Groot monitoring support back ported to jazzy by mikeslembrouckZYGO · Pull Request #5762 · ros-navigation/navigation2

mikeslembrouckZYGO · 2025-12-05T16:17:18Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(add tickets here #1)
Primary OS tested on	Ubuntu
Robotic platform tested on	Desktop
Does this PR contain AI generated software?	No
Was this PR description generated by AI software?	No

Description of contribution in a few bullet points

Added Groot monitoring support to the Jazzy branch.
All changes were copied from the Groot monitoring support feature in the Kilted branch.

Description of documentation updates required from your changes

Two new parameters were added to the default nav2_params.yaml configuration:
- enable_groot_monitoring: false
- groot_server_port: 1667

Description of how this change was tested

I've tested this feature locally on a robot by starting a navigation task using Groot2 Monitor v1.6.1.
I've verified that the behavior tree can be monitored live.
I've confirmed that the blackboard values can be viewed.

Future work that may be required in bullet points

Nothing that I'm aware of

For Maintainers:

Check that any new parameters added are updated in docs.nav2.org
Check that any significant change is added to the migration guide
Check that any new features OR changes to existing behaviors are reflected in the tuning guide
Check that any new functions have Doxygen added
Check that any new features have test coverage
Check that any new plugins is added to the plugins page
If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists
Should this be backported to current distributions? If so, tag with backport-*.

mergify · 2025-12-05T16:17:58Z

@mikeslembrouckZYGO, all pull requests must be targeted towards the main development branch.
Once merged into main, it is possible to backport to @jazzy, but it must be in main
to have these changes reflected into new distributions.

mini-1235 · 2025-12-05T16:29:08Z

@mikeslembrouckZYGO, is this ready for review? Also, I am assuming you have fully tested this feature locally, yes?

Check CI, build is failing https://app.circleci.com/pipelines/github/ros-navigation/navigation2/17032/workflows/0544ffeb-6829-43f9-9729-7b577c72a917/jobs/50044

codecov · 2025-12-08T10:30:57Z

Codecov Report

❌ Patch coverage is 98.59155% with 1 line in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
...ior_tree/include/nav2_behavior_tree/json_utils.hpp	96.96%	1 Missing ⚠️

Files with missing lines	Coverage Δ
...nclude/nav2_behavior_tree/behavior_tree_engine.hpp	`100.00% <ø> (ø)`
...tree/include/nav2_behavior_tree/bt_action_node.hpp	`86.04% <ø> (ø)`
...ee/include/nav2_behavior_tree/bt_action_server.hpp	`83.33% <ø> (ø)`
...clude/nav2_behavior_tree/bt_action_server_impl.hpp	`88.15% <100.00%> (+0.57%)`	⬆️
...ree/include/nav2_behavior_tree/bt_service_node.hpp	`81.81% <ø> (-1.26%)`	⬇️
...avior_tree/include/nav2_behavior_tree/bt_utils.hpp	`100.00% <100.00%> (ø)`
...ugins/action/compute_path_through_poses_action.hpp	`100.00% <ø> (ø)`
...ree/plugins/action/compute_path_to_pose_action.hpp	`100.00% <ø> (ø)`
...ehavior_tree/plugins/action/follow_path_action.hpp	`100.00% <ø> (ø)`
..._tree/plugins/action/get_pose_from_path_action.hpp	`100.00% <ø> (ø)`
... and 19 more

... and 19 files with indirect coverage changes

🚀 New features to boost your workflow:

❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be>

Signed-off-by: mikeslembrouckZYGO <mike.slembrouck@zygo.be> Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be>

Removed tests related to WaypointStatus from JsonTest class. Signed-off-by: mikeslembrouckZYGO <mike.slembrouck@zygo.be> Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be>

Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be>

mikeslembrouckZYGO · 2025-12-08T11:14:25Z

@mikeslembrouckZYGO, is this ready for review? Also, I am assuming you have fully tested this feature locally, yes?

Check CI, build is failing https://app.circleci.com/pipelines/github/ros-navigation/navigation2/17032/workflows/0544ffeb-6829-43f9-9729-7b577c72a917/jobs/50044

I've tested the feature locally and the build succeed, so it's ready for review yes. Thx!

mini-1235

Please fix the following item.

In the main branch, we also do BT::RegisterJsonDefinition, is that not needed in this PR?

nav2_system_tests/src/system/nav2_system_params.yaml

nav2_bringup/params/nav2_params.yaml

nav2_behavior_tree/test/CMakeLists.txt

nav2_behavior_tree/include/nav2_behavior_tree/behavior_tree_engine.hpp

Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be>

mini-1235 · 2025-12-08T13:49:38Z

You can actually keep the params in nav2_system_tests/src/system/nav2_system_params.yaml, I actually requested to revert the newline in L365

Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be>

mikeslembrouckZYGO · 2025-12-08T14:16:49Z

Please fix the following item.

In the main branch, we also do BT::RegisterJsonDefinition, is that not needed in this PR?

Ah yes, It should be ok now

mini-1235

I don't think nav_msgs::msg::Goals is the correct type, could you please go through all bt nodes and make sure it register the correct type?

Otherwise LGTM

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_through_poses_action.hpp

...havior_tree/include/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.hpp

nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/goal_updated_condition.hpp

nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updated_controller.hpp

mini-1235 · 2025-12-08T14:34:29Z

nav2_system_tests/src/system/nav2_system_params.yaml

@@ -362,4 +364,3 @@ docking_server:
      k_delta: 2.0
      v_linear_min: 0.15
      v_linear_max: 0.15


Oh, I think there was a space here instead of newline, please add the line back without space

mini-1235 · 2025-12-08T14:46:58Z

Also, per https://www.behaviortree.dev/docs/tutorial-basics/tutorial_11_groot2, let's include behaviortree_cpp/json_export.h in the files that you do BT::RegisterJsonDefinition

…:PoseStamped>` instead of `nav_msgs::msg::Goals` Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be>

…export functionality Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be>

mini-1235 · 2025-12-08T16:19:32Z

Please don't touch other header files, keep the original order

mikeslembrouckZYGO · 2025-12-09T08:54:04Z

Please don't touch other header files, keep the original order

Sure, I just followed the include order of the kilted branch, which seemed at bit more cleaned up. Should I revert the order?

mini-1235 · 2025-12-09T08:59:01Z

Yes, please revert

Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be>

Signed-off-by: mikeslembrouckZYGO <mike.slembrouck@zygo.be>

Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be>

…lembrouckZYGO/navigation2.git into feature/jazzy/groot-monitoring

mikeslembrouckZYGO · 2025-12-10T08:02:08Z

Please don't touch other header files, keep the original order

Done

mini-1235

LGTM. Thanks for reiterating

* Groot monitoring support back ported to jazzy Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * add test_json_utils to CMakeLists.txt Signed-off-by: mikeslembrouckZYGO <mike.slembrouck@zygo.be> Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * Remove WaypointStatus tests from JsonTest Removed tests related to WaypointStatus from JsonTest class. Signed-off-by: mikeslembrouckZYGO <mike.slembrouck@zygo.be> Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * Add JSON parsing support for key conversion in bt_utils Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * Add Groot monitoring support in system tests and parameters Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * Fix uncrustify and flake8 errors Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * Fix extra blank line in nav_to_pose_tester_node.py Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * Remove unused Groot-related code and parameters Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * Add JSON type registration for ports in behavior tree plugins Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * Update JSON type registration to use `std::vector<geometry_msgs::msg::PoseStamped>` instead of `nav_msgs::msg::Goals` Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * Include `json_export` header in behavior tree plugins to enable JSON export functionality Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * Revert header include order Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * Remove unnecessary blank line in header file Signed-off-by: mikeslembrouckZYGO <mike.slembrouck@zygo.be> * Remove extra blank lines Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> --------- Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> Signed-off-by: mikeslembrouckZYGO <mike.slembrouck@zygo.be>

mikeslembrouckZYGO changed the title ~~WIP: Groot monitoring support back ported to jazzy~~ Groot monitoring support back ported to jazzy Dec 5, 2025

mikeslembrouckZYGO added 7 commits December 8, 2025 11:41

Groot monitoring support back ported to jazzy

b45736b

Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be>

add test_json_utils to CMakeLists.txt

428f061

Signed-off-by: mikeslembrouckZYGO <mike.slembrouck@zygo.be> Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be>

Remove WaypointStatus tests from JsonTest

617155f

Removed tests related to WaypointStatus from JsonTest class. Signed-off-by: mikeslembrouckZYGO <mike.slembrouck@zygo.be> Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be>

Add JSON parsing support for key conversion in bt_utils

bc5b4b1

Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be>

Add Groot monitoring support in system tests and parameters

ea751d5

Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be>

Fix uncrustify and flake8 errors

fd62592

Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be>

Fix extra blank line in nav_to_pose_tester_node.py

36b8585

Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be>

mikeslembrouckZYGO force-pushed the feature/jazzy/groot-monitoring branch from 4323626 to 36b8585 Compare December 8, 2025 10:42

mikeslembrouckZYGO marked this pull request as ready for review December 8, 2025 11:15

mini-1235 requested changes Dec 8, 2025

View reviewed changes

Remove unused Groot-related code and parameters

c7d009a

Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be>

Add JSON type registration for ports in behavior tree plugins

71f3576

Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be>

mini-1235 requested changes Dec 8, 2025

View reviewed changes

mikeslembrouckZYGO added 2 commits December 8, 2025 16:04

Update JSON type registration to use `std::vector<geometry_msgs::msg:…

96f2eb6

…:PoseStamped>` instead of `nav_msgs::msg::Goals` Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be>

Include json_export header in behavior tree plugins to enable JSON …

972c02e

…export functionality Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be>

mikeslembrouckZYGO added 4 commits December 10, 2025 08:50

Revert header include order

a95299d

Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be>

Remove unnecessary blank line in header file

c0e99bd

Signed-off-by: mikeslembrouckZYGO <mike.slembrouck@zygo.be>

Remove extra blank lines

724004e

Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be>

Merge branch 'feature/jazzy/groot-monitoring' of git@github.com:mikes…

210d8d1

…lembrouckZYGO/navigation2.git into feature/jazzy/groot-monitoring

mini-1235 approved these changes Dec 10, 2025

View reviewed changes

SteveMacenski approved these changes Dec 10, 2025

View reviewed changes

SteveMacenski merged commit 31a9911 into ros-navigation:jazzy Dec 10, 2025
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Basic Info

Description of contribution in a few bullet points

Description of documentation updates required from your changes

Description of how this change was tested

Future work that may be required in bullet points

For Maintainers:

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