bt-logging-and-replay
CommunityCapture, replay, and debug BT executions.
Authorwimblerobotics
Version1.0.0
Installs0
System Documentation
What problem does it solve?
BT logging captures every node status transition with timestamps, enabling post-mortem debugging, performance analysis, regression testing, and compliance verification for ROS 2 behavior trees.
Core Features & Use Cases
- FileLogger2 for binary btlog recording and Groot2 replay.
- Support for alternative loggers: MinitraceLogger (.json) and SqliteLogger (.db) for analysis and inspection.
- Visualization and replay workflow: open logs in Groot2, inspect behavior_tree_log topic, and use ros2 bag for recording.
- Real-world scenarios: diagnose navigation failures, tune BT policies, and compare traces across changes.
Quick Start
Enable bt logging in your BT navigator to generate a bt_trace.btlog, then open it in Groot2 to replay and analyze node execution.
Dependency Matrix
Required Modules
None requiredComponents
Standard package💻 Claude Code Installation
Recommended: Let Claude install automatically. Simply copy and paste the text below to Claude Code.
Please help me install this Skill: Name: bt-logging-and-replay Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#bt-logging-and-replay Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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