# Groot1Publisher: Visualize and Monitor BehaviorTree v4 trees in Groot 1

**URL:** <https://discourse.openrobotics.org/t/groot1publisher-visualize-and-monitor-behaviortree-v4-trees-in-groot-1/52994>\
**Category:** Projects\
**Tags:** ros2, tools, humble, deliberation\
**Created:** [March 6, 2026, 5:39pm UTC](https://discourse.openrobotics.org/t/groot1publisher-visualize-and-monitor-behaviortree-v4-trees-in-groot-1/52994 "2026-03-06T17:39:59Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![Vishnu-Kr](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/vishnu-kr/32/23928_2.png) [@Vishnu-Kr](https://discourse.openrobotics.org/u/Vishnu-Kr)\
**Post date:** [March 6, 2026, 5:40pm UTC](https://discourse.openrobotics.org/t/groot1publisher-visualize-and-monitor-behaviortree-v4-trees-in-groot-1/52994/1 "2026-03-06T17:40:00Z")

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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](https://github.com/Vishnu-Kr/Groot1Publisher)

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.