.onRequestClose || noop}>
+      <div style={{ padding: 16, maxWidth: 500, maxHeight: "90vh", overflow: "auto" }}>
+        <Title>Experimental Features</Title>
+        <TextContent>
+          <p>
+            Enable or disable any experimental features. These settings will be stored your the browser’s{" "}
+            <a href="https://developer.mozilla.org/en-US/docs/Web/API/Window/localStorage">local storage</a> for{" "}
+            <em>{window.location.host}</em>. They will <em>not</em> be associated with your layout, user account, or
+            persisted in any backend.
+          </p>
+          {Object.keys(list).length === 0 && (
+            <p>
+              <em>Currently there are no experimental features.</em>
+            </p>
+          )}
+        </TextContent>
+        {Object.keys(list).map((id: string) => {
+          const feature = list[id];
+          return (
+            <div key={id} style={{ marginTop: 24 }}>
+              <TextContent>
+                <h2>
+                  {feature.name} <code style={{ fontSize: 12 }}>{id}</code>{" "}
+                  <span style={{ whiteSpace: "nowrap" }}>
+                    {settings[id].enabled ? <IconOn /> : <IconOff />}
+                    {settings[id].manuallySet ? <IconManuallySet /> : undefined}
+                  </span>
+                </h2>
+                {feature.description}
+              </TextContent>
+              <div style={{ marginTop: 8 }}>
+                <Radio
+                  selectedId={settings[id].manuallySet ? (settings[id].enabled ? "alwaysOn" : "alwaysOff") : "default"}
+                  onChange={(value) => {
+                    const storage = new Storage();
+                    const newSettings = { ...storage.get(EXPERIMENTAL_FEATURES_STORAGE_KEY) };
+                    if (value === "default") {
+                      delete newSettings[id];
+                    } else {
+                      newSettings[id] = value;
+                    }
+                    storage.set(EXPERIMENTAL_FEATURES_STORAGE_KEY, newSettings);
+                    for (const update of subscribedComponents) {
+                      update();
+                    }
+                  }}
+                  options={[
+                    {
+                      id: "default",
+                      label: `Default for ${window.location.host} (${feature[getDefaultKey()] ? "on" : "off"})`,
+                    },
+                    { id: "alwaysOn", label: "Always on" },
+                    { id: "alwaysOff", label: "Always off" },
+                  ]}
+                />
+              </div>
+            </div>
+          );
+        })}
+      </div>
+    </Modal>
+  );
+}
diff --git a/packages/webviz-core/src/components/ExperimentalFeatures.stories.js b/packages/webviz-core/src/components/ExperimentalFeatures.stories.js
new file mode 100644
index 000000000..3d3c9dd46
--- /dev/null
+++ b/packages/webviz-core/src/components/ExperimentalFeatures.stories.js
@@ -0,0 +1,27 @@
+// @flow
+//
+//  Copyright (c) 2019-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { storiesOf } from "@storybook/react";
+import React from "react";
+import { withScreenshot } from "storybook-chrome-screenshot";
+
+import { ExperimentalFeaturesModal } from "webviz-core/src/components/ExperimentalFeatures";
+import {
+  dummyExperimentalFeaturesList,
+  dummyExperimentalFeaturesSettings,
+} from "webviz-core/src/components/ExperimentalFeatures.fixture";
+
+storiesOf("<ExperimentalFeatures>", module)
+  .addDecorator(withScreenshot({ viewport: { width: 1000, height: 1300 } }))
+  .add("empty list", () => <ExperimentalFeaturesModal listForStories={{}} settingsForStories={{}} />)
+  .add("basic fixture", () => (
+    <ExperimentalFeaturesModal
+      listForStories={dummyExperimentalFeaturesList}
+      settingsForStories={dummyExperimentalFeaturesSettings}
+    />
+  ));
diff --git a/packages/webviz-core/src/components/ExperimentalFeatures.test.js b/packages/webviz-core/src/components/ExperimentalFeatures.test.js
new file mode 100644
index 000000000..b49dbccd9
--- /dev/null
+++ b/packages/webviz-core/src/components/ExperimentalFeatures.test.js
@@ -0,0 +1,68 @@
+// @flow
+//
+//  Copyright (c) 2019-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import { mount } from "enzyme";
+import * as React from "react";
+
+import {
+  EXPERIMENTAL_FEATURES_STORAGE_KEY,
+  ExperimentalFeaturesModal,
+  useExperimentalFeature,
+} from "webviz-core/src/components/ExperimentalFeatures";
+import {
+  dummyExperimentalFeaturesList,
+  dummyExperimentalFeaturesStorage,
+} from "webviz-core/src/components/ExperimentalFeatures.fixture";
+import { resetHooksToDefault, setHooks } from "webviz-core/src/loadWebviz";
+import Storage from "webviz-core/src/util/Storage";
+
+describe("ExperimentalFeatures", () => {
+  it("exposes experimental features using useExperimentalFeature", async () => {
+    setHooks({
+      experimentalFeaturesList() {
+        return dummyExperimentalFeaturesList;
+      },
+    });
+    new Storage().set(EXPERIMENTAL_FEATURES_STORAGE_KEY, dummyExperimentalFeaturesStorage);
+
+    const renderedSettings = {};
+    let renderCount = 0;
+    function RenderExperimentalFeatures() {
+      renderCount++;
+      renderedSettings.topicTree = useExperimentalFeature("topicTree");
+      renderedSettings.topicTree2 = useExperimentalFeature("topicTree2");
+      renderedSettings.topicTree3 = useExperimentalFeature("topicTree3");
+      renderedSettings.topicTree4 = useExperimentalFeature("topicTree4");
+      return null;
+    }
+
+    mount(<RenderExperimentalFeatures />);
+    expect(renderCount).toEqual(1);
+    expect(renderedSettings).toEqual({ topicTree: true, topicTree2: true, topicTree3: true, topicTree4: false });
+
+    // Clicking on an item in the modal should trigger a rerender of all components that use
+    // `useExperimentalFeature`, and so the `renderedSettings` should be updated with the new value.
+    const modal = mount(
+      <div data-modalcontainer="true">
+        <ExperimentalFeaturesModal />
+      </div>
+    );
+    modal
+      .find("[data-test='alwaysOff']")
+      .first()
+      .simulate("click");
+    expect(renderCount).toEqual(2);
+    expect(renderedSettings).toEqual({ topicTree: false, topicTree2: true, topicTree3: true, topicTree4: false });
+    expect(new Storage().get(EXPERIMENTAL_FEATURES_STORAGE_KEY)).toEqual({
+      ...dummyExperimentalFeaturesStorage,
+      topicTree: "alwaysOff",
+    });
+
+    new Storage().remove(EXPERIMENTAL_FEATURES_STORAGE_KEY);
+    resetHooksToDefault();
+  });
+});
diff --git a/packages/webviz-core/src/components/Flex.js b/packages/webviz-core/src/components/Flex.js
index 430d3fb20..d8c6e26b0 100644
--- a/packages/webviz-core/src/components/Flex.js
+++ b/packages/webviz-core/src/components/Flex.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -36,6 +36,8 @@ type Props = {|
   children?: React.Node,
 
   onClick?: (MouseEvent) => void,
+  onMouseEnter?: (MouseEvent) => void,
+  onMouseLeave?: (MouseEvent) => void,
   // for storybook screenshots tests
   dataTest?: string,
 |};
@@ -57,6 +59,8 @@ const Flex = (props: Props) => {
     scrollX,
     children,
     onClick,
+    onMouseEnter,
+    onMouseLeave,
     dataTest,
   } = props;
   if (col != null && col === row) {
@@ -83,7 +87,13 @@ const Flex = (props: Props) => {
   // only copy combine flex & custom style if we were passed custom style
   const fullStyle = style ? { ...flexStyle, ...style } : flexStyle;
   return (
-    <div data-test={dataTest} className={combinedClasses} style={fullStyle} onClick={onClick}>
+    <div
+      data-test={dataTest}
+      className={combinedClasses}
+      style={fullStyle}
+      onClick={onClick}
+      onMouseEnter={onMouseEnter}
+      onMouseLeave={onMouseLeave}>
       {children}
     </div>
   );
diff --git a/packages/webviz-core/src/components/Flex.module.scss b/packages/webviz-core/src/components/Flex.module.scss
index bdd09455f..5766a4302 100644
--- a/packages/webviz-core/src/components/Flex.module.scss
+++ b/packages/webviz-core/src/components/Flex.module.scss
@@ -1,4 +1,4 @@
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/GlobalVariablesAccessor/index.js b/packages/webviz-core/src/components/GlobalVariablesAccessor/index.js
index 8768be4a2..ac6c23568 100644
--- a/packages/webviz-core/src/components/GlobalVariablesAccessor/index.js
+++ b/packages/webviz-core/src/components/GlobalVariablesAccessor/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/GradientPicker.js b/packages/webviz-core/src/components/GradientPicker.js
index f84055643..d33eed8fc 100644
--- a/packages/webviz-core/src/components/GradientPicker.js
+++ b/packages/webviz-core/src/components/GradientPicker.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/GradientPicker.stories.js b/packages/webviz-core/src/components/GradientPicker.stories.js
index 576156096..a51349899 100644
--- a/packages/webviz-core/src/components/GradientPicker.stories.js
+++ b/packages/webviz-core/src/components/GradientPicker.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -78,9 +78,9 @@ function Story({
         maxColorRefForTesting={maxRef}
         minColor={minColor}
         maxColor={maxColor}
-        onChange={({ minColor, maxColor }) => {
-          setMinColor(minColor);
-          setMaxColor(maxColor);
+        onChange={({ minColor: newMinColor, maxColor: newMaxColor }) => {
+          setMinColor(newMinColor);
+          setMaxColor(newMaxColor);
         }}
       />
     </div>
diff --git a/packages/webviz-core/src/components/HelpModal.js b/packages/webviz-core/src/components/HelpModal.js
index e7153c0a4..6b04912b8 100644
--- a/packages/webviz-core/src/components/HelpModal.js
+++ b/packages/webviz-core/src/components/HelpModal.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Icon.js b/packages/webviz-core/src/components/Icon.js
index 05542f8b2..436f8fa26 100644
--- a/packages/webviz-core/src/components/Icon.js
+++ b/packages/webviz-core/src/components/Icon.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Icon.test.js b/packages/webviz-core/src/components/Icon.test.js
index ecad246d2..32737732d 100644
--- a/packages/webviz-core/src/components/Icon.test.js
+++ b/packages/webviz-core/src/components/Icon.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/IconButton.js b/packages/webviz-core/src/components/IconButton.js
index 884db41be..0a1a094fa 100644
--- a/packages/webviz-core/src/components/IconButton.js
+++ b/packages/webviz-core/src/components/IconButton.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/LargeList.js b/packages/webviz-core/src/components/LargeList.js
index 87b65b931..04d5d7211 100644
--- a/packages/webviz-core/src/components/LargeList.js
+++ b/packages/webviz-core/src/components/LargeList.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -84,7 +84,9 @@ function CopyIcon({ tooltip, getCopyText }: { tooltip: string, getCopyText: () =
   return (
     <Icon
       style={{ padding: "1px 0px 0px 6px", verticalAlign: "middle" }}
-      onClick={() => clipboard.copy(getCopyText())}
+      onClick={() => {
+        clipboard.copy(getCopyText());
+      }}
       tooltip={tooltip}>
       <ClipboardOutlineIcon />
     </Icon>
diff --git a/packages/webviz-core/src/components/LargeList.stories.js b/packages/webviz-core/src/components/LargeList.stories.js
index 95cb9f943..14c4f93e2 100644
--- a/packages/webviz-core/src/components/LargeList.stories.js
+++ b/packages/webviz-core/src/components/LargeList.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/LayoutMenu.js b/packages/webviz-core/src/components/LayoutMenu.js
index 429f94b6a..ae74a81a5 100644
--- a/packages/webviz-core/src/components/LayoutMenu.js
+++ b/packages/webviz-core/src/components/LayoutMenu.js
@@ -1,20 +1,23 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 import AppsIcon from "@mdi/svg/svg/apps.svg";
+import FlagVariantIcon from "@mdi/svg/svg/flag-variant.svg";
 import JsonIcon from "@mdi/svg/svg/json.svg";
 import NukeIcon from "@mdi/svg/svg/nuke.svg";
 import ScriptTextOutlineIcon from "@mdi/svg/svg/script-text-outline.svg";
 import React, { PureComponent } from "react";
 
 import ChildToggle from "webviz-core/src/components/ChildToggle";
+import { ExperimentalFeaturesModal } from "webviz-core/src/components/ExperimentalFeatures";
 import Icon from "webviz-core/src/components/Icon";
 import { openLayoutModal } from "webviz-core/src/components/LayoutModal";
 import Menu, { Item } from "webviz-core/src/components/Menu";
+import renderToBody from "webviz-core/src/components/renderToBody";
 import clearIndexedDb from "webviz-core/src/util/indexeddb/clearIndexedDb";
 
 type State = {
@@ -35,6 +38,14 @@ export default class LayoutMenu extends PureComponent<{}, State> {
     openLayoutModal();
   };
 
+  _onExperimentalFeaturesClick = () => {
+    this.setState({ isOpen: false });
+    const modal = renderToBody(<ExperimentalFeaturesModal onRequestClose={() => close(false)} />);
+    function close(value) {
+      modal.remove();
+    }
+  };
+
   render() {
     const { isOpen } = this.state;
 
@@ -47,6 +58,9 @@ export default class LayoutMenu extends PureComponent<{}, State> {
           <Item icon={<JsonIcon />} onClick={this._onImportClick}>
             Import/export layout
           </Item>
+          <Item icon={<FlagVariantIcon />} onClick={this._onExperimentalFeaturesClick}>
+            Experimental Features
+          </Item>
           <Item icon={<NukeIcon />} onClick={clearIndexedDb}>
             Clear bag cache
           </Item>
diff --git a/packages/webviz-core/src/components/LayoutModal.js b/packages/webviz-core/src/components/LayoutModal.js
index f1d4cb50a..ec9c67c3e 100644
--- a/packages/webviz-core/src/components/LayoutModal.js
+++ b/packages/webviz-core/src/components/LayoutModal.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -26,16 +26,16 @@ type Props = {|
   importPanelLayout: (ImportPanelLayoutPayload, boolean) => void,
 |};
 
-function UnconnectedLayoutModal({ onRequestClose, importPanelLayout, panels }: Props) {
+function UnconnectedLayoutModal({ onRequestClose, importPanelLayout: importLayout, panels }: Props) {
   return (
     <ShareJsonModal
       onRequestClose={onRequestClose}
       value={panels}
       onChange={useCallback(
         (layout: any) => {
-          importPanelLayout(layout, false);
+          importLayout(layout, false);
         },
-        [importPanelLayout]
+        [importLayout]
       )}
       noun="layout"
     />
diff --git a/packages/webviz-core/src/components/Menu/Item.js b/packages/webviz-core/src/components/Menu/Item.js
index 41db40674..8633881fe 100644
--- a/packages/webviz-core/src/components/Menu/Item.js
+++ b/packages/webviz-core/src/components/Menu/Item.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Menu/Menu.js b/packages/webviz-core/src/components/Menu/Menu.js
index 3526c5859..77fe54744 100644
--- a/packages/webviz-core/src/components/Menu/Menu.js
+++ b/packages/webviz-core/src/components/Menu/Menu.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Menu/SubMenu.js b/packages/webviz-core/src/components/Menu/SubMenu.js
index 3bc6658fa..18beb8e4e 100644
--- a/packages/webviz-core/src/components/Menu/SubMenu.js
+++ b/packages/webviz-core/src/components/Menu/SubMenu.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Menu/index.js b/packages/webviz-core/src/components/Menu/index.js
index 31e78fd7b..4d0d72aff 100644
--- a/packages/webviz-core/src/components/Menu/index.js
+++ b/packages/webviz-core/src/components/Menu/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Menu/index.module.scss b/packages/webviz-core/src/components/Menu/index.module.scss
index 708c97b1d..984355f5d 100644
--- a/packages/webviz-core/src/components/Menu/index.module.scss
+++ b/packages/webviz-core/src/components/Menu/index.module.scss
@@ -1,4 +1,4 @@
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Menu/index.stories.js b/packages/webviz-core/src/components/Menu/index.stories.js
index 73408e116..3ce03e200 100644
--- a/packages/webviz-core/src/components/Menu/index.stories.js
+++ b/packages/webviz-core/src/components/Menu/index.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/MessageHistory/FrameCompatibility.js b/packages/webviz-core/src/components/MessageHistory/FrameCompatibility.js
index 50564b401..a0c2cd1c1 100644
--- a/packages/webviz-core/src/components/MessageHistory/FrameCompatibility.js
+++ b/packages/webviz-core/src/components/MessageHistory/FrameCompatibility.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/MessageHistory/FrameCompatibility.test.js b/packages/webviz-core/src/components/MessageHistory/FrameCompatibility.test.js
index baefc1e2f..f611fa71c 100644
--- a/packages/webviz-core/src/components/MessageHistory/FrameCompatibility.test.js
+++ b/packages/webviz-core/src/components/MessageHistory/FrameCompatibility.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/MessageHistory/MessageHistoryInput.js b/packages/webviz-core/src/components/MessageHistory/MessageHistoryInput.js
index bec7e3ba6..93314af12 100644
--- a/packages/webviz-core/src/components/MessageHistory/MessageHistoryInput.js
+++ b/packages/webviz-core/src/components/MessageHistory/MessageHistoryInput.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -51,13 +51,21 @@ function getFirstInvalidVariableFromRosPath(
 ): ?{| variableName: string, loc: number |} {
   const { messagePath } = rosPath;
   return messagePath
-    .map((path) =>
-      path.type === "filter" &&
-      typeof path.value === "object" &&
-      !Object.keys(globalVariables).includes(path.value.variableName)
-        ? { variableName: path.value.variableName, loc: path.valueLoc }
-        : undefined
-    )
+    .map((path) => {
+      const globalVars = Object.keys(globalVariables);
+      if (path.type === "filter" && typeof path.value === "object" && !globalVars.includes(path.value.variableName)) {
+        return { variableName: path.value.variableName, loc: path.valueLoc };
+      }
+
+      if (path.type === "slice" && typeof path.start === "object" && !globalVars.includes(path.start.variableName)) {
+        return { variableName: path.start.variableName, loc: path.start.startLoc };
+      }
+
+      if (path.type === "slice" && typeof path.end === "object" && !globalVars.includes(path.end.variableName)) {
+        return { variableName: path.end.variableName, loc: path.end.startLoc };
+      }
+      return undefined;
+    })
     .find(Boolean);
 }
 
diff --git a/packages/webviz-core/src/components/MessageHistory/MessageHistoryInput.module.scss b/packages/webviz-core/src/components/MessageHistory/MessageHistoryInput.module.scss
index 06d28527f..e5145c0cc 100644
--- a/packages/webviz-core/src/components/MessageHistory/MessageHistoryInput.module.scss
+++ b/packages/webviz-core/src/components/MessageHistory/MessageHistoryInput.module.scss
@@ -1,4 +1,4 @@
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/MessageHistory/MessageHistoryOnlyTopics.js b/packages/webviz-core/src/components/MessageHistory/MessageHistoryOnlyTopics.js
index 532e174ca..64e0e667e 100644
--- a/packages/webviz-core/src/components/MessageHistory/MessageHistoryOnlyTopics.js
+++ b/packages/webviz-core/src/components/MessageHistory/MessageHistoryOnlyTopics.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -126,7 +126,9 @@ export function useMessages<T>(props: Props<T>): {| reducedValue: T, _clearedRef
     [requestedTopics]
   );
   const subscriptions = useSubscriptions(requestedTopics, panelType);
-  const setSubscriptions = useMessagePipeline(useCallback(({ setSubscriptions }) => setSubscriptions, []));
+  const setSubscriptions = useMessagePipeline(
+    useCallback(({ setSubscriptions: pipelineSetSubscriptions }) => pipelineSetSubscriptions, [])
+  );
   useEffect(() => setSubscriptions(id, subscriptions), [id, setSubscriptions, subscriptions]);
   useCleanup(() => setSubscriptions(id, []));
 
diff --git a/packages/webviz-core/src/components/MessageHistory/fixture.js b/packages/webviz-core/src/components/MessageHistory/fixture.js
index 5efd5f0aa..1f44afaf7 100644
--- a/packages/webviz-core/src/components/MessageHistory/fixture.js
+++ b/packages/webviz-core/src/components/MessageHistory/fixture.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -8,7 +8,7 @@
 import { SECOND_BAG_PREFIX } from "webviz-core/src/util/globalConstants";
 
 export const datatypes = {
-  "some/datatype": [{ name: "index", type: "int32" }],
+  "some/datatype": { fields: [{ name: "index", type: "int32" }] },
 };
 
 export const messages = [
diff --git a/packages/webviz-core/src/components/MessageHistory/getMessageHistoryItem.js b/packages/webviz-core/src/components/MessageHistory/getMessageHistoryItem.js
index a5daf7743..f788d1a81 100644
--- a/packages/webviz-core/src/components/MessageHistory/getMessageHistoryItem.js
+++ b/packages/webviz-core/src/components/MessageHistory/getMessageHistoryItem.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -98,8 +98,15 @@ export default function getMessageHistoryItem(
         structureItem.nextByName[pathItem.name]
       );
     } else if (pathItem.type === "slice" && structureItem.structureType === "array") {
+      const { start, end } = pathItem;
+      const startIdx = typeof start === "object" ? globalVariables[start.variableName] : start;
+      const endIdx = typeof end === "object" ? globalVariables[end.variableName] : end;
+      if (isNaN(startIdx) || isNaN(endIdx)) {
+        return;
+      }
+
       // If the `pathItem` is a slice, iterate over all the relevant elements in the array.
-      for (let i = pathItem.start; i <= Math.min(pathItem.end, value.length - 1); i++) {
+      for (let i = startIdx; i <= Math.min(endIdx, value.length - 1); i++) {
         const index = i >= 0 ? i : value.length + i;
         if (value[index] === undefined) {
           continue;
diff --git a/packages/webviz-core/src/components/MessageHistory/getMessageHistoryItem.test.js b/packages/webviz-core/src/components/MessageHistory/getMessageHistoryItem.test.js
index 48618222c..bdc10f1a1 100644
--- a/packages/webviz-core/src/components/MessageHistory/getMessageHistoryItem.test.js
+++ b/packages/webviz-core/src/components/MessageHistory/getMessageHistoryItem.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -68,33 +68,39 @@ describe("getMessageHistoryItem", () => {
     ];
     const topics: Topic[] = [{ name: "/some/topic", datatype: "some_datatype" }];
     const datatypes: RosDatatypes = {
-      some_datatype: [
-        {
-          name: "some_array",
-          type: "some_other_datatype",
-          isArray: true,
-        },
-      ],
-      some_other_datatype: [
-        {
-          name: "some_id",
-          type: "uint32",
-        },
-        {
-          name: "some_message",
-          type: "yet_another_datatype",
-        },
-      ],
-      yet_another_datatype: [
-        {
-          name: "x",
-          type: "uint32",
-        },
-        {
-          name: "y",
-          type: "uint32",
-        },
-      ],
+      some_datatype: {
+        fields: [
+          {
+            name: "some_array",
+            type: "some_other_datatype",
+            isArray: true,
+          },
+        ],
+      },
+      some_other_datatype: {
+        fields: [
+          {
+            name: "some_id",
+            type: "uint32",
+          },
+          {
+            name: "some_message",
+            type: "yet_another_datatype",
+          },
+        ],
+      },
+      yet_another_datatype: {
+        fields: [
+          {
+            name: "x",
+            type: "uint32",
+          },
+          {
+            name: "y",
+            type: "uint32",
+          },
+        ],
+      },
     };
 
     expect(
@@ -152,7 +158,9 @@ describe("getMessageHistoryItem", () => {
       },
     ];
     const topics: Topic[] = [{ name: "/some/topic", datatype: "some_datatype" }];
-    const datatypes: RosDatatypes = { some_datatype: [{ name: "some_array", type: "int32", isArray: true }] };
+    const datatypes: RosDatatypes = {
+      some_datatype: { fields: [{ name: "some_array", type: "int32", isArray: true }] },
+    };
 
     expect(
       addValuesWithPathsToItems(
@@ -176,6 +184,107 @@ describe("getMessageHistoryItem", () => {
     ]);
   });
 
+  it("slices properly with globalVariables", () => {
+    const messages: Message[] = [
+      {
+        op: "message",
+        topic: "/topic",
+        datatype: "datatype",
+        receiveTime: { sec: 0, nsec: 0 },
+        message: { an_array: [5, 10, 15, 20] },
+      },
+    ];
+    const topics: Topic[] = [{ name: "/topic", datatype: "datatype" }];
+    const datatypes: RosDatatypes = {
+      datatype: { fields: [{ name: "an_array", type: "uint32", isArray: true, isComplex: false }] },
+    };
+
+    // 1 global variable as single index - `/some/topic.an_array[$global_data_idx_a].some_id`
+    const argsObj = {
+      topicName: "/topic",
+      messagePath: [
+        { type: "name", name: "an_array" },
+        {
+          type: "slice",
+          start: { variableName: "global_data_idx_a", startLoc: "/topic.an_array[$".length },
+          end: { variableName: "global_data_idx_a", startLoc: "/topic.an_array[$".length },
+        },
+      ],
+      modifier: undefined,
+    };
+
+    expect(addValuesWithPathsToItems(messages, argsObj, topics, datatypes, { global_data_idx_a: 2 })).toEqual([
+      { message: messages[0], queriedData: [{ value: 15, path: "/topic.an_array[2]" }] },
+    ]);
+
+    // 2 global variables as indices - `/some/topic.an_array[$global_data_idx_a:$global_data_idx_b].some_id`
+    const argsCopy1 = { ...argsObj };
+    argsCopy1.messagePath[1] = {
+      ...argsCopy1.messagePath[1],
+      end: { variableName: "global_data_idx_b", startLoc: "/some/topic.an_array[$global_data_idx_a:$".length },
+    };
+    expect(
+      addValuesWithPathsToItems(messages, argsCopy1, topics, datatypes, { global_data_idx_a: 1, global_data_idx_b: 2 })
+    ).toEqual([
+      {
+        message: messages[0],
+        queriedData: [{ path: "/topic.an_array[1]", value: 10 }, { path: "/topic.an_array[2]", value: 15 }],
+      },
+    ]);
+
+    // 1 global variable for 1 of 2 indices (global variable first) - `/some/topic.an_array[$global_data_idx_a:1].some_id`
+    const argsCopy2 = {
+      ...argsObj,
+      messagePath: [argsObj.messagePath[0], { type: "slice", start: 0, end: 1 }],
+    };
+    expect(addValuesWithPathsToItems(messages, argsCopy2, topics, datatypes, { global_data_idx_a: 0 })).toEqual([
+      {
+        message: messages[0],
+        queriedData: [{ path: "/topic.an_array[0]", value: 5 }, { path: "/topic.an_array[1]", value: 10 }],
+      },
+    ]);
+
+    // 1 global variable for 1 of 2 indices (global variable second) - `/some/topic.an_array[0:$global_data_idx_b].some_id`
+    const argsCopy3 = {
+      ...argsObj,
+      messagePath: [
+        argsObj.messagePath[0],
+        {
+          type: "slice",
+          start: 0,
+          end: { variableName: "global_data_idx_b", startLoc: "/topic.an_array[0:$".length },
+        },
+      ],
+    };
+    expect(addValuesWithPathsToItems(messages, argsCopy3, topics, datatypes, { global_data_idx_b: 3 })).toEqual([
+      {
+        message: messages[0],
+        queriedData: [
+          { path: "/topic.an_array[0]", value: 5 },
+          { path: "/topic.an_array[1]", value: 10 },
+          { path: "/topic.an_array[2]", value: 15 },
+          { path: "/topic.an_array[3]", value: 20 },
+        ],
+      },
+    ]);
+
+    // without any global variable value
+    expect(addValuesWithPathsToItems(messages, argsCopy3, topics, datatypes, {})).toEqual([
+      {
+        message: messages[0],
+        queriedData: [],
+      },
+    ]);
+
+    // with non-number global variable value
+    expect(addValuesWithPathsToItems(messages, argsCopy3, topics, datatypes, { global_data_idx_b: "a" })).toEqual([
+      {
+        message: messages[0],
+        queriedData: [],
+      },
+    ]);
+  });
+
   it("returns nothing for invalid topics", () => {
     const messages: Message[] = [
       {
@@ -214,23 +323,27 @@ describe("getMessageHistoryItem", () => {
     ];
     const topics: Topic[] = [{ name: "/some/topic", datatype: "some_datatype" }];
     const datatypes: RosDatatypes = {
-      some_datatype: [
-        {
-          name: "some_array",
-          type: "some_other_datatype",
-          isArray: true,
-        },
-      ],
-      some_other_datatype: [
-        {
-          name: "some_filter_value",
-          type: "uint32",
-        },
-        {
-          name: "some_id",
-          type: "uint32",
-        },
-      ],
+      some_datatype: {
+        fields: [
+          {
+            name: "some_array",
+            type: "some_other_datatype",
+            isArray: true,
+          },
+        ],
+      },
+      some_other_datatype: {
+        fields: [
+          {
+            name: "some_filter_value",
+            type: "uint32",
+          },
+          {
+            name: "some_id",
+            type: "uint32",
+          },
+        ],
+      },
     };
 
     expect(
@@ -287,23 +400,27 @@ describe("getMessageHistoryItem", () => {
     ];
     const topics: Topic[] = [{ name: "/some/topic", datatype: "some_datatype" }];
     const datatypes: RosDatatypes = {
-      some_datatype: [
-        {
-          name: "some_array",
-          type: "some_other_datatype",
-          isArray: true,
-        },
-      ],
-      some_other_datatype: [
-        {
-          name: "some_filter_value",
-          type: "uint32",
-        },
-        {
-          name: "some_id",
-          type: "uint32",
-        },
-      ],
+      some_datatype: {
+        fields: [
+          {
+            name: "some_array",
+            type: "some_other_datatype",
+            isArray: true,
+          },
+        ],
+      },
+      some_other_datatype: {
+        fields: [
+          {
+            name: "some_filter_value",
+            type: "uint32",
+          },
+          {
+            name: "some_id",
+            type: "uint32",
+          },
+        ],
+      },
     };
 
     expect(
@@ -317,7 +434,10 @@ describe("getMessageHistoryItem", () => {
             {
               type: "filter",
               path: ["some_filter_value"],
-              value: { variableName: "some_global_data_key" },
+              value: {
+                variableName: "some_global_data_key",
+                startLoc: "/some/topic.some_array[:]{some_filter_value==$".length,
+              },
               nameLoc: 0,
               valueLoc: "/some/topic.some_array[:]{some_filter_value==".length,
               repr: "some_filter_value==$some_global_data_key",
@@ -375,16 +495,18 @@ describe("getMessageHistoryItem", () => {
     ];
     const topics: Topic[] = [{ name: "/some/topic", datatype: "some_datatype" }];
     const datatypes: RosDatatypes = {
-      some_datatype: [
-        {
-          name: "str_field",
-          type: "string",
-        },
-        {
-          name: "num_field",
-          type: "uint32",
-        },
-      ],
+      some_datatype: {
+        fields: [
+          {
+            name: "str_field",
+            type: "string",
+          },
+          {
+            name: "num_field",
+            type: "uint32",
+          },
+        ],
+      },
     };
 
     expect(
@@ -562,24 +684,26 @@ describe("getMessageHistoryItem", () => {
     ];
     const topics: Topic[] = [{ name: "/some/topic", datatype: "some_datatype" }];
     const datatypes: RosDatatypes = {
-      some_datatype: [
-        {
-          name: "OFF",
-          type: "uint32",
-          isConstant: true,
-          value: 0,
-        },
-        {
-          name: "ON",
-          type: "uint32",
-          isConstant: true,
-          value: 1,
-        },
-        {
-          name: "state",
-          type: "uint32",
-        },
-      ],
+      some_datatype: {
+        fields: [
+          {
+            name: "OFF",
+            type: "uint32",
+            isConstant: true,
+            value: 0,
+          },
+          {
+            name: "ON",
+            type: "uint32",
+            isConstant: true,
+            value: 1,
+          },
+          {
+            name: "state",
+            type: "uint32",
+          },
+        ],
+      },
     };
 
     expect(
diff --git a/packages/webviz-core/src/components/MessageHistory/hooks.js b/packages/webviz-core/src/components/MessageHistory/hooks.js
index a910f8bc5..1622d79ef 100644
--- a/packages/webviz-core/src/components/MessageHistory/hooks.js
+++ b/packages/webviz-core/src/components/MessageHistory/hooks.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -99,8 +99,8 @@ export function createSelectableContext<T>(): SelectableContext<T> {
       let currentValue = value;
       const subscribers = new Set();
       return {
-        publish(value) {
-          currentValue = value;
+        publish(val) {
+          currentValue = val;
           for (const sub of subscribers) {
             sub(currentValue);
           }
diff --git a/packages/webviz-core/src/components/MessageHistory/hooks.test.js b/packages/webviz-core/src/components/MessageHistory/hooks.test.js
index 53a2a8c0e..d94c630d7 100644
--- a/packages/webviz-core/src/components/MessageHistory/hooks.test.js
+++ b/packages/webviz-core/src/components/MessageHistory/hooks.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/MessageHistory/index.js b/packages/webviz-core/src/components/MessageHistory/index.js
index 50c49df71..102d481ef 100644
--- a/packages/webviz-core/src/components/MessageHistory/index.js
+++ b/packages/webviz-core/src/components/MessageHistory/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -167,27 +167,27 @@ export default React.memo<Props>(function MessageHistory({ children, paths, hist
   const memoizedPaths = useShallowMemo(paths);
   const [rosPaths, metadataByPath, pathsByTopic, topics] = useMemo(
     () => {
-      const rosPaths: { [string]: ?RosPath } = {};
-      const metadataByPath: { [string]: MessageHistoryMetadata } = {};
-      const pathsByTopic: { [string]: { path: string, rosPath: RosPath }[] } = {};
+      const innerRosPaths: { [string]: ?RosPath } = {};
+      const innerMetadataByPath: { [string]: MessageHistoryMetadata } = {};
+      const innerPathsByTopic: { [string]: { path: string, rosPath: RosPath }[] } = {};
 
       for (const path of new Set(memoizedPaths)) {
         const rosPath = parseRosPath(path);
-        rosPaths[path] = rosPath;
+        innerRosPaths[path] = rosPath;
         if (rosPath) {
-          pathsByTopic[rosPath.topicName] = pathsByTopic[rosPath.topicName] || [];
-          pathsByTopic[rosPath.topicName].push({ path, rosPath });
+          innerPathsByTopic[rosPath.topicName] = innerPathsByTopic[rosPath.topicName] || [];
+          innerPathsByTopic[rosPath.topicName].push({ path, rosPath });
 
           const topic = memoizedTopicsByName[rosPath.topicName];
           if (topic) {
             const { structureItem } = traverseStructure(structures[topic.datatype], rosPath.messagePath);
             if (structureItem) {
-              metadataByPath[path] = { structureItem };
+              innerMetadataByPath[path] = { structureItem };
             }
           }
         }
       }
-      return [rosPaths, metadataByPath, pathsByTopic, Object.keys(pathsByTopic)];
+      return [innerRosPaths, innerMetadataByPath, innerPathsByTopic, Object.keys(innerPathsByTopic)];
     },
     [memoizedPaths, memoizedTopicsByName, structures]
   );
diff --git a/packages/webviz-core/src/components/MessageHistory/index.stories.js b/packages/webviz-core/src/components/MessageHistory/index.stories.js
index f41417bdd..cbb0c7b55 100644
--- a/packages/webviz-core/src/components/MessageHistory/index.stories.js
+++ b/packages/webviz-core/src/components/MessageHistory/index.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -17,39 +17,49 @@ import PanelSetup from "webviz-core/src/stories/PanelSetup";
 
 const fixture = {
   datatypes: {
-    "msgs/PoseDebug": [
-      { name: "header", type: "std_msgs/Header", isArray: false },
-      { name: "pose", type: "msgs/Pose", isArray: false },
-    ],
-    "msgs/Pose": [
-      { name: "header", type: "std_msgs/Header", isArray: false },
-      { name: "x", type: "float64", isArray: false },
-      { name: "y", type: "float64", isArray: false },
-      { name: "travel", type: "float64", isArray: false },
-      { name: "velocity", type: "float64", isArray: false },
-      { name: "acceleration", type: "float64", isArray: false },
-      { name: "heading", type: "float64", isArray: false },
-    ],
-    "msgs/State": [
-      { name: "header", type: "std_msgs/Header", isArray: false },
-      { name: "items", type: "msgs/OtherState", isArray: true },
-      { name: "foo_id", type: "uint32", isArray: false },
-    ],
-    "msgs/OtherState": [
-      { name: "id", type: "int32", isArray: false },
-      { name: "speed", type: "float32", isArray: false },
-      { name: "name", type: "string", isArray: false },
-      { name: "valid", type: "bool", isArray: false },
-    ],
-    "std_msgs/Header": [
-      { name: "seq", type: "uint32", isArray: false },
-      {
-        name: "stamp",
-        type: "time",
-        isArray: false,
-      },
-      { name: "frame_id", type: "string", isArray: false },
-    ],
+    "msgs/PoseDebug": {
+      fields: [
+        { name: "header", type: "std_msgs/Header", isArray: false },
+        { name: "pose", type: "msgs/Pose", isArray: false },
+      ],
+    },
+    "msgs/Pose": {
+      fields: [
+        { name: "header", type: "std_msgs/Header", isArray: false },
+        { name: "x", type: "float64", isArray: false },
+        { name: "y", type: "float64", isArray: false },
+        { name: "travel", type: "float64", isArray: false },
+        { name: "velocity", type: "float64", isArray: false },
+        { name: "acceleration", type: "float64", isArray: false },
+        { name: "heading", type: "float64", isArray: false },
+      ],
+    },
+    "msgs/State": {
+      fields: [
+        { name: "header", type: "std_msgs/Header", isArray: false },
+        { name: "items", type: "msgs/OtherState", isArray: true },
+        { name: "foo_id", type: "uint32", isArray: false },
+      ],
+    },
+    "msgs/OtherState": {
+      fields: [
+        { name: "id", type: "int32", isArray: false },
+        { name: "speed", type: "float32", isArray: false },
+        { name: "name", type: "string", isArray: false },
+        { name: "valid", type: "bool", isArray: false },
+      ],
+    },
+    "std_msgs/Header": {
+      fields: [
+        { name: "seq", type: "uint32", isArray: false },
+        {
+          name: "stamp",
+          type: "time",
+          isArray: false,
+        },
+        { name: "frame_id", type: "string", isArray: false },
+      ],
+    },
   },
   topics: [
     { name: "/some_topic/location", datatype: "msgs/PoseDebug" },
@@ -105,4 +115,16 @@ storiesOf("<MessageHistoryInput>", module)
   })
   .add("path with incorrectly prefixed globalVariables variable", () => {
     return <MessageHistoryInputStory path="/some_topic/state.items[:]{id==global_var_2}" />;
+  })
+  .add("autocomplete for path with globalVariables variable in slice (single idx)", () => {
+    return <MessageHistoryInputStory path="/some_topic/state.items[$]" />;
+  })
+  .add("autocomplete for path with globalVariables variable in slice (start idx)", () => {
+    return <MessageHistoryInputStory path="/some_topic/state.items[$:]" />;
+  })
+  .add("autocomplete for path with globalVariables variable in slice (end idx)", () => {
+    return <MessageHistoryInputStory path="/some_topic/state.items[:$]" />;
+  })
+  .add("autocomplete for path with globalVariables variables in slice (start and end idx)", () => {
+    return <MessageHistoryInputStory path="/some_topic/state.items[$global_var_2:$]" />;
   });
diff --git a/packages/webviz-core/src/components/MessageHistory/index.test.js b/packages/webviz-core/src/components/MessageHistory/index.test.js
index dd7215ecf..ef9476f31 100644
--- a/packages/webviz-core/src/components/MessageHistory/index.test.js
+++ b/packages/webviz-core/src/components/MessageHistory/index.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -358,9 +358,9 @@ describe("<MessageHistory />", () => {
   });
 
   describe("global variables in paths", () => {
-    const datatypes = {
-      "dtype/Foo": [{ name: "bars", type: "dtype/Bar", isArray: true, isComplex: true }],
-      "dtype/Bar": [{ name: "index", type: "int32" }, { name: "baz", type: "int32" }],
+    const exampleDatatypes = {
+      "dtype/Foo": { fields: [{ name: "bars", type: "dtype/Bar", isArray: true, isComplex: true }] },
+      "dtype/Bar": { fields: [{ name: "index", type: "int32" }, { name: "baz", type: "int32" }] },
     };
 
     const message = {
@@ -381,7 +381,7 @@ describe("<MessageHistory />", () => {
         <MockMessagePipelineProvider
           store={store}
           topics={[{ name: "/some/topic", datatype: "dtype/Foo" }]}
-          datatypes={datatypes}
+          datatypes={exampleDatatypes}
           messages={[message]}>
           <MessageHistory paths={["/some/topic.bars[:]{index==$foo}.baz"]}>{childFn}</MessageHistory>
         </MockMessagePipelineProvider>
diff --git a/packages/webviz-core/src/components/MessageHistory/internalCommon.js b/packages/webviz-core/src/components/MessageHistory/internalCommon.js
index 88a2835ff..d5f15ae1f 100644
--- a/packages/webviz-core/src/components/MessageHistory/internalCommon.js
+++ b/packages/webviz-core/src/components/MessageHistory/internalCommon.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -37,7 +37,7 @@ export const TOPICS_WITH_INCORRECT_HEADERS = getGlobalHooks().topicsWithIncorrec
 export type MessagePathFilter = {|
   type: "filter",
   path: string[],
-  value: void | number | string | {| variableName: string |},
+  value: void | number | string | {| variableName: string, startLoc: number |},
   nameLoc: number,
   valueLoc: number,
   repr: string, // the original string representation of the filter
@@ -46,7 +46,11 @@ export type MessagePathFilter = {|
 // A parsed version of paths.
 export type MessagePathPart =
   | {| type: "name", name: string |}
-  | {| type: "slice", start: number, end: number |}
+  | {|
+      type: "slice",
+      start: number | {| variableName: string, startLoc: number |},
+      end: number | {| variableName: string, startLoc: number |},
+    |}
   | MessagePathFilter;
 
 export type RosPath = {|
diff --git a/packages/webviz-core/src/components/MessageHistory/messagePathsForDatatype.js b/packages/webviz-core/src/components/MessageHistory/messagePathsForDatatype.js
index f5ebfd339..0f7aa509c 100644
--- a/packages/webviz-core/src/components/MessageHistory/messagePathsForDatatype.js
+++ b/packages/webviz-core/src/components/MessageHistory/messagePathsForDatatype.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -44,11 +44,11 @@ export function messagePathStructures(datatypes: RosDatatypes): { [string]: Mess
     const structureFor = memoize(
       (datatype: string): MessagePathStructureItemMessage => {
         const nextByName: { [string]: MessagePathStructureItem } = {};
-        const rosMsgFields = datatypes[datatype];
-        if (!rosMsgFields) {
+        const rosDatatype = datatypes[datatype];
+        if (!rosDatatype) {
           throw new Error(`datatype not found: "${datatype}"`);
         }
-        rosMsgFields.forEach((msgField) => {
+        rosDatatype.fields.forEach((msgField) => {
           if (msgField.isConstant) {
             return;
           }
diff --git a/packages/webviz-core/src/components/MessageHistory/messagePathsForDatatype.test.js b/packages/webviz-core/src/components/MessageHistory/messagePathsForDatatype.test.js
index 71e154b39..a5d44cd05 100644
--- a/packages/webviz-core/src/components/MessageHistory/messagePathsForDatatype.test.js
+++ b/packages/webviz-core/src/components/MessageHistory/messagePathsForDatatype.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -14,23 +14,30 @@ import {
   messagePathStructures,
   validTerminatingStructureItem,
 } from "./messagePathsForDatatype";
+import type { RosDatatypes } from "webviz-core/src/types/RosDatatypes";
 
-const datatypes = {
-  "pose_msgs/PoseDebug": [
-    { name: "header", type: "std_msgs/Header", isArray: false },
-    { name: "some_pose", type: "pose_msgs/SomePose", isArray: false },
-  ],
-  "pose_msgs/SomePose": [
-    { name: "header", type: "std_msgs/Header", isArray: false },
-    { name: "x", type: "float64", isArray: false },
-    { name: "SOME_CONSTANT", type: "float64", isArray: false, isConstant: true, value: 10 }, // Should be ignored.
-    { name: "dummy_array", type: "float64", isArray: true },
-  ],
-  "std_msgs/Header": [
-    { name: "seq", type: "uint32", isArray: false },
-    { name: "stamp", type: "time", isArray: false },
-    { name: "frame_id", type: "string", isArray: false },
-  ],
+const datatypes: RosDatatypes = {
+  "pose_msgs/PoseDebug": {
+    fields: [
+      { name: "header", type: "std_msgs/Header", isArray: false },
+      { name: "some_pose", type: "pose_msgs/SomePose", isArray: false },
+    ],
+  },
+  "pose_msgs/SomePose": {
+    fields: [
+      { name: "header", type: "std_msgs/Header", isArray: false },
+      { name: "x", type: "float64", isArray: false },
+      { name: "SOME_CONSTANT", type: "float64", isArray: false, isConstant: true, value: 10 }, // Should be ignored.
+      { name: "dummy_array", type: "float64", isArray: true },
+    ],
+  },
+  "std_msgs/Header": {
+    fields: [
+      { name: "seq", type: "uint32", isArray: false },
+      { name: "stamp", type: "time", isArray: false },
+      { name: "frame_id", type: "string", isArray: false },
+    ],
+  },
 };
 
 describe("messagePathStructures", () => {
diff --git a/packages/webviz-core/src/components/MessageHistory/parseRosPath.js b/packages/webviz-core/src/components/MessageHistory/parseRosPath.js
index e2943c363..cb12113b3 100644
--- a/packages/webviz-core/src/components/MessageHistory/parseRosPath.js
+++ b/packages/webviz-core/src/components/MessageHistory/parseRosPath.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -26,4 +26,8 @@ const parseRosPath: (path: string) => ?RosPath = memoize(
   }
 );
 
+export function splitTopicPathOnTopicName(path: string): ?{ topicName: string, trailingPath: string } {
+  const rosPath = parseRosPath(path);
+  return rosPath ? { topicName: rosPath.topicName, trailingPath: path.slice(rosPath.topicName.length) } : undefined;
+}
 export default parseRosPath;
diff --git a/packages/webviz-core/src/components/MessageHistory/parseRosPath.test.js b/packages/webviz-core/src/components/MessageHistory/parseRosPath.test.js
index 9c610d780..38f768e95 100644
--- a/packages/webviz-core/src/components/MessageHistory/parseRosPath.test.js
+++ b/packages/webviz-core/src/components/MessageHistory/parseRosPath.test.js
@@ -1,12 +1,12 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import parseRosPath from "./parseRosPath";
+import parseRosPath, { splitTopicPathOnTopicName } from "./parseRosPath";
 
 describe("parseRosPath", () => {
   it("parses valid strings", () => {
@@ -66,6 +66,68 @@ describe("parseRosPath", () => {
       ],
       modifier: null,
     });
+    expect(parseRosPath("/topic.foo[$a].bar")).toEqual({
+      topicName: "/topic",
+      messagePath: [
+        { type: "name", name: "foo" },
+        {
+          type: "slice",
+          start: { variableName: "a", startLoc: "/topic.foo[".length },
+          end: { variableName: "a", startLoc: "/topic.foo[".length },
+        },
+        { type: "name", name: "bar" },
+      ],
+      modifier: null,
+    });
+    expect(parseRosPath("/topic.foo[$a:$b].bar")).toEqual({
+      topicName: "/topic",
+      messagePath: [
+        { type: "name", name: "foo" },
+        {
+          type: "slice",
+          start: { variableName: "a", startLoc: "/topic.foo[".length },
+          end: { variableName: "b", startLoc: "/topic.foo[$a:".length },
+        },
+        { type: "name", name: "bar" },
+      ],
+      modifier: null,
+    });
+    expect(parseRosPath("/topic.foo[$a:].bar")).toEqual({
+      topicName: "/topic",
+      messagePath: [
+        { type: "name", name: "foo" },
+        { type: "slice", start: { variableName: "a", startLoc: "/topic.foo[".length }, end: Infinity },
+        { type: "name", name: "bar" },
+      ],
+      modifier: null,
+    });
+    expect(parseRosPath("/topic.foo[$a:5].bar")).toEqual({
+      topicName: "/topic",
+      messagePath: [
+        { type: "name", name: "foo" },
+        { type: "slice", start: { variableName: "a", startLoc: "/topic.foo[".length }, end: 5 },
+        { type: "name", name: "bar" },
+      ],
+      modifier: null,
+    });
+    expect(parseRosPath("/topic.foo[:$b].bar")).toEqual({
+      topicName: "/topic",
+      messagePath: [
+        { type: "name", name: "foo" },
+        { type: "slice", start: 0, end: { variableName: "b", startLoc: "/topic.foo[:".length } },
+        { type: "name", name: "bar" },
+      ],
+      modifier: null,
+    });
+    expect(parseRosPath("/topic.foo[2:$b].bar")).toEqual({
+      topicName: "/topic",
+      messagePath: [
+        { type: "name", name: "foo" },
+        { type: "slice", start: 2, end: { variableName: "b", startLoc: "/topic.foo[2:".length } },
+        { type: "name", name: "bar" },
+      ],
+      modifier: null,
+    });
   });
 
   it("parses filters", () => {
@@ -178,7 +240,7 @@ describe("parseRosPath", () => {
         {
           type: "filter",
           path: ["bar"],
-          value: { variableName: "" },
+          value: { variableName: "", startLoc: "/topic.foo{bar==".length },
           nameLoc: "/topic.foo{".length,
           valueLoc: "/topic.foo{bar==".length,
           repr: "bar==$",
@@ -187,9 +249,7 @@ describe("parseRosPath", () => {
         {
           type: "filter",
           path: ["bar"],
-          value: {
-            variableName: "my_var_1",
-          },
+          value: { variableName: "my_var_1", startLoc: "/topic.foo{bar==$}.a{bar==".length },
           nameLoc: "/topic.foo{bar==$}.a{".length,
           valueLoc: "/topic.foo{bar==$}.a{bar==".length,
           repr: "bar==$my_var_1",
@@ -292,3 +352,18 @@ describe("parseRosPath", () => {
     expect(parseRosPath("/topic.foo{bar==baz}")).toBeUndefined();
   });
 });
+
+describe("splitTopicPathOnTopicName", () => {
+  it("splits a topic path on the base topic name", () => {
+    expect(splitTopicPathOnTopicName("/some/long/topic/name")).toEqual({
+      topicName: "/some/long/topic/name",
+      trailingPath: "",
+    });
+    expect(splitTopicPathOnTopicName("/some_topic.some_field[0].some_inner_field")).toEqual({
+      topicName: "/some_topic",
+      trailingPath: ".some_field[0].some_inner_field",
+    });
+    expect(splitTopicPathOnTopicName("/some_topic")).toEqual({ topicName: "/some_topic", trailingPath: "" });
+    expect(splitTopicPathOnTopicName("")).toEqual(undefined);
+  });
+});
diff --git a/packages/webviz-core/src/components/MessageHistory/rosPathGrammar.ne b/packages/webviz-core/src/components/MessageHistory/rosPathGrammar.ne
index 33058927e..cc61f079b 100644
--- a/packages/webviz-core/src/components/MessageHistory/rosPathGrammar.ne
+++ b/packages/webviz-core/src/components/MessageHistory/rosPathGrammar.ne
@@ -1,4 +1,4 @@
-#  Copyright (c) 2018-present, GM Cruise LLC
+#  Copyright (c) 2018-present, Cruise LLC
 #
 #  This source code is licensed under the Apache License, Version 2.0,
 #  found in the LICENSE file in the root directory of this source tree.
@@ -32,7 +32,7 @@ string
    -> "'" [^']:* "'"   {% (d) => ({ value: d[1].join(""), repr: `'${d[1].join("")}'` }) %}
     | "\"" [^"]:* "\"" {% (d) => ({ value: d[1].join(""), repr: `"${d[1].join("")}"` }) %}
 
-variable -> "$" id:? {% (d) => ({ value: {variableName: d[1] || ""}, repr: `$${d[1] || ""}` }) %}
+variable -> "$" id:? {% (d, loc) => ({ value: {variableName: d[1] || "", startLoc: loc }, repr: `$${d[1] || ""}` }) %}
 
 # An integer, string, or boolean.
 value -> integer  {% (d) => d[0] %}
@@ -68,10 +68,11 @@ name -> id
   {% (d) => ({ type: "name", name: d[0] }) %}
 
 # Slice part; can be a single array index `[0]` or multiple `[0:10]`, or even infinite `[:]`.
-slice -> "[" integer "]"
-            {% (d) => ({ type: "slice", start: d[1].value, end: d[1].value }) %}
-       | "[" integer:? ":" integer:? "]"
-            {% (d) => ({ type: "slice", start: d[1] === null ? 0 : d[1].value, end: d[3] === null ? Infinity : d[3].value }) %}
+sliceVal -> integer {% (d) => (d[0].value) %} | variable {% (d) => (d[0].value) %}
+slice -> "[" sliceVal "]"
+            {% (d) => ({ type: "slice", start: d[1], end: d[1] }) %}
+       | "[" sliceVal:? ":" sliceVal:? "]"
+            {% (d) => ({ type: "slice", start: d[1] === null ? 0 : d[1], end: d[3] === null ? Infinity : d[3] }) %}
 
 # For now, filters only support simple "foo.bar.baz" paths, so we need a separate rule for this.
 # TODO: it would be nice if filters supported arbitrary sub-paths, such as "/diagnostics{status[0].hardware_id=='bar'}".
diff --git a/packages/webviz-core/src/components/MessageHistory/synchronizeMessages.js b/packages/webviz-core/src/components/MessageHistory/synchronizeMessages.js
index d15e56a6f..b8c73d46b 100644
--- a/packages/webviz-core/src/components/MessageHistory/synchronizeMessages.js
+++ b/packages/webviz-core/src/components/MessageHistory/synchronizeMessages.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -115,12 +115,12 @@ function getSynchronizedState(
   let newSynchronizedMessages = synchronizedMessages;
 
   for (const stamp of allMessageStampsNewestFirst(messagesByTopic)) {
-    const synchronizedMessages = getSynchronizedMessages(stamp, topics, messagesByTopic);
-    if (synchronizedMessages) {
+    const syncedMsgs = getSynchronizedMessages(stamp, topics, messagesByTopic);
+    if (syncedMsgs) {
       // We've found a new synchronized set; remove messages older than these.
-      newSynchronizedMessages = synchronizedMessages;
-      newMessagesByTopic = mapValues(newMessagesByTopic, (messagesByTopic) =>
-        messagesByTopic.filter(({ message }) => {
+      newSynchronizedMessages = syncedMsgs;
+      newMessagesByTopic = mapValues(newMessagesByTopic, (msgsByTopic) =>
+        msgsByTopic.filter(({ message }) => {
           const thisStamp = get(message, ["header", "stamp"]);
           return !TimeUtil.isLessThan(thisStamp, stamp);
         })
diff --git a/packages/webviz-core/src/components/MessageHistory/synchronizeMessages.test.js b/packages/webviz-core/src/components/MessageHistory/synchronizeMessages.test.js
index e5c019dca..614f254bb 100644
--- a/packages/webviz-core/src/components/MessageHistory/synchronizeMessages.test.js
+++ b/packages/webviz-core/src/components/MessageHistory/synchronizeMessages.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -43,7 +43,7 @@ describe("synchronizeMessages", () => {
         {
           "/foo": [item("/foo", { sec: 1, nsec: 2 })],
         },
-        (item) => null
+        () => null
       )
     ).toEqual(null);
   });
diff --git a/packages/webviz-core/src/components/MessageHistory/topicPathSyntax.help.md b/packages/webviz-core/src/components/MessageHistory/topicPathSyntax.help.md
index c866b1758..81b3177ef 100644
--- a/packages/webviz-core/src/components/MessageHistory/topicPathSyntax.help.md
+++ b/packages/webviz-core/src/components/MessageHistory/topicPathSyntax.help.md
@@ -7,6 +7,7 @@ The topic path syntax can be used in several panels to find the exact messages i
 - You can also index into an array, like this: `/some/topic.many.values[0].x`
 - Slices are also allowed, and will return an array of values: `/some/topic.many.values[1:3].x` or even `/some/topic.many.values[:].x` to get all values.
 - Negative slices are allowed, and work backwards from the end of the array, e.g. `[-1]` to get the last element, or `[-2:-1]` to get the last two elements.
+- You can also slice on a global variable, which you can set in the Global Variables Panel: `/some/topic.many.values[$my_custom_start_idx:$my_custom_end_idx]`
 - Filter on particular values, usually in combination with slices: `/some/topic.many.values[:]{some_id==123}.x` — for now only equality is supported.
 - You can also filter on a global variable, which you can set in the Global Variables Panel: `/some/topic.many.values[:]{some_id==$my_custom_id}`
 - Filters can be applied to fields in the top-level message, in which case entire messages that don't match the filter will be skipped: `/some/topic{foo.bar==123}`
diff --git a/packages/webviz-core/src/components/MessagePipeline/FakePlayer.js b/packages/webviz-core/src/components/MessagePipeline/FakePlayer.js
index 26a5133d2..29f7cd974 100644
--- a/packages/webviz-core/src/components/MessagePipeline/FakePlayer.js
+++ b/packages/webviz-core/src/components/MessagePipeline/FakePlayer.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/MessagePipeline/index.js b/packages/webviz-core/src/components/MessagePipeline/index.js
index b95e13897..089451e1e 100644
--- a/packages/webviz-core/src/components/MessagePipeline/index.js
+++ b/packages/webviz-core/src/components/MessagePipeline/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/MessagePipeline/index.test.js b/packages/webviz-core/src/components/MessagePipeline/index.test.js
index ca39d30be..81756b4f8 100644
--- a/packages/webviz-core/src/components/MessagePipeline/index.test.js
+++ b/packages/webviz-core/src/components/MessagePipeline/index.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -414,7 +414,7 @@ describe("MessagePipelineProvider/MessagePipelineConsumer", () => {
       speed: 0.2,
       lastSeekTime: 1234,
       topics: [{ name: "/input/foo", datatype: "foo" }],
-      datatypes: { foo: [] },
+      datatypes: { foo: { fields: [] } },
     };
     await act(() => player.emit(activeData));
     expect(fn).toHaveBeenCalledTimes(2);
diff --git a/packages/webviz-core/src/components/MessagePipeline/warnOnOutOfSyncMessages.js b/packages/webviz-core/src/components/MessagePipeline/warnOnOutOfSyncMessages.js
index 127d90455..d7d8e3c46 100644
--- a/packages/webviz-core/src/components/MessagePipeline/warnOnOutOfSyncMessages.js
+++ b/packages/webviz-core/src/components/MessagePipeline/warnOnOutOfSyncMessages.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/MessagePipeline/warnOnOutOfSyncMessages.test.js b/packages/webviz-core/src/components/MessagePipeline/warnOnOutOfSyncMessages.test.js
index 8969e93a7..0557d3dc0 100644
--- a/packages/webviz-core/src/components/MessagePipeline/warnOnOutOfSyncMessages.test.js
+++ b/packages/webviz-core/src/components/MessagePipeline/warnOnOutOfSyncMessages.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Modal.js b/packages/webviz-core/src/components/Modal.js
index 1a434b90a..65b3811e6 100644
--- a/packages/webviz-core/src/components/Modal.js
+++ b/packages/webviz-core/src/components/Modal.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -64,7 +64,7 @@ export default class Modal extends React.PureComponent<Props> {
   render() {
     return (
       <Container
-        innerRef={(el) => {
+        ref={(el) => {
           if (
             el &&
             el.parentElement &&
diff --git a/packages/webviz-core/src/components/Modal.stories.js b/packages/webviz-core/src/components/Modal.stories.js
index 425d9793f..3bca6470c 100644
--- a/packages/webviz-core/src/components/Modal.stories.js
+++ b/packages/webviz-core/src/components/Modal.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Panel.js b/packages/webviz-core/src/components/Panel.js
index f2303adfe..43e81624a 100644
--- a/packages/webviz-core/src/components/Panel.js
+++ b/packages/webviz-core/src/components/Panel.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -51,12 +51,13 @@ import { getPanelTypeFromId } from "webviz-core/src/util";
 // The panel also gets wrapped in an error boundary and flex box.
 
 type Props<Config> = {| childId?: string, config?: Config, saveConfig?: () => void |};
-type State = {
+type State = {|
   quickActionsKeyPressed: boolean,
   shiftKeyPressed: boolean,
   fullScreen: boolean,
   removePanelKeyPressed: boolean,
-};
+  isHovered: boolean,
+|};
 
 interface PanelStatics<Config> {
   panelType: string;
@@ -72,6 +73,7 @@ const DEFAULT_MOCK_PANEL_CONTEXT: PanelContextType<any> = {
   saveConfig: () => {},
   updatePanelConfig: () => {},
   openSiblingPanel: () => {},
+  isHovered: false,
 };
 export class MockPanelContextProvider extends React.Component<{ ...MockProps, children: React.Node }> {
   render() {
@@ -146,6 +148,7 @@ export default function Panel<Config: PanelConfig>(
       shiftKeyPressed: false,
       fullScreen: false,
       removePanelKeyPressed: false,
+      isHovered: false,
     };
 
     _tildePressing: boolean = false;
@@ -216,6 +219,14 @@ export default function Panel<Config: PanelConfig>(
       }
     };
 
+    _onMouseEnter = () => {
+      this.setState({ isHovered: true });
+    };
+
+    _onMouseLeave = () => {
+      this.setState({ isHovered: false });
+    };
+
     _closePanel = () => {
       const { mosaicActions, mosaicWindowActions } = this.context;
       mosaicActions.remove(mosaicWindowActions.getPath());
@@ -311,17 +322,21 @@ export default function Panel<Config: PanelConfig>(
             saveConfig: this._saveConfig,
             updatePanelConfig: this._updatePanelConfig,
             openSiblingPanel: this._openSiblingPanel,
+            isHovered: this.state.isHovered,
           }}>
           {/* ensures user exits full-screen mode when leaving the window, even if key is still pressed down */}
           <DocumentEvents target={window.top} enabled onBlur={this._exitFullScreen} />
           <KeyListener global keyUpHandlers={this._keyUpHandlers} keyDownHandlers={this._keyDownHandlers} />
           <Flex
             onClick={this._onOverlayClick}
+            onMouseEnter={this._onMouseEnter}
+            onMouseLeave={this._onMouseLeave}
             className={cx({
               [styles.root]: true,
               [styles.rootFullScreen]: fullScreen,
             })}
             col
+            dataTest="panel-mouseenter-container"
             clip>
             {fullScreen ? <div className={styles.notClickable} /> : null}
             {quickActionsKeyPressed && !fullScreen && (
diff --git a/packages/webviz-core/src/components/Panel.test.js b/packages/webviz-core/src/components/Panel.test.js
index 2fc22f3d7..7bc4a03bb 100644
--- a/packages/webviz-core/src/components/Panel.test.js
+++ b/packages/webviz-core/src/components/Panel.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -45,7 +45,7 @@ function Context(props: { children: React.Node, store?: any }) {
   return (
     <MockMessagePipelineProvider
       topics={[{ name: "/some/topic", datatype: "some_datatype" }]}
-      datatypes={{ some_datatype: [] }}
+      datatypes={{ some_datatype: { fields: [] } }}
       store={props.store}>
       {props.children}
     </MockMessagePipelineProvider>
@@ -68,7 +68,7 @@ describe("Panel", () => {
       {
         capabilities: [],
         config: { someString: "hello world" },
-        datatypes: { some_datatype: [] },
+        datatypes: { some_datatype: { fields: [] } },
         openSiblingPanel: expect.any(Function),
         saveConfig: expect.any(Function),
         updatePanelConfig: expect.any(Function),
@@ -97,7 +97,7 @@ describe("Panel", () => {
       {
         capabilities: [],
         config: { someString },
-        datatypes: { some_datatype: [] },
+        datatypes: { some_datatype: { fields: [] } },
         openSiblingPanel: expect.any(Function),
         saveConfig: expect.any(Function),
         updatePanelConfig: expect.any(Function),
diff --git a/packages/webviz-core/src/components/PanelContext.js b/packages/webviz-core/src/components/PanelContext.js
index a69f9b558..7abd8b7f9 100644
--- a/packages/webviz-core/src/components/PanelContext.js
+++ b/packages/webviz-core/src/components/PanelContext.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -23,6 +23,8 @@ export type PanelContextType<T> = {|
   // TODO(PanelAPI): move to usePanelActions()
   updatePanelConfig: UpdatePanelConfig<T>,
   openSiblingPanel: OpenSiblingPanel,
+
+  isHovered: boolean,
 |};
 // Context used for components to know which panel they are inside
 const PanelContext = React.createContext<?PanelContextType<PanelConfig>>();
diff --git a/packages/webviz-core/src/components/PanelLayout.js b/packages/webviz-core/src/components/PanelLayout.js
index d9f07a494..091b6b709 100644
--- a/packages/webviz-core/src/components/PanelLayout.js
+++ b/packages/webviz-core/src/components/PanelLayout.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -35,10 +35,9 @@ type Props = {
 // so components outside the mosiac component can participate
 class MosaicRoot extends MosaicWithoutDragDropContext {
   componentDidMount() {
-    const { setMosaicId } = this.props;
     // set the mosiac id in redux so elements outside the container
     // can use the id to register their drag intents with mosaic drop targets
-    setMosaicId(this.state.mosaicId);
+    this.props.setMosaicId(this.state.mosaicId);
   }
 }
 
@@ -79,16 +78,15 @@ class PanelLayout extends PureComponent<Props> {
   };
 
   render() {
-    const { changePanelLayout, setMosaicId, layout } = this.props;
     return (
       <ErrorBoundary>
         <MosaicRoot
           renderTile={this.renderTile}
           className="none"
           resize={{ minimumPaneSizePercentage: 10 }}
-          value={layout}
-          onChange={changePanelLayout}
-          setMosaicId={setMosaicId}
+          value={this.props.layout}
+          onChange={this.props.changePanelLayout}
+          setMosaicId={this.props.setMosaicId}
         />
       </ErrorBoundary>
     );
diff --git a/packages/webviz-core/src/components/PanelLayout.scss b/packages/webviz-core/src/components/PanelLayout.scss
index ca2edd5ef..d95384c88 100644
--- a/packages/webviz-core/src/components/PanelLayout.scss
+++ b/packages/webviz-core/src/components/PanelLayout.scss
@@ -1,4 +1,4 @@
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/PanelLayout.stories.js b/packages/webviz-core/src/components/PanelLayout.stories.js
index 5eca0af9a..d91171e3f 100644
--- a/packages/webviz-core/src/components/PanelLayout.stories.js
+++ b/packages/webviz-core/src/components/PanelLayout.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/PanelToolbar/HelpButton.js b/packages/webviz-core/src/components/PanelToolbar/HelpButton.js
index 82bea9bbe..c828c3280 100644
--- a/packages/webviz-core/src/components/PanelToolbar/HelpButton.js
+++ b/packages/webviz-core/src/components/PanelToolbar/HelpButton.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/PanelToolbar/MosaicDragHandle.js b/packages/webviz-core/src/components/PanelToolbar/MosaicDragHandle.js
index 95ac66907..e0c0f9022 100644
--- a/packages/webviz-core/src/components/PanelToolbar/MosaicDragHandle.js
+++ b/packages/webviz-core/src/components/PanelToolbar/MosaicDragHandle.js
@@ -1,6 +1,6 @@
 /* eslint-disable header/header */
 
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -17,6 +17,10 @@ import { getGlobalHooks } from "webviz-core/src/loadWebviz";
 
 const dragSource = {
   beginDrag: (props, monitor, component) => {
+    if (props.onDragStart) {
+      props.onDragStart();
+    }
+
     // TODO: Actually just delete instead of hiding
     // The defer is necessary as the element must be present on start for HTML DnD to not cry
     const { mosaicActions, mosaicWindowActions } = component.context;
@@ -28,6 +32,10 @@ const dragSource = {
     };
   },
   endDrag: (props, monitor, component) => {
+    if (props.onDragEnd) {
+      props.onDragEnd();
+    }
+
     const { hideTimer } = monitor.getItem();
     // If the hide call hasn't happened yet, cancel it
     window.clearTimeout(hideTimer);
@@ -71,6 +79,7 @@ class MosaicDragHandle extends Component {
 }
 
 // connect the drag handle to react dnd
+// This can take two props not specified in DragSource: onDragStart and onDragEnd.
 const ConnectedDragHandle = DragSource(MosaicDragType.WINDOW, dragSource, (connect, monitor) => ({
   connectDragSource: connect.dragSource(),
 }))(MosaicDragHandle);
diff --git a/packages/webviz-core/src/components/PanelToolbar/index.js b/packages/webviz-core/src/components/PanelToolbar/index.js
index 556a5e541..297e77838 100644
--- a/packages/webviz-core/src/components/PanelToolbar/index.js
+++ b/packages/webviz-core/src/components/PanelToolbar/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -16,7 +16,7 @@ import TrashCanOutlineIcon from "@mdi/svg/svg/trash-can-outline.svg";
 import cx from "classnames";
 import PropTypes from "prop-types";
 import * as React from "react"; // eslint-disable-line import/no-duplicates
-import { useContext } from "react"; // eslint-disable-line import/no-duplicates
+import { useContext, useState, useCallback } from "react"; // eslint-disable-line import/no-duplicates
 import Dimensions from "react-container-dimensions";
 import { getNodeAtPath } from "react-mosaic-component";
 // $FlowFixMe
@@ -159,11 +159,17 @@ const ConnectedStandardMenuItems = connect(
   { savePanelConfig }
 )(StandardMenuItems);
 
+type PanelToolbarControlsProps = {|
+  ...Props,
+  onDragStart: () => void,
+  onDragEnd: () => void,
+|};
+
 // Keep controls, which don't change often, in a pure component in order to avoid re-rendering the
 // whole PanelToolbar when only children change.
-const PanelToolbarControls = React.memo(function PanelToolbarControls(props: Props) {
+const PanelToolbarControls = React.memo(function PanelToolbarControls(props: PanelToolbarControlsProps) {
   const panelData = useContext(PanelContext);
-  const { floating, helpContent, menuContent, showPanelName, additionalIcons } = props;
+  const { floating, helpContent, menuContent, showPanelName, additionalIcons, onDragStart, onDragEnd } = props;
 
   return (
     <div className={styles.iconContainer}>
@@ -181,7 +187,7 @@ const PanelToolbarControls = React.memo(function PanelToolbarControls(props: Pro
         {menuContent && <hr />}
         {menuContent}
       </Dropdown>
-      <MosaicDragHandle>
+      <MosaicDragHandle onDragStart={onDragStart} onDragEnd={onDragEnd}>
         {/* Can only nest native nodes into <MosaicDragHandle>, so wrapping in a <span> */}
         <span>
           <Icon fade tooltip="Move panel">
@@ -196,33 +202,40 @@ const PanelToolbarControls = React.memo(function PanelToolbarControls(props: Pro
 // Panel toolbar should be added to any panel that's part of the
 // react-mosaic layout.  It adds a drag handle, remove/replace controls
 // and has a place to add custom controls via it's children property
-export default class PanelToolbar extends React.PureComponent<Props> {
-  render() {
-    const { children, floating, helpContent, menuContent, additionalIcons } = this.props;
-    return (
-      <Dimensions>
-        {({ width }) => (
-          <ChildToggle.ContainsOpen>
-            {(containsOpen) => (
-              <div
-                className={cx(styles.panelToolbarContainer, {
-                  [styles.floating]: floating,
-                  [styles.containsOpen]: containsOpen,
-                  [styles.hasChildren]: !!children,
-                })}>
-                {children}
+export default React.memo<Props>(function PanelToolbar(props: Props) {
+  const { children, floating, helpContent, menuContent, additionalIcons } = props;
+  const { isHovered } = useContext(PanelContext) || {};
+  const [isDragging, setIsDragging] = useState(false);
+  const onDragStart = useCallback(() => setIsDragging(true), []);
+  const onDragEnd = useCallback(() => setIsDragging(false), []);
+
+  return (
+    <Dimensions>
+      {({ width }) => (
+        <ChildToggle.ContainsOpen>
+          {(containsOpen) => (
+            <div
+              className={cx(styles.panelToolbarContainer, {
+                [styles.floating]: floating,
+                [styles.containsOpen]: containsOpen,
+                [styles.hasChildren]: !!children,
+              })}>
+              {(isHovered || containsOpen || isDragging || !floating) && children}
+              {(isHovered || containsOpen || isDragging) && (
                 <PanelToolbarControls
                   floating={floating}
                   helpContent={helpContent}
                   menuContent={menuContent}
                   showPanelName={width > 360}
                   additionalIcons={additionalIcons}
+                  onDragStart={onDragStart}
+                  onDragEnd={onDragEnd}
                 />
-              </div>
-            )}
-          </ChildToggle.ContainsOpen>
-        )}
-      </Dimensions>
-    );
-  }
-}
+              )}
+            </div>
+          )}
+        </ChildToggle.ContainsOpen>
+      )}
+    </Dimensions>
+  );
+});
diff --git a/packages/webviz-core/src/components/PanelToolbar/index.module.scss b/packages/webviz-core/src/components/PanelToolbar/index.module.scss
index ff5c4c890..2b453a149 100644
--- a/packages/webviz-core/src/components/PanelToolbar/index.module.scss
+++ b/packages/webviz-core/src/components/PanelToolbar/index.module.scss
@@ -1,4 +1,4 @@
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -47,11 +47,11 @@ $spacing: 4px;
     z-index: 5000;
     background-color: transparent;
     transform: translateY(-10px);
-    opacity: 0;
     pointer-events: none;
+    opacity: 0;
 
     * {
-      pointer-events: all;
+      pointer-events: auto;
     }
 
     &.hasChildren {
@@ -68,19 +68,6 @@ $spacing: 4px;
 
   &:not(.floating) {
     min-height: 30px;
-
-    .iconContainer {
-      display: none;
-
-      :global(.mosaic-window):hover & {
-        display: flex;
-      }
-    }
-
-    &.containsOpen .iconContainer {
-      display: flex;
-      opacity: 1;
-    }
   }
 
   &.floating.containsOpen,
diff --git a/packages/webviz-core/src/components/PanelToolbar/index.stories.js b/packages/webviz-core/src/components/PanelToolbar/index.stories.js
index 506af52a8..64e437b93 100644
--- a/packages/webviz-core/src/components/PanelToolbar/index.stories.js
+++ b/packages/webviz-core/src/components/PanelToolbar/index.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -56,6 +56,7 @@ class PanelToolbarWithOpenMenu extends React.PureComponent<{}> {
         }}>
         <PanelToolbar helpContent={<div />}>
           <div style={{ width: "100%", lineHeight: "22px", paddingLeft: 5 }}>Some controls here</div>
+          <KeepToolbarVisibleHack />
         </PanelToolbar>
       </div>
     );
diff --git a/packages/webviz-core/src/components/PanelToolbar/utils.js b/packages/webviz-core/src/components/PanelToolbar/utils.js
index 2ad30a14b..24d216a7f 100644
--- a/packages/webviz-core/src/components/PanelToolbar/utils.js
+++ b/packages/webviz-core/src/components/PanelToolbar/utils.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/PlaybackControls/ProgressPlot.js b/packages/webviz-core/src/components/PlaybackControls/ProgressPlot.js
index 2d534569d..0f15de5b8 100644
--- a/packages/webviz-core/src/components/PlaybackControls/ProgressPlot.js
+++ b/packages/webviz-core/src/components/PlaybackControls/ProgressPlot.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/PlaybackControls/index.js b/packages/webviz-core/src/components/PlaybackControls/index.js
index f5c77c69c..cc8c81e4c 100644
--- a/packages/webviz-core/src/components/PlaybackControls/index.js
+++ b/packages/webviz-core/src/components/PlaybackControls/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -181,7 +181,7 @@ export class UnconnectedPlaybackControls extends React.PureComponent<Props> {
               value={value}
               draggable
               onChange={this.onChange}
-              renderSlider={(value) => (value == null ? null : <StyledMarker width={value} />)}
+              renderSlider={(val) => (val == null ? null : <StyledMarker width={val} />)}
             />
           </div>
         </div>
diff --git a/packages/webviz-core/src/components/PlaybackControls/index.module.scss b/packages/webviz-core/src/components/PlaybackControls/index.module.scss
index 097c4d222..bc63f8695 100644
--- a/packages/webviz-core/src/components/PlaybackControls/index.module.scss
+++ b/packages/webviz-core/src/components/PlaybackControls/index.module.scss
@@ -1,4 +1,4 @@
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/PlaybackControls/index.stories.js b/packages/webviz-core/src/components/PlaybackControls/index.stories.js
index ed042a215..06b1d1a5a 100644
--- a/packages/webviz-core/src/components/PlaybackControls/index.stories.js
+++ b/packages/webviz-core/src/components/PlaybackControls/index.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/PlaybackSpeedControls.js b/packages/webviz-core/src/components/PlaybackSpeedControls.js
index cc36b843f..f5aaff52d 100644
--- a/packages/webviz-core/src/components/PlaybackSpeedControls.js
+++ b/packages/webviz-core/src/components/PlaybackSpeedControls.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -29,12 +29,14 @@ export default function PlaybackSpeedControls() {
   // TODO(JP): Might be nice to move all this logic a bit deeper down. It's a bit weird to be doing
   // all this in what's otherwise just a view component.
   const dispatch = useDispatch();
-  const setPlaybackSpeed = useMessagePipeline(useCallback(({ setPlaybackSpeed }) => setPlaybackSpeed, []));
+  const setPlaybackSpeed = useMessagePipeline(
+    useCallback(({ setPlaybackSpeed: pipelineSetPlaybackSpeed }) => pipelineSetPlaybackSpeed, [])
+  );
   const setSpeed = useCallback(
-    (speed) => {
-      dispatch(setPlaybackConfig({ speed }));
+    (newSpeed) => {
+      dispatch(setPlaybackConfig({ speed: newSpeed }));
       if (canSetSpeed) {
-        setPlaybackSpeed(speed);
+        setPlaybackSpeed(newSpeed);
       }
     },
     [canSetSpeed, dispatch, setPlaybackSpeed]
@@ -59,9 +61,9 @@ export default function PlaybackSpeedControls() {
       text={!speed ? ndash : speed < 0.1 ? `${speed.toFixed(2)}${times}` : `${speed.toFixed(1)}${times}`}
       onChange={setSpeed}
       dataTest="PlaybackSpeedControls-Dropdown">
-      {SPEEDS.map((speed: string) => (
-        <span key={speed} value={parseFloat(speed)}>
-          {speed}&times;
+      {SPEEDS.map((eachSpeed: string) => (
+        <span key={eachSpeed} value={parseFloat(eachSpeed)}>
+          {eachSpeed}&times;
         </span>
       ))}
     </Dropdown>
diff --git a/packages/webviz-core/src/components/PlaybackSpeedControls.stories.js b/packages/webviz-core/src/components/PlaybackSpeedControls.stories.js
index 42ba52082..325a8d62a 100644
--- a/packages/webviz-core/src/components/PlaybackSpeedControls.stories.js
+++ b/packages/webviz-core/src/components/PlaybackSpeedControls.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/PlayerManager.js b/packages/webviz-core/src/components/PlayerManager.js
index 14025b884..a78212410 100644
--- a/packages/webviz-core/src/components/PlayerManager.js
+++ b/packages/webviz-core/src/components/PlayerManager.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -74,12 +74,12 @@ type Props = OwnProps & {
 };
 
 function PlayerManager({
-  importPanelLayout,
+  importPanelLayout: importLayout,
   children,
   userNodes,
-  setUserNodeDiagnostics,
-  addUserNodeLogs,
-  setUserNodeTrust,
+  setUserNodeDiagnostics: setDiagnostics,
+  addUserNodeLogs: setLogs,
+  setUserNodeTrust: setTrust,
 }: Props) {
   const usedFiles = React.useRef<File[]>([]);
   const [player, setPlayer] = React.useState();
@@ -97,22 +97,26 @@ function PlayerManager({
             getRemoteBagDescriptor(url, guid, params.has(LOAD_ENTIRE_BAG_QUERY_KEY)),
             getPlayerOptions()
           );
-          const player = new UserNodePlayer(newPlayer, { setUserNodeDiagnostics, addUserNodeLogs, setUserNodeTrust });
+          const userNodePlayer = new UserNodePlayer(newPlayer, {
+            setUserNodeDiagnostics: setDiagnostics,
+            addUserNodeLogs: setLogs,
+            setUserNodeTrust: setTrust,
+          });
           if (params.has(DEMO_QUERY_KEY)) {
             // When we're showing a demo, then automatically start playback (we don't normally
             // do that).
             setTimeout(() => {
-              player.startPlayback();
+              userNodePlayer.startPlayback();
             }, 1000);
           }
-          setPlayer(player);
+          setPlayer(userNodePlayer);
         });
         if (params.has(DEMO_QUERY_KEY)) {
-          importPanelLayout(demoLayoutJson, false, true);
+          importLayout(demoLayoutJson, false, true);
         }
       }
     },
-    [importPanelLayout, setUserNodeDiagnostics, addUserNodeLogs, setUserNodeTrust]
+    [importLayout, setDiagnostics, setLogs, setTrust]
   );
 
   useUserNodes({ nodePlayer: player, userNodes });
@@ -128,8 +132,8 @@ function PlayerManager({
           } else {
             usedFiles.current = [files[0]];
           }
-          const player = buildPlayer(usedFiles.current);
-          setPlayer(player ? new NodePlayer(player) : undefined);
+          const builtPlayer = buildPlayer(usedFiles.current);
+          setPlayer(builtPlayer ? new NodePlayer(builtPlayer) : undefined);
         }}>
         <DropOverlay>
           <div style={{ fontSize: "4em", marginBottom: "1em" }}>Drop a bag file to load it!</div>
diff --git a/packages/webviz-core/src/components/Progress.js b/packages/webviz-core/src/components/Progress.js
index ebfdad2d3..f7830cf52 100644
--- a/packages/webviz-core/src/components/Progress.js
+++ b/packages/webviz-core/src/components/Progress.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Radio.js b/packages/webviz-core/src/components/Radio.js
index 6395fea20..798972a02 100644
--- a/packages/webviz-core/src/components/Radio.js
+++ b/packages/webviz-core/src/components/Radio.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Radio.stories.js b/packages/webviz-core/src/components/Radio.stories.js
index 3e1e5daf2..45cb340f0 100644
--- a/packages/webviz-core/src/components/Radio.stories.js
+++ b/packages/webviz-core/src/components/Radio.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Root.js b/packages/webviz-core/src/components/Root.js
index edf720e8a..d3fef4ed4 100644
--- a/packages/webviz-core/src/components/Root.js
+++ b/packages/webviz-core/src/components/Root.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Root.module.scss b/packages/webviz-core/src/components/Root.module.scss
index e407a7441..c4e2c34fe 100644
--- a/packages/webviz-core/src/components/Root.module.scss
+++ b/packages/webviz-core/src/components/Root.module.scss
@@ -1,4 +1,4 @@
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/SegmentedControl.js b/packages/webviz-core/src/components/SegmentedControl.js
index da4c5c15b..65e34bcbb 100644
--- a/packages/webviz-core/src/components/SegmentedControl.js
+++ b/packages/webviz-core/src/components/SegmentedControl.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/SegmentedControl.stories.js b/packages/webviz-core/src/components/SegmentedControl.stories.js
index 56ad81876..7e56cd862 100644
--- a/packages/webviz-core/src/components/SegmentedControl.stories.js
+++ b/packages/webviz-core/src/components/SegmentedControl.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Select/Option.js b/packages/webviz-core/src/components/Select/Option.js
index ebddb0fec..fc458a954 100644
--- a/packages/webviz-core/src/components/Select/Option.js
+++ b/packages/webviz-core/src/components/Select/Option.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Select/Select.js b/packages/webviz-core/src/components/Select/Select.js
index 0263f46eb..0b80eb60f 100644
--- a/packages/webviz-core/src/components/Select/Select.js
+++ b/packages/webviz-core/src/components/Select/Select.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Select/index.js b/packages/webviz-core/src/components/Select/index.js
index cc2f53b2c..1c7e9829b 100644
--- a/packages/webviz-core/src/components/Select/index.js
+++ b/packages/webviz-core/src/components/Select/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Select/index.stories.js b/packages/webviz-core/src/components/Select/index.stories.js
index c23ee1b83..1a333a25a 100644
--- a/packages/webviz-core/src/components/Select/index.stories.js
+++ b/packages/webviz-core/src/components/Select/index.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/ShareJsonModal.js b/packages/webviz-core/src/components/ShareJsonModal.js
index 55963b0d6..2a768b086 100644
--- a/packages/webviz-core/src/components/ShareJsonModal.js
+++ b/packages/webviz-core/src/components/ShareJsonModal.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -75,10 +75,10 @@ export default class ShareJsonModal extends Component<Props, State> {
 
   onCopy = () => {
     const { value } = this.state;
-    clipboard.copy(value);
-    this.setState({ copied: true });
-
-    setTimeout(() => this.setState({ copied: false }), 1500);
+    clipboard.copy(value).then(() => {
+      this.setState({ copied: true });
+      setTimeout(() => this.setState({ copied: false }), 1500);
+    });
   };
 
   renderError() {
diff --git a/packages/webviz-core/src/components/ShareJsonModal.module.scss b/packages/webviz-core/src/components/ShareJsonModal.module.scss
index 851bbd5fa..252d3b131 100644
--- a/packages/webviz-core/src/components/ShareJsonModal.module.scss
+++ b/packages/webviz-core/src/components/ShareJsonModal.module.scss
@@ -1,4 +1,4 @@
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/ShareJsonModal.stories.js b/packages/webviz-core/src/components/ShareJsonModal.stories.js
index 7520bc7e8..741cc9300 100644
--- a/packages/webviz-core/src/components/ShareJsonModal.stories.js
+++ b/packages/webviz-core/src/components/ShareJsonModal.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/ShareJsonModal.test.js b/packages/webviz-core/src/components/ShareJsonModal.test.js
index 383eae3f9..df64b4f6c 100644
--- a/packages/webviz-core/src/components/ShareJsonModal.test.js
+++ b/packages/webviz-core/src/components/ShareJsonModal.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Slider.js b/packages/webviz-core/src/components/Slider.js
index c8bd23fe9..463b67083 100644
--- a/packages/webviz-core/src/components/Slider.js
+++ b/packages/webviz-core/src/components/Slider.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -146,7 +146,7 @@ export default class Slider extends React.Component<Props> {
     }
 
     return (
-      <StyledSlider innerRef={(el) => (this.el = el)} onClick={this._onClick} onMouseDown={this._onMouseDown}>
+      <StyledSlider ref={(el) => (this.el = el)} onClick={this._onClick} onMouseDown={this._onMouseDown}>
         <DocumentEvents
           target={window}
           enabled={mouseDown && draggable}
diff --git a/packages/webviz-core/src/components/Slider.stories.js b/packages/webviz-core/src/components/Slider.stories.js
index 8d1512470..c6b144f70 100644
--- a/packages/webviz-core/src/components/Slider.stories.js
+++ b/packages/webviz-core/src/components/Slider.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Sparkline.js b/packages/webviz-core/src/components/Sparkline.js
index bfe351fee..8798d3079 100644
--- a/packages/webviz-core/src/components/Sparkline.js
+++ b/packages/webviz-core/src/components/Sparkline.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Sparkline.stories.js b/packages/webviz-core/src/components/Sparkline.stories.js
index b51f013ca..8d2368c45 100644
--- a/packages/webviz-core/src/components/Sparkline.stories.js
+++ b/packages/webviz-core/src/components/Sparkline.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/SpinningLoadingIcon.js b/packages/webviz-core/src/components/SpinningLoadingIcon.js
index 5746857ba..81eb80904 100644
--- a/packages/webviz-core/src/components/SpinningLoadingIcon.js
+++ b/packages/webviz-core/src/components/SpinningLoadingIcon.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/SpinningLoadingIcon.module.scss b/packages/webviz-core/src/components/SpinningLoadingIcon.module.scss
index 297d00e05..a4b850060 100644
--- a/packages/webviz-core/src/components/SpinningLoadingIcon.module.scss
+++ b/packages/webviz-core/src/components/SpinningLoadingIcon.module.scss
@@ -1,4 +1,4 @@
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/TextContent.js b/packages/webviz-core/src/components/TextContent.js
index fad9a31ad..fa6ca2941 100644
--- a/packages/webviz-core/src/components/TextContent.js
+++ b/packages/webviz-core/src/components/TextContent.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/TextContent.module.scss b/packages/webviz-core/src/components/TextContent.module.scss
index 3a62c9436..812e3efa8 100644
--- a/packages/webviz-core/src/components/TextContent.module.scss
+++ b/packages/webviz-core/src/components/TextContent.module.scss
@@ -1,4 +1,4 @@
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/TextField.js b/packages/webviz-core/src/components/TextField.js
index e77e289ae..a2a283a1f 100644
--- a/packages/webviz-core/src/components/TextField.js
+++ b/packages/webviz-core/src/components/TextField.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -98,24 +98,23 @@ export default function TextField({
   );
 
   const validate = useCallback(
-    (value) => {
-      const validationResult = validator(value);
+    (val) => {
+      const validationResult = validator(val);
       if (validationResult) {
         setError(validationResult);
       } else {
         setError(null);
-        onChange(value);
+        onChange(val);
       }
     },
     [onChange, validator]
   );
 
   const handleChange = useCallback(
-    (ev) => {
-      const value = ev.target.value;
-      setInputStr(value);
+    ({ target }) => {
+      setInputStr(target.value);
       if (!validateOnBlur) {
-        validate(value);
+        validate(target.value);
       }
     },
     [validate, validateOnBlur]
diff --git a/packages/webviz-core/src/components/TextField.stories.js b/packages/webviz-core/src/components/TextField.stories.js
index ff836831f..421ef4334 100644
--- a/packages/webviz-core/src/components/TextField.stories.js
+++ b/packages/webviz-core/src/components/TextField.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/TimeBasedChart/TimeBasedChartLegend.js b/packages/webviz-core/src/components/TimeBasedChart/TimeBasedChartLegend.js
index 0fa6490c8..06b9ef274 100644
--- a/packages/webviz-core/src/components/TimeBasedChart/TimeBasedChartLegend.js
+++ b/packages/webviz-core/src/components/TimeBasedChart/TimeBasedChartLegend.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/TimeBasedChart/TimeBasedChartTooltip.js b/packages/webviz-core/src/components/TimeBasedChart/TimeBasedChartTooltip.js
index 162ca6c5a..542ae7ab3 100644
--- a/packages/webviz-core/src/components/TimeBasedChart/TimeBasedChartTooltip.js
+++ b/packages/webviz-core/src/components/TimeBasedChart/TimeBasedChartTooltip.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/TimeBasedChart/TimeBasedChartTooltip.module.scss b/packages/webviz-core/src/components/TimeBasedChart/TimeBasedChartTooltip.module.scss
index 1b157420d..dd650affd 100644
--- a/packages/webviz-core/src/components/TimeBasedChart/TimeBasedChartTooltip.module.scss
+++ b/packages/webviz-core/src/components/TimeBasedChart/TimeBasedChartTooltip.module.scss
@@ -1,4 +1,4 @@
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/TimeBasedChart/TimeBasedChartTooltip.stories.js b/packages/webviz-core/src/components/TimeBasedChart/TimeBasedChartTooltip.stories.js
index 722b28d71..9fe02843d 100644
--- a/packages/webviz-core/src/components/TimeBasedChart/TimeBasedChartTooltip.stories.js
+++ b/packages/webviz-core/src/components/TimeBasedChart/TimeBasedChartTooltip.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/TimeBasedChart/constants.js b/packages/webviz-core/src/components/TimeBasedChart/constants.js
index 34719f64f..70f170d9a 100644
--- a/packages/webviz-core/src/components/TimeBasedChart/constants.js
+++ b/packages/webviz-core/src/components/TimeBasedChart/constants.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/TimeBasedChart/index.js b/packages/webviz-core/src/components/TimeBasedChart/index.js
index 8ea9aefdd..57cffa6c0 100644
--- a/packages/webviz-core/src/components/TimeBasedChart/index.js
+++ b/packages/webviz-core/src/components/TimeBasedChart/index.js
@@ -1,11 +1,11 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
-import { ceil, floor, last, max, min, minBy } from "lodash";
+import { last, max, min, minBy } from "lodash";
 import * as React from "react";
 import ChartComponent from "react-chartjs-2";
 import DocumentEvents from "react-document-events";
@@ -24,8 +24,8 @@ import mixins from "webviz-core/src/styles/mixins.module.scss";
 
 type Bounds = {| minX: ?number, maxX: ?number |};
 const SyncTimeAxis = createSyncingComponent<Bounds, Bounds>("SyncTimeAxis", (dataItems: Bounds[]) => ({
-  minX: min(dataItems.map(({ minX }) => (minX === undefined || minX === null ? undefined : floor(minX, 1)))),
-  maxX: max(dataItems.map(({ maxX }) => (maxX === undefined || maxX === null ? undefined : ceil(maxX, 1)))),
+  minX: min(dataItems.map(({ minX }) => (minX == null ? undefined : minX))),
+  maxX: max(dataItems.map(({ maxX }) => (maxX == null ? undefined : maxX))),
 }));
 
 const X_AXIS_ID = "x-axis-1";
@@ -103,6 +103,7 @@ type Props = {|
   datasetId?: string,
   onClick?: (MouseEvent) => void,
   saveCurrentYs?: (minY: number, maxY: number) => void,
+  useFixedYAxisWidth?: boolean,
 |};
 type State = {|
   showResetZoom: boolean,
@@ -304,16 +305,14 @@ export default class TimeBasedChart extends React.PureComponent<Props, State> {
     this._updateTooltip();
   };
 
-  _chartjsOptions = (minX: number, maxX: number, userMinY: ?number, userMaxY: ?number) => {
-    const { plugins, xAxes, yAxes } = this.props;
+  _chartjsOptions = (minX: ?number, maxX: ?number, userMinY: ?number, userMaxY: ?number) => {
+    const { plugins, xAxes, yAxes, useFixedYAxisWidth } = this.props;
     const { annotations } = this.state;
     const defaultXTicksSettings = {
       fontFamily: mixins.monospaceFont,
       fontSize: 10,
       fontColor: "#eee",
       maxRotation: 0,
-      timeBasedChartMin: minX,
-      timeBasedChartMax: maxX,
     };
     const defaultYTicksSettings = {
       fontFamily: mixins.monospaceFont,
@@ -384,6 +383,13 @@ export default class TimeBasedChart extends React.PureComponent<Props, State> {
           return {
             ...yAxis,
             afterUpdate: this._onPlotChartUpdate,
+            afterFit: (scaleInstance) => {
+              // Sets y-axis labels to a fixed width, so that vertically-aligned charts can be directly compared.
+              // This width is large enough to easily see legend values up to 6 characters wide (ex: 100000 or -12.638).
+              if (useFixedYAxisWidth) {
+                scaleInstance.width = 48;
+              }
+            },
             ticks,
           };
         }),
@@ -419,29 +425,39 @@ export default class TimeBasedChart extends React.PureComponent<Props, State> {
     const userSetMinOrZero = isNaN(userSetMinX) ? data.minIsZero : userSetMinX;
     const minX = userSetMinOrZero
       ? 0
-      : min(data.datasets.map((dataset) => (dataset.data.length ? dataset.data[0].x : undefined)));
+      : min(data.datasets.map((dataset) => (dataset.data.length > 1 ? dataset.data[0].x : undefined)));
     const maxX =
       typeof userSetMaxX === "number"
         ? userSetMaxX
-        : max(data.datasets.map((dataset) => (dataset.data.length ? last(dataset.data).x : undefined)));
-    const CoreComponent = (
-      <ChartComponent
-        redraw={this.state.shouldRedraw}
-        type={type}
-        width={width}
-        height={height}
-        key={`${width}x${height}`} // https://github.com/jerairrest/react-chartjs-2/issues/60#issuecomment-406376731
-        ref={(ref) => {
-          this._chart = ref;
-        }}
-        options={this._chartjsOptions(minX, maxX, userSetMinY, userSetMaxY)}
-        data={{ ...data, datasets: data.datasets.filter((dataset) => !linesToHide[dataset.label]) }}
-      />
-    );
+        : max(data.datasets.map((dataset) => (dataset.data.length > 1 ? last(dataset.data).x : undefined)));
+
+    const chartProps = {
+      redraw: this.state.shouldRedraw,
+      type,
+      width,
+      height,
+      key: `${width}x${height}`, // https://github.com/jerairrest/react-chartjs-2/issues/60#issuecomment-406376731
+      ref: (ref) => {
+        this._chart = ref;
+      },
+      data: { ...data, datasets: data.datasets.filter((dataset) => !linesToHide[dataset.label]) },
+    };
+
     return isSynced ? (
-      <SyncTimeAxis data={{ minX, maxX }}>{({ minX, maxX }) => CoreComponent}</SyncTimeAxis>
+      <SyncTimeAxis data={{ minX, maxX }}>
+        {(syncedMinMax) => {
+          const syncedMinX = syncedMinMax.minX != null ? Math.min(minX, syncedMinMax.minX) : minX;
+          const syncedMaxX = syncedMinMax.maxX != null ? Math.max(maxX, syncedMinMax.maxX) : maxX;
+          return (
+            <ChartComponent
+              {...chartProps}
+              options={this._chartjsOptions(syncedMinX, syncedMaxX, userSetMinY, userSetMaxY)}
+            />
+          );
+        }}
+      </SyncTimeAxis>
     ) : (
-      CoreComponent
+      <ChartComponent {...chartProps} options={this._chartjsOptions(minX, maxX, userSetMinY, userSetMaxY)} />
     );
   }
 
@@ -452,7 +468,7 @@ export default class TimeBasedChart extends React.PureComponent<Props, State> {
       <div style={{ display: "flex", width: "100%" }}>
         <div style={{ display: "flex", width }}>
           <SRoot onDoubleClick={this._onResetZoom}>
-            <SBar innerRef={(el) => (this._bar = el)} />
+            <SBar ref={(el) => (this._bar = el)} />
             {this.renderChart()}
 
             {this.state.showResetZoom && (
diff --git a/packages/webviz-core/src/components/TimeBasedChart/index.stories.js b/packages/webviz-core/src/components/TimeBasedChart/index.stories.js
new file mode 100644
index 000000000..c40a51622
--- /dev/null
+++ b/packages/webviz-core/src/components/TimeBasedChart/index.stories.js
@@ -0,0 +1,94 @@
+// @flow
+//
+//  Copyright (c) 2019-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import { storiesOf } from "@storybook/react";
+import React from "react";
+import { withScreenshot } from "storybook-chrome-screenshot";
+
+import TimeBasedChart from ".";
+
+storiesOf("<TimeBasedChart>", module)
+  .addDecorator(withScreenshot())
+  .add("default", () => {
+    const props = {
+      isSynced: true,
+      zoom: true,
+      width: 867.272705078125,
+      height: 1139.1051025390625,
+      data: {
+        datasets: [
+          {
+            borderColor: "#4e98e2",
+            label: "/turtle1/pose.x",
+            key: "0",
+            showLine: true,
+            fill: false,
+            borderWidth: 1,
+            pointRadius: 1.5,
+            pointHoverRadius: 3,
+            pointBackgroundColor: "#74beff",
+            pointBorderColor: "transparent",
+            data: [
+              {
+                x: 0.000057603000000000004,
+                y: 5.544444561004639,
+                tooltip: {
+                  item: {
+                    message: {
+                      op: "message",
+                      topic: "/turtle1/pose",
+                      datatype: "turtlesim/Pose",
+                      receiveTime: { sec: 1396293889, nsec: 214366 },
+                      message: {
+                        x: 5.544444561004639,
+                        y: 5.544444561004639,
+                        theta: 0,
+                        linear_velocity: 0,
+                        angular_velocity: 0,
+                      },
+                    },
+                    queriedData: [{ value: 5.544444561004639, path: "/turtle1/pose.x" }],
+                  },
+                  path: "/turtle1/pose.x",
+                  value: 5.544444561004639,
+                  startTime: { sec: 1396293889, nsec: 156763 },
+                },
+              },
+            ],
+          },
+          {
+            borderColor: "#f5774d",
+            label: "a42771fb-b547-4c61-bbaa-9059dec68e49",
+            key: "1",
+            showLine: true,
+            fill: false,
+            borderWidth: 1,
+            pointRadius: 1.5,
+            pointHoverRadius: 3,
+            pointBackgroundColor: "#ff9d73",
+            pointBorderColor: "transparent",
+            data: [],
+          },
+        ],
+      },
+      annotations: [],
+      type: "scatter",
+      yAxes: [
+        {
+          id: "Y_AXIS_ID",
+          ticks: { precision: 3 },
+          gridLines: { color: "rgba(255, 255, 255, 0.2)", zeroLineColor: "rgba(255, 255, 255, 0.2)" },
+        },
+      ],
+      useFixedYAxisWidth: true,
+    };
+    return (
+      <div style={{ width: "100%", height: "100%", background: "black" }}>
+        <TimeBasedChart {...props} />
+      </div>
+    );
+  });
diff --git a/packages/webviz-core/src/components/Toolbar.js b/packages/webviz-core/src/components/Toolbar.js
index fdc802b01..674ab16b5 100644
--- a/packages/webviz-core/src/components/Toolbar.js
+++ b/packages/webviz-core/src/components/Toolbar.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Toolbar.module.scss b/packages/webviz-core/src/components/Toolbar.module.scss
index 39e0f674a..7735c0375 100644
--- a/packages/webviz-core/src/components/Toolbar.module.scss
+++ b/packages/webviz-core/src/components/Toolbar.module.scss
@@ -1,4 +1,4 @@
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Tooltip.js b/packages/webviz-core/src/components/Tooltip.js
index 7c82335cb..9e46cea83 100644
--- a/packages/webviz-core/src/components/Tooltip.js
+++ b/packages/webviz-core/src/components/Tooltip.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Tooltip.module.scss b/packages/webviz-core/src/components/Tooltip.module.scss
index e0b006dba..8a0f3bfd1 100644
--- a/packages/webviz-core/src/components/Tooltip.module.scss
+++ b/packages/webviz-core/src/components/Tooltip.module.scss
@@ -1,4 +1,4 @@
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Tooltip.stories.js b/packages/webviz-core/src/components/Tooltip.stories.js
index 9ee3818a1..6e0cc5304 100644
--- a/packages/webviz-core/src/components/Tooltip.stories.js
+++ b/packages/webviz-core/src/components/Tooltip.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/TopicToRenderMenu.js b/packages/webviz-core/src/components/TopicToRenderMenu.js
index 0198f7d0e..ea54625d1 100644
--- a/packages/webviz-core/src/components/TopicToRenderMenu.js
+++ b/packages/webviz-core/src/components/TopicToRenderMenu.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/TopicToRenderMenu.stories.js b/packages/webviz-core/src/components/TopicToRenderMenu.stories.js
index 29f831406..22fff07b1 100644
--- a/packages/webviz-core/src/components/TopicToRenderMenu.stories.js
+++ b/packages/webviz-core/src/components/TopicToRenderMenu.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Tree/Node.js b/packages/webviz-core/src/components/Tree/Node.js
index b3d043fd6..255bbbc1b 100644
--- a/packages/webviz-core/src/components/Tree/Node.js
+++ b/packages/webviz-core/src/components/Tree/Node.js
@@ -1,6 +1,6 @@
 /* eslint-disable header/header */
 
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Tree/TreeNode.js b/packages/webviz-core/src/components/Tree/TreeNode.js
index 1af5dac9c..428bc5e55 100644
--- a/packages/webviz-core/src/components/Tree/TreeNode.js
+++ b/packages/webviz-core/src/components/Tree/TreeNode.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Tree/index.js b/packages/webviz-core/src/components/Tree/index.js
index b5f46274e..56bb9de17 100644
--- a/packages/webviz-core/src/components/Tree/index.js
+++ b/packages/webviz-core/src/components/Tree/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Tree/index.module.scss b/packages/webviz-core/src/components/Tree/index.module.scss
index 2a416378b..ed486dd34 100644
--- a/packages/webviz-core/src/components/Tree/index.module.scss
+++ b/packages/webviz-core/src/components/Tree/index.module.scss
@@ -1,4 +1,4 @@
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/Tree/index.stories.js b/packages/webviz-core/src/components/Tree/index.stories.js
index 0f7be8cb9..4fe6e111d 100644
--- a/packages/webviz-core/src/components/Tree/index.stories.js
+++ b/packages/webviz-core/src/components/Tree/index.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/ValidatedInput.js b/packages/webviz-core/src/components/ValidatedInput.js
index 5470eb473..b0b719860 100644
--- a/packages/webviz-core/src/components/ValidatedInput.js
+++ b/packages/webviz-core/src/components/ValidatedInput.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -87,7 +87,7 @@ export function ValidatedInputBase({
 
   // validate the input string, and setError or call onChange if needed
   const memorizedInputValidation = useCallback(
-    (newInputVal: string, onChange?: OnChange) => {
+    (newInputVal: string, onChangeFcn?: OnChange) => {
       let newVal;
       let newError;
       // parse the empty string directly as empty array or object for validation and onChange callback
@@ -111,8 +111,8 @@ export function ValidatedInputBase({
         setError(validationErrorToString(validationResult));
         return;
       }
-      if (onChange) {
-        onChange(newVal);
+      if (onChangeFcn) {
+        onChangeFcn(newVal);
       }
     },
     [dataValidator, parse, value]
@@ -184,7 +184,7 @@ export function ValidatedInputBase({
       <StyledTextarea
         data-test="validated-input"
         style={inputStyle}
-        innerRef={inputRef}
+        ref={inputRef}
         value={inputStr}
         onChange={handleChange}
       />
diff --git a/packages/webviz-core/src/components/ValidatedInput.stories.js b/packages/webviz-core/src/components/ValidatedInput.stories.js
index fc1b9bc1f..f1453794a 100644
--- a/packages/webviz-core/src/components/ValidatedInput.stories.js
+++ b/packages/webviz-core/src/components/ValidatedInput.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/createSyncingComponent.js b/packages/webviz-core/src/components/createSyncingComponent.js
index 4819d4388..210516975 100644
--- a/packages/webviz-core/src/components/createSyncingComponent.js
+++ b/packages/webviz-core/src/components/createSyncingComponent.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/createSyncingComponent.test.js b/packages/webviz-core/src/components/createSyncingComponent.test.js
index 20efe5c28..9fa28784f 100644
--- a/packages/webviz-core/src/components/createSyncingComponent.test.js
+++ b/packages/webviz-core/src/components/createSyncingComponent.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/icon.module.scss b/packages/webviz-core/src/components/icon.module.scss
index da408b2a2..b7994102a 100644
--- a/packages/webviz-core/src/components/icon.module.scss
+++ b/packages/webviz-core/src/components/icon.module.scss
@@ -1,4 +1,4 @@
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/renderToBody.js b/packages/webviz-core/src/components/renderToBody.js
index e81648fab..64748bfed 100644
--- a/packages/webviz-core/src/components/renderToBody.js
+++ b/packages/webviz-core/src/components/renderToBody.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/validators.js b/packages/webviz-core/src/components/validators.js
index 59fb82cc3..b61e0ae17 100644
--- a/packages/webviz-core/src/components/validators.js
+++ b/packages/webviz-core/src/components/validators.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/validators.test.js b/packages/webviz-core/src/components/validators.test.js
index d066dee5a..2b7d7351e 100644
--- a/packages/webviz-core/src/components/validators.test.js
+++ b/packages/webviz-core/src/components/validators.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/components/withDragDropContext.js b/packages/webviz-core/src/components/withDragDropContext.js
index 3f7bb2138..a044300a0 100644
--- a/packages/webviz-core/src/components/withDragDropContext.js
+++ b/packages/webviz-core/src/components/withDragDropContext.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/dataProviders/ApiCheckerDataProvider.js b/packages/webviz-core/src/dataProviders/ApiCheckerDataProvider.js
index af561bd26..67108eec9 100644
--- a/packages/webviz-core/src/dataProviders/ApiCheckerDataProvider.js
+++ b/packages/webviz-core/src/dataProviders/ApiCheckerDataProvider.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/dataProviders/ApiCheckerDataProvider.test.js b/packages/webviz-core/src/dataProviders/ApiCheckerDataProvider.test.js
index 08ea1d68f..a19f435a7 100644
--- a/packages/webviz-core/src/dataProviders/ApiCheckerDataProvider.test.js
+++ b/packages/webviz-core/src/dataProviders/ApiCheckerDataProvider.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -20,7 +20,7 @@ function getProvider() {
       { name: "/some_topic", datatype: "some_datatype" },
       { name: "/some_other_topic", datatype: "some_datatype" },
     ],
-    datatypes: { some_datatype: [] },
+    datatypes: { some_datatype: { fields: [] } },
     connectionsByTopic: {
       "/some_topic": { messageDefinition: "dummy", md5sum: "dummy", topic: "dummy", type: "dummy" },
       "/some_other_topic": { messageDefinition: "dummy", md5sum: "dummy", topic: "dummy", type: "dummy" },
@@ -47,7 +47,7 @@ describe("ApiCheckerDataProvider", () => {
           "/some_topic": { md5sum: "dummy", messageDefinition: "dummy", topic: "dummy", type: "dummy" },
           "/some_other_topic": { md5sum: "dummy", messageDefinition: "dummy", topic: "dummy", type: "dummy" },
         },
-        datatypes: { some_datatype: [] },
+        datatypes: { some_datatype: { fields: [] } },
         end: { nsec: 0, sec: 105 },
         start: { nsec: 0, sec: 100 },
         topics: [
@@ -76,7 +76,7 @@ describe("ApiCheckerDataProvider", () => {
 
       it("throws when topic datatype is missing", async () => {
         const { provider, memoryDataProvider } = getProvider();
-        memoryDataProvider.datatypes = { some_other_datatype: [] };
+        memoryDataProvider.datatypes = { some_other_datatype: { fields: [] } };
         await expect(provider.initialize(mockExtensionPoint().extensionPoint)).rejects.toThrow();
       });
 
diff --git a/packages/webviz-core/src/dataProviders/BagDataProvider.js b/packages/webviz-core/src/dataProviders/BagDataProvider.js
index c6a8f20f4..e0a7282a3 100644
--- a/packages/webviz-core/src/dataProviders/BagDataProvider.js
+++ b/packages/webviz-core/src/dataProviders/BagDataProvider.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/dataProviders/BagDataProvider.test.js b/packages/webviz-core/src/dataProviders/BagDataProvider.test.js
index f51edf145..7291838bb 100644
--- a/packages/webviz-core/src/dataProviders/BagDataProvider.test.js
+++ b/packages/webviz-core/src/dataProviders/BagDataProvider.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/dataProviders/BrowserHttpReader.js b/packages/webviz-core/src/dataProviders/BrowserHttpReader.js
index ba6676255..55384ff5e 100644
--- a/packages/webviz-core/src/dataProviders/BrowserHttpReader.js
+++ b/packages/webviz-core/src/dataProviders/BrowserHttpReader.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/dataProviders/CombinedDataProvider.js b/packages/webviz-core/src/dataProviders/CombinedDataProvider.js
index f461fd36c..aab9d53da 100644
--- a/packages/webviz-core/src/dataProviders/CombinedDataProvider.js
+++ b/packages/webviz-core/src/dataProviders/CombinedDataProvider.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -108,6 +108,7 @@ export default class CombinedDataProvider implements DataProvider {
   _providers: InternalProviderInfo[];
   _initializationResultsPerProvider: { start: Time, end: Time, topicSet: Set<string> }[] = [];
   _progressPerProvider: (Progress | null)[];
+  _extensionPoint: ExtensionPoint;
 
   constructor(
     { providerInfos }: {| providerInfos: ProviderInfo[] |},
@@ -139,6 +140,7 @@ export default class CombinedDataProvider implements DataProvider {
   }
 
   async initialize(extensionPoint: ExtensionPoint): Promise<InitializationResult> {
+    this._extensionPoint = extensionPoint;
     const results: InitializationResult[] = [];
     // NOTE: Initialization is done serially instead of concurrently here as a
     // temporary workaround for a major IndexedDB bug that results in runaway
@@ -147,11 +149,7 @@ export default class CombinedDataProvider implements DataProvider {
       const { provider } = this._providers[idx];
       const childExtensionPoint = {
         progressCallback: (progress: Progress) => {
-          this._progressPerProvider[idx] = progress;
-          // Assume empty for unreported progress
-          const cleanProgresses = this._progressPerProvider.map((p) => p || emptyProgress());
-          const intersected = intersectProgress(cleanProgresses);
-          extensionPoint.progressCallback(intersected);
+          this._updateProgressForChild(idx, progress);
         },
         reportMetadataCallback: (data: DataProviderMetadata) => {
           extensionPoint.reportMetadataCallback(data);
@@ -166,8 +164,8 @@ export default class CombinedDataProvider implements DataProvider {
       this._progressPerProvider[i] = p || fullyLoadedProgress();
     });
 
-    const start = sortTimes(results.map(({ start }) => start)).shift();
-    const end = sortTimes(results.map(({ end }) => end)).pop();
+    const start = sortTimes(results.map((result) => result.start)).shift();
+    const end = sortTimes(results.map((result) => result.end)).pop();
 
     this._initializationResultsPerProvider = [];
     let topics: Topic[] = [];
@@ -209,7 +207,10 @@ export default class CombinedDataProvider implements DataProvider {
           .map((topic) => topic.slice((prefix || "").length))
           .filter((topic) => availableTopics.has(topic));
         if (!filteredTopics.length) {
-          // If we don't need any topics from this provider, we shouldn't call getMessages at all.
+          // If we don't need any topics from this provider, we shouldn't call getMessages at all.  Therefore,
+          // the provider doesn't know that we currently don't care about any of its topics, so it won't report
+          // its progress as being fully loaded, so we'll have to do that here ourselves.
+          this._updateProgressForChild(index, fullyLoadedProgress());
           return Promise.resolve([]);
         }
         if (
@@ -237,4 +238,12 @@ export default class CombinedDataProvider implements DataProvider {
     }
     return mergedMessages;
   }
+
+  _updateProgressForChild(providerIdx: number, progress: Progress) {
+    this._progressPerProvider[providerIdx] = progress;
+    // Assume empty for unreported progress
+    const cleanProgresses = this._progressPerProvider.map((p) => p || emptyProgress());
+    const intersected = intersectProgress(cleanProgresses);
+    this._extensionPoint.progressCallback(intersected);
+  }
 }
diff --git a/packages/webviz-core/src/dataProviders/CombinedDataProvider.test.js b/packages/webviz-core/src/dataProviders/CombinedDataProvider.test.js
index 9cc88c9d9..c4f49a6e0 100644
--- a/packages/webviz-core/src/dataProviders/CombinedDataProvider.test.js
+++ b/packages/webviz-core/src/dataProviders/CombinedDataProvider.test.js
@@ -1,12 +1,12 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -120,12 +120,14 @@ describe("CombinedDataProvider", () => {
         messages: [{ topic: "/some_topic", receiveTime: { sec: 101, nsec: 0 }, message: { value: 1 } }],
         topics: [{ name: "/some_topic", datatype: "some_datatype" }],
         datatypes: {
-          some_datatype: [
-            {
-              name: "some_string",
-              type: "string",
-            },
-          ],
+          some_datatype: {
+            fields: [
+              {
+                name: "some_string",
+                type: "string",
+              },
+            ],
+          },
         },
       });
 
@@ -133,12 +135,14 @@ describe("CombinedDataProvider", () => {
         messages: [{ topic: "/some_topic", receiveTime: { sec: 101, nsec: 0 }, message: { value: 1 } }],
         topics: [{ name: "/some_topic", datatype: "some_datatype" }],
         datatypes: {
-          some_datatype: [
-            {
-              name: "some_string",
-              type: "number",
-            },
-          ],
+          some_datatype: {
+            fields: [
+              {
+                name: "some_string",
+                type: "number",
+              },
+            ],
+          },
         },
       });
       const combinedProvider = getCombinedDataProvider([{ provider: p1, prefix: "/some_prefix" }, { provider: p2 }]);
@@ -356,6 +360,26 @@ describe("CombinedDataProvider", () => {
         // Assume that p1 is fully loaded since it did not report during initialize, so intersected range is the one from p2
         expect(calls[calls.length - 1]).toEqual([{ fullyLoadedFractionRanges: [{ start: 0.1, end: 0.5 }] }]);
       });
+
+      it("reflects progress for only the providers which are needed for topics passed to getMessages", async () => {
+        const p1 = provider1();
+        const p2 = provider2();
+        const combinedProvider = getCombinedDataProvider([
+          { provider: p1, prefix: "/generic_topic" },
+          { provider: p2 },
+        ]);
+        const extensionPoint = mockExtensionPoint().extensionPoint;
+        const mockProgressCallback = jest.spyOn(extensionPoint, "progressCallback");
+        await combinedProvider.initialize(extensionPoint);
+        p2.extensionPoint.progressCallback({ fullyLoadedFractionRanges: [{ start: 0, end: 0.3 }] });
+        let calls = mockProgressCallback.mock.calls;
+        // Assume that p1 has no progress yet since it has not reported, so intersected range is empty
+        expect(calls[calls.length - 1]).toEqual([{ fullyLoadedFractionRanges: [] }]);
+        combinedProvider.getMessages({ sec: 0, nsec: 0 }, { sec: 0.1, nsec: 0 }, ["/some_topic2"]);
+        // Reflects progress of only p2, since no topics from p1 are being requested.
+        calls = mockProgressCallback.mock.calls;
+        expect(calls[calls.length - 1]).toEqual([{ fullyLoadedFractionRanges: [{ start: 0, end: 0.3 }] }]);
+      });
     });
 
     describe("reportMetadataCallback", () => {
diff --git a/packages/webviz-core/src/dataProviders/FetchReader.js b/packages/webviz-core/src/dataProviders/FetchReader.js
index ad794debb..b59499c7f 100644
--- a/packages/webviz-core/src/dataProviders/FetchReader.js
+++ b/packages/webviz-core/src/dataProviders/FetchReader.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/dataProviders/IdbCacheDataProviderDatabase.js b/packages/webviz-core/src/dataProviders/IdbCacheDataProviderDatabase.js
index dd7285b15..9b72baaf3 100644
--- a/packages/webviz-core/src/dataProviders/IdbCacheDataProviderDatabase.js
+++ b/packages/webviz-core/src/dataProviders/IdbCacheDataProviderDatabase.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/dataProviders/IdbCacheReaderDataProvider.js b/packages/webviz-core/src/dataProviders/IdbCacheReaderDataProvider.js
index 2e960abf7..05b1933ed 100644
--- a/packages/webviz-core/src/dataProviders/IdbCacheReaderDataProvider.js
+++ b/packages/webviz-core/src/dataProviders/IdbCacheReaderDataProvider.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/dataProviders/IdbCacheReaderDataProvider.test.js b/packages/webviz-core/src/dataProviders/IdbCacheReaderDataProvider.test.js
index b6e18dcc0..d4fc3409f 100644
--- a/packages/webviz-core/src/dataProviders/IdbCacheReaderDataProvider.test.js
+++ b/packages/webviz-core/src/dataProviders/IdbCacheReaderDataProvider.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/dataProviders/IdbCacheWriterDataProvider.js b/packages/webviz-core/src/dataProviders/IdbCacheWriterDataProvider.js
index 4285e0e47..ca8c8d5f2 100644
--- a/packages/webviz-core/src/dataProviders/IdbCacheWriterDataProvider.js
+++ b/packages/webviz-core/src/dataProviders/IdbCacheWriterDataProvider.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/dataProviders/IdbCacheWriterDataProvider.test.js b/packages/webviz-core/src/dataProviders/IdbCacheWriterDataProvider.test.js
index c19aa4130..d35b524bf 100644
--- a/packages/webviz-core/src/dataProviders/IdbCacheWriterDataProvider.test.js
+++ b/packages/webviz-core/src/dataProviders/IdbCacheWriterDataProvider.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/dataProviders/MeasureDataProvider.js b/packages/webviz-core/src/dataProviders/MeasureDataProvider.js
index 0cb94ef2f..909ea8c68 100644
--- a/packages/webviz-core/src/dataProviders/MeasureDataProvider.js
+++ b/packages/webviz-core/src/dataProviders/MeasureDataProvider.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/dataProviders/MemoryCacheDataProvider.js b/packages/webviz-core/src/dataProviders/MemoryCacheDataProvider.js
index b4e1040c4..217463998 100644
--- a/packages/webviz-core/src/dataProviders/MemoryCacheDataProvider.js
+++ b/packages/webviz-core/src/dataProviders/MemoryCacheDataProvider.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/dataProviders/MemoryCacheDataProvider.test.js b/packages/webviz-core/src/dataProviders/MemoryCacheDataProvider.test.js
index c342108db..7dc4b49f6 100644
--- a/packages/webviz-core/src/dataProviders/MemoryCacheDataProvider.test.js
+++ b/packages/webviz-core/src/dataProviders/MemoryCacheDataProvider.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/dataProviders/MemoryDataProvider.js b/packages/webviz-core/src/dataProviders/MemoryDataProvider.js
index 9f7f63f6c..6b703dbcd 100644
--- a/packages/webviz-core/src/dataProviders/MemoryDataProvider.js
+++ b/packages/webviz-core/src/dataProviders/MemoryDataProvider.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/dataProviders/ParseMessagesDataProvider.js b/packages/webviz-core/src/dataProviders/ParseMessagesDataProvider.js
index 42061f776..b4d45b4a3 100644
--- a/packages/webviz-core/src/dataProviders/ParseMessagesDataProvider.js
+++ b/packages/webviz-core/src/dataProviders/ParseMessagesDataProvider.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/dataProviders/ParseMessagesDataProvider.test.js b/packages/webviz-core/src/dataProviders/ParseMessagesDataProvider.test.js
index d820721bd..c7ea73c97 100644
--- a/packages/webviz-core/src/dataProviders/ParseMessagesDataProvider.test.js
+++ b/packages/webviz-core/src/dataProviders/ParseMessagesDataProvider.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/dataProviders/RpcDataProvider.js b/packages/webviz-core/src/dataProviders/RpcDataProvider.js
index 82eb428c7..a3ba3d5cb 100644
--- a/packages/webviz-core/src/dataProviders/RpcDataProvider.js
+++ b/packages/webviz-core/src/dataProviders/RpcDataProvider.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/dataProviders/RpcDataProvider.test.js b/packages/webviz-core/src/dataProviders/RpcDataProvider.test.js
index 322fad49d..8313b4192 100644
--- a/packages/webviz-core/src/dataProviders/RpcDataProvider.test.js
+++ b/packages/webviz-core/src/dataProviders/RpcDataProvider.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -19,7 +19,7 @@ const data = {
     { topic: "/some_topic", receiveTime: { sec: 102, nsec: 0 }, message: new ArrayBuffer(0) },
   ],
   topics: [{ name: "/some_topic", datatype: "some_datatype" }],
-  datatypes: { some_datatype: [{ name: "data", type: "string" }] },
+  datatypes: { some_datatype: { fields: [{ name: "data", type: "string" }] } },
 };
 const dummyChildren = [{ name: "MemoryDataProvider", args: {}, children: [] }];
 
@@ -34,7 +34,7 @@ describe("RpcDataProvider", () => {
       start: { nsec: 0, sec: 100 },
       end: { nsec: 0, sec: 102 },
       topics: [{ datatype: "some_datatype", name: "/some_topic" }],
-      datatypes: { some_datatype: [{ name: "data", type: "string" }] },
+      datatypes: { some_datatype: { fields: [{ name: "data", type: "string" }] } },
     });
   });
 
diff --git a/packages/webviz-core/src/dataProviders/RpcDataProviderRemote.js b/packages/webviz-core/src/dataProviders/RpcDataProviderRemote.js
index 3855311da..a58adc0bc 100644
--- a/packages/webviz-core/src/dataProviders/RpcDataProviderRemote.js
+++ b/packages/webviz-core/src/dataProviders/RpcDataProviderRemote.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/dataProviders/WorkerDataProvider.js b/packages/webviz-core/src/dataProviders/WorkerDataProvider.js
index b845c548b..dd10b0435 100644
--- a/packages/webviz-core/src/dataProviders/WorkerDataProvider.js
+++ b/packages/webviz-core/src/dataProviders/WorkerDataProvider.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/dataProviders/WorkerDataProvider.worker.js b/packages/webviz-core/src/dataProviders/WorkerDataProvider.worker.js
index 631f7580f..819c4e85a 100644
--- a/packages/webviz-core/src/dataProviders/WorkerDataProvider.worker.js
+++ b/packages/webviz-core/src/dataProviders/WorkerDataProvider.worker.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/dataProviders/createGetDataProvider.js b/packages/webviz-core/src/dataProviders/createGetDataProvider.js
index 8603fb57a..db7ed306c 100644
--- a/packages/webviz-core/src/dataProviders/createGetDataProvider.js
+++ b/packages/webviz-core/src/dataProviders/createGetDataProvider.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/dataProviders/getRemoteBagGuid.js b/packages/webviz-core/src/dataProviders/getRemoteBagGuid.js
index 61e56b2a3..a769b155f 100644
--- a/packages/webviz-core/src/dataProviders/getRemoteBagGuid.js
+++ b/packages/webviz-core/src/dataProviders/getRemoteBagGuid.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/dataProviders/getRemoteBagGuid.test.js b/packages/webviz-core/src/dataProviders/getRemoteBagGuid.test.js
index d6220f87a..cb4d6409d 100644
--- a/packages/webviz-core/src/dataProviders/getRemoteBagGuid.test.js
+++ b/packages/webviz-core/src/dataProviders/getRemoteBagGuid.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/dataProviders/mockExtensionPoint.js b/packages/webviz-core/src/dataProviders/mockExtensionPoint.js
index e7bc9046d..937991c62 100644
--- a/packages/webviz-core/src/dataProviders/mockExtensionPoint.js
+++ b/packages/webviz-core/src/dataProviders/mockExtensionPoint.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/dataProviders/rootGetDataProvider.js b/packages/webviz-core/src/dataProviders/rootGetDataProvider.js
index ae0ed737c..b779cd882 100644
--- a/packages/webviz-core/src/dataProviders/rootGetDataProvider.js
+++ b/packages/webviz-core/src/dataProviders/rootGetDataProvider.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/dataProviders/standardDataProviderDescriptors.js b/packages/webviz-core/src/dataProviders/standardDataProviderDescriptors.js
index d22bd3bc9..f5c2c9906 100644
--- a/packages/webviz-core/src/dataProviders/standardDataProviderDescriptors.js
+++ b/packages/webviz-core/src/dataProviders/standardDataProviderDescriptors.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -46,17 +46,24 @@ export function getRemoteBagDescriptor(url: string, guid: ?string, loadEntireBag
         args: {},
         children: [
           {
-            name: "IdbCacheReaderDataProvider",
-            args: { id: guid },
+            name: "MemoryCacheDataProvider",
+            args: {},
             children: [
               {
-                name: "WorkerDataProvider",
-                args: {},
+                name: "IdbCacheReaderDataProvider",
+                args: { id: guid },
+
                 children: [
                   {
-                    name: "IdbCacheWriterDataProvider",
-                    args: { id: guid },
-                    children: [bagDataProvider],
+                    name: "WorkerDataProvider",
+                    args: {},
+                    children: [
+                      {
+                        name: "IdbCacheWriterDataProvider",
+                        args: { id: guid },
+                        children: [bagDataProvider],
+                      },
+                    ],
                   },
                 ],
               },
diff --git a/packages/webviz-core/src/dataProviders/types.js b/packages/webviz-core/src/dataProviders/types.js
index 9f02de2b3..259761f72 100644
--- a/packages/webviz-core/src/dataProviders/types.js
+++ b/packages/webviz-core/src/dataProviders/types.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/filterMap.js b/packages/webviz-core/src/filterMap.js
index a1c6998a5..822a6d6a2 100644
--- a/packages/webviz-core/src/filterMap.js
+++ b/packages/webviz-core/src/filterMap.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/filterMap.test.js b/packages/webviz-core/src/filterMap.test.js
index b0ed34c86..f8af7f0b2 100644
--- a/packages/webviz-core/src/filterMap.test.js
+++ b/packages/webviz-core/src/filterMap.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/globals.js.flow b/packages/webviz-core/src/globals.js.flow
index 3fc42c1c3..ee5d5078e 100644
--- a/packages/webviz-core/src/globals.js.flow
+++ b/packages/webviz-core/src/globals.js.flow
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -12,7 +12,6 @@ declare type GitInfo = {
 };
 
 declare var GIT_INFO: ?GitInfo;
-declare var CURRENT_VERSION: string;
 declare var MINIMUM_CHROME_VERSION: number;
 declare var SHOW_TEST_OUTPUT: boolean;
 
diff --git a/packages/webviz-core/src/hooks/useGlobalVariables.js b/packages/webviz-core/src/hooks/useGlobalVariables.js
index 272b5358f..be1e3daa7 100644
--- a/packages/webviz-core/src/hooks/useGlobalVariables.js
+++ b/packages/webviz-core/src/hooks/useGlobalVariables.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/hooks/useUserNodes.js b/packages/webviz-core/src/hooks/useUserNodes.js
index 769aa0c8c..9e7f9ab20 100644
--- a/packages/webviz-core/src/hooks/useUserNodes.js
+++ b/packages/webviz-core/src/hooks/useUserNodes.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/index.js b/packages/webviz-core/src/index.js
index 150840b42..60a0bf977 100644
--- a/packages/webviz-core/src/index.js
+++ b/packages/webviz-core/src/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/loadWebviz.js b/packages/webviz-core/src/loadWebviz.js
index 933eaddaf..431a2d15d 100644
--- a/packages/webviz-core/src/loadWebviz.js
+++ b/packages/webviz-core/src/loadWebviz.js
@@ -1,6 +1,6 @@
 /* eslint-disable header/header */
 
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -62,10 +62,12 @@ const defaultHooks = {
     const Rosout = require("webviz-core/src/panels/Rosout").default;
     const StateTransitions = require("webviz-core/src/panels/StateTransitions").default;
     const SubscribeToList = require("webviz-core/src/panels/SubscribeToList").default;
+    const TwoDimensionalPlot = require("webviz-core/src/panels/TwoDimensionalPlot").default;
     const ThreeDimensionalViz = require("webviz-core/src/panels/ThreeDimensionalViz").default;
     const { ndash } = require("webviz-core/src/util/entities");
 
     const ros = [
+      { title: "2D Plot", component: TwoDimensionalPlot },
       { title: "3D", component: ThreeDimensionalViz },
       { title: `Diagnostics ${ndash} Summary`, component: DiagnosticSummary },
       { title: `Diagnostics ${ndash} Detail`, component: DiagnosticStatusPanel },
@@ -94,6 +96,18 @@ const defaultHooks = {
   perPanelHooks: memoize(() => {
     const LaserScanVert = require("webviz-core/src/panels/ThreeDimensionalViz/LaserScanVert").default;
     const { defaultMapPalette } = require("webviz-core/src/panels/ThreeDimensionalViz/commands/utils");
+    const { POINT_CLOUD_DATATYPE, POSE_STAMPED_DATATYPE } = require("webviz-core/src/util/globalConstants");
+
+    const SUPPORTED_MARKER_DATATYPES = {
+      // generally supported datatypes
+      VISUALIZATION_MSGS_MARKER_DATATYPE: "visualization_msgs/Marker",
+      VISUALIZATION_MSGS_MARKER_ARRAY_DATATYPE: "visualization_msgs/MarkerArray",
+      POSE_STAMPED_DATATYPE,
+      POINT_CLOUD_DATATYPE,
+      SENSOR_MSGS_LASER_SCAN_DATATYPE: "sensor_msgs/LaserScan",
+      NAV_MSGS_OCCUPANCY_GRID_DATATYPE: "nav_msgs/OccupancyGrid",
+      GEOMETRY_MSGS_POLYGON_STAMPED_DATATYPE: "geometry_msgs/PolygonStamped",
+    };
 
     return {
       DiagnosticSummary: {
@@ -129,6 +143,7 @@ const defaultHooks = {
           pinTopics: false,
           topicSettings: {},
         },
+        SUPPORTED_MARKER_DATATYPES,
         allSupportedMarkers: [
           "arrow",
           "cube",
@@ -198,6 +213,17 @@ const defaultHooks = {
     return require("webviz-core/src/dataProviders/WorkerDataProvider.worker");
   },
   getAdditionalDataProviders: () => {},
+  experimentalFeaturesList() {
+    return {
+      topicGrouping: {
+        name: "Topic Group Management",
+        description:
+          "We're revamping the topic tree to be customizable directly from Webviz. You'll be able to create your own groups and toggle them easily.",
+        developmentDefault: true,
+        productionDefault: false,
+      },
+    };
+  },
 };
 
 let hooks = defaultHooks;
diff --git a/packages/webviz-core/src/panels/GlobalVariables/index.js b/packages/webviz-core/src/panels/GlobalVariables/index.js
index 388172cd8..c4482ae06 100644
--- a/packages/webviz-core/src/panels/GlobalVariables/index.js
+++ b/packages/webviz-core/src/panels/GlobalVariables/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -157,8 +157,12 @@ function GlobalVariables(props: Props): Node {
 
   function copyURL(text) {
     return () => {
-      clipboard.copy(text);
-      setBtnMessage("Copied!");
+      clipboard.copy(text).then(() => {
+        setBtnMessage("Copied!");
+        setTimeout(() => {
+          setBtnMessage("Copy");
+        }, 2000);
+      });
     };
   }
   function validateGlobalVariableNewKey(newKey, oldKey) {
diff --git a/packages/webviz-core/src/panels/GlobalVariables/index.stories.js b/packages/webviz-core/src/panels/GlobalVariables/index.stories.js
index 4c7ae5d2d..da22ada54 100644
--- a/packages/webviz-core/src/panels/GlobalVariables/index.stories.js
+++ b/packages/webviz-core/src/panels/GlobalVariables/index.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -61,8 +61,13 @@ function setStorage(globalVariables) {
   storage.set(GLOBAL_STATE_STORAGE_KEY, { ...defaultGlobalState, globalVariables });
 }
 
-function PanelWithData({ linkedGlobalVariables = [], ...rest }: { linkedGlobalVariables?: LinkedGlobalVariable[] }) {
-  if (linkedGlobalVariables.length) {
+function PanelWithData({
+  linkedGlobalVariables: linkedGlobalVars = [],
+  ...rest
+}: {
+  linkedGlobalVariables?: LinkedGlobalVariable[],
+}) {
+  if (linkedGlobalVars.length) {
     setStorage(exampleDataWithLinkedVariables);
   } else {
     setStorage(exampleVariables);
@@ -70,7 +75,7 @@ function PanelWithData({ linkedGlobalVariables = [], ...rest }: { linkedGlobalVa
   const fixture = {
     topics: [],
     frame: {},
-    linkedGlobalVariables,
+    linkedGlobalVariables: linkedGlobalVars,
   };
 
   return (
diff --git a/packages/webviz-core/src/panels/ImageView/CameraModel.js b/packages/webviz-core/src/panels/ImageView/CameraModel.js
index 7873db9fd..5e75d7ac3 100644
--- a/packages/webviz-core/src/panels/ImageView/CameraModel.js
+++ b/packages/webviz-core/src/panels/ImageView/CameraModel.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ImageView/ImageCanvas.js b/packages/webviz-core/src/panels/ImageView/ImageCanvas.js
index ad04cd659..a6e03aa76 100644
--- a/packages/webviz-core/src/panels/ImageView/ImageCanvas.js
+++ b/packages/webviz-core/src/panels/ImageView/ImageCanvas.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -21,7 +21,7 @@ import uuid from "uuid";
 
 import styles from "./ImageCanvas.module.scss";
 import { registerImageCanvasWorkerListener, unregisterImageCanvasWorkerListener } from "./ImageCanvasWorkerProvider";
-import type { ImageViewPanelHooks, Config, SaveConfig } from "./index";
+import type { ImageViewPanelHooks, Config, SaveImagePanelConfig } from "./index";
 import { renderImage } from "./renderImage";
 import { checkOutOfBounds, type Dimensions, supportsOffscreenCanvas } from "./util";
 import ContextMenu from "webviz-core/src/components/ContextMenu";
@@ -46,7 +46,7 @@ type Props = {|
   |},
   panelHooks?: ImageViewPanelHooks,
   config: Config,
-  saveConfig: SaveConfig,
+  saveConfig: SaveImagePanelConfig,
   useMainThreadRenderingForTesting?: boolean,
 |};
 
@@ -151,7 +151,7 @@ export default class ImageCanvas extends React.Component<Props, State> {
       (this.bitmapDimensions.width * updatedPercentage) / 100,
       (this.bitmapDimensions.height * updatedPercentage) / 100
     );
-    this.props.saveConfig({ mode: "other", offset, zoomPercentage: updatedPercentage });
+    this.props.saveConfig({ mode: "other", offset, zoomPercentage: updatedPercentage }, { keepLayoutInUrl: true });
     if (offset[0] !== x || offset[1] !== y) {
       this.panZoomCanvas.moveTo(offset[0], offset[1]);
     }
@@ -259,11 +259,11 @@ export default class ImageCanvas extends React.Component<Props, State> {
   componentDidUpdate(prevProps: Props) {
     const imageChanged = !shallowequal(prevProps, this.props, (a, b, key) => {
       if (key === "rawMarkerData") {
-        return shallowequal(a, b, (a, b, key) => {
-          if (key === "markers") {
-            return shallowequal(a, b);
-          } else if (key === "cameraInfo") {
-            return isEqual(omit(a, "header"), omit(b, "header"));
+        return shallowequal(a, b, (innerA, innerB, innerKey) => {
+          if (innerKey === "markers") {
+            return shallowequal(innerA, innerB);
+          } else if (innerKey === "cameraInfo") {
+            return isEqual(omit(innerA, "header"), omit(innerB, "header"));
           }
         });
       }
@@ -311,18 +311,18 @@ export default class ImageCanvas extends React.Component<Props, State> {
   clickMagnify = () => {
     this.setState((state) => ({ openZoomChart: !state.openZoomChart }));
   };
-  onZoomFit = () => {
+  onZoomFit = (keepLayoutInUrl?: boolean) => {
     const fitPercent = this.fitPercent();
     this.panZoomCanvas.zoomAbs(0, 0, fitPercent / 100);
     this.moveToCenter();
-    this.props.saveConfig({ mode: "fit", zoomPercentage: fitPercent });
+    this.props.saveConfig({ mode: "fit", zoomPercentage: fitPercent }, { keepLayoutInUrl });
   };
 
-  onZoomFill = () => {
+  onZoomFill = (keepLayoutInUrl?: boolean) => {
     const fillPercent = this.fillPercent();
     this.panZoomCanvas.zoomAbs(0, 0, fillPercent / 100);
     this.moveToCenter();
-    this.props.saveConfig({ mode: "fill", zoomPercentage: fillPercent });
+    this.props.saveConfig({ mode: "fill", zoomPercentage: fillPercent }, { keepLayoutInUrl });
   };
 
   goToTargetPercentage = (targetPercentage: number) => {
@@ -411,9 +411,9 @@ export default class ImageCanvas extends React.Component<Props, State> {
     if (this.panZoomCanvas) {
       const { mode, zoomPercentage, offset } = this.props.config;
       if (!mode || mode === "fit") {
-        this.onZoomFit();
+        this.onZoomFit(true);
       } else if (mode === "fill") {
-        this.onZoomFill();
+        this.onZoomFill(true);
       } else if (mode === "other") {
         // Go to prevPercentage
         this.goToTargetPercentage(zoomPercentage || 100);
diff --git a/packages/webviz-core/src/panels/ImageView/ImageCanvas.module.scss b/packages/webviz-core/src/panels/ImageView/ImageCanvas.module.scss
index 977908ea8..0d9592dcd 100644
--- a/packages/webviz-core/src/panels/ImageView/ImageCanvas.module.scss
+++ b/packages/webviz-core/src/panels/ImageView/ImageCanvas.module.scss
@@ -1,4 +1,4 @@
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ImageView/ImageCanvas.stories.js b/packages/webviz-core/src/panels/ImageView/ImageCanvas.stories.js
index 9e9cfbc44..b016bc44c 100644
--- a/packages/webviz-core/src/panels/ImageView/ImageCanvas.stories.js
+++ b/packages/webviz-core/src/panels/ImageView/ImageCanvas.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ImageView/ImageCanvas.worker.js b/packages/webviz-core/src/panels/ImageView/ImageCanvas.worker.js
index cf4fe9ad0..ca44d54cb 100644
--- a/packages/webviz-core/src/panels/ImageView/ImageCanvas.worker.js
+++ b/packages/webviz-core/src/panels/ImageView/ImageCanvas.worker.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ImageView/ImageCanvasWorkerProvider.js b/packages/webviz-core/src/panels/ImageView/ImageCanvasWorkerProvider.js
index 7969ef059..3a45eb86f 100644
--- a/packages/webviz-core/src/panels/ImageView/ImageCanvasWorkerProvider.js
+++ b/packages/webviz-core/src/panels/ImageView/ImageCanvasWorkerProvider.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ImageView/ImageCanvasWorkerProvider.test.js b/packages/webviz-core/src/panels/ImageView/ImageCanvasWorkerProvider.test.js
index c4e7a67b3..38f9210e6 100644
--- a/packages/webviz-core/src/panels/ImageView/ImageCanvasWorkerProvider.test.js
+++ b/packages/webviz-core/src/panels/ImageView/ImageCanvasWorkerProvider.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ImageView/decodings.js b/packages/webviz-core/src/panels/ImageView/decodings.js
index 41c6af495..3f507610e 100644
--- a/packages/webviz-core/src/panels/ImageView/decodings.js
+++ b/packages/webviz-core/src/panels/ImageView/decodings.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ImageView/decodings.test.js b/packages/webviz-core/src/panels/ImageView/decodings.test.js
index 796975355..3f65006f1 100644
--- a/packages/webviz-core/src/panels/ImageView/decodings.test.js
+++ b/packages/webviz-core/src/panels/ImageView/decodings.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ImageView/index.js b/packages/webviz-core/src/panels/ImageView/index.js
index 5a3c4ab67..646d538e4 100644
--- a/packages/webviz-core/src/panels/ImageView/index.js
+++ b/packages/webviz-core/src/panels/ImageView/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -41,6 +41,7 @@ import type { Topic, Message, TypedMessage } from "webviz-core/src/players/types
 import inScreenshotTests from "webviz-core/src/stories/inScreenshotTests";
 import colors from "webviz-core/src/styles/colors.module.scss";
 import type { CameraInfo } from "webviz-core/src/types/Messages";
+import type { SaveConfig } from "webviz-core/src/types/panels";
 import naturalSort from "webviz-core/src/util/naturalSort";
 import { formatTimeRaw } from "webviz-core/src/util/time";
 import toggle from "webviz-core/src/util/toggle";
@@ -71,11 +72,11 @@ export type Config = {|
   saveStoryConfig?: () => void,
 |};
 
-export type SaveConfig = ($Shape<Config>) => void;
+export type SaveImagePanelConfig = SaveConfig<Config>;
 
 type Props = {
   config: Config,
-  saveConfig: SaveConfig,
+  saveConfig: SaveImagePanelConfig,
   topics: Topic[],
 };
 
@@ -85,8 +86,8 @@ const TopicTimestampSpan = styled.span`
   font-style: italic;
 `;
 
-const TopicTimestamp = ({ text, style }: { text: string, style?: { [string]: string } }) =>
-  text === "" ? null : <TopicTimestampSpan style={style}>{text}</TopicTimestampSpan>;
+const TopicTimestamp = ({ text, style: styleObj }: { text: string, style?: { [string]: string } }) =>
+  text === "" ? null : <TopicTimestampSpan style={styleObj}>{text}</TopicTimestampSpan>;
 
 const BottomBar = ({ children, containsOpen }: { children?: React.Node, containsOpen: boolean }) => (
   <div
@@ -220,20 +221,20 @@ function ImageView(props: Props) {
   );
 
   const onChangeTopic = useCallback(
-    (cameraTopic: string) => {
+    (newCameraTopic: string) => {
       saveConfig({
-        cameraTopic,
+        cameraTopic: newCameraTopic,
         transformMarkers: getGlobalHooks()
           .perPanelHooks()
-          .ImageView.canTransformMarkersByTopic(cameraTopic),
+          .ImageView.canTransformMarkersByTopic(newCameraTopic),
       });
     },
     [saveConfig]
   );
 
   const onChangeScale = useCallback(
-    (scale: number) => {
-      saveConfig({ scale });
+    (newScale: number) => {
+      saveConfig({ scale: newScale });
     },
     [saveConfig]
   );
@@ -260,13 +261,13 @@ function ImageView(props: Props) {
     }
 
     const items = [...imageTopicsByNamespace.keys()].sort().map((group) => {
-      const topics = imageTopicsByNamespace.get(group);
-      if (!topics) {
+      const imageTopics = imageTopicsByNamespace.get(group);
+      if (!imageTopics) {
         return null;
       } // satisfy flow
-      topics.sort(naturalSort("name"));
+      imageTopics.sort(naturalSort("name"));
 
-      // place rectified topic above other topics
+      // place rectified topic above other imageTopics
       return (
         <SubMenu
           direction="right"
@@ -274,7 +275,7 @@ function ImageView(props: Props) {
           text={group}
           checked={group === cameraNamespace}
           dataTest={group.substr(1)}>
-          {topics.map((topic) => {
+          {imageTopics.map((topic) => {
             return (
               <Item
                 key={topic.name}
diff --git a/packages/webviz-core/src/panels/ImageView/index.module.scss b/packages/webviz-core/src/panels/ImageView/index.module.scss
index 3e87a9f93..1148f7007 100644
--- a/packages/webviz-core/src/panels/ImageView/index.module.scss
+++ b/packages/webviz-core/src/panels/ImageView/index.module.scss
@@ -1,4 +1,4 @@
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ImageView/renderImage.js b/packages/webviz-core/src/panels/ImageView/renderImage.js
index c7e39e296..100b473ad 100644
--- a/packages/webviz-core/src/panels/ImageView/renderImage.js
+++ b/packages/webviz-core/src/panels/ImageView/renderImage.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -24,6 +24,10 @@ import type { Message } from "webviz-core/src/players/types";
 import type { ImageMarker, Color, Point } from "webviz-core/src/types/Messages";
 import reportError from "webviz-core/src/util/reportError";
 
+// Just globally keep track of if we've shown an error in rendering, since typically when you get
+// one error, you'd then get a whole bunch more, which is spammy.
+let hasLoggedCameraModelError: boolean = false;
+
 // Given a canvas, an image message, and marker info, render the image to the canvas.
 // Nothing in this module should have state.
 export async function renderImage({
@@ -50,7 +54,10 @@ export async function renderImage({
   try {
     markerData = buildMarkerData(rawMarkerData);
   } catch (error) {
-    reportError(`Failed to initialize camera model from CameraInfo`, error, "user");
+    if (!hasLoggedCameraModelError) {
+      reportError(`Failed to initialize camera model from CameraInfo`, error, "user");
+      hasLoggedCameraModelError = true;
+    }
   }
 
   try {
@@ -231,8 +238,8 @@ function paintMarker(ctx: CanvasRenderingContext2D, marker: ImageMarker, cameraM
       const { x, y } = maybeUnrectifyPoint(cameraModel, marker.points[0]);
       ctx.moveTo(x, y);
       for (let i = 1; i < marker.points.length; i++) {
-        const { x, y } = maybeUnrectifyPoint(cameraModel, marker.points[i]);
-        ctx.lineTo(x, y);
+        const maybeUnrectifiedPoint = maybeUnrectifyPoint(cameraModel, marker.points[i]);
+        ctx.lineTo(maybeUnrectifiedPoint.x, maybeUnrectifiedPoint.y);
       }
       if (marker.type === 3) {
         ctx.closePath();
diff --git a/packages/webviz-core/src/panels/ImageView/util.js b/packages/webviz-core/src/panels/ImageView/util.js
index 234ade02d..41e262d1c 100644
--- a/packages/webviz-core/src/panels/ImageView/util.js
+++ b/packages/webviz-core/src/panels/ImageView/util.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -82,8 +82,14 @@ export function getCameraInfoTopic(imageTopic: string): ?string {
 }
 
 export function getCameraNamespace(topicName: string): ?string {
-  const match = topicName.match(/^(\/old)?(?!\/old)(\/[^/]+)\//);
-  return match ? match[2] : null;
+  let splitTopic = topicName.split("/");
+  // Remove the last part of the selected topic to get the camera namespace.
+  splitTopic.pop();
+  splitTopic = splitTopic.filter((topicPart) => topicPart !== "old");
+
+  // Since there is a leading slash in the topicName, splitTopic will always have at least one empty string to start.
+  // If we can't find the namespace, return null.
+  return splitTopic.length > 1 ? splitTopic.join("/") : null;
 }
 
 // group topics by the first component of their name
diff --git a/packages/webviz-core/src/panels/ImageView/util.test.js b/packages/webviz-core/src/panels/ImageView/util.test.js
index 423f514a8..021ec0070 100644
--- a/packages/webviz-core/src/panels/ImageView/util.test.js
+++ b/packages/webviz-core/src/panels/ImageView/util.test.js
@@ -1,12 +1,19 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import { getCameraInfoTopic, getMarkerOptions, getMarkerTopics, groupTopics, buildMarkerData } from "./util";
+import {
+  getCameraInfoTopic,
+  getMarkerOptions,
+  getMarkerTopics,
+  groupTopics,
+  buildMarkerData,
+  getCameraNamespace,
+} from "./util";
 
 describe("ImageView", () => {
   describe("getCameraInfoTopic", () => {
@@ -45,6 +52,22 @@ describe("ImageView", () => {
     });
   });
 
+  describe("getCameraNamespace", () => {
+    it("works with a normal camera topic", () => {
+      expect(getCameraNamespace("/camera_back_left/compressed")).toEqual("/camera_back_left");
+    });
+    it("strips 'old' camera topics", () => {
+      expect(getCameraNamespace("/old/camera_back_left/compressed")).toEqual("/camera_back_left");
+      expect(getCameraNamespace("/camera_back_left/old/compressed")).toEqual("/camera_back_left");
+    });
+    it("includes webviz_bag_2 in camera topics", () => {
+      expect(getCameraNamespace("/webviz_bag_2/camera_back_left/compressed")).toEqual("/webviz_bag_2/camera_back_left");
+    });
+    it("Returns null when encountering a single level topic", () => {
+      expect(getCameraNamespace("/camera_back_left")).toEqual(null);
+    });
+  });
+
   describe("groupTopics", () => {
     const topic = (name) => ({ name, datatype: "dummy" });
 
@@ -75,6 +98,24 @@ describe("ImageView", () => {
         ])
       );
     });
+
+    it("Separates /webviz_bag_2 topics", () => {
+      expect(
+        groupTopics([
+          topic("/camera_1/foo"),
+          topic("/camera_1/bar"),
+          topic("/webviz_bag_2/camera_1/foo"),
+          topic("/webviz_bag_2/camera_1/bar"),
+          topic("/webviz_bag_2/camera_2/foo"),
+        ])
+      ).toEqual(
+        new Map([
+          ["/camera_1", [topic("/camera_1/foo"), topic("/camera_1/bar")]],
+          ["/webviz_bag_2/camera_1", [topic("/webviz_bag_2/camera_1/foo"), topic("/webviz_bag_2/camera_1/bar")]],
+          ["/webviz_bag_2/camera_2", [topic("/webviz_bag_2/camera_2/foo")]],
+        ])
+      );
+    });
   });
 
   describe("buildMarkerData", () => {
diff --git a/packages/webviz-core/src/panels/Internals.js b/packages/webviz-core/src/panels/Internals.js
index e0bf9b4c3..1b88bfc33 100644
--- a/packages/webviz-core/src/panels/Internals.js
+++ b/packages/webviz-core/src/panels/Internals.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -81,8 +81,10 @@ function getPublisherGroup({ advertiser }: AdvertisePayload): string {
 // Display webviz internal state for debugging and viewing topic dependencies.
 function Internals(): React.Node {
   const { topics } = PanelAPI.useDataSourceInfo();
-  const subscriptions = useMessagePipeline(useCallback(({ subscriptions }) => subscriptions, []));
-  const publishers = useMessagePipeline(useCallback(({ publishers }) => publishers, []));
+  const subscriptions = useMessagePipeline(
+    useCallback(({ subscriptions: pipelineSubscriptions }) => pipelineSubscriptions, [])
+  );
+  const publishers = useMessagePipeline(useCallback(({ publishers: pipelinePublishers }) => pipelinePublishers, []));
 
   const [groupedSubscriptions, subscriptionGroups] = React.useMemo(
     () => {
@@ -177,12 +179,14 @@ function Internals(): React.Node {
         <MessageHistory paths={recordingTopics} historySize={1}>
           {({ itemsByPath }) => {
             const frame = mapValues(itemsByPath, (items) => items.map(({ message }) => message));
-            const topics = filterMap(Object.keys(itemsByPath), (topic) =>
-              itemsByPath[topic] && itemsByPath[topic].length
-                ? { name: topic, datatype: itemsByPath[topic][0].message.datatype }
-                : null
-            );
-            recordedData.current = { topics, frame };
+            recordedData.current = {
+              topics: filterMap(Object.keys(itemsByPath), (topic) =>
+                itemsByPath[topic] && itemsByPath[topic].length
+                  ? { name: topic, datatype: itemsByPath[topic][0].message.datatype }
+                  : null
+              ),
+              frame,
+            };
             return null;
           }}
         </MessageHistory>
diff --git a/packages/webviz-core/src/panels/Internals.test.js b/packages/webviz-core/src/panels/Internals.test.js
index 7d2375311..ae09fd216 100644
--- a/packages/webviz-core/src/panels/Internals.test.js
+++ b/packages/webviz-core/src/panels/Internals.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/NodePlayground/BottomBar/DiagnosticsSection.js b/packages/webviz-core/src/panels/NodePlayground/BottomBar/DiagnosticsSection.js
index 590a00a31..a3a4590eb 100644
--- a/packages/webviz-core/src/panels/NodePlayground/BottomBar/DiagnosticsSection.js
+++ b/packages/webviz-core/src/panels/NodePlayground/BottomBar/DiagnosticsSection.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/NodePlayground/BottomBar/LogsSection.js b/packages/webviz-core/src/panels/NodePlayground/BottomBar/LogsSection.js
index 79b8d8296..e5ea7c11e 100644
--- a/packages/webviz-core/src/panels/NodePlayground/BottomBar/LogsSection.js
+++ b/packages/webviz-core/src/panels/NodePlayground/BottomBar/LogsSection.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/NodePlayground/BottomBar/index.js b/packages/webviz-core/src/panels/NodePlayground/BottomBar/index.js
index ae5a27dfc..9128bc591 100644
--- a/packages/webviz-core/src/panels/NodePlayground/BottomBar/index.js
+++ b/packages/webviz-core/src/panels/NodePlayground/BottomBar/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/NodePlayground/Editor.js b/packages/webviz-core/src/panels/NodePlayground/Editor.js
index 0d81c67a5..069b06710 100644
--- a/packages/webviz-core/src/panels/NodePlayground/Editor.js
+++ b/packages/webviz-core/src/panels/NodePlayground/Editor.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/NodePlayground/Sidebar.js b/packages/webviz-core/src/panels/NodePlayground/Sidebar.js
index ed264bb12..cecea30b7 100644
--- a/packages/webviz-core/src/panels/NodePlayground/Sidebar.js
+++ b/packages/webviz-core/src/panels/NodePlayground/Sidebar.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/NodePlayground/index.help.md b/packages/webviz-core/src/panels/NodePlayground/index.help.md
index 8574bf65b..326cca995 100644
--- a/packages/webviz-core/src/panels/NodePlayground/index.help.md
+++ b/packages/webviz-core/src/panels/NodePlayground/index.help.md
@@ -108,7 +108,7 @@ type Transform = {
   rotation: number[]
 }
 type TransformMsg = {
-  header: Header,  
+  header: Header,
   child_frame_id: string,
   transform: Transform
 }
@@ -381,3 +381,27 @@ log({ "add": add, "subtract": (a: number, b: number): number => a - b })
 ```
 
 Invoking `log()` outside your publisher function will invoke it once, when your node is registered. Invoking `log()` inside your publisher function will log that value every time your publisher function is called.
+
+## FAQ
+
+> What if I don't want to produce a message every time `publish` is called?
+
+All you need to do is do an early (or late) return in your function body that is hit when you don't want to publish. For instance, let's say you only wanted to publish messages when a constant in the input is _not_ `3`:
+
+```typescript
+import { Message } from "ros";
+
+export const inputs = ["/state"];
+export const output = "/webviz_node/manual_metrics";
+
+const publisher = (msg: Message<{ constant: number }>): { metrics: number } | undefined => {
+  if (msg.message.constant === 3) {
+    return;
+  }
+  return { /* YOUR DATA HERE */ };
+};
+
+export default publisher;
+```
+
+Note the union return type in the `publisher` definition. We've indicated to Typescript that this function can return `undefined`, and we do so within the conditional block (In Typescript, if you `return` without a value, it will implicitly return `undefined`). When this code path is hit, we don't publish any message.
diff --git a/packages/webviz-core/src/panels/NodePlayground/index.js b/packages/webviz-core/src/panels/NodePlayground/index.js
index a443c9ecd..5c8f3b017 100644
--- a/packages/webviz-core/src/panels/NodePlayground/index.js
+++ b/packages/webviz-core/src/panels/NodePlayground/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -169,15 +169,16 @@ function NodePlayground(props: Props) {
   const addNewNode = React.useCallback(
     () => {
       const newNodeId = uuid.v4();
-      setUserNodes({
-        [newNodeId]: {
-          sourceCode: skeletonBody,
-          name: `${DEFAULT_WEBVIZ_NODE_PREFIX}${newNodeId.split("-")[0]}`,
-        },
-      });
-      saveConfig({ selectedNodeId: newNodeId });
       // TODO: Add integration test for this flow.
-      trustUserNode({ id: newNodeId, sourceCode: skeletonBody });
+      trustUserNode({ id: newNodeId, sourceCode: skeletonBody }).then(() => {
+        setUserNodes({
+          [newNodeId]: {
+            sourceCode: skeletonBody,
+            name: `${DEFAULT_WEBVIZ_NODE_PREFIX}${newNodeId.split("-")[0]}`,
+          },
+        });
+        saveConfig({ selectedNodeId: newNodeId });
+      });
     },
     [saveConfig, setUserNodes]
   );
@@ -187,13 +188,26 @@ function NodePlayground(props: Props) {
       if (!selectedNodeId || !selectedNode) {
         return;
       }
-      trustUserNode({ id: selectedNodeId, sourceCode: selectedNode.sourceCode });
-      // no-op in order to trigger the useUserNodes hook.
-      setUserNodes({});
+      trustUserNode({ id: selectedNodeId, sourceCode: selectedNode.sourceCode }).then(() => {
+        // no-op in order to trigger the useUserNodes hook.
+        setUserNodes({});
+      });
     },
     [selectedNode, selectedNodeId, setUserNodes]
   );
 
+  const saveNode = React.useCallback(
+    () => {
+      if (!selectedNodeId) {
+        return;
+      }
+      trustUserNode({ id: selectedNodeId, sourceCode: stagedScript }).then(() => {
+        setUserNodes({ [selectedNodeId]: { ...selectedNode, sourceCode: stagedScript } });
+      });
+    },
+    [selectedNodeId, selectedNode, stagedScript, setUserNodes]
+  );
+
   return (
     <Dimensions>
       {({ height, width }) => (
@@ -287,13 +301,7 @@ function NodePlayground(props: Props) {
                 <BottomBar
                   nodeId={selectedNodeId}
                   isSaved={isNodeSaved}
-                  save={() => {
-                    if (!selectedNodeId) {
-                      return;
-                    }
-                    setUserNodes({ [selectedNodeId]: { ...selectedNode, sourceCode: stagedScript } });
-                    trustUserNode({ id: selectedNodeId, sourceCode: stagedScript });
-                  }}
+                  save={saveNode}
                   diagnostics={selectedNodeDiagnostics}
                   logs={selectedNodeLogs}
                 />
diff --git a/packages/webviz-core/src/panels/NodePlayground/index.stories.js b/packages/webviz-core/src/panels/NodePlayground/index.stories.js
index a4ac455ee..215c3f182 100644
--- a/packages/webviz-core/src/panels/NodePlayground/index.stories.js
+++ b/packages/webviz-core/src/panels/NodePlayground/index.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/Note/index.js b/packages/webviz-core/src/panels/Note/index.js
index 62a220f1e..2d8f577a8 100644
--- a/packages/webviz-core/src/panels/Note/index.js
+++ b/packages/webviz-core/src/panels/Note/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/Note/index.stories.js b/packages/webviz-core/src/panels/Note/index.stories.js
index 8beef74e0..d76d86bba 100644
--- a/packages/webviz-core/src/panels/Note/index.stories.js
+++ b/packages/webviz-core/src/panels/Note/index.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -19,7 +19,7 @@ storiesOf("<Note>", module)
     const fixture = {
       topics: [],
       datatypes: {
-        "std_msgs/String": [{ name: "noteText", type: "string" }],
+        "std_msgs/String": { fields: [{ name: "noteText", type: "string" }] },
       },
       frame: {},
     };
diff --git a/packages/webviz-core/src/panels/NumberOfRenders.js b/packages/webviz-core/src/panels/NumberOfRenders.js
index 13d0f4b8e..8568b2786 100644
--- a/packages/webviz-core/src/panels/NumberOfRenders.js
+++ b/packages/webviz-core/src/panels/NumberOfRenders.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/PanelList/index.js b/packages/webviz-core/src/panels/PanelList/index.js
index 45e198af4..009113615 100644
--- a/packages/webviz-core/src/panels/PanelList/index.js
+++ b/packages/webviz-core/src/panels/PanelList/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -141,9 +141,9 @@ const dragConfig = {
   },
 };
 // boilerplate required by react-dnd
-const DraggablePanelItem = DragSource(MosaicDragType.WINDOW, dragConfig, (connect, monitor) => {
+const DraggablePanelItem = DragSource(MosaicDragType.WINDOW, dragConfig, (connectArg, monitor) => {
   return {
-    connectDragSource: connect.dragSource(),
+    connectDragSource: connectArg.dragSource(),
   };
 })(PanelItem);
 
@@ -173,7 +173,7 @@ class PanelList extends React.Component<Props, { searchQuery: string }> {
   // the actual operations to change the layout
   // are supplied by react-mosaic-component
   onPanelMenuItemDrop = (config: DropDescription) => {
-    const { mosaicLayout, changePanelLayout, savePanelConfig } = this.props;
+    const { mosaicLayout } = this.props;
     const { panelType, position, path } = config;
     const newNode = getPanelIdForType(panelType);
     const node = getNodeAtPath(mosaicLayout, path);
@@ -189,10 +189,10 @@ class PanelList extends React.Component<Props, { searchQuery: string }> {
       },
     ];
     if (config.panelConfig) {
-      savePanelConfig({ id: newNode, config: config.panelConfig, defaultConfig: {} });
+      this.props.savePanelConfig({ id: newNode, config: config.panelConfig, defaultConfig: {} });
     }
     const newLayout = updateTree(mosaicLayout, updates);
-    changePanelLayout(newLayout);
+    this.props.changePanelLayout(newLayout);
   };
 
   // sanity checks to help panel authors debug issues
diff --git a/packages/webviz-core/src/panels/PanelList/index.stories.js b/packages/webviz-core/src/panels/PanelList/index.stories.js
index 06aacb8a2..7d1a55e3e 100644
--- a/packages/webviz-core/src/panels/PanelList/index.stories.js
+++ b/packages/webviz-core/src/panels/PanelList/index.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/PlaybackPerformance.js b/packages/webviz-core/src/panels/PlaybackPerformance.js
index d61d109d7..9323e8c7e 100644
--- a/packages/webviz-core/src/panels/PlaybackPerformance.js
+++ b/packages/webviz-core/src/panels/PlaybackPerformance.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/Plot/PlotChart.js b/packages/webviz-core/src/panels/Plot/PlotChart.js
index fe3ce8043..bd74fc0df 100644
--- a/packages/webviz-core/src/panels/Plot/PlotChart.js
+++ b/packages/webviz-core/src/panels/Plot/PlotChart.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -58,14 +58,14 @@ function getDatasetFromMessagePlotPath(
       continue;
     }
 
-    for (const { value, path, constantName } of item.queriedData) {
+    for (const { value, path: queriedPath, constantName } of item.queriedData) {
       if (typeof value === "number" || typeof value === "boolean" || typeof value === "string") {
         const valueNum = Number(value);
         if (!isNaN(valueNum)) {
           points.push({
             x: toSec(subtractTimes(timestamp, startTime)),
             y: valueNum,
-            tooltip: { item, path, value, constantName, startTime },
+            tooltip: { item, path: queriedPath, value, constantName, startTime },
           });
         }
       } else if (isTime(value)) {
@@ -76,7 +76,7 @@ function getDatasetFromMessagePlotPath(
           y: toSec(timeValue),
           tooltip: {
             item,
-            path,
+            path: queriedPath,
             value: `${format(timeValue)} (${formatTimeRaw(timeValue)})`,
             constantName,
             startTime,
@@ -203,6 +203,7 @@ export default class PlotChart extends PureComponent<PlotChartProps> {
               type="scatter"
               yAxes={yAxes({ minY: minYValue, maxY: maxYValue, scaleId: Y_AXIS_ID })}
               saveCurrentYs={saveCurrentYs}
+              useFixedYAxisWidth
             />
           )}
         </Dimensions>
diff --git a/packages/webviz-core/src/panels/Plot/PlotChart.module.scss b/packages/webviz-core/src/panels/Plot/PlotChart.module.scss
index 0f5dddfe6..bb5d3fe2e 100644
--- a/packages/webviz-core/src/panels/Plot/PlotChart.module.scss
+++ b/packages/webviz-core/src/panels/Plot/PlotChart.module.scss
@@ -1,4 +1,4 @@
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/Plot/PlotLegend.js b/packages/webviz-core/src/panels/Plot/PlotLegend.js
index ecd5433e3..d7deef0ea 100644
--- a/packages/webviz-core/src/panels/Plot/PlotLegend.js
+++ b/packages/webviz-core/src/panels/Plot/PlotLegend.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/Plot/PlotLegend.module.scss b/packages/webviz-core/src/panels/Plot/PlotLegend.module.scss
index 795aa0baf..b1409320c 100644
--- a/packages/webviz-core/src/panels/Plot/PlotLegend.module.scss
+++ b/packages/webviz-core/src/panels/Plot/PlotLegend.module.scss
@@ -1,4 +1,4 @@
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/Plot/PlotMenu.js b/packages/webviz-core/src/panels/Plot/PlotMenu.js
index 3de110ee4..8dea6cb56 100644
--- a/packages/webviz-core/src/panels/Plot/PlotMenu.js
+++ b/packages/webviz-core/src/panels/Plot/PlotMenu.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/Plot/PlotMenu.module.scss b/packages/webviz-core/src/panels/Plot/PlotMenu.module.scss
index 1d88ef6ab..623864361 100644
--- a/packages/webviz-core/src/panels/Plot/PlotMenu.module.scss
+++ b/packages/webviz-core/src/panels/Plot/PlotMenu.module.scss
@@ -1,4 +1,4 @@
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/Plot/PlotMenu.stories.js b/packages/webviz-core/src/panels/Plot/PlotMenu.stories.js
index b3286f4ec..1a58d1d37 100644
--- a/packages/webviz-core/src/panels/Plot/PlotMenu.stories.js
+++ b/packages/webviz-core/src/panels/Plot/PlotMenu.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/Plot/PlotMenu.test.js b/packages/webviz-core/src/panels/Plot/PlotMenu.test.js
index df2b38d56..10e1930ae 100644
--- a/packages/webviz-core/src/panels/Plot/PlotMenu.test.js
+++ b/packages/webviz-core/src/panels/Plot/PlotMenu.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/Plot/derivative.js b/packages/webviz-core/src/panels/Plot/derivative.js
index 45f09f933..cd7d9c5f6 100644
--- a/packages/webviz-core/src/panels/Plot/derivative.js
+++ b/packages/webviz-core/src/panels/Plot/derivative.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/Plot/derivative.test.js b/packages/webviz-core/src/panels/Plot/derivative.test.js
index 5c3cce0b9..caae0f398 100644
--- a/packages/webviz-core/src/panels/Plot/derivative.test.js
+++ b/packages/webviz-core/src/panels/Plot/derivative.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/Plot/index.js b/packages/webviz-core/src/panels/Plot/index.js
index 2ee150861..c7d92e865 100644
--- a/packages/webviz-core/src/panels/Plot/index.js
+++ b/packages/webviz-core/src/panels/Plot/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/Plot/index.stories.js b/packages/webviz-core/src/panels/Plot/index.stories.js
index 9bf8c2c75..034a77c81 100644
--- a/packages/webviz-core/src/panels/Plot/index.stories.js
+++ b/packages/webviz-core/src/panels/Plot/index.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -141,40 +141,48 @@ const otherStateMessages = [
 
 const fixture = {
   datatypes: {
-    "msgs/PoseDebug": [
-      { name: "header", type: "std_msgs/Header", isArray: false },
-      { name: "pose", type: "msgs/Pose", isArray: false },
-    ],
-    "msgs/Pose": [
-      { name: "header", type: "std_msgs/Header", isArray: false },
-      { name: "x", type: "float64", isArray: false },
-      { name: "y", type: "float64", isArray: false },
-      { name: "travel", type: "float64", isArray: false },
-      { name: "velocity", type: "float64", isArray: false },
-      { name: "acceleration", type: "float64", isArray: false },
-      { name: "heading", type: "float64", isArray: false },
-    ],
-    "msgs/State": [
-      { name: "header", type: "std_msgs/Header", isArray: false },
-      { name: "items", type: "msgs/OtherState", isArray: true },
-    ],
-    "msgs/OtherState": [
-      { name: "id", type: "int32", isArray: false },
-      { name: "speed", type: "float32", isArray: false },
-    ],
-    "std_msgs/Header": [
-      { name: "seq", type: "uint32", isArray: false },
-      {
-        name: "stamp",
-        type: "time",
-        isArray: false,
-      },
-      { name: "frame_id", type: "string", isArray: false },
-    ],
-    "std_msgs/Bool": [{ name: "data", type: "bool", isArray: false }],
+    "msgs/PoseDebug": {
+      fields: [
+        { name: "header", type: "std_msgs/Header", isArray: false },
+        { name: "pose", type: "msgs/Pose", isArray: false },
+      ],
+    },
+    "msgs/Pose": {
+      fields: [
+        { name: "header", type: "std_msgs/Header", isArray: false },
+        { name: "x", type: "float64", isArray: false },
+        { name: "y", type: "float64", isArray: false },
+        { name: "travel", type: "float64", isArray: false },
+        { name: "velocity", type: "float64", isArray: false },
+        { name: "acceleration", type: "float64", isArray: false },
+        { name: "heading", type: "float64", isArray: false },
+      ],
+    },
+    "msgs/State": {
+      fields: [
+        { name: "header", type: "std_msgs/Header", isArray: false },
+        { name: "items", type: "msgs/OtherState", isArray: true },
+      ],
+    },
+    "msgs/OtherState": {
+      fields: [{ name: "id", type: "int32", isArray: false }, { name: "speed", type: "float32", isArray: false }],
+    },
+    "std_msgs/Header": {
+      fields: [
+        { name: "seq", type: "uint32", isArray: false },
+        {
+          name: "stamp",
+          type: "time",
+          isArray: false,
+        },
+        { name: "frame_id", type: "string", isArray: false },
+      ],
+    },
+    "std_msgs/Bool": { fields: [{ name: "data", type: "bool", isArray: false }] },
   },
   topics: [
     { name: "/some_topic/location", datatype: "msgs/PoseDebug" },
+    { name: "/some_topic/location_subset", datatype: "msgs/PoseDebug" },
     { name: "/some_topic/state", datatype: "msgs/State" },
     { name: "/boolean_topic", datatype: "std_msgs/Bool" },
   ],
@@ -192,6 +200,15 @@ const fixture = {
       receiveTime: message.header.stamp,
       message,
     })),
+    "/some_topic/location_subset": locationMessages
+      .slice(locationMessages.length / 3, (locationMessages.length * 2) / 3)
+      .map((message) => ({
+        op: "message",
+        datatype: "msgs/PoseDebug",
+        topic: "/some_topic/location_subset",
+        receiveTime: message.header.stamp,
+        message,
+      })),
     "/some_topic/state": otherStateMessages.map((message) => ({
       op: "message",
       datatype: "msgs/State",
@@ -261,6 +278,36 @@ storiesOf("<Plot>", module)
       </PanelSetup>
     );
   })
+  .add("in a line graph with multiple plots, x-axes are synced", () => {
+    return (
+      <PanelSetup fixture={fixture} style={{ flexDirection: "column" }}>
+        <Plot
+          config={{
+            ...exampleConfig,
+            paths: [
+              {
+                value: "/some_topic/location.pose.acceleration",
+                enabled: true,
+                timestampMethod: "receiveTime",
+              },
+            ],
+          }}
+        />
+        <Plot
+          config={{
+            ...exampleConfig,
+            paths: [
+              {
+                value: "/some_topic/location_subset.pose.velocity",
+                enabled: true,
+                timestampMethod: "receiveTime",
+              },
+            ],
+          }}
+        />
+      </PanelSetup>
+    );
+  })
   .add("line graph after zoom", () => {
     return (
       <PanelSetup
@@ -512,7 +559,7 @@ storiesOf("<Plot>", module)
     return (
       <PanelSetup
         fixture={{
-          datatypes: { "std_msgs/Float32": [{ name: "data", type: "float32", isArray: false }] },
+          datatypes: { "std_msgs/Float32": { fields: [{ name: "data", type: "float32", isArray: false }] } },
           topics: [{ name: "/some_number", datatype: "std_msgs/Float32" }],
           activeData: { startTime: { sec: 0, nsec: 0 }, endTime: { sec: 10, nsec: 0 }, isPlaying: false, speed: 0.2 },
           frame: {
diff --git a/packages/webviz-core/src/panels/Plot/internalTypes.js b/packages/webviz-core/src/panels/Plot/internalTypes.js
index eec7579b9..45772b83a 100644
--- a/packages/webviz-core/src/panels/Plot/internalTypes.js
+++ b/packages/webviz-core/src/panels/Plot/internalTypes.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/RawMessages/Diff.js b/packages/webviz-core/src/panels/RawMessages/Diff.js
new file mode 100644
index 000000000..d32f330ff
--- /dev/null
+++ b/packages/webviz-core/src/panels/RawMessages/Diff.js
@@ -0,0 +1,85 @@
+// @flow
+//
+//  Copyright (c) 2019-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import PlusMinusIcon from "@mdi/svg/svg/plus-minus.svg";
+import React, { useMemo } from "react";
+import styled from "styled-components";
+
+import type { RawMessagesConfig } from "./index";
+import { Item, SubMenu } from "webviz-core/src/components/Menu";
+import { splitTopicPathOnTopicName } from "webviz-core/src/components/MessageHistory/parseRosPath";
+import { diffLabels, diffArrow } from "webviz-core/src/panels/RawMessages/getDiff";
+import type { Topic } from "webviz-core/src/players/types";
+
+export const SDiffSpan = styled.span`
+  padding: 0px 4px;
+  text-decoration: inherit;
+`;
+
+export function HighlightedValue({ itemLabel, keyPath }: { itemLabel: string, keyPath: Array<string | number> }) {
+  // react-json-tree's valueRenderer only gets called for primitives, so diff before/after values must be at same level by the time it gets to the tree
+  const splitItemLabel = `${itemLabel}`.split(` ${diffArrow} `);
+  const itemLabelContainsChange = splitItemLabel.length === 2;
+  if (itemLabelContainsChange) {
+    const [before, after] = splitItemLabel;
+    const beforeText = JSON.parse(JSON.stringify(before));
+    const afterText = JSON.parse(JSON.stringify(after));
+    return (
+      <SDiffSpan style={{ color: diffLabels.CHANGED.color }}>{`${beforeText} ${diffArrow} ${afterText}`}</SDiffSpan>
+    );
+  }
+  return <SDiffSpan>{itemLabel}</SDiffSpan>;
+}
+
+export function DiffSettings(props: {
+  topics: Topic[],
+  topicName: string,
+  saveConfig: ($Shape<RawMessagesConfig>) => void,
+  diffTopicName: ?string,
+}) {
+  const { topics, topicName, saveConfig, diffTopicName } = props;
+  const baseTopicName = useMemo(() => splitTopicPathOnTopicName(topicName)?.topicName, [topicName]);
+  const availTopics = useMemo(() => topics.filter((topic) => topic.name !== topicName), [topicName, topics]);
+  const singleTopicDatatype = useMemo(
+    () => {
+      const baseTopic = topics.find((topic) => topic.name === baseTopicName);
+      return baseTopic ? baseTopic.datatype : null;
+    },
+    [baseTopicName, topics]
+  );
+  const validTopics = useMemo(
+    () => availTopics.filter((topic) => topic.datatype === singleTopicDatatype && topic.name !== baseTopicName),
+    [availTopics, baseTopicName, singleTopicDatatype]
+  );
+
+  if (!validTopics.length) {
+    return (
+      <Item disabled icon={<PlusMinusIcon />}>
+        Diff with {diffTopicName ? splitTopicPathOnTopicName(diffTopicName)?.topicName : "topic (by datatype)"}
+      </Item>
+    );
+  }
+
+  return (
+    <SubMenu direction="right" text="Diff with topic (by datatype):" icon={<PlusMinusIcon />}>
+      <>
+        <Item key="None" onClick={() => saveConfig({ diffTopicName: "" })} checked={!diffTopicName}>
+          None
+        </Item>
+        {validTopics.map((topic) => (
+          <Item
+            key={topic.name}
+            checked={diffTopicName === topic.name}
+            onClick={() => saveConfig({ diffTopicName: topic.name })}>
+            {topic.name}
+          </Item>
+        ))}
+        <hr />
+      </>
+    </SubMenu>
+  );
+}
diff --git a/packages/webviz-core/src/panels/RawMessages/Metadata.js b/packages/webviz-core/src/panels/RawMessages/Metadata.js
new file mode 100644
index 000000000..5dabc85b5
--- /dev/null
+++ b/packages/webviz-core/src/panels/RawMessages/Metadata.js
@@ -0,0 +1,56 @@
+// @flow
+//
+//  Copyright (c) 2019-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import ClipboardOutlineIcon from "@mdi/svg/svg/clipboard-outline.svg";
+import { cloneDeepWith } from "lodash";
+import React, { useCallback } from "react";
+import styled from "styled-components";
+
+import Icon from "webviz-core/src/components/Icon";
+import { type MessageHistoryItem } from "webviz-core/src/components/MessageHistory";
+import clipboard from "webviz-core/src/util/clipboard";
+import { format } from "webviz-core/src/util/time";
+
+export const SMetadata = styled.div`
+  margin-top: 4px;
+  font-size: 11px;
+  color: #aaa;
+`;
+type Props = { data: any, link: ?string, item: MessageHistoryItem };
+
+export default function Metadata({ data, link, item }: Props) {
+  const onClick = useCallback(
+    (e: SyntheticMouseEvent<HTMLSpanElement>) => {
+      e.stopPropagation();
+      e.preventDefault();
+      const dataWithoutLargeArrays = cloneDeepWith(data, (value) => {
+        if (typeof value === "object" && value.buffer) {
+          return "<buffer>";
+        }
+      });
+      clipboard.copy(JSON.stringify(dataWithoutLargeArrays, null, 2) || "");
+    },
+    [data]
+  );
+  return (
+    <SMetadata>
+      <span onClick={onClick}>
+        <Icon>
+          <ClipboardOutlineIcon style={{ verticalAlign: "middle" }} />{" "}
+        </Icon>
+      </span>
+      {link ? (
+        <a style={{ color: "inherit" }} target="_blank" rel="noopener noreferrer" href={link}>
+          {item.message.datatype}
+        </a>
+      ) : (
+        item.message.datatype
+      )}
+      {item.message.receiveTime && ` received at ${format(item.message.receiveTime)}`}
+    </SMetadata>
+  );
+}
diff --git a/packages/webviz-core/src/panels/RawMessages/RawMessagesIcons.js b/packages/webviz-core/src/panels/RawMessages/RawMessagesIcons.js
new file mode 100644
index 000000000..da4922fe2
--- /dev/null
+++ b/packages/webviz-core/src/panels/RawMessages/RawMessagesIcons.js
@@ -0,0 +1,72 @@
+// @flow
+//
+//  Copyright (c) 2019-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import ChartBubbleIcon from "@mdi/svg/svg/chart-bubble.svg";
+import ChartLineVariantIcon from "@mdi/svg/svg/chart-line-variant.svg";
+import TargetIcon from "@mdi/svg/svg/target.svg";
+import { uniq } from "lodash";
+import React, { type Node, useCallback } from "react";
+
+import { type ValueAction } from "./getValueActionForValue";
+import styles from "./index.module.scss";
+import Icon from "webviz-core/src/components/Icon";
+import Plot, { type PlotConfig, plotableRosTypes } from "webviz-core/src/panels/Plot";
+import type { PanelConfig } from "webviz-core/src/types/panels";
+
+type Props = {
+  valueAction: ValueAction,
+  basePath: string,
+  onTopicNameChange: (string) => void,
+  openSiblingPanel: (string, cb: (PanelConfig) => PanelConfig) => void,
+};
+
+export default function RawMessagesIcons({ valueAction, basePath, onTopicNameChange, openSiblingPanel }: Props): Node {
+  const openSiblingPanelOnClick = useCallback(
+    (pathSuffix: string) => () => {
+      openSiblingPanel(
+        // $FlowFixMe: https://stackoverflow.com/questions/52508434/adding-static-variable-to-union-of-class-types
+        Plot.panelType,
+        (config: PlotConfig) =>
+          ({
+            ...config,
+            paths: uniq(
+              config.paths.concat([
+                { value: `${basePath}${pathSuffix}`, enabled: true, timestampMethod: "receiveTime" },
+              ])
+            ),
+          }: PlotConfig)
+      );
+    },
+    [basePath, openSiblingPanel]
+  );
+  const onPivot = useCallback(
+    () => onTopicNameChange(`${basePath}${valueAction.type === "pivot" ? valueAction.pivotPath : ""}`),
+    [basePath, onTopicNameChange, valueAction]
+  );
+  if (valueAction.type === "pivot") {
+    return (
+      <Icon fade className={styles.icon} onClick={onPivot} tooltip="Pivot on this value" key="pivot">
+        <TargetIcon />
+      </Icon>
+    );
+  }
+  const { singleSlicePath, multiSlicePath, primitiveType } = valueAction;
+  return (
+    <span>
+      {plotableRosTypes.includes(primitiveType) && (
+        <Icon fade className={styles.icon} onClick={openSiblingPanelOnClick(singleSlicePath)} tooltip="Line chart">
+          <ChartLineVariantIcon />
+        </Icon>
+      )}
+      {plotableRosTypes.includes(primitiveType) && multiSlicePath !== singleSlicePath && (
+        <Icon fade className={styles.icon} onClick={openSiblingPanelOnClick(multiSlicePath)} tooltip="Scatter plot">
+          <ChartBubbleIcon />
+        </Icon>
+      )}
+    </span>
+  );
+}
diff --git a/packages/webviz-core/src/panels/RawMessages/fixture.js b/packages/webviz-core/src/panels/RawMessages/fixture.js
index 2fdbbf294..49031f693 100644
--- a/packages/webviz-core/src/panels/RawMessages/fixture.js
+++ b/packages/webviz-core/src/panels/RawMessages/fixture.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -104,13 +104,15 @@ export const fixture = {
 // separate fixture so that we only need to define datatypes for small subset of types
 export const enumFixture = {
   datatypes: {
-    "baz/enum": [
-      { type: "uint8", name: "ERROR", isConstant: true, value: 0 },
-      { type: "uint8", name: "OFF", isConstant: true, value: 1 },
-      { type: "uint8", name: "BOOTING", isConstant: true, value: 2 },
-      { type: "uint8", name: "ACTIVE", isConstant: true, value: 3 },
-      { type: "uint8", name: "value", isArray: false },
-    ],
+    "baz/enum": {
+      fields: [
+        { type: "uint8", name: "ERROR", isConstant: true, value: 0 },
+        { type: "uint8", name: "OFF", isConstant: true, value: 1 },
+        { type: "uint8", name: "BOOTING", isConstant: true, value: 2 },
+        { type: "uint8", name: "ACTIVE", isConstant: true, value: 3 },
+        { type: "uint8", name: "value", isArray: false },
+      ],
+    },
   },
   topics: [{ name: "/baz/enum", datatype: "baz/enum" }],
   frame: {
@@ -128,24 +130,37 @@ export const enumFixture = {
   },
 };
 
+const exampleMessage = {
+  state: 1,
+  justField: 0,
+  color: 2,
+  animal__webviz_enum: {},
+  animal: 10000,
+  sentence: 'String with "quotes" and /slashes/.',
+};
+
 export const enumAdvancedFixture = {
   datatypes: {
-    "baz/enum_advanced": [
-      { type: "uint32", name: "OFF", isConstant: true, value: 0 },
-      { type: "uint32", name: "ON", isConstant: true, value: 1 },
-      { type: "uint32", name: "state", isArray: false },
-      { type: "uint32", name: "justField", isArray: false },
-      { type: "uint8", name: "RED", isConstant: true, value: 0 },
-      { type: "uint8", name: "YELLOW", isConstant: true, value: 1 },
-      { type: "uint8", name: "GREEN", isConstant: true, value: 2 },
-      { type: "uint8", name: "color", isArray: false },
-      { type: "baz/animals", name: "animal__webviz_enum", isArray: false },
-      { type: "uint32", name: "animal", isArray: false },
-    ],
-    "baz/animals": [
-      { type: "uint32", name: "CAT", isConstant: true, value: 10000 },
-      { type: "uint32", name: "DOG", isConstant: true, value: 10001 },
-    ],
+    "baz/enum_advanced": {
+      fields: [
+        { type: "uint32", name: "OFF", isConstant: true, value: 0 },
+        { type: "uint32", name: "ON", isConstant: true, value: 1 },
+        { type: "uint32", name: "state", isArray: false },
+        { type: "uint32", name: "justField", isArray: false },
+        { type: "uint8", name: "RED", isConstant: true, value: 0 },
+        { type: "uint8", name: "YELLOW", isConstant: true, value: 1 },
+        { type: "uint8", name: "GREEN", isConstant: true, value: 2 },
+        { type: "uint8", name: "color", isArray: false },
+        { type: "baz/animals", name: "animal__webviz_enum", isArray: false },
+        { type: "uint32", name: "animal", isArray: false },
+      ],
+    },
+    "baz/animals": {
+      fields: [
+        { type: "uint32", name: "CAT", isConstant: true, value: 10000 },
+        { type: "uint32", name: "DOG", isConstant: true, value: 10001 },
+      ],
+    },
   },
   topics: [{ name: "/baz/enum_advanced", datatype: "baz/enum_advanced" }],
   frame: {
@@ -155,14 +170,69 @@ export const enumAdvancedFixture = {
         datatype: "baz/enum_advanced",
         topic: "/baz/enum_advanced",
         receiveTime: { sec: 123, nsec: 456789012 },
+        message: exampleMessage,
+      },
+    ],
+  },
+};
+
+export const topicsToDiffFixture = {
+  datatypes: enumAdvancedFixture.datatypes,
+  topics: [
+    { name: "/baz/enum_advanced", datatype: "baz/enum_advanced" },
+    { name: "/another/baz/enum_advanced", datatype: "baz/enum_advanced" },
+  ],
+  frame: {
+    "/baz/enum_advanced": [
+      {
+        op: "message",
+        datatype: "baz/enum_advanced",
+        topic: "/baz/enum_advanced",
+        receiveTime: { sec: 123, nsec: 456789012 },
+        message: { ...exampleMessage, toBeDeletedVal: "Bye!", toBeDeletedObj: { a: 1, b: 2, c: 3 } },
+      },
+    ],
+    "/another/baz/enum_advanced": [
+      {
+        ...enumAdvancedFixture.frame["/baz/enum_advanced"][0],
+        topic: "/another/baz/enum_advanced",
         message: {
-          state: 1,
-          justField: 0,
-          color: 2,
-          animal__webviz_enum: {},
-          animal: 10000,
+          ...exampleMessage,
+          state: 2,
+          color: 3,
+          newField: "hello",
+          sentence: 'A different string with "quotes" and /slashes/.',
         },
       },
     ],
   },
 };
+
+export const topicsWithIdsToDiffFixture = {
+  datatypes: enumAdvancedFixture.datatypes,
+  topics: [
+    { name: "/baz/enum_advanced", datatype: "baz/enum_advanced" },
+    { name: "/another/baz/enum_advanced", datatype: "baz/enum_advanced" },
+  ],
+  frame: {
+    "/baz/enum_advanced": [
+      {
+        ...enumAdvancedFixture.frame["/baz/enum_advanced"][0],
+        message: [
+          { ...exampleMessage, toBeDeletedVal: "Bye!", toBeDeletedObj: { a: 1, b: 2, c: 3 }, id: 1 },
+          { ...exampleMessage, id: 2 },
+        ],
+      },
+    ],
+    "/another/baz/enum_advanced": [
+      {
+        ...enumAdvancedFixture.frame["/baz/enum_advanced"][0],
+        topic: "/another/baz/enum_advanced",
+        message: [
+          { ...exampleMessage, state: 5, id: 2 },
+          { ...exampleMessage, state: 2, color: 3, newField: "hello", id: 1 },
+        ],
+      },
+    ],
+  },
+};
diff --git a/packages/webviz-core/src/panels/RawMessages/getDiff.js b/packages/webviz-core/src/panels/RawMessages/getDiff.js
new file mode 100644
index 000000000..43732cee1
--- /dev/null
+++ b/packages/webviz-core/src/panels/RawMessages/getDiff.js
@@ -0,0 +1,115 @@
+// @flow
+//
+//  Copyright (c) 2019-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import { every, uniq, keyBy, isEmpty } from "lodash";
+
+import { isTypicalFilterName } from "webviz-core/src/components/MessageHistory";
+import { colors } from "webviz-core/src/util/colors";
+
+export const diffArrow = "->";
+export const diffLabels = {
+  ADDED: { labelText: "WEBVIZ_DIFF___ADDED", color: colors.DARK6, backgroundColor: "#182924", indicator: "+" },
+  DELETED: { labelText: "WEBVIZ_DIFF___DELETED", color: colors.DARK6, backgroundColor: "#3d2327", indicator: "-" },
+  CHANGED: { labelText: "WEBVIZ_DIFF___CHANGED", color: colors.ORANGEL1 },
+  ID: { labelText: "WEBVIZ_DIFF___ID" },
+};
+
+// $FlowFixMe - Flow doesn't understand `Object.values`.
+export const diffLabelsByLabelText = keyBy(Object.values(diffLabels), "labelText");
+
+export default function getDiff(before: mixed, after: mixed) {
+  if (Array.isArray(before) && Array.isArray(after)) {
+    let idToCompareWith: ?string;
+    const allItems = before.concat(after);
+    if (allItems[0] && typeof allItems[0] === "object") {
+      let candidateIdsToCompareWith = {};
+      if (allItems[0].id != null) {
+        candidateIdsToCompareWith.id = { before: [], after: [] };
+      }
+      for (const key in allItems[0]) {
+        if (isTypicalFilterName(key)) {
+          candidateIdsToCompareWith[key] = { before: [], after: [] };
+        }
+      }
+      if (!every(allItems, (item) => item && typeof item === "object")) {
+        candidateIdsToCompareWith = {};
+      }
+      for (const idKey in candidateIdsToCompareWith) {
+        for (const beforeItem of before) {
+          // $FlowFixMe - we know beforeItem is an object at this point
+          if (beforeItem[idKey] != null) {
+            candidateIdsToCompareWith[idKey].before.push(beforeItem[idKey]);
+          }
+        }
+      }
+      for (const idKey in candidateIdsToCompareWith) {
+        for (const afterItem of after) {
+          // $FlowFixMe - we know afterItem is an object at this point
+          if (afterItem[idKey] != null) {
+            candidateIdsToCompareWith[idKey].after.push(afterItem[idKey]);
+          }
+        }
+      }
+      for (const idKey in candidateIdsToCompareWith) {
+        const { before: candidateIdBefore, after: candidateIdAfter } = candidateIdsToCompareWith[idKey];
+        if (uniq(candidateIdBefore).length === before.length && uniq(candidateIdAfter).length === after.length) {
+          idToCompareWith = idKey;
+          break;
+        }
+      }
+    }
+
+    if (idToCompareWith) {
+      const unmatchedAfterById = keyBy(after, idToCompareWith);
+      const diff = [];
+      for (const beforeItem of before) {
+        if (!beforeItem || typeof beforeItem !== "object") {
+          throw new Error("beforeItem is invalid; should have checked this earlier");
+        }
+        const id = beforeItem[idToCompareWith];
+        const innerDiff = getDiff(beforeItem, unmatchedAfterById[id]);
+        delete unmatchedAfterById[id];
+        if (!isEmpty(innerDiff)) {
+          const isDeleted =
+            Object.keys(innerDiff).length === 1 && Object.keys(innerDiff)[0] === diffLabels.DELETED.labelText;
+          diff.push(isDeleted ? innerDiff : { [diffLabels.ID.labelText]: { [idToCompareWith]: id }, ...innerDiff });
+        }
+      }
+      for (const afterItem of Object.values(unmatchedAfterById)) {
+        const innerDiff = getDiff(undefined, afterItem);
+        if (!isEmpty(innerDiff)) {
+          diff.push(innerDiff);
+        }
+      }
+      return diff;
+    }
+  }
+
+  if (before && after && typeof before === "object" && typeof after === "object") {
+    const diff = {};
+    for (const key of uniq(Object.keys(before).concat(Object.keys(after)))) {
+      const innerDiff = getDiff(before[key], after[key]);
+      if (!isEmpty(innerDiff)) {
+        diff[key] = innerDiff;
+      }
+    }
+    return diff;
+  }
+
+  if (before === after) {
+    return undefined;
+  }
+  if (before === undefined) {
+    return { [diffLabels.ADDED.labelText]: after };
+  }
+  if (after === undefined) {
+    return { [diffLabels.DELETED.labelText]: before };
+  }
+  return {
+    [diffLabels.CHANGED.labelText]: `${JSON.stringify(before) || ""} ${diffArrow} ${JSON.stringify(after) || ""}`,
+  };
+}
diff --git a/packages/webviz-core/src/panels/RawMessages/getDiff.test.js b/packages/webviz-core/src/panels/RawMessages/getDiff.test.js
new file mode 100644
index 000000000..c0a55bdfb
--- /dev/null
+++ b/packages/webviz-core/src/panels/RawMessages/getDiff.test.js
@@ -0,0 +1,127 @@
+// @flow
+//
+//  Copyright (c) 2019-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import getDiff, { diffLabels, diffArrow } from "./getDiff";
+
+const firstObj = { deletedKey: 1, changedKey: 2, unchangedKey: 1, someArray: [1] };
+const secondObj = { addedKey: 1, changedKey: 3, unchangedKey: 1, someArray: [1, 2, { key: "value" }] };
+
+const obj1 = { some_id: 1, name: "ONE" };
+const obj2 = { some_id: 2, name: "TWO" };
+const obj3 = { some_id: 3, name: "THREE" };
+
+describe("getDiff", () => {
+  it("diffs single-level objects with added, deleted, changed, and unchanged values", () => {
+    expect(getDiff({}, {})).toEqual({});
+    expect(getDiff(firstObj, secondObj)).toEqual({
+      deletedKey: { [diffLabels.DELETED.labelText]: 1 },
+      addedKey: { [diffLabels.ADDED.labelText]: 1 },
+      changedKey: { [diffLabels.CHANGED.labelText]: `2 ${diffArrow} 3` },
+      someArray: { "1": { [diffLabels.ADDED.labelText]: 2 }, "2": { [diffLabels.ADDED.labelText]: { key: "value" } } },
+    });
+  });
+
+  it("diffs nested objects with added, deleted, changed, and unchanged values", () => {
+    expect(getDiff({ a: firstObj, b: secondObj, c: secondObj }, { a: secondObj, b: firstObj, c: secondObj })).toEqual({
+      a: {
+        addedKey: { [diffLabels.ADDED.labelText]: 1 },
+        changedKey: { [diffLabels.CHANGED.labelText]: "2 -> 3" },
+        deletedKey: { [diffLabels.DELETED.labelText]: 1 },
+        someArray: {
+          "1": { [diffLabels.ADDED.labelText]: 2 },
+          "2": { [diffLabels.ADDED.labelText]: { key: "value" } },
+        },
+      },
+      b: {
+        addedKey: { [diffLabels.DELETED.labelText]: 1 },
+        changedKey: { [diffLabels.CHANGED.labelText]: "3 -> 2" },
+        deletedKey: { [diffLabels.ADDED.labelText]: 1 },
+        someArray: {
+          "1": { [diffLabels.DELETED.labelText]: 2 },
+          "2": { [diffLabels.DELETED.labelText]: { key: "value" } },
+        },
+      },
+    });
+  });
+  it("maps to available ID fields", () => {
+    expect(getDiff([obj1, obj2], [obj2, obj1])).toEqual([]);
+    expect(getDiff([obj1, obj2], [obj3, obj1, obj2])).toEqual([
+      { [diffLabels.ADDED.labelText]: { name: "THREE", some_id: 3 } },
+    ]);
+    expect(getDiff([obj1, obj2], [obj3, obj1, { ...obj2, name: "XYZ" }])).toEqual([
+      {
+        [diffLabels.ID.labelText]: { some_id: 2 },
+        name: { [diffLabels.CHANGED.labelText]: `"TWO" -> "XYZ"` },
+      },
+      { [diffLabels.ADDED.labelText]: { name: "THREE", some_id: 3 } },
+    ]);
+  });
+  it("does not map ID fields if every object does not have that ID field", () => {
+    const newObj2 = { ...obj2 };
+    delete newObj2.some_id;
+    expect(getDiff([obj1, obj2], [newObj2, obj1])).toEqual({
+      "0": {
+        name: { [diffLabels.CHANGED.labelText]: '"ONE" -> "TWO"' },
+        some_id: { [diffLabels.DELETED.labelText]: 1 },
+      },
+      "1": {
+        name: { [diffLabels.CHANGED.labelText]: '"TWO" -> "ONE"' },
+        some_id: { [diffLabels.CHANGED.labelText]: "2 -> 1" },
+      },
+    });
+    expect(getDiff([obj1, obj2], [obj3, obj1, newObj2])).toEqual({
+      "0": {
+        name: { [diffLabels.CHANGED.labelText]: '"ONE" -> "THREE"' },
+        some_id: { [diffLabels.CHANGED.labelText]: "1 -> 3" },
+      },
+      "1": {
+        name: { [diffLabels.CHANGED.labelText]: '"TWO" -> "ONE"' },
+        some_id: { [diffLabels.CHANGED.labelText]: "2 -> 1" },
+      },
+      "2": { WEBVIZ_DIFF___ADDED: { name: "TWO" } },
+    });
+    expect(getDiff([obj1, obj2], [obj3, obj1, { ...newObj2, name: "XYZ" }])).toEqual({
+      "0": {
+        name: { [diffLabels.CHANGED.labelText]: '"ONE" -> "THREE"' },
+        some_id: { [diffLabels.CHANGED.labelText]: "1 -> 3" },
+      },
+      "1": {
+        name: { [diffLabels.CHANGED.labelText]: '"TWO" -> "ONE"' },
+        some_id: { [diffLabels.CHANGED.labelText]: "2 -> 1" },
+      },
+      "2": { WEBVIZ_DIFF___ADDED: { name: "XYZ" } },
+    });
+  });
+  it("prioritizes 'id' over any other possible ID field", () => {
+    expect(getDiff([{ ...obj1, id: "A" }, { ...obj2, id: "B" }], [{ ...obj2, id: "A" }, { ...obj1, id: "B" }])).toEqual(
+      [
+        {
+          [diffLabels.ID.labelText]: { id: "A" },
+          name: { [diffLabels.CHANGED.labelText]: '"ONE" -> "TWO"' },
+          some_id: { [diffLabels.CHANGED.labelText]: "1 -> 2" },
+        },
+        {
+          [diffLabels.ID.labelText]: { id: "B" },
+          name: { [diffLabels.CHANGED.labelText]: '"TWO" -> "ONE"' },
+          some_id: { [diffLabels.CHANGED.labelText]: "2 -> 1" },
+        },
+      ]
+    );
+  });
+  it("falls back to different ID if every object does not have 'id' field", () => {
+    expect(getDiff([{ ...obj1, id: "A" }, { ...obj2, id: "B" }], [obj2, { ...obj1, id: "B" }])).toEqual([
+      {
+        [diffLabels.ID.labelText]: { some_id: 1 },
+        id: { [diffLabels.CHANGED.labelText]: '"A" -> "B"' },
+      },
+      {
+        [diffLabels.ID.labelText]: { some_id: 2 },
+        id: { [diffLabels.DELETED.labelText]: "B" },
+      },
+    ]);
+  });
+});
diff --git a/packages/webviz-core/src/panels/RawMessages/getValueActionForValue.js b/packages/webviz-core/src/panels/RawMessages/getValueActionForValue.js
index a2596bf29..d4399af80 100644
--- a/packages/webviz-core/src/panels/RawMessages/getValueActionForValue.js
+++ b/packages/webviz-core/src/panels/RawMessages/getValueActionForValue.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/RawMessages/getValueActionForValue.test.js b/packages/webviz-core/src/panels/RawMessages/getValueActionForValue.test.js
index 2bbbd9ce4..6c74f3906 100644
--- a/packages/webviz-core/src/panels/RawMessages/getValueActionForValue.test.js
+++ b/packages/webviz-core/src/panels/RawMessages/getValueActionForValue.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/RawMessages/index.js b/packages/webviz-core/src/panels/RawMessages/index.js
index b0c9779b1..680f8e3b7 100644
--- a/packages/webviz-core/src/panels/RawMessages/index.js
+++ b/packages/webviz-core/src/panels/RawMessages/index.js
@@ -1,28 +1,26 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
-
-import ChartBubbleIcon from "@mdi/svg/svg/chart-bubble.svg";
-import ChartLineVariantIcon from "@mdi/svg/svg/chart-line-variant.svg";
-import ClipboardOutlineIcon from "@mdi/svg/svg/clipboard-outline.svg";
 import ConsoleLineIcon from "@mdi/svg/svg/console-line.svg";
-import TargetIcon from "@mdi/svg/svg/target.svg";
 import LessIcon from "@mdi/svg/svg/unfold-less-horizontal.svg";
 import MoreIcon from "@mdi/svg/svg/unfold-more-horizontal.svg";
-import { cloneDeepWith, first, last, uniq } from "lodash";
-import * as React from "react";
+import { first, get, last } from "lodash";
+import React, { useState, useCallback, useMemo } from "react";
 import { hot } from "react-hot-loader/root";
 import ReactHoverObserver from "react-hover-observer";
 import Tree from "react-json-tree";
-import styled from "styled-components";
 
+import { DiffSettings, HighlightedValue, SDiffSpan } from "./Diff";
 import { type ValueAction, getValueActionForValue, getStructureItemForPath } from "./getValueActionForValue";
 import helpContent from "./index.help.md";
 import styles from "./index.module.scss";
+import Metadata, { SMetadata } from "./Metadata";
+import RawMessagesIcons from "./RawMessagesIcons";
+import { DATA_ARRAY_PREVIEW_LIMIT, getMessageDocumentationLink, getItemString, getItemStringForDiff } from "./utils";
 import EmptyState from "webviz-core/src/components/EmptyState";
 import Flex from "webviz-core/src/components/Flex";
 import Icon from "webviz-core/src/components/Icon";
@@ -31,113 +29,22 @@ import MessageHistory, {
   type MessageHistoryData,
   type MessageHistoryMetadata,
   type MessageHistoryQueriedDatum,
-  isTypicalFilterName,
 } from "webviz-core/src/components/MessageHistory";
+import { splitTopicPathOnTopicName } from "webviz-core/src/components/MessageHistory/parseRosPath";
 import Panel from "webviz-core/src/components/Panel";
 import PanelToolbar from "webviz-core/src/components/PanelToolbar";
-import { getGlobalHooks } from "webviz-core/src/loadWebviz";
-import Plot, { type PlotConfig, plotableRosTypes } from "webviz-core/src/panels/Plot";
+import getDiff, { diffLabels, diffLabelsByLabelText } from "webviz-core/src/panels/RawMessages/getDiff";
+import type { Topic } from "webviz-core/src/players/types";
 import type { PanelConfig } from "webviz-core/src/types/panels";
 import type { RosDatatypes } from "webviz-core/src/types/RosDatatypes";
-import clipboard from "webviz-core/src/util/clipboard";
+import { colors } from "webviz-core/src/util/colors";
 import { jsonTreeTheme } from "webviz-core/src/util/globalConstants";
 import { enumValuesByDatatypeAndField } from "webviz-core/src/util/selectors";
-import { format, formatDuration } from "webviz-core/src/util/time";
-
-const DURATION_20_YEARS_SEC = 20 * 365 * 24 * 60 * 60;
-const DATA_ARRAY_PREVIEW_LIMIT = 20;
-
-const SMetadata = styled.div`
-  margin-top: 4px;
-  font-size: 11px;
-  color: #aaa;
-`;
-
-function getArrow(x: number, y: number) {
-  if (x === 0 && y === 0) {
-    return;
-  }
-  return <span style={{ transform: `rotate(${Math.atan2(-y, x)}rad)`, display: "inline-block" }}>→</span>;
-}
-
-function getItemString(type, data, itemType, itemString) {
-  const keys = Object.keys(data);
-  if (keys.length === 2) {
-    const { sec, nsec } = data;
-    if (sec != null && nsec != null) {
-      // Values "too small" to be absolute epoch-based times are probably relative durations.
-      if (sec < DURATION_20_YEARS_SEC) {
-        return formatDuration(data);
-      }
-      return <span>{format(data)}</span>;
-    }
-  }
-
-  // for vectors/points display length
-  if (keys.length === 2) {
-    const { x, y } = data;
-    if (x != null && y != null) {
-      const length = Math.sqrt(x * x + y * y);
-      return (
-        <span>
-          norm = {length.toFixed(2)} {getArrow(x, y)}
-        </span>
-      );
-    }
-  }
-
-  if (keys.length === 3) {
-    const { x, y, z } = data;
-    if (x != null && y != null && z != null) {
-      const length = Math.sqrt(x * x + y * y + z * z);
-      return (
-        <span>
-          {" "}
-          norm = {length.toFixed(2)} {z === 0 ? getArrow(x, y) : undefined}{" "}
-        </span>
-      );
-    }
-  }
-
-  // Surface typically-used keys directly in the object summary so the user doesn't have to expand it.
-  const filterKeys = keys.filter(isTypicalFilterName);
-  if (filterKeys.length > 0) {
-    itemString = filterKeys.map((key) => `${key}: ${data[key]}`).join(", ");
-  }
-  return (
-    <span>
-      {itemType} {itemString}
-    </span>
-  );
-}
-
-const ROS_COMMON_MSGS = new Set([
-  "actionlib_msgs",
-  "diagnostic_msgs",
-  "geometry_msgs",
-  "nav_msgs",
-  "sensor_msgs",
-  "shape_msgs",
-  "std_msgs",
-  "stereo_msgs",
-  "trajectory_msgs",
-  "visualization_msgs",
-]);
-
-function getMessageDocumentationLink(datatype: string): ?string {
-  const parts = datatype.split("/");
-  const pkg = first(parts);
-  const filename = last(parts);
-  if (ROS_COMMON_MSGS.has(pkg)) {
-    return `http://docs.ros.org/api/${pkg}/html/msg/${filename}.html`;
-  }
-  return getGlobalHooks()
-    .perPanelHooks()
-    .RawMessages.docLinkFunction(filename);
-}
+import { format } from "webviz-core/src/util/time";
 
 export type RawMessagesConfig = {|
   topicName: string,
+  diffTopicName: string,
 |};
 
 type Props = {
@@ -145,306 +52,327 @@ type Props = {
   saveConfig: ($Shape<RawMessagesConfig>) => void,
   openSiblingPanel: (string, cb: (PanelConfig) => PanelConfig) => void,
   datatypes: RosDatatypes,
+  topics: Topic[],
 };
 
-type State = {|
-  // When expandAll is unset, we'll use expandedFields to get expanded info
-  expandAll: ?boolean,
-  expandedFields: Set<string>,
-|};
-
-class RawMessages extends React.PureComponent<Props, State> {
-  static defaultConfig = { topicName: "" };
-  static panelType = "RawMessages";
-
-  state = { expandAll: false, expandedFields: new Set() };
+const isSingleElemArray = (obj) => Array.isArray(obj) && obj.filter((a) => a != null).length === 1;
+const dataWithoutWrappingArray = (data) => {
+  return isSingleElemArray(data) && typeof data[0] === "object" ? data[0] : data;
+};
 
-  _onChange = (topicName: string) => {
-    this.props.saveConfig({ topicName });
-  };
+function RawMessages(props: Props) {
+  const { config, saveConfig, openSiblingPanel, datatypes, topics } = props;
+  const { topicName, diffTopicName } = config;
 
-  _toggleExpandAll = () => {
-    const expandAll = !this.state.expandAll;
-    this.state.expandedFields.clear();
-    this.setState({ expandAll });
-  };
+  // When expandAll is unset, we'll use expandedFields to get expanded info
+  const [expandAll, setExpandAll] = useState(false);
+  const [expandedFields, setExpandedFields] = useState(() => new Set());
 
-  _onLabelClick = (keypath) => {
-    // Create a unique key according to the keypath / raw
-    const key = keypath.join("~");
-    if (this.state.expandedFields.has(key)) {
-      this.state.expandedFields.delete(key);
-    } else {
-      this.state.expandedFields.add(key);
-    }
-    this.setState({ expandAll: null });
-  };
+  const diffTopicPath = useMemo(
+    () => (diffTopicName ? diffTopicName + (splitTopicPathOnTopicName(topicName)?.trailingPath || "") : diffTopicName),
+    [diffTopicName, topicName]
+  );
 
-  _renderIcons = (valueAction: ValueAction, basePath: string): React.Node => {
-    if (valueAction.type === "pivot") {
-      const { pivotPath } = valueAction;
-      return (
-        <Icon
-          fade
-          className={styles.icon}
-          onClick={() => this._onChange(`${basePath}${pivotPath}`)}
-          tooltip="Pivot on this value"
-          key="pivot">
-          <TargetIcon />
-        </Icon>
-      );
-    }
+  const onTopicNameChange = useCallback(
+    (newTopicName: string) => {
+      saveConfig({ topicName: newTopicName, diffTopicName });
+      const newBaseTopic = topics.find((topic) => topic.name === newTopicName);
+      const diffTopic = topics.find((topic) => topic.name === diffTopicName);
+      if (
+        newBaseTopic?.datatype !== diffTopic?.datatype ||
+        splitTopicPathOnTopicName(newTopicName)?.topicName === diffTopicPath
+      ) {
+        saveConfig({ diffTopicName: "" });
+      }
+    },
+    [diffTopicName, diffTopicPath, saveConfig, topics]
+  );
 
-    const { singleSlicePath, multiSlicePath, primitiveType } = valueAction;
+  const toggleExpandAll = useCallback(
+    () => {
+      setExpandedFields(new Set());
+      setExpandAll(!expandAll);
+    },
+    [expandAll]
+  );
 
-    return (
-      <span>
-        {plotableRosTypes.includes(primitiveType) && (
-          <Icon
-            fade
-            className={styles.icon}
-            onClick={() =>
-              this.props.openSiblingPanel(
-                // $FlowFixMe: https://stackoverflow.com/questions/52508434/adding-static-variable-to-union-of-class-types
-                Plot.panelType,
-                (config: PlotConfig) =>
-                  ({
-                    ...config,
-                    paths: uniq(
-                      config.paths.concat([
-                        { value: `${basePath}${singleSlicePath}`, enabled: true, timestampMethod: "receiveTime" },
-                      ])
-                    ),
-                  }: PlotConfig)
-              )
-            }
-            tooltip="Line chart">
-            <ChartLineVariantIcon />
-          </Icon>
-        )}
-        {plotableRosTypes.includes(primitiveType) && multiSlicePath !== singleSlicePath && (
-          <Icon
-            fade
-            className={styles.icon}
-            onClick={() =>
-              this.props.openSiblingPanel(
-                // $FlowFixMe: https://stackoverflow.com/questions/52508434/adding-static-variable-to-union-of-class-types
-                Plot.panelType,
-                (config: PlotConfig) =>
-                  ({
-                    ...config,
-                    paths: uniq(
-                      config.paths.concat([
-                        { value: `${basePath}${multiSlicePath}`, enabled: true, timestampMethod: "receiveTime" },
-                      ])
-                    ),
-                  }: PlotConfig)
-              )
-            }
-            tooltip="Scatter plot">
-            <ChartBubbleIcon />
-          </Icon>
-        )}
-      </span>
-    );
-  };
+  const onLabelClick = useCallback(
+    (keypath: string[]) => {
+      // Create a unique key according to the keypath / raw
+      const key = keypath.join("~");
+      const expandedFieldsCopy = new Set(expandedFields);
+      if (expandedFieldsCopy.has(key)) {
+        expandedFieldsCopy.delete(key);
+        setExpandedFields(expandedFieldsCopy);
+      } else {
+        expandedFieldsCopy.add(key);
+        setExpandedFields(expandedFieldsCopy);
+      }
+      setExpandAll(null);
+    },
+    [expandedFields]
+  );
 
-  _valueRenderer = (
-    metadata: ?MessageHistoryMetadata,
-    data: mixed[],
-    queriedData: MessageHistoryQueriedDatum[],
-    label: string,
-    itemValue: mixed,
-    ...keyPath: (number | string)[]
-  ) => (
-    <ReactHoverObserver className={styles.iconWrapper}>
-      {({ isHovering }) => {
-        // $FlowFixMe: We make sure to always pass in a number at the end, but that's hard to express in Flow.
-        const lastKeyPath: number = last(keyPath);
-        let valueAction: ?ValueAction;
-        if (isHovering && metadata) {
-          valueAction = getValueActionForValue(
-            data[lastKeyPath],
-            metadata.structureItem,
-            keyPath.slice(0, -1).reverse()
-          );
-        }
+  const valueRenderer = useCallback(
+    (
+      metadata: ?MessageHistoryMetadata,
+      data: mixed[],
+      queriedData: MessageHistoryQueriedDatum[],
+      label: string,
+      itemValue: mixed,
+      ...keyPath: (number | string)[]
+    ) => (
+      <ReactHoverObserver className={styles.iconWrapper}>
+        {({ isHovering }) => {
+          // $FlowFixMe: We make sure to always pass in a number at the end, but that's hard to express in Flow.
+          const lastKeyPath: number = last(keyPath);
+          let valueAction: ?ValueAction;
+          if (isHovering && metadata) {
+            valueAction = getValueActionForValue(
+              data[lastKeyPath],
+              metadata.structureItem,
+              keyPath.slice(0, -1).reverse()
+            );
+          }
 
-        let constantName: ?string;
-        if (metadata) {
-          const structureItem = getStructureItemForPath(
-            metadata.structureItem,
-            keyPath
-              .slice(0, -1)
-              .reverse()
-              .join(",")
-          );
-          const { datatypes } = this.props;
-          if (structureItem) {
-            const field = keyPath[0];
-            if (typeof field === "string") {
-              const enumMapping = enumValuesByDatatypeAndField(datatypes);
-              const datatype = structureItem.datatype;
-              if (enumMapping[datatype] && enumMapping[datatype][field] && enumMapping[datatype][field][itemValue]) {
-                constantName = enumMapping[datatype][field][itemValue];
+          let constantName: ?string;
+          if (metadata) {
+            const structureItem = getStructureItemForPath(
+              metadata.structureItem,
+              keyPath
+                .slice(0, -1)
+                .reverse()
+                .join(",")
+            );
+            if (structureItem) {
+              const field = keyPath[0];
+              if (typeof field === "string") {
+                const enumMapping = enumValuesByDatatypeAndField(datatypes);
+                const datatype = structureItem.datatype;
+                if (enumMapping[datatype] && enumMapping[datatype][field] && enumMapping[datatype][field][itemValue]) {
+                  constantName = enumMapping[datatype][field][itemValue];
+                }
               }
             }
           }
-        }
-        const basePath: string = queriedData[lastKeyPath].path;
-        let itemLabel = label;
-        // output preview for the first x items if the data is in binary format
-        // sample output: Int8Array(331776) [-4, -4, -4, -4, -4, -4, -4, -4, -4, -4, -4, -4, -4, -4, -4, -4, -4, -4, -4, -4, ...]
-        let smallNumberArrayStr = "";
-        if (ArrayBuffer.isView(itemValue)) {
-          // $FlowFixMe flow doesn't know itemValue is an array
-          smallNumberArrayStr = `(${itemValue.length}) [${itemValue.slice(0, DATA_ARRAY_PREVIEW_LIMIT).join(", ")}${
+          const basePath: string = queriedData[lastKeyPath].path;
+          let itemLabel = label;
+          // output preview for the first x items if the data is in binary format
+          // sample output: Int8Array(331776) [-4, -4, -4, -4, -4, -4, -4, -4, -4, -4, -4, -4, -4, -4, -4, -4, -4, -4, -4, -4, ...]
+          let smallNumberArrayStr = "";
+          if (ArrayBuffer.isView(itemValue)) {
+            // $FlowFixMe flow doesn't know itemValue is an array
+            smallNumberArrayStr = `(${itemValue.length}) [${itemValue.slice(0, DATA_ARRAY_PREVIEW_LIMIT).join(", ")}${
+              // $FlowFixMe
+              itemValue.length >= DATA_ARRAY_PREVIEW_LIMIT ? ", ..." : ""
+            }] `;
             // $FlowFixMe
-            itemValue.length >= DATA_ARRAY_PREVIEW_LIMIT ? ", ..." : ""
-          }] `;
-          // $FlowFixMe
-          itemLabel = itemValue.constructor.name;
-        }
-        if (constantName) {
-          itemLabel = `${itemLabel} (${constantName})`;
-        }
-        return (
-          <span>
-            {itemLabel}
-            {smallNumberArrayStr && (
-              <>
-                {smallNumberArrayStr}
-                <Icon
-                  fade
-                  className={styles.icon}
-                  onClick={() => console.log(itemValue)}
-                  tooltip="Log data to browser console">
-                  <ConsoleLineIcon />
-                </Icon>
-              </>
-            )}
-            {valueAction && this._renderIcons(valueAction, basePath)}
-          </span>
-        );
-      }}
-    </ReactHoverObserver>
-  );
-
-  _renderTopic = () => {
-    const { topicName } = this.props.config;
-    const { expandAll, expandedFields } = this.state;
-
-    let shouldExpandNode;
-
-    if (expandAll !== null) {
-      shouldExpandNode = () => expandAll;
-    } else {
-      shouldExpandNode = (keypath, data, level) => {
-        return expandedFields.has(keypath.join("~"));
-      };
-    }
-
-    if (!topicName) {
-      return <EmptyState>No topic selected</EmptyState>;
-    }
-
-    return (
-      <MessageHistory paths={[topicName]} historySize={1}>
-        {({ itemsByPath, metadataByPath }: MessageHistoryData) => {
-          const item = itemsByPath[topicName][0];
-          const metadata = metadataByPath[topicName];
-
-          if (!item) {
-            return <EmptyState>Waiting for next message</EmptyState>;
+            itemLabel = itemValue.constructor.name;
           }
-
-          let data = item.queriedData.map(({ value }) => (value: any));
-
-          const hideWrappingArray = item.queriedData.length === 1 && typeof data[0] === "object";
-          if (hideWrappingArray) {
-            data = data[0];
+          if (constantName) {
+            itemLabel = `${itemLabel} (${constantName})`;
           }
-
-          const link = getMessageDocumentationLink(item.message.datatype);
-          const isSingleElemArray = Array.isArray(data) && data.length === 1 && typeof data[0] !== "object";
-          const shouldDisplaySingleVal = typeof data !== "object" || isSingleElemArray;
-          const singleVal = isSingleElemArray ? data[0] : data;
           return (
-            <Flex col clip scroll className={styles.container}>
-              <SMetadata>
-                <span
-                  onClick={(e: SyntheticMouseEvent<HTMLSpanElement>) => {
-                    e.stopPropagation();
-                    e.preventDefault();
-
-                    const dataWithoutLargeArrays = cloneDeepWith(data, (value) => {
-                      if (typeof value === "object" && value.buffer) {
-                        return "<buffer>";
-                      }
-                    });
-                    clipboard.copy(JSON.stringify(dataWithoutLargeArrays, null, 2) || "");
-                  }}>
-                  <Icon>
-                    <ClipboardOutlineIcon style={{ verticalAlign: "middle" }} />
+            <span>
+              <HighlightedValue itemLabel={itemLabel} keyPath={keyPath} />
+              {smallNumberArrayStr && (
+                <>
+                  {smallNumberArrayStr}
+                  <Icon
+                    fade
+                    className={styles.icon}
+                    onClick={() => console.log(itemValue)}
+                    tooltip="Log data to browser console">
+                    <ConsoleLineIcon />
                   </Icon>
-                </span>{" "}
-                {link ? (
-                  <a style={{ color: "inherit" }} target="_blank" rel="noopener noreferrer" href={link}>
-                    {item.message.datatype}
-                  </a>
-                ) : (
-                  item.message.datatype
-                )}
-                {item.message.receiveTime && ` received at ${format(item.message.receiveTime)}`}
-              </SMetadata>
-              {data !== undefined &&
-                (shouldDisplaySingleVal ? (
+                </>
+              )}
+              {valueAction && (
+                <RawMessagesIcons
+                  valueAction={valueAction}
+                  basePath={basePath}
+                  onTopicNameChange={onTopicNameChange}
+                  openSiblingPanel={openSiblingPanel}
+                />
+              )}
+            </span>
+          );
+        }}
+      </ReactHoverObserver>
+    ),
+    [datatypes, onTopicNameChange, openSiblingPanel]
+  );
+
+  const renderSingleTopicOrDiffOutput = useCallback(
+    () => {
+      let shouldExpandNode;
+      if (expandAll !== null) {
+        shouldExpandNode = () => expandAll;
+      } else {
+        shouldExpandNode = (keypath, data, level) => {
+          return expandedFields.has(keypath.join("~"));
+        };
+      }
+
+      if (!topicName) {
+        return <EmptyState>No topic selected</EmptyState>;
+      }
+
+      const paths = diffTopicName ? [topicName, diffTopicPath] : [topicName];
+      return (
+        <MessageHistory paths={paths} historySize={1}>
+          {({ itemsByPath, metadataByPath }: MessageHistoryData) => {
+            const item = itemsByPath[topicName][0];
+            const diffItem = get(itemsByPath, [diffTopicPath, "0"], null);
+            const metadata = metadataByPath[topicName];
+            const inDiffMode = !!diffTopicName && topicName !== diffTopicPath;
+
+            if (!inDiffMode && !item) {
+              return <EmptyState>Waiting for next message</EmptyState>;
+            } else if (inDiffMode && (!item || !diffItem)) {
+              return (
+                <EmptyState>
+                  {`Waiting to diff next messages from ${topicName ? `"${topicName}"` : "--"} and "${diffTopicPath}"`}
+                </EmptyState>
+              );
+            }
+            const data = dataWithoutWrappingArray(item.queriedData.map(({ value }) => (value: any)));
+            const hideWrappingArray = item.queriedData.length === 1 && typeof item.queriedData[0].value === "object";
+            const link = getMessageDocumentationLink(item.message.datatype);
+            const shouldDisplaySingleVal = (data !== undefined && typeof data !== "object") || isSingleElemArray(data);
+            const singleVal = isSingleElemArray(data) ? data[0] : data;
+
+            const diffData =
+              inDiffMode && diffItem && dataWithoutWrappingArray(diffItem.queriedData.map(({ value }) => (value: any)));
+            const diff = inDiffMode && getDiff(data, diffData);
+            const diffLabelTexts = Object.keys(diffLabels).map((key) => diffLabels[key].labelText);
+
+            return (
+              <Flex col clip scroll className={styles.container}>
+                <Metadata data={data} link={link} item={item} />
+                {diffTopicPath && splitTopicPathOnTopicName(topicName)?.topicName !== diffTopicPath ? (
+                  <div style={{ display: "flex", justifyContent: "space-between", padding: "5px 0" }}>
+                    <SMetadata style={{ fontStyle: "italic", color: colors.ORANGEL1 }}>
+                      Diff with {diffTopicPath}:
+                    </SMetadata>
+                    {diffItem ? <SMetadata>received at {format(diffItem.message.receiveTime)}</SMetadata> : null}
+                  </div>
+                ) : null}
+                {shouldDisplaySingleVal ? (
                   <div className={styles.singleVal}>{String(singleVal)}</div>
                 ) : (
                   <Tree
-                    labelRenderer={(raw) => (
-                      <span style={{ padding: "0 4px" }} onClick={() => this._onLabelClick(raw)}>
-                        {first(raw)}
-                      </span>
-                    )}
+                    labelRenderer={(raw) => <SDiffSpan onClick={() => onLabelClick(raw)}>{first(raw)}</SDiffSpan>}
                     shouldExpandNode={shouldExpandNode}
                     hideRoot
                     invertTheme={false}
-                    getItemString={getItemString}
+                    getItemString={inDiffMode ? getItemStringForDiff : getItemString}
                     valueRenderer={(...args) => {
+                      if (inDiffMode) {
+                        return valueRenderer(null, diff, diff, ...args);
+                      }
                       if (hideWrappingArray) {
                         // When the wrapping array is hidden, put it back here.
-                        return this._valueRenderer(metadata, [data], item.queriedData, ...args, 0);
+                        return valueRenderer(metadata, [data], item.queriedData, ...args, 0);
+                      }
+                      return valueRenderer(metadata, data, item.queriedData, ...args);
+                    }}
+                    postprocessValue={(val) => {
+                      if (
+                        typeof val === "object" &&
+                        Object.keys(val).length === 1 &&
+                        diffLabelTexts.includes(Object.keys(val)[0])
+                      ) {
+                        if (Object.keys(val)[0] !== diffLabels.ID.labelText) {
+                          return val[Object.keys(val)[0]];
+                        }
                       }
-                      return this._valueRenderer(metadata, data, item.queriedData, ...args);
+                      return val;
                     }}
-                    theme={{ ...jsonTreeTheme, tree: { margin: 0 } }}
-                    data={data}
+                    theme={{
+                      ...jsonTreeTheme,
+                      tree: { margin: 0 },
+                      nestedNode: ({ style }, keyPath, nodeType, expanded) => {
+                        const baseStyle = {
+                          ...style,
+                          padding: "2px 0 2px 5px",
+                          marginTop: 2,
+                          textDecoration: "inherit",
+                        };
+                        if (!inDiffMode) {
+                          return { style: baseStyle };
+                        }
+                        let backgroundColor;
+                        let textDecoration;
+                        if (diffLabelsByLabelText[keyPath[0]]) {
+                          backgroundColor = diffLabelsByLabelText[keyPath[0]].backgroundColor;
+                          textDecoration = keyPath[0] === diffLabels.DELETED.labelText ? "line-through" : "none";
+                        }
+                        const nestedObj = get(diff, keyPath.slice().reverse(), {});
+                        const nestedObjKey = Object.keys(nestedObj)[0];
+                        if (diffLabelsByLabelText[nestedObjKey]) {
+                          backgroundColor = diffLabelsByLabelText[nestedObjKey].backgroundColor;
+                          textDecoration = nestedObjKey === diffLabels.DELETED.labelText ? "line-through" : "none";
+                        }
+                        return {
+                          style: { ...baseStyle, backgroundColor, textDecoration: textDecoration || "inherit" },
+                        };
+                      },
+                      nestedNodeLabel: ({ style }, keyPath, nodeType, expanded) => ({
+                        style: { ...style, textDecoration: "inherit" },
+                      }),
+                      nestedNodeChildren: ({ style }, nodeType, expanded) => ({
+                        style: { ...style, textDecoration: "inherit" },
+                      }),
+                      value: ({ style }, nodeType, keyPath) => {
+                        const baseStyle = { ...style, textDecoration: "inherit" };
+                        if (!inDiffMode) {
+                          return { style: baseStyle };
+                        }
+                        let backgroundColor;
+                        let textDecoration;
+                        const nestedObj = get(diff, keyPath.slice().reverse(), {});
+                        const nestedObjKey = Object.keys(nestedObj)[0];
+                        if (diffLabelsByLabelText[nestedObjKey]) {
+                          backgroundColor = diffLabelsByLabelText[nestedObjKey].backgroundColor;
+                          textDecoration = nestedObjKey === diffLabels.DELETED.labelText ? "line-through" : "none";
+                        }
+                        return {
+                          style: { ...baseStyle, backgroundColor, textDecoration: textDecoration || "inherit" },
+                        };
+                      },
+                      label: { textDecoration: "inherit" },
+                    }}
+                    data={inDiffMode ? diff : data}
                   />
-                ))}
-            </Flex>
-          );
-        }}
-      </MessageHistory>
-    );
-  };
-
-  render() {
-    const { topicName } = this.props.config;
-    const { expandAll } = this.state;
+                )}
+              </Flex>
+            );
+          }}
+        </MessageHistory>
+      );
+    },
+    [diffTopicName, diffTopicPath, expandAll, expandedFields, onLabelClick, topicName, valueRenderer]
+  );
 
-    return (
-      <Flex col clip style={{ position: "relative" }}>
-        <PanelToolbar helpContent={helpContent}>
-          <Icon tooltip={expandAll ? "Collapse all" : "Expand all"} medium fade onClick={this._toggleExpandAll}>
-            {expandAll ? <LessIcon /> : <MoreIcon />}
-          </Icon>
-          <MessageHistoryInput path={topicName} onChange={this._onChange} inputStyle={{ height: "100%" }} />
-        </PanelToolbar>
-        {this._renderTopic()}
-      </Flex>
-    );
-  }
+  return (
+    <Flex col clip style={{ position: "relative" }}>
+      <PanelToolbar
+        helpContent={helpContent}
+        menuContent={
+          <DiffSettings topics={topics} topicName={topicName} saveConfig={saveConfig} diffTopicName={diffTopicName} />
+        }>
+        <Icon tooltip={expandAll ? "Collapse all" : "Expand all"} medium fade onClick={toggleExpandAll}>
+          {expandAll ? <LessIcon /> : <MoreIcon />}
+        </Icon>
+        <MessageHistoryInput path={topicName} onChange={onTopicNameChange} inputStyle={{ height: "100%" }} />
+      </PanelToolbar>
+      {renderSingleTopicOrDiffOutput()}
+    </Flex>
+  );
 }
 
+RawMessages.defaultConfig = { topicName: "", diffTopicName: "" };
+RawMessages.panelType = "RawMessages";
+
 export default hot(Panel<RawMessagesConfig>(RawMessages));
diff --git a/packages/webviz-core/src/panels/RawMessages/index.module.scss b/packages/webviz-core/src/panels/RawMessages/index.module.scss
index d682ea7cd..bd5bd4711 100644
--- a/packages/webviz-core/src/panels/RawMessages/index.module.scss
+++ b/packages/webviz-core/src/panels/RawMessages/index.module.scss
@@ -1,4 +1,4 @@
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -18,8 +18,6 @@
 }
 
 .icon {
-  color: white;
-
   > svg {
     vertical-align: top;
   }
diff --git a/packages/webviz-core/src/panels/RawMessages/index.stories.js b/packages/webviz-core/src/panels/RawMessages/index.stories.js
index 0615f0111..12ac86a3f 100644
--- a/packages/webviz-core/src/panels/RawMessages/index.stories.js
+++ b/packages/webviz-core/src/panels/RawMessages/index.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -10,7 +10,7 @@ import { storiesOf } from "@storybook/react";
 import React from "react";
 import { withScreenshot } from "storybook-chrome-screenshot";
 
-import { fixture, enumFixture, enumAdvancedFixture } from "./fixture";
+import { fixture, enumFixture, enumAdvancedFixture, topicsToDiffFixture, topicsWithIdsToDiffFixture } from "./fixture";
 import RawMessages from "webviz-core/src/panels/RawMessages";
 import PanelSetup from "webviz-core/src/stories/PanelSetup";
 
@@ -19,56 +19,93 @@ storiesOf("<RawMessages>", module)
   .add("folded", () => {
     return (
       <PanelSetup fixture={fixture} style={{ width: 350 }}>
-        <RawMessages config={{ topicName: "/msgs/big_topic" }} />
+        <RawMessages config={{ topicName: "/msgs/big_topic", diffTopicName: "" }} />
       </PanelSetup>
     );
   })
   .add("with receiveTime", () => {
     return (
       <PanelSetup fixture={fixture} style={{ width: 350 }}>
-        <RawMessages config={{ topicName: "/foo" }} />
+        <RawMessages config={{ topicName: "/foo", diffTopicName: "" }} />
       </PanelSetup>
     );
   })
   .add("display big value – num", () => {
     return (
       <PanelSetup fixture={fixture} style={{ width: 350 }}>
-        <RawMessages config={{ topicName: "/baz/num" }} />
+        <RawMessages config={{ topicName: "/baz/num", diffTopicName: "" }} />
       </PanelSetup>
     );
   })
   .add("display big value – text", () => {
     return (
       <PanelSetup fixture={fixture} style={{ width: 350 }}>
-        <RawMessages config={{ topicName: "/baz/text" }} />
+        <RawMessages config={{ topicName: "/baz/text", diffTopicName: "" }} />
       </PanelSetup>
     );
   })
   .add("display big value – single element array", () => {
     return (
       <PanelSetup fixture={fixture} style={{ width: 350 }}>
-        <RawMessages config={{ topicName: "/baz/array" }} />
+        <RawMessages config={{ topicName: "/baz/array", diffTopicName: "" }} />
       </PanelSetup>
     );
   })
   .add("display basic enum", () => {
     return (
       <PanelSetup fixture={enumFixture} style={{ width: 350 }}>
-        <RawMessages config={{ topicName: "/baz/enum" }} />
+        <RawMessages config={{ topicName: "/baz/enum", diffTopicName: "" }} />
       </PanelSetup>
     );
   })
   .add("display advanced enum usage", () => {
     return (
       <PanelSetup fixture={enumAdvancedFixture} style={{ width: 350 }}>
-        <RawMessages config={{ topicName: "/baz/enum_advanced" }} />
+        <RawMessages config={{ topicName: "/baz/enum_advanced", diffTopicName: "" }} />
       </PanelSetup>
     );
   })
   .add("display geometry types - length", () => {
     return (
       <PanelSetup fixture={fixture} style={{ width: 350 }}>
-        <RawMessages config={{ topicName: "/geometry/types" }} />
+        <RawMessages config={{ topicName: "/geometry/types", diffTopicName: "" }} />
+      </PanelSetup>
+    );
+  })
+  .add("display diff", () => {
+    return (
+      <PanelSetup
+        fixture={topicsToDiffFixture}
+        style={{ width: 500 }}
+        onMount={() => {
+          const allLabels = document.querySelectorAll("label");
+          for (const label of allLabels) {
+            label.click();
+          }
+        }}>
+        <RawMessages config={{ topicName: "/baz/enum_advanced", diffTopicName: "/another/baz/enum_advanced" }} />
+      </PanelSetup>
+    );
+  })
+  .add("display diff with ID fields", () => {
+    return (
+      <PanelSetup
+        fixture={topicsWithIdsToDiffFixture}
+        style={{ width: 350 }}
+        onMount={() => {
+          const allLabels = document.querySelectorAll("label");
+          for (const label of allLabels) {
+            label.click();
+          }
+        }}>
+        <RawMessages config={{ topicName: "/baz/enum_advanced", diffTopicName: "/another/baz/enum_advanced" }} />
+      </PanelSetup>
+    );
+  })
+  .add("empty diff message", () => {
+    return (
+      <PanelSetup fixture={{ topics: [], frame: {} }} style={{ width: 350 }}>
+        <RawMessages config={{ topicName: "/baz/enum_advanced", diffTopicName: "/another/baz/enum_advanced" }} />
       </PanelSetup>
     );
   });
diff --git a/packages/webviz-core/src/panels/RawMessages/utils.js b/packages/webviz-core/src/panels/RawMessages/utils.js
new file mode 100644
index 000000000..768cfa275
--- /dev/null
+++ b/packages/webviz-core/src/panels/RawMessages/utils.js
@@ -0,0 +1,161 @@
+// @flow
+//
+//  Copyright (c) 2019-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import { first, last } from "lodash";
+import React from "react";
+
+import { isTypicalFilterName } from "webviz-core/src/components/MessageHistory";
+import { getGlobalHooks } from "webviz-core/src/loadWebviz";
+import { diffLabels } from "webviz-core/src/panels/RawMessages/getDiff";
+import { colors } from "webviz-core/src/util/colors";
+import { format, formatDuration } from "webviz-core/src/util/time";
+
+const DURATION_20_YEARS_SEC = 20 * 365 * 24 * 60 * 60;
+export const DATA_ARRAY_PREVIEW_LIMIT = 20;
+export const ROS_COMMON_MSGS: Set<string> = new Set([
+  "actionlib_msgs",
+  "diagnostic_msgs",
+  "geometry_msgs",
+  "nav_msgs",
+  "sensor_msgs",
+  "shape_msgs",
+  "std_msgs",
+  "stereo_msgs",
+  "trajectory_msgs",
+  "visualization_msgs",
+]);
+
+function getArrow(x: number, y: number) {
+  if (x === 0 && y === 0) {
+    return;
+  }
+  return <span style={{ transform: `rotate(${Math.atan2(-y, x)}rad)`, display: "inline-block" }}>→</span>;
+}
+
+export function getItemString(type: string, data: any, itemType: string, itemString: string) {
+  const keys = Object.keys(data);
+  if (keys.length === 2) {
+    const { sec, nsec } = data;
+    if (sec != null && nsec != null) {
+      // Values "too small" to be absolute epoch-based times are probably relative durations.
+      return sec < DURATION_20_YEARS_SEC ? formatDuration(data) : <span>{format(data)}</span>;
+    }
+  }
+
+  // for vectors/points display length
+  if (keys.length === 2) {
+    const { x, y } = data;
+    if (x != null && y != null) {
+      const length = Math.sqrt(x * x + y * y);
+      return (
+        <span>
+          norm = {length.toFixed(2)} {getArrow(x, y)}
+        </span>
+      );
+    }
+  }
+
+  if (keys.length === 3) {
+    const { x, y, z } = data;
+    if (x != null && y != null && z != null) {
+      const length = Math.sqrt(x * x + y * y + z * z);
+      return (
+        <span>
+          norm = {length.toFixed(2)} {z === 0 ? getArrow(x, y) : undefined}
+        </span>
+      );
+    }
+  }
+
+  // Surface typically-used keys directly in the object summary so the user doesn't have to expand it.
+  const filterKeys = keys
+    .filter(isTypicalFilterName)
+    .map((key) => `${key}: ${data[key]}`)
+    .join(", ");
+  return (
+    <span>
+      {itemType} {filterKeys || itemString}
+    </span>
+  );
+}
+
+function getChangeCounts(data, startingCounts) {
+  const possibleLabelTexts = Object.keys(startingCounts);
+  for (const key in data) {
+    if (possibleLabelTexts.includes(key)) {
+      startingCounts[key]++;
+    } else if (typeof data[key] === "object") {
+      getChangeCounts(data[key], startingCounts);
+    }
+  }
+  return startingCounts;
+}
+
+export const getItemStringForDiff = (type: string, data: any, itemType: string, itemString: string) => {
+  const { ADDED, DELETED, CHANGED, ID } = diffLabels;
+  const id = data[ID.labelText];
+  const idLabel = id
+    ? Object.keys(id)
+        .map((key) => `${key}: ${id[key]}`)
+        .join(", ")
+    : null;
+  const startingCounts = { [ADDED.labelText]: 0, [CHANGED.labelText]: 0, [DELETED.labelText]: 0 };
+  const counts = getChangeCounts(data, startingCounts);
+  return (
+    <>
+      {id ? (
+        <span>
+          {itemType} {idLabel}
+        </span>
+      ) : null}
+      <span style={{ float: "right", color: CHANGED.color }}>
+        {counts[ADDED.labelText] || counts[DELETED.labelText] ? (
+          <span
+            style={{
+              display: "inline-block",
+              fontSize: "0.8em",
+              padding: 2,
+              borderRadius: 3,
+              backgroundColor: ADDED.color,
+              marginRight: 5,
+            }}>
+            <span style={{ color: colors.GREEN }}>
+              {counts[ADDED.labelText] ? `${diffLabels.ADDED.indicator}${counts[ADDED.labelText]} ` : null}
+            </span>
+            <span style={{ color: colors.RED }}>
+              {counts[DELETED.labelText] ? `${diffLabels.DELETED.indicator}${counts[DELETED.labelText]}` : null}
+            </span>
+          </span>
+        ) : null}
+        {counts[CHANGED.labelText] ? (
+          <span
+            style={{
+              display: "inline-block",
+              width: 3,
+              height: 3,
+              borderRadius: 3,
+              backgroundColor: CHANGED.color,
+              marginRight: 5,
+            }}>
+            {counts[CHANGED.labelText] ? " " : null}
+          </span>
+        ) : null}
+      </span>
+    </>
+  );
+};
+
+export function getMessageDocumentationLink(datatype: string): ?string {
+  const parts = datatype.split("/");
+  const pkg = first(parts);
+  const filename = last(parts);
+  return ROS_COMMON_MSGS.has(pkg)
+    ? `http://docs.ros.org/api/${pkg}/html/msg/${filename}.html`
+    : getGlobalHooks()
+        .perPanelHooks()
+        .RawMessages.docLinkFunction(filename);
+}
diff --git a/packages/webviz-core/src/panels/Rosout/LevelToString.js b/packages/webviz-core/src/panels/Rosout/LevelToString.js
index a5ac13a4f..2c4e30636 100644
--- a/packages/webviz-core/src/panels/Rosout/LevelToString.js
+++ b/packages/webviz-core/src/panels/Rosout/LevelToString.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/Rosout/LogMessage.js b/packages/webviz-core/src/panels/Rosout/LogMessage.js
index 587adb380..4c20e0b0b 100644
--- a/packages/webviz-core/src/panels/Rosout/LogMessage.js
+++ b/packages/webviz-core/src/panels/Rosout/LogMessage.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/Rosout/LogMessage.module.scss b/packages/webviz-core/src/panels/Rosout/LogMessage.module.scss
index 5f355164d..5c364c10f 100644
--- a/packages/webviz-core/src/panels/Rosout/LogMessage.module.scss
+++ b/packages/webviz-core/src/panels/Rosout/LogMessage.module.scss
@@ -1,4 +1,4 @@
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/Rosout/index.js b/packages/webviz-core/src/panels/Rosout/index.js
index 9b77b1183..198e6b157 100644
--- a/packages/webviz-core/src/panels/Rosout/index.js
+++ b/packages/webviz-core/src/panels/Rosout/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -14,7 +14,7 @@ import VirtualizedSelect from "react-virtualized-select";
 import { createSelector } from "reselect";
 
 import helpContent from "./index.help.md";
-import style from "./index.module.scss";
+import styles from "./index.module.scss";
 import LevelToString, { KNOWN_LOG_LEVELS } from "./LevelToString";
 import LogMessage from "./LogMessage";
 import logStyle from "./LogMessage.module.scss";
@@ -119,14 +119,14 @@ class RosoutPanel extends PureComponent<Props, State> {
     const nodeNameOptions = Array.from(seenNodeNames).map((name) => ({ label: name, value: name }));
 
     return (
-      <div className={style.filtersBar}>
+      <div className={styles.filtersBar}>
         <VirtualizedSelect
-          className={cx(style.severityFilter)}
+          className={cx(styles.severityFilter)}
           clearable={false}
           searchable={false}
           value={minLogLevel}
-          optionHeight={parseInt(style.optionHeight)}
-          maxHeight={parseInt(style.optionHeight) * KNOWN_LOG_LEVELS.length}
+          optionHeight={parseInt(styles.optionHeight)}
+          maxHeight={parseInt(styles.optionHeight) * KNOWN_LOG_LEVELS.length}
           options={LOG_LEVEL_OPTIONS}
           optionRenderer={({ key, style: styleProp, option, selectValue, focusedOption }) => (
             <div
@@ -142,14 +142,14 @@ class RosoutPanel extends PureComponent<Props, State> {
           valueComponent={(option) => <span>{`Min Severity: ${LevelToString(option.value.value)}`}</span>}
         />
         <VirtualizedSelect
-          className={style.nodeFilter}
+          className={styles.nodeFilter}
           clearable
           multi
           closeOnSelect={false}
           value={stringsToOptions(searchTerms)}
           onChange={this._onNodeFilterChange}
           options={nodeNameOptions}
-          optionHeight={parseInt(style.optionHeight)}
+          optionHeight={parseInt(styles.optionHeight)}
           placeholder="Filter by node name or message text"
           searchable
           selectComponent={Creatable}
@@ -179,12 +179,12 @@ class RosoutPanel extends PureComponent<Props, State> {
           this._prevConfig = this.props.config;
 
           return (
-            <Flex className={style.message} col>
+            <Flex className={styles.message} col>
               <PanelToolbar floating helpContent={helpContent}>
                 {this._renderFiltersBar(seenNodeNames)}
               </PanelToolbar>
               <div
-                className={style.content}
+                className={styles.content}
                 onScroll={({ target }) => {
                   const newDisableAutoScroll = target.scrollHeight - target.scrollTop > target.clientHeight;
                   if (newDisableAutoScroll !== disableAutoScroll) {
diff --git a/packages/webviz-core/src/panels/Rosout/index.module.scss b/packages/webviz-core/src/panels/Rosout/index.module.scss
index b8ab7342f..c41c5323f 100644
--- a/packages/webviz-core/src/panels/Rosout/index.module.scss
+++ b/packages/webviz-core/src/panels/Rosout/index.module.scss
@@ -1,4 +1,4 @@
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/Rosout/index.stories.js b/packages/webviz-core/src/panels/Rosout/index.stories.js
index fcae30e72..2c249df5b 100644
--- a/packages/webviz-core/src/panels/Rosout/index.stories.js
+++ b/packages/webviz-core/src/panels/Rosout/index.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/Rosout/index.test.js b/packages/webviz-core/src/panels/Rosout/index.test.js
index 43e7a3a85..fc8631be8 100644
--- a/packages/webviz-core/src/panels/Rosout/index.test.js
+++ b/packages/webviz-core/src/panels/Rosout/index.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/StateTransitions/index.js b/packages/webviz-core/src/panels/StateTransitions/index.js
index e092faf4b..d89f0e584 100644
--- a/packages/webviz-core/src/panels/StateTransitions/index.js
+++ b/packages/webviz-core/src/panels/StateTransitions/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/StateTransitions/index.stories.js b/packages/webviz-core/src/panels/StateTransitions/index.stories.js
index 975f49ae6..944ad689e 100644
--- a/packages/webviz-core/src/panels/StateTransitions/index.stories.js
+++ b/packages/webviz-core/src/panels/StateTransitions/index.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -41,24 +41,28 @@ const systemStateMessages = [
 
 const fixture = {
   datatypes: {
-    "msgs/SystemState": [
-      { type: "std_msgs/Header", name: "header", isArray: false },
-      { type: "int8", name: "UNKNOWN", isConstant: true, value: -1 },
-      { type: "int8", name: "ERROR", isConstant: true, value: 0 },
-      { type: "int8", name: "OFF", isConstant: true, value: 1 },
-      { type: "int8", name: "BOOTING", isConstant: true, value: 2 },
-      { type: "int8", name: "ACTIVE", isConstant: true, value: 3 },
-      { type: "int8", name: "state", isArray: false },
-    ],
-    "std_msgs/Header": [
-      { name: "seq", type: "uint32", isArray: false },
-      {
-        name: "stamp",
-        type: "time",
-        isArray: false,
-      },
-      { name: "frame_id", type: "string", isArray: false },
-    ],
+    "msgs/SystemState": {
+      fields: [
+        { type: "std_msgs/Header", name: "header", isArray: false },
+        { type: "int8", name: "UNKNOWN", isConstant: true, value: -1 },
+        { type: "int8", name: "ERROR", isConstant: true, value: 0 },
+        { type: "int8", name: "OFF", isConstant: true, value: 1 },
+        { type: "int8", name: "BOOTING", isConstant: true, value: 2 },
+        { type: "int8", name: "ACTIVE", isConstant: true, value: 3 },
+        { type: "int8", name: "state", isArray: false },
+      ],
+    },
+    "std_msgs/Header": {
+      fields: [
+        { name: "seq", type: "uint32", isArray: false },
+        {
+          name: "stamp",
+          type: "time",
+          isArray: false,
+        },
+        { name: "frame_id", type: "string", isArray: false },
+      ],
+    },
   },
   topics: [{ name: "/some/topic/with/state", datatype: "msgs/SystemState" }],
   activeData: {
diff --git a/packages/webviz-core/src/panels/StateTransitions/labelVisibilityMap.js b/packages/webviz-core/src/panels/StateTransitions/labelVisibilityMap.js
index 56f590753..0907ff31f 100644
--- a/packages/webviz-core/src/panels/StateTransitions/labelVisibilityMap.js
+++ b/packages/webviz-core/src/panels/StateTransitions/labelVisibilityMap.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/SubscribeToList.js b/packages/webviz-core/src/panels/SubscribeToList.js
index bc02eac8f..6e524123c 100644
--- a/packages/webviz-core/src/panels/SubscribeToList.js
+++ b/packages/webviz-core/src/panels/SubscribeToList.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/SubscribeToList.stories.js b/packages/webviz-core/src/panels/SubscribeToList.stories.js
index d4378effb..4a2b32af4 100644
--- a/packages/webviz-core/src/panels/SubscribeToList.stories.js
+++ b/packages/webviz-core/src/panels/SubscribeToList.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Crosshair.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Crosshair.js
index 682fbaa5e..874293f61 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Crosshair.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Crosshair.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/DebugStats.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/DebugStats.js
index fcca50ae7..cf3638e66 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/DebugStats.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/DebugStats.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/CameraInfo.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/CameraInfo.js
index c2a76c122..624f6ede0 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/CameraInfo.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/CameraInfo.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -104,7 +104,12 @@ export default function CameraInfo({
   return (
     <Flex col style={{ minWidth: DEFAULT_CAMERA_INFO_WIDTH }}>
       <Flex row reverse>
-        <Button tooltip="Copy cameraState" small onClick={() => clipboard.copy(JSON.stringify(cameraState, null, 2))}>
+        <Button
+          tooltip="Copy cameraState"
+          small
+          onClick={() => {
+            clipboard.copy(JSON.stringify(cameraState, null, 2));
+          }}>
           Copy
         </Button>
         <Button
@@ -123,7 +128,7 @@ export default function CameraInfo({
         <UncontrolledValidatedInput
           format="yaml"
           value={cameraState}
-          onChange={(cameraState) => saveConfig({ cameraState })}
+          onChange={(newCameraState) => saveConfig({ cameraState: newCameraState })}
           dataValidator={cameraStateValidator}
         />
       ) : (
@@ -148,21 +153,16 @@ export default function CameraInfo({
                     inputStyle={{ width: 140 }}
                     value={{ x: camPos2DTrimmed[0], y: camPos2DTrimmed[1] }}
                     onChange={(data) => {
-                      const { target, targetOffset } = cameraState;
-                      const targetHeading = cameraStateSelectors.targetHeading(cameraState);
                       const newPos = [data.x, data.y, 0];
                       // extract the targetOffset by subtracting from the target and un-rotating by heading
                       const newTargetOffset = vec3.rotateZ(
                         [0, 0, 0],
-                        vec3.sub(TEMP_VEC3, newPos, target),
+                        vec3.sub(TEMP_VEC3, newPos, cameraState.target),
                         ZERO_VEC3,
-                        targetHeading
+                        cameraStateSelectors.targetHeading(cameraState)
                       );
-                      if (!isEqual(targetOffset, newTargetOffset)) {
-                        onCameraStateChange({
-                          ...cameraState,
-                          targetOffset: newTargetOffset,
-                        });
+                      if (!isEqual(cameraState.targetOffset, newTargetOffset)) {
+                        onCameraStateChange({ ...cameraState, targetOffset: newTargetOffset });
                       }
                     }}
                     dataValidator={point2DValidator}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/MeasuringTool.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/MeasuringTool.js
index e45735ad3..da974bb22 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/MeasuringTool.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/MeasuringTool.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/Polygons.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/Polygons.js
index 361d360de..ee68a7131 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/Polygons.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/Polygons.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -52,17 +52,19 @@ export default function Polygons({ onSetPolygons, polygonBuilder, selectedPolygo
         format={selectedPolygonEditFormat}
         value={polygonPoints}
         onSelectFormat={(selectedFormat) => saveConfig({ selectedPolygonEditFormat: selectedFormat })}
-        onChange={(polygonPoints) => {
-          if (polygonPoints) {
-            setPolygonPoints(polygonPoints);
-            onSetPolygons(pointsToPolygons(polygonPoints));
+        onChange={(newPolygonPoints) => {
+          if (newPolygonPoints) {
+            setPolygonPoints(newPolygonPoints);
+            onSetPolygons(pointsToPolygons(newPolygonPoints));
           }
         }}
         dataValidator={polygonPointsValidator}>
         <Button
           small
           tooltip="Copy Polygons"
-          onClick={() => clipboard.copy(getFormattedString(polygonPoints, selectedPolygonEditFormat))}>
+          onClick={() => {
+            clipboard.copy(getFormattedString(polygonPoints, selectedPolygonEditFormat));
+          }}>
           Copy
         </Button>
       </ValidatedInput>
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/index.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/index.js
index 82f992148..3d8ba7754 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/index.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/index.stories.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/index.stories.js
index bf3256975..78925d7fa 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/index.stories.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/index.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/FollowTFControl.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/FollowTFControl.js
index 5cf9660c6..5ca973353 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/FollowTFControl.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/FollowTFControl.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -180,10 +180,10 @@ const FollowTFControl = memo<Props>((props: Props) => {
   );
 
   const onSelectFrame = useCallback(
-    (id: string, item: mixed, autocomplete: Autocomplete) => {
+    (id: string, item: mixed, autocompleteNode: Autocomplete) => {
       setLastSelectedFrame(id === getDefaultFollowTransformFrame() ? undefined : id);
       onFollowChange(id, followOrientation);
-      autocomplete.blur();
+      autocompleteNode.blur();
     },
     [setLastSelectedFrame, getDefaultFollowTransformFrame, onFollowChange, followOrientation]
   );
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GeneralInfo.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GeneralInfo.js
index 7a529ec88..b9f5b8e3a 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GeneralInfo.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GeneralInfo.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/LinkToGlobalVariable.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/LinkToGlobalVariable.js
index e82247ffd..48cbe5e88 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/LinkToGlobalVariable.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/LinkToGlobalVariable.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/UnlinkGlobalVariable.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/UnlinkGlobalVariable.js
index bff8bd456..13122f557 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/UnlinkGlobalVariable.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/UnlinkGlobalVariable.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/UnlinkGlobalVariables.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/UnlinkGlobalVariables.js
index cc5a75cc7..eeeca4bf6 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/UnlinkGlobalVariables.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/UnlinkGlobalVariables.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -71,7 +71,7 @@ export default function UnlinkGlobalVariables({ name, showList }: Props) {
   // the list UI is shared between 3D panel and Global Variables panel
   const listHtml = (
     <SList style={listStyle}>
-      {links.map(({ topic, markerKeyPath, name }, idx) => {
+      {links.map(({ topic, markerKeyPath, name: linkedGlobalVariableName }, idx) => {
         return (
           <SListItem key={idx} style={listStyle}>
             <Button
@@ -84,7 +84,7 @@ export default function UnlinkGlobalVariables({ name, showList }: Props) {
                     !(
                       linkedGlobalVariable.topic === topic &&
                       isEqual(linkedGlobalVariable.markerKeyPath, markerKeyPath) &&
-                      linkedGlobalVariable.name === name
+                      linkedGlobalVariable.name === linkedGlobalVariableName
                     )
                 );
                 setLinkedGlobalVariables(newLinkedGlobalVariables);
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/UnlinkGlobalVariables.stories.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/UnlinkGlobalVariables.stories.js
index 45cb2ded8..5e4f04309 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/UnlinkGlobalVariables.stories.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/UnlinkGlobalVariables.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/UnlinkWrapper.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/UnlinkWrapper.js
index 2b0fecff3..7c5d48869 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/UnlinkWrapper.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/UnlinkWrapper.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/index.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/index.js
index 6f886d32f..2c2720dde 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/index.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableLink/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -129,8 +129,8 @@ export default function GlobalVariableLink({
             linkedGlobalVariable={linkedGlobalVariableLocal}
             name={linkedGlobalVariableLocal.name}
             tooltip={unlinkTooltip}>
-            {({ setIsOpen, linkedGlobalVariable }) => (
-              <UnlinkGlobalVariable linkedGlobalVariable={linkedGlobalVariable} setIsOpen={setIsOpen} />
+            {({ setIsOpen, linkedGlobalVariable: linkedVar }) => (
+              <UnlinkGlobalVariable linkedGlobalVariable={linkedVar} setIsOpen={setIsOpen} />
             )}
           </UnlinkWrapper>
         )}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableName.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableName.js
index 9f3bacf32..14cb6e5e1 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableName.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/GlobalVariableName.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/Interaction.stories.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/Interaction.stories.js
index 3bdd2f7c0..ef8ec2d78 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/Interaction.stories.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/Interaction.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/InteractionContextMenu.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/InteractionContextMenu.js
index 3fa919960..3ebb40ffd 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/InteractionContextMenu.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/InteractionContextMenu.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/InteractionContextMenu.stories.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/InteractionContextMenu.stories.js
index 73cd4e7db..c62c69a97 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/InteractionContextMenu.stories.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/InteractionContextMenu.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/Interactions.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/Interactions.js
index 92a07f0fd..9ae3a5df3 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/Interactions.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/Interactions.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/LinkedGlobalVariableList.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/LinkedGlobalVariableList.js
index f11dc36f8..729566427 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/LinkedGlobalVariableList.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/LinkedGlobalVariableList.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/ObjectDetails.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/ObjectDetails.js
index e89db7634..1f5c96392 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/ObjectDetails.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/ObjectDetails.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/PointCloudDetails.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/PointCloudDetails.js
index 778f8ead5..e8636e8a3 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/PointCloudDetails.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/PointCloudDetails.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -76,8 +76,9 @@ export default function PointCloudDetails({ selectedObject: { object, instanceIn
           <Menu>
             <Item
               onClick={() => {
-                clipboard.copy(clickedPoint.join(", "));
-                setIsOpen(false);
+                clipboard.copy(clickedPoint.join(", ")).then(() => {
+                  setIsOpen(false);
+                });
               }}>
               Copy clicked point to clipboard
             </Item>
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/TopicLink.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/TopicLink.js
index 5a894bc8e..f0498c0e1 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/TopicLink.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/TopicLink.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/index.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/index.js
index 45d6969da..bd5a8f4a1 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/index.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/interactionUtils.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/interactionUtils.js
index 107a31d62..70e5d2e61 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/interactionUtils.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/interactionUtils.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/types.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/types.js
index c695702dd..64650f793 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/types.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/types.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/useLinkedGlobalVariables.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/useLinkedGlobalVariables.js
index f46762f15..9757b1497 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/useLinkedGlobalVariables.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Interactions/useLinkedGlobalVariables.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/LaserScanVert.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/LaserScanVert.js
index 1efba681b..e5401f6e6 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/LaserScanVert.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/LaserScanVert.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Layout.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Layout.js
index 6ba138cd9..1013e5bf2 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Layout.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Layout.js
@@ -1,12 +1,14 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import { get, difference, isEqual } from "lodash";
+import CheckboxBlankOutlineIcon from "@mdi/svg/svg/checkbox-blank-outline.svg";
+import CheckboxMarkedIcon from "@mdi/svg/svg/checkbox-marked.svg";
+import { difference, isEqual } from "lodash";
 import React, {
   type Node,
   useMemo,
@@ -28,25 +30,26 @@ import {
 } from "regl-worldview";
 import { type Time } from "rosbag";
 
-import type { ThreeDimensionalVizConfig } from ".";
+import { Item } from "webviz-core/src/components/Menu";
 import { useShallowMemo } from "webviz-core/src/components/MessageHistory/hooks";
 import PanelToolbar from "webviz-core/src/components/PanelToolbar";
 import filterMap from "webviz-core/src/filterMap";
-import useGlobalVariables, { type GlobalVariables } from "webviz-core/src/hooks/useGlobalVariables";
+import useGlobalVariables from "webviz-core/src/hooks/useGlobalVariables";
 import { getGlobalHooks } from "webviz-core/src/loadWebviz";
+import useDataSourceInfo from "webviz-core/src/PanelAPI/useDataSourceInfo";
 import DebugStats from "webviz-core/src/panels/ThreeDimensionalViz/DebugStats";
 import { POLYGON_TAB_TYPE, type DrawingTabType } from "webviz-core/src/panels/ThreeDimensionalViz/DrawingTools";
 import MeasuringTool, { type MeasureInfo } from "webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/MeasuringTool";
+import type { ThreeDimensionalVizConfig } from "webviz-core/src/panels/ThreeDimensionalViz/index";
 import { InteractionContextMenu } from "webviz-core/src/panels/ThreeDimensionalViz/Interactions";
-import useLinkedGlobalVariables, {
-  type LinkedGlobalVariables,
-} from "webviz-core/src/panels/ThreeDimensionalViz/Interactions/useLinkedGlobalVariables";
+import useLinkedGlobalVariables from "webviz-core/src/panels/ThreeDimensionalViz/Interactions/useLinkedGlobalVariables";
 import styles from "webviz-core/src/panels/ThreeDimensionalViz/Layout.module.scss";
 import LayoutToolbar from "webviz-core/src/panels/ThreeDimensionalViz/LayoutToolbar";
 import LayoutTopicSettings from "webviz-core/src/panels/ThreeDimensionalViz/LayoutTopicSettings";
-import SceneBuilder, { type TopicSettingsCollection } from "webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder";
+import SceneBuilder from "webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder";
+import { getUpdatedGlobalVariablesBySelectedObject } from "webviz-core/src/panels/ThreeDimensionalViz/threeDimensionalVizUtils";
 import TopicSelector from "webviz-core/src/panels/ThreeDimensionalViz/TopicSelector";
-import { type TopicDisplayMode } from "webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicDisplayModeSelector";
+import { TOPIC_DISPLAY_MODES } from "webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicDisplayModeSelector";
 import treeBuilder from "webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/treeBuilder";
 import { canEditDatatype } from "webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor";
 import { getTopicConfig } from "webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils";
@@ -63,27 +66,7 @@ import { topicsByTopicName } from "webviz-core/src/util/selectors";
 type EventName = "onDoubleClick" | "onMouseMove" | "onMouseDown" | "onMouseUp";
 export type ClickedPosition = { clientX: number, clientY: number };
 
-function getUpdatedGlobalVariablesBySelectedObject(
-  selectedObject: MouseEventObject,
-  linkedGlobalVariables: LinkedGlobalVariables
-): ?GlobalVariables {
-  const interactionData = selectedObject && selectedObject.object.interactionData;
-  const objectTopic = interactionData && interactionData.topic;
-  if (!linkedGlobalVariables.length || !objectTopic) {
-    return;
-  }
-  const newGlobalVariables = {};
-  linkedGlobalVariables.forEach(({ topic, markerKeyPath, name }) => {
-    if (objectTopic === topic) {
-      const objectForPath = get(selectedObject.object, [...markerKeyPath].reverse());
-      newGlobalVariables[name] = objectForPath;
-    }
-  });
-  return newGlobalVariables;
-}
-
 export type LayoutToolbarSharedProps = {|
-  autoTextBackgroundColor?: boolean,
   cameraState: $Shape<CameraState>,
   followOrientation: boolean,
   followTf?: string | false,
@@ -91,8 +74,6 @@ export type LayoutToolbarSharedProps = {|
   onCameraStateChange: (CameraState) => void,
   onFollowChange: (followTf?: string | false, followOrientation?: boolean) => void,
   saveConfig: SaveConfig<ThreeDimensionalVizConfig>,
-  selectedPolygonEditFormat: "json" | "yaml",
-  showCrosshair: ?boolean,
   transforms: Transforms,
   isPlaying?: boolean,
 |};
@@ -101,28 +82,22 @@ export type LayoutTopicSettingsSharedProps = {|
   transforms: Transforms,
   topics: Topic[],
   saveConfig: SaveConfig<ThreeDimensionalVizConfig>,
-  topicSettings: TopicSettingsCollection,
 |};
 
 type Props = {|
   ...LayoutToolbarSharedProps,
   ...LayoutTopicSettingsSharedProps,
-  checkedNodes: string[],
   children?: Node,
   cleared?: boolean,
   currentTime: Time,
-  expandedNodes: string[],
   extensions: Extensions,
   frame?: Frame,
   helpContent: Node | string,
   isPlaying?: boolean,
-  modifiedNamespaceTopics: string[],
-  pinTopics: boolean,
+  config: ThreeDimensionalVizConfig,
   saveConfig: SaveConfig<ThreeDimensionalVizConfig>,
   setSubscriptions: (subscriptions: string[]) => void,
-  topicDisplayMode: TopicDisplayMode,
   topics: Topic[],
-  topicSettings: TopicSettingsCollection,
   transforms: Transforms,
 |};
 
@@ -135,32 +110,35 @@ type SelectedObjectState = {
 export type EditTopicState = { tooltipPosX: number, topic: Topic };
 
 export default function Layout({
-  autoTextBackgroundColor,
   cameraState,
-  checkedNodes,
   children,
   cleared,
   currentTime,
-  expandedNodes,
   extensions,
   followOrientation,
   followTf,
   frame,
   helpContent,
   isPlaying,
-  modifiedNamespaceTopics,
   onAlignXYAxis,
   onCameraStateChange,
   onFollowChange,
-  pinTopics,
   saveConfig,
-  selectedPolygonEditFormat,
-  showCrosshair,
-  topicDisplayMode,
   topics,
-  topicSettings,
   transforms,
   setSubscriptions,
+  config: {
+    autoTextBackgroundColor,
+    expandedNodes,
+    checkedNodes,
+    flattenMarkers,
+    modifiedNamespaceTopics,
+    pinTopics,
+    selectedPolygonEditFormat = "yaml",
+    showCrosshair,
+    topicDisplayMode = TOPIC_DISPLAY_MODES.SHOW_TREE.value,
+    topicSettings,
+  },
 }: Props) {
   // toggle visibility on topics by temporarily storing a list of hidden topics on the state
   const [hiddenTopics, setHiddenTopics] = useState([]);
@@ -171,9 +149,28 @@ export default function Layout({
         checkedNodes,
         topicDisplayMode,
         topics,
+        // $FlowFixMe
+        supportedMarkerDatatypes: Object.values(
+          getGlobalHooks().perPanelHooks().ThreeDimensionalViz.SUPPORTED_MARKER_DATATYPES
+        ),
       }),
     [checkedNodes, topicDisplayMode, topics]
   );
+
+  // update open source checked nodes
+  useLayoutEffect(
+    () => {
+      const isOpenSource = checkedNodes.length === 1 && checkedNodes[0] === "name:Topics" && topics.length;
+      if (isOpenSource) {
+        saveConfig(
+          { checkedNodes: isOpenSource ? checkedNodes.concat(topics.map((t) => t.name)) : checkedNodes },
+          { keepLayoutInUrl: true }
+        );
+      }
+    },
+    [checkedNodes, saveConfig, topics]
+  );
+
   useLayoutEffect(
     () => {
       if (!isEqual(checkedNodes.sort(), newCheckedNodes.sort())) {
@@ -270,6 +267,8 @@ export default function Layout({
   // item equality here we end up re-rendering the map significantly more than we need to.
   const memoizedExtensions = useShallowMemo(selections.extensions);
 
+  const { playerId } = useDataSourceInfo();
+
   useMemo(
     () => {
       // TODO(Audrey): add tests for the clearing behavior
@@ -283,8 +282,9 @@ export default function Layout({
         followTf || getGlobalHooks().perPanelHooks().ThreeDimensionalViz.rootTransformFrame
       ).id;
 
+      sceneBuilder.setPlayerId(playerId);
       sceneBuilder.setTransforms(transforms, rootTfID);
-      sceneBuilder.setFlattenMarkers(memoizedExtensions.includes("Car.flattenMarkers"));
+      sceneBuilder.setFlattenMarkers(!!flattenMarkers);
       // toggle scene builder namespaces based on selected namespace nodes in the tree
       sceneBuilder.setEnabledNamespaces(selections.namespaces);
       sceneBuilder.setTopicSettings(topicSettings);
@@ -301,22 +301,25 @@ export default function Layout({
 
       // update the transforms and set the selected ones to render
       transformsBuilder.setTransforms(transforms, rootTfID);
-      transformsBuilder.setSelectedTransforms(memoizedExtensions);
+      const tfSelections = memoizedExtensions.filter((ex) => ex.startsWith("TF")).map((ex) => ex.substr("TF.".length));
+      transformsBuilder.setSelectedTransforms(tfSelections);
     },
     [
-      checkedVisibleTopicNames,
       cleared,
-      currentTime,
-      followTf,
       frame,
-      globalVariables,
+      transforms,
+      followTf,
       sceneBuilder,
-      memoizedExtensions,
+      playerId,
+      flattenMarkers,
       selections.namespaces,
       topicSettings,
       topics,
-      transforms,
+      checkedVisibleTopicNames,
+      globalVariables,
+      currentTime,
       transformsBuilder,
+      memoizedExtensions,
     ]
   );
 
@@ -390,14 +393,17 @@ export default function Layout({
     if (!args) {
       return;
     }
-    const { drawingTabType, handleDrawPolygons } = callbackInputsRef.current;
+    const {
+      drawingTabType: currentDrawingTabType,
+      handleDrawPolygons: currentHandleDrawPolygons,
+    } = callbackInputsRef.current;
     // $FlowFixMe get around index signature error
     const measuringHandler = measuringElRef.current && measuringElRef.current[eventName];
     const measureActive = measuringElRef.current && measuringElRef.current.measureActive;
     if (measuringHandler && measureActive) {
       return measuringHandler(ev, args);
-    } else if (drawingTabType === POLYGON_TAB_TYPE) {
-      handleDrawPolygons(eventName, ev, args);
+    } else if (currentDrawingTabType === POLYGON_TAB_TYPE) {
+      currentHandleDrawPolygons(eventName, ev, args);
     }
   }, []);
 
@@ -447,9 +453,9 @@ export default function Layout({
         onClearSelectedObject: () => setSelectedObjectState(null),
         // clicking on the body should hide any edit tip
         onEditClick: (ev: SyntheticMouseEvent<HTMLElement>, topic: string) => {
-          const { editTopicState, topics } = callbackInputsRef.current;
+          const { editTopicState: currentEditTopicState, topics: currentTopics } = callbackInputsRef.current;
           // if the same icon is clicked again, close the popup
-          const existingEditTopic = (editTopicState && editTopicState.topic.name) || undefined;
+          const existingEditTopic = (currentEditTopicState && currentEditTopicState.topic.name) || undefined;
           if (topic === existingEditTopic) {
             setEditTopicState(null);
             return;
@@ -460,7 +466,7 @@ export default function Layout({
           }
           const panelRect = wrapperRef.current.getBoundingClientRect();
           const editBtnRect = ev.currentTarget.getBoundingClientRect();
-          const newEditTopic = topics.find((t) => t.name === topic);
+          const newEditTopic = currentTopics.find((t) => t.name === topic);
           if (!newEditTopic) {
             return;
           }
@@ -469,14 +475,14 @@ export default function Layout({
             topic: newEditTopic,
           });
         },
-        onSelectObject: (selectedObject: MouseEventObject) =>
-          setSelectedObjectState({ ...callbackInputsRef.current.selectedObjectState, selectedObject }),
+        onSelectObject: (selectedObj: MouseEventObject) =>
+          setSelectedObjectState({ ...callbackInputsRef.current.selectedObjectState, selectedObj }),
         onSetPolygons: (polygons: Polygon[]) => setPolygonBuilder(new PolygonBuilder(polygons)),
         toggleDebug: () => setDebug(!callbackInputsRef.current.debug),
         toggleCameraMode: () => {
-          const { cameraState, saveConfig } = callbackInputsRef.current;
-          saveConfig({ cameraState: { ...cameraState, perspective: !cameraState.perspective } });
-          if (measuringElRef.current && cameraState.perspective) {
+          const { cameraState: currentCameraState, saveConfig: currentSaveConfig } = callbackInputsRef.current;
+          currentSaveConfig({ cameraState: { ...currentCameraState, perspective: !currentCameraState.perspective } });
+          if (measuringElRef.current && currentCameraState.perspective) {
             measuringElRef.current.reset();
           }
         },
@@ -485,6 +491,11 @@ export default function Layout({
     [handleEvent]
   );
 
+  const onSetFlattenMarkers = useCallback(() => saveConfig({ flattenMarkers: !flattenMarkers }), [
+    flattenMarkers,
+    saveConfig,
+  ]);
+
   const keyDownHandlers = useMemo(
     () => ({
       "3": () => {
@@ -535,7 +546,18 @@ export default function Layout({
   return (
     <div className={styles.container} ref={wrapperRef} style={{ cursor: cursorType }} onClick={onControlsOverlayClick}>
       <KeyListener keyDownHandlers={keyDownHandlers} />
-      <PanelToolbar floating helpContent={helpContent} />
+      <PanelToolbar
+        floating
+        helpContent={helpContent}
+        menuContent={
+          <Item
+            tooltip="Markers with 0 as z-value in pose or points are updated to have the z-value of the flattened frame (default to the car)."
+            icon={flattenMarkers ? <CheckboxMarkedIcon /> : <CheckboxBlankOutlineIcon />}
+            onClick={onSetFlattenMarkers}>
+            Flatten markers
+          </Item>
+        }
+      />
       <div style={videoRecordingStyle}>
         <TopicSelector
           autoTextBackgroundColor={!!autoTextBackgroundColor}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/LayoutToolbar.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/LayoutToolbar.js
index d095044dd..a963cd29a 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/LayoutToolbar.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/LayoutToolbar.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -26,6 +26,8 @@ import MeasureMarker from "webviz-core/src/panels/ThreeDimensionalViz/MeasureMar
 
 type Props = {|
   ...LayoutToolbarSharedProps,
+  selectedPolygonEditFormat: "json" | "yaml",
+  showCrosshair: ?boolean,
   debug: boolean,
   drawingTabType: ?DrawingTabType,
   interactionData: ?InteractionData,
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/LayoutTopicSettings.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/LayoutTopicSettings.js
index 2f4dc1c66..fd1e81465 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/LayoutTopicSettings.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/LayoutTopicSettings.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -17,12 +17,15 @@ import {
 } from "webviz-core/src/panels/ThreeDimensionalViz/Layout";
 import styles from "webviz-core/src/panels/ThreeDimensionalViz/Layout.module.scss";
 import SceneBuilder from "webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder";
+import type { TopicSettingsCollection } from "webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder";
 import TopicSettingsEditor from "webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor";
 
 const { useMemo } = React;
 
 type Props = {|
   ...LayoutTopicSettingsSharedProps,
+  topicSettings: TopicSettingsCollection,
+
   sceneBuilder: SceneBuilder,
   editTopicState: ?EditTopicState,
   setEditTopicState: (?EditTopicState) => void,
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/MainToolbar.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/MainToolbar.js
index e2dfc1ec9..8879d76e2 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/MainToolbar.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/MainToolbar.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/MeasureMarker.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/MeasureMarker.js
index fd43c67a1..08511344f 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/MeasureMarker.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/MeasureMarker.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/PositionControl.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/PositionControl.js
index 5b4fd8976..9360d3e24 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/PositionControl.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/PositionControl.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/PositionControl.test.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/PositionControl.test.js
index f57f88947..faaa9e134 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/PositionControl.test.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/PositionControl.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/ReglLeakChecker.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/ReglLeakChecker.js
index 74830fe25..988df8322 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/ReglLeakChecker.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/ReglLeakChecker.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder/MessageCollector.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder/MessageCollector.js
index 32bfd1684..1b461d15f 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder/MessageCollector.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder/MessageCollector.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder/MessageCollector.test.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder/MessageCollector.test.js
index 51c8582c4..a19e2026e 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder/MessageCollector.test.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder/MessageCollector.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder/index.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder/index.js
index e6e3413f9..a031df96d 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder/index.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -20,8 +20,9 @@ import type { Topic, Frame, Message } from "webviz-core/src/players/types";
 import type { Marker, Namespace, OccupancyGridMessage, Pose } from "webviz-core/src/types/Messages";
 import type { MarkerProvider, MarkerCollector, Scene } from "webviz-core/src/types/Scene";
 import Bounds from "webviz-core/src/util/Bounds";
-import { POINT_CLOUD_DATATYPE, POSE_STAMPED_DATATYPE, POSE_MARKER_SCALE } from "webviz-core/src/util/globalConstants";
+import { POSE_MARKER_SCALE } from "webviz-core/src/util/globalConstants";
 import { emptyPose } from "webviz-core/src/util/Pose";
+import reportError from "webviz-core/src/util/reportError";
 import { fromSec } from "webviz-core/src/util/time";
 
 export type TopicSettingsCollection = {
@@ -50,10 +51,15 @@ export type ErrorDetails = {| frameIds: Set<string>, namespaces: Set<string> |};
 export type SceneErrors = {
   topicsMissingFrameIds: Map<string, ErrorDetails>,
   topicsMissingTransforms: Map<string, ErrorDetails>,
+  topicsWithBadFrameIds: Map<string, ErrorDetails>,
   topicsWithError: Map<string, string>,
   rootTransformID: string,
 };
 
+type SceneErrorTopics = {
+  topicsWithBadFrameIds: Set<string>,
+};
+
 // constructs a scene containing all objects to be rendered
 // by consuming visualization topics from frames
 export default class SceneBuilder implements MarkerProvider {
@@ -67,13 +73,18 @@ export default class SceneBuilder implements MarkerProvider {
     rootTransformID: "",
     topicsMissingFrameIds: new Map(),
     topicsMissingTransforms: new Map(),
+    topicsWithBadFrameIds: new Map(),
     topicsWithError: new Map(),
   };
+  reportedErrorTopics: SceneErrorTopics = {
+    topicsWithBadFrameIds: new Set(),
+  };
   maps = [];
   flattenedZHeightPose: ?Pose = null;
   scene = {};
   collectors: { [string]: MessageCollector } = {};
   _clock: Time;
+  _playerId: ?string = null;
   _topicSettings: TopicSettingsCollection = {};
 
   allNamespaces: Namespace[] = [];
@@ -104,6 +115,13 @@ export default class SceneBuilder implements MarkerProvider {
     }
   }
 
+  setPlayerId(playerId: string) {
+    if (this._playerId !== playerId) {
+      this.reportedErrorTopics.topicsWithBadFrameIds.clear();
+    }
+    this._playerId = playerId;
+  }
+
   setTopicSettings(settings: TopicSettingsCollection) {
     this._topicSettings = settings;
   }
@@ -154,8 +172,13 @@ export default class SceneBuilder implements MarkerProvider {
   };
 
   hasErrors() {
-    const { topicsMissingFrameIds, topicsMissingTransforms, topicsWithError } = this.errors;
-    return topicsMissingFrameIds.size !== 0 || topicsMissingTransforms.size !== 0 || topicsWithError.size !== 0;
+    const { topicsMissingFrameIds, topicsMissingTransforms, topicsWithBadFrameIds, topicsWithError } = this.errors;
+    return (
+      topicsMissingFrameIds.size !== 0 ||
+      topicsMissingTransforms.size !== 0 ||
+      topicsWithBadFrameIds.size !== 0 ||
+      topicsWithError.size !== 0
+    );
   }
 
   _addError(map: Map<string, ErrorDetails>, topic: string): ErrorDetails {
@@ -180,6 +203,17 @@ export default class SceneBuilder implements MarkerProvider {
     return some(this.enabledNamespaces, (ns) => ns.topic === topic && ns.name === name);
   }
 
+  _reportBadFrameId(topic: string) {
+    if (!this.reportedErrorTopics.topicsWithBadFrameIds.has(topic)) {
+      this.reportedErrorTopics.topicsWithBadFrameIds.add(topic);
+      reportError(
+        `Topic ${topic} has bad frame`,
+        "Non-root transforms may be out of sync, since webviz uses the latest transform message instead of the one matching header.stamp",
+        "user"
+      );
+    }
+  }
+
   _transformAndCloneMarker = (topic: string, marker: Marker) => {
     const { frame_id } = marker.header;
 
@@ -189,6 +223,14 @@ export default class SceneBuilder implements MarkerProvider {
       return null;
     }
 
+    if (frame_id !== this.rootTransformID) {
+      this._reportBadFrameId(topic);
+      const error = this._addError(this.errors.topicsWithBadFrameIds, topic);
+      error.namespaces.add(marker.ns);
+      error.frameIds.add(frame_id);
+      // We continue to render these, though they may be inaccurate
+    }
+
     const sourcePose = marker.pose;
     const pose = this.transforms.apply(emptyPose(), sourcePose, frame_id, this.rootTransformID);
     if (!pose) {
@@ -293,6 +335,12 @@ export default class SceneBuilder implements MarkerProvider {
       return;
     }
 
+    if (frame_id !== this.rootTransformID) {
+      this._reportBadFrameId(topic);
+      const error = this._addError(this.errors.topicsWithBadFrameIds, topic);
+      error.frameIds.add(frame_id);
+    }
+
     let pose = emptyPose();
     pose = this.transforms.apply(pose, pose, frame_id, this.rootTransformID);
     if (!pose) {
@@ -386,29 +434,30 @@ export default class SceneBuilder implements MarkerProvider {
 
   _consumeMessage = (topic: string, msg: Message): void => {
     const { message, datatype } = msg;
+    const SUPPORTED_MARKER_DATATYPES = getGlobalHooks().perPanelHooks().ThreeDimensionalViz.SUPPORTED_MARKER_DATATYPES;
 
     switch (datatype) {
-      case "visualization_msgs/Marker":
+      case SUPPORTED_MARKER_DATATYPES.VISUALIZATION_MSGS_MARKER_DATATYPE:
         this._consumeMarker(topic, message);
         break;
-      case "visualization_msgs/MarkerArray":
+      case SUPPORTED_MARKER_DATATYPES.VISUALIZATION_MSGS_MARKER_ARRAY_DATATYPE:
         this._consumeMarkerArray(topic, message);
         break;
-      case POSE_STAMPED_DATATYPE:
+      case SUPPORTED_MARKER_DATATYPES.POSE_STAMPED_DATATYPE:
         // make synthetic arrow marker from the stamped pose
         this.collectors[topic].addMessage(topic, buildSyntheticArrowMarker(msg, this.flattenedZHeightPose));
         break;
-      case "nav_msgs/OccupancyGrid":
+      case SUPPORTED_MARKER_DATATYPES.NAV_MSGS_OCCUPANCY_GRID_DATATYPE:
         // flatten btn: set empty z values to be at the same level as the flattenedZHeightPose
         this._consumeOccupancyGrid(topic, message);
         break;
-      case POINT_CLOUD_DATATYPE:
+      case SUPPORTED_MARKER_DATATYPES.POINT_CLOUD_DATATYPE:
         this._consumeNonMarkerMessage(topic, message, 102);
         break;
-      case "sensor_msgs/LaserScan":
+      case SUPPORTED_MARKER_DATATYPES.SENSOR_MSGS_LASER_SCAN_DATATYPE:
         this._consumeNonMarkerMessage(topic, message, 104);
         break;
-      case "geometry_msgs/PolygonStamped": {
+      case SUPPORTED_MARKER_DATATYPES.GEOMETRY_MSGS_POLYGON_STAMPED_DATATYPE: {
         // convert Polygon to a line strip
         const { polygon } = message;
         if (polygon.points.length === 0) {
@@ -449,6 +498,7 @@ export default class SceneBuilder implements MarkerProvider {
 
     this.errors.topicsMissingFrameIds.delete(topic);
     this.errors.topicsMissingTransforms.delete(topic);
+    this.errors.topicsWithBadFrameIds.delete(topic);
     this.errors.topicsWithError.delete(topic);
     this.collectors[topic] = this.collectors[topic] || new MessageCollector();
     this.collectors[topic].setClock(this._clock);
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder/index.test.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder/index.test.js
index 13a4181ee..19c3bf9fb 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder/index.test.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder/index.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/ItemMap.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/ItemMap.js
new file mode 100644
index 000000000..f96e0f54e
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/ItemMap.js
@@ -0,0 +1,24 @@
+// @flow
+//
+//  Copyright (c) 2018-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import React from "react";
+
+import { SDisplayName } from "./ItemRow";
+import type { MapItem } from "./types";
+
+type Props = {|
+  ...MapItem,
+|};
+
+export default function ItemMap({ displayName }: Props) {
+  return (
+    <div>
+      <SDisplayName>{displayName}</SDisplayName>
+    </div>
+  );
+}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/ItemRow.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/ItemRow.js
new file mode 100644
index 000000000..10034da67
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/ItemRow.js
@@ -0,0 +1,50 @@
+// @flow
+//
+//  Copyright (c) 2018-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import React from "react";
+import styled from "styled-components";
+
+import { ITEM_TYPES } from "./constants";
+import ItemMap from "./ItemMap";
+import ItemTf from "./ItemTf";
+import ItemTopic from "./ItemTopic";
+import type { TopicRowItem } from "./types";
+import { colors } from "webviz-core/src/util/colors";
+
+const SItemRow = styled.div`
+  padding: 8px;
+  &:hover {
+    cursor: pointer;
+    background-color: ${colors.HOVER_BACKGROUND_COLOR};
+  }
+`;
+
+export const SDisplayName = styled.div`
+  color: ${colors.LIGHT};
+  font-size: 14px;
+  margin-bottom: 4px;
+`;
+
+export const SName = styled.div`
+  color: ${colors.LIGHT2};
+  font-size: 10px;
+`;
+
+type Props = {
+  item: TopicRowItem,
+};
+
+export default function ItemRow({ item }: Props) {
+  return (
+    <SItemRow>
+      {item.type === ITEM_TYPES.TOPIC && <ItemTopic {...item} />}
+      {item.type === ITEM_TYPES.MAP && <ItemMap {...item} />}
+      {item.type === ITEM_TYPES.TF && <ItemTf {...item} />}
+    </SItemRow>
+  );
+}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/ItemTf.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/ItemTf.js
new file mode 100644
index 000000000..a69a45cfa
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/ItemTf.js
@@ -0,0 +1,24 @@
+// @flow
+//
+//  Copyright (c) 2018-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import React from "react";
+
+import { SDisplayName } from "./ItemRow";
+import type { TfItem } from "./types";
+
+type Props = {|
+  ...TfItem,
+|};
+
+export default function ItemTf({ displayName }: Props) {
+  return (
+    <div>
+      <SDisplayName>{displayName}</SDisplayName>
+    </div>
+  );
+}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/ItemTopic.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/ItemTopic.js
new file mode 100644
index 000000000..67f9d0bf6
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/ItemTopic.js
@@ -0,0 +1,25 @@
+// @flow
+//
+//  Copyright (c) 2018-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import React from "react";
+
+import { SDisplayName, SName } from "./ItemRow";
+import type { TopicItem } from "./types";
+
+type Props = {|
+  ...TopicItem,
+|};
+
+export default function ItemTopic({ topicName, displayName }: Props) {
+  return (
+    <div>
+      <SDisplayName>{displayName}</SDisplayName>
+      {topicName !== displayName && <SName>{topicName}</SName>}
+    </div>
+  );
+}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/LayoutForTopicGroups.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/LayoutForTopicGroups.js
new file mode 100644
index 000000000..5fbb543d1
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/LayoutForTopicGroups.js
@@ -0,0 +1,648 @@
+// @flow
+//
+//  Copyright (c) 2018-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import CheckboxBlankOutlineIcon from "@mdi/svg/svg/checkbox-blank-outline.svg";
+import CheckboxMarkedIcon from "@mdi/svg/svg/checkbox-marked.svg";
+import { difference, isEqual } from "lodash";
+import React, {
+  type Node,
+  useMemo,
+  useRef,
+  useState,
+  useReducer,
+  useCallback,
+  useLayoutEffect,
+  useEffect,
+} from "react";
+import KeyListener from "react-key-listener";
+import {
+  PolygonBuilder,
+  DrawPolygons,
+  type CameraState,
+  type ReglClickInfo,
+  type MouseEventObject,
+  type Polygon,
+} from "regl-worldview";
+import { type Time } from "rosbag";
+
+import { Item } from "webviz-core/src/components/Menu";
+import { useShallowMemo } from "webviz-core/src/components/MessageHistory/hooks";
+import PanelToolbar from "webviz-core/src/components/PanelToolbar";
+import filterMap from "webviz-core/src/filterMap";
+import useGlobalVariables from "webviz-core/src/hooks/useGlobalVariables";
+import { getGlobalHooks } from "webviz-core/src/loadWebviz";
+import useDataSourceInfo from "webviz-core/src/PanelAPI/useDataSourceInfo";
+import DebugStats from "webviz-core/src/panels/ThreeDimensionalViz/DebugStats";
+import { POLYGON_TAB_TYPE, type DrawingTabType } from "webviz-core/src/panels/ThreeDimensionalViz/DrawingTools";
+import MeasuringTool, { type MeasureInfo } from "webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/MeasuringTool";
+import type { ThreeDimensionalVizConfig } from "webviz-core/src/panels/ThreeDimensionalViz/index";
+import { InteractionContextMenu } from "webviz-core/src/panels/ThreeDimensionalViz/Interactions";
+import useLinkedGlobalVariables from "webviz-core/src/panels/ThreeDimensionalViz/Interactions/useLinkedGlobalVariables";
+import styles from "webviz-core/src/panels/ThreeDimensionalViz/Layout.module.scss";
+import LayoutToolbar from "webviz-core/src/panels/ThreeDimensionalViz/LayoutToolbar";
+import LayoutTopicSettings from "webviz-core/src/panels/ThreeDimensionalViz/LayoutTopicSettings";
+import SceneBuilder from "webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder";
+import { getUpdatedGlobalVariablesBySelectedObject } from "webviz-core/src/panels/ThreeDimensionalViz/threeDimensionalVizUtils";
+import TopicSelector from "webviz-core/src/panels/ThreeDimensionalViz/TopicSelector";
+import { TOPIC_DISPLAY_MODES } from "webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicDisplayModeSelector";
+import treeBuilder from "webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/treeBuilder";
+import { canEditDatatype } from "webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor";
+import { getTopicConfig } from "webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils";
+import Transforms from "webviz-core/src/panels/ThreeDimensionalViz/Transforms";
+import TransformsBuilder from "webviz-core/src/panels/ThreeDimensionalViz/TransformsBuilder";
+import World from "webviz-core/src/panels/ThreeDimensionalViz/World";
+import type { Frame, Topic } from "webviz-core/src/players/types";
+import type { Extensions } from "webviz-core/src/reducers/extensions";
+import inScreenshotTests from "webviz-core/src/stories/inScreenshotTests";
+import type { SaveConfig } from "webviz-core/src/types/panels";
+import { videoRecordingMode } from "webviz-core/src/util/inAutomatedRunMode";
+import { topicsByTopicName } from "webviz-core/src/util/selectors";
+
+type EventName = "onDoubleClick" | "onMouseMove" | "onMouseDown" | "onMouseUp";
+export type ClickedPosition = { clientX: number, clientY: number };
+
+export type LayoutToolbarSharedProps = {|
+  cameraState: $Shape<CameraState>,
+  followOrientation: boolean,
+  followTf?: string | false,
+  onAlignXYAxis: () => void,
+  onCameraStateChange: (CameraState) => void,
+  onFollowChange: (followTf?: string | false, followOrientation?: boolean) => void,
+  saveConfig: SaveConfig<ThreeDimensionalVizConfig>,
+  transforms: Transforms,
+  isPlaying?: boolean,
+|};
+
+export type LayoutTopicSettingsSharedProps = {|
+  transforms: Transforms,
+  topics: Topic[],
+  saveConfig: SaveConfig<ThreeDimensionalVizConfig>,
+|};
+
+type Props = {|
+  ...LayoutToolbarSharedProps,
+  ...LayoutTopicSettingsSharedProps,
+  children?: Node,
+  cleared?: boolean,
+  currentTime: Time,
+  extensions: Extensions,
+  frame?: Frame,
+  helpContent: Node | string,
+  isPlaying?: boolean,
+  config: ThreeDimensionalVizConfig,
+  saveConfig: SaveConfig<ThreeDimensionalVizConfig>,
+  setSubscriptions: (subscriptions: string[]) => void,
+  topics: Topic[],
+  transforms: Transforms,
+|};
+
+type SelectedObjectState = {
+  clickedPosition: ClickedPosition,
+  selectedObject: ?MouseEventObject, // to be set when clicked a single object or selected one of the clicked topics from the context menu
+  selectedObjects: MouseEventObject[],
+};
+
+export type EditTopicState = { tooltipPosX: number, topic: Topic };
+
+export default function LayoutForTopicGroups({
+  cameraState,
+  children,
+  cleared,
+  currentTime,
+  extensions,
+  followOrientation,
+  followTf,
+  frame,
+  helpContent,
+  isPlaying,
+  onAlignXYAxis,
+  onCameraStateChange,
+  onFollowChange,
+  saveConfig,
+  topics,
+  transforms,
+  setSubscriptions,
+  config: {
+    autoTextBackgroundColor,
+    expandedNodes,
+    checkedNodes,
+    flattenMarkers,
+    modifiedNamespaceTopics,
+    pinTopics,
+    selectedPolygonEditFormat = "yaml",
+    showCrosshair,
+    topicDisplayMode = TOPIC_DISPLAY_MODES.SHOW_TREE.value,
+    topicSettings,
+  },
+}: Props) {
+  // toggle visibility on topics by temporarily storing a list of hidden topics on the state
+  const [hiddenTopics, setHiddenTopics] = useState([]);
+
+  const { topicConfig, newCheckedNodes } = useMemo(
+    () =>
+      getTopicConfig({
+        checkedNodes,
+        topicDisplayMode,
+        topics,
+        // $FlowFixMe
+        supportedMarkerDatatypes: Object.values(
+          getGlobalHooks().perPanelHooks().ThreeDimensionalViz.SUPPORTED_MARKER_DATATYPES
+        ),
+      }),
+    [checkedNodes, topicDisplayMode, topics]
+  );
+
+  // update open source checked nodes
+  useLayoutEffect(
+    () => {
+      const isOpenSource = checkedNodes.length === 1 && checkedNodes[0] === "name:Topics" && topics.length;
+      if (isOpenSource) {
+        saveConfig(
+          { checkedNodes: isOpenSource ? checkedNodes.concat(topics.map((t) => t.name)) : checkedNodes },
+          { keepLayoutInUrl: true }
+        );
+      }
+    },
+    [checkedNodes, saveConfig, topics]
+  );
+
+  useLayoutEffect(
+    () => {
+      if (!isEqual(checkedNodes.sort(), newCheckedNodes.sort())) {
+        saveConfig({ checkedNodes: newCheckedNodes });
+      }
+    },
+    [checkedNodes, newCheckedNodes, saveConfig]
+  );
+
+  const { linkedGlobalVariables } = useLinkedGlobalVariables();
+  const { globalVariables, setGlobalVariables } = useGlobalVariables();
+  const [debug, setDebug] = useState(false);
+  const [editTopicState, setEditTopicState] = useState<?EditTopicState>(null);
+  const [polygonBuilder, setPolygonBuilder] = useState(() => new PolygonBuilder());
+  // use hideTopicTreeCount to trigger auto hide topic tree when clicked outside of the topic tree
+  const [hideTopicTreeCount, setHideTopicTreeCount] = useState(0);
+  // debounced filterText which will trigger auto creation of a new topic tree
+  const [filterText, setFilterText] = useState("");
+  const [measureInfo, setMeasureInfo] = useState<MeasureInfo>({
+    measureState: "idle",
+    measurePoints: { start: null, end: null },
+  });
+
+  const [_, forceUpdate] = useReducer((x) => x + 1, 0); // used for updating DrawPolygon during mouse move
+  const wrapperRef = useRef<?HTMLDivElement>(null);
+  const measuringElRef = useRef<?MeasuringTool>(null);
+  const [drawingTabType, setDrawingTabType] = useState<?DrawingTabType>(null);
+  const [selectedObjectState, setSelectedObjectState] = useState<?SelectedObjectState>(null);
+  const selectedObject = selectedObjectState && selectedObjectState.selectedObject;
+
+  // If topic settings are changing rapidly, such as when dragging a slider or color picker,
+  // the topicSettings will change, but we don't want to rebuild the tree each time so we
+  // check for shallow equality on the list of edited topics.
+  const editedTopics = useShallowMemo(
+    useMemo(() => Object.keys(topicSettings).filter((settingKey) => Object.keys(topicSettings[settingKey]).length), [
+      topicSettings,
+    ])
+  );
+
+  useLayoutEffect(
+    () => {
+      if (!selectedObject) {
+        return;
+      }
+      const newGlobalVariables = getUpdatedGlobalVariablesBySelectedObject(selectedObject, linkedGlobalVariables);
+      if (newGlobalVariables) {
+        setGlobalVariables(newGlobalVariables);
+      }
+    },
+    // eslint-disable-next-line react-hooks/exhaustive-deps, only update global variables when selectedObject changes
+    [selectedObject]
+  );
+
+  // initialize the SceneBuilder and TransformsBuilder
+  const { sceneBuilder, transformsBuilder } = useMemo(
+    () => ({
+      sceneBuilder: new SceneBuilder(),
+      transformsBuilder: new TransformsBuilder(),
+    }),
+    []
+  );
+  const defaultTree = useMemo(
+    () =>
+      treeBuilder({
+        checkedNodes,
+        expandedNodes: [],
+        modifiedNamespaceTopics: [],
+        namespaces: [],
+        topics,
+        transforms: transforms.values(),
+        topicDisplayMode,
+        topicConfig,
+      }),
+    //eslint-disable-next-line react-hooks/exhaustive-deps, only need to build once
+    []
+  );
+  const topicTreeRef = useRef(defaultTree);
+  // sceneBuilder relies on topic tree selection; topic tree selection also relies on sceneBuilder namespaces.
+  // useLayoutEffect will update the topic tree and selections, which in turn re-triggers rendering of the topic tree.
+  const [selections, setSelections] = useState(() => topicTreeRef.current.getSelections());
+
+  // update subscriptions whenever selected topics change, use deep compare to prevent updating when expanding/collapsing topics
+  const memoizedSelectedTopics = useShallowMemo(selections.topics);
+  useEffect(() => setSubscriptions(memoizedSelectedTopics), [memoizedSelectedTopics, setSubscriptions]);
+
+  // use the selection to decide which topics to render in SceneBuilder
+  const checkedVisibleTopicNames = useMemo(() => difference(memoizedSelectedTopics, hiddenTopics), [
+    hiddenTopics,
+    memoizedSelectedTopics,
+  ]);
+
+  // Use isEqual compare to update only when the extensions actually changed: the topic selector emits a new list of extensions
+  // every time someone expands/collapses a node or types in the selection box...so if we don't check for
+  // item equality here we end up re-rendering the map significantly more than we need to.
+  const memoizedExtensions = useShallowMemo(selections.extensions);
+
+  const { playerId } = useDataSourceInfo();
+
+  useMemo(
+    () => {
+      // TODO(Audrey): add tests for the clearing behavior
+      if (cleared) {
+        sceneBuilder.clear();
+      }
+      if (!frame) {
+        return;
+      }
+      const rootTfID = transforms.rootOfTransform(
+        followTf || getGlobalHooks().perPanelHooks().ThreeDimensionalViz.rootTransformFrame
+      ).id;
+
+      sceneBuilder.setPlayerId(playerId);
+      sceneBuilder.setTransforms(transforms, rootTfID);
+      sceneBuilder.setFlattenMarkers(!!flattenMarkers);
+      // toggle scene builder namespaces based on selected namespace nodes in the tree
+      sceneBuilder.setEnabledNamespaces(selections.namespaces);
+      sceneBuilder.setTopicSettings(topicSettings);
+
+      // toggle scene builder topics based on selected topic nodes in the tree
+      const topicsByName = topicsByTopicName(topics);
+      const checkedVisibleTopics = filterMap(checkedVisibleTopicNames, (name) => topicsByName[name]);
+
+      sceneBuilder.setTopics(checkedVisibleTopics);
+      sceneBuilder.setGlobalVariables(globalVariables);
+      sceneBuilder.setFrame(frame);
+      sceneBuilder.setCurrentTime(currentTime);
+      sceneBuilder.render();
+
+      // update the transforms and set the selected ones to render
+      transformsBuilder.setTransforms(transforms, rootTfID);
+      const tfSelections = memoizedExtensions.filter((ex) => ex.startsWith("TF")).map((ex) => ex.substr("TF.".length));
+      transformsBuilder.setSelectedTransforms(tfSelections);
+    },
+    [
+      cleared,
+      frame,
+      transforms,
+      followTf,
+      sceneBuilder,
+      playerId,
+      flattenMarkers,
+      selections.namespaces,
+      topicSettings,
+      topics,
+      checkedVisibleTopicNames,
+      globalVariables,
+      currentTime,
+      transformsBuilder,
+      memoizedExtensions,
+    ]
+  );
+
+  const transformCount = transforms.values().length;
+  useEffect(
+    () => {
+      topicTreeRef.current = treeBuilder({
+        topics,
+        namespaces: sceneBuilder.allNamespaces,
+        checkedNodes,
+        expandedNodes,
+        modifiedNamespaceTopics,
+        transforms: transforms.values(),
+        editedTopics,
+        canEditDatatype,
+        filterText,
+        topicDisplayMode,
+        topicConfig,
+      });
+      // trigger another render
+      setSelections(topicTreeRef.current.getSelections());
+    },
+    // eslint-disable-next-line react-hooks/exhaustive-deps, instead of trigger change on transforms, we need to use transforms.values().length
+    [
+      checkedNodes,
+      editedTopics,
+      expandedNodes,
+      filterText,
+      modifiedNamespaceTopics,
+      sceneBuilder.allNamespaces,
+      topics,
+      transformCount,
+      topicConfig,
+      topicDisplayMode,
+    ]
+  );
+
+  const handleDrawPolygons = useCallback(
+    (eventName: EventName, ev: MouseEvent, args: ?ReglClickInfo) => {
+      polygonBuilder[eventName](ev, args);
+      forceUpdate();
+    },
+    [polygonBuilder]
+  );
+
+  // use callbackInputsRef to prevent unnecessary callback changes
+  const callbackInputsRef = useRef({
+    cameraState,
+    debug,
+    drawingTabType,
+    editTopicState,
+    handleDrawPolygons,
+    saveConfig,
+    selectedObjectState,
+    hideTopicTreeCount,
+    topics,
+  });
+  callbackInputsRef.current = {
+    cameraState,
+    debug,
+    drawingTabType,
+    editTopicState,
+    handleDrawPolygons,
+    saveConfig,
+    selectedObjectState,
+    hideTopicTreeCount,
+    topics,
+  };
+
+  const handleEvent = useCallback((eventName: EventName, ev: MouseEvent, args: ?ReglClickInfo) => {
+    if (!args) {
+      return;
+    }
+    const {
+      drawingTabType: currentDrawingTabType,
+      handleDrawPolygons: currentHandleDrawPolygons,
+    } = callbackInputsRef.current;
+    // $FlowFixMe get around index signature error
+    const measuringHandler = measuringElRef.current && measuringElRef.current[eventName];
+    const measureActive = measuringElRef.current && measuringElRef.current.measureActive;
+    if (measuringHandler && measureActive) {
+      return measuringHandler(ev, args);
+    } else if (currentDrawingTabType === POLYGON_TAB_TYPE) {
+      currentHandleDrawPolygons(eventName, ev, args);
+    }
+  }, []);
+
+  const {
+    onClick,
+    onDoubleClick,
+    onMouseDown,
+    onMouseMove,
+    onMouseUp,
+    onClearSelectedObject,
+    onControlsOverlayClick,
+    onEditClick,
+    onSelectObject,
+    onSetPolygons,
+    toggleCameraMode,
+    toggleDebug,
+  } = useMemo(
+    () => {
+      return {
+        onClick: (ev: MouseEvent, args: ?ReglClickInfo) => {
+          const selectedObjects = (args && args.objects) || [];
+          const clickedPosition = { clientX: ev.clientX, clientY: ev.clientY };
+          if (selectedObjects.length === 0) {
+            setSelectedObjectState(null);
+          } else if (selectedObjects.length === 1) {
+            // select the object directly if there is only one
+            setSelectedObjectState({ selectedObject: selectedObjects[0], selectedObjects, clickedPosition });
+          } else {
+            // open up context menu to select one object to show details
+            setSelectedObjectState({ selectedObject: null, selectedObjects, clickedPosition });
+          }
+        },
+        onControlsOverlayClick: (ev: SyntheticMouseEvent<HTMLDivElement>) => {
+          if (!wrapperRef.current) {
+            return;
+          }
+          const target = ((ev.target: any): HTMLElement);
+          //only close if the click target is inside the panel, e.g. don't close when dropdown menus rendered in portals are clicked
+          if (wrapperRef.current.contains(target)) {
+            setHideTopicTreeCount((callbackInputsRef.current.hideTopicTreeCount + 1) % 100);
+          }
+        },
+        onDoubleClick: (ev: MouseEvent, args: ?ReglClickInfo) => handleEvent("onDoubleClick", ev, args),
+        onMouseDown: (ev: MouseEvent, args: ?ReglClickInfo) => handleEvent("onMouseDown", ev, args),
+        onMouseMove: (ev: MouseEvent, args: ?ReglClickInfo) => handleEvent("onMouseMove", ev, args),
+        onMouseUp: (ev: MouseEvent, args: ?ReglClickInfo) => handleEvent("onMouseUp", ev, args),
+        onClearSelectedObject: () => setSelectedObjectState(null),
+        // clicking on the body should hide any edit tip
+        onEditClick: (ev: SyntheticMouseEvent<HTMLElement>, topic: string) => {
+          const { editTopicState: currentEditTopicState, topics: currentTopics } = callbackInputsRef.current;
+          // if the same icon is clicked again, close the popup
+          const existingEditTopic = (currentEditTopicState && currentEditTopicState.topic.name) || undefined;
+          if (topic === existingEditTopic) {
+            setEditTopicState(null);
+            return;
+          }
+
+          if (!wrapperRef.current) {
+            return;
+          }
+          const panelRect = wrapperRef.current.getBoundingClientRect();
+          const editBtnRect = ev.currentTarget.getBoundingClientRect();
+          const newEditTopic = currentTopics.find((t) => t.name === topic);
+          if (!newEditTopic) {
+            return;
+          }
+          setEditTopicState({
+            tooltipPosX: Math.ceil(editBtnRect.right - panelRect.left + 5),
+            topic: newEditTopic,
+          });
+        },
+        onSelectObject: (selectedObj: MouseEventObject) =>
+          setSelectedObjectState({ ...callbackInputsRef.current.selectedObjectState, selectedObj }),
+        onSetPolygons: (polygons: Polygon[]) => setPolygonBuilder(new PolygonBuilder(polygons)),
+        toggleDebug: () => setDebug(!callbackInputsRef.current.debug),
+        toggleCameraMode: () => {
+          const { cameraState: currentCameraState, saveConfig: currentSaveConfig } = callbackInputsRef.current;
+          currentSaveConfig({ cameraState: { ...currentCameraState, perspective: !currentCameraState.perspective } });
+          if (measuringElRef.current && currentCameraState.perspective) {
+            measuringElRef.current.reset();
+          }
+        },
+      };
+    },
+    [handleEvent]
+  );
+
+  const onSetFlattenMarkers = useCallback(() => saveConfig({ flattenMarkers: !flattenMarkers }), [
+    flattenMarkers,
+    saveConfig,
+  ]);
+
+  const keyDownHandlers = useMemo(
+    () => ({
+      "3": () => {
+        toggleCameraMode();
+      },
+      Escape: () => {
+        setDrawingTabType(null);
+      },
+    }),
+    [toggleCameraMode]
+  );
+
+  const isDrawing = useMemo(
+    () => (measuringElRef.current && measuringElRef.current.measureActive) || drawingTabType === POLYGON_TAB_TYPE,
+    [drawingTabType]
+  );
+
+  const markerProviders = useMemo(() => extensions.markerProviders.concat([sceneBuilder, transformsBuilder]), [
+    extensions.markerProviders,
+    sceneBuilder,
+    transformsBuilder,
+  ]);
+
+  const cursorType = isDrawing ? "crosshair" : "";
+
+  const { MapComponent, videoRecordingStyle } = useMemo(
+    () => ({
+      MapComponent: getGlobalHooks().perPanelHooks().ThreeDimensionalViz.MapComponent,
+      videoRecordingStyle: { visibility: videoRecordingMode() ? "hidden" : "visible" },
+    }),
+    []
+  );
+
+  const memoizedScene = useShallowMemo(sceneBuilder.getScene());
+  const mapElement = useMemo(
+    () =>
+      MapComponent && (
+        <MapComponent
+          extensions={memoizedExtensions}
+          scene={memoizedScene}
+          debug={debug}
+          perspective={!!cameraState.perspective}
+        />
+      ),
+    [MapComponent, cameraState.perspective, debug, memoizedExtensions, memoizedScene]
+  );
+
+  return (
+    <div className={styles.container} ref={wrapperRef} style={{ cursor: cursorType }} onClick={onControlsOverlayClick}>
+      <KeyListener keyDownHandlers={keyDownHandlers} />
+      <PanelToolbar
+        floating
+        helpContent={helpContent}
+        menuContent={
+          <Item
+            tooltip="Markers with 0 as z-value in pose or points are updated to have the z-value of the flattened frame (default to the car)."
+            icon={flattenMarkers ? <CheckboxMarkedIcon /> : <CheckboxBlankOutlineIcon />}
+            onClick={onSetFlattenMarkers}>
+            Flatten markers
+          </Item>
+        }
+      />
+      <div style={videoRecordingStyle}>
+        <TopicSelector
+          autoTextBackgroundColor={!!autoTextBackgroundColor}
+          checkedNodes={checkedNodes}
+          editedTopics={editedTopics}
+          expandedNodes={expandedNodes}
+          hideTopicTreeCount={hideTopicTreeCount}
+          modifiedNamespaceTopics={modifiedNamespaceTopics}
+          namespaces={sceneBuilder.allNamespaces}
+          onEditClick={onEditClick}
+          onTopicSearchChange={setFilterText}
+          pinTopics={pinTopics}
+          saveConfig={saveConfig}
+          sceneErrors={sceneBuilder.errors}
+          tree={topicTreeRef.current}
+          topicDisplayMode={topicDisplayMode}
+          hiddenTopics={hiddenTopics}
+          setHiddenTopics={setHiddenTopics}
+        />
+        <LayoutTopicSettings
+          saveConfig={saveConfig}
+          topics={topics}
+          transforms={transforms}
+          sceneBuilder={sceneBuilder}
+          topicSettings={topicSettings}
+          setEditTopicState={setEditTopicState}
+          editTopicState={editTopicState}
+        />
+      </div>
+      <div className={styles.world}>
+        <World
+          autoTextBackgroundColor={!!autoTextBackgroundColor}
+          cameraState={cameraState}
+          isPlaying={!!isPlaying}
+          markerProviders={markerProviders}
+          onCameraStateChange={onCameraStateChange}
+          onClick={onClick}
+          onDoubleClick={onDoubleClick}
+          onMouseDown={onMouseDown}
+          onMouseMove={onMouseMove}
+          onMouseUp={onMouseUp}>
+          {mapElement}
+          {children}
+          <DrawPolygons>{polygonBuilder.polygons}</DrawPolygons>
+          <div style={videoRecordingStyle}>
+            <LayoutToolbar
+              cameraState={cameraState}
+              debug={debug}
+              drawingTabType={drawingTabType}
+              followOrientation={followOrientation}
+              followTf={followTf}
+              interactionData={selectedObject && selectedObject.object && selectedObject.object.interactionData}
+              isDrawing={isDrawing}
+              isPlaying={isPlaying}
+              measureInfo={measureInfo}
+              measuringElRef={measuringElRef}
+              onAlignXYAxis={onAlignXYAxis}
+              onCameraStateChange={onCameraStateChange}
+              onClearSelectedObject={onClearSelectedObject}
+              onFollowChange={onFollowChange}
+              onSetDrawingTabType={setDrawingTabType}
+              onSetPolygons={onSetPolygons}
+              onToggleCameraMode={toggleCameraMode}
+              onToggleDebug={toggleDebug}
+              polygonBuilder={polygonBuilder}
+              saveConfig={saveConfig}
+              selectedObject={selectedObject}
+              selectedPolygonEditFormat={selectedPolygonEditFormat}
+              setMeasureInfo={setMeasureInfo}
+              showCrosshair={showCrosshair}
+              transforms={transforms}
+            />
+          </div>
+          {selectedObjectState &&
+            selectedObjectState.selectedObjects.length > 1 &&
+            !selectedObjectState.selectedObject && (
+              <InteractionContextMenu
+                clickedPosition={selectedObjectState.clickedPosition}
+                onSelectObject={onSelectObject}
+                selectedObjects={selectedObjectState.selectedObjects}
+              />
+            )}
+          {process.env.NODE_ENV !== "production" && !inScreenshotTests() && debug && <DebugStats />}
+        </World>
+      </div>
+    </div>
+  );
+}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroup.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroup.js
new file mode 100644
index 000000000..7498073c7
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroup.js
@@ -0,0 +1,53 @@
+// @flow
+//
+//  Copyright (c) 2018-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import React from "react";
+import styled from "styled-components";
+
+import ItemRow from "./ItemRow";
+import type { TopicGroupType } from "./types";
+import { colors } from "webviz-core/src/util/colors";
+
+const STopicGroup = styled.div`
+  padding: 4px 0px;
+`;
+const STopicGroupHeader = styled.div`
+  display: flex;
+  flex-direction: row;
+  align-items: center;
+  padding: 4px 8px;
+`;
+const STopicGroupBody = styled.div``;
+
+const STopicGroupName = styled.div`
+  font-size: 16px;
+  color: ${colors.YELLOWL1};
+  flex: 1;
+`;
+
+type Props = {
+  topicGroup: TopicGroupType,
+};
+
+export default function TopicGroup({ topicGroup: { displayName, expanded, items } }: Props) {
+  return (
+    <STopicGroup>
+      <STopicGroupHeader>
+        <STopicGroupName>{displayName}</STopicGroupName>
+      </STopicGroupHeader>
+      {expanded && (
+        <STopicGroupBody>
+          {!items.length && <div>There are no items in this group. Add one</div>}
+          {items.map((item) => (
+            <ItemRow item={item} key={item.id} />
+          ))}
+        </STopicGroupBody>
+      )}
+    </STopicGroup>
+  );
+}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroups.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroups.js
new file mode 100644
index 000000000..5124d50a8
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroups.js
@@ -0,0 +1,45 @@
+// @flow
+//
+//  Copyright (c) 2018-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import React from "react";
+import styled from "styled-components";
+
+import TopicGroup from "./TopicGroup";
+import type { TopicGroupsType } from "./types";
+import { colors } from "webviz-core/src/util/colors";
+
+const STopicGroups = styled.div`
+  color: ${colors.TEXTL1};
+  border-radius: 8px;
+  padding-top: 8px;
+  background-color: ${colors.TOOLBAR};
+`;
+
+const SMutedText = styled.div`
+  color: ${colors.GRAY};
+  line-height: 1.4;
+  margin: 8px 12px;
+`;
+
+type Props = {
+  topicGroups: TopicGroupsType,
+};
+
+export default function TopicGroups({ topicGroups }: Props) {
+  return (
+    <STopicGroups>
+      <SMutedText>
+        Topic Group Management is an experimental feature under active development. You can use the existing topic tree
+        by setting <b>Always off</b> from the Experimental Features menu.
+      </SMutedText>
+      {topicGroups.map((topicGroup) => (
+        <TopicGroup key={topicGroup.id} topicGroup={topicGroup} />
+      ))}
+    </STopicGroups>
+  );
+}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/constants.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/constants.js
new file mode 100644
index 000000000..f6e0f7c2c
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/constants.js
@@ -0,0 +1,15 @@
+// @flow
+//
+//  Copyright (c) 2018-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+export const ITEM_TYPES = {
+  TF: "TF",
+  MAP: "MAP",
+  TOPIC: "TOPIC",
+};
+
+export const EXPERIMENTAL_FEATURES_STORAGE_KEY = "topicGrouping";
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/index.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/index.js
new file mode 100644
index 000000000..d0cb58bda
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/index.js
@@ -0,0 +1,11 @@
+// @flow
+//
+//  Copyright (c) 2018-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import TopicGroups from "./TopicGroups";
+
+export default TopicGroups;
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsUtils.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsUtils.js
new file mode 100644
index 000000000..df3480180
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsUtils.js
@@ -0,0 +1,95 @@
+// @flow
+//
+//  Copyright (c) 2018-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { omit, flatten } from "lodash";
+import microMemoize from "micro-memoize";
+
+import type { TopicRowItemConfig, TopicRowItem, TopicGroupConfig, TopicGroupType } from "./types";
+import { getGlobalHooks } from "webviz-core/src/loadWebviz";
+import { type TopicConfig } from "webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/topicTree";
+
+type DisplayNameMap = { [uniqueName: string]: string };
+
+export const TOPIC_CONFIG = getGlobalHooks()
+  .perPanelHooks()
+  .ThreeDimensionalViz.getDefaultTopicTree();
+
+// generate individual TopicRowItem by config
+// TODO(Audrey): add settings, data sourceBadges and differentiate between selected/unselected and enabled/disabled
+export function getItem(config: TopicRowItemConfig, id: string, mappedDisplayName: ?string): ?TopicRowItem {
+  switch (config.type) {
+    case "TOPIC":
+      return { ...config, id, displayName: mappedDisplayName || config.topicName, disableMultiSelection: false };
+    case "TF":
+      return { ...config, id, displayName: mappedDisplayName || config.tfId, disableMultiSelection: true };
+    case "MAP":
+      return { ...config, id, displayName: mappedDisplayName || config.mapId, disableMultiSelection: true };
+    default:
+  }
+}
+
+// generate topicGroups data for the UI
+export function getTopicGroupsByConfig(
+  groupsConfig: TopicGroupConfig[],
+  displayNameMap: DisplayNameMap
+): TopicGroupType[] {
+  return groupsConfig.map(({ displayName, selected, expanded, items = [] }, idx) => {
+    const id = `${displayName}_${idx}`;
+    return {
+      id,
+      displayName,
+      selected,
+      expanded,
+      items: items
+        .map((itemConfig, idx1) => {
+          // $FlowFixMe  don't need to check each type to get the displayNameKey
+          const displayNameKey: ?string = itemConfig.topicName || itemConfig.mapId;
+          const mappedDisplayName = displayNameKey ? displayNameMap[displayNameKey] : null;
+          return getItem(itemConfig, `${id}_${idx1}`, mappedDisplayName);
+        })
+        .filter(Boolean),
+    };
+  });
+}
+
+// traverse the tree and flatten the children items in the topicConfig
+function* flattenItem(item: TopicConfig, name: string) {
+  const childrenItems = item.children;
+  // extensions or leaf nodes
+  if (!childrenItems || item.extension) {
+    // remove children before adding a new node for extensions, otherwise add the node directly
+    yield { ...omit(item, "children"), name };
+  }
+  if (childrenItems) {
+    for (const subItem of childrenItems) {
+      let subItemName = `${name} / ${subItem.name || ""}`;
+      if (!subItem.name && subItem.topic) {
+        subItemName = name;
+      }
+      yield* flattenItem(subItem, subItemName);
+    }
+  }
+}
+// memoize the flattened nodes since it only needs to be computed once
+export const getFlattenedTreeNodes = microMemoize((topicConfig) => {
+  return flatten(topicConfig.children.map((item) => Array.from(flattenItem(item, item.name || ""))));
+});
+
+// generate a map based on topicTree config, so we can map a topicName or map id to a preconfigured name
+export const buildItemDisplayNameMap = microMemoize(
+  (topicConfig: ?TopicConfig): DisplayNameMap => {
+    const flattenedTopicNodes = getFlattenedTreeNodes(topicConfig || TOPIC_CONFIG);
+    return flattenedTopicNodes.reduce((memo, node) => {
+      const key = node.topic || node.extension;
+      if (key) {
+        memo[key] = node.name;
+      }
+      return memo;
+    }, {});
+  }
+);
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsUtils.test.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsUtils.test.js
new file mode 100644
index 000000000..6829317a1
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsUtils.test.js
@@ -0,0 +1,83 @@
+// @flow
+//
+//  Copyright (c) 2018-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { buildItemDisplayNameMap } from "./topicGroupsUtils";
+
+jest.mock("webviz-core/src/loadWebviz", () => ({
+  getGlobalHooks: () => ({
+    perPanelHooks: () => ({
+      ThreeDimensionalViz: {
+        getDefaultTopicTree: () => ({
+          name: "root",
+          children: [
+            {
+              name: "Ext A",
+              extension: "ExtA.a",
+              children: [
+                {
+                  name: "Ext B",
+                  extension: "ExtB.b",
+                },
+                {
+                  name: "Ext C",
+                  extension: "ExtC.c",
+                },
+              ],
+            },
+            {
+              name: "Some Topic in JSON Tree",
+              topic: "/topic_in_json_tree",
+            },
+            {
+              name: "TF",
+              children: [],
+              description: "Visualize relationships between /tf frames.",
+            },
+            {
+              name: "Nested Group",
+              children: [
+                {
+                  name: "Topic A",
+                  topic: "/topic_a",
+                },
+                {
+                  name: "Topic B",
+                  topic: "/topic_b",
+                },
+                {
+                  name: "Deeply Nested Group",
+                  children: [{ topic: "/topic_c" }],
+                },
+                {
+                  topic: "/topic_d",
+                },
+              ],
+            },
+          ],
+        }),
+      },
+    }),
+  }),
+}));
+
+describe("topicGroupUtils", () => {
+  describe("buildItemDisplayNameMap", () => {
+    it("maps extension and topic to displayName", () => {
+      expect(buildItemDisplayNameMap()).toEqual({
+        "/topic_a": "Nested Group / Topic A",
+        "/topic_b": "Nested Group / Topic B",
+        "/topic_c": "Nested Group / Deeply Nested Group",
+        "/topic_d": "Nested Group",
+        "/topic_in_json_tree": "Some Topic in JSON Tree",
+        "ExtA.a": "Ext A",
+        "ExtB.b": "Ext A / Ext B",
+        "ExtC.c": "Ext A / Ext C",
+      });
+    });
+  });
+});
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/types.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/types.js
new file mode 100644
index 000000000..8294af285
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/types.js
@@ -0,0 +1,83 @@
+// @flow
+//
+//  Copyright (c) 2018-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { ITEM_TYPES } from "./constants";
+
+export type ItemType = $Keys<typeof ITEM_TYPES>;
+export const VALID_ITEM_TYPES: Set<ItemType> = new Set(Object.keys(ITEM_TYPES));
+
+// ------- config related types -----------
+type SettingsBySource = {
+  overrideColor?: string,
+  overrideCommand?: string,
+};
+type VisibilityBySource = { [topicPrefix: string]: boolean };
+type HiddenNamespacesBySource = { [topicPrefix: string]: string[] };
+type NodeConfigCommon = {|
+  // add displayName later
+  visibilityBySource?: VisibilityBySource,
+|};
+export type TfItemConfig = {|
+  ...NodeConfigCommon,
+  type: "TF",
+  tfId: string,
+|};
+export type MapItemConfig = {|
+  ...NodeConfigCommon,
+  type: "MAP",
+  mapId: string,
+|};
+export type TopicItemConfig = {|
+  ...NodeConfigCommon,
+  type: "TOPIC",
+  topicName: string,
+  settingsBySource?: SettingsBySource,
+  hiddenNamespacesBySource?: HiddenNamespacesBySource,
+  defaultAvailableNamespaces?: string[],
+|};
+export type TopicRowItemConfig = TfItemConfig | MapItemConfig | TopicItemConfig;
+type TopicGroupConfigCommon = {|
+  displayName: string,
+  selected: boolean,
+  expanded: boolean,
+|};
+export type TopicGroupConfig = {|
+  ...TopicGroupConfigCommon,
+  items: TopicRowItemConfig[],
+|};
+
+// ------- types derived from config -----------
+type TopicRowItemCommon = {|
+  visibilityBySource: VisibilityBySource,
+  // derived fields
+  displayName: string,
+  id: string,
+  disableMultiSelection: boolean,
+|};
+export type TfItem = {|
+  ...TopicRowItemCommon,
+  ...TfItemConfig,
+|};
+export type MapItem = {|
+  ...TopicRowItemCommon,
+  ...MapItemConfig,
+|};
+export type TopicItem = {|
+  ...TopicRowItemCommon,
+  ...TopicItemConfig,
+|};
+
+export type TopicRowItem = TfItem | MapItem | TopicItem;
+export type TopicGroupType = {|
+  ...TopicGroupConfigCommon,
+  // derived fields
+  id: string,
+  items: TopicRowItem[],
+|};
+
+export type TopicGroupsType = TopicGroupType[];
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicDisplayModeSelector.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicDisplayModeSelector.js
index fbb7a6bc7..b91b02017 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicDisplayModeSelector.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicDisplayModeSelector.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorFlatList.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorFlatList.js
index 65816eda2..28a606f70 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorFlatList.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorFlatList.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorMenu.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorMenu.js
index 2543e86d7..05e4ba6fa 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorMenu.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorMenu.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorTree.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorTree.js
index 7813c4efb..58d339241 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorTree.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorTree.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorWrapper.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorWrapper.js
index 0b734cd3b..444e01029 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorWrapper.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicSelectorWrapper.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/index.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/index.js
index 999d76784..1b1251871 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/index.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/topicTree.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/topicTree.js
index dd3296ee3..3831a74b5 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/topicTree.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/topicTree.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/treeBuilder.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/treeBuilder.js
index 93adca7ae..7d838a361 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/treeBuilder.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/treeBuilder.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -239,8 +239,8 @@ export class TopicTreeNode {
       topics,
     } = props;
     // Wrapper to help handle nodes that were checked under an old-style id.
-    const containsThisNode = (ids: string[]) => {
-      return ids.includes(this.id) || this.legacyIds.some((id) => ids.includes(id));
+    const containsThisNode = (nodeIds: string[]) => {
+      return nodeIds.includes(this.id) || this.legacyIds.some((id) => nodeIds.includes(id));
     };
 
     this.expanded = containsThisNode(expandedNodes);
@@ -450,7 +450,7 @@ export default function buildTree({
     if (!icon) {
       return;
     }
-    let node = rootNode.find((node) => node.topic === topic.name);
+    let node = rootNode.find((foundNode) => foundNode.topic === topic.name);
     // enable the existing node if it exists
     if (node) {
       node.disabled = false;
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/LaserScanSettingsEditor.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/LaserScanSettingsEditor.js
index 0df9ac349..859bcee13 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/LaserScanSettingsEditor.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/LaserScanSettingsEditor.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/MarkerSettingsEditor.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/MarkerSettingsEditor.js
index 340b40276..8dfcb6e05 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/MarkerSettingsEditor.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/MarkerSettingsEditor.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/PointCloudSettingsEditor.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/PointCloudSettingsEditor.js
index be204af76..173718afd 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/PointCloudSettingsEditor.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/PointCloudSettingsEditor.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -71,9 +71,9 @@ export default function PointCloudSettingsEditor(props: TopicSettingsEditorProps
 
   const onColorModeChange = useCallback(
     (newValue: ?ColorMode | ((?ColorMode) => ?ColorMode)) => {
-      onSettingsChange((settings) => ({
-        ...settings,
-        colorMode: typeof newValue === "function" ? newValue(settings.colorMode) : newValue,
+      onSettingsChange((newSettings) => ({
+        ...newSettings,
+        colorMode: typeof newValue === "function" ? newValue(newSettings.colorMode) : newValue,
       }));
     },
     [onSettingsChange]
@@ -97,11 +97,12 @@ export default function PointCloudSettingsEditor(props: TopicSettingsEditorProps
         <SegmentedControl
           selectedId={colorMode.mode === "flat" ? "flat" : "data"}
           onChange={(id) =>
-            onColorModeChange((colorMode) =>
+            onColorModeChange((newColorMode) =>
               id === "flat"
                 ? {
                     mode: "flat",
-                    flatColor: colorMode && colorMode.mode === "gradient" ? colorMode.minColor : DEFAULT_FLAT_COLOR,
+                    flatColor:
+                      newColorMode && newColorMode.mode === "gradient" ? newColorMode.minColor : DEFAULT_FLAT_COLOR,
                   }
                 : hasRGB
                 ? { mode: "rgb" }
@@ -127,15 +128,15 @@ export default function PointCloudSettingsEditor(props: TopicSettingsEditorProps
               value={colorMode.mode === "rgb" ? "rgb" : colorMode.colorField}
               onChange={(value) =>
                 onColorModeChange(
-                  (colorMode): ColorMode => {
+                  (newColorMode): ColorMode => {
                     if (value === "rgb") {
                       return { mode: "rgb" };
                     }
-                    if (colorMode && colorMode.mode === "gradient") {
-                      return { ...colorMode, colorField: value };
+                    if (newColorMode && newColorMode.mode === "gradient") {
+                      return { ...newColorMode, colorField: value };
                     }
-                    if (colorMode && colorMode.mode === "rainbow") {
-                      return { ...colorMode, colorField: value };
+                    if (newColorMode && newColorMode.mode === "rainbow") {
+                      return { ...newColorMode, colorField: value };
                     }
                     return { mode: "rainbow", colorField: value };
                   }
@@ -162,8 +163,8 @@ export default function PointCloudSettingsEditor(props: TopicSettingsEditorProps
               <SValueRangeInput
                 value={colorMode.minValue ?? ""}
                 onChange={({ target: { value } }) =>
-                  onColorModeChange((colorMode: any) => ({
-                    ...colorMode,
+                  onColorModeChange((newColorMode: any) => ({
+                    ...newColorMode,
                     minValue: value === "" ? null : value,
                   }))
                 }
@@ -174,8 +175,8 @@ export default function PointCloudSettingsEditor(props: TopicSettingsEditorProps
               <SValueRangeInput
                 value={colorMode.maxValue ?? ""}
                 onChange={({ target: { value } }) =>
-                  onColorModeChange((colorMode: any) => ({
-                    ...colorMode,
+                  onColorModeChange((newColorMode: any) => ({
+                    ...newColorMode,
                     maxValue: value === "" ? null : +value,
                   }))
                 }
@@ -207,7 +208,7 @@ export default function PointCloudSettingsEditor(props: TopicSettingsEditorProps
             minColor={colorMode.minColor}
             maxColor={colorMode.maxColor}
             onChange={({ minColor, maxColor }) =>
-              onColorModeChange((colorMode) => ({ mode: "gradient", ...colorMode, minColor, maxColor }))
+              onColorModeChange((newColorMode) => ({ mode: "gradient", ...newColorMode, minColor, maxColor }))
             }
           />
         </div>
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/PoseSettingsEditor.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/PoseSettingsEditor.js
index 55ed294e5..651f8e78d 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/PoseSettingsEditor.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/PoseSettingsEditor.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/common.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/common.js
index a54f51ccf..ef47d3e65 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/common.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/common.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/index.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/index.js
index 241570104..687d6c1c7 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/index.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -159,7 +159,7 @@ const TopicSettingsEditor = React.memo<Props>(function TopicSettingsEditor({
 }: Props) {
   const onFieldChange = useCallback(
     (fieldName: string, value: any) => {
-      onSettingsChange((settings) => ({ ...settings, [fieldName]: value }));
+      onSettingsChange((newSettings) => ({ ...newSettings, [fieldName]: value }));
     },
     [onSettingsChange]
   );
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/index.test.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/index.test.js
index 42560ae97..3e8af884b 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/index.test.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/index.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Transforms.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Transforms.js
index 142773759..ee5cb7cfe 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Transforms.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Transforms.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TransformsBuilder.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TransformsBuilder.js
index b1524dcb7..ac59592ad 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TransformsBuilder.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TransformsBuilder.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -172,9 +172,6 @@ const getArrowToParentMarkers = (id: string, transform: Transform, rootTransform
   ];
 };
 
-const isTfExtension = (extension: string) => extension.startsWith("TF");
-const removeTfPrefix = (extension: string) => extension.slice("TF.".length);
-
 export default class TransformsBuilder implements MarkerProvider {
   transforms: Transforms;
   rootTransformID: string;
@@ -208,8 +205,8 @@ export default class TransformsBuilder implements MarkerProvider {
     }
   }
 
-  setSelectedTransforms(extensions: string[]) {
-    this.selections = extensions.filter(isTfExtension).map(removeTfPrefix);
+  setSelectedTransforms(selections: string[]) {
+    this.selections = selections;
   }
 
   renderMarkers = (add: MarkerCollector) => {
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/World.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/World.js
index 3496680a7..3dcc23489 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/World.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/World.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/__snapshots__/topicTreeUtils.test.js.snap b/packages/webviz-core/src/panels/ThreeDimensionalViz/__snapshots__/topicTreeUtils.test.js.snap
index fb8066bbb..0ea02c509 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/__snapshots__/topicTreeUtils.test.js.snap
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/__snapshots__/topicTreeUtils.test.js.snap
@@ -41,7 +41,7 @@ Object {
             "topic": "/topic_b",
           },
           Object {
-            "name": "Nested Group / Deeply Nested Group /topic_c",
+            "name": "Nested Group / Deeply Nested Group",
             "topic": "/topic_c",
           },
           Object {
@@ -67,7 +67,7 @@ Object {
             "topic": "/webviz_bag_2/topic_b",
           },
           Object {
-            "name": "Nested Group / Deeply Nested Group /topic_c",
+            "name": "Nested Group / Deeply Nested Group",
             "topic": "/webviz_bag_2/topic_c",
           },
           Object {
@@ -113,7 +113,7 @@ Object {
           "topic": "/topic_b",
         },
         Object {
-          "name": "Nested Group / Deeply Nested Group /topic_c",
+          "name": "Nested Group / Deeply Nested Group",
           "topic": "/topic_c",
         },
         Object {
@@ -143,7 +143,7 @@ Object {
           "topic": "/webviz_bag_2/topic_b",
         },
         Object {
-          "name": "Nested Group / Deeply Nested Group /topic_c",
+          "name": "Nested Group / Deeply Nested Group",
           "topic": "/webviz_bag_2/topic_c",
         },
         Object {
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/color.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/color.js
index 10daf2786..09b2c3ebe 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/color.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/color.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/CarModel/index.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/CarModel/index.js
index 373862ba9..82b956eee 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/CarModel/index.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/CarModel/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/LaserScans.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/LaserScans.js
index 3f6851d4b..1ee1999b1 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/LaserScans.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/LaserScans.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/LinedConvexHulls.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/LinedConvexHulls.js
index 6f21d577f..31faf6746 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/LinedConvexHulls.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/LinedConvexHulls.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/OccupancyGrids.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/OccupancyGrids.js
index 46ed4337f..bcb7a98af 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/OccupancyGrids.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/OccupancyGrids.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/PointCloudBuilder.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/PointCloudBuilder.js
index 1d8d80337..afe81a091 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/PointCloudBuilder.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/PointCloudBuilder.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/PointCloudBuilder.test.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/PointCloudBuilder.test.js
index 97be8d5e3..93c9c6c7b 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/PointCloudBuilder.test.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/PointCloudBuilder.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/Readers.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/Readers.js
index a7b6c18f4..c78904365 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/Readers.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/Readers.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/fixture/pointCloudData.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/fixture/pointCloudData.js
index e650af41f..ce6289b50 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/fixture/pointCloudData.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/fixture/pointCloudData.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/index.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/index.js
index 365499c5c..a47398bae 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/index.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/Pointclouds/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/PoseMarkers.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/PoseMarkers.js
index dc2b4ad65..e3d843c00 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/PoseMarkers.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/PoseMarkers.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/PoseMarkers.stories.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/PoseMarkers.stories.js
index e5010eb6f..85ea396d8 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/PoseMarkers.stories.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/PoseMarkers.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/index.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/index.js
index 6696f9ff5..7f6adcf7b 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/index.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/utils/index.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/utils/index.js
index c31f2bebc..3c0c95265 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/utils/index.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/utils/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/getDebugStorybook.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/getDebugStorybook.js
index 706a91f02..fa70d720a 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/getDebugStorybook.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/getDebugStorybook.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/index.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/index.js
index 7fb0c0607..92f68eac7 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/index.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -9,11 +9,12 @@
 import { vec3 } from "gl-matrix";
 import hoistNonReactStatics from "hoist-non-react-statics";
 import { omit } from "lodash";
-import React, { type Node, useCallback, useLayoutEffect } from "react";
+import React, { type Node, useCallback } from "react";
 import { hot } from "react-hot-loader/root";
 import { useSelector } from "react-redux";
 import { cameraStateSelectors, type CameraState, DEFAULT_CAMERA_STATE } from "regl-worldview";
 
+import { useExperimentalFeature } from "webviz-core/src/components/ExperimentalFeatures";
 import { FrameCompatibility } from "webviz-core/src/components/MessageHistory/FrameCompatibility";
 import { useMessagePipeline } from "webviz-core/src/components/MessagePipeline";
 import Panel from "webviz-core/src/components/Panel";
@@ -25,10 +26,9 @@ import {
   getEquivalentOffsetsWithoutTarget,
   useComputedCameraState,
 } from "webviz-core/src/panels/ThreeDimensionalViz/threeDimensionalVizUtils";
-import {
-  type TopicDisplayMode,
-  TOPIC_DISPLAY_MODES,
-} from "webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicDisplayModeSelector";
+import { EXPERIMENTAL_FEATURES_STORAGE_KEY } from "webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/constants";
+import LayoutForTopicGroups from "webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/LayoutForTopicGroups";
+import { type TopicDisplayMode } from "webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicDisplayModeSelector";
 import Transforms from "webviz-core/src/panels/ThreeDimensionalViz/Transforms";
 import withTransforms from "webviz-core/src/panels/ThreeDimensionalViz/withTransforms";
 import type { Frame, Topic } from "webviz-core/src/players/types";
@@ -47,14 +47,14 @@ export type ThreeDimensionalVizConfig = {
   pinTopics: boolean,
   savedPropsVersion?: ?number, // eslint-disable-line react/no-unused-prop-types
   topicDisplayMode?: TopicDisplayMode,
+  flattenMarkers?: boolean,
+  selectedPolygonEditFormat?: "json" | "yaml",
+  showCrosshair?: boolean,
 
   // legacy props
   hideMap?: ?boolean, // eslint-disable-line react/no-unused-prop-types
   useHeightMap?: ?boolean, // eslint-disable-line react/no-unused-prop-types
   follow?: boolean,
-  flattenMarkers?: boolean,
-  selectedPolygonEditFormat?: "json" | "yaml",
-  showCrosshair?: boolean,
 };
 export type Save3DConfig = SaveConfig<ThreeDimensionalVizConfig>;
 
@@ -78,19 +78,7 @@ const BaseRenderer = (props: Props, ref) => {
     setSubscriptions,
     topics,
     transforms,
-    config: {
-      autoTextBackgroundColor,
-      checkedNodes,
-      expandedNodes,
-      followOrientation,
-      followTf,
-      modifiedNamespaceTopics,
-      pinTopics,
-      selectedPolygonEditFormat,
-      showCrosshair,
-      topicDisplayMode,
-      topicSettings,
-    },
+    config: { followOrientation, followTf },
   } = props;
   const extensions = useSelector((state) => state.extensions);
 
@@ -108,18 +96,6 @@ const BaseRenderer = (props: Props, ref) => {
     transforms,
   });
 
-  // update open source checked nodes
-  useLayoutEffect(
-    () => {
-      const isOpenSource = checkedNodes.length === 1 && checkedNodes[0] === "name:Topics" && topics.length;
-      if (isOpenSource) {
-        const newCheckedNodes = isOpenSource ? checkedNodes.concat(topics.map((t) => t.name)) : checkedNodes;
-        saveConfig({ checkedNodes: newCheckedNodes }, { keepLayoutInUrl: true });
-      }
-    },
-    [checkedNodes, saveConfig, topics]
-  );
-
   // use callbackInputsRef to make sure the input changes don't trigger `onFollowChange` or `onAlignXYAxis` to change
   const callbackInputsRef = React.useRef({
     cameraState,
@@ -137,12 +113,19 @@ const BaseRenderer = (props: Props, ref) => {
   };
   const onFollowChange = useCallback(
     (newFollowTf?: string | false, newFollowOrientation?: boolean) => {
-      const { configCameraState, configFollowOrientation, configFollowTf, targetPose } = callbackInputsRef.current;
+      const {
+        configCameraState,
+        configFollowOrientation,
+        configFollowTf,
+        targetPose: currentTargetPose,
+      } = callbackInputsRef.current;
       const newCameraState = { ...configCameraState };
       if (newFollowTf) {
         // When switching to follow orientation, adjust thetaOffset to preserve camera rotation.
-        if (newFollowOrientation && !configFollowOrientation && targetPose) {
-          const heading = cameraStateSelectors.targetHeading({ targetOrientation: targetPose.targetOrientation });
+        if (newFollowOrientation && !configFollowOrientation && currentTargetPose) {
+          const heading = cameraStateSelectors.targetHeading({
+            targetOrientation: currentTargetPose.targetOrientation,
+          });
           newCameraState.targetOffset = vec3.rotateZ(
             [0, 0, 0],
             newCameraState.targetOffset || DEFAULT_CAMERA_STATE.targetOffset,
@@ -155,7 +138,7 @@ const BaseRenderer = (props: Props, ref) => {
         if (!configFollowTf) {
           newCameraState.targetOffset = [0, 0, 0];
         }
-      } else if (configFollowTf && targetPose) {
+      } else if (configFollowTf && currentTargetPose) {
         // When unfollowing, preserve the camera position and orientation.
         Object.assign(
           newCameraState,
@@ -164,7 +147,7 @@ const BaseRenderer = (props: Props, ref) => {
               targetOffset: configCameraState.targetOffset || DEFAULT_CAMERA_STATE.targetOffset,
               thetaOffset: configCameraState.thetaOffset || DEFAULT_CAMERA_STATE.thetaOffset,
             },
-            targetPose,
+            currentTargetPose,
             configFollowOrientation
           )
         );
@@ -194,35 +177,52 @@ const BaseRenderer = (props: Props, ref) => {
 
   // useImperativeHandle so consumer component (e.g.Follow stories) can call onFollowChange directly.
   React.useImperativeHandle(ref, (): any => ({ onFollowChange }));
+  const enableTopicGrouping = useExperimentalFeature(EXPERIMENTAL_FEATURES_STORAGE_KEY);
 
   return (
-    <Layout
-      autoTextBackgroundColor={autoTextBackgroundColor}
-      cameraState={cameraState}
-      checkedNodes={checkedNodes}
-      cleared={cleared}
-      currentTime={currentTime}
-      expandedNodes={expandedNodes}
-      extensions={extensions}
-      followOrientation={!!followOrientation}
-      followTf={followTf}
-      frame={frame}
-      helpContent={helpContent}
-      isPlaying={isPlaying}
-      modifiedNamespaceTopics={modifiedNamespaceTopics}
-      onAlignXYAxis={onAlignXYAxis}
-      onCameraStateChange={onCameraStateChange}
-      onFollowChange={onFollowChange}
-      pinTopics={pinTopics}
-      saveConfig={saveConfig}
-      selectedPolygonEditFormat={selectedPolygonEditFormat || "yaml"}
-      showCrosshair={!!showCrosshair}
-      topicDisplayMode={topicDisplayMode || TOPIC_DISPLAY_MODES.SHOW_TREE.value}
-      topics={topics}
-      topicSettings={topicSettings}
-      transforms={transforms}
-      setSubscriptions={setSubscriptions}
-    />
+    <>
+      {enableTopicGrouping ? (
+        <LayoutForTopicGroups
+          cameraState={cameraState}
+          config={config}
+          cleared={cleared}
+          currentTime={currentTime}
+          extensions={extensions}
+          followOrientation={!!followOrientation}
+          followTf={followTf}
+          frame={frame}
+          helpContent={helpContent}
+          isPlaying={isPlaying}
+          onAlignXYAxis={onAlignXYAxis}
+          onCameraStateChange={onCameraStateChange}
+          onFollowChange={onFollowChange}
+          saveConfig={saveConfig}
+          topics={topics}
+          transforms={transforms}
+          setSubscriptions={setSubscriptions}
+        />
+      ) : (
+        <Layout
+          cameraState={cameraState}
+          config={config}
+          cleared={cleared}
+          currentTime={currentTime}
+          extensions={extensions}
+          followOrientation={!!followOrientation}
+          followTf={followTf}
+          frame={frame}
+          helpContent={helpContent}
+          isPlaying={isPlaying}
+          onAlignXYAxis={onAlignXYAxis}
+          onCameraStateChange={onCameraStateChange}
+          onFollowChange={onFollowChange}
+          saveConfig={saveConfig}
+          topics={topics}
+          transforms={transforms}
+          setSubscriptions={setSubscriptions}
+        />
+      )}
+    </>
   );
 };
 
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/logger.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/logger.js
index 3c9233680..b71d41aa0 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/logger.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/logger.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/threeDimensionalVizUtils.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/threeDimensionalVizUtils.js
index c59d9c6fd..f786bb8fd 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/threeDimensionalVizUtils.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/threeDimensionalVizUtils.js
@@ -1,15 +1,24 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 import { vec3 } from "gl-matrix";
-import { mergeWith } from "lodash";
+import { mergeWith, get } from "lodash";
 import { useRef } from "react";
-import { type CameraState, type Vec3, type Vec4, cameraStateSelectors, DEFAULT_CAMERA_STATE } from "regl-worldview";
+import {
+  type CameraState,
+  type Vec3,
+  type Vec4,
+  type MouseEventObject,
+  cameraStateSelectors,
+  DEFAULT_CAMERA_STATE,
+} from "regl-worldview";
 
+import { type GlobalVariables } from "webviz-core/src/hooks/useGlobalVariables";
+import { type LinkedGlobalVariables } from "webviz-core/src/panels/ThreeDimensionalViz/Interactions/useLinkedGlobalVariables";
 import Transforms from "webviz-core/src/panels/ThreeDimensionalViz/Transforms";
 import { emptyPose } from "webviz-core/src/util/Pose";
 
@@ -98,3 +107,22 @@ export function useComputedCameraState({
 
   return { cameraState: newCameraState, targetPose: targetPose || lastTargetPose };
 }
+
+export function getUpdatedGlobalVariablesBySelectedObject(
+  selectedObject: MouseEventObject,
+  linkedGlobalVariables: LinkedGlobalVariables
+): ?GlobalVariables {
+  const interactionData = selectedObject && selectedObject.object.interactionData;
+  const objectTopic = interactionData && interactionData.topic;
+  if (!linkedGlobalVariables.length || !objectTopic) {
+    return;
+  }
+  const newGlobalVariables = {};
+  linkedGlobalVariables.forEach(({ topic, markerKeyPath, name }) => {
+    if (objectTopic === topic) {
+      const objectForPath = get(selectedObject.object, [...markerKeyPath].reverse());
+      newGlobalVariables[name] = objectForPath;
+    }
+  });
+  return newGlobalVariables;
+}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils.js
index 2cdd4caea..9cb90d67a 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils.js
@@ -1,16 +1,18 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import { intersection, omit, flatten } from "lodash";
-import microMemoize from "micro-memoize";
+import { intersection } from "lodash";
 
 import filterMap from "webviz-core/src/filterMap";
-import { getGlobalHooks } from "webviz-core/src/loadWebviz";
+import {
+  getFlattenedTreeNodes,
+  TOPIC_CONFIG,
+} from "webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsUtils";
 import {
   type TopicDisplayMode,
   TOPIC_DISPLAY_MODES,
@@ -24,34 +26,6 @@ import { getTopicPrefixes } from "webviz-core/src/util/selectors";
 export const BAG1_TOPIC_GROUP_NAME = "Bag";
 export const BAG2_TOPIC_GROUP_NAME = `Bag 2 ${SECOND_BAG_PREFIX}`;
 
-const TOPIC_CONFIG = getGlobalHooks()
-  .perPanelHooks()
-  .ThreeDimensionalViz.getDefaultTopicTree();
-
-// traverse the tree and flatten the children items in the topicConfig
-function* flattenItem(item: TopicConfig, name: string) {
-  const childrenItems = item.children;
-  // extensions or leaf nodes
-  if (!childrenItems || item.extension) {
-    // remove children before adding a new node for extensions, otherwise add the node directly
-    yield { ...omit(item, "children"), name };
-  }
-  if (childrenItems) {
-    for (const subItem of childrenItems) {
-      let subItemName = `${name} / ${subItem.name || ""}`;
-      if (!subItem.name && subItem.topic) {
-        subItemName = `${name} ${subItem.topic}`;
-      }
-      yield* flattenItem(subItem, subItemName);
-    }
-  }
-}
-
-// memoize the flattened nodes since it only needs to be computed once
-const getFlattenedTreeNodes = microMemoize((topicConfig) => {
-  return flatten(topicConfig.children.map((item) => Array.from(flattenItem(item, item.name || ""))));
-});
-
 export function getCheckedTopicsAndExtensions(
   checkedNodes: string[]
 ): { selectedTopicsSet: Set<string>, selectedExtensionsSet: Set<string> } {
@@ -61,6 +35,8 @@ export function getCheckedTopicsAndExtensions(
   checkedNodes.forEach((item) => {
     if (item.startsWith("t:")) {
       selectedTopicsSet.add(item.substr("t:".length));
+    } else if (item.startsWith("/")) {
+      selectedTopicsSet.add(item);
     } else if (item.startsWith("x:")) {
       selectedExtensionsSet.add(item.substr("x:".length));
     }
@@ -94,22 +70,28 @@ export function getTopicConfig({
   checkedNodes,
   topicDisplayMode,
   topics,
+  supportedMarkerDatatypes,
 }: {
   checkedNodes: string[],
   topicDisplayMode: TopicDisplayMode,
   topics: Topic[],
+  supportedMarkerDatatypes: string[],
 }): { topicConfig: TopicConfig, newCheckedNodes: string[] } {
   const newCheckedNodes = checkedNodes;
   const showFlattened = topicDisplayMode !== TOPIC_DISPLAY_MODES.SHOW_TREE.value;
   const showSelected = topicDisplayMode === TOPIC_DISPLAY_MODES.SHOW_SELECTED.value;
   const showAvailable = topicDisplayMode === TOPIC_DISPLAY_MODES.SHOW_AVAILABLE.value;
   const showAll = topicDisplayMode === TOPIC_DISPLAY_MODES.SHOW_ALL.value;
-
+  const supportedMarkerDatatypesSet = new Set(supportedMarkerDatatypes);
   if (!showFlattened) {
     return { topicConfig: TOPIC_CONFIG, newCheckedNodes };
   }
 
-  const availableTopicsNames = topics.map((topic) => topic.name);
+  // filter out topic datatypes that are not supported in the 3D panel
+  const availableTopicsNames = topics
+    .filter((topic) => supportedMarkerDatatypesSet.has(topic.datatype))
+    .map((topic) => topic.name);
+
   const topicPrefixes = getTopicPrefixes(availableTopicsNames);
   const hasMultiBag = topicPrefixes.length > 0;
   const { selectedTopicsSet, selectedExtensionsSet } = getCheckedTopicsAndExtensions(checkedNodes);
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils.test.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils.test.js
index 36dae6901..de359fb5a 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils.test.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -127,8 +127,11 @@ const checkedNodes = [
   "t:/webviz_bag_2/topic_c",
 ];
 
-function makeTopic(topics: string[]): Topic[] {
-  return topics.map((name) => ({ name, datatype: "some_type" }));
+function makeTopic(topics: string[], unsupportedDatatypeIndexes?: number[] = []): Topic[] {
+  return topics.map((name, idx) => ({
+    name,
+    datatype: unsupportedDatatypeIndexes.includes(idx) ? "unsupported_type" : "some_type",
+  }));
 }
 
 const bag1Topics = [
@@ -148,6 +151,7 @@ const defaultGetTopicConfigInput = {
   topicDisplayMode: TOPIC_DISPLAY_MODES.SHOW_SELECTED.value,
   checkedNodes,
   topics: makeTopic([...bag1Topics, ...bag2Topics]),
+  supportedMarkerDatatypes: ["some_type"],
 };
 
 const defaultExpectedBag1Nodes = [
@@ -164,7 +168,7 @@ const defaultExpectedBag1Nodes = [
     topic: "/topic_b",
   },
   {
-    name: "Nested Group / Deeply Nested Group /topic_c",
+    name: "Nested Group / Deeply Nested Group",
     topic: "/topic_c",
   },
 ];
@@ -178,6 +182,7 @@ describe("getTopicConfig", () => {
             topicDisplayMode: TOPIC_DISPLAY_MODES.SHOW_TREE.value,
             checkedNodes: [],
             topics: [],
+            supportedMarkerDatatypes: [],
           }).topicConfig
         ).toEqual(TOPIC_CONFIG);
       });
@@ -199,7 +204,7 @@ describe("getTopicConfig", () => {
               name: BAG2_TOPIC_GROUP_NAME,
               children: [
                 {
-                  name: "Nested Group / Deeply Nested Group /topic_c",
+                  name: "Nested Group / Deeply Nested Group",
                   topic: "/webviz_bag_2/topic_c",
                 },
               ],
@@ -268,13 +273,13 @@ describe("getTopicConfig", () => {
               { extension: "ExtA.a", name: "Ext A" },
               { extension: "ExtC.c", name: "Ext A / Ext C" },
               { name: "Nested Group / Topic B", topic: "/topic_b" },
-              { name: "Nested Group / Deeply Nested Group /topic_c", topic: "/topic_c" },
+              { name: "Nested Group / Deeply Nested Group", topic: "/topic_c" },
               { name: "/topic_not_in_json_tree", topic: "/topic_not_in_json_tree" },
             ],
             name: BAG1_TOPIC_GROUP_NAME,
           },
           {
-            children: [{ name: "Nested Group / Deeply Nested Group /topic_c", topic: "/webviz_bag_2/topic_c" }],
+            children: [{ name: "Nested Group / Deeply Nested Group", topic: "/webviz_bag_2/topic_c" }],
             name: BAG2_TOPIC_GROUP_NAME,
           },
         ]);
@@ -291,13 +296,13 @@ describe("getTopicConfig", () => {
               { extension: "ExtA.a", name: "Ext A" },
               { extension: "ExtC.c", name: "Ext A / Ext C" },
               { name: "Nested Group / Topic B", topic: "/topic_b" },
-              { name: "Nested Group / Deeply Nested Group /topic_c", topic: "/topic_c" },
+              { name: "Nested Group / Deeply Nested Group", topic: "/topic_c" },
             ],
             name: BAG1_TOPIC_GROUP_NAME,
           },
           {
             children: [
-              { name: "Nested Group / Deeply Nested Group /topic_c", topic: "/webviz_bag_2/topic_c" },
+              { name: "Nested Group / Deeply Nested Group", topic: "/webviz_bag_2/topic_c" },
               { name: "/topic_not_in_json_tree", topic: "/webviz_bag_2/topic_not_in_json_tree" },
             ],
             name: BAG2_TOPIC_GROUP_NAME,
@@ -316,14 +321,14 @@ describe("getTopicConfig", () => {
               { extension: "ExtA.a", name: "Ext A" },
               { extension: "ExtC.c", name: "Ext A / Ext C" },
               { name: "Nested Group / Topic B", topic: "/topic_b" },
-              { name: "Nested Group / Deeply Nested Group /topic_c", topic: "/topic_c" },
+              { name: "Nested Group / Deeply Nested Group", topic: "/topic_c" },
             ],
             name: BAG1_TOPIC_GROUP_NAME,
           },
           {
             children: [
               { name: "Nested Group / Topic B", topic: "/webviz_bag_2/topic_b" },
-              { name: "Nested Group / Deeply Nested Group /topic_c", topic: "/webviz_bag_2/topic_c" },
+              { name: "Nested Group / Deeply Nested Group", topic: "/webviz_bag_2/topic_c" },
               { name: "/topic_not_in_json_tree", topic: "/webviz_bag_2/topic_not_in_json_tree" },
             ],
             name: BAG2_TOPIC_GROUP_NAME,
@@ -359,17 +364,24 @@ describe("getTopicConfig", () => {
         },
       ]);
     });
+
+    it("filters out topics with unsupported datatypes", () => {
+      expect(
+        getTopicConfig({
+          checkedNodes: ["t:/topic_a", "t:/topic_b", "t:/webviz_bag_2/topic_b"],
+          topicDisplayMode: TOPIC_DISPLAY_MODES.SHOW_SELECTED.value,
+          topics: makeTopic(["/topic_a", "/topic_b", "/webviz_bag_2/topic_b"], [1, 2]),
+          supportedMarkerDatatypes: ["some_type"],
+        }).topicConfig
+        // '/topic_b' and  '/webviz_bag_2/topic_b' are filtered out for having unsupported datatypes
+      ).toEqual({ children: [{ name: "Nested Group / Topic A", topic: "/topic_a" }], name: "root" });
+    });
   });
 
   describe("checkedNodes", () => {
     it("returns the checkedNodes identity when none of the checked topics are available", () => {
-      const checkedNodes = [];
-      expect(
-        getTopicConfig({
-          ...defaultGetTopicConfigInput,
-          checkedNodes,
-        }).newCheckedNodes
-      ).toBe(checkedNodes);
+      const result = [];
+      expect(getTopicConfig({ ...defaultGetTopicConfigInput, checkedNodes: result }).newCheckedNodes).toBe(result);
     });
 
     it("creates new checkedNodes with bag1/bag2 group names", () => {
@@ -393,6 +405,24 @@ describe("getTopicConfig", () => {
         }).newCheckedNodes
       ).toEqual([...checkedNodes1, BAG1_NODE_NAME, BAG2_NODE_NAME]);
     });
+
+    it("handles checked topic that does not start with 't:'", () => {
+      expect(
+        getTopicConfig({
+          ...defaultGetTopicConfigInput,
+          checkedNodes: ["/topic_c"], // does not have `t:` prefi
+        })
+      ).toEqual({
+        newCheckedNodes: ["/topic_c", "name:Bag"],
+        topicConfig: {
+          children: [
+            { children: [{ name: "Nested Group / Deeply Nested Group", topic: "/topic_c" }], name: "Bag" },
+            { children: [], name: "Bag 2 /webviz_bag_2" },
+          ],
+          name: "root",
+        },
+      });
+    });
   });
 
   describe("tf node", () => {
@@ -461,7 +491,7 @@ describe("getTopicConfig", () => {
         {
           children: [
             {
-              name: "Nested Group / Deeply Nested Group /topic_c",
+              name: "Nested Group / Deeply Nested Group",
               topic: "/webviz_bag_2/topic_c",
             },
           ],
@@ -485,7 +515,7 @@ describe("getTopicConfig", () => {
         {
           children: [
             {
-              name: "Nested Group / Deeply Nested Group /topic_c",
+              name: "Nested Group / Deeply Nested Group",
               topic: "/webviz_bag_2/topic_c",
             },
           ],
@@ -515,44 +545,50 @@ describe("removeTopicPrefixes", () => {
 });
 
 describe("getNewCheckedNodes", () => {
-  const checkedNodes = ["t:/foo/bar", "t:/webviz_bag_2/foo", "t:/webviz_bag_121/bar", "t:/foo1"];
-  it("returns new checkedNodes with bag1 topic group name when any bag1 topics are checked", () => {
-    expect(getNewCheckedNodes(["/foo1", "/foo/bar"], checkedNodes)).not.toBe(checkedNodes);
-    expect(getNewCheckedNodes(["/foo1", "/foo/bar"], checkedNodes)).toEqual([...checkedNodes, BAG1_NODE_NAME]);
+  const exampleCheckedNodes = ["t:/foo/bar", "t:/webviz_bag_2/foo", "t:/webviz_bag_121/bar", "t:/foo1"];
+  it("returns new exampleCheckedNodes with bag1 topic group name when any bag1 topics are checked", () => {
+    expect(getNewCheckedNodes(["/foo1", "/foo/bar"], exampleCheckedNodes)).not.toBe(exampleCheckedNodes);
+    expect(getNewCheckedNodes(["/foo1", "/foo/bar"], exampleCheckedNodes)).toEqual([
+      ...exampleCheckedNodes,
+      BAG1_NODE_NAME,
+    ]);
   });
-  it("returns new checkedNodes with bag2 topic group name when any bag2 topics are checked", () => {
-    expect(getNewCheckedNodes(["/webviz_bag_2/foo/bar"], checkedNodes)).toEqual([...checkedNodes, BAG2_NODE_NAME]);
+  it("returns new exampleCheckedNodes with bag2 topic group name when any bag2 topics are checked", () => {
+    expect(getNewCheckedNodes(["/webviz_bag_2/foo/bar"], exampleCheckedNodes)).toEqual([
+      ...exampleCheckedNodes,
+      BAG2_NODE_NAME,
+    ]);
   });
-  it("returns new checkedNodes with both bag1 and bag2 topic group names", () => {
-    expect(getNewCheckedNodes(["/foo1", "/webviz_bag_2/foo/bar"], checkedNodes)).toEqual([
-      ...checkedNodes,
+  it("returns new exampleCheckedNodes with both bag1 and bag2 topic group names", () => {
+    expect(getNewCheckedNodes(["/foo1", "/webviz_bag_2/foo/bar"], exampleCheckedNodes)).toEqual([
+      ...exampleCheckedNodes,
       BAG1_NODE_NAME,
       BAG2_NODE_NAME,
     ]);
   });
   it("returns the original checkedNodes if it already contains bag1/bag2 topic group names", () => {
-    const checkedNodes1 = [BAG1_NODE_NAME, ...checkedNodes];
+    const checkedNodes1 = [BAG1_NODE_NAME, ...exampleCheckedNodes];
     expect(getNewCheckedNodes(["/foo/bar"], checkedNodes1)).toBe(checkedNodes1);
-    const checkedNodes2 = [BAG2_NODE_NAME, ...checkedNodes];
+    const checkedNodes2 = [BAG2_NODE_NAME, ...exampleCheckedNodes];
     expect(getNewCheckedNodes(["/webviz_bag_2/foo/bar"], checkedNodes2)).toBe(checkedNodes2);
-    const checkedNodes3 = [BAG1_NODE_NAME, BAG2_NODE_NAME, ...checkedNodes];
+    const checkedNodes3 = [BAG1_NODE_NAME, BAG2_NODE_NAME, ...exampleCheckedNodes];
     expect(getNewCheckedNodes(["/foo1", "/webviz_bag_2/foo/bar"], checkedNodes3)).toBe(checkedNodes3);
   });
 });
 
 describe("setVisibleByHiddenTopics", () => {
   it("sets visible on the tree nodes based on hiddenTopics (single bag)", () => {
-    const checkedNodes = ["t:/topic_not_in_json_tree"];
+    const currentCheckedNodes = ["t:/topic_not_in_json_tree"];
     const topicConfig = getTopicConfig({
       ...defaultGetTopicConfigInput,
       topics: makeTopic(bag1Topics),
-      checkedNodes,
+      checkedNodes: currentCheckedNodes,
       topicDisplayMode: TOPIC_DISPLAY_MODES.SHOW_SELECTED.value,
     }).topicConfig;
     const props = {
       topics: [],
       namespaces: [],
-      checkedNodes,
+      checkedNodes: currentCheckedNodes,
       expandedNodes: [],
       modifiedNamespaceTopics: [],
       transforms: [],
@@ -561,7 +597,7 @@ describe("setVisibleByHiddenTopics", () => {
       topicConfig,
     };
     const tree = buildTree(props);
-    const node = tree.find((node) => node.topic === "/topic_not_in_json_tree");
+    const node = tree.find((foundNode) => foundNode.topic === "/topic_not_in_json_tree");
     expect(node).toBeInstanceOf(TopicTreeNode);
     expect(node && node.visible).toBe(true);
     setVisibleByHiddenTopics(tree, ["/topic_not_in_json_tree"]);
@@ -569,16 +605,16 @@ describe("setVisibleByHiddenTopics", () => {
   });
 
   it("sets visible on the tree nodes based on hiddenTopics (2 bags)", () => {
-    const checkedNodes = ["t:/topic_b", "t:/webviz_bag_2/topic_c"];
+    const currentCheckedNodes = ["t:/topic_b", "t:/webviz_bag_2/topic_c"];
     const topicConfig = getTopicConfig({
       ...defaultGetTopicConfigInput,
-      checkedNodes,
+      checkedNodes: currentCheckedNodes,
       topicDisplayMode: TOPIC_DISPLAY_MODES.SHOW_SELECTED.value,
     }).topicConfig;
     const props = {
       topics: [],
       namespaces: [],
-      checkedNodes,
+      checkedNodes: currentCheckedNodes,
       expandedNodes: [],
       modifiedNamespaceTopics: [],
       transforms: [],
@@ -587,12 +623,12 @@ describe("setVisibleByHiddenTopics", () => {
       topicConfig,
     };
     const tree = buildTree(props);
-    const node = tree.find((node) => node.topic === "/topic_b");
+    const node = tree.find((foundNode) => foundNode.topic === "/topic_b");
     expect(node && node.visible).toBe(true);
     setVisibleByHiddenTopics(tree, ["/topic_b"]);
     expect(node && node.visible).toBe(false);
 
-    const node2 = tree.find((node) => node.topic === "/webviz_bag_2/topic_c");
+    const node2 = tree.find((foundNode) => foundNode.topic === "/webviz_bag_2/topic_c");
     expect(node2).toBeInstanceOf(TopicTreeNode);
     expect(node2 && node2.visible).toBe(true);
     setVisibleByHiddenTopics(tree, ["/webviz_bag_2/topic_c"]);
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/utils/drawToolUtils.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/utils/drawToolUtils.js
index c6fd7b9f0..e661b62a5 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/utils/drawToolUtils.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/utils/drawToolUtils.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/utils/drawToolUtils.test.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/utils/drawToolUtils.test.js
index 0ddbf4056..276f1816e 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/utils/drawToolUtils.test.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/utils/drawToolUtils.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/withTransforms.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/withTransforms.js
index d20fa9636..348326acd 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/withTransforms.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/withTransforms.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/TwoDimensionalPlot/index.help.md b/packages/webviz-core/src/panels/TwoDimensionalPlot/index.help.md
new file mode 100644
index 000000000..82c550680
--- /dev/null
+++ b/packages/webviz-core/src/panels/TwoDimensionalPlot/index.help.md
@@ -0,0 +1,83 @@
+# 2D Plot
+
+The 2D Plot panel allows users to define within their ROS messages the points, lines, and polygons they would like to visualize on an x- and y-axis.
+
+The panel's API currently allows users to specify the plot's title and axes labels, and supports the visualization of 3 types of markers: `points`, `lines`, and `polygons`. Any incoming message with these 3 keys pointing to an array of API-conforming marker objects can be displayed in the 2D Plot panel.
+
+The chart options supported by the 2D Plot panel API are:
+
+- `title`
+- `xAxisLabel`
+- `yAxisLabel`
+
+There are 3 types of datasets supported by the 2D PLot panel API - `lines`, `points`, and `polygons`. Each of these dataset types can be customized by the following options:
+
+- `order` - z-index
+- `label` - unique ID
+- `backgroundColor`
+- `borderColor`
+- `borderDash` - length and spacing of dashes - see [MDN](https://developer.mozilla.org/en-US/docs/Web/API/CanvasRenderingContext2D/setLineDash)
+- `borderWidth`
+- `pointBackgroundColor`
+- `pointBorderColor`
+- `pointBorderWidth`
+- `pointRadius`
+- `pointStyle` - can be 'circle', 'cross', 'crossRot', 'dash', 'line', 'rect', 'rectRounded', 'rectRot', or 'star'
+- `data` - an array of coordinate objects, e.g. `[{x: 0, y: 1}, {x: 2, y: 5}]`
+
+Only `label` and `data` are required - all other options have reasonable default values.
+
+Below is a basic example of a message that could be consumed by the 2D Plot panel:
+
+```js
+{
+  op: "message",
+  topic: "/plot_a",
+  datatype: "webviz_msgs/2DPlotMsg",
+  receiveTime: { sec: 1532375120, nsec: 317760607 },
+  message: {
+    type: "webviz_msgs/2DPlotMsg",
+    title: "This is Plot A",
+    xAxisLabel: "This is my X axis label",
+    yAxisLabel: "This is my Y axis label",
+    lines: [
+      // 1 solid red line
+      { label: "solid-line", borderColor: "red", backgroundColor: "red", data: [{ x: 0, y: 0 }, { x: 5, y: 5 }] },
+      // 1 dashed pink line
+      {
+        label: "dashed-line",
+        borderDash: [5, 5],
+        borderColor: "pink",
+        backgroundColor: "pink",
+        data: [{ x: 1, y: 0.5 }, { x: 5, y: 3.5 }],
+      },
+    ],
+    points: [
+      // 3 circular blue points
+      {
+        label: "circle-point",
+        pointBackgroundColor: "blue",
+        data: [{ x: 1.5, y: 2.5 }, { x: 3, y: 4 }, { x: 4, y: 3.5 }],
+      },
+      // 2 teal Xs
+      {
+        label: "cross-point",
+        pointBackgroundColor: "teal",
+        pointBorderColor: "teal",
+        pointStyle: "crossRot",
+        pointRadius: 10,
+        data: [{ x: 2, y: 1 }, { x: 4, y: 1 }],
+      },
+    ],
+    polygons: [
+      // 1 light gray triangle
+      {
+        label: "polygon",
+        borderColor: "lightgray",
+        backgroundColor: "lightgray",
+        data: [{ x: 3, y: 1 }, { x: 4, y: 2 }, { x: 4.5, y: 1.5 }],
+      },
+    ],
+  },
+}
+```
\ No newline at end of file
diff --git a/packages/webviz-core/src/panels/TwoDimensionalPlot/index.js b/packages/webviz-core/src/panels/TwoDimensionalPlot/index.js
new file mode 100644
index 000000000..3ee32d393
--- /dev/null
+++ b/packages/webviz-core/src/panels/TwoDimensionalPlot/index.js
@@ -0,0 +1,265 @@
+// @flow
+//
+//  Copyright (c) 2019-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import { flatten, pick, round } from "lodash";
+import React, { useMemo, useCallback } from "react";
+import ChartComponent from "react-chartjs-2";
+import Dimensions from "react-container-dimensions";
+import { hot } from "react-hot-loader/root";
+import styled from "styled-components";
+
+import helpContent from "./index.help.md";
+import { PanelToolbarLabel, PanelToolbarInput } from "webviz-core/shared/panelToolbarStyles";
+import EmptyState from "webviz-core/src/components/EmptyState";
+import Flex from "webviz-core/src/components/Flex";
+import { Item } from "webviz-core/src/components/Menu";
+import MessageHistory, { type MessageHistoryData } from "webviz-core/src/components/MessageHistory";
+import MessageHistoryInput from "webviz-core/src/components/MessageHistory/MessageHistoryInput";
+import Panel from "webviz-core/src/components/Panel";
+import PanelToolbar from "webviz-core/src/components/PanelToolbar";
+import { colors } from "webviz-core/src/util/colors";
+
+const SContainer = styled.div`
+  display: flex;
+  flex: 1 1 auto;
+  flex-direction: column;
+  height: 100%;
+`;
+
+const SRoot = styled.div`
+  display: flex;
+  flex: 1 1 auto;
+  width: 100%;
+  overflow: hidden;
+`;
+
+// TODO: Autocomplete should only show paths that actually match the format this panel supports
+const VALID_TYPES = ["message"];
+const keysToPick = [
+  "order",
+  "label",
+  "backgroundColor",
+  "borderColor",
+  "borderDash",
+  "borderWidth",
+  "pointBackgroundColor",
+  "pointBorderColor",
+  "pointBorderWidth",
+  "pointRadius",
+  "pointStyle",
+  "data",
+];
+
+const isValidMinMaxVal = (val?: string) => {
+  return val == null || val === "" || !isNaN(parseFloat(val));
+};
+
+type Path = { value: string };
+type Config = { path: Path, minXVal?: string, maxXVal?: string, minYVal?: string, maxYVal?: string };
+type Props = { config: Config, saveConfig: ($Shape<Config>) => void };
+export type Line = {
+  order: number,
+  label: string,
+  backgroundColor?: string,
+  borderColor?: string,
+  borderDash?: string,
+  borderWidth?: number,
+  pointBackgroundColor?: string,
+  pointBorderColor?: string,
+  pointBorderWidth?: number,
+  pointRadius?: number,
+  pointStyle?: string,
+  data: { x: number, y: number }[],
+};
+type PlotMessage = {
+  type: "webviz_msgs/2DPlotMsg",
+  lines: Line[],
+  points: Line[],
+  polygons: Line[],
+  title?: string,
+  yAxisLabel?: string,
+  xAxisLabel?: string,
+};
+function TwoDimensionalPlot(props: Props) {
+  const {
+    config: { path, minXVal, maxXVal, minYVal, maxYVal },
+    saveConfig,
+  } = props;
+
+  const menuContent = useMemo(
+    () => (
+      <>
+        <Item>
+          <Flex>
+            <Flex col style={{ maxWidth: 100, marginRight: 5 }}>
+              <PanelToolbarLabel>Min X</PanelToolbarLabel>
+              <PanelToolbarInput
+                style={isValidMinMaxVal(minXVal) ? {} : { color: colors.REDL1 }}
+                value={minXVal}
+                onChange={({ target }) => saveConfig({ minXVal: target.value })}
+                onClick={(e) => e.stopPropagation()}
+                placeholder="auto"
+              />
+            </Flex>
+            <Flex col style={{ maxWidth: 100 }}>
+              <PanelToolbarLabel>Max X</PanelToolbarLabel>
+              <PanelToolbarInput
+                style={isValidMinMaxVal(maxXVal) ? {} : { color: colors.REDL1 }}
+                value={maxXVal}
+                onChange={({ target }) => saveConfig({ maxXVal: target.value })}
+                onClick={(e) => e.stopPropagation()}
+                placeholder="auto"
+              />
+            </Flex>
+          </Flex>
+        </Item>
+        <Item>
+          <Flex>
+            <Flex col style={{ maxWidth: 100, marginRight: 5 }}>
+              <PanelToolbarLabel>Min Y</PanelToolbarLabel>
+              <PanelToolbarInput
+                style={isValidMinMaxVal(minYVal) ? {} : { color: colors.REDL1 }}
+                value={minYVal}
+                onChange={({ target }) => saveConfig({ minYVal: target.value })}
+                onClick={(e) => e.stopPropagation()}
+                placeholder="auto"
+              />
+            </Flex>
+            <Flex col style={{ maxWidth: 100 }}>
+              <PanelToolbarLabel>Max Y</PanelToolbarLabel>
+              <PanelToolbarInput
+                style={isValidMinMaxVal(maxYVal) ? {} : { color: colors.REDL1 }}
+                value={maxYVal}
+                onChange={({ target }) => saveConfig({ maxYVal: target.value })}
+                onClick={(e) => e.stopPropagation()}
+                placeholder="auto"
+              />
+            </Flex>
+          </Flex>
+        </Item>
+      </>
+    ),
+    [maxXVal, maxYVal, minXVal, minYVal, saveConfig]
+  );
+
+  const getBufferedMinMax = useCallback((allVals: number[]) => {
+    const minVal = Math.min(...allVals);
+    const maxVal = Math.max(...allVals);
+    const diff = maxVal - minVal;
+    return {
+      min: !diff ? minVal - 1 : minVal - diff * 0.05,
+      max: !diff ? maxVal + 1 : maxVal + diff * 0.05,
+    };
+  }, []);
+
+  return (
+    <MessageHistory paths={[path.value]} historySize={1}>
+      {({ itemsByPath }: MessageHistoryData) => {
+        const msgs = itemsByPath[path.value];
+        const message: PlotMessage = (msgs &&
+          msgs[0] &&
+          msgs[0].queriedData &&
+          msgs[0].queriedData[0] &&
+          msgs[0].queriedData[0].value: any);
+        const currentData = message && message.type === "webviz_msgs/2DPlotMsg" ? message : null;
+        const { title, yAxisLabel, xAxisLabel, lines = [], points = [], polygons = [] } = currentData || {};
+        const datasets = currentData
+          ? [
+              ...lines.map((line, idx) => ({ ...pick(line, keysToPick), showLine: true, fill: false })),
+              ...points.map((point, idx) => pick(point, keysToPick)),
+              ...polygons.map((polygon, idx) => ({
+                ...pick(polygon, keysToPick),
+                data: polygon.data[0] ? polygon.data.concat([polygon.data[0]]) : polygon.data,
+                fill: true,
+                pointRadius: 0,
+                showLine: true,
+                lineTension: 0,
+              })),
+            ].sort((a, b) => (b.order || 0) - (a.order || 0))
+          : [];
+        const allXs = flatten(datasets.map((dataset) => (dataset.data ? dataset.data.map(({ x }) => x) : [])));
+        const allYs = flatten(datasets.map((dataset) => (dataset.data ? dataset.data.map(({ y }) => y) : [])));
+        return (
+          <SContainer>
+            <PanelToolbar helpContent={helpContent} menuContent={menuContent}>
+              <MessageHistoryInput
+                path={path.value}
+                onChange={(newValue) => saveConfig({ path: { value: newValue } })}
+                inputStyle={{ height: "100%" }}
+                validTypes={VALID_TYPES}
+                placeholder='Select topic messages with a "type" of "webviz_msgs/2DPlotMsg"'
+                autoSize
+              />
+            </PanelToolbar>
+            {!msgs || msgs.length === 0 ? (
+              <EmptyState>No 2D Plot messages found</EmptyState>
+            ) : (
+              <SRoot>
+                <Dimensions>
+                  {({ width, height }) => (
+                    <ChartComponent
+                      type="scatter"
+                      width={width}
+                      height={height}
+                      key={`${width}x${height}`}
+                      options={{
+                        title: { display: !!title, text: title },
+                        scales: {
+                          yAxes: [
+                            {
+                              scaleLabel: { display: !!yAxisLabel, labelString: yAxisLabel },
+                              ticks: {
+                                min: parseFloat(minYVal) ? parseFloat(minYVal) : getBufferedMinMax(allYs).min,
+                                max: parseFloat(maxYVal) ? parseFloat(maxYVal) : getBufferedMinMax(allYs).max,
+                              },
+                            },
+                          ],
+                          xAxes: [
+                            {
+                              scaleLabel: { display: !!xAxisLabel, labelString: xAxisLabel },
+                              ticks: {
+                                min: parseFloat(minXVal) ? parseFloat(minXVal) : getBufferedMinMax(allXs).min,
+                                max: parseFloat(maxXVal) ? parseFloat(maxXVal) : getBufferedMinMax(allXs).max,
+                              },
+                            },
+                          ],
+                        },
+                        color: colors.GRAY,
+                        animation: { duration: 0 },
+                        legend: { display: false },
+                        pan: { enabled: false },
+                        zoom: { enabled: false },
+                        tooltips: {
+                          callbacks: {
+                            label(tooltipItem, data) {
+                              let label = data.datasets[tooltipItem.datasetIndex].label || "";
+                              if (label) {
+                                label += ": ";
+                              }
+                              label += `(${round(tooltipItem.xLabel, 5)}, ${round(tooltipItem.yLabel, 5)})`;
+                              return label;
+                            },
+                          },
+                        },
+                      }}
+                      data={{ datasets }}
+                    />
+                  )}
+                </Dimensions>
+              </SRoot>
+            )}
+          </SContainer>
+        );
+      }}
+    </MessageHistory>
+  );
+}
+
+TwoDimensionalPlot.panelType = "TwoDimensionalPlot";
+TwoDimensionalPlot.defaultConfig = { path: { value: "" } };
+
+export default hot(Panel<Config>(TwoDimensionalPlot));
diff --git a/packages/webviz-core/src/panels/TwoDimensionalPlot/index.stories.js b/packages/webviz-core/src/panels/TwoDimensionalPlot/index.stories.js
new file mode 100644
index 000000000..7345d88ab
--- /dev/null
+++ b/packages/webviz-core/src/panels/TwoDimensionalPlot/index.stories.js
@@ -0,0 +1,100 @@
+// @flow
+//
+//  Copyright (c) 2019-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import { storiesOf } from "@storybook/react";
+import * as React from "react";
+import { withScreenshot } from "storybook-chrome-screenshot";
+
+import TwoDimensionalPlot from "./index";
+import PanelSetup from "webviz-core/src/stories/PanelSetup";
+
+const fixture = {
+  topics: [{ name: "/plot_a", datatype: "dummy" }],
+  frame: {
+    "/plot_a": [
+      {
+        op: "message",
+        topic: "/plot_a",
+        datatype: "webviz_msgs/2DPlotMsg",
+        receiveTime: { sec: 1532375120, nsec: 317760607 },
+        message: {
+          type: "webviz_msgs/2DPlotMsg",
+          title: "This is Plot A",
+          xAxisLabel: "This is my X axis label",
+          yAxisLabel: "This is my Y axis label",
+          lines: [
+            { label: "solid-line", borderColor: "red", backgroundColor: "red", data: [{ x: 0, y: 0 }, { x: 5, y: 5 }] },
+            {
+              order: 1,
+              label: "dashed-line",
+              borderDash: [5, 5],
+              borderColor: "pink",
+              backgroundColor: "pink",
+              data: [{ x: 1, y: 1.5 }, { x: 5, y: 3.5 }],
+            },
+          ],
+          points: [
+            {
+              label: "circle-point",
+              pointBackgroundColor: "blue",
+              data: [{ x: 1.5, y: 2.5 }, { x: 3, y: 4 }, { x: 4, y: 3.5 }],
+            },
+            {
+              label: "cross-point",
+              pointBackgroundColor: "teal",
+              pointBorderColor: "teal",
+              pointBorderWidth: 3,
+              pointStyle: "star",
+              pointRadius: 10,
+              data: [{ x: 2, y: 1 }, { x: 4, y: 1 }],
+            },
+          ],
+          polygons: [
+            {
+              label: "polygon",
+              borderColor: "lightgray",
+              backgroundColor: "lightgray",
+              data: [{ x: 3, y: 1 }, { x: 4, y: 2 }, { x: 4.5, y: 1.5 }],
+            },
+          ],
+        },
+      },
+    ],
+  },
+};
+storiesOf("<TwoDimensionalPlot>", module)
+  .addDecorator(withScreenshot())
+  .add("example", () => {
+    return (
+      <PanelSetup fixture={fixture}>
+        <TwoDimensionalPlot config={{ path: { value: "/plot_a" } }} />
+      </PanelSetup>
+    );
+  })
+  .add("example with custom min/max window", () => {
+    return (
+      <PanelSetup fixture={fixture}>
+        <TwoDimensionalPlot
+          config={{ path: { value: "/plot_a" }, minXVal: "0.5", maxXVal: "6.5", minYVal: "0.5", maxYVal: "4.5" }}
+        />
+      </PanelSetup>
+    );
+  })
+  .add("example with some custom min/max vals set", () => {
+    return (
+      <PanelSetup fixture={fixture}>
+        <TwoDimensionalPlot config={{ path: { value: "/plot_a" }, maxYVal: "10" }} />
+      </PanelSetup>
+    );
+  })
+  .add("empty topic", () => {
+    return (
+      <PanelSetup fixture={fixture}>
+        <TwoDimensionalPlot config={{ path: { value: "/plot_b" } }} />
+      </PanelSetup>
+    );
+  });
diff --git a/packages/webviz-core/src/panels/diagnostics/DiagnosticStatus.js b/packages/webviz-core/src/panels/diagnostics/DiagnosticStatus.js
index 960a81abe..93fdd705c 100644
--- a/packages/webviz-core/src/panels/diagnostics/DiagnosticStatus.js
+++ b/packages/webviz-core/src/panels/diagnostics/DiagnosticStatus.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -288,7 +288,7 @@ class DiagnosticStatus extends React.Component<Props, *> {
         <div style={{ position: "relative", height: "100%" }}>
           {/* use data attribute as a hook for use in screenshot tests */}
           <ResizeHandle data-test-resizehandle splitFraction={splitFraction} onMouseDown={this._resizeMouseDown} />
-          <KeyValueTable innerRef={this._tableRef}>
+          <KeyValueTable ref={this._tableRef}>
             <tbody>
               {/* Use a dummy row to fix the column widths */}
               <tr style={{ height: 0 }}>
diff --git a/packages/webviz-core/src/panels/diagnostics/DiagnosticStatus.module.scss b/packages/webviz-core/src/panels/diagnostics/DiagnosticStatus.module.scss
index a8b244b0c..d68d07934 100644
--- a/packages/webviz-core/src/panels/diagnostics/DiagnosticStatus.module.scss
+++ b/packages/webviz-core/src/panels/diagnostics/DiagnosticStatus.module.scss
@@ -1,4 +1,4 @@
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/diagnostics/DiagnosticStatusPanel.js b/packages/webviz-core/src/panels/diagnostics/DiagnosticStatusPanel.js
index db5bd7d85..4a5e302d7 100644
--- a/packages/webviz-core/src/panels/diagnostics/DiagnosticStatusPanel.js
+++ b/packages/webviz-core/src/panels/diagnostics/DiagnosticStatusPanel.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -57,7 +57,7 @@ class DiagnosticStatusPanel extends React.Component<Props> {
     return (
       <TopicToRenderMenu
         topicToRender={topicToRender}
-        onChange={(topicToRender) => saveConfig({ topicToRender })}
+        onChange={(newTopicToRender) => saveConfig({ topicToRender: newTopicToRender })}
         topics={topics}
         singleTopicDatatype={"diagnostic_msgs/DiagnosticArray"}
         defaultTopicToRender={DIAGNOSTIC_TOPIC}
@@ -102,7 +102,9 @@ class DiagnosticStatusPanel extends React.Component<Props> {
                   <DiagnosticStatus
                     info={selectedItem}
                     splitFraction={splitFraction}
-                    onChangeSplitFraction={(splitFraction) => this.props.saveConfig({ splitFraction })}
+                    onChangeSplitFraction={(newSplitFraction) =>
+                      this.props.saveConfig({ splitFraction: newSplitFraction })
+                    }
                     topicToRender={topicToRender}
                     openSiblingPanel={openSiblingPanel}
                   />
diff --git a/packages/webviz-core/src/panels/diagnostics/DiagnosticSummary.js b/packages/webviz-core/src/panels/diagnostics/DiagnosticSummary.js
index b9cef6b4b..f1bff0ab9 100644
--- a/packages/webviz-core/src/panels/diagnostics/DiagnosticSummary.js
+++ b/packages/webviz-core/src/panels/diagnostics/DiagnosticSummary.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -140,7 +140,7 @@ class DiagnosticSummary extends React.Component<Props> {
     return (
       <TopicToRenderMenu
         topicToRender={topicToRender}
-        onChange={(topicToRender) => saveConfig({ topicToRender })}
+        onChange={(newTopicToRender) => saveConfig({ topicToRender: newTopicToRender })}
         topics={topics}
         singleTopicDatatype={"diagnostic_msgs/DiagnosticArray"}
         defaultTopicToRender={DIAGNOSTIC_TOPIC}
diff --git a/packages/webviz-core/src/panels/diagnostics/DiagnosticSummary.module.scss b/packages/webviz-core/src/panels/diagnostics/DiagnosticSummary.module.scss
index 0f559f279..6ff81bc34 100644
--- a/packages/webviz-core/src/panels/diagnostics/DiagnosticSummary.module.scss
+++ b/packages/webviz-core/src/panels/diagnostics/DiagnosticSummary.module.scss
@@ -1,4 +1,4 @@
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/diagnostics/DiagnosticsHistory.js b/packages/webviz-core/src/panels/diagnostics/DiagnosticsHistory.js
index 0d91a4f4a..edb598831 100644
--- a/packages/webviz-core/src/panels/diagnostics/DiagnosticsHistory.js
+++ b/packages/webviz-core/src/panels/diagnostics/DiagnosticsHistory.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/diagnostics/util.js b/packages/webviz-core/src/panels/diagnostics/util.js
index d279c5f74..3ba2a111a 100644
--- a/packages/webviz-core/src/panels/diagnostics/util.js
+++ b/packages/webviz-core/src/panels/diagnostics/util.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/panels/diagnostics/util.test.js b/packages/webviz-core/src/panels/diagnostics/util.test.js
index 4d35ba84a..40a17462d 100644
--- a/packages/webviz-core/src/panels/diagnostics/util.test.js
+++ b/packages/webviz-core/src/panels/diagnostics/util.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/players/NodePlayer.js b/packages/webviz-core/src/players/NodePlayer.js
index 43e40a16b..05cb4134d 100644
--- a/packages/webviz-core/src/players/NodePlayer.js
+++ b/packages/webviz-core/src/players/NodePlayer.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/players/NodePlayer.test.js b/packages/webviz-core/src/players/NodePlayer.test.js
index 427d5479f..ffcd5d5c7 100644
--- a/packages/webviz-core/src/players/NodePlayer.test.js
+++ b/packages/webviz-core/src/players/NodePlayer.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -14,7 +14,7 @@ const node = {
   inputs: ["/input/foo", "/input/bar"],
   output: { name: "/webviz/test", datatype: "test" },
   datatypes: {
-    test: [{ type: "string", name: "foo" }],
+    test: { fields: [{ type: "string", name: "foo" }] },
   },
   defaultState: { callCount: 0 },
   callback: ({ message, state }) => {
@@ -54,7 +54,7 @@ describe("NodePlayer", () => {
       speed: 0.2,
       lastSeekTime: 0,
       topics: [{ name: "/input/foo", datatype: "foo" }],
-      datatypes: { foo: [] },
+      datatypes: { foo: { fields: [] } },
     });
     expect(messages).toHaveLength(1);
     const activeData = messages[0].activeData;
@@ -63,8 +63,8 @@ describe("NodePlayer", () => {
       throw new Error("satisfy flow");
     }
     expect(activeData.datatypes).toEqual({
-      test: [{ type: "string", name: "foo" }],
-      foo: [],
+      test: { fields: [{ type: "string", name: "foo" }] },
+      foo: { fields: [] },
     });
     expect(activeData.topics).toEqual([
       {
@@ -201,7 +201,7 @@ describe("NodePlayer", () => {
       speed: 0.2,
       lastSeekTime: 0,
       topics: [{ name: "/input/foo", datatype: "foo" }],
-      datatypes: { foo: [] },
+      datatypes: { foo: { fields: [] } },
     });
 
     await done;
@@ -253,7 +253,7 @@ describe("NodePlayer", () => {
       speed: 0.2,
       lastSeekTime: 0,
       topics: [{ name: "/input/foo", datatype: "foo" }],
-      datatypes: { foo: [] },
+      datatypes: { foo: { fields: [] } },
     });
 
     fakePlayer.emit({
@@ -266,7 +266,7 @@ describe("NodePlayer", () => {
       // set the last seek time to a new value
       lastSeekTime: 1,
       topics: [{ name: "/input/foo", datatype: "foo" }],
-      datatypes: { foo: [] },
+      datatypes: { foo: { fields: [] } },
     });
     await done;
     expect(messages).toHaveLength(4);
diff --git a/packages/webviz-core/src/players/NoopMetricsCollector.js b/packages/webviz-core/src/players/NoopMetricsCollector.js
index 7b04d81d8..dbba26ada 100644
--- a/packages/webviz-core/src/players/NoopMetricsCollector.js
+++ b/packages/webviz-core/src/players/NoopMetricsCollector.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/players/RandomAccessPlayer.js b/packages/webviz-core/src/players/RandomAccessPlayer.js
index 1f96d61ca..e7b7f93cf 100644
--- a/packages/webviz-core/src/players/RandomAccessPlayer.js
+++ b/packages/webviz-core/src/players/RandomAccessPlayer.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -227,7 +227,7 @@ export default class RandomAccessPlayer implements Player {
       // we'd be "traveling back in time".
       this._cancelSeekBackfill = true;
     }
-    return this._listener({
+    const data = {
       isPresent: true,
       showSpinner: this._initializing || this._reconnecting,
       showInitializing: this._initializing,
@@ -247,7 +247,8 @@ export default class RandomAccessPlayer implements Player {
             topics: this._providerTopics,
             datatypes: this._providerDatatypes,
           },
-    });
+    };
+    return this._listener(data);
   });
 
   async _tick(): Promise<void> {
@@ -286,7 +287,7 @@ export default class RandomAccessPlayer implements Player {
       // it looks like it's stuck at the beginning of the bag.
       await delay(500);
       if (this._isPlaying) {
-        this.seekPlayback(this._start);
+        this._playFromStart();
       }
       return;
     }
@@ -382,14 +383,7 @@ export default class RandomAccessPlayer implements Player {
     }
     this._metricsCollector.play(this._speed);
     this._isPlaying = true;
-
-    // If we had paused at the end, pressing play should loop back to the beginning.
-    if (isEqual(this._currentTime, this._end)) {
-      this.seekPlayback(this._start);
-    } else {
-      this._emitState();
-    }
-
+    this._emitState();
     this._read();
   }
 
@@ -459,6 +453,20 @@ export default class RandomAccessPlayer implements Player {
     }
   }
 
+  _playFromStart(): void {
+    if (!this._isPlaying) {
+      throw new Error("Can only play from the very start when we're already playing.");
+    }
+    // Have to start to a nanosecond before the start time, otherwise we don't get
+    // messages that are exactly at the start time.
+    this.seekPlayback(
+      TimeUtil.add(this._start, {
+        sec: 0,
+        nsec: -1,
+      })
+    );
+  }
+
   setSubscriptions(newSubscriptions: SubscribePayload[]): void {
     const oldSanitizedSubscribedTopics = this._sanitizedSubscribedTopics;
     const subscribedTopics = new Set(newSubscriptions.map(({ topic }) => topic));
diff --git a/packages/webviz-core/src/players/RandomAccessPlayer.test.js b/packages/webviz-core/src/players/RandomAccessPlayer.test.js
index ebbc823c0..1df27fe65 100644
--- a/packages/webviz-core/src/players/RandomAccessPlayer.test.js
+++ b/packages/webviz-core/src/players/RandomAccessPlayer.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -23,7 +23,7 @@ import reportError from "webviz-core/src/util/reportError";
 import { fromNanoSec } from "webviz-core/src/util/time";
 
 // By default seek to the start of the bag, since that makes things a bit simpler to reason about.
-const playerOptions = { metricsCollector: undefined, seekToTime: { sec: 0, nsec: 0 } };
+const playerOptions = { metricsCollector: undefined, seekToTime: { sec: 10, nsec: 0 } };
 
 class MessageStore {
   _messages: PlayerState[] = [];
@@ -87,14 +87,17 @@ describe("RandomAccessPlayer", () => {
       },
       {
         activeData: {
-          currentTime: { sec: 0, nsec: 0 },
-          datatypes: { baz: [{ name: "val", type: "number" }], fooBar: [{ name: "val", type: "number" }] },
+          currentTime: { sec: 10, nsec: 0 },
+          datatypes: {
+            baz: { fields: [{ name: "val", type: "number" }] },
+            fooBar: { fields: [{ name: "val", type: "number" }] },
+          },
           endTime: { sec: 100, nsec: 0 },
           isPlaying: false,
           lastSeekTime: 0,
           messages: [],
           speed: 0.2,
-          startTime: { sec: 0, nsec: 0 },
+          startTime: { sec: 10, nsec: 0 },
           topics: [{ datatype: "fooBar", name: "/foo/bar" }, { datatype: "baz", name: "/baz" }],
         },
         capabilities: ["setSpeed"],
@@ -119,7 +122,9 @@ describe("RandomAccessPlayer", () => {
     const store = new MessageStore(2);
     await source.setListener(store.add);
     const messages: any = await store.done;
-    expect(messages[1].activeData.currentTime).toEqual(fromNanoSec(SEEK_ON_START_NS));
+    expect(messages[1].activeData.currentTime).toEqual(
+      TimeUtil.add({ sec: 10, nsec: 0 }, fromNanoSec(SEEK_ON_START_NS))
+    );
 
     source.close();
   });
@@ -176,18 +181,18 @@ describe("RandomAccessPlayer", () => {
       switch (callCount) {
         case 1:
           // initial getMessages from player initialization
-          expect(start).toEqual({ sec: 0, nsec: 0 });
-          expect(end).toEqual({ sec: 0, nsec: 0 });
+          expect(start).toEqual({ sec: 10, nsec: 0 });
+          expect(end).toEqual({ sec: 10, nsec: 0 });
           return Promise.resolve([]);
 
         case 2: {
-          expect(start).toEqual({ sec: 0, nsec: 1 });
-          expect(end).toEqual({ sec: 0, nsec: 4000000 });
+          expect(start).toEqual({ sec: 10, nsec: 1 });
+          expect(end).toEqual({ sec: 10, nsec: 4000000 });
           expect(topics).toEqual(["/foo/bar"]);
           const result: DataProviderMessage[] = [
             {
               topic: "/foo/bar",
-              receiveTime: { sec: 0, nsec: 2 },
+              receiveTime: { sec: 10, nsec: 2 },
               message: { payload: "foo bar" },
             },
           ];
@@ -195,7 +200,7 @@ describe("RandomAccessPlayer", () => {
         }
 
         case 3: {
-          expect(start).toEqual({ sec: 0, nsec: 4000001 });
+          expect(start).toEqual({ sec: 10, nsec: 4000001 });
           return Promise.resolve([]);
         }
 
@@ -224,7 +229,7 @@ describe("RandomAccessPlayer", () => {
           op: "message",
           topic: "/foo/bar",
           datatype: "fooBar",
-          receiveTime: { sec: 0, nsec: 2 },
+          receiveTime: { sec: 10, nsec: 2 },
           message: { payload: "foo bar" },
         },
       ],
@@ -242,14 +247,14 @@ describe("RandomAccessPlayer", () => {
       switch (callCount) {
         case 1:
           // initial getMessages from player initialization
-          expect(start).toEqual({ sec: 0, nsec: 0 });
-          expect(end).toEqual({ sec: 0, nsec: 0 });
+          expect(start).toEqual({ sec: 10, nsec: 0 });
+          expect(end).toEqual({ sec: 10, nsec: 0 });
           expect(topics).toContainOnly(["/foo/bar"]);
           return Promise.resolve([]);
 
         case 2:
-          expect(start).toEqual({ sec: 0, nsec: 1 });
-          expect(end).toEqual({ sec: 0, nsec: 4000000 });
+          expect(start).toEqual({ sec: 10, nsec: 1 });
+          expect(end).toEqual({ sec: 10, nsec: 4000000 });
           expect(topics).toEqual(["/foo/bar"]);
           source.pausePlayback();
           return Promise.resolve([]);
@@ -280,19 +285,19 @@ describe("RandomAccessPlayer", () => {
       switch (callCount) {
         case 1:
           // initial getMessages from player initialization
-          expect(start).toEqual({ sec: 0, nsec: 0 });
-          expect(end).toEqual({ sec: 0, nsec: 0 });
+          expect(start).toEqual({ sec: 10, nsec: 0 });
+          expect(end).toEqual({ sec: 10, nsec: 0 });
           expect(topics).toContainOnly(["/foo/bar"]);
           return Promise.resolve([]);
 
         case 2: {
-          expect(start).toEqual({ sec: 0, nsec: 1 });
-          expect(end).toEqual({ sec: 0, nsec: 4000000 });
+          expect(start).toEqual({ sec: 10, nsec: 1 });
+          expect(end).toEqual({ sec: 10, nsec: 4000000 });
           expect(topics).toContainOnly(["/foo/bar"]);
           const result: DataProviderMessage[] = [
             {
               topic: "/foo/bar",
-              receiveTime: { sec: 0, nsec: 0 },
+              receiveTime: { sec: 10, nsec: 0 },
               message: { payload: "foo bar" },
             },
           ];
@@ -330,7 +335,7 @@ describe("RandomAccessPlayer", () => {
           op: "message",
           topic: "/foo/bar",
           datatype: "fooBar",
-          receiveTime: { sec: 0, nsec: 0 },
+          receiveTime: { sec: 10, nsec: 0 },
           message: { payload: "foo bar" },
         },
       ],
@@ -350,24 +355,24 @@ describe("RandomAccessPlayer", () => {
       switch (callCount) {
         case 1:
           // initial getMessages from player initialization
-          expect(start).toEqual({ sec: 0, nsec: 0 });
-          expect(end).toEqual({ sec: 0, nsec: 0 });
+          expect(start).toEqual({ sec: 10, nsec: 0 });
+          expect(end).toEqual({ sec: 10, nsec: 0 });
           expect(topics).toContainOnly(["/foo/bar"]);
           return Promise.resolve([]);
         case 2: {
-          expect(start).toEqual({ sec: 0, nsec: 1 });
-          expect(end).toEqual({ sec: 0, nsec: 4000000 });
+          expect(start).toEqual({ sec: 10, nsec: 1 });
+          expect(end).toEqual({ sec: 10, nsec: 4000000 });
           expect(topics).toContainOnly(["/foo/bar"]);
           const result: DataProviderMessage[] = [
             {
               topic: "/foo/bar",
-              receiveTime: { sec: 0, nsec: 0 },
+              receiveTime: { sec: 10, nsec: 0 },
               message: { payload: "foo bar" },
             },
           ];
           await new Promise((resolve) => setTimeout(resolve, 10));
           mockDateNow.mockReturnValue(Date.now() + 1);
-          source.seekPlayback({ sec: 0, nsec: 0 });
+          source.seekPlayback({ sec: 10, nsec: 0 });
           return Promise.resolve(result);
         }
 
@@ -396,9 +401,9 @@ describe("RandomAccessPlayer", () => {
     const activeDatas = messages.map((msg) => msg.activeData || {});
     expect(activeDatas.map((d) => d.currentTime)).toEqual([
       undefined, // "start up" message
-      { sec: 0, nsec: 0 },
-      { sec: 0, nsec: 0 },
-      { sec: 0, nsec: 0 },
+      { sec: 10, nsec: 0 },
+      { sec: 10, nsec: 0 },
+      { sec: 10, nsec: 0 },
     ]);
     expect(activeDatas.map((d) => d.messages)).toEqual([undefined, [], [], []]);
 
@@ -414,8 +419,8 @@ describe("RandomAccessPlayer", () => {
       switch (callCount) {
         case 1:
           // initial getMessages from player initialization
-          expect(start).toEqual({ sec: 0, nsec: 0 });
-          expect(end).toEqual({ sec: 0, nsec: 0 });
+          expect(start).toEqual({ sec: 10, nsec: 0 });
+          expect(end).toEqual({ sec: 10, nsec: 0 });
           expect(topics).toContainOnly(["/foo/bar"]);
           return Promise.resolve([]);
 
@@ -426,7 +431,7 @@ describe("RandomAccessPlayer", () => {
           const result: DataProviderMessage[] = [
             {
               topic: "/foo/bar",
-              receiveTime: { sec: 0, nsec: 5 },
+              receiveTime: { sec: 10, nsec: 5 },
               message: { payload: "foo bar" },
             },
           ];
@@ -436,7 +441,7 @@ describe("RandomAccessPlayer", () => {
           // make sure after we seek & read again we read exactly from the right nanosecond
           expect(start).toEqual({ sec: 20, nsec: 51 });
           return Promise.resolve([
-            { topic: "/foo/bar", receiveTime: { sec: 0, nsec: 101 }, message: { payload: "baz" } },
+            { topic: "/foo/bar", receiveTime: { sec: 10, nsec: 101 }, message: { payload: "baz" } },
           ]);
         case 4:
           source.pausePlayback();
@@ -468,7 +473,7 @@ describe("RandomAccessPlayer", () => {
           op: "message",
           datatype: "fooBar",
           topic: "/foo/bar",
-          receiveTime: { sec: 0, nsec: 5 },
+          receiveTime: { sec: 10, nsec: 5 },
           message: { payload: "foo bar" },
         },
       ],
@@ -483,7 +488,7 @@ describe("RandomAccessPlayer", () => {
           topic: "/foo/bar",
           datatype: "fooBar",
           op: "message",
-          receiveTime: { sec: 0, nsec: 101 },
+          receiveTime: { sec: 10, nsec: 101 },
           message: { payload: "baz" },
         },
       ],
@@ -503,8 +508,8 @@ describe("RandomAccessPlayer", () => {
       switch (callCount) {
         case 1:
           // initial getMessages from player initialization
-          expect(start).toEqual({ sec: 0, nsec: 0 });
-          expect(end).toEqual({ sec: 0, nsec: 0 });
+          expect(start).toEqual({ sec: 10, nsec: 0 });
+          expect(end).toEqual({ sec: 10, nsec: 0 });
           expect(topics).toContainOnly(["/foo/bar"]);
           return Promise.resolve([]);
 
@@ -567,7 +572,7 @@ describe("RandomAccessPlayer", () => {
     store.reset(0); // We expect 0 more messages; this will throw an error later if we received more.
     const result: DataProviderMessage = {
       topic: "/foo/bar",
-      receiveTime: { sec: 0, nsec: 5 },
+      receiveTime: { sec: 10, nsec: 5 },
       message: { payload: "foo bar" },
     };
     backfillPromiseCallback([result]);
@@ -592,14 +597,14 @@ describe("RandomAccessPlayer", () => {
     source.setSubscriptions([{ topic: "/foo/bar" }]);
 
     // Test clamping to start time.
-    source.seekPlayback({ sec: 0, nsec: 100 });
+    source.seekPlayback({ sec: 10, nsec: 100 });
     if (!lastGetMessagesCall) {
       throw new Error("lastGetMessagesCall not set");
     }
     lastGetMessagesCall.resolve([]);
     expect(lastGetMessagesCall).toEqual({
-      start: { sec: 0, nsec: 0 },
-      end: { sec: 0, nsec: 100 },
+      start: { sec: 10, nsec: 0 },
+      end: { sec: 10, nsec: 100 },
       topics: ["/foo/bar"],
       resolve: expect.any(Function),
     });
@@ -668,22 +673,22 @@ describe("RandomAccessPlayer", () => {
     const items: DataProviderMessage[] = [
       {
         topic: "/foo/bar",
-        receiveTime: { sec: 0, nsec: 0 },
+        receiveTime: { sec: 10, nsec: 0 },
         message: { payload: "foo bar 1" },
       },
       {
         topic: "/baz",
-        receiveTime: { sec: 0, nsec: 500 },
+        receiveTime: { sec: 10, nsec: 500 },
         message: { payload: "baz 1" },
       },
       {
         topic: "/baz",
-        receiveTime: { sec: 0, nsec: 5000 },
+        receiveTime: { sec: 10, nsec: 5000 },
         message: { payload: "baz 2" },
       },
       {
         topic: "/foo/bar",
-        receiveTime: { sec: 0, nsec: 9000000 },
+        receiveTime: { sec: 10, nsec: 9000000 },
         message: { payload: "foo bar 2" },
       },
     ];
@@ -714,28 +719,28 @@ describe("RandomAccessPlayer", () => {
         op: "message",
         datatype: "fooBar",
         topic: "/foo/bar",
-        receiveTime: { sec: 0, nsec: 0 },
+        receiveTime: { sec: 10, nsec: 0 },
         message: { payload: "foo bar 1" },
       },
       {
         topic: "/baz",
         op: "message",
         datatype: "baz",
-        receiveTime: { sec: 0, nsec: 500 },
+        receiveTime: { sec: 10, nsec: 500 },
         message: { payload: "baz 1" },
       },
       {
         topic: "/baz",
         op: "message",
         datatype: "baz",
-        receiveTime: { sec: 0, nsec: 5000 },
+        receiveTime: { sec: 10, nsec: 5000 },
         message: { payload: "baz 2" },
       },
       {
         topic: "/foo/bar",
         op: "message",
         datatype: "fooBar",
-        receiveTime: { sec: 0, nsec: 9000000 },
+        receiveTime: { sec: 10, nsec: 9000000 },
         message: { payload: "foo bar 2" },
       },
     ]);
@@ -801,12 +806,12 @@ describe("RandomAccessPlayer", () => {
 
     const message1 = {
       topic: "/foo/bar",
-      receiveTime: { sec: 0, nsec: 1 },
+      receiveTime: { sec: 10, nsec: 1 },
       message: { payload: "foo bar 1" },
     };
     const message2 = {
       topic: "/foo/bar",
-      receiveTime: { sec: 0, nsec: 2 },
+      receiveTime: { sec: 10, nsec: 2 },
       message: { payload: "foo bar 2" },
     };
 
@@ -830,7 +835,7 @@ describe("RandomAccessPlayer", () => {
     player.startPlayback();
 
     await firstGetMessagesCall;
-    expect(getMessages.mock.calls).toEqual([[{ sec: 0, nsec: 1 }, { sec: 0, nsec: 4000000 }, ["/foo/bar"]]]);
+    expect(getMessages.mock.calls).toEqual([[{ sec: 10, nsec: 1 }, { sec: 10, nsec: 4000000 }, ["/foo/bar"]]]);
 
     expect(await store.done).toEqual([
       expect.objectContaining({ activeData: undefined }),
@@ -981,8 +986,8 @@ describe("RandomAccessPlayer", () => {
         seeked: 0,
         speed: [],
       });
-      source.seekPlayback({ sec: 0, nsec: 500 });
-      source.seekPlayback({ sec: 1, nsec: 0 });
+      source.seekPlayback({ sec: 10, nsec: 500 });
+      source.seekPlayback({ sec: 11, nsec: 0 });
       expect(metricsCollector.stats()).toEqual({
         initialized: 1,
         played: 1,
@@ -1018,7 +1023,7 @@ describe("RandomAccessPlayer", () => {
 
     const message1 = {
       topic: "/foo/bar",
-      receiveTime: { sec: 0, nsec: 1 },
+      receiveTime: { sec: 10, nsec: 1 },
       message: { payload: "foo bar 1" },
     };
 
@@ -1040,7 +1045,7 @@ describe("RandomAccessPlayer", () => {
     player.startPlayback();
 
     await firstGetMessagesCall;
-    expect(getMessages.mock.calls).toEqual([[{ sec: 0, nsec: 1 }, { sec: 0, nsec: 4000000 }, ["/foo/bar"]]]);
+    expect(getMessages.mock.calls).toEqual([[{ sec: 10, nsec: 1 }, { sec: 10, nsec: 4000000 }, ["/foo/bar"]]]);
 
     // $FlowFixMe
     Object.defineProperty(document, "visibilityState", {
@@ -1072,7 +1077,7 @@ describe("RandomAccessPlayer", () => {
 
   it("seeks the player after starting", async () => {
     const provider = new TestProvider();
-    provider.getMessages = jest.fn().mockImplementation(async () => Promise.resolve([]));
+    provider.getMessages = jest.fn().mockImplementation(() => Promise.resolve([]));
     const player = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] }, playerOptions);
     const store = new MessageStore(2);
     player.setSubscriptions([{ topic: "/foo/bar" }]);
@@ -1087,4 +1092,43 @@ describe("RandomAccessPlayer", () => {
 
     player.close();
   });
+
+  it("wraps playback when letting it play across the end boundary", async () => {
+    const provider = new TestProvider();
+    provider.getMessages = jest.fn().mockImplementation(() => Promise.resolve([]));
+    const player = new RandomAccessPlayer({ name: "TestProvider", args: { provider }, children: [] }, playerOptions);
+    const store = new MessageStore(2);
+    player.setSubscriptions([{ topic: "/foo/bar" }]);
+    await player.setListener(store.add);
+    await store.done;
+
+    // Seek to just before the end.
+    store.reset(1);
+    player.seekPlayback(TimeUtil.add({ sec: 100, nsec: 0 }, { sec: 0, nsec: -1 }));
+    await store.done;
+
+    // Pause right after wrapping around, which happens to be on the second call.
+    // Then play again, and see if we indeed wrap around properly.
+    let callCount = 0;
+    provider.getMessages = jest.fn().mockImplementation(() => {
+      callCount++;
+      if (callCount === 2) {
+        player.pausePlayback();
+      }
+      return Promise.resolve([]);
+    });
+    store.reset(3);
+    player.startPlayback();
+    await store.done;
+
+    // $FlowFixMe - doesn't understand getMessages.mock
+    expect(provider.getMessages.mock.calls).toEqual([
+      [{ sec: 100, nsec: 0 }, { sec: 100, nsec: 0 }, ["/foo/bar"]],
+      // We don't care too much about the `nsec` part since it might depend on playback speed.
+      // As long as the start of the range is actually at the beginning of the source.
+      [{ sec: 10, nsec: 0 }, { sec: 10, nsec: expect.any(Number) }, ["/foo/bar"]],
+    ]);
+
+    player.close();
+  });
 });
diff --git a/packages/webviz-core/src/players/TestProvider.js b/packages/webviz-core/src/players/TestProvider.js
index 295dd38cc..34854e6f2 100644
--- a/packages/webviz-core/src/players/TestProvider.js
+++ b/packages/webviz-core/src/players/TestProvider.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -17,33 +17,27 @@ import {
 import { type Topic } from "webviz-core/src/players/types";
 import type { RosDatatypes } from "webviz-core/src/types/RosDatatypes";
 
-const start = { sec: 0, nsec: 0 };
-const end = { sec: 100, nsec: 0 };
+const defaultStart = { sec: 10, nsec: 0 };
+const defaultEnd = { sec: 100, nsec: 0 };
 const datatypes: RosDatatypes = {
-  fooBar: [
-    {
-      name: "val",
-      type: "number",
-    },
-  ],
-  baz: [
-    {
-      name: "val",
-      type: "number",
-    },
-  ],
-};
-const topics: Topic[] = [
-  {
-    name: "/foo/bar",
-    datatype: "fooBar",
+  fooBar: {
+    fields: [
+      {
+        name: "val",
+        type: "number",
+      },
+    ],
   },
-  {
-    name: "/baz",
-    datatype: "baz",
+  baz: {
+    fields: [
+      {
+        name: "val",
+        type: "number",
+      },
+    ],
   },
-];
-
+};
+const defaultTopics: Topic[] = [{ name: "/foo/bar", datatype: "fooBar" }, { name: "/baz", datatype: "baz" }];
 type GetMessages = (start: Time, end: Time, topics: string[]) => Promise<DataProviderMessage[]>;
 
 export default class TestProvider implements DataProvider {
@@ -55,9 +49,9 @@ export default class TestProvider implements DataProvider {
   closed: boolean = false;
 
   constructor({ getMessages }: { getMessages: GetMessages } = {}) {
-    this._start = start;
-    this._end = end;
-    this._topics = topics;
+    this._start = defaultStart;
+    this._end = defaultEnd;
+    this._topics = defaultTopics;
     this._datatypes = datatypes;
     if (getMessages) {
       this.getMessages = getMessages;
diff --git a/packages/webviz-core/src/players/UserNodePlayer/index.js b/packages/webviz-core/src/players/UserNodePlayer/index.js
index 9f9982f48..f0c157675 100644
--- a/packages/webviz-core/src/players/UserNodePlayer/index.js
+++ b/packages/webviz-core/src/players/UserNodePlayer/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -223,7 +223,8 @@ export default class UserNodePlayer implements Player {
     const nodeRegistrations: NodeRegistration[] = [];
     for (const [nodeId, nodeObj] of Object.entries(this._userNodes)) {
       const node = ((nodeObj: any): { name: string, sourceCode: string });
-      if (!isUserNodeTrusted({ id: nodeId, sourceCode: node.sourceCode })) {
+      const isTrusted = await isUserNodeTrusted({ id: nodeId, sourceCode: node.sourceCode });
+      if (!isTrusted) {
         this._setNodeTrust(nodeId, false);
         continue;
       } else {
@@ -238,7 +239,6 @@ export default class UserNodePlayer implements Player {
         priorRegisteredTopics: nodeRegistrations.map(({ output }) => output),
       });
       const { diagnostics } = nodeData;
-
       this._setUserNodeDiagnostics(nodeId, diagnostics);
       if (diagnostics.some(({ severity }) => severity === DiagnosticSeverity.Error)) {
         continue;
diff --git a/packages/webviz-core/src/players/UserNodePlayer/index.test.js b/packages/webviz-core/src/players/UserNodePlayer/index.test.js
index 4ce390c03..8c3e9fe67 100644
--- a/packages/webviz-core/src/players/UserNodePlayer/index.test.js
+++ b/packages/webviz-core/src/players/UserNodePlayer/index.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -25,7 +25,7 @@ const nodeId = "nodeId";
 const hardcodedNode = {
   inputs: ["/input/foo", "/input/bar"],
   output: { name: "/webviz/test", datatype: "test" },
-  datatypes: { test: [{ type: "string", name: "foo" }] },
+  datatypes: { test: { fields: [{ type: "string", name: "foo" }] } },
   defaultState: {},
   callback: ({ message, state }) => ({
     messages: [
@@ -260,7 +260,7 @@ describe("UserNodePlayer", () => {
         setUserNodeDiagnostics: mockSetNodeDiagnostics,
       });
 
-      trustUserNode({ id: nodeId, sourceCode: nodeUserCode });
+      await trustUserNode({ id: nodeId, sourceCode: nodeUserCode });
       userNodePlayer.setUserNodes({ nodeId: { name: "someNodeName", sourceCode: nodeUserCode } });
 
       const [done] = setListenerHelper(userNodePlayer);
@@ -270,7 +270,7 @@ describe("UserNodePlayer", () => {
         messages: [],
         currentTime: { sec: 0, nsec: 0 },
         topics: [{ name: "/np_input", datatype: `${DEFAULT_WEBVIZ_NODE_PREFIX}1` }],
-        datatypes: { foo: [] },
+        datatypes: { foo: { fields: [] } },
       });
 
       const { topics, messages } = await done;
@@ -289,7 +289,7 @@ describe("UserNodePlayer", () => {
         addUserNodeLogs: mockAddUserNodeLogs,
       });
 
-      trustUserNode({ id: nodeId, sourceCode: `${nodeUserCode}\nlog("LOG VALUE HERE");` });
+      await trustUserNode({ id: nodeId, sourceCode: `${nodeUserCode}\nlog("LOG VALUE HERE");` });
       userNodePlayer.setSubscriptions([{ topic: `${DEFAULT_WEBVIZ_NODE_PREFIX}1` }]);
       userNodePlayer.setUserNodes({
         nodeId: { name: "someNodeName", sourceCode: `${nodeUserCode}\nlog("LOG VALUE HERE");` },
@@ -304,7 +304,7 @@ describe("UserNodePlayer", () => {
         messages: messagesArray,
         currentTime: { sec: 0, nsec: 0 },
         topics: [{ name: "/np_input", datatype: `${DEFAULT_WEBVIZ_NODE_PREFIX}1` }],
-        datatypes: { foo: [] },
+        datatypes: { foo: { fields: [] } },
       });
 
       const { messages } = await done;
@@ -314,7 +314,7 @@ describe("UserNodePlayer", () => {
         messages: messagesArray,
         currentTime: { sec: 0, nsec: 0 },
         topics: [{ name: "/np_input", datatype: `${DEFAULT_WEBVIZ_NODE_PREFIX}1` }],
-        datatypes: { foo: [] },
+        datatypes: { foo: { fields: [] } },
       });
 
       const { messages: newMessages } = await nextDone;
@@ -336,7 +336,7 @@ describe("UserNodePlayer", () => {
         messages: [],
         currentTime: { sec: 0, nsec: 0 },
         topics: [{ name: "/np_input", datatype: "std_msgs/Header" }],
-        datatypes: { foo: [] },
+        datatypes: { foo: { fields: [] } },
       });
 
       const { topics } = await done;
@@ -351,16 +351,17 @@ describe("UserNodePlayer", () => {
 
       const [done] = setListenerHelper(userNodePlayer);
 
+      await trustUserNode({ id: nodeId, sourceCode: nodeUserCode });
+      userNodePlayer.setUserNodes({
+        [nodeId]: { name: `${DEFAULT_WEBVIZ_NODE_PREFIX}1`, sourceCode: nodeUserCode },
+      });
+
       fakePlayer.emit({
         ...basicPlayerState,
         messages: [upstreamMessages[0]],
         currentTime: upstreamMessages[0].receiveTime,
         topics: [{ name: "/np_input", datatype: "std_msgs/Header" }],
-        datatypes: { foo: [] },
-      });
-      trustUserNode({ id: nodeId, sourceCode: nodeUserCode });
-      userNodePlayer.setUserNodes({
-        [nodeId]: { name: `${DEFAULT_WEBVIZ_NODE_PREFIX}1`, sourceCode: nodeUserCode },
+        datatypes: { foo: { fields: [] } },
       });
 
       const { messages, topics } = await done;
@@ -374,19 +375,19 @@ describe("UserNodePlayer", () => {
 
       const [done] = setListenerHelper(userNodePlayer);
 
+      await trustUserNode({ id: nodeId, sourceCode: nodeUserCode });
+      // TODO: test here to make sure the user node does not produce messages if not subscribed to.
+      userNodePlayer.setSubscriptions([{ topic: `${DEFAULT_WEBVIZ_NODE_PREFIX}1` }]);
+      await userNodePlayer.setUserNodes({
+        [nodeId]: { name: `${DEFAULT_WEBVIZ_NODE_PREFIX}1`, sourceCode: nodeUserCode },
+      });
+
       fakePlayer.emit({
         ...basicPlayerState,
         messages: [upstreamMessages[0]],
         currentTime: upstreamMessages[0].receiveTime,
         topics: [{ name: "/np_input", datatype: "std_msgs/Header" }],
-        datatypes: { foo: [] },
-      });
-
-      // TODO: test here to make sure the user node does not produce messages if not subscribed to.
-      userNodePlayer.setSubscriptions([{ topic: `${DEFAULT_WEBVIZ_NODE_PREFIX}1` }]);
-      trustUserNode({ id: nodeId, sourceCode: nodeUserCode });
-      userNodePlayer.setUserNodes({
-        [nodeId]: { name: `${DEFAULT_WEBVIZ_NODE_PREFIX}1`, sourceCode: nodeUserCode },
+        datatypes: { foo: { fields: [] } },
       });
 
       const { messages } = await done;
@@ -403,6 +404,63 @@ describe("UserNodePlayer", () => {
       ]);
     });
 
+    it("skips publishing messages if a node does not produce a message", async () => {
+      const fakePlayer = new FakePlayer();
+      const userNodePlayer = new UserNodePlayer(fakePlayer, defaultUserNodeActions);
+
+      const [done, nextDone] = setListenerHelper(userNodePlayer, 2);
+
+      const unionTypeReturn = `
+        export const inputs = ["/np_input"];
+        export const output = "${DEFAULT_WEBVIZ_NODE_PREFIX}1";
+        let lastStamp, lastReceiveTime;
+        export default (message: { message: { payload: string } }): { custom_np_field: string, value: string } | undefined => {
+          if (message.message.payload === "bar") {
+            return;
+          }
+          return { custom_np_field: "abc", value: message.message.payload };
+        };
+      `;
+
+      await trustUserNode({ id: nodeId, sourceCode: unionTypeReturn });
+      // TODO: test here to make sure the user node does not produce messages if not subscribed to.
+      userNodePlayer.setSubscriptions([{ topic: `${DEFAULT_WEBVIZ_NODE_PREFIX}1` }]);
+      await userNodePlayer.setUserNodes({
+        [nodeId]: { name: `${DEFAULT_WEBVIZ_NODE_PREFIX}1`, sourceCode: unionTypeReturn },
+      });
+
+      fakePlayer.emit({
+        ...basicPlayerState,
+        messages: [upstreamMessages[0]],
+        currentTime: upstreamMessages[0].receiveTime,
+        topics: [{ name: "/np_input", datatype: "std_msgs/Header" }],
+        datatypes: { foo: { fields: [] } },
+      });
+
+      const result = await done;
+      expect(result.messages).toEqual([upstreamMessages[0]]);
+
+      fakePlayer.emit({
+        ...basicPlayerState,
+        messages: [upstreamMessages[1]],
+        currentTime: upstreamMessages[1].receiveTime,
+        topics: [{ name: "/np_input", datatype: "std_msgs/Header" }],
+        datatypes: { foo: { fields: [] } },
+      });
+
+      const nextResult = await nextDone;
+      expect(nextResult.messages).toEqual([
+        upstreamMessages[1],
+        {
+          datatype: `${DEFAULT_WEBVIZ_NODE_PREFIX}1`,
+          op: "message",
+          receiveTime: upstreamMessages[1].receiveTime,
+          message: { custom_np_field: "abc", value: "baz" },
+          topic: `${DEFAULT_WEBVIZ_NODE_PREFIX}1`,
+        },
+      ]);
+    });
+
     it("should handle multiple user nodes", async () => {
       const fakePlayer = new FakePlayer();
       const userNodePlayer = new UserNodePlayer(fakePlayer, defaultUserNodeActions);
@@ -413,10 +471,10 @@ describe("UserNodePlayer", () => {
         [`${DEFAULT_WEBVIZ_NODE_PREFIX}1`]: { name: `${DEFAULT_WEBVIZ_NODE_PREFIX}1`, sourceCode: nodeUserCode },
       });
 
-      trustUserNode({ id: nodeId, sourceCode: nodeUserCode });
+      await trustUserNode({ id: nodeId, sourceCode: nodeUserCode });
 
       const nodeUserCode2 = nodeUserCode.replace(`${DEFAULT_WEBVIZ_NODE_PREFIX}1`, `${DEFAULT_WEBVIZ_NODE_PREFIX}2`);
-      trustUserNode({ id: `${nodeId}2`, sourceCode: nodeUserCode2 });
+      await trustUserNode({ id: `${nodeId}2`, sourceCode: nodeUserCode2 });
       userNodePlayer.setUserNodes({
         [nodeId]: { name: `${DEFAULT_WEBVIZ_NODE_PREFIX}1`, sourceCode: nodeUserCode },
         [`${nodeId}2`]: {
@@ -435,7 +493,7 @@ describe("UserNodePlayer", () => {
         messages: [upstreamMessages[0]],
         currentTime: upstreamMessages[0].receiveTime,
         topics: [{ name: "/np_input", datatype: "std_msgs/Header" }],
-        datatypes: { foo: [] },
+        datatypes: { foo: { fields: [] } },
       });
 
       const { messages } = await done;
@@ -473,7 +531,7 @@ describe("UserNodePlayer", () => {
       const fakePlayer = new FakePlayer();
       const userNodePlayer = new UserNodePlayer(fakePlayer, defaultUserNodeActions);
 
-      trustUserNode({ id: nodeId, sourceCode });
+      await trustUserNode({ id: nodeId, sourceCode });
       userNodePlayer.setUserNodes({
         [nodeId]: { name: `${DEFAULT_WEBVIZ_NODE_PREFIX}1`, sourceCode },
       });
@@ -487,7 +545,7 @@ describe("UserNodePlayer", () => {
         messages: [upstreamMessages[0]],
         currentTime: upstreamMessages[0].receiveTime,
         topics: [{ name: "/np_input", datatype: "std_msgs/Header" }],
-        datatypes: { foo: [] },
+        datatypes: { foo: { fields: [] } },
       });
 
       await firstDone;
@@ -498,7 +556,7 @@ describe("UserNodePlayer", () => {
         currentTime: upstreamMessages[1].receiveTime,
         lastSeekTime: 1,
         topics: [{ name: "/np_input", datatype: "std_msgs/Header" }],
-        datatypes: { foo: [] },
+        datatypes: { foo: { fields: [] } },
       });
 
       const { messages } = await secondDone;
@@ -596,6 +654,10 @@ describe("UserNodePlayer", () => {
         setUserNodeDiagnostics: mockSetNodeDiagnostics,
       });
 
+      await trustUserNode({ id: nodeId, sourceCode: code });
+      userNodePlayer.setSubscriptions([{ topic: `${DEFAULT_WEBVIZ_NODE_PREFIX}1` }]);
+      userNodePlayer.setUserNodes({ nodeId: { name: "nodeName", sourceCode: code } });
+
       const [done] = setListenerHelper(userNodePlayer);
 
       fakePlayer.emit({
@@ -603,13 +665,9 @@ describe("UserNodePlayer", () => {
         messages: [upstreamMessages[0]],
         currentTime: upstreamMessages[0].receiveTime,
         topics: [{ name: "/np_input", datatype: "std_msgs/Header" }],
-        datatypes: { foo: [] },
+        datatypes: { foo: { fields: [] } },
       });
 
-      trustUserNode({ id: nodeId, sourceCode: code });
-      userNodePlayer.setSubscriptions([{ topic: `${DEFAULT_WEBVIZ_NODE_PREFIX}1` }]);
-      userNodePlayer.setUserNodes({ nodeId: { name: "nodeName", sourceCode: code } });
-
       const { topics, messages } = await done;
       expect(mockSetNodeDiagnostics).toHaveBeenLastCalledWith({
         nodeId: {
@@ -632,7 +690,7 @@ describe("UserNodePlayer", () => {
       const fakePlayer = new FakePlayer();
       const userNodePlayer = new UserNodePlayer(fakePlayer, defaultUserNodeActions);
 
-      trustUserNode({ id: nodeId, sourceCode: nodeUserCode });
+      await trustUserNode({ id: nodeId, sourceCode: nodeUserCode });
       userNodePlayer.setUserNodes({
         [nodeId]: { name: `${DEFAULT_WEBVIZ_NODE_PREFIX}1`, sourceCode: nodeUserCode },
       });
@@ -644,7 +702,7 @@ describe("UserNodePlayer", () => {
         messages: [upstreamMessages[0]],
         currentTime: upstreamMessages[0].receiveTime,
         topics: [{ name: "/np_input", datatype: "std_msgs/Header" }],
-        datatypes: { foo: [] },
+        datatypes: { foo: { fields: [] } },
       });
 
       const { topics: firstTopics } = await firstDone;
@@ -656,7 +714,7 @@ describe("UserNodePlayer", () => {
         messages: [upstreamMessages[0]],
         currentTime: upstreamMessages[0].receiveTime,
         topics: [{ name: "/np_input", datatype: "std_msgs/Header" }],
-        datatypes: { foo: [] },
+        datatypes: { foo: { fields: [] } },
       });
       const { topics: secondTopics } = await secondDone;
       expect(secondTopics).toEqual(["/np_input"]);
@@ -709,18 +767,18 @@ describe("UserNodePlayer", () => {
         });
         const [done] = setListenerHelper(userNodePlayer);
 
+        await trustUserNode({ id: nodeId, sourceCode: code });
+        userNodePlayer.setSubscriptions([{ topic: `${DEFAULT_WEBVIZ_NODE_PREFIX}1` }]);
+        userNodePlayer.setUserNodes({ [nodeId]: { name: "nodeName", sourceCode: code } });
+
         fakePlayer.emit({
           ...basicPlayerState,
           messages: [upstreamMessages[0]],
           currentTime: upstreamMessages[0].receiveTime,
           topics: [{ name: "/np_input", datatype: "std_msgs/Header" }],
-          datatypes: { foo: [] },
+          datatypes: { foo: { fields: [] } },
         });
 
-        trustUserNode({ id: nodeId, sourceCode: code });
-        userNodePlayer.setSubscriptions([{ topic: `${DEFAULT_WEBVIZ_NODE_PREFIX}1` }]);
-        userNodePlayer.setUserNodes({ [nodeId]: { name: "nodeName", sourceCode: code } });
-
         const { topics } = await done;
         expect(mockAddNodeLogs).toHaveBeenCalled();
         expect(mockAddNodeLogs.mock.calls).toEqual(logs.map((log) => [{ nodeId: { logs: log } }]));
@@ -759,7 +817,7 @@ describe("UserNodePlayer", () => {
           messages: [upstreamMessages[0]],
           currentTime: upstreamMessages[0].receiveTime,
           topics: [{ name: "/np_input", datatype: "std_msgs/Header" }],
-          datatypes: { foo: [] },
+          datatypes: { foo: { fields: [] } },
         });
 
         userNodePlayer.setSubscriptions([{ topic: `${DEFAULT_WEBVIZ_NODE_PREFIX}1` }]);
@@ -801,7 +859,7 @@ describe("UserNodePlayer", () => {
           messages: [upstreamMessages[0]],
           currentTime: upstreamMessages[0].receiveTime,
           topics: [{ name: "/np_input", datatype: "std_msgs/Header" }],
-          datatypes: { foo: [] },
+          datatypes: { foo: { fields: [] } },
         });
 
         await done;
@@ -834,7 +892,7 @@ describe("UserNodePlayer", () => {
           };
         `;
 
-        trustUserNode({ id, sourceCode });
+        await trustUserNode({ id, sourceCode });
         await attemptToExecute(id, sourceCode);
         expect(global.wasExecuted).toEqual(true);
       });
@@ -889,7 +947,7 @@ describe("UserNodePlayer", () => {
           messages: [upstreamMessages[0]],
           currentTime: upstreamMessages[0].receiveTime,
           topics: [{ name: "/np_input", datatype: "std_msgs/Header" }],
-          datatypes: { foo: [] },
+          datatypes: { foo: { fields: [] } },
         });
 
         await done;
@@ -898,7 +956,7 @@ describe("UserNodePlayer", () => {
         expect(mockSetUserNodeTrust).toHaveBeenLastCalledWith({ id, trusted: false });
 
         // Simulate user clicking 'trust'
-        trustUserNode({ id, sourceCode });
+        await trustUserNode({ id, sourceCode });
         // Trigger workers to reset.
         await userNodePlayer.setUserNodes({ [id]: { name: "nodeName", sourceCode } });
 
@@ -907,7 +965,7 @@ describe("UserNodePlayer", () => {
           messages: [upstreamMessages[0]],
           currentTime: upstreamMessages[0].receiveTime,
           topics: [{ name: "/np_input", datatype: "std_msgs/Header" }],
-          datatypes: { foo: [] },
+          datatypes: { foo: { fields: [] } },
         });
 
         await nextDone;
@@ -933,7 +991,7 @@ describe("UserNodePlayer", () => {
         const userNodePlayer = new UserNodePlayer(fakePlayer, defaultUserNodeActions);
         const firstName = `${DEFAULT_WEBVIZ_NODE_PREFIX}innerState`;
 
-        trustUserNode({ id: nodeId, sourceCode });
+        await trustUserNode({ id: nodeId, sourceCode });
         userNodePlayer.setUserNodes({
           [nodeId]: { name: firstName, sourceCode },
         });
@@ -943,7 +1001,7 @@ describe("UserNodePlayer", () => {
         const secondName = `${DEFAULT_WEBVIZ_NODE_PREFIX}state`;
         const secondSourceCode = sourceCode.replace(/innerState/g, "state");
 
-        trustUserNode({ id: nodeId, sourceCode: secondSourceCode });
+        await trustUserNode({ id: nodeId, sourceCode: secondSourceCode });
         userNodePlayer.setUserNodes({
           [nodeId]: {
             name: secondName,
@@ -959,7 +1017,7 @@ describe("UserNodePlayer", () => {
           messages: [upstreamMessages[0]],
           currentTime: upstreamMessages[0].receiveTime,
           topics: [{ name: "/np_input", datatype: "std_msgs/Header" }],
-          datatypes: { foo: [] },
+          datatypes: { foo: { fields: [] } },
         });
 
         const { messages } = await done;
diff --git a/packages/webviz-core/src/players/UserNodePlayer/nodeRuntimeWorker/index.js b/packages/webviz-core/src/players/UserNodePlayer/nodeRuntimeWorker/index.js
index e293c5c64..1eabfbe19 100644
--- a/packages/webviz-core/src/players/UserNodePlayer/nodeRuntimeWorker/index.js
+++ b/packages/webviz-core/src/players/UserNodePlayer/nodeRuntimeWorker/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/players/UserNodePlayer/nodeRuntimeWorker/registry.js b/packages/webviz-core/src/players/UserNodePlayer/nodeRuntimeWorker/registry.js
index 3a72ce27d..8d1ea18b9 100644
--- a/packages/webviz-core/src/players/UserNodePlayer/nodeRuntimeWorker/registry.js
+++ b/packages/webviz-core/src/players/UserNodePlayer/nodeRuntimeWorker/registry.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/players/UserNodePlayer/nodeRuntimeWorker/registry.test.js b/packages/webviz-core/src/players/UserNodePlayer/nodeRuntimeWorker/registry.test.js
index a826db753..799acf75b 100644
--- a/packages/webviz-core/src/players/UserNodePlayer/nodeRuntimeWorker/registry.test.js
+++ b/packages/webviz-core/src/players/UserNodePlayer/nodeRuntimeWorker/registry.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/players/UserNodePlayer/nodeSecurity.js b/packages/webviz-core/src/players/UserNodePlayer/nodeSecurity.js
index f536486ec..ab8222c5b 100644
--- a/packages/webviz-core/src/players/UserNodePlayer/nodeSecurity.js
+++ b/packages/webviz-core/src/players/UserNodePlayer/nodeSecurity.js
@@ -1,13 +1,11 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import stringHash from "string-hash";
-
 import Storage from "webviz-core/src/util/Storage";
 
 /**
@@ -23,16 +21,27 @@ import Storage from "webviz-core/src/util/Storage";
  * actors spoofing the id of a layout while shimming in their malicious code.
  */
 
+// Exported for tests. Pulled from example here: https://developer.mozilla.org/en-US/docs/Web/API/SubtleCrypto/digest.
+export const digestMessage = async (message: string) => {
+  const msgUint8 = new TextEncoder().encode(message); // encode as (utf-8) Uint8Array
+  const hashBuffer = await window.crypto.subtle.digest({ name: "SHA-256" }, msgUint8); // hash the message
+  const hashArray = Array.from(new Uint8Array(hashBuffer)); // convert buffer to byte array
+  const hashHex = hashArray.map((b) => b.toString(16).padStart(2, "0")).join(""); // convert bytes to hex string
+  return hashHex;
+};
+
 type NodeSecInput = { id: string, sourceCode: string };
 
 const storage = new Storage();
 
-// ONLY TO BE USED IN THE EVENT OF EXPLICITY USER CONFIRMATION
-export const trustUserNode = ({ id, sourceCode }: NodeSecInput): void => {
-  storage.set(id, stringHash(sourceCode) /* returns a number between 0 and 4294967295 (inclusive) */);
+// ONLY TO BE USED IN THE EVENT OF EXPLICIT USER CONFIRMATION
+export const trustUserNode = async ({ id, sourceCode }: NodeSecInput): Promise<void> => {
+  const hash = await digestMessage(sourceCode);
+  storage.set(id, hash);
 };
 
-export const isUserNodeTrusted = ({ id, sourceCode }: NodeSecInput): boolean => {
-  const hash = storage.get(id);
-  return hash === stringHash(sourceCode);
+export const isUserNodeTrusted = async ({ id, sourceCode }: NodeSecInput): Promise<boolean> => {
+  const storedHash = storage.get(id);
+  const hash = await digestMessage(sourceCode);
+  return storedHash === hash;
 };
diff --git a/packages/webviz-core/src/players/UserNodePlayer/nodeSecurity.test.js b/packages/webviz-core/src/players/UserNodePlayer/nodeSecurity.test.js
index 7f1725838..b2b5c2e3d 100644
--- a/packages/webviz-core/src/players/UserNodePlayer/nodeSecurity.test.js
+++ b/packages/webviz-core/src/players/UserNodePlayer/nodeSecurity.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -8,30 +8,38 @@
 
 import uuid from "uuid";
 
-import { trustUserNode, isUserNodeTrusted } from "webviz-core/src/players/UserNodePlayer/nodeSecurity";
+import { digestMessage, trustUserNode, isUserNodeTrusted } from "webviz-core/src/players/UserNodePlayer/nodeSecurity";
 
 describe("nodeSecurity", () => {
   beforeEach(() => {
     window.localStorage.clear();
   });
 
-  it("does not trust nodes not in localStorage", () => {
-    expect(isUserNodeTrusted({ id: uuid.v4(), sourceCode: "/* malicious code */" })).toBeFalsy();
+  it("creates a hexadecimal string", async () => {
+    const hash = await digestMessage("hello webviz");
+    expect(hash).toEqual("9ba480f1611c0a1e8b025eb8dfd82cd218bce11bcde6ee43208af6f68bc4a946");
   });
 
-  it("trusts nodes saved to localStorage", () => {
+  it("does not trust nodes not in localStorage", async () => {
+    const isTrusted = await isUserNodeTrusted({ id: uuid.v4(), sourceCode: "/* malicious code */" });
+    expect(isTrusted).toBeFalsy();
+  });
+
+  it("trusts nodes saved to localStorage", async () => {
     const id = uuid.v4();
     const sourceCode = "/* trust-worthy code */";
 
-    trustUserNode({ id, sourceCode });
-    expect(isUserNodeTrusted({ id, sourceCode })).toBeTruthy();
+    await trustUserNode({ id, sourceCode });
+    const isTrusted = await isUserNodeTrusted({ id, sourceCode });
+    expect(isTrusted).toBeTruthy();
   });
 
-  it("does not trust nodes saved to localStorage but with different code", () => {
+  it("does not trust nodes saved to localStorage but with different code", async () => {
     const id = uuid.v4();
     const sourceCode = "/* trusty code */";
 
-    trustUserNode({ id, sourceCode });
-    expect(isUserNodeTrusted({ id, sourceCode: "/* stubbed in malicious code */" })).toBeFalsy();
+    await trustUserNode({ id, sourceCode });
+    const isTrusted = await isUserNodeTrusted({ id, sourceCode: "/* stubbed in malicious code */" });
+    expect(isTrusted).toBeFalsy();
   });
 });
diff --git a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/index.js b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/index.js
index 1988c7b4e..21aac1a93 100644
--- a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/index.js
+++ b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/transformer.js b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/transformer.js
index 4e85e88e8..240dc792e 100644
--- a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/transformer.js
+++ b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/transformer.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/transformer.test.js b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/transformer.test.js
index e71e738f7..7fab984ce 100644
--- a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/transformer.test.js
+++ b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/transformer.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -298,102 +298,128 @@ describe("pipeline", () => {
     };
 
     const numDataType = {
-      [`${baseNodeData.name}`]: [
-        {
-          name: "num",
-          isArray: false,
-          isComplex: false,
-          arrayLength: undefined,
-          type: "float64",
-        },
-      ],
+      [baseNodeData.name]: {
+        fields: [
+          {
+            name: "num",
+            isArray: false,
+            isComplex: false,
+            arrayLength: undefined,
+            type: "float64",
+          },
+        ],
+      },
     };
 
     const posDatatypes = {
-      [baseNodeData.name]: [
-        {
-          name: "pos",
-          isArray: false,
-          isComplex: true,
-          arrayLength: undefined,
-          type: `${baseNodeData.name}/pos`,
-        },
-      ],
-      [`${baseNodeData.name}/pos`]: [
-        {
-          name: "x",
-          isArray: false,
-          isComplex: false,
-          arrayLength: undefined,
-          type: "float64",
-        },
-        {
-          name: "y",
-          isArray: false,
-          isComplex: false,
-          arrayLength: undefined,
-          type: "float64",
-        },
-      ],
+      [baseNodeData.name]: {
+        fields: [
+          {
+            name: "pos",
+            isArray: false,
+            isComplex: true,
+            arrayLength: undefined,
+            type: `${baseNodeData.name}/pos`,
+          },
+        ],
+      },
+      [`${baseNodeData.name}/pos`]: {
+        fields: [
+          {
+            name: "x",
+            isArray: false,
+            isComplex: false,
+            arrayLength: undefined,
+            type: "float64",
+          },
+          {
+            name: "y",
+            isArray: false,
+            isComplex: false,
+            arrayLength: undefined,
+            type: "float64",
+          },
+        ],
+      },
     };
 
     const posArrayDatatypes = {
-      [baseNodeData.name]: [
-        {
-          name: "pos",
-          isArray: true,
-          isComplex: true,
-          arrayLength: undefined,
-          type: `${baseNodeData.name}/pos`,
-        },
-      ],
-      [`${baseNodeData.name}/pos`]: [
-        {
-          name: "x",
-          isArray: false,
-          isComplex: false,
-          arrayLength: undefined,
-          type: "float64",
-        },
-        {
-          name: "y",
-          isArray: false,
-          isComplex: false,
-          arrayLength: undefined,
-          type: "float64",
-        },
-      ],
+      [baseNodeData.name]: {
+        fields: [
+          {
+            name: "pos",
+            isArray: true,
+            isComplex: true,
+            arrayLength: undefined,
+            type: `${baseNodeData.name}/pos`,
+          },
+        ],
+      },
+      [`${baseNodeData.name}/pos`]: {
+        fields: [
+          {
+            name: "x",
+            isArray: false,
+            isComplex: false,
+            arrayLength: undefined,
+            type: "float64",
+          },
+          {
+            name: "y",
+            isArray: false,
+            isComplex: false,
+            arrayLength: undefined,
+            type: "float64",
+          },
+        ],
+      },
     };
 
     const mixedDatatypes = {
-      [baseNodeData.name]: [
-        {
-          name: "details",
-          isArray: false,
-          isComplex: true,
-          arrayLength: undefined,
-          type: `${baseNodeData.name}/details`,
-        },
-      ],
-      [`${baseNodeData.name}/details`]: [
-        {
-          name: "name",
-          isArray: false,
-          isComplex: false,
-          arrayLength: undefined,
-          type: "string",
-        },
-        {
-          name: "count",
-          isArray: false,
-          isComplex: false,
-          arrayLength: undefined,
-          type: "float64",
-        },
-      ],
+      [baseNodeData.name]: {
+        fields: [
+          {
+            name: "details",
+            isArray: false,
+            isComplex: true,
+            arrayLength: undefined,
+            type: `${baseNodeData.name}/details`,
+          },
+        ],
+      },
+      [`${baseNodeData.name}/details`]: {
+        fields: [
+          {
+            name: "name",
+            isArray: false,
+            isComplex: false,
+            arrayLength: undefined,
+            type: "string",
+          },
+          {
+            name: "count",
+            isArray: false,
+            isComplex: false,
+            arrayLength: undefined,
+            type: "float64",
+          },
+        ],
+      },
     };
 
     const testCases: TestCase[] = [
+      {
+        description: "Nullable return type",
+        sourceCode: `
+          const publisher = (msg: any): { num: number } | undefined => {
+            if (msg.num > 0) {
+              return;
+            }
+            return { num: 1 };
+          };
+          export default publisher;`,
+        datatypes: numDataType,
+      },
       {
         description: "Multiple aliases",
         sourceCode: `
@@ -509,22 +535,24 @@ describe("pipeline", () => {
             return { num: 1, str: 'hello' };
           };`,
         datatypes: {
-          [`${baseNodeData.name}`]: [
-            {
-              name: "num",
-              isArray: false,
-              isComplex: false,
-              arrayLength: undefined,
-              type: "float64",
-            },
-            {
-              name: "str",
-              isArray: false,
-              isComplex: false,
-              arrayLength: undefined,
-              type: "string",
-            },
-          ],
+          [baseNodeData.name]: {
+            fields: [
+              {
+                name: "num",
+                isArray: false,
+                isComplex: false,
+                arrayLength: undefined,
+                type: "float64",
+              },
+              {
+                name: "str",
+                isArray: false,
+                isComplex: false,
+                arrayLength: undefined,
+                type: "string",
+              },
+            ],
+          },
         },
       },
       {
@@ -553,47 +581,53 @@ describe("pipeline", () => {
             return { pos: { header: { time: 42 }, x: 1, y: 2 } };
           };`,
         datatypes: {
-          [baseNodeData.name]: [
-            {
-              name: "pos",
-              isArray: false,
-              isComplex: true,
-              arrayLength: undefined,
-              type: `${baseNodeData.name}/pos`,
-            },
-          ],
-          [`${baseNodeData.name}/pos`]: [
-            {
-              name: "header",
-              isArray: false,
-              isComplex: true,
-              arrayLength: undefined,
-              type: `${baseNodeData.name}/pos/header`,
-            },
-            {
-              name: "x",
-              isArray: false,
-              isComplex: false,
-              arrayLength: undefined,
-              type: "float64",
-            },
-            {
-              name: "y",
-              isArray: false,
-              isComplex: false,
-              arrayLength: undefined,
-              type: "float64",
-            },
-          ],
-          [`${baseNodeData.name}/pos/header`]: [
-            {
-              name: "time",
-              isArray: false,
-              isComplex: false,
-              arrayLength: undefined,
-              type: "float64",
-            },
-          ],
+          [baseNodeData.name]: {
+            fields: [
+              {
+                name: "pos",
+                isArray: false,
+                isComplex: true,
+                arrayLength: undefined,
+                type: `${baseNodeData.name}/pos`,
+              },
+            ],
+          },
+          [`${baseNodeData.name}/pos`]: {
+            fields: [
+              {
+                name: "header",
+                isArray: false,
+                isComplex: true,
+                arrayLength: undefined,
+                type: `${baseNodeData.name}/pos/header`,
+              },
+              {
+                name: "x",
+                isArray: false,
+                isComplex: false,
+                arrayLength: undefined,
+                type: "float64",
+              },
+              {
+                name: "y",
+                isArray: false,
+                isComplex: false,
+                arrayLength: undefined,
+                type: "float64",
+              },
+            ],
+          },
+          [`${baseNodeData.name}/pos/header`]: {
+            fields: [
+              {
+                name: "time",
+                isArray: false,
+                isComplex: false,
+                arrayLength: undefined,
+                type: "float64",
+              },
+            ],
+          },
         },
       },
       {
@@ -631,15 +665,17 @@ describe("pipeline", () => {
             return { pos: [ 1, 2, 3 ] };
           };`,
         datatypes: {
-          [baseNodeData.name]: [
-            {
-              name: "pos",
-              isArray: true,
-              isComplex: true,
-              arrayLength: undefined,
-              type: "float64",
-            },
-          ],
+          [baseNodeData.name]: {
+            fields: [
+              {
+                name: "pos",
+                isArray: true,
+                isComplex: true,
+                arrayLength: undefined,
+                type: "float64",
+              },
+            ],
+          },
         },
       },
       {
@@ -981,6 +1017,18 @@ describe("pipeline", () => {
           };`,
         error: ErrorCodes.DatatypeExtraction.NO_IMPORTS_IN_RETURN_TYPE,
       },
+      {
+        description: "Bad union return type",
+        sourceCode: `
+          const publisher = (msg: any): { num: number } | undefined | { str: string } => {
+            if (msg.num > 0) {
+              return;
+            }
+            return { num: 1 };
+          };
+          export default publisher;`,
+        error: ErrorCodes.DatatypeExtraction.LIMITED_UNIONS,
+      },
     ];
 
     describe("extracts datatypes from the return type of the publisher", () => {
diff --git a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/ast.js b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/ast.js
index bc647410b..3fdedbbcc 100644
--- a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/ast.js
+++ b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/ast.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -22,6 +22,7 @@ import {
   noTypeOfError,
   noImportsInReturnType,
   noTuples,
+  limitedUnionsError,
 } from "webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/errors";
 import { DiagnosticSeverity, Sources, ErrorCodes, type Diagnostic } from "webviz-core/src/players/UserNodePlayer/types";
 import type { RosDatatypes, RosMsgField } from "webviz-core/src/types/RosDatatypes";
@@ -152,6 +153,7 @@ export const findReturnType = (
         ts.SyntaxKind.TypeReference,
         ts.SyntaxKind.TypeLiteral,
         ts.SyntaxKind.IntersectionType, // Unhandled type--let next recursive call handle error.
+        ts.SyntaxKind.UnionType,
       ]);
       if (nextNode) {
         return visitNext(nextNode);
@@ -203,6 +205,13 @@ export const findReturnType = (
     case ts.SyntaxKind.ClassDeclaration: {
       throw new DatatypeExtractionError(classError);
     }
+    case ts.SyntaxKind.UnionType: {
+      const remainingTypes = node.types.filter(({ kind }) => kind !== ts.SyntaxKind.UndefinedKeyword);
+      if (remainingTypes.length !== 1) {
+        throw new DatatypeExtractionError(limitedUnionsError);
+      }
+      return visitNext(remainingTypes[0]);
+    }
     default:
       throw new Error("Unhandled node kind.");
   }
@@ -244,7 +253,7 @@ export const constructDatatypes = (
 
   const getRosMsgField = (
     name: string,
-    node: ts.Node,
+    tsNode: ts.Node,
     isArray: boolean = false,
     isComplex: boolean = false,
     typeMap: TypeMap = {},
@@ -254,16 +263,16 @@ export const constructDatatypes = (
       throw new Error(`Max AST traversal depth exceeded.`);
     }
 
-    switch (node.kind) {
+    switch (tsNode.kind) {
       case ts.SyntaxKind.InterfaceDeclaration:
       case ts.SyntaxKind.TypeLiteral: {
         const nestedType = `${currentDatatype}/${name}`;
         const { datatypes: nestedDatatypes } = constructDatatypes(
           checker,
-          node,
+          tsNode,
           nestedType,
           depth + 1,
-          node.typeParameters ? buildTypeMapFromParams(node.typeParameters, typeMap) : typeMap
+          tsNode.typeParameters ? buildTypeMapFromParams(tsNode.typeParameters, typeMap) : typeMap
         );
         datatypes = { ...datatypes, ...nestedDatatypes };
         return {
@@ -276,7 +285,7 @@ export const constructDatatypes = (
       }
 
       case ts.SyntaxKind.ArrayType: {
-        return getRosMsgField(name, node.elementType, true, true, typeMap, innerDepth + 1);
+        return getRosMsgField(name, tsNode.elementType, true, true, typeMap, innerDepth + 1);
       }
 
       case ts.SyntaxKind.NumberKeyword:
@@ -297,12 +306,12 @@ export const constructDatatypes = (
         };
 
       case ts.SyntaxKind.TypeAliasDeclaration: {
-        const newTypeParamMap = buildTypeMapFromParams(node.typeParameters, typeMap);
-        return getRosMsgField(name, node.type, isArray, isComplex, newTypeParamMap, innerDepth + 1);
+        const newTypeParamMap = buildTypeMapFromParams(tsNode.typeParameters, typeMap);
+        return getRosMsgField(name, tsNode.type, isArray, isComplex, newTypeParamMap, innerDepth + 1);
       }
 
       case ts.SyntaxKind.TypeReference: {
-        const nextSymbol = checker.getSymbolAtLocation(node.typeName);
+        const nextSymbol = checker.getSymbolAtLocation(tsNode.typeName);
 
         // There is a troubling discrepancy between how Typescript defines
         // array literals 'number[]' and arrays of the form 'Array<number>'.
@@ -340,7 +349,7 @@ export const constructDatatypes = (
           nextNode,
           isArray,
           isComplex,
-          buildTypeMapFromArgs(node.typeArguments, typeMap),
+          buildTypeMapFromArgs(tsNode.typeArguments, typeMap),
           innerDepth + 1
         );
       }
@@ -383,5 +392,5 @@ export const constructDatatypes = (
     getRosMsgField(name.getText(), type, false, false, currentTypeParamMap, depth + 1)
   );
 
-  return { outputDatatype: currentDatatype, datatypes: { ...datatypes, [currentDatatype]: rosMsgFields } };
+  return { outputDatatype: currentDatatype, datatypes: { ...datatypes, [currentDatatype]: { fields: rosMsgFields } } };
 };
diff --git a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/baseDatatypes.js b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/baseDatatypes.js
index abddd6b65..c7659424e 100644
--- a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/baseDatatypes.js
+++ b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/baseDatatypes.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -10,78 +10,94 @@
 import type { RosDatatypes } from "webviz-core/src/types/RosDatatypes";
 
 const baseDatatypes: RosDatatypes = {
-  "visualization_msgs/MarkerArray": [
-    {
-      isArray: true,
-      isComplex: true,
-      arrayLength: undefined,
-      name: "markers",
-      type: "visualization_msgs/Marker",
-    },
-  ],
-  "visualization_msgs/Marker": [
-    { type: "uint8", name: "ARROW", isConstant: true, value: 0 },
-    { type: "uint8", name: "CUBE", isConstant: true, value: 1 },
-    { type: "uint8", name: "SPHERE", isConstant: true, value: 2 },
-    { type: "uint8", name: "CYLINDER", isConstant: true, value: 3 },
-    { type: "uint8", name: "LINE_STRIP", isConstant: true, value: 4 },
-    { type: "uint8", name: "LINE_LIST", isConstant: true, value: 5 },
-    { type: "uint8", name: "CUBE_LIST", isConstant: true, value: 6 },
-    { type: "uint8", name: "SPHERE_LIST", isConstant: true, value: 7 },
-    { type: "uint8", name: "POINTS", isConstant: true, value: 8 },
-    { type: "uint8", name: "TEXT_VIEW_FACING", isConstant: true, value: 9 },
-    { type: "uint8", name: "MESH_RESOURCE", isConstant: true, value: 10 },
-    { type: "uint8", name: "TRIANGLE_LIST", isConstant: true, value: 11 },
-    { type: "uint8", name: "ADD", isConstant: true, value: 0 },
-    { type: "uint8", name: "MODIFY", isConstant: true, value: 0 },
-    { type: "uint8", name: "DELETE", isConstant: true, value: 2 },
-    { type: "std_msgs/Header", name: "header", isArray: false, isComplex: true },
-    { type: "string", name: "ns", isArray: false, isComplex: false },
-    { type: "int32", name: "id", isArray: false, isComplex: false },
-    { type: "int32", name: "type", isArray: false, isComplex: false },
-    { type: "int32", name: "action", isArray: false, isComplex: false },
-    { type: "geometry_msgs/Pose", name: "pose", isArray: false, isComplex: true },
-    { type: "geometry_msgs/Vector3", name: "scale", isArray: false, isComplex: true },
-    { type: "std_msgs/ColorRGBA", name: "color", isArray: false, isComplex: true },
-    { type: "duration", name: "lifetime", isArray: false, isComplex: false },
-    { type: "bool", name: "frame_locked", isArray: false, isComplex: false },
-    { type: "geometry_msgs/Point", name: "points", isArray: true, arrayLength: undefined, isComplex: true },
-    { type: "std_msgs/ColorRGBA", name: "colors", isArray: true, arrayLength: undefined, isComplex: true },
-    { type: "string", name: "text", isArray: false, isComplex: false },
-    { type: "string", name: "mesh_resource", isArray: false, isComplex: false },
-    { type: "bool", name: "mesh_use_embedded_materials", isArray: false, isComplex: false },
-  ],
-  "std_msgs/ColorRGBA": [
-    { type: "float32", name: "r", isArray: false, isComplex: false },
-    { type: "float32", name: "g", isArray: false, isComplex: false },
-    { type: "float32", name: "b", isArray: false, isComplex: false },
-    { type: "float32", name: "a", isArray: false, isComplex: false },
-  ],
-  "std_msgs/Header": [
-    { type: "uint32", name: "seq", isArray: false, isComplex: false },
-    { type: "time", name: "stamp", isArray: false, isComplex: false },
-    { type: "string", name: "frame_id", isArray: false, isComplex: false },
-  ],
-  "geometry_msgs/Pose": [
-    { type: "geometry_msgs/Point", name: "position", isArray: false, isComplex: true },
-    { type: "geometry_msgs/Quaternion", name: "orientation", isArray: false, isComplex: true },
-  ],
-  "geometry_msgs/Vector3": [
-    { type: "float64", name: "x", isArray: false, isComplex: false },
-    { type: "float64", name: "y", isArray: false, isComplex: false },
-    { type: "float64", name: "z", isArray: false, isComplex: false },
-  ],
-  "geometry_msgs/Point": [
-    { type: "float64", name: "x", isArray: false, isComplex: false },
-    { type: "float64", name: "y", isArray: false, isComplex: false },
-    { type: "float64", name: "z", isArray: false, isComplex: false },
-  ],
-  "geometry_msgs/Quaternion": [
-    { type: "float64", name: "x", isArray: false, isComplex: false },
-    { type: "float64", name: "y", isArray: false, isComplex: false },
-    { type: "float64", name: "z", isArray: false, isComplex: false },
-    { type: "float64", name: "w", isArray: false, isComplex: false },
-  ],
+  "visualization_msgs/MarkerArray": {
+    fields: [
+      {
+        isArray: true,
+        isComplex: true,
+        arrayLength: undefined,
+        name: "markers",
+        type: "visualization_msgs/Marker",
+      },
+    ],
+  },
+  "visualization_msgs/Marker": {
+    fields: [
+      { type: "uint8", name: "ARROW", isConstant: true, value: 0 },
+      { type: "uint8", name: "CUBE", isConstant: true, value: 1 },
+      { type: "uint8", name: "SPHERE", isConstant: true, value: 2 },
+      { type: "uint8", name: "CYLINDER", isConstant: true, value: 3 },
+      { type: "uint8", name: "LINE_STRIP", isConstant: true, value: 4 },
+      { type: "uint8", name: "LINE_LIST", isConstant: true, value: 5 },
+      { type: "uint8", name: "CUBE_LIST", isConstant: true, value: 6 },
+      { type: "uint8", name: "SPHERE_LIST", isConstant: true, value: 7 },
+      { type: "uint8", name: "POINTS", isConstant: true, value: 8 },
+      { type: "uint8", name: "TEXT_VIEW_FACING", isConstant: true, value: 9 },
+      { type: "uint8", name: "MESH_RESOURCE", isConstant: true, value: 10 },
+      { type: "uint8", name: "TRIANGLE_LIST", isConstant: true, value: 11 },
+      { type: "uint8", name: "ADD", isConstant: true, value: 0 },
+      { type: "uint8", name: "MODIFY", isConstant: true, value: 0 },
+      { type: "uint8", name: "DELETE", isConstant: true, value: 2 },
+      { type: "std_msgs/Header", name: "header", isArray: false, isComplex: true },
+      { type: "string", name: "ns", isArray: false, isComplex: false },
+      { type: "int32", name: "id", isArray: false, isComplex: false },
+      { type: "int32", name: "type", isArray: false, isComplex: false },
+      { type: "int32", name: "action", isArray: false, isComplex: false },
+      { type: "geometry_msgs/Pose", name: "pose", isArray: false, isComplex: true },
+      { type: "geometry_msgs/Vector3", name: "scale", isArray: false, isComplex: true },
+      { type: "std_msgs/ColorRGBA", name: "color", isArray: false, isComplex: true },
+      { type: "duration", name: "lifetime", isArray: false, isComplex: false },
+      { type: "bool", name: "frame_locked", isArray: false, isComplex: false },
+      { type: "geometry_msgs/Point", name: "points", isArray: true, arrayLength: undefined, isComplex: true },
+      { type: "std_msgs/ColorRGBA", name: "colors", isArray: true, arrayLength: undefined, isComplex: true },
+      { type: "string", name: "text", isArray: false, isComplex: false },
+      { type: "string", name: "mesh_resource", isArray: false, isComplex: false },
+      { type: "bool", name: "mesh_use_embedded_materials", isArray: false, isComplex: false },
+    ],
+  },
+  "std_msgs/ColorRGBA": {
+    fields: [
+      { type: "float32", name: "r", isArray: false, isComplex: false },
+      { type: "float32", name: "g", isArray: false, isComplex: false },
+      { type: "float32", name: "b", isArray: false, isComplex: false },
+      { type: "float32", name: "a", isArray: false, isComplex: false },
+    ],
+  },
+  "std_msgs/Header": {
+    fields: [
+      { type: "uint32", name: "seq", isArray: false, isComplex: false },
+      { type: "time", name: "stamp", isArray: false, isComplex: false },
+      { type: "string", name: "frame_id", isArray: false, isComplex: false },
+    ],
+  },
+  "geometry_msgs/Pose": {
+    fields: [
+      { type: "geometry_msgs/Point", name: "position", isArray: false, isComplex: true },
+      { type: "geometry_msgs/Quaternion", name: "orientation", isArray: false, isComplex: true },
+    ],
+  },
+  "geometry_msgs/Vector3": {
+    fields: [
+      { type: "float64", name: "x", isArray: false, isComplex: false },
+      { type: "float64", name: "y", isArray: false, isComplex: false },
+      { type: "float64", name: "z", isArray: false, isComplex: false },
+    ],
+  },
+  "geometry_msgs/Point": {
+    fields: [
+      { type: "float64", name: "x", isArray: false, isComplex: false },
+      { type: "float64", name: "y", isArray: false, isComplex: false },
+      { type: "float64", name: "z", isArray: false, isComplex: false },
+    ],
+  },
+  "geometry_msgs/Quaternion": {
+    fields: [
+      { type: "float64", name: "x", isArray: false, isComplex: false },
+      { type: "float64", name: "y", isArray: false, isComplex: false },
+      { type: "float64", name: "z", isArray: false, isComplex: false },
+      { type: "float64", name: "w", isArray: false, isComplex: false },
+    ],
+  },
 };
 
 export default baseDatatypes;
diff --git a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/debug.js b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/debug.js
index ce1a7c783..d9d262421 100644
--- a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/debug.js
+++ b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/debug.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -53,10 +53,13 @@ export const logFormattedDepth = (node: ts.Node, depth: number, logText?: boolea
 // Gives you a prettified view of all the children in the AST with depth
 // formatting. Useful for getting a quick snapshot of the AST you need to parse
 // through.
-export const logAllChildren = (node: ts.Node, depth: number = 0) => {
+export const logAllChildren = (node: ts.Node, depth: number = 0, maxDepth?: number) => {
+  if (maxDepth && depth > maxDepth) {
+    return;
+  }
   logFormattedDepth(node, depth);
   depth++;
-  node.getChildren().forEach((c) => logAllChildren(c, depth));
+  node.getChildren().forEach((c) => logAllChildren(c, depth, maxDepth));
 };
 
 // This is a laundry list of useful properties in a ts.Node. The reason you
diff --git a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/errors.js b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/errors.js
index 95e4b3cc5..c1974f145 100644
--- a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/errors.js
+++ b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/errors.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -28,9 +28,16 @@ export const badTypeReturnError = {
   code: ErrorCodes.DatatypeExtraction.BAD_TYPE_RETURN,
 };
 
+export const limitedUnionsError = {
+  severity: DiagnosticSeverity.Error,
+  message: "The 'default export' function can only return union types of the form: 'YourType | undefined'.",
+  source: Sources.DatatypeExtraction,
+  code: ErrorCodes.DatatypeExtraction.LIMITED_UNIONS,
+};
+
 export const unionsError = {
   severity: DiagnosticSeverity.Error,
-  message: "Unions are not allowed as or in return type.",
+  message: "Unions are not allowed in return type.",
   source: Sources.DatatypeExtraction,
   code: ErrorCodes.DatatypeExtraction.NO_UNIONS,
 };
diff --git a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/lib.js b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/lib.js
index 41c03e31e..4bdbc8fb2 100644
--- a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/lib.js
+++ b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/lib.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/ros.js b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/ros.js
index 8d66cf02d..68a18d877 100644
--- a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/ros.js
+++ b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/typescript/ros.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/utils.js b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/utils.js
index b9c9f11b1..e18a29f31 100644
--- a/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/utils.js
+++ b/packages/webviz-core/src/players/UserNodePlayer/nodeTransformerWorker/utils.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/players/UserNodePlayer/types.js b/packages/webviz-core/src/players/UserNodePlayer/types.js
index d4c2fafd6..04cc2a1c3 100644
--- a/packages/webviz-core/src/players/UserNodePlayer/types.js
+++ b/packages/webviz-core/src/players/UserNodePlayer/types.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -41,6 +41,7 @@ export const ErrorCodes = {
     PREFER_ARRAY_LITERALS: 13,
     STRICT_MARKERS_RETURN_TYPE: 14,
     NO_IMPORTS_IN_RETURN_TYPE: 15,
+    LIMITED_UNIONS: 16,
   },
   InputTopicsChecker: {
     NO_INPUTS: 1,
diff --git a/packages/webviz-core/src/players/UserNodePlayer/worker.mock.js b/packages/webviz-core/src/players/UserNodePlayer/worker.mock.js
index 26c8bb294..d3a823ead 100644
--- a/packages/webviz-core/src/players/UserNodePlayer/worker.mock.js
+++ b/packages/webviz-core/src/players/UserNodePlayer/worker.mock.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/players/automatedRun/AutomatedRunPlayer.js b/packages/webviz-core/src/players/automatedRun/AutomatedRunPlayer.js
index bb7c4244d..51015113b 100644
--- a/packages/webviz-core/src/players/automatedRun/AutomatedRunPlayer.js
+++ b/packages/webviz-core/src/players/automatedRun/AutomatedRunPlayer.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/players/automatedRun/AutomatedRunPlayer.test.js b/packages/webviz-core/src/players/automatedRun/AutomatedRunPlayer.test.js
index 4b557808a..80d3bc1cd 100644
--- a/packages/webviz-core/src/players/automatedRun/AutomatedRunPlayer.test.js
+++ b/packages/webviz-core/src/players/automatedRun/AutomatedRunPlayer.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -87,12 +87,12 @@ describe("AutomatedRunPlayer", () => {
       await delay(1);
     }
     expect(frames).toEqual([
-      { startTime: { sec: 0, nsec: 0 }, endTime: { sec: 0, nsec: 0 } },
-      { startTime: { sec: 0, nsec: 0 }, endTime: { sec: 20, nsec: 0 } },
-      { startTime: { sec: 20, nsec: 1 }, endTime: { sec: 40, nsec: 1 } },
-      { startTime: { sec: 40, nsec: 2 }, endTime: { sec: 60, nsec: 2 } },
-      { startTime: { sec: 60, nsec: 3 }, endTime: { sec: 80, nsec: 3 } },
-      { startTime: { sec: 80, nsec: 4 }, endTime: { sec: 100, nsec: 0 } },
+      { startTime: { sec: 10, nsec: 0 }, endTime: { sec: 10, nsec: 0 } },
+      { startTime: { sec: 10, nsec: 0 }, endTime: { sec: 30, nsec: 0 } },
+      { startTime: { sec: 30, nsec: 1 }, endTime: { sec: 50, nsec: 1 } },
+      { startTime: { sec: 50, nsec: 2 }, endTime: { sec: 70, nsec: 2 } },
+      { startTime: { sec: 70, nsec: 3 }, endTime: { sec: 90, nsec: 3 } },
+      { startTime: { sec: 90, nsec: 4 }, endTime: { sec: 100, nsec: 0 } },
     ]);
   });
 
diff --git a/packages/webviz-core/src/players/automatedRun/performanceMeasuringClient.js b/packages/webviz-core/src/players/automatedRun/performanceMeasuringClient.js
index bda1c68ad..3e189617f 100644
--- a/packages/webviz-core/src/players/automatedRun/performanceMeasuringClient.js
+++ b/packages/webviz-core/src/players/automatedRun/performanceMeasuringClient.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -152,9 +152,8 @@ class PerformanceMeasuringClient {
       throw new Error("Cannot call finish() without calling start()");
     }
 
-    const speed = this.speed;
     const playbackTimeMs = round(performance.now() - startTime);
-    const benchmarkPlaybackScore = round(bagLengthMs / (playbackTimeMs * speed), 3);
+    const benchmarkPlaybackScore = round(bagLengthMs / (playbackTimeMs * this.speed), 3);
     const averageRenderMs = round(
       this.frameRenderTimes.length ? sum(this.frameRenderTimes) / this.frameRenderTimes.length : 0,
       2
@@ -167,7 +166,7 @@ class PerformanceMeasuringClient {
     const idb = await this._collectIdbStats();
     const detail: PerformanceStats = {
       bagLengthMs,
-      speed,
+      speed: this.speed,
       msPerFrame: this.msPerFrame,
       frameRenderCount,
       benchmarkPlaybackScore,
diff --git a/packages/webviz-core/src/players/automatedRun/performanceMeasuringClient.test.js b/packages/webviz-core/src/players/automatedRun/performanceMeasuringClient.test.js
index d511b8fc4..79683e174 100644
--- a/packages/webviz-core/src/players/automatedRun/performanceMeasuringClient.test.js
+++ b/packages/webviz-core/src/players/automatedRun/performanceMeasuringClient.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -46,8 +46,8 @@ describe("performanceMeasuringClient", () => {
     expect(onPlaybackError).toHaveBeenCalledWith(error.toString());
   });
   it("collects IndexedDB stats", async () => {
-    const db = await Database.open("dummy-db", 1, (db) => {
-      db.createObjectStore("bar", { keyPath: "key" });
+    const db = await Database.open("dummy-db", 1, (openedDb) => {
+      openedDb.createObjectStore("bar", { keyPath: "key" });
     });
     for (let i = 0; i < 10; i++) {
       await db.put("bar", { key: i, data: new Uint8Array(10) });
diff --git a/packages/webviz-core/src/players/automatedRun/videoRecordingClient.js b/packages/webviz-core/src/players/automatedRun/videoRecordingClient.js
index 4240d78a8..063ed1214 100644
--- a/packages/webviz-core/src/players/automatedRun/videoRecordingClient.js
+++ b/packages/webviz-core/src/players/automatedRun/videoRecordingClient.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/players/nodes.js b/packages/webviz-core/src/players/nodes.js
index c7ce0622d..71bc9ec38 100644
--- a/packages/webviz-core/src/players/nodes.js
+++ b/packages/webviz-core/src/players/nodes.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/players/nodes.test.js b/packages/webviz-core/src/players/nodes.test.js
index f918b96bf..5e9889601 100644
--- a/packages/webviz-core/src/players/nodes.test.js
+++ b/packages/webviz-core/src/players/nodes.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/players/types.js b/packages/webviz-core/src/players/types.js
index 7050ddcb7..867d1cbd0 100644
--- a/packages/webviz-core/src/players/types.js
+++ b/packages/webviz-core/src/players/types.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/reducers/auth.js b/packages/webviz-core/src/reducers/auth.js
index 1fcd3a6d5..6b7cee779 100644
--- a/packages/webviz-core/src/reducers/auth.js
+++ b/packages/webviz-core/src/reducers/auth.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/reducers/extensions.js b/packages/webviz-core/src/reducers/extensions.js
index 9ef48af80..ddf619bec 100644
--- a/packages/webviz-core/src/reducers/extensions.js
+++ b/packages/webviz-core/src/reducers/extensions.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/reducers/index.js b/packages/webviz-core/src/reducers/index.js
index 04c930ebc..8cefeb333 100644
--- a/packages/webviz-core/src/reducers/index.js
+++ b/packages/webviz-core/src/reducers/index.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/reducers/mosaic.js b/packages/webviz-core/src/reducers/mosaic.js
index 44ef26ef6..8e4d95b06 100644
--- a/packages/webviz-core/src/reducers/mosaic.js
+++ b/packages/webviz-core/src/reducers/mosaic.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/reducers/panels.js b/packages/webviz-core/src/reducers/panels.js
index 83277ff73..54887c4c0 100644
--- a/packages/webviz-core/src/reducers/panels.js
+++ b/packages/webviz-core/src/reducers/panels.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/reducers/panels.test.js b/packages/webviz-core/src/reducers/panels.test.js
index f13869901..d6bb0ec0e 100644
--- a/packages/webviz-core/src/reducers/panels.test.js
+++ b/packages/webviz-core/src/reducers/panels.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/reducers/userNodes.js b/packages/webviz-core/src/reducers/userNodes.js
index 281e69d91..676aa4e89 100644
--- a/packages/webviz-core/src/reducers/userNodes.js
+++ b/packages/webviz-core/src/reducers/userNodes.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/reducers/userNodes.test.js b/packages/webviz-core/src/reducers/userNodes.test.js
index 12a9f149c..4516d187e 100644
--- a/packages/webviz-core/src/reducers/userNodes.test.js
+++ b/packages/webviz-core/src/reducers/userNodes.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/store/configureStore.js b/packages/webviz-core/src/store/configureStore.js
index 6b529b7bf..472fe820b 100644
--- a/packages/webviz-core/src/store/configureStore.js
+++ b/packages/webviz-core/src/store/configureStore.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/store/configureStore.testing.js b/packages/webviz-core/src/store/configureStore.testing.js
index 1281da098..ae9384e26 100644
--- a/packages/webviz-core/src/store/configureStore.testing.js
+++ b/packages/webviz-core/src/store/configureStore.testing.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/store/getGlobalStore.js b/packages/webviz-core/src/store/getGlobalStore.js
index 79f67c5ed..4977bc403 100644
--- a/packages/webviz-core/src/store/getGlobalStore.js
+++ b/packages/webviz-core/src/store/getGlobalStore.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/store/index.js b/packages/webviz-core/src/store/index.js
index d5c672e1e..ef4e07266 100644
--- a/packages/webviz-core/src/store/index.js
+++ b/packages/webviz-core/src/store/index.js
@@ -1,6 +1,6 @@
 /* eslint-disable header/header */
 
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/stories/PanelSetup.js b/packages/webviz-core/src/stories/PanelSetup.js
index 47ff8f3ee..b0f8a0cfa 100644
--- a/packages/webviz-core/src/stories/PanelSetup.js
+++ b/packages/webviz-core/src/stories/PanelSetup.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -137,9 +137,9 @@ export default class PanelSetup extends React.PureComponent<Props, State> {
     const { frame, topics, datatypes, capabilities, activeData } = this.props.fixture;
     let dTypes = datatypes;
     if (!dTypes) {
-      const dummyDatatypes = {};
+      const dummyDatatypes: RosDatatypes = {};
       for (const { datatype } of topics) {
-        dummyDatatypes[datatype] = [];
+        dummyDatatypes[datatype] = { fields: [] };
       }
       dTypes = dummyDatatypes;
     }
diff --git a/packages/webviz-core/src/stories/PanelSetupWithBag.js b/packages/webviz-core/src/stories/PanelSetupWithBag.js
index 27202f4a1..4e4096648 100644
--- a/packages/webviz-core/src/stories/PanelSetupWithBag.js
+++ b/packages/webviz-core/src/stories/PanelSetupWithBag.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/stories/helpPages.stories.js b/packages/webviz-core/src/stories/helpPages.stories.js
index aa2862a3b..c22849d5e 100644
--- a/packages/webviz-core/src/stories/helpPages.stories.js
+++ b/packages/webviz-core/src/stories/helpPages.stories.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/stories/inScreenshotTests.js b/packages/webviz-core/src/stories/inScreenshotTests.js
index 0e1a366ad..eeede620a 100644
--- a/packages/webviz-core/src/stories/inScreenshotTests.js
+++ b/packages/webviz-core/src/stories/inScreenshotTests.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/stories/prepareForScreenshots.js b/packages/webviz-core/src/stories/prepareForScreenshots.js
index 920631ae5..005e232fb 100644
--- a/packages/webviz-core/src/stories/prepareForScreenshots.js
+++ b/packages/webviz-core/src/stories/prepareForScreenshots.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/styles/colors.module.scss b/packages/webviz-core/src/styles/colors.module.scss
index 489a3d803..569f006c0 100644
--- a/packages/webviz-core/src/styles/colors.module.scss
+++ b/packages/webviz-core/src/styles/colors.module.scss
@@ -1,4 +1,4 @@
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/styles/global.scss b/packages/webviz-core/src/styles/global.scss
index d1595fd4b..c2922b0f9 100644
--- a/packages/webviz-core/src/styles/global.scss
+++ b/packages/webviz-core/src/styles/global.scss
@@ -1,4 +1,4 @@
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/styles/mixins.module.scss b/packages/webviz-core/src/styles/mixins.module.scss
index e4b079e89..a57d31504 100644
--- a/packages/webviz-core/src/styles/mixins.module.scss
+++ b/packages/webviz-core/src/styles/mixins.module.scss
@@ -1,4 +1,4 @@
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/styles/waitForFonts.js b/packages/webviz-core/src/styles/waitForFonts.js
index 099ad6418..7cefd359c 100644
--- a/packages/webviz-core/src/styles/waitForFonts.js
+++ b/packages/webviz-core/src/styles/waitForFonts.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/test/MemoryStorage.js b/packages/webviz-core/src/test/MemoryStorage.js
index 54195e673..3757afdb9 100644
--- a/packages/webviz-core/src/test/MemoryStorage.js
+++ b/packages/webviz-core/src/test/MemoryStorage.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/test/MockSvg.js b/packages/webviz-core/src/test/MockSvg.js
index ddedfd11d..894263a81 100644
--- a/packages/webviz-core/src/test/MockSvg.js
+++ b/packages/webviz-core/src/test/MockSvg.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/test/MockWorker.js b/packages/webviz-core/src/test/MockWorker.js
index 1095b7007..8eddc2e64 100644
--- a/packages/webviz-core/src/test/MockWorker.js
+++ b/packages/webviz-core/src/test/MockWorker.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/test/sentry-stub.js b/packages/webviz-core/src/test/sentry-stub.js
index a68e635d4..1946c8717 100644
--- a/packages/webviz-core/src/test/sentry-stub.js
+++ b/packages/webviz-core/src/test/sentry-stub.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/test/setup.js b/packages/webviz-core/src/test/setup.js
index 61d98b5ee..3d6511f45 100644
--- a/packages/webviz-core/src/test/setup.js
+++ b/packages/webviz-core/src/test/setup.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -9,12 +9,11 @@
 import "babel-polyfill";
 import { TextDecoder } from "text-encoding";
 import UrlSearchParams from "url-search-params";
+import util from "util";
 import ws from "ws";
 
 import MemoryStorage from "./MemoryStorage";
 
-global.CURRENT_VERSION = "testing";
-
 process.env.WASM_LZ4_ENVIRONMENT = "NODE";
 
 function noOp() {}
@@ -67,3 +66,9 @@ global.IDBKeyRange = require("fake-indexeddb/lib/FDBKeyRange");
 
 // monkey-patch global websocket
 global.WebSocket = global.WebSocket || ws;
+
+// Patch in a node implementation of the crypto API.
+global.crypto = require("@trust/webcrypto");
+
+// $FlowFixMe - Flow does not recognize that `TextEncoder` has been in the util module since v8.3.0.
+global.TextEncoder = util.TextEncoder;
diff --git a/packages/webviz-core/src/test/setupTestFramework.js b/packages/webviz-core/src/test/setupTestFramework.js
index 5e9f9aafa..e58431857 100644
--- a/packages/webviz-core/src/test/setupTestFramework.js
+++ b/packages/webviz-core/src/test/setupTestFramework.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/test/stubs/MonacoEditor.js b/packages/webviz-core/src/test/stubs/MonacoEditor.js
index 20cc1ce37..9dce1e148 100644
--- a/packages/webviz-core/src/test/stubs/MonacoEditor.js
+++ b/packages/webviz-core/src/test/stubs/MonacoEditor.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/types/Auth.js b/packages/webviz-core/src/types/Auth.js
index 570759674..dd49129cd 100644
--- a/packages/webviz-core/src/types/Auth.js
+++ b/packages/webviz-core/src/types/Auth.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/types/Messages.js b/packages/webviz-core/src/types/Messages.js
index d8ada4382..d5759043a 100644
--- a/packages/webviz-core/src/types/Messages.js
+++ b/packages/webviz-core/src/types/Messages.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/types/RosDatatypes.js b/packages/webviz-core/src/types/RosDatatypes.js
index 01b776296..3c5f626be 100644
--- a/packages/webviz-core/src/types/RosDatatypes.js
+++ b/packages/webviz-core/src/types/RosDatatypes.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -20,4 +20,8 @@ export type RosMsgField = {|
   value?: mixed,
 |};
 
-export type RosDatatypes = { [string]: RosMsgField[] };
+export type RosDatatype = {|
+  fields: RosMsgField[],
+|};
+
+export type RosDatatypes = { [string]: RosDatatype };
diff --git a/packages/webviz-core/src/types/Scene.js b/packages/webviz-core/src/types/Scene.js
index 72dd30287..dba9ec551 100644
--- a/packages/webviz-core/src/types/Scene.js
+++ b/packages/webviz-core/src/types/Scene.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/types/Store.js b/packages/webviz-core/src/types/Store.js
index c8e46647a..866531d86 100644
--- a/packages/webviz-core/src/types/Store.js
+++ b/packages/webviz-core/src/types/Store.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/types/layouts.js b/packages/webviz-core/src/types/layouts.js
index 778a022d1..de6173d74 100644
--- a/packages/webviz-core/src/types/layouts.js
+++ b/packages/webviz-core/src/types/layouts.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/types/modules/CSSModule.js.flow b/packages/webviz-core/src/types/modules/CSSModule.js.flow
index d213bf2f5..46704c85e 100644
--- a/packages/webviz-core/src/types/modules/CSSModule.js.flow
+++ b/packages/webviz-core/src/types/modules/CSSModule.js.flow
@@ -1,6 +1,6 @@
 // @flow
 
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/types/modules/Markdown.js.flow b/packages/webviz-core/src/types/modules/Markdown.js.flow
index 01da346d5..513854764 100644
--- a/packages/webviz-core/src/types/modules/Markdown.js.flow
+++ b/packages/webviz-core/src/types/modules/Markdown.js.flow
@@ -1,6 +1,6 @@
 // @flow
 
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/types/modules/Nearley.js.flow b/packages/webviz-core/src/types/modules/Nearley.js.flow
index 6a72c2edc..74a855eaf 100644
--- a/packages/webviz-core/src/types/modules/Nearley.js.flow
+++ b/packages/webviz-core/src/types/modules/Nearley.js.flow
@@ -1,6 +1,6 @@
 // @flow
 
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/types/modules/WorkerLoader.js.flow b/packages/webviz-core/src/types/modules/WorkerLoader.js.flow
index b445418a8..90a417dbb 100644
--- a/packages/webviz-core/src/types/modules/WorkerLoader.js.flow
+++ b/packages/webviz-core/src/types/modules/WorkerLoader.js.flow
@@ -1,6 +1,6 @@
 // @flow
 
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/types/panels.js b/packages/webviz-core/src/types/panels.js
index 54a3e6a02..ce223359b 100644
--- a/packages/webviz-core/src/types/panels.js
+++ b/packages/webviz-core/src/types/panels.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/types/router.js b/packages/webviz-core/src/types/router.js
index 358e424b0..bf71b7706 100644
--- a/packages/webviz-core/src/types/router.js
+++ b/packages/webviz-core/src/types/router.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util.js b/packages/webviz-core/src/util.js
index 9bd485971..c50558b9d 100644
--- a/packages/webviz-core/src/util.js
+++ b/packages/webviz-core/src/util.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util.test.js b/packages/webviz-core/src/util.test.js
index 2ae458b0d..3397ec61e 100644
--- a/packages/webviz-core/src/util.test.js
+++ b/packages/webviz-core/src/util.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/Bounds.js b/packages/webviz-core/src/util/Bounds.js
index 8fc05dfce..3b512132e 100644
--- a/packages/webviz-core/src/util/Bounds.js
+++ b/packages/webviz-core/src/util/Bounds.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/CachedFilelike.js b/packages/webviz-core/src/util/CachedFilelike.js
index d63d6bbd5..55af82d96 100644
--- a/packages/webviz-core/src/util/CachedFilelike.js
+++ b/packages/webviz-core/src/util/CachedFilelike.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/CachedFilelike.test.js b/packages/webviz-core/src/util/CachedFilelike.test.js
index dd9185bdc..7ec4b69ab 100644
--- a/packages/webviz-core/src/util/CachedFilelike.test.js
+++ b/packages/webviz-core/src/util/CachedFilelike.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -14,8 +14,8 @@ import delay from "webviz-core/shared/delay";
 class InMemoryFileReader implements FileReader {
   _buffer: Buffer;
 
-  constructor(buffer: Buffer) {
-    this._buffer = buffer;
+  constructor(bufferObj: Buffer) {
+    this._buffer = bufferObj;
   }
 
   async open() {
diff --git a/packages/webviz-core/src/util/Logger.js b/packages/webviz-core/src/util/Logger.js
index b9f4d8690..b22705b0f 100644
--- a/packages/webviz-core/src/util/Logger.js
+++ b/packages/webviz-core/src/util/Logger.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/MessageReaderStore.js b/packages/webviz-core/src/util/MessageReaderStore.js
index e1478d7bc..533743898 100644
--- a/packages/webviz-core/src/util/MessageReaderStore.js
+++ b/packages/webviz-core/src/util/MessageReaderStore.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/MessageReaderStore.test.js b/packages/webviz-core/src/util/MessageReaderStore.test.js
index 6c756da6e..d8ff833a7 100644
--- a/packages/webviz-core/src/util/MessageReaderStore.test.js
+++ b/packages/webviz-core/src/util/MessageReaderStore.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/Pose.js b/packages/webviz-core/src/util/Pose.js
index 470c4e40c..a20b183de 100644
--- a/packages/webviz-core/src/util/Pose.js
+++ b/packages/webviz-core/src/util/Pose.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/Rpc.js b/packages/webviz-core/src/util/Rpc.js
index 5fce15f00..9d67db06f 100644
--- a/packages/webviz-core/src/util/Rpc.js
+++ b/packages/webviz-core/src/util/Rpc.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/Rpc.test.js b/packages/webviz-core/src/util/Rpc.test.js
index bbf01e10c..06c3e9f3e 100644
--- a/packages/webviz-core/src/util/Rpc.test.js
+++ b/packages/webviz-core/src/util/Rpc.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/RpcUtils.js b/packages/webviz-core/src/util/RpcUtils.js
index baba9c2d3..8b1449a14 100644
--- a/packages/webviz-core/src/util/RpcUtils.js
+++ b/packages/webviz-core/src/util/RpcUtils.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/RpcUtils.test.js b/packages/webviz-core/src/util/RpcUtils.test.js
index a62e7d16a..a246e45ba 100644
--- a/packages/webviz-core/src/util/RpcUtils.test.js
+++ b/packages/webviz-core/src/util/RpcUtils.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/Storage.js b/packages/webviz-core/src/util/Storage.js
index 39c3bec83..3ad3fd2c3 100644
--- a/packages/webviz-core/src/util/Storage.js
+++ b/packages/webviz-core/src/util/Storage.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/Storage.test.js b/packages/webviz-core/src/util/Storage.test.js
index 3cea8f347..985d35981 100644
--- a/packages/webviz-core/src/util/Storage.test.js
+++ b/packages/webviz-core/src/util/Storage.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/VirtualLRUBuffer.js b/packages/webviz-core/src/util/VirtualLRUBuffer.js
index 4cc7a8baf..d312c7279 100644
--- a/packages/webviz-core/src/util/VirtualLRUBuffer.js
+++ b/packages/webviz-core/src/util/VirtualLRUBuffer.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/VirtualLRUBuffer.test.js b/packages/webviz-core/src/util/VirtualLRUBuffer.test.js
index bcf737933..83748f319 100644
--- a/packages/webviz-core/src/util/VirtualLRUBuffer.test.js
+++ b/packages/webviz-core/src/util/VirtualLRUBuffer.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/bagConnectionsHelper.js b/packages/webviz-core/src/util/bagConnectionsHelper.js
index 1ed5a2545..4e2cece61 100644
--- a/packages/webviz-core/src/util/bagConnectionsHelper.js
+++ b/packages/webviz-core/src/util/bagConnectionsHelper.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -10,6 +10,7 @@ import { parseMessageDefinition } from "rosbag";
 
 import type { Connection } from "webviz-core/src/dataProviders/types";
 import type { Topic } from "webviz-core/src/players/types";
+import type { RosDatatypes } from "webviz-core/src/types/RosDatatypes";
 
 // TODO(JP): Move all this stuff into rosbag.
 
@@ -19,7 +20,7 @@ type DatatypeDescription = {
 };
 
 // Extract one big list of datatypes from the individual connections.
-export function bagConnectionsToDatatypes(connections: $ReadOnlyArray<DatatypeDescription>) {
+export function bagConnectionsToDatatypes(connections: $ReadOnlyArray<DatatypeDescription>): RosDatatypes {
   const datatypes = {};
   connections.forEach((connection) => {
     const connectionTypes = parseMessageDefinition(connection.messageDefinition);
@@ -27,9 +28,9 @@ export function bagConnectionsToDatatypes(connections: $ReadOnlyArray<DatatypeDe
       // The first definition usually doesn't have an explicit name,
       // so we get the name from the connection.
       if (index === 0) {
-        datatypes[connection.type] = definitions;
+        datatypes[connection.type] = { fields: definitions };
       } else if (name) {
-        datatypes[name] = definitions;
+        datatypes[name] = { fields: definitions };
       }
     });
   });
diff --git a/packages/webviz-core/src/util/bagConnectionsHelper.test.js b/packages/webviz-core/src/util/bagConnectionsHelper.test.js
index 2c1b63bd4..ce240804c 100644
--- a/packages/webviz-core/src/util/bagConnectionsHelper.test.js
+++ b/packages/webviz-core/src/util/bagConnectionsHelper.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -35,12 +35,14 @@ describe("bagConnectionsToDatatypes", () => {
         },
       ])
     ).toEqual({
-      "something/points": [{ name: "points", type: "geometry_msgs/Point", isArray: true, isComplex: true }],
-      "something/two_points": [
-        { name: "point1", type: "geometry_msgs/Point", isArray: false, isComplex: true },
-        { name: "point2", type: "geometry_msgs/Point", isArray: false, isComplex: true },
-      ],
-      "geometry_msgs/Point": [{ name: "x", type: "float64", isArray: false, isComplex: false }],
+      "something/points": { fields: [{ name: "points", type: "geometry_msgs/Point", isArray: true, isComplex: true }] },
+      "something/two_points": {
+        fields: [
+          { name: "point1", type: "geometry_msgs/Point", isArray: false, isComplex: true },
+          { name: "point2", type: "geometry_msgs/Point", isArray: false, isComplex: true },
+        ],
+      },
+      "geometry_msgs/Point": { fields: [{ name: "x", type: "float64", isArray: false, isComplex: false }] },
     });
   });
 });
diff --git a/packages/webviz-core/src/util/clipboard.js b/packages/webviz-core/src/util/clipboard.js
index 280c73933..4af0e0ee2 100644
--- a/packages/webviz-core/src/util/clipboard.js
+++ b/packages/webviz-core/src/util/clipboard.js
@@ -1,23 +1,37 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
+function fallbackCopy(text: string) {
+  const { body } = document;
+  if (!body) {
+    throw new Error("Could not find body, failed to copy.");
+  }
+  const el = document.createElement("textarea");
+  body.appendChild(el);
+  el.value = text;
+  el.select();
+  document.execCommand("copy");
+  body.removeChild(el);
+}
+
 export default {
   // Copy a string to the clipboard
-  copy(text: string) {
-    const { body } = document;
-    if (!body) {
-      return;
+  async copy(text: string): Promise<void> {
+    // attempt to use the new async clipboard methods. If those are not available or fail, fallback to the old
+    // `execCommand` method.
+    if (navigator && navigator.clipboard && navigator.clipboard.writeText) {
+      try {
+        return navigator.clipboard.writeText(text);
+      } catch (error) {
+        fallbackCopy(text);
+      }
+    } else {
+      fallbackCopy(text);
     }
-    const el = document.createElement("textarea");
-    body.appendChild(el);
-    el.value = text;
-    el.select();
-    document.execCommand("copy");
-    body.removeChild(el);
   },
 };
diff --git a/packages/webviz-core/src/util/colors.js b/packages/webviz-core/src/util/colors.js
index 2df5b293f..4f868f0e3 100644
--- a/packages/webviz-core/src/util/colors.js
+++ b/packages/webviz-core/src/util/colors.js
@@ -1,10 +1,12 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
+import tinycolor from "tinycolor2";
+
 const baseColors = {
   DARK: "#08080a",
   DARK1: "#111114",
@@ -66,4 +68,12 @@ export const colors = {
   ...baseColors,
   TEXT_MUTED: baseColors.GRAY,
   HIGHLIGHT: baseColors.PURPLEL1,
+  // TODO:(Audrey): !!! need design review. Don't use these colors until TopicGrouping feature is finished.
+  HOVER_BACKGROUND_COLOR: tinycolor(baseColors.PURPLE)
+    .setAlpha(0.5)
+    .toHexString(),
+  TEXTL1: baseColors.LIGHT2,
+  ACTION: baseColors.BLUE,
+  TEXT: baseColors.LIGHT1,
+  TOOLBAR: baseColors.DARK4,
 };
diff --git a/packages/webviz-core/src/util/debouncePromise.js b/packages/webviz-core/src/util/debouncePromise.js
index 22ba44f7b..0149cfb80 100644
--- a/packages/webviz-core/src/util/debouncePromise.js
+++ b/packages/webviz-core/src/util/debouncePromise.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/debouncePromise.test.js b/packages/webviz-core/src/util/debouncePromise.test.js
index 212dc1232..09066c9e2 100644
--- a/packages/webviz-core/src/util/debouncePromise.test.js
+++ b/packages/webviz-core/src/util/debouncePromise.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/dev.js b/packages/webviz-core/src/util/dev.js
index 218e22982..ccb8284fc 100644
--- a/packages/webviz-core/src/util/dev.js
+++ b/packages/webviz-core/src/util/dev.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/entities.js b/packages/webviz-core/src/util/entities.js
index 652e089cc..dc0f4d245 100644
--- a/packages/webviz-core/src/util/entities.js
+++ b/packages/webviz-core/src/util/entities.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/fuzzyFilter.js b/packages/webviz-core/src/util/fuzzyFilter.js
index b7e0e006c..6b1b0a679 100644
--- a/packages/webviz-core/src/util/fuzzyFilter.js
+++ b/packages/webviz-core/src/util/fuzzyFilter.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/fuzzyFilter.test.js b/packages/webviz-core/src/util/fuzzyFilter.test.js
index 2cb154fd5..102121298 100644
--- a/packages/webviz-core/src/util/fuzzyFilter.test.js
+++ b/packages/webviz-core/src/util/fuzzyFilter.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/getNewConnection.js b/packages/webviz-core/src/util/getNewConnection.js
index d437c432b..8304bfa87 100644
--- a/packages/webviz-core/src/util/getNewConnection.js
+++ b/packages/webviz-core/src/util/getNewConnection.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/getNewConnection.test.js b/packages/webviz-core/src/util/getNewConnection.test.js
index 1290f53cd..dfef1cc64 100644
--- a/packages/webviz-core/src/util/getNewConnection.test.js
+++ b/packages/webviz-core/src/util/getNewConnection.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/globalConstants.js b/packages/webviz-core/src/util/globalConstants.js
index eb69606fb..3ae37f5ec 100644
--- a/packages/webviz-core/src/util/globalConstants.js
+++ b/packages/webviz-core/src/util/globalConstants.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/history.js b/packages/webviz-core/src/util/history.js
index 5fdaed898..b95cf970c 100644
--- a/packages/webviz-core/src/util/history.js
+++ b/packages/webviz-core/src/util/history.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/inAutomatedRunMode.js b/packages/webviz-core/src/util/inAutomatedRunMode.js
index b81ee8db0..acef6e02e 100644
--- a/packages/webviz-core/src/util/inAutomatedRunMode.js
+++ b/packages/webviz-core/src/util/inAutomatedRunMode.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/indexeddb/Database.js b/packages/webviz-core/src/util/indexeddb/Database.js
index df0c11b48..29c795440 100644
--- a/packages/webviz-core/src/util/indexeddb/Database.js
+++ b/packages/webviz-core/src/util/indexeddb/Database.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -87,7 +87,7 @@ export default class Database {
   static async get(definition: DatabaseDefinition): Promise<Database> {
     const { name, version, objectStores } = definition;
     const db = await idb.open(name, version, (change) => {
-      [...change.objectStoreNames].forEach((name) => change.deleteObjectStore(name));
+      [...change.objectStoreNames].forEach((storeName) => change.deleteObjectStore(storeName));
       objectStores.forEach((storeDefinition) => {
         const { indexes = [] } = storeDefinition;
         const store = change.createObjectStore(storeDefinition.name, storeDefinition.options);
diff --git a/packages/webviz-core/src/util/indexeddb/Database.test.js b/packages/webviz-core/src/util/indexeddb/Database.test.js
index 79db6b991..619174ae7 100644
--- a/packages/webviz-core/src/util/indexeddb/Database.test.js
+++ b/packages/webviz-core/src/util/indexeddb/Database.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -18,8 +18,8 @@ async function put(db: Database, objectStore: string, values: any[]) {
 // NOTE: Each Database name needs to be unique if you do not want to pollute other tests.
 describe("Database", () => {
   it("read/write", async () => {
-    const db = await Database.open("foo", 1, (db) => {
-      db.createObjectStore("bar", { autoIncrement: true });
+    const db = await Database.open("foo", 1, (openedDb) => {
+      openedDb.createObjectStore("bar", { autoIncrement: true });
     });
     const tx1 = db.transaction("bar", "readwrite");
     tx1.objectStore("bar").put("one");
@@ -35,8 +35,8 @@ describe("Database", () => {
   });
 
   it("can do crud operations", async () => {
-    const db = await Database.open("crud", 1, (db) => {
-      db.createObjectStore("bar", { autoIncrement: true });
+    const db = await Database.open("crud", 1, (openedDb) => {
+      openedDb.createObjectStore("bar", { autoIncrement: true });
     });
     const result = await db.put("bar", { val: "something" }, "key-1");
     expect(result).toEqual("key-1");
@@ -71,8 +71,8 @@ describe("Database", () => {
   });
 
   it("can read a range", async () => {
-    const db = await Database.open("range", 1, (db) => {
-      db.createObjectStore("bar", { autoIncrement: true });
+    const db = await Database.open("range", 1, (openedDb) => {
+      openedDb.createObjectStore("bar", { autoIncrement: true });
     });
     await put(db, "bar", [{ one: 1 }, { two: 2 }, { three: 3 }]);
     const range = await db.getRange("bar", undefined, 1, 2);
@@ -86,8 +86,8 @@ describe("Database", () => {
   });
 
   it("can read a range by index", async () => {
-    const db = await Database.open("range-with-index", 1, (db) => {
-      const store = db.createObjectStore("bar", { autoIncrement: true });
+    const db = await Database.open("range-with-index", 1, (openedDb) => {
+      const store = openedDb.createObjectStore("bar", { autoIncrement: true });
       store.createIndex("stamp", "stamp");
     });
     await put(db, "bar", [{ one: 1, stamp: 100 }, { two: 2, stamp: 50 }, { three: 3, stamp: 10 }]);
@@ -99,8 +99,8 @@ describe("Database", () => {
   });
 
   it("can create writable stream", async () => {
-    const db = await Database.open("stream", 1, (db) => {
-      db.createObjectStore("bar", { autoIncrement: true });
+    const db = await Database.open("stream", 1, (openedDb) => {
+      openedDb.createObjectStore("bar", { autoIncrement: true });
     });
 
     const writer = db.createWriteStream("bar");
@@ -123,8 +123,8 @@ describe("Database", () => {
   });
 
   it("can create writable stream with extra appended", async () => {
-    const db = await Database.open("stream-with-extra", 1, (db) => {
-      db.createObjectStore("bar", { autoIncrement: true });
+    const db = await Database.open("stream-with-extra", 1, (openedDb) => {
+      openedDb.createObjectStore("bar", { autoIncrement: true });
     });
 
     const writer = db.createWriteStream("bar", { extra: { topic: "/foo" } });
@@ -147,8 +147,8 @@ describe("Database", () => {
   });
 
   it("can get all the keys in a store", async () => {
-    const db = await Database.open("keys", 1, (db) => {
-      db.createObjectStore("bar", { keyPath: "key" });
+    const db = await Database.open("keys", 1, (openedDb) => {
+      openedDb.createObjectStore("bar", { keyPath: "key" });
     });
     await put(db, "bar", [
       { key: "a", one: 1, stamp: 100 },
@@ -160,8 +160,8 @@ describe("Database", () => {
   });
 
   it("can get all keys and values in a store", async () => {
-    const db = await Database.open("kvp", 1, (db) => {
-      db.createObjectStore("bar", { keyPath: "key" });
+    const db = await Database.open("kvp", 1, (openedDb) => {
+      openedDb.createObjectStore("bar", { keyPath: "key" });
     });
     const values = [
       { key: "a", one: 1, stamp: 100 },
diff --git a/packages/webviz-core/src/util/indexeddb/DbWriter.js b/packages/webviz-core/src/util/indexeddb/DbWriter.js
index 781f3ee71..21604eae1 100644
--- a/packages/webviz-core/src/util/indexeddb/DbWriter.js
+++ b/packages/webviz-core/src/util/indexeddb/DbWriter.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/indexeddb/MetaDatabase.js b/packages/webviz-core/src/util/indexeddb/MetaDatabase.js
index d6ea30455..5e47085ae 100644
--- a/packages/webviz-core/src/util/indexeddb/MetaDatabase.js
+++ b/packages/webviz-core/src/util/indexeddb/MetaDatabase.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/indexeddb/MetaDatabase.test.js b/packages/webviz-core/src/util/indexeddb/MetaDatabase.test.js
index 8ca04f798..6d221a5d6 100644
--- a/packages/webviz-core/src/util/indexeddb/MetaDatabase.test.js
+++ b/packages/webviz-core/src/util/indexeddb/MetaDatabase.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/indexeddb/clearIndexedDb.js b/packages/webviz-core/src/util/indexeddb/clearIndexedDb.js
index 56fa1fc1d..4a2f4d535 100644
--- a/packages/webviz-core/src/util/indexeddb/clearIndexedDb.js
+++ b/packages/webviz-core/src/util/indexeddb/clearIndexedDb.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/indexeddb/getDatabasesInTests.js b/packages/webviz-core/src/util/indexeddb/getDatabasesInTests.js
index b8393a803..6c569b72c 100644
--- a/packages/webviz-core/src/util/indexeddb/getDatabasesInTests.js
+++ b/packages/webviz-core/src/util/indexeddb/getDatabasesInTests.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/indexeddb/types.js b/packages/webviz-core/src/util/indexeddb/types.js
index 92dce9d61..417d96999 100644
--- a/packages/webviz-core/src/util/indexeddb/types.js
+++ b/packages/webviz-core/src/util/indexeddb/types.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/installChartjs.js b/packages/webviz-core/src/util/installChartjs.js
index fc0e6de66..99d87a5ac 100644
--- a/packages/webviz-core/src/util/installChartjs.js
+++ b/packages/webviz-core/src/util/installChartjs.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/installDevtoolsFormatters.js b/packages/webviz-core/src/util/installDevtoolsFormatters.js
index d41858a6d..205373a0b 100644
--- a/packages/webviz-core/src/util/installDevtoolsFormatters.js
+++ b/packages/webviz-core/src/util/installDevtoolsFormatters.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/migratePanels.js b/packages/webviz-core/src/util/migratePanels.js
index 7a21b62a1..db7abec9a 100644
--- a/packages/webviz-core/src/util/migratePanels.js
+++ b/packages/webviz-core/src/util/migratePanels.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/migratePanels.test.js b/packages/webviz-core/src/util/migratePanels.test.js
index 999e99fc7..7192d4866 100644
--- a/packages/webviz-core/src/util/migratePanels.test.js
+++ b/packages/webviz-core/src/util/migratePanels.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/multicolorLineChart.js b/packages/webviz-core/src/util/multicolorLineChart.js
index a1009c653..a772f391f 100644
--- a/packages/webviz-core/src/util/multicolorLineChart.js
+++ b/packages/webviz-core/src/util/multicolorLineChart.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -30,8 +30,8 @@ Chart.controllers.multicolorLine = Chart.controllers.scatter.extend({
       return !isNaN(data._view.y);
     });
 
-    function setColor(newColor, meta) {
-      meta.dataset._view.borderColor = newColor;
+    function setColor(newColor, { dataset }) {
+      dataset._view.borderColor = newColor;
     }
 
     if (!colors) {
diff --git a/packages/webviz-core/src/util/naturalSort.js b/packages/webviz-core/src/util/naturalSort.js
index 6d7ef861f..278e498da 100644
--- a/packages/webviz-core/src/util/naturalSort.js
+++ b/packages/webviz-core/src/util/naturalSort.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/naturalSort.test.js b/packages/webviz-core/src/util/naturalSort.test.js
index f718485f0..0daa02d1d 100644
--- a/packages/webviz-core/src/util/naturalSort.test.js
+++ b/packages/webviz-core/src/util/naturalSort.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/performanceMeasurements.js b/packages/webviz-core/src/util/performanceMeasurements.js
index 057f7dd53..078887bdf 100644
--- a/packages/webviz-core/src/util/performanceMeasurements.js
+++ b/packages/webviz-core/src/util/performanceMeasurements.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/plotColors.js b/packages/webviz-core/src/util/plotColors.js
index f62c87276..35d7a7457 100644
--- a/packages/webviz-core/src/util/plotColors.js
+++ b/packages/webviz-core/src/util/plotColors.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/quaternionFromEuler.js b/packages/webviz-core/src/util/quaternionFromEuler.js
index 5d85b57fd..06cd5e214 100644
--- a/packages/webviz-core/src/util/quaternionFromEuler.js
+++ b/packages/webviz-core/src/util/quaternionFromEuler.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/quaternionToEuler.js b/packages/webviz-core/src/util/quaternionToEuler.js
index 8ccb27ce1..d8d674d1c 100644
--- a/packages/webviz-core/src/util/quaternionToEuler.js
+++ b/packages/webviz-core/src/util/quaternionToEuler.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/ranges.js b/packages/webviz-core/src/util/ranges.js
index f4640302b..dc84cfa61 100644
--- a/packages/webviz-core/src/util/ranges.js
+++ b/packages/webviz-core/src/util/ranges.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/ranges.test.js b/packages/webviz-core/src/util/ranges.test.js
index 9b31f3d5e..2da113f3a 100644
--- a/packages/webviz-core/src/util/ranges.test.js
+++ b/packages/webviz-core/src/util/ranges.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/reportError.js b/packages/webviz-core/src/util/reportError.js
index 3c7d33e8f..42383d11d 100644
--- a/packages/webviz-core/src/util/reportError.js
+++ b/packages/webviz-core/src/util/reportError.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/selectors.js b/packages/webviz-core/src/util/selectors.js
index e2aeaac3e..ebed21685 100644
--- a/packages/webviz-core/src/util/selectors.js
+++ b/packages/webviz-core/src/util/selectors.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -45,7 +45,7 @@ export const constantsByDatatype = createSelector<*, *, *, _>(
     const results = {};
     for (const datatype of Object.keys(datatypes)) {
       results[datatype] = {};
-      for (const field of datatypes[datatype]) {
+      for (const field of datatypes[datatype].fields) {
         if (field.isConstant) {
           if (results[datatype][field.value]) {
             results[datatype][field.value] = "<multiple constants match>";
@@ -80,7 +80,7 @@ export const enumValuesByDatatypeAndField = createSelector<*, *, *, _>(
       let constants: { [mixed]: string } = {};
       // constants' types
       let lastType;
-      for (const field of datatypes[datatype]) {
+      for (const field of datatypes[datatype].fields) {
         if (lastType && field.type !== lastType) {
           // encountering new type resets the accumulated constants
           constants = {};
diff --git a/packages/webviz-core/src/util/selectors.test.js b/packages/webviz-core/src/util/selectors.test.js
index ca7d19464..be7b10e5e 100644
--- a/packages/webviz-core/src/util/selectors.test.js
+++ b/packages/webviz-core/src/util/selectors.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
@@ -42,10 +42,12 @@ describe("selectors", () => {
     it("indexes constant names by value for each datatype", () => {
       expect(
         constantsByDatatype({
-          "some/datatype": [
-            { type: "uint32", name: "OFF", isConstant: true, value: 0 },
-            { type: "uint32", name: "ON", isConstant: true, value: 1 },
-          ],
+          "some/datatype": {
+            fields: [
+              { type: "uint32", name: "OFF", isConstant: true, value: 0 },
+              { type: "uint32", name: "ON", isConstant: true, value: 1 },
+            ],
+          },
         })
       ).toEqual({ "some/datatype": { "0": "OFF", "1": "ON" } });
     });
@@ -53,10 +55,12 @@ describe("selectors", () => {
     it("marks duplicate constant names", () => {
       expect(
         constantsByDatatype({
-          "some/datatype": [
-            { type: "uint32", name: "OFF", isConstant: true, value: 0 },
-            { type: "uint32", name: "DISABLED", isConstant: true, value: 0 },
-          ],
+          "some/datatype": {
+            fields: [
+              { type: "uint32", name: "OFF", isConstant: true, value: 0 },
+              { type: "uint32", name: "DISABLED", isConstant: true, value: 0 },
+            ],
+          },
         })
       ).toEqual({ "some/datatype": { "0": "<multiple constants match>" } });
     });
@@ -66,15 +70,17 @@ describe("selectors", () => {
     it("handles multiple blocks of constants", () => {
       expect(
         enumValuesByDatatypeAndField({
-          "some/datatype": [
-            { type: "uint32", name: "OFF", isConstant: true, value: 0 },
-            { type: "uint32", name: "ON", isConstant: true, value: 1 },
-            { type: "uint32", name: "state", isArray: false, isComplex: false },
-            { type: "uint8", name: "RED", isConstant: true, value: 0 },
-            { type: "uint8", name: "YELLOW", isConstant: true, value: 1 },
-            { type: "uint8", name: "GREEN", isConstant: true, value: 2 },
-            { type: "uint8", name: "color", isArray: false, isComplex: false },
-          ],
+          "some/datatype": {
+            fields: [
+              { type: "uint32", name: "OFF", isConstant: true, value: 0 },
+              { type: "uint32", name: "ON", isConstant: true, value: 1 },
+              { type: "uint32", name: "state", isArray: false, isComplex: false },
+              { type: "uint8", name: "RED", isConstant: true, value: 0 },
+              { type: "uint8", name: "YELLOW", isConstant: true, value: 1 },
+              { type: "uint8", name: "GREEN", isConstant: true, value: 2 },
+              { type: "uint8", name: "color", isArray: false, isComplex: false },
+            ],
+          },
         })
       ).toEqual({
         "some/datatype": {
@@ -87,12 +93,14 @@ describe("selectors", () => {
     it("only assigns constants to matching types", () => {
       expect(
         enumValuesByDatatypeAndField({
-          "some/datatype": [
-            { type: "uint8", name: "OFF", isConstant: true, value: 0 },
-            { type: "uint8", name: "ON", isConstant: true, value: 1 },
-            { type: "uint32", name: "state32", isArray: false, isComplex: false },
-            { type: "uint8", name: "state8", isArray: false, isComplex: false },
-          ],
+          "some/datatype": {
+            fields: [
+              { type: "uint8", name: "OFF", isConstant: true, value: 0 },
+              { type: "uint8", name: "ON", isConstant: true, value: 1 },
+              { type: "uint32", name: "state32", isArray: false, isComplex: false },
+              { type: "uint8", name: "state8", isArray: false, isComplex: false },
+            ],
+          },
         })
       ).toEqual({
         // getting empty result as the first type after constants doesn't match constant type
@@ -102,14 +110,18 @@ describe("selectors", () => {
     it("handles enum annotation", () => {
       expect(
         enumValuesByDatatypeAndField({
-          "some/datatype": [
-            { type: "another/state/values", name: "state__webviz_enum", isArray: false, isComplex: false },
-            { type: "uint32", name: "state", isArray: false, isComplex: false },
-          ],
-          "another/state/values": [
-            { type: "uint32", name: "OFF", isConstant: true, value: 0 },
-            { type: "uint32", name: "ON", isConstant: true, value: 1 },
-          ],
+          "some/datatype": {
+            fields: [
+              { type: "another/state/values", name: "state__webviz_enum", isArray: false, isComplex: false },
+              { type: "uint32", name: "state", isArray: false, isComplex: false },
+            ],
+          },
+          "another/state/values": {
+            fields: [
+              { type: "uint32", name: "OFF", isConstant: true, value: 0 },
+              { type: "uint32", name: "ON", isConstant: true, value: 1 },
+            ],
+          },
         })
       ).toEqual({
         "some/datatype": {
diff --git a/packages/webviz-core/src/util/time.js b/packages/webviz-core/src/util/time.js
index c4ef15fb6..41901f87f 100644
--- a/packages/webviz-core/src/util/time.js
+++ b/packages/webviz-core/src/util/time.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/time.test.js b/packages/webviz-core/src/util/time.test.js
index 9c66c3429..b56faccc5 100644
--- a/packages/webviz-core/src/util/time.test.js
+++ b/packages/webviz-core/src/util/time.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/toggle.js b/packages/webviz-core/src/util/toggle.js
index 75f929f4c..7ece9d2c9 100644
--- a/packages/webviz-core/src/util/toggle.js
+++ b/packages/webviz-core/src/util/toggle.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/toggle.test.js b/packages/webviz-core/src/util/toggle.test.js
index f3ffa52af..2b3a49c58 100644
--- a/packages/webviz-core/src/util/toggle.test.js
+++ b/packages/webviz-core/src/util/toggle.test.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/toolsColorScheme.js b/packages/webviz-core/src/util/toolsColorScheme.js
index dee16e0e9..1c1e2c3a2 100644
--- a/packages/webviz-core/src/util/toolsColorScheme.js
+++ b/packages/webviz-core/src/util/toolsColorScheme.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2018-present, GM Cruise LLC
+//  Copyright (c) 2018-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
diff --git a/packages/webviz-core/src/util/yaml.js b/packages/webviz-core/src/util/yaml.js
index f56ed22f7..eeff8d6ec 100644
--- a/packages/webviz-core/src/util/yaml.js
+++ b/packages/webviz-core/src/util/yaml.js
@@ -1,6 +1,6 @@
 // @flow
 //
-//  Copyright (c) 2019-present, GM Cruise LLC
+//  Copyright (c) 2019-present, Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.

From d041d4d3663c7137777c5d421fee170f10113820 Mon Sep 17 00:00:00 2001
From: Audrey Li <me@audreyli.me>
Date: Wed, 18 Dec 2019 10:49:58 -0800
Subject: [PATCH 20/50] Fix ColorPicker screenshots by upgrading
 styled-components (#292)

---
 .vscode/settings.json                  |   4 +-
 package-lock.json                      | 151 +++++++++++++++----------
 package.json                           |   2 +-
 packages/webviz-core/package-lock.json |  27 +----
 4 files changed, 96 insertions(+), 88 deletions(-)

diff --git a/.vscode/settings.json b/.vscode/settings.json
index ead583118..0a3d51149 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -1,6 +1,5 @@
 {
   "editor.formatOnSave": true,
-  "eslint.autoFixOnSave": true,
   "flow.useNPMPackagedFlow": true,
   "javascript.validate.enable": false,
   "typescript.validate.enable": false,
@@ -8,6 +7,7 @@
     "*.mdx": "markdown"
   },
   "editor.codeActionsOnSave": {
-    "source.organizeImports": false
+    "source.organizeImports": false,
+    "source.fixAll.eslint": true
   }
 }
diff --git a/package-lock.json b/package-lock.json
index 1faa6be64..66ed99f6c 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -4319,6 +4319,18 @@
       "integrity": "sha512-dHhDj5o4TEdrGSIzWQvTthZsEGCWGRKzSd+zO0xl8ie0zMf4to5nF64Cyu2zfM0mfB9BGRYQLE3YQliv9c+gPA==",
       "dev": true
     },
+    "babel-plugin-styled-components": {
+      "version": "1.10.6",
+      "resolved": "https://registry.npmjs.org/babel-plugin-styled-components/-/babel-plugin-styled-components-1.10.6.tgz",
+      "integrity": "sha512-gyQj/Zf1kQti66100PhrCRjI5ldjaze9O0M3emXRPAN80Zsf8+e1thpTpaXJXVHXtaM4/+dJEgZHyS9Its+8SA==",
+      "dev": true,
+      "requires": {
+        "@babel/helper-annotate-as-pure": "^7.0.0",
+        "@babel/helper-module-imports": "^7.0.0",
+        "babel-plugin-syntax-jsx": "^6.18.0",
+        "lodash": "^4.17.11"
+      }
+    },
     "babel-plugin-syntax-flow": {
       "version": "6.18.0",
       "resolved": "http://registry.npmjs.org/babel-plugin-syntax-flow/-/babel-plugin-syntax-flow-6.18.0.tgz",
@@ -5389,6 +5401,12 @@
         }
       }
     },
+    "camelize": {
+      "version": "1.0.0",
+      "resolved": "https://registry.npmjs.org/camelize/-/camelize-1.0.0.tgz",
+      "integrity": "sha1-FkpUg+Yw+kMh5a8HAg5TGDGyYJs=",
+      "dev": true
+    },
     "caniuse-lite": {
       "version": "1.0.30000918",
       "resolved": "https://registry.npmjs.org/caniuse-lite/-/caniuse-lite-1.0.30000918.tgz",
@@ -6764,13 +6782,13 @@
       }
     },
     "css-to-react-native": {
-      "version": "2.2.2",
-      "resolved": "https://registry.npmjs.org/css-to-react-native/-/css-to-react-native-2.2.2.tgz",
-      "integrity": "sha512-w99Fzop1FO8XKm0VpbQp3y5mnTnaS+rtCvS+ylSEOK76YXO5zoHQx/QMB1N54Cp+Ya9jB9922EHrh14ld4xmmw==",
+      "version": "2.3.2",
+      "resolved": "https://registry.npmjs.org/css-to-react-native/-/css-to-react-native-2.3.2.tgz",
+      "integrity": "sha512-VOFaeZA053BqvvvqIA8c9n0+9vFppVBAHCp6JgFTtTMU3Mzi+XnelJ9XC9ul3BqFzZyQ5N+H0SnwsWT2Ebchxw==",
       "dev": true,
       "requires": {
+        "camelize": "^1.0.0",
         "css-color-keywords": "^1.0.0",
-        "fbjs": "^0.8.5",
         "postcss-value-parser": "^3.3.0"
       }
     },
@@ -9448,7 +9466,7 @@
         },
         "are-we-there-yet": {
           "version": "1.1.4",
-          "resolved": "https://registry.npmjs.org/are-we-there-yet/-/are-we-there-yet-1.1.4.tgz",
+          "resolved": false,
           "integrity": "sha1-u13KOCu5TwXhUZQ3PRb9O6HKEQ0=",
           "dev": true,
           "optional": true,
@@ -9475,7 +9493,7 @@
         },
         "chownr": {
           "version": "1.0.1",
-          "resolved": "https://registry.npmjs.org/chownr/-/chownr-1.0.1.tgz",
+          "resolved": false,
           "integrity": "sha1-4qdQQqlVGQi+vSW4Uj1fl2nXkYE=",
           "dev": true,
           "optional": true
@@ -9507,7 +9525,7 @@
         },
         "debug": {
           "version": "2.6.9",
-          "resolved": "https://registry.npmjs.org/debug/-/debug-2.6.9.tgz",
+          "resolved": false,
           "integrity": "sha512-bC7ElrdJaJnPbAP+1EotYvqZsb3ecl5wi6Bfi6BJTUcNowp6cvspg0jXznRTKDjm/E7AdgFBVeAPVMNcKGsHMA==",
           "dev": true,
           "optional": true,
@@ -9517,7 +9535,7 @@
         },
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diff --git a/package.json b/package.json
index 5a4434bfc..327535b69 100755
--- a/package.json
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diff --git a/packages/webviz-core/package-lock.json b/packages/webviz-core/package-lock.json
index 38209d9c2..e649a60e0 100644
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+++ b/packages/webviz-core/package-lock.json
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From ca00cd7f835c4156c20a441331ce0593fb21173d Mon Sep 17 00:00:00 2001
From: Jacob Bandes-Storch <jacob@getcruise.com>
Date: Wed, 18 Dec 2019 14:44:38 -0800
Subject: [PATCH 21/50] Worldview: add GLText command (#291)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

## Summary

Adds a new `<GLText />` command which is API-compatible with `<Text />`. Instead of overlaying DOM nodes on top of Worldview, the text is rendered in GL so it can participate in occlusion. Rendering in GL is also much faster than managing many separate DOM elements; see the GLText docs page for a performance demo.

All the necessary characters are rendered into a texture atlas using a [signed distance field](https://github.com/libgdx/libgdx/wiki/Distance-field-fonts) representation, then all characters from all children are drawn in a single draw call. More implementation details are explained in GLText.js.

![GLText demo](https://user-images.githubusercontent.com/14237/71052758-3d93c600-2101-11ea-8a96-7bc2eff14aa0.gif)

Many thanks to the following resources/implementations/references which were helpful in informing this implementation!
- Valve: [Improved Alpha-Tested Magnification for Vector Textures and Special Effects](https://steamcdn-a.akamaihd.net/apps/valve/2007/SIGGRAPH2007_AlphaTestedMagnification.pdf)
- Mapbox: [Drawing Text with Signed Distance Fields in Mapbox GL](https://blog.mapbox.com/drawing-text-with-signed-distance-fields-in-mapbox-gl-b0933af6f817)
- Otto Chrons: [Text rendering in OpenGL](http://hack.chrons.me/opengl-text-rendering/)
- Stack Overflow: [Better Quality Text in WebGL](https://stackoverflow.com/q/25956272/23649)
- https://github.com/mapbox/tiny-sdf
- [deck.gl TextLayer](https://github.com/uber/deck.gl/tree/78891632763fa655bec04d320fec3c66c85f6365/modules/layers/src/text-layer)
- [mapbox-gl-js GlyphManager](https://github.com/mapbox/mapbox-gl-js/blob/26a47e4e11dec83dc6d6190a904224c290c74f96/src/render/glyph_manager.js)
- https://github.com/dy/font-atlas-sdf


## Test plan
Added stories/screenshot tests and docs page demo. Unfortunately the code is not too easily amenable to unit testing (other than perhaps the font atlas memoization).

## Versioning impact
This PR is purely additive, so doesn't necessitate a major version bump. The GLText command might eventually replace Text, but we'd like to get some mileage on it first — we'll be testing it in Webviz, and would love for any external users to give it a try as well. A few areas for improvement would probably need to be addressed before deprecating the DOM-based Text command: solid rectangular background instead of outline (or at least improved visibility at small sizes); highlight ranges to replace browser-native ⌘F; hitmap support.
---
 .editorconfig                                 |  11 +
 docs/src/2.4.ManagingTheCamera.mdx            |   6 +-
 docs/src/4.15.GLText.mdx                      |   9 +
 docs/src/jsx/allDemos.stories.js              |   2 +
 docs/src/jsx/allLiveEditors.js                |   9 +-
 docs/src/jsx/commands/GLText.js               | 175 ++++++++
 .../tutorials/{MoveCamea.js => MoveCamera.js} |   0
 docs/src/jsx/utils/WorldviewCodeEditor.js     |  35 +-
 docs/src/routes.js                            |   3 +
 package-lock.json                             |  41 +-
 packages/regl-worldview/package-lock.json     |  10 +
 packages/regl-worldview/package.json          |   2 +
 .../regl-worldview/src/WorldviewContext.js    |   7 +-
 packages/regl-worldview/src/camera/camera.js  |   6 +
 .../src/camera/cameraStateSelectors.js        |  12 +
 .../regl-worldview/src/commands/GLText.js     | 397 ++++++++++++++++++
 packages/regl-worldview/src/commands/Text.js  |   4 +-
 packages/regl-worldview/src/commands/index.js |   1 +
 .../src/stories/GLText.stories.js             |  90 ++++
 .../src/stories/cameraState.stories.js        |  16 +-
 packages/webviz-core/package-lock.json        |  10 +-
 21 files changed, 800 insertions(+), 46 deletions(-)
 create mode 100644 .editorconfig
 create mode 100644 docs/src/4.15.GLText.mdx
 create mode 100644 docs/src/jsx/commands/GLText.js
 rename docs/src/jsx/tutorials/{MoveCamea.js => MoveCamera.js} (100%)
 create mode 100644 packages/regl-worldview/src/commands/GLText.js
 create mode 100644 packages/regl-worldview/src/stories/GLText.stories.js

diff --git a/.editorconfig b/.editorconfig
new file mode 100644
index 000000000..eb2863f6e
--- /dev/null
+++ b/.editorconfig
@@ -0,0 +1,11 @@
+# http://editorconfig.org
+
+root = true
+
+[*]
+charset = utf-8
+end_of_line = lf
+indent_size = 2
+indent_style = space
+insert_final_newline = true
+trim_trailing_whitespace = true
diff --git a/docs/src/2.4.ManagingTheCamera.mdx b/docs/src/2.4.ManagingTheCamera.mdx
index 55e78ca07..7d2f9de85 100644
--- a/docs/src/2.4.ManagingTheCamera.mdx
+++ b/docs/src/2.4.ManagingTheCamera.mdx
@@ -1,5 +1,5 @@
-import CodeSandboxEmbed from './jsx/utils/CodeSandboxEmbed.js';
-import { MoveCamea, FollowObject, FollowObjectOrientation } from './jsx/allLiveEditors'
+import CodeSandboxEmbed from "./jsx/utils/CodeSandboxEmbed.js";
+import { MoveCamera, FollowObject, FollowObjectOrientation } from "./jsx/allLiveEditors";
 
 # Managing the Camera
 
@@ -33,7 +33,7 @@ import duckModel from "common/fixtures/Duck.glb"; // Webpack magic: we actually
 
 To move the camera, we'll use a handy [useAnimationFrame](https://github.com/cruise-automation/webviz/tree/master/packages/%40cruise-automation/hooks) hook that accepts a callback which will be called at each browser repaint. In our case, whenever the callback is called, we'll increase a `count` state by 1, and use the `count` state to adjust the camera's `phi` and `thetaOffset`.
 
-<MoveCamea />
+<MoveCamera />
 
 Now the camera is moving around the scene, giving us a 360° view of the duck model!
 
diff --git a/docs/src/4.15.GLText.mdx b/docs/src/4.15.GLText.mdx
new file mode 100644
index 000000000..a542017ee
--- /dev/null
+++ b/docs/src/4.15.GLText.mdx
@@ -0,0 +1,9 @@
+import { GLText } from "./jsx/allLiveEditors";
+
+# Text
+
+`<GLText />` renders text in the 3D scene (unlike `<Text />`, which renders additional DOM nodes).
+
+The prop types are identical to `<Text />`, except that additionally each Text object supports an optional `billboard?: boolean` property. If true (the default), text will always face the camera; if false, text may be rotated in 3D according to `pose.orientation`.
+
+<GLText />
diff --git a/docs/src/jsx/allDemos.stories.js b/docs/src/jsx/allDemos.stories.js
index fbca441ac..1d5cb9f06 100644
--- a/docs/src/jsx/allDemos.stories.js
+++ b/docs/src/jsx/allDemos.stories.js
@@ -17,6 +17,7 @@ import Cones from "./commands/Cones";
 import Cubes from "./commands/Cubes";
 import Cylinders from "./commands/Cylinders";
 import FilledPolygons from "./commands/FilledPolygons";
+import GLText from "./commands/GLText";
 import GLTFScene from "./commands/GLTFScene";
 import LinesDemo from "./commands/LinesDemo";
 import LinesPoses from "./commands/LinesPoses";
@@ -56,6 +57,7 @@ const allDemos = {
   SpheresInstancedColor,
   SpheresSingle,
   Text,
+  GLText,
   Triangles,
   GLTFScene,
 };
diff --git a/docs/src/jsx/allLiveEditors.js b/docs/src/jsx/allLiveEditors.js
index 23d3131fe..a9eef1378 100755
--- a/docs/src/jsx/allLiveEditors.js
+++ b/docs/src/jsx/allLiveEditors.js
@@ -10,7 +10,7 @@ import React from "react";
 
 import WorldviewCodeEditor from "./utils/WorldviewCodeEditor";
 
-function makeCodeComponent(raw, componentName, { isRowView, insertCodeSandboxStyle } = {}) {
+function makeCodeComponent(raw, componentName, { isRowView, insertCodeSandboxStyle, noInline } = {}) {
   const code = raw
     .split("// #BEGIN EXAMPLE")[1]
     .split("// #END EXAMPLE")[0]
@@ -23,11 +23,12 @@ function makeCodeComponent(raw, componentName, { isRowView, insertCodeSandboxSty
   // eslint-disable-next-line react/display-name
   return () => (
     <WorldviewCodeEditor
-      code={code[1].trim()}
+      code={code[1].trim().replace(/\/\/ #DOCS ONLY: /g, "")}
       nonEditableCode={code[0].trim()}
       componentName={componentName}
       isRowView={isRowView}
       insertCodeSandboxStyle={insertCodeSandboxStyle}
+      noInline={noInline}
     />
   );
 }
@@ -73,6 +74,8 @@ export const FilledPolygonsHitmap = makeCodeComponent(
   "FilledPolygonsHitmap"
 );
 
+export const GLText = makeCodeComponent(require("!!raw-loader!./commands/GLText"), "GLText", { noInline: true });
+
 export const GLTFScene = makeCodeComponent(require("!!raw-loader!./commands/GLTFScene"), "GLTFScene");
 
 export const GLTFSceneHitmap = makeCodeComponent(require("!!raw-loader!./commands/GLTFSceneHitmap"), "GLTFSceneHitmap");
@@ -142,7 +145,7 @@ export const InstancedRendering = makeCodeComponent(
   "RenderingObjects"
 );
 
-export const MoveCamea = makeCodeComponent(require("!!raw-loader!./tutorials/MoveCamea"), "ManagingTheCamera");
+export const MoveCamera = makeCodeComponent(require("!!raw-loader!./tutorials/MoveCamera"), "ManagingTheCamera");
 
 export const StopReleaseDuck = makeCodeComponent(
   require("!!raw-loader!./tutorials/StopReleaseDuck"),
diff --git a/docs/src/jsx/commands/GLText.js b/docs/src/jsx/commands/GLText.js
new file mode 100644
index 000000000..d0695db40
--- /dev/null
+++ b/docs/src/jsx/commands/GLText.js
@@ -0,0 +1,175 @@
+//  Copyright (c) 2018-present, GM Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+// #BEGIN EXAMPLE
+import { useAnimationFrame } from "@cruise-automation/hooks";
+import { quat } from "gl-matrix";
+import React, { useState, useRef } from "react";
+import Worldview, { GLText, DEFAULT_CAMERA_STATE } from "regl-worldview";
+import seedrandom from "seedrandom";
+
+import { inScreenshotTests } from "../utils/codeSandboxUtils";
+
+// #BEGIN EDITABLE
+const rng = seedrandom(1999);
+const NUM_COLS = 200;
+const RADIUS = 30;
+const ALPHABET = [].concat(
+  ...[[0x30, 0x39], [0x41, 0x5a], [0x410, 0x42f], [0x3041, 0x3096]].map(([start, end]) =>
+    new Array(end - start + 1).fill().map((_, i) => String.fromCodePoint(start + i))
+  )
+);
+const GLITCH_PROBABILITY = 0.3;
+const FADE = 3;
+const CHAR_HEIGHT = 1.1;
+const STEP_INTERVAL = 100;
+
+function randomChar() {
+  return ALPHABET[Math.floor(rng() * ALPHABET.length)];
+}
+
+class MatrixText {
+  constructor() {
+    this._cols = new Array(NUM_COLS).fill().map(() => this.newColumn());
+    if (inScreenshotTests()) {
+      for (let i = 0; i < 10; i++) {
+        this.frame(STEP_INTERVAL / 1000);
+        this.step();
+      }
+    }
+  }
+
+  newChar() {
+    return {
+      age: 0,
+      char: randomChar(),
+      spinOffset: 2 * Math.PI * rng(),
+      spinSpeed: 0.5 * (rng() - 0.5),
+    };
+  }
+
+  newColumn() {
+    const r = RADIUS * Math.sqrt(rng());
+    const theta = 2 * Math.PI * rng();
+    const z = RADIUS * 2 * (rng() - 0.5);
+    return {
+      minZ: -RADIUS + (z + RADIUS) * rng(),
+      x: r * Math.cos(theta),
+      y: r * Math.sin(theta),
+      z,
+      chars: [this.newChar()],
+    };
+  }
+
+  frame(dt) {
+    for (const { chars } of this._cols) {
+      for (const char of chars) {
+        char.age += dt;
+        if (rng() < GLITCH_PROBABILITY * dt) {
+          char.char = randomChar();
+        }
+      }
+    }
+  }
+
+  step() {
+    this._cols = this._cols.map((col) => {
+      if (rng() > GLITCH_PROBABILITY && col.z - col.chars.length * CHAR_HEIGHT > col.minZ) {
+        col.chars.push(this.newChar());
+      }
+      const firstKeepIdx = col.chars.findIndex(({ age }) => age < FADE);
+      if (firstKeepIdx === -1) {
+        return this.newColumn();
+      }
+      col.chars.splice(0, firstKeepIdx);
+      col.z -= CHAR_HEIGHT * firstKeepIdx;
+      return col;
+    });
+  }
+
+  toMarkers() {
+    const markers = [];
+    for (const { x, y, z, chars } of this._cols) {
+      chars.forEach(({ age, char, spinOffset, spinSpeed }, i) => {
+        const newness = 1 / (1 + Math.exp(((age - 0.5) / FADE) * 20));
+        const oldness = 1 / (1 + Math.exp(((age - 1.5) / FADE) * 20));
+        const q = quat.create();
+        quat.rotateZ(q, q, spinOffset + age * spinSpeed * 2 * Math.PI);
+        quat.rotateX(q, q, Math.PI / 2);
+        markers.push({
+          text: char,
+          colors: [{ r: newness, g: oldness, b: newness, a: oldness }, { r: 0, g: 0, b: 0, a: oldness }],
+          pose: {
+            position: { x, y, z: z - i * CHAR_HEIGHT },
+            orientation: { x: q[0], y: q[1], z: q[2], w: q[3] },
+          },
+          scale: { x: 1, y: 1, z: 1 },
+          billboard: false,
+        });
+      });
+    }
+    return markers;
+  }
+}
+
+function Example() {
+  const [matrix] = useState(() => new MatrixText());
+  const [cameraState, setCameraState] = useState({
+    ...DEFAULT_CAMERA_STATE,
+    distance: RADIUS * 2,
+    phi: Math.PI / 2,
+  });
+
+  const lastFrameTime = useRef();
+  const lastStepTime = useRef();
+  const fpsMeter = useRef();
+  useAnimationFrame(
+    (timestamp) => {
+      if (lastStepTime.current == null || timestamp - lastStepTime.current > STEP_INTERVAL) {
+        matrix.step();
+        lastStepTime.current = timestamp;
+      }
+      if (lastFrameTime.current != null) {
+        const dt = (timestamp - lastFrameTime.current) / 1000;
+        if (fpsMeter.current) {
+          fpsMeter.current.innerText = `${(1 / dt).toFixed()}fps`;
+        }
+
+        matrix.frame(dt);
+        setCameraState((state) => ({
+          ...state,
+          thetaOffset: state.thetaOffset + 0.05 * dt,
+          phi: Math.PI / 2 + 0.1 * Math.sin(2 * Math.PI * (timestamp / 1000) * 0.02),
+        }));
+      }
+      lastFrameTime.current = timestamp;
+    },
+    inScreenshotTests(),
+    []
+  );
+
+  return (
+    <Worldview
+      cameraState={cameraState}
+      onCameraStateChange={(newState) =>
+        setCameraState((oldState) => ({
+          ...oldState,
+          ...newState,
+          targetOffset: oldState.targetOffset,
+          phi: oldState.phi,
+        }))
+      }>
+      <GLText>{matrix.toMarkers()}</GLText>
+      <div ref={fpsMeter} style={{ position: "absolute", top: 20, left: 20, fontSize: 20, color: "red" }} />
+    </Worldview>
+  );
+}
+
+// #DOCS ONLY: render(<Example />);
+
+// #END EXAMPLE
+
+export default Example;
diff --git a/docs/src/jsx/tutorials/MoveCamea.js b/docs/src/jsx/tutorials/MoveCamera.js
similarity index 100%
rename from docs/src/jsx/tutorials/MoveCamea.js
rename to docs/src/jsx/tutorials/MoveCamera.js
diff --git a/docs/src/jsx/utils/WorldviewCodeEditor.js b/docs/src/jsx/utils/WorldviewCodeEditor.js
index 3cc7e1be3..632f46d8b 100755
--- a/docs/src/jsx/utils/WorldviewCodeEditor.js
+++ b/docs/src/jsx/utils/WorldviewCodeEditor.js
@@ -10,7 +10,7 @@ import last from "lodash/last";
 import remove from "lodash/remove";
 import sample from "lodash/sample";
 import polygonGenerator from "polygon-generator";
-import React, { useState, useEffect } from "react";
+import React, { useRef, useState, useCallback, useEffect } from "react";
 import Worldview, {
   Command,
   Arrows,
@@ -28,6 +28,7 @@ import Worldview, {
   PolygonBuilder,
   Overlay,
   Text,
+  GLText,
   GLTFScene,
   DEFAULT_CAMERA_STATE,
   withPose,
@@ -43,6 +44,7 @@ import { getHashUrlByComponentName } from "../../routes";
 import CameraStateInfo from "./CameraStateInfo";
 import cesiumManModel from "./CesiumMan.glb";
 import CodeEditor from "./CodeEditor";
+import { inScreenshotTests } from "./codeSandboxUtils";
 import InputNumber from "./InputNumber";
 import LineControls from "./LineControls";
 import LinesWithClickableInterior from "./LinesWithClickableInterior";
@@ -107,6 +109,8 @@ export const scope = {
   getCSSColor,
   useRange,
   useAnimationFrame,
+  useCallback,
+  useRef,
   useState,
   useEffect,
   Worldview,
@@ -114,6 +118,7 @@ export const scope = {
   last,
   remove,
   sample,
+  inScreenshotTests,
 
   polygonGenerator,
   styled,
@@ -139,6 +144,7 @@ export const scope = {
   PolygonBuilder,
   Overlay,
   Text,
+  GLText,
   GLTFScene,
   withPose,
   getRayFromClick,
@@ -152,6 +158,7 @@ export default function WorldviewCodeEditor({
   code,
   nonEditableCode = "",
   insertCodeSandboxStyle,
+  noInline,
   ...rest
 }) {
   const hashUrl = getHashUrlByComponentName(componentName);
@@ -162,29 +169,37 @@ export default function WorldviewCodeEditor({
 ${code}
     `;
 
+  const render = noInline
+    ? ""
+    : `
+render(
+  <div className="App" style={{ width: "100vw", height: "100vh" }}>
+    <Example />
+  </div>
+);
+`;
+
   const codeSandboxCode = `
 // regl-worldview example: ${componentName}
 // docs: ${docUrl}
 
 ${insertCodeSandboxStyle ? 'import "./utils/codeSandboxStyleFix.css"; // #CODE_SANDBOX_ONLY' : ""}
 import ReactDOM from "react-dom";
-${copyCode}
+${nonEditableCode}
 
-function App() {
-  return (
-    <div className="App" style={{ width: "100vw", height: "100vh" }}>
-      <Example />
-    </div>
-  );
+function render(content) {
+  ReactDOM.render(content, document.getElementById("root"));
 }
 
-ReactDOM.render(<App />, document.getElementById("root"));
-  `;
+${code}
+${render}
+`;
 
   return (
     <CodeEditor
       scope={{ ...customScope, ...scope }}
       {...rest}
+      noInline={noInline}
       codeSandboxConfig={CODE_SANDBOX_CONFIG}
       codeSandboxCode={codeSandboxCode}
       code={code}
diff --git a/docs/src/routes.js b/docs/src/routes.js
index dc2f0c847..dcf78f3a1 100755
--- a/docs/src/routes.js
+++ b/docs/src/routes.js
@@ -27,6 +27,7 @@ import Triangles from "./4.11.Triangles.mdx";
 import GLTFScene from "./4.12.GLTFScene.mdx";
 import DrawPolygons from "./4.13.DrawPolygons.mdx";
 import Grid from "./4.14.Grid.mdx";
+import GLText from "./4.15.GLText.mdx";
 import Cones from "./4.2.Cones.mdx";
 import Cubes from "./4.3.Cubes.mdx";
 import Cylinders from "./4.4.Cylinders.mdx";
@@ -62,6 +63,7 @@ export const componentList = {
   Points,
   Spheres,
   Text,
+  GLText,
   Triangles,
   Flow,
   GLTFScene,
@@ -99,6 +101,7 @@ const ROUTE_CONFIG = [
       "Points",
       "Spheres",
       "Text",
+      "GLText",
       "Triangles",
       "GLTFScene",
       "DrawPolygons",
diff --git a/package-lock.json b/package-lock.json
index 66ed99f6c..c0147ebcc 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -9455,7 +9455,8 @@
           "version": "2.1.1",
           "resolved": "https://registry.npmjs.org/ansi-regex/-/ansi-regex-2.1.1.tgz",
           "integrity": "sha1-w7M6te42DYbg5ijwRorn7yfWVN8=",
-          "dev": true
+          "dev": true,
+          "optional": true
         },
         "aproba": {
           "version": "1.2.0",
@@ -9479,13 +9480,15 @@
           "version": "1.0.0",
           "resolved": "https://registry.npmjs.org/balanced-match/-/balanced-match-1.0.0.tgz",
           "integrity": "sha1-ibTRmasr7kneFk6gK4nORi1xt2c=",
-          "dev": true
+          "dev": true,
+          "optional": true
         },
         "brace-expansion": {
           "version": "1.1.11",
           "resolved": "https://registry.npmjs.org/brace-expansion/-/brace-expansion-1.1.11.tgz",
           "integrity": "sha512-iCuPHDFgrHX7H2vEI/5xpz07zSHB00TpugqhmYtVmMO6518mCuRMoOYFldEBl0g187ufozdaHgWKcYFb61qGiA==",
           "dev": true,
+          "optional": true,
           "requires": {
             "balanced-match": "^1.0.0",
             "concat-map": "0.0.1"
@@ -9502,19 +9505,22 @@
           "version": "1.1.0",
           "resolved": "https://registry.npmjs.org/code-point-at/-/code-point-at-1.1.0.tgz",
           "integrity": "sha1-DQcLTQQ6W+ozovGkDi7bPZpMz3c=",
-          "dev": true
+          "dev": true,
+          "optional": true
         },
         "concat-map": {
           "version": "0.0.1",
           "resolved": "https://registry.npmjs.org/concat-map/-/concat-map-0.0.1.tgz",
           "integrity": "sha1-2Klr13/Wjfd5OnMDajug1UBdR3s=",
-          "dev": true
+          "dev": true,
+          "optional": true
         },
         "console-control-strings": {
           "version": "1.1.0",
           "resolved": "https://registry.npmjs.org/console-control-strings/-/console-control-strings-1.1.0.tgz",
           "integrity": "sha1-PXz0Rk22RG6mRL9LOVB/mFEAjo4=",
-          "dev": true
+          "dev": true,
+          "optional": true
         },
         "core-util-is": {
           "version": "1.0.2",
@@ -9645,7 +9651,8 @@
           "version": "2.0.3",
           "resolved": "https://registry.npmjs.org/inherits/-/inherits-2.0.3.tgz",
           "integrity": "sha1-Yzwsg+PaQqUC9SRmAiSA9CCCYd4=",
-          "dev": true
+          "dev": true,
+          "optional": true
         },
         "ini": {
           "version": "1.3.5",
@@ -9659,6 +9666,7 @@
           "resolved": "https://registry.npmjs.org/is-fullwidth-code-point/-/is-fullwidth-code-point-1.0.0.tgz",
           "integrity": "sha1-754xOG8DGn8NZDr4L95QxFfvAMs=",
           "dev": true,
+          "optional": true,
           "requires": {
             "number-is-nan": "^1.0.0"
           }
@@ -9675,6 +9683,7 @@
           "resolved": "https://registry.npmjs.org/minimatch/-/minimatch-3.0.4.tgz",
           "integrity": "sha512-yJHVQEhyqPLUTgt9B83PXu6W3rx4MvvHvSUvToogpwoGDOUQ+yDrR0HRot+yOCdCO7u4hX3pWft6kWBBcqh0UA==",
           "dev": true,
+          "optional": true,
           "requires": {
             "brace-expansion": "^1.1.7"
           }
@@ -9683,13 +9692,15 @@
           "version": "0.0.8",
           "resolved": "https://registry.npmjs.org/minimist/-/minimist-0.0.8.tgz",
           "integrity": "sha1-hX/Kv8M5fSYluCKCYuhqp6ARsF0=",
-          "dev": true
+          "dev": true,
+          "optional": true
         },
         "minipass": {
           "version": "2.2.4",
           "resolved": false,
           "integrity": "sha512-hzXIWWet/BzWhYs2b+u7dRHlruXhwdgvlTMDKC6Cb1U7ps6Ac6yQlR39xsbjWJE377YTCtKwIXIpJ5oP+j5y8g==",
           "dev": true,
+          "optional": true,
           "requires": {
             "safe-buffer": "^5.1.1",
             "yallist": "^3.0.0"
@@ -9710,6 +9721,7 @@
           "resolved": "https://registry.npmjs.org/mkdirp/-/mkdirp-0.5.1.tgz",
           "integrity": "sha1-MAV0OOrGz3+MR2fzhkjWaX11yQM=",
           "dev": true,
+          "optional": true,
           "requires": {
             "minimist": "0.0.8"
           }
@@ -9798,7 +9810,8 @@
           "version": "1.0.1",
           "resolved": "https://registry.npmjs.org/number-is-nan/-/number-is-nan-1.0.1.tgz",
           "integrity": "sha1-CXtgK1NCKlIsGvuHkDGDNpQaAR0=",
-          "dev": true
+          "dev": true,
+          "optional": true
         },
         "object-assign": {
           "version": "4.1.1",
@@ -9812,6 +9825,7 @@
           "resolved": "https://registry.npmjs.org/once/-/once-1.4.0.tgz",
           "integrity": "sha1-WDsap3WWHUsROsF9nFC6753Xa9E=",
           "dev": true,
+          "optional": true,
           "requires": {
             "wrappy": "1"
           }
@@ -9907,7 +9921,8 @@
           "version": "5.1.1",
           "resolved": false,
           "integrity": "sha512-kKvNJn6Mm93gAczWVJg7wH+wGYWNrDHdWvpUmHyEsgCtIwwo3bqPtV4tR5tuPaUhTOo/kvhVwd8XwwOllGYkbg==",
-          "dev": true
+          "dev": true,
+          "optional": true
         },
         "safer-buffer": {
           "version": "2.1.2",
@@ -9949,6 +9964,7 @@
           "resolved": "https://registry.npmjs.org/string-width/-/string-width-1.0.2.tgz",
           "integrity": "sha1-EYvfW4zcUaKn5w0hHgfisLmxB9M=",
           "dev": true,
+          "optional": true,
           "requires": {
             "code-point-at": "^1.0.0",
             "is-fullwidth-code-point": "^1.0.0",
@@ -9970,6 +9986,7 @@
           "resolved": "https://registry.npmjs.org/strip-ansi/-/strip-ansi-3.0.1.tgz",
           "integrity": "sha1-ajhfuIU9lS1f8F0Oiq+UJ43GPc8=",
           "dev": true,
+          "optional": true,
           "requires": {
             "ansi-regex": "^2.0.0"
           }
@@ -10018,13 +10035,15 @@
           "version": "1.0.2",
           "resolved": "https://registry.npmjs.org/wrappy/-/wrappy-1.0.2.tgz",
           "integrity": "sha1-tSQ9jz7BqjXxNkYFvA0QNuMKtp8=",
-          "dev": true
+          "dev": true,
+          "optional": true
         },
         "yallist": {
           "version": "3.0.2",
           "resolved": false,
           "integrity": "sha1-hFK0u36Dx8GI2AQcGoN8dz1ti7k=",
-          "dev": true
+          "dev": true,
+          "optional": true
         }
       }
     },
diff --git a/packages/regl-worldview/package-lock.json b/packages/regl-worldview/package-lock.json
index c78b116b2..de5eeb2d2 100755
--- a/packages/regl-worldview/package-lock.json
+++ b/packages/regl-worldview/package-lock.json
@@ -19,6 +19,11 @@
 				}
 			}
 		},
+		"@mapbox/tiny-sdf": {
+			"version": "1.1.1",
+			"resolved": "https://registry.npmjs.org/@mapbox/tiny-sdf/-/tiny-sdf-1.1.1.tgz",
+			"integrity": "sha512-Ihn1nZcGIswJ5XGbgFAvVumOgWpvIjBX9jiRlIl46uQG9vJOF51ViBYHF95rEZupuyQbEmhLaDPLQlU7fUTsBg=="
+		},
 		"batch-processor": {
 			"version": "1.0.0",
 			"resolved": "https://registry.npmjs.org/batch-processor/-/batch-processor-1.0.0.tgz",
@@ -79,6 +84,11 @@
 				"js-tokens": "^3.0.0 || ^4.0.0"
 			}
 		},
+		"memoize-one": {
+			"version": "5.1.1",
+			"resolved": "https://registry.npmjs.org/memoize-one/-/memoize-one-5.1.1.tgz",
+			"integrity": "sha512-HKeeBpWvqiVJD57ZUAsJNm71eHTykffzcLZVYWiVfQeI1rJtuEaS7hQiEpWfVVk18donPwJEcFKIkCmPJNOhHA=="
+		},
 		"memoize-weak": {
 			"version": "1.0.2",
 			"resolved": "https://registry.npmjs.org/memoize-weak/-/memoize-weak-1.0.2.tgz",
diff --git a/packages/regl-worldview/package.json b/packages/regl-worldview/package.json
index 25b10cb4b..dae12c95b 100755
--- a/packages/regl-worldview/package.json
+++ b/packages/regl-worldview/package.json
@@ -26,10 +26,12 @@
   },
   "dependencies": {
     "@babel/runtime": "^7.3.1",
+    "@mapbox/tiny-sdf": "^1.1.1",
     "distance-to-line-segment": "0.2.0",
     "earcut": "^2.1.3",
     "gl-matrix": ">=2.6.1",
     "lodash": "^4.17.11",
+    "memoize-one": "5.1.1",
     "memoize-weak": "^1.0.2",
     "normalize-wheel": "1.0.1",
     "react-container-dimensions": "1.3.3",
diff --git a/packages/regl-worldview/src/WorldviewContext.js b/packages/regl-worldview/src/WorldviewContext.js
index 084c6b424..fb7ec2371 100755
--- a/packages/regl-worldview/src/WorldviewContext.js
+++ b/packages/regl-worldview/src/WorldviewContext.js
@@ -116,7 +116,12 @@ export class WorldviewContext {
     const regl = this._instrumentCommands(
       createREGL({
         canvas,
-        extensions: ["angle_instanced_arrays", "oes_texture_float", "oes_element_index_uint"],
+        extensions: [
+          "angle_instanced_arrays",
+          "oes_texture_float",
+          "oes_element_index_uint",
+          "oes_standard_derivatives",
+        ],
         profile: getNodeEnv() !== "production",
       })
     );
diff --git a/packages/regl-worldview/src/camera/camera.js b/packages/regl-worldview/src/camera/camera.js
index a9bca1a15..b63b8fd84 100755
--- a/packages/regl-worldview/src/camera/camera.js
+++ b/packages/regl-worldview/src/camera/camera.js
@@ -73,12 +73,18 @@ export default (regl: any) => {
         view(context, props) {
           return this.getView();
         },
+
+        // inverse of the view rotation, used for making objects always face the camera
+        billboardRotation(context, props) {
+          return selectors.billboardRotation(this.cameraState);
+        },
       },
 
       // adds view and projection as uniforms to every command
       // and makes them available in the shaders
       uniforms: {
         view: regl.context("view"),
+        billboardRotation: regl.context("billboardRotation"),
         projection: regl.context("projection"),
       },
     });
diff --git a/packages/regl-worldview/src/camera/cameraStateSelectors.js b/packages/regl-worldview/src/camera/cameraStateSelectors.js
index bd5fafb0c..7113a8a0f 100755
--- a/packages/regl-worldview/src/camera/cameraStateSelectors.js
+++ b/packages/regl-worldview/src/camera/cameraStateSelectors.js
@@ -189,9 +189,21 @@ const viewSelector: (CameraState) => Mat4 = createSelector(
   }
 );
 
+const billboardRotation: (CameraState) => Mat4 = createSelector(
+  orientationSelector,
+  targetHeadingSelector,
+  (orientation, targetHeading) => {
+    const m = mat4.identity(mat4.create());
+    mat4.rotateZ(m, m, -targetHeading);
+    mat4.multiply(m, m, mat4.fromQuat(TEMP_MAT, orientation));
+    return m;
+  }
+);
+
 export default {
   orientation: orientationSelector,
   position: positionSelector,
   targetHeading: targetHeadingSelector,
   view: viewSelector,
+  billboardRotation,
 };
diff --git a/packages/regl-worldview/src/commands/GLText.js b/packages/regl-worldview/src/commands/GLText.js
new file mode 100644
index 000000000..027573f63
--- /dev/null
+++ b/packages/regl-worldview/src/commands/GLText.js
@@ -0,0 +1,397 @@
+// @flow
+
+import TinySDF from "@mapbox/tiny-sdf";
+import memoizeOne from "memoize-one";
+import React, { useState } from "react";
+
+import { defaultBlend, defaultDepth } from "../utils/commandUtils";
+import Command, { type CommonCommandProps } from "./Command";
+import { isColorDark, type TextMarker } from "./Text";
+
+// The GLText command renders text from a Signed Distance Field texture.
+// There are many external resources about SDFs and text rendering in WebGL, including:
+// https://steamcdn-a.akamaihd.net/apps/valve/2007/SIGGRAPH2007_AlphaTestedMagnification.pdf
+// https://blog.mapbox.com/drawing-text-with-signed-distance-fields-in-mapbox-gl-b0933af6f817
+// http://hack.chrons.me/opengl-text-rendering/
+// https://stackoverflow.com/questions/25956272/better-quality-text-in-webgl
+//
+// Approach
+// ========
+// Characters from the font are measured using a <canvas> and the SDFs are drawn into a texture up front
+// (and whenever new characters are being rendered). Then one instanced draw call is made with an instance
+// per character which reads from the corresponding place in the texture atlas.
+//
+// Possible future improvements
+// ============================
+// - Add hitmap support.
+// - Allow customization of font style, maybe highlight ranges.
+// - Add a scaleInvariant option.
+// - Consider a solid rectangular background instead of an outline. This is challenging because the
+//   instances currently overlap, so there will be z-fighting, but might be possible using the stencil buffer and multiple draw calls.
+// - Somehow support kerning and more advanced font metrics. However, the web font APIs may not
+//   provide support for this. Some font info could be generated/stored offline, possibly including the atlas.
+// - Explore multi-channel SDFs.
+
+type Props = {
+  ...CommonCommandProps,
+  children: $ReadOnlyArray<TextMarker & { billboard?: boolean }>,
+  autoBackgroundColor?: boolean,
+};
+
+type FontAtlas = {|
+  textureData: Uint8Array,
+  textureWidth: number,
+  textureHeight: number,
+  charInfo: {
+    [char: string]: {|
+      x: number,
+      y: number,
+      width: number,
+    |},
+  },
+|};
+
+// Font size used in rendering the atlas. This is independent of the `scale` of the rendered text.
+const FONT_SIZE = 40;
+const BUFFER = 10;
+const MAX_ATLAS_WIDTH = 512;
+const SDF_RADIUS = 8;
+const CUTOFF = 0.25;
+const OUTLINE_CUTOFF = 0.6;
+
+const BG_COLOR_LIGHT = Object.freeze({ r: 1, g: 1, b: 1, a: 1 });
+const BG_COLOR_DARK = Object.freeze({ r: 0, g: 0, b: 0, a: 1 });
+
+const memoizedCreateCanvas = memoizeOne((font) => {
+  const canvas = document.createElement("canvas");
+  const ctx = canvas.getContext("2d");
+  ctx.font = font;
+  return ctx;
+});
+
+// Build a single font atlas: a texture containing all characters and position/size data for each character.
+const createMemoizedBuildAtlas = () =>
+  memoizeOne(
+    (charSet: Set<string>): FontAtlas => {
+      const tinySDF = new TinySDF(FONT_SIZE, BUFFER, SDF_RADIUS, CUTOFF, "sans-serif", "normal");
+      const ctx = memoizedCreateCanvas(`${FONT_SIZE}px sans-serif`);
+
+      let textureWidth = 0;
+      const rowHeight = FONT_SIZE + 2 * BUFFER;
+      const charInfo = {};
+
+      // Measure and assign positions to all characters
+      let x = 0;
+      let y = 0;
+      for (const char of charSet) {
+        const width = ctx.measureText(char).width;
+        const dx = Math.ceil(width) + 2 * BUFFER;
+        if (x + dx > MAX_ATLAS_WIDTH) {
+          x = 0;
+          y += rowHeight;
+        }
+        charInfo[char] = { x, y, width };
+        x += dx;
+        textureWidth = Math.max(textureWidth, x);
+      }
+
+      const textureHeight = y + rowHeight;
+      const textureData = new Uint8Array(textureWidth * textureHeight);
+
+      // Use tiny-sdf to create SDF images for each character and copy them into a single texture
+      for (const char of charSet) {
+        const { x, y } = charInfo[char];
+        const data = tinySDF.draw(char);
+        for (let i = 0; i < tinySDF.size; i++) {
+          for (let j = 0; j < tinySDF.size; j++) {
+            // if this character is near the right edge, we don't actually copy the whole square of data
+            if (x + j < textureWidth) {
+              textureData[textureWidth * (y + i) + x + j] = data[i * tinySDF.size + j];
+            }
+          }
+        }
+      }
+
+      return { textureData, textureWidth, textureHeight, charInfo };
+    }
+  );
+
+const vert = `
+  precision mediump float;
+
+  uniform mat4 projection, view, billboardRotation;
+  uniform float fontSize;
+  uniform float srcHeight;
+  uniform vec2 atlasSize;
+
+  // per-vertex attributes
+  attribute vec2 texCoord;
+  attribute vec2 position;
+
+  // per-instance (character) attributes
+  attribute vec2 srcOffset;
+  attribute float srcWidth;
+  attribute vec2 destOffset;
+
+  // per-marker attributes
+  attribute vec3 scale;
+  attribute float billboard;
+  attribute vec2 alignmentOffset;
+  attribute float enableOutline;
+  attribute vec4 foregroundColor;
+  attribute vec4 outlineColor;
+  attribute vec3 posePosition;
+  attribute vec4 poseOrientation;
+
+  varying vec2 vTexCoord;
+  varying float vEnableOutline;
+  varying vec4 vForegroundColor;
+  varying vec4 vOutlineColor;
+
+  // rotate a 3d point v by a rotation quaternion q
+  // like applyPose(), but we need to use a custom per-instance pose
+  vec3 rotate(vec3 v, vec4 q) {
+    vec3 temp = cross(q.xyz, v) + q.w * v;
+    return v + (2.0 * cross(q.xyz, temp));
+  }
+
+  void main () {
+    vec2 srcSize = vec2(srcWidth, srcHeight);
+    vec3 markerSpacePos = scale * vec3((destOffset + position * srcSize + alignmentOffset) / fontSize, 0);
+    vec3 pos;
+    if (billboard == 1.0) {
+      pos = (billboardRotation * vec4(markerSpacePos, 1)).xyz + posePosition;
+    } else {
+      pos = rotate(markerSpacePos, poseOrientation) + posePosition;
+    }
+    gl_Position = projection * view * vec4(pos, 1);
+    vTexCoord = (srcOffset + texCoord * srcSize) / atlasSize;
+    vEnableOutline = enableOutline;
+    vForegroundColor = foregroundColor;
+    vOutlineColor = outlineColor;
+  }
+`;
+
+const frag = `
+  #extension GL_OES_standard_derivatives : enable
+  precision mediump float;
+  uniform mat4 projection;
+  uniform sampler2D atlas;
+  uniform float outlineCutoff;
+  uniform float cutoff;
+  varying vec2 vTexCoord;
+  varying float vEnableOutline;
+  varying vec4 vForegroundColor;
+  varying vec4 vOutlineColor;
+  void main() {
+    float dist = texture2D(atlas, vTexCoord).a;
+
+    // fwidth(dist) is used to provide some anti-aliasing. However it's currently only used
+    // between outline and text, not on the outer border, because the alpha blending and
+    // depth test don't work together nicely for partially-transparent pixels.
+    if (vEnableOutline > 0.5) {
+      float screenSize = fwidth(vTexCoord.x);
+      float edgeStep = smoothstep(1.0 - cutoff - fwidth(dist), 1.0 - cutoff, dist);
+      gl_FragColor = mix(vOutlineColor, vForegroundColor, edgeStep);
+      gl_FragColor.a *= step(1.0 - outlineCutoff, dist);
+    } else {
+      gl_FragColor = vForegroundColor;
+      gl_FragColor.a *= step(1.0 - cutoff, dist);
+    }
+
+    if (gl_FragColor.a == 0.) {
+      discard;
+    }
+  }
+`;
+
+function makeTextCommand() {
+  // Keep the set of rendered characters around so we don't have to rebuild the font atlas too often.
+  const charSet = new Set();
+  const memoizedBuildAtlas = createMemoizedBuildAtlas();
+
+  const command = (regl: any) => {
+    const atlasTexture = regl.texture();
+    const drawText = regl({
+      depth: defaultDepth,
+      blend: defaultBlend,
+      primitive: "triangle strip",
+      vert,
+      frag,
+      uniforms: {
+        atlas: atlasTexture,
+        atlasSize: () => [atlasTexture.width, atlasTexture.height],
+        fontSize: FONT_SIZE,
+        cutoff: CUTOFF,
+        outlineCutoff: OUTLINE_CUTOFF,
+        srcHeight: FONT_SIZE + 2 * BUFFER,
+      },
+      instances: regl.prop("instances"),
+      count: 4,
+      attributes: {
+        position: [[0, 0], [0, -1], [1, 0], [1, -1]],
+        texCoord: [[0, 0], [0, 1], [1, 0], [1, 1]], // flipped
+        srcOffset: (ctx, props) => ({ buffer: props.srcOffsets, divisor: 1 }),
+        destOffset: (ctx, props) => ({ buffer: props.destOffsets, divisor: 1 }),
+        srcWidth: (ctx, props) => ({ buffer: props.srcWidths, divisor: 1 }),
+        scale: (ctx, props) => ({ buffer: props.scale, divisor: 1 }),
+
+        alignmentOffset: (ctx, props) => ({ buffer: props.alignmentOffset, divisor: 1 }),
+        billboard: (ctx, props) => ({ buffer: props.billboard, divisor: 1 }),
+
+        foregroundColor: (ctx, props) => ({ buffer: props.foregroundColor, divisor: 1 }),
+        outlineColor: (ctx, props) => ({ buffer: props.outlineColor, divisor: 1 }),
+        enableOutline: (ctx, props) => ({ buffer: props.enableOutline, divisor: 1 }),
+
+        posePosition: (ctx, props) => ({ buffer: props.posePosition, divisor: 1 }),
+        poseOrientation: (ctx, props) => ({ buffer: props.poseOrientation, divisor: 1 }),
+      },
+    });
+
+    return (props: $ReadOnlyArray<TextMarker & { billboard?: boolean }>) => {
+      let estimatedInstances = 0;
+      const prevNumChars = charSet.size;
+      for (const { text } of props) {
+        for (const char of text) {
+          ++estimatedInstances;
+          charSet.add(char);
+        }
+      }
+      const charsChanged = charSet.size !== prevNumChars;
+
+      const { textureData, textureWidth, textureHeight, charInfo } = memoizedBuildAtlas(
+        // only use a new set if the characters changed, since memoizeOne uses shallow equality
+        charsChanged ? new Set(charSet) : charSet
+      );
+
+      // re-upload texture only if characters were added
+      if (charsChanged) {
+        atlasTexture({
+          data: textureData,
+          width: textureWidth,
+          height: textureHeight,
+          format: "alpha",
+          wrap: "clamp",
+          mag: "linear",
+          min: "linear",
+        });
+      }
+
+      const destOffsets = new Float32Array(estimatedInstances * 2);
+      const srcWidths = new Float32Array(estimatedInstances);
+      const srcOffsets = new Float32Array(estimatedInstances * 2);
+
+      // These don't vary across characters within a marker, but the divisor can't be dynamic so we have to duplicate the data for each character.
+      const alignmentOffset = new Float32Array(estimatedInstances * 2);
+      const scale = new Float32Array(estimatedInstances * 3);
+      const foregroundColor = new Float32Array(estimatedInstances * 4);
+      const outlineColor = new Float32Array(estimatedInstances * 4);
+      const enableOutline = new Float32Array(estimatedInstances);
+      const billboard = new Float32Array(estimatedInstances);
+      const posePosition = new Float32Array(estimatedInstances * 3);
+      const poseOrientation = new Float32Array(estimatedInstances * 4);
+
+      let totalInstances = 0;
+      for (const marker of props) {
+        let totalWidth = 0;
+        let x = 0;
+        let y = 0;
+        let markerInstances = 0;
+
+        const fgColor = marker.colors?.[0] || marker.color || BG_COLOR_LIGHT;
+        const outline = marker.colors?.[1] != null || command.autoBackgroundColor;
+        const bgColor =
+          marker.colors?.[1] || (command.autoBackgroundColor && isColorDark(fgColor) ? BG_COLOR_LIGHT : BG_COLOR_DARK);
+
+        for (const char of marker.text) {
+          if (char === "\n") {
+            x = 0;
+            y = FONT_SIZE;
+            continue;
+          }
+          const info = charInfo[char];
+          const index = totalInstances + markerInstances;
+
+          // Calculate per-character attributes
+          destOffsets[2 * index + 0] = x - BUFFER;
+          destOffsets[2 * index + 1] = -(y - BUFFER);
+          srcOffsets[2 * index + 0] = info.x;
+          srcOffsets[2 * index + 1] = info.y;
+          srcWidths[index] = info.width + 2 * BUFFER;
+
+          x += info.width;
+          totalWidth = Math.max(totalWidth, x);
+
+          // Copy per-marker attributes. These are duplicated per character so that we can draw
+          // all characters from all markers in a single draw call.
+
+          billboard[index] = marker.billboard ?? true ? 1 : 0;
+
+          scale[3 * index + 0] = marker.scale.x;
+          scale[3 * index + 1] = marker.scale.y;
+          scale[3 * index + 2] = marker.scale.z;
+
+          posePosition[3 * index + 0] = marker.pose.position.x;
+          posePosition[3 * index + 1] = marker.pose.position.y;
+          posePosition[3 * index + 2] = marker.pose.position.z;
+
+          poseOrientation[4 * index + 0] = marker.pose.orientation.x;
+          poseOrientation[4 * index + 1] = marker.pose.orientation.y;
+          poseOrientation[4 * index + 2] = marker.pose.orientation.z;
+          poseOrientation[4 * index + 3] = marker.pose.orientation.w;
+
+          foregroundColor[4 * index + 0] = fgColor.r;
+          foregroundColor[4 * index + 1] = fgColor.g;
+          foregroundColor[4 * index + 2] = fgColor.b;
+          foregroundColor[4 * index + 3] = fgColor.a;
+
+          outlineColor[4 * index + 0] = bgColor.r;
+          outlineColor[4 * index + 1] = bgColor.g;
+          outlineColor[4 * index + 2] = bgColor.b;
+          outlineColor[4 * index + 3] = bgColor.a;
+
+          enableOutline[index] = outline ? 1 : 0;
+
+          ++markerInstances;
+        }
+
+        const totalHeight = y + FONT_SIZE;
+        for (let i = 0; i < markerInstances; i++) {
+          alignmentOffset[2 * (totalInstances + i) + 0] = -totalWidth / 2;
+          alignmentOffset[2 * (totalInstances + i) + 1] = totalHeight / 2;
+        }
+
+        totalInstances += markerInstances;
+      }
+
+      drawText({
+        instances: totalInstances,
+
+        // per-character
+        srcOffsets,
+        destOffsets,
+        srcWidths,
+
+        // per-marker
+        alignmentOffset,
+        billboard,
+        enableOutline,
+        foregroundColor,
+        outlineColor,
+        poseOrientation,
+        posePosition,
+        scale,
+      });
+    };
+  };
+  command.autoBackgroundColor = false;
+  return command;
+}
+
+export default function GLText(props: Props) {
+  const [command] = useState(() => makeTextCommand());
+  // HACK: Worldview doesn't provide an easy way to pass a command-level prop into the regl commands,
+  // so just attach it to the command object for now.
+  command.autoBackgroundColor = props.autoBackgroundColor;
+  return <Command reglCommand={command} {...props} />;
+}
diff --git a/packages/regl-worldview/src/commands/Text.js b/packages/regl-worldview/src/commands/Text.js
index 079d0f0c7..3ed261c7f 100755
--- a/packages/regl-worldview/src/commands/Text.js
+++ b/packages/regl-worldview/src/commands/Text.js
@@ -19,7 +19,7 @@ const BRIGHTNESS_THRESHOLD = 128;
 const DEFAULT_TEXT_COLOR = { r: 1, g: 1, b: 1, a: 1 };
 const DEFAULT_BG_COLOR = { r: 0, g: 0, b: 0, a: 0.8 };
 
-type TextMarker = {
+export type TextMarker = {
   name?: string,
   pose: Pose,
   scale: Scale,
@@ -57,7 +57,7 @@ function insertGlobalCss() {
   cssHasBeenInserted = true;
 }
 
-function isColorDark({ r, g, b }: Color): boolean {
+export function isColorDark({ r, g, b }: Color): boolean {
   // ITU-R BT.709 https://en.wikipedia.org/wiki/Rec._709
   // 0.2126 * 255 * r + 0.7152 * 255 * g + 0.0722 * 255 * b
   const luma = 54.213 * r + 182.376 * g + 18.411 * b;
diff --git a/packages/regl-worldview/src/commands/index.js b/packages/regl-worldview/src/commands/index.js
index bbe57afd1..611763207 100755
--- a/packages/regl-worldview/src/commands/index.js
+++ b/packages/regl-worldview/src/commands/index.js
@@ -15,6 +15,7 @@ export { default as Cylinders } from "./Cylinders";
 export { default as DrawPolygons, Polygon, PolygonPoint } from "./DrawPolygon/index";
 export { default as PolygonBuilder } from "./DrawPolygon/PolygonBuilder";
 export { default as FilledPolygons } from "./FilledPolygons";
+export { default as GLText } from "./GLText";
 export { default as GLTFScene } from "./GLTFScene";
 export { default as Grid } from "./Grid";
 export { default as Lines } from "./Lines";
diff --git a/packages/regl-worldview/src/stories/GLText.stories.js b/packages/regl-worldview/src/stories/GLText.stories.js
new file mode 100644
index 000000000..b67eb214f
--- /dev/null
+++ b/packages/regl-worldview/src/stories/GLText.stories.js
@@ -0,0 +1,90 @@
+// @flow
+
+import { storiesOf } from "@storybook/react";
+import { quat } from "gl-matrix";
+import React, { useState, useLayoutEffect } from "react";
+import { withScreenshot } from "storybook-chrome-screenshot";
+
+import { Axes } from "../commands";
+import { vec4ToOrientation } from "../utils/commandUtils";
+import Container from "./Container";
+import inScreenshotTests from "stories/inScreenshotTests";
+
+import { GLText } from "..";
+
+function textMarkers({
+  text,
+  billboard,
+  background = true,
+}: {
+  text: string,
+  billboard?: ?boolean,
+  background?: ?boolean,
+}) {
+  const radius = 10;
+  const count = 10;
+  return new Array(count).fill().map((_, i) => {
+    const angle = (2 * Math.PI * i) / count;
+    const color = { r: 0, g: i / count, b: i / count, a: 1 };
+    return {
+      text: `${text} ${i}`,
+      pose: {
+        position: { x: radius * Math.cos(angle), y: radius * Math.sin(angle), z: 0 },
+        orientation: vec4ToOrientation(quat.rotateZ(quat.create(), quat.create(), Math.PI / 2 + angle)),
+      },
+      scale: { x: 1, y: 1, z: 1 },
+      color,
+      colors: background && i % 4 === 0 ? [color, { r: 1, g: 1, b: 0, a: 1 }] : undefined,
+      billboard,
+    };
+  });
+}
+
+storiesOf("Worldview/GLText", module)
+  .addDecorator(withScreenshot({ delay: 200 }))
+  .add("billboard", () => (
+    <Container cameraState={{ perspective: true, distance: 40 }}>
+      <GLText>{textMarkers({ text: "Hello\nWorldview", billboard: true })}</GLText>
+      <Axes />
+    </Container>
+  ))
+  .add("non-billboard", () => (
+    <Container cameraState={{ perspective: true, distance: 40 }}>
+      <GLText>{textMarkers({ text: "Hello\nWorldview", billboard: false })}</GLText>
+      <Axes />
+    </Container>
+  ))
+  .add("no background", () => (
+    <Container cameraState={{ perspective: true, distance: 40 }}>
+      <GLText>{textMarkers({ text: "Hello\nWorldview", billboard: false, background: false })}</GLText>
+      <Axes />
+    </Container>
+  ))
+  .add("autoBackgroundColor", () => (
+    <Container cameraState={{ perspective: true, distance: 40 }} backgroundColor={[0.2, 0.2, 0.4, 1]}>
+      <GLText autoBackgroundColor>{textMarkers({ text: "Hello\nWorldview" })}</GLText>
+      <Axes />
+    </Container>
+  ))
+  .add("changing text", () => {
+    function Example() {
+      const [text, setText] = useState("Hello\nWorldview");
+      useLayoutEffect(() => {
+        let i = 0;
+        const id = setInterval(() => {
+          setText(`New text! ${++i}`);
+          if (inScreenshotTests()) {
+            clearInterval(id);
+          }
+        }, 100);
+        return () => clearInterval(id);
+      }, []);
+      return (
+        <Container cameraState={{ perspective: true, distance: 40 }} backgroundColor={[0.2, 0.2, 0.4, 1]}>
+          <GLText autoBackgroundColor>{textMarkers({ text })}</GLText>
+          <Axes />
+        </Container>
+      );
+    }
+    return <Example />;
+  });
diff --git a/packages/regl-worldview/src/stories/cameraState.stories.js b/packages/regl-worldview/src/stories/cameraState.stories.js
index 24de28cca..343b04baf 100755
--- a/packages/regl-worldview/src/stories/cameraState.stories.js
+++ b/packages/regl-worldview/src/stories/cameraState.stories.js
@@ -12,17 +12,11 @@ import { quat, vec3 } from "gl-matrix";
 import * as React from "react";
 import { withScreenshot } from "storybook-chrome-screenshot";
 
+import { vec4ToOrientation, vec3ToPoint } from "../utils/commandUtils";
 import Container from "./Container";
 
 import { Arrows, Spheres, Axes, Grid, cameraStateSelectors, type CameraState } from "..";
 
-function vec3ToObject([x, y, z]) {
-  return { x, y, z };
-}
-function quatToObject([x, y, z, w]) {
-  return { x, y, z, w };
-}
-
 type Props = {|
   cameraStateFromKnobs: CameraState,
   controlled: boolean, // eslint-disable-line react/no-unused-prop-types
@@ -58,8 +52,8 @@ class CameraStateStory extends React.Component<Props, State> {
 
     const poseArrowMarker = {
       pose: {
-        orientation: quatToObject(cameraState.targetOrientation),
-        position: vec3ToObject(cameraState.target),
+        orientation: vec4ToOrientation(cameraState.targetOrientation),
+        position: vec3ToPoint(cameraState.target),
       },
       scale: { x: 20, y: 3, z: 3 },
       color: { r: 1, g: 0, b: 1, a: 1 },
@@ -86,8 +80,8 @@ class CameraStateStory extends React.Component<Props, State> {
 
     const cameraArrowMarker = {
       pose: {
-        position: vec3ToObject(cameraPosition),
-        orientation: quatToObject(cameraOrientation),
+        position: vec3ToPoint(cameraPosition),
+        orientation: vec4ToOrientation(cameraOrientation),
       },
       scale: { x: arrowLength, y: 2, z: 2 },
       color: { r: 0, g: 1, b: 1, a: 0.5 },
diff --git a/packages/webviz-core/package-lock.json b/packages/webviz-core/package-lock.json
index e649a60e0..bca8cba6d 100644
--- a/packages/webviz-core/package-lock.json
+++ b/packages/webviz-core/package-lock.json
@@ -489,7 +489,7 @@
     },
     "color-convert": {
       "version": "0.5.3",
-      "resolved": "http://registry.npmjs.org/color-convert/-/color-convert-0.5.3.tgz",
+      "resolved": "https://registry.npmjs.org/color-convert/-/color-convert-0.5.3.tgz",
       "integrity": "sha1-vbbGnOZg+t/+CwAHzER+G59ygr0="
     },
     "color-name": {
@@ -499,7 +499,7 @@
     },
     "colors": {
       "version": "0.5.1",
-      "resolved": "http://registry.npmjs.org/colors/-/colors-0.5.1.tgz",
+      "resolved": "https://registry.npmjs.org/colors/-/colors-0.5.1.tgz",
       "integrity": "sha1-fQAj6usVTo7p/Oddy5I9DtFmd3Q="
     },
     "connected-react-router": {
@@ -564,7 +564,7 @@
     },
     "dnd-core": {
       "version": "2.6.0",
-      "resolved": "http://registry.npmjs.org/dnd-core/-/dnd-core-2.6.0.tgz",
+      "resolved": "https://registry.npmjs.org/dnd-core/-/dnd-core-2.6.0.tgz",
       "integrity": "sha1-ErrWbVh0LG5ffPKUP7aFlED4CcQ=",
       "requires": {
         "asap": "^2.0.6",
@@ -1567,7 +1567,7 @@
     },
     "react-dnd-html5-backend": {
       "version": "2.6.0",
-      "resolved": "http://registry.npmjs.org/react-dnd-html5-backend/-/react-dnd-html5-backend-2.6.0.tgz",
+      "resolved": "https://registry.npmjs.org/react-dnd-html5-backend/-/react-dnd-html5-backend-2.6.0.tgz",
       "integrity": "sha1-WQzRzKeEQbsnTt1XH+9MCxbdz44=",
       "requires": {
         "lodash": "^4.2.0"
@@ -2235,7 +2235,7 @@
     },
     "underscore": {
       "version": "1.4.4",
-      "resolved": "http://registry.npmjs.org/underscore/-/underscore-1.4.4.tgz",
+      "resolved": "https://registry.npmjs.org/underscore/-/underscore-1.4.4.tgz",
       "integrity": "sha1-YaajIBBiKvoHljvzJSA88SI51gQ="
     },
     "unherit": {

From e9835e581cd5e82c5d555d7409bbe79702e7d1a8 Mon Sep 17 00:00:00 2001
From: Jacob Bandes-Storch <jacob@getcruise.com>
Date: Thu, 19 Dec 2019 14:05:07 -0800
Subject: [PATCH 22/50] GLText cleanup & review feedback (#295)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Minor cleanup — following up on @vidaaudrey's feedback from #291
---
 docs/src/jsx/allLiveEditors.js       |  6 +++-
 docs/src/jsx/commands/GLText.js      | 45 +++++++++++++++++-----------
 package-lock.json                    | 41 +++++++------------------
 packages/regl-worldview/package.json |  2 +-
 4 files changed, 44 insertions(+), 50 deletions(-)

diff --git a/docs/src/jsx/allLiveEditors.js b/docs/src/jsx/allLiveEditors.js
index a9eef1378..2a18365b9 100755
--- a/docs/src/jsx/allLiveEditors.js
+++ b/docs/src/jsx/allLiveEditors.js
@@ -23,7 +23,11 @@ function makeCodeComponent(raw, componentName, { isRowView, insertCodeSandboxSty
   // eslint-disable-next-line react/display-name
   return () => (
     <WorldviewCodeEditor
-      code={code[1].trim().replace(/\/\/ #DOCS ONLY: /g, "")}
+      code={
+        // For editors with noInline=true, the render() call will only work in the live editor,
+        // not in the storybook
+        code[1].trim().replace(/\/\/ #DOCS ONLY: /g, "")
+      }
       nonEditableCode={code[0].trim()}
       componentName={componentName}
       isRowView={isRowView}
diff --git a/docs/src/jsx/commands/GLText.js b/docs/src/jsx/commands/GLText.js
index d0695db40..f93b7b3e0 100644
--- a/docs/src/jsx/commands/GLText.js
+++ b/docs/src/jsx/commands/GLText.js
@@ -14,18 +14,19 @@ import seedrandom from "seedrandom";
 import { inScreenshotTests } from "../utils/codeSandboxUtils";
 
 // #BEGIN EDITABLE
-const rng = seedrandom(1999);
-const NUM_COLS = 200;
-const RADIUS = 30;
+const rng = seedrandom(1999); // pseudo-random generator for deterministic testing!
+const NUM_COLS = 200; // number of text columns to draw - try bumping this up!
+const RADIUS = 30; // distance from the origin for placing columns
+const GLITCH_PROBABILITY = 0.3; // how likely a character is to change to something else
+const FADE = 3; // how quickly each character fades out
+const CHAR_HEIGHT = 1.1; // vertical space between characters
+const STEP_INTERVAL = 100; // how often the code rain "falls"
 const ALPHABET = [].concat(
+  // all characters to pick from
   ...[[0x30, 0x39], [0x41, 0x5a], [0x410, 0x42f], [0x3041, 0x3096]].map(([start, end]) =>
     new Array(end - start + 1).fill().map((_, i) => String.fromCodePoint(start + i))
   )
 );
-const GLITCH_PROBABILITY = 0.3;
-const FADE = 3;
-const CHAR_HEIGHT = 1.1;
-const STEP_INTERVAL = 100;
 
 function randomChar() {
   return ALPHABET[Math.floor(rng() * ALPHABET.length)];
@@ -34,12 +35,6 @@ function randomChar() {
 class MatrixText {
   constructor() {
     this._cols = new Array(NUM_COLS).fill().map(() => this.newColumn());
-    if (inScreenshotTests()) {
-      for (let i = 0; i < 10; i++) {
-        this.frame(STEP_INTERVAL / 1000);
-        this.step();
-      }
-    }
   }
 
   newChar() {
@@ -64,6 +59,7 @@ class MatrixText {
     };
   }
 
+  // Fade out the characters a little bit on each animation frame.
   frame(dt) {
     for (const { chars } of this._cols) {
       for (const char of chars) {
@@ -75,6 +71,8 @@ class MatrixText {
     }
   }
 
+  // Drop a new character at the bottom of each column.
+  // If the column is old, replace it with a new one.
   step() {
     this._cols = this._cols.map((col) => {
       if (rng() > GLITCH_PROBABILITY && col.z - col.chars.length * CHAR_HEIGHT > col.minZ) {
@@ -90,21 +88,22 @@ class MatrixText {
     });
   }
 
+  // Convert to markers that we can pass in to <GLText />.
   toMarkers() {
     const markers = [];
     for (const { x, y, z, chars } of this._cols) {
       chars.forEach(({ age, char, spinOffset, spinSpeed }, i) => {
         const newness = 1 / (1 + Math.exp(((age - 0.5) / FADE) * 20));
         const oldness = 1 / (1 + Math.exp(((age - 1.5) / FADE) * 20));
-        const q = quat.create();
-        quat.rotateZ(q, q, spinOffset + age * spinSpeed * 2 * Math.PI);
-        quat.rotateX(q, q, Math.PI / 2);
+        const spin = quat.create();
+        quat.rotateZ(spin, spin, spinOffset + age * spinSpeed * 2 * Math.PI);
+        quat.rotateX(spin, spin, Math.PI / 2);
         markers.push({
           text: char,
           colors: [{ r: newness, g: oldness, b: newness, a: oldness }, { r: 0, g: 0, b: 0, a: oldness }],
           pose: {
             position: { x, y, z: z - i * CHAR_HEIGHT },
-            orientation: { x: q[0], y: q[1], z: q[2], w: q[3] },
+            orientation: { x: spin[0], y: spin[1], z: spin[2], w: spin[3] },
           },
           scale: { x: 1, y: 1, z: 1 },
           billboard: false,
@@ -116,7 +115,17 @@ class MatrixText {
 }
 
 function Example() {
-  const [matrix] = useState(() => new MatrixText());
+  const [matrix] = useState(() => {
+    const matrix = new MatrixText();
+    // For screenshot tests we don't start the timer, so just run a few steps explicitly.
+    if (inScreenshotTests()) {
+      for (let i = 0; i < 10; i++) {
+        matrix.frame(STEP_INTERVAL / 1000);
+        matrix.step();
+      }
+    }
+    return matrix;
+  });
   const [cameraState, setCameraState] = useState({
     ...DEFAULT_CAMERA_STATE,
     distance: RADIUS * 2,
diff --git a/package-lock.json b/package-lock.json
index c0147ebcc..66ed99f6c 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -9455,8 +9455,7 @@
           "version": "2.1.1",
           "resolved": "https://registry.npmjs.org/ansi-regex/-/ansi-regex-2.1.1.tgz",
           "integrity": "sha1-w7M6te42DYbg5ijwRorn7yfWVN8=",
-          "dev": true,
-          "optional": true
+          "dev": true
         },
         "aproba": {
           "version": "1.2.0",
@@ -9480,15 +9479,13 @@
           "version": "1.0.0",
           "resolved": "https://registry.npmjs.org/balanced-match/-/balanced-match-1.0.0.tgz",
           "integrity": "sha1-ibTRmasr7kneFk6gK4nORi1xt2c=",
-          "dev": true,
-          "optional": true
+          "dev": true
         },
         "brace-expansion": {
           "version": "1.1.11",
           "resolved": "https://registry.npmjs.org/brace-expansion/-/brace-expansion-1.1.11.tgz",
           "integrity": "sha512-iCuPHDFgrHX7H2vEI/5xpz07zSHB00TpugqhmYtVmMO6518mCuRMoOYFldEBl0g187ufozdaHgWKcYFb61qGiA==",
           "dev": true,
-          "optional": true,
           "requires": {
             "balanced-match": "^1.0.0",
             "concat-map": "0.0.1"
@@ -9505,22 +9502,19 @@
           "version": "1.1.0",
           "resolved": "https://registry.npmjs.org/code-point-at/-/code-point-at-1.1.0.tgz",
           "integrity": "sha1-DQcLTQQ6W+ozovGkDi7bPZpMz3c=",
-          "dev": true,
-          "optional": true
+          "dev": true
         },
         "concat-map": {
           "version": "0.0.1",
           "resolved": "https://registry.npmjs.org/concat-map/-/concat-map-0.0.1.tgz",
           "integrity": "sha1-2Klr13/Wjfd5OnMDajug1UBdR3s=",
-          "dev": true,
-          "optional": true
+          "dev": true
         },
         "console-control-strings": {
           "version": "1.1.0",
           "resolved": "https://registry.npmjs.org/console-control-strings/-/console-control-strings-1.1.0.tgz",
           "integrity": "sha1-PXz0Rk22RG6mRL9LOVB/mFEAjo4=",
-          "dev": true,
-          "optional": true
+          "dev": true
         },
         "core-util-is": {
           "version": "1.0.2",
@@ -9651,8 +9645,7 @@
           "version": "2.0.3",
           "resolved": "https://registry.npmjs.org/inherits/-/inherits-2.0.3.tgz",
           "integrity": "sha1-Yzwsg+PaQqUC9SRmAiSA9CCCYd4=",
-          "dev": true,
-          "optional": true
+          "dev": true
         },
         "ini": {
           "version": "1.3.5",
@@ -9666,7 +9659,6 @@
           "resolved": "https://registry.npmjs.org/is-fullwidth-code-point/-/is-fullwidth-code-point-1.0.0.tgz",
           "integrity": "sha1-754xOG8DGn8NZDr4L95QxFfvAMs=",
           "dev": true,
-          "optional": true,
           "requires": {
             "number-is-nan": "^1.0.0"
           }
@@ -9683,7 +9675,6 @@
           "resolved": "https://registry.npmjs.org/minimatch/-/minimatch-3.0.4.tgz",
           "integrity": "sha512-yJHVQEhyqPLUTgt9B83PXu6W3rx4MvvHvSUvToogpwoGDOUQ+yDrR0HRot+yOCdCO7u4hX3pWft6kWBBcqh0UA==",
           "dev": true,
-          "optional": true,
           "requires": {
             "brace-expansion": "^1.1.7"
           }
@@ -9692,15 +9683,13 @@
           "version": "0.0.8",
           "resolved": "https://registry.npmjs.org/minimist/-/minimist-0.0.8.tgz",
           "integrity": "sha1-hX/Kv8M5fSYluCKCYuhqp6ARsF0=",
-          "dev": true,
-          "optional": true
+          "dev": true
         },
         "minipass": {
           "version": "2.2.4",
           "resolved": false,
           "integrity": "sha512-hzXIWWet/BzWhYs2b+u7dRHlruXhwdgvlTMDKC6Cb1U7ps6Ac6yQlR39xsbjWJE377YTCtKwIXIpJ5oP+j5y8g==",
           "dev": true,
-          "optional": true,
           "requires": {
             "safe-buffer": "^5.1.1",
             "yallist": "^3.0.0"
@@ -9721,7 +9710,6 @@
           "resolved": "https://registry.npmjs.org/mkdirp/-/mkdirp-0.5.1.tgz",
           "integrity": "sha1-MAV0OOrGz3+MR2fzhkjWaX11yQM=",
           "dev": true,
-          "optional": true,
           "requires": {
             "minimist": "0.0.8"
           }
@@ -9810,8 +9798,7 @@
           "version": "1.0.1",
           "resolved": "https://registry.npmjs.org/number-is-nan/-/number-is-nan-1.0.1.tgz",
           "integrity": "sha1-CXtgK1NCKlIsGvuHkDGDNpQaAR0=",
-          "dev": true,
-          "optional": true
+          "dev": true
         },
         "object-assign": {
           "version": "4.1.1",
@@ -9825,7 +9812,6 @@
           "resolved": "https://registry.npmjs.org/once/-/once-1.4.0.tgz",
           "integrity": "sha1-WDsap3WWHUsROsF9nFC6753Xa9E=",
           "dev": true,
-          "optional": true,
           "requires": {
             "wrappy": "1"
           }
@@ -9921,8 +9907,7 @@
           "version": "5.1.1",
           "resolved": false,
           "integrity": "sha512-kKvNJn6Mm93gAczWVJg7wH+wGYWNrDHdWvpUmHyEsgCtIwwo3bqPtV4tR5tuPaUhTOo/kvhVwd8XwwOllGYkbg==",
-          "dev": true,
-          "optional": true
+          "dev": true
         },
         "safer-buffer": {
           "version": "2.1.2",
@@ -9964,7 +9949,6 @@
           "resolved": "https://registry.npmjs.org/string-width/-/string-width-1.0.2.tgz",
           "integrity": "sha1-EYvfW4zcUaKn5w0hHgfisLmxB9M=",
           "dev": true,
-          "optional": true,
           "requires": {
             "code-point-at": "^1.0.0",
             "is-fullwidth-code-point": "^1.0.0",
@@ -9986,7 +9970,6 @@
           "resolved": "https://registry.npmjs.org/strip-ansi/-/strip-ansi-3.0.1.tgz",
           "integrity": "sha1-ajhfuIU9lS1f8F0Oiq+UJ43GPc8=",
           "dev": true,
-          "optional": true,
           "requires": {
             "ansi-regex": "^2.0.0"
           }
@@ -10035,15 +10018,13 @@
           "version": "1.0.2",
           "resolved": "https://registry.npmjs.org/wrappy/-/wrappy-1.0.2.tgz",
           "integrity": "sha1-tSQ9jz7BqjXxNkYFvA0QNuMKtp8=",
-          "dev": true,
-          "optional": true
+          "dev": true
         },
         "yallist": {
           "version": "3.0.2",
           "resolved": false,
           "integrity": "sha1-hFK0u36Dx8GI2AQcGoN8dz1ti7k=",
-          "dev": true,
-          "optional": true
+          "dev": true
         }
       }
     },
diff --git a/packages/regl-worldview/package.json b/packages/regl-worldview/package.json
index dae12c95b..4006a6079 100755
--- a/packages/regl-worldview/package.json
+++ b/packages/regl-worldview/package.json
@@ -31,7 +31,7 @@
     "earcut": "^2.1.3",
     "gl-matrix": ">=2.6.1",
     "lodash": "^4.17.11",
-    "memoize-one": "5.1.1",
+    "memoize-one": "^5.1.1",
     "memoize-weak": "^1.0.2",
     "normalize-wheel": "1.0.1",
     "react-container-dimensions": "1.3.3",

From e42aa832ef0f7dfc4db3a7f8be29c7dbeb0b5fc5 Mon Sep 17 00:00:00 2001
From: Jan Paul Posma <janpaul123@users.noreply.github.com>
Date: Thu, 26 Dec 2019 15:38:55 -0800
Subject: [PATCH 23/50] Update packages/webviz-core from internal repo (#299)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

This adds support for connecting to a rosbridge_server over a WebSocket connection. By default it
connects to ws://localhost:9090, but you can change this by using the `?rosbridge-websocket-url=…`
query parameter. In the future we will add better UI and documentation for this.

This fixes #118 #170 #209.

Other fixes:
- Fixed not being able to select stacked objects in the 3D panel.
- Various improvements to the rosout panel.
---
 packages/webviz-core/package-lock.json        | 433 +++++++++++++++++-
 packages/webviz-core/package.json             |   1 +
 .../only-a-cube-no-tf-ros-melodic.bag         | Bin 0 -> 12675 bytes
 .../src/PanelAPI/useDataSourceInfo.js         |   7 +-
 .../src/PanelAPI/useDataSourceInfo.test.js    |   9 +-
 .../src/components/AppMenu/index.js           |   4 +-
 .../src/components/Dropdown/index.module.scss |   5 +
 .../webviz-core/src/components/LargeList.js   | 177 -------
 .../webviz-core/src/components/LogList.js     | 159 +++++++
 ...argeList.stories.js => LogList.stories.js} |  13 +-
 .../MessageHistory/getMessageHistoryItem.js   |   6 +-
 .../src/components/PlaybackSpeedControls.js   |  15 +
 .../src/components/PlayerManager.js           |  36 +-
 .../TimeBasedChart/TimeBasedChartLegend.js    |   2 +-
 .../src/components/TimeBasedChart/index.js    |  19 +-
 packages/webviz-core/src/loadWebviz.js        |   2 +-
 .../webviz-core/src/panels/Plot/PlotChart.js  |  24 +-
 .../webviz-core/src/panels/Plot/PlotLegend.js |   5 +-
 .../webviz-core/src/panels/Plot/PlotMenu.js   |  17 +-
 .../webviz-core/src/panels/Plot/index.help.md |  22 +-
 packages/webviz-core/src/panels/Plot/index.js |  13 +-
 .../src/panels/Plot/index.stories.js          | 331 +++----------
 .../src/panels/Rosout/LogMessage.module.scss  |   1 +
 .../webviz-core/src/panels/Rosout/index.js    |  64 ++-
 .../src/panels/Rosout/index.module.scss       |  16 +-
 .../src/panels/Rosout/index.stories.js        |  16 +
 .../src/panels/ThreeDimensionalViz/Layout.js  |   8 +-
 .../ThreeDimensionalViz/SceneBuilder/index.js |  16 +-
 .../TopicGroups/DataSourceBadge.js            |  61 +++
 .../TopicGroups/ItemMap.js                    |  24 -
 .../TopicGroups/ItemRow.js                    |  50 --
 .../ThreeDimensionalViz/TopicGroups/ItemTf.js |  24 -
 .../TopicGroups/ItemTopic.js                  |  25 -
 .../TopicGroups/LayoutForTopicGroups.js       | 274 +++--------
 .../TopicGroups/Namespaces.js                 |  49 ++
 .../TopicGroups/TopicGroup.js                 |  16 +-
 .../TopicGroups/TopicGroups.js                | 155 ++++++-
 .../TopicGroups/TopicItemRow.js               |  82 ++++
 .../TopicGroups/constants.js                  |   6 -
 .../TopicGroups/topicGroupsMigrations.js      | 136 ++++++
 .../TopicGroups/topicGroupsMigrations.test.js | 167 +++++++
 .../TopicGroups/topicGroupsUtils.js           | 259 +++++++++--
 .../TopicGroups/topicGroupsUtils.test.js      | 194 +++++++-
 .../ThreeDimensionalViz/TopicGroups/types.js  |  91 ++--
 .../src/panels/ThreeDimensionalViz/World.js   |  19 +-
 .../src/panels/ThreeDimensionalViz/index.js   |  20 +-
 .../ThreeDimensionalViz/topicTreeUtils.js     |   7 +-
 .../topicTreeUtils.test.js                    |  11 -
 .../panels/diagnostics/DiagnosticSummary.js   |  81 ++--
 .../src/players/RosbridgePlayer/index.js      | 272 +++++++++++
 .../src/players/RosbridgePlayer/utils.js      | 104 +++++
 .../src/players/RosbridgePlayer/utils.test.js |  99 ++++
 .../webviz-core/src/util/globalConstants.js   |   1 +
 53 files changed, 2562 insertions(+), 1086 deletions(-)
 create mode 100644 packages/webviz-core/public/fixtures/only-a-cube-no-tf-ros-melodic.bag
 delete mode 100644 packages/webviz-core/src/components/LargeList.js
 create mode 100644 packages/webviz-core/src/components/LogList.js
 rename packages/webviz-core/src/components/{LargeList.stories.js => LogList.stories.js} (89%)
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/DataSourceBadge.js
 delete mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/ItemMap.js
 delete mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/ItemRow.js
 delete mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/ItemTf.js
 delete mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/ItemTopic.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/Namespaces.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicItemRow.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsMigrations.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsMigrations.test.js
 create mode 100644 packages/webviz-core/src/players/RosbridgePlayer/index.js
 create mode 100644 packages/webviz-core/src/players/RosbridgePlayer/utils.js
 create mode 100644 packages/webviz-core/src/players/RosbridgePlayer/utils.test.js

diff --git a/packages/webviz-core/package-lock.json b/packages/webviz-core/package-lock.json
index bca8cba6d..e681b8a2e 100644
--- a/packages/webviz-core/package-lock.json
+++ b/packages/webviz-core/package-lock.json
@@ -19,6 +19,11 @@
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@@ -296,6 +315,11 @@
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@@ -316,6 +340,11 @@
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@@ -404,6 +461,16 @@
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@@ -846,6 +1035,26 @@
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diff --git a/packages/webviz-core/package.json b/packages/webviz-core/package.json
index dc2ff66a5..9e1b4dd65 100644
--- a/packages/webviz-core/package.json
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@@ -61,6 +61,7 @@
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zdk={wMZ7JRFIHUc@nx3fRf=_4ru7MI7ITy``4|es{?klfDnN*a2oB&aj1_7{iq$X^
z+1ztM(QWB9p1L^VqLH&GsD&{)RGe2_c~ybkS!1B0SB1vUrX?tDAMuZk1oq1^a8x8K
zD1VfpMs*3h$tdF-7IDbHg{xv+)<(Hm(fZ`M;I)|G{VHb{OI>-nocFo}1TZ0?^BiEo
z3WcP|)>`lnS>PHRXW2`Z;(DW43%j#TFBVtx#T6>yuQ^x*MYLG8&r)@j3=2aQCCE~r
ztIYEq0(Yf%&TGE6;QnTbDtTwGN4B!6xk)g(bQRC4NB|acx(g{TXK+nmIWa9%0y{<u
z#Tr++K1?n%S6v{*TZ%M_He@HPk%$W*TEf4XT1=;iZh~C?=R%Yt4QGGkYk%xFX*Q7v
zo;=IdD9nY6zbd3mjk%7lDu)HJpi;Od+0iEao9jZ(bH!$W9~Q}U;cRO@S1NOz(~Jee
zMOKD=%}Kc8%SAn_b<-6U#S*JvDcla>m)|p?I}|G-`a-L}8W=B<o~s+Vsw}{Vl#wm2
z#*3@r;!1e;@OGU<4@{l}+wJY$@KGc;#m3HPTgYA6ez3LM-hCj4qmALChd;wqPL9E)
z;_6ntbQUPe+2UpS=a}(*o`nz|{Pyn;KRW*FKi|6PMgE(=$1Fbn@Ry%_^sm4D>7DQ4
z`s&-idx$^$eS-h~`1dah+S@+)>2G*WIj@+#`nQE!59jjx4d2BbYE<`Khns|ZgN3Q2
z{|A~8b-$zTchvoky5CXvJL-N1%6Zhjb-$zTcYM`Su<m!%{SNM1)%}j@z57aE<n_E%
zyLUjmT-N=Ly5CXvJF1S>)xO<VO>)=iuO+?zala$_+}^;C@Dv^C%nnxiA^g7(#lK9T
eDH{Bkzbt{{hd5;#txhe!H1QqoIPk&UkpBR+L17&L

literal 0
HcmV?d00001

diff --git a/packages/webviz-core/src/PanelAPI/useDataSourceInfo.js b/packages/webviz-core/src/PanelAPI/useDataSourceInfo.js
index 3e4070c71..60555277e 100644
--- a/packages/webviz-core/src/PanelAPI/useDataSourceInfo.js
+++ b/packages/webviz-core/src/PanelAPI/useDataSourceInfo.js
@@ -19,8 +19,7 @@ export type DataSourceInfo = {|
   topics: $ReadOnlyArray<Topic>,
   datatypes: RosDatatypes,
   capabilities: string[],
-  startTime: ?Time,
-  endTime: ?Time,
+  startTime: ?Time, // Only `startTime`, since `endTime` can change rapidly when connected to a live system.
   playerId: string,
 |};
 
@@ -30,9 +29,6 @@ export default function useDataSourceInfo(): DataSourceInfo {
   const startTime = useMessagePipeline(
     useCallback(({ playerState: { activeData } }) => activeData && activeData.startTime, [])
   );
-  const endTime = useMessagePipeline(
-    useCallback(({ playerState: { activeData } }) => activeData && activeData.endTime, [])
-  );
   const capabilities = useMessagePipeline(
     useCallback(({ playerState: { capabilities: playerStateCapabilities } }) => playerStateCapabilities, [])
   );
@@ -45,7 +41,6 @@ export default function useDataSourceInfo(): DataSourceInfo {
     datatypes,
     capabilities,
     startTime,
-    endTime,
     playerId,
   };
 }
diff --git a/packages/webviz-core/src/PanelAPI/useDataSourceInfo.test.js b/packages/webviz-core/src/PanelAPI/useDataSourceInfo.test.js
index 394df2645..13dc8291f 100644
--- a/packages/webviz-core/src/PanelAPI/useDataSourceInfo.test.js
+++ b/packages/webviz-core/src/PanelAPI/useDataSourceInfo.test.js
@@ -51,8 +51,7 @@ describe("useDataSourceInfo", () => {
         datatypes={datatypes}
         capabilities={["hello"]}
         messages={[messages[0]]}
-        startTime={{ sec: 0, nsec: 1 }}
-        endTime={{ sec: 10, nsec: 0 }}>
+        startTime={{ sec: 0, nsec: 1 }}>
         <Test />
       </MockMessagePipelineProvider>
     );
@@ -63,7 +62,6 @@ describe("useDataSourceInfo", () => {
           datatypes: { Foo: { fields: [] } },
           capabilities: ["hello"],
           startTime: { sec: 0, nsec: 1 },
-          endTime: { sec: 10, nsec: 0 },
           playerId: "1",
         },
       ],
@@ -79,8 +77,7 @@ describe("useDataSourceInfo", () => {
         datatypes={datatypes}
         capabilities={["hello"]}
         messages={[messages[0]]}
-        startTime={{ sec: 0, nsec: 1 }}
-        endTime={{ sec: 10, nsec: 0 }}>
+        startTime={{ sec: 0, nsec: 1 }}>
         <Test />
       </MockMessagePipelineProvider>
     );
@@ -91,7 +88,6 @@ describe("useDataSourceInfo", () => {
           datatypes: { Foo: { fields: [] } },
           capabilities: ["hello"],
           startTime: { sec: 0, nsec: 1 },
-          endTime: { sec: 10, nsec: 0 },
           playerId: "1",
         },
       ],
@@ -109,7 +105,6 @@ describe("useDataSourceInfo", () => {
           datatypes: { Foo: { fields: [] } },
           capabilities: ["hello"],
           startTime: { sec: 0, nsec: 1 },
-          endTime: { sec: 10, nsec: 0 },
           playerId: "1",
         },
       ],
diff --git a/packages/webviz-core/src/components/AppMenu/index.js b/packages/webviz-core/src/components/AppMenu/index.js
index c370a0813..e60a4fc5a 100644
--- a/packages/webviz-core/src/components/AppMenu/index.js
+++ b/packages/webviz-core/src/components/AppMenu/index.js
@@ -63,7 +63,9 @@ class UnconnectedAppMenu extends Component<Props, State> {
       this.props.savePanelConfig({ id, config: panelConfig, defaultConfig: {} });
     }
     this.props.changePanelLayout(newPanels);
-    window.ga("send", "event", "Panel", "Select", panelType);
+    if (window.ga) {
+      window.ga("send", "event", "Panel", "Select", panelType);
+    }
   };
 
   render() {
diff --git a/packages/webviz-core/src/components/Dropdown/index.module.scss b/packages/webviz-core/src/components/Dropdown/index.module.scss
index 37a44cdd8..20c1c9a90 100644
--- a/packages/webviz-core/src/components/Dropdown/index.module.scss
+++ b/packages/webviz-core/src/components/Dropdown/index.module.scss
@@ -16,3 +16,8 @@
     flex-shrink: 1;
   }
 }
+
+option:disabled {
+  color: gray;
+  cursor: not-allowed;
+}
diff --git a/packages/webviz-core/src/components/LargeList.js b/packages/webviz-core/src/components/LargeList.js
deleted file mode 100644
index 04d5d7211..000000000
--- a/packages/webviz-core/src/components/LargeList.js
+++ /dev/null
@@ -1,177 +0,0 @@
-// @flow
-//
-//  Copyright (c) 2018-present, Cruise LLC
-//
-//  This source code is licensed under the Apache License, Version 2.0,
-//  found in the LICENSE file in the root directory of this source tree.
-//  You may not use this file except in compliance with the License.
-
-import ClipboardOutlineIcon from "@mdi/svg/svg/clipboard-outline.svg";
-import _ from "lodash";
-import * as React from "react";
-import { List, AutoSizer, CellMeasurer, CellMeasurerCache } from "react-virtualized";
-import styled from "styled-components";
-
-import Icon from "webviz-core/src/components/Icon";
-import clipboard from "webviz-core/src/util/clipboard";
-import { toolsColorScheme } from "webviz-core/src/util/toolsColorScheme";
-
-const RenderRowContainer = styled.div`
-  display: flex;
-  padding: 4px;
-  z-index: 0;
-`;
-const LargeListContainer = styled.div`
-  flex-grow: 1;
-  position: relative;
-`;
-const LogMsg = styled.div`
-  position: absolute;
-  top: 32px;
-  right: 12px;
-  z-index: 1;
-  display: flex;
-  border-radius: 4px;
-  background: ${toolsColorScheme.base.dark};
-  color: rgba(255, 255, 255, 0.5);
-  padding: 0px 8px;
-`;
-
-const DEFAULT_ROW_HEIGHT = 16;
-
-// TODO(Audrey): import types from react-virtualized once they are available
-// RowRendererParams, CellMeasureCache
-type RowRendererParams = {|
-  className: string,
-  columns: any[],
-  index: number,
-  isScrolling: boolean,
-  onRowClick: ?() => void,
-  onRowDoubleClick: ?() => void,
-  onRowMouseOver: ?() => void,
-  onRowMouseOut: ?() => void,
-  rowData: any,
-  style: StyleObj,
-  parent?: any,
-  key: number | string,
-|};
-
-type RenderRowInput<Item> = {| ...RowRendererParams, items: Item[], item: Item |};
-
-export type RenderRow<Item> = (RenderRowInput<Item>) => React.Node;
-
-type Props<Item> = {
-  defaultRowHeight: number,
-  items: Item[],
-  renderRow: RenderRow<Item>,
-  disableScrollToBottom: boolean,
-  cleared?: boolean,
-  enableCopying?: boolean,
-  copyButtonTooltip?: string,
-};
-
-const defaultRenderRow: RenderRow<any> = ({ index, key, style, items }) => {
-  return (
-    <RenderRowContainer style={style}>
-      <span style={{ marginRight: 4 }}>{index}</span>
-      <span>{items[index].text}</span>
-      <span>{items[index].msg}</span>
-    </RenderRowContainer>
-  );
-};
-
-function CopyIcon({ tooltip, getCopyText }: { tooltip: string, getCopyText: () => string }) {
-  return (
-    <Icon
-      style={{ padding: "1px 0px 0px 6px", verticalAlign: "middle" }}
-      onClick={() => {
-        clipboard.copy(getCopyText());
-      }}
-      tooltip={tooltip}>
-      <ClipboardOutlineIcon />
-    </Icon>
-  );
-}
-
-/**
- * <LargeList> is a reusable responsive component for displaying large amount of logs or similar data.
- * We can use renderRow to create custom UI for each data row.
- * There might be short lag if we resize the container when the data is already rendered.
- */
-class LargeList<Item> extends React.Component<Props<Item>, {}> {
-  _cache: CellMeasurerCache = {};
-
-  static defaultProps = {
-    // Set to true if we don't want the screen to auto scroll to the bottom.
-    disableScrollToBottom: false,
-    // All the data items.
-    items: [],
-    // Custom rendering function for each row.
-    renderRow: defaultRenderRow,
-    // Use defaultRowHeight to set the default row height to improve performance as
-    // each row's height is dynamically calculated.
-    defaultRowHeight: DEFAULT_ROW_HEIGHT,
-  };
-
-  constructor(props: Props<Item>) {
-    super(props);
-    this._cache = new CellMeasurerCache({
-      fixedWidth: true,
-      defaultHeight: props.defaultRowHeight,
-    });
-  }
-
-  componentDidUpdate(prevProps: Props<Item>) {
-    // Clear the cache to prevent cells from using outdated measurements
-    if (this.props.cleared) {
-      this._cache.clearAll();
-    }
-  }
-
-  render() {
-    const { items, renderRow, disableScrollToBottom, enableCopying, copyButtonTooltip } = this.props;
-    const addedProps = disableScrollToBottom ? {} : { scrollToIndex: items.length - 1 };
-    const logCounts = items.length;
-
-    return (
-      <LargeListContainer>
-        {logCounts > 0 && (
-          <LogMsg>
-            {logCounts} {logCounts > 1 ? "items" : "item"}
-            {enableCopying && (
-              <CopyIcon getCopyText={() => JSON.stringify(items, null, 2)} tooltip={copyButtonTooltip || "Copy"} />
-            )}
-          </LogMsg>
-        )}
-        <AutoSizer>
-          {({ height, width }) => {
-            return (
-              <List
-                width={width}
-                height={height}
-                style={{ outline: "none" }}
-                deferredMeasurementCache={this._cache}
-                rowHeight={this._cache.rowHeight}
-                rowRenderer={(rowProps) => (
-                  <CellMeasurer
-                    key={rowProps.key}
-                    cache={this._cache}
-                    parent={rowProps.parent}
-                    columnIndex={0}
-                    rowIndex={rowProps.index}>
-                    {renderRow({ ...rowProps, items, item: items[rowProps.index] })}
-                  </CellMeasurer>
-                )}
-                rowCount={items.length}
-                overscanRowCount={10}
-                {...addedProps}
-              />
-            );
-          }}
-        </AutoSizer>
-      </LargeListContainer>
-    );
-  }
-}
-
-export default LargeList;
diff --git a/packages/webviz-core/src/components/LogList.js b/packages/webviz-core/src/components/LogList.js
new file mode 100644
index 000000000..340eb5cba
--- /dev/null
+++ b/packages/webviz-core/src/components/LogList.js
@@ -0,0 +1,159 @@
+// @flow
+//
+//  Copyright (c) 2018-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import _ from "lodash";
+import * as React from "react";
+import { List, AutoSizer, CellMeasurer, CellMeasurerCache } from "react-virtualized";
+import uuid from "uuid";
+
+import Button from "webviz-core/src/components/Button";
+
+// TODO(Audrey): import types from react-virtualized once they are available
+// RowRendererParams, CellMeasureCache
+type RowRendererParams = {|
+  className: string,
+  columns: any[],
+  index: number,
+  isScrolling: boolean,
+  onRowClick: ?() => void,
+  onRowDoubleClick: ?() => void,
+  onRowMouseOver: ?() => void,
+  onRowMouseOut: ?() => void,
+  rowData: any,
+  style: StyleObj,
+  parent?: any,
+  key: number | string,
+|};
+
+type RenderRowInput<Item> = {| ...RowRendererParams, item: Item |};
+
+export type RenderRow<Item> = (RenderRowInput<Item>) => React.Node;
+
+// List for showing large number of items, which are expected to be appended to the end regularly.
+// Automatically scrolls to the bottom unless you explicitly scroll up.
+function LogList<Item>({ items, renderRow }: {| items: Item[], renderRow: RenderRow<Item> |}) {
+  // Automatically scrolling to the bottom by default.
+  const [autoScroll, setAutoScroll] = React.useState(true);
+
+  // For keeping a reference to the container <div>. Unfortunately there don't seem to be other
+  // convenient ways to do this; e.g. `ref` doesn't work.
+  const listId = React.useRef<string>(uuid.v4());
+
+  // Cache for item heights.
+  const cache = React.useRef<CellMeasurerCache>(new CellMeasurerCache({ fixedWidth: true }));
+
+  // Keep track of the last width to see if we need to clear the cache.
+  const lastWidth = React.useRef<number>(-1);
+
+  // Keep track of the last items that we rendered to see if we need to clear the cache.
+  const lastItems = React.useRef<Item[]>([]);
+
+  // Last time we rendered; used in `onScroll`.
+  const lastRenderTime = React.useRef<number>(0);
+  lastRenderTime.current = Date.now();
+
+  // If we have fewer items now, or if any of the old items don't match any more, we have to clear
+  // the cache of heights.
+  if (items.length < lastItems.current.length || !lastItems.current.every((item, index) => item === items[index])) {
+    cache.current.clearAll();
+  }
+  lastItems.current = items;
+
+  // `onWheel` is only called when the user explicitly scrolls using the scroll wheel or track pad.
+  // This is reliable, so we don't need any buffers or checks. However, this doesn't cover all cases
+  // of users scrolling (e.g. keyboard or dragging the scroll bar) so we also need `onScroll` below.
+  const onWheel = React.useCallback(
+    () => {
+      const containerEl = document.getElementById(listId.current);
+      if (!containerEl) {
+        return;
+      }
+      const newAutoScroll = containerEl.scrollHeight - containerEl.scrollTop <= containerEl.clientHeight;
+      if (newAutoScroll !== autoScroll) {
+        setAutoScroll(newAutoScroll);
+      }
+    },
+    [autoScroll]
+  );
+
+  // As said above, we need `onScroll` to catch some of the user scroll events. However, it's also
+  // triggered when a scroll happens for a different reason, e.g. by the browser or initiated from
+  // our own code. There's unfortunately no easy way to differentiate between them, and often during
+  // rendering the `onScroll` events can't quite keep up with the actual rendering, so we require
+  // rendering to not have happened for a second, and we have a bit of a buffer for how much
+  // scrolling we require to have been done. In practice this seems to be working reasonably well.
+  const onScroll = React.useCallback(
+    () => {
+      if (Date.now() - lastRenderTime.current < 1000) {
+        return;
+      }
+      const containerEl = document.getElementById(listId.current);
+      if (!containerEl) {
+        return;
+      }
+      const newAutoScroll = containerEl.scrollHeight - containerEl.scrollTop <= containerEl.clientHeight + 5;
+      if (newAutoScroll !== autoScroll) {
+        setAutoScroll(newAutoScroll);
+      }
+    },
+    [autoScroll]
+  );
+
+  const onResetView = React.useCallback(() => {
+    setAutoScroll(true);
+  }, []);
+
+  return (
+    <AutoSizer>
+      {({ width, height }) => {
+        // If the width changed, row heights might have changed, so we need to clear the cache.
+        if (lastWidth.current !== width) {
+          cache.current.clearAll();
+        }
+        lastWidth.current = width;
+
+        return (
+          <div style={{ position: "relative", width, height }}>
+            <List
+              width={width}
+              height={height}
+              style={{ outline: "none" }}
+              deferredMeasurementCache={cache.current}
+              rowHeight={cache.current.rowHeight}
+              rowRenderer={(rowProps) => (
+                <CellMeasurer
+                  key={rowProps.key}
+                  cache={cache.current}
+                  parent={rowProps.parent}
+                  columnIndex={0}
+                  rowIndex={rowProps.index}>
+                  {renderRow({ ...rowProps, item: items[rowProps.index] })}
+                </CellMeasurer>
+              )}
+              rowCount={items.length}
+              overscanRowCount={10}
+              onScroll={onScroll}
+              id={listId.current}
+              containerProps={{ onWheel }}
+              {...(autoScroll ? { scrollToIndex: items.length - 1 } : undefined)}
+            />
+            {!autoScroll && (
+              <div style={{ position: "absolute", bottom: 5, right: 10 }}>
+                <Button tooltip="(shortcut: scroll down)" onClick={onResetView}>
+                  reset view
+                </Button>
+              </div>
+            )}
+          </div>
+        );
+      }}
+    </AutoSizer>
+  );
+}
+
+export default LogList;
diff --git a/packages/webviz-core/src/components/LargeList.stories.js b/packages/webviz-core/src/components/LogList.stories.js
similarity index 89%
rename from packages/webviz-core/src/components/LargeList.stories.js
rename to packages/webviz-core/src/components/LogList.stories.js
index 14c4f93e2..7164641d1 100644
--- a/packages/webviz-core/src/components/LargeList.stories.js
+++ b/packages/webviz-core/src/components/LogList.stories.js
@@ -10,8 +10,8 @@ import { storiesOf } from "@storybook/react";
 import React, { Component } from "react";
 import { withScreenshot } from "storybook-chrome-screenshot";
 
-import LargeList from "./LargeList";
-import type { RenderRow } from "./LargeList";
+import LogList from "./LogList";
+import type { RenderRow } from "./LogList";
 
 const MSG_BATCH_SIZE = 100;
 
@@ -35,7 +35,7 @@ const generateData = (size) => {
 };
 
 type Props = {
-  renderRow?: RenderRow<any>,
+  renderRow: RenderRow<any>,
 };
 
 type State = {
@@ -82,16 +82,15 @@ class Example extends Component<Props, State> {
     return (
       <div style={{ padding: 20, width: "100%", height: "100%", display: "flex", flexDirection: "column" }}>
         <button onClick={this.togglePause}>{paused ? "Resume Stream" : "Pause Stream"}</button>
-        <LargeList items={items} disableScrollToBottom={paused} renderRow={renderRow} />
+        <LogList items={items} renderRow={renderRow} />
       </div>
     );
   }
 }
 
-storiesOf("<LargeList>", module)
+storiesOf("<LogList>", module)
   .addDecorator(withScreenshot())
-  .add("standard", () => <Example />)
-  .add("custom rowRenderer", () => {
+  .add("default", () => {
     return (
       <Example
         renderRow={({ item, style }) => (
diff --git a/packages/webviz-core/src/components/MessageHistory/getMessageHistoryItem.js b/packages/webviz-core/src/components/MessageHistory/getMessageHistoryItem.js
index f788d1a81..a2bd49ee4 100644
--- a/packages/webviz-core/src/components/MessageHistory/getMessageHistoryItem.js
+++ b/packages/webviz-core/src/components/MessageHistory/getMessageHistoryItem.js
@@ -84,11 +84,7 @@ export default function getMessageHistoryItem(
           constantName = enumMap[fieldName][value];
         }
       }
-      queriedData.push({
-        value,
-        path,
-        constantName,
-      });
+      queriedData.push({ value, path, constantName });
     } else if (pathItem.type === "name" && structureItem.structureType === "message") {
       // If the `pathItem` is a name, we're traversing down using that name.
       traverse(
diff --git a/packages/webviz-core/src/components/PlaybackSpeedControls.js b/packages/webviz-core/src/components/PlaybackSpeedControls.js
index f5aaff52d..9dcd659c7 100644
--- a/packages/webviz-core/src/components/PlaybackSpeedControls.js
+++ b/packages/webviz-core/src/components/PlaybackSpeedControls.js
@@ -6,12 +6,16 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
+import FlagVariantIcon from "@mdi/svg/svg/flag-variant.svg";
 import React, { useCallback, useEffect } from "react";
 import { useDispatch, useSelector } from "react-redux";
 
 import { setPlaybackConfig } from "webviz-core/src/actions/panels";
 import Dropdown from "webviz-core/src/components/Dropdown";
+import { ExperimentalFeaturesModal } from "webviz-core/src/components/ExperimentalFeatures";
+import { Item } from "webviz-core/src/components/Menu";
 import { useMessagePipeline } from "webviz-core/src/components/MessagePipeline";
+import renderToBody from "webviz-core/src/components/renderToBody";
 import { useDataSourceInfo } from "webviz-core/src/PanelAPI";
 import { PlayerCapabilities } from "webviz-core/src/players/types";
 import { ndash, times } from "webviz-core/src/util/entities";
@@ -50,6 +54,13 @@ export default function PlaybackSpeedControls() {
     [playerId, setSpeed, configSpeed]
   );
 
+  const onExperimentalFeaturesClick = useCallback(() => {
+    const modal = renderToBody(<ExperimentalFeaturesModal onRequestClose={() => close(false)} />);
+    function close(value) {
+      modal.remove();
+    }
+  }, []);
+
   if (!canSetSpeed) {
     return null;
   }
@@ -66,6 +77,10 @@ export default function PlaybackSpeedControls() {
           {eachSpeed}&times;
         </span>
       ))}
+      <hr />
+      <Item icon={<FlagVariantIcon />} onClick={onExperimentalFeaturesClick}>
+        Configure &rdquo;Slower downloads, faster playback&rdquo;
+      </Item>
     </Dropdown>
   );
 }
diff --git a/packages/webviz-core/src/components/PlayerManager.js b/packages/webviz-core/src/components/PlayerManager.js
index a78212410..c6a422fb2 100644
--- a/packages/webviz-core/src/components/PlayerManager.js
+++ b/packages/webviz-core/src/components/PlayerManager.js
@@ -27,8 +27,8 @@ import {
   getRemoteBagDescriptor,
 } from "webviz-core/src/dataProviders/standardDataProviderDescriptors";
 import useUserNodes from "webviz-core/src/hooks/useUserNodes";
-import NodePlayer from "webviz-core/src/players/NodePlayer";
 import RandomAccessPlayer from "webviz-core/src/players/RandomAccessPlayer";
+import RosbridgePlayer from "webviz-core/src/players/RosbridgePlayer";
 import type { Player } from "webviz-core/src/players/types";
 import UserNodePlayer from "webviz-core/src/players/UserNodePlayer";
 import type { ImportPanelLayoutPayload, UserNodes } from "webviz-core/src/types/panels";
@@ -37,6 +37,7 @@ import {
   DEMO_QUERY_KEY,
   LOAD_ENTIRE_BAG_QUERY_KEY,
   REMOTE_BAG_URL_QUERY_KEY,
+  ROSBRIDGE_WEBSOCKET_URL_QUERY_KEY,
   SECOND_BAG_PREFIX,
 } from "webviz-core/src/util/globalConstants";
 import { getSeekToTime } from "webviz-core/src/util/time";
@@ -82,7 +83,23 @@ function PlayerManager({
   setUserNodeTrust: setTrust,
 }: Props) {
   const usedFiles = React.useRef<File[]>([]);
-  const [player, setPlayer] = React.useState();
+  const [player, setPlayerInternal] = React.useState();
+
+  const setPlayer = React.useCallback(
+    (newPlayer: ?Player) => {
+      if (!newPlayer) {
+        setPlayerInternal(undefined);
+        return;
+      }
+      const userNodePlayer = new UserNodePlayer(newPlayer, {
+        setUserNodeDiagnostics: setDiagnostics,
+        addUserNodeLogs: setLogs,
+        setUserNodeTrust: setTrust,
+      });
+      setPlayerInternal(userNodePlayer);
+    },
+    [setDiagnostics, setLogs, setTrust]
+  );
 
   React.useEffect(
     () => {
@@ -97,26 +114,23 @@ function PlayerManager({
             getRemoteBagDescriptor(url, guid, params.has(LOAD_ENTIRE_BAG_QUERY_KEY)),
             getPlayerOptions()
           );
-          const userNodePlayer = new UserNodePlayer(newPlayer, {
-            setUserNodeDiagnostics: setDiagnostics,
-            addUserNodeLogs: setLogs,
-            setUserNodeTrust: setTrust,
-          });
           if (params.has(DEMO_QUERY_KEY)) {
             // When we're showing a demo, then automatically start playback (we don't normally
             // do that).
             setTimeout(() => {
-              userNodePlayer.startPlayback();
+              newPlayer.startPlayback();
             }, 1000);
           }
-          setPlayer(userNodePlayer);
+          setPlayer(newPlayer);
         });
         if (params.has(DEMO_QUERY_KEY)) {
           importLayout(demoLayoutJson, false, true);
         }
+      } else {
+        setPlayer(new RosbridgePlayer(params.get(ROSBRIDGE_WEBSOCKET_URL_QUERY_KEY) || "ws://localhost:9090"));
       }
     },
-    [importLayout, setDiagnostics, setLogs, setTrust]
+    [importLayout, setDiagnostics, setLogs, setPlayer, setTrust]
   );
 
   useUserNodes({ nodePlayer: player, userNodes });
@@ -133,7 +147,7 @@ function PlayerManager({
             usedFiles.current = [files[0]];
           }
           const builtPlayer = buildPlayer(usedFiles.current);
-          setPlayer(builtPlayer ? new NodePlayer(builtPlayer) : undefined);
+          setPlayer(builtPlayer);
         }}>
         <DropOverlay>
           <div style={{ fontSize: "4em", marginBottom: "1em" }}>Drop a bag file to load it!</div>
diff --git a/packages/webviz-core/src/components/TimeBasedChart/TimeBasedChartLegend.js b/packages/webviz-core/src/components/TimeBasedChart/TimeBasedChartLegend.js
index 06b9ef274..054b86d3e 100644
--- a/packages/webviz-core/src/components/TimeBasedChart/TimeBasedChartLegend.js
+++ b/packages/webviz-core/src/components/TimeBasedChart/TimeBasedChartLegend.js
@@ -23,7 +23,7 @@ type Props = {
 
 const checkboxStyle = { height: 12, marginBottom: -2 };
 
-export default class TimeBasedChart extends React.PureComponent<Props> {
+export default class TimeBasedChartLegend extends React.PureComponent<Props> {
   _toggleLine = (label: string) => () => {
     const { datasetId, toggleLine } = this.props;
     toggleLine(datasetId, label);
diff --git a/packages/webviz-core/src/components/TimeBasedChart/index.js b/packages/webviz-core/src/components/TimeBasedChart/index.js
index 57cffa6c0..7d7103000 100644
--- a/packages/webviz-core/src/components/TimeBasedChart/index.js
+++ b/packages/webviz-core/src/components/TimeBasedChart/index.js
@@ -103,6 +103,7 @@ type Props = {|
   datasetId?: string,
   onClick?: (MouseEvent) => void,
   saveCurrentYs?: (minY: number, maxY: number) => void,
+  xAxisVal?: "timestamp" | "index",
   useFixedYAxisWidth?: boolean,
 |};
 type State = {|
@@ -113,6 +114,7 @@ type State = {|
   userSetMaxX: number | null,
   userSetMinY: number | null,
   userSetMaxY: number | null,
+  xAxisVal: "timestamp" | "index",
 |};
 
 // Create a chart with any y-axis but with an x-axis that shows time since the
@@ -133,6 +135,7 @@ export default class TimeBasedChart extends React.PureComponent<Props, State> {
     userSetMaxX: null,
     userSetMinY: null,
     userSetMaxY: null,
+    xAxisVal: "timestamp",
   };
 
   componentDidMount() {
@@ -140,13 +143,15 @@ export default class TimeBasedChart extends React.PureComponent<Props, State> {
   }
 
   static getDerivedStateFromProps(nextProps: Props, prevState: State): State {
-    const { annotations } = prevState;
+    const { annotations, xAxisVal } = prevState;
     const nextAnnotations = nextProps.annotations || [];
+    const nextXAxisVal = nextProps.xAxisVal || "timestamp";
     const currentFutureTime = annotations && annotations.length && annotations[0].value;
     const nextFutureTime = nextAnnotations && nextAnnotations.length && nextAnnotations[0].value;
     return {
       ...prevState,
-      shouldRedraw: currentFutureTime !== nextFutureTime,
+      shouldRedraw: currentFutureTime !== nextFutureTime || xAxisVal !== nextXAxisVal,
+      xAxisVal: nextXAxisVal,
       annotations: nextAnnotations,
     };
   }
@@ -274,7 +279,7 @@ export default class TimeBasedChart extends React.PureComponent<Props, State> {
     if (!this._chart) {
       delete this._mousePosition;
       this._updateTooltip();
-      if (this._bar) {
+      if (this._bar && this._bar.style) {
         this._bar.style.display = "none";
       }
       return;
@@ -289,7 +294,7 @@ export default class TimeBasedChart extends React.PureComponent<Props, State> {
     ) {
       delete this._mousePosition;
       this._updateTooltip();
-      if (this._bar) {
+      if (this._bar && this._bar.style) {
         this._bar.style.display = "none";
       }
       return;
@@ -298,7 +303,7 @@ export default class TimeBasedChart extends React.PureComponent<Props, State> {
       x: event.pageX - canvasRect.left,
       y: event.pageY - canvasRect.top,
     };
-    if (this._bar) {
+    if (this._bar && this._bar.style) {
       this._bar.style.display = "block";
       this._bar.style.left = `${this._mousePosition.x}px`;
     }
@@ -421,7 +426,7 @@ export default class TimeBasedChart extends React.PureComponent<Props, State> {
 
   renderChart() {
     const { type, width, height, data, isSynced, linesToHide = {} } = this.props;
-    const { userSetMinX, userSetMaxX, userSetMinY, userSetMaxY } = this.state;
+    const { userSetMinX, userSetMaxX, userSetMinY, userSetMaxY, xAxisVal } = this.state;
     const userSetMinOrZero = isNaN(userSetMinX) ? data.minIsZero : userSetMinX;
     const minX = userSetMinOrZero
       ? 0
@@ -443,7 +448,7 @@ export default class TimeBasedChart extends React.PureComponent<Props, State> {
       data: { ...data, datasets: data.datasets.filter((dataset) => !linesToHide[dataset.label]) },
     };
 
-    return isSynced ? (
+    return isSynced && xAxisVal === "timestamp" ? (
       <SyncTimeAxis data={{ minX, maxX }}>
         {(syncedMinMax) => {
           const syncedMinX = syncedMinMax.minX != null ? Math.min(minX, syncedMinMax.minX) : minX;
diff --git a/packages/webviz-core/src/loadWebviz.js b/packages/webviz-core/src/loadWebviz.js
index 431a2d15d..262948c77 100644
--- a/packages/webviz-core/src/loadWebviz.js
+++ b/packages/webviz-core/src/loadWebviz.js
@@ -219,7 +219,7 @@ const defaultHooks = {
         name: "Topic Group Management",
         description:
           "We're revamping the topic tree to be customizable directly from Webviz. You'll be able to create your own groups and toggle them easily.",
-        developmentDefault: true,
+        developmentDefault: false,
         productionDefault: false,
       },
     };
diff --git a/packages/webviz-core/src/panels/Plot/PlotChart.js b/packages/webviz-core/src/panels/Plot/PlotChart.js
index bd74fc0df..4b613bf55 100644
--- a/packages/webviz-core/src/panels/Plot/PlotChart.js
+++ b/packages/webviz-core/src/panels/Plot/PlotChart.js
@@ -47,7 +47,8 @@ function getDatasetFromMessagePlotPath(
   path: PlotPath,
   itemsByPath: MessageHistoryItemsByPath,
   index: number,
-  startTime: Time
+  startTime: Time,
+  xAxisVal: "timestamp" | "index"
 ) {
   let points: PlotChartPoint[] = [];
   let showLine = true;
@@ -58,12 +59,12 @@ function getDatasetFromMessagePlotPath(
       continue;
     }
 
-    for (const { value, path: queriedPath, constantName } of item.queriedData) {
+    for (const [idx, { value, path: queriedPath, constantName }] of item.queriedData.entries()) {
       if (typeof value === "number" || typeof value === "boolean" || typeof value === "string") {
         const valueNum = Number(value);
         if (!isNaN(valueNum)) {
           points.push({
-            x: toSec(subtractTimes(timestamp, startTime)),
+            x: xAxisVal === "timestamp" ? toSec(subtractTimes(timestamp, startTime)) : idx,
             y: valueNum,
             tooltip: { item, path: queriedPath, value, constantName, startTime },
           });
@@ -72,7 +73,7 @@ function getDatasetFromMessagePlotPath(
         // $FlowFixMe - %checks on isTime can't convince Flow that the object is actually a Time. Related: https://github.com/facebook/flow/issues/3614
         const timeValue = (value: Time);
         points.push({
-          x: toSec(subtractTimes(timestamp, startTime)),
+          x: xAxisVal === "timestamp" ? toSec(subtractTimes(timestamp, startTime)) : idx,
           y: toSec(timeValue),
           tooltip: {
             item,
@@ -85,7 +86,7 @@ function getDatasetFromMessagePlotPath(
       }
     }
     // If we have added more than one point for this message, make it a scatter plot.
-    if (item.queriedData.length > 1) {
+    if (item.queriedData.length > 1 && xAxisVal !== "index") {
       showLine = false;
     }
   }
@@ -130,12 +131,17 @@ function getAnnotationFromReferenceLine(path: PlotPath, index: number) {
   };
 }
 
-export function getDatasets(paths: PlotPath[], itemsByPath: MessageHistoryItemsByPath, startTime: Time): DataSet[] {
+export function getDatasets(
+  paths: PlotPath[],
+  itemsByPath: MessageHistoryItemsByPath,
+  startTime: Time,
+  xAxisVal: "timestamp" | "index"
+): DataSet[] {
   return filterMap(paths, (path: PlotPath, index: number) => {
     if (!path.enabled) {
       return null;
     } else if (!isReferenceLinePlotPathType(path)) {
-      return getDatasetFromMessagePlotPath(path, itemsByPath, index, startTime);
+      return getDatasetFromMessagePlotPath(path, itemsByPath, index, startTime, xAxisVal);
     }
     return null;
   });
@@ -184,10 +190,11 @@ type PlotChartProps = {|
   maxYValue: number,
   saveCurrentYs: (minY: number, maxY: number) => void,
   datasets: DataSet[],
+  xAxisVal: "timestamp" | "index",
 |};
 export default class PlotChart extends PureComponent<PlotChartProps> {
   render() {
-    const { paths, minYValue, maxYValue, saveCurrentYs, datasets } = this.props;
+    const { paths, minYValue, maxYValue, saveCurrentYs, datasets, xAxisVal } = this.props;
     const annotations = getAnnotations(paths);
     return (
       <div className={styles.root}>
@@ -203,6 +210,7 @@ export default class PlotChart extends PureComponent<PlotChartProps> {
               type="scatter"
               yAxes={yAxes({ minY: minYValue, maxY: maxYValue, scaleId: Y_AXIS_ID })}
               saveCurrentYs={saveCurrentYs}
+              xAxisVal={xAxisVal}
               useFixedYAxisWidth
             />
           )}
diff --git a/packages/webviz-core/src/panels/Plot/PlotLegend.js b/packages/webviz-core/src/panels/Plot/PlotLegend.js
index d7deef0ea..e041c05aa 100644
--- a/packages/webviz-core/src/panels/Plot/PlotLegend.js
+++ b/packages/webviz-core/src/panels/Plot/PlotLegend.js
@@ -22,6 +22,7 @@ type PlotLegendProps = {|
   paths: PlotPath[],
   saveConfig: ($Shape<PlotConfig>) => void,
   showLegend: boolean,
+  xAxisVal: "timestamp" | "index",
 |};
 
 function PlotLegendToggle(props: { onToggle: () => void }) {
@@ -35,7 +36,7 @@ function PlotLegendToggle(props: { onToggle: () => void }) {
 }
 
 export default function PlotLegend(props: PlotLegendProps) {
-  const { paths, saveConfig, showLegend } = props;
+  const { paths, saveConfig, showLegend, xAxisVal } = props;
   const lastPath = last(paths);
 
   const onInputChange = useCallback(
@@ -110,7 +111,7 @@ export default function PlotLegend(props: PlotLegendProps) {
                   index={index}
                   autoSize
                   disableAutocomplete={isReferenceLinePlotPath}
-                  timestampMethod={timestampMethod}
+                  {...(xAxisVal === "timestamp" ? { timestampMethod } : null)}
                 />
               </div>
               <div
diff --git a/packages/webviz-core/src/panels/Plot/PlotMenu.js b/packages/webviz-core/src/panels/Plot/PlotMenu.js
index 8dea6cb56..06d77c65a 100644
--- a/packages/webviz-core/src/panels/Plot/PlotMenu.js
+++ b/packages/webviz-core/src/panels/Plot/PlotMenu.js
@@ -10,6 +10,8 @@ import cx from "classnames";
 import React from "react";
 
 import styles from "./PlotMenu.module.scss";
+import { PanelToolbarLabel, PanelToolbarInput } from "webviz-core/shared/panelToolbarStyles";
+import Dropdown from "webviz-core/src/components/Dropdown";
 import Item from "webviz-core/src/components/Menu/Item";
 import type { PlotConfig } from "webviz-core/src/panels/Plot";
 import { type DataSet } from "webviz-core/src/panels/Plot/PlotChart";
@@ -63,18 +65,27 @@ export default function PlotMenu({
   saveConfig,
   setMinMax,
   datasets,
+  xAxisVal = "timestamp",
 }: {
   minYValue: string,
   maxYValue: string,
   saveConfig: ($Shape<PlotConfig>) => void,
-  setMinMax: () => void,
+  setMinMax: ($Shape<PlotConfig>) => void,
   datasets: DataSet[],
+  xAxisVal?: "timestamp" | "index",
 }) {
   return (
     <>
+      <Item>
+        <PanelToolbarLabel>X-axis</PanelToolbarLabel>
+        <Dropdown value={xAxisVal} onChange={(newXAxisVal) => saveConfig({ xAxisVal: newXAxisVal })}>
+          <span value="timestamp">timestamp</span>
+          <span value="index">index</span>
+        </Dropdown>
+      </Item>
       <Item onClick={() => saveConfig({ maxYValue: maxYValue === "" ? "10" : "" })}>
         <div className={styles.label}>Maximum</div>
-        <input
+        <PanelToolbarInput
           className={cx(styles.input, { [styles.inputError]: !isValidInput(maxYValue) })}
           value={maxYValue}
           onChange={(event) => {
@@ -86,7 +97,7 @@ export default function PlotMenu({
       </Item>
       <Item onClick={() => saveConfig({ minYValue: minYValue === "" ? "-10" : "" })}>
         <div className={styles.label}>Minimum</div>
-        <input
+        <PanelToolbarInput
           className={cx(styles.input, { [styles.inputError]: !isValidInput(minYValue) })}
           value={minYValue}
           onChange={(event) => {
diff --git a/packages/webviz-core/src/panels/Plot/index.help.md b/packages/webviz-core/src/panels/Plot/index.help.md
index 42fd11769..f2d419f21 100644
--- a/packages/webviz-core/src/panels/Plot/index.help.md
+++ b/packages/webviz-core/src/panels/Plot/index.help.md
@@ -2,14 +2,26 @@
 
 Plots arbitrary values from topics, similar to [rqt_plot](http://wiki.ros.org/rqt_plot).
 
-The values plotted are specified through Webviz's [topic path syntax](/help/topic-path-syntax). When you select multiple values (by using a slice) the plot turns into a scatter plot.
+The values plotted are specified through Webviz's [topic path syntax](/help/topic-path-syntax).
 
-The timestamp is taken from either the time the message was received, or the `message.header.stamp` field of the topic, depending on the dropdown.
+In the options menu, you can set a minimum and maximum Y-value. By default, the plot will use those bounds unless the data you're looking at extends above the max Y-value or below the min Y-value; in those cases it will automatically expand. If you want to disable this behavior and force the plot to use the exact minimum and maximum Y-values entered, you can "lock" the y-axis in the options menu as well.
 
-You can also enter an arbitrary number, which will add a horizontal line at that y-value.
+There are 2 possible values for the x-axis - by the message's timestamp or by the message values' respective array indices.
+
+## Timestamp as X-Axis
+
+When you select to plot against a timestamp x-axis (default), you can specify whether the timestamp is taken from either the time the message was received, or the `message.header.stamp` field of the topic, in the dropdown displayed next to each line topic. All Plot panels' timestamped x-axes are kept in sync for easy comparison.
+
+When you select multiple values (by using a slice) the plot turns into a scatter plot at each timestamp tick.
 
-You can zoom by scrolling, and pan by dragging. Double-click to reset. To scroll in only the vertical direction (no horizontal scrolling), you can hold the `v` key while scrolling, and to scroll in only the horizontal direction you can hold the `h` key while scrolling.
+You can also enter an arbitrary number, which will add a horizontal line at that y-value.
 
 To take the derivative of a value (change per second), use the special `.@derivative` modifier. This does not work with scatter plots (when using slices).
 
-In the options menu, you can set a minimum and maximum Y-value. By default, the plot will use those bounds unless the data you're looking at extends above the max Y-value or below the min Y-value; in those cases it will automatically expand. If you want to disable this behavior and force the plot to use the exact minimum and maximum Y-values entered, you can "lock" the y-axis in the options menu as well.
+## Array Index as X-Axis
+
+Go into the Plot panel's settings to change your x-axis from being the messages' timestamps to being the message values' array indices. In this mode, if you add topic path `/some_topic.some_array` as a new line in the plot, the plot will chart that array's values against their indices. For example, if `/some_topic.some_array` contained the values `[5, 10, 15]`, the resulting points on the chart would be `[0, 5]`, `[1, 10]`, and `[2, 15]`.
+
+## User Interactions
+
+You can zoom by scrolling, and pan by dragging. Double-click to reset. To scroll in only the vertical direction (no horizontal scrolling), you can hold the `v` key while scrolling, and to scroll in only the horizontal direction you can hold the `h` key while scrolling.
\ No newline at end of file
diff --git a/packages/webviz-core/src/panels/Plot/index.js b/packages/webviz-core/src/panels/Plot/index.js
index c7d92e865..d083e5e7a 100644
--- a/packages/webviz-core/src/panels/Plot/index.js
+++ b/packages/webviz-core/src/panels/Plot/index.js
@@ -41,6 +41,7 @@ export type PlotConfig = {
   minYValue: string,
   maxYValue: string,
   showLegend: boolean,
+  xAxisVal: "timestamp" | "index",
 };
 
 type Props = {
@@ -50,7 +51,7 @@ type Props = {
 
 function Plot(props: Props) {
   const { saveConfig, config } = props;
-  const { paths, minYValue, maxYValue, showLegend } = config;
+  const { paths, minYValue, maxYValue, showLegend, xAxisVal } = config;
   const [currentMinY, setCurrentMinY] = useState(null);
   const [currentMaxY, setCurrentMaxY] = useState(null);
 
@@ -78,9 +79,9 @@ function Plot(props: Props) {
     <Flex col clip center style={{ position: "relative" }}>
       {/* Don't filter out disabled paths when passing into <MessageHistory>, because we still want
           easy access to the history when turning the disabled paths back on. */}
-      <MessageHistory paths={paths.map((path) => path.value)}>
+      <MessageHistory paths={paths.map((path) => path.value)} {...(xAxisVal === "index" ? { historySize: 1 } : null)}>
         {({ itemsByPath, startTime }: MessageHistoryData) => {
-          const datasets = getDatasets(paths, itemsByPath, startTime);
+          const datasets = getDatasets(paths, itemsByPath, startTime, xAxisVal);
           return (
             <>
               <PanelToolbar
@@ -93,6 +94,7 @@ function Plot(props: Props) {
                     saveConfig={saveConfig}
                     setMinMax={setMinMax}
                     datasets={datasets}
+                    xAxisVal={xAxisVal}
                   />
                 }
               />
@@ -102,16 +104,17 @@ function Plot(props: Props) {
                 maxYValue={parseFloat(maxYValue)}
                 saveCurrentYs={saveCurrentYs}
                 datasets={datasets}
+                xAxisVal={xAxisVal}
               />
             </>
           );
         }}
       </MessageHistory>
-      <PlotLegend paths={paths} saveConfig={saveConfig} showLegend={showLegend} />
+      <PlotLegend paths={paths} saveConfig={saveConfig} showLegend={showLegend} xAxisVal={xAxisVal} />
     </Flex>
   );
 }
 Plot.panelType = "Plot";
-Plot.defaultConfig = { paths: [], minYValue: "", maxYValue: "", showLegend: true };
+Plot.defaultConfig = { paths: [], minYValue: "", maxYValue: "", showLegend: true, xAxisVal: "timestamp" };
 
 export default hot(Panel<PlotConfig>(Plot));
diff --git a/packages/webviz-core/src/panels/Plot/index.stories.js b/packages/webviz-core/src/panels/Plot/index.stories.js
index 034a77c81..124f2fd11 100644
--- a/packages/webviz-core/src/panels/Plot/index.stories.js
+++ b/packages/webviz-core/src/panels/Plot/index.stories.js
@@ -14,129 +14,39 @@ import Plot from "webviz-core/src/panels/Plot";
 import PanelSetup, { triggerWheel } from "webviz-core/src/stories/PanelSetup";
 
 const locationMessages = [
-  {
-    header: { stamp: { sec: 0, nsec: 574635076 } },
-    pose: { acceleration: -0.00116662939, velocity: 1.184182664 },
-  },
-  {
-    header: { stamp: { sec: 0, nsec: 673758203 } },
-    pose: { acceleration: -0.0072101709, velocity: 1.182555127 },
-  },
-  {
-    header: { stamp: { sec: 0, nsec: 770527187 } },
-    pose: { acceleration: 0.0079536558, velocity: 1.185625054 },
-  },
-  {
-    header: { stamp: { sec: 0, nsec: 871076484 } },
-    pose: { acceleration: 0.037758707, velocity: 1.193871954 },
-  },
-  {
-    header: { stamp: { sec: 0, nsec: 995802312 } },
-    pose: { acceleration: 0.085267948, velocity: 1.210280466 },
-  },
-  {
-    header: { stamp: { sec: 1, nsec: 81700551 } },
-    pose: { acceleration: 0.34490595, velocity: 1.28371423 },
-  },
-  {
-    header: { stamp: { sec: 1, nsec: 184463111 } },
-    pose: { acceleration: 0.59131456, velocity: 1.379807198 },
-  },
-  {
-    header: { stamp: { sec: 1, nsec: 285808851 } },
-    pose: { acceleration: 0.78738064, velocity: 1.487955727 },
-  },
-  {
-    header: { stamp: { sec: 1, nsec: 371183619 } },
-    pose: { acceleration: 0.91150866, velocity: 1.581979428 },
-  },
-  {
-    header: { stamp: { sec: 1, nsec: 479369260 } },
-    pose: { acceleration: 1.03091162, velocity: 1.70297429 },
-  },
-  {
-    header: { stamp: { sec: 1, nsec: 587095370 } },
-    pose: { acceleration: 1.15341371, velocity: 1.857311045 },
-  },
-  {
-    header: { stamp: { sec: 1, nsec: 685730694 } },
-    pose: { acceleration: 1.06827219, velocity: 1.951372604 },
-  },
-  {
-    header: { stamp: { sec: 1, nsec: 785737230 } },
-    pose: { acceleration: 0.76826461, velocity: 1.98319952 },
-  },
-  {
-    header: { stamp: { sec: 1, nsec: 869057829 } },
-    pose: { acceleration: 0.52827271, velocity: 1.984654942 },
-  },
-  {
-    header: { stamp: { sec: 1, nsec: 984145879 } },
-    pose: { acceleration: 0.16827019, velocity: 1.958059206 },
-  },
-  {
-    header: { stamp: { sec: 2, nsec: 85765716 } },
-    pose: { acceleration: -0.13173667, velocity: 1.899877099 },
-  },
-  {
-    header: { stamp: { sec: 2, nsec: 182717960 } },
-    pose: { acceleration: -0.196482967, velocity: 1.87051731 },
-  },
-  {
-    header: { stamp: { sec: 2, nsec: 286998440 } },
-    pose: { acceleration: -0.204713665, velocity: 1.848811251 },
-  },
-  {
-    header: { stamp: { sec: 2, nsec: 370689856 } },
-    pose: { acceleration: -0.18596813, velocity: 1.837120153 },
-  },
-  {
-    header: { stamp: { sec: 2, nsec: 483672422 } },
-    pose: { acceleration: -0.13091373, velocity: 1.828568433 },
-  },
-  {
-    header: { stamp: { sec: 2, nsec: 578787057 } },
-    pose: { acceleration: -0.119039923, velocity: 1.82106361 },
-  },
-  {
-    header: { stamp: { sec: 2, nsec: 677515597 } },
-    pose: { acceleration: -0.419040352, velocity: 1.734159507 },
-  },
-  {
-    header: { stamp: { sec: 2, nsec: 789110904 } },
-    pose: { acceleration: -0.48790808, velocity: 1.666657974 },
-  },
+  { header: { stamp: { sec: 0, nsec: 574635076 } }, pose: { acceleration: -0.00116662939, velocity: 1.184182664 } },
+  { header: { stamp: { sec: 0, nsec: 673758203 } }, pose: { acceleration: -0.0072101709, velocity: 1.182555127 } },
+  { header: { stamp: { sec: 0, nsec: 770527187 } }, pose: { acceleration: 0.0079536558, velocity: 1.185625054 } },
+  { header: { stamp: { sec: 0, nsec: 871076484 } }, pose: { acceleration: 0.037758707, velocity: 1.193871954 } },
+  { header: { stamp: { sec: 0, nsec: 995802312 } }, pose: { acceleration: 0.085267948, velocity: 1.210280466 } },
+  { header: { stamp: { sec: 1, nsec: 81700551 } }, pose: { acceleration: 0.34490595, velocity: 1.28371423 } },
+  { header: { stamp: { sec: 1, nsec: 184463111 } }, pose: { acceleration: 0.59131456, velocity: 1.379807198 } },
+  { header: { stamp: { sec: 1, nsec: 285808851 } }, pose: { acceleration: 0.78738064, velocity: 1.487955727 } },
+  { header: { stamp: { sec: 1, nsec: 371183619 } }, pose: { acceleration: 0.91150866, velocity: 1.581979428 } },
+  { header: { stamp: { sec: 1, nsec: 479369260 } }, pose: { acceleration: 1.03091162, velocity: 1.70297429 } },
+  { header: { stamp: { sec: 1, nsec: 587095370 } }, pose: { acceleration: 1.15341371, velocity: 1.857311045 } },
+  { header: { stamp: { sec: 1, nsec: 685730694 } }, pose: { acceleration: 1.06827219, velocity: 1.951372604 } },
+  { header: { stamp: { sec: 1, nsec: 785737230 } }, pose: { acceleration: 0.76826461, velocity: 1.98319952 } },
+  { header: { stamp: { sec: 1, nsec: 869057829 } }, pose: { acceleration: 0.52827271, velocity: 1.984654942 } },
+  { header: { stamp: { sec: 1, nsec: 984145879 } }, pose: { acceleration: 0.16827019, velocity: 1.958059206 } },
+  { header: { stamp: { sec: 2, nsec: 85765716 } }, pose: { acceleration: -0.13173667, velocity: 1.899877099 } },
+  { header: { stamp: { sec: 2, nsec: 182717960 } }, pose: { acceleration: -0.196482967, velocity: 1.87051731 } },
+  { header: { stamp: { sec: 2, nsec: 286998440 } }, pose: { acceleration: -0.204713665, velocity: 1.848811251 } },
+  { header: { stamp: { sec: 2, nsec: 370689856 } }, pose: { acceleration: -0.18596813, velocity: 1.837120153 } },
+  { header: { stamp: { sec: 2, nsec: 483672422 } }, pose: { acceleration: -0.13091373, velocity: 1.828568433 } },
+  { header: { stamp: { sec: 2, nsec: 578787057 } }, pose: { acceleration: -0.119039923, velocity: 1.82106361 } },
+  { header: { stamp: { sec: 2, nsec: 677515597 } }, pose: { acceleration: -0.419040352, velocity: 1.734159507 } },
+  { header: { stamp: { sec: 2, nsec: 789110904 } }, pose: { acceleration: -0.48790808, velocity: 1.666657974 } },
 ];
 
 const otherStateMessages = [
-  {
-    header: { stamp: { sec: 0, nsec: 574635076 } },
-    items: [{ id: 42, speed: 0.1 }],
-  },
-  {
-    header: { stamp: { sec: 0, nsec: 871076484 } },
-    items: [{ id: 42, speed: 0.2 }],
-  },
-  {
-    header: { stamp: { sec: 1, nsec: 81700551 } },
-    items: [{ id: 42, speed: 0.3 }],
-  },
-  {
-    header: { stamp: { sec: 1, nsec: 479369260 } },
-    items: [{ id: 10, speed: 1.4 }, { id: 42, speed: 0.2 }],
-  },
-  {
-    header: { stamp: { sec: 1, nsec: 785737230 } },
-    items: [{ id: 10, speed: 1.5 }, { id: 42, speed: 0.1 }],
-  },
-  {
-    header: { stamp: { sec: 2, nsec: 182717960 } },
-    items: [{ id: 10, speed: 1.57 }, { id: 42, speed: 0.08 }],
-  },
-  {
-    header: { stamp: { sec: 2, nsec: 578787057 } },
-    items: [{ id: 10, speed: 1.63 }, { id: 42, speed: 0.06 }],
-  },
+  { header: { stamp: { sec: 0, nsec: 574635076 } }, items: [{ id: 42, speed: 0.1 }] },
+  { header: { stamp: { sec: 0, nsec: 871076484 } }, items: [{ id: 42, speed: 0.2 }] },
+  { header: { stamp: { sec: 1, nsec: 81700551 } }, items: [{ id: 42, speed: 0.3 }] },
+  { header: { stamp: { sec: 1, nsec: 479369260 } }, items: [{ id: 10, speed: 1.4 }, { id: 42, speed: 0.2 }] },
+  { header: { stamp: { sec: 1, nsec: 785737230 } }, items: [{ id: 10, speed: 1.5 }, { id: 42, speed: 0.1 }] },
+  { header: { stamp: { sec: 2, nsec: 182717960 } }, items: [{ id: 10, speed: 1.57 }, { id: 42, speed: 0.08 }] },
+  { header: { stamp: { sec: 2, nsec: 578787057 } }, items: [{ id: 10, speed: 1.63 }, { id: 42, speed: 0.06 }] },
 ];
 
 const fixture = {
@@ -229,39 +139,15 @@ const fixture = {
 };
 
 const paths = [
-  {
-    value: "/some_topic/location.pose.velocity",
-    enabled: true,
-    timestampMethod: "receiveTime",
-  },
-  {
-    value: "/some_topic/location.pose.acceleration",
-    enabled: true,
-    timestampMethod: "receiveTime",
-  },
-  {
-    value: "/some_topic/location.pose.acceleration.@derivative",
-    enabled: true,
-    timestampMethod: "receiveTime",
-  },
-  {
-    value: "/boolean_topic.data",
-    enabled: true,
-    timestampMethod: "receiveTime",
-  },
-  {
-    value: "/some_topic/state.items[0].speed",
-    enabled: true,
-    timestampMethod: "receiveTime",
-  },
-  {
-    value: "/some_topic/location.header.stamp",
-    enabled: true,
-    timestampMethod: "receiveTime",
-  },
+  { value: "/some_topic/location.pose.velocity", enabled: true, timestampMethod: "receiveTime" },
+  { value: "/some_topic/location.pose.acceleration", enabled: true, timestampMethod: "receiveTime" },
+  { value: "/some_topic/location.pose.acceleration.@derivative", enabled: true, timestampMethod: "receiveTime" },
+  { value: "/boolean_topic.data", enabled: true, timestampMethod: "receiveTime" },
+  { value: "/some_topic/state.items[0].speed", enabled: true, timestampMethod: "receiveTime" },
+  { value: "/some_topic/location.header.stamp", enabled: true, timestampMethod: "receiveTime" },
 ];
 
-const exampleConfig = { paths, minYValue: "", maxYValue: "", showLegend: true };
+const exampleConfig = { paths, minYValue: "", maxYValue: "", showLegend: true, xAxisVal: "timestamp" };
 storiesOf("<Plot>", module)
   .addDecorator(withScreenshot({ delay: 1000 }))
   .add("line graph", () => {
@@ -334,16 +220,8 @@ storiesOf("<Plot>", module)
           config={{
             ...exampleConfig,
             paths: [
-              {
-                value: "/some_topic/location.pose.velocity",
-                enabled: true,
-                timestampMethod: "headerStamp",
-              },
-              {
-                value: "/boolean_topic.data",
-                enabled: true,
-                timestampMethod: "headerStamp",
-              },
+              { value: "/some_topic/location.pose.velocity", enabled: true, timestampMethod: "headerStamp" },
+              { value: "/boolean_topic.data", enabled: true, timestampMethod: "headerStamp" },
             ],
           }}
         />
@@ -356,13 +234,7 @@ storiesOf("<Plot>", module)
         <Plot
           config={{
             ...exampleConfig,
-            paths: [
-              {
-                value: "/some_topic/location.pose.velocity",
-                enabled: true,
-                timestampMethod: "receiveTime",
-              },
-            ],
+            paths: [{ value: "/some_topic/location.pose.velocity", enabled: true, timestampMethod: "receiveTime" }],
           }}
         />
       </PanelSetup>
@@ -375,16 +247,8 @@ storiesOf("<Plot>", module)
           config={{
             ...exampleConfig,
             paths: [
-              {
-                value: "/some_topic/location.pose.velocity",
-                enabled: false,
-                timestampMethod: "receiveTime",
-              },
-              {
-                value: "/some_topic/location.pose.acceleration",
-                enabled: true,
-                timestampMethod: "receiveTime",
-              },
+              { value: "/some_topic/location.pose.velocity", enabled: false, timestampMethod: "receiveTime" },
+              { value: "/some_topic/location.pose.acceleration", enabled: true, timestampMethod: "receiveTime" },
             ],
           }}
         />
@@ -396,28 +260,13 @@ storiesOf("<Plot>", module)
       <PanelSetup fixture={fixture}>
         <Plot
           config={{
+            xAxisVal: "timestamp",
             paths: [
-              {
-                value: "0",
-                enabled: true,
-                timestampMethod: "receiveTime",
-              },
-              {
-                // Test typing a period for decimal values.
-                value: "1.",
-                enabled: true,
-                timestampMethod: "receiveTime",
-              },
-              {
-                value: "1.5",
-                enabled: true,
-                timestampMethod: "receiveTime",
-              },
-              {
-                value: "1",
-                enabled: false,
-                timestampMethod: "receiveTime",
-              },
+              { value: "0", enabled: true, timestampMethod: "receiveTime" },
+              // Test typing a period for decimal values. value: "1.", enabled: true, timestampMethod: "receiveTime",
+              { value: "1.", enabled: true, timestampMethod: "receiveTime" },
+              { value: "1.5", enabled: true, timestampMethod: "receiveTime" },
+              { value: "1", enabled: false, timestampMethod: "receiveTime" },
             ],
             minYValue: "-1",
             maxYValue: "2",
@@ -432,13 +281,8 @@ storiesOf("<Plot>", module)
       <PanelSetup fixture={fixture}>
         <Plot
           config={{
-            paths: [
-              {
-                value: "/some_topic/location.pose.velocity",
-                enabled: true,
-                timestampMethod: "receiveTime",
-              },
-            ],
+            xAxisVal: "timestamp",
+            paths: [{ value: "/some_topic/location.pose.velocity", enabled: true, timestampMethod: "receiveTime" }],
             minYValue: "1",
             maxYValue: "2.8",
             showLegend: true,
@@ -452,13 +296,8 @@ storiesOf("<Plot>", module)
       <PanelSetup fixture={fixture}>
         <Plot
           config={{
-            paths: [
-              {
-                value: "/some_topic/location.pose.velocity",
-                enabled: true,
-                timestampMethod: "receiveTime",
-              },
-            ],
+            xAxisVal: "timestamp",
+            paths: [{ value: "/some_topic/location.pose.velocity", enabled: true, timestampMethod: "receiveTime" }],
             minYValue: "1",
             maxYValue: "",
             showLegend: true,
@@ -472,13 +311,8 @@ storiesOf("<Plot>", module)
       <PanelSetup fixture={fixture}>
         <Plot
           config={{
-            paths: [
-              {
-                value: "/some_topic/location.pose.velocity",
-                enabled: true,
-                timestampMethod: "receiveTime",
-              },
-            ],
+            xAxisVal: "timestamp",
+            paths: [{ value: "/some_topic/location.pose.velocity", enabled: true, timestampMethod: "receiveTime" }],
             minYValue: "1.4",
             maxYValue: "",
             showLegend: true,
@@ -492,13 +326,8 @@ storiesOf("<Plot>", module)
       <PanelSetup fixture={fixture}>
         <Plot
           config={{
-            paths: [
-              {
-                value: "/some_topic/location.pose.velocity",
-                enabled: true,
-                timestampMethod: "receiveTime",
-              },
-            ],
+            xAxisVal: "timestamp",
+            paths: [{ value: "/some_topic/location.pose.velocity", enabled: true, timestampMethod: "receiveTime" }],
             minYValue: "",
             maxYValue: "1.8",
             showLegend: true,
@@ -512,13 +341,8 @@ storiesOf("<Plot>", module)
       <PanelSetup fixture={fixture}>
         <Plot
           config={{
-            paths: [
-              {
-                value: "/some_topic/location.pose.velocity",
-                enabled: true,
-                timestampMethod: "receiveTime",
-              },
-            ],
+            xAxisVal: "timestamp",
+            paths: [{ value: "/some_topic/location.pose.velocity", enabled: true, timestampMethod: "receiveTime" }],
             minYValue: "",
             maxYValue: "2.8",
             showLegend: true,
@@ -534,27 +358,28 @@ storiesOf("<Plot>", module)
           config={{
             ...exampleConfig,
             paths: [
-              {
-                value: "/some_topic/state.items[:].speed",
-                enabled: true,
-                timestampMethod: "receiveTime",
-              },
-              {
-                value: "/some_topic/location.pose.velocity",
-                enabled: true,
-                timestampMethod: "receiveTime",
-              },
-              {
-                value: "3",
-                enabled: true,
-                timestampMethod: "receiveTime",
-              },
+              { value: "/some_topic/state.items[:].speed", enabled: true, timestampMethod: "receiveTime" },
+              { value: "/some_topic/location.pose.velocity", enabled: true, timestampMethod: "receiveTime" },
+              { value: "3", enabled: true, timestampMethod: "receiveTime" },
             ],
           }}
         />
       </PanelSetup>
     );
   })
+  .add("index-based x-axis for array", () => {
+    return (
+      <PanelSetup fixture={fixture}>
+        <Plot
+          config={{
+            ...exampleConfig,
+            xAxisVal: "index",
+            paths: [{ value: "/some_topic/state.items[:].speed", enabled: true, timestampMethod: "receiveTime" }],
+          }}
+        />
+      </PanelSetup>
+    );
+  })
   .add("super close values", () => {
     return (
       <PanelSetup
@@ -584,13 +409,7 @@ storiesOf("<Plot>", module)
         <Plot
           config={{
             ...exampleConfig,
-            paths: [
-              {
-                value: "/some_number.data",
-                enabled: true,
-                timestampMethod: "receiveTime",
-              },
-            ],
+            paths: [{ value: "/some_number.data", enabled: true, timestampMethod: "receiveTime" }],
           }}
         />
       </PanelSetup>
diff --git a/packages/webviz-core/src/panels/Rosout/LogMessage.module.scss b/packages/webviz-core/src/panels/Rosout/LogMessage.module.scss
index 5c364c10f..6a94d4a4f 100644
--- a/packages/webviz-core/src/panels/Rosout/LogMessage.module.scss
+++ b/packages/webviz-core/src/panels/Rosout/LogMessage.module.scss
@@ -10,6 +10,7 @@
   text-indent: -20px;
   padding-left: 20px;
   white-space: pre-wrap;
+  line-height: 1.2;
 }
 
 .fatal {
diff --git a/packages/webviz-core/src/panels/Rosout/index.js b/packages/webviz-core/src/panels/Rosout/index.js
index 198e6b157..01503329c 100644
--- a/packages/webviz-core/src/panels/Rosout/index.js
+++ b/packages/webviz-core/src/panels/Rosout/index.js
@@ -6,6 +6,7 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
+import ClipboardOutlineIcon from "@mdi/svg/svg/clipboard-outline.svg";
 import cx from "classnames";
 import React, { PureComponent } from "react";
 import { hot } from "react-hot-loader/root";
@@ -19,7 +20,8 @@ import LevelToString, { KNOWN_LOG_LEVELS } from "./LevelToString";
 import LogMessage from "./LogMessage";
 import logStyle from "./LogMessage.module.scss";
 import Flex from "webviz-core/src/components/Flex";
-import LargeList from "webviz-core/src/components/LargeList";
+import Icon from "webviz-core/src/components/Icon";
+import LogList from "webviz-core/src/components/LogList";
 import MessageHistory, {
   type MessageHistoryData,
   type MessageHistoryItem,
@@ -27,6 +29,7 @@ import MessageHistory, {
 import Panel from "webviz-core/src/components/Panel";
 import PanelToolbar from "webviz-core/src/components/PanelToolbar";
 import type { Message } from "webviz-core/src/players/types";
+import clipboard from "webviz-core/src/util/clipboard";
 
 // Remove creatable warning https://github.com/JedWatson/react-select/issues/2181
 class Creatable extends React.Component<{}, {}> {
@@ -81,17 +84,9 @@ export const getShouldDisplayMsg = (msg: Message, minLogLevel: number, searchTer
   return false;
 };
 
-type State = {
-  disableAutoScroll: boolean,
-};
-
-const DEFAULT_CONFIG = { searchTerms: [], minLogLevel: 1 };
-class RosoutPanel extends PureComponent<Props, State> {
-  static defaultConfig = DEFAULT_CONFIG;
+class RosoutPanel extends PureComponent<Props> {
+  static defaultConfig = { searchTerms: [], minLogLevel: 1 };
   static panelType = "RosOut";
-  _prevConfig: Config = DEFAULT_CONFIG;
-
-  state = { disableAutoScroll: false };
 
   _onNodeFilterChange = (selectedOptions: Option[]) => {
     this.props.saveConfig({ ...this.props.config, searchTerms: selectedOptions.map((option) => option.value) });
@@ -114,7 +109,7 @@ class RosoutPanel extends PureComponent<Props, State> {
     return items.filter(this._filterFn);
   }
 
-  _renderFiltersBar = (seenNodeNames: Set<string>) => {
+  _renderFiltersBar = (seenNodeNames: Set<string>, msgs: MessageHistoryItem[]) => {
     const { minLogLevel, searchTerms } = this.props.config;
     const nodeNameOptions = Array.from(seenNodeNames).map((name) => ({ label: name, value: name }));
 
@@ -155,12 +150,23 @@ class RosoutPanel extends PureComponent<Props, State> {
           selectComponent={Creatable}
           promptTextCreator={(label) => `Node names or msgs containing "${label}"`}
         />
+        <div className={styles.itemsCountField}>
+          {msgs.length} {msgs.length === 1 ? "item" : "items"}
+          <Icon
+            style={{ padding: "1px 0px 0px 6px" }}
+            onClick={() => {
+              clipboard.copy(JSON.stringify(msgs, null, 2));
+            }}
+            tooltip="Copy rosout to clipboard">
+            <ClipboardOutlineIcon />
+          </Icon>
+        </div>
       </div>
     );
   };
-  _renderRow({ item, style, key }) {
+  _renderRow({ item, style, key, index }) {
     return (
-      <div key={key} style={style}>
+      <div key={key} style={index === 0 ? { ...style, paddingTop: 36 } : style}>
         <LogMessage msg={item.message.message} />
       </div>
     );
@@ -168,37 +174,19 @@ class RosoutPanel extends PureComponent<Props, State> {
 
   render() {
     const seenNodeNames = new Set();
-    const { disableAutoScroll } = this.state;
-
     return (
       <MessageHistory paths={["/rosout"]} historySize={100000}>
-        {({ itemsByPath, cleared }: MessageHistoryData) => {
-          const msgs = itemsByPath["/rosout"];
+        {({ itemsByPath }: MessageHistoryData) => {
+          const msgs: MessageHistoryItem[] = itemsByPath["/rosout"];
           msgs.forEach((msg) => seenNodeNames.add(msg.message.message.name));
-          const configChanged = this._prevConfig !== this.props.config;
-          this._prevConfig = this.props.config;
 
           return (
-            <Flex className={styles.message} col>
+            <Flex col>
               <PanelToolbar floating helpContent={helpContent}>
-                {this._renderFiltersBar(seenNodeNames)}
+                {this._renderFiltersBar(seenNodeNames, msgs)}
               </PanelToolbar>
-              <div
-                className={styles.content}
-                onScroll={({ target }) => {
-                  const newDisableAutoScroll = target.scrollHeight - target.scrollTop > target.clientHeight;
-                  if (newDisableAutoScroll !== disableAutoScroll) {
-                    this.setState({ disableAutoScroll: newDisableAutoScroll });
-                  }
-                }}>
-                <LargeList
-                  disableScrollToBottom={disableAutoScroll}
-                  cleared={cleared || configChanged}
-                  items={this._getFilteredMessages(msgs)}
-                  renderRow={this._renderRow}
-                  copyButtonTooltip="Copy rosout to clipboard"
-                  enableCopying
-                />
+              <div className={styles.content}>
+                <LogList items={this._getFilteredMessages(msgs)} renderRow={this._renderRow} />
               </div>
             </Flex>
           );
diff --git a/packages/webviz-core/src/panels/Rosout/index.module.scss b/packages/webviz-core/src/panels/Rosout/index.module.scss
index c41c5323f..cdce6bef5 100644
--- a/packages/webviz-core/src/panels/Rosout/index.module.scss
+++ b/packages/webviz-core/src/panels/Rosout/index.module.scss
@@ -14,15 +14,11 @@ $option-font-size: $text-size;
   optionHeight: $option-height;
 }
 
-.message {
-  line-height: 1.2;
-  padding-top: 32px;
-}
-
 .content {
   @include monospace;
   flex: 1 1 auto;
   display: flex;
+  position: relative;
 }
 
 .filtersBar {
@@ -38,11 +34,21 @@ $option-font-size: $text-size;
   flex: 0 1 auto;
   min-width: 120px;
   margin-left: 10px;
+  width: unset !important;
 }
 
 .nodeFilter {
   flex: 2 1 auto;
   min-width: 200px;
+  width: unset !important;
+}
+
+.itemsCountField {
+  display: flex;
+  align-items: center;
+  border-radius: 4px;
+  color: rgba(255, 255, 255, 0.5);
+  padding: 0px 8px;
 }
 
 :global {
diff --git a/packages/webviz-core/src/panels/Rosout/index.stories.js b/packages/webviz-core/src/panels/Rosout/index.stories.js
index 2c249df5b..a735ed237 100644
--- a/packages/webviz-core/src/panels/Rosout/index.stories.js
+++ b/packages/webviz-core/src/panels/Rosout/index.stories.js
@@ -8,6 +8,7 @@
 
 import { storiesOf } from "@storybook/react";
 import React from "react";
+import TestUtils from "react-dom/test-utils";
 import { withScreenshot } from "storybook-chrome-screenshot";
 
 import Rosout from "webviz-core/src/panels/Rosout";
@@ -92,6 +93,21 @@ storiesOf("<RosoutPanel>", module)
       </PanelSetup>
     );
   })
+  .add("with toolbar active", () => {
+    return (
+      <PanelSetup
+        fixture={fixture}
+        onMount={(el) => {
+          const mouseEnterContainer = document.querySelectorAll("[data-test=panel-mouseenter-container")[0];
+          TestUtils.Simulate.mouseEnter(mouseEnterContainer);
+          setTimeout(() => {
+            document.querySelectorAll("[data-test=panel-settings]")[0].click();
+          });
+        }}>
+        <Rosout />
+      </PanelSetup>
+    );
+  })
   .add(`filtered terms: "multiple", "/some_topic"`, () => {
     return (
       <PanelSetup fixture={fixture}>
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/Layout.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/Layout.js
index 1013e5bf2..0448be092 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/Layout.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/Layout.js
@@ -101,11 +101,11 @@ type Props = {|
   transforms: Transforms,
 |};
 
-type SelectedObjectState = {
+type SelectedObjectState = {|
   clickedPosition: ClickedPosition,
   selectedObject: ?MouseEventObject, // to be set when clicked a single object or selected one of the clicked topics from the context menu
   selectedObjects: MouseEventObject[],
-};
+|};
 
 export type EditTopicState = { tooltipPosX: number, topic: Topic };
 
@@ -132,7 +132,7 @@ export default function Layout({
     expandedNodes,
     checkedNodes,
     flattenMarkers,
-    modifiedNamespaceTopics,
+    modifiedNamespaceTopics = [],
     pinTopics,
     selectedPolygonEditFormat = "yaml",
     showCrosshair,
@@ -476,7 +476,7 @@ export default function Layout({
           });
         },
         onSelectObject: (selectedObj: MouseEventObject) =>
-          setSelectedObjectState({ ...callbackInputsRef.current.selectedObjectState, selectedObj }),
+          setSelectedObjectState({ ...callbackInputsRef.current.selectedObjectState, selectedObject: selectedObj }),
         onSetPolygons: (polygons: Polygon[]) => setPolygonBuilder(new PolygonBuilder(polygons)),
         toggleDebug: () => setDebug(!callbackInputsRef.current.debug),
         toggleCameraMode: () => {
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder/index.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder/index.js
index a031df96d..cc451b500 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder/index.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder/index.js
@@ -5,7 +5,7 @@
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
-import { some } from "lodash";
+import { some, mapValues } from "lodash";
 import type { Time } from "rosbag";
 
 import { getGlobalHooks } from "webviz-core/src/loadWebviz";
@@ -60,6 +60,7 @@ type SceneErrorTopics = {
   topicsWithBadFrameIds: Set<string>,
 };
 
+type SelectedNamespacesByTopic = { [topicName: string]: string[] };
 // constructs a scene containing all objects to be rendered
 // by consuming visualization topics from frames
 export default class SceneBuilder implements MarkerProvider {
@@ -88,7 +89,9 @@ export default class SceneBuilder implements MarkerProvider {
   _topicSettings: TopicSettingsCollection = {};
 
   allNamespaces: Namespace[] = [];
+  // TODO(Audrey): remove enabledNamespaces once we release topic groups
   enabledNamespaces: Namespace[] = [];
+  selectedNamespacesByTopic: ?{ [topicName: string]: Set<string> };
   flatten: boolean = false;
   bounds: Bounds = new Bounds();
 
@@ -158,6 +161,10 @@ export default class SceneBuilder implements MarkerProvider {
     this.enabledNamespaces = namespaces;
   }
 
+  setSelectedNamespacesByTopic(selectedNamespacesByTopic: SelectedNamespacesByTopic) {
+    this.selectedNamespacesByTopic = mapValues(selectedNamespacesByTopic, (namespaces) => new Set(namespaces));
+  }
+
   setGlobalVariables = (globalVariables: any = {}) => {
     const { selectionState, topicsToRender } = getGlobalHooks()
       .perPanelHooks()
@@ -200,6 +207,13 @@ export default class SceneBuilder implements MarkerProvider {
 
   // Only public for tests.
   namespaceIsEnabled(topic: string, name: string) {
+    if (this.selectedNamespacesByTopic) {
+      // enable all namespaces under a topic if it's not already set
+      return (
+        (this.selectedNamespacesByTopic[topic] && this.selectedNamespacesByTopic[topic].has(name)) ||
+        this.selectedNamespacesByTopic[topic] == null
+      );
+    }
     return some(this.enabledNamespaces, (ns) => ns.topic === topic && ns.name === name);
   }
 
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/DataSourceBadge.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/DataSourceBadge.js
new file mode 100644
index 000000000..07b35bcda
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/DataSourceBadge.js
@@ -0,0 +1,61 @@
+// @flow
+//
+//  Copyright (c) 2019-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import React from "react";
+import styled from "styled-components";
+import tinycolor from "tinycolor2";
+
+import { colors } from "webviz-core/src/util/colors";
+
+const BADGE_STYLES = {
+  AVAILABLE_VISIBLE: {
+    backgroundColor: colors.GRAY,
+    color: colors.LIGHT,
+  },
+  AVAILABLE_HIDDEN: {
+    backgroundColor: tinycolor(colors.GRAY)
+      .darken(20)
+      .toString(),
+    color: tinycolor(colors.LIGHT)
+      .darken(20)
+      .toString(),
+  },
+};
+
+const SDataSourceBadge = styled.span`
+  display: inline-flex;
+  align-items: center;
+  justify-content: center;
+  font-weight: bold;
+  font-size: ${(props) => (props.isNamespace ? "9px" : "12px")};
+  border-radius: ${(props) => (props.isNamespace ? "9px" : "12px")};
+  width: ${(props) => (props.isNamespace ? "18px" : "24px")};
+  height: ${(props) => (props.isNamespace ? "18px" : "24px")};
+  margin-left: 4px;
+  color: ${colors.LIGHT};
+`;
+
+type Props = {| isNamespace?: boolean, badgeText: string, visible: boolean, available: boolean |};
+
+// Apply different UI for topic and namespace badges based on visibility and availability
+// TODO(Audrey): derive colors from settings and marker colors, apply hover UI
+function getBadgeStyle(visible: boolean, available: boolean): { [attr: string]: string | number } {
+  if (available) {
+    return visible ? BADGE_STYLES.AVAILABLE_VISIBLE : BADGE_STYLES.AVAILABLE_HIDDEN;
+  }
+  // hide any unavailable items
+  return { opacity: 0 };
+}
+
+export default function DataSourceBadge({ isNamespace, badgeText, visible, available }: Props) {
+  return (
+    <SDataSourceBadge isNamespace={isNamespace} style={getBadgeStyle(visible, available)}>
+      {badgeText}
+    </SDataSourceBadge>
+  );
+}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/ItemMap.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/ItemMap.js
deleted file mode 100644
index f96e0f54e..000000000
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/ItemMap.js
+++ /dev/null
@@ -1,24 +0,0 @@
-// @flow
-//
-//  Copyright (c) 2018-present, Cruise LLC
-//
-//  This source code is licensed under the Apache License, Version 2.0,
-//  found in the LICENSE file in the root directory of this source tree.
-//  You may not use this file except in compliance with the License.
-
-import React from "react";
-
-import { SDisplayName } from "./ItemRow";
-import type { MapItem } from "./types";
-
-type Props = {|
-  ...MapItem,
-|};
-
-export default function ItemMap({ displayName }: Props) {
-  return (
-    <div>
-      <SDisplayName>{displayName}</SDisplayName>
-    </div>
-  );
-}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/ItemRow.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/ItemRow.js
deleted file mode 100644
index 10034da67..000000000
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/ItemRow.js
+++ /dev/null
@@ -1,50 +0,0 @@
-// @flow
-//
-//  Copyright (c) 2018-present, Cruise LLC
-//
-//  This source code is licensed under the Apache License, Version 2.0,
-//  found in the LICENSE file in the root directory of this source tree.
-//  You may not use this file except in compliance with the License.
-
-import React from "react";
-import styled from "styled-components";
-
-import { ITEM_TYPES } from "./constants";
-import ItemMap from "./ItemMap";
-import ItemTf from "./ItemTf";
-import ItemTopic from "./ItemTopic";
-import type { TopicRowItem } from "./types";
-import { colors } from "webviz-core/src/util/colors";
-
-const SItemRow = styled.div`
-  padding: 8px;
-  &:hover {
-    cursor: pointer;
-    background-color: ${colors.HOVER_BACKGROUND_COLOR};
-  }
-`;
-
-export const SDisplayName = styled.div`
-  color: ${colors.LIGHT};
-  font-size: 14px;
-  margin-bottom: 4px;
-`;
-
-export const SName = styled.div`
-  color: ${colors.LIGHT2};
-  font-size: 10px;
-`;
-
-type Props = {
-  item: TopicRowItem,
-};
-
-export default function ItemRow({ item }: Props) {
-  return (
-    <SItemRow>
-      {item.type === ITEM_TYPES.TOPIC && <ItemTopic {...item} />}
-      {item.type === ITEM_TYPES.MAP && <ItemMap {...item} />}
-      {item.type === ITEM_TYPES.TF && <ItemTf {...item} />}
-    </SItemRow>
-  );
-}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/ItemTf.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/ItemTf.js
deleted file mode 100644
index a69a45cfa..000000000
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/ItemTf.js
+++ /dev/null
@@ -1,24 +0,0 @@
-// @flow
-//
-//  Copyright (c) 2018-present, Cruise LLC
-//
-//  This source code is licensed under the Apache License, Version 2.0,
-//  found in the LICENSE file in the root directory of this source tree.
-//  You may not use this file except in compliance with the License.
-
-import React from "react";
-
-import { SDisplayName } from "./ItemRow";
-import type { TfItem } from "./types";
-
-type Props = {|
-  ...TfItem,
-|};
-
-export default function ItemTf({ displayName }: Props) {
-  return (
-    <div>
-      <SDisplayName>{displayName}</SDisplayName>
-    </div>
-  );
-}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/ItemTopic.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/ItemTopic.js
deleted file mode 100644
index 67f9d0bf6..000000000
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/ItemTopic.js
+++ /dev/null
@@ -1,25 +0,0 @@
-// @flow
-//
-//  Copyright (c) 2018-present, Cruise LLC
-//
-//  This source code is licensed under the Apache License, Version 2.0,
-//  found in the LICENSE file in the root directory of this source tree.
-//  You may not use this file except in compliance with the License.
-
-import React from "react";
-
-import { SDisplayName, SName } from "./ItemRow";
-import type { TopicItem } from "./types";
-
-type Props = {|
-  ...TopicItem,
-|};
-
-export default function ItemTopic({ topicName, displayName }: Props) {
-  return (
-    <div>
-      <SDisplayName>{displayName}</SDisplayName>
-      {topicName !== displayName && <SName>{topicName}</SName>}
-    </div>
-  );
-}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/LayoutForTopicGroups.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/LayoutForTopicGroups.js
index 5fbb543d1..307d394a5 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/LayoutForTopicGroups.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/LayoutForTopicGroups.js
@@ -8,7 +8,6 @@
 
 import CheckboxBlankOutlineIcon from "@mdi/svg/svg/checkbox-blank-outline.svg";
 import CheckboxMarkedIcon from "@mdi/svg/svg/checkbox-marked.svg";
-import { difference, isEqual } from "lodash";
 import React, {
   type Node,
   useMemo,
@@ -40,26 +39,23 @@ import useDataSourceInfo from "webviz-core/src/PanelAPI/useDataSourceInfo";
 import DebugStats from "webviz-core/src/panels/ThreeDimensionalViz/DebugStats";
 import { POLYGON_TAB_TYPE, type DrawingTabType } from "webviz-core/src/panels/ThreeDimensionalViz/DrawingTools";
 import MeasuringTool, { type MeasureInfo } from "webviz-core/src/panels/ThreeDimensionalViz/DrawingTools/MeasuringTool";
-import type { ThreeDimensionalVizConfig } from "webviz-core/src/panels/ThreeDimensionalViz/index";
+import { type Save3DConfig, type ThreeDimensionalVizConfig } from "webviz-core/src/panels/ThreeDimensionalViz/index";
 import { InteractionContextMenu } from "webviz-core/src/panels/ThreeDimensionalViz/Interactions";
 import useLinkedGlobalVariables from "webviz-core/src/panels/ThreeDimensionalViz/Interactions/useLinkedGlobalVariables";
 import styles from "webviz-core/src/panels/ThreeDimensionalViz/Layout.module.scss";
 import LayoutToolbar from "webviz-core/src/panels/ThreeDimensionalViz/LayoutToolbar";
-import LayoutTopicSettings from "webviz-core/src/panels/ThreeDimensionalViz/LayoutTopicSettings";
 import SceneBuilder from "webviz-core/src/panels/ThreeDimensionalViz/SceneBuilder";
 import { getUpdatedGlobalVariablesBySelectedObject } from "webviz-core/src/panels/ThreeDimensionalViz/threeDimensionalVizUtils";
-import TopicSelector from "webviz-core/src/panels/ThreeDimensionalViz/TopicSelector";
+import TopicGroups from "webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroups";
+import { migratePanelConfigToTopicGroupConfig } from "webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsMigrations";
+import { getSelectionsFromTopicGroupConfig } from "webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsUtils";
 import { TOPIC_DISPLAY_MODES } from "webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicDisplayModeSelector";
-import treeBuilder from "webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/treeBuilder";
-import { canEditDatatype } from "webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor";
-import { getTopicConfig } from "webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils";
 import Transforms from "webviz-core/src/panels/ThreeDimensionalViz/Transforms";
 import TransformsBuilder from "webviz-core/src/panels/ThreeDimensionalViz/TransformsBuilder";
 import World from "webviz-core/src/panels/ThreeDimensionalViz/World";
 import type { Frame, Topic } from "webviz-core/src/players/types";
 import type { Extensions } from "webviz-core/src/reducers/extensions";
 import inScreenshotTests from "webviz-core/src/stories/inScreenshotTests";
-import type { SaveConfig } from "webviz-core/src/types/panels";
 import { videoRecordingMode } from "webviz-core/src/util/inAutomatedRunMode";
 import { topicsByTopicName } from "webviz-core/src/util/selectors";
 
@@ -73,7 +69,7 @@ export type LayoutToolbarSharedProps = {|
   onAlignXYAxis: () => void,
   onCameraStateChange: (CameraState) => void,
   onFollowChange: (followTf?: string | false, followOrientation?: boolean) => void,
-  saveConfig: SaveConfig<ThreeDimensionalVizConfig>,
+  saveConfig: Save3DConfig,
   transforms: Transforms,
   isPlaying?: boolean,
 |};
@@ -81,7 +77,7 @@ export type LayoutToolbarSharedProps = {|
 export type LayoutTopicSettingsSharedProps = {|
   transforms: Transforms,
   topics: Topic[],
-  saveConfig: SaveConfig<ThreeDimensionalVizConfig>,
+  saveConfig: Save3DConfig,
 |};
 
 type Props = {|
@@ -95,7 +91,7 @@ type Props = {|
   helpContent: Node | string,
   isPlaying?: boolean,
   config: ThreeDimensionalVizConfig,
-  saveConfig: SaveConfig<ThreeDimensionalVizConfig>,
+  saveConfig: Save3DConfig,
   setSubscriptions: (subscriptions: string[]) => void,
   topics: Topic[],
   transforms: Transforms,
@@ -127,6 +123,7 @@ export default function LayoutForTopicGroups({
   topics,
   transforms,
   setSubscriptions,
+  config,
   config: {
     autoTextBackgroundColor,
     expandedNodes,
@@ -138,78 +135,40 @@ export default function LayoutForTopicGroups({
     showCrosshair,
     topicDisplayMode = TOPIC_DISPLAY_MODES.SHOW_TREE.value,
     topicSettings,
+    topicGroups,
   },
 }: Props) {
-  // toggle visibility on topics by temporarily storing a list of hidden topics on the state
-  const [hiddenTopics, setHiddenTopics] = useState([]);
-
-  const { topicConfig, newCheckedNodes } = useMemo(
-    () =>
-      getTopicConfig({
-        checkedNodes,
-        topicDisplayMode,
-        topics,
-        // $FlowFixMe
-        supportedMarkerDatatypes: Object.values(
-          getGlobalHooks().perPanelHooks().ThreeDimensionalViz.SUPPORTED_MARKER_DATATYPES
-        ),
-      }),
-    [checkedNodes, topicDisplayMode, topics]
-  );
-
-  // update open source checked nodes
-  useLayoutEffect(
-    () => {
-      const isOpenSource = checkedNodes.length === 1 && checkedNodes[0] === "name:Topics" && topics.length;
-      if (isOpenSource) {
-        saveConfig(
-          { checkedNodes: isOpenSource ? checkedNodes.concat(topics.map((t) => t.name)) : checkedNodes },
-          { keepLayoutInUrl: true }
-        );
-      }
-    },
-    [checkedNodes, saveConfig, topics]
-  );
-
-  useLayoutEffect(
-    () => {
-      if (!isEqual(checkedNodes.sort(), newCheckedNodes.sort())) {
-        saveConfig({ checkedNodes: newCheckedNodes });
-      }
-    },
-    [checkedNodes, newCheckedNodes, saveConfig]
-  );
-
   const { linkedGlobalVariables } = useLinkedGlobalVariables();
   const { globalVariables, setGlobalVariables } = useGlobalVariables();
   const [debug, setDebug] = useState(false);
-  const [editTopicState, setEditTopicState] = useState<?EditTopicState>(null);
   const [polygonBuilder, setPolygonBuilder] = useState(() => new PolygonBuilder());
-  // use hideTopicTreeCount to trigger auto hide topic tree when clicked outside of the topic tree
-  const [hideTopicTreeCount, setHideTopicTreeCount] = useState(0);
-  // debounced filterText which will trigger auto creation of a new topic tree
-  const [filterText, setFilterText] = useState("");
   const [measureInfo, setMeasureInfo] = useState<MeasureInfo>({
     measureState: "idle",
     measurePoints: { start: null, end: null },
   });
 
+  useEffect(
+    () => {
+      // Always migrate the current config to topicGroup and save to panelConfig.
+      // This is only temporary until we do the full migration before release.
+      // TODO(Audrey): move the migration logic upstream
+      const migratedTopicGroupConfig = migratePanelConfigToTopicGroupConfig({
+        checkedNodes,
+        topicSettings,
+        modifiedNamespaceTopics,
+      });
+      saveConfig({ topicGroups: [migratedTopicGroupConfig] });
+    },
+    // eslint-disable-next-line react-hooks/exhaustive-deps, only need to migrate and save once
+    []
+  );
+
   const [_, forceUpdate] = useReducer((x) => x + 1, 0); // used for updating DrawPolygon during mouse move
-  const wrapperRef = useRef<?HTMLDivElement>(null);
   const measuringElRef = useRef<?MeasuringTool>(null);
   const [drawingTabType, setDrawingTabType] = useState<?DrawingTabType>(null);
   const [selectedObjectState, setSelectedObjectState] = useState<?SelectedObjectState>(null);
   const selectedObject = selectedObjectState && selectedObjectState.selectedObject;
 
-  // If topic settings are changing rapidly, such as when dragging a slider or color picker,
-  // the topicSettings will change, but we don't want to rebuild the tree each time so we
-  // check for shallow equality on the list of edited topics.
-  const editedTopics = useShallowMemo(
-    useMemo(() => Object.keys(topicSettings).filter((settingKey) => Object.keys(topicSettings[settingKey]).length), [
-      topicSettings,
-    ])
-  );
-
   useLayoutEffect(
     () => {
       if (!selectedObject) {
@@ -232,41 +191,15 @@ export default function LayoutForTopicGroups({
     }),
     []
   );
-  const defaultTree = useMemo(
-    () =>
-      treeBuilder({
-        checkedNodes,
-        expandedNodes: [],
-        modifiedNamespaceTopics: [],
-        namespaces: [],
-        topics,
-        transforms: transforms.values(),
-        topicDisplayMode,
-        topicConfig,
-      }),
-    //eslint-disable-next-line react-hooks/exhaustive-deps, only need to build once
-    []
+
+  const { selectedTopicNames, selectedNamespacesByTopic, selectedTopicSettingsByTopic } = useMemo(
+    () => getSelectionsFromTopicGroupConfig(topicGroups || []),
+    [topicGroups]
   );
-  const topicTreeRef = useRef(defaultTree);
-  // sceneBuilder relies on topic tree selection; topic tree selection also relies on sceneBuilder namespaces.
-  // useLayoutEffect will update the topic tree and selections, which in turn re-triggers rendering of the topic tree.
-  const [selections, setSelections] = useState(() => topicTreeRef.current.getSelections());
 
   // update subscriptions whenever selected topics change, use deep compare to prevent updating when expanding/collapsing topics
-  const memoizedSelectedTopics = useShallowMemo(selections.topics);
+  const memoizedSelectedTopics = useShallowMemo(selectedTopicNames);
   useEffect(() => setSubscriptions(memoizedSelectedTopics), [memoizedSelectedTopics, setSubscriptions]);
-
-  // use the selection to decide which topics to render in SceneBuilder
-  const checkedVisibleTopicNames = useMemo(() => difference(memoizedSelectedTopics, hiddenTopics), [
-    hiddenTopics,
-    memoizedSelectedTopics,
-  ]);
-
-  // Use isEqual compare to update only when the extensions actually changed: the topic selector emits a new list of extensions
-  // every time someone expands/collapses a node or types in the selection box...so if we don't check for
-  // item equality here we end up re-rendering the map significantly more than we need to.
-  const memoizedExtensions = useShallowMemo(selections.extensions);
-
   const { playerId } = useDataSourceInfo();
 
   useMemo(
@@ -285,15 +218,14 @@ export default function LayoutForTopicGroups({
       sceneBuilder.setPlayerId(playerId);
       sceneBuilder.setTransforms(transforms, rootTfID);
       sceneBuilder.setFlattenMarkers(!!flattenMarkers);
-      // toggle scene builder namespaces based on selected namespace nodes in the tree
-      sceneBuilder.setEnabledNamespaces(selections.namespaces);
-      sceneBuilder.setTopicSettings(topicSettings);
+      sceneBuilder.setSelectedNamespacesByTopic(selectedNamespacesByTopic);
+      sceneBuilder.setTopicSettings(selectedTopicSettingsByTopic);
 
-      // toggle scene builder topics based on selected topic nodes in the tree
+      // toggle scene builder topics based on visible topic nodes in the tree
       const topicsByName = topicsByTopicName(topics);
-      const checkedVisibleTopics = filterMap(checkedVisibleTopicNames, (name) => topicsByName[name]);
+      const selectedTopics = filterMap(selectedTopicNames, (name) => topicsByName[name]);
+      sceneBuilder.setTopics(selectedTopics);
 
-      sceneBuilder.setTopics(checkedVisibleTopics);
       sceneBuilder.setGlobalVariables(globalVariables);
       sceneBuilder.setFrame(frame);
       sceneBuilder.setCurrentTime(currentTime);
@@ -301,59 +233,23 @@ export default function LayoutForTopicGroups({
 
       // update the transforms and set the selected ones to render
       transformsBuilder.setTransforms(transforms, rootTfID);
-      const tfSelections = memoizedExtensions.filter((ex) => ex.startsWith("TF")).map((ex) => ex.substr("TF.".length));
-      transformsBuilder.setSelectedTransforms(tfSelections);
+      transformsBuilder.setSelectedTransforms(selectedNamespacesByTopic["/tf"] || []);
     },
     [
       cleared,
-      frame,
-      transforms,
+      currentTime,
+      flattenMarkers,
       followTf,
-      sceneBuilder,
+      frame,
+      globalVariables,
       playerId,
-      flattenMarkers,
-      selections.namespaces,
-      topicSettings,
+      sceneBuilder,
+      selectedNamespacesByTopic,
+      selectedTopicNames,
+      selectedTopicSettingsByTopic,
       topics,
-      checkedVisibleTopicNames,
-      globalVariables,
-      currentTime,
+      transforms,
       transformsBuilder,
-      memoizedExtensions,
-    ]
-  );
-
-  const transformCount = transforms.values().length;
-  useEffect(
-    () => {
-      topicTreeRef.current = treeBuilder({
-        topics,
-        namespaces: sceneBuilder.allNamespaces,
-        checkedNodes,
-        expandedNodes,
-        modifiedNamespaceTopics,
-        transforms: transforms.values(),
-        editedTopics,
-        canEditDatatype,
-        filterText,
-        topicDisplayMode,
-        topicConfig,
-      });
-      // trigger another render
-      setSelections(topicTreeRef.current.getSelections());
-    },
-    // eslint-disable-next-line react-hooks/exhaustive-deps, instead of trigger change on transforms, we need to use transforms.values().length
-    [
-      checkedNodes,
-      editedTopics,
-      expandedNodes,
-      filterText,
-      modifiedNamespaceTopics,
-      sceneBuilder.allNamespaces,
-      topics,
-      transformCount,
-      topicConfig,
-      topicDisplayMode,
     ]
   );
 
@@ -370,22 +266,18 @@ export default function LayoutForTopicGroups({
     cameraState,
     debug,
     drawingTabType,
-    editTopicState,
     handleDrawPolygons,
     saveConfig,
     selectedObjectState,
-    hideTopicTreeCount,
     topics,
   });
   callbackInputsRef.current = {
     cameraState,
     debug,
     drawingTabType,
-    editTopicState,
     handleDrawPolygons,
     saveConfig,
     selectedObjectState,
-    hideTopicTreeCount,
     topics,
   };
 
@@ -414,8 +306,6 @@ export default function LayoutForTopicGroups({
     onMouseMove,
     onMouseUp,
     onClearSelectedObject,
-    onControlsOverlayClick,
-    onEditClick,
     onSelectObject,
     onSetPolygons,
     toggleCameraMode,
@@ -436,47 +326,13 @@ export default function LayoutForTopicGroups({
             setSelectedObjectState({ selectedObject: null, selectedObjects, clickedPosition });
           }
         },
-        onControlsOverlayClick: (ev: SyntheticMouseEvent<HTMLDivElement>) => {
-          if (!wrapperRef.current) {
-            return;
-          }
-          const target = ((ev.target: any): HTMLElement);
-          //only close if the click target is inside the panel, e.g. don't close when dropdown menus rendered in portals are clicked
-          if (wrapperRef.current.contains(target)) {
-            setHideTopicTreeCount((callbackInputsRef.current.hideTopicTreeCount + 1) % 100);
-          }
-        },
         onDoubleClick: (ev: MouseEvent, args: ?ReglClickInfo) => handleEvent("onDoubleClick", ev, args),
         onMouseDown: (ev: MouseEvent, args: ?ReglClickInfo) => handleEvent("onMouseDown", ev, args),
         onMouseMove: (ev: MouseEvent, args: ?ReglClickInfo) => handleEvent("onMouseMove", ev, args),
         onMouseUp: (ev: MouseEvent, args: ?ReglClickInfo) => handleEvent("onMouseUp", ev, args),
         onClearSelectedObject: () => setSelectedObjectState(null),
-        // clicking on the body should hide any edit tip
-        onEditClick: (ev: SyntheticMouseEvent<HTMLElement>, topic: string) => {
-          const { editTopicState: currentEditTopicState, topics: currentTopics } = callbackInputsRef.current;
-          // if the same icon is clicked again, close the popup
-          const existingEditTopic = (currentEditTopicState && currentEditTopicState.topic.name) || undefined;
-          if (topic === existingEditTopic) {
-            setEditTopicState(null);
-            return;
-          }
-
-          if (!wrapperRef.current) {
-            return;
-          }
-          const panelRect = wrapperRef.current.getBoundingClientRect();
-          const editBtnRect = ev.currentTarget.getBoundingClientRect();
-          const newEditTopic = currentTopics.find((t) => t.name === topic);
-          if (!newEditTopic) {
-            return;
-          }
-          setEditTopicState({
-            tooltipPosX: Math.ceil(editBtnRect.right - panelRect.left + 5),
-            topic: newEditTopic,
-          });
-        },
         onSelectObject: (selectedObj: MouseEventObject) =>
-          setSelectedObjectState({ ...callbackInputsRef.current.selectedObjectState, selectedObj }),
+          setSelectedObjectState({ ...callbackInputsRef.current.selectedObjectState, selectedObject: selectedObj }),
         onSetPolygons: (polygons: Polygon[]) => setPolygonBuilder(new PolygonBuilder(polygons)),
         toggleDebug: () => setDebug(!callbackInputsRef.current.debug),
         toggleCameraMode: () => {
@@ -530,21 +386,24 @@ export default function LayoutForTopicGroups({
   );
 
   const memoizedScene = useShallowMemo(sceneBuilder.getScene());
+  const mapNamespaces = useShallowMemo(selectedNamespacesByTopic["/metadata"] || []);
   const mapElement = useMemo(
     () =>
       MapComponent && (
         <MapComponent
-          extensions={memoizedExtensions}
+          extensions={mapNamespaces}
           scene={memoizedScene}
           debug={debug}
           perspective={!!cameraState.perspective}
         />
       ),
-    [MapComponent, cameraState.perspective, debug, memoizedExtensions, memoizedScene]
+    [MapComponent, cameraState.perspective, debug, mapNamespaces, memoizedScene]
   );
 
+  const availableTfs = useShallowMemo(transforms.values().map(({ id }) => id));
+
   return (
-    <div className={styles.container} ref={wrapperRef} style={{ cursor: cursorType }} onClick={onControlsOverlayClick}>
+    <div className={styles.container} style={{ cursor: cursorType }}>
       <KeyListener keyDownHandlers={keyDownHandlers} />
       <PanelToolbar
         floating
@@ -559,32 +418,13 @@ export default function LayoutForTopicGroups({
         }
       />
       <div style={videoRecordingStyle}>
-        <TopicSelector
-          autoTextBackgroundColor={!!autoTextBackgroundColor}
-          checkedNodes={checkedNodes}
-          editedTopics={editedTopics}
-          expandedNodes={expandedNodes}
-          hideTopicTreeCount={hideTopicTreeCount}
-          modifiedNamespaceTopics={modifiedNamespaceTopics}
-          namespaces={sceneBuilder.allNamespaces}
-          onEditClick={onEditClick}
-          onTopicSearchChange={setFilterText}
+        <TopicGroups
+          allNamespaces={sceneBuilder.allNamespaces}
+          availableTfs={availableTfs}
+          availableTopics={topics}
           pinTopics={pinTopics}
           saveConfig={saveConfig}
-          sceneErrors={sceneBuilder.errors}
-          tree={topicTreeRef.current}
-          topicDisplayMode={topicDisplayMode}
-          hiddenTopics={hiddenTopics}
-          setHiddenTopics={setHiddenTopics}
-        />
-        <LayoutTopicSettings
-          saveConfig={saveConfig}
-          topics={topics}
-          transforms={transforms}
-          sceneBuilder={sceneBuilder}
-          topicSettings={topicSettings}
-          setEditTopicState={setEditTopicState}
-          editTopicState={editTopicState}
+          topicGroupsConfig={topicGroups || []}
         />
       </div>
       <div className={styles.world}>
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/Namespaces.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/Namespaces.js
new file mode 100644
index 000000000..b9f13e9b8
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/Namespaces.js
@@ -0,0 +1,49 @@
+// @flow
+//
+//  Copyright (c) 2019-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import React from "react";
+import styled from "styled-components";
+
+import DataSourceBadge from "./DataSourceBadge";
+import type { NamespaceItem } from "./types";
+
+const SNamespacesBySource = styled.div`
+  padding-top: 8px;
+`;
+
+const SNamespaceItem = styled.div`
+  margin-bottom: 4px;
+  display: flex;
+  justify-content: space-between;
+`;
+
+const SName = styled.div`
+  font-size: 12px;
+`;
+
+type Props = {|
+  topicName: string,
+  namespaceItems: NamespaceItem[],
+|};
+
+export default function Namespaces({ topicName, namespaceItems }: Props) {
+  return (
+    <SNamespacesBySource>
+      {namespaceItems.map(({ name, displayVisibilityBySource }) => (
+        <SNamespaceItem key={name}>
+          <SName>{name}</SName>
+          <span>
+            {Object.keys(displayVisibilityBySource).map((key) => (
+              <DataSourceBadge key={key} {...displayVisibilityBySource[key]} isNamespace />
+            ))}
+          </span>
+        </SNamespaceItem>
+      ))}
+    </SNamespacesBySource>
+  );
+}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroup.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroup.js
index 7498073c7..a59d41019 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroup.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroup.js
@@ -9,7 +9,7 @@
 import React from "react";
 import styled from "styled-components";
 
-import ItemRow from "./ItemRow";
+import TopicItemRow from "./TopicItemRow";
 import type { TopicGroupType } from "./types";
 import { colors } from "webviz-core/src/util/colors";
 
@@ -30,11 +30,17 @@ const STopicGroupName = styled.div`
   flex: 1;
 `;
 
-type Props = {
+type Props = {|
   topicGroup: TopicGroupType,
-};
+|};
 
-export default function TopicGroup({ topicGroup: { displayName, expanded, items } }: Props) {
+export default function TopicGroup({
+  topicGroup: {
+    displayName,
+    expanded,
+    derivedFields: { items },
+  },
+}: Props) {
   return (
     <STopicGroup>
       <STopicGroupHeader>
@@ -44,7 +50,7 @@ export default function TopicGroup({ topicGroup: { displayName, expanded, items
         <STopicGroupBody>
           {!items.length && <div>There are no items in this group. Add one</div>}
           {items.map((item) => (
-            <ItemRow item={item} key={item.id} />
+            <TopicItemRow item={item} key={item.derivedFields.id} />
           ))}
         </STopicGroupBody>
       )}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroups.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroups.js
index 5124d50a8..8b0995a6b 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroups.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroups.js
@@ -6,18 +6,42 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import React from "react";
+import LayersIcon from "@mdi/svg/svg/layers.svg";
+import PinIcon from "@mdi/svg/svg/pin.svg";
+import React, { useState, useCallback, useMemo } from "react";
 import styled from "styled-components";
 
+import { type Save3DConfig } from "../index";
 import TopicGroup from "./TopicGroup";
-import type { TopicGroupsType } from "./types";
+import {
+  getTopicGroups,
+  buildItemDisplayNameByTopicOrExtension,
+  buildAvailableNamespacesByTopic,
+  TOPIC_CONFIG,
+} from "./topicGroupsUtils";
+import type { TopicGroupConfig } from "./types";
+import ChildToggle from "webviz-core/src/components/ChildToggle";
+import Icon from "webviz-core/src/components/Icon";
+import { type Topic } from "webviz-core/src/players/types";
+import type { Namespace } from "webviz-core/src/types/Messages";
 import { colors } from "webviz-core/src/util/colors";
 
+const STopicGroupsContainer = styled.div`
+  position: absolute;
+  top: 15px;
+  left: 15px;
+  bottom: 15px;
+  z-index: 102;
+`;
+
 const STopicGroups = styled.div`
   color: ${colors.TEXTL1};
   border-radius: 8px;
-  padding-top: 8px;
   background-color: ${colors.TOOLBAR};
+  overflow: auto;
+  max-width: 400px;
+  max-height: 90%;
+  pointer-events: all;
 `;
 
 const SMutedText = styled.div`
@@ -26,20 +50,119 @@ const SMutedText = styled.div`
   margin: 8px 12px;
 `;
 
-type Props = {
-  topicGroups: TopicGroupsType,
-};
+const STopicGroupsHeader = styled.div`
+  display: flex;
+  padding: 8px;
+  align-items: center;
+  background-color: ${colors.DARK5};
+`;
+const SFilter = styled.div`
+  display: flex;
+  flex: 1;
+`;
+
+type BaseProps = {|
+  topicGroupsConfig: TopicGroupConfig[],
+  namespacesByTopic: { [topicName: string]: string[] },
+  displayNameByTopic: { [topicName: string]: string },
+  availableTopics: Topic[],
+  pinTopics: boolean,
+  saveConfig: Save3DConfig,
+|};
+type Props = {|
+  topicGroupsConfig: TopicGroupConfig[],
+  availableTopics: Topic[],
+  pinTopics: boolean,
+  saveConfig: Save3DConfig,
+  availableTfs: string[],
+  allNamespaces: Namespace[],
+|};
+
+/**
+ * TODO(Audrey):
+ * - topic visibility toggle
+ * - group visibility toggle
+ * - config migration
+ * - filter with debounce
+ * - edit topic settings
+ */
+export function TopicGroupsBase({
+  topicGroupsConfig,
+  displayNameByTopic = {},
+  namespacesByTopic = {},
+  availableTopics = [],
+  pinTopics,
+  saveConfig,
+}: BaseProps) {
+  const [isOpen, setIsOpen] = useState(pinTopics);
+
+  const toggleIsOpen = useCallback(() => setIsOpen(!isOpen), [isOpen]);
+  const togglePinTopics = useCallback(() => saveConfig({ pinTopics: !pinTopics }), [pinTopics, saveConfig]);
+
+  const topicGroups = getTopicGroups(topicGroupsConfig, {
+    displayNameByTopic,
+    namespacesByTopic,
+    availableTopics,
+  });
+
+  return (
+    <STopicGroupsContainer>
+      <ChildToggle position="below" isOpen={isOpen || pinTopics} onToggle={toggleIsOpen} dataTest="open-topic-picker">
+        <Icon tooltip="Topic Picker" medium fade active={isOpen} style={{ color: "white" }}>
+          <LayersIcon />
+        </Icon>
+        <STopicGroups>
+          <STopicGroupsHeader>
+            <SFilter>{/* TODO(Audrey) */}</SFilter>
+            <Icon
+              tooltip={pinTopics ? "Unpin Topic Picker" : "Pin Topic Picker"}
+              small
+              fade
+              active={pinTopics}
+              onClick={togglePinTopics}
+              style={{ color: pinTopics ? colors.HIGHLIGHT : colors.LIGHT }}>
+              <PinIcon />
+            </Icon>
+          </STopicGroupsHeader>
+          <SMutedText>
+            Topic Group Management is an experimental feature under active development. You can use the existing topic
+            tree by selecting <b>Always off</b> in the Experimental Features menu.
+          </SMutedText>
+          {topicGroups.map((topicGroup) => (
+            <TopicGroup key={topicGroup.derivedFields.id} topicGroup={topicGroup} />
+          ))}
+        </STopicGroups>
+      </ChildToggle>
+    </STopicGroupsContainer>
+  );
+}
+
+// Use the wrapper component to handle top level data processing
+export default function TopicGroups({ allNamespaces, availableTfs, ...rest }: Props) {
+  const { configDisplayNameByTopic, configNamespacesByTopic } = useMemo(() => {
+    return {
+      configDisplayNameByTopic: buildItemDisplayNameByTopicOrExtension(TOPIC_CONFIG),
+      configNamespacesByTopic: buildAvailableNamespacesByTopic(TOPIC_CONFIG),
+    };
+  }, []);
+
+  const namespacesByTopic = useMemo(
+    () => {
+      const dataSourceNamespacesByTopic = allNamespaces.reduce((memo, { name, topic }) => {
+        memo[topic] = memo[topic] || [];
+        memo[topic].push(name);
+        return memo;
+      }, {});
+      return {
+        ...dataSourceNamespacesByTopic,
+        ...configNamespacesByTopic,
+        ...(availableTfs.length ? { "/tf": availableTfs } : undefined),
+      };
+    },
+    [allNamespaces, availableTfs, configNamespacesByTopic]
+  );
 
-export default function TopicGroups({ topicGroups }: Props) {
   return (
-    <STopicGroups>
-      <SMutedText>
-        Topic Group Management is an experimental feature under active development. You can use the existing topic tree
-        by setting <b>Always off</b> from the Experimental Features menu.
-      </SMutedText>
-      {topicGroups.map((topicGroup) => (
-        <TopicGroup key={topicGroup.id} topicGroup={topicGroup} />
-      ))}
-    </STopicGroups>
+    <TopicGroupsBase displayNameByTopic={configDisplayNameByTopic} namespacesByTopic={namespacesByTopic} {...rest} />
   );
 }
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicItemRow.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicItemRow.js
new file mode 100644
index 000000000..33c2ed0af
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicItemRow.js
@@ -0,0 +1,82 @@
+// @flow
+//
+//  Copyright (c) 2018-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import React from "react";
+import styled from "styled-components";
+
+import DataSourceBadge from "./DataSourceBadge";
+import Namespaces from "./Namespaces";
+import type { TopicItem } from "./types";
+import { colors } from "webviz-core/src/util/colors";
+
+const SItemRow = styled.div`
+  padding: 8px;
+  transition: 0.3s;
+  &:hover {
+    cursor: pointer;
+    background-color: ${colors.HOVER_BACKGROUND_COLOR};
+  }
+`;
+
+const SItemMain = styled.div`
+  display: flex;
+`;
+
+const SItemMainLeft = styled.div`
+  color: ${colors.LIGHT2};
+  font-size: 10px;
+  flex: 1;
+`;
+
+const SItemMainRight = styled.div`
+  min-width: 84px;
+  display: inline-flex;
+  align-items: center;
+  justify-content: flex-end;
+`;
+
+export const SDisplayName = styled.div`
+  color: ${colors.LIGHT};
+  font-size: 14px;
+  margin-bottom: 4px;
+  word-break: break-word;
+`;
+
+export const SName = styled.div`
+  color: ${colors.LIGHT2};
+  font-size: 10px;
+  word-break: break-word;
+`;
+
+type Props = {|
+  item: TopicItem,
+|};
+
+export default function TopicItemRow({
+  item: {
+    topicName,
+    derivedFields: { displayName, namespaceItems, displayVisibilityBySource },
+  },
+}: Props) {
+  return (
+    <SItemRow>
+      <SItemMain>
+        <SItemMainLeft>
+          <SDisplayName>{displayName}</SDisplayName>
+          {topicName !== displayName && <SName>{topicName}</SName>}
+        </SItemMainLeft>
+        <SItemMainRight>
+          {Object.keys(displayVisibilityBySource).map((key) => (
+            <DataSourceBadge key={key} {...displayVisibilityBySource[key]} />
+          ))}
+        </SItemMainRight>
+      </SItemMain>
+      {namespaceItems.length > 0 && <Namespaces topicName={topicName} namespaceItems={namespaceItems} />}
+    </SItemRow>
+  );
+}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/constants.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/constants.js
index f6e0f7c2c..2a933c81c 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/constants.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/constants.js
@@ -6,10 +6,4 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-export const ITEM_TYPES = {
-  TF: "TF",
-  MAP: "MAP",
-  TOPIC: "TOPIC",
-};
-
 export const EXPERIMENTAL_FEATURES_STORAGE_KEY = "topicGrouping";
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsMigrations.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsMigrations.js
new file mode 100644
index 000000000..00929bc5e
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsMigrations.js
@@ -0,0 +1,136 @@
+// @flow
+//
+//  Copyright (c) 2019-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { isEqual, sortBy } from "lodash";
+
+import { ALL_DATA_SOURCE_PREFIXES, removeTopicPrefixes } from "./topicGroupsUtils";
+import type { TopicGroupConfig } from "./types";
+
+function getSelectionsFromCheckedNodes(
+  checkedNodes: string[]
+): {
+  selectedTopics: string[],
+  selectedExtensions: string[],
+  selectedNamespacesByTopic: { [topicName: string]: string[] },
+} {
+  const selectedExtensions = [];
+  const selectedTopics = [];
+  const selectedNamespacesByTopic = {};
+  checkedNodes.forEach((item) => {
+    if (item.startsWith("t:")) {
+      selectedTopics.push(item.substr("t:".length));
+    } else if (item.startsWith("/")) {
+      selectedTopics.push(item);
+    } else if (item.startsWith("x:")) {
+      selectedExtensions.push(item.substr("x:".length));
+    } else if (item.startsWith("ns:")) {
+      const [topic, namespace] = item.substr("ns:".length).split(":");
+      if (topic && namespace) {
+        selectedNamespacesByTopic[topic] = selectedNamespacesByTopic[topic] || [];
+        selectedNamespacesByTopic[topic].push(namespace);
+      }
+    }
+  });
+  return { selectedExtensions, selectedTopics, selectedNamespacesByTopic };
+}
+
+// Create a new topic group called 'My Topic Group' and related fields based the old config
+export function migratePanelConfigToTopicGroupConfig({
+  topicSettings,
+  checkedNodes,
+  modifiedNamespaceTopics,
+}: {
+  topicSettings?: ?{ [topicName: string]: any },
+  checkedNodes?: ?(string[]),
+  modifiedNamespaceTopics?: ?(string[]),
+}): TopicGroupConfig {
+  if (!checkedNodes) {
+    return {
+      displayName: "My Topics",
+      selected: true,
+      expanded: true,
+      items: [],
+    };
+  }
+
+  const { selectedExtensions, selectedTopics, selectedNamespacesByTopic } = getSelectionsFromCheckedNodes(checkedNodes);
+  const nonPrefixedTopics = removeTopicPrefixes(selectedTopics);
+
+  let items = nonPrefixedTopics.map((topicName) => {
+    let visibilitiesBySource;
+    let settingsBySource;
+    let selectedNamespacesBySource;
+    for (const dataSourcePrefix of ALL_DATA_SOURCE_PREFIXES) {
+      const prefixedTopicName = `${dataSourcePrefix}${topicName}`;
+      if (selectedTopics.includes(prefixedTopicName)) {
+        // migrate visibility
+        visibilitiesBySource = visibilitiesBySource || {};
+        visibilitiesBySource[dataSourcePrefix] = true;
+
+        // migrate settings, no need to migrate topic settings for topics that are not selected
+        if (topicSettings && topicSettings[prefixedTopicName]) {
+          settingsBySource = settingsBySource || {};
+          settingsBySource[dataSourcePrefix] = topicSettings[prefixedTopicName];
+        }
+
+        // migrate topic namespaces, always set the selectedNamespacesBySource field when the namespaces are modified
+        if (
+          (modifiedNamespaceTopics && modifiedNamespaceTopics.includes(prefixedTopicName)) ||
+          selectedNamespacesByTopic[prefixedTopicName]
+        ) {
+          selectedNamespacesBySource = selectedNamespacesBySource || {};
+          if (selectedNamespacesByTopic[prefixedTopicName]) {
+            selectedNamespacesBySource[dataSourcePrefix] = selectedNamespacesByTopic[prefixedTopicName];
+          }
+        }
+      }
+    }
+
+    return {
+      topicName,
+      ...(settingsBySource ? { settingsBySource } : undefined),
+      // no need to store the default visibilitiesBySource in panelConfig
+      ...(!visibilitiesBySource || isEqual(visibilitiesBySource, { "": true }) ? undefined : { visibilitiesBySource }),
+      ...(selectedNamespacesBySource ? { selectedNamespacesBySource } : undefined),
+    };
+  });
+
+  const selectedMetadataNamespaces = [];
+  const selectedTfNamespaces = [];
+  for (const extension of selectedExtensions) {
+    if (extension.startsWith("TF")) {
+      selectedTfNamespaces.push(extension.substr("TF.".length));
+    } else {
+      selectedMetadataNamespaces.push(extension);
+    }
+  }
+
+  // TODO(Audrey): order the items based on the order of the tree
+  // If any of the tf or metadata names are selected, we'll enable the topic and all namespaces by default.
+  if (selectedTfNamespaces.length) {
+    items.push({
+      topicName: "/tf",
+      selectedNamespacesBySource: { "": selectedTfNamespaces },
+    });
+  }
+  items = sortBy(items, ["topicName"]);
+  if (selectedMetadataNamespaces.length) {
+    items.unshift({
+      topicName: "/metadata",
+      selectedNamespacesBySource: { "": selectedMetadataNamespaces },
+    });
+  }
+
+  return {
+    // give default displayName, and select/expand state
+    displayName: "My Topics",
+    selected: true,
+    expanded: true,
+    items,
+  };
+}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsMigrations.test.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsMigrations.test.js
new file mode 100644
index 000000000..cb21aa0eb
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsMigrations.test.js
@@ -0,0 +1,167 @@
+// @flow
+//
+//  Copyright (c) 2019-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { migratePanelConfigToTopicGroupConfig } from "./topicGroupsMigrations";
+
+describe("topicGroupsMigrations", () => {
+  describe("migratePanelConfigToTopicGroupConfig", () => {
+    it("migrates empty panelConfig", () => {
+      expect(
+        migratePanelConfigToTopicGroupConfig({
+          checkedNodes: [],
+          topicSettings: {},
+          modifiedNamespaceTopics: [],
+        })
+      ).toEqual({
+        displayName: "My Topics",
+        expanded: true,
+        items: [],
+        selected: true,
+      });
+    });
+    it("migrates panelConfig to topicGroupConfig (single bag)", () => {
+      expect(
+        migratePanelConfigToTopicGroupConfig({
+          checkedNodes: [
+            "/topic_a",
+            "t:/topic_b",
+            "ns:/topic_d:some_ns1",
+            "ns:/topic_d:some_ns2",
+            "x:some_extension_id",
+            "x:TF.some_tf_id",
+          ],
+          topicSettings: {},
+          modifiedNamespaceTopics: [],
+        })
+      ).toEqual({
+        displayName: "My Topics",
+        expanded: true,
+        items: [
+          {
+            selectedNamespacesBySource: { "": ["some_extension_id"] },
+            topicName: "/metadata",
+          },
+          { selectedNamespacesBySource: { "": ["some_tf_id"] }, topicName: "/tf" },
+          { topicName: "/topic_a" },
+          { topicName: "/topic_b" },
+        ],
+        selected: true,
+      });
+    });
+
+    it("migrates panelConfig to topicGroupConfig (two bag)", () => {
+      expect(
+        migratePanelConfigToTopicGroupConfig({
+          // bag2 topics
+          checkedNodes: ["/webviz_bag_2/topic_b", "/webviz_bag_2/topic_c", "x:some_extension_id"],
+          topicSettings: {},
+          modifiedNamespaceTopics: [],
+        })
+      ).toEqual({
+        displayName: "My Topics",
+        expanded: true,
+        items: [
+          {
+            selectedNamespacesBySource: { "": ["some_extension_id"] },
+            topicName: "/metadata",
+          },
+          { topicName: "/topic_b", visibilitiesBySource: { "/webviz_bag_2": true } },
+          { topicName: "/topic_c", visibilitiesBySource: { "/webviz_bag_2": true } },
+        ],
+        selected: true,
+      });
+
+      expect(
+        migratePanelConfigToTopicGroupConfig({
+          // mixed topics from bag1 and bag2
+          checkedNodes: [
+            "/topic_a",
+            "t:/topic_b",
+            "/webviz_bag_2/topic_b",
+            "t:/webviz_bag_2/topic_c",
+            "ns:/topic_d:some_ns1",
+            "ns:/topic_d:some_ns2",
+          ],
+          topicSettings: {},
+          modifiedNamespaceTopics: [],
+        })
+      ).toEqual({
+        displayName: "My Topics",
+        expanded: true,
+        items: [
+          { topicName: "/topic_a" },
+          { topicName: "/topic_b", visibilitiesBySource: { "": true, "/webviz_bag_2": true } },
+          { topicName: "/topic_c", visibilitiesBySource: { "/webviz_bag_2": true } },
+        ],
+        selected: true,
+      });
+    });
+    it("migrates panelConfig to topicGroupConfig (with topicSettings)", () => {
+      expect(
+        migratePanelConfigToTopicGroupConfig({
+          checkedNodes: [
+            "/topic_a",
+            "t:/topic_b",
+            "/webviz_bag_2/topic_b",
+            "t:/webviz_bag_2/topic_c",
+            "ns:/topic_d:some_ns1",
+            "ns:/topic_d:some_ns2",
+          ],
+          topicSettings: {
+            "/topic_a": { overrideColor: "255, 0, 0, 1" },
+            "/webviz_bag_2/topic_b": { overrideCommand: "LinedConvexHull" },
+            "/topic_c": { overrideColor: "0, 255, 0, 1" },
+            "/webviz_bag_2/topic_c": { overrideColor: "0, 255, 255, 0.1" },
+          },
+          modifiedNamespaceTopics: [],
+        })
+      ).toEqual({
+        displayName: "My Topics",
+        expanded: true,
+        items: [
+          {
+            settingsBySource: { "": { overrideColor: "255, 0, 0, 1" } },
+            topicName: "/topic_a",
+          },
+          {
+            settingsBySource: { "/webviz_bag_2": { overrideCommand: "LinedConvexHull" } },
+            topicName: "/topic_b",
+            visibilitiesBySource: { "": true, "/webviz_bag_2": true },
+          },
+          {
+            settingsBySource: { "/webviz_bag_2": { overrideColor: "0, 255, 255, 0.1" } },
+            topicName: "/topic_c",
+            visibilitiesBySource: { "/webviz_bag_2": true },
+          },
+        ],
+        selected: true,
+      });
+    });
+    it("sets selectedNamespacesBySource based on modifiedNamespaceTopics and checkedNodes", () => {
+      expect(
+        migratePanelConfigToTopicGroupConfig({
+          checkedNodes: ["/topic_a", "t:/topic_b", "t:/topic_d", "ns:/topic_d:some_ns1", "ns:/topic_d:some_ns2"],
+          topicSettings: {},
+          modifiedNamespaceTopics: ["/topic_a"],
+        })
+      ).toEqual({
+        displayName: "My Topics",
+        expanded: true,
+        items: [
+          { selectedNamespacesBySource: {}, topicName: "/topic_a" },
+          { topicName: "/topic_b" },
+          {
+            selectedNamespacesBySource: { "": ["some_ns1", "some_ns2"] },
+            topicName: "/topic_d",
+          },
+        ],
+        selected: true,
+      });
+    });
+  });
+});
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsUtils.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsUtils.js
index df3480180..56f79049d 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsUtils.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsUtils.js
@@ -6,58 +6,110 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import { omit, flatten } from "lodash";
+import { omit, flatten, uniq, isEmpty } from "lodash";
 import microMemoize from "micro-memoize";
 
-import type { TopicRowItemConfig, TopicRowItem, TopicGroupConfig, TopicGroupType } from "./types";
+import type { TopicGroupConfig, TopicGroupType, NamespacesBySource, NamespaceItem } from "./types";
 import { getGlobalHooks } from "webviz-core/src/loadWebviz";
 import { type TopicConfig } from "webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/topicTree";
-
-type DisplayNameMap = { [uniqueName: string]: string };
+import { type Topic } from "webviz-core/src/players/types";
+import type { Namespace } from "webviz-core/src/types/Messages";
 
 export const TOPIC_CONFIG = getGlobalHooks()
   .perPanelHooks()
   .ThreeDimensionalViz.getDefaultTopicTree();
 
-// generate individual TopicRowItem by config
-// TODO(Audrey): add settings, data sourceBadges and differentiate between selected/unselected and enabled/disabled
-export function getItem(config: TopicRowItemConfig, id: string, mappedDisplayName: ?string): ?TopicRowItem {
-  switch (config.type) {
-    case "TOPIC":
-      return { ...config, id, displayName: mappedDisplayName || config.topicName, disableMultiSelection: false };
-    case "TF":
-      return { ...config, id, displayName: mappedDisplayName || config.tfId, disableMultiSelection: true };
-    case "MAP":
-      return { ...config, id, displayName: mappedDisplayName || config.mapId, disableMultiSelection: true };
-    default:
-  }
+export const ALL_DATA_SOURCE_PREFIXES = ["", "/webviz_bag_2", "/webviz_tables_2", "/webviz_tables", "/webviz_labels"];
+
+type DisplayNameByTopic = { [topicName: string]: string };
+type NamespacesByTopic = { [topicName: string]: string[] };
+
+export function removeTopicPrefixes(topicNames: string[]): string[] {
+  const nonPrefixedNames = topicNames.map((name) => {
+    for (const dataSourcePrefix of ALL_DATA_SOURCE_PREFIXES) {
+      if (dataSourcePrefix && name.startsWith(dataSourcePrefix)) {
+        return name.substr(dataSourcePrefix.length);
+      }
+    }
+    return name;
+  });
+  return uniq(nonPrefixedNames);
 }
 
-// generate topicGroups data for the UI
-export function getTopicGroupsByConfig(
+// Generate topicGroups data for the UI.
+export function getTopicGroups(
   groupsConfig: TopicGroupConfig[],
-  displayNameMap: DisplayNameMap
+  {
+    displayNameByTopic = {},
+    namespacesByTopic = {},
+    availableTopics = [],
+  }: {|
+    displayNameByTopic: DisplayNameByTopic,
+    namespacesByTopic: NamespacesByTopic,
+    availableTopics: Topic[],
+  |}
 ): TopicGroupType[] {
-  return groupsConfig.map(({ displayName, selected, expanded, items = [] }, idx) => {
-    const id = `${displayName}_${idx}`;
+  const availableTopicNamesSet = new Set(availableTopics.map(({ name }) => name));
+
+  return groupsConfig.map((groupConfig, idx) => {
+    const id = `${groupConfig.displayName}_${idx}`;
     return {
-      id,
-      displayName,
-      selected,
-      expanded,
-      items: items
-        .map((itemConfig, idx1) => {
-          // $FlowFixMe  don't need to check each type to get the displayNameKey
-          const displayNameKey: ?string = itemConfig.topicName || itemConfig.mapId;
-          const mappedDisplayName = displayNameKey ? displayNameMap[displayNameKey] : null;
-          return getItem(itemConfig, `${id}_${idx1}`, mappedDisplayName);
-        })
-        .filter(Boolean),
+      ...groupConfig,
+      derivedFields: {
+        id,
+        items: groupConfig.items.map((topicItemConfig, idx1) => {
+          const {
+            displayName,
+            topicName,
+            selectedNamespacesBySource,
+            visibilitiesBySource = { "": true }, // set the base topic to be visible by default
+          } = topicItemConfig;
+
+          const availableNamespacesBySource = {};
+          const topicDisplayVisibilityBySource = {};
+
+          ALL_DATA_SOURCE_PREFIXES.forEach((dataSourcePrefix) => {
+            const prefixedTopicName = `${dataSourcePrefix}${topicName}`;
+            if (availableTopicNamesSet.has(prefixedTopicName)) {
+              // only show namespaces when the topic is available
+              if (namespacesByTopic[prefixedTopicName]) {
+                availableNamespacesBySource[dataSourcePrefix] = namespacesByTopic[prefixedTopicName];
+              }
+
+              topicDisplayVisibilityBySource[dataSourcePrefix] = {
+                badgeText: getBadgeTextByTopicName(prefixedTopicName),
+                // always visible by default
+                // $FlowFixMe the field is missing in object literal
+                visible: visibilitiesBySource[dataSourcePrefix] != null ? visibilitiesBySource[dataSourcePrefix] : true,
+                available: true,
+              };
+            }
+          });
+
+          // build an array of namespace items with visibility and availability for easy render
+          const namespaceItems = getNamespacesItemsBySource(
+            topicName,
+            availableNamespacesBySource,
+            selectedNamespacesBySource
+          );
+
+          return {
+            // save the original config in order to save back to panelConfig
+            ...topicItemConfig,
+            derivedFields: {
+              id: `${id}_${idx1}`,
+              displayName: displayName || displayNameByTopic[topicName] || topicName,
+              displayVisibilityBySource: topicDisplayVisibilityBySource,
+              namespaceItems,
+            },
+          };
+        }),
+      },
     };
   });
 }
 
-// traverse the tree and flatten the children items in the topicConfig
+// Traverse the tree and flatten the children items in the topicConfig.
 function* flattenItem(item: TopicConfig, name: string) {
   const childrenItems = item.children;
   // extensions or leaf nodes
@@ -75,21 +127,142 @@ function* flattenItem(item: TopicConfig, name: string) {
     }
   }
 }
-// memoize the flattened nodes since it only needs to be computed once
+
+// Memoize the flattened nodes since it only needs to be computed once.
 export const getFlattenedTreeNodes = microMemoize((topicConfig) => {
   return flatten(topicConfig.children.map((item) => Array.from(flattenItem(item, item.name || ""))));
 });
 
-// generate a map based on topicTree config, so we can map a topicName or map id to a preconfigured name
-export const buildItemDisplayNameMap = microMemoize(
-  (topicConfig: ?TopicConfig): DisplayNameMap => {
-    const flattenedTopicNodes = getFlattenedTreeNodes(topicConfig || TOPIC_CONFIG);
-    return flattenedTopicNodes.reduce((memo, node) => {
+// Generate a map based on topicTree config, so we can map a topicName or extension to a preconfigured name.
+export const buildItemDisplayNameByTopicOrExtension = microMemoize(
+  (topicConfig: TopicConfig): DisplayNameByTopic => {
+    const flattenedTopicNodes = getFlattenedTreeNodes(topicConfig);
+    const result = { "/metadata": "Map", "/tf": "TF" };
+    for (const node of flattenedTopicNodes) {
       const key = node.topic || node.extension;
       if (key) {
-        memo[key] = node.name;
+        result[key] = node.name;
       }
-      return memo;
-    }, {});
+    }
+    return result;
   }
 );
+
+// Generate a map from topic to available namespaces, including migrated extensions (under /metadata topic),
+// tf, and dynamically derived namespaces from messages.
+export function buildAvailableNamespacesByTopic({
+  topicConfig = TOPIC_CONFIG,
+  allNamespaces = [],
+  transformIds = [],
+}: {
+  topicConfig: TopicConfig,
+  allNamespaces: Namespace[],
+  transformIds: string[],
+}): NamespacesByTopic {
+  const namespacesByTopic = {};
+  const displayNameByTopicOrExtension = buildItemDisplayNameByTopicOrExtension(topicConfig);
+  // Group all non-topic related extensions under /metadata topic. Currently they are all map related extensions
+  namespacesByTopic["/metadata"] = Object.keys(displayNameByTopicOrExtension).filter((key) => !key.startsWith("/"));
+  namespacesByTopic["/tf"] = transformIds;
+
+  for (const { topic, name } of allNamespaces) {
+    namespacesByTopic[topic] = namespacesByTopic[topic] || [];
+    namespacesByTopic[topic].push(name);
+  }
+
+  return namespacesByTopic;
+}
+
+// Derive data source badge text from topic name. Keep it simple for now as we only have these prefixes.
+function getBadgeTextByTopicName(topicName: string): string {
+  if (topicName.startsWith("/tables/")) {
+    return "T1";
+  } else if (topicName.startsWith("/webviz_tables_2/")) {
+    return "T2";
+  } else if (topicName.startsWith("/webviz_bag_2/")) {
+    return "B2";
+  } else if (topicName.startsWith("/webviz_labels/")) {
+    return "L1";
+  }
+  return "B1";
+}
+
+// Build a list of all available namespaces with data source info.
+export function getNamespacesItemsBySource(
+  topicName: string,
+  availableNamespacesBySource: NamespacesBySource,
+  selectedNamespacesBySource: NamespacesBySource = {}
+): NamespaceItem[] {
+  if (isEmpty(availableNamespacesBySource)) {
+    return [];
+  }
+  // $FlowFixMe mixed type is incompatible with string when using Object.values
+  const allAvailableNamespaces: string[] = uniq(flatten(Object.values(availableNamespacesBySource)));
+  const availableDataSourcePrefixes = Object.keys(availableNamespacesBySource);
+
+  return allAvailableNamespaces.map((namespace) => {
+    return {
+      name: namespace,
+      displayVisibilityBySource: availableDataSourcePrefixes.reduce((memo, dataSourcePrefix) => {
+        memo[dataSourcePrefix] = {
+          badgeText: getBadgeTextByTopicName(`${dataSourcePrefix}${topicName}`),
+          visible:
+            selectedNamespacesBySource[dataSourcePrefix] != null
+              ? selectedNamespacesBySource[dataSourcePrefix].includes(namespace)
+              : true,
+          available: (availableNamespacesBySource[dataSourcePrefix] || []).includes(namespace),
+        };
+        return memo;
+      }, {}),
+    };
+  });
+}
+
+export function getSelectionsFromTopicGroupConfig(
+  topicGroupsConfig: TopicGroupConfig[]
+): {
+  selectedTopicNames: string[],
+  selectedNamespacesByTopic: { [topicName: string]: string[] },
+  selectedTopicSettingsByTopic: { [topicName: string]: any },
+} {
+  const selectedTopicNames = [];
+  const selectedNamespacesByTopic = {};
+  const selectedTopicSettingsByTopic = {};
+  topicGroupsConfig.forEach(({ items }) => {
+    items.forEach(({ topicName, visibilitiesBySource, settingsBySource, selectedNamespacesBySource = {} }) => {
+      // if the visibility is not set, default to make the non-prefixed topic visible and add the corresponding namespaces
+      if (!visibilitiesBySource) {
+        selectedTopicNames.push(topicName);
+        if (selectedNamespacesBySource[""]) {
+          selectedNamespacesByTopic[topicName] = selectedNamespacesBySource[""];
+        }
+      } else {
+        for (const [dataSourcePrefix, visible] of Object.entries(visibilitiesBySource)) {
+          const prefixedTopicName = `${dataSourcePrefix}${topicName}`;
+          if (visible) {
+            selectedTopicNames.push(prefixedTopicName);
+          }
+          // only need to set namespaces for the selected topics
+          if (selectedNamespacesBySource[dataSourcePrefix]) {
+            selectedNamespacesByTopic[prefixedTopicName] = selectedNamespacesBySource[dataSourcePrefix];
+          }
+        }
+      }
+      if (!settingsBySource) {
+        return;
+      }
+      for (const [dataSourcePrefix, settings] of Object.entries(settingsBySource)) {
+        const prefixedTopicName = `${dataSourcePrefix}${topicName}`;
+        // only need to set namespaces for the selected topics
+        if (settings) {
+          selectedTopicSettingsByTopic[prefixedTopicName] = settings;
+        }
+      }
+    });
+  });
+  return {
+    selectedTopicNames,
+    selectedNamespacesByTopic,
+    selectedTopicSettingsByTopic,
+  };
+}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsUtils.test.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsUtils.test.js
index 6829317a1..a6a851696 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsUtils.test.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsUtils.test.js
@@ -6,7 +6,62 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import { buildItemDisplayNameMap } from "./topicGroupsUtils";
+/* eslint-disable jest/no-disabled-tests */
+import {
+  buildItemDisplayNameByTopicOrExtension,
+  removeTopicPrefixes,
+  buildAvailableNamespacesByTopic,
+  getSelectionsFromTopicGroupConfig,
+} from "./topicGroupsUtils";
+
+const DEFAULT_TOPIC_CONFIG = {
+  name: "root",
+  children: [
+    {
+      name: "Ext A",
+      extension: "ExtA.a",
+      children: [
+        {
+          name: "Ext B",
+          extension: "ExtB.b",
+        },
+        {
+          name: "Ext C",
+          extension: "ExtC.c",
+        },
+      ],
+    },
+    {
+      name: "Some Topic in JSON Tree",
+      topic: "/topic_in_json_tree",
+    },
+    {
+      name: "TF",
+      children: [],
+      description: "Visualize relationships between /tf frames.",
+    },
+    {
+      name: "Nested Group",
+      children: [
+        {
+          name: "Topic A",
+          topic: "/topic_a",
+        },
+        {
+          name: "Topic B",
+          topic: "/topic_b",
+        },
+        {
+          name: "Deeply Nested Group",
+          children: [{ topic: "/topic_c" }],
+        },
+        {
+          topic: "/topic_d",
+        },
+      ],
+    },
+  ],
+};
 
 jest.mock("webviz-core/src/loadWebviz", () => ({
   getGlobalHooks: () => ({
@@ -66,9 +121,24 @@ jest.mock("webviz-core/src/loadWebviz", () => ({
 }));
 
 describe("topicGroupUtils", () => {
-  describe("buildItemDisplayNameMap", () => {
+  describe("removeTopicPrefixes", () => {
+    it("removes webviz bag prefixes", () => {
+      expect(
+        removeTopicPrefixes([
+          "/foo/bar",
+          "/webviz_bag_2/foo",
+          "/webviz_tables_2/some_table2_topic",
+          "/webviz_labels/some_label_topic",
+        ])
+      ).toEqual(["/foo/bar", "/foo", "/some_table2_topic", "/some_label_topic"]);
+    });
+  });
+
+  describe("buildItemDisplayNameByTopicOrExtension", () => {
     it("maps extension and topic to displayName", () => {
-      expect(buildItemDisplayNameMap()).toEqual({
+      expect(buildItemDisplayNameByTopicOrExtension(DEFAULT_TOPIC_CONFIG)).toEqual({
+        "/metadata": "Map",
+        "/tf": "TF",
         "/topic_a": "Nested Group / Topic A",
         "/topic_b": "Nested Group / Topic B",
         "/topic_c": "Nested Group / Deeply Nested Group",
@@ -80,4 +150,122 @@ describe("topicGroupUtils", () => {
       });
     });
   });
+  describe("buildAvailableNamespacesByTopic", () => {
+    it("builds a map of topics to namespaces including metadata, tf and topic namespaces", () => {
+      expect(
+        buildAvailableNamespacesByTopic({
+          topicConfig: DEFAULT_TOPIC_CONFIG,
+          allNamespaces: [
+            { name: "some_ns1", topic: "/topic_a" },
+            { name: "some_ns2", topic: "/topic_a" },
+            { name: "some_ns1", topic: "/webviz_bag_2/topic_a" },
+            { name: "some_ns1", topic: "/topic_c" },
+          ],
+          transformIds: ["some_tf_id1", "some_tf_id2"],
+        })
+      ).toEqual({
+        "/metadata": ["ExtA.a", "ExtB.b", "ExtC.c"],
+        "/tf": ["some_tf_id1", "some_tf_id2"],
+        "/topic_a": ["some_ns1", "some_ns2"],
+        "/topic_c": ["some_ns1"],
+        "/webviz_bag_2/topic_a": ["some_ns1"],
+      });
+    });
+  });
+
+  // TODO(Audrey): finish the tests
+  describe.skip("getTopicGroups", () => {
+    it("generates topic group config for single bag", () => {});
+    it("generates topic group config for two bags", () => {});
+    it("generates topic group config for multiple data sources (bags + tables + labels)", () => {});
+  });
+
+  describe.skip("getNamespacesItemsBySource", () => {
+    it("generates namespaces items with displayVisibilityBySource (hidden + available + badgeText)", () => {});
+  });
+  describe("getSelectionsFromTopicGroupConfig", () => {
+    it("handles empty input", () => {
+      expect(getSelectionsFromTopicGroupConfig([])).toEqual({
+        selectedTopicNames: [],
+        selectedNamespacesByTopic: {},
+        selectedTopicSettingsByTopic: {},
+      });
+    });
+    it("returns selectedTopicNames and selectedNamespacesByTopic", () => {
+      expect(
+        getSelectionsFromTopicGroupConfig([
+          {
+            displayName: "My Topic Group",
+            selected: true,
+            expanded: true,
+            items: [
+              // when missing visibilitiesBySource, select the non-prefixed topic as visible
+              {
+                topicName: "/topic_a",
+              },
+              {
+                topicName: "/topic_b",
+                visibilitiesBySource: { "/webviz_bag_2": false },
+              },
+              {
+                topicName: "/topic_c",
+                visibilitiesBySource: { "": true },
+              },
+              {
+                topicName: "/topic_d",
+                visibilitiesBySource: { "": false },
+              },
+              // omit topic if all data sources are not visible
+              {
+                topicName: "/topic_e",
+                visibilitiesBySource: { "": false, "/webviz_bag_2": false },
+              },
+              {
+                topicName: "/topic_f",
+                visibilitiesBySource: { "": false, "/webviz_bag_2": true },
+                selectedNamespacesBySource: {
+                  "": ["some_ns11", "some_ns22"],
+                  "/webviz_bag_2": ["some_ns33"],
+                },
+              },
+              {
+                topicName: "/topic_g",
+                selectedNamespacesBySource: {
+                  "": ["some_ns1", "some_ns2"],
+                  "/webviz_bag_2": ["some_ns3"],
+                },
+                settingsBySource: {
+                  "": {
+                    overrideColor: "128, 0, 0, 1",
+                    overrideCommand: "LinedConvexHull",
+                  },
+                  "/webviz_bag_2": {
+                    overrideColor: "0, 128, 0, 1",
+                    overrideCommand: "LinedConvexHull",
+                  },
+                },
+              },
+            ],
+          },
+        ])
+      ).toEqual({
+        selectedNamespacesByTopic: {
+          "/topic_f": ["some_ns11", "some_ns22"],
+          "/webviz_bag_2/topic_f": ["some_ns33"],
+          "/topic_g": ["some_ns1", "some_ns2"],
+        },
+        selectedTopicNames: ["/topic_a", "/topic_c", "/webviz_bag_2/topic_f", "/topic_g"],
+        selectedTopicSettingsByTopic: {
+          "/topic_g": {
+            overrideColor: "128, 0, 0, 1",
+            overrideCommand: "LinedConvexHull",
+          },
+          "/webviz_bag_2/topic_g": {
+            overrideColor: "0, 128, 0, 1",
+            overrideCommand: "LinedConvexHull",
+          },
+        },
+      });
+    });
+  });
 });
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/types.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/types.js
index 8294af285..18cfb9698 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/types.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/types.js
@@ -6,78 +6,59 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import { ITEM_TYPES } from "./constants";
-
-export type ItemType = $Keys<typeof ITEM_TYPES>;
-export const VALID_ITEM_TYPES: Set<ItemType> = new Set(Object.keys(ITEM_TYPES));
-
-// ------- config related types -----------
 type SettingsBySource = {
   overrideColor?: string,
   overrideCommand?: string,
 };
-type VisibilityBySource = { [topicPrefix: string]: boolean };
-type HiddenNamespacesBySource = { [topicPrefix: string]: string[] };
-type NodeConfigCommon = {|
-  // add displayName later
-  visibilityBySource?: VisibilityBySource,
-|};
-export type TfItemConfig = {|
-  ...NodeConfigCommon,
-  type: "TF",
-  tfId: string,
-|};
-export type MapItemConfig = {|
-  ...NodeConfigCommon,
-  type: "MAP",
-  mapId: string,
-|};
+export type VisibilityBySource = { [dataSourcePrefix: string]: boolean };
+export type NamespacesBySource = { [dataSourcePrefix: string]: string[] };
+
+export type DisplayVisibilityBySource = {
+  [topicPrefix: string]: {
+    badgeText: string,
+    visible: boolean,
+    available: boolean,
+  },
+};
 export type TopicItemConfig = {|
-  ...NodeConfigCommon,
-  type: "TOPIC",
+  displayName?: string,
   topicName: string,
+  visibilitiesBySource?: VisibilityBySource,
   settingsBySource?: SettingsBySource,
-  hiddenNamespacesBySource?: HiddenNamespacesBySource,
-  defaultAvailableNamespaces?: string[],
-|};
-export type TopicRowItemConfig = TfItemConfig | MapItemConfig | TopicItemConfig;
-type TopicGroupConfigCommon = {|
-  displayName: string,
-  selected: boolean,
-  expanded: boolean,
-|};
-export type TopicGroupConfig = {|
-  ...TopicGroupConfigCommon,
-  items: TopicRowItemConfig[],
+  selectedNamespacesBySource?: NamespacesBySource,
 |};
 
-// ------- types derived from config -----------
-type TopicRowItemCommon = {|
-  visibilityBySource: VisibilityBySource,
-  // derived fields
+export type NamespaceItem = {
+  name: string,
+  displayVisibilityBySource: DisplayVisibilityBySource,
+};
+type DerivedTopicItemFields = {|
+  namespaceItems: NamespaceItem[],
+  displayVisibilityBySource: DisplayVisibilityBySource,
   displayName: string,
   id: string,
-  disableMultiSelection: boolean,
-|};
-export type TfItem = {|
-  ...TopicRowItemCommon,
-  ...TfItemConfig,
-|};
-export type MapItem = {|
-  ...TopicRowItemCommon,
-  ...MapItemConfig,
+  // TODO(Audrey): support 2nd bag for map and tf with `disableMultiSelection`
 |};
+
 export type TopicItem = {|
-  ...TopicRowItemCommon,
   ...TopicItemConfig,
+  derivedFields: DerivedTopicItemFields,
 |};
 
-export type TopicRowItem = TfItem | MapItem | TopicItem;
-export type TopicGroupType = {|
-  ...TopicGroupConfigCommon,
-  // derived fields
+export type TopicGroupConfig = {|
+  displayName: string,
+  items: TopicItemConfig[],
+  selected?: boolean,
+  expanded?: boolean,
+|};
+type TopicGroupDerivedFields = {|
   id: string,
-  items: TopicRowItem[],
+  items: TopicItem[],
+|};
+
+export type TopicGroupType = {|
+  ...TopicGroupConfig,
+  derivedFields: TopicGroupDerivedFields,
 |};
 
 export type TopicGroupsType = TopicGroupType[];
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/World.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/World.js
index 3dcc23489..1c7231e69 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/World.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/World.js
@@ -12,6 +12,7 @@ import {
   Arrows,
   Cubes,
   Cylinders,
+  GLText,
   Lines,
   Points,
   Spheres,
@@ -23,6 +24,7 @@ import {
   createInstancedGetChildrenForHitmap,
 } from "regl-worldview";
 
+import { useExperimentalFeature } from "webviz-core/src/components/ExperimentalFeatures";
 import { getGlobalHooks } from "webviz-core/src/loadWebviz";
 import {
   OccupancyGrids,
@@ -109,6 +111,9 @@ export default function World({
     .perPanelHooks()
     .ThreeDimensionalViz.renderAdditionalMarkers(rest);
 
+  const useGLText = useExperimentalFeature("glText");
+  const TextComponent = useGLText ? GLText : Text;
+
   return (
     <Worldview
       cameraState={cameraState}
@@ -133,7 +138,19 @@ export default function World({
       <Cubes>{[...cube, ...cubeList]}</Cubes>
       <PoseMarkers>{poseMarker}</PoseMarkers>
       <LaserScans>{laserScan}</LaserScans>
-      <Text autoBackgroundColor={autoTextBackgroundColor}>{text}</Text>
+      <TextComponent autoBackgroundColor={autoTextBackgroundColor}>
+        {useGLText
+          ? text.map((marker) => ({
+              ...marker,
+              scale: {
+                // RViz ignores scale.x/y for text and only uses z
+                x: marker.scale.z,
+                y: marker.scale.z,
+                z: marker.scale.z,
+              },
+            }))
+          : text}
+      </TextComponent>
       <FilledPolygons>{filledPolygon}</FilledPolygons>
       <Lines getChildrenForHitmap={getChildrenForHitmap}>{instancedLineList}</Lines>
       <LinedConvexHulls>{linedConvexHull}</LinedConvexHulls>
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/index.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/index.js
index 92f68eac7..880f4d034 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/index.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/index.js
@@ -28,6 +28,7 @@ import {
 } from "webviz-core/src/panels/ThreeDimensionalViz/threeDimensionalVizUtils";
 import { EXPERIMENTAL_FEATURES_STORAGE_KEY } from "webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/constants";
 import LayoutForTopicGroups from "webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/LayoutForTopicGroups";
+import type { TopicGroupConfig } from "webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/types";
 import { type TopicDisplayMode } from "webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/TopicDisplayModeSelector";
 import Transforms from "webviz-core/src/panels/ThreeDimensionalViz/Transforms";
 import withTransforms from "webviz-core/src/panels/ThreeDimensionalViz/withTransforms";
@@ -37,13 +38,10 @@ import { TRANSFORM_TOPIC } from "webviz-core/src/util/globalConstants";
 
 export type ThreeDimensionalVizConfig = {
   autoTextBackgroundColor?: boolean,
-  checkedNodes: string[],
-  expandedNodes: string[],
   cameraState: $Shape<CameraState>,
   followTf?: string | false,
   followOrientation?: boolean,
-  topicSettings: TopicSettingsCollection,
-  modifiedNamespaceTopics: string[],
+  modifiedNamespaceTopics?: string[],
   pinTopics: boolean,
   savedPropsVersion?: ?number, // eslint-disable-line react/no-unused-prop-types
   topicDisplayMode?: TopicDisplayMode,
@@ -51,6 +49,15 @@ export type ThreeDimensionalVizConfig = {
   selectedPolygonEditFormat?: "json" | "yaml",
   showCrosshair?: boolean,
 
+  topicGroups?: TopicGroupConfig[],
+  // TODO(Audrey): remove the 4 props below once topic groups is released
+  // props to be replaced by topicGroups
+  expandedNodes: string[],
+  checkedNodes: string[],
+  topicSettings: TopicSettingsCollection,
+  // override topic group feature flag for screenshot test
+  testShowTopicTree?: boolean,
+
   // legacy props
   hideMap?: ?boolean, // eslint-disable-line react/no-unused-prop-types
   useHeightMap?: ?boolean, // eslint-disable-line react/no-unused-prop-types
@@ -78,7 +85,7 @@ const BaseRenderer = (props: Props, ref) => {
     setSubscriptions,
     topics,
     transforms,
-    config: { followOrientation, followTf },
+    config: { followOrientation, followTf, testShowTopicTree },
   } = props;
   const extensions = useSelector((state) => state.extensions);
 
@@ -177,7 +184,8 @@ const BaseRenderer = (props: Props, ref) => {
 
   // useImperativeHandle so consumer component (e.g.Follow stories) can call onFollowChange directly.
   React.useImperativeHandle(ref, (): any => ({ onFollowChange }));
-  const enableTopicGrouping = useExperimentalFeature(EXPERIMENTAL_FEATURES_STORAGE_KEY);
+  const enableTopicGroupingFeature = useExperimentalFeature(EXPERIMENTAL_FEATURES_STORAGE_KEY);
+  const enableTopicGrouping = testShowTopicTree != null ? !testShowTopicTree : enableTopicGroupingFeature;
 
   return (
     <>
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils.js
index 9cb90d67a..3df7f4224 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils.js
@@ -12,6 +12,7 @@ import filterMap from "webviz-core/src/filterMap";
 import {
   getFlattenedTreeNodes,
   TOPIC_CONFIG,
+  removeTopicPrefixes,
 } from "webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsUtils";
 import {
   type TopicDisplayMode,
@@ -58,12 +59,6 @@ export function getNewCheckedNodes(selectedAndAvailableTopics: string[], checked
   return newCheckedNodes;
 }
 
-// remove all the bag prefixes for now, can add support for other prefixes later
-export function removeTopicPrefixes(topicNames: string[]): string[] {
-  const uniqueName = new Set(topicNames.map((topic) => topic.replace(/^\/webviz_bag_\d+\//, "/")));
-  return [...uniqueName];
-}
-
 // get the treeConfig based on various inputs
 // add 'name:Bag' and 'name:Bag 2 /webviz_bag_2' to checkedNodes if needed
 export function getTopicConfig({
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils.test.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils.test.js
index de359fb5a..650138753 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils.test.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/topicTreeUtils.test.js
@@ -14,7 +14,6 @@ import buildTree, { TopicTreeNode } from "webviz-core/src/panels/ThreeDimensiona
 import {
   getCheckedTopicsAndExtensions,
   getTopicConfig,
-  removeTopicPrefixes,
   getNewCheckedNodes,
   setVisibleByHiddenTopics,
   BAG1_TOPIC_GROUP_NAME,
@@ -534,16 +533,6 @@ describe("getCheckedTopicsAndExtensions", () => {
   });
 });
 
-describe("removeTopicPrefixes", () => {
-  it("removes webviz bag prefixes", () => {
-    expect(removeTopicPrefixes(["/foo/bar", "/webviz_bag_2/foo", "/webviz_bag_121/bar"])).toEqual([
-      "/foo/bar",
-      "/foo",
-      "/bar",
-    ]);
-  });
-});
-
 describe("getNewCheckedNodes", () => {
   const exampleCheckedNodes = ["t:/foo/bar", "t:/webviz_bag_2/foo", "t:/webviz_bag_121/bar", "t:/foo1"];
   it("returns new exampleCheckedNodes with bag1 topic group name when any bag1 topics are checked", () => {
diff --git a/packages/webviz-core/src/panels/diagnostics/DiagnosticSummary.js b/packages/webviz-core/src/panels/diagnostics/DiagnosticSummary.js
index f1bff0ab9..8f600bd9b 100644
--- a/packages/webviz-core/src/panels/diagnostics/DiagnosticSummary.js
+++ b/packages/webviz-core/src/panels/diagnostics/DiagnosticSummary.js
@@ -11,6 +11,7 @@ import cx from "classnames";
 import { sortBy, compact } from "lodash";
 import * as React from "react"; // eslint-disable-line import/no-duplicates
 import { hot } from "react-hot-loader/root";
+import { List, AutoSizer } from "react-virtualized";
 
 import type { Config as DiagnosticStatusConfig } from "./DiagnosticStatusPanel";
 import helpContent from "./DiagnosticSummary.help.md";
@@ -19,7 +20,6 @@ import { LEVELS, type DiagnosticId, type DiagnosticInfo, getNodesByLevel } from
 import EmptyState from "webviz-core/src/components/EmptyState";
 import Flex from "webviz-core/src/components/Flex";
 import Icon from "webviz-core/src/components/Icon";
-import LargeList from "webviz-core/src/components/LargeList";
 import Panel from "webviz-core/src/components/Panel";
 import PanelToolbar from "webviz-core/src/components/PanelToolbar";
 import TopicToRenderMenu from "webviz-core/src/components/TopicToRenderMenu";
@@ -154,44 +154,49 @@ class DiagnosticSummary extends React.Component<Props> {
       topics,
     } = this.props;
     return (
-      <DiagnosticsHistory topic={topicToRender}>
-        {(buffer) => {
-          let dataComponent;
-          if (buffer.diagnosticsById.size === 0) {
-            dataComponent = (
-              <EmptyState>
-                Waiting for <code>/diagnostics</code> messages
-              </EmptyState>
-            );
-          } else {
-            const { pinnedIds, hardwareIdFilter } = this.props.config;
-            const pinnedNodes = pinnedIds.map((id) => buffer.diagnosticsById.get(id));
-
-            const nodes: DiagnosticInfo[] = [
-              ...compact(pinnedNodes),
-              ...getSortedNodes(getNodesByLevel(buffer, hardwareIdFilter, LEVELS.STALE), pinnedIds),
-              ...getSortedNodes(getNodesByLevel(buffer, hardwareIdFilter, LEVELS.ERROR), pinnedIds),
-              ...getSortedNodes(getNodesByLevel(buffer, hardwareIdFilter, LEVELS.WARN), pinnedIds),
-              ...getSortedNodes(getNodesByLevel(buffer, hardwareIdFilter, LEVELS.OK), pinnedIds),
-            ];
-            dataComponent =
-              nodes.length === 0 ? null : (
-                <LargeList defaultRowHeight={25} items={nodes} disableScrollToBottom renderRow={this.renderRow} />
+      <Flex col className={styles.panel}>
+        <PanelToolbar helpContent={helpContent} additionalIcons={this.renderTopicToRenderMenu(topics)}>
+          {this.renderHardwareFilter()}
+        </PanelToolbar>
+        <Flex col>
+          <DiagnosticsHistory topic={topicToRender}>
+            {(buffer) => {
+              if (buffer.diagnosticsById.size === 0) {
+                return (
+                  <EmptyState>
+                    Waiting for <code>/diagnostics</code> messages
+                  </EmptyState>
+                );
+              }
+              const { pinnedIds, hardwareIdFilter } = this.props.config;
+              const pinnedNodes = pinnedIds.map((id) => buffer.diagnosticsById.get(id));
+
+              const nodes: DiagnosticInfo[] = [
+                ...compact(pinnedNodes),
+                ...getSortedNodes(getNodesByLevel(buffer, hardwareIdFilter, LEVELS.STALE), pinnedIds),
+                ...getSortedNodes(getNodesByLevel(buffer, hardwareIdFilter, LEVELS.ERROR), pinnedIds),
+                ...getSortedNodes(getNodesByLevel(buffer, hardwareIdFilter, LEVELS.WARN), pinnedIds),
+                ...getSortedNodes(getNodesByLevel(buffer, hardwareIdFilter, LEVELS.OK), pinnedIds),
+              ];
+              return nodes.length === 0 ? null : (
+                <AutoSizer>
+                  {({ height, width }) => (
+                    <List
+                      width={width}
+                      height={height}
+                      style={{ outline: "none" }}
+                      rowHeight={25}
+                      rowRenderer={(rowProps) => this.renderRow({ ...rowProps, item: nodes[rowProps.index] })}
+                      rowCount={nodes.length}
+                      overscanRowCount={10}
+                    />
+                  )}
+                </AutoSizer>
               );
-          }
-
-          return (
-            <Flex col className={styles.panel}>
-              <PanelToolbar helpContent={helpContent} additionalIcons={this.renderTopicToRenderMenu(topics)}>
-                {this.renderHardwareFilter()}
-              </PanelToolbar>
-              <Flex col scroll scrollX>
-                {dataComponent}
-              </Flex>
-            </Flex>
-          );
-        }}
-      </DiagnosticsHistory>
+            }}
+          </DiagnosticsHistory>
+        </Flex>
+      </Flex>
     );
   }
 }
diff --git a/packages/webviz-core/src/players/RosbridgePlayer/index.js b/packages/webviz-core/src/players/RosbridgePlayer/index.js
new file mode 100644
index 000000000..c9659abae
--- /dev/null
+++ b/packages/webviz-core/src/players/RosbridgePlayer/index.js
@@ -0,0 +1,272 @@
+// @flow
+//
+//  Copyright (c) 2019-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { isEqual, sortBy, uniq } from "lodash";
+import type { Time } from "rosbag";
+import uuid from "uuid";
+
+import {
+  type RoslibTypedef,
+  messageDetailsToRosDatatypes,
+  sanitizeMessage,
+} from "webviz-core/src/players/RosbridgePlayer/utils";
+import type {
+  AdvertisePayload,
+  Message,
+  Player,
+  PlayerState,
+  PublishPayload,
+  SubscribePayload,
+  Topic,
+} from "webviz-core/src/players/types";
+import type { RosDatatypes } from "webviz-core/src/types/RosDatatypes";
+import debouncePromise from "webviz-core/src/util/debouncePromise";
+import reportError from "webviz-core/src/util/reportError";
+import { topicsByTopicName } from "webviz-core/src/util/selectors";
+import { fromMillis } from "webviz-core/src/util/time";
+
+import "roslib/build/roslib";
+
+const ROSLIB = window.ROSLIB;
+
+// Connects to `rosbridge_server` instance using `roslibjs`. Currently doesn't support seeking or
+// showing simulated time, so current time from Date.now() is always used instead. Also doesn't yet
+// support raw ROS messages; instead we use the CBOR compression provided by roslibjs, which
+// unmarshalls into plain JS objects.
+export default class RosbridgePlayer implements Player {
+  _url: string; // WebSocket URL.
+  _rosClient: ?ROSLIB.Ros; // The roslibjs client when we're connected.
+  _id: string = uuid.v4(); // Unique ID for this player.
+  _listener: (PlayerState) => Promise<void>; // Listener for _emitState().
+  _closed: boolean = false; // Whether the player has been completely closed using close().
+  _providerTopics: ?(Topic[]); // Topics as published by the WebSocket.
+  _validProviderTopics: ?(Topic[]); // Same topics as above, but only the ones that have valid datatypes.
+  _providerDatatypes: ?RosDatatypes; // Datatypes as published by the WebSocket.
+  _start: ?Time; // The time at which we started playing.
+  _topicSubscriptions: { [topicName: string]: ROSLIB.Topic } = {}; // Active subscriptions.
+  _requestedSubscriptions: SubscribePayload[] = []; // Requested subscriptions by setSubscriptions()
+  _messages: Message[] = []; // Queue of messages that we'll send in next _emitState() call.
+  _requestTopicsTimeout: ?TimeoutID; // setTimeout() handle for _requestTopics().
+
+  constructor(url: string) {
+    this._url = url;
+    this._start = fromMillis(Date.now());
+    this._open();
+  }
+
+  _open = () => {
+    if (this._closed) {
+      return;
+    }
+
+    // `workersocket` will open the actual WebSocket connection in a WebWorker.
+    const rosClient = new ROSLIB.Ros({ url: this._url, transportLibrary: "workersocket" });
+
+    rosClient.on("connection", () => {
+      if (this._closed) {
+        return;
+      }
+      this._rosClient = rosClient;
+      this._requestTopics();
+    });
+
+    rosClient.on("error", (error) => {
+      // TODO(JP): Figure out which kinds of errors we can get here, and which ones we should
+      // actually show to the user. E.g. does a SecurityError when connecting from https:// to ws://
+      // show up here?
+      console.warn("WebSocket error", error);
+    });
+
+    rosClient.on("close", () => {
+      clearTimeout(this._requestTopicsTimeout);
+      for (const topicName in this._topicSubscriptions) {
+        this._topicSubscriptions[topicName].unsubscribe();
+        delete this._topicSubscriptions[topicName];
+      }
+      delete this._rosClient;
+      this._emitState();
+
+      // Try connecting again.
+      setTimeout(this._open, 1000);
+    });
+  };
+
+  _requestTopics = async () => {
+    clearTimeout(this._requestTopicsTimeout);
+    const rosClient = this._rosClient;
+    if (!rosClient || this._closed) {
+      return;
+    }
+
+    try {
+      // First get the topics and put them in our format.
+      const topicsResult = await new Promise((resolve, reject) => rosClient.getTopics(resolve, reject));
+      const topics: Topic[] = [];
+      for (let i = 0; i < topicsResult.topics.length; i++) {
+        topics.push({ name: topicsResult.topics[i], datatype: topicsResult.types[i] });
+      }
+
+      // Sort them for easy comparison. If nothing has changed here, bail out.
+      const sortedTopics = sortBy(topics, "name");
+      if (isEqual(sortedTopics, this._providerTopics)) {
+        return;
+      }
+
+      // Fetch all the datatypes in parallel.
+      const uniqueTypes = uniq(topicsResult.types);
+      const messageDetailsResults = await Promise.all(
+        uniqueTypes.map((type) => new Promise((resolve, reject) => rosClient.getMessageDetails(type, resolve, resolve)))
+      );
+
+      // Separate datatypes into actual type definitions, and errors.
+      const typedefs: RoslibTypedef[] = [];
+      const errors: string[] = [];
+      for (let i = 0; i < messageDetailsResults.length; i++) {
+        const result = messageDetailsResults[i];
+        if (typeof result === "string") {
+          errors.push(`Error for message type '${uniqueTypes[i]}':\n${result}`);
+        } else {
+          for (const typedef of result) {
+            typedefs.push(typedef);
+          }
+        }
+      }
+      if (errors.length > 0) {
+        reportError("Could not resolve all message types", errors.join("\n\n"), "user");
+      }
+      const datatypes = messageDetailsToRosDatatypes(typedefs);
+
+      this._providerTopics = sortedTopics;
+      this._validProviderTopics = sortedTopics.filter(({ datatype }) => datatypes[datatype]);
+      this._providerDatatypes = datatypes;
+      // Try subscribing again, since we might now be able to subscribe to some new topics.
+      this.setSubscriptions(this._requestedSubscriptions);
+      this._emitState();
+    } catch (error) {
+      reportError("Error in fetching topics and datatypes", error, "app");
+    } finally {
+      // Regardless of what happens, request topics again in a little bit.
+      this._requestTopicsTimeout = setTimeout(this._requestTopics, 3000);
+    }
+  };
+
+  _emitState = debouncePromise(() => {
+    if (!this._listener || this._closed) {
+      return Promise.resolve();
+    }
+
+    const { _validProviderTopics, _providerDatatypes, _start } = this;
+    if (!_validProviderTopics || !_providerDatatypes || !_start) {
+      return this._listener({
+        isPresent: true,
+        showSpinner: true,
+        showInitializing: !!this._rosClient,
+        progress: {},
+        capabilities: [],
+        playerId: this._id,
+        activeData: undefined,
+      });
+    }
+
+    // Time is always moving forward even if we don't get messages from the server.
+    setTimeout(this._emitState, 100);
+
+    const currentTime = fromMillis(Date.now());
+    const messages = this._messages;
+    this._messages = [];
+    return this._listener({
+      isPresent: true,
+      showSpinner: !this._rosClient,
+      showInitializing: false,
+      progress: {},
+      capabilities: [],
+      playerId: this._id,
+
+      activeData: {
+        messages,
+        startTime: _start,
+        endTime: currentTime,
+        currentTime,
+        isPlaying: true,
+        speed: 1,
+        // We don't support seeking, so we need to set this to any fixed value. Just avoid 0 so
+        // that we don't accidentally hit falsy checks.
+        lastSeekTime: 1,
+        topics: _validProviderTopics,
+        datatypes: _providerDatatypes,
+      },
+    });
+  });
+
+  setListener(listener: (PlayerState) => Promise<void>) {
+    this._listener = listener;
+    this._emitState();
+  }
+
+  close() {
+    this._closed = true;
+    if (this._rosClient) {
+      this._rosClient.close();
+    }
+  }
+
+  setSubscriptions(subscriptions: SubscribePayload[]) {
+    this._requestedSubscriptions = subscriptions;
+
+    if (!this._rosClient || this._closed) {
+      return;
+    }
+
+    // See what topics we actually can subscribe to.
+    const availableTopicsByTopicName = topicsByTopicName(this._validProviderTopics);
+    const topicNames = subscriptions
+      .map(({ topic }) => topic)
+      .filter((topicName) => availableTopicsByTopicName[topicName]);
+
+    // Subscribe to all topics that we aren't subscribed to yet.
+    for (const topicName of topicNames) {
+      if (!this._topicSubscriptions[topicName]) {
+        this._topicSubscriptions[topicName] = new ROSLIB.Topic({
+          ros: this._rosClient,
+          name: topicName,
+          compression: "cbor",
+        });
+        this._topicSubscriptions[topicName].subscribe((message) => {
+          if (!this._validProviderTopics) {
+            return;
+          }
+          sanitizeMessage(message);
+          this._messages.push({
+            op: "message",
+            topic: topicName,
+            datatype: availableTopicsByTopicName[topicName].datatype,
+            receiveTime: fromMillis(Date.now()),
+            message,
+          });
+          this._emitState();
+        });
+      }
+    }
+
+    // Unsubscribe from topics that we are subscribed to but shouldn't be.
+    for (const topicName in this._topicSubscriptions) {
+      if (!topicNames.includes(topicName)) {
+        this._topicSubscriptions[topicName].unsubscribe();
+        delete this._topicSubscriptions[topicName];
+      }
+    }
+  }
+
+  // Bunch of unsupported stuff. Just don't do anything for these.
+  setPublishers(publishers: AdvertisePayload[]) {}
+  publish(request: PublishPayload) {}
+  startPlayback() {}
+  pausePlayback() {}
+  seekPlayback(time: Time) {}
+  setPlaybackSpeed(speedFraction: number) {}
+}
diff --git a/packages/webviz-core/src/players/RosbridgePlayer/utils.js b/packages/webviz-core/src/players/RosbridgePlayer/utils.js
new file mode 100644
index 000000000..033bbcdac
--- /dev/null
+++ b/packages/webviz-core/src/players/RosbridgePlayer/utils.js
@@ -0,0 +1,104 @@
+// @flow
+//
+//  Copyright (c) 2019-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import { rosPrimitives } from "webviz-core/src/components/MessageHistory/internalCommon";
+import type { RosDatatypes, RosMsgField } from "webviz-core/src/types/RosDatatypes";
+
+export type RoslibTypedef = {
+  type: string,
+  fieldtypes: string[],
+  fieldnames: string[],
+  fieldarraylen: number[],
+  examples: string[],
+
+  constnames: string[],
+  constvalues: string[],
+};
+
+// Turn roslibjs type definitions into our own format.
+export function messageDetailsToRosDatatypes(typedefs: RoslibTypedef[]): RosDatatypes {
+  const datatypes: RosDatatypes = {};
+
+  for (const typedef of typedefs) {
+    // "time" and "duration" get sent by the rosapi service, even though they're primitives.
+    if (typedef.type === "time" || typedef.type === "duration") {
+      continue;
+    }
+
+    const fields: RosMsgField[] = [];
+    for (let i = 0; i < typedef.fieldtypes.length; i++) {
+      let type = typedef.fieldtypes[i];
+      const name = typedef.fieldnames[i];
+      const arraylen = typedef.fieldarraylen[i];
+
+      // Deprecated aliases, but still being sent by the rosapi service.
+      if (type === "char") {
+        type = "uint8";
+      } else if (type === "byte") {
+        type = "int8";
+      }
+
+      const field: RosMsgField = { type, name };
+
+      if (!rosPrimitives.includes(type)) {
+        field.isComplex = true;
+      }
+
+      // "-1" means not an array, "0" means variable length, positive integer means fixed length.
+      if (arraylen >= 0) {
+        field.isArray = true;
+        if (arraylen > 0) {
+          field.arrayLength = arraylen;
+        }
+      }
+
+      fields.push(field);
+    }
+    datatypes[typedef.type] = { fields };
+  }
+  return datatypes;
+}
+
+const SECS_ASCII_NUMBERS = "115,101,99,115";
+const NSECS_ASCII_NUMBERS = "110,115,101,99,115";
+
+// Do an in-place modification (for performance) of messages to turn them into our internal format.
+export function sanitizeMessage(message: mixed): void {
+  if (typeof message == "object" && message !== null) {
+    // We don't want to iterate over byte arrays.
+    if (message instanceof Uint8Array || message instanceof Int8Array) {
+      return;
+    }
+    const keys = Object.keys(message);
+    if (keys.length === 2 && typeof message.secs === "number" && typeof message.nsecs === "number") {
+      // Turn { secs, nsecs } into { sec, nsec }
+      // $FlowFixMe - modifying message
+      message.sec = message.secs;
+      // $FlowFixMe - modifying message
+      message.nsec = message.nsecs;
+      delete message.secs;
+      delete message.nsecs;
+    } else if (
+      keys.length === 2 &&
+      typeof message[SECS_ASCII_NUMBERS] === "number" &&
+      typeof message[NSECS_ASCII_NUMBERS] === "number"
+    ) {
+      // Paving over a roslibjs bug: https://github.com/RobotWebTools/roslibjs/issues/349
+      // $FlowFixMe - modifying message
+      message.sec = message[SECS_ASCII_NUMBERS];
+      // $FlowFixMe - modifying message
+      message.nsec = message[NSECS_ASCII_NUMBERS];
+      delete message[SECS_ASCII_NUMBERS];
+      delete message[NSECS_ASCII_NUMBERS];
+    } else {
+      // Recurse down.
+      for (const key of keys) {
+        sanitizeMessage(message[key]);
+      }
+    }
+  }
+}
diff --git a/packages/webviz-core/src/players/RosbridgePlayer/utils.test.js b/packages/webviz-core/src/players/RosbridgePlayer/utils.test.js
new file mode 100644
index 000000000..02f46da76
--- /dev/null
+++ b/packages/webviz-core/src/players/RosbridgePlayer/utils.test.js
@@ -0,0 +1,99 @@
+// @flow
+//
+//  Copyright (c) 2019-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import { messageDetailsToRosDatatypes, sanitizeMessage, type RoslibTypedef } from "./utils";
+
+describe("RosbridgePlayer utils", () => {
+  describe("messageDetailsToRosDatatypes", () => {
+    it("transforms the roslibjs format into our own", () => {
+      const roslibjsTypedefs: RoslibTypedef[] = [
+        {
+          fieldtypes: ["std_msgs/Header", "byte", "string", "string", "string", "string", "uint32", "string"],
+          fieldnames: ["header", "level", "name", "msg", "file", "function", "line", "topics"],
+          examples: ["{}", "0", "", "", "", "", "0", "[]"],
+          // For now we don't parse the constants yet.
+          // TODO(JP): Actually parse the constants.
+          constnames: ["DEBUG", "ERROR", "FATAL", "INFO", "WARN"],
+          constvalues: ["1", "8", "16", "2", "4"],
+          type: "rosgraph_msgs/Log",
+          fieldarraylen: [-1, -1, -1, -1, -1, -1, -1, 0],
+        },
+        {
+          fieldtypes: ["uint32", "time", "string"],
+          fieldnames: ["seq", "stamp", "frame_id"],
+          constnames: [],
+          examples: ["0", "{}", ""],
+          constvalues: [],
+          type: "std_msgs/Header",
+          fieldarraylen: [-1, -1, -1],
+        },
+        // The "time" field should be skipped.
+        {
+          fieldtypes: ["int32", "int32"],
+          fieldnames: ["secs", "nsecs"],
+          constnames: [],
+          examples: ["0", "0"],
+          constvalues: [],
+          type: "time",
+          fieldarraylen: [-1, -1],
+        },
+        // The "duration" field should be skipped.
+        {
+          fieldtypes: ["int32", "int32"],
+          fieldnames: ["secs", "nsecs"],
+          constnames: [],
+          examples: ["0", "0"],
+          constvalues: [],
+          type: "duration",
+          fieldarraylen: [-1, -1],
+        },
+      ];
+      expect(messageDetailsToRosDatatypes(roslibjsTypedefs)).toEqual({
+        "rosgraph_msgs/Log": {
+          fields: [
+            { isComplex: true, name: "header", type: "std_msgs/Header" },
+            { name: "level", type: "int8" },
+            { name: "name", type: "string" },
+            { name: "msg", type: "string" },
+            { name: "file", type: "string" },
+            { name: "function", type: "string" },
+            { name: "line", type: "uint32" },
+            { isArray: true, name: "topics", type: "string" },
+          ],
+        },
+        "std_msgs/Header": {
+          fields: [
+            { name: "seq", type: "uint32" },
+            { name: "stamp", type: "time" },
+            { name: "frame_id", type: "string" },
+          ],
+        },
+      });
+    });
+  });
+
+  describe("sanitizeMessage", () => {
+    it("translates 'secs' and 'nsecs' into 'sec' and 'nsec'", () => {
+      const message = { stamp: { secs: 1, nsecs: 2 }, not_a_stamp: { secs: 1, nsecs: 2, something_else: 3 } };
+      sanitizeMessage(message);
+      expect(message).toEqual({ stamp: { sec: 1, nsec: 2 }, not_a_stamp: { secs: 1, nsecs: 2, something_else: 3 } });
+    });
+
+    // See https://github.com/RobotWebTools/roslibjs/issues/349
+    it("paves over a bug in CBOR encoding", () => {
+      const message = {
+        stamp: { "115,101,99,115": 1, "110,115,101,99,115": 2 },
+        not_a_stamp: { "115,101,99,115": 1, "110,115,101,99,115": 2, something_else: 3 },
+      };
+      sanitizeMessage(message);
+      expect(message).toEqual({
+        stamp: { sec: 1, nsec: 2 },
+        not_a_stamp: { "115,101,99,115": 1, "110,115,101,99,115": 2, something_else: 3 },
+      });
+    });
+  });
+});
diff --git a/packages/webviz-core/src/util/globalConstants.js b/packages/webviz-core/src/util/globalConstants.js
index 3ae37f5ec..11bf4f06a 100644
--- a/packages/webviz-core/src/util/globalConstants.js
+++ b/packages/webviz-core/src/util/globalConstants.js
@@ -10,6 +10,7 @@ import { colors } from "webviz-core/src/util/colors";
 // URL params
 // DANGER: if you change this you break existing urls
 export const REMOTE_BAG_URL_QUERY_KEY = "remote-bag-url";
+export const ROSBRIDGE_WEBSOCKET_URL_QUERY_KEY = "rosbridge-websocket-url";
 export const LOAD_ENTIRE_BAG_QUERY_KEY = "load-entire-bag";
 export const MEASURE_DATA_PROVIDERS_QUERY_KEY = "_measureDataProviders";
 export const DEMO_QUERY_KEY = "demo";

From e763134b8f87fd0d5236e7855b2b959ebc49a388 Mon Sep 17 00:00:00 2001
From: Jan Paul Posma <janpaul123@users.noreply.github.com>
Date: Fri, 27 Dec 2019 16:23:49 -0800
Subject: [PATCH 24/50] Add info about connecting to rosbridge_server (#300)

And also add Google Analytics
---
 README.md                        |  2 +-
 docs/public/index.html           | 12 +++++++++++-
 docs/public/worldview/index.html |  9 +++++++++
 3 files changed, 21 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index 96a2b958c..d836ca65f 100755
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 # [Webviz](https://webviz.io/) [![CircleCI](https://circleci.com/gh/cruise-automation/webviz.svg?style=svg)](https://circleci.com/gh/cruise-automation/webviz)
 
-**Drag and drop your own bag files into [Webviz](https://webviz.io/try/) to explore your robotics data.**
+**Drag and drop your own bag files into [Webviz](https://webviz.io/try/) to explore your robotics data, or connect to a live robot or simulation using the [rosbridge_server](http://wiki.ros.org/rosbridge_suite/Tutorials/RunningRosbridge).**
 
 **View a demo of Webviz in action [here](https://webviz.io/try/?demo).**
 
diff --git a/docs/public/index.html b/docs/public/index.html
index 0d4c4550d..37433e2dc 100644
--- a/docs/public/index.html
+++ b/docs/public/index.html
@@ -9,6 +9,15 @@
 <html lang="en">
 
 <head>
+    <!-- Global site tag (gtag.js) - Google Analytics -->
+    <script async src="https://www.googletagmanager.com/gtag/js?id=UA-82819136-10"></script>
+    <script>
+      window.dataLayer = window.dataLayer || [];
+      function gtag(){dataLayer.push(arguments);}
+      gtag('js', new Date());
+      gtag('config', 'UA-82819136-10');
+    </script>
+
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no" />
     <meta name="theme-color" content="#000000" />
@@ -595,7 +604,8 @@ <h2>
                 Cruise uses Webviz to visualize thousands of complex decisions our vehicles make–both on the road and in
                 simulation.
                 Drag and drop your own <a target="_blank" class="in-copy" href="http://wiki.ros.org/Bags">ROS bag
-                    files</a> into Webviz to get immediate visual insight into your robotics data.
+                files</a> into Webviz to get immediate visual insight into your robotics data. Or even connect to
+                a <a target="_blank" class="in-copy" href="http://wiki.ros.org/rosbridge_suite/Tutorials/RunningRosbridge">live robot or simulation</a>.
             </h2>
 
             <h2>
diff --git a/docs/public/worldview/index.html b/docs/public/worldview/index.html
index 292762cd3..1c38f2008 100755
--- a/docs/public/worldview/index.html
+++ b/docs/public/worldview/index.html
@@ -8,6 +8,15 @@
 <!DOCTYPE html>
 <html lang="en">
   <head>
+    <!-- Global site tag (gtag.js) - Google Analytics -->
+    <script async src="https://www.googletagmanager.com/gtag/js?id=UA-82819136-10"></script>
+    <script>
+      window.dataLayer = window.dataLayer || [];
+      function gtag(){dataLayer.push(arguments);}
+      gtag('js', new Date());
+      gtag('config', 'UA-82819136-10');
+    </script>
+
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no" />
     <meta name="theme-color" content="#000000" />

From 4c76bcba00b44b9d1fdf6e9108d5b7a6f58bed10 Mon Sep 17 00:00:00 2001
From: Jan Paul Posma <janpaul123@users.noreply.github.com>
Date: Fri, 27 Dec 2019 22:26:18 -0800
Subject: [PATCH 25/50] Update packages/webviz-core from internal repo (#301)

Changelog:
- Added docs to top right bar
- Added connection status to top right bar
- Added Global Variables panel
- Added query parameters to load layouts and global variables
- Added Google Analytics
---
 packages/webviz-core/package-lock.json        |  83 ++++++++
 packages/webviz-core/package.json             |   1 +
 packages/webviz-core/public/index.html        |   7 +-
 packages/webviz-core/src/actions/panels.js    |   6 +-
 .../src/components/AppMenu/index.js           |   4 +-
 .../webviz-core/src/components/HelpModal.js   |   2 +-
 .../webviz-core/src/components/LayoutMenu.js  |   8 +-
 .../webviz-core/src/components/LayoutModal.js |   5 +-
 .../PanelToolbar/MosaicDragHandle.js          |   3 +-
 .../src/components/PanelToolbar/index.js      |   7 +-
 .../src/components/PlaybackControls/index.js  |   5 +-
 .../src/components/PlaybackSpeedControls.js   |   9 +-
 .../src/components/PlayerManager.js           |  89 ++++++--
 packages/webviz-core/src/components/Root.js   |  68 +++---
 .../src/components/ShareJsonModal.stories.js  |   2 +-
 .../webviz-core/src/components/TextContent.js |  10 +
 .../src/components/TinyConnectionPicker.js    |  62 ++++++
 .../TinyConnectionPicker.stories.js           |  33 +++
 .../src/dataProviders/BrowserHttpReader.js    |  30 +--
 packages/webviz-core/src/loadWebviz.js        |  18 +-
 .../TopicGroups/DataSourceBadge.js            |  51 ++++-
 .../TopicGroups/LayoutForTopicGroups.js       |   4 +
 .../TopicGroups/Namespaces.js                 |  40 +++-
 .../TopicGroups/TopicGroup.js                 |  59 -----
 .../TopicGroups/TopicGroupBody.js             |  60 ++++++
 .../TopicGroups/TopicGroupHeader.js           |  72 +++++++
 .../TopicGroups/TopicGroups.js                |  96 ++++++++-
 .../TopicGroups/TopicItemRow.js               | 157 +++++++++++---
 .../TopicGroups/topicGroupsMigrations.js      | 174 +++++++++++----
 .../TopicGroups/topicGroupsMigrations.test.js | 201 ++++++++++++++++--
 .../TopicGroups/topicGroupsUtils.js           |  40 +++-
 .../TopicGroups/topicGroupsUtils.test.js      |  13 +-
 .../ThreeDimensionalViz/TopicGroups/types.js  |   5 +-
 packages/webviz-core/src/reducers/panels.js   |   3 -
 .../webviz-core/src/reducers/panels.test.js   |  22 +-
 packages/webviz-core/src/util/colors.js       |   8 +-
 packages/webviz-core/src/util/corsError.js    |  36 ++++
 .../src/util/getGlobalVariablesFromUrl.js     |  20 ++
 .../webviz-core/src/util/globalConstants.js   |   4 +-
 .../src/util/helpModalOpenSource.help.md      |  24 +++
 .../src/util/showHelpModalOpenSource.js       |  23 ++
 41 files changed, 1270 insertions(+), 294 deletions(-)
 create mode 100644 packages/webviz-core/src/components/TinyConnectionPicker.js
 create mode 100644 packages/webviz-core/src/components/TinyConnectionPicker.stories.js
 delete mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroup.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroupBody.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroupHeader.js
 create mode 100644 packages/webviz-core/src/util/corsError.js
 create mode 100644 packages/webviz-core/src/util/getGlobalVariablesFromUrl.js
 create mode 100644 packages/webviz-core/src/util/helpModalOpenSource.help.md
 create mode 100644 packages/webviz-core/src/util/showHelpModalOpenSource.js

diff --git a/packages/webviz-core/package-lock.json b/packages/webviz-core/package-lock.json
index e681b8a2e..a242f7c92 100644
--- a/packages/webviz-core/package-lock.json
+++ b/packages/webviz-core/package-lock.json
@@ -223,6 +223,14 @@
         "negotiator": "0.6.2"
       }
     },
+    "add-dom-event-listener": {
+      "version": "1.1.0",
+      "resolved": "https://registry.npmjs.org/add-dom-event-listener/-/add-dom-event-listener-1.1.0.tgz",
+      "integrity": "sha512-WCxx1ixHT0GQU9hb0KI/mhgRQhnU+U3GvwY6ZvVjYq8rsihIGoaIOUbY0yMPBxLH5MDtr0kz3fisWGNcbWW7Jw==",
+      "requires": {
+        "object-assign": "4.x"
+      }
+    },
     "after": {
       "version": "0.8.2",
       "resolved": "https://registry.npmjs.org/after/-/after-0.8.2.tgz",
@@ -574,11 +582,24 @@
       "resolved": "https://registry.npmjs.org/component-bind/-/component-bind-1.0.0.tgz",
       "integrity": "sha1-AMYIq33Nk4l8AAllGx06jh5zu9E="
     },
+    "component-classes": {
+      "version": "1.2.6",
+      "resolved": "https://registry.npmjs.org/component-classes/-/component-classes-1.2.6.tgz",
+      "integrity": "sha1-xkI5TDYYpNiwuJGe/Mu9kw5c1pE=",
+      "requires": {
+        "component-indexof": "0.0.3"
+      }
+    },
     "component-emitter": {
       "version": "1.2.1",
       "resolved": "https://registry.npmjs.org/component-emitter/-/component-emitter-1.2.1.tgz",
       "integrity": "sha1-E3kY1teCg/ffemt8WmPhQOaUJeY="
     },
+    "component-indexof": {
+      "version": "0.0.3",
+      "resolved": "https://registry.npmjs.org/component-indexof/-/component-indexof-0.0.3.tgz",
+      "integrity": "sha1-EdCRMSI5648yyPJa6csAL/6NPCQ="
+    },
     "component-inherit": {
       "version": "0.0.3",
       "resolved": "https://registry.npmjs.org/component-inherit/-/component-inherit-0.0.3.tgz",
@@ -626,6 +647,15 @@
       "resolved": "https://registry.npmjs.org/core-js/-/core-js-2.6.1.tgz",
       "integrity": "sha512-L72mmmEayPJBejKIWe2pYtGis5r0tQ5NaJekdhyXgeMQTpJoBsH0NL4ElY2LfSoV15xeQWKQ+XTTOZdyero5Xg=="
     },
+    "css-animation": {
+      "version": "1.6.1",
+      "resolved": "https://registry.npmjs.org/css-animation/-/css-animation-1.6.1.tgz",
+      "integrity": "sha512-/48+/BaEaHRY6kNQ2OIPzKf9A6g8WjZYjhiNDNuIVbsm5tXCGIAsHDjB4Xu1C4vXJtUWZo26O68OQkDpNBaPog==",
+      "requires": {
+        "babel-runtime": "6.x",
+        "component-classes": "^1.2.5"
+      }
+    },
     "csstype": {
       "version": "2.6.6",
       "resolved": "https://registry.npmjs.org/csstype/-/csstype-2.6.6.tgz",
@@ -1691,6 +1721,11 @@
         "isarray": "0.0.1"
       }
     },
+    "performance-now": {
+      "version": "2.1.0",
+      "resolved": "https://registry.npmjs.org/performance-now/-/performance-now-2.1.0.tgz",
+      "integrity": "sha1-Ywn04OX6kT7BxpMHrjZLSzd8nns="
+    },
     "pngparse": {
       "version": "2.0.1",
       "resolved": "https://registry.npmjs.org/pngparse/-/pngparse-2.0.1.tgz",
@@ -1746,6 +1781,14 @@
       "resolved": "https://registry.npmjs.org/pure-color/-/pure-color-1.3.0.tgz",
       "integrity": "sha1-H+Bk+wrIUfDeYTIKi/eWg2Qi8z4="
     },
+    "raf": {
+      "version": "3.4.1",
+      "resolved": "https://registry.npmjs.org/raf/-/raf-3.4.1.tgz",
+      "integrity": "sha512-Sq4CW4QhwOHE8ucn6J34MqtZCeWFP2aQSmrlroYgqAV1PjStIhJXxYuTgUIfkEk7zTLjmIjLmU5q+fbD1NnOJA==",
+      "requires": {
+        "performance-now": "^2.1.0"
+      }
+    },
     "raf-schd": {
       "version": "4.0.2",
       "resolved": "https://registry.npmjs.org/raf-schd/-/raf-schd-4.0.2.tgz",
@@ -1770,6 +1813,46 @@
         "ret": "~0.1.10"
       }
     },
+    "rc-animate": {
+      "version": "2.10.2",
+      "resolved": "https://registry.npmjs.org/rc-animate/-/rc-animate-2.10.2.tgz",
+      "integrity": "sha512-cE/A7piAzoWFSgUD69NmmMraqCeqVBa51UErod8NS3LUEqWfppSVagHfa0qHAlwPVPiIBg3emRONyny3eiH0Dg==",
+      "requires": {
+        "babel-runtime": "6.x",
+        "classnames": "^2.2.6",
+        "css-animation": "^1.3.2",
+        "prop-types": "15.x",
+        "raf": "^3.4.0",
+        "rc-util": "^4.15.3",
+        "react-lifecycles-compat": "^3.0.4"
+      }
+    },
+    "rc-collapse": {
+      "version": "1.11.8",
+      "resolved": "https://registry.npmjs.org/rc-collapse/-/rc-collapse-1.11.8.tgz",
+      "integrity": "sha512-8EhfPyScTYljkbRuIoHniSwZagD5UPpZ3CToYgoNYWC85L2qCbPYF7+OaC713FOrIkp6NbfNqXsITNxmDAmxog==",
+      "requires": {
+        "classnames": "2.x",
+        "css-animation": "1.x",
+        "prop-types": "^15.5.6",
+        "rc-animate": "2.x",
+        "react-is": "^16.7.0",
+        "react-lifecycles-compat": "^3.0.4",
+        "shallowequal": "^1.1.0"
+      }
+    },
+    "rc-util": {
+      "version": "4.18.0",
+      "resolved": "https://registry.npmjs.org/rc-util/-/rc-util-4.18.0.tgz",
+      "integrity": "sha512-hftkePUmXu2AeaYQRqMdEJ+bkqNRKZEk59pUmqMKD68+69Csc1xeIc74P73leuZEYij23yG4OMnutejVjc8Jdg==",
+      "requires": {
+        "add-dom-event-listener": "^1.1.0",
+        "babel-runtime": "6.x",
+        "prop-types": "^15.5.10",
+        "react-lifecycles-compat": "^3.0.4",
+        "shallowequal": "^1.1.0"
+      }
+    },
     "react": {
       "version": "16.10.2",
       "resolved": "https://registry.npmjs.org/react/-/react-16.10.2.tgz",
diff --git a/packages/webviz-core/package.json b/packages/webviz-core/package.json
index 9e1b4dd65..f1bb1dd8e 100644
--- a/packages/webviz-core/package.json
+++ b/packages/webviz-core/package.json
@@ -35,6 +35,7 @@
     "panzoom": "8.4.0",
     "promise-queue": "2.2.5",
     "prop-types": "15.6.2",
+    "rc-collapse": "1.11.8",
     "react": "16.10.2",
     "react-autocomplete": "janpaul123/react-autocomplete#bc8737070b5744069719c8fcd4e0a197192b0d48",
     "react-chartjs-2": "2.7.4",
diff --git a/packages/webviz-core/public/index.html b/packages/webviz-core/public/index.html
index 8971f5248..b38622622 100644
--- a/packages/webviz-core/public/index.html
+++ b/packages/webviz-core/public/index.html
@@ -8,7 +8,12 @@
 <!DOCTYPE html>
 <html lang="en">
   <head>
-    <!-- THIS COMMENT IS A HOOK FOR ANALYTICS - please do not change -->
+    <script>
+      (function(i,s,o,g,r,a,m){i['GoogleAnalyticsObject']=r;i[r]=i[r]||function(){
+      (i[r].q=i[r].q||[]).push(arguments)},i[r].l=1*new Date();a=s.createElement(o),
+      m=s.getElementsByTagName(o)[0];a.async=1;a.src=g;m.parentNode.insertBefore(a,m)
+      })(window,document,'script','https://www.google-analytics.com/analytics.js','ga');
+    </script>
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no" />
     <meta name="theme-color" content="#000000" />
diff --git a/packages/webviz-core/src/actions/panels.js b/packages/webviz-core/src/actions/panels.js
index 035eb6ac2..452fafd3a 100644
--- a/packages/webviz-core/src/actions/panels.js
+++ b/packages/webviz-core/src/actions/panels.js
@@ -73,8 +73,10 @@ type IMPORT_PANEL_LAYOUT = {
 
 export const importPanelLayout = (
   payload: ImportPanelLayoutPayload,
-  isFromUrl: boolean,
-  skipSettingLocalStorage: boolean = false
+  {
+    isFromUrl = false,
+    skipSettingLocalStorage = false,
+  }: { isFromUrl?: boolean, skipSettingLocalStorage?: boolean } = {}
 ): Dispatcher<IMPORT_PANEL_LAYOUT> => (dispatch, getState) => {
   if (!isFromUrl) {
     maybeStripLayoutId(dispatch, getState);
diff --git a/packages/webviz-core/src/components/AppMenu/index.js b/packages/webviz-core/src/components/AppMenu/index.js
index e60a4fc5a..c370a0813 100644
--- a/packages/webviz-core/src/components/AppMenu/index.js
+++ b/packages/webviz-core/src/components/AppMenu/index.js
@@ -63,9 +63,7 @@ class UnconnectedAppMenu extends Component<Props, State> {
       this.props.savePanelConfig({ id, config: panelConfig, defaultConfig: {} });
     }
     this.props.changePanelLayout(newPanels);
-    if (window.ga) {
-      window.ga("send", "event", "Panel", "Select", panelType);
-    }
+    window.ga("send", "event", "Panel", "Select", panelType);
   };
 
   render() {
diff --git a/packages/webviz-core/src/components/HelpModal.js b/packages/webviz-core/src/components/HelpModal.js
index 6b04912b8..a0ddf35c2 100644
--- a/packages/webviz-core/src/components/HelpModal.js
+++ b/packages/webviz-core/src/components/HelpModal.js
@@ -14,7 +14,7 @@ import TextContent from "webviz-core/src/components/TextContent";
 import { getGlobalHooks } from "webviz-core/src/loadWebviz";
 
 const SRoot = styled.div`
-  max-width: 550px; // Px value because beyond a certain absolute width the lines become harder to read.
+  max-width: 700px; // Px value because beyond a certain absolute width the lines become harder to read.
   width: calc(100vw - 30px);
   max-height: calc(100vh - 30px);
   overflow-y: auto;
diff --git a/packages/webviz-core/src/components/LayoutMenu.js b/packages/webviz-core/src/components/LayoutMenu.js
index ae74a81a5..1312a4beb 100644
--- a/packages/webviz-core/src/components/LayoutMenu.js
+++ b/packages/webviz-core/src/components/LayoutMenu.js
@@ -51,9 +51,11 @@ export default class LayoutMenu extends PureComponent<{}, State> {
 
     return (
       <ChildToggle position="below" onToggle={this._onToggle} isOpen={isOpen}>
-        <Icon small fade active={isOpen}>
-          <AppsIcon />
-        </Icon>
+        <div style={{ display: "flex", alignItems: "center" }}>
+          <Icon small fade active={isOpen} tooltip="Config">
+            <AppsIcon />
+          </Icon>
+        </div>
         <Menu>
           <Item icon={<JsonIcon />} onClick={this._onImportClick}>
             Import/export layout
diff --git a/packages/webviz-core/src/components/LayoutModal.js b/packages/webviz-core/src/components/LayoutModal.js
index ec9c67c3e..086731cb3 100644
--- a/packages/webviz-core/src/components/LayoutModal.js
+++ b/packages/webviz-core/src/components/LayoutModal.js
@@ -14,7 +14,6 @@ import renderToBody from "webviz-core/src/components/renderToBody";
 import ShareJsonModal from "webviz-core/src/components/ShareJsonModal";
 import type { State } from "webviz-core/src/reducers";
 import type { PanelsState } from "webviz-core/src/reducers/panels";
-import type { ImportPanelLayoutPayload } from "webviz-core/src/types/panels";
 
 type OwnProps = {|
   onRequestClose: () => void,
@@ -23,7 +22,7 @@ type OwnProps = {|
 type Props = {|
   ...OwnProps,
   panels: PanelsState,
-  importPanelLayout: (ImportPanelLayoutPayload, boolean) => void,
+  importPanelLayout: typeof importPanelLayout,
 |};
 
 function UnconnectedLayoutModal({ onRequestClose, importPanelLayout: importLayout, panels }: Props) {
@@ -33,7 +32,7 @@ function UnconnectedLayoutModal({ onRequestClose, importPanelLayout: importLayou
       value={panels}
       onChange={useCallback(
         (layout: any) => {
-          importLayout(layout, false);
+          importLayout(layout);
         },
         [importLayout]
       )}
diff --git a/packages/webviz-core/src/components/PanelToolbar/MosaicDragHandle.js b/packages/webviz-core/src/components/PanelToolbar/MosaicDragHandle.js
index e0c0f9022..acac83838 100644
--- a/packages/webviz-core/src/components/PanelToolbar/MosaicDragHandle.js
+++ b/packages/webviz-core/src/components/PanelToolbar/MosaicDragHandle.js
@@ -13,7 +13,6 @@ import { DragSource } from "react-dnd";
 import { MosaicDragType, createDragToUpdates } from "react-mosaic-component";
 
 import { getPanelTypeFromMosiac } from "webviz-core/src/components/PanelToolbar/utils";
-import { getGlobalHooks } from "webviz-core/src/loadWebviz";
 
 const dragSource = {
   beginDrag: (props, monitor, component) => {
@@ -43,7 +42,7 @@ const dragSource = {
     const { mosaicWindowActions, mosaicActions } = component.context;
     const type = getPanelTypeFromMosiac(mosaicWindowActions, mosaicActions);
 
-    getGlobalHooks().onPanelDrag(type);
+    window.ga("send", "event", "Panel", "Drag", type);
     const ownPath = component.context.mosaicWindowActions.getPath();
     const dropResult = monitor.getDropResult() || {};
     const { position, path: destinationPath } = dropResult;
diff --git a/packages/webviz-core/src/components/PanelToolbar/index.js b/packages/webviz-core/src/components/PanelToolbar/index.js
index 297e77838..dbb44600c 100644
--- a/packages/webviz-core/src/components/PanelToolbar/index.js
+++ b/packages/webviz-core/src/components/PanelToolbar/index.js
@@ -34,7 +34,6 @@ import PanelContext from "webviz-core/src/components/PanelContext";
 import { getPanelTypeFromMosiac } from "webviz-core/src/components/PanelToolbar/utils";
 import renderToBody from "webviz-core/src/components/renderToBody";
 import ShareJsonModal from "webviz-core/src/components/ShareJsonModal";
-import { getGlobalHooks } from "webviz-core/src/loadWebviz";
 import PanelList from "webviz-core/src/panels/PanelList";
 import type { PanelConfig, SaveConfigPayload } from "webviz-core/src/types/panels";
 import { getPanelIdForType } from "webviz-core/src/util";
@@ -65,7 +64,7 @@ class StandardMenuItems extends React.PureComponent<{| savePanelConfig: (SaveCon
 
   close = () => {
     const { mosaicActions, mosaicWindowActions } = this.context;
-    getGlobalHooks().onPanelClose(this.getPanelType());
+    window.ga("send", "event", "Panel", "Close", this.getPanelType());
     mosaicActions.remove(mosaicWindowActions.getPath());
   };
 
@@ -76,7 +75,7 @@ class StandardMenuItems extends React.PureComponent<{| savePanelConfig: (SaveCon
       throw new Error("Trying to split unknown panel!");
     }
 
-    getGlobalHooks().onPanelSplit(type);
+    window.ga("send", "event", "Panel", "Split", type);
 
     const config = store.getState().panels.savedProps[id];
     const newId = getPanelIdForType(type);
@@ -88,7 +87,7 @@ class StandardMenuItems extends React.PureComponent<{| savePanelConfig: (SaveCon
   };
 
   swap = (type: string, panelConfig?: PanelConfig) => {
-    getGlobalHooks().onPanelSwap(type);
+    window.ga("send", "event", "Panel", "Swap", type);
     this.context.mosaicWindowActions.replaceWithNew({ type, panelConfig });
   };
 
diff --git a/packages/webviz-core/src/components/PlaybackControls/index.js b/packages/webviz-core/src/components/PlaybackControls/index.js
index cc8c81e4c..7d93b97d4 100644
--- a/packages/webviz-core/src/components/PlaybackControls/index.js
+++ b/packages/webviz-core/src/components/PlaybackControls/index.js
@@ -131,8 +131,9 @@ export class UnconnectedPlaybackControls extends React.PureComponent<Props> {
         "Player is initializing..."
       ) : (
         <span>
-          Drop a <a href="http://wiki.ros.org/ROS/Tutorials/Recording%20and%20playing%20back%20data">ROS bag file</a> to
-          get started. Or check out <a href="/worldview">Worldview</a> and other packages on{" "}
+          Drop a <a href="http://wiki.ros.org/ROS/Tutorials/Recording%20and%20playing%20back%20data">ROS bag file</a> or
+          connect to a <a href="http://wiki.ros.org/rosbridge_suite/Tutorials/RunningRosbridge">rosbridge</a> to get
+          started. Or check out <a href="/worldview">Worldview</a> and other packages on{" "}
           <a href="https://github.com/cruise-automation">GitHub</a>!
         </span>
       );
diff --git a/packages/webviz-core/src/components/PlaybackSpeedControls.js b/packages/webviz-core/src/components/PlaybackSpeedControls.js
index 9dcd659c7..dcae715a0 100644
--- a/packages/webviz-core/src/components/PlaybackSpeedControls.js
+++ b/packages/webviz-core/src/components/PlaybackSpeedControls.js
@@ -16,6 +16,7 @@ import { ExperimentalFeaturesModal } from "webviz-core/src/components/Experiment
 import { Item } from "webviz-core/src/components/Menu";
 import { useMessagePipeline } from "webviz-core/src/components/MessagePipeline";
 import renderToBody from "webviz-core/src/components/renderToBody";
+import { getGlobalHooks } from "webviz-core/src/loadWebviz";
 import { useDataSourceInfo } from "webviz-core/src/PanelAPI";
 import { PlayerCapabilities } from "webviz-core/src/players/types";
 import { ndash, times } from "webviz-core/src/util/entities";
@@ -78,9 +79,11 @@ export default function PlaybackSpeedControls() {
         </span>
       ))}
       <hr />
-      <Item icon={<FlagVariantIcon />} onClick={onExperimentalFeaturesClick}>
-        Configure &rdquo;Slower downloads, faster playback&rdquo;
-      </Item>
+      {getGlobalHooks().experimentalFeaturesList()["disableDatabl" + "aster" /* get around blacklist */] && (
+        <Item icon={<FlagVariantIcon />} onClick={onExperimentalFeaturesClick}>
+          Configure &rdquo;Slower downloads, faster playback&rdquo;
+        </Item>
+      )}
     </Dropdown>
   );
 }
diff --git a/packages/webviz-core/src/components/PlayerManager.js b/packages/webviz-core/src/components/PlayerManager.js
index c6a422fb2..949ea4d1a 100644
--- a/packages/webviz-core/src/components/PlayerManager.js
+++ b/packages/webviz-core/src/components/PlayerManager.js
@@ -9,7 +9,7 @@
 import * as React from "react";
 import { connect } from "react-redux";
 
-import { importPanelLayout } from "webviz-core/src/actions/panels";
+import { importPanelLayout, setGlobalVariables } from "webviz-core/src/actions/panels";
 import {
   setUserNodeDiagnostics,
   addUserNodeLogs,
@@ -31,15 +31,19 @@ import RandomAccessPlayer from "webviz-core/src/players/RandomAccessPlayer";
 import RosbridgePlayer from "webviz-core/src/players/RosbridgePlayer";
 import type { Player } from "webviz-core/src/players/types";
 import UserNodePlayer from "webviz-core/src/players/UserNodePlayer";
-import type { ImportPanelLayoutPayload, UserNodes } from "webviz-core/src/types/panels";
+import type { UserNodes } from "webviz-core/src/types/panels";
+import { corsError } from "webviz-core/src/util/corsError";
 import demoLayoutJson from "webviz-core/src/util/demoLayout.json";
+import { getGlobalVariablesFromUrl } from "webviz-core/src/util/getGlobalVariablesFromUrl";
 import {
   DEMO_QUERY_KEY,
+  LAYOUT_URL_QUERY_KEY,
   LOAD_ENTIRE_BAG_QUERY_KEY,
   REMOTE_BAG_URL_QUERY_KEY,
   ROSBRIDGE_WEBSOCKET_URL_QUERY_KEY,
   SECOND_BAG_PREFIX,
 } from "webviz-core/src/util/globalConstants";
+import reportError from "webviz-core/src/util/reportError";
 import { getSeekToTime } from "webviz-core/src/util/time";
 
 function getPlayerOptions() {
@@ -64,14 +68,15 @@ function buildPlayer(files: File[]): ?Player {
   throw new Error(`Unsupported number of files: ${files.length}`);
 }
 
-type OwnProps = { children: React.Node };
+type OwnProps = { children: ({ inputDescription: React.Node }) => React.Node };
 
 type Props = OwnProps & {
-  importPanelLayout: (payload: ImportPanelLayoutPayload, isFromUrl: boolean, skipSettingLocalStorage: boolean) => void,
+  importPanelLayout: typeof importPanelLayout,
   userNodes: UserNodes,
   setUserNodeDiagnostics: SetUserNodeDiagnostics,
   addUserNodeLogs: AddUserNodeLogs,
   setUserNodeTrust: SetUserNodeTrust,
+  setGlobalVariables: typeof setGlobalVariables,
 };
 
 function PlayerManager({
@@ -81,12 +86,15 @@ function PlayerManager({
   setUserNodeDiagnostics: setDiagnostics,
   addUserNodeLogs: setLogs,
   setUserNodeTrust: setTrust,
+  setGlobalVariables: setVariables,
 }: Props) {
   const usedFiles = React.useRef<File[]>([]);
-  const [player, setPlayerInternal] = React.useState();
+  const [player, setPlayerInternal] = React.useState<?UserNodePlayer>();
+  const [inputDescription, setInputDescription] = React.useState<React.Node>("No input selected.");
 
   const setPlayer = React.useCallback(
-    (newPlayer: ?Player) => {
+    (newPlayer: ?Player, newInputDescription: ?React.Node) => {
+      setInputDescription(newInputDescription || "No input selected.");
       if (!newPlayer) {
         setPlayerInternal(undefined);
         return;
@@ -104,14 +112,39 @@ function PlayerManager({
   React.useEffect(
     () => {
       const params = new URLSearchParams(window.location.search);
+
+      const globalVariables = getGlobalVariablesFromUrl(params);
+      if (globalVariables) {
+        setVariables(globalVariables);
+      }
+
+      // For testing, you can use ?layout-url=https://open-source-webviz-ui.s3.amazonaws.com/demoLayout.json
+      const layoutUrl = params.get(LAYOUT_URL_QUERY_KEY);
+      if (layoutUrl) {
+        fetch(layoutUrl)
+          .then((response) => response.json())
+          .then((json) => {
+            importLayout(json, { isFromUrl: true, skipSettingLocalStorage: false });
+          })
+          .catch((error) => {
+            reportError(
+              "Layout failed to load",
+              `Fetching remote file failed. ${corsError(layoutUrl)} ${error}`,
+              "user"
+            );
+          });
+      } else if (params.has(DEMO_QUERY_KEY)) {
+        importLayout(demoLayoutJson, { isFromUrl: false, skipSettingLocalStorage: true });
+      }
+
       const remoteDemoBagUrl = "https://open-source-webviz-ui.s3.amazonaws.com/demo.bag";
       if (params.has(REMOTE_BAG_URL_QUERY_KEY) || params.has(DEMO_QUERY_KEY)) {
-        const url = params.has(REMOTE_BAG_URL_QUERY_KEY)
+        const bagUrl = params.has(REMOTE_BAG_URL_QUERY_KEY)
           ? params.get(REMOTE_BAG_URL_QUERY_KEY) || ""
           : remoteDemoBagUrl;
-        getRemoteBagGuid(url).then((guid: ?string) => {
+        getRemoteBagGuid(bagUrl).then((guid: ?string) => {
           const newPlayer = new RandomAccessPlayer(
-            getRemoteBagDescriptor(url, guid, params.has(LOAD_ENTIRE_BAG_QUERY_KEY)),
+            getRemoteBagDescriptor(bagUrl, guid, params.has(LOAD_ENTIRE_BAG_QUERY_KEY)),
             getPlayerOptions()
           );
           if (params.has(DEMO_QUERY_KEY)) {
@@ -121,16 +154,24 @@ function PlayerManager({
               newPlayer.startPlayback();
             }, 1000);
           }
-          setPlayer(newPlayer);
+          setPlayer(
+            newPlayer,
+            <>
+              Streaming bag from <code>{bagUrl}</code>.
+            </>
+          );
         });
-        if (params.has(DEMO_QUERY_KEY)) {
-          importLayout(demoLayoutJson, false, true);
-        }
       } else {
-        setPlayer(new RosbridgePlayer(params.get(ROSBRIDGE_WEBSOCKET_URL_QUERY_KEY) || "ws://localhost:9090"));
+        const websocketUrl = params.get(ROSBRIDGE_WEBSOCKET_URL_QUERY_KEY) || "ws://localhost:9090";
+        setPlayer(
+          new RosbridgePlayer(websocketUrl),
+          <>
+            Using WebSocket at <code>{websocketUrl}</code>.
+          </>
+        );
       }
     },
-    [importLayout, setDiagnostics, setLogs, setPlayer, setTrust]
+    [importLayout, setPlayer, setVariables]
   );
 
   useUserNodes({ nodePlayer: player, userNodes });
@@ -147,7 +188,19 @@ function PlayerManager({
             usedFiles.current = [files[0]];
           }
           const builtPlayer = buildPlayer(usedFiles.current);
-          setPlayer(builtPlayer);
+          setPlayer(
+            builtPlayer,
+            usedFiles.current.length === 2 ? (
+              <>
+                Using local bag files <code>{usedFiles.current[0].name}</code> and{" "}
+                <code>{usedFiles.current[1].name}</code>.
+              </>
+            ) : (
+              <>
+                Using local bag file <code>{usedFiles.current[0].name}</code>.
+              </>
+            )
+          );
         }}>
         <DropOverlay>
           <div style={{ fontSize: "4em", marginBottom: "1em" }}>Drop a bag file to load it!</div>
@@ -158,7 +211,7 @@ function PlayerManager({
           </div>
         </DropOverlay>
       </DocumentDropListener>
-      <MessagePipelineProvider player={player}>{children}</MessagePipelineProvider>
+      <MessagePipelineProvider player={player}>{children({ inputDescription })}</MessagePipelineProvider>
     </>
   );
 }
@@ -167,5 +220,5 @@ export default connect<Props, OwnProps, _, _, _, _>(
   (state) => ({
     userNodes: state.panels.userNodes,
   }),
-  { importPanelLayout, setUserNodeDiagnostics, addUserNodeLogs, setUserNodeTrust }
+  { importPanelLayout, setUserNodeDiagnostics, addUserNodeLogs, setUserNodeTrust, setGlobalVariables }
 )(PlayerManager);
diff --git a/packages/webviz-core/src/components/Root.js b/packages/webviz-core/src/components/Root.js
index d3fef4ed4..d9afb96fd 100644
--- a/packages/webviz-core/src/components/Root.js
+++ b/packages/webviz-core/src/components/Root.js
@@ -6,6 +6,7 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
+import HelpCircleIcon from "@mdi/svg/svg/help-circle.svg";
 import React from "react";
 import { hot } from "react-hot-loader/root";
 import { connect, Provider } from "react-redux";
@@ -16,15 +17,17 @@ import Logo from "webviz-core/src/assets/logo.svg";
 import AppMenu from "webviz-core/src/components/AppMenu";
 import ErrorBoundary from "webviz-core/src/components/ErrorBoundary";
 import ErrorDisplay from "webviz-core/src/components/ErrorDisplay";
+import Icon from "webviz-core/src/components/Icon";
 import LayoutMenu from "webviz-core/src/components/LayoutMenu";
 import PanelLayout from "webviz-core/src/components/PanelLayout";
 import PlaybackControls from "webviz-core/src/components/PlaybackControls";
 import PlayerManager from "webviz-core/src/components/PlayerManager";
+import { TinyConnectionPicker } from "webviz-core/src/components/TinyConnectionPicker";
 import Toolbar from "webviz-core/src/components/Toolbar";
 import withDragDropContext from "webviz-core/src/components/withDragDropContext";
 import getGlobalStore from "webviz-core/src/store/getGlobalStore";
-import type { ImportPanelLayoutPayload } from "webviz-core/src/types/panels";
 import { setReactHotLoaderConfig } from "webviz-core/src/util/dev";
+import { showHelpModalOpenSource } from "webviz-core/src/util/showHelpModalOpenSource";
 
 // Only used in dev.
 setReactHotLoaderConfig();
@@ -32,8 +35,7 @@ setReactHotLoaderConfig();
 const LOGO_SIZE = 24;
 
 type Props = {|
-  // panelLayout is an opaque structure defined by react-mosaic
-  importPanelLayout: (ImportPanelLayoutPayload, boolean) => void,
+  importPanelLayout: typeof importPanelLayout,
 |};
 class App extends React.PureComponent<Props> {
   container: ?HTMLDivElement;
@@ -45,36 +47,48 @@ class App extends React.PureComponent<Props> {
     }
 
     // Add a hook for integration tests.
-    window.setPanelLayout = (payload) => this.props.importPanelLayout(payload, false);
+    window.setPanelLayout = (payload) => this.props.importPanelLayout(payload);
   }
 
   render() {
     return (
       <div ref={(el) => (this.container = el)} className="app-container" tabIndex={0}>
         <PlayerManager>
-          <Toolbar>
-            <div className={styles.logoWrapper}>
-              <a href="/">
-                <Logo width={LOGO_SIZE} height={LOGO_SIZE} />
-              </a>
-              webviz
-            </div>
-            <div className={styles.block} style={{ marginRight: 5 }}>
-              <ErrorDisplay />
-            </div>
-            <div className={styles.block}>
-              <AppMenu />
-            </div>
-            <div className={styles.block}>
-              <LayoutMenu />
-            </div>
-          </Toolbar>
-          <div className={styles.layout}>
-            <PanelLayout />
-          </div>
-          <div className={styles["playback-controls"]}>
-            <PlaybackControls />
-          </div>
+          {({ inputDescription }) => (
+            <>
+              <Toolbar>
+                <div className={styles.logoWrapper}>
+                  <a href="/">
+                    <Logo width={LOGO_SIZE} height={LOGO_SIZE} />
+                  </a>
+                  webviz
+                </div>
+                <div className={styles.block} style={{ marginRight: 5 }}>
+                  <ErrorDisplay />
+                </div>
+                <div className={styles.block}>
+                  <Icon tooltip="Help" small fade onClick={showHelpModalOpenSource}>
+                    <HelpCircleIcon />
+                  </Icon>
+                </div>
+                <div className={styles.block}>
+                  <AppMenu />
+                </div>
+                <div className={styles.block}>
+                  <LayoutMenu />
+                </div>
+                <div className={styles.block}>
+                  <TinyConnectionPicker inputDescription={inputDescription} />
+                </div>
+              </Toolbar>
+              <div className={styles.layout}>
+                <PanelLayout />
+              </div>
+              <div className={styles["playback-controls"]}>
+                <PlaybackControls />
+              </div>
+            </>
+          )}
         </PlayerManager>
       </div>
     );
diff --git a/packages/webviz-core/src/components/ShareJsonModal.stories.js b/packages/webviz-core/src/components/ShareJsonModal.stories.js
index 741cc9300..5705b405e 100644
--- a/packages/webviz-core/src/components/ShareJsonModal.stories.js
+++ b/packages/webviz-core/src/components/ShareJsonModal.stories.js
@@ -15,7 +15,7 @@ import { importPanelLayout } from "webviz-core/src/actions/panels";
 import ShareJsonModal from "webviz-core/src/components/ShareJsonModal";
 
 const onLayoutChange = (layout: any, isFromUrl: boolean = false) => {
-  importPanelLayout(layout, isFromUrl);
+  importPanelLayout(layout, { isFromUrl });
 };
 
 storiesOf("<ShareJsonModal>", module)
diff --git a/packages/webviz-core/src/components/TextContent.js b/packages/webviz-core/src/components/TextContent.js
index fa6ca2941..3675f019f 100644
--- a/packages/webviz-core/src/components/TextContent.js
+++ b/packages/webviz-core/src/components/TextContent.js
@@ -11,6 +11,8 @@ import ReactMarkdown from "react-markdown";
 import { Link } from "react-router-dom";
 
 import styles from "./TextContent.module.scss";
+import { getGlobalHooks } from "webviz-core/src/loadWebviz";
+import { showHelpModalOpenSource } from "webviz-core/src/util/showHelpModalOpenSource";
 
 type Props = {
   children: React.Node | string,
@@ -25,6 +27,14 @@ export default class TextContent extends React.Component<Props> {
     // Make links in Markdown work with react-router.
     // Per https://github.com/rexxars/react-markdown/issues/29#issuecomment-275437798
     function renderLink(props) {
+      if (getGlobalHooks().linkTopicPathSyntaxToHelpPage() && props.href === "/help/topic-path-syntax") {
+        return (
+          <a href="#" onClick={showHelpModalOpenSource}>
+            {props.children}
+          </a>
+        );
+      }
+
       return props.href.match(/^\//) ? (
         <Link to={props.href}>{props.children}</Link>
       ) : (
diff --git a/packages/webviz-core/src/components/TinyConnectionPicker.js b/packages/webviz-core/src/components/TinyConnectionPicker.js
new file mode 100644
index 000000000..1f0d73d9a
--- /dev/null
+++ b/packages/webviz-core/src/components/TinyConnectionPicker.js
@@ -0,0 +1,62 @@
+// @flow
+//
+//  Copyright (c) 2019-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import DatabaseIcon from "@mdi/svg/svg/database.svg";
+import * as React from "react";
+import styled from "styled-components";
+
+import ChildToggle from "webviz-core/src/components/ChildToggle";
+import Icon from "webviz-core/src/components/Icon";
+import { useMessagePipeline } from "webviz-core/src/components/MessagePipeline";
+import SpinningLoadingIcon from "webviz-core/src/components/SpinningLoadingIcon";
+import { colors } from "webviz-core/src/util/colors";
+import { showHelpModalOpenSource } from "webviz-core/src/util/showHelpModalOpenSource";
+
+const SConnectionPicker = styled.div`
+  padding: 1em;
+  background: ${colors.GRAY2};
+  pointer-events: auto;
+  border-radius: 4px;
+  line-height: 1.4;
+`;
+
+export function TinyConnectionPicker({
+  inputDescription,
+  defaultIsOpen = false,
+}: {|
+  inputDescription: React.Node,
+  defaultIsOpen?: boolean,
+|}) {
+  const showSpinner = useMessagePipeline(React.useCallback(({ playerState }) => playerState.showSpinner, []));
+  const [isOpen, setIsOpen] = React.useState<boolean>(defaultIsOpen);
+
+  const onToggle = React.useCallback(() => setIsOpen(!isOpen), [isOpen]);
+
+  return (
+    <ChildToggle
+      position="below"
+      isOpen={isOpen}
+      onToggle={onToggle}
+      dataTest="open-connection-picker"
+      style={{ height: 18 }}>
+      <Icon tooltip="Sources" small fade active={isOpen}>
+        {showSpinner ? <SpinningLoadingIcon /> : <DatabaseIcon />}
+      </Icon>
+      <SConnectionPicker>
+        {inputDescription}
+        <div style={{ marginTop: "1em", whiteSpace: "nowrap" }}>
+          To connect different sources, see the{" "}
+          <a href="#" onClick={showHelpModalOpenSource}>
+            help page
+          </a>
+          .
+        </div>
+      </SConnectionPicker>
+    </ChildToggle>
+  );
+}
diff --git a/packages/webviz-core/src/components/TinyConnectionPicker.stories.js b/packages/webviz-core/src/components/TinyConnectionPicker.stories.js
new file mode 100644
index 000000000..ea0a9a150
--- /dev/null
+++ b/packages/webviz-core/src/components/TinyConnectionPicker.stories.js
@@ -0,0 +1,33 @@
+// @flow
+//
+//  Copyright (c) 2019-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { storiesOf } from "@storybook/react";
+import * as React from "react";
+import { withScreenshot } from "storybook-chrome-screenshot";
+
+import { MockMessagePipelineProvider } from "webviz-core/src/components/MessagePipeline";
+import { TinyConnectionPicker } from "webviz-core/src/components/TinyConnectionPicker";
+
+storiesOf("<TinyConnectionPicker>", module)
+  .addDecorator(withScreenshot())
+  .add("default", () => {
+    return (
+      <MockMessagePipelineProvider>
+        <div style={{ padding: 8, textAlign: "right", width: "100%" }}>
+          <TinyConnectionPicker
+            defaultIsOpen
+            inputDescription={
+              <>
+                Using local bag file <code>only-a-cube.bag</code>.
+              </>
+            }
+          />
+        </div>
+      </MockMessagePipelineProvider>
+    );
+  });
diff --git a/packages/webviz-core/src/dataProviders/BrowserHttpReader.js b/packages/webviz-core/src/dataProviders/BrowserHttpReader.js
index 55384ff5e..33b37028f 100644
--- a/packages/webviz-core/src/dataProviders/BrowserHttpReader.js
+++ b/packages/webviz-core/src/dataProviders/BrowserHttpReader.js
@@ -8,35 +8,7 @@
 
 import FetchReader from "webviz-core/src/dataProviders/FetchReader";
 import type { FileReader, FileStream } from "webviz-core/src/util/CachedFilelike";
-
-function corsError(url: string): string {
-  return `Often this is due to missing CORS headers on the requested URL: ${url}
-
-First of all, be aware that redirects don't work with CORS. So you'll have to point to the resource directly. So https://webviz.io/try/?remote-bag-url=https%3A%2F%2Fopen-source-webviz-ui.s3.amazonaws.com%2Fdemo.bag will work (note the URL encoded using "encodeURIComponent"), but pointing to a server that then redirects to a URL like that will NOT work.
-
-If your data is sensitive, you can generate a signed S3 url, and use that directly with ?remote-bag-url=. That URL will then only work for a limited time period, and you can have a server that only signs URLs for authenticated users.
-
-Then, be sure to set up your CORS configuration something like this (Terraform S3 example):
-
-cors_rule {
-  allowed_methods = ["GET", "HEAD"]
-  allowed_origins = ["https://webviz.io"]
-  allowed_headers = ["*"]
-  expose_headers  = ["ETag", "Content-Type", "Accept-Ranges", "Content-Length"]
-}
-
-And here's a GCS example (also using Terraform):
-
-cors {
-  origin = ["https://webviz.io"]
-  method = ["GET", "HEAD", "OPTIONS"]
-  response_header = ["ETag", "Content-Length", "Accept-Ranges", "Range"]
-}
-
-You can also have your own server to host files, but be aware that it has to support both range requests and CORS, which can be quite complicated to set up. So we recommend hosting your bag files in a cloud provider like S3 or GCS.
-
-`;
-}
+import { corsError } from "webviz-core/src/util/corsError";
 
 // A file reader that reads from a remote HTTP URL, for usage in the browser (not for node.js).
 export default class BrowserHttpReader implements FileReader {
diff --git a/packages/webviz-core/src/loadWebviz.js b/packages/webviz-core/src/loadWebviz.js
index 262948c77..ad34f071e 100644
--- a/packages/webviz-core/src/loadWebviz.js
+++ b/packages/webviz-core/src/loadWebviz.js
@@ -49,6 +49,7 @@ const defaultHooks = {
     ];
   },
   panelsByCategory() {
+    const GlobalVariables = require("webviz-core/src/panels/GlobalVariables").default;
     const DiagnosticStatusPanel = require("webviz-core/src/panels/diagnostics/DiagnosticStatusPanel").default;
     const DiagnosticSummary = require("webviz-core/src/panels/diagnostics/DiagnosticSummary").default;
     const ImageViewPanel = require("webviz-core/src/panels/ImageView").default;
@@ -79,6 +80,7 @@ const defaultHooks = {
     ];
 
     const utilities = [
+      { title: "Global Variables", component: GlobalVariables },
       { title: "Node Playground", component: NodePlayground },
       { title: "Notes", component: Note },
       { title: "Webviz Internals", component: Internals },
@@ -204,11 +206,16 @@ const defaultHooks = {
     return <Root store={store} />;
   },
   topicsWithIncorrectHeaders: () => [],
-  load: () => {},
-  onPanelClose: () => {},
-  onPanelSwap: () => {},
-  onPanelSplit: () => {},
-  onPanelDrag: () => {},
+  load: () => {
+    if (process.env.NODE_ENV === "production" && window.ga) {
+      window.ga("create", "UA-82819136-10", "auto");
+    } else {
+      window.ga = function(...args) {
+        console.log("[debug] ga:", ...args);
+      };
+    }
+    window.ga("send", "pageview");
+  },
   getWorkerDataProviderWorker: () => {
     return require("webviz-core/src/dataProviders/WorkerDataProvider.worker");
   },
@@ -224,6 +231,7 @@ const defaultHooks = {
       },
     };
   },
+  linkTopicPathSyntaxToHelpPage: () => true,
 };
 
 let hooks = defaultHooks;
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/DataSourceBadge.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/DataSourceBadge.js
index 07b35bcda..c08d7dbfa 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/DataSourceBadge.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/DataSourceBadge.js
@@ -38,23 +38,64 @@ const SDataSourceBadge = styled.span`
   height: ${(props) => (props.isNamespace ? "18px" : "24px")};
   margin-left: 4px;
   color: ${colors.LIGHT};
+  cursor: pointer;
 `;
 
-type Props = {| isNamespace?: boolean, badgeText: string, visible: boolean, available: boolean |};
+type Props = {|
+  available: boolean,
+  badgeText: string,
+  dataTest: string,
+  isNamespace?: boolean,
+  onToggleVisibility: () => void,
+  visible: boolean,
+  isParentVisible: boolean,
+|};
 
 // Apply different UI for topic and namespace badges based on visibility and availability
 // TODO(Audrey): derive colors from settings and marker colors, apply hover UI
-function getBadgeStyle(visible: boolean, available: boolean): { [attr: string]: string | number } {
+function getBadgeStyle({
+  visible,
+  available,
+  isParentVisible,
+  isNamespace,
+}: {
+  visible: boolean,
+  available: boolean,
+  isParentVisible: boolean,
+  isNamespace?: boolean,
+}): { [attr: string]: string | number } {
+  if (!isParentVisible) {
+    return { opacity: available ? 0.1 : 0, cursor: available ? "not-allowed" : "unset" };
+  }
   if (available) {
     return visible ? BADGE_STYLES.AVAILABLE_VISIBLE : BADGE_STYLES.AVAILABLE_HIDDEN;
   }
   // hide any unavailable items
-  return { opacity: 0 };
+  return { opacity: 0, cursor: "unset" };
 }
 
-export default function DataSourceBadge({ isNamespace, badgeText, visible, available }: Props) {
+export default function DataSourceBadge({
+  available,
+  badgeText,
+  dataTest,
+  isNamespace,
+  isParentVisible,
+  onToggleVisibility,
+  visible,
+}: Props) {
   return (
-    <SDataSourceBadge isNamespace={isNamespace} style={getBadgeStyle(visible, available)}>
+    <SDataSourceBadge
+      visible={visible}
+      available={available}
+      data-test={dataTest}
+      onClick={(e) => {
+        e.stopPropagation();
+        if (isParentVisible) {
+          onToggleVisibility();
+        }
+      }}
+      isNamespace={isNamespace}
+      style={getBadgeStyle({ visible, available, isParentVisible, isNamespace })}>
       {badgeText}
     </SDataSourceBadge>
   );
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/LayoutForTopicGroups.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/LayoutForTopicGroups.js
index 307d394a5..44d9fb3ae 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/LayoutForTopicGroups.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/LayoutForTopicGroups.js
@@ -149,6 +149,10 @@ export default function LayoutForTopicGroups({
 
   useEffect(
     () => {
+      // Save the topic group config until we do the final migration
+      if ((!process.env.NODE_ENV || process.env.NODE_ENV === "development") && topicGroups) {
+        return;
+      }
       // Always migrate the current config to topicGroup and save to panelConfig.
       // This is only temporary until we do the full migration before release.
       // TODO(Audrey): move the migration logic upstream
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/Namespaces.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/Namespaces.js
index b9f13e9b8..5d112aa95 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/Namespaces.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/Namespaces.js
@@ -11,36 +11,62 @@ import styled from "styled-components";
 
 import DataSourceBadge from "./DataSourceBadge";
 import type { NamespaceItem } from "./types";
+import { colors } from "webviz-core/src/util/colors";
 
 const SNamespacesBySource = styled.div`
-  padding-top: 8px;
+  margin-bottom: 8px;
 `;
 
 const SNamespaceItem = styled.div`
-  margin-bottom: 4px;
+  padding: 2px 8px 2px 50px;
   display: flex;
+  align-items: center;
   justify-content: space-between;
+  transition: 0.3s;
+  &:hover {
+    background-color: ${colors.HOVER_BACKGROUND_COLOR};
+  }
 `;
 
 const SName = styled.div`
   font-size: 12px;
+  color: ${colors.LIGHT2};
 `;
 
 type Props = {|
-  topicName: string,
   namespaceItems: NamespaceItem[],
+  onToggleNamespace: ({| visible: boolean, dataSourcePrefix: string, namespace: string |}) => void,
+  topicName: string,
 |};
 
-export default function Namespaces({ topicName, namespaceItems }: Props) {
+export default function Namespaces({ onToggleNamespace, topicName, namespaceItems }: Props) {
   return (
     <SNamespacesBySource>
       {namespaceItems.map(({ name, displayVisibilityBySource }) => (
         <SNamespaceItem key={name}>
           <SName>{name}</SName>
           <span>
-            {Object.keys(displayVisibilityBySource).map((key) => (
-              <DataSourceBadge key={key} {...displayVisibilityBySource[key]} isNamespace />
-            ))}
+            {Object.keys(displayVisibilityBySource).map((dataSourcePrefix) => {
+              const { visible, available, badgeText, isParentVisible } = displayVisibilityBySource[dataSourcePrefix];
+              return (
+                <DataSourceBadge
+                  available={available}
+                  badgeText={badgeText}
+                  dataTest={`namespace-${dataSourcePrefix}${topicName}:${name}`}
+                  isNamespace
+                  isParentVisible={!!isParentVisible}
+                  key={dataSourcePrefix}
+                  visible={visible}
+                  onToggleVisibility={() => {
+                    onToggleNamespace({
+                      visible: !visible,
+                      dataSourcePrefix,
+                      namespace: name,
+                    });
+                  }}
+                />
+              );
+            })}
           </span>
         </SNamespaceItem>
       ))}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroup.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroup.js
deleted file mode 100644
index a59d41019..000000000
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroup.js
+++ /dev/null
@@ -1,59 +0,0 @@
-// @flow
-//
-//  Copyright (c) 2018-present, Cruise LLC
-//
-//  This source code is licensed under the Apache License, Version 2.0,
-//  found in the LICENSE file in the root directory of this source tree.
-//  You may not use this file except in compliance with the License.
-
-import React from "react";
-import styled from "styled-components";
-
-import TopicItemRow from "./TopicItemRow";
-import type { TopicGroupType } from "./types";
-import { colors } from "webviz-core/src/util/colors";
-
-const STopicGroup = styled.div`
-  padding: 4px 0px;
-`;
-const STopicGroupHeader = styled.div`
-  display: flex;
-  flex-direction: row;
-  align-items: center;
-  padding: 4px 8px;
-`;
-const STopicGroupBody = styled.div``;
-
-const STopicGroupName = styled.div`
-  font-size: 16px;
-  color: ${colors.YELLOWL1};
-  flex: 1;
-`;
-
-type Props = {|
-  topicGroup: TopicGroupType,
-|};
-
-export default function TopicGroup({
-  topicGroup: {
-    displayName,
-    expanded,
-    derivedFields: { items },
-  },
-}: Props) {
-  return (
-    <STopicGroup>
-      <STopicGroupHeader>
-        <STopicGroupName>{displayName}</STopicGroupName>
-      </STopicGroupHeader>
-      {expanded && (
-        <STopicGroupBody>
-          {!items.length && <div>There are no items in this group. Add one</div>}
-          {items.map((item) => (
-            <TopicItemRow item={item} key={item.derivedFields.id} />
-          ))}
-        </STopicGroupBody>
-      )}
-    </STopicGroup>
-  );
-}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroupBody.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroupBody.js
new file mode 100644
index 000000000..2f62b62d2
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroupBody.js
@@ -0,0 +1,60 @@
+// @flow
+//
+//  Copyright (c) 2018-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { omit } from "lodash";
+import React from "react";
+import styled from "styled-components";
+
+import TopicItemRow from "./TopicItemRow";
+import type { TopicGroupType } from "./types";
+import { colors } from "webviz-core/src/util/colors";
+
+const STopicGroupBody = styled.div`
+  width: 100%;
+  background-color: ${colors.TOOLBARL1};
+`;
+
+type Props = {|
+  topicGroup: TopicGroupType,
+  onTopicGroupChange: (newTopicGroupConfig: TopicGroupType) => void,
+|};
+
+export default function TopicGroupBody({
+  topicGroup,
+  topicGroup: {
+    displayName,
+    expanded,
+
+    derivedFields: { items },
+  },
+  onTopicGroupChange,
+}: Props) {
+  return (
+    <STopicGroupBody>
+      {!items.length && <div>There are no items in this group. Add one</div>}
+      {items.map((item, idx) => (
+        <TopicItemRow
+          onItemChange={(newItem) => {
+            const newItems = [...items.slice(0, idx), newItem, ...items.slice(idx + 1)];
+            onTopicGroupChange(
+              omit(
+                {
+                  ...topicGroup,
+                  items: newItems.map((topicItem) => omit(topicItem, "derivedFields")),
+                },
+                "derivedFields"
+              )
+            );
+          }}
+          item={item}
+          key={item.derivedFields.id}
+        />
+      ))}
+    </STopicGroupBody>
+  );
+}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroupHeader.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroupHeader.js
new file mode 100644
index 000000000..a266d1340
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroupHeader.js
@@ -0,0 +1,72 @@
+// @flow
+//
+//  Copyright (c) 2018-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import EyeOffOutlineIcon from "@mdi/svg/svg/eye-off-outline.svg";
+import EyeOutlineIcon from "@mdi/svg/svg/eye-outline.svg";
+import React from "react";
+import styled from "styled-components";
+import tinyColor from "tinycolor2";
+
+import type { TopicGroupType } from "./types";
+import Icon from "webviz-core/src/components/Icon";
+import { colors } from "webviz-core/src/util/colors";
+
+const STopicGroupHeader = styled.div`
+  display: flex;
+  flex: 1;
+  flex-direction: row;
+  align-items: center;
+`;
+
+export const STopicGroupName = styled.div`
+  font-size: 16px;
+  color: ${(props) =>
+    props.visible
+      ? colors.YELLOW1
+      : tinyColor(colors.YELLOW1)
+          .setAlpha(0.2)
+          .toRgbString()};
+  flex: 1;
+`;
+
+export const SEyeIcon = styled.span`
+  opacity: ${(props) => (props.visible ? 0 : 0.4)};
+`;
+
+type Props = {|
+  topicGroup: TopicGroupType,
+  onTopicGroupChange: (newTopicGroupConfig: TopicGroupType) => void,
+|};
+
+export default function TopicGroupHeader({
+  topicGroup,
+  topicGroup: {
+    displayName,
+    expanded,
+    visible,
+    derivedFields: { items },
+  },
+  onTopicGroupChange,
+}: Props) {
+  return (
+    <STopicGroupHeader>
+      <STopicGroupName visible={visible}>{displayName}</STopicGroupName>
+      <SEyeIcon visible={visible}>
+        <Icon
+          style={{ width: 32, height: 32, padding: 8 }}
+          dataTest={`topic-group-${displayName}`}
+          onClick={() => {
+            onTopicGroupChange({ ...topicGroup, visible: !visible });
+          }}
+          medium>
+          {visible ? <EyeOutlineIcon /> : <EyeOffOutlineIcon />}
+        </Icon>
+      </SEyeIcon>
+    </STopicGroupHeader>
+  );
+}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroups.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroups.js
index 8b0995a6b..b6a25ae64 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroups.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroups.js
@@ -6,13 +6,18 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
+import ChevronDownIcon from "@mdi/svg/svg/chevron-down.svg";
+import ChevronUpIcon from "@mdi/svg/svg/chevron-up.svg";
 import LayersIcon from "@mdi/svg/svg/layers.svg";
 import PinIcon from "@mdi/svg/svg/pin.svg";
+import { omit } from "lodash";
+import Collapse from "rc-collapse";
 import React, { useState, useCallback, useMemo } from "react";
 import styled from "styled-components";
 
 import { type Save3DConfig } from "../index";
-import TopicGroup from "./TopicGroup";
+import TopicGroupBody from "./TopicGroupBody";
+import TopicGroupHeader, { STopicGroupName, SEyeIcon } from "./TopicGroupHeader";
 import {
   getTopicGroups,
   buildItemDisplayNameByTopicOrExtension,
@@ -26,6 +31,8 @@ import { type Topic } from "webviz-core/src/players/types";
 import type { Namespace } from "webviz-core/src/types/Messages";
 import { colors } from "webviz-core/src/util/colors";
 
+require("rc-collapse/assets/index.css");
+
 const STopicGroupsContainer = styled.div`
   position: absolute;
   top: 15px;
@@ -42,6 +49,46 @@ const STopicGroups = styled.div`
   max-width: 400px;
   max-height: 90%;
   pointer-events: all;
+  .rc-collapse {
+    background: transparent;
+    border-radius: 0;
+    border: none;
+    padding: 0;
+    margin: 0;
+    .rc-collapse-item {
+      border: none;
+      padding: 0;
+      margin: 0;
+      .rc-collapse-header {
+        margin: 0;
+        border: none;
+        transition: 0.3s;
+        padding: 4px 8px 8px 24px;
+        color: unset;
+        &:hover {
+          color: ${colors.LIGHT};
+          background-color: ${colors.HOVER_BACKGROUND_COLOR};
+          ${STopicGroupName} {
+            color: ${colors.YELLOWL1};
+          }
+          ${SEyeIcon} {
+            color: white;
+            opacity: 1;
+          }
+        }
+      }
+      .rc-collapse-content {
+        color: unset;
+        padding: 0;
+        border: none;
+        margin: 0;
+        background: transparent;
+        .rc-collapse-content-box {
+          margin: 0;
+        }
+      }
+    }
+  }
 `;
 
 const SMutedText = styled.div`
@@ -105,6 +152,17 @@ export function TopicGroupsBase({
     availableTopics,
   });
 
+  const onCollapseChange = useCallback(
+    (activeKeys) => {
+      const newTopicGroups = topicGroups.map((group) => ({
+        ...omit(group, "derivedFields"),
+        expanded: activeKeys.includes(group.derivedFields.id),
+      }));
+      saveConfig({ topicGroups: newTopicGroups });
+    },
+    [saveConfig, topicGroups]
+  );
+
   return (
     <STopicGroupsContainer>
       <ChildToggle position="below" isOpen={isOpen || pinTopics} onToggle={toggleIsOpen} dataTest="open-topic-picker">
@@ -128,9 +186,39 @@ export function TopicGroupsBase({
             Topic Group Management is an experimental feature under active development. You can use the existing topic
             tree by selecting <b>Always off</b> in the Experimental Features menu.
           </SMutedText>
-          {topicGroups.map((topicGroup) => (
-            <TopicGroup key={topicGroup.derivedFields.id} topicGroup={topicGroup} />
-          ))}
+          <Collapse
+            defaultActiveKey={topicGroups
+              .map((group) => (group.expanded ? group.derivedFields.id : null))
+              .filter(Boolean)}
+            expandIcon={({ expanded }) => (
+              <Icon medium fade style={{ marginRight: 4 }}>
+                {expanded ? <ChevronUpIcon /> : <ChevronDownIcon />}
+              </Icon>
+            )}
+            onChange={onCollapseChange}>
+            {topicGroups.map((topicGroup, idx) => {
+              const onTopicGroupChange = (newTopicGroup) => {
+                const newTopicGroups = [...topicGroups.slice(0, idx), newTopicGroup, ...topicGroups.slice(idx + 1)].map(
+                  (group) => omit(group, "derivedFields")
+                );
+                saveConfig({ topicGroups: newTopicGroups });
+              };
+              return (
+                <Collapse.Panel
+                  className={`test-${topicGroup.derivedFields.id}`}
+                  key={topicGroup.derivedFields.id}
+                  header={<TopicGroupHeader onTopicGroupChange={onTopicGroupChange} topicGroup={topicGroup} />}>
+                  {topicGroup.expanded && (
+                    <TopicGroupBody
+                      key={topicGroup.derivedFields.id}
+                      topicGroup={topicGroup}
+                      onTopicGroupChange={onTopicGroupChange}
+                    />
+                  )}
+                </Collapse.Panel>
+              );
+            })}
+          </Collapse>
         </STopicGroups>
       </ChildToggle>
     </STopicGroupsContainer>
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicItemRow.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicItemRow.js
index 33c2ed0af..40c251191 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicItemRow.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicItemRow.js
@@ -5,30 +5,52 @@
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
-
-import React from "react";
-import styled from "styled-components";
+import ChevronDownIcon from "@mdi/svg/svg/chevron-down.svg";
+import ChevronUpIcon from "@mdi/svg/svg/chevron-up.svg";
+import { uniq } from "lodash";
+import Collapse from "rc-collapse";
+import React, { useCallback } from "react";
+import styled, { css } from "styled-components";
 
 import DataSourceBadge from "./DataSourceBadge";
 import Namespaces from "./Namespaces";
 import type { TopicItem } from "./types";
+import Icon from "webviz-core/src/components/Icon";
 import { colors } from "webviz-core/src/util/colors";
 
+const namespaceCss = css`
+  .rc-collapse {
+    .rc-collapse-item {
+      .rc-collapse-header {
+        padding: 0px 0px 0px 32px;
+      }
+    }
+  }
+`;
 const SItemRow = styled.div`
-  padding: 8px;
-  transition: 0.3s;
+  padding: 0;
+  display: flex;
+  flex-direction: column;
+  color: ${colors.LIGHT};
+  color: ${(props) => (props.available ? colors.LIGHT : colors.TEXT_MUTED)};
+  ${(props) => (props.hasNamespaces ? namespaceCss : "")};
   &:hover {
-    cursor: pointer;
-    background-color: ${colors.HOVER_BACKGROUND_COLOR};
+    color: ${colors.LIGHT};
   }
 `;
 
 const SItemMain = styled.div`
   display: flex;
+  flex: 1;
+  line-height: 1.2;
+  padding: ${(props) => (props.hasNamespaces ? "8px 0 8px 8px" : " 8px 8px 8px 48px")};
+  transition: 0.3s;
+  &:hover {
+    background-color: ${colors.HOVER_BACKGROUND_COLOR};
+  }
 `;
 
 const SItemMainLeft = styled.div`
-  color: ${colors.LIGHT2};
   font-size: 10px;
   flex: 1;
 `;
@@ -41,42 +63,125 @@ const SItemMainRight = styled.div`
 `;
 
 export const SDisplayName = styled.div`
-  color: ${colors.LIGHT};
   font-size: 14px;
   margin-bottom: 4px;
   word-break: break-word;
 `;
 
-export const SName = styled.div`
-  color: ${colors.LIGHT2};
+export const STopicName = styled.div`
   font-size: 10px;
   word-break: break-word;
 `;
 
 type Props = {|
   item: TopicItem,
+  onItemChange: (newItem: TopicItem) => void,
 |};
 
-export default function TopicItemRow({
+function TopicItemRowHeader({
+  onItemChange,
+  hasNamespaces,
+  item,
   item: {
     topicName,
     derivedFields: { displayName, namespaceItems, displayVisibilityBySource },
   },
-}: Props) {
+}: {|
+  ...Props,
+  hasNamespaces?: boolean,
+|}) {
+  return (
+    <SItemMain hasNamespaces={hasNamespaces}>
+      <SItemMainLeft>
+        <SDisplayName>{displayName}</SDisplayName>
+        {topicName !== displayName && <STopicName>{topicName}</STopicName>}
+      </SItemMainLeft>
+      <SItemMainRight>
+        {Object.keys(displayVisibilityBySource).map((dataSourcePrefix) => {
+          const { visible, available, badgeText, isParentVisible } = displayVisibilityBySource[dataSourcePrefix];
+          return (
+            <DataSourceBadge
+              available={available}
+              badgeText={badgeText}
+              dataTest={`topic-${dataSourcePrefix}${topicName}`}
+              isParentVisible={isParentVisible}
+              key={dataSourcePrefix}
+              visible={visible}
+              onToggleVisibility={() => {
+                const newVisible = !displayVisibilityBySource[dataSourcePrefix].visible;
+                const newItem = {
+                  ...item,
+                  visibilitiesBySource: {
+                    ...item.visibilitiesBySource,
+                    [dataSourcePrefix]: newVisible,
+                  },
+                };
+                onItemChange(newItem);
+              }}
+            />
+          );
+        })}
+      </SItemMainRight>
+    </SItemMain>
+  );
+}
+
+export default function TopicItemRow(props: Props) {
+  const {
+    onItemChange,
+    item,
+    item: {
+      expanded: topicExpanded,
+      topicName,
+      derivedFields: { namespaceItems, id, available },
+    },
+  } = props;
+
+  const hasNamespaces = namespaceItems.length > 0;
+  const onCollapseChange = useCallback(
+    (activeKeys) => {
+      if (hasNamespaces) {
+        onItemChange({ ...item, expanded: !topicExpanded });
+      }
+    },
+    [hasNamespaces, item, onItemChange, topicExpanded]
+  );
+
   return (
-    <SItemRow>
-      <SItemMain>
-        <SItemMainLeft>
-          <SDisplayName>{displayName}</SDisplayName>
-          {topicName !== displayName && <SName>{topicName}</SName>}
-        </SItemMainLeft>
-        <SItemMainRight>
-          {Object.keys(displayVisibilityBySource).map((key) => (
-            <DataSourceBadge key={key} {...displayVisibilityBySource[key]} />
-          ))}
-        </SItemMainRight>
-      </SItemMain>
-      {namespaceItems.length > 0 && <Namespaces topicName={topicName} namespaceItems={namespaceItems} />}
+    <SItemRow hasNamespaces={hasNamespaces} available={available}>
+      {namespaceItems.length ? (
+        <Collapse
+          defaultActiveKey={topicExpanded ? id : null}
+          onChange={onCollapseChange}
+          expandIcon={({ expanded }) => (
+            <Icon small fade>
+              {expanded ? <ChevronUpIcon /> : <ChevronDownIcon />}
+            </Icon>
+          )}>
+          <Collapse.Panel key={id} className={`test-${id}`} header={<TopicItemRowHeader hasNamespaces {...props} />}>
+            <Namespaces
+              onToggleNamespace={({ visible, namespace, dataSourcePrefix }) => {
+                let newNamespaces =
+                  (item.selectedNamespacesBySource && item.selectedNamespacesBySource[dataSourcePrefix]) || [];
+                newNamespaces = visible
+                  ? [...newNamespaces, namespace]
+                  : newNamespaces.filter((ns) => ns !== namespace);
+                onItemChange({
+                  ...item,
+                  selectedNamespacesBySource: {
+                    ...item.selectedNamespacesBySource,
+                    [dataSourcePrefix]: uniq(newNamespaces),
+                  },
+                });
+              }}
+              topicName={topicName}
+              namespaceItems={namespaceItems}
+            />
+          </Collapse.Panel>
+        </Collapse>
+      ) : (
+        <TopicItemRowHeader {...props} />
+      )}
     </SItemRow>
   );
 }
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsMigrations.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsMigrations.js
index 00929bc5e..505c7b3eb 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsMigrations.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsMigrations.js
@@ -6,10 +6,12 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import { isEqual, sortBy } from "lodash";
+import { isEqual, sortBy, flatten, keyBy, mapValues } from "lodash";
+import microMemoize from "micro-memoize";
 
-import { ALL_DATA_SOURCE_PREFIXES, removeTopicPrefixes } from "./topicGroupsUtils";
+import { ALL_DATA_SOURCE_PREFIXES, TOPIC_CONFIG, removeTopicPrefixes } from "./topicGroupsUtils";
 import type { TopicGroupConfig } from "./types";
+import { type TopicConfig } from "webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/topicTree";
 
 function getSelectionsFromCheckedNodes(
   checkedNodes: string[]
@@ -17,10 +19,12 @@ function getSelectionsFromCheckedNodes(
   selectedTopics: string[],
   selectedExtensions: string[],
   selectedNamespacesByTopic: { [topicName: string]: string[] },
+  selectedNamesSet: Set<string>,
 } {
   const selectedExtensions = [];
   const selectedTopics = [];
   const selectedNamespacesByTopic = {};
+  const selectedNamesSet = new Set();
   checkedNodes.forEach((item) => {
     if (item.startsWith("t:")) {
       selectedTopics.push(item.substr("t:".length));
@@ -34,12 +38,79 @@ function getSelectionsFromCheckedNodes(
         selectedNamespacesByTopic[topic] = selectedNamespacesByTopic[topic] || [];
         selectedNamespacesByTopic[topic].push(namespace);
       }
+    } else if (item.startsWith("name:")) {
+      selectedNamesSet.add(item.substr("name:".length));
     }
   });
-  return { selectedExtensions, selectedTopics, selectedNamespacesByTopic };
+  return { selectedExtensions, selectedTopics, selectedNamespacesByTopic, selectedNamesSet };
 }
 
-// Create a new topic group called 'My Topic Group' and related fields based the old config
+// Generate a list of parent names for each topic so that we know the topic is selected only if all parent names are selected
+function* generateParentNamesByTopic(
+  item: TopicConfig,
+  parentNames: string[]
+): Generator<{| topic: string, parentNames: string[] |}, void, void> {
+  const childrenItems = item.children;
+  if (!childrenItems && item.topic) {
+    yield { topic: item.topic, parentNames };
+  }
+  if (childrenItems) {
+    for (const subItem of childrenItems) {
+      yield* generateParentNamesByTopic(subItem, parentNames.concat(item.name ? [item.name] : []));
+    }
+  }
+}
+
+// Memoize the parentNamesByTopic since it only needs to be computed once.
+const getParentNamesByTopic = microMemoize(
+  (topicConfig): { [topicName: string]: string[] } => {
+    const items = flatten(topicConfig.children.map((item) => Array.from(generateParentNamesByTopic(item, []))));
+    return mapValues(keyBy(items, "topic"), ({ parentNames }) => parentNames);
+  }
+);
+
+type LegacyIdItem = {| legacyId: string, topic: string |} | {| legacyId: string, name: string |};
+function* generateLegacyIdItems(item: TopicConfig): Generator<LegacyIdItem, void, void> {
+  const { children, name, topic, legacyIds } = item;
+  if (legacyIds) {
+    if (topic) {
+      yield* legacyIds.map((legacyId) => ({ legacyId, topic }));
+    } else if (name) {
+      yield* legacyIds.map((legacyId) => ({ legacyId, name }));
+    }
+  }
+  if (children) {
+    for (const subItem of children) {
+      yield* generateLegacyIdItems(subItem);
+    }
+  }
+}
+
+const getLegacyIdItems = microMemoize(
+  (topicConfig): LegacyIdItem[] => {
+    return flatten(topicConfig.children.map((item) => Array.from(generateLegacyIdItems(item))));
+  }
+);
+
+// Migrate legacyIds related to topics and names to the actual names and topics.
+export function migrateLegacyIds(checkedNodes: string[]): string[] {
+  const legacyIdItems = getLegacyIdItems(TOPIC_CONFIG);
+  const newCheckedNameOrTopicByOldNames = {};
+  for (const { topic, name, legacyId } of legacyIdItems) {
+    if (name) {
+      newCheckedNameOrTopicByOldNames[`${legacyId}`] = `name:${name}`;
+      newCheckedNameOrTopicByOldNames[`name:${legacyId}`] = `name:${name}`;
+    }
+    if (topic) {
+      newCheckedNameOrTopicByOldNames[`t:${legacyId}`] = `t:${topic}`;
+      // If both name and topic are present, only use topic as the new checkedName
+      newCheckedNameOrTopicByOldNames[`${legacyId}`] = `t:${topic}`;
+    }
+  }
+  return checkedNodes.map((node) => newCheckedNameOrTopicByOldNames[node] || node);
+}
+
+// Create a new topic group called 'My Topics' and related fields based the old config
 export function migratePanelConfigToTopicGroupConfig({
   topicSettings,
   checkedNodes,
@@ -52,53 +123,76 @@ export function migratePanelConfigToTopicGroupConfig({
   if (!checkedNodes) {
     return {
       displayName: "My Topics",
-      selected: true,
+      visible: true,
       expanded: true,
       items: [],
     };
   }
 
-  const { selectedExtensions, selectedTopics, selectedNamespacesByTopic } = getSelectionsFromCheckedNodes(checkedNodes);
+  const migratedCheckedNodes = migrateLegacyIds(checkedNodes);
+  const {
+    selectedExtensions,
+    selectedTopics,
+    selectedNamespacesByTopic,
+    selectedNamesSet,
+  } = getSelectionsFromCheckedNodes(migratedCheckedNodes);
+  const parentNamesByTopic = getParentNamesByTopic(TOPIC_CONFIG);
   const nonPrefixedTopics = removeTopicPrefixes(selectedTopics);
 
-  let items = nonPrefixedTopics.map((topicName) => {
-    let visibilitiesBySource;
-    let settingsBySource;
-    let selectedNamespacesBySource;
-    for (const dataSourcePrefix of ALL_DATA_SOURCE_PREFIXES) {
-      const prefixedTopicName = `${dataSourcePrefix}${topicName}`;
-      if (selectedTopics.includes(prefixedTopicName)) {
-        // migrate visibility
-        visibilitiesBySource = visibilitiesBySource || {};
-        visibilitiesBySource[dataSourcePrefix] = true;
-
-        // migrate settings, no need to migrate topic settings for topics that are not selected
-        if (topicSettings && topicSettings[prefixedTopicName]) {
-          settingsBySource = settingsBySource || {};
-          settingsBySource[dataSourcePrefix] = topicSettings[prefixedTopicName];
-        }
+  let items = nonPrefixedTopics
+    .map((topicName) => {
+      let visibilitiesBySource;
+      let settingsBySource;
+      let selectedNamespacesBySource;
+
+      for (const dataSourcePrefix of ALL_DATA_SOURCE_PREFIXES) {
+        const prefixedTopicName = `${dataSourcePrefix}${topicName}`;
+        // a topic is selected if it's checked and all it's parent names are checked as well
+        const isTopicSelected =
+          selectedTopics.includes(prefixedTopicName) &&
+          (parentNamesByTopic[prefixedTopicName] || ["(Uncategorized)"]).every((parentName) =>
+            selectedNamesSet.has(parentName)
+          );
+        if (isTopicSelected) {
+          // migrate visibility
+          visibilitiesBySource = visibilitiesBySource || {};
+          visibilitiesBySource[dataSourcePrefix] = true;
 
-        // migrate topic namespaces, always set the selectedNamespacesBySource field when the namespaces are modified
-        if (
-          (modifiedNamespaceTopics && modifiedNamespaceTopics.includes(prefixedTopicName)) ||
-          selectedNamespacesByTopic[prefixedTopicName]
-        ) {
-          selectedNamespacesBySource = selectedNamespacesBySource || {};
-          if (selectedNamespacesByTopic[prefixedTopicName]) {
-            selectedNamespacesBySource[dataSourcePrefix] = selectedNamespacesByTopic[prefixedTopicName];
+          // migrate settings, no need to migrate topic settings for topics that are not selected
+          if (topicSettings && topicSettings[prefixedTopicName]) {
+            settingsBySource = settingsBySource || {};
+            settingsBySource[dataSourcePrefix] = topicSettings[prefixedTopicName];
+          }
+
+          // migrate topic namespaces, always set the selectedNamespacesBySource field when the namespaces are modified
+          if (
+            (modifiedNamespaceTopics && modifiedNamespaceTopics.includes(prefixedTopicName)) ||
+            selectedNamespacesByTopic[prefixedTopicName]
+          ) {
+            selectedNamespacesBySource = selectedNamespacesBySource || {};
+            if (selectedNamespacesByTopic[prefixedTopicName]) {
+              selectedNamespacesBySource[dataSourcePrefix] = selectedNamespacesByTopic[prefixedTopicName];
+            }
           }
         }
       }
-    }
 
-    return {
-      topicName,
-      ...(settingsBySource ? { settingsBySource } : undefined),
-      // no need to store the default visibilitiesBySource in panelConfig
-      ...(!visibilitiesBySource || isEqual(visibilitiesBySource, { "": true }) ? undefined : { visibilitiesBySource }),
-      ...(selectedNamespacesBySource ? { selectedNamespacesBySource } : undefined),
-    };
-  });
+      // only selected the visible topics
+      return visibilitiesBySource
+        ? {
+            topicName,
+            // auto expand the topic if it has any selected namespaces
+            ...(flatten(Object.values(selectedNamespacesBySource || {})).length > 0 ? { expanded: true } : undefined),
+            ...(settingsBySource ? { settingsBySource } : undefined),
+            // no need to store the default visibilitiesBySource in panelConfig
+            ...(!visibilitiesBySource || isEqual(visibilitiesBySource, { "": true })
+              ? undefined
+              : { visibilitiesBySource }),
+            ...(selectedNamespacesBySource ? { selectedNamespacesBySource } : undefined),
+          }
+        : null;
+    })
+    .filter(Boolean);
 
   const selectedMetadataNamespaces = [];
   const selectedTfNamespaces = [];
@@ -129,7 +223,7 @@ export function migratePanelConfigToTopicGroupConfig({
   return {
     // give default displayName, and select/expand state
     displayName: "My Topics",
-    selected: true,
+    visible: true,
     expanded: true,
     items,
   };
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsMigrations.test.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsMigrations.test.js
index cb21aa0eb..6f0faa4da 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsMigrations.test.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsMigrations.test.js
@@ -6,7 +6,67 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import { migratePanelConfigToTopicGroupConfig } from "./topicGroupsMigrations";
+import { migratePanelConfigToTopicGroupConfig, migrateLegacyIds } from "./topicGroupsMigrations";
+
+jest.mock("webviz-core/src/loadWebviz", () => ({
+  getGlobalHooks: () => ({
+    perPanelHooks: () => ({
+      ThreeDimensionalViz: {
+        getDefaultTopicTree: () => ({
+          name: "root",
+          children: [
+            {
+              name: "Ext A",
+              extension: "some_extension_a",
+              children: [
+                {
+                  name: "Ext B",
+                  extension: "some_extension_b",
+                },
+                {
+                  name: "Ext C",
+                  extension: "some_extension_c",
+                },
+              ],
+            },
+            {
+              name: "Some Topic in JSON Tree",
+              topic: "/topic_in_json_tree",
+            },
+            {
+              name: "TF",
+              children: [],
+              legacyIds: ["Legacy Group2"],
+              description: "Visualize relationships between /tf frames.",
+            },
+            {
+              name: "Nested Group",
+              legacyIds: ["Legacy Group1"],
+              children: [
+                {
+                  name: "Topic A",
+                  topic: "/topic_a",
+                  legacyIds: ["/legacy_topic_a", "/another_legacy_topic_a"],
+                },
+                {
+                  name: "Topic B",
+                  topic: "/topic_b",
+                },
+                {
+                  name: "Deeply Nested Group",
+                  children: [{ topic: "/topic_c", legacyIds: ["/legacy_topic_c"] }],
+                },
+                {
+                  topic: "/topic_d",
+                },
+              ],
+            },
+          ],
+        }),
+      },
+    }),
+  }),
+}));
 
 describe("topicGroupsMigrations", () => {
   describe("migratePanelConfigToTopicGroupConfig", () => {
@@ -21,7 +81,7 @@ describe("topicGroupsMigrations", () => {
         displayName: "My Topics",
         expanded: true,
         items: [],
-        selected: true,
+        visible: true,
       });
     });
     it("migrates panelConfig to topicGroupConfig (single bag)", () => {
@@ -32,8 +92,9 @@ describe("topicGroupsMigrations", () => {
             "t:/topic_b",
             "ns:/topic_d:some_ns1",
             "ns:/topic_d:some_ns2",
-            "x:some_extension_id",
+            "x:some_extension_a",
             "x:TF.some_tf_id",
+            "name:Nested Group",
           ],
           topicSettings: {},
           modifiedNamespaceTopics: [],
@@ -43,22 +104,28 @@ describe("topicGroupsMigrations", () => {
         expanded: true,
         items: [
           {
-            selectedNamespacesBySource: { "": ["some_extension_id"] },
+            selectedNamespacesBySource: { "": ["some_extension_a"] },
             topicName: "/metadata",
           },
           { selectedNamespacesBySource: { "": ["some_tf_id"] }, topicName: "/tf" },
           { topicName: "/topic_a" },
           { topicName: "/topic_b" },
         ],
-        selected: true,
+        visible: true,
       });
     });
 
-    it("migrates panelConfig to topicGroupConfig (two bag)", () => {
+    it("migrates panelConfig to topicGroupConfig (two bags)", () => {
       expect(
         migratePanelConfigToTopicGroupConfig({
           // bag2 topics
-          checkedNodes: ["/webviz_bag_2/topic_b", "/webviz_bag_2/topic_c", "x:some_extension_id"],
+          checkedNodes: [
+            "/webviz_bag_2/topic_b",
+            "/webviz_bag_2/topic_c",
+            "x:some_extension_a",
+            "name:Nested Group",
+            "name:(Uncategorized)",
+          ],
           topicSettings: {},
           modifiedNamespaceTopics: [],
         })
@@ -67,13 +134,13 @@ describe("topicGroupsMigrations", () => {
         expanded: true,
         items: [
           {
-            selectedNamespacesBySource: { "": ["some_extension_id"] },
+            selectedNamespacesBySource: { "": ["some_extension_a"] },
             topicName: "/metadata",
           },
           { topicName: "/topic_b", visibilitiesBySource: { "/webviz_bag_2": true } },
           { topicName: "/topic_c", visibilitiesBySource: { "/webviz_bag_2": true } },
         ],
-        selected: true,
+        visible: true,
       });
 
       expect(
@@ -86,6 +153,7 @@ describe("topicGroupsMigrations", () => {
             "t:/webviz_bag_2/topic_c",
             "ns:/topic_d:some_ns1",
             "ns:/topic_d:some_ns2",
+            "name:Nested Group",
           ],
           topicSettings: {},
           modifiedNamespaceTopics: [],
@@ -93,12 +161,8 @@ describe("topicGroupsMigrations", () => {
       ).toEqual({
         displayName: "My Topics",
         expanded: true,
-        items: [
-          { topicName: "/topic_a" },
-          { topicName: "/topic_b", visibilitiesBySource: { "": true, "/webviz_bag_2": true } },
-          { topicName: "/topic_c", visibilitiesBySource: { "/webviz_bag_2": true } },
-        ],
-        selected: true,
+        items: [{ topicName: "/topic_a" }, { topicName: "/topic_b" }],
+        visible: true,
       });
     });
     it("migrates panelConfig to topicGroupConfig (with topicSettings)", () => {
@@ -111,6 +175,8 @@ describe("topicGroupsMigrations", () => {
             "t:/webviz_bag_2/topic_c",
             "ns:/topic_d:some_ns1",
             "ns:/topic_d:some_ns2",
+            "name:Nested Group",
+            "name:(Uncategorized)",
           ],
           topicSettings: {
             "/topic_a": { overrideColor: "255, 0, 0, 1" },
@@ -139,13 +205,21 @@ describe("topicGroupsMigrations", () => {
             visibilitiesBySource: { "/webviz_bag_2": true },
           },
         ],
-        selected: true,
+        visible: true,
       });
     });
     it("sets selectedNamespacesBySource based on modifiedNamespaceTopics and checkedNodes", () => {
       expect(
         migratePanelConfigToTopicGroupConfig({
-          checkedNodes: ["/topic_a", "t:/topic_b", "t:/topic_d", "ns:/topic_d:some_ns1", "ns:/topic_d:some_ns2"],
+          checkedNodes: [
+            "/topic_a",
+            "t:/topic_b",
+            "t:/topic_d",
+            "ns:/topic_d:some_ns1",
+            "ns:/topic_d:some_ns2",
+            "name:Nested Group",
+            "name:(Uncategorized)",
+          ],
           topicSettings: {},
           modifiedNamespaceTopics: ["/topic_a"],
         })
@@ -158,10 +232,101 @@ describe("topicGroupsMigrations", () => {
           {
             selectedNamespacesBySource: { "": ["some_ns1", "some_ns2"] },
             topicName: "/topic_d",
+            expanded: true,
           },
         ],
-        selected: true,
+        visible: true,
+      });
+    });
+
+    it("auto expands topics if any namespaces under the topic is selected (excluding /tf and /metadata)", () => {
+      expect(
+        migratePanelConfigToTopicGroupConfig({
+          checkedNodes: [
+            "t:/topic_d",
+            "ns:/topic_d:some_ns1",
+            "ns:/topic_d:some_ns2",
+            "x:/some_extension_a",
+            "x:TF.some_tf_ns1",
+            "name:TF",
+            "name:Nested Group",
+            "name:(Uncategorized)",
+          ],
+          topicSettings: {},
+          modifiedNamespaceTopics: ["/topic_a"],
+        })
+      ).toEqual({
+        displayName: "My Topics",
+        expanded: true,
+        items: [
+          { selectedNamespacesBySource: { "": ["/some_extension_a"] }, topicName: "/metadata" },
+          { selectedNamespacesBySource: { "": ["some_tf_ns1"] }, topicName: "/tf" },
+          { expanded: true, selectedNamespacesBySource: { "": ["some_ns1", "some_ns2"] }, topicName: "/topic_d" },
+        ],
+        visible: true,
       });
     });
+
+    it("only selects a topic if parent names are selected", () => {
+      expect(
+        migratePanelConfigToTopicGroupConfig({
+          checkedNodes: ["/topic_a"],
+          topicSettings: {},
+          modifiedNamespaceTopics: [],
+        })
+      ).toEqual({ displayName: "My Topics", expanded: true, visible: true, items: [] });
+
+      expect(
+        migratePanelConfigToTopicGroupConfig({
+          checkedNodes: ["/topic_a", "name:(Uncategorized)"],
+          topicSettings: {},
+          modifiedNamespaceTopics: [],
+        })
+      ).toEqual({ displayName: "My Topics", expanded: true, visible: true, items: [] });
+
+      expect(
+        migratePanelConfigToTopicGroupConfig({
+          checkedNodes: ["/topic_a", "name:Nested Group"],
+          topicSettings: {},
+          modifiedNamespaceTopics: [],
+        })
+      ).toEqual({ displayName: "My Topics", expanded: true, visible: true, items: [{ topicName: "/topic_a" }] });
+
+      expect(
+        migratePanelConfigToTopicGroupConfig({
+          checkedNodes: ["/webviz_bag_2/topic_a", "name:Nested Group"],
+          topicSettings: {},
+          modifiedNamespaceTopics: [],
+        })
+      ).toEqual({ displayName: "My Topics", expanded: true, visible: true, items: [] });
+
+      expect(
+        migratePanelConfigToTopicGroupConfig({
+          checkedNodes: ["/webviz_bag_2/topic_a", "name:(Uncategorized)"],
+          topicSettings: {},
+          modifiedNamespaceTopics: [],
+        })
+      ).toEqual({
+        displayName: "My Topics",
+        expanded: true,
+        visible: true,
+        items: [
+          {
+            topicName: "/topic_a",
+            visibilitiesBySource: {
+              "/webviz_bag_2": true,
+            },
+          },
+        ],
+      });
+    });
+  });
+
+  describe("migrateLegacyIds", () => {
+    it("migrates legacyIds for names and topics", () => {
+      expect(migrateLegacyIds(["/legacy_topic_a", "name:Legacy Group1", "Legacy Group2", "t:/legacy_topic_c"])).toEqual(
+        ["t:/topic_a", "name:Nested Group", "name:TF", "t:/topic_c"]
+      );
+    });
   });
 });
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsUtils.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsUtils.js
index 56f79049d..786b4a2c4 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsUtils.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsUtils.js
@@ -9,7 +9,13 @@
 import { omit, flatten, uniq, isEmpty } from "lodash";
 import microMemoize from "micro-memoize";
 
-import type { TopicGroupConfig, TopicGroupType, NamespacesBySource, NamespaceItem } from "./types";
+import type {
+  TopicGroupConfig,
+  TopicGroupType,
+  NamespacesBySource,
+  NamespaceItem,
+  DisplayVisibilityBySource,
+} from "./types";
 import { getGlobalHooks } from "webviz-core/src/loadWebviz";
 import { type TopicConfig } from "webviz-core/src/panels/ThreeDimensionalViz/TopicSelector/topicTree";
 import { type Topic } from "webviz-core/src/players/types";
@@ -52,7 +58,8 @@ export function getTopicGroups(
   const availableTopicNamesSet = new Set(availableTopics.map(({ name }) => name));
 
   return groupsConfig.map((groupConfig, idx) => {
-    const id = `${groupConfig.displayName}_${idx}`;
+    const id = `${groupConfig.displayName.split(" ").join("-")}_${idx}`;
+    const isTopicGroupVisible = !!groupConfig.visible;
     return {
       ...groupConfig,
       derivedFields: {
@@ -67,16 +74,19 @@ export function getTopicGroups(
 
           const availableNamespacesBySource = {};
           const topicDisplayVisibilityBySource = {};
+          let available = false;
 
           ALL_DATA_SOURCE_PREFIXES.forEach((dataSourcePrefix) => {
             const prefixedTopicName = `${dataSourcePrefix}${topicName}`;
             if (availableTopicNamesSet.has(prefixedTopicName)) {
+              available = true;
               // only show namespaces when the topic is available
               if (namespacesByTopic[prefixedTopicName]) {
                 availableNamespacesBySource[dataSourcePrefix] = namespacesByTopic[prefixedTopicName];
               }
 
               topicDisplayVisibilityBySource[dataSourcePrefix] = {
+                isParentVisible: isTopicGroupVisible,
                 badgeText: getBadgeTextByTopicName(prefixedTopicName),
                 // always visible by default
                 // $FlowFixMe the field is missing in object literal
@@ -90,7 +100,9 @@ export function getTopicGroups(
           const namespaceItems = getNamespacesItemsBySource(
             topicName,
             availableNamespacesBySource,
-            selectedNamespacesBySource
+            selectedNamespacesBySource,
+            topicDisplayVisibilityBySource,
+            isTopicGroupVisible
           );
 
           return {
@@ -101,6 +113,7 @@ export function getTopicGroups(
               displayName: displayName || displayNameByTopic[topicName] || topicName,
               displayVisibilityBySource: topicDisplayVisibilityBySource,
               namespaceItems,
+              available,
             },
           };
         }),
@@ -109,8 +122,9 @@ export function getTopicGroups(
   });
 }
 
+type TopicTreeItem = {| topic: string, name: string |};
 // Traverse the tree and flatten the children items in the topicConfig.
-function* flattenItem(item: TopicConfig, name: string) {
+function* flattenItem(item: TopicConfig, name: string): Generator<TopicTreeItem, void, void> {
   const childrenItems = item.children;
   // extensions or leaf nodes
   if (!childrenItems || item.extension) {
@@ -129,9 +143,11 @@ function* flattenItem(item: TopicConfig, name: string) {
 }
 
 // Memoize the flattened nodes since it only needs to be computed once.
-export const getFlattenedTreeNodes = microMemoize((topicConfig) => {
-  return flatten(topicConfig.children.map((item) => Array.from(flattenItem(item, item.name || ""))));
-});
+export const getFlattenedTreeNodes = microMemoize(
+  (topicConfig): TopicTreeItem[] => {
+    return flatten(topicConfig.children.map((item) => Array.from(flattenItem(item, item.name || ""))));
+  }
+);
 
 // Generate a map based on topicTree config, so we can map a topicName or extension to a preconfigured name.
 export const buildItemDisplayNameByTopicOrExtension = microMemoize(
@@ -191,7 +207,9 @@ function getBadgeTextByTopicName(topicName: string): string {
 export function getNamespacesItemsBySource(
   topicName: string,
   availableNamespacesBySource: NamespacesBySource,
-  selectedNamespacesBySource: NamespacesBySource = {}
+  selectedNamespacesBySource: NamespacesBySource = {},
+  topicDisplayVisibilityBySource: DisplayVisibilityBySource,
+  isTopicGroupVisible: boolean
 ): NamespaceItem[] {
   if (isEmpty(availableNamespacesBySource)) {
     return [];
@@ -205,6 +223,7 @@ export function getNamespacesItemsBySource(
       name: namespace,
       displayVisibilityBySource: availableDataSourcePrefixes.reduce((memo, dataSourcePrefix) => {
         memo[dataSourcePrefix] = {
+          isParentVisible: isTopicGroupVisible ? topicDisplayVisibilityBySource[dataSourcePrefix].visible : false,
           badgeText: getBadgeTextByTopicName(`${dataSourcePrefix}${topicName}`),
           visible:
             selectedNamespacesBySource[dataSourcePrefix] != null
@@ -228,7 +247,10 @@ export function getSelectionsFromTopicGroupConfig(
   const selectedTopicNames = [];
   const selectedNamespacesByTopic = {};
   const selectedTopicSettingsByTopic = {};
-  topicGroupsConfig.forEach(({ items }) => {
+  topicGroupsConfig.forEach(({ visible: topicGroupVisible, items }) => {
+    if (!topicGroupVisible) {
+      return;
+    }
     items.forEach(({ topicName, visibilitiesBySource, settingsBySource, selectedNamespacesBySource = {} }) => {
       // if the visibility is not set, default to make the non-prefixed topic visible and add the corresponding namespaces
       if (!visibilitiesBySource) {
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsUtils.test.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsUtils.test.js
index a6a851696..77d275ff8 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsUtils.test.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsUtils.test.js
@@ -196,7 +196,7 @@ describe("topicGroupUtils", () => {
         getSelectionsFromTopicGroupConfig([
           {
             displayName: "My Topic Group",
-            selected: true,
+            visible: true,
             expanded: true,
             items: [
               // when missing visibilitiesBySource, select the non-prefixed topic as visible
@@ -247,6 +247,17 @@ describe("topicGroupUtils", () => {
               },
             ],
           },
+          {
+            displayName: "My Topic Group1",
+            // all topics under this group won't be processed since the group is not visible
+            visible: false,
+            expanded: true,
+            items: [
+              {
+                topicName: "/topic_h",
+              },
+            ],
+          },
         ])
       ).toEqual({
         selectedNamespacesByTopic: {
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/types.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/types.js
index 18cfb9698..5b6e8aa93 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/types.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/types.js
@@ -15,6 +15,7 @@ export type NamespacesBySource = { [dataSourcePrefix: string]: string[] };
 
 export type DisplayVisibilityBySource = {
   [topicPrefix: string]: {
+    isParentVisible: boolean,
     badgeText: string,
     visible: boolean,
     available: boolean,
@@ -23,6 +24,7 @@ export type DisplayVisibilityBySource = {
 export type TopicItemConfig = {|
   displayName?: string,
   topicName: string,
+  expanded?: boolean, // if true, namespaces will be expanded
   visibilitiesBySource?: VisibilityBySource,
   settingsBySource?: SettingsBySource,
   selectedNamespacesBySource?: NamespacesBySource,
@@ -36,6 +38,7 @@ type DerivedTopicItemFields = {|
   namespaceItems: NamespaceItem[],
   displayVisibilityBySource: DisplayVisibilityBySource,
   displayName: string,
+  available: boolean,
   id: string,
   // TODO(Audrey): support 2nd bag for map and tf with `disableMultiSelection`
 |};
@@ -48,7 +51,7 @@ export type TopicItem = {|
 export type TopicGroupConfig = {|
   displayName: string,
   items: TopicItemConfig[],
-  selected?: boolean,
+  visible?: boolean,
   expanded?: boolean,
 |};
 type TopicGroupDerivedFields = {|
diff --git a/packages/webviz-core/src/reducers/panels.js b/packages/webviz-core/src/reducers/panels.js
index 54887c4c0..328758a8c 100644
--- a/packages/webviz-core/src/reducers/panels.js
+++ b/packages/webviz-core/src/reducers/panels.js
@@ -39,9 +39,6 @@ const OLD_KEYS = {
   linkedGlobalVariables: "panels.linkedGlobalVariables",
 };
 
-export function getGlobalStateFromStorage(): any {
-  return storage.get(GLOBAL_STATE_STORAGE_KEY);
-}
 export type PanelsState = {
   layout: any,
   // We store config for each panel in a hash keyed by the panel id.
diff --git a/packages/webviz-core/src/reducers/panels.test.js b/packages/webviz-core/src/reducers/panels.test.js
index d6bb0ec0e..75deaa723 100644
--- a/packages/webviz-core/src/reducers/panels.test.js
+++ b/packages/webviz-core/src/reducers/panels.test.js
@@ -64,7 +64,7 @@ describe("state.panels", () => {
       expect(panels.savedProps).toEqual({});
     });
 
-    store.dispatch(importPanelLayout(payload, false));
+    store.dispatch(importPanelLayout(payload));
     store.checkState((panels) => {
       expect(panels.layout).toEqual("foo!bar");
       expect(panels.savedProps).toEqual({ foo: { test: true } });
@@ -102,7 +102,7 @@ describe("state.panels", () => {
       savedProps: { foo: { test: true } },
     };
 
-    store.dispatch(importPanelLayout(payload, false));
+    store.dispatch(importPanelLayout(payload));
     store.checkState((panels) => {
       const storage = new Storage();
       const globalState = storage.get(GLOBAL_STATE_STORAGE_KEY) || {};
@@ -119,7 +119,7 @@ describe("state.panels", () => {
       savedProps: { foo: { test: true } },
     };
 
-    store.dispatch(importPanelLayout(payload, false));
+    store.dispatch(importPanelLayout(payload));
     store.checkState((panels) => {
       const storage = new Storage();
       const globalState = storage.get(GLOBAL_STATE_STORAGE_KEY) || {};
@@ -140,7 +140,7 @@ describe("state.panels", () => {
       linkedGlobalVariables,
     };
 
-    store.dispatch(importPanelLayout(payload, false));
+    store.dispatch(importPanelLayout(payload));
     store.checkState((panels) => {
       const storage = new Storage();
       const globalState = storage.get(GLOBAL_STATE_STORAGE_KEY) || {};
@@ -154,7 +154,7 @@ describe("state.panels", () => {
     const store = getStore();
     const globalVariables = { some_global_data_var: 1 };
     const payload = { globalData: globalVariables, layout: "foo!baz" };
-    store.dispatch(importPanelLayout(payload, true));
+    store.dispatch(importPanelLayout(payload, { isFromUrl: true }));
     store.checkState((panels) => {
       const storage = new Storage();
       const globalState = storage.get(GLOBAL_STATE_STORAGE_KEY) || {};
@@ -166,7 +166,7 @@ describe("state.panels", () => {
     const store = getStore();
     const globalVariables = { some_global_data_var: 1 };
     const payload = { globalData: { some_var: 2 }, globalVariables, layout: "foo!baz" };
-    store.dispatch(importPanelLayout(payload, true));
+    store.dispatch(importPanelLayout(payload, { isFromUrl: true }));
     store.checkState((panels) => {
       const storage = new Storage();
       const globalState = storage.get(GLOBAL_STATE_STORAGE_KEY) || {};
@@ -209,7 +209,7 @@ describe("state.panels", () => {
   });
 
   testUrlCleanup("removes layout when layout is imported", () => {
-    return importPanelLayout({ layout: "foo!bar", savedProps: {} }, false);
+    return importPanelLayout({ layout: "foo!bar", savedProps: {} });
   });
 
   it("does not remove layout if layout is imported from url", () => {
@@ -218,7 +218,7 @@ describe("state.panels", () => {
     store.checkState((panels, routing) => {
       expect(routing.location.search).toEqual("?layout=foo&name=bar");
     });
-    store.dispatch(importPanelLayout({ layout: null, savedProps: {} }, true));
+    store.dispatch(importPanelLayout({ layout: null, savedProps: {} }, { isFromUrl: true }));
     store.checkState((panels, routing) => {
       expect(routing.location.search).toEqual("?layout=foo&name=bar");
     });
@@ -228,7 +228,7 @@ describe("state.panels", () => {
     const store = getStore();
     const storage = new Storage();
 
-    store.dispatch(importPanelLayout({ layout: "myNewLayout", savedProps: {} }, true));
+    store.dispatch(importPanelLayout({ layout: "myNewLayout", savedProps: {} }, { isFromUrl: true }));
     store.checkState((panels) => {
       const globalState = storage.get(GLOBAL_STATE_STORAGE_KEY) || {};
       expect(globalState.layout).toEqual("myNewLayout");
@@ -239,7 +239,9 @@ describe("state.panels", () => {
     const store = getStore();
     const storage = new Storage();
 
-    store.dispatch(importPanelLayout({ layout: null, savedProps: {} }, true, true));
+    store.dispatch(
+      importPanelLayout({ layout: null, savedProps: {} }, { isFromUrl: true, skipSettingLocalStorage: true })
+    );
     store.checkState((panels) => {
       const globalState = storage.get(GLOBAL_STATE_STORAGE_KEY) || {};
       expect(globalState.layout).not.toEqual(panels.layout);
diff --git a/packages/webviz-core/src/util/colors.js b/packages/webviz-core/src/util/colors.js
index 4f868f0e3..b4f74f342 100644
--- a/packages/webviz-core/src/util/colors.js
+++ b/packages/webviz-core/src/util/colors.js
@@ -5,7 +5,6 @@
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
-import tinycolor from "tinycolor2";
 
 const baseColors = {
   DARK: "#08080a",
@@ -69,11 +68,10 @@ export const colors = {
   TEXT_MUTED: baseColors.GRAY,
   HIGHLIGHT: baseColors.PURPLEL1,
   // TODO:(Audrey): !!! need design review. Don't use these colors until TopicGrouping feature is finished.
-  HOVER_BACKGROUND_COLOR: tinycolor(baseColors.PURPLE)
-    .setAlpha(0.5)
-    .toHexString(),
+  HOVER_BACKGROUND_COLOR: baseColors.PURPLE1,
   TEXTL1: baseColors.LIGHT2,
   ACTION: baseColors.BLUE,
   TEXT: baseColors.LIGHT1,
-  TOOLBAR: baseColors.DARK4,
+  TOOLBAR: baseColors.DARK2,
+  TOOLBARL1: baseColors.DARK4,
 };
diff --git a/packages/webviz-core/src/util/corsError.js b/packages/webviz-core/src/util/corsError.js
new file mode 100644
index 000000000..72d275c30
--- /dev/null
+++ b/packages/webviz-core/src/util/corsError.js
@@ -0,0 +1,36 @@
+// @flow
+//
+//  Copyright (c) 2019-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+export function corsError(url: string): string {
+  return `Often this is due to missing CORS headers on the requested URL: ${url}
+
+First of all, be aware that redirects don't work with CORS. So you'll have to point to the resource directly. So https://webviz.io/try/?remote-bag-url=https%3A%2F%2Fopen-source-webviz-ui.s3.amazonaws.com%2Fdemo.bag will work (note the URL encoded using "encodeURIComponent"), but pointing to a server that then redirects to a URL like that will NOT work.
+
+If your data is sensitive, you can generate a signed S3 url, and use that directly with ?remote-bag-url=. That URL will then only work for a limited time period, and you can have a server that only signs URLs for authenticated users.
+
+Then, be sure to set up your CORS configuration something like this (Terraform S3 example):
+
+cors_rule {
+  allowed_methods = ["GET", "HEAD"]
+  allowed_origins = ["https://webviz.io"]
+  allowed_headers = ["*"]
+  expose_headers  = ["ETag", "Content-Type", "Accept-Ranges", "Content-Length"]
+}
+
+And here's a GCS example (also using Terraform):
+
+cors {
+  origin = ["https://webviz.io"]
+  method = ["GET", "HEAD", "OPTIONS"]
+  response_header = ["ETag", "Content-Length", "Accept-Ranges", "Range"]
+}
+
+You can also have your own server to host files, but be aware that it has to support both range requests and CORS, which can be quite complicated to set up. So we recommend hosting your bag files in a cloud provider like S3 or GCS.
+
+`;
+}
diff --git a/packages/webviz-core/src/util/getGlobalVariablesFromUrl.js b/packages/webviz-core/src/util/getGlobalVariablesFromUrl.js
new file mode 100644
index 000000000..cb607efd3
--- /dev/null
+++ b/packages/webviz-core/src/util/getGlobalVariablesFromUrl.js
@@ -0,0 +1,20 @@
+// @flow
+//
+//  Copyright (c) 2019-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import { GLOBAL_VARIABLES_QUERY_KEY, OLD_GLOBAL_VARIABLES_QUERY_KEY } from "webviz-core/src/util/globalConstants";
+import reportError from "webviz-core/src/util/reportError";
+
+export function getGlobalVariablesFromUrl(params: URLSearchParams): ?{} {
+  const globalVariables = params.get(GLOBAL_VARIABLES_QUERY_KEY) || params.get(OLD_GLOBAL_VARIABLES_QUERY_KEY);
+  if (globalVariables) {
+    try {
+      return JSON.parse(globalVariables);
+    } catch (error) {
+      reportError(`Invalid JSON for global variables (${GLOBAL_VARIABLES_QUERY_KEY})`, error, "user");
+    }
+  }
+}
diff --git a/packages/webviz-core/src/util/globalConstants.js b/packages/webviz-core/src/util/globalConstants.js
index 11bf4f06a..2bff42be1 100644
--- a/packages/webviz-core/src/util/globalConstants.js
+++ b/packages/webviz-core/src/util/globalConstants.js
@@ -18,8 +18,8 @@ export const SEEK_TO_QUERY_KEY = "seek-to";
 export const LAYOUT_QUERY_KEY = "layout";
 export const LAYOUT_URL_QUERY_KEY = "layout-url";
 export const PATCH_LAYOUT_QUERY_KEY = "layout-patch";
-export const OLD_GLOBAL_VARIABLES_QUERY_KEY = "global-variables";
-export const GLOBAL_VARIABLES_QUERY_KEY = "global-data";
+export const OLD_GLOBAL_VARIABLES_QUERY_KEY = "global-data";
+export const GLOBAL_VARIABLES_QUERY_KEY = "global-variables";
 
 export const DEFAULT_WEBVIZ_NODE_PREFIX = "/webviz_node/";
 
diff --git a/packages/webviz-core/src/util/helpModalOpenSource.help.md b/packages/webviz-core/src/util/helpModalOpenSource.help.md
new file mode 100644
index 000000000..663a639e5
--- /dev/null
+++ b/packages/webviz-core/src/util/helpModalOpenSource.help.md
@@ -0,0 +1,24 @@
+# Help and Resources
+
+**Welcome to Webviz!** Use this tool to visualize a live or recorded [ROS system](https://www.ros.org/). If you're curious to see how this works, try this page with the [`?demo` parameter](?demo).
+
+## Quick links
+
+- [GitHub](https://github.com/cruise-automation/webviz)
+- [webviz.io](http://webviz.io/)
+- [Worldview](https://webviz.io/worldview/)
+- [Cruise](http://getcruise.com/)
+
+## Loading data
+
+By default we try connect to a [rosbridge_server](http://wiki.ros.org/rosbridge_suite/Tutorials/RunningRosbridge) using a WebSocket on `ws://localhost:9090`. If you want to use a different URL, use the `?rosbridge-websocket-url=…` parameter.
+
+If no WebSocket is found, you can instead drag and drop a bag into the page. You can drag a second bag while holding the `SHIFT` key. The topics of the second bag will be prefixed with `/webviz_bag_2`.
+
+To stream in a bag, use the `?remote-bag-url=…` parameter. By default we only buffer part of the bag in memory to save memory. If you want to buffer the whole bag, add in `&load-entire-bag`. To navigate to a particular point in the bag on load, add in `&seek-to=12345` (in milliseconds since the [Unix epoch](https://en.wikipedia.org/wiki/Unix_time)).
+
+You can also load a layout from a URL. This can be useful when you have a system that links to Webviz pages, and you know what kind of layout is useful for each link. You can even have a server that dynamically generates a layout based on the URL. Use the `?layout-url=` parameter, for example [like this](?layout-url=https%3A%2F%2Fopen-source-webviz-ui.s3.amazonaws.com%2FdemoLayout.json).
+
+If you just want to set some global variables from the URL, then use the `?global-variables=…` with URL-encoded JSON. Create a variable in the Global Variables panel to see an example URL.
+
+Be sure to set the right [CORS headers](https://developer.mozilla.org/en-US/docs/Web/HTTP/CORS) on remote bags and layouts, so Webviz is actually allowed to read them. For remote bags we also require the server to support [range requests](https://developer.mozilla.org/en-US/docs/Web/HTTP/Range_requests) (which should be supported by all major cloud providers). If the headers are not properly configured you might encounter an error, which should have more details on how to fix things.
diff --git a/packages/webviz-core/src/util/showHelpModalOpenSource.js b/packages/webviz-core/src/util/showHelpModalOpenSource.js
new file mode 100644
index 000000000..1a6a50bdb
--- /dev/null
+++ b/packages/webviz-core/src/util/showHelpModalOpenSource.js
@@ -0,0 +1,23 @@
+// @flow
+//
+//  Copyright (c) 2019-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import * as React from "react";
+
+import HelpModal from "webviz-core/src/components/HelpModal";
+import topicPathSyntax from "webviz-core/src/components/MessageHistory/topicPathSyntax.help.md";
+import renderToBody from "webviz-core/src/components/renderToBody";
+import helpContent from "webviz-core/src/util/helpModalOpenSource.help.md";
+
+export function showHelpModalOpenSource(event: ?SyntheticMouseEvent<*>) {
+  const modal = renderToBody(
+    <HelpModal onRequestClose={() => modal.remove()}>{`${helpContent}\n\n#${topicPathSyntax}`}</HelpModal>
+  );
+  if (event) {
+    // If used as an onClick callback for links, disable the default link action.
+    event.preventDefault();
+  }
+}

From 6764c16814b549bbcf324833fc83c29173d585a4 Mon Sep 17 00:00:00 2001
From: Jan Paul Posma <janpaul123@users.noreply.github.com>
Date: Mon, 30 Dec 2019 15:01:23 -0800
Subject: [PATCH 26/50] Rename /try to /app (#302)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Since “try” implies that this is just a demo version of the app, when
it’s actually our intended production version. “app” communicates that a
bit better.

I left a page with a redirect that preserves query parameters under
`/try` so that any existing applications will keep working.

Test plan: tried this locally, and did a search of “/try” and “try/“ in
our codebase, which I think should cover all references.
---
 README.md                   |   8 ++++----
 docs/public/app/favicon.ico | Bin 0 -> 15086 bytes
 docs/public/app/index.html  |   1 +
 docs/public/index.html      |   8 ++++----
 docs/public/try/index.html  |  24 +++++++++++++++++++++++-
 package.json                |   2 +-
 6 files changed, 33 insertions(+), 10 deletions(-)
 create mode 100644 docs/public/app/favicon.ico
 create mode 120000 docs/public/app/index.html
 mode change 120000 => 100644 docs/public/try/index.html

diff --git a/README.md b/README.md
index d836ca65f..d1d84bb67 100755
--- a/README.md
+++ b/README.md
@@ -1,12 +1,12 @@
 # [Webviz](https://webviz.io/) [![CircleCI](https://circleci.com/gh/cruise-automation/webviz.svg?style=svg)](https://circleci.com/gh/cruise-automation/webviz)
 
-**Drag and drop your own bag files into [Webviz](https://webviz.io/try/) to explore your robotics data, or connect to a live robot or simulation using the [rosbridge_server](http://wiki.ros.org/rosbridge_suite/Tutorials/RunningRosbridge).**
+**Drag and drop your own bag files into [Webviz](https://webviz.io/app/) to explore your robotics data, or connect to a live robot or simulation using the [rosbridge_server](http://wiki.ros.org/rosbridge_suite/Tutorials/RunningRosbridge).**
 
-**View a demo of Webviz in action [here](https://webviz.io/try/?demo).**
+**View a demo of Webviz in action [here](https://webviz.io/app/?demo).**
 
 **Webviz** is a web-based application for playback and visualization of [ROS](http://www.ros.org/) [bag files](http://wiki.ros.org/Bags). This repository also contains some libraries that can be used independently to build web-based visualization tools.
 
-- **webviz-core** ([homepage](https://webviz.io/), [tool](https://webviz.io/try), [github](https://github.com/cruise-automation/webviz/tree/master/packages/webviz-core)): A tool to inspect [ROS bags](http://wiki.ros.org/ROS/Tutorials/Recording%20and%20playing%20back%20data).
+- **webviz-core** ([homepage](https://webviz.io/), [tool](https://webviz.io/app), [github](https://github.com/cruise-automation/webviz/tree/master/packages/webviz-core)): A tool to inspect [ROS bags](http://wiki.ros.org/ROS/Tutorials/Recording%20and%20playing%20back%20data).
 - **regl-worldview** ([homepage](https://webviz.io/worldview/), [npm](https://www.npmjs.com/package/regl-worldview), [github](https://github.com/cruise-automation/webviz/tree/master/packages/regl-worldview)): React library for rendering 2D and 3D scenes using [regl](https://github.com/regl-project/regl).
 - **react-key-listener** ([npm](https://www.npmjs.com/package/react-key-listener), [github](https://github.com/cruise-automation/webviz/tree/master/packages/react-key-listener)): React component for handling keyboard events, without interfering with editable fields and buttons.
 - **@cruise-automation/hooks** ([npm](https://www.npmjs.com/package/@cruise-automation/hooks), [github](https://github.com/cruise-automation/webviz/tree/master/packages/@cruise-automation/hooks)): A list of resusable React hooks.
@@ -19,7 +19,7 @@ Please see the individual package READMEs for details on how to install and use
 
 - `npm run bootstrap` in the root directory to install dependencies.
 - `npm run build` to run a single build or `npm run watch` to watch and build.
-- `npm run docs` to run the docs app (e.g. go to http://localhost:8080/try to open Webviz). Requires `build` to be run first.
+- `npm run docs` to run the docs app (e.g. go to http://localhost:8080/app to open Webviz). Requires `build` to be run first.
 - `npm run storybook` to run storybook. Requires `build` to be run first.
 - `npm run screenshot-debug` to generate screenshots from stories.
 - `npm run lint` to run the linters (and `npm run lint:fix` to automatically fix issues).
diff --git a/docs/public/app/favicon.ico b/docs/public/app/favicon.ico
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diff --git a/docs/public/app/index.html b/docs/public/app/index.html
new file mode 120000
index 000000000..b06b78b73
--- /dev/null
+++ b/docs/public/app/index.html
@@ -0,0 +1 @@
+../../../packages/webviz-core/public/index.html
\ No newline at end of file
diff --git a/docs/public/index.html b/docs/public/index.html
index 37433e2dc..ceaaf0b55 100644
--- a/docs/public/index.html
+++ b/docs/public/index.html
@@ -572,7 +572,7 @@
 <body>
     <div class="container-overflow">
         <header>
-            <a target="_blank" href="https://webviz.io/try/">Use Webviz</a>
+            <a target="_blank" href="app/">Use Webviz</a>
             <a target="_blank" href="https://github.com/cruise-automation/webviz">Github</a>
             <a target="_blank" href="https://getcruise.com/">Cruise</a>
         </header>
@@ -582,7 +582,7 @@
                 <p id="text-webviz">WEBVIZ</p>
                 <h1>Visualizing robotics data in the browser</h1>
                 <div style="width: 100%; display: flex">
-                    <a target="_blank" href="https://webviz.io/try/?demo">
+                    <a target="_blank" href="app/?demo">
                         <button>
                             View demo
                         </button>
@@ -691,7 +691,7 @@ <h2>
                 Engineering Productivity team.
             </h2>
             <div style="width: 100%; justify-content: start; display: flex  ; max-width: 720px;">
-                <a target="_blank" href="https://webviz.io/try/?demo">
+                <a target="_blank" href="app/?demo">
                     <button>
                         View demo
                     </button>
@@ -700,7 +700,7 @@ <h2>
         </section>
 
         <footer>
-            <a target="_blank" href="https://webviz.io/try/">Use Webviz</a>
+            <a target="_blank" href="app/">Use Webviz</a>
             <a target="_blank" href="https://github.com/cruise-automation/webviz">Github</a>
             <a target="_blank" href="https://getcruise.com/">Cruise</a>
         </footer>
diff --git a/docs/public/try/index.html b/docs/public/try/index.html
deleted file mode 120000
index b06b78b73..000000000
--- a/docs/public/try/index.html
+++ /dev/null
@@ -1 +0,0 @@
-../../../packages/webviz-core/public/index.html
\ No newline at end of file
diff --git a/docs/public/try/index.html b/docs/public/try/index.html
new file mode 100644
index 000000000..d90480d31
--- /dev/null
+++ b/docs/public/try/index.html
@@ -0,0 +1,23 @@
+<!--
+  Copyright (c) 2018-present, Cruise LLC
+
+  This source code is licensed under the Apache License, Version 2.0,
+  found in the LICENSE file in the root directory of this source tree.
+  You may not use this file except in compliance with the License.
+-->
+<!DOCTYPE html>
+<html lang="en">
+  <head>
+    <meta charset="utf-8" />
+    <meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no" />
+    <meta name="theme-color" content="#000000" />
+    <title>webviz</title>
+    <link rel="shortcut icon" type="image/x-icon" href="/favicon.ico" />
+    <script>
+      window.location.href = "/app" + window.location.search;
+    </script>
+  </head>
+  <body>
+    <noscript> You need to enable JavaScript to run this app. </noscript>
+  </body>
+</html>
diff --git a/package.json b/package.json
index 327535b69..3b409e319 100755
--- a/package.json
+++ b/package.json
@@ -130,7 +130,7 @@
     "flow": "flow",
     "flow-typed-rebuild": "rm -rf flow-typed/ && flow-typed install && flow-typed install --rootDir packages/@cruise-automation/hooks && flow-typed install --rootDir packages/@cruise-automation/button && flow-typed install --rootDir packages/@cruise-automation/tooltip && flow-typed install --rootDir packages/react-key-listener && flow-typed install --rootDir packages/regl-worldview",
     "docs": "DEV_SERVER=true webpack-dev-server",
-    "docs-deploy": "cp -r docs/public __temp_deploy__ && cp --remove-destination packages/webviz-core/public/index.html __temp_deploy__/try/index.html && echo 'webviz.io' > __temp_deploy__/CNAME && gh-pages -d __temp_deploy__ && rm -rf __temp_deploy__",
+    "docs-deploy": "cp -r docs/public __temp_deploy__ && cp --remove-destination packages/webviz-core/public/index.html __temp_deploy__/app/index.html && echo 'webviz.io' > __temp_deploy__/CNAME && gh-pages -d __temp_deploy__ && rm -rf __temp_deploy__",
     "publish": "lerna run clean && lerna run build && lerna publish",
     "screenshot": "NODE_ENV=development storybook-chrome-screenshot -c stories --parallel 8 --inject-files stories/injected.js --browser-timeout 1200000",
     "screenshot-ci": "npm run screenshot -- --puppeteer-launch-config '{\"executablePath\": \"/usr/bin/google-chrome\", \"headless\": false, \"args\":[\"--use-gl=swiftshader\", \"--no-sandbox\",\"--disable-setuid-sandbox\", \"--disable-dev-shm-usage\", \"--headless\", \"--mute-audio\", \"--user-agent=PuppeteerTestingChrome/72.\"]}'",

From e57b3a17f6caafd2d152696c220a6c24888f83e9 Mon Sep 17 00:00:00 2001
From: Jan Paul Posma <janpaul123@users.noreply.github.com>
Date: Mon, 30 Dec 2019 18:14:39 -0800
Subject: [PATCH 27/50] Update packages/webviz-core from internal repo (#303)

Changelog:
- Added error dialog with instructions when connecting to an insecure WebSocket.
- Improved documentation.
- Stylistic improvements to various panels.
---
 .../webviz-core/src/components/PanelLayout.js |   2 +-
 .../src/components/WssErrorModal.js           |  25 ++++
 .../src/components/WssErrorModal.png          | Bin 0 -> 13580 bytes
 .../src/components/WssErrorModal.stories.js   |  21 +++
 packages/webviz-core/src/panels/Note/index.js | 120 ++++--------------
 .../src/panels/Note/index.stories.js          |  18 +--
 packages/webviz-core/src/panels/Plot/index.js |  16 +++
 .../panels/RawMessages/RawMessagesIcons.js    |  40 +++---
 .../src/panels/RawMessages/index.js           |  18 +--
 .../src/panels/RawMessages/index.module.scss  |   9 ++
 .../src/panels/StateTransitions/index.js      |  26 +++-
 .../TopicGroups/Namespaces.js                 |   2 +-
 .../TopicGroups/TopicGroupBody.js             |  30 ++---
 .../TopicGroups/TopicGroupHeader.js           |  22 ++--
 .../TopicGroups/TopicGroupMenu.js             |  54 ++++++++
 .../TopicGroups/TopicGroups.js                | 105 +++++++++------
 .../TopicGroups/TopicItemMenu.js              |  56 ++++++++
 .../TopicGroups/TopicItemRow.js               |  51 ++++----
 .../TopicGroups/topicGroupsUtils.js           | 108 ++++++++--------
 .../ThreeDimensionalViz/TopicGroups/types.js  |  18 ++-
 .../panels/diagnostics/DiagnosticStatus.js    |  59 ++++-----
 .../diagnostics/DiagnosticStatus.module.scss  |  20 ++-
 .../diagnostics/DiagnosticStatusPanel.js      |   1 +
 .../panels/diagnostics/DiagnosticSummary.js   |   2 +-
 .../src/players/RosbridgePlayer/index.js      |  19 ++-
 packages/webviz-core/src/util/corsError.js    |   2 +-
 .../src/util/helpModalOpenSource.help.md      |   4 +-
 27 files changed, 512 insertions(+), 336 deletions(-)
 create mode 100644 packages/webviz-core/src/components/WssErrorModal.js
 create mode 100644 packages/webviz-core/src/components/WssErrorModal.png
 create mode 100644 packages/webviz-core/src/components/WssErrorModal.stories.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroupMenu.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicItemMenu.js

diff --git a/packages/webviz-core/src/components/PanelLayout.js b/packages/webviz-core/src/components/PanelLayout.js
index 091b6b709..af9e5c095 100644
--- a/packages/webviz-core/src/components/PanelLayout.js
+++ b/packages/webviz-core/src/components/PanelLayout.js
@@ -83,7 +83,7 @@ class PanelLayout extends PureComponent<Props> {
         <MosaicRoot
           renderTile={this.renderTile}
           className="none"
-          resize={{ minimumPaneSizePercentage: 10 }}
+          resize={{ minimumPaneSizePercentage: 2 }}
           value={this.props.layout}
           onChange={this.props.changePanelLayout}
           setMosaicId={this.props.setMosaicId}
diff --git a/packages/webviz-core/src/components/WssErrorModal.js b/packages/webviz-core/src/components/WssErrorModal.js
new file mode 100644
index 000000000..9f8302f6f
--- /dev/null
+++ b/packages/webviz-core/src/components/WssErrorModal.js
@@ -0,0 +1,25 @@
+// @flow
+//
+//  Copyright (c) 2019-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+import React from "react";
+
+import imageSrc from "./WssErrorModal.png";
+import HelpModal from "webviz-core/src/components/HelpModal";
+
+export default function WssErrorModal(props: {| onRequestClose: () => void |}) {
+  return (
+    <HelpModal onRequestClose={props.onRequestClose}>
+      <h1>WebSocket SSL Error</h1>
+      <p>
+        Chrome prevents connecting to a websocket which is not served over TLS/SSL. For now you can circumvent this by
+        enabling &quot;unsafe&quot; scripts for this page.
+      </p>
+      <p>Click the shield icon at the end of your address bar, and then click &quot;Load unsafe scripts.&quot;</p>
+      <img width="450px" src={imageSrc} alt="wss error fix" />
+    </HelpModal>
+  );
+}
diff --git a/packages/webviz-core/src/components/WssErrorModal.png b/packages/webviz-core/src/components/WssErrorModal.png
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literal 0
HcmV?d00001

diff --git a/packages/webviz-core/src/components/WssErrorModal.stories.js b/packages/webviz-core/src/components/WssErrorModal.stories.js
new file mode 100644
index 000000000..5147ad062
--- /dev/null
+++ b/packages/webviz-core/src/components/WssErrorModal.stories.js
@@ -0,0 +1,21 @@
+// @flow
+//
+//  Copyright (c) 2019-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { storiesOf } from "@storybook/react";
+import React from "react";
+import { withScreenshot } from "storybook-chrome-screenshot";
+
+import WssErrorModal from "webviz-core/src/components/WssErrorModal";
+
+storiesOf("<WssErrorModal>", module)
+  .addDecorator(
+    withScreenshot({
+      delay: 1000, // Image takes a little longer to load.
+    })
+  )
+  .add("standard", () => <WssErrorModal onRequestClose={() => {}} />);
diff --git a/packages/webviz-core/src/panels/Note/index.js b/packages/webviz-core/src/panels/Note/index.js
index 2d8f577a8..5bab76449 100644
--- a/packages/webviz-core/src/panels/Note/index.js
+++ b/packages/webviz-core/src/panels/Note/index.js
@@ -6,115 +6,47 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import LeadPencilIcon from "@mdi/svg/svg/lead-pencil.svg";
 import _ from "lodash";
-import React, { PureComponent } from "react";
+import React, { useCallback } from "react";
 import { hot } from "react-hot-loader/root";
 import styled from "styled-components";
 
 import helpContent from "./index.help.md";
-import Button from "webviz-core/src/components/Button";
 import Flex from "webviz-core/src/components/Flex";
-import Icon from "webviz-core/src/components/Icon";
 import Panel from "webviz-core/src/components/Panel";
 import PanelToolbar from "webviz-core/src/components/PanelToolbar";
-
-type Config = {
-  noteText: string,
-};
-
-type Props = {
-  config: Config,
-  saveConfig: ($Shape<Config>) => void,
-};
-
-type State = {
-  isEditing: boolean,
-  currentNoteText: string,
-};
-
-const STextAreaContainer = styled.div`
-  flex-grow: 1;
-  padding: 12px 0;
-`;
+import type { SaveConfig } from "webviz-core/src/types/panels";
 
 const STextArea = styled.textarea`
   width: 100%;
   height: 100%;
   resize: none;
+  border: none;
+  margin: 0;
+  padding: 4px 6px;
+  &:focus {
+    background: rgba(255, 255, 255, 0.1);
+  }
 `;
 
-class Note extends PureComponent<Props, State> {
-  static panelType = "Note";
-  static defaultConfig = {
-    noteText: "",
-  };
-
-  state = {
-    isEditing: false,
-    currentNoteText: this.props.config.noteText,
-  };
-
-  changeNoteText = (e) => {
-    this.setState({
-      currentNoteText: e.target.value,
-    });
-  };
-
-  saveNoteText = () => {
-    this.props.saveConfig({
-      noteText: this.state.currentNoteText,
-    });
-    this.setState({
-      isEditing: false,
-    });
-  };
-
-  startEditing = () => {
-    this.setState({ isEditing: true });
-  };
-
-  clearNote = (e) => {
-    this.setState({
-      currentNoteText: "",
-    });
-  };
-
-  render() {
-    return (
-      <Flex col style={{ height: "100%", padding: "15px" }}>
-        <PanelToolbar helpContent={helpContent} floating />
-        {this.state.isEditing ? (
-          <div style={{ height: "100%" }}>
-            <STextAreaContainer style={{ height: "95%" }}>
-              <STextArea
-                placeholder="Enter note here"
-                value={this.state.currentNoteText}
-                onChange={this.changeNoteText}
-              />
-            </STextAreaContainer>
-            <Flex style={{ justifyContent: "flex-end" }}>
-              <Button onClick={this.clearNote}>Clear</Button>
-              <Button primary onClick={this.saveNoteText}>
-                Save
-              </Button>
-            </Flex>
-          </div>
-        ) : (
-          <Flex col>
-            <p style={{ whiteSpace: "pre-wrap" }}>{this.state.currentNoteText}</p>
-            <Flex start>
-              <button onClick={this.startEditing}>
-                <Icon>
-                  <LeadPencilIcon />
-                </Icon>
-              </button>
-            </Flex>
-          </Flex>
-        )}
-      </Flex>
-    );
-  }
+type Config = { noteText: string };
+type Props = { config: Config, saveConfig: SaveConfig<Config> };
+function Note({ config, saveConfig }: Props) {
+  const onChangeText = useCallback(
+    (event: SyntheticInputEvent<HTMLTextAreaElement>) => {
+      saveConfig({ noteText: event.target.value });
+    },
+    [saveConfig]
+  );
+
+  return (
+    <Flex col style={{ height: "100%" }}>
+      <PanelToolbar helpContent={helpContent} floating />
+      <STextArea placeholder="Enter note here" value={config.noteText} onChange={onChangeText} />
+    </Flex>
+  );
 }
+Note.panelType = "Note";
+Note.defaultConfig = { noteText: "" };
 
 export default hot(Panel<Config>(Note));
diff --git a/packages/webviz-core/src/panels/Note/index.stories.js b/packages/webviz-core/src/panels/Note/index.stories.js
index d76d86bba..19c83feb2 100644
--- a/packages/webviz-core/src/panels/Note/index.stories.js
+++ b/packages/webviz-core/src/panels/Note/index.stories.js
@@ -15,16 +15,16 @@ import PanelSetup from "webviz-core/src/stories/PanelSetup";
 
 storiesOf("<Note>", module)
   .addDecorator(withScreenshot())
-  .add("default", () => {
-    const fixture = {
-      topics: [],
-      datatypes: {
-        "std_msgs/String": { fields: [{ name: "noteText", type: "string" }] },
-      },
-      frame: {},
-    };
+  .add("empty", () => {
     return (
-      <PanelSetup fixture={fixture}>
+      <PanelSetup fixture={{ topics: [], datatypes: {}, frame: {} }}>
+        <Note />
+      </PanelSetup>
+    );
+  })
+  .add("with text", () => {
+    return (
+      <PanelSetup fixture={{ topics: [], datatypes: {}, frame: {} }}>
         <Note config={{ noteText: "abc" }} />
       </PanelSetup>
     );
diff --git a/packages/webviz-core/src/panels/Plot/index.js b/packages/webviz-core/src/panels/Plot/index.js
index d083e5e7a..12adc5e89 100644
--- a/packages/webviz-core/src/panels/Plot/index.js
+++ b/packages/webviz-core/src/panels/Plot/index.js
@@ -6,6 +6,7 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
+import { uniq } from "lodash";
 import React, { useEffect, useState, useCallback } from "react";
 import { hot } from "react-hot-loader/root";
 
@@ -18,6 +19,7 @@ import type { PlotPath } from "webviz-core/src/panels/Plot/internalTypes";
 import PlotChart, { getDatasets } from "webviz-core/src/panels/Plot/PlotChart";
 import PlotLegend from "webviz-core/src/panels/Plot/PlotLegend";
 import PlotMenu from "webviz-core/src/panels/Plot/PlotMenu";
+import type { PanelConfig } from "webviz-core/src/types/panels";
 
 export const plotableRosTypes = [
   "bool",
@@ -44,6 +46,20 @@ export type PlotConfig = {
   xAxisVal: "timestamp" | "index",
 };
 
+export function openSiblingPlotPanel(
+  openSiblingPanel: (string, cb: (PanelConfig) => PanelConfig) => void,
+  topicName: string
+) {
+  openSiblingPanel(
+    "Plot",
+    (config: PlotConfig) =>
+      ({
+        ...config,
+        paths: uniq(config.paths.concat([{ value: topicName, enabled: true, timestampMethod: "receiveTime" }])),
+      }: PlotConfig)
+  );
+}
+
 type Props = {
   config: PlotConfig,
   saveConfig: ($Shape<PlotConfig>) => void,
diff --git a/packages/webviz-core/src/panels/RawMessages/RawMessagesIcons.js b/packages/webviz-core/src/panels/RawMessages/RawMessagesIcons.js
index da4922fe2..231a8d229 100644
--- a/packages/webviz-core/src/panels/RawMessages/RawMessagesIcons.js
+++ b/packages/webviz-core/src/panels/RawMessages/RawMessagesIcons.js
@@ -7,14 +7,15 @@
 //  You may not use this file except in compliance with the License.
 import ChartBubbleIcon from "@mdi/svg/svg/chart-bubble.svg";
 import ChartLineVariantIcon from "@mdi/svg/svg/chart-line-variant.svg";
+import DotsHorizontalIcon from "@mdi/svg/svg/dots-horizontal.svg";
 import TargetIcon from "@mdi/svg/svg/target.svg";
-import { uniq } from "lodash";
 import React, { type Node, useCallback } from "react";
 
 import { type ValueAction } from "./getValueActionForValue";
 import styles from "./index.module.scss";
 import Icon from "webviz-core/src/components/Icon";
-import Plot, { type PlotConfig, plotableRosTypes } from "webviz-core/src/panels/Plot";
+import { openSiblingPlotPanel, plotableRosTypes } from "webviz-core/src/panels/Plot";
+import { openSiblingStateTransitionsPanel, transitionableRosTypes } from "webviz-core/src/panels/StateTransitions";
 import type { PanelConfig } from "webviz-core/src/types/panels";
 
 type Props = {
@@ -25,21 +26,15 @@ type Props = {
 };
 
 export default function RawMessagesIcons({ valueAction, basePath, onTopicNameChange, openSiblingPanel }: Props): Node {
-  const openSiblingPanelOnClick = useCallback(
+  const openPlotPanel = useCallback(
     (pathSuffix: string) => () => {
-      openSiblingPanel(
-        // $FlowFixMe: https://stackoverflow.com/questions/52508434/adding-static-variable-to-union-of-class-types
-        Plot.panelType,
-        (config: PlotConfig) =>
-          ({
-            ...config,
-            paths: uniq(
-              config.paths.concat([
-                { value: `${basePath}${pathSuffix}`, enabled: true, timestampMethod: "receiveTime" },
-              ])
-            ),
-          }: PlotConfig)
-      );
+      openSiblingPlotPanel(openSiblingPanel, `${basePath}${pathSuffix}`);
+    },
+    [basePath, openSiblingPanel]
+  );
+  const openStateTransitionsPanel = useCallback(
+    (pathSuffix: string) => () => {
+      openSiblingStateTransitionsPanel(openSiblingPanel, `${basePath}${pathSuffix}`);
     },
     [basePath, openSiblingPanel]
   );
@@ -58,15 +53,24 @@ export default function RawMessagesIcons({ valueAction, basePath, onTopicNameCha
   return (
     <span>
       {plotableRosTypes.includes(primitiveType) && (
-        <Icon fade className={styles.icon} onClick={openSiblingPanelOnClick(singleSlicePath)} tooltip="Line chart">
+        <Icon fade className={styles.icon} onClick={openPlotPanel(singleSlicePath)} tooltip="Line chart">
           <ChartLineVariantIcon />
         </Icon>
       )}
       {plotableRosTypes.includes(primitiveType) && multiSlicePath !== singleSlicePath && (
-        <Icon fade className={styles.icon} onClick={openSiblingPanelOnClick(multiSlicePath)} tooltip="Scatter plot">
+        <Icon fade className={styles.icon} onClick={openPlotPanel(multiSlicePath)} tooltip="Scatter plot">
           <ChartBubbleIcon />
         </Icon>
       )}
+      {transitionableRosTypes.includes(primitiveType) && multiSlicePath !== singleSlicePath && (
+        <Icon
+          fade
+          className={styles.icon}
+          onClick={openStateTransitionsPanel(singleSlicePath)}
+          tooltip="State Transitions">
+          <DotsHorizontalIcon />
+        </Icon>
+      )}
     </span>
   );
 }
diff --git a/packages/webviz-core/src/panels/RawMessages/index.js b/packages/webviz-core/src/panels/RawMessages/index.js
index 680f8e3b7..80e419a03 100644
--- a/packages/webviz-core/src/panels/RawMessages/index.js
+++ b/packages/webviz-core/src/panels/RawMessages/index.js
@@ -187,14 +187,16 @@ function RawMessages(props: Props) {
                   </Icon>
                 </>
               )}
-              {valueAction && (
-                <RawMessagesIcons
-                  valueAction={valueAction}
-                  basePath={basePath}
-                  onTopicNameChange={onTopicNameChange}
-                  openSiblingPanel={openSiblingPanel}
-                />
-              )}
+              <span className={styles.iconBox}>
+                {valueAction && (
+                  <RawMessagesIcons
+                    valueAction={valueAction}
+                    basePath={basePath}
+                    onTopicNameChange={onTopicNameChange}
+                    openSiblingPanel={openSiblingPanel}
+                  />
+                )}
+              </span>
             </span>
           );
         }}
diff --git a/packages/webviz-core/src/panels/RawMessages/index.module.scss b/packages/webviz-core/src/panels/RawMessages/index.module.scss
index bd5bd4711..bc96f6d28 100644
--- a/packages/webviz-core/src/panels/RawMessages/index.module.scss
+++ b/packages/webviz-core/src/panels/RawMessages/index.module.scss
@@ -17,6 +17,15 @@
   padding-right: 40px; // To make it so the icons appear when you move the mouse somewhat close.
 }
 
+.iconBox {
+  display: inline-block;
+  white-space: nowrap;
+  width: 0px;
+  height: 0px;
+  position: relative;
+  left: 6px;
+}
+
 .icon {
   > svg {
     vertical-align: top;
diff --git a/packages/webviz-core/src/panels/StateTransitions/index.js b/packages/webviz-core/src/panels/StateTransitions/index.js
index d89f0e584..774b90e7a 100644
--- a/packages/webviz-core/src/panels/StateTransitions/index.js
+++ b/packages/webviz-core/src/panels/StateTransitions/index.js
@@ -6,7 +6,7 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import _ from "lodash";
+import { isEqual, uniq } from "lodash";
 import * as React from "react";
 import Dimensions from "react-container-dimensions";
 import { hot } from "react-hot-loader/root";
@@ -31,12 +31,13 @@ import TimeBasedChart, { type TimeBasedChartTooltipData } from "webviz-core/src/
 import { getGlobalHooks } from "webviz-core/src/loadWebviz";
 import colors from "webviz-core/src/styles/colors.module.scss";
 import mixins from "webviz-core/src/styles/mixins.module.scss";
+import type { PanelConfig } from "webviz-core/src/types/panels";
 import { positiveModulo } from "webviz-core/src/util";
 import { darkColor, lineColors } from "webviz-core/src/util/plotColors";
 import { subtractTimes, toSec } from "webviz-core/src/util/time";
 import { grey } from "webviz-core/src/util/toolsColorScheme";
 
-const transitionableRosTypes = [
+export const transitionableRosTypes = [
   "bool",
   "int8",
   "uint8",
@@ -171,6 +172,25 @@ const plugins = {
 export type StateTransitionPath = { value: string, timestampMethod: MessageHistoryTimestampMethod };
 export type StateTransitionConfig = { paths: StateTransitionPath[] };
 
+const defaultConfig = getGlobalHooks().perPanelHooks().StateTransitions.defaultConfig;
+
+export function openSiblingStateTransitionsPanel(
+  openSiblingPanel: (string, cb: (PanelConfig) => PanelConfig) => void,
+  topicName: string
+) {
+  openSiblingPanel("StateTransitions", (config: StateTransitionConfig) => {
+    // If we're opening a brand new panel, don't use the default config, since it might have too
+    // much stuff in it.
+    if (isEqual(config, defaultConfig)) {
+      config = { paths: [] };
+    }
+    return ({
+      ...config,
+      paths: uniq(config.paths.concat([{ value: topicName, enabled: true, timestampMethod: "receiveTime" }])),
+    }: StateTransitionConfig);
+  });
+}
+
 type Props = {
   config: StateTransitionConfig,
   saveConfig: ($Shape<StateTransitionConfig>) => void,
@@ -178,7 +198,7 @@ type Props = {
 
 class StateTransitions extends React.PureComponent<Props> {
   static panelType = "StateTransitions";
-  static defaultConfig = getGlobalHooks().perPanelHooks().StateTransitions.defaultConfig;
+  static defaultConfig = defaultConfig;
 
   _onInputChange = (value: string, index: ?number) => {
     if (index == null) {
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/Namespaces.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/Namespaces.js
index 5d112aa95..9f1927763 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/Namespaces.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/Namespaces.js
@@ -18,7 +18,7 @@ const SNamespacesBySource = styled.div`
 `;
 
 const SNamespaceItem = styled.div`
-  padding: 2px 8px 2px 50px;
+  padding: 2px 40px 2px 50px;
   display: flex;
   align-items: center;
   justify-content: space-between;
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroupBody.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroupBody.js
index 2f62b62d2..58a6872a4 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroupBody.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroupBody.js
@@ -6,12 +6,11 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import { omit } from "lodash";
 import React from "react";
 import styled from "styled-components";
 
 import TopicItemRow from "./TopicItemRow";
-import type { TopicGroupType } from "./types";
+import type { TopicGroupType, OnTopicGroupsChange } from "./types";
 import { colors } from "webviz-core/src/util/colors";
 
 const STopicGroupBody = styled.div`
@@ -21,36 +20,23 @@ const STopicGroupBody = styled.div`
 
 type Props = {|
   topicGroup: TopicGroupType,
-  onTopicGroupChange: (newTopicGroupConfig: TopicGroupType) => void,
+  objectPath: string,
+  onTopicGroupsChange: OnTopicGroupsChange,
 |};
 
 export default function TopicGroupBody({
+  objectPath,
   topicGroup,
-  topicGroup: {
-    displayName,
-    expanded,
-
-    derivedFields: { items },
-  },
-  onTopicGroupChange,
+  topicGroup: { displayName, expanded, items },
+  onTopicGroupsChange,
 }: Props) {
   return (
     <STopicGroupBody>
       {!items.length && <div>There are no items in this group. Add one</div>}
       {items.map((item, idx) => (
         <TopicItemRow
-          onItemChange={(newItem) => {
-            const newItems = [...items.slice(0, idx), newItem, ...items.slice(idx + 1)];
-            onTopicGroupChange(
-              omit(
-                {
-                  ...topicGroup,
-                  items: newItems.map((topicItem) => omit(topicItem, "derivedFields")),
-                },
-                "derivedFields"
-              )
-            );
-          }}
+          objectPath={`${objectPath}.items.[${idx}]`}
+          onTopicGroupsChange={onTopicGroupsChange}
           item={item}
           key={item.derivedFields.id}
         />
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroupHeader.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroupHeader.js
index a266d1340..86fff8aa0 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroupHeader.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroupHeader.js
@@ -12,7 +12,8 @@ import React from "react";
 import styled from "styled-components";
 import tinyColor from "tinycolor2";
 
-import type { TopicGroupType } from "./types";
+import TopicGroupMenu from "./TopicGroupMenu";
+import type { TopicGroupType, OnTopicGroupsChange } from "./types";
 import Icon from "webviz-core/src/components/Icon";
 import { colors } from "webviz-core/src/util/colors";
 
@@ -21,6 +22,7 @@ const STopicGroupHeader = styled.div`
   flex: 1;
   flex-direction: row;
   align-items: center;
+  margin: 8px 0;
 `;
 
 export const STopicGroupName = styled.div`
@@ -39,19 +41,16 @@ export const SEyeIcon = styled.span`
 `;
 
 type Props = {|
+  objectPath: string,
+  onTopicGroupsChange: OnTopicGroupsChange,
   topicGroup: TopicGroupType,
-  onTopicGroupChange: (newTopicGroupConfig: TopicGroupType) => void,
 |};
 
 export default function TopicGroupHeader({
+  objectPath,
   topicGroup,
-  topicGroup: {
-    displayName,
-    expanded,
-    visible,
-    derivedFields: { items },
-  },
-  onTopicGroupChange,
+  topicGroup: { displayName, expanded, visible },
+  onTopicGroupsChange,
 }: Props) {
   return (
     <STopicGroupHeader>
@@ -60,13 +59,12 @@ export default function TopicGroupHeader({
         <Icon
           style={{ width: 32, height: 32, padding: 8 }}
           dataTest={`topic-group-${displayName}`}
-          onClick={() => {
-            onTopicGroupChange({ ...topicGroup, visible: !visible });
-          }}
+          onClick={() => onTopicGroupsChange(`${objectPath}.visible`, !visible)}
           medium>
           {visible ? <EyeOutlineIcon /> : <EyeOffOutlineIcon />}
         </Icon>
       </SEyeIcon>
+      <TopicGroupMenu objectPath={objectPath} onTopicGroupsChange={onTopicGroupsChange} topicGroup={topicGroup} />
     </STopicGroupHeader>
   );
 }
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroupMenu.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroupMenu.js
new file mode 100644
index 000000000..ad6b39e57
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroupMenu.js
@@ -0,0 +1,54 @@
+// @flow
+//
+//  Copyright (c) 2018-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import DotsVerticalIcon from "@mdi/svg/svg/dots-vertical.svg";
+import React, { useCallback, useState } from "react";
+import styled from "styled-components";
+
+import type { TopicGroupType, OnTopicGroupsChange } from "./types";
+import ChildToggle from "webviz-core/src/components/ChildToggle";
+import Icon from "webviz-core/src/components/Icon";
+import Menu, { Item } from "webviz-core/src/components/Menu";
+
+export const SMenuWrapper = styled.span`
+  opacity: 0.1;
+`;
+
+type Props = {|
+  objectPath: string,
+  onTopicGroupsChange: OnTopicGroupsChange,
+  topicGroup: TopicGroupType,
+|};
+
+export default function TopicGroupMenu({ objectPath, topicGroup: { displayName }, onTopicGroupsChange }: Props) {
+  const [isOpen, setIsOpen] = useState(false);
+
+  const onToggle = useCallback((ev) => {
+    setIsOpen((prevIsOpen) => !prevIsOpen);
+  }, []);
+
+  return (
+    <ChildToggle position="below" isOpen={isOpen} onToggle={onToggle} dataTest={`open-topic-group-menu-${displayName}`}>
+      <SMenuWrapper>
+        <Icon onClick={onToggle} style={{ width: 32, height: 32, padding: 8 }} medium>
+          <DotsVerticalIcon />
+        </Icon>
+      </SMenuWrapper>
+      <Menu>
+        <Item
+          dataTest={`delete-topic-group-menu-${displayName}`}
+          onClick={() => {
+            onTopicGroupsChange(objectPath, null, { removeValue: true });
+            setIsOpen(false);
+          }}>
+          Remove group
+        </Item>
+      </Menu>
+    </ChildToggle>
+  );
+}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroups.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroups.js
index b6a25ae64..b45a9ab32 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroups.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroups.js
@@ -10,7 +10,7 @@ import ChevronDownIcon from "@mdi/svg/svg/chevron-down.svg";
 import ChevronUpIcon from "@mdi/svg/svg/chevron-up.svg";
 import LayersIcon from "@mdi/svg/svg/layers.svg";
 import PinIcon from "@mdi/svg/svg/pin.svg";
-import { omit } from "lodash";
+import { omit, set, cloneDeep, unset } from "lodash";
 import Collapse from "rc-collapse";
 import React, { useState, useCallback, useMemo } from "react";
 import styled from "styled-components";
@@ -18,13 +18,14 @@ import styled from "styled-components";
 import { type Save3DConfig } from "../index";
 import TopicGroupBody from "./TopicGroupBody";
 import TopicGroupHeader, { STopicGroupName, SEyeIcon } from "./TopicGroupHeader";
+import { SMenuWrapper } from "./TopicGroupMenu";
 import {
   getTopicGroups,
   buildItemDisplayNameByTopicOrExtension,
   buildAvailableNamespacesByTopic,
   TOPIC_CONFIG,
 } from "./topicGroupsUtils";
-import type { TopicGroupConfig } from "./types";
+import type { TopicGroupConfig, TopicGroupType } from "./types";
 import ChildToggle from "webviz-core/src/components/ChildToggle";
 import Icon from "webviz-core/src/components/Icon";
 import { type Topic } from "webviz-core/src/players/types";
@@ -63,7 +64,7 @@ const STopicGroups = styled.div`
         margin: 0;
         border: none;
         transition: 0.3s;
-        padding: 4px 8px 8px 24px;
+        padding: 4px 0px 4px 24px;
         color: unset;
         &:hover {
           color: ${colors.LIGHT};
@@ -75,6 +76,10 @@ const STopicGroups = styled.div`
             color: white;
             opacity: 1;
           }
+          ${SMenuWrapper} {
+            color: white;
+            opacity: 1;
+          }
         }
       }
       .rc-collapse-content {
@@ -125,14 +130,6 @@ type Props = {|
   allNamespaces: Namespace[],
 |};
 
-/**
- * TODO(Audrey):
- * - topic visibility toggle
- * - group visibility toggle
- * - config migration
- * - filter with debounce
- * - edit topic settings
- */
 export function TopicGroupsBase({
   topicGroupsConfig,
   displayNameByTopic = {},
@@ -152,15 +149,46 @@ export function TopicGroupsBase({
     availableTopics,
   });
 
-  const onCollapseChange = useCallback(
-    (activeKeys) => {
-      const newTopicGroups = topicGroups.map((group) => ({
+  const saveNewTopicGroupsToConfig = useCallback(
+    (newTopicGroups: TopicGroupType[]) => {
+      const newTopicGroupsConfig = newTopicGroups.map((group) => ({
         ...omit(group, "derivedFields"),
-        expanded: activeKeys.includes(group.derivedFields.id),
+        items: group.items.map((item) => omit(item, "derivedFields")),
       }));
-      saveConfig({ topicGroups: newTopicGroups });
+      saveConfig({ topicGroups: newTopicGroupsConfig });
+    },
+    [saveConfig]
+  );
+
+  const onCollapseChange = useCallback(
+    (activeKeys: string[]) =>
+      saveNewTopicGroupsToConfig(
+        cloneDeep(topicGroups).map((group) => ({
+          ...group,
+          expanded: activeKeys.includes(group.derivedFields.id),
+        }))
+      ),
+    [saveNewTopicGroupsToConfig, topicGroups]
+  );
+
+  const onTopicGroupsChange = useCallback(
+    (objectPath: string, newValue: any, options?: {| removeValue?: boolean |}) => {
+      let newTopicGroups = cloneDeep(topicGroups);
+      if (options && options.removeValue) {
+        // unset the topic group or topic item
+        unset(newTopicGroups, objectPath);
+        // filter out the empty value
+        newTopicGroups = newTopicGroups
+          .filter(Boolean)
+          .map((group) => ({ ...group, items: group.items.filter(Boolean) }));
+        saveNewTopicGroupsToConfig(newTopicGroups);
+        return;
+      }
+      // Replace the field value with newValue and save to config.
+      // Make a deep copy of topicGroups to avoid mutation bugs.
+      saveNewTopicGroupsToConfig(set(newTopicGroups, objectPath, newValue));
     },
-    [saveConfig, topicGroups]
+    [saveNewTopicGroupsToConfig, topicGroups]
   );
 
   return (
@@ -196,28 +224,27 @@ export function TopicGroupsBase({
               </Icon>
             )}
             onChange={onCollapseChange}>
-            {topicGroups.map((topicGroup, idx) => {
-              const onTopicGroupChange = (newTopicGroup) => {
-                const newTopicGroups = [...topicGroups.slice(0, idx), newTopicGroup, ...topicGroups.slice(idx + 1)].map(
-                  (group) => omit(group, "derivedFields")
-                );
-                saveConfig({ topicGroups: newTopicGroups });
-              };
-              return (
-                <Collapse.Panel
-                  className={`test-${topicGroup.derivedFields.id}`}
-                  key={topicGroup.derivedFields.id}
-                  header={<TopicGroupHeader onTopicGroupChange={onTopicGroupChange} topicGroup={topicGroup} />}>
-                  {topicGroup.expanded && (
-                    <TopicGroupBody
-                      key={topicGroup.derivedFields.id}
-                      topicGroup={topicGroup}
-                      onTopicGroupChange={onTopicGroupChange}
-                    />
-                  )}
-                </Collapse.Panel>
-              );
-            })}
+            {topicGroups.map((topicGroup, idx) => (
+              <Collapse.Panel
+                className={`test-${topicGroup.derivedFields.id}`}
+                key={topicGroup.derivedFields.id}
+                header={
+                  <TopicGroupHeader
+                    onTopicGroupsChange={onTopicGroupsChange}
+                    topicGroup={topicGroup}
+                    objectPath={`[${idx}]`}
+                  />
+                }>
+                {topicGroup.expanded && (
+                  <TopicGroupBody
+                    key={topicGroup.derivedFields.id}
+                    objectPath={`[${idx}]`}
+                    topicGroup={topicGroup}
+                    onTopicGroupsChange={onTopicGroupsChange}
+                  />
+                )}
+              </Collapse.Panel>
+            ))}
           </Collapse>
         </STopicGroups>
       </ChildToggle>
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicItemMenu.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicItemMenu.js
new file mode 100644
index 000000000..6e945f1ef
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicItemMenu.js
@@ -0,0 +1,56 @@
+// @flow
+//
+//  Copyright (c) 2018-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import DotsVerticalIcon from "@mdi/svg/svg/dots-vertical.svg";
+import React, { useCallback, useState } from "react";
+
+import { SMenuWrapper } from "./TopicGroupMenu";
+import type { TopicItem, OnTopicGroupsChange } from "./types";
+import ChildToggle from "webviz-core/src/components/ChildToggle";
+import Icon from "webviz-core/src/components/Icon";
+import Menu, { Item } from "webviz-core/src/components/Menu";
+
+type Props = {|
+  item: TopicItem,
+  objectPath: string,
+  onTopicGroupsChange: OnTopicGroupsChange,
+|};
+
+export default function TopicItemMenu({
+  objectPath,
+  item: {
+    derivedFields: { displayName },
+  },
+  onTopicGroupsChange,
+}: Props) {
+  const [isOpen, setIsOpen] = useState(false);
+
+  const onToggle = useCallback((ev) => {
+    setIsOpen((prevIsOpen) => !prevIsOpen);
+  }, []);
+
+  return (
+    <ChildToggle position="below" isOpen={isOpen} onToggle={onToggle} dataTest={`open-topic-menu-${displayName}`}>
+      <SMenuWrapper>
+        <Icon onClick={onToggle} style={{ width: 32, height: 32, padding: 8 }} medium>
+          <DotsVerticalIcon />
+        </Icon>
+      </SMenuWrapper>
+      <Menu>
+        <Item
+          dataTest={`delete-topic-menu-${displayName}`}
+          onClick={() => {
+            onTopicGroupsChange(objectPath, null, { removeValue: true });
+            setIsOpen(false);
+          }}>
+          Remove topic
+        </Item>
+      </Menu>
+    </ChildToggle>
+  );
+}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicItemRow.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicItemRow.js
index 40c251191..665999f10 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicItemRow.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicItemRow.js
@@ -7,14 +7,15 @@
 //  You may not use this file except in compliance with the License.
 import ChevronDownIcon from "@mdi/svg/svg/chevron-down.svg";
 import ChevronUpIcon from "@mdi/svg/svg/chevron-up.svg";
-import { uniq } from "lodash";
 import Collapse from "rc-collapse";
 import React, { useCallback } from "react";
 import styled, { css } from "styled-components";
 
 import DataSourceBadge from "./DataSourceBadge";
 import Namespaces from "./Namespaces";
-import type { TopicItem } from "./types";
+import { SMenuWrapper } from "./TopicGroupMenu";
+import TopicItemMenu from "./TopicItemMenu";
+import type { TopicItem, OnTopicGroupsChange } from "./types";
 import Icon from "webviz-core/src/components/Icon";
 import { colors } from "webviz-core/src/util/colors";
 
@@ -22,7 +23,7 @@ const namespaceCss = css`
   .rc-collapse {
     .rc-collapse-item {
       .rc-collapse-header {
-        padding: 0px 0px 0px 32px;
+        padding: 0px 0px 0px 24px !important;
       }
     }
   }
@@ -31,8 +32,7 @@ const SItemRow = styled.div`
   padding: 0;
   display: flex;
   flex-direction: column;
-  color: ${colors.LIGHT};
-  color: ${(props) => (props.available ? colors.LIGHT : colors.TEXT_MUTED)};
+  color: ${(props) => (props.available ? colors.LIGHT1 : colors.TEXT_MUTED)};
   ${(props) => (props.hasNamespaces ? namespaceCss : "")};
   &:hover {
     color: ${colors.LIGHT};
@@ -43,10 +43,14 @@ const SItemMain = styled.div`
   display: flex;
   flex: 1;
   line-height: 1.2;
-  padding: ${(props) => (props.hasNamespaces ? "8px 0 8px 8px" : " 8px 8px 8px 48px")};
+  padding: ${(props) => (props.hasNamespaces ? "8px 0 8px 8px" : " 8px 0px 8px 48px")};
   transition: 0.3s;
   &:hover {
     background-color: ${colors.HOVER_BACKGROUND_COLOR};
+    ${SMenuWrapper} {
+      color: white;
+      opacity: 1;
+    }
   }
 `;
 
@@ -75,13 +79,15 @@ export const STopicName = styled.div`
 
 type Props = {|
   item: TopicItem,
-  onItemChange: (newItem: TopicItem) => void,
+  objectPath: string,
+  onTopicGroupsChange: OnTopicGroupsChange,
 |};
 
 function TopicItemRowHeader({
-  onItemChange,
   hasNamespaces,
   item,
+  objectPath,
+  onTopicGroupsChange,
   item: {
     topicName,
     derivedFields: { displayName, namespaceItems, displayVisibilityBySource },
@@ -108,19 +114,15 @@ function TopicItemRowHeader({
               key={dataSourcePrefix}
               visible={visible}
               onToggleVisibility={() => {
-                const newVisible = !displayVisibilityBySource[dataSourcePrefix].visible;
-                const newItem = {
-                  ...item,
-                  visibilitiesBySource: {
-                    ...item.visibilitiesBySource,
-                    [dataSourcePrefix]: newVisible,
-                  },
-                };
-                onItemChange(newItem);
+                onTopicGroupsChange(
+                  `${objectPath}.visibilitiesBySource.${dataSourcePrefix}`,
+                  !displayVisibilityBySource[dataSourcePrefix].visible
+                );
               }}
             />
           );
         })}
+        <TopicItemMenu item={item} objectPath={objectPath} onTopicGroupsChange={onTopicGroupsChange} />
       </SItemMainRight>
     </SItemMain>
   );
@@ -128,7 +130,8 @@ function TopicItemRowHeader({
 
 export default function TopicItemRow(props: Props) {
   const {
-    onItemChange,
+    objectPath,
+    onTopicGroupsChange,
     item,
     item: {
       expanded: topicExpanded,
@@ -141,10 +144,10 @@ export default function TopicItemRow(props: Props) {
   const onCollapseChange = useCallback(
     (activeKeys) => {
       if (hasNamespaces) {
-        onItemChange({ ...item, expanded: !topicExpanded });
+        onTopicGroupsChange(`${objectPath}.expanded`, !topicExpanded);
       }
     },
-    [hasNamespaces, item, onItemChange, topicExpanded]
+    [hasNamespaces, objectPath, onTopicGroupsChange, topicExpanded]
   );
 
   return (
@@ -166,13 +169,7 @@ export default function TopicItemRow(props: Props) {
                 newNamespaces = visible
                   ? [...newNamespaces, namespace]
                   : newNamespaces.filter((ns) => ns !== namespace);
-                onItemChange({
-                  ...item,
-                  selectedNamespacesBySource: {
-                    ...item.selectedNamespacesBySource,
-                    [dataSourcePrefix]: uniq(newNamespaces),
-                  },
-                });
+                onTopicGroupsChange(`${objectPath}.selectedNamespacesBySource.${dataSourcePrefix}`, newNamespaces);
               }}
               topicName={topicName}
               namespaceItems={namespaceItems}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsUtils.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsUtils.js
index 786b4a2c4..2227c4480 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsUtils.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/topicGroupsUtils.js
@@ -57,67 +57,65 @@ export function getTopicGroups(
 ): TopicGroupType[] {
   const availableTopicNamesSet = new Set(availableTopics.map(({ name }) => name));
 
-  return groupsConfig.map((groupConfig, idx) => {
-    const id = `${groupConfig.displayName.split(" ").join("-")}_${idx}`;
-    const isTopicGroupVisible = !!groupConfig.visible;
+  return groupsConfig.map(({ items, ...rest }, idx) => {
+    const id = `${rest.displayName.split(" ").join("-")}_${idx}`;
+    const isTopicGroupVisible = !!rest.visible;
     return {
-      ...groupConfig,
-      derivedFields: {
-        id,
-        items: groupConfig.items.map((topicItemConfig, idx1) => {
-          const {
-            displayName,
-            topicName,
-            selectedNamespacesBySource,
-            visibilitiesBySource = { "": true }, // set the base topic to be visible by default
-          } = topicItemConfig;
+      ...rest,
+      derivedFields: { id },
+      items: items.map((topicItemConfig, idx1) => {
+        const {
+          displayName,
+          topicName,
+          selectedNamespacesBySource,
+          visibilitiesBySource = { "": true }, // set the base topic to be visible by default
+        } = topicItemConfig;
 
-          const availableNamespacesBySource = {};
-          const topicDisplayVisibilityBySource = {};
-          let available = false;
+        const availableNamespacesBySource = {};
+        const topicDisplayVisibilityBySource = {};
+        let available = false;
 
-          ALL_DATA_SOURCE_PREFIXES.forEach((dataSourcePrefix) => {
-            const prefixedTopicName = `${dataSourcePrefix}${topicName}`;
-            if (availableTopicNamesSet.has(prefixedTopicName)) {
-              available = true;
-              // only show namespaces when the topic is available
-              if (namespacesByTopic[prefixedTopicName]) {
-                availableNamespacesBySource[dataSourcePrefix] = namespacesByTopic[prefixedTopicName];
-              }
-
-              topicDisplayVisibilityBySource[dataSourcePrefix] = {
-                isParentVisible: isTopicGroupVisible,
-                badgeText: getBadgeTextByTopicName(prefixedTopicName),
-                // always visible by default
-                // $FlowFixMe the field is missing in object literal
-                visible: visibilitiesBySource[dataSourcePrefix] != null ? visibilitiesBySource[dataSourcePrefix] : true,
-                available: true,
-              };
+        ALL_DATA_SOURCE_PREFIXES.forEach((dataSourcePrefix) => {
+          const prefixedTopicName = `${dataSourcePrefix}${topicName}`;
+          if (availableTopicNamesSet.has(prefixedTopicName)) {
+            available = true;
+            // only show namespaces when the topic is available
+            if (namespacesByTopic[prefixedTopicName]) {
+              availableNamespacesBySource[dataSourcePrefix] = namespacesByTopic[prefixedTopicName];
             }
-          });
 
-          // build an array of namespace items with visibility and availability for easy render
-          const namespaceItems = getNamespacesItemsBySource(
-            topicName,
-            availableNamespacesBySource,
-            selectedNamespacesBySource,
-            topicDisplayVisibilityBySource,
-            isTopicGroupVisible
-          );
+            topicDisplayVisibilityBySource[dataSourcePrefix] = {
+              isParentVisible: isTopicGroupVisible,
+              badgeText: getBadgeTextByTopicName(prefixedTopicName),
+              // always visible by default
+              // $FlowFixMe the field is missing in object literal
+              visible: visibilitiesBySource[dataSourcePrefix] != null ? visibilitiesBySource[dataSourcePrefix] : true,
+              available: true,
+            };
+          }
+        });
 
-          return {
-            // save the original config in order to save back to panelConfig
-            ...topicItemConfig,
-            derivedFields: {
-              id: `${id}_${idx1}`,
-              displayName: displayName || displayNameByTopic[topicName] || topicName,
-              displayVisibilityBySource: topicDisplayVisibilityBySource,
-              namespaceItems,
-              available,
-            },
-          };
-        }),
-      },
+        // build an array of namespace items with visibility and availability for easy render
+        const namespaceItems = getNamespacesItemsBySource(
+          topicName,
+          availableNamespacesBySource,
+          selectedNamespacesBySource,
+          topicDisplayVisibilityBySource,
+          isTopicGroupVisible
+        );
+
+        return {
+          // save the original config in order to save back to panelConfig
+          ...topicItemConfig,
+          derivedFields: {
+            id: `${id}_${idx1}`,
+            displayName: displayName || displayNameByTopic[topicName] || topicName,
+            displayVisibilityBySource: topicDisplayVisibilityBySource,
+            namespaceItems,
+            available,
+          },
+        };
+      }),
     };
   });
 }
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/types.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/types.js
index 5b6e8aa93..8fdd37d75 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/types.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/types.js
@@ -10,6 +10,13 @@ type SettingsBySource = {
   overrideColor?: string,
   overrideCommand?: string,
 };
+
+type OnTopicGroupsChangeOptions = {|
+  removeValue?: boolean,
+  // TODO(Audrey): add option `addTopicsToGroup`
+|};
+export type OnTopicGroupsChange = (objectPath: string, newValue: any, options?: OnTopicGroupsChangeOptions) => void;
+
 export type VisibilityBySource = { [dataSourcePrefix: string]: boolean };
 export type NamespacesBySource = { [dataSourcePrefix: string]: string[] };
 
@@ -48,19 +55,22 @@ export type TopicItem = {|
   derivedFields: DerivedTopicItemFields,
 |};
 
-export type TopicGroupConfig = {|
+type SharedTopicGroupConfig = {|
   displayName: string,
-  items: TopicItemConfig[],
   visible?: boolean,
   expanded?: boolean,
 |};
+export type TopicGroupConfig = {|
+  ...SharedTopicGroupConfig,
+  items: TopicItemConfig[],
+|};
 type TopicGroupDerivedFields = {|
   id: string,
-  items: TopicItem[],
 |};
 
 export type TopicGroupType = {|
-  ...TopicGroupConfig,
+  ...SharedTopicGroupConfig,
+  items: TopicItem[], // config item with derivedFields
   derivedFields: TopicGroupDerivedFields,
 |};
 
diff --git a/packages/webviz-core/src/panels/diagnostics/DiagnosticStatus.js b/packages/webviz-core/src/panels/diagnostics/DiagnosticStatus.js
index 93fdd705c..80bb15d76 100644
--- a/packages/webviz-core/src/panels/diagnostics/DiagnosticStatus.js
+++ b/packages/webviz-core/src/panels/diagnostics/DiagnosticStatus.js
@@ -7,8 +7,9 @@
 //  You may not use this file except in compliance with the License.
 
 import ChartLineVariantIcon from "@mdi/svg/svg/chart-line-variant.svg";
+import DotsHorizontalIcon from "@mdi/svg/svg/dots-horizontal.svg";
 import cx from "classnames";
-import { clamp, uniq } from "lodash";
+import { clamp } from "lodash";
 import * as React from "react";
 import { createSelector } from "reselect";
 import sanitizeHtml from "sanitize-html";
@@ -19,7 +20,8 @@ import { LEVEL_NAMES, type DiagnosticInfo, type KeyValue, type DiagnosticStatusM
 import Flex from "webviz-core/src/components/Flex";
 import Icon from "webviz-core/src/components/Icon";
 import Tooltip from "webviz-core/src/components/Tooltip";
-import Plot, { type PlotConfig } from "webviz-core/src/panels/Plot";
+import { openSiblingPlotPanel } from "webviz-core/src/panels/Plot";
+import { openSiblingStateTransitionsPanel } from "webviz-core/src/panels/StateTransitions";
 import colors from "webviz-core/src/styles/colors.module.scss";
 import type { PanelConfig } from "webviz-core/src/types/panels";
 
@@ -68,9 +70,12 @@ const KeyValueTable = styled.table`
   white-space: pre-line;
   overflow-wrap: break-word;
   text-align: left;
+  tr:nth-child(odd) {
+    background-color: #222;
+  }
   td {
-    border: 1px solid $divider;
-    padding: 0 3px;
+    border: none;
+    padding: 1px 3px;
   }
   /* nested table styles */
   table {
@@ -189,11 +194,7 @@ class DiagnosticStatus extends React.Component<Props, *> {
 
   _renderKeyValueCell(cls: string, html: ?{ __html: string }, str: string, openPlotPanelIconElem?: React.Node) {
     if (html) {
-      return (
-        <td className={style.valueCell} dangerouslySetInnerHTML={html}>
-          {openPlotPanelIconElem}
-        </td>
-      );
+      return <td className={style.valueCell} dangerouslySetInnerHTML={html} />;
     }
     return (
       <td className={style.valueCell}>
@@ -236,38 +237,30 @@ class DiagnosticStatus extends React.Component<Props, *> {
           </tr>
         );
       }
-      const openPlotPanelIconElem =
-        kv.value && kv.value.length > 0 && !isNaN(Number(kv.value)) ? (
+      const valuePath = `${topicToRender}.status[:]{hardware_id=="${hardware_id}"}.values[:]{key=="${kv.key}"}.value`;
+      let openPlotPanelIconElem = null;
+      if (kv.value && kv.value.length > 0) {
+        openPlotPanelIconElem = !isNaN(Number(kv.value)) ? (
           <Icon
             fade
             dataTest="open-plot-icon"
             className={style.plotIcon}
-            onClick={() =>
-              openSiblingPanel(
-                // $FlowFixMe: https://stackoverflow.com/questions/52508434/adding-static-variable-to-union-of-class-types
-                Plot.panelType,
-                (config: PlotConfig) =>
-                  ({
-                    ...config,
-                    paths: uniq([
-                      ...config.paths,
-                      {
-                        value: `${topicToRender}.status[:]{hardware_id=="${hardware_id}"}.values[:]{key=="${
-                          kv.key
-                        }"}.value`,
-                        enabled: true,
-                        timestampMethod: "receiveTime",
-                      },
-                    ]),
-                  }: PlotConfig)
-              )
-            }
+            onClick={() => openSiblingPlotPanel(openSiblingPanel, valuePath)}
             tooltip="Line chart">
             <ChartLineVariantIcon />
           </Icon>
-        ) : null;
+        ) : (
+          <Icon
+            fade
+            className={style.stateTransitionsIcon}
+            onClick={() => openSiblingStateTransitionsPanel(openSiblingPanel, valuePath)}
+            tooltip="State Transitions">
+            <DotsHorizontalIcon />
+          </Icon>
+        );
+      }
       return (
-        <tr key={idx}>
+        <tr key={idx} className={style.row}>
           {this._renderKeyValueCell(style.keyCell, kv.keyHtml, kv.key)}
           {this._renderKeyValueCell(style.valueCell, kv.valueHtml, kv.value, openPlotPanelIconElem)}
         </tr>
diff --git a/packages/webviz-core/src/panels/diagnostics/DiagnosticStatus.module.scss b/packages/webviz-core/src/panels/diagnostics/DiagnosticStatus.module.scss
index d68d07934..1aaabd402 100644
--- a/packages/webviz-core/src/panels/diagnostics/DiagnosticStatus.module.scss
+++ b/packages/webviz-core/src/panels/diagnostics/DiagnosticStatus.module.scss
@@ -13,9 +13,10 @@
 tr.section th {
   color: $highlight;
   text-align: center;
-  font-size: 1.5em;
+  font-size: 1.2em;
   padding: 4px;
   cursor: pointer;
+  border: none;
 }
 
 tr.status-ok {
@@ -58,10 +59,21 @@ td.collapsedSection {
   color: $red;
 }
 
-.plotIcon {
+.plotIcon,
+.stateTransitionsIcon {
   color: white;
+  margin-left: 4px;
+  visibility: hidden;
 
-  > svg {
-    vertical-align: top;
+  tr.row:hover & {
+    visibility: visible;
   }
 }
+
+.plotIcon > svg {
+  vertical-align: -1px;
+}
+
+.stateTransitionsIcon > svg {
+  vertical-align: -2px;
+}
diff --git a/packages/webviz-core/src/panels/diagnostics/DiagnosticStatusPanel.js b/packages/webviz-core/src/panels/diagnostics/DiagnosticStatusPanel.js
index 4a5e302d7..f28498820 100644
--- a/packages/webviz-core/src/panels/diagnostics/DiagnosticStatusPanel.js
+++ b/packages/webviz-core/src/panels/diagnostics/DiagnosticStatusPanel.js
@@ -86,6 +86,7 @@ class DiagnosticStatusPanel extends React.Component<Props> {
             return (
               <>
                 <PanelToolbar
+                  floating
                   helpContent={helpContent}
                   additionalIcons={this.renderTopicToRenderMenu(this.props.topics)}>
                   <Autocomplete
diff --git a/packages/webviz-core/src/panels/diagnostics/DiagnosticSummary.js b/packages/webviz-core/src/panels/diagnostics/DiagnosticSummary.js
index 8f600bd9b..0f31efc7c 100644
--- a/packages/webviz-core/src/panels/diagnostics/DiagnosticSummary.js
+++ b/packages/webviz-core/src/panels/diagnostics/DiagnosticSummary.js
@@ -164,7 +164,7 @@ class DiagnosticSummary extends React.Component<Props> {
               if (buffer.diagnosticsById.size === 0) {
                 return (
                   <EmptyState>
-                    Waiting for <code>/diagnostics</code> messages
+                    Waiting for <code>{topicToRender}</code> messages
                   </EmptyState>
                 );
               }
diff --git a/packages/webviz-core/src/players/RosbridgePlayer/index.js b/packages/webviz-core/src/players/RosbridgePlayer/index.js
index c9659abae..59224f44a 100644
--- a/packages/webviz-core/src/players/RosbridgePlayer/index.js
+++ b/packages/webviz-core/src/players/RosbridgePlayer/index.js
@@ -7,9 +7,12 @@
 //  You may not use this file except in compliance with the License.
 
 import { isEqual, sortBy, uniq } from "lodash";
+import * as React from "react";
 import type { Time } from "rosbag";
 import uuid from "uuid";
 
+import renderToBody from "webviz-core/src/components/renderToBody";
+import WssErrorModal from "webviz-core/src/components/WssErrorModal";
 import {
   type RoslibTypedef,
   messageDetailsToRosDatatypes,
@@ -64,6 +67,19 @@ export default class RosbridgePlayer implements Player {
       return;
     }
 
+    try {
+      // Create a dummy socket. This will throw if there's a SecurityError.
+      const tempSocket = new WebSocket(this._url);
+      tempSocket.binaryType = "arraybuffer";
+      tempSocket.close();
+    } catch (error) {
+      if (error && error.name === "SecurityError") {
+        const modal = renderToBody(<WssErrorModal onRequestClose={() => modal.remove()} />);
+        return;
+      }
+      console.error("Unknown WebSocket error", error);
+    }
+
     // `workersocket` will open the actual WebSocket connection in a WebWorker.
     const rosClient = new ROSLIB.Ros({ url: this._url, transportLibrary: "workersocket" });
 
@@ -77,8 +93,7 @@ export default class RosbridgePlayer implements Player {
 
     rosClient.on("error", (error) => {
       // TODO(JP): Figure out which kinds of errors we can get here, and which ones we should
-      // actually show to the user. E.g. does a SecurityError when connecting from https:// to ws://
-      // show up here?
+      // actually show to the user.
       console.warn("WebSocket error", error);
     });
 
diff --git a/packages/webviz-core/src/util/corsError.js b/packages/webviz-core/src/util/corsError.js
index 72d275c30..7e9af9893 100644
--- a/packages/webviz-core/src/util/corsError.js
+++ b/packages/webviz-core/src/util/corsError.js
@@ -9,7 +9,7 @@
 export function corsError(url: string): string {
   return `Often this is due to missing CORS headers on the requested URL: ${url}
 
-First of all, be aware that redirects don't work with CORS. So you'll have to point to the resource directly. So https://webviz.io/try/?remote-bag-url=https%3A%2F%2Fopen-source-webviz-ui.s3.amazonaws.com%2Fdemo.bag will work (note the URL encoded using "encodeURIComponent"), but pointing to a server that then redirects to a URL like that will NOT work.
+First of all, be aware that redirects don't work with CORS. So you'll have to point to the resource directly. So ?remote-bag-url=https%3A%2F%2Fopen-source-webviz-ui.s3.amazonaws.com%2Fdemo.bag will work (note the URL encoded using "encodeURIComponent"), but pointing to a server that then redirects to a URL like that will NOT work.
 
 If your data is sensitive, you can generate a signed S3 url, and use that directly with ?remote-bag-url=. That URL will then only work for a limited time period, and you can have a server that only signs URLs for authenticated users.
 
diff --git a/packages/webviz-core/src/util/helpModalOpenSource.help.md b/packages/webviz-core/src/util/helpModalOpenSource.help.md
index 663a639e5..8aa4beae5 100644
--- a/packages/webviz-core/src/util/helpModalOpenSource.help.md
+++ b/packages/webviz-core/src/util/helpModalOpenSource.help.md
@@ -11,11 +11,11 @@
 
 ## Loading data
 
-By default we try connect to a [rosbridge_server](http://wiki.ros.org/rosbridge_suite/Tutorials/RunningRosbridge) using a WebSocket on `ws://localhost:9090`. If you want to use a different URL, use the `?rosbridge-websocket-url=…` parameter.
+By default we try connect to a [rosbridge_server](http://wiki.ros.org/rosbridge_suite/Tutorials/RunningRosbridge) using a WebSocket on `ws://localhost:9090`. If you want to use a different URL, use the `?rosbridge-websocket-url=…` parameter. For example, to connect to `ws://localhost:4321`, use [this URL](?rosbridge-websocket-url=ws://localhost:4321). If you're using a more complex URL, it'd be good to [url-encode](https://www.urlencoder.io/) it, for example [like this](?rosbridge-websocket-url=ws%3A%2F%2Flocalhost%3A4321). This also applies to other parameters mentioned below.
 
 If no WebSocket is found, you can instead drag and drop a bag into the page. You can drag a second bag while holding the `SHIFT` key. The topics of the second bag will be prefixed with `/webviz_bag_2`.
 
-To stream in a bag, use the `?remote-bag-url=…` parameter. By default we only buffer part of the bag in memory to save memory. If you want to buffer the whole bag, add in `&load-entire-bag`. To navigate to a particular point in the bag on load, add in `&seek-to=12345` (in milliseconds since the [Unix epoch](https://en.wikipedia.org/wiki/Unix_time)).
+To stream in a bag, use the `?remote-bag-url=…` parameter, [like this](?remote-bag-url=https%3A%2F%2Fopen-source-webviz-ui.s3.amazonaws.com%2Fdemo.bag). By default we only buffer part of the bag in memory to save memory. If you want to buffer the whole bag, add in `&load-entire-bag`. To navigate to a particular point in the bag on load, add in `&seek-to=12345` (in milliseconds since the [Unix epoch](https://en.wikipedia.org/wiki/Unix_time)).
 
 You can also load a layout from a URL. This can be useful when you have a system that links to Webviz pages, and you know what kind of layout is useful for each link. You can even have a server that dynamically generates a layout based on the URL. Use the `?layout-url=` parameter, for example [like this](?layout-url=https%3A%2F%2Fopen-source-webviz-ui.s3.amazonaws.com%2FdemoLayout.json).
 

From 66968f9d7c1f72d421a8c0b93132139800bb9053 Mon Sep 17 00:00:00 2001
From: Jan Paul Posma <janpaul123@users.noreply.github.com>
Date: Tue, 31 Dec 2019 14:08:51 -0800
Subject: [PATCH 28/50] Note about customizing Webviz #304 (#306)

To communicate better our direction with the app.
---
 README.md | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/README.md b/README.md
index d1d84bb67..14177628b 100755
--- a/README.md
+++ b/README.md
@@ -35,3 +35,5 @@ If you have the right permissions, you can publish:
 ## Contributing
 
 PRs, bug reports, and feature requests are welcome! Please observe [CONTRIBUTING.md](CONTRIBUTING.md) and [CODE_OF_CONDUCT.md](CODE_OF_CONDUCT.md) when making a contribution.
+
+Note that while it's possible to fork Webviz to make your own custom version, we'd encourage you to use webviz.io/app and propose generic solutions that everyone would benefit from. Cruise also still has its own fork of Webviz, but long term we'd like to move away from that. For examples of generic features, see the Node Playground panel, using generic RViz markers in the 3d panel, streaming in bags from any cloud service, loading layouts hosted on arbitrary URLs, and so on. We'd love your creative ideas for making Webviz widely useful!

From 1d71c18a74c8afbd4b9039bc097c44a123f908f9 Mon Sep 17 00:00:00 2001
From: Jan Paul Posma <janpaul123@users.noreply.github.com>
Date: Tue, 31 Dec 2019 14:10:09 -0800
Subject: [PATCH 29/50] Title capitalization (#305)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Tiny consistency fix, it just bugged me that for webviz.io the title was "Webviz" but for webviz.io/app it's "webviz". We use the lowercase version in the title bar so I figured I'd just use that for the main page as well. 🙃
---
 docs/public/index.html | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/public/index.html b/docs/public/index.html
index ceaaf0b55..50b4d08e8 100644
--- a/docs/public/index.html
+++ b/docs/public/index.html
@@ -24,9 +24,9 @@
     <meta name="viewport" content="width=device-width, initial-scale = 1.0,
 maximum-scale=1.0, user-scalable=no" />
     <meta name="description" content="Visualizing robotics data in the browser">
-    <title>Webviz</title>
+    <title>webviz</title>
     <link href="https://fonts.googleapis.com/css?family=Roboto|Roboto+Mono&display=swap" rel="stylesheet">
-    <meta property="og:title" content="Webviz" />
+    <meta property="og:title" content="webviz" />
     <meta property="og:description" content="Visualizing robotics data in the browser" />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://webviz.io" />

From 75bfe9bf8b1ef615d02188d2447773c4dffdbbb1 Mon Sep 17 00:00:00 2001
From: Jan Paul Posma <janpaul123@users.noreply.github.com>
Date: Thu, 2 Jan 2020 11:21:48 -0800
Subject: [PATCH 30/50] Update packages/webviz-core from internal repo (#307)

Changelog:
- Fixed bug in 2d panel rendering.
- Improved styling on Global Variables and Internals panels.
- Better demo layout.
---
 packages/webviz-core/package-lock.json        |   6 +-
 packages/webviz-core/package.json             |   1 +
 .../src/panels/GlobalVariables/index.js       | 364 +++++++-----------
 .../panels/GlobalVariables/index.stories.js   |  20 +-
 packages/webviz-core/src/panels/Internals.js  |  23 +-
 .../src/panels/Internals.stories.js           |  47 +++
 .../src/panels/RawMessages/Metadata.js        |   2 +-
 .../src/panels/StateTransitions/index.js      |   2 +-
 .../src/panels/TwoDimensionalPlot/index.js    |   8 +-
 .../TwoDimensionalPlot/index.stories.js       | 125 +++---
 packages/webviz-core/src/util/demoLayout.json | 178 +++++----
 11 files changed, 387 insertions(+), 389 deletions(-)
 create mode 100644 packages/webviz-core/src/panels/Internals.stories.js

diff --git a/packages/webviz-core/package-lock.json b/packages/webviz-core/package-lock.json
index a242f7c92..ebc1ad7f6 100644
--- a/packages/webviz-core/package-lock.json
+++ b/packages/webviz-core/package-lock.json
@@ -1996,9 +1996,9 @@
       }
     },
     "react-input-autosize": {
-      "version": "2.2.1",
-      "resolved": "https://registry.npmjs.org/react-input-autosize/-/react-input-autosize-2.2.1.tgz",
-      "integrity": "sha512-3+K4CD13iE4lQQ2WlF8PuV5htfmTRLH6MDnfndHM6LuBRszuXnuyIfE7nhSKt8AzRBZ50bu0sAhkNMeS5pxQQA==",
+      "version": "2.2.2",
+      "resolved": "https://registry.npmjs.org/react-input-autosize/-/react-input-autosize-2.2.2.tgz",
+      "integrity": "sha512-jQJgYCA3S0j+cuOwzuCd1OjmBmnZLdqQdiLKRYrsMMzbjUrVDS5RvJUDwJqA7sKuksDuzFtm6hZGKFu7Mjk5aw==",
       "requires": {
         "prop-types": "^15.5.8"
       }
diff --git a/packages/webviz-core/package.json b/packages/webviz-core/package.json
index f1bb1dd8e..16c7ac525 100644
--- a/packages/webviz-core/package.json
+++ b/packages/webviz-core/package.json
@@ -46,6 +46,7 @@
     "react-draggable": "3.0.5",
     "react-hot-loader": "4.8.2",
     "react-hover-observer": "2.1.1",
+    "react-input-autosize": "2.2.2",
     "react-json-tree": "0.11.1",
     "react-markdown": "4.0.4",
     "react-monaco-editor": "0.28.0",
diff --git a/packages/webviz-core/src/panels/GlobalVariables/index.js b/packages/webviz-core/src/panels/GlobalVariables/index.js
index c4482ae06..333e8f06b 100644
--- a/packages/webviz-core/src/panels/GlobalVariables/index.js
+++ b/packages/webviz-core/src/panels/GlobalVariables/index.js
@@ -6,15 +6,14 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-import TrashCanOutlineIcon from "@mdi/svg/svg/trash-can-outline.svg";
-import { pick, partition } from "lodash";
-import React, { type Node, useState, useCallback } from "react";
+import { partition, pick, without } from "lodash";
+import React, { type Node, useState, useMemo, useRef } from "react";
 import { hot } from "react-hot-loader/root";
+import ReactInputAutosize from "react-input-autosize";
 import styled from "styled-components";
 
 import helpContent from "./index.help.md";
 import Flex from "webviz-core/src/components/Flex";
-import Icon from "webviz-core/src/components/Icon";
 import Panel from "webviz-core/src/components/Panel";
 import PanelToolbar from "webviz-core/src/components/PanelToolbar";
 import useGlobalVariables from "webviz-core/src/hooks/useGlobalVariables";
@@ -26,102 +25,115 @@ import colors from "webviz-core/src/styles/colors.module.scss";
 import clipboard from "webviz-core/src/util/clipboard";
 import { GLOBAL_VARIABLES_QUERY_KEY } from "webviz-core/src/util/globalConstants";
 
-type Props = {};
+const SDeleteIcon = styled.span`
+  display: inline-block;
+  visibility: hidden;
+  font-size: 12px;
+  width: 19px;
+  cursor: pointer;
+  padding-left: 1px;
+
+  &:hover {
+    color: white;
+  }
+`;
+
 const SGlobalVariables = styled.div`
   display: flex;
   flex-direction: column;
   overflow-y: auto;
-`;
-
-const SButtonContainer = styled.div`
-  padding: 10px 16px 0;
-  display: flex;
-`;
+  padding: 8px 0;
+  white-space: nowrap;
 
-const SInput = styled.input`
-  background: transparent;
-  width: 100%;
-  color: white;
-`;
+  table {
+    width: 99%;
+  }
 
-const SError = styled.div`
-  color: ${colors.red};
-  margin: 16px;
-`;
+  tr:nth-child(odd) {
+    background-color: #222;
+  }
 
-const SSection = styled.section`
-  margin: 15px;
-`;
+  tr:hover ${SDeleteIcon} {
+    visibility: visible;
+  }
 
-const SBorderlessCell = styled.td`
-  border: 0;
-  background: none;
+  td {
+    border: none;
+    padding: 0 8px;
+
+    input {
+      background: none !important;
+      color: inherit;
+      width: 100%;
+      padding-left: 0;
+      padding-right: 0;
+      min-width: 40px;
+    }
+  }
 `;
 
-const canParseJSON = (val) => {
+const parseJson = (val: string): ?mixed => {
   try {
-    JSON.parse(val);
+    return JSON.parse(val);
   } catch (e) {
-    return false;
+    return undefined;
   }
-  return true;
-};
-
-type InputProps = {
-  innerRef: { current: null | HTMLInputElement },
-  inputVal: string,
-  onChange: (newVal: string) => void,
 };
 
-type State = {
-  inputVal: string,
-};
-
-class EditableJSONInput extends React.Component<InputProps, State> {
-  constructor(props: InputProps) {
-    super(props);
-    this.state = {
-      inputVal: props.inputVal,
-    };
-  }
-
-  componentDidUpdate(prevProps: InputProps) {
-    if (prevProps.inputVal !== this.props.inputVal) {
-      this.setState({ inputVal: this.props.inputVal });
-    }
+const keyValMap = { ArrowDown: -1, ArrowUp: 1 };
+function JSONInput(props: {| value: string, onChange: (mixed) => void |}) {
+  const [internalValue, setInternalValue] = useState<string>(props.value);
+  const lastPropsValue = useRef<string>(props.value);
+  if (lastPropsValue.current !== props.value) {
+    lastPropsValue.current = props.value;
+    setInternalValue(props.value);
   }
+  const parsedValue = parseJson(internalValue);
+  const isValid = parsedValue !== undefined;
+  return (
+    <input
+      style={{ color: isValid ? "white" : colors.red }}
+      data-test="json-input"
+      type="text"
+      value={internalValue}
+      onChange={(e) => {
+        setInternalValue(e.target.value);
+        const newParsedValue = parseJson(e.target.value);
+        if (newParsedValue !== undefined) {
+          props.onChange(newParsedValue);
+        }
+      }}
+      onKeyDown={(e) => {
+        if (typeof parsedValue === "number" && keyValMap[e.key]) {
+          const newParsedValue = parsedValue + keyValMap[e.key];
+          setInternalValue(`${newParsedValue}`);
+          props.onChange(newParsedValue);
+        }
+      }}
+    />
+  );
+}
 
-  render() {
-    const { inputVal } = this.state;
-    const { innerRef, onChange } = this.props;
-    const isValid = canParseJSON(inputVal);
-    const keyValMap = { ArrowDown: -1, ArrowUp: 1 };
-    return (
-      <SInput
-        style={{ color: isValid ? "" : "#f97d96" }}
-        ref={innerRef}
-        data-test="json-input"
-        type="text"
-        value={inputVal}
-        onChange={(e) => {
-          this.setState({ inputVal: e.target.value });
-          onChange(e.target.value);
-        }}
-        onKeyDown={(e) => {
-          if (!isValid) {
-            return;
-          }
-          const parsedVal = JSON.parse(inputVal);
-          if (isNaN(parsedVal) || !Object.keys(keyValMap).includes(e.key)) {
-            return;
-          }
-          const newVal = parsedVal + keyValMap[e.key];
-          this.setState({ inputVal: newVal });
-          onChange(newVal);
-        }}
-      />
-    );
+function ValidatedResizingInput(props: {| value: string, onChange: (string) => void, invalidInputs: string[] |}) {
+  const [internalValue, setInternalValue] = useState<string>(props.value);
+  const lastPropsValue = useRef<string>(props.value);
+  if (lastPropsValue.current !== props.value) {
+    lastPropsValue.current = props.value;
+    setInternalValue(props.value);
   }
+  return (
+    <ReactInputAutosize
+      style={{ color: !props.invalidInputs.includes(internalValue) ? "white" : colors.red }}
+      value={`$${internalValue}`}
+      onChange={(event) => {
+        const value = event.target.value.slice(1);
+        setInternalValue(value);
+        if (!props.invalidInputs.includes(value)) {
+          props.onChange(value);
+        }
+      }}
+    />
+  );
 }
 
 const changeGlobalKey = (newKey, oldKey, globalVariables, idx, overwriteGlobalVariables) => {
@@ -133,66 +145,15 @@ const changeGlobalKey = (newKey, oldKey, globalVariables, idx, overwriteGlobalVa
   });
 };
 
-const changeGlobalVal = (newVal, name, setGlobalVariables) => {
-  setGlobalVariables({ [name]: newVal === undefined ? undefined : JSON.parse(String(newVal)) });
-};
-
-function GlobalVariables(props: Props): Node {
-  const input = React.createRef<HTMLInputElement>();
+function GlobalVariables(props: {}): Node {
   const [btnMessage, setBtnMessage] = useState<string>("Copy");
-  const [error, setError] = useState<Node>(null);
-  const [inputStr, setInputStr] = useState<string>("");
-  const [editingField, setEditingField] = useState<?string>(null);
-
   const { globalVariables, setGlobalVariables, overwriteGlobalVariables } = useGlobalVariables();
   const { linkedGlobalVariables } = useLinkedGlobalVariables();
-
   const globalVariableNames = Object.keys(globalVariables);
-  const globalVariableNamesWithIdx = globalVariableNames.map((name, idx) => ({ name, idx }));
   const linkedGlobalVariablesKeyByName = memoizedGetLinkedGlobalVariablesKeyByName(linkedGlobalVariables);
-  const [linked, unlinked] = partition(
-    globalVariableNamesWithIdx,
-    ({ name }) => !!linkedGlobalVariablesKeyByName[name]
-  );
-
-  function copyURL(text) {
-    return () => {
-      clipboard.copy(text).then(() => {
-        setBtnMessage("Copied!");
-        setTimeout(() => {
-          setBtnMessage("Copy");
-        }, 2000);
-      });
-    };
-  }
-  function validateGlobalVariableNewKey(newKey, oldKey) {
-    if (newKey === oldKey) {
-      return;
-    }
-    if (newKey === "") {
-      return "variable name must not be empty";
-    }
-    if (newKey in globalVariables && newKey !== editingField) {
-      return `variable $${newKey} already exists`;
-    }
-  }
+  const [linked, unlinked] = partition(globalVariableNames, (name) => !!linkedGlobalVariablesKeyByName[name]);
 
-  function getJsonInputHTML(name: string) {
-    return (
-      <EditableJSONInput
-        innerRef={input}
-        inputVal={JSON.stringify(globalVariables[name] || "")}
-        onChange={(newVal) => {
-          if (canParseJSON(newVal)) {
-            changeGlobalVal(newVal, name, setGlobalVariables);
-            setBtnMessage("Copy");
-          }
-        }}
-      />
-    );
-  }
-
-  const getUpdatedURL = useCallback(
+  const url = useMemo(
     () => {
       const queryParams = new URLSearchParams(window.location.search);
       queryParams.set(GLOBAL_VARIABLES_QUERY_KEY, JSON.stringify(globalVariables));
@@ -209,110 +170,63 @@ function GlobalVariables(props: Props): Node {
       <PanelToolbar helpContent={helpContent} floating />
       <table>
         <tbody>
-          <tr>
-            <th>key</th>
-            <th>value</th>
-          </tr>
-          {linked.map(({ name, idx }) => {
+          {linked.map((name, idx) => {
             return (
-              <tr key={idx}>
-                <td style={{ paddingRight: "0.6em", verticalAlign: "middle" }}>
+              <tr key={`linked-${idx}`}>
+                <td>
                   <UnlinkGlobalVariables name={name} />
                 </td>
-                <td>{getJsonInputHTML(name)}</td>
-                <SBorderlessCell />
+                <td width="100%">
+                  <JSONInput
+                    value={JSON.stringify(globalVariables[name] ?? "")}
+                    onChange={(newVal) => setGlobalVariables({ [name]: newVal })}
+                  />
+                </td>
               </tr>
             );
           })}
-          {unlinked.map(({ name, idx }) => (
-            <tr key={idx}>
-              <td style={{ paddingLeft: 12 }}>
-                <SInput
-                  type="text"
-                  data-test="global-variable-key-input"
-                  value={`$${editingField === name ? inputStr : name}`}
-                  onBlur={() => {
-                    setError(null);
-                    // important to set to null not empty string because empty string is valid name to start with
-                    setEditingField(null);
-                    // reset to the original valid name as the current input name could be invalid
-                    setInputStr(name);
-                  }}
-                  onKeyDown={() => {
-                    // set editingField when start editing
-                    if (editingField !== name) {
-                      setEditingField(name);
-                      setInputStr(name);
-                    }
-                  }}
-                  onChange={(e) => {
-                    const newKey = e.target.value.slice(1);
-                    setInputStr(newKey);
-                    const validationResult = validateGlobalVariableNewKey(newKey.trim(), name);
-                    if (validationResult) {
-                      setError(
-                        <>
-                          <p>
-                            ${newKey} is not a valid name, using old variable name ${name} instead. Changes will not be
-                            saved.
-                          </p>
-                          <p>Details: {validationResult}</p>
-                        </>
-                      );
-                    } else {
-                      setError(null);
-                      // update globalVariables right away if the field is valid
-                      changeGlobalKey(newKey.trim(), name, globalVariables, idx, overwriteGlobalVariables);
-                      setBtnMessage("Copy");
-                    }
-                  }}
+          {unlinked.map((name, idx) => (
+            <tr key={`unlinked-${idx}`}>
+              <td data-test="global-variable-key">
+                <SDeleteIcon onClick={() => setGlobalVariables({ [name]: undefined })}>✕</SDeleteIcon>
+                <ValidatedResizingInput
+                  value={name}
+                  onChange={(newKey) =>
+                    changeGlobalKey(newKey, name, globalVariables, linked.length + idx, overwriteGlobalVariables)
+                  }
+                  invalidInputs={without(globalVariableNames, name).concat("")}
+                />
+              </td>
+              <td width="100%">
+                <JSONInput
+                  value={JSON.stringify(globalVariables[name] ?? "")}
+                  onChange={(newVal) => setGlobalVariables({ [name]: newVal })}
                 />
               </td>
-              <td>{getJsonInputHTML(name)}</td>
-              <SBorderlessCell>
-                <Icon
-                  onClick={() => {
-                    changeGlobalVal(undefined, name, setGlobalVariables);
-                    setBtnMessage("Copy");
-                  }}>
-                  <TrashCanOutlineIcon />
-                </Icon>
-              </SBorderlessCell>
             </tr>
           ))}
         </tbody>
       </table>
-      {error && <SError>{error}</SError>}
 
-      <SButtonContainer>
-        <button
-          data-test="add-variable-btn"
-          onClick={(e) => {
-            setInputStr("");
-            setError("");
-            setEditingField("");
-            setGlobalVariables({ "": "" });
-          }}>
+      <Flex style={{ margin: 8 }}>
+        <button data-test="add-variable-btn" onClick={() => setGlobalVariables({ "": "" })}>
           + Add variable
         </button>
-        <button
-          data-test="clear-all-btn"
-          onClick={(e) => {
-            const newGlobalVariables = linked.reduce((memo, { name }) => {
-              memo[name] = undefined;
-              return memo;
-            }, {});
-            overwriteGlobalVariables(newGlobalVariables);
-          }}>
-          - Clear all
-        </button>
-      </SButtonContainer>
-      <SSection>
-        <Flex>
-          <input readOnly style={{ width: "100%" }} type="text" value={getUpdatedURL()} />
-          {document.queryCommandSupported("copy") && <button onClick={copyURL(getUpdatedURL())}>{btnMessage}</button>}
-        </Flex>
-      </SSection>
+        <input readOnly style={{ width: "100%" }} type="text" value={url} />
+        {document.queryCommandSupported("copy") && (
+          <button
+            onClick={() => {
+              clipboard.copy(url).then(() => {
+                setBtnMessage("Copied!");
+                setTimeout(() => {
+                  setBtnMessage("Copy");
+                }, 2000);
+              });
+            }}>
+            {btnMessage}
+          </button>
+        )}
+      </Flex>
     </SGlobalVariables>
   );
 }
diff --git a/packages/webviz-core/src/panels/GlobalVariables/index.stories.js b/packages/webviz-core/src/panels/GlobalVariables/index.stories.js
index da22ada54..29126dcd2 100644
--- a/packages/webviz-core/src/panels/GlobalVariables/index.stories.js
+++ b/packages/webviz-core/src/panels/GlobalVariables/index.stories.js
@@ -20,7 +20,7 @@ import Storage from "webviz-core/src/util/Storage";
 const defaultGlobalState = getGlobalHooks().getDefaultGlobalStates();
 
 const exampleVariables = {
-  someNum: 5,
+  someNum: 0,
   someText: "active",
   someObj: { age: 50 },
   someArrOfNums: [1, 2, 3],
@@ -110,7 +110,7 @@ storiesOf("<GlobalVariables>", module)
           if (addBtn) {
             addBtn.click();
             setImmediate(() => {
-              const firstKeyInput = document.querySelector("[data-test='global-variable-key-input']");
+              const firstKeyInput = document.querySelector("[data-test='global-variable-key'] input");
               if (firstKeyInput) {
                 triggerInputChange(firstKeyInput, "");
               }
@@ -128,7 +128,7 @@ storiesOf("<GlobalVariables>", module)
           if (addBtn) {
             addBtn.click();
             setImmediate(() => {
-              const firstKeyInput = document.querySelector("[data-test='global-variable-key-input']");
+              const firstKeyInput = document.querySelector("[data-test='global-variable-key'] input");
               if (firstKeyInput) {
                 triggerInputChange(firstKeyInput, "$someText");
               }
@@ -212,18 +212,4 @@ storiesOf("<GlobalVariables>", module)
         }}
       />
     );
-  })
-  .add(`after clicking "Clear all"`, () => {
-    return (
-      <PanelWithData
-        linkedGlobalVariables={linkedGlobalVariables}
-        onMount={(el) => {
-          const btn = el.querySelector("[data-test='clear-all-btn']");
-          console.log("btn: ", btn);
-          if (btn) {
-            btn.click();
-          }
-        }}
-      />
-    );
   });
diff --git a/packages/webviz-core/src/panels/Internals.js b/packages/webviz-core/src/panels/Internals.js
index 1b88bfc33..772addec5 100644
--- a/packages/webviz-core/src/panels/Internals.js
+++ b/packages/webviz-core/src/panels/Internals.js
@@ -19,6 +19,7 @@ import MessageHistory from "webviz-core/src/components/MessageHistory";
 import { useMessagePipeline } from "webviz-core/src/components/MessagePipeline";
 import Panel from "webviz-core/src/components/Panel";
 import PanelToolbar from "webviz-core/src/components/PanelToolbar";
+import TextContent from "webviz-core/src/components/TextContent";
 import filterMap from "webviz-core/src/filterMap";
 import * as PanelAPI from "webviz-core/src/PanelAPI";
 import type { Topic, Message, SubscribePayload, AdvertisePayload } from "webviz-core/src/players/types";
@@ -29,7 +30,7 @@ const { useCallback } = React;
 const RECORD_ALL = "RECORD_ALL";
 
 const Container = styled.div`
-  padding: 8px;
+  padding: 16px;
   overflow-y: auto;
   ul {
     font-size: 10px;
@@ -106,7 +107,7 @@ function Internals(): React.Node {
         .map((key) => {
           return (
             <React.Fragment key={key}>
-              <p>{key}:</p>
+              <div style={{ marginTop: 16 }}>{key}:</div>
               <ul>
                 {sortBy(groupedSubscriptions[key], (sub) => sub.topic).map((sub, i) => (
                   <li key={i}>
@@ -137,7 +138,7 @@ function Internals(): React.Node {
         .map((key) => {
           return (
             <React.Fragment key={key}>
-              <p>{key}:</p>
+              <div style={{ marginTop: 16 }}>{key}:</div>
               <ul>
                 {sortBy(groupedPublishers[key], (sub) => sub.topic).map((sub, i) => (
                   <li key={i}>
@@ -199,8 +200,12 @@ function Internals(): React.Node {
     <Container>
       <PanelToolbar floating />
       <h1>Recording</h1>
-      <Flex row wrap>
-        <Button danger onClick={onRecordClick} data-test="internals-record-button">
+      <TextContent>
+        Press to start recording topic data for debug purposes. The latest messages on each topic will be kept and
+        formatted into a fixture that can be used to create a test.
+      </TextContent>
+      <Flex row wrap style={{ padding: "8px 0 32px" }}>
+        <Button isPrimary small onClick={onRecordClick} data-test="internals-record-button">
           {recordingTopics ? `Recording ${recordingTopics.length} topics…` : "Record raw data"}
         </Button>
         <Dropdown
@@ -216,17 +221,13 @@ function Internals(): React.Node {
           ))}
         </Dropdown>
         {recordingTopics && (
-          <Button onClick={downloadJSON} data-test="internals-download-button">
+          <Button small onClick={downloadJSON} data-test="internals-download-button">
             Download JSON
           </Button>
         )}
         {historyRecorder}
       </Flex>
-      <p>
-        Press to start recording topic data for debug purposes. The latest messages on each topic will be kept and
-        formatted into a fixture that can be used to create a test.
-      </p>
-      <Flex row scroll>
+      <Flex row>
         <section data-test="internals-subscriptions">
           <h1>Subscriptions</h1>
           {renderedSubscriptions}
diff --git a/packages/webviz-core/src/panels/Internals.stories.js b/packages/webviz-core/src/panels/Internals.stories.js
new file mode 100644
index 000000000..65fcc71db
--- /dev/null
+++ b/packages/webviz-core/src/panels/Internals.stories.js
@@ -0,0 +1,47 @@
+// @flow
+//
+//  Copyright (c) 2019-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { storiesOf } from "@storybook/react";
+import React from "react";
+import { withScreenshot } from "storybook-chrome-screenshot";
+
+import Internals from "webviz-core/src/panels/Internals";
+import SubscribeToList from "webviz-core/src/panels/SubscribeToList";
+import PanelSetup from "webviz-core/src/stories/PanelSetup";
+
+storiesOf("<Internals>", module)
+  .addDecorator(withScreenshot())
+  .add("default", () => {
+    return (
+      <PanelSetup
+        fixture={{
+          topics: [{ name: "/my/topic", datatype: "my_datatype" }, { name: "/another/topic", datatype: "my_datatype" }],
+          frame: {},
+        }}>
+        <Internals />
+        <div style={{ display: "none" }}>
+          <SubscribeToList config={{ topics: "/my/topic\n/another/topic" }} />
+        </div>
+      </PanelSetup>
+    );
+  })
+  .add("click record", () => {
+    return (
+      <PanelSetup
+        fixture={{
+          topics: [],
+          frame: {},
+        }}
+        onMount={(el) => {
+          // $FlowFixMe - just crash if it's not there
+          el.querySelector("button").click();
+        }}>
+        <Internals />
+      </PanelSetup>
+    );
+  });
diff --git a/packages/webviz-core/src/panels/RawMessages/Metadata.js b/packages/webviz-core/src/panels/RawMessages/Metadata.js
index 5dabc85b5..da0cd1155 100644
--- a/packages/webviz-core/src/panels/RawMessages/Metadata.js
+++ b/packages/webviz-core/src/panels/RawMessages/Metadata.js
@@ -39,7 +39,7 @@ export default function Metadata({ data, link, item }: Props) {
   return (
     <SMetadata>
       <span onClick={onClick}>
-        <Icon>
+        <Icon tooltip="Copy entire message to clipboard">
           <ClipboardOutlineIcon style={{ verticalAlign: "middle" }} />{" "}
         </Icon>
       </span>
diff --git a/packages/webviz-core/src/panels/StateTransitions/index.js b/packages/webviz-core/src/panels/StateTransitions/index.js
index 774b90e7a..51cefab18 100644
--- a/packages/webviz-core/src/panels/StateTransitions/index.js
+++ b/packages/webviz-core/src/panels/StateTransitions/index.js
@@ -223,7 +223,7 @@ class StateTransitions extends React.PureComponent<Props> {
     const onlyTopicsHeight = paths.length * 55;
     const heightPerTopic = onlyTopicsHeight / paths.length;
     const xAxisHeight = 30;
-    const height = onlyTopicsHeight + xAxisHeight;
+    const height = Math.max(80, onlyTopicsHeight + xAxisHeight);
 
     return (
       <SRoot>
diff --git a/packages/webviz-core/src/panels/TwoDimensionalPlot/index.js b/packages/webviz-core/src/panels/TwoDimensionalPlot/index.js
index 3ee32d393..00941650e 100644
--- a/packages/webviz-core/src/panels/TwoDimensionalPlot/index.js
+++ b/packages/webviz-core/src/panels/TwoDimensionalPlot/index.js
@@ -5,7 +5,7 @@
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
-import { flatten, pick, round } from "lodash";
+import { cloneDeep, flatten, pick, round } from "lodash";
 import React, { useMemo, useCallback } from "react";
 import ChartComponent from "react-chartjs-2";
 import Dimensions from "react-container-dimensions";
@@ -246,7 +246,11 @@ function TwoDimensionalPlot(props: Props) {
                           },
                         },
                       }}
-                      data={{ datasets }}
+                      // Sadly, chartjs mutates its inputs. This can lead to weird bugs, so just do
+                      // a deep clone, even if that means it's slower.
+                      // See https://github.com/jerairrest/react-chartjs-2/issues/250
+                      // https://github.com/jerairrest/react-chartjs-2/issues/343 etc.
+                      data={{ datasets: cloneDeep(datasets) }}
                     />
                   )}
                 </Dimensions>
diff --git a/packages/webviz-core/src/panels/TwoDimensionalPlot/index.stories.js b/packages/webviz-core/src/panels/TwoDimensionalPlot/index.stories.js
index 7345d88ab..35f7b73c0 100644
--- a/packages/webviz-core/src/panels/TwoDimensionalPlot/index.stories.js
+++ b/packages/webviz-core/src/panels/TwoDimensionalPlot/index.stories.js
@@ -6,61 +6,72 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 import { storiesOf } from "@storybook/react";
-import * as React from "react";
+import React, { useState } from "react";
 import { withScreenshot } from "storybook-chrome-screenshot";
 
 import TwoDimensionalPlot from "./index";
 import PanelSetup from "webviz-core/src/stories/PanelSetup";
 
+const example0 = {
+  type: "webviz_msgs/2DPlotMsg",
+  title: "This is Plot A",
+  xAxisLabel: "This is my X axis label",
+  yAxisLabel: "This is my Y axis label",
+  lines: [
+    { label: "solid-line", borderColor: "red", backgroundColor: "red", data: [{ x: 0, y: 0 }, { x: 5, y: 5 }] },
+    {
+      order: 1,
+      label: "dashed-line",
+      borderDash: [5, 5],
+      borderColor: "pink",
+      backgroundColor: "pink",
+      data: [{ x: 1, y: 1.5 }, { x: 5, y: 3.5 }],
+    },
+  ],
+  points: [
+    {
+      label: "circle-point",
+      pointBackgroundColor: "blue",
+      data: [{ x: 1.5, y: 2.5 }, { x: 3, y: 4 }, { x: 4, y: 3.5 }],
+    },
+    {
+      label: "cross-point",
+      pointBackgroundColor: "teal",
+      pointBorderColor: "teal",
+      pointBorderWidth: 3,
+      pointStyle: "star",
+      pointRadius: 10,
+      data: [{ x: 2, y: 1 }, { x: 4, y: 1 }],
+    },
+  ],
+};
+
+const example1 = {
+  type: "webviz_msgs/2DPlotMsg",
+  lines: [
+    // This also has a solid-line, but with completely different dimensions. If we don't properly
+    // clone these objects, Chart.js might mutate the object above because the label is the same.
+    { label: "solid-line", data: [{ x: 100, y: 100 }, { x: 200, y: 100 }] },
+  ],
+};
+
 const fixture = {
-  topics: [{ name: "/plot_a", datatype: "dummy" }],
+  topics: [{ name: "/plot_a", datatype: "our_plot_type" }],
+  datatypes: {
+    our_plot_type: {
+      fields: [{ isArray: true, isComplex: true, name: "versions", type: "dummy" }],
+    },
+    dummy: { fields: [] },
+  },
   frame: {
     "/plot_a": [
       {
         op: "message",
         topic: "/plot_a",
-        datatype: "webviz_msgs/2DPlotMsg",
+        datatype: "our_plot_type",
         receiveTime: { sec: 1532375120, nsec: 317760607 },
         message: {
-          type: "webviz_msgs/2DPlotMsg",
-          title: "This is Plot A",
-          xAxisLabel: "This is my X axis label",
-          yAxisLabel: "This is my Y axis label",
-          lines: [
-            { label: "solid-line", borderColor: "red", backgroundColor: "red", data: [{ x: 0, y: 0 }, { x: 5, y: 5 }] },
-            {
-              order: 1,
-              label: "dashed-line",
-              borderDash: [5, 5],
-              borderColor: "pink",
-              backgroundColor: "pink",
-              data: [{ x: 1, y: 1.5 }, { x: 5, y: 3.5 }],
-            },
-          ],
-          points: [
-            {
-              label: "circle-point",
-              pointBackgroundColor: "blue",
-              data: [{ x: 1.5, y: 2.5 }, { x: 3, y: 4 }, { x: 4, y: 3.5 }],
-            },
-            {
-              label: "cross-point",
-              pointBackgroundColor: "teal",
-              pointBorderColor: "teal",
-              pointBorderWidth: 3,
-              pointStyle: "star",
-              pointRadius: 10,
-              data: [{ x: 2, y: 1 }, { x: 4, y: 1 }],
-            },
-          ],
-          polygons: [
-            {
-              label: "polygon",
-              borderColor: "lightgray",
-              backgroundColor: "lightgray",
-              data: [{ x: 3, y: 1 }, { x: 4, y: 2 }, { x: 4.5, y: 1.5 }],
-            },
-          ],
+          versions: [example0, example1],
         },
       },
     ],
@@ -71,7 +82,7 @@ storiesOf("<TwoDimensionalPlot>", module)
   .add("example", () => {
     return (
       <PanelSetup fixture={fixture}>
-        <TwoDimensionalPlot config={{ path: { value: "/plot_a" } }} />
+        <TwoDimensionalPlot config={{ path: { value: "/plot_a.versions[0]" } }} />
       </PanelSetup>
     );
   })
@@ -79,7 +90,13 @@ storiesOf("<TwoDimensionalPlot>", module)
     return (
       <PanelSetup fixture={fixture}>
         <TwoDimensionalPlot
-          config={{ path: { value: "/plot_a" }, minXVal: "0.5", maxXVal: "6.5", minYVal: "0.5", maxYVal: "4.5" }}
+          config={{
+            path: { value: "/plot_a.versions[0]" },
+            minXVal: "0.5",
+            maxXVal: "6.5",
+            minYVal: "0.5",
+            maxYVal: "4.5",
+          }}
         />
       </PanelSetup>
     );
@@ -87,7 +104,7 @@ storiesOf("<TwoDimensionalPlot>", module)
   .add("example with some custom min/max vals set", () => {
     return (
       <PanelSetup fixture={fixture}>
-        <TwoDimensionalPlot config={{ path: { value: "/plot_a" }, maxYVal: "10" }} />
+        <TwoDimensionalPlot config={{ path: { value: "/plot_a.versions[0]" }, maxYVal: "10" }} />
       </PanelSetup>
     );
   })
@@ -97,4 +114,22 @@ storiesOf("<TwoDimensionalPlot>", module)
         <TwoDimensionalPlot config={{ path: { value: "/plot_b" } }} />
       </PanelSetup>
     );
+  })
+  .add("switching between similar examples should not mutate anything", () => {
+    function Example() {
+      const [iteration, setIteration] = useState(0);
+      if (iteration < 2) {
+        requestAnimationFrame(() => setIteration(iteration + 1));
+      }
+      // Cycle between versions 0 -> 1 -> 0.
+      const version = { "0": 0, "1": 1, "2": 0 }[iteration];
+
+      return <TwoDimensionalPlot config={{ path: { value: `/plot_a.versions[${version}]` } }} />;
+    }
+
+    return (
+      <PanelSetup fixture={fixture}>
+        <Example />
+      </PanelSetup>
+    );
   });
diff --git a/packages/webviz-core/src/util/demoLayout.json b/packages/webviz-core/src/util/demoLayout.json
index bd479840b..27817ba08 100644
--- a/packages/webviz-core/src/util/demoLayout.json
+++ b/packages/webviz-core/src/util/demoLayout.json
@@ -9,21 +9,29 @@
     "second": {
       "direction": "column",
       "second": {
-        "first": "Plot!ry117m",
-        "second": "Plot!4eo7dlv",
-        "direction": "row"
+        "first": "RawMessages!48wvnv5",
+        "second": "Plot!ry117m",
+        "direction": "row",
+        "splitPercentage": 52.15845606907058
       },
       "first": {
-        "direction": "row",
-        "second": "RawMessages!1aree1f",
-        "first": "3D Panel!2ucxm0s"
-      }
-    }
+        "first": "ImageViewPanel!vn68db",
+        "second": {
+          "direction": "row",
+          "second": "DiagnosticStatusPanel!49o9wd0",
+          "first": "DiagnosticSummary!3f5wist",
+          "splitPercentage": 36.61757237176232
+        },
+        "direction": "column",
+        "splitPercentage": 50.889679715302485
+      },
+      "splitPercentage": 67.01112877583466
+    },
+    "splitPercentage": 51.091924834941594
   },
   "savedProps": {
     "3D Panel!309p5r8": {
       "checkedNodes": [
-        "name:Topics",
         "/cloud_nodelet/parameter_descriptions",
         "/cloud_nodelet/parameter_updates",
         "/diagnostics",
@@ -42,28 +50,42 @@
         "/tf",
         "/velodyne_nodelet_manager/bond",
         "/velodyne_packets",
-        "/velodyne_points"
+        "/velodyne_points",
+        "name:Topics"
       ],
-      "expandedNodes": ["name:Topics"],
+      "expandedNodes": [],
       "followTf": "velodyne",
       "cameraState": {
-        "targetOffset": [0, 0, 0],
+        "targetOffset": [
+          0.09330692712710864,
+          0.04332363563045752,
+          0
+        ],
         "distance": 64.9136785575918,
         "perspective": true,
-        "phi": 0.1404642426926016,
-        "thetaOffset": 1.3186328555678077
+        "phi": 0,
+        "thetaOffset": 1.136103520496095,
+        "fovy": 0.7853981633974483,
+        "near": 0.01,
+        "far": 5000
       },
       "modifiedNamespaceTopics": [],
       "pinTopics": false,
       "topicSettings": {
         "/velodyne_points": {
-          "colorField": "ring"
+          "colorField": "ring",
+          "pointShape": "circle",
+          "colorMode": {
+            "mode": "rainbow",
+            "colorField": "ring"
+          },
+          "pointSize": 2
         }
-      }
+      },
+      "followOrientation": false
     },
     "3D Panel!1bkpp87": {
       "checkedNodes": [
-        "name:Topics",
         "/cloud_nodelet/parameter_descriptions",
         "/cloud_nodelet/parameter_updates",
         "/diagnostics",
@@ -82,102 +104,90 @@
         "/tf",
         "/velodyne_nodelet_manager/bond",
         "/velodyne_packets",
-        "/velodyne_points"
+        "/velodyne_points",
+        "name:Topics"
+      ],
+      "expandedNodes": [
+        "name:Topics"
       ],
-      "expandedNodes": ["name:Topics"],
       "followTf": "velodyne",
       "cameraState": {
-        "targetOffset": [2.460426157758374, 0.24321332222014067, 0],
-        "distance": 3.367117886084984,
+        "targetOffset": [
+          2.460426157758374,
+          0.24321332222014067,
+          0
+        ],
+        "distance": 4.224236212354354,
         "perspective": true,
         "phi": 1.2286699312074771,
-        "thetaOffset": 1.477398015435503
+        "thetaOffset": 1.477398015435503,
+        "fovy": 0.7853981633974483,
+        "near": 0.01,
+        "far": 5000
       },
       "modifiedNamespaceTopics": [],
       "pinTopics": false,
       "topicSettings": {
         "/velodyne_points": {
           "colorField": "ring",
-          "pointSize": 1,
-          "pointShape": "square"
+          "pointSize": 4,
+          "pointShape": "square",
+          "colorMode": {
+            "mode": "gradient",
+            "colorField": "intensity",
+            "minValue": "0",
+            "maxValue": 6,
+            "minColor": "#FF0000",
+            "maxColor": "#A8AEEE"
+          }
         }
       }
     },
-    "3D Panel!2ucxm0s": {
-      "checkedNodes": [
-        "name:Topics",
-        "/cloud_nodelet/parameter_descriptions",
-        "/cloud_nodelet/parameter_updates",
-        "/diagnostics",
-        "/diagnostics_agg",
-        "/diagnostics_toplevel_state",
-        "/gps/fix",
-        "/gps/rtkfix",
-        "/gps/time",
-        "/image_raw",
-        "/obs1/gps/fix",
-        "/obs1/gps/rtkfix",
-        "/obs1/gps/time",
-        "/radar/points",
-        "/radar/range",
-        "/radar/tracks",
-        "/rosout",
-        "/tf",
-        "/velodyne_nodelet_manager/bond",
-        "/velodyne_packets"
-      ],
-      "expandedNodes": ["name:Topics"],
-      "followTf": "base_link",
-      "cameraState": {
-        "targetOffset": [50.491071537202004, 6.9964605838524845, 0],
-        "distance": 134.60878845826525,
-        "perspective": false,
-        "phi": 0.7853981633974483,
-        "thetaOffset": 0,
-        "target": [0, 0, 0],
-        "targetOrientation": [0, 0, 0, 1]
-      },
-      "modifiedNamespaceTopics": [],
-      "pinTopics": false,
-      "topicSettings": {
-        "/radar/points": {
-          "colorField": "y",
-          "decayTime": 2
-        }
-      }
+    "ImageViewPanel!vn68db": {
+      "cameraTopic": "/image_raw",
+      "enabledMarkerNames": [],
+      "scale": 0.2,
+      "transformMarkers": true,
+      "synchronize": false,
+      "mode": "fit",
+      "zoomPercentage": 50.78125,
+      "offset": [
+        47.53125,
+        -0.484375
+      ]
     },
-    "RawMessages!1aree1f": {
-      "topicName": "/diagnostics_agg"
+    "DiagnosticStatusPanel!49o9wd0": {
+      "topicToRender": "/diagnostics",
+      "selectedHardwareId": "Velodyne HDL-32E",
+      "selectedName": "velodyne_nodelet_manager: velodyne_packets topic status"
     },
-    "Plot!ry117m": {
-      "paths": [
-        {
-          "value": "/obs1/gps/fix.latitude",
-          "enabled": true,
-          "timestampMethod": "receiveTime"
-        }
-      ],
-      "minYValue": "",
-      "maxYValue": ""
+    "RawMessages!48wvnv5": {
+      "topicName": "/radar/tracks",
+      "diffTopicName": ""
     },
-    "Plot!4eo7dlv": {
+    "Plot!ry117m": {
       "paths": [
         {
-          "value": "/obs1/gps/fix.longitude",
+          "value": "/radar/tracks.tracks[:].rate",
           "enabled": true,
           "timestampMethod": "receiveTime"
         },
         {
-          "value": "",
+          "value": "/radar/tracks.tracks[:].accel",
           "enabled": true,
           "timestampMethod": "receiveTime"
         }
       ],
-      "minYValue": "",
-      "maxYValue": ""
+      "minYValue": "-10",
+      "maxYValue": "10",
+      "showLegend": true,
+      "xAxisVal": "index"
     }
   },
   "globalVariables": {},
   "userNodes": {},
-  "linkedGlobalVariables": []
+  "linkedGlobalVariables": [],
+  "playbackConfig": {
+    "speed": 1
+  }
 }

From 1acbdaea563022bf4cfe4dcc1bec1a300c1e48c1 Mon Sep 17 00:00:00 2001
From: David Winegar <david.winegar@getcruise.com>
Date: Fri, 3 Jan 2020 13:25:50 -0800
Subject: [PATCH 31/50] Add flow typing to Worldview Command (#308)

This flow type was missing for a while, causing a bunch of flow
errors to pile up. Remove so that we can have Command fully typed.

Test plan: existing stories and functional integration tests should
be enough

Versioning impact: This can go out with the next version release
---
 package-lock.json                             | 82 ++++++++++++++-----
 packages/regl-worldview/src/Worldview.js      |  2 +-
 .../regl-worldview/src/WorldviewContext.js    |  4 +-
 .../regl-worldview/src/commands/Arrows.js     |  2 +-
 packages/regl-worldview/src/commands/Axes.js  |  9 +-
 .../regl-worldview/src/commands/Command.js    | 35 +++++---
 .../src/commands/DrawPolygon/index.js         | 34 ++++----
 .../src/commands/FilledPolygons.js            |  6 +-
 .../regl-worldview/src/commands/GLText.js     |  2 +-
 packages/regl-worldview/src/commands/Grid.js  |  2 +-
 .../src/stories/worldviewAssertionUtils.js    |  4 +-
 packages/regl-worldview/src/types/index.js    |  2 +-
 .../src/utils/HitmapObjectIdManager.js        |  8 +-
 packages/webviz-core/package-lock.json        | 27 +-----
 .../commands/LaserScans.js                    |  2 +-
 .../commands/LinedConvexHulls.js              |  2 +-
 16 files changed, 121 insertions(+), 102 deletions(-)

diff --git a/package-lock.json b/package-lock.json
index 66ed99f6c..25687c274 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -9455,7 +9455,8 @@
           "version": "2.1.1",
           "resolved": "https://registry.npmjs.org/ansi-regex/-/ansi-regex-2.1.1.tgz",
           "integrity": "sha1-w7M6te42DYbg5ijwRorn7yfWVN8=",
-          "dev": true
+          "dev": true,
+          "optional": true
         },
         "aproba": {
           "version": "1.2.0",
@@ -9479,13 +9480,15 @@
           "version": "1.0.0",
           "resolved": "https://registry.npmjs.org/balanced-match/-/balanced-match-1.0.0.tgz",
           "integrity": "sha1-ibTRmasr7kneFk6gK4nORi1xt2c=",
-          "dev": true
+          "dev": true,
+          "optional": true
         },
         "brace-expansion": {
           "version": "1.1.11",
           "resolved": "https://registry.npmjs.org/brace-expansion/-/brace-expansion-1.1.11.tgz",
           "integrity": "sha512-iCuPHDFgrHX7H2vEI/5xpz07zSHB00TpugqhmYtVmMO6518mCuRMoOYFldEBl0g187ufozdaHgWKcYFb61qGiA==",
           "dev": true,
+          "optional": true,
           "requires": {
             "balanced-match": "^1.0.0",
             "concat-map": "0.0.1"
@@ -9502,19 +9505,22 @@
           "version": "1.1.0",
           "resolved": "https://registry.npmjs.org/code-point-at/-/code-point-at-1.1.0.tgz",
           "integrity": "sha1-DQcLTQQ6W+ozovGkDi7bPZpMz3c=",
-          "dev": true
+          "dev": true,
+          "optional": true
         },
         "concat-map": {
           "version": "0.0.1",
           "resolved": "https://registry.npmjs.org/concat-map/-/concat-map-0.0.1.tgz",
           "integrity": "sha1-2Klr13/Wjfd5OnMDajug1UBdR3s=",
-          "dev": true
+          "dev": true,
+          "optional": true
         },
         "console-control-strings": {
           "version": "1.1.0",
           "resolved": "https://registry.npmjs.org/console-control-strings/-/console-control-strings-1.1.0.tgz",
           "integrity": "sha1-PXz0Rk22RG6mRL9LOVB/mFEAjo4=",
-          "dev": true
+          "dev": true,
+          "optional": true
         },
         "core-util-is": {
           "version": "1.0.2",
@@ -9645,7 +9651,8 @@
           "version": "2.0.3",
           "resolved": "https://registry.npmjs.org/inherits/-/inherits-2.0.3.tgz",
           "integrity": "sha1-Yzwsg+PaQqUC9SRmAiSA9CCCYd4=",
-          "dev": true
+          "dev": true,
+          "optional": true
         },
         "ini": {
           "version": "1.3.5",
@@ -9659,6 +9666,7 @@
           "resolved": "https://registry.npmjs.org/is-fullwidth-code-point/-/is-fullwidth-code-point-1.0.0.tgz",
           "integrity": "sha1-754xOG8DGn8NZDr4L95QxFfvAMs=",
           "dev": true,
+          "optional": true,
           "requires": {
             "number-is-nan": "^1.0.0"
           }
@@ -9675,6 +9683,7 @@
           "resolved": "https://registry.npmjs.org/minimatch/-/minimatch-3.0.4.tgz",
           "integrity": "sha512-yJHVQEhyqPLUTgt9B83PXu6W3rx4MvvHvSUvToogpwoGDOUQ+yDrR0HRot+yOCdCO7u4hX3pWft6kWBBcqh0UA==",
           "dev": true,
+          "optional": true,
           "requires": {
             "brace-expansion": "^1.1.7"
           }
@@ -9683,13 +9692,15 @@
           "version": "0.0.8",
           "resolved": "https://registry.npmjs.org/minimist/-/minimist-0.0.8.tgz",
           "integrity": "sha1-hX/Kv8M5fSYluCKCYuhqp6ARsF0=",
-          "dev": true
+          "dev": true,
+          "optional": true
         },
         "minipass": {
           "version": "2.2.4",
           "resolved": false,
           "integrity": "sha512-hzXIWWet/BzWhYs2b+u7dRHlruXhwdgvlTMDKC6Cb1U7ps6Ac6yQlR39xsbjWJE377YTCtKwIXIpJ5oP+j5y8g==",
           "dev": true,
+          "optional": true,
           "requires": {
             "safe-buffer": "^5.1.1",
             "yallist": "^3.0.0"
@@ -9710,6 +9721,7 @@
           "resolved": "https://registry.npmjs.org/mkdirp/-/mkdirp-0.5.1.tgz",
           "integrity": "sha1-MAV0OOrGz3+MR2fzhkjWaX11yQM=",
           "dev": true,
+          "optional": true,
           "requires": {
             "minimist": "0.0.8"
           }
@@ -9798,7 +9810,8 @@
           "version": "1.0.1",
           "resolved": "https://registry.npmjs.org/number-is-nan/-/number-is-nan-1.0.1.tgz",
           "integrity": "sha1-CXtgK1NCKlIsGvuHkDGDNpQaAR0=",
-          "dev": true
+          "dev": true,
+          "optional": true
         },
         "object-assign": {
           "version": "4.1.1",
@@ -9812,6 +9825,7 @@
           "resolved": "https://registry.npmjs.org/once/-/once-1.4.0.tgz",
           "integrity": "sha1-WDsap3WWHUsROsF9nFC6753Xa9E=",
           "dev": true,
+          "optional": true,
           "requires": {
             "wrappy": "1"
           }
@@ -9907,7 +9921,8 @@
           "version": "5.1.1",
           "resolved": false,
           "integrity": "sha512-kKvNJn6Mm93gAczWVJg7wH+wGYWNrDHdWvpUmHyEsgCtIwwo3bqPtV4tR5tuPaUhTOo/kvhVwd8XwwOllGYkbg==",
-          "dev": true
+          "dev": true,
+          "optional": true
         },
         "safer-buffer": {
           "version": "2.1.2",
@@ -9949,6 +9964,7 @@
           "resolved": "https://registry.npmjs.org/string-width/-/string-width-1.0.2.tgz",
           "integrity": "sha1-EYvfW4zcUaKn5w0hHgfisLmxB9M=",
           "dev": true,
+          "optional": true,
           "requires": {
             "code-point-at": "^1.0.0",
             "is-fullwidth-code-point": "^1.0.0",
@@ -9970,6 +9986,7 @@
           "resolved": "https://registry.npmjs.org/strip-ansi/-/strip-ansi-3.0.1.tgz",
           "integrity": "sha1-ajhfuIU9lS1f8F0Oiq+UJ43GPc8=",
           "dev": true,
+          "optional": true,
           "requires": {
             "ansi-regex": "^2.0.0"
           }
@@ -10018,13 +10035,15 @@
           "version": "1.0.2",
           "resolved": "https://registry.npmjs.org/wrappy/-/wrappy-1.0.2.tgz",
           "integrity": "sha1-tSQ9jz7BqjXxNkYFvA0QNuMKtp8=",
-          "dev": true
+          "dev": true,
+          "optional": true
         },
         "yallist": {
           "version": "3.0.2",
           "resolved": false,
           "integrity": "sha1-hFK0u36Dx8GI2AQcGoN8dz1ti7k=",
-          "dev": true
+          "dev": true,
+          "optional": true
         }
       }
     },
@@ -22613,7 +22632,8 @@
             "ansi-regex": {
               "version": "2.1.1",
               "bundled": true,
-              "dev": true
+              "dev": true,
+              "optional": true
             },
             "aproba": {
               "version": "1.2.0",
@@ -22634,12 +22654,14 @@
             "balanced-match": {
               "version": "1.0.0",
               "bundled": true,
-              "dev": true
+              "dev": true,
+              "optional": true
             },
             "brace-expansion": {
               "version": "1.1.11",
               "bundled": true,
               "dev": true,
+              "optional": true,
               "requires": {
                 "balanced-match": "^1.0.0",
                 "concat-map": "0.0.1"
@@ -22654,17 +22676,20 @@
             "code-point-at": {
               "version": "1.1.0",
               "bundled": true,
-              "dev": true
+              "dev": true,
+              "optional": true
             },
             "concat-map": {
               "version": "0.0.1",
               "bundled": true,
-              "dev": true
+              "dev": true,
+              "optional": true
             },
             "console-control-strings": {
               "version": "1.1.0",
               "bundled": true,
-              "dev": true
+              "dev": true,
+              "optional": true
             },
             "core-util-is": {
               "version": "1.0.2",
@@ -22781,7 +22806,8 @@
             "inherits": {
               "version": "2.0.3",
               "bundled": true,
-              "dev": true
+              "dev": true,
+              "optional": true
             },
             "ini": {
               "version": "1.3.5",
@@ -22793,6 +22819,7 @@
               "version": "1.0.0",
               "bundled": true,
               "dev": true,
+              "optional": true,
               "requires": {
                 "number-is-nan": "^1.0.0"
               }
@@ -22807,6 +22834,7 @@
               "version": "3.0.4",
               "bundled": true,
               "dev": true,
+              "optional": true,
               "requires": {
                 "brace-expansion": "^1.1.7"
               }
@@ -22814,12 +22842,14 @@
             "minimist": {
               "version": "0.0.8",
               "bundled": true,
-              "dev": true
+              "dev": true,
+              "optional": true
             },
             "minipass": {
               "version": "2.3.5",
               "bundled": true,
               "dev": true,
+              "optional": true,
               "requires": {
                 "safe-buffer": "^5.1.2",
                 "yallist": "^3.0.0"
@@ -22838,6 +22868,7 @@
               "version": "0.5.1",
               "bundled": true,
               "dev": true,
+              "optional": true,
               "requires": {
                 "minimist": "0.0.8"
               }
@@ -22918,7 +22949,8 @@
             "number-is-nan": {
               "version": "1.0.1",
               "bundled": true,
-              "dev": true
+              "dev": true,
+              "optional": true
             },
             "object-assign": {
               "version": "4.1.1",
@@ -22930,6 +22962,7 @@
               "version": "1.4.0",
               "bundled": true,
               "dev": true,
+              "optional": true,
               "requires": {
                 "wrappy": "1"
               }
@@ -23015,7 +23048,8 @@
             "safe-buffer": {
               "version": "5.1.2",
               "bundled": true,
-              "dev": true
+              "dev": true,
+              "optional": true
             },
             "safer-buffer": {
               "version": "2.1.2",
@@ -23051,6 +23085,7 @@
               "version": "1.0.2",
               "bundled": true,
               "dev": true,
+              "optional": true,
               "requires": {
                 "code-point-at": "^1.0.0",
                 "is-fullwidth-code-point": "^1.0.0",
@@ -23070,6 +23105,7 @@
               "version": "3.0.1",
               "bundled": true,
               "dev": true,
+              "optional": true,
               "requires": {
                 "ansi-regex": "^2.0.0"
               }
@@ -23113,12 +23149,14 @@
             "wrappy": {
               "version": "1.0.2",
               "bundled": true,
-              "dev": true
+              "dev": true,
+              "optional": true
             },
             "yallist": {
               "version": "3.0.3",
               "bundled": true,
-              "dev": true
+              "dev": true,
+              "optional": true
             }
           }
         },
diff --git a/packages/regl-worldview/src/Worldview.js b/packages/regl-worldview/src/Worldview.js
index 247b9b54d..92ddb9007 100755
--- a/packages/regl-worldview/src/Worldview.js
+++ b/packages/regl-worldview/src/Worldview.js
@@ -231,7 +231,7 @@ export class WorldviewBase extends React.Component<BaseProps, State> {
     worldviewContext
       .readHitmap(canvasX, canvasY, !!this.props.enableStackedObjectEvents, this.props.maxStackedObjectCount)
       .then((mouseEventsWithCommands) => {
-        const mouseEventsByCommand: Map<Command, Array<MouseEventObject>> = aggregate(mouseEventsWithCommands);
+        const mouseEventsByCommand: Map<Command<any>, Array<MouseEventObject>> = aggregate(mouseEventsWithCommands);
         for (const [command, mouseEvents] of mouseEventsByCommand.entries()) {
           command.handleMouseEvent(mouseEvents, ray, e, mouseEventName);
           if (e.isPropagationStopped()) {
diff --git a/packages/regl-worldview/src/WorldviewContext.js b/packages/regl-worldview/src/WorldviewContext.js
index fb7ec2371..2c7097664 100755
--- a/packages/regl-worldview/src/WorldviewContext.js
+++ b/packages/regl-worldview/src/WorldviewContext.js
@@ -45,7 +45,7 @@ type InitializedData = {
 };
 
 export type DrawInput = {
-  instance: React.Component<any>,
+  instance: Command<any>,
   reglCommand: RawCommand<any>,
   children: Props,
   layerIndex: ?number,
@@ -227,7 +227,7 @@ export class WorldviewContext {
     canvasY: number,
     enableStackedObjectEvents: boolean,
     maxStackedObjectCount: number
-  ): Promise<Array<[MouseEventObject, Command]>> {
+  ): Promise<Array<[MouseEventObject, Command<any>]>> {
     if (!this.initializedData) {
       return new Promise((_, reject) => reject(new Error("regl data not initialized yet")));
     }
diff --git a/packages/regl-worldview/src/commands/Arrows.js b/packages/regl-worldview/src/commands/Arrows.js
index 21fda8baf..409c13ef7 100755
--- a/packages/regl-worldview/src/commands/Arrows.js
+++ b/packages/regl-worldview/src/commands/Arrows.js
@@ -20,8 +20,8 @@ import Cylinders from "./Cylinders";
 const UNIT_X_VECTOR = Object.freeze([0, 0, 1]);
 
 type Props = {
-  children: Arrow[],
   ...CommonCommandProps,
+  children: Arrow[],
 };
 
 function Arrows(props: Props) {
diff --git a/packages/regl-worldview/src/commands/Axes.js b/packages/regl-worldview/src/commands/Axes.js
index 26ac3082e..a743a4d30 100755
--- a/packages/regl-worldview/src/commands/Axes.js
+++ b/packages/regl-worldview/src/commands/Axes.js
@@ -8,7 +8,7 @@
 
 import React from "react";
 
-import type { Pose, Color, Scale, Point, Vec3 } from "../types";
+import type { Point, Vec3, Line } from "../types";
 import Lines from "./Lines";
 
 const pointToVec3 = (p: Vec3): Point => ({
@@ -45,12 +45,7 @@ const zAxis = {
   color: { r: 0.11, g: 0.51, b: 0.92, a: 1 },
 };
 
-type Axis = {
-  pose: Pose,
-  points: Point[],
-  scale: Scale,
-  color: Color,
-};
+type Axis = Line;
 
 type Props = {
   children: Axis[],
diff --git a/packages/regl-worldview/src/commands/Command.js b/packages/regl-worldview/src/commands/Command.js
index 090a8ca95..b5fee29c9 100755
--- a/packages/regl-worldview/src/commands/Command.js
+++ b/packages/regl-worldview/src/commands/Command.js
@@ -1,12 +1,10 @@
+// @flow
 //  Copyright (c) 2018-present, GM Cruise LLC
 //
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
-// TODO(JP): Should remove this and properly fix Flow.
-/* eslint-disable flowtype/no-types-missing-file-annotation */
-
 import * as React from "react";
 
 import type {
@@ -15,10 +13,11 @@ import type {
   MouseEventEnum,
   RawCommand,
   Color,
-  Ray,
+  Point,
   MouseEventObject,
 } from "../types";
 import { getNodeEnv } from "../utils/common";
+import { Ray } from "../utils/Raycast";
 import { type WorldviewContextType } from "../WorldviewContext";
 import WorldviewReactContext from "../WorldviewReactContext";
 
@@ -37,25 +36,26 @@ export type CommonCommandProps = {
 };
 
 type Props<T> = {
-  children?: T[],
+  ...CommonCommandProps,
+  children?: T[] | T,
   // Deprecated, but here for backwards compatibility
   drawProps?: T[],
   reglCommand: RawCommand<T>,
-  ...CommonCommandProps,
 };
 
-export type CommandProps = Props;
+export type CommandProps<T> = Props<T>;
 
 // Component to dispatch children (for drawing) and hitmap props and a reglCommand to the render loop to render with regl.
 export default class Command<T> extends React.Component<Props<T>> {
   context: ?WorldviewContextType;
   static displayName = "Command";
 
-  constructor(props) {
+  constructor(props: Props<T>) {
     super(props);
     // In development put a check in to make sure the reglCommand prop is not mutated.
     // Similar to how react checks for unsupported or deprecated calls in a development build.
     if (getNodeEnv() !== "production") {
+      // $FlowFixMe
       this.shouldComponentUpdate = (nextProps: Props) => {
         if (nextProps.reglCommand !== this.props.reglCommand) {
           console.error("Changing the regl command prop on a <Command /> is not supported.");
@@ -66,7 +66,11 @@ export default class Command<T> extends React.Component<Props<T>> {
   }
 
   componentDidMount() {
-    this.context.onMount(this, this.props.reglCommand);
+    const context = this.context;
+    if (!context) {
+      return;
+    }
+    context.onMount(this, this.props.reglCommand);
     this._updateContext();
   }
 
@@ -75,7 +79,11 @@ export default class Command<T> extends React.Component<Props<T>> {
   }
 
   componentWillUnmount() {
-    this.context.onUnmount(this);
+    const context = this.context;
+    if (!context) {
+      return;
+    }
+    context.onUnmount(this);
   }
 
   _updateContext() {
@@ -98,7 +106,12 @@ export default class Command<T> extends React.Component<Props<T>> {
     });
   }
 
-  handleMouseEvent(objects: MouseEventObject[], ray: Ray, e: MouseEvent, mouseEventName: MouseEventEnum) {
+  handleMouseEvent(
+    objects: MouseEventObject[],
+    ray: Ray,
+    e: SyntheticMouseEvent<HTMLCanvasElement>,
+    mouseEventName: MouseEventEnum
+  ) {
     const mouseHandler = this.props[mouseEventName];
     if (!mouseHandler || !objects.length) {
       return;
diff --git a/packages/regl-worldview/src/commands/DrawPolygon/index.js b/packages/regl-worldview/src/commands/DrawPolygon/index.js
index 8bf2a640e..bbc197ad0 100644
--- a/packages/regl-worldview/src/commands/DrawPolygon/index.js
+++ b/packages/regl-worldview/src/commands/DrawPolygon/index.js
@@ -8,7 +8,7 @@
 
 import React from "react";
 
-import type { Line, Point, Pose, Vec4, Vec3, Scale, GetChildrenForHitmap } from "../../types";
+import type { Line, Point, Vec3, Scale, GetChildrenForHitmap, SphereList } from "../../types";
 import { vec4ToRGBA, vec3ToPoint } from "../../utils/commandUtils";
 import Lines from "../Lines";
 import Spheres from "../Spheres";
@@ -58,14 +58,6 @@ export class Polygon {
 
 export type DrawPolygonType = Polygon;
 
-type DrawPolygonSphere = {
-  points: Point[],
-  pose: Pose,
-  scale: Scale,
-  colors: Vec4[],
-  originalMarkers: Object[],
-};
-
 type Props = {
   children: DrawPolygonType[],
 };
@@ -152,24 +144,28 @@ const polygonPointsGetChildrenForHitmap: GetChildrenForHitmap = <T: any>(
 class PolygonPoints extends React.Component<Props> {
   render() {
     const polygons = this.props.children;
-    const sphereList: DrawPolygonSphere = {
-      points: [],
-      colors: [],
-      pose: POSE,
-      scale: DRAW_POINT_SCALE,
-      originalMarkers: [],
-    };
+    const points = [];
+    const colors = [];
+    const originalMarkers = [];
 
     for (const poly of polygons) {
       const color = poly.active ? ACTIVE_POLYGON_COLOR : DEFAULT_COLOR;
       for (const point of poly.points) {
         const convertedPoint = vec3ToPoint(point.point);
-        sphereList.points.push(convertedPoint);
-        sphereList.colors.push(point.active ? ACTIVE_POINT_COLOR : color);
-        sphereList.originalMarkers.push(point);
+        points.push(convertedPoint);
+        colors.push(point.active ? ACTIVE_POINT_COLOR : color);
+        originalMarkers.push(point);
       }
     }
 
+    const sphereList: SphereList = {
+      points,
+      colors,
+      pose: POSE,
+      scale: DRAW_POINT_SCALE,
+      originalMarkers,
+    };
+
     return <Spheres getChildrenForHitmap={polygonPointsGetChildrenForHitmap}>{[sphereList]}</Spheres>;
   }
 }
diff --git a/packages/regl-worldview/src/commands/FilledPolygons.js b/packages/regl-worldview/src/commands/FilledPolygons.js
index 4945920d2..b6525dc43 100755
--- a/packages/regl-worldview/src/commands/FilledPolygons.js
+++ b/packages/regl-worldview/src/commands/FilledPolygons.js
@@ -9,7 +9,7 @@
 import earcut from "earcut";
 import React from "react";
 
-import type { Vec3, PolygonType } from "../types";
+import type { Vec3, Point, PolygonType } from "../types";
 import { shouldConvert, pointToVec3 } from "../utils/commandUtils";
 import { getChildrenForHitmapWithOriginalMarker } from "../utils/getChildrenForHitmapDefaults";
 import Triangles from "./Triangles";
@@ -32,7 +32,7 @@ function flatten3D(points: Vec3[]): Float32Array {
   return array;
 }
 
-function getEarcutPoints(points: Vec3[]): Vec3[] {
+function getEarcutPoints(points: Vec3[]): (Vec3 | Point)[] {
   const flattenedPoints = flatten3D(points);
   const indices = earcut(flattenedPoints, null, 3);
   const newPoints = [];
@@ -53,7 +53,7 @@ function FilledPolygons({ children: polygons = [], ...rest }: Props) {
     // $FlowFixMe flow doesn't know how shouldConvert works
     const points: Vec3[] = shouldConvert(poly.points) ? poly.points.map(pointToVec3) : poly.points;
     const pose = poly.pose ? poly.pose : NO_POSE;
-    const earcutPoints: Vec3[] = getEarcutPoints(points);
+    const earcutPoints = getEarcutPoints(points);
     return {
       ...poly,
       points: earcutPoints,
diff --git a/packages/regl-worldview/src/commands/GLText.js b/packages/regl-worldview/src/commands/GLText.js
index 027573f63..622257aed 100644
--- a/packages/regl-worldview/src/commands/GLText.js
+++ b/packages/regl-worldview/src/commands/GLText.js
@@ -34,7 +34,7 @@ import { isColorDark, type TextMarker } from "./Text";
 
 type Props = {
   ...CommonCommandProps,
-  children: $ReadOnlyArray<TextMarker & { billboard?: boolean }>,
+  children: $ReadOnlyArray<TextMarker & { billboard?: ?boolean }>,
   autoBackgroundColor?: boolean,
 };
 
diff --git a/packages/regl-worldview/src/commands/Grid.js b/packages/regl-worldview/src/commands/Grid.js
index 417a7574f..01fdbd98c 100755
--- a/packages/regl-worldview/src/commands/Grid.js
+++ b/packages/regl-worldview/src/commands/Grid.js
@@ -64,8 +64,8 @@ export function grid() {
 }
 
 type Props = {
-  count: number,
   ...CommonCommandProps,
+  count: number,
 };
 
 // useful for rendering a grid for debugging in stories
diff --git a/packages/regl-worldview/src/stories/worldviewAssertionUtils.js b/packages/regl-worldview/src/stories/worldviewAssertionUtils.js
index ba45b9217..ac8745147 100644
--- a/packages/regl-worldview/src/stories/worldviewAssertionUtils.js
+++ b/packages/regl-worldview/src/stories/worldviewAssertionUtils.js
@@ -66,7 +66,7 @@ export async function clickAtOrigin() {
  */
 export function generateNonInstancedClickAssertions<Type>(
   commandName: string,
-  CommandInstance: ComponentType<{ children: Array<Type>, ...CommonCommandProps }>,
+  CommandInstance: ComponentType<{ ...CommonCommandProps, children: Array<Type> }>,
   renderedObjects: Array<Type>,
   overrideOptions?: {
     overrideExpectedSingleObjects?: any,
@@ -168,7 +168,7 @@ export function generateNonInstancedClickAssertions<Type>(
  */
 export function generateInstancedClickAssertions<Type>(
   commandName: string,
-  CommandInstance: ComponentType<{ children: Array<Type>, ...CommonCommandProps }>,
+  CommandInstance: ComponentType<{ ...CommonCommandProps, children: Array<Type> }>,
   renderedObject: Type
 ): Array<{ name: string, story: () => React$Element<any> }> {
   return [
diff --git a/packages/regl-worldview/src/types/index.js b/packages/regl-worldview/src/types/index.js
index 03f52b21d..ef0d26420 100755
--- a/packages/regl-worldview/src/types/index.js
+++ b/packages/regl-worldview/src/types/index.js
@@ -112,7 +112,7 @@ export type ComponentReglClickInfo = {
 
 export type MouseHandler = (SyntheticMouseEvent<HTMLCanvasElement>, ReglClickInfo) => void;
 
-export type ComponentMouseHandler = (MouseEvent, ComponentReglClickInfo) => void;
+export type ComponentMouseHandler = (SyntheticMouseEvent<HTMLCanvasElement>, ComponentReglClickInfo) => void;
 
 export type Coordinate = [number, number];
 
diff --git a/packages/regl-worldview/src/utils/HitmapObjectIdManager.js b/packages/regl-worldview/src/utils/HitmapObjectIdManager.js
index 0109d03b8..4bc09c608 100644
--- a/packages/regl-worldview/src/utils/HitmapObjectIdManager.js
+++ b/packages/regl-worldview/src/utils/HitmapObjectIdManager.js
@@ -16,17 +16,19 @@ function fillArray(start: number, length: number): number[] {
   return new Array(length).fill(0).map((_, index) => start + index);
 }
 
+type CommandType = Command<any>;
+
 /*
  * This object manages the mapping between objects that are rendered into the scene and their IDs.
  * It supplies an API for generating IDs for a rendered object and then accessing those objects based on their ID.
  */
 export default class HitmapObjectIdManager {
   _objectsByObjectHitmapIdMap: { [ObjectHitmapId]: Object } = {};
-  _commandsByObjectMap: Map<Object, Command> = new Map();
+  _commandsByObjectMap: Map<Object, CommandType> = new Map();
   _nextObjectHitmapId = 1;
   _instanceIndexByObjectHitmapIdMap: { [ObjectHitmapId]: number } = {};
 
-  assignNextColors = (command: Command, object: Object, count: number): Vec4[] => {
+  assignNextColors = (command: CommandType, object: Object, count: number): Vec4[] => {
     if (count < 1) {
       throw new Error("Must get at least 1 id");
     }
@@ -59,7 +61,7 @@ export default class HitmapObjectIdManager {
     };
   };
 
-  getCommandForObject = (object: Object): ?Command => {
+  getCommandForObject = (object: Object): ?CommandType => {
     return this._commandsByObjectMap.get(object);
   };
 }
diff --git a/packages/webviz-core/package-lock.json b/packages/webviz-core/package-lock.json
index ebc1ad7f6..3fd8c66ef 100644
--- a/packages/webviz-core/package-lock.json
+++ b/packages/webviz-core/package-lock.json
@@ -19,11 +19,6 @@
         }
       }
     },
-    "@cruise-automation/hooks": {
-      "version": "0.0.1",
-      "resolved": "https://registry.npmjs.org/@cruise-automation/hooks/-/hooks-0.0.1.tgz",
-      "integrity": "sha512-sUwYShqRJAyg2XS7+uc9ZwdNkRArLdyjPTF6Ebl1GphXHX5QYU14aMt3SO3QtVg0fd/KSWM4FinRosxZDq5uZg=="
-    },
     "@mdi/svg": {
       "version": "3.2.89",
       "resolved": "https://registry.npmjs.org/@mdi/svg/-/svg-3.2.89.tgz",
@@ -1853,16 +1848,6 @@
         "shallowequal": "^1.1.0"
       }
     },
-    "react": {
-      "version": "16.10.2",
-      "resolved": "https://registry.npmjs.org/react/-/react-16.10.2.tgz",
-      "integrity": "sha512-MFVIq0DpIhrHFyqLU0S3+4dIcBhhOvBE8bJ/5kHPVOVaGdo0KuiQzpcjCPsf585WvhypqtrMILyoE2th6dT+Lw==",
-      "requires": {
-        "loose-envify": "^1.1.0",
-        "object-assign": "^4.1.1",
-        "prop-types": "^15.6.2"
-      }
-    },
     "react-autocomplete": {
       "version": "github:janpaul123/react-autocomplete#bc8737070b5744069719c8fcd4e0a197192b0d48",
       "from": "github:janpaul123/react-autocomplete#bc8737070b5744069719c8fcd4e0a197192b0d48",
@@ -1934,17 +1919,6 @@
       "resolved": "https://registry.npmjs.org/react-document-events/-/react-document-events-1.4.0.tgz",
       "integrity": "sha512-eJuzYYLAqtHA2uV3JUWKWhmKXPBfSCVZEpFQpCswd3gzfJWn9UbX+7pIe3MKaofLLIIE/KwZ06ay5QJePt9bHw=="
     },
-    "react-dom": {
-      "version": "16.10.2",
-      "resolved": "https://registry.npmjs.org/react-dom/-/react-dom-16.10.2.tgz",
-      "integrity": "sha512-kWGDcH3ItJK4+6Pl9DZB16BXYAZyrYQItU4OMy0jAkv5aNqc+mAKb4TpFtAteI6TJZu+9ZlNhaeNQSVQDHJzkw==",
-      "requires": {
-        "loose-envify": "^1.1.0",
-        "object-assign": "^4.1.1",
-        "prop-types": "^15.6.2",
-        "scheduler": "^0.16.2"
-      }
-    },
     "react-draggable": {
       "version": "3.0.5",
       "resolved": "https://registry.npmjs.org/react-draggable/-/react-draggable-3.0.5.tgz",
@@ -2439,6 +2413,7 @@
       "version": "0.16.2",
       "resolved": "https://registry.npmjs.org/scheduler/-/scheduler-0.16.2.tgz",
       "integrity": "sha512-BqYVWqwz6s1wZMhjFvLfVR5WXP7ZY32M/wYPo04CcuPM7XZEbV2TBNW7Z0UkguPTl0dWMA59VbNXxK6q+pHItg==",
+      "dev": true,
       "requires": {
         "loose-envify": "^1.1.0",
         "object-assign": "^4.1.1"
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/LaserScans.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/LaserScans.js
index 1ee1999b1..4cf5eacca 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/LaserScans.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/LaserScans.js
@@ -62,7 +62,7 @@ const laserScan = (regl: Regl) =>
     count: regl.prop("ranges.length"),
   });
 
-type Props = { ...CommonCommandProps, children: LaserScan[] };
+type Props = { children: LaserScan[], ...CommonCommandProps };
 
 export default function LaserScans(props: Props) {
   return <Command getChildrenForHitmap={nonInstancedGetChildrenForHitmap} {...props} reglCommand={laserScan} />;
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/LinedConvexHulls.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/LinedConvexHulls.js
index 31faf6746..c494e1375 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/LinedConvexHulls.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/LinedConvexHulls.js
@@ -24,8 +24,8 @@ import {
 } from "regl-worldview";
 
 type Props = {
-  children: Line[],
   ...CommonCommandProps,
+  children: Line[],
 };
 
 function getTriangleChildrenForHitmap(props: Line[], assignNextColors, excludedObjects): TriangleList[] {

From 557ece363cc1288e05c073612bc33c5db022a9fe Mon Sep 17 00:00:00 2001
From: Troy Gibb <troy.gibb@gmail.com>
Date: Mon, 6 Jan 2020 12:20:30 -0800
Subject: [PATCH 32/50] <GLText /> Highlighted (#296)

---
 package-lock.json                             |  2 +-
 .../regl-worldview/src/commands/GLText.js     | 89 ++++++++++---------
 .../src/stories/GLText.stories.js             | 48 ++++++++++
 3 files changed, 96 insertions(+), 43 deletions(-)

diff --git a/package-lock.json b/package-lock.json
index 25687c274..d4e4ea1ad 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -23910,4 +23910,4 @@
       }
     }
   }
-}
+}
\ No newline at end of file
diff --git a/packages/regl-worldview/src/commands/GLText.js b/packages/regl-worldview/src/commands/GLText.js
index 622257aed..49dc2c2d3 100644
--- a/packages/regl-worldview/src/commands/GLText.js
+++ b/packages/regl-worldview/src/commands/GLText.js
@@ -32,9 +32,10 @@ import { isColorDark, type TextMarker } from "./Text";
 //   provide support for this. Some font info could be generated/stored offline, possibly including the atlas.
 // - Explore multi-channel SDFs.
 
+type TextMarkerProps = TextMarker & { billboard?: ?boolean, highlightedIndices?: Array<number> };
 type Props = {
   ...CommonCommandProps,
-  children: $ReadOnlyArray<TextMarker & { billboard?: ?boolean }>,
+  children: $ReadOnlyArray<TextMarkerProps>,
   autoBackgroundColor?: boolean,
 };
 
@@ -53,11 +54,10 @@ type FontAtlas = {|
 
 // Font size used in rendering the atlas. This is independent of the `scale` of the rendered text.
 const FONT_SIZE = 40;
-const BUFFER = 10;
 const MAX_ATLAS_WIDTH = 512;
 const SDF_RADIUS = 8;
 const CUTOFF = 0.25;
-const OUTLINE_CUTOFF = 0.6;
+const BUFFER = 10;
 
 const BG_COLOR_LIGHT = Object.freeze({ r: 1, g: 1, b: 1, a: 1 });
 const BG_COLOR_DARK = Object.freeze({ r: 0, g: 0, b: 0, a: 1 });
@@ -121,7 +121,6 @@ const vert = `
 
   uniform mat4 projection, view, billboardRotation;
   uniform float fontSize;
-  uniform float srcHeight;
   uniform vec2 atlasSize;
 
   // per-vertex attributes
@@ -137,16 +136,18 @@ const vert = `
   attribute vec3 scale;
   attribute float billboard;
   attribute vec2 alignmentOffset;
-  attribute float enableOutline;
+  attribute float enableBackground;
+  attribute float enableHighlight;
   attribute vec4 foregroundColor;
-  attribute vec4 outlineColor;
+  attribute vec4 backgroundColor;
   attribute vec3 posePosition;
   attribute vec4 poseOrientation;
 
   varying vec2 vTexCoord;
-  varying float vEnableOutline;
+  varying float vEnableBackground;
   varying vec4 vForegroundColor;
-  varying vec4 vOutlineColor;
+  varying vec4 vBackgroundColor;
+  varying float vEnableHighlight;
 
   // rotate a 3d point v by a rotation quaternion q
   // like applyPose(), but we need to use a custom per-instance pose
@@ -156,7 +157,7 @@ const vert = `
   }
 
   void main () {
-    vec2 srcSize = vec2(srcWidth, srcHeight);
+    vec2 srcSize = vec2(srcWidth, fontSize);
     vec3 markerSpacePos = scale * vec3((destOffset + position * srcSize + alignmentOffset) / fontSize, 0);
     vec3 pos;
     if (billboard == 1.0) {
@@ -166,9 +167,10 @@ const vert = `
     }
     gl_Position = projection * view * vec4(pos, 1);
     vTexCoord = (srcOffset + texCoord * srcSize) / atlasSize;
-    vEnableOutline = enableOutline;
+    vEnableBackground = enableBackground;
     vForegroundColor = foregroundColor;
-    vOutlineColor = outlineColor;
+    vBackgroundColor = backgroundColor;
+    vEnableHighlight = enableHighlight;
   }
 `;
 
@@ -177,23 +179,25 @@ const frag = `
   precision mediump float;
   uniform mat4 projection;
   uniform sampler2D atlas;
-  uniform float outlineCutoff;
   uniform float cutoff;
+
   varying vec2 vTexCoord;
-  varying float vEnableOutline;
+  varying float vEnableBackground;
   varying vec4 vForegroundColor;
-  varying vec4 vOutlineColor;
+  varying vec4 vBackgroundColor;
+  varying float vEnableHighlight;
   void main() {
     float dist = texture2D(atlas, vTexCoord).a;
 
     // fwidth(dist) is used to provide some anti-aliasing. However it's currently only used
-    // between outline and text, not on the outer border, because the alpha blending and
+    // when the solid background is enabled, because the alpha blending and
     // depth test don't work together nicely for partially-transparent pixels.
-    if (vEnableOutline > 0.5) {
+    float edgeStep = smoothstep(1.0 - cutoff - fwidth(dist), 1.0 - cutoff, dist);
+    if (vEnableHighlight > 0.5) {
+      gl_FragColor = mix(vec4(1, 1, 0, 1), vec4(0, 0, 0, 1), edgeStep);
+    } else if (vEnableBackground > 0.5) {
       float screenSize = fwidth(vTexCoord.x);
-      float edgeStep = smoothstep(1.0 - cutoff - fwidth(dist), 1.0 - cutoff, dist);
-      gl_FragColor = mix(vOutlineColor, vForegroundColor, edgeStep);
-      gl_FragColor.a *= step(1.0 - outlineCutoff, dist);
+      gl_FragColor = mix(vBackgroundColor, vForegroundColor, edgeStep);
     } else {
       gl_FragColor = vForegroundColor;
       gl_FragColor.a *= step(1.0 - cutoff, dist);
@@ -223,8 +227,6 @@ function makeTextCommand() {
         atlasSize: () => [atlasTexture.width, atlasTexture.height],
         fontSize: FONT_SIZE,
         cutoff: CUTOFF,
-        outlineCutoff: OUTLINE_CUTOFF,
-        srcHeight: FONT_SIZE + 2 * BUFFER,
       },
       instances: regl.prop("instances"),
       count: 4,
@@ -235,20 +237,18 @@ function makeTextCommand() {
         destOffset: (ctx, props) => ({ buffer: props.destOffsets, divisor: 1 }),
         srcWidth: (ctx, props) => ({ buffer: props.srcWidths, divisor: 1 }),
         scale: (ctx, props) => ({ buffer: props.scale, divisor: 1 }),
-
         alignmentOffset: (ctx, props) => ({ buffer: props.alignmentOffset, divisor: 1 }),
         billboard: (ctx, props) => ({ buffer: props.billboard, divisor: 1 }),
-
         foregroundColor: (ctx, props) => ({ buffer: props.foregroundColor, divisor: 1 }),
-        outlineColor: (ctx, props) => ({ buffer: props.outlineColor, divisor: 1 }),
-        enableOutline: (ctx, props) => ({ buffer: props.enableOutline, divisor: 1 }),
-
+        backgroundColor: (ctx, props) => ({ buffer: props.backgroundColor, divisor: 1 }),
+        enableBackground: (ctx, props) => ({ buffer: props.enableBackground, divisor: 1 }),
+        enableHighlight: (ctx, props) => ({ buffer: props.enableHighlight, divisor: 1 }),
         posePosition: (ctx, props) => ({ buffer: props.posePosition, divisor: 1 }),
         poseOrientation: (ctx, props) => ({ buffer: props.poseOrientation, divisor: 1 }),
       },
     });
 
-    return (props: $ReadOnlyArray<TextMarker & { billboard?: boolean }>) => {
+    return (props: $ReadOnlyArray<TextMarkerProps>) => {
       let estimatedInstances = 0;
       const prevNumChars = charSet.size;
       for (const { text } of props) {
@@ -285,11 +285,12 @@ function makeTextCommand() {
       const alignmentOffset = new Float32Array(estimatedInstances * 2);
       const scale = new Float32Array(estimatedInstances * 3);
       const foregroundColor = new Float32Array(estimatedInstances * 4);
-      const outlineColor = new Float32Array(estimatedInstances * 4);
-      const enableOutline = new Float32Array(estimatedInstances);
+      const backgroundColor = new Float32Array(estimatedInstances * 4);
+      const enableBackground = new Float32Array(estimatedInstances);
       const billboard = new Float32Array(estimatedInstances);
       const posePosition = new Float32Array(estimatedInstances * 3);
       const poseOrientation = new Float32Array(estimatedInstances * 4);
+      const enableHighlight = new Float32Array(estimatedInstances);
 
       let totalInstances = 0;
       for (const marker of props) {
@@ -303,7 +304,8 @@ function makeTextCommand() {
         const bgColor =
           marker.colors?.[1] || (command.autoBackgroundColor && isColorDark(fgColor) ? BG_COLOR_LIGHT : BG_COLOR_DARK);
 
-        for (const char of marker.text) {
+        for (let i = 0; i < marker.text.length; i++) {
+          const char = marker.text[i];
           if (char === "\n") {
             x = 0;
             y = FONT_SIZE;
@@ -313,11 +315,11 @@ function makeTextCommand() {
           const index = totalInstances + markerInstances;
 
           // Calculate per-character attributes
-          destOffsets[2 * index + 0] = x - BUFFER;
-          destOffsets[2 * index + 1] = -(y - BUFFER);
-          srcOffsets[2 * index + 0] = info.x;
-          srcOffsets[2 * index + 1] = info.y;
-          srcWidths[index] = info.width + 2 * BUFFER;
+          destOffsets[2 * index + 0] = x;
+          destOffsets[2 * index + 1] = -y;
+          srcOffsets[2 * index + 0] = info.x + BUFFER;
+          srcOffsets[2 * index + 1] = info.y + BUFFER;
+          srcWidths[index] = info.width;
 
           x += info.width;
           totalWidth = Math.max(totalWidth, x);
@@ -345,12 +347,14 @@ function makeTextCommand() {
           foregroundColor[4 * index + 2] = fgColor.b;
           foregroundColor[4 * index + 3] = fgColor.a;
 
-          outlineColor[4 * index + 0] = bgColor.r;
-          outlineColor[4 * index + 1] = bgColor.g;
-          outlineColor[4 * index + 2] = bgColor.b;
-          outlineColor[4 * index + 3] = bgColor.a;
+          backgroundColor[4 * index + 0] = bgColor.r;
+          backgroundColor[4 * index + 1] = bgColor.g;
+          backgroundColor[4 * index + 2] = bgColor.b;
+          backgroundColor[4 * index + 3] = bgColor.a;
+
+          enableHighlight[index] = marker.highlightedIndices && marker.highlightedIndices.includes(i) ? 1 : 0;
 
-          enableOutline[index] = outline ? 1 : 0;
+          enableBackground[index] = outline ? 1 : 0;
 
           ++markerInstances;
         }
@@ -375,9 +379,10 @@ function makeTextCommand() {
         // per-marker
         alignmentOffset,
         billboard,
-        enableOutline,
+        enableBackground,
+        enableHighlight,
         foregroundColor,
-        outlineColor,
+        backgroundColor,
         poseOrientation,
         posePosition,
         scale,
diff --git a/packages/regl-worldview/src/stories/GLText.stories.js b/packages/regl-worldview/src/stories/GLText.stories.js
index b67eb214f..c6dc4725d 100644
--- a/packages/regl-worldview/src/stories/GLText.stories.js
+++ b/packages/regl-worldview/src/stories/GLText.stories.js
@@ -2,6 +2,7 @@
 
 import { storiesOf } from "@storybook/react";
 import { quat } from "gl-matrix";
+import { range } from "lodash";
 import React, { useState, useLayoutEffect } from "react";
 import { withScreenshot } from "storybook-chrome-screenshot";
 
@@ -86,5 +87,52 @@ storiesOf("Worldview/GLText", module)
         </Container>
       );
     }
+    return <Example />;
+  })
+  .add("highlighted text", () => {
+    const Example = () => {
+      const [searchText, setSearchText] = useState("ello\nW");
+      const markers = textMarkers({ text: "Hello\nWorldview" }).map((marker) => {
+        if (!searchText) {
+          return marker;
+        }
+        const highlightedIndices = new Set();
+        let match;
+        let regex;
+        try {
+          regex = new RegExp(searchText, "ig");
+        } catch (e) {
+          return marker;
+        }
+        while ((match = regex.exec(marker.text)) !== null) {
+          // $FlowFixMe - Flow doesn't understand the while loop terminating condition.
+          range(0, match[0].length).forEach((i) => {
+            // $FlowFixMe - Flow doesn't understand the while loop terminating condition.
+            highlightedIndices.add(match.index + i);
+          });
+        }
+        return { ...marker, highlightedIndices: Array.from(highlightedIndices) };
+      });
+
+      return (
+        <>
+          <div style={{ width: "100%", height: "95%" }}>
+            <Container cameraState={{ perspective: true, distance: 40 }} backgroundColor={[0.2, 0.2, 0.4, 1]}>
+              <GLText autoBackgroundColor>{markers}</GLText>
+              <Axes />
+            </Container>
+          </div>
+
+          <input
+            style={{ width: "100%" }}
+            type="text"
+            placeholder="search text"
+            value={searchText}
+            onChange={(e) => setSearchText(e.target.value)}
+          />
+        </>
+      );
+    };
+
     return <Example />;
   });

From 5d02e66877891d8b8f7eec053494ae4934742422 Mon Sep 17 00:00:00 2001
From: Jan Paul Posma <janpaul123@users.noreply.github.com>
Date: Mon, 6 Jan 2020 17:03:52 -0800
Subject: [PATCH 33/50] Update packages/webviz-core from internal repo (#313)

Changelog:
- Some minor improvements to some panels
- Updated follow TF to include "map"; fixes #309
---
 packages/webviz-core/package-lock.json        | 932 +++++++++++++++++-
 packages/webviz-core/package.json             |   3 +
 .../src/components/Menu/SubMenu.js            |   2 +-
 .../src/panels/NodePlayground/Editor.js       | 102 +-
 .../src/panels/NodePlayground/index.js        |  62 +-
 .../panels/NodePlayground/playground-icon.svg |  21 +
 .../webviz-core/src/panels/PanelList/index.js |  90 +-
 .../src/panels/PanelList/index.stories.js     |  21 +
 .../ThreeDimensionalViz/FollowTFControl.js    |   8 +-
 .../TopicGroups/QuickAddTopic.js              | 275 ++++++
 .../TopicGroups/TextHighlight.js              |  38 +
 .../TopicGroups/TopicGroupMenu.js             |   2 +-
 .../TopicGroups/TopicGroups.js                |  24 +-
 .../TopicGroups/TopicItemMenu.js              |   2 +-
 .../TopicGroups/TopicNameDisplay.js           |  47 +
 .../ThreeDimensionalViz/TopicGroups/types.js  |   8 +-
 .../MarkerSettingsEditor.js                   |  34 +-
 .../TopicSettingsEditor/common.js             |   1 +
 .../commands/LaserScans.js                    |   2 +-
 .../commands/LinedConvexHulls.js              |   2 +-
 20 files changed, 1522 insertions(+), 154 deletions(-)
 create mode 100644 packages/webviz-core/src/panels/NodePlayground/playground-icon.svg
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/QuickAddTopic.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TextHighlight.js
 create mode 100644 packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicNameDisplay.js

diff --git a/packages/webviz-core/package-lock.json b/packages/webviz-core/package-lock.json
index 3fd8c66ef..79451d5f2 100644
--- a/packages/webviz-core/package-lock.json
+++ b/packages/webviz-core/package-lock.json
@@ -4,6 +4,37 @@
   "lockfileVersion": 1,
   "requires": true,
   "dependencies": {
+    "@ant-design/colors": {
+      "version": "3.2.2",
+      "resolved": "https://registry.npmjs.org/@ant-design/colors/-/colors-3.2.2.tgz",
+      "integrity": "sha512-YKgNbG2dlzqMhA9NtI3/pbY16m3Yl/EeWBRa+lB1X1YaYxHrxNexiQYCLTWO/uDvAjLFMEDU+zR901waBtMtjQ==",
+      "requires": {
+        "tinycolor2": "^1.4.1"
+      }
+    },
+    "@ant-design/create-react-context": {
+      "version": "0.2.5",
+      "resolved": "https://registry.npmjs.org/@ant-design/create-react-context/-/create-react-context-0.2.5.tgz",
+      "integrity": "sha512-1rMAa4qgP2lfl/QBH9i78+Gjxtj9FTMpMyDGZsEBW5Kih72EuUo9958mV8PgpRkh4uwPSQ7vVZWXeyNZXVAFDg==",
+      "requires": {
+        "gud": "^1.0.0",
+        "warning": "^4.0.3"
+      }
+    },
+    "@ant-design/icons": {
+      "version": "2.1.1",
+      "resolved": "https://registry.npmjs.org/@ant-design/icons/-/icons-2.1.1.tgz",
+      "integrity": "sha512-jCH+k2Vjlno4YWl6g535nHR09PwCEmTBKAG6VqF+rhkrSPRLfgpU2maagwbZPLjaHuU5Jd1DFQ2KJpQuI6uG8w=="
+    },
+    "@ant-design/icons-react": {
+      "version": "2.0.1",
+      "resolved": "https://registry.npmjs.org/@ant-design/icons-react/-/icons-react-2.0.1.tgz",
+      "integrity": "sha512-r1QfoltMuruJZqdiKcbPim3d8LNsVPB733U0gZEUSxBLuqilwsW28K2rCTWSMTjmFX7Mfpf+v/wdiFe/XCqThw==",
+      "requires": {
+        "@ant-design/colors": "^3.1.0",
+        "babel-runtime": "^6.26.0"
+      }
+    },
     "@babel/runtime": {
       "version": "7.2.0",
       "resolved": "https://registry.npmjs.org/@babel/runtime/-/runtime-7.2.0.tgz",
@@ -19,6 +50,11 @@
         }
       }
     },
+    "@cruise-automation/hooks": {
+      "version": "0.0.1",
+      "resolved": "https://registry.npmjs.org/@cruise-automation/hooks/-/hooks-0.0.1.tgz",
+      "integrity": "sha512-sUwYShqRJAyg2XS7+uc9ZwdNkRArLdyjPTF6Ebl1GphXHX5QYU14aMt3SO3QtVg0fd/KSWM4FinRosxZDq5uZg=="
+    },
     "@mdi/svg": {
       "version": "3.2.89",
       "resolved": "https://registry.npmjs.org/@mdi/svg/-/svg-3.2.89.tgz",
@@ -172,6 +208,14 @@
         "csstype": "^2.2.0"
       }
     },
+    "@types/react-slick": {
+      "version": "0.23.4",
+      "resolved": "https://registry.npmjs.org/@types/react-slick/-/react-slick-0.23.4.tgz",
+      "integrity": "sha512-vXoIy4GUfB7/YgqubR4H7RALo+pRdMYCeLgWwV3MPwl5pggTlEkFBTF19R7u+LJc85uMqC7RfsbkqPLMQ4ab+A==",
+      "requires": {
+        "@types/react": "*"
+      }
+    },
     "@types/react-test-renderer": {
       "version": "16.8.3",
       "resolved": "https://registry.npmjs.org/@types/react-test-renderer/-/react-test-renderer-16.8.3.tgz",
@@ -296,6 +340,94 @@
         }
       }
     },
+    "antd": {
+      "version": "3.26.5",
+      "resolved": "https://registry.npmjs.org/antd/-/antd-3.26.5.tgz",
+      "integrity": "sha512-vD45SKnPq6GDwP+vdv5LIFTztPBGp2uJPuYdu8vUCl4iFSdljYldfsNAzMfRygk7QHRb22vX1Vo/KoH+I7wVMA==",
+      "requires": {
+        "@ant-design/create-react-context": "^0.2.4",
+        "@ant-design/icons": "~2.1.1",
+        "@ant-design/icons-react": "~2.0.1",
+        "@types/react-slick": "^0.23.4",
+        "array-tree-filter": "^2.1.0",
+        "babel-runtime": "6.x",
+        "classnames": "~2.2.6",
+        "copy-to-clipboard": "^3.2.0",
+        "css-animation": "^1.5.0",
+        "dom-closest": "^0.2.0",
+        "enquire.js": "^2.1.6",
+        "is-mobile": "^2.1.0",
+        "lodash": "^4.17.13",
+        "moment": "^2.24.0",
+        "omit.js": "^1.0.2",
+        "prop-types": "^15.7.2",
+        "raf": "^3.4.1",
+        "rc-animate": "^2.10.2",
+        "rc-calendar": "~9.15.7",
+        "rc-cascader": "~0.17.4",
+        "rc-checkbox": "~2.1.6",
+        "rc-collapse": "~1.11.3",
+        "rc-dialog": "~7.6.0",
+        "rc-drawer": "~3.1.1",
+        "rc-dropdown": "~2.4.1",
+        "rc-editor-mention": "^1.1.13",
+        "rc-form": "^2.4.10",
+        "rc-input-number": "~4.5.0",
+        "rc-mentions": "~0.4.0",
+        "rc-menu": "~7.5.1",
+        "rc-notification": "~3.3.1",
+        "rc-pagination": "~1.20.11",
+        "rc-progress": "~2.5.0",
+        "rc-rate": "~2.5.0",
+        "rc-resize-observer": "^0.1.0",
+        "rc-select": "~9.2.0",
+        "rc-slider": "~8.7.1",
+        "rc-steps": "~3.5.0",
+        "rc-switch": "~1.9.0",
+        "rc-table": "~6.10.5",
+        "rc-tabs": "~9.7.0",
+        "rc-time-picker": "~3.7.1",
+        "rc-tooltip": "~3.7.3",
+        "rc-tree": "~2.1.0",
+        "rc-tree-select": "~2.9.1",
+        "rc-trigger": "^2.6.2",
+        "rc-upload": "~2.9.1",
+        "rc-util": "^4.16.1",
+        "react-lazy-load": "^3.0.13",
+        "react-lifecycles-compat": "^3.0.4",
+        "react-slick": "~0.25.2",
+        "resize-observer-polyfill": "^1.5.1",
+        "shallowequal": "^1.1.0",
+        "warning": "~4.0.3"
+      },
+      "dependencies": {
+        "lodash": {
+          "version": "4.17.15",
+          "resolved": "https://registry.npmjs.org/lodash/-/lodash-4.17.15.tgz",
+          "integrity": "sha512-8xOcRHvCjnocdS5cpwXQXVzmmh5e5+saE2QGoeQmbKmRS6J3VQppPOIt0MnmE+4xlZoumy0GPG0D0MVIQbNA1A=="
+        },
+        "moment": {
+          "version": "2.24.0",
+          "resolved": "https://registry.npmjs.org/moment/-/moment-2.24.0.tgz",
+          "integrity": "sha512-bV7f+6l2QigeBBZSM/6yTNq4P2fNpSWj/0e7jQcy87A8e7o2nAfP/34/2ky5Vw4B9S446EtIhodAzkFCcR4dQg=="
+        },
+        "prop-types": {
+          "version": "15.7.2",
+          "resolved": "https://registry.npmjs.org/prop-types/-/prop-types-15.7.2.tgz",
+          "integrity": "sha512-8QQikdH7//R2vurIJSutZ1smHYTcLpRWEOlHnzcWHmBYrOGUysKwSsrC89BCiFj3CbrfJ/nXFdJepOVrY1GCHQ==",
+          "requires": {
+            "loose-envify": "^1.4.0",
+            "object-assign": "^4.1.1",
+            "react-is": "^16.8.1"
+          }
+        },
+        "react-is": {
+          "version": "16.12.0",
+          "resolved": "https://registry.npmjs.org/react-is/-/react-is-16.12.0.tgz",
+          "integrity": "sha512-rPCkf/mWBtKc97aLL9/txD8DZdemK0vkA3JMLShjlJB3Pj3s+lpf1KaBzMfQrAmhMQB0n1cU/SUGgKKBCe837Q=="
+        }
+      }
+    },
     "argparse": {
       "version": "1.0.10",
       "resolved": "https://registry.npmjs.org/argparse/-/argparse-1.0.10.tgz",
@@ -304,6 +436,11 @@
         "sprintf-js": "~1.0.2"
       }
     },
+    "array-tree-filter": {
+      "version": "2.1.0",
+      "resolved": "https://registry.npmjs.org/array-tree-filter/-/array-tree-filter-2.1.0.tgz",
+      "integrity": "sha512-4ROwICNlNw/Hqa9v+rk5h22KjmzB1JGTMVKP2AKJBOCgb0yL0ASf0+YvCcLNNwquOHNX48jkeZIJ3a+oOQqKcw=="
+    },
     "array-uniq": {
       "version": "1.0.3",
       "resolved": "https://registry.npmjs.org/array-uniq/-/array-uniq-1.0.3.tgz",
@@ -348,6 +485,11 @@
       "resolved": "https://registry.npmjs.org/async-limiter/-/async-limiter-1.0.1.tgz",
       "integrity": "sha512-csOlWGAcRFJaI6m+F2WKdnMKr4HhdhFVBk0H/QbJFMCr+uO2kwohwXQPxw/9OCxp05r5ghVBFSyioixx3gfkNQ=="
     },
+    "async-validator": {
+      "version": "1.11.5",
+      "resolved": "https://registry.npmjs.org/async-validator/-/async-validator-1.11.5.tgz",
+      "integrity": "sha512-XNtCsMAeAH1pdLMEg1z8/Bb3a8cdCbui9QbJATRFHHHW5kT6+NPI3zSVQUXgikTFITzsg+kYY5NTWhM2Orwt9w=="
+    },
     "babel-polyfill": {
       "version": "6.26.0",
       "resolved": "https://registry.npmjs.org/babel-polyfill/-/babel-polyfill-6.26.0.tgz",
@@ -600,6 +742,11 @@
       "resolved": "https://registry.npmjs.org/component-inherit/-/component-inherit-0.0.3.tgz",
       "integrity": "sha1-ZF/ErfWLcrZJ1crmUTVhnbJv8UM="
     },
+    "compute-scroll-into-view": {
+      "version": "1.0.12",
+      "resolved": "https://registry.npmjs.org/compute-scroll-into-view/-/compute-scroll-into-view-1.0.12.tgz",
+      "integrity": "sha512-MUJWwXJsFQ0+Z5fvrcvA+Da+ZGxpwIMEOmXQiYjB40f0+HWZHp+Cr4F/CtmQPRpggC5ZvBHj14zXPDPmvq/OkA=="
+    },
     "connected-react-router": {
       "version": "6.5.2",
       "resolved": "https://registry.npmjs.org/connected-react-router/-/connected-react-router-6.5.2.tgz",
@@ -637,11 +784,29 @@
       "resolved": "https://registry.npmjs.org/cookie/-/cookie-0.3.1.tgz",
       "integrity": "sha1-5+Ch+e9DtMi6klxcWpboBtFoc7s="
     },
+    "copy-to-clipboard": {
+      "version": "3.2.0",
+      "resolved": "https://registry.npmjs.org/copy-to-clipboard/-/copy-to-clipboard-3.2.0.tgz",
+      "integrity": "sha512-eOZERzvCmxS8HWzugj4Uxl8OJxa7T2k1Gi0X5qavwydHIfuSHq2dTD09LOg/XyGq4Zpb5IsR/2OJ5lbOegz78w==",
+      "requires": {
+        "toggle-selection": "^1.0.6"
+      }
+    },
     "core-js": {
       "version": "2.6.1",
       "resolved": "https://registry.npmjs.org/core-js/-/core-js-2.6.1.tgz",
       "integrity": "sha512-L72mmmEayPJBejKIWe2pYtGis5r0tQ5NaJekdhyXgeMQTpJoBsH0NL4ElY2LfSoV15xeQWKQ+XTTOZdyero5Xg=="
     },
+    "create-react-class": {
+      "version": "15.6.3",
+      "resolved": "https://registry.npmjs.org/create-react-class/-/create-react-class-15.6.3.tgz",
+      "integrity": "sha512-M+/3Q6E6DLO6Yx3OwrWjwHBnvfXXYA7W+dFjt/ZDBemHO1DDZhsalX/NUtnTYclN6GfnBDRh4qRHjcDHmlJBJg==",
+      "requires": {
+        "fbjs": "^0.8.9",
+        "loose-envify": "^1.3.1",
+        "object-assign": "^4.1.1"
+      }
+    },
     "css-animation": {
       "version": "1.6.1",
       "resolved": "https://registry.npmjs.org/css-animation/-/css-animation-1.6.1.tgz",
@@ -714,6 +879,19 @@
         "define-properties": "^1.1.3"
       }
     },
+    "dom-align": {
+      "version": "1.10.2",
+      "resolved": "https://registry.npmjs.org/dom-align/-/dom-align-1.10.2.tgz",
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       "resolved": "https://registry.npmjs.org/react-document-events/-/react-document-events-1.4.0.tgz",
       "integrity": "sha512-eJuzYYLAqtHA2uV3JUWKWhmKXPBfSCVZEpFQpCswd3gzfJWn9UbX+7pIe3MKaofLLIIE/KwZ06ay5QJePt9bHw=="
     },
+    "react-dom": {
+      "version": "16.10.2",
+      "resolved": "https://registry.npmjs.org/react-dom/-/react-dom-16.10.2.tgz",
+      "integrity": "sha512-kWGDcH3ItJK4+6Pl9DZB16BXYAZyrYQItU4OMy0jAkv5aNqc+mAKb4TpFtAteI6TJZu+9ZlNhaeNQSVQDHJzkw==",
+      "requires": {
+        "loose-envify": "^1.1.0",
+        "object-assign": "^4.1.1",
+        "prop-types": "^15.6.2",
+        "scheduler": "^0.16.2"
+      }
+    },
     "react-draggable": {
       "version": "3.0.5",
       "resolved": "https://registry.npmjs.org/react-draggable/-/react-draggable-3.0.5.tgz",
@@ -1992,6 +2850,17 @@
         "react-base16-styling": "^0.5.1"
       }
     },
+    "react-lazy-load": {
+      "version": "3.0.13",
+      "resolved": "https://registry.npmjs.org/react-lazy-load/-/react-lazy-load-3.0.13.tgz",
+      "integrity": "sha1-OwqS0zbUPT8Nc8vm81sXBQsIuCQ=",
+      "requires": {
+        "eventlistener": "0.0.1",
+        "lodash.debounce": "^4.0.0",
+        "lodash.throttle": "^4.0.0",
+        "prop-types": "^15.5.8"
+      }
+    },
     "react-lifecycles-compat": {
       "version": "3.0.4",
       "resolved": "https://registry.npmjs.org/react-lifecycles-compat/-/react-lifecycles-compat-3.0.4.tgz",
@@ -2221,6 +3090,18 @@
         "react-input-autosize": "^2.1.2"
       }
     },
+    "react-slick": {
+      "version": "0.25.2",
+      "resolved": "https://registry.npmjs.org/react-slick/-/react-slick-0.25.2.tgz",
+      "integrity": "sha512-8MNH/NFX/R7zF6W/w+FS5VXNyDusF+XDW1OU0SzODEU7wqYB+ZTGAiNJ++zVNAVqCAHdyCybScaUB+FCZOmBBw==",
+      "requires": {
+        "classnames": "^2.2.5",
+        "enquire.js": "^2.1.6",
+        "json2mq": "^0.2.0",
+        "lodash.debounce": "^4.0.8",
+        "resize-observer-polyfill": "^1.5.0"
+      }
+    },
     "react-test-renderer": {
       "version": "16.10.2",
       "resolved": "https://registry.npmjs.org/react-test-renderer/-/react-test-renderer-16.10.2.tgz",
@@ -2363,6 +3244,15 @@
       "resolved": "https://registry.npmjs.org/ret/-/ret-0.1.15.tgz",
       "integrity": "sha512-TTlYpa+OL+vMMNG24xSlQGEJ3B/RzEfUlLct7b5G/ytav+wPrplCpVMFuwzXbkecJrb6IYo1iFb0S9v37754mg=="
     },
+    "rmc-feedback": {
+      "version": "2.0.0",
+      "resolved": "https://registry.npmjs.org/rmc-feedback/-/rmc-feedback-2.0.0.tgz",
+      "integrity": "sha512-5PWOGOW7VXks/l3JzlOU9NIxRpuaSS8d9zA3UULUCuTKnpwBHNvv1jSJzxgbbCQeYzROWUpgKI4za3X4C/mKmQ==",
+      "requires": {
+        "babel-runtime": "6.x",
+        "classnames": "^2.2.5"
+      }
+    },
     "rosbag": {
       "version": "2.1.0",
       "resolved": "https://registry.npmjs.org/rosbag/-/rosbag-2.1.0.tgz",
@@ -2392,6 +3282,11 @@
       "resolved": "https://registry.npmjs.org/safe-buffer/-/safe-buffer-5.1.2.tgz",
       "integrity": "sha512-Gd2UZBJDkXlY7GbJxfsE8/nvKkUEU1G38c1siN6QP6a9PT9MmHB8GnpscSmMJSoF8LOIrt8ud/wPtojys4G6+g=="
     },
+    "safer-buffer": {
+      "version": "2.1.2",
+      "resolved": "https://registry.npmjs.org/safer-buffer/-/safer-buffer-2.1.2.tgz",
+      "integrity": "sha512-YZo3K82SD7Riyi0E1EQPojLz7kpepnSQI9IyPbHHg1XXXevb5dJI7tpyN2ADxGcQbHG7vcyRHk0cbwqcQriUtg=="
+    },
     "sanitize-html": {
       "version": "1.20.0",
       "resolved": "https://registry.npmjs.org/sanitize-html/-/sanitize-html-1.20.0.tgz",
@@ -2413,7 +3308,6 @@
       "version": "0.16.2",
       "resolved": "https://registry.npmjs.org/scheduler/-/scheduler-0.16.2.tgz",
       "integrity": "sha512-BqYVWqwz6s1wZMhjFvLfVR5WXP7ZY32M/wYPo04CcuPM7XZEbV2TBNW7Z0UkguPTl0dWMA59VbNXxK6q+pHItg==",
-      "dev": true,
       "requires": {
         "loose-envify": "^1.1.0",
         "object-assign": "^4.1.1"
@@ -2432,8 +3326,12 @@
     "setimmediate": {
       "version": "1.0.5",
       "resolved": "https://registry.npmjs.org/setimmediate/-/setimmediate-1.0.5.tgz",
-      "integrity": "sha1-KQy7Iy4waULX1+qbg3Mqt4VvgoU=",
-      "dev": true
+      "integrity": "sha1-KQy7Iy4waULX1+qbg3Mqt4VvgoU="
+    },
+    "shallow-equal": {
+      "version": "1.2.1",
+      "resolved": "https://registry.npmjs.org/shallow-equal/-/shallow-equal-1.2.1.tgz",
+      "integrity": "sha512-S4vJDjHHMBaiZuT9NPb616CSmLf618jawtv3sufLl6ivK8WocjAo58cXwbRV1cgqxH0Qbv+iUt6m05eqEa2IRA=="
     },
     "shallowequal": {
       "version": "1.1.0",
@@ -2548,6 +3446,11 @@
       "resolved": "https://registry.npmjs.org/state-toggle/-/state-toggle-1.0.1.tgz",
       "integrity": "sha512-Qe8QntFrrpWTnHwvwj2FZTgv+PKIsp0B9VxLzLLbSpPXWOgRgc5LVj/aTiSfK1RqIeF9jeC1UeOH8Q8y60A7og=="
     },
+    "string-convert": {
+      "version": "0.2.1",
+      "resolved": "https://registry.npmjs.org/string-convert/-/string-convert-0.2.1.tgz",
+      "integrity": "sha1-aYLMMEn7tM2F+LJFaLnZvznu/5c="
+    },
     "string-hash": {
       "version": "1.1.3",
       "resolved": "https://registry.npmjs.org/string-hash/-/string-hash-1.1.3.tgz",
@@ -2625,6 +3528,11 @@
       "resolved": "https://registry.npmjs.org/to-array/-/to-array-0.1.4.tgz",
       "integrity": "sha1-F+bBH3PdTz10zaek/zI46a2b+JA="
     },
+    "toggle-selection": {
+      "version": "1.0.6",
+      "resolved": "https://registry.npmjs.org/toggle-selection/-/toggle-selection-1.0.6.tgz",
+      "integrity": "sha1-bkWxJj8gF/oKzH2J14sVuL932jI="
+    },
     "tr46": {
       "version": "1.0.1",
       "resolved": "https://registry.npmjs.org/tr46/-/tr46-1.0.1.tgz",
@@ -2677,6 +3585,11 @@
         "whatwg-url": "7.0.0"
       }
     },
+    "ua-parser-js": {
+      "version": "0.7.21",
+      "resolved": "https://registry.npmjs.org/ua-parser-js/-/ua-parser-js-0.7.21.tgz",
+      "integrity": "sha512-+O8/qh/Qj8CgC6eYBVBykMrNtp5Gebn4dlGD/kKXVkJNDwyrAwSIqwz8CDf+tsAIWVycKcku6gIXJ0qwx/ZXaQ=="
+    },
     "ultron": {
       "version": "1.1.1",
       "resolved": "https://registry.npmjs.org/ultron/-/ultron-1.1.1.tgz",
@@ -2789,6 +3702,14 @@
         "unist-util-stringify-position": "^1.1.1"
       }
     },
+    "warning": {
+      "version": "4.0.3",
+      "resolved": "https://registry.npmjs.org/warning/-/warning-4.0.3.tgz",
+      "integrity": "sha512-rpJyN222KWIvHJ/F53XSZv0Zl/accqHR8et1kpaMTD/fLCRxtV8iX8czMzY7sVZupTI3zcUTg8eycS2kNF9l6w==",
+      "requires": {
+        "loose-envify": "^1.0.0"
+      }
+    },
     "wasm-lz4": {
       "version": "1.0.0",
       "resolved": "https://registry.npmjs.org/wasm-lz4/-/wasm-lz4-1.0.0.tgz",
@@ -2805,6 +3726,11 @@
       "resolved": "https://registry.npmjs.org/webworkify/-/webworkify-1.5.0.tgz",
       "integrity": "sha512-AMcUeyXAhbACL8S2hqqdqOLqvJ8ylmIbNwUIqQujRSouf4+eUFaXbG6F1Rbu+srlJMmxQWsiU7mOJi0nMBfM1g=="
     },
+    "whatwg-fetch": {
+      "version": "3.0.0",
+      "resolved": "https://registry.npmjs.org/whatwg-fetch/-/whatwg-fetch-3.0.0.tgz",
+      "integrity": "sha512-9GSJUgz1D4MfyKU7KRqwOjXCXTqWdFNvEr7eUBYchQiVc744mqK/MzXPNR2WsPkmkOa4ywfg8C2n8h+13Bey1Q=="
+    },
     "whatwg-url": {
       "version": "7.0.0",
       "resolved": "https://registry.npmjs.org/whatwg-url/-/whatwg-url-7.0.0.tgz",
diff --git a/packages/webviz-core/package.json b/packages/webviz-core/package.json
index 16c7ac525..ad3cde4be 100644
--- a/packages/webviz-core/package.json
+++ b/packages/webviz-core/package.json
@@ -9,12 +9,15 @@
     "@sentry/browser": "5.7.1",
     "@simonwep/pickr": "1.4.7",
     "@trust/webcrypto": "0.9.2",
+    "antd": "3.26.5",
     "chart.js": "2.7.3",
     "chartjs-plugin-annotation": "0.5.7",
     "chartjs-plugin-datalabels": "0.4.0",
     "chartjs-plugin-zoom": "0.6.6",
     "classnames": "2.2.6",
     "connected-react-router": "6.5.2",
+    "downshift": "4.0.1",
+    "fuzzysort": "1.1.4",
     "history": "4.9.0",
     "hoist-non-react-statics": "3.0.1",
     "idb": "2.1.3",
diff --git a/packages/webviz-core/src/components/Menu/SubMenu.js b/packages/webviz-core/src/components/Menu/SubMenu.js
index 18beb8e4e..3fc1a88bc 100644
--- a/packages/webviz-core/src/components/Menu/SubMenu.js
+++ b/packages/webviz-core/src/components/Menu/SubMenu.js
@@ -18,7 +18,7 @@ type State = {
 
 type Props = {
   children: React.Node,
-  text: string,
+  text: React.Node,
   checked?: boolean,
   direction: "left" | "right",
   icon?: React.Node,
diff --git a/packages/webviz-core/src/panels/NodePlayground/Editor.js b/packages/webviz-core/src/panels/NodePlayground/Editor.js
index 069b06710..4cb7c11dc 100644
--- a/packages/webviz-core/src/panels/NodePlayground/Editor.js
+++ b/packages/webviz-core/src/panels/NodePlayground/Editor.js
@@ -9,7 +9,6 @@
 import * as monacoApi from "monaco-editor/esm/vs/editor/editor.api";
 import { initVimMode } from "monaco-vim";
 import * as React from "react";
-import Dimensions from "react-container-dimensions";
 import MonacoEditor from "react-monaco-editor";
 
 import vsWebvizTheme from "webviz-core/src/panels/NodePlayground/theme/vs-webviz.json";
@@ -21,8 +20,15 @@ import {
 
 const VS_WEBVIZ_THEME = "vs-webviz";
 
-type Props = { script: string, setScript: (script: string) => void, vimMode: boolean };
-const Editor = ({ script, setScript, vimMode }: Props) => {
+type Props = {|
+  script: string,
+  setScript: (script: string) => void,
+  vimMode: boolean,
+  /* A minor hack to tell the monaco editor to resize when dimensions change. */
+  resizeKey: string,
+|};
+
+const Editor = ({ script, setScript, vimMode, resizeKey }: Props) => {
   const editorRef = React.useRef(null);
   const vimModeRef = React.useRef(null);
   React.useEffect(
@@ -39,53 +45,49 @@ const Editor = ({ script, setScript, vimMode }: Props) => {
     [vimMode]
   );
   return (
-    <Dimensions>
-      {({ width, height }) => (
-        <MonacoEditor
-          key={`${width}-${height}`}
-          language="typescript"
-          theme={VS_WEBVIZ_THEME}
-          editorWillMount={(monaco) => {
-            monaco.editor.defineTheme(VS_WEBVIZ_THEME, vsWebvizTheme);
-            // This line ensures the type defs we enforce in
-            // the 'compile' step match that of monaco. Adding the 'lib'
-            // this way (instead of specifying it in the compiler options)
-            // is a hack to overwrite the default type defs since the
-            // typescript language service does not expose such a method.
-            monaco.languages.typescript.typescriptDefaults.addExtraLib(lib_es6_dts, lib_filename);
-            monaco.languages.typescript.typescriptDefaults.addExtraLib(
-              ros_lib_dts,
-              `file:///node_modules/@types/${ros_lib_filename}`
-            );
-          }}
-          editorDidMount={(editor) => {
-            editorRef.current = editor;
-            if (vimMode) {
-              vimModeRef.current = initVimMode(editorRef.current);
-            }
-          }}
-          options={{
-            // A 'model' in monaco is the interface through which monaco
-            // (and consumers of monaco) update and refer to the text model.
-            // E.g. there is a method called `model.pushEditOperations()`
-            // which is how you set user input. If we do not explicitly set
-            // the model with our desired URI (in this case,
-            // 'file:///main.ts'), monaco will create a default model that
-            // is set to `inmemory://model/`, which, for some reason,
-            // blocks our ability to add custom modules (like `lib.d.ts` above) to the system.
-            model:
-              monacoApi.editor.getModel("file:///main.ts") ||
-              monacoApi.editor.createModel(script, "typescript", monacoApi.Uri.parse("file:///main.ts")),
-            wordWrap: "on",
-            minimap: {
-              enabled: false,
-            },
-          }}
-          value={script}
-          onChange={setScript}
-        />
-      )}
-    </Dimensions>
+    <MonacoEditor
+      key={resizeKey}
+      language="typescript"
+      theme={VS_WEBVIZ_THEME}
+      editorWillMount={(monaco) => {
+        monaco.editor.defineTheme(VS_WEBVIZ_THEME, vsWebvizTheme);
+        // This line ensures the type defs we enforce in
+        // the 'compile' step match that of monaco. Adding the 'lib'
+        // this way (instead of specifying it in the compiler options)
+        // is a hack to overwrite the default type defs since the
+        // typescript language service does not expose such a method.
+        monaco.languages.typescript.typescriptDefaults.addExtraLib(lib_es6_dts, lib_filename);
+        monaco.languages.typescript.typescriptDefaults.addExtraLib(
+          ros_lib_dts,
+          `file:///node_modules/@types/${ros_lib_filename}`
+        );
+      }}
+      editorDidMount={(editor) => {
+        editorRef.current = editor;
+        if (vimMode) {
+          vimModeRef.current = initVimMode(editorRef.current);
+        }
+      }}
+      options={{
+        // A 'model' in monaco is the interface through which monaco
+        // (and consumers of monaco) update and refer to the text model.
+        // E.g. there is a method called `model.pushEditOperations()`
+        // which is how you set user input. If we do not explicitly set
+        // the model with our desired URI (in this case,
+        // 'file:///main.ts'), monaco will create a default model that
+        // is set to `inmemory://model/`, which, for some reason,
+        // blocks our ability to add custom modules (like `lib.d.ts` above) to the system.
+        model:
+          monacoApi.editor.getModel("file:///main.ts") ||
+          monacoApi.editor.createModel(script, "typescript", monacoApi.Uri.parse("file:///main.ts")),
+        wordWrap: "on",
+        minimap: {
+          enabled: false,
+        },
+      }}
+      value={script}
+      onChange={setScript}
+    />
   );
 };
 
diff --git a/packages/webviz-core/src/panels/NodePlayground/index.js b/packages/webviz-core/src/panels/NodePlayground/index.js
index 5c8f3b017..5d0aecb7a 100644
--- a/packages/webviz-core/src/panels/NodePlayground/index.js
+++ b/packages/webviz-core/src/panels/NodePlayground/index.js
@@ -19,13 +19,16 @@ import styled from "styled-components";
 import uuid from "uuid";
 
 import { setUserNodes as setUserNodesAction } from "webviz-core/src/actions/panels";
+import Button from "webviz-core/src/components/Button";
 import Flex from "webviz-core/src/components/Flex";
 import Icon from "webviz-core/src/components/Icon";
 import Item from "webviz-core/src/components/Menu/Item";
 import Panel from "webviz-core/src/components/Panel";
 import PanelToolbar from "webviz-core/src/components/PanelToolbar";
 import SpinningLoadingIcon from "webviz-core/src/components/SpinningLoadingIcon";
+import TextContent from "webviz-core/src/components/TextContent";
 import BottomBar from "webviz-core/src/panels/NodePlayground/BottomBar";
+import Playground from "webviz-core/src/panels/NodePlayground/playground-icon.svg";
 import Sidebar from "webviz-core/src/panels/NodePlayground/Sidebar";
 import { trustUserNode } from "webviz-core/src/players/UserNodePlayer/nodeSecurity";
 import type { UserNodeState } from "webviz-core/src/reducers/userNodes";
@@ -64,12 +67,12 @@ type Props = {
 };
 
 const UnsavedDot = styled.div`
-  display: ${({ isSaved }: { isSaved: boolean }) => (isSaved ? "none" : "initial")}
+  display: ${({ isSaved }: { isSaved: boolean }) => (isSaved ? "none" : "initial")};
   width: 6px;
   height: 6px;
   border-radius: 50%;
   position: absolute;
-  right: 10px;
+  right: 8px;
   top: 50%;
   transform: translateY(-50%);
   background-color: ${colors.DARK9};
@@ -120,8 +123,53 @@ const SecurityBar = ({ onClick }: { onClick: () => void }) => (
   </SecurityBarWrapper>
 );
 
+const SWelcomeScreen = styled.div`
+  display: flex;
+  text-align: center;
+  flex-direction: column;
+  justify-content: center;
+  align-items: center;
+  padding: 25%;
+  height: 100%;
+  > * {
+    margin: 4px 0;
+  }
+`;
+
 export type Explorer = null | "docs" | "nodes";
 
+const WelcomeScreen = ({
+  addNewNode,
+  updateExplorer,
+}: {|
+  addNewNode: () => void,
+  updateExplorer: (explorer: Explorer) => void,
+|}) => {
+  return (
+    <SWelcomeScreen>
+      <Playground />
+      <TextContent>
+        Welcome to Node Playground! Get started by reading the{" "}
+        <a
+          href=""
+          onClick={(e) => {
+            e.preventDefault();
+            updateExplorer("docs");
+          }}>
+          docs
+        </a>
+        , or just create a new node.
+      </TextContent>
+      <Button style={{ marginTop: "8px" }} onClick={addNewNode}>
+        <Icon medium>
+          <PlusIcon />
+        </Icon>{" "}
+        New node
+      </Button>
+    </SWelcomeScreen>
+  );
+};
+
 function NodePlayground(props: Props) {
   const { config, saveConfig } = props;
   const { selectedNodeId, editorForStorybook, vimMode } = config;
@@ -249,7 +297,7 @@ function NodePlayground(props: Props) {
                       type="text"
                       placeholder="node name"
                       value={selectedNode ? selectedNode.name : ""}
-                      style={{ borderRadius: 0, margin: 0, backgroundColor: colors.DARK2 }}
+                      style={{ borderRadius: 0, margin: 0, backgroundColor: colors.DARK2, padding: "4px 20px" }}
                       spellCheck={false}
                       onChange={(e) => {
                         const newNodeName = e.target.value;
@@ -276,6 +324,7 @@ function NodePlayground(props: Props) {
                 typeof nodeDiagnosticsAndLogs[selectedNodeId].trusted === "boolean" &&
                 !nodeDiagnosticsAndLogs[selectedNodeId].trusted && <SecurityBar onClick={trustSelectedNode} />}
               <Flex col style={{ flexGrow: 1, position: "relative" }}>
+                {!selectedNodeId && <WelcomeScreen addNewNode={addNewNode} updateExplorer={updateExplorer} />}
                 <div
                   key={`${height}x${width}`}
                   style={{
@@ -294,7 +343,12 @@ function NodePlayground(props: Props) {
                       </Flex>
                     }>
                     {editorForStorybook || (
-                      <Editor script={stagedScript} setScript={setStagedScript} vimMode={vimMode} />
+                      <Editor
+                        script={stagedScript}
+                        setScript={setStagedScript}
+                        vimMode={vimMode}
+                        resizeKey={`${width}-${height}-${explorer || "none"}-${selectedNodeId || "none"}`}
+                      />
                     )}
                   </React.Suspense>
                 </div>
diff --git a/packages/webviz-core/src/panels/NodePlayground/playground-icon.svg b/packages/webviz-core/src/panels/NodePlayground/playground-icon.svg
new file mode 100644
index 000000000..b25303774
--- /dev/null
+++ b/packages/webviz-core/src/panels/NodePlayground/playground-icon.svg
@@ -0,0 +1,21 @@
+<svg width="138" height="107" viewBox="0 0 138 107" fill="none" xmlns="http://www.w3.org/2000/svg">
+  <path d="M47.5 19L44 21L47.5 22.5" stroke="#C8C8C7" stroke-linecap="round" stroke-linejoin="round"/>
+  <path d="M53.5 22.5L57 21L53.5 19" stroke="#C8C8C7" stroke-linecap="round" stroke-linejoin="round"/>
+  <path d="M47 28L52 17.5" stroke="#C8C8C7" stroke-linecap="round"/>
+  <path d="M0 106.5H34H39M48.5 106.5H79M84.5 106.5H109M120.5 106.5H136" stroke="#C8C8C7"/>
+  <path d="M29.0762 47.5L47 27.7441L64.9238 47.5H29.0762Z" stroke="#C8C8C7"/>
+  <path d="M89.5 2.5L86 4.5L89.5 6" stroke="#C8C8C7" stroke-linecap="round" stroke-linejoin="round"/>
+  <path d="M95.5 6L99 4.5L95.5 2.5" stroke="#C8C8C7" stroke-linecap="round" stroke-linejoin="round"/>
+  <path d="M89 11.5L94 1" stroke="#C8C8C7" stroke-linecap="round"/>
+  <path d="M71.0762 31L89 11.2441L106.924 31H71.0762Z" stroke="#C8C8C7"/>
+  <path d="M34.5 79.2381H59.5V89.5H34.5V79.2381ZM59.5 78.2381H34.5V47.5H59.5V78.2381Z" stroke="#C8C8C7"/>
+  <path d="M76.5 37.0732H101.5V61.1309V71.5H76.5V61.1309V37.0732ZM101.5 36.0732H76.5V31H101.5V36.0732Z" stroke="#C8C8C7"/>
+  <circle cx="47" cy="61" r="4.5" stroke="#C8C8C7"/>
+  <circle cx="89" cy="89" r="5.5" stroke="#C8C8C7"/>
+  <path d="M113 71.5V60.5H68M113 71.5C113 71.5 113 80 113 85C113 90 122.092 97.5602 132 95.5L136.5 106.5H120M113 71.5H101.5M68 60.5H59.5V71.5H68M68 60.5V71.5M68 71.5H76.5M119.5 106.5H120M101.5 71.5H89M101.5 71.5V89M101.5 106.5V89M76.5 71.5V89M76.5 71.5H89M76.5 106.5V89M76.5 89H83.5M89 71.5V83.5M94.5 89H101.5M101.5 89C103.1 98.6 114.5 104.667 120 106.5M89 94.5V106.5" stroke="#C8C8C7"/>
+  <path d="M49.0746 34.9276L53.9254 40.0724" stroke="#C8C8C7"/>
+  <path d="M59.5 89.5V106.5" stroke="#C8C8C7"/>
+  <path d="M34.5 89.5V106.5" stroke="#C8C8C7"/>
+  <path d="M0.5 93L34.5 64.5" stroke="#C8C8C7"/>
+  <path d="M1.5 106.5L34.5 79M14 106.5L34.5 89.5M6 88.5L5.5 103M14 82L13.5 96.5M22 75L21.5 89.5M30 68.5L29.5 83" stroke="#C8C8C7"/>
+</svg>
diff --git a/packages/webviz-core/src/panels/PanelList/index.js b/packages/webviz-core/src/panels/PanelList/index.js
index 009113615..149fd79e6 100644
--- a/packages/webviz-core/src/panels/PanelList/index.js
+++ b/packages/webviz-core/src/panels/PanelList/index.js
@@ -5,6 +5,7 @@
 //  This source code is licensed under the Apache License, Version 2.0,
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
+import fuzzySort from "fuzzysort";
 import { flatten } from "lodash";
 import * as React from "react";
 import { DragSource } from "react-dnd";
@@ -16,11 +17,11 @@ import { changePanelLayout, savePanelConfig } from "webviz-core/src/actions/pane
 import { Item } from "webviz-core/src/components/Menu";
 import SubMenu from "webviz-core/src/components/Menu/SubMenu";
 import { getGlobalHooks } from "webviz-core/src/loadWebviz";
+import TextHighlight from "webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TextHighlight";
 import type { State } from "webviz-core/src/reducers";
 import type { PanelConfig, SaveConfigPayload } from "webviz-core/src/types/panels";
 import { getPanelIdForType } from "webviz-core/src/util";
 import { colors } from "webviz-core/src/util/colors";
-import naturalSort from "webviz-core/src/util/naturalSort";
 
 const SearchInput = styled.input`
   width: 100%;
@@ -99,19 +100,10 @@ type PanelItemProps = {
 class PanelItem extends React.Component<PanelItemProps> {
   render() {
     const { connectDragSource, searchQuery, panel, onClick, checked } = this.props;
-    const searchQueryIndex = !!searchQuery && panel.title.toLowerCase().indexOf(searchQuery);
     return connectDragSource(
       <div>
         <Item onClick={onClick} checked={checked}>
-          {searchQueryIndex !== false ? (
-            <React.Fragment>
-              {panel.title.substring(0, searchQueryIndex)}
-              <u>{panel.title.substring(searchQueryIndex, searchQueryIndex + searchQuery.length)}</u>
-              {panel.title.substring(searchQueryIndex + searchQuery.length)}
-            </React.Fragment>
-          ) : (
-            panel.title
-          )}
+          <TextHighlight targetStr={panel.title} searchText={searchQuery} />
         </Item>
       </div>
     );
@@ -232,7 +224,6 @@ class PanelList extends React.Component<Props, { searchQuery: string }> {
     const { searchQuery } = this.state;
     const panelCategories = getGlobalHooks().panelCategories();
     const panelsByCategory = getPanelsByCategory();
-    const lowerCaseSearchQuery = searchQuery.toLowerCase();
 
     return (
       <div data-test-panel-category>
@@ -243,45 +234,50 @@ class PanelList extends React.Component<Props, { searchQuery: string }> {
           onChange={this._handleSearchChange}
           autoFocus
         />
-        {panelCategories.map(({ label, key }, categoryIdx) =>
-          panelsByCategory[key]
-            .filter(({ title }) => !title || title.toLowerCase().includes(lowerCaseSearchQuery))
-            .sort(naturalSort("title"))
-            .map(
-              // $FlowFixMe - bug prevents requiring panelType: https://stackoverflow.com/q/52508434/23649
-              ({ presets, title, component: { panelType } }, panelIdx) =>
-                presets ? (
-                  <SubMenu text={title} key={panelType} checked={panelType === selectedPanelType}>
-                    {presets.map((subPanelListItem) => (
-                      <DraggablePanelItem
-                        key={subPanelListItem.title}
-                        mosaicId={mosaicId}
-                        panel={{
-                          type: panelType,
-                          title: subPanelListItem.title,
-                          panelConfig: subPanelListItem.panelConfig,
-                        }}
-                        onDrop={this.onPanelMenuItemDrop}
-                        onClick={() => onPanelSelect(panelType, subPanelListItem.panelConfig)}
-                        searchQuery=""
-                      />
-                    ))}
-                  </SubMenu>
-                ) : (
-                  <div key={panelType}>
-                    {panelIdx === 0 && <Item isHeader>{label}</Item>}
+        {panelCategories.map(({ label, key }, categoryIdx) => {
+          let items = panelsByCategory[key];
+          if (searchQuery) {
+            items = fuzzySort.go(searchQuery, items, { key: "title" }).map((searchResult) => searchResult.obj);
+          }
+
+          return items.map(
+            // $FlowFixMe - bug prevents requiring panelType: https://stackoverflow.com/q/52508434/23649
+            ({ presets, title, component: { panelType } }, panelIdx) =>
+              presets ? (
+                <SubMenu
+                  text={<TextHighlight targetStr={title} searchText={searchQuery} />}
+                  key={panelType}
+                  checked={panelType === selectedPanelType}>
+                  {presets.map((subPanelListItem) => (
                     <DraggablePanelItem
+                      key={subPanelListItem.title}
                       mosaicId={mosaicId}
-                      panel={{ type: panelType, title }}
+                      panel={{
+                        type: panelType,
+                        title: subPanelListItem.title,
+                        panelConfig: subPanelListItem.panelConfig,
+                      }}
                       onDrop={this.onPanelMenuItemDrop}
-                      onClick={() => onPanelSelect(panelType)}
-                      checked={panelType === selectedPanelType}
-                      searchQuery={lowerCaseSearchQuery}
+                      onClick={() => onPanelSelect(panelType, subPanelListItem.panelConfig)}
+                      searchQuery=""
                     />
-                  </div>
-                )
-            )
-        )}
+                  ))}
+                </SubMenu>
+              ) : (
+                <div key={panelType}>
+                  {panelIdx === 0 && <Item isHeader>{label}</Item>}
+                  <DraggablePanelItem
+                    mosaicId={mosaicId}
+                    panel={{ type: panelType, title }}
+                    onDrop={this.onPanelMenuItemDrop}
+                    onClick={() => onPanelSelect(panelType)}
+                    checked={panelType === selectedPanelType}
+                    searchQuery={searchQuery}
+                  />
+                </div>
+              )
+          );
+        })}
       </div>
     );
   }
diff --git a/packages/webviz-core/src/panels/PanelList/index.stories.js b/packages/webviz-core/src/panels/PanelList/index.stories.js
index 7d1a55e3e..f7180454b 100644
--- a/packages/webviz-core/src/panels/PanelList/index.stories.js
+++ b/packages/webviz-core/src/panels/PanelList/index.stories.js
@@ -55,4 +55,25 @@ storiesOf("<PanelList>", module)
         savePanelConfig={() => {}}
       />
     </div>
+  ))
+  .add("case-insensitive filtering and highlight submenu", () => (
+    <div
+      ref={(el) => {
+        if (el) {
+          const input: ?HTMLInputElement = (el.querySelector("input"): any);
+          if (input) {
+            input.focus();
+            input.value = "dp";
+            TestUtils.Simulate.change(input);
+          }
+        }
+      }}>
+      <PanelList
+        onPanelSelect={() => {}}
+        mosaicId=""
+        mosaicLayout=""
+        changePanelLayout={() => {}}
+        savePanelConfig={() => {}}
+      />
+    </div>
   ));
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/FollowTFControl.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/FollowTFControl.js
index 5ca973353..5a351274a 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/FollowTFControl.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/FollowTFControl.js
@@ -75,9 +75,7 @@ const buildTfTree = (transforms: Transform[]): TfTree => {
     node.depth = depth;
     node.children.forEach((child) => setDepth(child, depth + 1));
   };
-  tree.roots.forEach((root) =>
-    setDepth(root, root.tf.id === getGlobalHooks().perPanelHooks().ThreeDimensionalViz.rootTransformFrame ? -1 : 0)
-  );
+  tree.roots.forEach((root) => setDepth(root, 0));
 
   return tree;
 };
@@ -91,9 +89,7 @@ type Props = {
 
 function* getDescendants(nodes: TfTreeNode[]) {
   for (const node of nodes) {
-    if (node.tf.id !== getGlobalHooks().perPanelHooks().ThreeDimensionalViz.rootTransformFrame) {
-      yield node;
-    }
+    yield node;
     yield* getDescendants(node.children);
   }
 }
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/QuickAddTopic.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/QuickAddTopic.js
new file mode 100644
index 000000000..de8fb5a74
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/QuickAddTopic.js
@@ -0,0 +1,275 @@
+// @flow
+//
+//  Copyright (c) 2018-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { Icon } from "antd";
+import Downshift from "downshift";
+import fuzzySort from "fuzzysort";
+import { difference } from "lodash";
+import React, { useMemo, useCallback, useState } from "react";
+import styled from "styled-components";
+
+import TopicNameDisplay from "./TopicNameDisplay";
+import type { TopicGroupType, OnTopicGroupsChange, QuickAddTopicItem } from "./types";
+import Modal from "webviz-core/src/components/Modal";
+import renderToBody from "webviz-core/src/components/renderToBody";
+import { colors } from "webviz-core/src/util/colors";
+import naturalSort from "webviz-core/src/util/naturalSort";
+
+const SAddContainer = styled.div`
+  border-radius: 4px;
+  background: ${colors.TOOLBAR};
+  width: 100%;
+`;
+
+export const SInputWrapper = styled.div`
+  background: ${colors.TOOLBARL1};
+  display: flex;
+  padding: 8px;
+  align-items: center;
+`;
+
+export const SInput = styled.input`
+  margin-left: 8px;
+  background: transparent;
+  flex: 1;
+  border: none;
+  :focus,
+  :hover {
+    outline: none;
+  }
+`;
+
+export const SOptionsWrapper = styled.div`
+  position: relative;
+  padding-bottom: 44px;
+  background: ${colors.TOOLBAR};
+`;
+
+export const SOptions = styled.ul`
+  max-height: ${(props) => (props.isSingleAdd ? "200px" : "100%")};
+  margin: 0;
+  max-height: 200px;
+  padding: 4px 0;
+  transition: 0.3s;
+  padding-bottom: 44px;
+  overflow: auto;
+`;
+
+export const SOption = styled.li`
+  transition: 0.3s;
+  padding: 4px 8px;
+  list-style: none;
+  margin: 0 0 4px 0;
+  color: ${(props) => (props.fade ? colors.TEXT_MUTED : "unset")};
+  cursor: pointer;
+  :hover {
+    background: ${colors.PURPLE};
+    font-size: bold;
+  }
+`;
+
+export const SCreateOption = styled.div`
+  padding: 8px;
+  background: ${colors.PURPLE};
+  word-break: break-all;
+`;
+
+const SBrowseAll = styled.div`
+  position: absolute;
+  left: 0;
+  bottom: 0;
+  right: 0;
+  text-align: right;
+  align-items: center;
+  padding: 8px;
+  background: ${colors.TOOLBARL1};
+`;
+
+const SBrowseButton = styled.button`
+  color: ${colors.HIGHLIGHT};
+  background: transparent;
+  border: none;
+  cursor: pointer;
+`;
+
+function isTopicName(topicName: string): boolean {
+  return topicName.startsWith("/") && topicName.length > 1;
+}
+
+function getFilteredItems(items: QuickAddTopicItem[], searchText?: string): QuickAddTopicItem[] {
+  if (!searchText) {
+    return items;
+  }
+  return fuzzySort
+    .go(searchText, items, {
+      // Fuzzy search on topicName and displayName
+      // Note for adding multiple topics through available topics and topic tree view, we are not weighing
+      // `disabled` (topics that have been added to the group already), so we don't have to tweak score and threshold accordingly.
+      // Instead, we'll just partition after the result is generated.
+      keys: ["topicName", "displayName"],
+    })
+    .map((searchResult) => searchResult.obj);
+}
+
+type AddTopicProps = {|
+  availableTopicNames: string[],
+  displayNameByTopic: { [topicName: string]: string },
+  onAddTopicItem: ({ [topicName: string]: string }) => void,
+  onBrowseTopics: () => void,
+  topicGroup: TopicGroupType,
+|};
+
+function AddTopic({
+  availableTopicNames,
+  displayNameByTopic,
+  onAddTopicItem,
+  onBrowseTopics,
+  topicGroup,
+}: AddTopicProps) {
+  const existingGroupTopicsSet = useMemo(() => new Set(topicGroup.items.map((item) => item.topicName)), [
+    topicGroup.items,
+  ]);
+
+  const itemsToRender = useMemo(
+    () => {
+      return difference(availableTopicNames, [...existingGroupTopicsSet])
+        .sort(naturalSort())
+        .map((topicName) => ({
+          topicName,
+          ...(displayNameByTopic[topicName] ? { displayName: displayNameByTopic[topicName] } : undefined),
+        }));
+    },
+    [availableTopicNames, existingGroupTopicsSet, displayNameByTopic]
+  );
+
+  return (
+    <Downshift
+      onChange={(selection) => onAddTopicItem(selection)}
+      itemToString={(item) => (item ? item.topicName : "")}>
+      {({ getInputProps, getItemProps, getMenuProps, inputValue, getRootProps }) => {
+        const filteredItems = getFilteredItems(itemsToRender, inputValue);
+        const showCreateOption =
+          isTopicName(inputValue) &&
+          !existingGroupTopicsSet.has(inputValue.trim()) &&
+          !availableTopicNames.includes({ topicName: inputValue.trim() });
+
+        return (
+          <SAddContainer>
+            <SInputWrapper {...getRootProps({}, { suppressRefError: true })}>
+              <Icon type="search" />
+              <SInput
+                data-test="quick-add-topic-input"
+                placeholder="Find a topic to add"
+                {...getInputProps({
+                  onKeyDown: (event) => {
+                    if (event.key === "Enter" && showCreateOption) {
+                      // Prevent Downshift's default 'Enter' behavior if create option is available.
+                      event.preventDownshiftDefault = true;
+                      onAddTopicItem({ topicName: inputValue.trim() });
+                    }
+                  },
+                })}
+              />
+            </SInputWrapper>
+            <SOptionsWrapper>
+              {showCreateOption && (
+                <SCreateOption>
+                  Press enter to add topic: <b>{inputValue}</b>
+                </SCreateOption>
+              )}
+              {filteredItems.length === 0 ? (
+                <p>No topics found to add.</p>
+              ) : (
+                <SOptions isSingleAdd {...getMenuProps()}>
+                  {filteredItems.map((item, index) => (
+                    <SOption
+                      key={item.topicName}
+                      data-test={`quick-add-topic-option_${item.topicName}`}
+                      {...getItemProps({
+                        key: item.topicName,
+                        index,
+                        item,
+                      })}>
+                      <TopicNameDisplay
+                        displayName={item.displayName || item.topicName}
+                        topicName={item.topicName}
+                        searchText={inputValue}
+                      />
+                    </SOption>
+                  ))}
+                </SOptions>
+              )}
+              <SBrowseAll>
+                <SBrowseButton onClick={onBrowseTopics}>
+                  Browse all topics <Icon type="right" />
+                </SBrowseButton>
+              </SBrowseAll>
+            </SOptionsWrapper>
+          </SAddContainer>
+        );
+      }}
+    </Downshift>
+  );
+}
+
+type Props = {|
+  topicGroup: TopicGroupType,
+  objectPath: string,
+  onTopicGroupsChange: OnTopicGroupsChange,
+  availableTopicNames: string[],
+  displayNameByTopic: { [topicName: string]: string },
+  testShowAddView?: boolean,
+|};
+
+export default function QuickAddTopic({
+  topicGroup,
+  objectPath,
+  onTopicGroupsChange,
+  availableTopicNames,
+  displayNameByTopic,
+  testShowAddView,
+}: Props) {
+  const [showAddView, setShowAddView] = useState(testShowAddView || false);
+  const [_, setShowModal] = useState(false);
+
+  const onBrowseTopics = useCallback(() => {
+    const modal = renderToBody(
+      <Modal
+        onRequestClose={() => {
+          setShowModal(false);
+          modal.remove();
+        }}
+        contentStyle={{ maxHeight: "calc(100vh - 200px)", width: 480, display: "flex", flexDirection: "column" }}>
+        <div>TODO(Audrey): add the browse view </div>
+      </Modal>
+    );
+  }, []);
+
+  const onAddTopicItem = useCallback(
+    (newItem: { [topicName: string]: string }) => {
+      onTopicGroupsChange(objectPath, [...topicGroup.items, newItem]);
+      setShowAddView(false);
+    },
+    [objectPath, onTopicGroupsChange, topicGroup.items]
+  );
+
+  return (
+    <div>
+      {!showAddView && <SBrowseButton onClick={() => setShowAddView(true)}>+ Add topic</SBrowseButton>}
+      {showAddView && (
+        <AddTopic
+          availableTopicNames={availableTopicNames}
+          displayNameByTopic={displayNameByTopic}
+          onAddTopicItem={onAddTopicItem}
+          onBrowseTopics={onBrowseTopics}
+          topicGroup={topicGroup}
+        />
+      )}
+    </div>
+  );
+}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TextHighlight.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TextHighlight.js
new file mode 100644
index 000000000..7f66e803e
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TextHighlight.js
@@ -0,0 +1,38 @@
+// @flow
+//
+//  Copyright (c) 2018-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import fuzzySort from "fuzzysort";
+import React from "react";
+import styled from "styled-components";
+
+import { colors } from "webviz-core/src/util/colors";
+
+const STextHighlight = styled.span`
+  .TextHighlight-highlight {
+    color: ${colors.PURPLE};
+    font-weight: bold;
+  }
+`;
+
+type Props = {|
+  targetStr: string,
+  searchText?: string,
+|};
+
+export default function TextHighlight({ targetStr = "", searchText = "" }: Props) {
+  if (!searchText) {
+    return targetStr;
+  }
+  const result = fuzzySort.highlight(
+    fuzzySort.single(searchText, targetStr),
+    "<b class='TextHighlight-highlight'>",
+    "</b>"
+  );
+  // TODO(Audrey): compute highlighted parts separately in order to avoid dangerouslySetInnerHTML
+  return <STextHighlight>{result ? <span dangerouslySetInnerHTML={{ __html: result }} /> : targetStr}</STextHighlight>;
+}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroupMenu.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroupMenu.js
index ad6b39e57..d2250f00e 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroupMenu.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroupMenu.js
@@ -43,7 +43,7 @@ export default function TopicGroupMenu({ objectPath, topicGroup: { displayName }
         <Item
           dataTest={`delete-topic-group-menu-${displayName}`}
           onClick={() => {
-            onTopicGroupsChange(objectPath, null, { removeValue: true });
+            onTopicGroupsChange(objectPath, null);
             setIsOpen(false);
           }}>
           Remove group
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroups.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroups.js
index b45a9ab32..2e8f9c1ce 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroups.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicGroups.js
@@ -10,7 +10,7 @@ import ChevronDownIcon from "@mdi/svg/svg/chevron-down.svg";
 import ChevronUpIcon from "@mdi/svg/svg/chevron-up.svg";
 import LayersIcon from "@mdi/svg/svg/layers.svg";
 import PinIcon from "@mdi/svg/svg/pin.svg";
-import { omit, set, cloneDeep, unset } from "lodash";
+import { omit, set, cloneDeep, compact } from "lodash";
 import Collapse from "rc-collapse";
 import React, { useState, useCallback, useMemo } from "react";
 import styled from "styled-components";
@@ -151,9 +151,9 @@ export function TopicGroupsBase({
 
   const saveNewTopicGroupsToConfig = useCallback(
     (newTopicGroups: TopicGroupType[]) => {
-      const newTopicGroupsConfig = newTopicGroups.map((group) => ({
+      const newTopicGroupsConfig = compact(newTopicGroups).map((group) => ({
         ...omit(group, "derivedFields"),
-        items: group.items.map((item) => omit(item, "derivedFields")),
+        items: compact(group.items).map((item) => omit(item, "derivedFields")),
       }));
       saveConfig({ topicGroups: newTopicGroupsConfig });
     },
@@ -172,21 +172,11 @@ export function TopicGroupsBase({
   );
 
   const onTopicGroupsChange = useCallback(
-    (objectPath: string, newValue: any, options?: {| removeValue?: boolean |}) => {
-      let newTopicGroups = cloneDeep(topicGroups);
-      if (options && options.removeValue) {
-        // unset the topic group or topic item
-        unset(newTopicGroups, objectPath);
-        // filter out the empty value
-        newTopicGroups = newTopicGroups
-          .filter(Boolean)
-          .map((group) => ({ ...group, items: group.items.filter(Boolean) }));
-        saveNewTopicGroupsToConfig(newTopicGroups);
-        return;
-      }
-      // Replace the field value with newValue and save to config.
+    (objectPath: string, newValue: any) => {
       // Make a deep copy of topicGroups to avoid mutation bugs.
-      saveNewTopicGroupsToConfig(set(newTopicGroups, objectPath, newValue));
+      const newTopicGroups = cloneDeep(topicGroups);
+      set(newTopicGroups, objectPath, newValue);
+      saveNewTopicGroupsToConfig(newTopicGroups);
     },
     [saveNewTopicGroupsToConfig, topicGroups]
   );
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicItemMenu.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicItemMenu.js
index 6e945f1ef..f69c28617 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicItemMenu.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicItemMenu.js
@@ -45,7 +45,7 @@ export default function TopicItemMenu({
         <Item
           dataTest={`delete-topic-menu-${displayName}`}
           onClick={() => {
-            onTopicGroupsChange(objectPath, null, { removeValue: true });
+            onTopicGroupsChange(objectPath, null);
             setIsOpen(false);
           }}>
           Remove topic
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicNameDisplay.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicNameDisplay.js
new file mode 100644
index 000000000..cd13cad09
--- /dev/null
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/TopicNameDisplay.js
@@ -0,0 +1,47 @@
+// @flow
+//
+//  Copyright (c) 2018-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import React from "react";
+import styled from "styled-components";
+
+import TextHighlight from "./TextHighlight";
+
+const SDisplayName = styled.div`
+  font-size: 14px;
+  line-height: 1.2;
+  margin-bottom: 4px;
+  word-break: break-word;
+`;
+
+const STopicName = styled.div`
+  font-size: 10px;
+  line-height: 1.2;
+  word-break: break-word;
+  opacity: 0.8;
+`;
+
+type Props = {|
+  displayName: string,
+  topicName: string,
+  searchText?: string,
+|};
+
+export default function TopicNameDisplay({ displayName, topicName, searchText }: Props) {
+  return (
+    <>
+      <SDisplayName>
+        <TextHighlight targetStr={displayName} searchText={searchText} />
+      </SDisplayName>
+      {displayName !== topicName && (
+        <STopicName>
+          <TextHighlight targetStr={topicName} searchText={searchText} />
+        </STopicName>
+      )}
+    </>
+  );
+}
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/types.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/types.js
index 8fdd37d75..1c3aaaf6c 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/types.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicGroups/types.js
@@ -11,11 +11,7 @@ type SettingsBySource = {
   overrideCommand?: string,
 };
 
-type OnTopicGroupsChangeOptions = {|
-  removeValue?: boolean,
-  // TODO(Audrey): add option `addTopicsToGroup`
-|};
-export type OnTopicGroupsChange = (objectPath: string, newValue: any, options?: OnTopicGroupsChangeOptions) => void;
+export type OnTopicGroupsChange = (objectPath: string, newValue: any) => void;
 
 export type VisibilityBySource = { [dataSourcePrefix: string]: boolean };
 export type NamespacesBySource = { [dataSourcePrefix: string]: string[] };
@@ -75,3 +71,5 @@ export type TopicGroupType = {|
 |};
 
 export type TopicGroupsType = TopicGroupType[];
+
+export type QuickAddTopicItem = {| topicName: string, displayName: string |};
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/MarkerSettingsEditor.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/MarkerSettingsEditor.js
index 8dfcb6e05..ba64c7a2b 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/MarkerSettingsEditor.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/MarkerSettingsEditor.js
@@ -7,18 +7,13 @@
 //  You may not use this file except in compliance with the License.
 
 import React from "react";
-import styled from "styled-components";
 
 import { LINED_CONVEX_HULL_RENDERING_SETTING, type TopicSettingsEditorProps } from ".";
 import { SLabel, SDescription, SInput } from "./common";
-import Dropdown from "webviz-core/src/components/Dropdown";
+import Checkbox from "webviz-core/src/components/Checkbox";
 import Flex from "webviz-core/src/components/Flex";
 import type { Marker, MarkerArray } from "webviz-core/src/types/Messages";
 
-const SDropdown = styled.label`
-  margin-bottom: 12px;
-`;
-
 type MarkerSettings = {|
   overrideColor?: ?string,
   overrideCommand?: ?string,
@@ -38,17 +33,22 @@ export default function MarkerSettingsEditor(props: TopicSettingsEditorProps<Mar
         placeholder="e.g. 255, 0, 100, 0.5"
         onChange={(e) => onFieldChange("overrideColor", e.target.value)}
       />
-      <SLabel>Command rendering</SLabel>
-      <SDescription>Overrides the Command used to render markers this topic.</SDescription>
-      <SDropdown>
-        <Dropdown
-          position="below"
-          onChange={(value) => onFieldChange("overrideCommand", value && value !== "default" ? value : null)}
-          value={settings.overrideCommand || "default"}>
-          <option value="default">Default</option>
-          <option value={LINED_CONVEX_HULL_RENDERING_SETTING}>Lined convex hull (line markers only)</option>
-        </Dropdown>
-      </SDropdown>
+      <SLabel>Line marker click events override</SLabel>
+      <SDescription>
+        {`
+        Optionally allow treating line markers as polygons, so that clicking inside the lines in the line marker selects
+        the marker. The default behavior for line markers requires the user to click exactly on the line to select the
+        line marker. This option can reduce performance and will not work on instanced line markers (those with "type":
+        105).
+        `}
+      </SDescription>
+      <Checkbox
+        checked={settings.overrideCommand === LINED_CONVEX_HULL_RENDERING_SETTING}
+        label="Allow clicking inside line markers that form polygons"
+        onChange={(checked) => onFieldChange("overrideCommand", checked ? LINED_CONVEX_HULL_RENDERING_SETTING : null)}
+        style={{ marginBottom: 12 }}
+        labelStyle={{ lineHeight: 1.2 }}
+      />
     </Flex>
   );
 }
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/common.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/common.js
index ef47d3e65..bfbcbe2ce 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/common.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/TopicSettingsEditor/common.js
@@ -17,6 +17,7 @@ export const SDescription = styled.label`
   display: block;
   margin: 6px 2px;
   opacity: 0.8;
+  line-height: 1.2;
 `;
 
 export const SInput = styled.input`
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/LaserScans.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/LaserScans.js
index 4cf5eacca..1ee1999b1 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/LaserScans.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/LaserScans.js
@@ -62,7 +62,7 @@ const laserScan = (regl: Regl) =>
     count: regl.prop("ranges.length"),
   });
 
-type Props = { children: LaserScan[], ...CommonCommandProps };
+type Props = { ...CommonCommandProps, children: LaserScan[] };
 
 export default function LaserScans(props: Props) {
   return <Command getChildrenForHitmap={nonInstancedGetChildrenForHitmap} {...props} reglCommand={laserScan} />;
diff --git a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/LinedConvexHulls.js b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/LinedConvexHulls.js
index c494e1375..31faf6746 100644
--- a/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/LinedConvexHulls.js
+++ b/packages/webviz-core/src/panels/ThreeDimensionalViz/commands/LinedConvexHulls.js
@@ -24,8 +24,8 @@ import {
 } from "regl-worldview";
 
 type Props = {
-  ...CommonCommandProps,
   children: Line[],
+  ...CommonCommandProps,
 };
 
 function getTriangleChildrenForHitmap(props: Line[], assignNextColors, excludedObjects): TriangleList[] {

From 6540d25aef2ea5957990aa5ff3f1b6eed910eb14 Mon Sep 17 00:00:00 2001
From: Troy Gibb <troy.gibb@gmail.com>
Date: Wed, 8 Jan 2020 15:40:57 -0800
Subject: [PATCH 34/50] Assert on type string in GLText (#311)

---
 packages/regl-worldview/src/commands/GLText.js | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/packages/regl-worldview/src/commands/GLText.js b/packages/regl-worldview/src/commands/GLText.js
index 49dc2c2d3..d3e77d71e 100644
--- a/packages/regl-worldview/src/commands/GLText.js
+++ b/packages/regl-worldview/src/commands/GLText.js
@@ -252,6 +252,10 @@ function makeTextCommand() {
       let estimatedInstances = 0;
       const prevNumChars = charSet.size;
       for (const { text } of props) {
+        if (typeof text !== "string") {
+          throw new Error(`Expected typeof 'text' to be a string. But got type '${typeof text}' instead.`);
+        }
+
         for (const char of text) {
           ++estimatedInstances;
           charSet.add(char);

From f9a689405b0b44554593fe1c2da7e0d1a1705e3f Mon Sep 17 00:00:00 2001
From: Jacob Bandes-Storch <jacob@getcruise.com>
Date: Thu, 9 Jan 2020 11:15:01 -0800
Subject: [PATCH 35/50] Add bz2 decompression support with compressjs (#316)

We already proved that compressjs works as a bz2 decoder in the rosbag.js tests: https://github.com/cruise-automation/rosbag.js/blob/68526faa242bb76943b6e42fa452f1eadb6cbc73/src/bag.test.js#L175-L178 But it wasn't imported in webviz, so bz2-compressed bags (such as the ones at https://vision.in.tum.de/data/datasets/rgbd-dataset/download#freiburg3_cabinet) didn't work by default.

It was almost very straightforward to add, except that a webpack/AMD module issue (webpack/webpack#5316) prevents us from actually using compressjs in our webpack build. I worked around it by using a string-replace-loader to just remove the offending line. It's a pretty horrible hack, but it works...let me know if you have any better suggestions.
---
 package-lock.json                             | 138 ++++++++++++------
 package.json                                  |   1 +
 packages/webviz-core/package-lock.json        |  54 +++----
 packages/webviz-core/package.json             |   1 +
 .../public/fixtures/example-bz2.bag           | Bin 0 -> 251141 bytes
 .../src/dataProviders/BagDataProvider.js      |  12 +-
 .../src/dataProviders/BagDataProvider.test.js |  34 +++++
 webpack.config.js                             |   8 +
 8 files changed, 174 insertions(+), 74 deletions(-)
 create mode 100644 packages/webviz-core/public/fixtures/example-bz2.bag

diff --git a/package-lock.json b/package-lock.json
index d4e4ea1ad..37a96e2de 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -9446,21 +9446,21 @@
       "dependencies": {
         "abbrev": {
           "version": "1.1.1",
-          "resolved": "https://registry.npmjs.org/abbrev/-/abbrev-1.1.1.tgz",
+          "resolved": false,
           "integrity": "sha512-nne9/IiQ/hzIhY6pdDnbBtz7DjPTKrY00P/zvPSm5pOFkl6xuGrGnXn/VtTNNfNtAfZ9/1RtehkszU9qcTii0Q==",
           "dev": true,
           "optional": true
         },
         "ansi-regex": {
           "version": "2.1.1",
-          "resolved": "https://registry.npmjs.org/ansi-regex/-/ansi-regex-2.1.1.tgz",
+          "resolved": false,
           "integrity": "sha1-w7M6te42DYbg5ijwRorn7yfWVN8=",
           "dev": true,
           "optional": true
         },
         "aproba": {
           "version": "1.2.0",
-          "resolved": "https://registry.npmjs.org/aproba/-/aproba-1.2.0.tgz",
+          "resolved": false,
           "integrity": "sha512-Y9J6ZjXtoYh8RnXVCMOU/ttDmk1aBjunq9vO0ta5x85WDQiQfUF9sIPBITdbiiIVcBo03Hi3jMxigBtsddlXRw==",
           "dev": true,
           "optional": true
@@ -9478,14 +9478,14 @@
         },
         "balanced-match": {
           "version": "1.0.0",
-          "resolved": "https://registry.npmjs.org/balanced-match/-/balanced-match-1.0.0.tgz",
+          "resolved": false,
           "integrity": "sha1-ibTRmasr7kneFk6gK4nORi1xt2c=",
           "dev": true,
           "optional": true
         },
         "brace-expansion": {
           "version": "1.1.11",
-          "resolved": "https://registry.npmjs.org/brace-expansion/-/brace-expansion-1.1.11.tgz",
+          "resolved": false,
           "integrity": "sha512-iCuPHDFgrHX7H2vEI/5xpz07zSHB00TpugqhmYtVmMO6518mCuRMoOYFldEBl0g187ufozdaHgWKcYFb61qGiA==",
           "dev": true,
           "optional": true,
@@ -9503,28 +9503,28 @@
         },
         "code-point-at": {
           "version": "1.1.0",
-          "resolved": "https://registry.npmjs.org/code-point-at/-/code-point-at-1.1.0.tgz",
+          "resolved": false,
           "integrity": "sha1-DQcLTQQ6W+ozovGkDi7bPZpMz3c=",
           "dev": true,
           "optional": true
         },
         "concat-map": {
           "version": "0.0.1",
-          "resolved": "https://registry.npmjs.org/concat-map/-/concat-map-0.0.1.tgz",
+          "resolved": false,
           "integrity": "sha1-2Klr13/Wjfd5OnMDajug1UBdR3s=",
           "dev": true,
           "optional": true
         },
         "console-control-strings": {
           "version": "1.1.0",
-          "resolved": "https://registry.npmjs.org/console-control-strings/-/console-control-strings-1.1.0.tgz",
+          "resolved": false,
           "integrity": "sha1-PXz0Rk22RG6mRL9LOVB/mFEAjo4=",
           "dev": true,
           "optional": true
         },
         "core-util-is": {
           "version": "1.0.2",
-          "resolved": "https://registry.npmjs.org/core-util-is/-/core-util-is-1.0.2.tgz",
+          "resolved": false,
           "integrity": "sha1-tf1UIgqivFq1eqtxQMlAdUUDwac=",
           "dev": true,
           "optional": true
@@ -9548,21 +9548,21 @@
         },
         "delegates": {
           "version": "1.0.0",
-          "resolved": "https://registry.npmjs.org/delegates/-/delegates-1.0.0.tgz",
+          "resolved": false,
           "integrity": "sha1-hMbhWbgZBP3KWaDvRM2HDTElD5o=",
           "dev": true,
           "optional": true
         },
         "detect-libc": {
           "version": "1.0.3",
-          "resolved": "https://registry.npmjs.org/detect-libc/-/detect-libc-1.0.3.tgz",
+          "resolved": false,
           "integrity": "sha1-+hN8S9aY7fVc1c0CrFWfkaTEups=",
           "dev": true,
           "optional": true
         },
         "fs-minipass": {
           "version": "1.2.5",
-          "resolved": "https://registry.npmjs.org/fs-minipass/-/fs-minipass-1.2.5.tgz",
+          "resolved": false,
           "integrity": "sha512-JhBl0skXjUPCFH7x6x61gQxrKyXsxB5gcgePLZCwfyCGGsTISMoIeObbrvVeP6Xmyaudw4TT43qV2Gz+iyd2oQ==",
           "dev": true,
           "optional": true,
@@ -9572,14 +9572,14 @@
         },
         "fs.realpath": {
           "version": "1.0.0",
-          "resolved": "https://registry.npmjs.org/fs.realpath/-/fs.realpath-1.0.0.tgz",
+          "resolved": false,
           "integrity": "sha1-FQStJSMVjKpA20onh8sBQRmU6k8=",
           "dev": true,
           "optional": true
         },
         "gauge": {
           "version": "2.7.4",
-          "resolved": "https://registry.npmjs.org/gauge/-/gauge-2.7.4.tgz",
+          "resolved": false,
           "integrity": "sha1-LANAXHU4w51+s3sxcCLjJfsBi/c=",
           "dev": true,
           "optional": true,
@@ -9611,7 +9611,7 @@
         },
         "has-unicode": {
           "version": "2.0.1",
-          "resolved": "https://registry.npmjs.org/has-unicode/-/has-unicode-2.0.1.tgz",
+          "resolved": false,
           "integrity": "sha1-4Ob+aijPUROIVeCG0Wkedx3iqLk=",
           "dev": true,
           "optional": true
@@ -9628,7 +9628,7 @@
         },
         "ignore-walk": {
           "version": "3.0.1",
-          "resolved": "https://registry.npmjs.org/ignore-walk/-/ignore-walk-3.0.1.tgz",
+          "resolved": false,
           "integrity": "sha512-DTVlMx3IYPe0/JJcYP7Gxg7ttZZu3IInhuEhbchuqneY9wWe5Ojy2mXLBaQFUQmo0AW2r3qG7m1mg86js+gnlQ==",
           "dev": true,
           "optional": true,
@@ -9638,7 +9638,7 @@
         },
         "inflight": {
           "version": "1.0.6",
-          "resolved": "https://registry.npmjs.org/inflight/-/inflight-1.0.6.tgz",
+          "resolved": false,
           "integrity": "sha1-Sb1jMdfQLQwJvJEKEHW6gWW1bfk=",
           "dev": true,
           "optional": true,
@@ -9649,21 +9649,21 @@
         },
         "inherits": {
           "version": "2.0.3",
-          "resolved": "https://registry.npmjs.org/inherits/-/inherits-2.0.3.tgz",
+          "resolved": false,
           "integrity": "sha1-Yzwsg+PaQqUC9SRmAiSA9CCCYd4=",
           "dev": true,
           "optional": true
         },
         "ini": {
           "version": "1.3.5",
-          "resolved": "https://registry.npmjs.org/ini/-/ini-1.3.5.tgz",
+          "resolved": false,
           "integrity": "sha512-RZY5huIKCMRWDUqZlEi72f/lmXKMvuszcMBduliQ3nnWbx9X/ZBQO7DijMEYS9EhHBb2qacRUMtC7svLwe0lcw==",
           "dev": true,
           "optional": true
         },
         "is-fullwidth-code-point": {
           "version": "1.0.0",
-          "resolved": "https://registry.npmjs.org/is-fullwidth-code-point/-/is-fullwidth-code-point-1.0.0.tgz",
+          "resolved": false,
           "integrity": "sha1-754xOG8DGn8NZDr4L95QxFfvAMs=",
           "dev": true,
           "optional": true,
@@ -9673,14 +9673,14 @@
         },
         "isarray": {
           "version": "1.0.0",
-          "resolved": "https://registry.npmjs.org/isarray/-/isarray-1.0.0.tgz",
+          "resolved": false,
           "integrity": "sha1-u5NdSFgsuhaMBoNJV6VKPgcSTxE=",
           "dev": true,
           "optional": true
         },
         "minimatch": {
           "version": "3.0.4",
-          "resolved": "https://registry.npmjs.org/minimatch/-/minimatch-3.0.4.tgz",
+          "resolved": false,
           "integrity": "sha512-yJHVQEhyqPLUTgt9B83PXu6W3rx4MvvHvSUvToogpwoGDOUQ+yDrR0HRot+yOCdCO7u4hX3pWft6kWBBcqh0UA==",
           "dev": true,
           "optional": true,
@@ -9690,7 +9690,7 @@
         },
         "minimist": {
           "version": "0.0.8",
-          "resolved": "https://registry.npmjs.org/minimist/-/minimist-0.0.8.tgz",
+          "resolved": false,
           "integrity": "sha1-hX/Kv8M5fSYluCKCYuhqp6ARsF0=",
           "dev": true,
           "optional": true
@@ -9718,7 +9718,7 @@
         },
         "mkdirp": {
           "version": "0.5.1",
-          "resolved": "https://registry.npmjs.org/mkdirp/-/mkdirp-0.5.1.tgz",
+          "resolved": false,
           "integrity": "sha1-MAV0OOrGz3+MR2fzhkjWaX11yQM=",
           "dev": true,
           "optional": true,
@@ -9766,7 +9766,7 @@
         },
         "nopt": {
           "version": "4.0.1",
-          "resolved": "https://registry.npmjs.org/nopt/-/nopt-4.0.1.tgz",
+          "resolved": false,
           "integrity": "sha1-0NRoWv1UFRk8jHUFYC0NF81kR00=",
           "dev": true,
           "optional": true,
@@ -9795,7 +9795,7 @@
         },
         "npmlog": {
           "version": "4.1.2",
-          "resolved": "https://registry.npmjs.org/npmlog/-/npmlog-4.1.2.tgz",
+          "resolved": false,
           "integrity": "sha512-2uUqazuKlTaSI/dC8AzicUck7+IrEaOnN/e0jd3Xtt1KcGpwx30v50mL7oPyr/h9bL3E4aZccVwpwP+5W9Vjkg==",
           "dev": true,
           "optional": true,
@@ -9808,21 +9808,21 @@
         },
         "number-is-nan": {
           "version": "1.0.1",
-          "resolved": "https://registry.npmjs.org/number-is-nan/-/number-is-nan-1.0.1.tgz",
+          "resolved": false,
           "integrity": "sha1-CXtgK1NCKlIsGvuHkDGDNpQaAR0=",
           "dev": true,
           "optional": true
         },
         "object-assign": {
           "version": "4.1.1",
-          "resolved": "https://registry.npmjs.org/object-assign/-/object-assign-4.1.1.tgz",
+          "resolved": false,
           "integrity": "sha1-IQmtx5ZYh8/AXLvUQsrIv7s2CGM=",
           "dev": true,
           "optional": true
         },
         "once": {
           "version": "1.4.0",
-          "resolved": "https://registry.npmjs.org/once/-/once-1.4.0.tgz",
+          "resolved": false,
           "integrity": "sha1-WDsap3WWHUsROsF9nFC6753Xa9E=",
           "dev": true,
           "optional": true,
@@ -9832,21 +9832,21 @@
         },
         "os-homedir": {
           "version": "1.0.2",
-          "resolved": "https://registry.npmjs.org/os-homedir/-/os-homedir-1.0.2.tgz",
+          "resolved": false,
           "integrity": "sha1-/7xJiDNuDoM94MFox+8VISGqf7M=",
           "dev": true,
           "optional": true
         },
         "os-tmpdir": {
           "version": "1.0.2",
-          "resolved": "https://registry.npmjs.org/os-tmpdir/-/os-tmpdir-1.0.2.tgz",
+          "resolved": false,
           "integrity": "sha1-u+Z0BseaqFxc/sdm/lc0VV36EnQ=",
           "dev": true,
           "optional": true
         },
         "osenv": {
           "version": "0.1.5",
-          "resolved": "https://registry.npmjs.org/osenv/-/osenv-0.1.5.tgz",
+          "resolved": false,
           "integrity": "sha512-0CWcCECdMVc2Rw3U5w9ZjqX6ga6ubk1xDVKxtBQPK7wis/0F2r9T6k4ydGYhecl7YUBxBVxhL5oisPsNxAPe2g==",
           "dev": true,
           "optional": true,
@@ -9857,14 +9857,14 @@
         },
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           "version": "1.0.1",
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@@ -10016,7 +10016,7 @@
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@@ -10033,7 +10033,7 @@
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@@ -20588,6 +20588,50 @@
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@@ -23910,4 +23954,4 @@
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diff --git a/package.json b/package.json
index 3b409e319..bedb20976 100755
--- a/package.json
+++ b/package.json
@@ -101,6 +101,7 @@
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diff --git a/packages/webviz-core/package-lock.json b/packages/webviz-core/package-lock.json
index 79451d5f2..0cb59fdfc 100644
--- a/packages/webviz-core/package-lock.json
+++ b/packages/webviz-core/package-lock.json
@@ -50,11 +50,6 @@
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@@ -317,6 +312,11 @@
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+      "resolved": "https://registry.npmjs.org/commander/-/commander-2.8.1.tgz",
+      "integrity": "sha1-Br42f+v9oMMwqh4qBy09yXYkJdQ=",
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+      "resolved": "https://registry.npmjs.org/compressjs/-/compressjs-1.0.3.tgz",
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@@ -1327,6 +1344,11 @@
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diff --git a/packages/webviz-core/package.json b/packages/webviz-core/package.json
index ad3cde4be..e7f02121c 100644
--- a/packages/webviz-core/package.json
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HcmV?d00001

diff --git a/packages/webviz-core/src/dataProviders/BagDataProvider.js b/packages/webviz-core/src/dataProviders/BagDataProvider.js
index e0a7282a3..d0b068eab 100644
--- a/packages/webviz-core/src/dataProviders/BagDataProvider.js
+++ b/packages/webviz-core/src/dataProviders/BagDataProvider.js
@@ -6,6 +6,7 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
+import Bzip2 from "compressjs/lib/Bzip2";
 import { keyBy } from "lodash";
 import Bag, { open, Time, BagReader } from "rosbag";
 import decompress from "wasm-lz4";
@@ -115,7 +116,16 @@ export default class BagDataProvider implements DataProvider {
         message: data.buffer.slice(data.byteOffset, data.byteOffset + data.length),
       });
     };
-    const options = { topics, startTime: start, endTime: end, noParse: true, decompress: { lz4: decompress } };
+    const options = {
+      topics,
+      startTime: start,
+      endTime: end,
+      noParse: true,
+      decompress: {
+        bz2: (buffer: Buffer) => Buffer.from(Bzip2.decompressFile(buffer)),
+        lz4: decompress,
+      },
+    };
     await this._bag.readMessages(options, onMessage);
     return messages;
   }
diff --git a/packages/webviz-core/src/dataProviders/BagDataProvider.test.js b/packages/webviz-core/src/dataProviders/BagDataProvider.test.js
index 7291838bb..598275b19 100644
--- a/packages/webviz-core/src/dataProviders/BagDataProvider.test.js
+++ b/packages/webviz-core/src/dataProviders/BagDataProvider.test.js
@@ -49,6 +49,40 @@ describe("BagDataProvider", () => {
     ]);
   });
 
+  it("initializes with bz2 bag", async () => {
+    const provider = new BagDataProvider(
+      { bagPath: { type: "file", file: `${__dirname}/../../public/fixtures/example-bz2.bag` } },
+      []
+    );
+    const result = await provider.initialize(dummyExtensionPoint);
+    expect(result.start).toEqual({ sec: 1396293887, nsec: 844783943 });
+    expect(result.end).toEqual({ sec: 1396293909, nsec: 544870199 });
+    expect(result.topics).toContainOnly([
+      { datatype: "rosgraph_msgs/Log", name: "/rosout" },
+      { datatype: "turtlesim/Color", name: "/turtle1/color_sensor" },
+      { datatype: "tf2_msgs/TFMessage", name: "/tf_static" },
+      { datatype: "turtlesim/Color", name: "/turtle2/color_sensor" },
+      { datatype: "turtlesim/Pose", name: "/turtle1/pose" },
+      { datatype: "turtlesim/Pose", name: "/turtle2/pose" },
+      { datatype: "tf/tfMessage", name: "/tf" },
+      { datatype: "geometry_msgs/Twist", name: "/turtle2/cmd_vel" },
+      { datatype: "geometry_msgs/Twist", name: "/turtle1/cmd_vel" },
+    ]);
+    expect(Object.keys(result.datatypes)).toContainOnly([
+      "rosgraph_msgs/Log",
+      "std_msgs/Header",
+      "turtlesim/Color",
+      "tf2_msgs/TFMessage",
+      "geometry_msgs/TransformStamped",
+      "geometry_msgs/Transform",
+      "geometry_msgs/Vector3",
+      "geometry_msgs/Quaternion",
+      "turtlesim/Pose",
+      "tf/tfMessage",
+      "geometry_msgs/Twist",
+    ]);
+  });
+
   it("calls progress callback while initializing with a local bag", async () => {
     const provider = new BagDataProvider(
       { bagPath: { type: "file", file: `${__dirname}/../../public/fixtures/example.bag` } },
diff --git a/webpack.config.js b/webpack.config.js
index 2faf9aa57..5f8c42771 100644
--- a/webpack.config.js
+++ b/webpack.config.js
@@ -144,6 +144,14 @@ module.exports = {
       { test: /\.scss$/, loader: "sass-loader", options: { sourceMap: true } },
       { test: /\.woff2?$/, loader: "url-loader" },
       { test: /\.(glb|bag)$/, loader: "file-loader" },
+      {
+        test: /node_modules\/compressjs\/.*\.js/,
+        loader: "string-replace-loader",
+        options: {
+          search: "if (typeof define !== 'function') { var define = require('amdefine')(module); }",
+          replace: "/* webviz: removed broken amdefine shim (https://github.com/webpack/webpack/issues/5316) */",
+        },
+      },
     ],
   },
   optimization: {

From 3bea414b79cd333ab12b6a3bd273476375acdde4 Mon Sep 17 00:00:00 2001
From: wei <hello@weiweiwu.me>
Date: Fri, 10 Jan 2020 14:59:38 -0800
Subject: [PATCH 36/50] chore: remove workspace key (#322)

---
 package.json | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/package.json b/package.json
index bedb20976..fd50f4030 100755
--- a/package.json
+++ b/package.json
@@ -138,8 +138,5 @@
     "screenshot-debug": "npm run screenshot -- --parallel 1 --debug --puppeteer-launch-config '{\"headless\": false, \"--args\":[\"--user-agent=PuppeteerTestingChrome/72.\"]}'",
     "ci-commands-for-cruise-proprietary-repo": "npm run install-ci && NODE_ENV=production npm run build && npm run lint && npm run flow && npm test && NODE_ENV=production npm run screenshot-ci",
     "ci": "npm run ci-commands-for-cruise-proprietary-repo && reg-suit run --verbose"
-  },
-  "workspaces": [
-    "packages/*"
-  ]
+  }
 }

From bffa37a65b293b5e64f68c0d338cde20911e212f Mon Sep 17 00:00:00 2001
From: David Winegar <david.winegar@getcruise.com>
Date: Wed, 15 Jan 2020 11:08:06 -0800
Subject: [PATCH 37/50] Worldview: fix hitmap bug (#326)

I'm seeing an error in our logs: "(regl) can not resize a framebuffer
which is currently in use" in the readHitmap function. Fix by debouncing
the readHitmap function because the framebuffer can only be used in
one function at a time. Also add caching to our readHitmap function: if
we haven't repainted or changed the pixel that we're looking at, we return
the previous result.

Test plan: test added for queuePromise for caching. Testing that caching
actually works (an implementation detail) seems a bit difficult right now
given our test harness.

Release plan: minor release required
---
 package-lock.json                             |  84 +++----
 packages/regl-worldview/package-lock.json     |   7 +-
 packages/regl-worldview/package.json          |   5 +-
 .../regl-worldview/src/WorldviewContext.js    | 222 ++++++++++--------
 .../assertionStories/Worldview.stories.js     |  88 ++++++-
 .../src/stories/worldviewAssertionUtils.js    |   2 +-
 .../regl-worldview/src/utils/queuePromise.js  |  48 ++++
 .../src/utils/queuePromise.test.js            |  94 ++++++++
 packages/regl-worldview/src/utils/signal.js   |  24 ++
 stories/assertionTestUtils.js                 |   9 +-
 10 files changed, 432 insertions(+), 151 deletions(-)
 create mode 100644 packages/regl-worldview/src/utils/queuePromise.js
 create mode 100644 packages/regl-worldview/src/utils/queuePromise.test.js
 create mode 100644 packages/regl-worldview/src/utils/signal.js

diff --git a/package-lock.json b/package-lock.json
index 37a96e2de..ad40f39a8 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -9446,21 +9446,21 @@
       "dependencies": {
         "abbrev": {
           "version": "1.1.1",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/abbrev/-/abbrev-1.1.1.tgz",
           "integrity": "sha512-nne9/IiQ/hzIhY6pdDnbBtz7DjPTKrY00P/zvPSm5pOFkl6xuGrGnXn/VtTNNfNtAfZ9/1RtehkszU9qcTii0Q==",
           "dev": true,
           "optional": true
         },
         "ansi-regex": {
           "version": "2.1.1",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/ansi-regex/-/ansi-regex-2.1.1.tgz",
           "integrity": "sha1-w7M6te42DYbg5ijwRorn7yfWVN8=",
           "dev": true,
           "optional": true
         },
         "aproba": {
           "version": "1.2.0",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/aproba/-/aproba-1.2.0.tgz",
           "integrity": "sha512-Y9J6ZjXtoYh8RnXVCMOU/ttDmk1aBjunq9vO0ta5x85WDQiQfUF9sIPBITdbiiIVcBo03Hi3jMxigBtsddlXRw==",
           "dev": true,
           "optional": true
@@ -9478,14 +9478,14 @@
         },
         "balanced-match": {
           "version": "1.0.0",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/balanced-match/-/balanced-match-1.0.0.tgz",
           "integrity": "sha1-ibTRmasr7kneFk6gK4nORi1xt2c=",
           "dev": true,
           "optional": true
         },
         "brace-expansion": {
           "version": "1.1.11",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/brace-expansion/-/brace-expansion-1.1.11.tgz",
           "integrity": "sha512-iCuPHDFgrHX7H2vEI/5xpz07zSHB00TpugqhmYtVmMO6518mCuRMoOYFldEBl0g187ufozdaHgWKcYFb61qGiA==",
           "dev": true,
           "optional": true,
@@ -9503,28 +9503,28 @@
         },
         "code-point-at": {
           "version": "1.1.0",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/code-point-at/-/code-point-at-1.1.0.tgz",
           "integrity": "sha1-DQcLTQQ6W+ozovGkDi7bPZpMz3c=",
           "dev": true,
           "optional": true
         },
         "concat-map": {
           "version": "0.0.1",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/concat-map/-/concat-map-0.0.1.tgz",
           "integrity": "sha1-2Klr13/Wjfd5OnMDajug1UBdR3s=",
           "dev": true,
           "optional": true
         },
         "console-control-strings": {
           "version": "1.1.0",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/console-control-strings/-/console-control-strings-1.1.0.tgz",
           "integrity": "sha1-PXz0Rk22RG6mRL9LOVB/mFEAjo4=",
           "dev": true,
           "optional": true
         },
         "core-util-is": {
           "version": "1.0.2",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/core-util-is/-/core-util-is-1.0.2.tgz",
           "integrity": "sha1-tf1UIgqivFq1eqtxQMlAdUUDwac=",
           "dev": true,
           "optional": true
@@ -9548,14 +9548,14 @@
         },
         "delegates": {
           "version": "1.0.0",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/delegates/-/delegates-1.0.0.tgz",
           "integrity": "sha1-hMbhWbgZBP3KWaDvRM2HDTElD5o=",
           "dev": true,
           "optional": true
         },
         "detect-libc": {
           "version": "1.0.3",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/detect-libc/-/detect-libc-1.0.3.tgz",
           "integrity": "sha1-+hN8S9aY7fVc1c0CrFWfkaTEups=",
           "dev": true,
           "optional": true
@@ -9572,14 +9572,14 @@
         },
         "fs.realpath": {
           "version": "1.0.0",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/fs.realpath/-/fs.realpath-1.0.0.tgz",
           "integrity": "sha1-FQStJSMVjKpA20onh8sBQRmU6k8=",
           "dev": true,
           "optional": true
         },
         "gauge": {
           "version": "2.7.4",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/gauge/-/gauge-2.7.4.tgz",
           "integrity": "sha1-LANAXHU4w51+s3sxcCLjJfsBi/c=",
           "dev": true,
           "optional": true,
@@ -9611,7 +9611,7 @@
         },
         "has-unicode": {
           "version": "2.0.1",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/has-unicode/-/has-unicode-2.0.1.tgz",
           "integrity": "sha1-4Ob+aijPUROIVeCG0Wkedx3iqLk=",
           "dev": true,
           "optional": true
@@ -9638,7 +9638,7 @@
         },
         "inflight": {
           "version": "1.0.6",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/inflight/-/inflight-1.0.6.tgz",
           "integrity": "sha1-Sb1jMdfQLQwJvJEKEHW6gWW1bfk=",
           "dev": true,
           "optional": true,
@@ -9656,14 +9656,14 @@
         },
         "ini": {
           "version": "1.3.5",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/ini/-/ini-1.3.5.tgz",
           "integrity": "sha512-RZY5huIKCMRWDUqZlEi72f/lmXKMvuszcMBduliQ3nnWbx9X/ZBQO7DijMEYS9EhHBb2qacRUMtC7svLwe0lcw==",
           "dev": true,
           "optional": true
         },
         "is-fullwidth-code-point": {
           "version": "1.0.0",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/is-fullwidth-code-point/-/is-fullwidth-code-point-1.0.0.tgz",
           "integrity": "sha1-754xOG8DGn8NZDr4L95QxFfvAMs=",
           "dev": true,
           "optional": true,
@@ -9673,14 +9673,14 @@
         },
         "isarray": {
           "version": "1.0.0",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/isarray/-/isarray-1.0.0.tgz",
           "integrity": "sha1-u5NdSFgsuhaMBoNJV6VKPgcSTxE=",
           "dev": true,
           "optional": true
         },
         "minimatch": {
           "version": "3.0.4",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/minimatch/-/minimatch-3.0.4.tgz",
           "integrity": "sha512-yJHVQEhyqPLUTgt9B83PXu6W3rx4MvvHvSUvToogpwoGDOUQ+yDrR0HRot+yOCdCO7u4hX3pWft6kWBBcqh0UA==",
           "dev": true,
           "optional": true,
@@ -9690,7 +9690,7 @@
         },
         "minimist": {
           "version": "0.0.8",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/minimist/-/minimist-0.0.8.tgz",
           "integrity": "sha1-hX/Kv8M5fSYluCKCYuhqp6ARsF0=",
           "dev": true,
           "optional": true
@@ -9718,7 +9718,7 @@
         },
         "mkdirp": {
           "version": "0.5.1",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/mkdirp/-/mkdirp-0.5.1.tgz",
           "integrity": "sha1-MAV0OOrGz3+MR2fzhkjWaX11yQM=",
           "dev": true,
           "optional": true,
@@ -9766,7 +9766,7 @@
         },
         "nopt": {
           "version": "4.0.1",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/nopt/-/nopt-4.0.1.tgz",
           "integrity": "sha1-0NRoWv1UFRk8jHUFYC0NF81kR00=",
           "dev": true,
           "optional": true,
@@ -9795,7 +9795,7 @@
         },
         "npmlog": {
           "version": "4.1.2",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/npmlog/-/npmlog-4.1.2.tgz",
           "integrity": "sha512-2uUqazuKlTaSI/dC8AzicUck7+IrEaOnN/e0jd3Xtt1KcGpwx30v50mL7oPyr/h9bL3E4aZccVwpwP+5W9Vjkg==",
           "dev": true,
           "optional": true,
@@ -9808,21 +9808,21 @@
         },
         "number-is-nan": {
           "version": "1.0.1",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/number-is-nan/-/number-is-nan-1.0.1.tgz",
           "integrity": "sha1-CXtgK1NCKlIsGvuHkDGDNpQaAR0=",
           "dev": true,
           "optional": true
         },
         "object-assign": {
           "version": "4.1.1",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/object-assign/-/object-assign-4.1.1.tgz",
           "integrity": "sha1-IQmtx5ZYh8/AXLvUQsrIv7s2CGM=",
           "dev": true,
           "optional": true
         },
         "once": {
           "version": "1.4.0",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/once/-/once-1.4.0.tgz",
           "integrity": "sha1-WDsap3WWHUsROsF9nFC6753Xa9E=",
           "dev": true,
           "optional": true,
@@ -9832,21 +9832,21 @@
         },
         "os-homedir": {
           "version": "1.0.2",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/os-homedir/-/os-homedir-1.0.2.tgz",
           "integrity": "sha1-/7xJiDNuDoM94MFox+8VISGqf7M=",
           "dev": true,
           "optional": true
         },
         "os-tmpdir": {
           "version": "1.0.2",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/os-tmpdir/-/os-tmpdir-1.0.2.tgz",
           "integrity": "sha1-u+Z0BseaqFxc/sdm/lc0VV36EnQ=",
           "dev": true,
           "optional": true
         },
         "osenv": {
           "version": "0.1.5",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/osenv/-/osenv-0.1.5.tgz",
           "integrity": "sha512-0CWcCECdMVc2Rw3U5w9ZjqX6ga6ubk1xDVKxtBQPK7wis/0F2r9T6k4ydGYhecl7YUBxBVxhL5oisPsNxAPe2g==",
           "dev": true,
           "optional": true,
@@ -9857,7 +9857,7 @@
         },
         "path-is-absolute": {
           "version": "1.0.1",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/path-is-absolute/-/path-is-absolute-1.0.1.tgz",
           "integrity": "sha1-F0uSaHNVNP+8es5r9TpanhtcX18=",
           "dev": true,
           "optional": true
@@ -9884,7 +9884,7 @@
           "dependencies": {
             "minimist": {
               "version": "1.2.0",
-              "resolved": false,
+              "resolved": "https://registry.npmjs.org/minimist/-/minimist-1.2.0.tgz",
               "integrity": "sha1-o1AIsg9BOD7sH7kU9M1d95omQoQ=",
               "dev": true,
               "optional": true
@@ -9893,7 +9893,7 @@
         },
         "readable-stream": {
           "version": "2.3.6",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/readable-stream/-/readable-stream-2.3.6.tgz",
           "integrity": "sha512-tQtKA9WIAhBF3+VLAseyMqZeBjW0AHJoxOtYqSUZNJxauErmLbVm2FW1y+J/YA9dUrAC39ITejlZWhVIwawkKw==",
           "dev": true,
           "optional": true,
@@ -9926,14 +9926,14 @@
         },
         "safer-buffer": {
           "version": "2.1.2",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/safer-buffer/-/safer-buffer-2.1.2.tgz",
           "integrity": "sha512-YZo3K82SD7Riyi0E1EQPojLz7kpepnSQI9IyPbHHg1XXXevb5dJI7tpyN2ADxGcQbHG7vcyRHk0cbwqcQriUtg==",
           "dev": true,
           "optional": true
         },
         "sax": {
           "version": "1.2.4",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/sax/-/sax-1.2.4.tgz",
           "integrity": "sha512-NqVDv9TpANUjFm0N8uM5GxL36UgKi9/atZw+x7YFnQ8ckwFGKrl4xX4yWtrey3UJm5nP1kUbnYgLopqWNSRhWw==",
           "dev": true,
           "optional": true
@@ -9947,21 +9947,21 @@
         },
         "set-blocking": {
           "version": "2.0.0",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/set-blocking/-/set-blocking-2.0.0.tgz",
           "integrity": "sha1-BF+XgtARrppoA93TgrJDkrPYkPc=",
           "dev": true,
           "optional": true
         },
         "signal-exit": {
           "version": "3.0.2",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/signal-exit/-/signal-exit-3.0.2.tgz",
           "integrity": "sha1-tf3AjxKH6hF4Yo5BXiUTK3NkbG0=",
           "dev": true,
           "optional": true
         },
         "string-width": {
           "version": "1.0.2",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/string-width/-/string-width-1.0.2.tgz",
           "integrity": "sha1-EYvfW4zcUaKn5w0hHgfisLmxB9M=",
           "dev": true,
           "optional": true,
@@ -9973,7 +9973,7 @@
         },
         "string_decoder": {
           "version": "1.1.1",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/string_decoder/-/string_decoder-1.1.1.tgz",
           "integrity": "sha512-n/ShnvDi6FHbbVfviro+WojiFzv+s8MPMHBczVePfUpDJLwoLT0ht1l4YwBCbi8pJAveEEdnkHyPyTP/mzRfwg==",
           "dev": true,
           "optional": true,
@@ -9983,7 +9983,7 @@
         },
         "strip-ansi": {
           "version": "3.0.1",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/strip-ansi/-/strip-ansi-3.0.1.tgz",
           "integrity": "sha1-ajhfuIU9lS1f8F0Oiq+UJ43GPc8=",
           "dev": true,
           "optional": true,
@@ -9993,7 +9993,7 @@
         },
         "strip-json-comments": {
           "version": "2.0.1",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/strip-json-comments/-/strip-json-comments-2.0.1.tgz",
           "integrity": "sha1-PFMZQukIwml8DsNEhYwobHygpgo=",
           "dev": true,
           "optional": true
@@ -10016,7 +10016,7 @@
         },
         "util-deprecate": {
           "version": "1.0.2",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/util-deprecate/-/util-deprecate-1.0.2.tgz",
           "integrity": "sha1-RQ1Nyfpw3nMnYvvS1KKJgUGaDM8=",
           "dev": true,
           "optional": true
@@ -10033,7 +10033,7 @@
         },
         "wrappy": {
           "version": "1.0.2",
-          "resolved": false,
+          "resolved": "https://registry.npmjs.org/wrappy/-/wrappy-1.0.2.tgz",
           "integrity": "sha1-tSQ9jz7BqjXxNkYFvA0QNuMKtp8=",
           "dev": true,
           "optional": true
diff --git a/packages/regl-worldview/package-lock.json b/packages/regl-worldview/package-lock.json
index de5eeb2d2..a851fb9db 100755
--- a/packages/regl-worldview/package-lock.json
+++ b/packages/regl-worldview/package-lock.json
@@ -1,6 +1,6 @@
 {
 	"name": "regl-worldview",
-	"version": "0.3.1",
+	"version": "0.3.2",
 	"lockfileVersion": 1,
 	"requires": true,
 	"dependencies": {
@@ -132,6 +132,11 @@
 			"version": "3.0.1",
 			"resolved": "https://registry.npmjs.org/reselect/-/reselect-3.0.1.tgz",
 			"integrity": "sha1-79qpjqdFEyTQkrKyFjpqHXqaIUc="
+		},
+		"shallowequal": {
+			"version": "1.1.0",
+			"resolved": "https://registry.npmjs.org/shallowequal/-/shallowequal-1.1.0.tgz",
+			"integrity": "sha512-y0m1JoUZSlPAjXVtPPW70aZWfIL/dSP7AFkRnniLCrK/8MDKog3TySTBmckD+RObVxH0v4Tox67+F14PdED2oQ=="
 		}
 	}
 }
diff --git a/packages/regl-worldview/package.json b/packages/regl-worldview/package.json
index 4006a6079..762802312 100755
--- a/packages/regl-worldview/package.json
+++ b/packages/regl-worldview/package.json
@@ -1,6 +1,6 @@
 {
   "name": "regl-worldview",
-  "version": "0.3.1",
+  "version": "0.3.2",
   "description": "A reusable component for rendering 2D and 3D views using regl",
   "license": "Apache-2.0",
   "repository": "cruise-automation/webviz/tree/master/packages/regl-worldview",
@@ -36,7 +36,8 @@
     "normalize-wheel": "1.0.1",
     "react-container-dimensions": "1.3.3",
     "regl": "^1.3.1",
-    "reselect": "^3.0.1"
+    "reselect": "^3.0.1",
+    "shallowequal": "1.1.0"
   },
   "devDependencies": {
     "flow-bin": "0.80.0"
diff --git a/packages/regl-worldview/src/WorldviewContext.js b/packages/regl-worldview/src/WorldviewContext.js
index 2c7097664..bab279082 100755
--- a/packages/regl-worldview/src/WorldviewContext.js
+++ b/packages/regl-worldview/src/WorldviewContext.js
@@ -9,6 +9,7 @@
 import debounce from "lodash/debounce";
 import * as React from "react";
 import createREGL from "regl";
+import shallowequal from "shallowequal";
 
 import { camera, CameraStore } from "./camera/index";
 import Command from "./commands/Command";
@@ -26,6 +27,7 @@ import type {
 import { getIdFromPixel, intToRGB } from "./utils/commandUtils";
 import { getNodeEnv } from "./utils/common";
 import HitmapObjectIdManager from "./utils/HitmapObjectIdManager";
+import queuePromise from "./utils/queuePromise";
 import { getRayFromClick } from "./utils/Raycast";
 
 type Props = any;
@@ -83,6 +85,10 @@ export class WorldviewContext {
   _drawCalls: Map<React.Component<any>, DrawInput> = new Map();
   _paintCalls: Map<PaintFn, PaintFn> = new Map();
   _hitmapObjectIdManager: HitmapObjectIdManager = new HitmapObjectIdManager();
+  _cachedReadHitmapCall: ?{
+    arguments: any[],
+    result: Array<[MouseEventObject, Command<any>]>,
+  } = undefined;
   // store every compiled command object compiled for debugging purposes
   reglCommandObjects: { stats: { count: number } }[] = [];
   counters: { paint?: number, render?: number } = {};
@@ -206,6 +212,7 @@ export class WorldviewContext {
     if (!this.initializedData) {
       return;
     }
+    this._cachedReadHitmapCall = null; // clear the cache every time we paint
     const { regl, camera } = this.initializedData;
     this._clearCanvas(regl);
     camera.draw(this.cameraStore.state, () => {
@@ -222,113 +229,134 @@ export class WorldviewContext {
 
   _debouncedPaint = debounce(this.paint, 10);
 
-  readHitmap(
-    canvasX: number,
-    canvasY: number,
-    enableStackedObjectEvents: boolean,
-    maxStackedObjectCount: number
-  ): Promise<Array<[MouseEventObject, Command<any>]>> {
-    if (!this.initializedData) {
-      return new Promise((_, reject) => reject(new Error("regl data not initialized yet")));
-    }
-
-    const { regl, camera, _fbo } = this.initializedData;
-    const { width, height } = this.dimension;
+  readHitmap = queuePromise(
+    (
+      canvasX: number,
+      canvasY: number,
+      enableStackedObjectEvents: boolean,
+      maxStackedObjectCount: number
+    ): Promise<Array<[MouseEventObject, Command<any>]>> => {
+      if (!this.initializedData) {
+        return Promise.reject(new Error("regl data not initialized yet"));
+      }
+      const args = [canvasX, canvasY, enableStackedObjectEvents, maxStackedObjectCount];
+
+      const cachedReadHitmapCall = this._cachedReadHitmapCall;
+      if (cachedReadHitmapCall) {
+        if (shallowequal(cachedReadHitmapCall.arguments, args)) {
+          // Make sure that we aren't returning the exact object identity of the mouseEventObject - we don't know what
+          // callers have done with it.
+          const result = cachedReadHitmapCall.result.map(([mouseEventObject, command]) => [
+            { ...mouseEventObject },
+            command,
+          ]);
+          return Promise.resolve(result);
+        }
+        this._cachedReadHitmapCall = undefined;
+      }
 
-    const x = canvasX;
-    // 0,0 corresponds to the bottom left in the webgl context, but the top left in window coordinates
-    const y = height - canvasY;
-
-    // regl will only resize the framebuffer if the size changed
-    // it uses floored whole pixel values
-    _fbo.resize(Math.floor(width), Math.floor(height));
-
-    return new Promise((resolve) => {
-      // tell regl to use a framebuffer for this render
-      regl({ framebuffer: _fbo })(() => {
-        // clear the framebuffer
-        regl.clear({ color: intToRGB(0), depth: 1 });
-        let currentObjectId = 0;
-        const excludedObjects = [];
-        const mouseEventsWithCommands = [];
-        let counter = 0;
-
-        camera.draw(this.cameraStore.state, () => {
-          // Every iteration in this loop clears the framebuffer, draws the hitmap objects that have NOT already been
-          // seen to the framebuffer, and then reads the pixel under the cursor to find the object on top.
-          // If `enableStackedObjectEvents` is false, we only do this iteration once - we only resolve with 0 or 1
-          // objects.
-          do {
-            if (counter >= maxStackedObjectCount) {
-              // Provide a max number of layers so this while loop doesn't crash the page.
-              console.error(
-                `Hit ${maxStackedObjectCount} iterations. There is either a bug or that number of rendered hitmap layers under the mouse cursor.`
-              );
-              break;
-            }
-            counter++;
-            regl.clear({ color: intToRGB(0), depth: 1 });
-            this._drawInput(true, excludedObjects);
-
-            // it's possible to get x/y values outside the framebuffer size
-            // if the mouse quickly leaves the draw area during a read operation
-            // reading outside the bounds of the framebuffer causes errors
-            // and puts regl into a bad internal state.
-            // https://github.com/regl-project/regl/blob/28fbf71c871498c608d9ec741d47e34d44af0eb5/lib/read.js#L57
-            if (x < Math.floor(width) && y < Math.floor(height) && x >= 0 && y >= 0) {
-              const pixel = new Uint8Array(4);
-
-              // read pixel value from the frame buffer
-              regl.read({
-                x,
-                y,
-                width: 1,
-                height: 1,
-                data: pixel,
-              });
-
-              currentObjectId = getIdFromPixel(pixel);
-              const mouseEventObject = this._hitmapObjectIdManager.getObjectByObjectHitmapId(currentObjectId);
-
-              // Check an error case: if we see an ID/color that we don't know about, it means that some command is
-              // drawing a color into the hitmap that it shouldn't be.
-              if (currentObjectId > 0 && !mouseEventObject) {
-                console.error(
-                  `Clicked on an unknown object with id ${currentObjectId}. This likely means that a command is painting an incorrect color into the hitmap.`
-                );
-              }
-              // Check an error case: if we've already seen this object, then the getHitmapFromChildren function
-              // is not respecting the excludedObjects correctly and we should notify the user of a bug.
-              if (
-                excludedObjects.some(
-                  ({ object, instanceIndex }) =>
-                    object === mouseEventObject.object && instanceIndex === mouseEventObject.instanceIndex
-                )
-              ) {
+      const { regl, camera, _fbo } = this.initializedData;
+      const { width, height } = this.dimension;
+
+      const x = canvasX;
+      // 0,0 corresponds to the bottom left in the webgl context, but the top left in window coordinates
+      const y = height - canvasY;
+
+      // regl will only resize the framebuffer if the size changed
+      // it uses floored whole pixel values
+      _fbo.resize(Math.floor(width), Math.floor(height));
+
+      return new Promise((resolve) => {
+        // tell regl to use a framebuffer for this render
+        regl({ framebuffer: _fbo })(() => {
+          // clear the framebuffer
+          regl.clear({ color: intToRGB(0), depth: 1 });
+          let currentObjectId = 0;
+          const excludedObjects = [];
+          const mouseEventsWithCommands = [];
+          let counter = 0;
+
+          camera.draw(this.cameraStore.state, () => {
+            // Every iteration in this loop clears the framebuffer, draws the hitmap objects that have NOT already been
+            // seen to the framebuffer, and then reads the pixel under the cursor to find the object on top.
+            // If `enableStackedObjectEvents` is false, we only do this iteration once - we only resolve with 0 or 1
+            // objects.
+            do {
+              if (counter >= maxStackedObjectCount) {
+                // Provide a max number of layers so this while loop doesn't crash the page.
                 console.error(
-                  `Saw object twice when reading from hitmap. There is likely an error in getHitmapFromChildren`,
-                  mouseEventObject
+                  `Hit ${maxStackedObjectCount} iterations. There is either a bug or that number of rendered hitmap layers under the mouse cursor.`
                 );
                 break;
               }
+              counter++;
+              regl.clear({ color: intToRGB(0), depth: 1 });
+              this._drawInput(true, excludedObjects);
+
+              // it's possible to get x/y values outside the framebuffer size
+              // if the mouse quickly leaves the draw area during a read operation
+              // reading outside the bounds of the framebuffer causes errors
+              // and puts regl into a bad internal state.
+              // https://github.com/regl-project/regl/blob/28fbf71c871498c608d9ec741d47e34d44af0eb5/lib/read.js#L57
+              if (x < Math.floor(width) && y < Math.floor(height) && x >= 0 && y >= 0) {
+                const pixel = new Uint8Array(4);
+
+                // read pixel value from the frame buffer
+                regl.read({
+                  x,
+                  y,
+                  width: 1,
+                  height: 1,
+                  data: pixel,
+                });
+
+                currentObjectId = getIdFromPixel(pixel);
+                const mouseEventObject = this._hitmapObjectIdManager.getObjectByObjectHitmapId(currentObjectId);
+
+                // Check an error case: if we see an ID/color that we don't know about, it means that some command is
+                // drawing a color into the hitmap that it shouldn't be.
+                if (currentObjectId > 0 && !mouseEventObject) {
+                  console.error(
+                    `Clicked on an unknown object with id ${currentObjectId}. This likely means that a command is painting an incorrect color into the hitmap.`
+                  );
+                }
+                // Check an error case: if we've already seen this object, then the getHitmapFromChildren function
+                // is not respecting the excludedObjects correctly and we should notify the user of a bug.
+                if (
+                  excludedObjects.some(
+                    ({ object, instanceIndex }) =>
+                      object === mouseEventObject.object && instanceIndex === mouseEventObject.instanceIndex
+                  )
+                ) {
+                  console.error(
+                    `Saw object twice when reading from hitmap. There is likely an error in getHitmapFromChildren`,
+                    mouseEventObject
+                  );
+                  break;
+                }
 
-              if (currentObjectId > 0 && mouseEventObject.object) {
-                const command = this._hitmapObjectIdManager.getCommandForObject(mouseEventObject.object);
-                excludedObjects.push(mouseEventObject);
-                if (command) {
-                  mouseEventsWithCommands.push([mouseEventObject, command]);
+                if (currentObjectId > 0 && mouseEventObject.object) {
+                  const command = this._hitmapObjectIdManager.getCommandForObject(mouseEventObject.object);
+                  excludedObjects.push(mouseEventObject);
+                  if (command) {
+                    mouseEventsWithCommands.push([mouseEventObject, command]);
+                  }
                 }
               }
-            }
-            // If we haven't enabled stacked object events, break out of the loop immediately.
-            // eslint-disable-next-line no-unmodified-loop-condition
-          } while (currentObjectId !== 0 && enableStackedObjectEvents);
-
-          resolve(mouseEventsWithCommands);
+              // If we haven't enabled stacked object events, break out of the loop immediately.
+              // eslint-disable-next-line no-unmodified-loop-condition
+            } while (currentObjectId !== 0 && enableStackedObjectEvents);
+
+            this._cachedReadHitmapCall = {
+              arguments: args,
+              result: mouseEventsWithCommands,
+            };
+            resolve(mouseEventsWithCommands);
+          });
         });
       });
-    });
-  }
+    }
+  );
 
   _drawInput = (isHitmap?: boolean, excludedObjects?: MouseEventObject[]) => {
     if (isHitmap) {
diff --git a/packages/regl-worldview/src/stories/assertionStories/Worldview.stories.js b/packages/regl-worldview/src/stories/assertionStories/Worldview.stories.js
index 1df83f210..e4f1bec69 100644
--- a/packages/regl-worldview/src/stories/assertionStories/Worldview.stories.js
+++ b/packages/regl-worldview/src/stories/assertionStories/Worldview.stories.js
@@ -14,7 +14,7 @@ import React from "react";
 import { withScreenshot } from "storybook-chrome-screenshot";
 
 import Cubes from "../../commands/Cubes";
-import { WorldviewWrapper, clickAtOrigin, WORLDVIEW_SIZE } from "../worldviewAssertionUtils";
+import { WorldviewWrapper, clickAtOrigin, WORLDVIEW_SIZE, defaultCameraState } from "../worldviewAssertionUtils";
 import { assertionTest, timeout } from "stories/assertionTestUtils";
 
 const cube = {
@@ -35,15 +35,19 @@ const underCube = {
   color: { r: 0, g: 1, b: 1, a: 0.5 },
 };
 
-async function emitMouseEvent(eventName: "mousemove" | "mousedown" | "mouseup" | "dblclick"): Promise<void> {
+async function emitMouseEvent(
+  eventName: "mousemove" | "mousedown" | "mouseup" | "dblclick",
+  clientX: number = WORLDVIEW_SIZE / 2,
+  clientY: number = WORLDVIEW_SIZE / 2
+): Promise<void> {
   const [element] = document.getElementsByTagName("canvas");
   if (!element) {
     throw new Error("Could not find canvas element");
   }
   const mouseEvent = new MouseEvent(eventName, {
     bubbles: true,
-    clientX: WORLDVIEW_SIZE / 2,
-    clientY: WORLDVIEW_SIZE / 2,
+    clientX,
+    clientY,
   });
   element.dispatchEvent(mouseEvent);
   await timeout(100);
@@ -234,4 +238,80 @@ stories
         expect(result[0].object).toEqual(cube);
       },
     })
+  )
+  .add(
+    `Firing two mouse events at the same time does not cause an error`,
+    assertionTest({
+      story: (setTestData) => (
+        <WorldviewWrapper onMouseDown={(_, clickInfo) => setTestData(clickInfo)}>
+          <Cubes>{[cube]}</Cubes>
+        </WorldviewWrapper>
+      ),
+      assertions: async (getTestData) => {
+        emitMouseEvent("mousedown");
+        await emitMouseEvent("mousedown");
+        const result1 = await getTestData();
+        expect(result1.objects[0].object).toEqual(cube);
+      },
+    })
+  )
+  .add(
+    `(cached hitmap test) A second event at the same point correctly selects the same object`,
+    assertionTest({
+      story: (setTestData) => (
+        <WorldviewWrapper onMouseDown={(_, clickInfo) => setTestData(clickInfo)}>
+          <Cubes>{[cube]}</Cubes>
+        </WorldviewWrapper>
+      ),
+      assertions: async (getTestData) => {
+        await emitMouseEvent("mousedown");
+        const result1 = await getTestData();
+        expect(result1.objects[0].object).toEqual(cube);
+        await emitMouseEvent("mousedown");
+        const result2 = await getTestData();
+        expect(result2.objects[0].object).toEqual(cube);
+      },
+    })
+  )
+  .add(
+    `(cached hitmap test) Repainting busts the cache`,
+    assertionTest({
+      story: (setTestData, state) => (
+        <WorldviewWrapper
+          cameraState={state || defaultCameraState}
+          onMouseDown={(_, clickInfo) => setTestData(clickInfo)}>
+          <Cubes>{[cube]}</Cubes>
+        </WorldviewWrapper>
+      ),
+      assertions: async (getTestData, setState) => {
+        await emitMouseEvent("mousedown");
+        const result1 = await getTestData();
+        expect(result1.objects[0].object).toEqual(cube);
+
+        setState({ ...defaultCameraState, target: [100, 0, 0] });
+        await timeout(100);
+        await emitMouseEvent("mousedown");
+        const result2 = await getTestData();
+        expect(result2.objects.length).toEqual(0);
+      },
+    })
+  )
+  .add(
+    `(cached hitmap test) A second event at a different point does not use the first cached point`,
+    assertionTest({
+      story: (setTestData) => (
+        <WorldviewWrapper onMouseDown={(_, clickInfo) => setTestData(clickInfo)}>
+          <Cubes>{[cube]}</Cubes>
+        </WorldviewWrapper>
+      ),
+      assertions: async (getTestData) => {
+        await emitMouseEvent("mousedown");
+        const result1 = await getTestData();
+        expect(result1.objects[0].object).toEqual(cube);
+
+        await emitMouseEvent("mousedown", 0, 0);
+        const result2 = await getTestData();
+        expect(result2.objects.length).toEqual(0);
+      },
+    })
   );
diff --git a/packages/regl-worldview/src/stories/worldviewAssertionUtils.js b/packages/regl-worldview/src/stories/worldviewAssertionUtils.js
index ac8745147..7c3b7dc5f 100644
--- a/packages/regl-worldview/src/stories/worldviewAssertionUtils.js
+++ b/packages/regl-worldview/src/stories/worldviewAssertionUtils.js
@@ -16,7 +16,7 @@ import type { CameraState } from "../types";
 import Worldview, { type Props } from "../Worldview";
 import { assertionTest, timeout } from "stories/assertionTestUtils";
 
-const defaultCameraState: $Shape<CameraState> = {
+export const defaultCameraState: $Shape<CameraState> = {
   distance: 75,
   perspective: true,
   phi: Math.PI / 2,
diff --git a/packages/regl-worldview/src/utils/queuePromise.js b/packages/regl-worldview/src/utils/queuePromise.js
new file mode 100644
index 000000000..229803a38
--- /dev/null
+++ b/packages/regl-worldview/src/utils/queuePromise.js
@@ -0,0 +1,48 @@
+// @flow
+//
+//  Copyright (c) 2019-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import { signal, type Signal } from "./signal";
+
+type QueuedFn = ((...args: any[]) => Promise<any>) & { currentPromise: ?Promise<any> };
+
+// Wait for the previous promise to resolve before starting the next call to the function.
+export default function queuePromise(fn: (...args: any[]) => Promise<any>): QueuedFn {
+  // Whether we are currently waiting for a promise returned by `fn` to resolve.
+  let calling = false;
+  // The list of calls made to the function was made while a call was in progress.
+  const nextCalls: {| args: any[], promise: Signal<any> |}[] = [];
+
+  function queuedFn(...args) {
+    if (calling) {
+      const returnPromise = signal();
+      nextCalls.push({ args, promise: returnPromise });
+      return returnPromise;
+    }
+    return start(...args);
+  }
+
+  function start(...args) {
+    calling = true;
+
+    const promise = fn(...args).finally(() => {
+      calling = false;
+      queuedFn.currentPromise = undefined;
+      if (nextCalls.length) {
+        const { promise: nextPromise, args: nextArgs } = nextCalls.shift();
+        start(...nextArgs)
+          .then((result) => nextPromise.resolve(result))
+          .catch((error) => nextPromise.reject(error));
+      }
+    });
+    queuedFn.currentPromise = promise;
+
+    return promise;
+  }
+
+  return queuedFn;
+}
diff --git a/packages/regl-worldview/src/utils/queuePromise.test.js b/packages/regl-worldview/src/utils/queuePromise.test.js
new file mode 100644
index 000000000..a58c4a263
--- /dev/null
+++ b/packages/regl-worldview/src/utils/queuePromise.test.js
@@ -0,0 +1,94 @@
+// @flow
+//
+//  Copyright (c) 2019-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+import queuePromise from "./queuePromise";
+import { signal } from "./signal";
+
+/* eslint-disable jest/valid-expect-in-promise */
+
+describe("queuePromise", () => {
+  it("queues with resolved and rejected promises", async () => {
+    const secondPromise = signal();
+    const promises = [Promise.resolve(), secondPromise, Promise.resolve()];
+
+    let calls = 0;
+    const callArgs = [];
+    const queuedFn = queuePromise((...args) => {
+      callArgs.push(args);
+      ++calls;
+      return promises.shift();
+    });
+
+    expect(calls).toBe(0);
+
+    queuedFn(1, 2);
+    queuedFn(3, 4);
+    queuedFn(5, 6);
+    expect(calls).toBe(1);
+    expect(callArgs).toEqual([[1, 2]]);
+    expect(queuedFn.currentPromise).not.toBeUndefined();
+
+    await secondPromise.reject(new Error(""));
+    expect(calls).toBe(2);
+    expect(callArgs).toEqual([[1, 2], [3, 4]]);
+    await Promise.resolve();
+
+    expect(calls).toBe(3);
+    expect(callArgs).toEqual([[1, 2], [3, 4], [5, 6]]);
+    expect(queuedFn.currentPromise).toBeUndefined();
+  });
+
+  it("returns a promise", async () => {
+    const promises = [signal(), signal()];
+    let calls = 0;
+    const queuedFn = queuePromise((...args) => {
+      ++calls;
+      return promises[calls - 1];
+    });
+
+    const arePromisesResolved = [false, false];
+    const promiseResults = [queuedFn(), queuedFn()];
+    promiseResults.forEach((promise, index) =>
+      promise.then(() => {
+        arePromisesResolved[index] = true;
+      })
+    );
+    expect(calls).toEqual(1);
+    expect(arePromisesResolved).toEqual([false, false]);
+
+    // resolve the first promise. This should move on to the second promise.
+    promises[0].resolve();
+    await promiseResults[0];
+    expect(calls).toEqual(2);
+    expect(arePromisesResolved).toEqual([true, false]);
+
+    // resolve the second promise.
+    promises[1].resolve();
+    await promiseResults[1];
+    expect(calls).toEqual(2);
+    expect(arePromisesResolved).toEqual([true, true]);
+  });
+
+  it("handles nested calls", async () => {
+    expect.assertions(3);
+
+    let calls = 0;
+    const queuedFn = queuePromise(async () => {
+      ++calls;
+      if (calls === 1) {
+        queuedFn();
+        expect(calls).toBe(1);
+      }
+    });
+
+    queuedFn();
+    expect(calls).toBe(1);
+    await Promise.resolve();
+    expect(calls).toBe(2);
+  });
+});
diff --git a/packages/regl-worldview/src/utils/signal.js b/packages/regl-worldview/src/utils/signal.js
new file mode 100644
index 000000000..9feb3cc2d
--- /dev/null
+++ b/packages/regl-worldview/src/utils/signal.js
@@ -0,0 +1,24 @@
+// @flow
+//
+//  Copyright (c) 2019-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+export type Signal<T> = Promise<T> & {
+  resolve: (T) => void,
+  reject: (Error) => void,
+};
+
+export function signal<T>(): Signal<T> {
+  let resolve;
+  let reject;
+  const promise: any = new Promise((res, rej) => {
+    resolve = res;
+    reject = rej;
+  });
+  promise.resolve = resolve;
+  promise.reject = reject;
+  return promise;
+}
diff --git a/stories/assertionTestUtils.js b/stories/assertionTestUtils.js
index eb4f4a851..971fabcb2 100644
--- a/stories/assertionTestUtils.js
+++ b/stories/assertionTestUtils.js
@@ -16,8 +16,8 @@ export async function timeout(ms: number) {
   return new Promise((resolve) => setTimeout(resolve, ms));
 }
 
-type Story = (setTestData: (any) => void) => React$Element<any>;
-type Assertion = (getTestData: () => any) => Promise<void>;
+type Story = (setTestData: (any) => void, state: any) => React$Element<any>;
+type Assertion = (getTestData: () => any, setState: (any) => void) => Promise<void>;
 type AssertionTest = {|
   story: Story,
   assertions: Assertion,
@@ -55,11 +55,12 @@ export function assertionTest({ story, assertions }: AssertionTest): () => React
 
   function Component() {
     const [error, setError] = useState<any>();
+    const [state, setState] = useState(null);
     useLayoutEffect(() => {
       const assertionPromise = async () => {
         await timeout(100);
         try {
-          await assertions(getTestData);
+          await assertions(getTestData, setState);
         } catch (error) {
           console.warn(error);
           throw error;
@@ -95,7 +96,7 @@ export function assertionTest({ story, assertions }: AssertionTest): () => React
         <pre>{error.stack}</pre>
       </div>
     ) : (
-      story(setTestData)
+      story(setTestData, state)
     );
   }
   return () => <Component />;

From 953cd057e34195dd14a1f368f2761b3dc5ab09b8 Mon Sep 17 00:00:00 2001
From: Troy Gibb <troy.gibb@gmail.com>
Date: Wed, 15 Jan 2020 14:55:28 -0800
Subject: [PATCH 38/50] <GLText /> Add custom highlight color prop (#315)

* Add custom highlight color prop

* Add new story

* Update default color

* Minor update to story | add comments

* Fix lint

* Clean up based on feedback

* update story
---
 .../regl-worldview/src/commands/GLText.js     | 22 ++++++-
 .../src/stories/GLText.stories.js             | 59 +++++++++++++++----
 2 files changed, 69 insertions(+), 12 deletions(-)

diff --git a/packages/regl-worldview/src/commands/GLText.js b/packages/regl-worldview/src/commands/GLText.js
index d3e77d71e..5706abeb2 100644
--- a/packages/regl-worldview/src/commands/GLText.js
+++ b/packages/regl-worldview/src/commands/GLText.js
@@ -4,6 +4,7 @@ import TinySDF from "@mapbox/tiny-sdf";
 import memoizeOne from "memoize-one";
 import React, { useState } from "react";
 
+import type { Color } from "../types";
 import { defaultBlend, defaultDepth } from "../utils/commandUtils";
 import Command, { type CommonCommandProps } from "./Command";
 import { isColorDark, type TextMarker } from "./Text";
@@ -32,7 +33,11 @@ import { isColorDark, type TextMarker } from "./Text";
 //   provide support for this. Some font info could be generated/stored offline, possibly including the atlas.
 // - Explore multi-channel SDFs.
 
-type TextMarkerProps = TextMarker & { billboard?: ?boolean, highlightedIndices?: Array<number> };
+type TextMarkerProps = TextMarker & {
+  billboard?: ?boolean,
+  highlightedIndices?: Array<number>,
+  highlightColor?: ?Color,
+};
 type Props = {
   ...CommonCommandProps,
   children: $ReadOnlyArray<TextMarkerProps>,
@@ -140,6 +145,7 @@ const vert = `
   attribute float enableHighlight;
   attribute vec4 foregroundColor;
   attribute vec4 backgroundColor;
+  attribute vec4 highlightColor;
   attribute vec3 posePosition;
   attribute vec4 poseOrientation;
 
@@ -147,6 +153,7 @@ const vert = `
   varying float vEnableBackground;
   varying vec4 vForegroundColor;
   varying vec4 vBackgroundColor;
+  varying vec4 vHighlightColor;
   varying float vEnableHighlight;
 
   // rotate a 3d point v by a rotation quaternion q
@@ -170,6 +177,7 @@ const vert = `
     vEnableBackground = enableBackground;
     vForegroundColor = foregroundColor;
     vBackgroundColor = backgroundColor;
+    vHighlightColor = highlightColor;
     vEnableHighlight = enableHighlight;
   }
 `;
@@ -185,6 +193,7 @@ const frag = `
   varying float vEnableBackground;
   varying vec4 vForegroundColor;
   varying vec4 vBackgroundColor;
+  varying vec4 vHighlightColor;
   varying float vEnableHighlight;
   void main() {
     float dist = texture2D(atlas, vTexCoord).a;
@@ -194,7 +203,7 @@ const frag = `
     // depth test don't work together nicely for partially-transparent pixels.
     float edgeStep = smoothstep(1.0 - cutoff - fwidth(dist), 1.0 - cutoff, dist);
     if (vEnableHighlight > 0.5) {
-      gl_FragColor = mix(vec4(1, 1, 0, 1), vec4(0, 0, 0, 1), edgeStep);
+      gl_FragColor = mix(vHighlightColor, vec4(0, 0, 0, 1), edgeStep);
     } else if (vEnableBackground > 0.5) {
       float screenSize = fwidth(vTexCoord.x);
       gl_FragColor = mix(vBackgroundColor, vForegroundColor, edgeStep);
@@ -241,6 +250,7 @@ function makeTextCommand() {
         billboard: (ctx, props) => ({ buffer: props.billboard, divisor: 1 }),
         foregroundColor: (ctx, props) => ({ buffer: props.foregroundColor, divisor: 1 }),
         backgroundColor: (ctx, props) => ({ buffer: props.backgroundColor, divisor: 1 }),
+        highlightColor: (ctx, props) => ({ buffer: props.highlightColor, divisor: 1 }),
         enableBackground: (ctx, props) => ({ buffer: props.enableBackground, divisor: 1 }),
         enableHighlight: (ctx, props) => ({ buffer: props.enableHighlight, divisor: 1 }),
         posePosition: (ctx, props) => ({ buffer: props.posePosition, divisor: 1 }),
@@ -290,6 +300,7 @@ function makeTextCommand() {
       const scale = new Float32Array(estimatedInstances * 3);
       const foregroundColor = new Float32Array(estimatedInstances * 4);
       const backgroundColor = new Float32Array(estimatedInstances * 4);
+      const highlightColor = new Float32Array(estimatedInstances * 4);
       const enableBackground = new Float32Array(estimatedInstances);
       const billboard = new Float32Array(estimatedInstances);
       const posePosition = new Float32Array(estimatedInstances * 3);
@@ -307,6 +318,7 @@ function makeTextCommand() {
         const outline = marker.colors?.[1] != null || command.autoBackgroundColor;
         const bgColor =
           marker.colors?.[1] || (command.autoBackgroundColor && isColorDark(fgColor) ? BG_COLOR_LIGHT : BG_COLOR_DARK);
+        const hlColor = marker?.highlightColor || { r: 1, b: 0, g: 1, a: 1 };
 
         for (let i = 0; i < marker.text.length; i++) {
           const char = marker.text[i];
@@ -356,6 +368,11 @@ function makeTextCommand() {
           backgroundColor[4 * index + 2] = bgColor.b;
           backgroundColor[4 * index + 3] = bgColor.a;
 
+          highlightColor[4 * index + 0] = hlColor.r;
+          highlightColor[4 * index + 1] = hlColor.g;
+          highlightColor[4 * index + 2] = hlColor.b;
+          highlightColor[4 * index + 3] = hlColor.a;
+
           enableHighlight[index] = marker.highlightedIndices && marker.highlightedIndices.includes(i) ? 1 : 0;
 
           enableBackground[index] = outline ? 1 : 0;
@@ -387,6 +404,7 @@ function makeTextCommand() {
         enableHighlight,
         foregroundColor,
         backgroundColor,
+        highlightColor,
         poseOrientation,
         posePosition,
         scale,
diff --git a/packages/regl-worldview/src/stories/GLText.stories.js b/packages/regl-worldview/src/stories/GLText.stories.js
index c6dc4725d..a4aa0ea42 100644
--- a/packages/regl-worldview/src/stories/GLText.stories.js
+++ b/packages/regl-worldview/src/stories/GLText.stories.js
@@ -5,8 +5,10 @@ import { quat } from "gl-matrix";
 import { range } from "lodash";
 import React, { useState, useLayoutEffect } from "react";
 import { withScreenshot } from "storybook-chrome-screenshot";
+import tinyColor from "tinycolor2";
 
 import { Axes } from "../commands";
+import type { Color } from "../types";
 import { vec4ToOrientation } from "../utils/commandUtils";
 import Container from "./Container";
 import inScreenshotTests from "stories/inScreenshotTests";
@@ -115,22 +117,59 @@ storiesOf("Worldview/GLText", module)
       });
 
       return (
-        <>
-          <div style={{ width: "100%", height: "95%" }}>
+        <div style={{ width: "100%", height: "100%" }}>
+          <div style={{ width: "100%", height: "100%" }}>
             <Container cameraState={{ perspective: true, distance: 40 }} backgroundColor={[0.2, 0.2, 0.4, 1]}>
               <GLText autoBackgroundColor>{markers}</GLText>
               <Axes />
             </Container>
           </div>
+          <div style={{ position: "absolute", top: "10px", right: "10px" }}>
+            <label htmlFor="search">Search: </label>
+            <input
+              type="text"
+              name="search"
+              placeholder="search text"
+              value={searchText}
+              onChange={(e) => setSearchText(e.target.value)}
+            />
+          </div>
+        </div>
+      );
+    };
+
+    return <Example />;
+  })
+  .add("custom highlight color", () => {
+    const Example = () => {
+      const [highlightColor, setHighlightColor] = useState<Color>({ r: 1, b: 0.5, g: 0.5, a: 1 });
+      const markers = textMarkers({ text: "Hello\nWorldview", background: false }).map((marker) => ({
+        ...marker,
+        highlightedIndices: [0, 1, 2, 3, 4],
+        highlightColor,
+      }));
+
+      return (
+        <div style={{ width: "100%", height: "100%" }}>
+          <Container cameraState={{ perspective: true, distance: 40 }} backgroundColor={[0.2, 0.2, 0.4, 1]}>
+            <div style={{ position: "absolute", top: "10px", right: "10px" }}>
+              <label htmlFor="highlight-color">Highlight Color: </label>
+              <input
+                type="color"
+                name="highlight-color"
+                value={tinyColor.fromRatio(highlightColor).toHexString()}
+                onChange={(e) => {
+                  const hex = e.target.value;
+                  const { r, g, b } = tinyColor(hex).toRgb();
+                  setHighlightColor({ r: r / 255, g: g / 255, b: b / 255, a: 1 });
+                }}
+              />
+            </div>
 
-          <input
-            style={{ width: "100%" }}
-            type="text"
-            placeholder="search text"
-            value={searchText}
-            onChange={(e) => setSearchText(e.target.value)}
-          />
-        </>
+            <GLText>{markers}</GLText>
+            <Axes />
+          </Container>
+        </div>
       );
     };
 

From 92c23fde681b371a65ffdbeb2f2c648e3240a016 Mon Sep 17 00:00:00 2001
From: David Winegar <david.winegar@getcruise.com>
Date: Thu, 16 Jan 2020 13:12:58 -0800
Subject: [PATCH 39/50] Update Worldview to 0.3.2 (#330)

---
 packages/regl-worldview/package-lock.json | 2 +-
 packages/regl-worldview/package.json      | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/packages/regl-worldview/package-lock.json b/packages/regl-worldview/package-lock.json
index a851fb9db..c3d8df43a 100755
--- a/packages/regl-worldview/package-lock.json
+++ b/packages/regl-worldview/package-lock.json
@@ -1,6 +1,6 @@
 {
 	"name": "regl-worldview",
-	"version": "0.3.2",
+	"version": "0.3.3",
 	"lockfileVersion": 1,
 	"requires": true,
 	"dependencies": {
diff --git a/packages/regl-worldview/package.json b/packages/regl-worldview/package.json
index 762802312..ef2c6e75e 100755
--- a/packages/regl-worldview/package.json
+++ b/packages/regl-worldview/package.json
@@ -1,6 +1,6 @@
 {
   "name": "regl-worldview",
-  "version": "0.3.2",
+  "version": "0.3.3",
   "description": "A reusable component for rendering 2D and 3D views using regl",
   "license": "Apache-2.0",
   "repository": "cruise-automation/webviz/tree/master/packages/regl-worldview",

From e1123dca0ecc266bd79c024b1c341a6292035aba Mon Sep 17 00:00:00 2001
From: Troy Gibb <troy.gibb@gmail.com>
Date: Fri, 17 Jan 2020 09:58:13 -0800
Subject: [PATCH 40/50] Release regl-worldview v0.4.0 (#333)

---
 packages/regl-worldview/package-lock.json | 2 +-
 packages/regl-worldview/package.json      | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/packages/regl-worldview/package-lock.json b/packages/regl-worldview/package-lock.json
index c3d8df43a..466c9ed74 100755
--- a/packages/regl-worldview/package-lock.json
+++ b/packages/regl-worldview/package-lock.json
@@ -1,6 +1,6 @@
 {
 	"name": "regl-worldview",
-	"version": "0.3.3",
+	"version": "0.4.0",
 	"lockfileVersion": 1,
 	"requires": true,
 	"dependencies": {
diff --git a/packages/regl-worldview/package.json b/packages/regl-worldview/package.json
index ef2c6e75e..3a7a29eed 100755
--- a/packages/regl-worldview/package.json
+++ b/packages/regl-worldview/package.json
@@ -1,6 +1,6 @@
 {
   "name": "regl-worldview",
-  "version": "0.3.3",
+  "version": "0.4.0",
   "description": "A reusable component for rendering 2D and 3D views using regl",
   "license": "Apache-2.0",
   "repository": "cruise-automation/webviz/tree/master/packages/regl-worldview",

From 26dfdfdec0fe6b079253db2652c5e10ea2aa71b8 Mon Sep 17 00:00:00 2001
From: Jan Paul Posma <janpaul123@users.noreply.github.com>
Date: Thu, 23 Jan 2020 13:34:11 -0800
Subject: [PATCH 41/50] Update enzyme-adapter-react-16 to latest version (#334)

Ran into an issue where tests started failing in my internal PR because
this version was out of date. Updating this seems to pass all the tests
still, and should unblock my internal PR.
---
 .circleci/config.yml |   4 +-
 package-lock.json    | 569 ++++++++++++++++++++++++++++++++++++-------
 package.json         |   2 +-
 3 files changed, 483 insertions(+), 92 deletions(-)

diff --git a/.circleci/config.yml b/.circleci/config.yml
index 9bf6879ce..88fc4360b 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -25,7 +25,9 @@ jobs:
       - run: .circleci/find-screenshots-compare-commit.sh
       - run: echo $REG_SUIT_EXPECTED_KEY
 
-      - run: docker run -v `pwd`:`pwd` -w `pwd` -it --rm -e CI -e CIRCLE_SHA1 -e REG_SUIT_EXPECTED_KEY -e AWS_ACCESS_KEY_ID -e AWS_SECRET_ACCESS_KEY -e AWS_DEFAULT_REGION cruise/webviz-ci:0.0.8 npm run ci
+      - run:
+          command: docker run -v `pwd`:`pwd` -w `pwd` -it --rm -e CI -e CIRCLE_SHA1 -e REG_SUIT_EXPECTED_KEY -e AWS_ACCESS_KEY_ID -e AWS_SECRET_ACCESS_KEY -e AWS_DEFAULT_REGION cruise/webviz-ci:0.0.8 npm run ci
+          no_output_timeout: 30m
 
       - save_cache:
           paths: ["node_modules"]
diff --git a/package-lock.json b/package-lock.json
index ad40f39a8..f590aca94 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -3382,6 +3382,125 @@
         "symbol.prototype.description": "^1.0.0"
       }
     },
+    "airbnb-prop-types": {
+      "version": "2.15.0",
+      "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/airbnb-prop-types/-/airbnb-prop-types-2.15.0.tgz",
+      "integrity": "sha1-UoeCAEOvHrRp9bCvDW9w2mxSqu8=",
+      "dev": true,
+      "requires": {
+        "array.prototype.find": "^2.1.0",
+        "function.prototype.name": "^1.1.1",
+        "has": "^1.0.3",
+        "is-regex": "^1.0.4",
+        "object-is": "^1.0.1",
+        "object.assign": "^4.1.0",
+        "object.entries": "^1.1.0",
+        "prop-types": "^15.7.2",
+        "prop-types-exact": "^1.2.0",
+        "react-is": "^16.9.0"
+      },
+      "dependencies": {
+        "es-abstract": {
+          "version": "1.17.2",
+          "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/es-abstract/-/es-abstract-1.17.2.tgz",
+          "integrity": "sha1-llsQr1ZZe2MdoVhywXpAXobB/UY=",
+          "dev": true,
+          "requires": {
+            "es-to-primitive": "^1.2.1",
+            "function-bind": "^1.1.1",
+            "has": "^1.0.3",
+            "has-symbols": "^1.0.1",
+            "is-callable": "^1.1.5",
+            "is-regex": "^1.0.5",
+            "object-inspect": "^1.7.0",
+            "object-keys": "^1.1.1",
+            "object.assign": "^4.1.0",
+            "string.prototype.trimleft": "^2.1.1",
+            "string.prototype.trimright": "^2.1.1"
+          },
+          "dependencies": {
+            "is-regex": {
+              "version": "1.0.5",
+              "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/is-regex/-/is-regex-1.0.5.tgz",
+              "integrity": "sha1-OdWJo1i/GJZ/cmlnEguPwa7XTq4=",
+              "dev": true,
+              "requires": {
+                "has": "^1.0.3"
+              }
+            }
+          }
+        },
+        "es-to-primitive": {
+          "version": "1.2.1",
+          "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/es-to-primitive/-/es-to-primitive-1.2.1.tgz",
+          "integrity": "sha1-5VzUyc3BiLzvsDs2bHNjI/xciYo=",
+          "dev": true,
+          "requires": {
+            "is-callable": "^1.1.4",
+            "is-date-object": "^1.0.1",
+            "is-symbol": "^1.0.2"
+          }
+        },
+        "function.prototype.name": {
+          "version": "1.1.2",
+          "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/function.prototype.name/-/function.prototype.name-1.1.2.tgz",
+          "integrity": "sha1-XN9518BdtAFZHf3oPjtwxRI+mkU=",
+          "dev": true,
+          "requires": {
+            "define-properties": "^1.1.3",
+            "es-abstract": "^1.17.0-next.1",
+            "functions-have-names": "^1.2.0"
+          }
+        },
+        "has-symbols": {
+          "version": "1.0.1",
+          "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/has-symbols/-/has-symbols-1.0.1.tgz",
+          "integrity": "sha1-n1IUdYpEGWxAbZvXbOv4HsLdMeg=",
+          "dev": true
+        },
+        "is-callable": {
+          "version": "1.1.5",
+          "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/is-callable/-/is-callable-1.1.5.tgz",
+          "integrity": "sha1-9+RrWWiQRW23Tn9ul2yzJz0G+qs=",
+          "dev": true
+        },
+        "object-inspect": {
+          "version": "1.7.0",
+          "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/object-inspect/-/object-inspect-1.7.0.tgz",
+          "integrity": "sha1-9Pa9GBrXfwBrXs5gvQtvOY/3Smc=",
+          "dev": true
+        },
+        "object-keys": {
+          "version": "1.1.1",
+          "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/object-keys/-/object-keys-1.1.1.tgz",
+          "integrity": "sha1-HEfyct8nfzsdrwYWd9nILiMixg4=",
+          "dev": true
+        },
+        "object.entries": {
+          "version": "1.1.1",
+          "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/object.entries/-/object.entries-1.1.1.tgz",
+          "integrity": "sha1-7hzwQVPeArsJP+wzaDkA9XzlOZs=",
+          "dev": true,
+          "requires": {
+            "define-properties": "^1.1.3",
+            "es-abstract": "^1.17.0-next.1",
+            "function-bind": "^1.1.1",
+            "has": "^1.0.3"
+          }
+        },
+        "prop-types": {
+          "version": "15.7.2",
+          "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/prop-types/-/prop-types-15.7.2.tgz",
+          "integrity": "sha1-UsQedbjIfnK52TYOAga5ncv/psU=",
+          "dev": true,
+          "requires": {
+            "loose-envify": "^1.4.0",
+            "object-assign": "^4.1.1",
+            "react-is": "^16.8.1"
+          }
+        }
+      }
+    },
     "ajv": {
       "version": "6.6.1",
       "resolved": "https://registry.npmjs.org/ajv/-/ajv-6.6.1.tgz",
@@ -3646,6 +3765,81 @@
       "integrity": "sha1-qJS3XUvE9s1nnvMkSp/Y9Gri1Cg=",
       "dev": true
     },
+    "array.prototype.find": {
+      "version": "2.1.0",
+      "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/array.prototype.find/-/array.prototype.find-2.1.0.tgz",
+      "integrity": "sha1-Yw8ur3CjnmCKw1c+Rc+MzQ7emtc=",
+      "dev": true,
+      "requires": {
+        "define-properties": "^1.1.3",
+        "es-abstract": "^1.13.0"
+      },
+      "dependencies": {
+        "es-abstract": {
+          "version": "1.17.2",
+          "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/es-abstract/-/es-abstract-1.17.2.tgz",
+          "integrity": "sha1-llsQr1ZZe2MdoVhywXpAXobB/UY=",
+          "dev": true,
+          "requires": {
+            "es-to-primitive": "^1.2.1",
+            "function-bind": "^1.1.1",
+            "has": "^1.0.3",
+            "has-symbols": "^1.0.1",
+            "is-callable": "^1.1.5",
+            "is-regex": "^1.0.5",
+            "object-inspect": "^1.7.0",
+            "object-keys": "^1.1.1",
+            "object.assign": "^4.1.0",
+            "string.prototype.trimleft": "^2.1.1",
+            "string.prototype.trimright": "^2.1.1"
+          }
+        },
+        "es-to-primitive": {
+          "version": "1.2.1",
+          "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/es-to-primitive/-/es-to-primitive-1.2.1.tgz",
+          "integrity": "sha1-5VzUyc3BiLzvsDs2bHNjI/xciYo=",
+          "dev": true,
+          "requires": {
+            "is-callable": "^1.1.4",
+            "is-date-object": "^1.0.1",
+            "is-symbol": "^1.0.2"
+          }
+        },
+        "has-symbols": {
+          "version": "1.0.1",
+          "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/has-symbols/-/has-symbols-1.0.1.tgz",
+          "integrity": "sha1-n1IUdYpEGWxAbZvXbOv4HsLdMeg=",
+          "dev": true
+        },
+        "is-callable": {
+          "version": "1.1.5",
+          "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/is-callable/-/is-callable-1.1.5.tgz",
+          "integrity": "sha1-9+RrWWiQRW23Tn9ul2yzJz0G+qs=",
+          "dev": true
+        },
+        "is-regex": {
+          "version": "1.0.5",
+          "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/is-regex/-/is-regex-1.0.5.tgz",
+          "integrity": "sha1-OdWJo1i/GJZ/cmlnEguPwa7XTq4=",
+          "dev": true,
+          "requires": {
+            "has": "^1.0.3"
+          }
+        },
+        "object-inspect": {
+          "version": "1.7.0",
+          "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/object-inspect/-/object-inspect-1.7.0.tgz",
+          "integrity": "sha1-9Pa9GBrXfwBrXs5gvQtvOY/3Smc=",
+          "dev": true
+        },
+        "object-keys": {
+          "version": "1.1.1",
+          "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/object-keys/-/object-keys-1.1.1.tgz",
+          "integrity": "sha1-HEfyct8nfzsdrwYWd9nILiMixg4=",
+          "dev": true
+        }
+      }
+    },
     "array.prototype.flat": {
       "version": "1.2.1",
       "resolved": "https://registry.npmjs.org/array.prototype.flat/-/array.prototype.flat-1.2.1.tgz",
@@ -7671,36 +7865,101 @@
       }
     },
     "enzyme-adapter-react-16": {
-      "version": "1.11.2",
-      "resolved": "https://registry.npmjs.org/enzyme-adapter-react-16/-/enzyme-adapter-react-16-1.11.2.tgz",
-      "integrity": "sha512-2ruTTCPRb0lPuw/vKTXGVZVBZqh83MNDnakMhzxhpJcIbneEwNy2Cv0KvL97pl57/GOazJHflWNLjwWhex5AAA==",
+      "version": "1.15.2",
+      "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/enzyme-adapter-react-16/-/enzyme-adapter-react-16-1.15.2.tgz",
+      "integrity": "sha1-sW2y8OpCTVioCPnfhqtiEolaRQE=",
       "dev": true,
       "requires": {
-        "enzyme-adapter-utils": "^1.10.1",
+        "enzyme-adapter-utils": "^1.13.0",
+        "enzyme-shallow-equal": "^1.0.1",
+        "has": "^1.0.3",
         "object.assign": "^4.1.0",
-        "object.values": "^1.1.0",
+        "object.values": "^1.1.1",
         "prop-types": "^15.7.2",
-        "react-is": "^16.8.4",
+        "react-is": "^16.12.0",
         "react-test-renderer": "^16.0.0-0",
-        "semver": "^5.6.0"
+        "semver": "^5.7.0"
       },
       "dependencies": {
+        "es-abstract": {
+          "version": "1.17.2",
+          "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/es-abstract/-/es-abstract-1.17.2.tgz",
+          "integrity": "sha1-llsQr1ZZe2MdoVhywXpAXobB/UY=",
+          "dev": true,
+          "requires": {
+            "es-to-primitive": "^1.2.1",
+            "function-bind": "^1.1.1",
+            "has": "^1.0.3",
+            "has-symbols": "^1.0.1",
+            "is-callable": "^1.1.5",
+            "is-regex": "^1.0.5",
+            "object-inspect": "^1.7.0",
+            "object-keys": "^1.1.1",
+            "object.assign": "^4.1.0",
+            "string.prototype.trimleft": "^2.1.1",
+            "string.prototype.trimright": "^2.1.1"
+          }
+        },
+        "es-to-primitive": {
+          "version": "1.2.1",
+          "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/es-to-primitive/-/es-to-primitive-1.2.1.tgz",
+          "integrity": "sha1-5VzUyc3BiLzvsDs2bHNjI/xciYo=",
+          "dev": true,
+          "requires": {
+            "is-callable": "^1.1.4",
+            "is-date-object": "^1.0.1",
+            "is-symbol": "^1.0.2"
+          }
+        },
+        "has-symbols": {
+          "version": "1.0.1",
+          "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/has-symbols/-/has-symbols-1.0.1.tgz",
+          "integrity": "sha1-n1IUdYpEGWxAbZvXbOv4HsLdMeg=",
+          "dev": true
+        },
+        "is-callable": {
+          "version": "1.1.5",
+          "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/is-callable/-/is-callable-1.1.5.tgz",
+          "integrity": "sha1-9+RrWWiQRW23Tn9ul2yzJz0G+qs=",
+          "dev": true
+        },
+        "is-regex": {
+          "version": "1.0.5",
+          "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/is-regex/-/is-regex-1.0.5.tgz",
+          "integrity": "sha1-OdWJo1i/GJZ/cmlnEguPwa7XTq4=",
+          "dev": true,
+          "requires": {
+            "has": "^1.0.3"
+          }
+        },
+        "object-inspect": {
+          "version": "1.7.0",
+          "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/object-inspect/-/object-inspect-1.7.0.tgz",
+          "integrity": "sha1-9Pa9GBrXfwBrXs5gvQtvOY/3Smc=",
+          "dev": true
+        },
+        "object-keys": {
+          "version": "1.1.1",
+          "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/object-keys/-/object-keys-1.1.1.tgz",
+          "integrity": "sha1-HEfyct8nfzsdrwYWd9nILiMixg4=",
+          "dev": true
+        },
         "object.values": {
-          "version": "1.1.0",
-          "resolved": "https://registry.npmjs.org/object.values/-/object.values-1.1.0.tgz",
-          "integrity": "sha512-8mf0nKLAoFX6VlNVdhGj31SVYpaNFtUnuoOXWyFEstsWRgU837AK+JYM0iAxwkSzGRbwn8cbFmgbyxj1j4VbXg==",
+          "version": "1.1.1",
+          "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/object.values/-/object.values-1.1.1.tgz",
+          "integrity": "sha1-aKmezeNWt+kpWjxeDOMdyMlT3l4=",
           "dev": true,
           "requires": {
             "define-properties": "^1.1.3",
-            "es-abstract": "^1.12.0",
+            "es-abstract": "^1.17.0-next.1",
             "function-bind": "^1.1.1",
             "has": "^1.0.3"
           }
         },
         "prop-types": {
           "version": "15.7.2",
-          "resolved": "https://registry.npmjs.org/prop-types/-/prop-types-15.7.2.tgz",
-          "integrity": "sha512-8QQikdH7//R2vurIJSutZ1smHYTcLpRWEOlHnzcWHmBYrOGUysKwSsrC89BCiFj3CbrfJ/nXFdJepOVrY1GCHQ==",
+          "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/prop-types/-/prop-types-15.7.2.tgz",
+          "integrity": "sha1-UsQedbjIfnK52TYOAga5ncv/psU=",
           "dev": true,
           "requires": {
             "loose-envify": "^1.4.0",
@@ -7708,43 +7967,118 @@
             "react-is": "^16.8.1"
           }
         },
-        "react-is": {
-          "version": "16.8.6",
-          "resolved": "https://registry.npmjs.org/react-is/-/react-is-16.8.6.tgz",
-          "integrity": "sha512-aUk3bHfZ2bRSVFFbbeVS4i+lNPZr3/WM5jT2J5omUVV1zzcs1nAaf3l51ctA5FFvCRbhrH0bdAsRRQddFJZPtA==",
+        "semver": {
+          "version": "5.7.1",
+          "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/semver/-/semver-5.7.1.tgz",
+          "integrity": "sha1-qVT5Ma66UI0we78Gnv8MAclhFvc=",
           "dev": true
         }
       }
     },
     "enzyme-adapter-utils": {
-      "version": "1.10.1",
-      "resolved": "https://registry.npmjs.org/enzyme-adapter-utils/-/enzyme-adapter-utils-1.10.1.tgz",
-      "integrity": "sha512-oasinhhLoBuZsIkTe8mx0HiudtfErUtG0Ooe1FOplu/t4c9rOmyG5gtrBASK6u4whHIRWvv0cbZMElzNTR21SA==",
+      "version": "1.13.0",
+      "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/enzyme-adapter-utils/-/enzyme-adapter-utils-1.13.0.tgz",
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         "strip-json-comments": {
           "version": "2.0.1",
-          "resolved": "https://registry.npmjs.org/strip-json-comments/-/strip-json-comments-2.0.1.tgz",
+          "resolved": false,
           "integrity": "sha1-PFMZQukIwml8DsNEhYwobHygpgo=",
           "dev": true,
           "optional": true
@@ -10016,7 +10368,7 @@
         },
         "util-deprecate": {
           "version": "1.0.2",
-          "resolved": "https://registry.npmjs.org/util-deprecate/-/util-deprecate-1.0.2.tgz",
+          "resolved": false,
           "integrity": "sha1-RQ1Nyfpw3nMnYvvS1KKJgUGaDM8=",
           "dev": true,
           "optional": true
@@ -10033,7 +10385,7 @@
         },
         "wrappy": {
           "version": "1.0.2",
-          "resolved": "https://registry.npmjs.org/wrappy/-/wrappy-1.0.2.tgz",
+          "resolved": false,
           "integrity": "sha1-tSQ9jz7BqjXxNkYFvA0QNuMKtp8=",
           "dev": true,
           "optional": true
@@ -10082,6 +10434,12 @@
       "integrity": "sha1-GwqzvVU7Kg1jmdKcDj6gslIHgyc=",
       "dev": true
     },
+    "functions-have-names": {
+      "version": "1.2.0",
+      "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/functions-have-names/-/functions-have-names-1.2.0.tgz",
+      "integrity": "sha1-g9p1g+TqDJrF/1MPczlLAz4L930=",
+      "dev": true
+    },
     "fuse.js": {
       "version": "3.3.0",
       "resolved": "https://registry.npmjs.org/fuse.js/-/fuse.js-3.3.0.tgz",
@@ -16886,6 +17244,17 @@
         "object-assign": "^4.1.1"
       }
     },
+    "prop-types-exact": {
+      "version": "1.2.0",
+      "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/prop-types-exact/-/prop-types-exact-1.2.0.tgz",
+      "integrity": "sha1-gl1r5GCUZjhII345JamMbpROmGk=",
+      "dev": true,
+      "requires": {
+        "has": "^1.0.3",
+        "object.assign": "^4.1.0",
+        "reflect.ownkeys": "^0.2.0"
+      }
+    },
     "property-information": {
       "version": "5.0.1",
       "resolved": "https://registry.npmjs.org/property-information/-/property-information-5.0.1.tgz",
@@ -17817,27 +18186,21 @@
       }
     },
     "react-test-renderer": {
-      "version": "16.8.6",
-      "resolved": "https://registry.npmjs.org/react-test-renderer/-/react-test-renderer-16.8.6.tgz",
-      "integrity": "sha512-H2srzU5IWYT6cZXof6AhUcx/wEyJddQ8l7cLM/F7gDXYyPr4oq+vCIxJYXVGhId1J706sqziAjuOEjyNkfgoEw==",
+      "version": "16.12.0",
+      "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/react-test-renderer/-/react-test-renderer-16.12.0.tgz",
+      "integrity": "sha1-EUF//aV5MG1OhBp5TTIUDz2htD8=",
       "dev": true,
       "requires": {
         "object-assign": "^4.1.1",
         "prop-types": "^15.6.2",
         "react-is": "^16.8.6",
-        "scheduler": "^0.13.6"
+        "scheduler": "^0.18.0"
       },
       "dependencies": {
-        "react-is": {
-          "version": "16.8.6",
-          "resolved": "https://registry.npmjs.org/react-is/-/react-is-16.8.6.tgz",
-          "integrity": "sha512-aUk3bHfZ2bRSVFFbbeVS4i+lNPZr3/WM5jT2J5omUVV1zzcs1nAaf3l51ctA5FFvCRbhrH0bdAsRRQddFJZPtA==",
-          "dev": true
-        },
         "scheduler": {
-          "version": "0.13.6",
-          "resolved": "https://registry.npmjs.org/scheduler/-/scheduler-0.13.6.tgz",
-          "integrity": "sha512-IWnObHt413ucAYKsD9J1QShUKkbKLQQHdxRyw73sw4FN26iWr3DY/H34xGPe4nmL1DwXyWmSWmMrA9TfQbE/XQ==",
+          "version": "0.18.0",
+          "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/scheduler/-/scheduler-0.18.0.tgz",
+          "integrity": "sha1-WQGtZlm8HY8/2vNut6Z7DWdGscQ=",
           "dev": true,
           "requires": {
             "loose-envify": "^1.1.0",
@@ -18152,6 +18515,12 @@
       "integrity": "sha512-F2GlWMWxCTJGRjJ+GSZcGDcVAj6Pbf77FKb4C9S8eni5Eah6UBGNwxNj8K1MTtmItdZH1Wx+EvIifHN2KKcQrw==",
       "dev": true
     },
+    "reflect.ownkeys": {
+      "version": "0.2.0",
+      "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/reflect.ownkeys/-/reflect.ownkeys-0.2.0.tgz",
+      "integrity": "sha1-dJrO7H8/34tj+SegSAnpDFwLNGA=",
+      "dev": true
+    },
     "refractor": {
       "version": "2.6.2",
       "resolved": "https://registry.npmjs.org/refractor/-/refractor-2.6.2.tgz",
@@ -20700,6 +21069,26 @@
         "function-bind": "^1.0.2"
       }
     },
+    "string.prototype.trimleft": {
+      "version": "2.1.1",
+      "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/string.prototype.trimleft/-/string.prototype.trimleft-2.1.1.tgz",
+      "integrity": "sha1-m9uKxqvW1gKxek7TIYcNL43O/HQ=",
+      "dev": true,
+      "requires": {
+        "define-properties": "^1.1.3",
+        "function-bind": "^1.1.1"
+      }
+    },
+    "string.prototype.trimright": {
+      "version": "2.1.1",
+      "resolved": "https://artifactory.robot.car/artifactory/api/npm/npm-virtual/string.prototype.trimright/-/string.prototype.trimright-2.1.1.tgz",
+      "integrity": "sha1-RAMUsVmWyGbOigNBiU1FGGIAxdk=",
+      "dev": true,
+      "requires": {
+        "define-properties": "^1.1.3",
+        "function-bind": "^1.1.1"
+      }
+    },
     "string_decoder": {
       "version": "1.1.1",
       "resolved": "http://registry.npmjs.org/string_decoder/-/string_decoder-1.1.1.tgz",
diff --git a/package.json b/package.json
index fd50f4030..beb7154f4 100755
--- a/package.json
+++ b/package.json
@@ -33,7 +33,7 @@
     "case-sensitive-paths-webpack-plugin": "^2.1.2",
     "css-loader": "^1.0.1",
     "enzyme": "^3.9.0",
-    "enzyme-adapter-react-16": "^1.11.2",
+    "enzyme-adapter-react-16": "^1.15.2",
     "eslint": "^5.9.0",
     "eslint-config-prettier": "^3.3.0",
     "eslint-config-problems": "^2.0.0",

From 4406c8ffd122552477be793299fce0369972e207 Mon Sep 17 00:00:00 2001
From: Jacob Bandes-Storch <jacob@getcruise.com>
Date: Mon, 27 Jan 2020 12:29:00 -0800
Subject: [PATCH 42/50] RosOut: add TopicToRenderMenu (#335)

Adds `<TopicToRenderMenu>` to the RosOut panel. No version impact (backward compatible).
---
 .../webviz-core/src/panels/Rosout/index.js    | 26 +++++++++---
 .../src/panels/Rosout/index.stories.js        | 41 ++++++++++++++++---
 .../webviz-core/src/util/globalConstants.js   |  1 +
 3 files changed, 58 insertions(+), 10 deletions(-)

diff --git a/packages/webviz-core/src/panels/Rosout/index.js b/packages/webviz-core/src/panels/Rosout/index.js
index 01503329c..193217d3c 100644
--- a/packages/webviz-core/src/panels/Rosout/index.js
+++ b/packages/webviz-core/src/panels/Rosout/index.js
@@ -28,8 +28,10 @@ import MessageHistory, {
 } from "webviz-core/src/components/MessageHistory";
 import Panel from "webviz-core/src/components/Panel";
 import PanelToolbar from "webviz-core/src/components/PanelToolbar";
-import type { Message } from "webviz-core/src/players/types";
+import TopicToRenderMenu from "webviz-core/src/components/TopicToRenderMenu";
+import type { Message, Topic } from "webviz-core/src/players/types";
 import clipboard from "webviz-core/src/util/clipboard";
+import { ROSOUT_TOPIC } from "webviz-core/src/util/globalConstants";
 
 // Remove creatable warning https://github.com/JedWatson/react-select/issues/2181
 class Creatable extends React.Component<{}, {}> {
@@ -46,11 +48,13 @@ type Option = {
 type Config = {
   searchTerms: string[],
   minLogLevel: number,
+  topicToRender: string,
 };
 
 type Props = {
   config: Config,
   saveConfig: (Config) => void,
+  topics: Topic[],
 };
 
 // Create the log level options nodes once since they don't change per render.
@@ -85,7 +89,7 @@ export const getShouldDisplayMsg = (msg: Message, minLogLevel: number, searchTer
 };
 
 class RosoutPanel extends PureComponent<Props> {
-  static defaultConfig = { searchTerms: [], minLogLevel: 1 };
+  static defaultConfig = { searchTerms: [], minLogLevel: 1, topicToRender: ROSOUT_TOPIC };
   static panelType = "RosOut";
 
   _onNodeFilterChange = (selectedOptions: Option[]) => {
@@ -173,16 +177,28 @@ class RosoutPanel extends PureComponent<Props> {
   }
 
   render() {
+    const { topics, config } = this.props;
     const seenNodeNames = new Set();
+
+    const topicToRenderMenu = (
+      <TopicToRenderMenu
+        topicToRender={config.topicToRender}
+        onChange={(topicToRender) => this.props.saveConfig({ ...this.props.config, topicToRender })}
+        topics={topics}
+        singleTopicDatatype="rosgraph_msgs/Log"
+        defaultTopicToRender={ROSOUT_TOPIC}
+      />
+    );
+
     return (
-      <MessageHistory paths={["/rosout"]} historySize={100000}>
+      <MessageHistory paths={[config.topicToRender]} historySize={100000}>
         {({ itemsByPath }: MessageHistoryData) => {
-          const msgs: MessageHistoryItem[] = itemsByPath["/rosout"];
+          const msgs: MessageHistoryItem[] = itemsByPath[config.topicToRender];
           msgs.forEach((msg) => seenNodeNames.add(msg.message.message.name));
 
           return (
             <Flex col>
-              <PanelToolbar floating helpContent={helpContent}>
+              <PanelToolbar floating helpContent={helpContent} additionalIcons={topicToRenderMenu}>
                 {this._renderFiltersBar(seenNodeNames, msgs)}
               </PanelToolbar>
               <div className={styles.content}>
diff --git a/packages/webviz-core/src/panels/Rosout/index.stories.js b/packages/webviz-core/src/panels/Rosout/index.stories.js
index a735ed237..ac9c07932 100644
--- a/packages/webviz-core/src/panels/Rosout/index.stories.js
+++ b/packages/webviz-core/src/panels/Rosout/index.stories.js
@@ -93,15 +93,46 @@ storiesOf("<RosoutPanel>", module)
       </PanelSetup>
     );
   })
+  .add("topicToRender", () => {
+    function makeMessages(topic) {
+      return fixture.frame["/rosout"].map((msg) => ({
+        ...msg,
+        topic,
+        message: { ...msg.message, name: `${topic}${msg.message.name}` },
+      }));
+    }
+    return (
+      <PanelSetup
+        fixture={{
+          topics: [
+            { name: "/rosout", datatype: "rosgraph_msgs/Log" },
+            { name: "/foo/rosout", datatype: "rosgraph_msgs/Log" },
+            { name: "/webviz_bag_2/rosout", datatype: "rosgraph_msgs/Log" },
+          ],
+          frame: {
+            "/rosout": makeMessages("/rosout"),
+            "/foo/rosout": makeMessages("/foo/rosout"),
+            "/webviz_bag_2/rosout": makeMessages("/webviz_bag_2/rosout"),
+          },
+        }}
+        onMount={(el) => {
+          TestUtils.Simulate.mouseEnter(document.querySelectorAll("[data-test=panel-mouseenter-container]")[0]);
+          setTimeout(() => {
+            TestUtils.Simulate.click(document.querySelectorAll("[data-test=topic-set]")[0]);
+          });
+        }}>
+        <Rosout config={{ searchTerms: [], minLogLevel: 1, topicToRender: "/foo/rosout" }} />
+      </PanelSetup>
+    );
+  })
   .add("with toolbar active", () => {
     return (
       <PanelSetup
         fixture={fixture}
         onMount={(el) => {
-          const mouseEnterContainer = document.querySelectorAll("[data-test=panel-mouseenter-container")[0];
-          TestUtils.Simulate.mouseEnter(mouseEnterContainer);
+          TestUtils.Simulate.mouseEnter(document.querySelectorAll("[data-test=panel-mouseenter-container]")[0]);
           setTimeout(() => {
-            document.querySelectorAll("[data-test=panel-settings]")[0].click();
+            TestUtils.Simulate.click(document.querySelectorAll("[data-test=panel-settings]")[0]);
           });
         }}>
         <Rosout />
@@ -111,14 +142,14 @@ storiesOf("<RosoutPanel>", module)
   .add(`filtered terms: "multiple", "/some_topic"`, () => {
     return (
       <PanelSetup fixture={fixture}>
-        <Rosout config={{ searchTerms: ["multiple", "/some_topic"], minLogLevel: 1 }} />
+        <Rosout config={{ searchTerms: ["multiple", "/some_topic"], minLogLevel: 1, topicToRender: "/rosout" }} />
       </PanelSetup>
     );
   })
   .add(`case insensitive message filtering: "could", "Ipsum"`, () => {
     return (
       <PanelSetup fixture={fixture}>
-        <Rosout config={{ searchTerms: ["could", "Ipsum"], minLogLevel: 1 }} />
+        <Rosout config={{ searchTerms: ["could", "Ipsum"], minLogLevel: 1, topicToRender: "/rosout" }} />
       </PanelSetup>
     );
   });
diff --git a/packages/webviz-core/src/util/globalConstants.js b/packages/webviz-core/src/util/globalConstants.js
index 2bff42be1..cb9f159c7 100644
--- a/packages/webviz-core/src/util/globalConstants.js
+++ b/packages/webviz-core/src/util/globalConstants.js
@@ -25,6 +25,7 @@ export const DEFAULT_WEBVIZ_NODE_PREFIX = "/webviz_node/";
 
 export const TRANSFORM_TOPIC = "/tf";
 export const DIAGNOSTIC_TOPIC = "/diagnostics";
+export const ROSOUT_TOPIC = "/rosout";
 export const SOCKET_KEY = "dataSource.websocket";
 export const SECOND_BAG_PREFIX = "/webviz_bag_2";
 

From 42a2172cb9633b02e6dcc339e85ceb82d2e5758f Mon Sep 17 00:00:00 2001
From: David Winegar <david.winegar@getcruise.com>
Date: Mon, 10 Feb 2020 11:03:29 -0800
Subject: [PATCH 43/50] Update jest config (#340)

Add this line, which is required to get internal CI to pass so that
we can add this worker to the open-source version.
---
 jest/jest.config.js | 1 +
 1 file changed, 1 insertion(+)

diff --git a/jest/jest.config.js b/jest/jest.config.js
index 37cad6fdc..d7893dfea 100644
--- a/jest/jest.config.js
+++ b/jest/jest.config.js
@@ -25,6 +25,7 @@ module.exports = {
   ],
   setupTestFrameworkScriptFile: "<rootDir>/packages/webviz-core/src/test/setupTestFramework.js",
   moduleNameMapper: {
+    "worker-loader!./ChartJSWorker": "<rootDir>/webviz-core/src/test/MockWorker.js",
     "worker-loader!./PngWorker.js": "<rootDir>/packages/webviz-core/src/test/MockWorker.js",
     "worker-loader!.*/UserNodePlayer/.+Worker":
       "<rootDir>/packages/webviz-core/src/players/UserNodePlayer/worker.mock.js",

From 5a3c8750605e88b9c17a67869ceb136713ce618b Mon Sep 17 00:00:00 2001
From: Troy Gibb <troy.gibb@gmail.com>
Date: Mon, 10 Feb 2020 13:39:57 -0800
Subject: [PATCH 44/50] Fix worker loader (#342)

---
 webpack.config.js | 1 +
 1 file changed, 1 insertion(+)

diff --git a/webpack.config.js b/webpack.config.js
index 5f8c42771..7126c507d 100644
--- a/webpack.config.js
+++ b/webpack.config.js
@@ -87,6 +87,7 @@ module.exports = {
       },
       {
         test: /\.worker\.js$/,
+        exclude: /node_modules/,
         use: {
           loader: "worker-loader",
           options: { name: "[name].[ext]?[hash]" },

From 4aa0a4b3d42fcf414c0a7e0cb9d6ed4a9e2600f0 Mon Sep 17 00:00:00 2001
From: David Winegar <david.winegar@getcruise.com>
Date: Mon, 10 Feb 2020 15:10:28 -0800
Subject: [PATCH 45/50] Mock all workers in jest (#343)

Just mock out every worker-loader call in Jest, because Jest
doesn't like worker calls.
---
 jest/jest.config.js | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/jest/jest.config.js b/jest/jest.config.js
index d7893dfea..7014e3792 100644
--- a/jest/jest.config.js
+++ b/jest/jest.config.js
@@ -25,10 +25,7 @@ module.exports = {
   ],
   setupTestFrameworkScriptFile: "<rootDir>/packages/webviz-core/src/test/setupTestFramework.js",
   moduleNameMapper: {
-    "worker-loader!./ChartJSWorker": "<rootDir>/webviz-core/src/test/MockWorker.js",
-    "worker-loader!./PngWorker.js": "<rootDir>/packages/webviz-core/src/test/MockWorker.js",
-    "worker-loader!.*/UserNodePlayer/.+Worker":
-      "<rootDir>/packages/webviz-core/src/players/UserNodePlayer/worker.mock.js",
+    "worker-loader!.*": "<rootDir>/packages/webviz-core/src/test/MockWorker.js",
     "\\.svg$": "<rootDir>/packages/webviz-core/src/test/MockSvg.js",
     "react-monaco-editor": "<rootDir>/packages/webviz-core/src/test/stubs/MonacoEditor.js",
     "\\.css$": "<rootDir>/jest/styleMock.js",

From e70c549edcdcbf9f06b90c43afe7915b8395c2b0 Mon Sep 17 00:00:00 2001
From: trevorarmstrong <trevorarmstrong@gmail.com>
Date: Tue, 25 Feb 2020 10:15:32 -0800
Subject: [PATCH 46/50] Add stories setup config flow for webviz-core (#345)

## Summary

We'd like to be able to run custom setup code for storybook to support new features we're adding internally. For now it'll just be a no op.

## Test plan

Tested build and storybook locally, brought over internally repo and confirmed we can use this change to address our current issues.

## Versioning impact

No, only a test change.
---
 packages/webviz-core/src/stories/setup.js | 10 ++++++++++
 stories/config.js                         |  2 ++
 2 files changed, 12 insertions(+)
 create mode 100644 packages/webviz-core/src/stories/setup.js

diff --git a/packages/webviz-core/src/stories/setup.js b/packages/webviz-core/src/stories/setup.js
new file mode 100644
index 000000000..bd4b5dccb
--- /dev/null
+++ b/packages/webviz-core/src/stories/setup.js
@@ -0,0 +1,10 @@
+// @flow
+//
+//  Copyright (c) 2018-present, Cruise LLC
+//
+//  This source code is licensed under the Apache License, Version 2.0,
+//  found in the LICENSE file in the root directory of this source tree.
+//  You may not use this file except in compliance with the License.
+
+// Run setup logic for webviz core before storybook is launched
+export default function storiesSetup() {}
diff --git a/stories/config.js b/stories/config.js
index c12e5c942..b77837cfb 100755
--- a/stories/config.js
+++ b/stories/config.js
@@ -11,9 +11,11 @@ import { initScreenshot, setScreenshotOptions } from "storybook-chrome-screensho
 
 import "webviz-core/src/styles/global.scss";
 import prepareForScreenshots from "./prepareForScreenshots";
+import storiesSetup from "webviz-core/src/stories/setup";
 import waitForFonts from "webviz-core/src/styles/waitForFonts";
 import installChartjs from "webviz-core/src/util/installChartjs";
 
+storiesSetup();
 global.GIT_INFO = {};
 installChartjs();
 

From 5565770fc67991e5d5b803fb4c430c473973029f Mon Sep 17 00:00:00 2001
From: Aleksandr Alin <42942929+Warpoe@users.noreply.github.com>
Date: Sat, 7 Mar 2020 18:26:51 +0300
Subject: [PATCH 47/50] Create main.yml

---
 .github/workflows/main.yml | 31 +++++++++++++++++++++++++++++++
 1 file changed, 31 insertions(+)
 create mode 100644 .github/workflows/main.yml

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
new file mode 100644
index 000000000..d75dde081
--- /dev/null
+++ b/.github/workflows/main.yml
@@ -0,0 +1,31 @@
+on: [push]
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+
+    strategy:
+      matrix:
+        node-version: [10.x]
+
+    steps:
+    - uses: actions/checkout@v1
+    - name: Use Node.js ${{ matrix.node-version }}
+      uses: actions/setup-node@v1
+      with:
+        node-version: ${{ matrix.node-version }}
+    - name: npm bootstrap & build
+      run: |
+        npm run bootstrap
+        npm run build --if-present
+        #npm run docs (runs webserver)
+      env:
+        CI: true
+    - uses: elgohr/Publish-Docker-Github-Action@master
+      with:
+        name: cruise-automation/webviz/webwiz:latest
+        registry: docker.pkg.github.com
+        dockerfile: Dockerfile
+        username: <your-automation-username-here->
+        password: ${{ secrets.GITHUB_TOKEN }}

From e5d5a83bbe24f3689ea2ef6c45a728dfa3497829 Mon Sep 17 00:00:00 2001
From: Aleksandr Alin <42942929+Warpoe@users.noreply.github.com>
Date: Sat, 7 Mar 2020 18:27:49 +0300
Subject: [PATCH 48/50] Update webpack.config.js

---
 stories/webpack.config.js | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/stories/webpack.config.js b/stories/webpack.config.js
index e7ab7ee60..a1b55e8fb 100755
--- a/stories/webpack.config.js
+++ b/stories/webpack.config.js
@@ -17,4 +17,12 @@ module.exports = (storybookBaseConfig, configType) => ({
       CURRENT_VERSION: JSON.stringify(undefined),
     }),
   ],
+    devServer: {
+    contentBase: path.resolve(`${__dirname}/docs/public`),
+    hot: true,
+    open: true,
+    host: '0.0.0.0', // fixes docker port binding
+    public: '<hostname-of-your-docker-host>:8080'
+  },
+
 });

From c76e4b30de7be3690f2affc8f3a39e9fab1e0748 Mon Sep 17 00:00:00 2001
From: Aleksandr Alin <42942929+Warpoe@users.noreply.github.com>
Date: Sat, 7 Mar 2020 18:36:07 +0300
Subject: [PATCH 49/50] Update main.yml

---
 .github/workflows/main.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index d75dde081..899895926 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -27,5 +27,5 @@ jobs:
         name: cruise-automation/webviz/webwiz:latest
         registry: docker.pkg.github.com
         dockerfile: Dockerfile
-        username: <your-automation-username-here->
+        username: warpoe
         password: ${{ secrets.GITHUB_TOKEN }}

From 3afbb521899241d23bbe6c8339986c739173d1e9 Mon Sep 17 00:00:00 2001
From: Lars Gohr <lars@gohr.digital>
Date: Tue, 28 Mar 2023 19:19:16 +0200
Subject: [PATCH 50/50] Updated elgohr/Publish-Docker-Github-Action to a
 supported version (v5)

---
 .github/workflows/main.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 899895926..89822bab9 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -22,7 +22,7 @@ jobs:
         #npm run docs (runs webserver)
       env:
         CI: true
-    - uses: elgohr/Publish-Docker-Github-Action@master
+    - uses: elgohr/Publish-Docker-Github-Action@v5
       with:
         name: cruise-automation/webviz/webwiz:latest
         registry: docker.pkg.github.com