diff --git a/src/btree_nodes/CMakeLists.txt b/src/btree_nodes/CMakeLists.txt
index 6afedf1..61c8d61 100644
--- a/src/btree_nodes/CMakeLists.txt
+++ b/src/btree_nodes/CMakeLists.txt
@@ -41,7 +41,6 @@ set(CPP_FILES
         src/nodes/WeightedRandomNode.cpp
         src/nodes/AmICalled.cpp
         src/nodes/GenerateXYPose.cpp
-        src/nodes/MoveActorToTarget.cpp
         src/nodes/RobotMove.cpp
         src/nodes/MoveConnection.cpp
         src/nodes/OffsetPose.cpp
diff --git a/src/btree_nodes/src/Tree.cpp b/src/btree_nodes/src/Tree.cpp
index 78c3e9c..f3fa6fa 100644
--- a/src/btree_nodes/src/Tree.cpp
+++ b/src/btree_nodes/src/Tree.cpp
@@ -10,7 +10,6 @@
 #include "nodes/WeightedRandomNode.h"
 #include "nodes/AmICalled.h"
 #include "nodes/GenerateXYPose.h"
-#include "nodes/MoveActorToTarget.h"
 #include "nodes/RobotMove.h"
 #include "nodes/OffsetPose.h"
 #include "nodes/RandomFailure.h"
@@ -43,7 +42,6 @@ int main(int argc, char **argv) {
     factory.registerNodeType<GenerateXYPose>("GenerateXYPose");
     factory.registerNodeType<AmICalled>("AmICalled");
 
-    factory.registerNodeType<MoveActorToTarget>("MoveActorToTarget");
     factory.registerNodeType<WeightedRandomNode>("WeightedRandom");
     factory.registerNodeType<OffsetPose>("OffsetPose");
     factory.registerNodeType<RandomFailure>("RandomFailure");
diff --git a/src/btree_nodes/src/nodes/MoveActorToTarget.cpp b/src/btree_nodes/src/nodes/MoveActorToTarget.cpp
deleted file mode 100644
index 4c4d968..0000000
--- a/src/btree_nodes/src/nodes/MoveActorToTarget.cpp
+++ /dev/null
@@ -1,64 +0,0 @@
-//
-// Created by bastian on 26.03.22.
-//
-
-#include "MoveActorToTarget.h"
-
-BT::MoveActorToTarget::MoveActorToTarget(const std::string &name, const BT::NodeConfiguration &config)
-        : StatefulActionNode(name, config) {}
-
-BT::PortsList BT::MoveActorToTarget::providedPorts() {
-    return {
-            InputPort<std::shared_ptr<geometry_msgs::msg::Pose>>("current"),
-            InputPort<std::shared_ptr<geometry_msgs::msg::Pose>>("target")
-    };
-}
-
-BT::NodeStatus BT::MoveActorToTarget::onStart() {
-    std::cout << "started moving" << std::endl;
-
-    rclcpp::Node node("targetPublisherNode");
-    auto publisher = node.create_publisher<geometry_msgs::msg::Pose>("targetPose", 10);
-    auto res = getInput<std::shared_ptr<geometry_msgs::msg::Pose>>("target", target);
-
-    if (!res) {
-        std::cout << "[ no target available ]" << std::endl;
-        std::cout << res.error() << std::endl;
-        return NodeStatus::FAILURE;
-    }
-
-    publisher->publish(*target);
-    return NodeStatus::RUNNING;
-}
-
-BT::NodeStatus BT::MoveActorToTarget::onRunning() {
-    std::shared_ptr<geometry_msgs::msg::Pose> current;
-
-    auto res = getInput<std::shared_ptr<geometry_msgs::msg::Pose>>("current", current);
-    if (!res) {
-        std::cout << "[ no current position available ]" << std::endl;
-        std::cout << res.error() << std::endl;
-        return NodeStatus::FAILURE;
-    }
-
-    double dX = target->position.x - current->position.x;
-    double dY = target->position.y - current->position.y;
-
-    auto distance = sqrt(dX * dX + dY * dY);
-
-    if (distance < 0.3) {
-        return NodeStatus::SUCCESS;
-    } else {
-        return NodeStatus::RUNNING;
-    }
-}
-
-void BT::MoveActorToTarget::onHalted() {
-    std::cout << "halted move" << std::endl;
-    rclcpp::Node node("targetPublisherNode");
-    auto publisher = node.create_publisher<geometry_msgs::msg::Pose>("targetPose", 10);
-    geometry_msgs::msg::Pose inf;
-    inf.position.x = HUGE_VAL;
-    inf.position.y = HUGE_VAL;
-    publisher->publish(inf);
-}
diff --git a/src/btree_nodes/src/nodes/MoveActorToTarget.h b/src/btree_nodes/src/nodes/MoveActorToTarget.h
deleted file mode 100644
index af011a1..0000000
--- a/src/btree_nodes/src/nodes/MoveActorToTarget.h
+++ /dev/null
@@ -1,30 +0,0 @@
-//
-// Created by bastian on 26.03.22.
-//
-
-#ifndef BUILD_MOVEACTORTOTARGET_H
-#define BUILD_MOVEACTORTOTARGET_H
-
-#include <behaviortree_cpp_v3/action_node.h>
-#include <geometry_msgs/msg/pose.hpp>
-#include <rclcpp/rclcpp.hpp>
-
-namespace BT {
-    class MoveActorToTarget : public StatefulActionNode {
-    public:
-        MoveActorToTarget(const std::string &name, const NodeConfiguration &config);
-
-        static PortsList providedPorts();
-
-        std::shared_ptr<geometry_msgs::msg::Pose> target;
-
-        NodeStatus onStart() override;
-
-        NodeStatus onRunning() override;
-
-        void onHalted() override;
-    };
-}
-
-
-#endif //BUILD_MOVEACTORTOTARGET_H