BTick: An Open-Source Tool for Behavior Tree Monitoring and Runtime Control in ROS 2
BTick :an open-source tool for Behavior Tree monitoring and runtime control in ROS 2
BTick is an open-source tool designed to simplify the monitoring, debugging, and analysis of BehaviorTree.CPP applications in ROS 2. It provides live monitoring, interactive debugging, runtime control, and XML editing, with integrations for Nav2 and support for multiple protocols.
BTick introduces a unified interface for monitoring, debugging, and analyzing BehaviorTree.CPP applications in ROS 2, offering features such as live debugging, runtime control, and XML editing, with integrations for Nav2 and support for multiple protocols.
Source: ROS Discourse — Community updates · Read original article ↗
Article text · Original source · English
Hi ROS community!
Working with Behavior Trees in robotics? 
Meet BTick, a powerful tool designed to make monitoring, debugging, and analyzing BehaviorTree.CPP applications easier and more interactive.
Key Features
Unlimited Nodes & Multi-Tree Support — Automatically discover and monitor multiple trees and nested subtrees in real time.
Live Monitoring & Interactive Debugging — Track execution, use breakpoints and step execution, and inspect node states.
Runtime Control & Testing — Override node statuses, inject delays, edit supported ports, and inspect or modify Blackboard variables.
Recording, Replay & Performance Analysis — Record sessions, replay execution through a timeline, export logs, and analyze execution timing.
Integrated XML Editor — Create and edit BehaviorTree.CPP v4 XML files with interactive visualization and navigation.
Three Protocols & Integrations
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BTick Protocol — Native monitoring and interactive debugging.
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Groot2 Protocol — Groot2-compatible communication and supported Pro features.
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Nav2 Integration — Visualize Behavior Trees through the ROS 2 Nav2 logging topic.
Web & Desktop Applications — Access BTick through a browser or a standalone desktop application.
Explore BTick
Full Demo: [Demo Link]
Documentation: BTick: Behavior Tree Visualizer & Debugger — BTick 1.0.0 documentation
Application Repository: GitHub - SherifFathey/btick_app · GitHub
Core Integration: GitHub - SherifFathey/btick · GitHub
Built for developers working with ROS 2, BehaviorTree.CPP, and Nav2.
The goal is simple: bring Behavior Tree visualization, monitoring, debugging, recording, and analysis together in one interface.
Feedback and contributions are welcome!
Source：ROS Discourse — Community updates · discourse.openrobotics.org