agv_pro_ros2/navigation2/nav2_behavior_tree/groot_instructions.md

Instructions on using Groot

Groot is the companion application of BehaviorTree.CPP to create, edit, and monitor behavior trees.

Note: Currently fully supports visualization of the behavior trees. It also supports the creation of custom nodes except control flow nodes. Support for custom control flow nodes and real-time monitoring is under development.

BehaviorTree visualization

To visualize the behavior trees using Groot:

1. Open Groot in editor mode
2. Select the Load palette from file option (import button) near the top left corner.
3. Open the file /path/to/nav2/nav2_behavior_tree/nav2_tree_nodes.xml to import all the behavior tree nodes used for navigation.
4. Select Load tree option near the top left corner
5. Browse the tree you want to visualize the select ok.