I am running the classical simulation that has nav2 in gazebo and rviz

And I want to know if I can see the behavior tree behind this simulation, specifically the one about navigation2. To summarize I want to do this video-simulation but I am not sure if that video is running the xml file or just the turtlebot simulation. Also if I can just run the simulation and see the GUI with the tree in Groot, is it possible to edit ?

When I click in Connect in the groot simulation I always get this (image below)