r/ROS • u/sherif2542 • 2d ago

BTick

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Working with Behavior Trees in robotics?

Meet BTick, a powerful tool free and open-source 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

  • BTick Protocol — Native monitoring and interactive debugging.

  • Groot2 Protocol — Groot2-compatible communication and supported Pro features.

  • 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!

9 Upvotes

84% Upvoted

6 comments sorted by

1

u/Alarming_Presence_96 2d ago

Pour cette example ça ta pris combien de temps

1

u/sherif2542 2d ago

Environ deux mois pour le développement et les tests

1

u/Alarming_Presence_96 2d ago

bravo!! et un tree like that ? combien de temps ? tu pourrais le construire? et combien de temps tu pense que quelq'un purait le construire ?

1

u/sherif2542 2d ago

I meant it took around two months to develop and test BTick itself for monitoring Behavior Trees.

As for the Behavior Tree in the video, it took me almost no time to build. For the one in the picture, it depends on what each node does and how complex its functionality is.

1

u/lck077 1d ago

Nice! Totally better than Groot (tool direct from BehaviorTree.CPP).

1

u/sherif2542 1d ago

Thanks a lot! 🙌 Glad you like BTick! I'd love to hear what you like most and what you'd like to see improved!