diff --git a/src/gaz_simulation/world/gaz_ign.sdf b/src/gaz_simulation/world/gaz_ign.sdf
index 8b400e3..2e20d66 100644
--- a/src/gaz_simulation/world/gaz_ign.sdf
+++ b/src/gaz_simulation/world/gaz_ign.sdf
@@ -253,7 +253,7 @@
       <animation name="walk">
         <filename>https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/walk.dae</filename>
       </animation>
-      <!--<plugin name="actor1_plugin" filename="/home/bastian/dev_ws/build/gazebo_ros_actor/libRosActorPlugin.so">
+      <plugin name="ActorSystem" filename="/home/ros/workspace/build/ign_actor_plugin/libActorPlugin.so">
         <target>2 2 1</target>
         <target_weight>1.15</target_weight>
         <obstacle_weight>1.8</obstacle_weight>
@@ -261,7 +261,7 @@
         <ignore_obstacles>
           <model>ground_plane</model>
         </ignore_obstacles>
-      </plugin>-->
+      </plugin>
     </actor>
     <gravity>0 0 -9.8</gravity>
     <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
diff --git a/src/ign_actor_plugin/CMakeLists.txt b/src/ign_actor_plugin/CMakeLists.txt
index 494dfb9..6d8a08c 100644
--- a/src/ign_actor_plugin/CMakeLists.txt
+++ b/src/ign_actor_plugin/CMakeLists.txt
@@ -31,6 +31,8 @@ rosidl_target_interfaces(ActorPlugin
 target_link_libraries(ActorPlugin
         ignition-plugin${IGN_PLUGIN_VER}::ignition-plugin${IGN_PLUGIN_VER}
         ignition-gazebo5::ignition-gazebo5
+        ${rclcpp_LIBRARIES}
+        ${rclcpp_action_LIBRARIES}
         )
 
 ament_package()
diff --git a/src/ign_actor_plugin/src/ActorSystem.cpp b/src/ign_actor_plugin/src/ActorSystem.cpp
index ba9b982..d14208c 100644
--- a/src/ign_actor_plugin/src/ActorSystem.cpp
+++ b/src/ign_actor_plugin/src/ActorSystem.cpp
@@ -5,41 +5,74 @@
 #include <rclcpp_action/create_server.hpp>
 #include "ActorSystem.h"
 
+#define AnimationGoalPtr const std::shared_ptr<const ign_actor_plugin::action::Animation::Goal>
+#define AnimationServerGoalPtr const std::shared_ptr<rclcpp_action::ServerGoalHandle<ign_actor_plugin::action::Animation>>&
+
 IGNITION_ADD_PLUGIN(
         ActorSystem,
         ignition::gazebo::System,
-        ActorSystem::ISystemPreUpdate)
+        ActorSystem::ISystemPreUpdate,
+        ActorSystem::ISystemConfigure)
 
 ActorSystem::ActorSystem() = default;
 
 ActorSystem::~ActorSystem() = default;
 
 void ActorSystem::PreUpdate(const ignition::gazebo::UpdateInfo &_info, ignition::gazebo::EntityComponentManager &_ecm) {
-
     //_ecm.EachNew<>()
 }
 
 // Found too late: https://github.com/AlanSixth/gazebo_ros_action_tutorial/blob/master/src/gazebo_ros_action_tutorial.cc
 
 void ActorSystem::Configure(const ignition::gazebo::Entity &_entity, const std::shared_ptr<const sdf::Element> &_sdf,
-        ignition::gazebo::EntityComponentManager &_ecm, ignition::gazebo::EventManager &) {
+                            ignition::gazebo::EntityComponentManager &_ecm, ignition::gazebo::EventManager &) {
+    printf("Plugin configuring...\n");
+
     rclcpp::init(0, {});
+
     std::string topic = "ActorPlugin";
-    if(_sdf->HasElement("topic")){
+    if (_sdf->HasElement("topic")) {
         topic = _sdf->Get<std::string>("topic");
     }
     std::string name = "Actor";
-    if(_sdf->HasElement("actor_name")){
+    if (_sdf->HasElement("actor_name")) {
         name = _sdf->Get<std::string>("actor_name");
     }
 
-    node = rclcpp::Node::make_shared("moveService",topic);
+    node = rclcpp::Node::make_shared("moveService", topic);
 
-    rclcpp_action::create_server<ign_actor_plugin::action::Animation>(node,"animation",
-            std::bind(&ActorSystem::handle_animation_goal,this,std::placeholders::_1,std::placeholders::_2),
-            std::bind(&ActorSystem::handle_animation_cancel,this,std::placeholders::_1),
-            std::bind(&ActorSystem::handle_animation_accepted,this,std::placeholders::_1)
-            );
+#pragma clang diagnostic push
+#pragma ide diagnostic ignored "UnusedValue"
+    animationServer = rclcpp_action::create_server<ign_actor_plugin::action::Animation>(
+            node,
+            "animation",
+            [](rclcpp_action::GoalUUID goalUuid,
+                AnimationGoalPtr &animationGoal) {
+                return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
+            },
+            [](AnimationServerGoalPtr PH1) {
+                return rclcpp_action::CancelResponse::ACCEPT;
+            },
+            [](AnimationServerGoalPtr PH1) {
+
+            }
+    );
+
+    movementServer rclcpp_action::create_server<ign_actor_plugin::action::Movement>(
+            node,
+            "movement",
+            [](rclcpp_action::GoalUUID goalUuid, )
+            )
+#pragma clang diagnostic pop
+
+    printf("Spinning node...\n");
+    std::thread spinThread([this]() {
+        while (true) {
+            printf("Wheee...\n");
+            rclcpp::spin(node);
+        }
+    });
+    spinThread.detach();
 }
 
 /*
diff --git a/src/ign_actor_plugin/src/ActorSystem.h b/src/ign_actor_plugin/src/ActorSystem.h
index c37ee9d..69f2795 100644
--- a/src/ign_actor_plugin/src/ActorSystem.h
+++ b/src/ign_actor_plugin/src/ActorSystem.h
@@ -10,15 +10,17 @@
 #include <rclcpp/node.hpp>
 #include "rclcpp/rclcpp.hpp"
 #include "ign_actor_plugin/action/animation.hpp"
-
+#include "ign_actor_plugin/action/movement.hpp"
 
 class ActorSystem:
         public ignition::gazebo::System,
         public ignition::gazebo::ISystemPreUpdate,
-        public ignition::gazebo::ISystemConfigure{
+        public ignition::gazebo::ISystemConfigure {
 
 private:
     std::shared_ptr<rclcpp::Node> node;
+    std::shared_ptr<rclcpp_action::Server<ign_actor_plugin::action::Animation>> animationServer;
+    std::shared_ptr<rclcpp_action::Server<ign_actor_plugin::action::Movement>> movementServer;
 
 public:
     ActorSystem();
@@ -26,26 +28,17 @@ public:
 public:
     ~ActorSystem() override;
 
-public: void PreUpdate(const ignition::gazebo::UpdateInfo &_info,
-            ignition::gazebo::EntityComponentManager &_ecm) override;
+public:
+    void PreUpdate(const ignition::gazebo::UpdateInfo &_info,
+                   ignition::gazebo::EntityComponentManager &_ecm) override;
 
-public: void Configure(const ignition::gazebo::Entity &_entity,
-            const std::shared_ptr<const sdf::Element> &_sdf,
-            ignition::gazebo::EntityComponentManager &_ecm,
-            ignition::gazebo::EventManager &/*_eventMgr*/) override;
+public:
+    void Configure(const ignition::gazebo::Entity &_entity,
+                   const std::shared_ptr<const sdf::Element> &_sdf,
+                   ignition::gazebo::EntityComponentManager &_ecm,
+                   ignition::gazebo::EventManager &/*_eventMgr*/) override;
 
-private: rclcpp_action::GoalResponse handle_animation_goal(const rclcpp_action::GoalUUID & uuid,
-            std::shared_ptr<const ign_actor_plugin::action::Animation::Goal> goal);
-
-private: rclcpp_action::CancelResponse handle_animation_cancel(
-            const std::shared_ptr<rclcpp_action::ServerGoalHandle<ign_actor_plugin::action::Animation>> goal_handle);
-
-private: void handle_animation_accepted(
-            const std::shared_ptr<rclcpp_action::ServerGoalHandle<ign_actor_plugin::action::Animation>> goal_handle);
 
 };
 
-
-
-
 #endif //BUILD_ACTORSYSTEM_H