Add CI Testing Section

configuration/packages/configuring-bt-navigator.rst

@@ -53,6 +53,43 @@ Parameters
  Description
  List of behavior tree node shared libraries.
 
+:enable_groot_monitoring:
+
+ ==== =======
+ Type Default
+ ---- -------
+ bool false
+ ==== =======
+
+ Description
+ Enable live Groot monitoring of the current BT status.
+ This is possible due to attaching a ZMQ server and publisher to the active behavior tree.
+ Consider checking out the :ref:`groot_introduction` tutorial for using this feature. 
+
+ **Attention:** Groot will only work after the behavior tree is running, which means that the nav2 stack has to receive a goal first.
+
+:groot_zmq_publisher_port:
+
+ ====== ======= ======= ========
+ Type Default Unit Optional
+ ------ ------- ------- --------
+ int 1666 Port yes
+ ====== ======= ======= ========
+
+ Description
+ ZMQ publisher port for the Groot monitor. Used to consecutive publish the current status of the BT as flatbuffer.
+
+:groot_zmq_server_port:
+
+ ====== ======= ======= ========
+ Type Default Unit Optional
+ ------ ------- ------- --------
+ int 1667 Port yes
+ ====== ======= ======= ========
+
+ Description
+ ZMQ server port for the Groot monitor. Used to send the current bt factory + configuration as flatbuffer on an (empty) request by Groot.
+
 :transform_tolerance:
 
  ====== ======= ======= 
@@ -118,6 +155,9 @@ Example
  global_frame: map
  robot_base_frame: base_link
  transform_tolerance: 0.1
+ enable_groot_monitoring: True
+ groot_zmq_publisher_port: 1666
+ groot_zmq_server_port: 1667
  bt_xml_filename: replace/with/path/to/bt.xml
  plugin_lib_names: 
  - nav2_compute_path_to_pose_action_bt_node