Feature request

I'm opening this issue to discuss the possibility of bringing back live monitoring of the behaviour tree using the new Groot 2.

I know there have been an endless number of tickets regarding live monitoring, especially since the introduction of multiple navigator types. But with the introduction of BT4 and Groot 2, things have changed, or so I think...

Last week, I did some tests and recorded some videos.

• In the first video I opened two instances of Groot 2. One for NavToPose and one for NavThroughPoses, both connected to different ports. I send a goal, the robots move, then I place some goals and the robot moves through them. You can see in the video how both Groot2 instances capture the execution of the behaviour tree.

https://www.youtube.com/watch?v=juqoR-RyT6Q

• In the second video, I switch the xml of the BT.

https://youtu.be/xHFrtNq8P5w

With the PRO version of Groot 2, the content of the blackboard can be visualized, allowing the introspection of the BT nodes.

I have a branch here if anyone wants to try it.