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As the readme states, once the backend is running in ROS, then navigating to http://<host_ip>:5000 in your browser should display the web app client.
Check the browser compatibility guide on more info regarding what works best.
Clicking the 
button lets you add widgets to display and send data to ROS topics. Check the feature list for a rundown of all widgets and the messages they support.
Aside from the required ones, custom widgets can be added to the navbar to customize functionality for a given robot and test setup.
Note: Some icons open setup modals instantly, while others use a single press to trigger actions and use a long press to open the modal.