diff --git a/behaviortree_ros2/include/behaviortree_ros2/tree_execution_server.hpp b/behaviortree_ros2/include/behaviortree_ros2/tree_execution_server.hpp
index 9a8839a..630c3f7 100644
--- a/behaviortree_ros2/include/behaviortree_ros2/tree_execution_server.hpp
+++ b/behaviortree_ros2/include/behaviortree_ros2/tree_execution_server.hpp
@@ -65,6 +65,9 @@ class TreeExecutionServer
   // pointer to the global blackboard
   BT::Blackboard::Ptr globalBlackboard();
 
+  // reference to the factory, to allow users to register custom nodes
+  BT::BehaviorTreeFactory& factory();
+
 protected:
   /**
    * @brief Callback invoked after the tree is created.
@@ -75,16 +78,6 @@ class TreeExecutionServer
   virtual void onTreeCreated(BT::Tree& tree)
   {}
 
-  /**
-   * @brief registerNodesIntoFactory is a callback invoked after the
-   * plugins were registered into the BT::BehaviorTreeFactory.
-   * It can be used to register additional custom nodes manually.
-   *
-   * @param factory The factory to use to register nodes
-  */
-  virtual void registerNodesIntoFactory(BT::BehaviorTreeFactory& factory)
-  {}
-
   /**
    * @brief onLoopAfterTick invoked at each loop, after tree.tickOnce().
    * If it returns a valid NodeStatus, the tree will stop and return that status.
diff --git a/behaviortree_ros2/src/bt_executor_parameters.yaml b/behaviortree_ros2/src/bt_executor_parameters.yaml
index b6c36c1..9a31591 100644
--- a/behaviortree_ros2/src/bt_executor_parameters.yaml
+++ b/behaviortree_ros2/src/bt_executor_parameters.yaml
@@ -26,6 +26,7 @@ bt_server:
   plugins: {
     type: string_array,
     default_value: [],
+    read_only: true,
     description: "List of 'package_name/subfolder' containing BehaviorTree plugins to load into the factory",
     validation: {
       unique<>: null,
@@ -34,6 +35,7 @@ bt_server:
   ros_plugins_timeout: {
     type: int,
     default_value: 1000,
+    read_only: true,
     description: "Timeout (ms) used in BT::RosNodeParams",
     validation: {
       bounds<>: [1, 10000]
diff --git a/behaviortree_ros2/src/bt_utils.cpp b/behaviortree_ros2/src/bt_utils.cpp
index ce5e5cc..420413e 100644
--- a/behaviortree_ros2/src/bt_utils.cpp
+++ b/behaviortree_ros2/src/bt_utils.cpp
@@ -137,9 +137,6 @@ void LoadRosPlugins(BT::BehaviorTreeFactory& factory, const std::string& directo
 void RegisterBehaviorTrees(bt_server::Params& params, BT::BehaviorTreeFactory& factory,
                            rclcpp::Node::SharedPtr node)
 {
-  // clear the factory and load/reload it with the Behaviors and Trees specified by the user in their [bt_action_server] config yaml
-  factory.clearRegisteredBehaviorTrees();
-
   BT::RosNodeParams ros_params;
   ros_params.nh = node;
   ros_params.server_timeout = std::chrono::milliseconds(params.ros_plugins_timeout);
diff --git a/behaviortree_ros2/src/tree_execution_server.cpp b/behaviortree_ros2/src/tree_execution_server.cpp
index 26b6f11..062c282 100644
--- a/behaviortree_ros2/src/tree_execution_server.cpp
+++ b/behaviortree_ros2/src/tree_execution_server.cpp
@@ -91,7 +91,6 @@ TreeExecutionServer::TreeExecutionServer(const rclcpp::NodeOptions& options)
 
   // register the users Plugins and BehaviorTree.xml files into the factory
   RegisterBehaviorTrees(p_->params, p_->factory, p_->node);
-  registerNodesIntoFactory(p_->factory);
 }
 
 rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
@@ -143,14 +142,6 @@ void TreeExecutionServer::execute(
   BT::NodeStatus status = BT::NodeStatus::RUNNING;
   auto action_result = std::make_shared<ExecuteTree::Result>();
 
-  // Before executing check if we have new Behaviors or Subtrees to reload
-  if(p_->param_listener->is_old(p_->params))
-  {
-    p_->params = p_->param_listener->get_params();
-    RegisterBehaviorTrees(p_->params, p_->factory, p_->node);
-    registerNodesIntoFactory(p_->factory);
-  }
-
   // Loop until something happens with ROS or the node completes
   try
   {
@@ -262,4 +253,9 @@ BT::Blackboard::Ptr TreeExecutionServer::globalBlackboard()
   return p_->global_blackboard;
 }
 
+BT::BehaviorTreeFactory& TreeExecutionServer::factory()
+{
+  return p_->factory;
+}
+
 }  // namespace BT
diff --git a/behaviortree_ros2/tree_execution_server.md b/behaviortree_ros2/tree_execution_server.md
index 34edf44..5f864f6 100644
--- a/behaviortree_ros2/tree_execution_server.md
+++ b/behaviortree_ros2/tree_execution_server.md
@@ -18,10 +18,13 @@ Furthermore, the user can customize it to:
 
 - Register custom BT Nodes directly (static linking).
 - Attach additional loggers. The **Groot2** publisher will be attached by default.
-- Use the "global blackboard", a new idiom/pattern explained in [this tutorial](https://github.com/BehaviorTree/BehaviorTree.CPP/blob/master/examples/t19_global_blackboard.cpp).
+- Use the "global blackboard", a new idiom/pattern explained in [this tutorial](https://github.com/BehaviorTree/BehaviorTree.CPP/blob/master/examples/t16_global_blackboard.cpp).
 - Customize the feedback of the `rclcpp_action::Server`.
 
-## Customization points
+If you want to register manually a custom Node or an enum,
+you can access the factory directly using the public method `TreeExecutionServer::factory()`.
+
+## Virtual methods
 
 These are the virtual method of `TreeExecutionServer` that can be overridden by the user.
 
@@ -31,12 +34,6 @@ Callback invoked when a tree is created; this happens after `rclcpp_action::Serv
 
 It can be used, for instance, to initialize a logger or the global blackboard.
 
-###  void registerNodesIntoFactory(BT::BehaviorTreeFactory& factory)
-
-Called at the beginning, after all the plugins have been loaded.
-
-It can be used to register programmatically more BT.CPP Nodes.
-
 ### std::optional<BT::NodeStatus> onLoopAfterTick(BT::NodeStatus status)
 
 Used to do something after the tree was ticked, in its execution loop.