YASMIN Viewer

The YASMIN Viewer provides a convenient way to monitor YASMIN's Finite State Machines (FSM). It is built using Flask and ReactJS and includes a filter to focus on a single FSM at a time.

YASMIN Viewer Interface

Getting Started

The YASMIN Viewer runs as a ROS 2 node that automatically discovers and monitors all active state machines in your system. It provides real-time visualization of state transitions, execution flow, and current state status.

To launch the viewer, run the following command:

ros2 run yasmin_viewer yasmin_viewer_node

Once started, open http://localhost:5000/ in your browser to view your state machines. The interface will automatically update as your state machines execute, showing real-time transitions and state changes.

Custom Host and Port

You may need to customize the host and port in several scenarios:

  • Port conflicts: When port 5000 is already in use by another application
  • Security: Restricting access to localhost only by using 127.0.0.1 instead of 0.0.0.0
  • Remote access: Running on a specific network interface for remote monitoring
  • Multiple viewers: Running multiple viewer instances on different ports

You can specify a custom host and port by using the following command: 

ros2 run yasmin_viewer yasmin_viewer_node --ros-args -p host:=127.0.0.1 -p port:=5032

After running the command, access your state machines at http://127.0.0.1:5032/.