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