diff --git a/src/App.vue b/src/App.vue
index 7a73fe4..b06f53d 100644
--- a/src/App.vue
+++ b/src/App.vue
@@ -33,10 +33,10 @@ import { useROSStore } from './stores/ros'
 import { useMessasgeStore } from './stores/message'
 import { usePackageStore } from './stores/package'
 import { useNodesStore } from './stores/nodes'
-import { computed, onMounted, ref, watch } from 'vue'
+import { onMounted, ref, watch } from 'vue'
 import PackageLoader from './components/PackageLoader.vue'
-import type { Messages, NodeMsg, Packages, SubtreeInfo, TreeMsg } from './types/types'
-import { EditorSkin, useEditorStore } from './stores/editor'
+import type { MessageTypes, NodeMsg, Packages, SubtreeInfo, TreeMsg } from './types/types'
+import { useEditorStore } from './stores/editor'
 import { useEditNodeStore } from './stores/edit_node'
 import NodeList from './components/NodeList.vue'
 import SelectSubtree from './components/SelectSubtree.vue'
@@ -80,11 +80,11 @@ function updatePackagesSubscription() {
   ros_store.packages_sub.subscribe(onNewPackagesMsg)
 }
 
-function onNewMessagesMsg(msg: Messages) {
+function onNewMessagesMsg(msg: MessageTypes) {
   if (!messages_store.messages_available) {
     messages_store.areMessagesAvailable(true)
   }
-  messages_store.updateAvailableMessages(msg.messages)
+  messages_store.updateAvailableMessages(msg)
 }
 
 function updateMessagesSubscription() {
@@ -107,6 +107,10 @@ function updateSubtreeInfoSubscription() {
   ros_store.subtree_info_sub.subscribe(onNewSubtreeInfoMsg)
 }
 
+function updateChannelssubscription() {
+  ros_store.channels_sub.subscribe(messages_store.updateMessageChannels)
+}
+
 function handleNodeSearch(event: Event) {
   const target = event.target as HTMLInputElement
   node_search.value = target.value
@@ -154,6 +158,7 @@ ros_store.$onAction(({ name, after }) => {
     updateTreeSubscription()
     updateSubtreeInfoSubscription()
     updateMessagesSubscription()
+    updateChannelssubscription()
     updatePackagesSubscription()
   })
 })
@@ -163,6 +168,7 @@ onMounted(() => {
   updateTreeSubscription()
   updateSubtreeInfoSubscription()
   updateMessagesSubscription()
+  updateChannelssubscription()
   updatePackagesSubscription()
 })
 </script>
diff --git a/src/assets/utils.scss b/src/assets/utils.scss
index 5570fc7..218ad79 100644
--- a/src/assets/utils.scss
+++ b/src/assets/utils.scss
@@ -60,3 +60,15 @@
   --bs-btn-disabled-border-color: var(--bs-body-color);
   --bs-gradient: none;
 }
+
+.search-results {
+  padding-left: 5px;
+  padding-right: 5px;
+
+  max-height: 11em;
+  overflow-y: auto;
+}
+
+.search-result:hover {
+  background-color: #007bff;
+}
diff --git a/src/components/D3BehaviorTreeEditor.vue b/src/components/D3BehaviorTreeEditor.vue
index b2c77b3..6414407 100644
--- a/src/components/D3BehaviorTreeEditor.vue
+++ b/src/components/D3BehaviorTreeEditor.vue
@@ -42,27 +42,19 @@ import type {
   NodeDataLocation,
   NodeMsg,
   ParamData,
-  PyEnum,
-  PyLogger,
-  PyOperand,
-  PyOperator,
-  TreeMsg,
   TrimmedNode,
   TrimmedNodeData,
   NodeDataWiring
 } from '@/types/types'
 import { Position, IOKind } from '@/types/types'
-import { getDefaultValue, prettyprint_type, python_builtin_types, typesCompatible } from '@/utils'
-import { faArrowDown19 } from '@fortawesome/free-solid-svg-icons'
+import { getDefaultValue, prettyprint_type, serializeNodeOptions, typesCompatible } from '@/utils'
 import { notify } from '@kyvg/vue3-notification'
 import * as d3 from 'd3'
-import type { ZoomBehavior } from 'd3'
 import { onMounted, ref, watch, watchEffect } from 'vue'
 import type { HierarchyNode, HierarchyLink } from 'd3-hierarchy'
 import { flextree, type FlextreeNode } from 'd3-flextree'
 import type { MoveNodeRequest, MoveNodeResponse } from '@/types/services/MoveNode'
 import type { RemoveNodeRequest, RemoveNodeResponse } from '@/types/services/RemoveNode'
-import type { ReplaceNodeRequest, ReplaceNodeResponse } from '@/types/services/ReplaceNode'
 import type { WireNodeDataRequest, WireNodeDataResponse } from '@/types/services/WireNodeData'
 
 const editor_store = useEditorStore()
@@ -152,34 +144,10 @@ function resetView() {
 }
 
 function buildNodeMessage(node: DocumentedNode): NodeMsg {
-  function getDefaultValues(paramList: NodeData[], options?: NodeData[] | null) {
-    options = options || []
-
-    return paramList.map((x) => {
-      return {
-        key: x.key,
-        value: getDefaultValue(prettyprint_type(x.serialized_value), options)
-      }
-    })
-  }
-  const default_options = getDefaultValues(node.options)
-  const options = default_options.map((x) => {
-    if (x.value.type === 'unset_optionref') {
-      const optionref: string = x.value.value as string
-      const optionTypeName = optionref.substring('Ref to "'.length, optionref.length - 1)
-      const optionType = default_options.find((x) => {
-        return x.key === optionTypeName
-      })
-      if (optionType && optionType.value) {
-        return {
-          key: x.key,
-          value: getDefaultValue(optionType.value.value as string)
-        }
-      }
-    }
+  const options = node.options.map((opt: NodeData) => {
     return {
-      key: x.key,
-      value: x.value
+      key: opt.key,
+      value: getDefaultValue(prettyprint_type(opt.serialized_value), node.options)
     } as ParamData
   })
 
@@ -187,32 +155,7 @@ function buildNodeMessage(node: DocumentedNode): NodeMsg {
     module: node.module,
     node_class: node.node_class,
     name: node.name,
-    options: options.map((x) => {
-      const option: NodeData = {
-        key: x.key,
-        serialized_value: '',
-        serialized_type: ''
-      }
-      if (x.value.type === 'type') {
-        if (python_builtin_types.indexOf(x.value.value as string) >= 0) {
-          x.value.value = '__builtin__.' + x.value.value
-        }
-        option.serialized_value = JSON.stringify({
-          'py/type': x.value.value
-        })
-      } else if (x.value.type.startsWith('__')) {
-        const py_value: PyLogger | PyOperator | PyOperand | PyEnum = x.value.value as
-          | PyLogger
-          | PyOperator
-          | PyOperand
-          | PyEnum
-        py_value['py/object' as keyof typeof py_value] = x.value.type.substring('__'.length)
-        option.serialized_value = JSON.stringify(x.value.value)
-      } else {
-        option.serialized_value = JSON.stringify(x.value.value)
-      }
-      return option
-    }),
+    options: serializeNodeOptions(options),
     child_names: [],
     inputs: [],
     outputs: [],
diff --git a/src/components/EditableNode.vue b/src/components/EditableNode.vue
index 55b8783..32775ac 100644
--- a/src/components/EditableNode.vue
+++ b/src/components/EditableNode.vue
@@ -28,16 +28,12 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  -->
 <script setup lang="ts">
-import { useNodesStore } from '@/stores/nodes'
-import type { DocumentedNode, ParamData } from '@/types/types'
-import { computed } from 'vue'
 import { getShortDoc } from '@/utils'
 import { useEditorStore } from '@/stores/editor'
 import { useEditNodeStore } from '@/stores/edit_node'
 import ParamInputs from './ParamInputs.vue'
 import ParamDisplay from './ParamDisplay.vue'
 
-const nodes_store = useNodesStore()
 const editor_store = useEditorStore()
 const edit_node_store = useEditNodeStore()
 </script>
diff --git a/src/components/JSONInput.vue b/src/components/JSONInput.vue
index f718dd5..c5110a4 100644
--- a/src/components/JSONInput.vue
+++ b/src/components/JSONInput.vue
@@ -29,23 +29,13 @@
  -->
 <script setup lang="ts">
 import { useEditNodeStore } from '@/stores/edit_node'
-import { useEditorStore } from '@/stores/editor'
-import { useROSStore } from '@/stores/ros'
-import type {
-  GetMessageFieldsRequest,
-  GetMessageFieldsResponse
-} from '@/types/services/GetMessageFields'
 import type { ParamData } from '@/types/types'
-import { getMessageType } from '@/utils'
-import { notify } from '@kyvg/vue3-notification'
 import JSONEditor from 'jsoneditor'
 
 import 'jsoneditor/dist/jsoneditor.min.css'
 import { computed, onMounted, onUnmounted, ref, watch } from 'vue'
 
-const editor_store = useEditorStore()
 const edit_node_store = useEditNodeStore()
-const ros_store = useROSStore()
 
 const props = defineProps<{
   category: 'options'
@@ -57,8 +47,6 @@ const param = computed<ParamData | undefined>(() =>
 )
 
 const is_valid = ref<boolean>(true)
-const pyobjectstring = ref<string | undefined>(undefined)
-const field_names = ref<string[]>([])
 
 const editor_ref = ref<HTMLDivElement>()
 let editor: JSONEditor | undefined = undefined
@@ -80,68 +68,6 @@ function handleChange() {
   }
 }
 
-//TODO maybe this would be better placed in the getDefaultValue utility function
-function updateMessageType() {
-  if (param.value === undefined) {
-    return
-  }
-
-  // Trim the leading '__' that is sometimes added
-  let message_type: string
-  if (param.value.value.type.startsWith('__')) {
-    message_type = param.value.value.type.substring('__'.length)
-  } else {
-    message_type = param.value.value.type
-  }
-
-  const message = getMessageType(message_type)
-  if (message.msg === '/dict' || message.msg === '') {
-    /*notify({
-      title: 'Cannot request message infos!',
-      text: 'Message is a dict not a ROS message!',
-      type: 'warn'
-    })*/
-    return
-  } else {
-    ros_store.get_message_fields_service.callService(
-      {
-        message_type: message.msg,
-        service: message.service,
-        action: message.action,
-        type: message.type
-      } as GetMessageFieldsRequest,
-      (response: GetMessageFieldsResponse) => {
-        if (response.success) {
-          pyobjectstring.value = response.fields
-          field_names.value = response.field_names
-
-          const new_value = JSON.parse(response.fields)
-          console.log(new_value)
-
-          if (editor === undefined) {
-            return
-          }
-          editor.update(new_value)
-          handleChange()
-        } else {
-          notify({
-            title: 'GetMessageFields Service Error',
-            text: response.error_message,
-            type: 'error'
-          })
-        }
-      },
-      (failed) => {
-        notify({
-          title: 'Failure calling GetMessageFields Service',
-          text: failed,
-          type: 'error'
-        })
-      }
-    )
-  }
-}
-
 // This fires when param type changes and updates the editor accordingly
 watch(
   () => {
@@ -155,7 +81,6 @@ watch(
       return
     }
     editor.update(param.value.value.value)
-    updateMessageType()
   }
 )
 
diff --git a/src/components/MultipleSelection.vue b/src/components/MultipleSelection.vue
index 2e1165c..0af74b0 100644
--- a/src/components/MultipleSelection.vue
+++ b/src/components/MultipleSelection.vue
@@ -232,7 +232,6 @@ function saveSubtree(tree: TreeMsg) {
 <template>
   <SelectLocationModal
     v-model="show_selection_modal"
-    title="Select Save Location"
     @close="show_selection_modal = false"
     @select="setSaveLocation"
   />
diff --git a/src/components/NewNode.vue b/src/components/NewNode.vue
index 82b2475..0cef849 100644
--- a/src/components/NewNode.vue
+++ b/src/components/NewNode.vue
@@ -28,20 +28,9 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  -->
 <script setup lang="ts">
-import type {
-  DocumentedNode,
-  NodeData,
-  NodeMsg,
-  ParamData,
-  PyEnum,
-  PyLogger,
-  PyOperand,
-  PyOperator
-} from '@/types/types'
+import type { NodeMsg } from '@/types/types'
 import EditableNode from './EditableNode.vue'
 import { ref } from 'vue'
-import { getDefaultValue, prettyprint_type, python_builtin_types } from '@/utils'
-import { useEditorStore } from '@/stores/editor'
 import { useROSStore } from '@/stores/ros'
 import { notify } from '@kyvg/vue3-notification'
 import type { AddNodeRequest, AddNodeResponse } from '@/types/services/AddNode'
@@ -58,51 +47,6 @@ const selected_parent = ref<string | undefined>(
   props.parents.length > 0 ? props.parents[0].name : undefined
 )
 
-function buildNodeMessage(
-  module: string,
-  node_class: string,
-  name: string,
-  options: ParamData[]
-): NodeMsg {
-  return {
-    module: module,
-    node_class: node_class,
-    name: name,
-    options: options.map((x) => {
-      const option: NodeData = {
-        key: x.key,
-        serialized_value: '',
-        serialized_type: ''
-      }
-      if (x.value.type === 'type') {
-        if (python_builtin_types.indexOf(x.value.value as string) >= 0) {
-          x.value.value = '__builtin__.' + x.value.value
-        }
-        option.serialized_value = JSON.stringify({
-          'py/type': x.value.value
-        })
-      } else if (x.value.type.startsWith('__')) {
-        const py_value: PyLogger | PyOperator | PyOperand | PyEnum = x.value.value as
-          | PyLogger
-          | PyOperator
-          | PyOperand
-          | PyEnum
-        py_value['py/object' as keyof typeof py_value] = x.value.type.substring('__'.length)
-        option.serialized_value = JSON.stringify(x.value.value)
-      } else {
-        option.serialized_value = JSON.stringify(x.value.value)
-      }
-      return option
-    }),
-    child_names: [],
-    inputs: [],
-    outputs: [],
-    version: '',
-    max_children: 0,
-    state: ''
-  }
-}
-
 function addToTree() {
   if (!ros_store.connected) {
     notify({
@@ -117,17 +61,10 @@ function addToTree() {
     return
   }
 
-  const msg = buildNodeMessage(
-    edit_node_store.new_node_module,
-    edit_node_store.new_node_class,
-    edit_node_store.new_node_name,
-    edit_node_store.new_node_options
-  )
-
   ros_store.add_node_service.callService(
     {
       parent_name: selected_parent.value,
-      node: msg,
+      node: edit_node_store.buildNodeMsg(),
       allow_rename: true
     } as AddNodeRequest,
     (response: AddNodeResponse) => {
@@ -142,7 +79,7 @@ function addToTree() {
         })
       } else {
         notify({
-          title: 'Failed to add ' + msg.name + ' to the tree!',
+          title: 'Failed to add ' + edit_node_store.new_node_name + ' to the tree!',
           text: response.error_message,
           type: 'warn'
         })
diff --git a/src/components/ParamDisplay.vue b/src/components/ParamDisplay.vue
index 67e3f65..fb75d9c 100644
--- a/src/components/ParamDisplay.vue
+++ b/src/components/ParamDisplay.vue
@@ -45,6 +45,8 @@ const param = computed<ParamData | undefined>(() => {
       return edit_node_store.new_node_inputs.find((x) => x.key === props.data_key)
     case 'outputs':
       return edit_node_store.new_node_outputs.find((x) => x.key === props.data_key)
+    default:
+      return undefined
   }
 })
 </script>
diff --git a/src/components/ParamInputs.vue b/src/components/ParamInputs.vue
index 16052e7..f0662f4 100644
--- a/src/components/ParamInputs.vue
+++ b/src/components/ParamInputs.vue
@@ -36,6 +36,23 @@ import MathOperandParam from './param_inputs/MathOperandParam.vue'
 import { computed } from 'vue'
 import { useEditNodeStore } from '@/stores/edit_node'
 import { useEditorStore } from '@/stores/editor'
+import FilePathParam from './param_inputs/FilePathParam.vue'
+import {
+  FilePath_Name,
+  MathBinaryOperator_Name,
+  MathOperandType_Name,
+  MathUnaryOperandType_Name,
+  MathUnaryOperator_Name,
+  OrderedDict_Name,
+  RosTopicType_Name,
+  RosTopicName_Name,
+  RosServiceType_Name,
+  RosServiceName_Name,
+  RosActionType_Name,
+  RosActionName_Name
+} from '@/types/python_types'
+import RosTypeParam from './param_inputs/RosTypeParam.vue'
+import RosNameParam from './param_inputs/RosNameParam.vue'
 
 const props = defineProps<{
   category: 'options'
@@ -104,7 +121,7 @@ const json_attrs = computed<any>(() => {
     case 'list':
       break
     case 'dict':
-    case 'collections.OrderedDict':
+    case OrderedDict_Name:
       break
     default:
       break
@@ -187,6 +204,51 @@ function onFocus() {
       :op_type="'unary'"
     />
 
+    <FilePathParam
+      v-else-if="param.value.type === FilePath_Name"
+      :category="props.category"
+      :data_key="props.data_key"
+    />
+
+    <RosTypeParam
+      v-else-if="param.value.type === RosTopicType_Name"
+      :category="props.category"
+      :data_key="props.data_key"
+      :type="'topic'"
+    />
+    <RosNameParam
+      v-else-if="param.value.type === RosTopicName_Name"
+      :category="props.category"
+      :data_key="props.data_key"
+      :type="'topic'"
+    />
+
+    <RosTypeParam
+      v-else-if="param.value.type === RosServiceType_Name"
+      :category="props.category"
+      :data_key="props.data_key"
+      :type="'service'"
+    />
+    <RosNameParam
+      v-else-if="param.value.type === RosServiceName_Name"
+      :category="props.category"
+      :data_key="props.data_key"
+      :type="'service'"
+    />
+
+    <RosTypeParam
+      v-else-if="param.value.type === RosActionType_Name"
+      :category="props.category"
+      :data_key="props.data_key"
+      :type="'action'"
+    />
+    <RosNameParam
+      v-else-if="param.value.type === RosActionName_Name"
+      :category="props.category"
+      :data_key="props.data_key"
+      :type="'action'"
+    />
+
     <div v-else class="form-group">
       <label class="d-block">
         {{ param.key }}
diff --git a/src/components/SelectedNode.vue b/src/components/SelectedNode.vue
index 10f8cd8..bd64687 100644
--- a/src/components/SelectedNode.vue
+++ b/src/components/SelectedNode.vue
@@ -28,27 +28,14 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  -->
 <script setup lang="ts">
-import { getDefaultValue, prettyprint_type, python_builtin_types } from '@/utils'
+import { serializeNodeOptions } from '@/utils'
 import { notify } from '@kyvg/vue3-notification'
-import { ref } from 'vue'
 import EditableNode from './EditableNode.vue'
-import type {
-  ParamData,
-  NodeData,
-  DocumentedNode,
-  NodeMsg,
-  PyEnum,
-  PyLogger,
-  PyOperand,
-  PyOperator,
-  ValueTypes
-} from '@/types/types'
 import type { MorphNodeRequest, MorphNodeResponse } from '@/types/services/MorphNode'
 import type { RemoveNodeRequest, RemoveNodeResponse } from '@/types/services/RemoveNode'
 import type { SetOptionsRequest, SetOptionsResponse } from '@/types/services/SetOptions'
 
 import { useEditorStore } from '@/stores/editor'
-import { useNodesStore } from '@/stores/nodes'
 import { useROSStore } from '@/stores/ros'
 import { useEditNodeStore } from '@/stores/edit_node'
 
@@ -56,42 +43,6 @@ const ros_store = useROSStore()
 const editor_store = useEditorStore()
 const edit_node_store = useEditNodeStore()
 
-function buildNodeMsg(): NodeMsg {
-  return {
-    module: edit_node_store.new_node_module,
-    node_class: edit_node_store.new_node_class,
-    name: edit_node_store.new_node_name,
-    options: edit_node_store.new_node_options.map((x) => {
-      const option: NodeData = {
-        key: x.key,
-        serialized_value: '',
-        serialized_type: ''
-      }
-      if (x.value.type === 'type') {
-        if (python_builtin_types.indexOf(x.value.value as string) >= 0) {
-          x.value.value = '__builtin__.' + x.value.value
-          //x.value.value = 'builtins.' + x.value.value;
-        }
-        option.serialized_value = JSON.stringify({
-          'py/type': x.value.value
-        })
-      } else if (x.value.type.startsWith('__')) {
-        const val = x.value.value as PyLogger | PyOperator | PyOperand | PyEnum
-        val['py/object'] = x.value.type.substring('__'.length)
-        option.serialized_value = JSON.stringify(x.value.value)
-      } else {
-        option.serialized_value = JSON.stringify(x.value.value)
-      }
-      return option
-    }),
-    inputs: [],
-    outputs: [],
-    max_children: 0,
-    child_names: [],
-    version: '',
-    state: ''
-  } as NodeMsg
-}
 function onClickDelete() {
   if (edit_node_store.selected_node === undefined) {
     console.error("Can't delete a node that doesn't exist")
@@ -125,6 +76,7 @@ function onClickDelete() {
     }
   )
 }
+
 function onClickDeleteWithChildren() {
   if (edit_node_store.selected_node === undefined) {
     console.error("Can't delete a node that doesn't exist")
@@ -174,27 +126,7 @@ function updateNode() {
       node_name: edit_node_store.selected_node.name,
       rename_node: true,
       new_name: edit_node_store.new_node_name,
-      options: edit_node_store.new_node_options.map((x) => {
-        const option = {
-          key: x.key,
-          serialized_value: ''
-        }
-        if (x.value.type === 'type') {
-          if (python_builtin_types.indexOf(x.value.value as string) >= 0) {
-            x.value.value = ('__builtin__.' + x.value.value) as string
-          }
-          option.serialized_value = JSON.stringify({
-            'py/type': x.value.value
-          })
-        } else if (x.value.type.startsWith('__')) {
-          const val = x.value.value as PyOperand | PyLogger | PyOperator | PyOperand | PyEnum
-          val['py/object'] = x.value.type.substring('__'.length)
-          option.serialized_value = JSON.stringify(val)
-        } else {
-          option.serialized_value = JSON.stringify(x.value.value)
-        }
-        return option
-      })
+      options: serializeNodeOptions(edit_node_store.new_node_options)
     } as SetOptionsRequest,
     (response: SetOptionsResponse) => {
       if (response.success) {
@@ -217,7 +149,6 @@ function updateNode() {
 
 function onClickUpdate() {
   if (edit_node_store.node_is_morphed) {
-    const msg = buildNodeMsg()
     if (edit_node_store.selected_node === undefined) {
       console.error("Can't morph a node that doesn't exist")
       return
@@ -225,12 +156,12 @@ function onClickUpdate() {
     ros_store.morph_node_service.callService(
       {
         node_name: edit_node_store.selected_node.name,
-        new_node: msg
+        new_node: edit_node_store.buildNodeMsg()
       } as MorphNodeRequest,
       (response: MorphNodeResponse) => {
         if (response.success) {
           notify({
-            title: 'Morphed node ' + edit_node_store.selected_node!.name + ' successfully!',
+            title: 'Morphed node ' + edit_node_store.new_node_name + ' successfully!',
             type: 'success'
           })
           edit_node_store.node_is_morphed = false
diff --git a/src/components/modals/SaveFileModal.vue b/src/components/modals/SaveFileModal.vue
index 1c9f8a8..fb5a874 100644
--- a/src/components/modals/SaveFileModal.vue
+++ b/src/components/modals/SaveFileModal.vue
@@ -201,7 +201,7 @@ function saveTree() {
           <option :value="undefined">All files</option>
         </select>
         <select v-model="handle_name_conflict" class="form-select">
-          <option v-for="opt in Object.values(NameConflictHandler)" :value="opt">
+          <option v-for="opt in Object.values(NameConflictHandler)" :value="opt" :key="opt">
             {{ opt }}
           </option>
         </select>
diff --git a/src/components/modals/SelectFileModal.vue b/src/components/modals/SelectFileModal.vue
new file mode 100644
index 0000000..64bbced
--- /dev/null
+++ b/src/components/modals/SelectFileModal.vue
@@ -0,0 +1,108 @@
+<!--
+ *  Copyright 2024 FZI Forschungszentrum Informatik
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *
+ *     * Neither the name of the {copyright_holder} nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ *  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ *  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ *  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ *  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ *  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ *  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ *  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+-->
+<script setup lang="ts">
+import { VueFinalModal } from 'vue-final-modal'
+import FileBrowser from './FileBrowser.vue'
+import { computed, ref } from 'vue'
+
+const props = defineProps<{
+  fromPackages: boolean
+}>()
+
+const emit = defineEmits<{
+  (e: 'select', path: string): void
+  (e: 'close'): void
+}>()
+
+// Specify valid file extensions as regex (multiple with | in the capture group)
+const file_type_regex: RegExp = new RegExp('\.(yaml)')
+
+const file_filter = ref<RegExp | undefined>(file_type_regex)
+
+const storage_location = ref<string>('')
+const selected_path = ref<string[]>([])
+const is_directory = ref<boolean>(true)
+const search_term = ref<string>('')
+
+const file_path = computed<string>(() => {
+  return (
+    (props.fromPackages ? 'package' : 'file') +
+    '://' +
+    storage_location.value +
+    '/' +
+    selected_path.value.join('/')
+  )
+})
+
+function setLoadLocation(path: string[], dir: boolean) {
+  selected_path.value = path
+  is_directory.value = dir
+  if (dir) {
+    search_term.value = ''
+  }
+}
+</script>
+
+<template>
+  <VueFinalModal
+    class="flex justify-center items-center"
+    content-class="flex flex-col mt-4 mx-4 border rounded space-y-2"
+    content-style="background-color: var(--bs-body-bg);"
+  >
+    <FileBrowser
+      @close="emit('close')"
+      :file_filter="file_filter"
+      :from-packages="props.fromPackages"
+      :title="'Select File from ' + (props.fromPackages ? 'Package' : 'Folder')"
+      :location="props.fromPackages ? 'Package' : 'Folder'"
+      :search_term="search_term"
+      @location="(location) => (storage_location = location)"
+      @select="(path, dir) => setLoadLocation(path, dir)"
+    >
+      <div class="d-flex justify-content-between mb-3">
+        <button
+          class="btn btn-primary me-2"
+          :disabled="is_directory"
+          @click="emit('select', file_path)"
+        >
+          Select
+        </button>
+        <select v-model="file_filter" class="form-select me-2 w-50">
+          <option :value="file_type_regex">Valid files</option>
+          <option :value="undefined">All files</option>
+        </select>
+        <div class="input-group">
+          <span class="input-group-text"> Search: </span>
+          <input v-model="search_term" type="text" class="form-control" />
+        </div>
+      </div>
+    </FileBrowser>
+  </VueFinalModal>
+</template>
diff --git a/src/components/modals/SelectLocationModal.vue b/src/components/modals/SelectLocationModal.vue
index bb07b9e..f26809b 100644
--- a/src/components/modals/SelectLocationModal.vue
+++ b/src/components/modals/SelectLocationModal.vue
@@ -102,7 +102,7 @@ function setLocation(path: string[], dir: boolean) {
           <option :value="undefined">All files</option>
         </select>
         <select v-model="handle_name_conflict" class="form-select">
-          <option v-for="opt in Object.values(NameConflictHandler)" :value="opt">
+          <option v-for="opt in Object.values(NameConflictHandler)" :value="opt" :key="opt">
             {{ opt }}
           </option>
         </select>
diff --git a/src/components/param_inputs/FilePathParam.vue b/src/components/param_inputs/FilePathParam.vue
new file mode 100644
index 0000000..a60a74f
--- /dev/null
+++ b/src/components/param_inputs/FilePathParam.vue
@@ -0,0 +1,105 @@
+<!--
+ *  Copyright 2024 FZI Forschungszentrum Informatik
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *
+ *     * Neither the name of the {copyright_holder} nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ *  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ *  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ *  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ *  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ *  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ *  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ *  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+-->
+<script setup lang="ts">
+import { useEditNodeStore } from '@/stores/edit_node'
+import type { ParamData } from '@/types/types'
+import { computed, ref } from 'vue'
+import SelectFileModal from '../modals/SelectFileModal.vue'
+import type { PyFilePath } from '@/types/python_types'
+
+const edit_node_store = useEditNodeStore()
+
+const props = defineProps<{
+  category: 'options'
+  data_key: string
+}>()
+
+const param = computed<ParamData | undefined>(() =>
+  edit_node_store.new_node_options.find((x) => x.key === props.data_key)
+)
+
+const show_selection_modal = ref<boolean>(false)
+const from_packages = ref<boolean>(false)
+
+function showPackageModal() {
+  from_packages.value = true
+  show_selection_modal.value = true
+}
+
+function showFileModal() {
+  from_packages.value = false
+  show_selection_modal.value = true
+}
+
+function selectFile(path: string) {
+  if (param.value === undefined) {
+    console.error('Undefined parameter')
+    return
+  }
+
+  let file_path_obj = param.value.value.value as PyFilePath
+  file_path_obj.path = path
+
+  edit_node_store.updateParamValue(param.value.value.type, param.value.key, file_path_obj)
+
+  show_selection_modal.value = false
+}
+</script>
+
+<template>
+  <SelectFileModal
+    v-model="show_selection_modal"
+    :from-packages="from_packages"
+    @close="show_selection_modal = false"
+    @select="selectFile"
+  />
+  <div v-if="param !== undefined" class="form-group">
+    <label class="d-block">
+      {{ param.key }}
+    </label>
+    <div class="input-group">
+      <input
+        type="text"
+        class="form-control"
+        :value="(param.value.value as PyFilePath).path"
+        disabled
+      />
+      <button class="btn btn-primary" @click="showPackageModal">
+        <font-awesome-icon icon="fa-solid fa-folder-tree" aria-hidden="true" />
+        <span class="ms-1">Package</span>
+      </button>
+      <button class="btn btn-primary" @click="showFileModal">
+        <font-awesome-icon icon="fa-solid fa-folder-open" aria-hidden="true" />
+        <span className="ms-1">File</span>
+      </button>
+    </div>
+  </div>
+  <div v-else>Error loading param data</div>
+</template>
diff --git a/src/components/param_inputs/RosNameParam.vue b/src/components/param_inputs/RosNameParam.vue
new file mode 100644
index 0000000..074d145
--- /dev/null
+++ b/src/components/param_inputs/RosNameParam.vue
@@ -0,0 +1,223 @@
+<!--
+ *  Copyright 2024 FZI Forschungszentrum Informatik
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *
+ *     * Neither the name of the {copyright_holder} nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ *  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ *  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ *  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ *  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ *  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ *  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ *  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<script setup lang="ts">
+import { useEditNodeStore } from '@/stores/edit_node'
+import { useEditorStore } from '@/stores/editor'
+import { useMessasgeStore } from '@/stores/message'
+import {
+  RosActionType_Name,
+  RosServiceType_Name,
+  RosTopicType_Name,
+  type RosName,
+  type RosType
+} from '@/types/python_types'
+import type { Channel, ParamData } from '@/types/types'
+import Fuse from 'fuse.js'
+import { computed, ref } from 'vue'
+
+const edit_node_store = useEditNodeStore()
+const editor_store = useEditorStore()
+const messages_store = useMessasgeStore()
+
+const props = defineProps<{
+  category: 'options'
+  data_key: string
+  type: 'topic' | 'service' | 'action'
+}>()
+
+let search_results = ref<Channel[]>([])
+
+const param = computed<ParamData | undefined>(() =>
+  edit_node_store.new_node_options.find((x) => x.key === props.data_key)
+)
+
+// Find a type parameter to reference when searching and set when selecting
+const type_param = computed<ParamData | undefined>(() => {
+  let type_param_name: string
+  switch (props.type) {
+    case 'topic':
+      type_param_name = RosTopicType_Name
+      break
+    case 'service':
+      type_param_name = RosServiceType_Name
+      break
+    case 'action':
+      type_param_name = RosActionType_Name
+      break
+    default:
+      return undefined
+  }
+  return edit_node_store.new_node_options.find((x) => x.value.type === type_param_name)
+})
+
+const search_fuse = computed<Fuse<Channel> | undefined>(() => {
+  switch (props.type) {
+    case 'topic':
+      return messages_store.ros_topic_name_fuse
+    case 'service':
+      return messages_store.ros_service_name_fuse
+    case 'action':
+      return messages_store.ros_action_name_fuse
+    default:
+      return undefined
+  }
+})
+
+// These track two conditions for displaying the result dropdown.
+//   One is for focusing the input, the other for navigating the result menu
+let hide_results = ref<boolean>(true)
+let keep_results = ref<boolean>(false)
+
+function onInput(event: Event) {
+  if (param.value === undefined ||
+    search_fuse.value === undefined
+  ) {
+    console.error('Undefined parameter')
+    return
+  }
+
+  const target = event.target as HTMLInputElement
+  let new_name = target.value || ''
+
+  let results
+  if (type_param.value === undefined) {
+    results = search_fuse.value.search({ name: new_name })
+  } else {
+    const type = (type_param.value.value.value as RosType).type_str
+    if (type === '') {
+      results = search_fuse.value.search({ name: new_name })
+    } else {
+      results = search_fuse.value.search({ name: new_name, type: type })
+    }
+  }
+
+  search_results.value = results.map((x) => x.item)
+
+  setValue(new_name)
+}
+
+function setValue(new_value: string) {
+  if (param.value === undefined) {
+    console.error('Undefined parameter')
+    return
+  }
+
+  let name_obj = param.value.value.value as RosName
+  name_obj.name = new_value
+
+  edit_node_store.updateParamValue(props.category, props.data_key, name_obj)
+}
+
+function setType(new_value: string) {
+  if (type_param.value === undefined) {
+    // No type param to set
+    return
+  }
+
+  let type_obj = type_param.value.value.value as RosType
+  type_obj.type_str = new_value
+
+  edit_node_store.updateParamValue(props.category, type_param.value.key, type_obj)
+}
+
+function selectSearchResult(search_result: Channel) {
+  setValue(search_result.name)
+  setType(search_result.type)
+  releaseDropdown()
+}
+
+function focusInput() {
+  edit_node_store.changeCopyMode(false)
+  hide_results.value = false
+}
+
+function unfocusInput() {
+  hide_results.value = true
+}
+
+function forceDropdown() {
+  keep_results.value = true
+}
+
+function releaseDropdown() {
+  keep_results.value = false
+}
+</script>
+
+<template>
+  <div v-if="param !== undefined" class="form-group">
+    <label class="d-block">
+      {{ param.key }}
+      <input
+        type="text"
+        class="form-control mt-2"
+        :value="(param.value.value as RosName).name"
+        :disabled="editor_store.selected_subtree.is_subtree"
+        @input="onInput"
+        @focus="focusInput"
+        @blur="unfocusInput"
+        @keyup.esc="
+          () => {
+            unfocusInput()
+            releaseDropdown()
+          }
+        "
+        @keydown.tab="forceDropdown"
+      />
+    </label>
+    <div class="mb-2 search-results">
+      <div
+        class="list-group rounded-top-0"
+        :class="{ 'd-none': hide_results && !keep_results }"
+        @mouseenter="forceDropdown"
+        @mouseleave="releaseDropdown"
+      >
+        <div
+          v-for="result in search_results"
+          :key="result.name"
+          class="list-group-item search-result"
+          tabindex="0"
+          @click="() => selectSearchResult(result)"
+          @keyup.enter="() => selectSearchResult(result)"
+          @keyup.esc="releaseDropdown"
+        >
+          {{ result.name }}<br />
+          <small>{{ result.type }}</small>
+        </div>
+      </div>
+    </div>
+  </div>
+  <div v-else>Error loading param data</div>
+</template>
+
+<style scoped lang="scss">
+
+</style>
\ No newline at end of file
diff --git a/src/components/param_inputs/RosTypeParam.vue b/src/components/param_inputs/RosTypeParam.vue
new file mode 100644
index 0000000..65096ce
--- /dev/null
+++ b/src/components/param_inputs/RosTypeParam.vue
@@ -0,0 +1,172 @@
+<!--
+ *  Copyright 2024 FZI Forschungszentrum Informatik
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *
+ *     * Neither the name of the {copyright_holder} nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ *  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ *  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ *  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ *  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ *  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ *  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ *  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<script setup lang="ts">
+import { useEditNodeStore } from '@/stores/edit_node'
+import { useEditorStore } from '@/stores/editor'
+import { useMessasgeStore } from '@/stores/message'
+import type { RosType } from '@/types/python_types'
+import type { ParamData } from '@/types/types'
+import Fuse from 'fuse.js'
+import { computed, ref } from 'vue'
+
+const edit_node_store = useEditNodeStore()
+const editor_store = useEditorStore()
+const messages_store = useMessasgeStore()
+
+const props = defineProps<{
+  category: 'options'
+  data_key: string
+  type: 'topic' | 'service' | 'action'
+}>()
+
+let search_results = ref<string[]>([])
+
+const param = computed<ParamData | undefined>(() =>
+  edit_node_store.new_node_options.find((x) => x.key === props.data_key)
+)
+
+const search_fuse = computed<Fuse<string> | undefined>(() => {
+  switch (props.type) {
+    case 'topic':
+      return messages_store.ros_topic_type_fuse
+    case 'service':
+      return messages_store.ros_service_type_fuse
+    case 'action':
+      return messages_store.ros_action_type_fuse
+    default:
+      return undefined
+  }
+})
+
+// These track two conditions for displaying the result dropdown.
+//   One is for focusing the input, the other for navigating the result menu
+let hide_results = ref<boolean>(true)
+let keep_results = ref<boolean>(false)
+
+function onInput(event: Event) {
+  if (param.value === undefined ||
+    search_fuse.value === undefined
+  ) {
+    console.error('Undefined parameter')
+    return
+  }
+
+  const target = event.target as HTMLInputElement
+  let new_type_name = target.value || ''
+  const results = search_fuse.value.search(new_type_name)
+  search_results.value = results.map((x) => x.item)
+
+  setValue(new_type_name)
+}
+
+function setValue(new_value: string) {
+  if (param.value === undefined) {
+    console.error('Undefined parameter')
+    return
+  }
+
+  let type_obj = param.value.value.value as RosType
+  type_obj.type_str = new_value
+
+  edit_node_store.updateParamValue(props.category, props.data_key, type_obj)
+}
+
+function selectSearchResult(search_result: string) {
+  setValue(search_result)
+  releaseDropdown()
+}
+
+function focusInput() {
+  edit_node_store.changeCopyMode(false)
+  hide_results.value = false
+}
+
+function unfocusInput() {
+  hide_results.value = true
+}
+
+function forceDropdown() {
+  keep_results.value = true
+}
+
+function releaseDropdown() {
+  keep_results.value = false
+}
+</script>
+
+<template>
+  <div v-if="param !== undefined" class="form-group">
+    <label class="d-block">
+      {{ param.key }}
+      <input
+        type="text"
+        class="form-control mt-2"
+        :value="(param.value.value as RosType).type_str"
+        :disabled="editor_store.selected_subtree.is_subtree"
+        @input="onInput"
+        @focus="focusInput"
+        @blur="unfocusInput"
+        @keyup.esc="
+          () => {
+            unfocusInput()
+            releaseDropdown()
+          }
+        "
+        @keydown.tab="forceDropdown"
+      />
+    </label>
+    <div class="mb-2 search-results">
+      <div
+        class="list-group rounded-top-0"
+        :class="{ 'd-none': hide_results && !keep_results }"
+        @mouseenter="forceDropdown"
+        @mouseleave="releaseDropdown"
+      >
+        <div
+          v-for="result in search_results"
+          :key="result"
+          class="list-group-item search-result"
+          tabindex="0"
+          @click="() => selectSearchResult(result)"
+          @keyup.enter="() => selectSearchResult(result)"
+          @keyup.esc="releaseDropdown"
+        >
+          {{ result }}
+        </div>
+      </div>
+    </div>
+  </div>
+  <div v-else>Error loading param data</div>
+</template>
+
+<style scoped lang="scss">
+
+</style>
\ No newline at end of file
diff --git a/src/components/param_inputs/TypeParam.vue b/src/components/param_inputs/TypeParam.vue
index 074dd0f..6db1011 100644
--- a/src/components/param_inputs/TypeParam.vue
+++ b/src/components/param_inputs/TypeParam.vue
@@ -31,7 +31,7 @@
 import { useEditNodeStore } from '@/stores/edit_node'
 import { useEditorStore } from '@/stores/editor'
 import { useMessasgeStore } from '@/stores/message'
-import type { Message, ParamData } from '@/types/types'
+import type { ParamData } from '@/types/types'
 import { python_builtin_types } from '@/utils'
 import { computed, ref } from 'vue'
 
@@ -44,12 +44,23 @@ const editor_store = useEditorStore()
 const edit_node_store = useEditNodeStore()
 const messages_store = useMessasgeStore()
 
-let messages_results = ref<Message[]>([])
+let messages_results = ref<string[]>([])
 
 const param = computed<ParamData | undefined>(() =>
   edit_node_store.new_node_options.find((x) => x.key === props.data_key)
 )
 
+const display_value = computed<string>(() => {
+  if (param.value === undefined) {
+    return ''
+  }
+  let value = param.value.value.value as string
+  if (python_builtin_types.includes(value)) {
+    value = 'builtins.' + value
+  }
+  return value
+})
+
 // These track two conditions for displaying the result dropdown.
 //   One is for focusing the input, the other for navigating the result menu
 let hide_results = ref<boolean>(true)
@@ -65,17 +76,13 @@ function onChange(event: Event) {
   let new_type_name = target.value || ''
   new_type_name = new_type_name.replace('__builtin__.', '').replace('builtins.', '')
   const results = messages_store.messages_fuse.search(new_type_name)
-  messages_results.value = results.slice(0, 5).map((x) => x.item)
+  messages_results.value = results.map((x) => x.item)
 
-  if (python_builtin_types.indexOf(new_type_name) >= 0) {
-    edit_node_store.updateParamValue(props.category, props.data_key, '__builtin__.' + new_type_name)
-  } else {
-    edit_node_store.updateParamValue(props.category, props.data_key, new_type_name)
-  }
+  edit_node_store.updateParamValue(props.category, props.data_key, new_type_name)
 }
 
-function selectSearchResult(search_result: Message) {
-  edit_node_store.updateParamValue(props.category, props.data_key, search_result.msg)
+function selectSearchResult(search_result: string) {
+  edit_node_store.updateParamValue(props.category, props.data_key, search_result)
   releaseDropdown()
 }
 
@@ -104,7 +111,7 @@ function releaseDropdown() {
       <input
         type="text"
         class="form-control mt-2"
-        :value="param.value.value as string"
+        :value="display_value"
         :disabled="editor_store.selected_subtree.is_subtree"
         @input="onChange"
         @focus="focusInput"
@@ -120,21 +127,22 @@ function releaseDropdown() {
     </label>
     <div class="mb-2 search-results">
       <div
-        class="list-group"
+        class="list-group rounded-top-0"
         :class="{ 'd-none': hide_results && !keep_results }"
         @mouseenter="forceDropdown"
         @mouseleave="releaseDropdown"
       >
         <div
           v-for="result in messages_results"
-          :key="result.msg"
+          :key="result"
           class="list-group-item search-result"
           tabindex="0"
           @click="() => selectSearchResult(result)"
           @keyup.enter="() => selectSearchResult(result)"
           @keyup.esc="releaseDropdown"
         >
-          {{ result.msg }}
+          <!--Insert a zero-width space after each dot to allow line breaks-->
+          {{ result.replace(/\./g, '.\u200B') }}
         </div>
       </div>
     </div>
@@ -143,15 +151,5 @@ function releaseDropdown() {
 </template>
 
 <style scoped lang="scss">
-.search-results {
-  padding-left: 10px;
-}
-
-.search-result:hover {
-  background-color: #007bff;
-}
 
-.search-result-highlighted {
-  background-color: #007bff;
-}
 </style>
diff --git a/src/stores/edit_node.ts b/src/stores/edit_node.ts
index e48a9cf..3c63e60 100644
--- a/src/stores/edit_node.ts
+++ b/src/stores/edit_node.ts
@@ -33,7 +33,7 @@ import { defineStore } from 'pinia'
 import { computed, ref } from 'vue'
 import { useEditorStore } from './editor'
 import { useNodesStore } from './nodes'
-import { getDefaultValue, prettyprint_type } from '@/utils'
+import { getDefaultValue, prettyprint_type, serializeNodeOptions } from '@/utils'
 
 export enum EditorSelectionSource {
   NONE = 'none',
@@ -198,7 +198,7 @@ export const useEditNodeStore = defineStore('edit_node', () => {
       const type = prettyprint_type(x.serialized_type)
       let json_value = JSON.parse(x.serialized_value)
       if (type === 'type') {
-        json_value = json_value['py/type'].replace('__builtin__.', '').replace('builtins.', '')
+        json_value = json_value['py/type']
       }
       return {
         key: x.key,
@@ -312,38 +312,25 @@ export const useEditNodeStore = defineStore('edit_node', () => {
         return
       }
 
-      const option_ref_keys = reference_node.value.options
-        .filter((x) => prettyprint_type(x.serialized_value).startsWith('OptionRef('))
-        .map((x): [string, string] => [
-          x.key,
-          prettyprint_type(x.serialized_value).substring(
-            'OptionRef('.length,
-            prettyprint_type(x.serialized_value).length - 1
+      function findOptionRefs(ref_list: NodeData[]): [string, string][] {
+        return ref_list.filter((x) => 
+            prettyprint_type(x.serialized_value).startsWith('OptionRef(')
           )
-        ])
-        .filter((x) => x[1] === key)
-
-      const input_ref_keys = reference_node.value.inputs
-        .filter((x) => prettyprint_type(x.serialized_value).startsWith('OptionRef('))
-        .map((x): [string, string] => [
-          x.key,
-          prettyprint_type(x.serialized_value).substring(
-            'OptionRef('.length,
-            prettyprint_type(x.serialized_value).length - 1
-          )
-        ])
-        .filter((x) => x[1] === key)
-
-      const output_ref_keys = reference_node.value.outputs
-        .filter((x) => prettyprint_type(x.serialized_value).startsWith('OptionRef('))
-        .map((x): [string, string] => [
-          x.key,
-          prettyprint_type(x.serialized_value).substring(
-            'OptionRef('.length,
-            prettyprint_type(x.serialized_value).length - 1
-          )
-        ])
-        .filter((x) => x[1] === key)
+          .map((x): [string, string] => [
+            x.key,
+            prettyprint_type(x.serialized_value).substring(
+              'OptionRef('.length,
+              prettyprint_type(x.serialized_value).length - 1
+            )
+          ])
+          .filter((x) => x[1] === key)
+      }
+
+      const option_ref_keys = findOptionRefs(reference_node.value.options)
+
+      const input_ref_keys = findOptionRefs(reference_node.value.inputs)
+
+      const output_ref_keys = findOptionRefs(reference_node.value.outputs)
 
       new_node_options.value = new_node_options.value.map(map_fun)
       function resolve_refs(refs: [string, string][], current_item: ParamData): ParamData {
@@ -358,7 +345,7 @@ export const useEditNodeStore = defineStore('edit_node', () => {
             // referenced option
             return {
               key: current_item.key,
-              value: getDefaultValue(opt_value.replace('__builtin__.', '').replace('builtins.', ''))
+              value: getDefaultValue(opt_value)
             }
           }
         }
@@ -385,6 +372,21 @@ export const useEditNodeStore = defineStore('edit_node', () => {
     }
   }
 
+  function buildNodeMsg(): NodeMsg {
+    return {
+      module: new_node_module.value,
+      node_class: new_node_class.value,
+      name: new_node_name.value,
+      max_children: 0,
+      child_names: [],
+      options: serializeNodeOptions(new_node_options.value),
+      inputs: [],
+      outputs: [],
+      version: '',
+      state: ''
+    }
+  }
+
   return {
     selected_node,
     reference_node,
@@ -411,6 +413,7 @@ export const useEditNodeStore = defineStore('edit_node', () => {
     changeCopyMode,
     changeNodeName,
     changeNodeClass,
-    updateParamValue
+    updateParamValue,
+    buildNodeMsg
   }
 })
diff --git a/src/stores/editor.ts b/src/stores/editor.ts
index 89ba0c7..c70d32a 100644
--- a/src/stores/editor.ts
+++ b/src/stores/editor.ts
@@ -34,11 +34,9 @@ import type {
   NodeDataWiring,
   DocumentedNode,
   TreeMsg,
-  NodeMsg,
   TrimmedNode,
   DataEdgeTerminal
 } from '@/types/types'
-import { useNodesStore } from './nodes'
 import { notify } from '@kyvg/vue3-notification'
 
 export enum EditorSkin {
@@ -53,8 +51,6 @@ export type SelectedSubtree = {
 }
 
 export const useEditorStore = defineStore('editor', () => {
-  const nodes_store = useNodesStore()
-
   const tree = ref<TreeMsg | undefined>(undefined)
   //const debug_info = ref<DebugInfo | undefined>(undefined)
   const subtree_states = ref<TreeMsg[]>([])
diff --git a/src/stores/message.ts b/src/stores/message.ts
index 4094f5e..28e966d 100644
--- a/src/stores/message.ts
+++ b/src/stores/message.ts
@@ -27,8 +27,8 @@
  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  * POSSIBILITY OF SUCH DAMAGE.
  */
-import { MessageType, type Message } from '@/types/types'
-import Fuse from 'fuse.js'
+import type { Channel, Channels, MessageTypes } from '@/types/types'
+import Fuse, { type IFuseOptions } from 'fuse.js'
 import { defineStore } from 'pinia'
 import { ref } from 'vue'
 
@@ -40,136 +40,72 @@ export const useMessasgeStore = defineStore('messages', () => {
     distance: 100,
     maxPatternLength: 200,
     minMatchCharLength: 1,
-    keys: ['msg'],
     isCaseSensitive: false,
     ignoreLocation: true,
     useExtendedSearch: true
-  }
-  const messages = ref<Message[]>([])
-  const messages_fuse = ref<Fuse<Message>>(new Fuse([], messages_fuse_options))
+  } as IFuseOptions<any>
+  const messages = ref<string[]>([])
+  const messages_fuse = ref<Fuse<string>>(new Fuse([], messages_fuse_options))
   const messages_available = ref<boolean>(false)
 
   // These additional fuses are meant to substitute/replace the above messages_fuse
   //  to allow to search specific kinds of ros types dependent on what is needed.
-  let ros_fuse_options = structuredClone(messages_fuse_options)
-  ros_fuse_options.keys = []
-  const ros_msg_fuse = ref<Fuse<string>>(new Fuse([], ros_fuse_options))
-  const ros_srv_fuse = ref<Fuse<string>>(new Fuse([], ros_fuse_options))
-  const ros_action_fuse = ref<Fuse<string>>(new Fuse([], ros_fuse_options))
+  const ros_type_fuse_options = structuredClone(messages_fuse_options)
+  ros_type_fuse_options.keys = []
+  const ros_name_fuse_options = structuredClone(messages_fuse_options)
+  ros_name_fuse_options.keys = ['name', 'type']
+
+  const ros_topic_type_fuse = ref<Fuse<string>>(new Fuse([], ros_type_fuse_options))
+  const ros_service_type_fuse = ref<Fuse<string>>(new Fuse([], ros_type_fuse_options))
+  const ros_action_type_fuse = ref<Fuse<string>>(new Fuse([], ros_type_fuse_options))
+
+  const ros_topic_name_fuse = ref<Fuse<Channel>>(new Fuse([], ros_name_fuse_options))
+  const ros_service_name_fuse = ref<Fuse<Channel>>(new Fuse([], ros_name_fuse_options))
+  const ros_action_name_fuse = ref<Fuse<Channel>>(new Fuse([], ros_name_fuse_options))
 
   function areMessagesAvailable(available: boolean) {
     messages_available.value = available
   }
 
-  function mapMessageTypes(message: Message): Message[] {
-    const message_parts = message.msg.split('/')
+  function addMessageTypes(message: string): void {
+    const message_parts = message.split('/')
     if (message_parts.length !== 3) {
-      return []
-    }
-    if (message.service) {
-      const new_msg = message_parts[0] + '.srv.' + message_parts[2]
-      return [
-        {
-          msg: new_msg,
-          service: true,
-          action: false,
-          type: MessageType.MESSAGE //TODO is this correct?
-        },
-        {
-          msg: new_msg + '.Request',
-          service: true,
-          action: false,
-          type: MessageType.REQUEST
-        },
-        {
-          msg: new_msg + '.Response',
-          service: true,
-          action: false,
-          type: MessageType.RESPONSE
-        }
-      ]
+      return
     }
-    if (message.action) {
-      const new_msg = message_parts[0] + '.action.' + message_parts[2]
-      return [
-        {
-          msg: new_msg,
-          action: true,
-          service: false,
-          type: MessageType.MESSAGE //TODO is this correct?
-        },
-        {
-          msg: new_msg + '.Goal',
-          action: true,
-          service: false,
-          type: MessageType.GOAL
-        },
-        {
-          msg: new_msg + '.Result',
-          action: true,
-          service: false,
-          type: MessageType.RESULT
-        },
-        {
-          msg: new_msg + '.Feedback',
-          action: true,
-          service: false,
-          type: MessageType.FEEDBACK
-        }
-      ]
-    }
-    return [
-      {
-        msg: message_parts[0] + '.msg.' + message_parts[2],
-        service: false,
-        action: false,
-        type: MessageType.MESSAGE
-      }
-    ]
+    messages.value.push(
+      message_parts[0] + '.msg.' + message_parts[2]
+    )
   }
 
-  // This is a temporary function to avoid code duplication with mapMessageTypes
-  //  it populates the additional ros_fuses, but the parsing of the mapMessageTypes
-  //  output is a bit convoluted and not stable against changes.
-  //TODO if the big messages_fuse is ever phased out, merge and redo this with
-  //  the parsing in mapMessageTypes
-  function fillRosFuses() {
-    ros_msg_fuse.value.setCollection([])
-    ros_srv_fuse.value.setCollection([])
-    ros_action_fuse.value.setCollection([])
+  function updateAvailableMessages(new_messages: MessageTypes) {
+    messages.value = []
+    ros_topic_type_fuse.value.setCollection(new_messages.topics)
+    ros_service_type_fuse.value.setCollection(new_messages.services)
+    ros_action_type_fuse.value.setCollection(new_messages.actions)
 
-    messages.value.forEach((element) => {
-      // All service and action compontents (eg .Request .Response) are messages
-      if (element.msg.split('.').length > 3) {
-        ros_msg_fuse.value.add(element.msg)
-        return
-      }
-      if (element.service) {
-        ros_srv_fuse.value.add(element.msg)
-        return
-      }
-      if (element.action) {
-        ros_action_fuse.value.add(element.msg)
-        return
-      }
-      ros_msg_fuse.value.add(element.msg)
-    })
-  }
+    new_messages.topics.forEach(addMessageTypes)
 
-  function updateAvailableMessages(new_messages: Message[]) {
-    messages.value = new_messages.flatMap(mapMessageTypes)
-    fillRosFuses()
     messages_fuse.value.setCollection(messages.value)
   }
 
+  function updateMessageChannels(new_channels: Channels) {
+    ros_topic_name_fuse.value.setCollection(new_channels.topics)
+    ros_service_name_fuse.value.setCollection(new_channels.services)
+    ros_action_name_fuse.value.setCollection(new_channels.actions)
+  }
+
   return {
     messages,
     messages_fuse,
     messages_available,
-    ros_msg_fuse,
-    ros_srv_fuse,
-    ros_action_fuse,
+    ros_topic_type_fuse,
+    ros_service_type_fuse,
+    ros_action_type_fuse,
+    ros_topic_name_fuse,
+    ros_service_name_fuse,
+    ros_action_name_fuse,
     areMessagesAvailable,
-    updateAvailableMessages
+    updateAvailableMessages,
+    updateMessageChannels
   }
 })
diff --git a/src/stores/ros.ts b/src/stores/ros.ts
index 138965f..014fc69 100644
--- a/src/stores/ros.ts
+++ b/src/stores/ros.ts
@@ -30,7 +30,7 @@
 import { ref, computed } from 'vue'
 import { defineStore } from 'pinia'
 import ROSLIB from 'roslib'
-import type { Packages, Messages, TreeMsg, SubtreeInfo } from '@/types/types'
+import type { Packages, MessageTypes, TreeMsg, SubtreeInfo, Channels } from '@/types/types'
 import type {
   ServicesForTypeRequest,
   ServicesForTypeResponse
@@ -186,11 +186,20 @@ export const useROSStore = defineStore(
         reconnect_on_close: true
       })
     )
-    const messages_sub = ref<ROSLIB.Topic<Messages>>(
+    const messages_sub = ref<ROSLIB.Topic<MessageTypes>>(
       new ROSLIB.Topic({
         ros: ros.value,
-        name: namespace.value + 'messages',
-        messageType: 'ros_bt_py_interfaces/msg/Messages',
+        name: namespace.value + 'message_types',
+        messageType: 'ros_bt_py_interfaces/msg/MessageTypes',
+        latch: true,
+        reconnect_on_close: true
+      })
+    )
+    const channels_sub = ref<ROSLIB.Topic<Channels>>(
+      new ROSLIB.Topic({
+        ros: ros.value,
+        name: namespace.value + 'message_channels',
+        messageType: 'ros_bt_py_interfaces/msg/MessageChannels',
         latch: true,
         reconnect_on_close: true
       })
@@ -390,8 +399,8 @@ export const useROSStore = defineStore(
       messages_sub.value.removeAllListeners()
       messages_sub.value = new ROSLIB.Topic({
         ros: ros.value,
-        name: namespace.value + 'messages',
-        messageType: 'ros_bt_py_interfaces/msg/Messages',
+        name: namespace.value + 'message_types',
+        messageType: 'ros_bt_py_interfaces/msg/MessageTypes',
         latch: true,
         reconnect_on_close: true
       })
@@ -406,6 +415,16 @@ export const useROSStore = defineStore(
         reconnect_on_close: true
       })
 
+      channels_sub.value.unsubscribe()
+      channels_sub.value.removeAllListeners()
+      channels_sub.value = new ROSLIB.Topic({
+        ros: ros.value,
+        name: namespace.value + 'message_channels',
+        messageType: 'ros_bt_py_interfaces/msg/MessageChannels',
+        latch: true,
+        reconnect_on_close: true
+      })
+
       set_publish_subtrees_service.value = new ROSLIB.Service({
         ros: ros.value,
         name: namespace.value + 'debug/set_publish_subtrees',
@@ -616,6 +635,7 @@ export const useROSStore = defineStore(
       subtree_info_sub,
       packages_sub,
       messages_sub,
+      channels_sub,
       connect,
       setUrl,
       changeNamespace,
diff --git a/src/types/python_types.ts b/src/types/python_types.ts
new file mode 100644
index 0000000..4463eaf
--- /dev/null
+++ b/src/types/python_types.ts
@@ -0,0 +1,143 @@
+/*
+ * Copyright 2024 FZI Forschungszentrum Informatik
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    * Redistributions of source code must retain the above copyright
+ *      notice, this list of conditions and the following disclaimer.
+ *
+ *    * Redistributions in binary form must reproduce the above copyright
+ *      notice, this list of conditions and the following disclaimer in the
+ *      documentation and/or other materials provided with the distribution.
+ *
+ *    * Neither the name of the {copyright_holder} nor the names of its
+ *      contributors may be used to endorse or promote products derived from
+ *      this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+import type { PyObject, PyReduce } from './types'
+
+const PyDefaultValues = new Map<string, PyObject | PyReduce>()
+
+export const OrderedDict_Name = 'collections.OrderedDict'
+PyDefaultValues.set(OrderedDict_Name, {
+  'py/reduce': [{ 'py/type': OrderedDict_Name }, { 'py/tuple': [[]] }, null, null, null]
+} as PyReduce )
+
+export type PyLogger = PyObject & {
+  logger_level: string
+}
+export const LoggerLevel_Name = 'ros_bt_py.ros_helpers.LoggerLevel'
+PyDefaultValues.set(LoggerLevel_Name, {
+  'py/object': LoggerLevel_Name,
+  logger_level: 'Debug'
+} as PyLogger )
+
+export type PyOperator = PyObject & {
+  operator: string
+}
+export const MathUnaryOperator_Name = 'ros_bt_py.helpers.MathUnaryOperator'
+PyDefaultValues.set(MathUnaryOperator_Name, {
+  'py/object': MathUnaryOperator_Name,
+  operator: 'sqrt'
+} as PyOperator )
+export const MathBinaryOperator_Name = 'ros_bt_py.helpers.MathBinaryOperator'
+PyDefaultValues.set(MathBinaryOperator_Name, {
+  'py/object': MathBinaryOperator_Name,
+  operator: '+'
+} as PyOperator )
+
+export type PyOperand = PyObject & {
+  operand_type: string
+}
+export const MathOperandType_Name = 'ros_bt_py.helpers.MathOperandType'
+PyDefaultValues.set(MathOperandType_Name, {
+  'py/object': MathOperandType_Name,
+  operand_type: 'float'
+} as PyOperand )
+export const MathUnaryOperandType_Name = 'ros_bt_py.helpers.MathUnaryOperandType'
+PyDefaultValues.set(MathUnaryOperandType_Name, {
+  'py/object': MathUnaryOperandType_Name,
+  operand_type: 'float'
+} as PyOperand )
+
+export type PyEnum = PyObject & {
+  enum_value: string
+  field_names: string[]
+}
+export const EnumValue_Name = 'ros_bt_py.ros_helpers.EnumValue'
+PyDefaultValues.set(EnumValue_Name, {
+  'py/object': EnumValue_Name,
+  enum_value: '',
+  field_names: []
+} as PyEnum )
+
+export type PyFilePath = PyObject & {
+  path: string
+}
+export const FilePath_Name = 'ros_bt_py.custom_types.FilePath'
+PyDefaultValues.set(FilePath_Name, {
+  'py/object': FilePath_Name,
+  path: ''
+} as PyFilePath )
+
+export type RosType = PyObject & {
+  type_str: string
+}
+export const RosTopicType_Name = 'ros_bt_py.custom_types.RosTopicType'
+PyDefaultValues.set(RosTopicType_Name, {
+  'py/object': RosTopicType_Name,
+  type_str: ''
+} as RosType )
+export const RosServiceType_Name = 'ros_bt_py.custom_types.RosServiceType'
+PyDefaultValues.set(RosServiceType_Name, {
+  'py/object': RosServiceType_Name,
+  type_str: ''
+} as RosType )
+export const RosActionType_Name = 'ros_bt_py.custom_types.RosActionType'
+PyDefaultValues.set(RosActionType_Name, {
+  'py/object': RosActionType_Name,
+  type_str: ''
+} as RosType )
+
+export type RosName = PyObject & {
+  name: string
+}
+export const RosTopicName_Name = 'ros_bt_py.custom_types.RosTopicName'
+PyDefaultValues.set(RosTopicName_Name, {
+  'py/object': RosTopicName_Name,
+  name: ''
+} as RosName )
+export const RosServiceName_Name = 'ros_bt_py.custom_types.RosServiceName'
+PyDefaultValues.set(RosServiceName_Name, {
+  'py/object': RosServiceName_Name,
+  name: ''
+} as RosName )
+export const RosActionName_Name = 'ros_bt_py.custom_types.RosActionName'
+PyDefaultValues.set(RosActionName_Name, {
+  'py/object': RosActionName_Name,
+  name: ''
+} as RosName )
+
+export function isPythonTypeWithDefault(type: string) {
+  return PyDefaultValues.has(type)
+}
+
+export function getPythonTypeDefault(type: string) {
+  return structuredClone(
+    PyDefaultValues.get(type)
+  )
+}
diff --git a/src/types/services/GetMessageFields.ts b/src/types/services/GetMessageFields.ts
index 6c1d662..0afd8d7 100644
--- a/src/types/services/GetMessageFields.ts
+++ b/src/types/services/GetMessageFields.ts
@@ -27,13 +27,12 @@
  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  * POSSIBILITY OF SUCH DAMAGE.
  */
-import type { MessageType } from '../types'
 
 export type GetMessageFieldsRequest = {
   message_type: string
   service: boolean
   action: boolean
-  type: MessageType
+  type: number
 }
 
 export type GetMessageFieldsResponse = {
diff --git a/src/types/types.ts b/src/types/types.ts
index 48ef77f..df6199e 100644
--- a/src/types/types.ts
+++ b/src/types/types.ts
@@ -86,24 +86,21 @@ export type Packages = {
   packages: Package[]
 }
 
-export type Message = {
-  msg: string
-  service: boolean
-  action: boolean
-  type: MessageType
+export type MessageTypes = {
+  topics: string[]
+  services: string[]
+  actions: string[]
 }
 
-export const enum MessageType {
-  MESSAGE = 0,
-  REQUEST = 1,
-  RESPONSE = 2,
-  GOAL = 3,
-  FEEDBACK = 4,
-  RESULT = 5
+export type Channel = {
+  name: string
+  type: string
 }
 
-export type Messages = {
-  messages: Message[]
+export type Channels = {
+  topics: Channel[]
+  services: Channel[]
+  actions: Channel[]
 }
 
 export type DocumentedNode = NodeMsg & {
@@ -136,25 +133,10 @@ export type PackageStructure = {
   type: FileType
 }
 
+export type PyObject = { 'py/object': string }
+
 export type PyType = { 'py/type': string }
 export type PyTuple = { 'py/tuple': never[][] }
-export type PyLogger = {
-  'py/object': string
-  logger_level: string
-}
-export type PyOperator = {
-  'py/object': string
-  operator: string
-}
-export type PyOperand = {
-  'py/object': string
-  operand_type: string
-}
-export type PyEnum = {
-  'py/object': string
-  enum_value: string
-  field_names: string[]
-}
 
 export type PyReduce = { 'py/reduce': (PyType | PyTuple | null)[] }
 
@@ -165,10 +147,7 @@ export type ValueTypes =
   | []
   | Record<string, never>
   | PyReduce
-  | PyLogger
-  | PyOperator
-  | PyOperand
-  | PyEnum
+  | PyObject
 
 export type ParamType = {
   type: string
diff --git a/src/utils.ts b/src/utils.ts
index 2dbec88..2a3e0b9 100644
--- a/src/utils.ts
+++ b/src/utils.ts
@@ -27,18 +27,16 @@
  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  * POSSIBILITY OF SUCH DAMAGE.
  */
-import { useMessasgeStore } from './stores/message'
-import type {
-  NodeData,
-  NodeDataLocation,
-  TreeMsg,
-  ValueTypes,
-  DataEdgeTerminal,
-  Message
+import { getPythonTypeDefault, isPythonTypeWithDefault } from './types/python_types'
+import type { 
+  NodeData, 
+  TreeMsg, 
+  DataEdgeTerminal, 
+  ParamData, 
+  PyObject, 
+  ParamType 
 } from './types/types'
-import { IOKind, MessageType } from './types/types'
-
-import * as d3 from 'd3'
+import { IOKind } from './types/types'
 
 // uuid is used to assign unique IDs to tags so we can use labels properly
 let idx = 0
@@ -71,13 +69,15 @@ export function typesCompatible(a: DataEdgeTerminal, b: DataEdgeTerminal) {
   return prettyprint_type(from.type) === prettyprint_type(to.type)
 }
 
+//TODO This appears to be wrong or outdated.
+// How do we want to handle unsupported types?
 export const python_builtin_types = [
   'int',
   'float',
-  'long',
+  //'long',
   'str',
-  'basestring',
-  'unicode',
+  //'basestring',
+  //'unicode',
   'bool',
   'list',
   'dict',
@@ -125,7 +125,7 @@ export function prettyprint_type(jsonpickled_type: string) {
 export function getDefaultValue(
   typeName: string,
   options: NodeData[] | null = null
-): { type: string; value: ValueTypes } {
+): ParamType {
   if (typeName === 'type') {
     return {
       type: 'type',
@@ -179,9 +179,11 @@ export function getDefaultValue(
     })
     if (optionType) {
       // This double call is necessary to dereference first the type of the optionref target and then its default value
-      //TODO Check if this is consistent (are the `options` always populated in the same manner?)
       return getDefaultValue(
-        getDefaultValue(prettyprint_type(optionType.serialized_value), options).value as string,
+        getDefaultValue(
+          prettyprint_type(optionType.serialized_value), 
+          options
+        ).value as string,
         options
       )
     } else {
@@ -190,70 +192,14 @@ export function getDefaultValue(
         value: 'Ref to "' + optionTypeName + '"'
       }
     }
-  } else if (typeName === 'collections.OrderedDict') {
-    return {
-      type: 'collections.OrderedDict',
-      value: {
-        'py/reduce': [
-          { 'py/type': 'collections.OrderedDict' },
-          { 'py/tuple': [[]] },
-          null,
-          null,
-          null
-        ]
-      }
-    }
-  } else if (typeName === 'ros_bt_py.ros_helpers.LoggerLevel') {
-    return {
-      type: 'ros_bt_py.ros_helpers.LoggerLevel',
-      value: {
-        'py/object': 'ros_bt_py.ros_helpers.LoggerLevel',
-        logger_level: 'Debug'
-      }
-    }
-  } else if (typeName === 'ros_bt_py.helpers.MathUnaryOperator') {
-    return {
-      type: 'ros_bt_py.helpers.MathUnaryOperator',
-      value: {
-        'py/object': 'ros_bt_py.helpers.MathUnaryOperator',
-        operator: 'sqrt'
-      }
-    }
-  } else if (typeName === 'ros_bt_py.helpers.MathBinaryOperator') {
+  // This checks all types defined in `python_types`
+  // which provide default values
+  } else if (isPythonTypeWithDefault(typeName)) {
     return {
-      type: 'ros_bt_py.helpers.MathBinaryOperator',
-      value: {
-        'py/object': 'ros_bt_py.helpers.MathBinaryOperator',
-        operator: '+'
-      }
-    }
-  } else if (typeName === 'ros_bt_py.helpers.MathOperandType') {
-    return {
-      type: 'ros_bt_py.helpers.MathOperandType',
-      value: {
-        'py/object': 'ros_bt_py.helpers.MathOperandType',
-        operand_type: 'float'
-      }
-    }
-  } else if (typeName === 'ros_bt_py.helpers.MathUnaryOperandType') {
-    return {
-      type: 'ros_bt_py.helpers.MathUnaryOperandType',
-      value: {
-        'py/object': 'ros_bt_py.helpers.MathUnaryOperandType',
-        operand_type: 'float'
-      }
-    }
-  } else if (typeName === 'ros_bt_py.ros_helpers.EnumValue') {
-    return {
-      type: 'ros_bt_py.ros_helpers.EnumValue',
-      value: {
-        'py/object': 'ros_bt_py.ros_helpers.EnumValue',
-        enum_value: '',
-        field_names: []
-      }
+      type: typeName,
+      value: getPythonTypeDefault(typeName) || {}
     }
   } else {
-    //TODO should this check for general ros_types?
     return {
       type: '__' + typeName,
       value: {}
@@ -261,6 +207,32 @@ export function getDefaultValue(
   }
 }
 
+export function serializeNodeOptions(node_options: ParamData[]): NodeData[] {
+  return node_options.map((x) => {
+    const option: NodeData = {
+      key: x.key,
+      serialized_value: '',
+      serialized_type: '' // This is left blank intentionally
+    }
+    if (x.value.type === 'type') {
+      if (python_builtin_types.indexOf(x.value.value as string) >= 0) {
+        x.value.value = 'builtins.' + x.value.value;
+      }
+      option.serialized_value = JSON.stringify({
+        'py/type': x.value.value
+      })
+    } else if (x.value.type.startsWith('__')) {
+      //TODO This should be changed to not generate "bad" defaults
+      const val = x.value.value as PyObject
+      val['py/object'] = x.value.type.substring('__'.length)
+      option.serialized_value = JSON.stringify(x.value.value)
+    } else {
+      option.serialized_value = JSON.stringify(x.value.value)
+    }
+    return option
+  })
+}
+
 // Get the distance between two sets of coordinates (expected to be
 // arrays with 2 elements each)
 export function getDist(a: number[], b: number[]) {
@@ -271,45 +243,6 @@ export function treeIsEditable(tree_msg: TreeMsg) {
   return tree_msg.state === 'EDITABLE'
 }
 
-export function getMessageType(str: string): Message {
-  const message_store = useMessasgeStore() // This doesn't work outside functions in .ts files
-  const message_parts = str.split('.')
-  if (message_parts.length < 3) {
-    console.error('Invalid message passed')
-    return { msg: '', action: false, service: false, type: MessageType.MESSAGE }
-  }
-
-  let new_message_parts = message_parts.slice(0, 2)
-  // Standardize type .../.../_name/Name to .../.../Name
-  if (
-    message_parts.length > 3 &&
-    message_parts[2] === message_parts[3].replace(/[A-Z]/g, (x) => '_' + x.toLowerCase())
-  ) {
-    new_message_parts.push(...message_parts.slice(3))
-  } else {
-    new_message_parts.push(...message_parts.slice(2))
-  }
-
-  // Caution, since this is the store member, don't edit it
-  const msg_ref = message_store.messages.find((item) => item.msg === new_message_parts.join('.'))
-
-  if (msg_ref === undefined) {
-    console.error('Invalid message passed')
-    return {
-      msg: new_message_parts.slice(0, 3).join('/'),
-      action: false,
-      service: false,
-      type: MessageType.MESSAGE
-    }
-  }
-  return {
-    msg: new_message_parts.slice(0, 3).join('/'),
-    type: msg_ref.type,
-    action: msg_ref.action,
-    service: msg_ref.service
-  }
-}
-
 export function getShortDoc(doc: string) {
   if (!doc || doc == null || doc.length == 0) {
     return 'No documentation provided'