feat: launch ArborFlow behavior tree studio

README.md

@@ -0,0 +1,103 @@
+# ArborFlow
+
+ArborFlow is a cross-platform visual behavior tree editor for BehaviorTree.CPP. It runs as an Electron desktop app on Windows, Linux, and macOS.
+
+## Features
+
+- Drag-and-drop behavior tree canvas with cycle and child-count validation
+- BehaviorTree.CPP control, decorator, action, condition, and subtree nodes
+- Editable ports and blackboard expressions such as `{goal}`
+- Automatic tree layout, minimap, zoom, undo, and redo
+- ArborFlow project files (`.arborflow`) and BehaviorTree.CPP v4 XML import/export
+- Real-time node monitoring over a direct WebSocket or `rosbridge_server`
+- Runtime states: `IDLE`, `RUNNING`, `SUCCESS`, `FAILURE`, and `SKIPPED`
+
+## Development
+
+Requirements: Node.js 20 or newer and npm.
+
+```bash
+npm install
+npm run dev
+```
+
+Run a local status server in another terminal to exercise the monitor without ROS:
+
+```bash
+npm run mock:monitor
+```
+
+Connect ArborFlow to `ws://127.0.0.1:1667` and the demo tree will cycle through live states.
+
+Build the web assets and type-check the project:
+
+```bash
+npm run build
+```
+
+Create desktop packages on the current operating system:
+
+```bash
+npm run dist
+```
+
+Platform-specific targets are available as `npm run dist:win`, `npm run dist:linux`, and `npm run dist:mac`. Electron applications should normally be packaged on the matching host OS, especially for macOS signing.
+
+## Real-time Monitor
+
+Open **Monitor** in the application toolbar and enter either a direct WebSocket endpoint or a `rosbridge_server` endpoint. Node references are matched in this order:
+
+1. ArborFlow node ID, visible in the Inspector
+2. Exact display name or registration name
+3. Last segment of a slash-separated path
+
+### Direct WebSocket protocol
+
+ArborFlow accepts one JSON object per WebSocket message. A single status event can use any of `nodeId`, `uid`, `node`, `name`, or `path` as the node reference:
+
+```json
+{"type":"status","nodeId":"navigate_action","status":"RUNNING","timestamp":1784635200000}
+```
+
+Numeric BehaviorTree.CPP status values are supported: `0=IDLE`, `1=RUNNING`, `2=SUCCESS`, `3=FAILURE`, and `4=SKIPPED`.
+
+A full snapshot can update several nodes at once:
+
+```json
+{
+  "type": "snapshot",
+  "timestamp": 1784635200000,
+  "nodes": {
+    "BatteryOK": "SUCCESS",
+    "NavigateToPose": "RUNNING",
+    "ReportResult": "IDLE"
+  }
+}
+```
+
+The client sends `{"type":"subscribe","client":"ArborFlow","protocol":1}` after connecting and a ping every five seconds. A server may return the same timestamp using `{"type":"pong","timestamp":1784635200000}` to report round-trip latency.
+
+### ROS 2 with rosbridge
+
+Start rosbridge and use its WebSocket address, usually `ws://ROBOT_IP:9090`:
+
+```bash
+ros2 launch rosbridge_server rosbridge_websocket_launch.xml
+```
+
+The default topic is `/arborflow/status` with type `std_msgs/msg/String`. Publish the direct-protocol JSON as the string payload:
+
+```bash
+ros2 topic pub --once /arborflow/status std_msgs/msg/String \
+  "{data: '{\"node\":\"NavigateToPose\",\"status\":\"RUNNING\"}'}"
+```
+
+ArborFlow sends the rosbridge subscribe request automatically. The topic can be changed in the monitor panel.
+
+## Project format
+
+`.arborflow` files retain visual positions, editor metadata, node ports, and stable monitor IDs. XML exports contain only BehaviorTree.CPP data. Runtime monitor state is transient and is never saved into either format.
+
+## License
+
+MIT