How are nav2 bts different from groot bts?

[ct2034]

Note: This is a duplicate of https://github.com/ros-planning/navigation2/issues/3410 Hi When I look at a behavior tree of nav2, for example https://github.com/ros-planning/navigation2/blob/main/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml and open it with groot, save it with groot, it looks very different. Why is that? When did groot and nav2 deviate from each other? Why does groot need the additional TreeNodesModel? Can the two formats be mixed?

This of cause may be related to groot itself. I am using BehaviorTree/Groot@4b8f5d3

see examples of the two xmls

# before groot ```xml ``` # after groot ```xml Service name Destination to plan to Path created by ComputePathToPose node Start pose of the path if overriding current robot pose Goal checker Path to follow Rate Number of retries ```

[SteveMacenski]

I started the discussion on the Nav2 copy https://github.com/ros-planning/navigation2/issues/3410#issuecomment-1431904865

[ct2034]

Sorry for the double-posting. I'll close this one