Early access -- actively in testing, expect bugs. Feedback welcome.

A free, open-source VSCode extension for visualizing and monitoring BehaviorTree.CPP v4 XML files. A lightweight alternative to Groot2.

Horizontal (small trees)	Waterfall (large trees)

Tree Visualization

• Parses BehaviorTree.CPP v4 XML and renders an interactive tree diagram
• Color-coded nodes by category: Control (orange), Decorator (green), Action (blue), Condition (yellow), SubTree (purple), Script (grey)
• Drag nodes to rearrange the layout; overlapping nodes auto-resolve
• Collapse/expand subtrees with double-click
• Inline SubTree expansion

Blackboard Inspector

• Lists all {variable} references found in the tree
• Shows which nodes read and write each variable

Node Palette

• Displays all node types from the TreeNodesModel section
• Grouped by category with port definitions (name, type, direction, defaults)

Search

• Filter nodes by name, type, or port values
• Matching nodes highlighted; non-matches dimmed

Live Monitor (requires ZMQ)

• Connects to a running BT.CPP process via ZMQ (same protocol as Groot2)
• Real-time node status overlay: Running (pulsing blue), Success (green), Failure (red), Idle (dimmed)
• Loads the live tree with correct UIDs for accurate status mapping

Multi-tree Support

• Dropdown selector for XML files containing multiple <BehaviorTree> definitions

1. Open any BehaviorTree.CPP v4 XML file in VSCode
2. Open the viewer using any of:
   • Editor title bar: click the tree icon (top-right, appears on XML files)
   • Right-click menu: "Open Behavior Tree Viewer" (editor or explorer)
   • Keyboard: Ctrl+Shift+T (Cmd+Shift+T on Mac) when an XML file is active
   • Command palette: BehaviorTree: Open Behavior Tree Viewer

Set in VSCode Settings (Ctrl+,) under "BehaviorTree Viewer", or in .vscode/settings.json:

{
  // Host for live BT.CPP ZMQ monitor connection
  "behaviortreeViewer.monitorHost": "localhost",

  // Port for BT.CPP ZMQ monitor (REP socket; SUB socket is port+1)
  "behaviortreeViewer.monitorPort": 1666
}

For monitoring a remote BT process, set monitorHost to the target machine's IP address.

The extension supports BehaviorTree.CPP v4 XML with:

• <root BTCPP_format="4"> wrapper
• <BehaviorTree ID="..."> definitions (one or more per file)
• <TreeNodesModel> section for node type metadata
• <SubTree ID="..."/> references (expandable inline)
• All built-in BT.CPP node types (Sequence, Fallback, Parallel, Repeat, Retry, etc.)
• Custom action/condition nodes (auto-detected from TreeNodesModel or defaulted to action)

• fast-xml-parser for XML parsing
• zeromq for live monitoring (optional; monitor button is non-functional without it)

• BehaviorTree.CPP by Davide Faconti and contributors (MIT License) -- the behavior tree library this extension visualizes. Live monitoring uses the Groot2 ZMQ protocol.
• ZeroMQ (MPL-2.0) -- messaging library for live monitoring
• fast-xml-parser (MIT) -- XML parsing

This extension was built with Claude Code (Anthropic).

MIT