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

export NODE_OPTIONS=--use-env-proxy
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

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Changelog

5.11.3 - 20.09.2026

• [fkie_mas_daemon] fix: show running publisher in topic publisher panel

5.11.2 - 17.09.2026

• fix(tsc-typecheck): removed unused variable
• feat(long-press-button): trigger action on release only when button is focused
• fix: open logs with setting without {LOG_FILE}
• fix: enable closing tabs with middle-click in domain layouts
• docs: updated pre-commit
• chore: ignore style-only revision in git blame
• [fkie_mas_daemon, fkie_mas_discovery, fkie_mas_msgs, fkie_mas_pylib, fkie_mas_sync] style: apply pre-commit
• build: add pre-commit configuration and developer docs
• chore(gui): consolidate formatting and linting on Biome
• fix lint warnings
• removed react-json-tree
• removed jtest
• [fkie_mas_daemon] docs(daemon): improve MAS Daemon README

5.11.1 - 16.09.2026

• [fkie_mas_daemon] fix(daemon): use non-default WebSocket port for subscriber and introspection services
• fix(terminal): correct emulator option handling and command reporting
• fix(xml): support composable_node tags and harden xmlNodeBlockAt
• fix(nodes): stop composable nodes and their container in the correct order
• fix(LaunchFileModal): keep input focus and fix history/choices deletion
• fix: open log or screen on node double-click and middle-click

5.11.0 - 15.09.2026

• docs: add URL documentation for system diagnostics
• fix(provider-panel): correct background colors for start commands
• feat(config): warn when ZENOH_CONFIG_OVERRIDE is set
• feat(editor): hide minimap by default
• refactor(terminal): use highlight icon instead of search icon
• [fkie_mas_daemon] feat(diagnostics): add visualization for ros.provider.system_diagnostics
• [fkie_mas_daemon] perf(metrics): optimize system load reading and reporting
• [fkie_mas_pylib] feat(websocket): add handler to retrieve subscription for an URL
• show system warnings for high CPU or network usage
• [fkie_mas_daemon] added handler for ros.provider.get_system_diagnostic
• feat(HostItem): always expose time actions via three-dots options menu
• feat: add a context menu to host tree items for accessing time settings
• feat: add the ability to move tabs between the main and domain layouts
• fix: prevent the update terminal from opening in a domain tab
• fix: prompt before closing dirty editor tabs and select the node tab afterward
• fix: fetch the ttyd token
• fix: keep the border visible when closing one of multiple tabs
• fix: enable error highlighting when no screen is available
• [fkie_mas_daemon] improved file observer
• [fkie_mas_daemon] improved kill screen
• add delay for ros status update on actions like start stop or kill
• [fkie_mas_daemon] fix force refresh screens
• update the description of ros.screen.get_list
• [fkie_mas_daemon] add support for ros.daemon.delay_update_state and update the ros.screen.get_list API
• add description for ros.daemon.delay_update_state
• [fkie_mas_pylib] fix: allow multiple subscriptions to the same WebSocket topic
• Improve terminal panel and add a description row with action buttons
• hide warning while close terminal
• feat: allow parameters and logger to be opened from domain tabs
• refactor: improve layout organization by grouping tabs by domain
• fix: detect changes to the same file across multiple domains
• fix: reduced close events
• fix: close tabs in domain on popout
• open editor inside domain tab
• fix: decoration of linenumber
• fix: incomplete string escaping or encoding

5.10.2 - 10.09.2026

• fix: install update when no ttyd process is running
• fix: ensure correct node selection across multiple domains
• fix: prevent node deselection when updating another domain tab
• fix: prevent nodes from restarting twice

5.10.1 - 07.09.2026

• fix crash after close terminal tab
• [fkie_mas_daemon] fix: prevent monitors from re-arming their timer after cancellation
• [fkie_mas_daemon] fix: do not let monitor timers block mas-daemon shutdown

5.10.0 - 28.08.2026

• [fkie_mas_daemon] Prevent ros2 component containers from being quit too early on launch
• [fkie_mas_daemon] Prevent update of internal ros graph state when no clients are connected to reduce CPU use.

5.9.13 - 21.08.2026

• Fix edge cases with previous approach to headless startup
• fix: do not apply –join-ws in hidden headless window to fix cpu use regression in mas-daemon

5.9.12 - 14.08.2026

• Fix host display changing its height
• [fkie_mas_daemon] Fix node search with variables
• Add or open parameters directly in launch file
• Fix: correctly track modified launch files
• Fixed load monaco in external window

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