diff --git a/src/btree_nodes/CMakeLists.txt b/src/btree_nodes/CMakeLists.txt
index 61c8d61..02a514b 100644
--- a/src/btree_nodes/CMakeLists.txt
+++ b/src/btree_nodes/CMakeLists.txt
@@ -36,7 +36,6 @@ endforeach()
 
 set(CPP_FILES
         src/Tree.cpp
-        src/Factory.cpp
         src/Extensions.cpp
         src/nodes/WeightedRandomNode.cpp
         src/nodes/AmICalled.cpp
@@ -52,27 +51,10 @@ set(CPP_FILES
         src/nodes/ActorMovement.cpp
         )
 
-add_library(tree_plugins_base src/Factory.cpp)
-set_property(TARGET tree_plugins_base PROPERTY CXX_STANDARD 17)
 add_executable(tree ${CPP_FILES})
 set_property(TARGET tree PROPERTY CXX_STANDARD 17)
-ament_target_dependencies(tree_plugins_base ${DEPENDENCIES})
 ament_target_dependencies(tree ${DEPENDENCIES})
 
-pluginlib_export_plugin_description_file(behaviortree_cpp_v3 plugins.xml)
-
-#add_executable(talker src/publisher_member_function.cpp)
-#ament_target_dependencies(talker geometry_msgs rclcpp)
-#add_executable(listener src/subscriber_member_function.cpp)
-#ament_target_dependencies(listener geometry_msgs rclcpp)
-
-install(TARGETS
-        tree_plugins_base
-        EXPORT export_${PROJECT_NAME}
-        ARCHIVE DESTINATION lib
-        LIBRARY DESTINATION lib
-        RUNTIME DESTINATION bin)
-
 install(TARGETS
         tree
         DESTINATION lib/${PROJECT_NAME})
@@ -88,11 +70,4 @@ if (BUILD_TESTING)
     ament_lint_auto_find_test_dependencies()
 endif ()
 
-ament_export_libraries(
-        tree_plugins_base
-)
-ament_export_targets(
-        export_${PROJECT_NAME}
-)
-
 ament_package()
diff --git a/src/btree_nodes/plugins.xml b/src/btree_nodes/plugins.xml
deleted file mode 100644
index 6f84710..0000000
--- a/src/btree_nodes/plugins.xml
+++ /dev/null
@@ -1,5 +0,0 @@
-<library path="btree_nodes">
-    <class type="Factory" base_class_type="BT::BehaviorTreeFactory">
-        <description>Ye.</description>
-    </class>
-</library>
\ No newline at end of file
diff --git a/src/btree_nodes/src/Factory.cpp b/src/btree_nodes/src/Factory.cpp
deleted file mode 100644
index 9f3f5a3..0000000
--- a/src/btree_nodes/src/Factory.cpp
+++ /dev/null
@@ -1,16 +0,0 @@
-//
-// Created by bastian on 18.08.22.
-//
-
-#include "Factory.h"
-
-
-BT::ActorNodeFactory::ActorNodeFactory() {
-    auto YES = [](BT::TreeNode &parent_node) -> BT::NodeStatus {
-        return BT::NodeStatus::SUCCESS;
-    };
-
-    registerSimpleCondition("YES!", YES);
-}
-
-PLUGINLIB_EXPORT_CLASS(BT::ActorNodeFactory, BT::BehaviorTreeFactory)
\ No newline at end of file
diff --git a/src/btree_nodes/src/Factory.h b/src/btree_nodes/src/Factory.h
deleted file mode 100644
index 9af2d80..0000000
--- a/src/btree_nodes/src/Factory.h
+++ /dev/null
@@ -1,18 +0,0 @@
-//
-// Created by bastian on 18.08.22.
-//
-
-#ifndef BUILD_FACTORY_H
-#define BUILD_FACTORY_H
-
-#include <behaviortree_cpp_v3/bt_factory.h>
-#include <pluginlib/class_list_macros.hpp>
-
-namespace BT{
-    class ActorNodeFactory : public BT::BehaviorTreeFactory {
-    public:
-        ActorNodeFactory();
-    };
-}
-
-#endif //BUILD_FACTORY_H