action_server_bt_sample.yaml

action_server_bt:
  ros__parameters:
    action_name: "behavior_server" # Optional (defaults to `action_server_bt`)
    behavior_tick_frequency: 100 # Optional (defaults to 100 Hz)
    groot2_port: 1667 # Optional (defaults to 1667)

    # Below are a list plugins and BehaviorTrees to load
    # (you are not required to have all 3 types)
    # These are dynamic parameters and can be changed at runtime via rosparam
    # see `action_server_bt/parameters.md` for documentation.
    plugins:
      - behaviortree_cpp/bt_plugins
    ros_plugins:
      - btcpp_ros2_samples/bt_plugins
    behavior_trees:
      - action_server_bt_samples/behavior_trees