Hi all, your friendly neighborhood navigator here.
I wanted to shortly mention a new tutorial about working with Groot in Nav2 to visualize and modify Behavior Trees (and adding custom node descriptions)! This work was started by @flo about a year ago that I picked up and just did the last mile on to get it out to users (he deserves the love).
Check it out! Groot - Interacting with Behavior Trees — Navigation 2 1.0.0 documentation
Happy Grooting,
Steve