skills.rest
wimblerobotics
wimbleroboticsCOMMUNITY
Explore all skills by this author →
GitHub

bt-xml-fundamentals

Validate BT.CPP v4 XML files for ROS 2 behavior trees.

18|2|Updated Apr 20, 2026
Search Tags:#xml#ros2#behavior-tree#bt#groot2#btcpp
One-click install
npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill bt-xml-fundamentals
Or copy as Structured Prompt for Agent▼
Please help me install this Agent Skill.
Skill: bt-xml-fundamentals
Source: https://github.com/wimblerobotics/ros2-copilot-skills/tree/main/bt-xml-fundamentals
Command: npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill bt-xml-fundamentals

SYSTEM DOCUMENTATION & REQUIREMENTS

What problem does it solve?

Author and validate BehaviorTree.CPP v4 XML files for ROS 2, enabling correct tree definitions, port wiring, and includes for modular behavior trees.

Core Features & Use Cases

  • XML root structure and BTCPP_format versioning for v4 compatibility.
  • Node categories, port definitions, and blackboard syntax with runtime remapping.
  • XML includes and Groot2 TreeNodesModel metadata for editor visualization.

Quick Start

Create a minimal BT.CPP v4 XML file with a single BehaviorTree and a root that specifies BTCPP_format="4" and main_tree_to_execute.

Frequently Asked Questions about bt-xml-fundamentals

High-intent search queries and answers about installing and using this skill.

FAQPage Schema
How do I define a valid BehaviorTree.CPP v4 XML file for ROS 2?▼

A valid BT.CPP v4 XML file requires a root structure declaring BTCPP_format="4" and a main_tree_to_execute attribute, enabling proper behavior tree composition and execution in ROS 2.

What is the correct XML syntax for blackboard remapping in BT.CPP v4?▼

Blackboard remapping in BT.CPP v4 uses port definitions with runtime remapping attributes within XML nodes, enabling dynamic data passing between behavior tree nodes during ROS 2 execution.

Does Groot2 require specific XML metadata for visualizing ROS 2 behavior trees?▼

Yes, Groot2 requires TreeNodesModel metadata sections within the XML to correctly visualize and edit ROS 2 behavior trees, ensuring node definitions and ports render properly in the editor.

How do I use XML includes to build modular behavior trees in BT.CPP v4?▼

XML includes let you import external behavior tree definitions into a main BT.CPP v4 file, enabling modular tree composition by referencing shared node definitions and subtrees across ROS 2 projects.

Why does my ROS 2 behavior tree XML fail validation due to missing TreeNodesModel?▼

Validation fails when XML lacks a proper TreeNodesModel section or correct BTCPP_format versioning, which are required to enforce valid node definitions and ensure Groot2 editor compatibility.

Related Skills

Explore More Software Engineering Skills→
wimbleroboticswimblerobotics
18

groot2-integration

Integrate Groot2 with ROS 2 bt_navigator for BT visualization and editing.

Community
Intermediate
wimbleroboticswimblerobotics
18

custom-bt-condition-cpp

Create custom ROS 2 BehaviorTree.CPP condition nodes in C++ with BT::ConditionNode inheritance and providedPorts().

Community
Advanced
cindy-woocindy-woo

debug-module

Diagnoses and resolves issues in ROS 2 modules.

Community
Advanced
FabienDehopreFabienDehopre

csharp-docs

Generates standardized XML comments and API documentation for C# code.

Community
Basic