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