I feel like I'm missing some obvious piece of the puzzle here.

My goal is to get a Turtlebot3 simulation displaying on Gzweb.

I've got Gzweb up, and I've got it talking to Gzserver.

But running roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch for example just makes it spin up its own server which doesn't ever seem to connect back to Gzserver.

I thought it would go

gzweb <--> gzserver <--> roscore (through roslaunch)

But this doesn't seem right?

There's also ROSMASTERURI, but that doesn't seem to be picked up by Gzserver, so not sure what thing cares about that ENV var.

Any help would be greatly appreciated, thanks!