bt_action_server:
  ros__parameters:
    action_name: "mg_bt_action_server" # Optional (defaults to `bt_action_server`)
    tick_frequency: 100 # Optional (defaults to 100 Hz)
    groot2_port: 8420 # Optional (defaults to 1667)
    ros_plugins_timeout: 1000  # Optional (defaults 1000 ms)

    plugins:
      # - behaviortree_cpp/bt_plugins
      - btcpp_ros2_samples/bt_plugins

    behavior_trees:
      - mg_bt/behavior_trees