HI, I just found the answer to your second question. You have to pass the BT in to zmq publisher so Groot can take it and display in real time. To do that In your Logger add below line.

PublisherZMQ publisher_zmq(tree);

tree - Loaded tree from text or file. Make sure that you include the bt_zmq_publisher header file first.

include "behaviortree_cpp_v3/loggers/bt_zmq_publisher.h"

HI, I just found the answer to your second question. You have to pass the BT in to zmq publisher so Groot can take it and display in real time. To do that In your Logger add below line.

PublisherZMQ publisher_zmq(tree);

tree - Loaded tree from text or file. Make sure that you include the bt_zmq_publisher header file first.