diff --git a/bt_editor/graphic_container.cpp b/bt_editor/graphic_container.cpp
index 3dfce1b6..5a9872c2 100644
--- a/bt_editor/graphic_container.cpp
+++ b/bt_editor/graphic_container.cpp
@@ -11,6 +11,7 @@
 #include <QMessageBox>
 #include <QApplication>
 #include <QInputDialog>
+#include <QSvgGenerator>
 
 using namespace QtNodes;
 
@@ -162,6 +163,18 @@ void GraphicContainer::nodeReorder()
     emit undoableChange();
 }
 
+void GraphicContainer::saveSvgFile(const QString path)
+{
+    QSvgGenerator generator;
+    QRectF rect = _scene->itemsBoundingRect();
+    generator.setFileName(path);
+    generator.setSize(QSize(rect.width(), rect.height()));
+    generator.setViewBox(rect);
+    QPainter painter;
+    painter.begin(&generator);
+    _scene->render(&painter, rect, rect);
+}
+
 void GraphicContainer::zoomHomeView()
 {
     QRectF rect = _scene->itemsBoundingRect();
@@ -720,5 +733,3 @@ void GraphicContainer::loadFromJson(const QByteArray &data)
     clearScene();
     scene()->loadFromMemory( data );
 }
-
-
diff --git a/bt_editor/graphic_container.h b/bt_editor/graphic_container.h
index b725e8bf..eb3ee3c6 100644
--- a/bt_editor/graphic_container.h
+++ b/bt_editor/graphic_container.h
@@ -33,6 +33,8 @@ class GraphicContainer : public QObject
 
     void nodeReorder();
 
+    void saveSvgFile(const QString path);
+
     void zoomHomeView();
 
     bool containsValidTree() const;
diff --git a/bt_editor/mainwindow.cpp b/bt_editor/mainwindow.cpp
index 21c9804c..d27af35b 100644
--- a/bt_editor/mainwindow.cpp
+++ b/bt_editor/mainwindow.cpp
@@ -662,13 +662,30 @@ void MainWindow::onAutoArrange()
     currentTabInfo()->nodeReorder();
 }
 
+void MainWindow::onSaveSvg()
+{
+    QSettings settings;
+    QString last_load_path  = settings.value("MainWindow.lastLoadDirectory",
+                                            QDir::homePath() ).toString();
+    QString directory_path  = settings.value("MainWindow.lastSaveSvgDirectory",
+                                            last_load_path ).toString();
+
+    QString fileName = QFileDialog::getSaveFileName(this,
+                                                    tr("Save BehaviorTree to svg"), directory_path,
+                                                    tr("SVG files (*.svg)"));
+    currentTabInfo()->saveSvgFile(fileName);
+
+    directory_path = QFileInfo(fileName).absolutePath();
+    settings.setValue("SidepanelEditor.lastSaveSvgDirectory", directory_path);
+}
+
 void MainWindow::onSceneChanged()
 {
     const bool valid_BT = currentTabInfo()->containsValidTree();
 
     ui->toolButtonLayout->setEnabled(valid_BT);
     ui->toolButtonReorder->setEnabled(valid_BT);
-    ui->toolButtonReorder->setEnabled(valid_BT);
+    ui->toolButtonSaveSvg->setEnabled(valid_BT);
 
     ui->actionSave->setEnabled(valid_BT);
     QPixmap pix;
@@ -1146,6 +1163,11 @@ void MainWindow::on_toolButtonReorder_pressed()
     onAutoArrange();
 }
 
+void MainWindow::on_toolButtonSaveSvg_pressed()
+{
+    onSaveSvg();
+}
+
 void MainWindow::on_toolButtonCenterView_pressed()
 {
     currentTabInfo()->zoomHomeView();
@@ -1292,6 +1314,7 @@ void MainWindow::updateCurrentMode()
 
     ui->toolButtonSaveFile->setHidden( NOT_EDITOR );
     ui->toolButtonReorder->setHidden( NOT_EDITOR );
+    ui->toolButtonSaveSvg->setHidden( NOT_EDITOR );
 
     if( _current_mode == GraphicMode::EDITOR )
     {
diff --git a/bt_editor/mainwindow.h b/bt_editor/mainwindow.h
index 3bdb2aeb..556deda7 100644
--- a/bt_editor/mainwindow.h
+++ b/bt_editor/mainwindow.h
@@ -66,6 +66,8 @@ public slots:
 
     void onAutoArrange();
 
+    void onSaveSvg();
+
     void onSceneChanged();
 
     void onPushUndo();
@@ -97,6 +99,8 @@ public slots:
 
     void on_toolButtonReorder_pressed();
 
+    void on_toolButtonSaveSvg_pressed();
+
     void on_toolButtonCenterView_pressed();
 
     void onCreateAbsBehaviorTree(const AbsBehaviorTree &tree,
@@ -202,7 +206,7 @@ private slots:
 #ifdef ZMQ_FOUND
     SidepanelMonitor* _monitor_widget;
 #endif
-    
+
     MainWindow::SavedState saveCurrentState();
     void clearUndoStacks();
 };
diff --git a/bt_editor/mainwindow.ui b/bt_editor/mainwindow.ui
index 80594ee2..8410449b 100644
--- a/bt_editor/mainwindow.ui
+++ b/bt_editor/mainwindow.ui
@@ -511,8 +511,7 @@ QToolButton:disabled{
           <bool>true</bool>
          </property>
         </widget>
-       </item>
-       <item>
+       </item><item>
         <widget class="QToolButton" name="toolButtonReorder">
          <property name="enabled">
           <bool>false</bool>
@@ -577,6 +576,71 @@ QToolButton:disabled{
          </property>
         </widget>
        </item>
+       <item>
+        <widget class="QToolButton" name="toolButtonSaveSvg">
+         <property name="enabled">
+          <bool>false</bool>
+         </property>
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+           <horstretch>80</horstretch>
+           <verstretch>70</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="minimumSize">
+          <size>
+           <width>80</width>
+           <height>70</height>
+          </size>
+         </property>
+         <property name="font">
+          <font>
+           <pointsize>9</pointsize>
+          </font>
+         </property>
+         <property name="focusPolicy">
+          <enum>Qt::NoFocus</enum>
+         </property>
+         <property name="styleSheet">
+          <string notr="true">QToolButton {
+    color:white;
+}
+
+QToolButton:hover{
+   background-color: rgb(110, 110, 110);
+}
+
+QToolButton:pressed{
+  background-color: rgb(50, 150, 0)
+}
+
+QToolButton:disabled{
+  color:gray;
+  background-color: rgb(50, 50, 50)
+}
+</string>
+         </property>
+         <property name="text">
+          <string>Save svg</string>
+         </property>
+         <property name="icon">
+          <iconset resource="resources/icons.qrc">
+           <normaloff>:/icons/svg/save_white.svg</normaloff>:/icons/svg/save_white.svg</iconset>
+         </property>
+         <property name="iconSize">
+          <size>
+           <width>32</width>
+           <height>32</height>
+          </size>
+         </property>
+         <property name="toolButtonStyle">
+          <enum>Qt::ToolButtonTextUnderIcon</enum>
+         </property>
+         <property name="autoRaise">
+          <bool>true</bool>
+         </property>
+        </widget>
+       </item>
        <item>
         <widget class="QFrame" name="semaphoreFrame">
          <property name="minimumSize">