diff --git a/aos/util/foxglove_websocket.cc b/aos/util/foxglove_websocket.cc
new file mode 100644
index 0000000..26092bc
--- /dev/null
+++ b/aos/util/foxglove_websocket.cc
@@ -0,0 +1,46 @@
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "aos/util/foxglove_websocket_lib.h"
+#include "gflags/gflags.h"
+
+DEFINE_string(config, "/app/aos_config.json", "Path to the config.");
+DEFINE_uint32(port, 8765, "Port to use for foxglove websocket server.");
+
+int main(int argc, char *argv[]) {
+  gflags::SetUsageMessage(
+      "Runs a websocket server that a foxglove instance can connect to in "
+      "order to view live data on a device.\n\n"
+      "Typical Usage: foxglove_websocket [--port 8765]\n"
+      "If the default port is not exposed directly, you can port-forward with "
+      "SSH by doing\n"
+      "$ ssh -L 8765:localhost:8765 ssh_target\n\n"
+      "When accessing this in foxglove:\n"
+      "1) Open a data source (this window may be open by default).\n"
+      "2) Select \"Open Connection\"\n"
+      "3) Select \"Foxglove WebSocket\" (do NOT select the rosbridge option)\n"
+      "4) Fill out the URL for the machine. If port forwarding, the default\n"
+      "   ws://localhost:8765 should work.\n\n"
+      "Note that this does not start up a foxglove instance itself. You must "
+      "either have one locally on your laptop, or go to "
+      "https://studio.foxglove.dev, or use another application to serve the "
+      "foxglove HTML pages.\n"
+      "If you want to use the studio.foxglove.dev page to view data (which "
+      "won't send any of your data to foxglove.dev--it's just needed to load "
+      "the HTML files), you can also go directly to:\n"
+      "https://studio.foxglove.dev/?ds=foxglove-websocket&ds.url=ws://"
+      "localhost:8765\n"
+      "where localhost:8765 must be updated if you aren't port-forwarding "
+      "and/or are using a different port number. Similarly, if you are serving "
+      "the static foxglove files locally, you can update the "
+      "studio.foxglove.dev to point at your local webserver.\n");
+  aos::InitGoogle(&argc, &argv);
+
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig(FLAGS_config);
+
+  aos::ShmEventLoop event_loop(&config.message());
+
+  aos::FoxgloveWebsocketServer server(&event_loop, FLAGS_port);
+
+  event_loop.Run();
+}