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

• mas-gui: error while loading shared libraries: libasound.so.2: cannot open shared object file: No such file or directory

```bash sudo apt install libasound2t64

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Changelog

5.9.9 - 30.07.2026

Fixed open content (log, screen) in external terminal

5.9.8 - 29.07.2026

Fixed update ROS_DOMAIN_ID to wrong value while package reload

5.9.7 - 27.07.2026

Fixed quote values for RMW environment in host launch configurations

5.9.6 - 23.07.2026

Adds a close button if a single closable tab is hidden in stretched tabset Added info to host row showing why/how this host was included Added lyrical ubuntu packages

5.9.5 - 22.07.2026

Do not use the CLI argument for host in the new provider configuration Fixed validation of the CLI arguments for ros-domain-id and host

5.9.4 - 22.07.2026

Added join-ws command line argument Updated Vite configuration to pass cliArgs to the development server Fixed update ros domain id from ros state of the provider Do not start the daemon if only the –join argument is specified Avoid unnecessary checks for new updates

5.9.3 - 21.07.2026

Fixed error with duplicate tab id Improved open popouts in browser mode Hide hint dialog if join or start argument was provided Fixed dark mode in headless mode Fixed –join cli argument in headless mode Improved infos in load launch dialog

5.9.2 - 09.07.2026

Switched to google icons for external components Fixed open action in external windows Show load launch file dialog while requesting launch parameter Improved stop / update of composable nodes Improve handle of composable nodes Added executer pool for websocket to reduce blocked rpc calls Added handler to update state of a single lifecycle node

5.9.1 - 08.07.2026

Added parameter: exclude processes on shutdown ros nodes Do not terminate ‘ros2’ processes contain CMakeFiles in command line Show node name in service and action dialogs Added additional information about useful introspection parameters The ability to change the introspection parameter has been added, where available. Updated layout of dialogs for services and actions Added long press button for service and action

5.9.0 - 07.07.2026

Changed close procedure of external subscription Improved publisher handling Updated icons for introspection tabs Fixed start with zenoh config Open dialogs for services and actions externally Added service introspection Added action introspection Added action panel Added action interface Show error on service call timeout Fixed delayed update of the domain tab on closing editor tab

5.8.1 - 02.07.2026

Fixed icons of the tabs and delay on rerender domain tab Added export/import/reset settings/states Store settings and app states in a database instead of localStorage Fixed resolve xml includes of not existing files

5.8.0 - 29.06.2026

Show the hint about configurations only once Fixed shutdown: do not stop ros2 build processes Added info in terminal if provider is not connected Fixed open daemon log from Hosts panel on errors Do not close terminal with remote log while Ctrl+C in less Updated generation of bash environment for new terminals Added button to switch between dedicated tabs for domains or hosts Added global parameter for tooltip delay Updated flexlayout to new version Reduced re-renders on ros node updates

5.7.5 - 23.06.2026

Added ros environment to host details Fixed tooltip in nodes control buttons

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