diff --git a/include/behaviortree_cpp/bt_factory.h b/include/behaviortree_cpp/bt_factory.h
index b0cb61f53..c20385b3b 100644
--- a/include/behaviortree_cpp/bt_factory.h
+++ b/include/behaviortree_cpp/bt_factory.h
@@ -149,7 +149,7 @@ class Tree
   [[nodiscard]] Blackboard::Ptr rootBlackboard();
 
   //Call the visitor for each node of the tree.
-  void applyVisitor(const std::function<void(const TreeNode*)>& visitor);
+  void applyVisitor(const std::function<void(const TreeNode*)>& visitor) const;
 
   //Call the visitor for each node of the tree.
   void applyVisitor(const std::function<void(TreeNode*)>& visitor);
diff --git a/src/bt_factory.cpp b/src/bt_factory.cpp
index 22d4167ec..f66c3661f 100644
--- a/src/bt_factory.cpp
+++ b/src/bt_factory.cpp
@@ -597,7 +597,7 @@ Blackboard::Ptr Tree::rootBlackboard()
   return {};
 }
 
-void Tree::applyVisitor(const std::function<void(const TreeNode*)>& visitor)
+void Tree::applyVisitor(const std::function<void(const TreeNode*)>& visitor) const
 {
   BT::applyRecursiveVisitor(static_cast<const TreeNode*>(rootNode()), visitor);
 }