MAS GUI

Node Manager for ROS (1/2).

The MAS GUI is composed by two main parts: A Back-End component (daemon with WebSocket), and a Front-End Component (powered by Electron and ReactJS). Data exchange between the daemon and the Front-End takes place via the WebSocket. The description of the message formats can be found here.

Install

We need to first install dependencies and run both Front and Back-End components:

Install dependencies

You need a running TTYD to show screen or log output of the nodes.

sudo snap install ttyd --classic

Update nodejs to v22

The code have been tested with NodeJS v22.21.0:

curl -fsSL https://deb.nodesource.com/setup_22.x | sudo -E bash -
sudo apt-get install -y nodejs

Server Side (Back-End)

cd ros_workspace/src
git clone https://github.com/fkie/fkie-multi-agent-suite.git fkie-multi-agent-suite
rosdep update
rosdep install -i --as-root pip:false --reinstall --from-paths fkie-multi-agent-suite

Then build all packages:

catkin build fkie_mas_meta

or

colcon build --packages-up-to fkie_mas_meta

Client Side (Front-End)

Only for developer mode: Download and install JavaScript module dependencies:

cd fkie_mas_gui
npm install
npm run build

Usage

Run the app in developer mode:

npm run dev:ns

The app will start automatically the local daemon and master discovery nodes.

Start only as node (without GUI)

Starts a server on default port 6274. You can change the port in electron.vite.config.ts.

npm run server:ns

Then open in browser http://localhost:6274

Additional Tools

• To package the client component into an AppImage, run:

cd fkie_mas_gui
npm run build:linux

• update licenses of dependencies

npm install -g license-report
license-report --config=./license-report-config.json > src/renderer/deps-licenses.json

Known Issues

• If you work behind a proxy, you might need to explicitly specify the URL and PORT before downloading the electron packages. The problem occurs when installing the package (npm install).

```bash export ELECTRON_GET_USE_PROXY=true

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Changelog

5.6.16 - 21.05.2026

Changed icon for “use-sim-time” in publisher dialog Fixed update domain ids for external apps dialog Fixed format in details panel updated versions in dependencies info

5.6.15 - 13.05.2026

Fixed restart nodes Connect to all available configurations, not just local ones If multiple configurations are available, do not establish multiple connections to the same host Changed error output on kill nodes to debug Bump version of dependencies Changed filter in topic echo panel

5.6.14 - 30.04.2026

Fixed expand

5.6.13 - 30.04.2026

Changed expanded provider on connect Fixed delay visualization after reconnect Fixed multiple starts on password request

5.6.12 - 29.04.2026

Added long press button to topics Added long press for topic actions in details panel Changed long press actions to open terminal Fixed: bad setState() call inside HostTreeView Performance updates in host tree view Reduced react states in group item Improved performance while setting node icon Fixed update diagnostics state of the nodes

5.6.11 - 29.04.2026

Changed the initialization of subscriber node to avoid lost messages on echo topic

5.6.10 - 29.04.2026

Added config override for zenoh daemon Added debug output to find issues with restart node Fixed removing old warning states Fixed deselected item after start/stop nodes

5.6.9 - 27.04.2026

Increased timeout while load launch call and added info if connection error occurs Improved connection performance at startup

5.6.8 - 23.04.2026

Added long press to load a launch file Added long press button to restart mas nodes Fixed start configuration with deprecated parameter

5.6.7 - 21.04.2026

Added more options to override DDS environment Reduced count of updates Fixed copy whole command string to clip board

5.6.6 - 15.04.2026

Added long press actions for control buttons Added terminate ros button Fixed the lag when a provider reconnects Added option to put zenoh-daemon screen to spam nodes Added local check to find changes without discovery node Removed question to kill process

5.6.5 - 14.04.2026

Added count nodes to host entry Expand on load launch file Read environment of the remote host to get DDS specific start prefix Fixed show environment prefix in details panel Fixed warning in virtualized package list Fixed show current state in the host row Added copy button for command with environment

5.6.4 - 13.04.2026

Fixed show show daemon log in a terminal Fixed wrong selected host on open publisher panel from details tab Added option to start zenoh daemon Changed zenoh config to client mode

5.6.3 - 08.04.2026

Changed zenoh to peer mode

5.6.2 - 08.04.2026

Changed zenoh configuration

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