Merge pull request #9 from patrickleet/lander

publications and subscriptions
Update README.md
Merge pull request #10 from patrickleet/lander

Update README.md
Merge pull request #11 from patrickleet/lander

Lander
Merge pull request #12 from patrickleet/lander

Lander
Merge pull request #13 from patrickleet/lander

Lander
Merge pull request #17 from patrickleet/lander

closes #16
Merge pull request #18 from patrickleet/lander

Lander - closes #15 and other small fixes/improvements
Merge pull request #19 from patrickleet/router-improvements

Router improvements
merge from master