diff --git a/.clang-format b/.clang-format
new file mode 100644
index 0000000..c2bdbef
--- /dev/null
+++ b/.clang-format
@@ -0,0 +1,3 @@
+BasedOnStyle: LLVM
+IndentWidth: 4
+ColumnLimit: 140
\ No newline at end of file
diff --git a/.editorconfig b/.editorconfig
new file mode 100644
index 0000000..3a52c72
--- /dev/null
+++ b/.editorconfig
@@ -0,0 +1,8 @@
+root = true
+
+[*]
+indent_size = 4
+indent_style = space
+charset = utf-8
+end_of_line = lf
+insert_final_newline = true
diff --git a/src/btree_nodes/src/Extensions.cpp b/src/btree_nodes/src/Extensions.cpp
index 7e4eb1e..730dbbd 100644
--- a/src/btree_nodes/src/Extensions.cpp
+++ b/src/btree_nodes/src/Extensions.cpp
@@ -50,13 +50,13 @@ namespace BT {
         }
 
         auto pose = std::make_shared<geometry_msgs::msg::Pose>();
-        pose->orientation.w=0;
-        pose->orientation.x=0;
-        pose->orientation.y=1;
-        pose->orientation.z=0;
-        pose->position.x= convertFromString<double>(parts[0]);
-        pose->position.y= convertFromString<double>(parts[1]);
-        pose->position.z= convertFromString<double>(parts[2]);
+        pose->orientation.w = 0;
+        pose->orientation.x = 0;
+        pose->orientation.y = 1;
+        pose->orientation.z = 0;
+        pose->position.x = convertFromString<double>(parts[0]);
+        pose->position.y = convertFromString<double>(parts[1]);
+        pose->position.z = convertFromString<double>(parts[2]);
 
         std::cout << "[ generated pose from string ]" << std::endl;
 
@@ -71,9 +71,9 @@ namespace BT {
         }
 
         auto point = std::make_shared<geometry_msgs::msg::Point>();
-        point->x= convertFromString<double>(parts[0]);
-        point->y= convertFromString<double>(parts[1]);
-        point->z= convertFromString<double>(parts[2]);
+        point->x = convertFromString<double>(parts[0]);
+        point->y = convertFromString<double>(parts[1]);
+        point->z = convertFromString<double>(parts[2]);
 
         return point;
     }
@@ -86,10 +86,10 @@ namespace BT {
         }
 
         auto point = std::make_shared<geometry_msgs::msg::Quaternion>();
-        point->w= convertFromString<double>(parts[0]);
-        point->x= convertFromString<double>(parts[1]);
-        point->y= convertFromString<double>(parts[2]);
-        point->z= convertFromString<double>(parts[3]);
+        point->w = convertFromString<double>(parts[0]);
+        point->x = convertFromString<double>(parts[1]);
+        point->y = convertFromString<double>(parts[2]);
+        point->z = convertFromString<double>(parts[3]);
 
         return point;
     }
diff --git a/src/btree_nodes/src/Tree.cpp b/src/btree_nodes/src/Tree.cpp
index c0c9073..f8d7b1e 100644
--- a/src/btree_nodes/src/Tree.cpp
+++ b/src/btree_nodes/src/Tree.cpp
@@ -1,5 +1,6 @@
 #include "Area.h"
 #include <behaviortree_cpp_v3/blackboard.h>
+#include <behaviortree_cpp_v3/bt_factory.h>
 #include <rclcpp/rclcpp.hpp>
 #include <random>
 #include <rclcpp/utilities.hpp>
@@ -139,9 +140,17 @@ int main(int argc, char **argv) {
     factory.registerSimpleAction("SetCalledTo",SetCalledTo,{InputPort("state","state to set called to")});
 
     std::cout << "Creating tree." << std::endl;
-
-    Tree actorTree = factory.createTreeFromFile("/home/ros/workspace/src/btree_nodes/actorTree.xml",blackboard);
-    Tree robotTree = factory.createTreeFromFile("/home/ros/workspace/src/btree_nodes/robotTree.xml",blackboard);
+    
+    mainNode -> declare_parameter("trees",std::vector<std::string>({
+        "/home/ros/workspace/src/btree_nodes/actorTree.xml",
+        "/home/ros/workspace/src/btree_nodes/robotTree.xml"
+    }));
+    
+    auto treeFileNames = mainNode -> get_parameter("trees").as_string_array();
+    auto trees = std::vector<std::shared_ptr<BT::Tree>>();
+    for(auto treeFileName : treeFileNames){
+        trees.emplace_back(std::make_shared<BT::Tree>(factory.createTreeFromFile(treeFileName,blackboard)));
+    }
 
     auto init = std::make_shared<geometry_msgs::msg::Pose>();
     init->position.x = 6.0;
@@ -167,8 +176,9 @@ int main(int argc, char **argv) {
     
     while (rclcpp::ok()) {
         blackboardMutex.lock();
-        actorTree.tickRoot();
-        robotTree.tickRoot();
+        for(auto tree : trees){
+            tree->tickRoot();
+        }
         blackboardMutex.unlock();
     }