Access backend GUI
When using Docker or WSL to run backends, there is no visible graphical user interface (GUI). COMPAS FAB aims at making this unnecessary, but if desired, there are two possibilities to open the graphical user interface of a backend.
Visualization over web browser
This is the easiest option, and it is normally only available for backends based on Docker. The display of the backend is forwarded to a container that serves it over a web connection, making it available from your browser.
Not all Docker setups will include this ability, but if they do, it can be accessed easily. Start your browser and go to the following address:
This feature is possible thanks to NoVNC.
Visualization forwarding display
This option allows to forward a display directly to your operating system. However, it is important to note this is not entirely supported in all platforms.
First install an
XQuartz For Mac (see here for more details).
On Windows, add your IP address to the file
%ProgramFiles(x86)%\XMing\X0.hosts. It needs to be opened as administrator.
On Mac, run
xhost +local:root. Remember to disable later with
Finally, set the
DISPLAY variable to point to your
X11 server as follows
YOUR_IP_ADDRESS with your current IP.
For usage from WSL, set it using the following command:
For usage from Docker, set it adding the following environment
variable to the
moveit service in the