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groot2-integration

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

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

SYSTEM DOCUMENTATION & REQUIREMENTS

What problem does it solve?

Groot2 integration enables real-time visualization and editing of ROS 2 Behavior Trees by connecting Groot2 to a running navigation stack, facilitating debugging and BT development.

Core Features & Use Cases

  • Real-time BT state visualization and node status display via Groot2.
  • Live editing of BTs in Groot2 with immediate feedback in the bt_navigator during development and testing.
  • Clear configuration guidance on enabling Groot2 monitoring and establishing a connection to a robot or simulator.
  • Use Case: while tuning a navigation behavior tree, observe node execution flow and blackboard values to identify issues and optimize performance.

Quick Start

Launch Groot2 and connect to the running bt_navigator with enable_groot_monitoring set to true to visualize and edit BTs in real time.

Frequently Asked Questions about groot2-integration

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

FAQPage Schema
How do I visualize a ROS 2 behavior tree live during navigation?▼

Live ROS 2 behavior tree visualization requires connecting Groot2 to a running bt_navigator. You must set enable_groot_monitoring to true and expose the correct ZMQ ports to observe node execution flow and blackboard values.

Can I edit a ROS 2 behavior tree while the bt_navigator is running?▼

Yes, Groot2 supports live editing of behavior trees with immediate feedback in the running bt_navigator. This enables you to modify navigation BTs dynamically during active development and testing sessions.

Do I need ZMQ ports configured to use Groot2 with ROS 2?▼

Yes, accessible ZMQ ports are required for Groot2 to connect to a ROS 2 navigation stack. The bt_navigator uses these ports to transmit real-time behavior tree state updates and blackboard values to the visualization interface.

What is the best way to debug a ROS 2 bt_navigator behavior tree?▼

The best way to debug a ROS 2 bt_navigator is using Groot2 to observe real-time behavior tree execution. By visualizing node states and blackboard values live, you can identify navigation issues and optimize performance.

Why is my Groot2 behavior tree visualization not showing node status updates?▼

Groot2 behavior tree visualization fails when the bt_navigator does not have enable_groot_monitoring set to true, or if the ZMQ ports are not accessible. Verify your navigation stack configuration and network connection to the robot or simulator.

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