Groot2 (BehaviorTree.CPP IDE)

A graphical editor and debugger for the behavior trees used by BehaviorTree.CPP.

Groot2 is a desktop tool built by the same team behind BehaviorTree.CPP; its predecessor, Groot, was open source. A behavior tree writes a robot's task logic as a tree of sequence, selector, condition, and action nodes, and BehaviorTree.CPP describes that tree in an XML file. Writing that XML by hand is error-prone and makes it hard to see where execution currently is, so Groot2 lets you build the tree by dragging nodes and exporting XML, and it can also connect to a running program to watch each node's status — success, failure, or running — live, and replay logs. The name looks similar to NVIDIA's humanoid model GR00T, but the two have nothing to do with each other. It's also commonly used to inspect and debug the behavior trees in ROS 2's Nav2 navigation stack.

ExampleIn Nav2, open the navigation behavior tree's XML in Groot2 to see which recovery node keeps failing when the robot gets stuck.

Also called

Groot

Related

Behavior Tree · BehaviorTree.CPP · ROS 2 Navigation Stack (Nav2) · Finite State Machine · Task Planning

Sources

Groot2 - BehaviorTree.CPP 官方文档 (Chinese)
BehaviorTree.CPP GitHub