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Unfortunately, development work needs to be done to enable both your questions.

For the first question, about the unregistered model. Nav 2 uses some custom control nodes. I believe there is no way to add custom control nodes to Groot at the moment. @"Davide Faconti" can probably confirm this or provide a solution.

For the second question, either Groot needs to be ported to ROS2, or we need to add the ZeroMQ publisher to the navigation 2 behavior tree. I would personally rather see Groot ported to ROS2, because I believe it would be beneficial to be able to capture the behavior tree messages in a Rosbag.

Unfortunately, development work needs to be done to enable both your questions.

For the first question, about the unregistered model. Nav 2 uses some custom control nodes. I believe there is no way to add custom control nodes to Groot at the moment. @"Davide Faconti" @Davide-Faconti can probably confirm this or provide a solution.

For the second question, either Groot needs to be ported to ROS2, or we need to add the ZeroMQ publisher to the navigation 2 behavior tree. I would personally rather see Groot ported to ROS2, because I believe it would be beneficial to be able to capture the behavior tree messages in a Rosbag.

Unfortunately, development work needs to be done to enable both your questions.

For the first question, about the unregistered model. Nav 2 uses some custom control nodes. I believe there is no way to add custom control nodes to Groot at the moment. @Davide-Faconti @Davide Faconti can probably confirm this or provide a solution.

For the second question, either Groot needs to be ported to ROS2, or we need to add the ZeroMQ publisher to the navigation 2 behavior tree. I would personally rather see Groot ported to ROS2, because I believe it would be beneficial to be able to capture the behavior tree messages in a Rosbag.