Using the SAM Webserver - larsys/monarch_situational_awareness GitHub Wiki

Besides the main SAM node described above, the launch file in the monarch_situational_awareness package also runs an HTTP server for visualization purposes. This server listens for connections on port 9999. Therefore, to visualize your SAM dependency graph at any time when running the standard SAM launch file, simply use any standard web browser to access http://(your IP):9999.