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Did you try to use Groot for modifying a BT? I recommend it, it makes everything easier.

https://navigation.ros.org/tutorials/docs/using_groot.html

For the ROS2 Galactic installation:

   cd ~/dev_ws/src
   git clone https://github.com/BehaviorTree/Groot.git
   cd ..
   rosdep install --from-paths src --ignore-src
   colcon build --symlink-install --packages-select groot

I have sudo apt install ros-galactic-behaviortree-cpp-v3 before too.

You have to source install/setup.bash and ./build/groot/Groot.

You can load BT XMLs from the Nav2 repository/your package and modify it.

Right now there is an open issue in the Nav2 repository about probing the blackboard parameters for debugging:

• https://github.com/ros-planning/navigation2/issues/3074

You can try to check this forum too:

• https://discourse.behaviortree.dev/

As well as the documentation or this PDF.