Groot1Publisher: Visualize and Monitor BehaviorTree v4 trees in Groot 1

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Hi all,

I would like to share a small open-source project I built in my free time as a personal fun project: Groot1Publisher.

It is a bridge that lets you visualize and monitor live BehaviorTree.CPP v4 node execution in Groot 1.

I originally built it because after moving to BT.CPP v4, I still wanted to use Groot 1 for its simple and fully free workflow.

What it provides:

  • drop-in replacement for Groot2Publisher

  • live visualization of BT.CPP v4 trees in Groot 1

  • full SubTree support, including port remapping

  • works with ROS 2 Humble, Iron, and Jazzy

  • Zero source code modifications needed

Repository: GitHub - Vishnu-Kr/Groot1Publisher: This Repo contains a package that provides a bridge to visualize BehaviorTree.CPP v4 trees at runtime in Groot 1 (legacy visualization tool). · GitHub

If you are using BehaviorTree.CPP v4 and still prefer Groot 1, this may be useful.

This is a personal side project, so feedback, testing, issues, and suggestions are very welcome. If people find it useful, I would be happy to keep improving it.

Thanks.

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ROS News for March 2nd, 2026