visualization of BehaviorTree.CPP

[leberert]

is it possible or planned to use the foxglove extension also for visualization of BehaviorTree.CPP (Groot2 alternative) ?

[troygibb]

Hey @leberert -- we use this visualizer currently as a Groot2 alternative! You just need to publish the rendered XML of your behavior tree as a std_msgs/msg/String to a topic, and you can visualize the tree. We also plan on supporting visualizing state of the tree via nav2_msgs/msg/BehaviorTreeLog in the near future.

Does that cover your use case here?

[leberert]

Hey troygibb,

yes, this was the intention to have the live states of the BT visualized. Because currently only groot2 is available for this with PRO license.

do you have already a timeline for this functionality ?

Thank you!

[troygibb]

My rough plan is soon! End of year I'd reckon. It is 100% needed by my team, I just haven't personally had the need to dig deep into BTs recently.

[leberert]

Thank you! ;) i am looking forward to it!