diff --git a/behaviortree_ros2/src/tree_execution_server.cpp b/behaviortree_ros2/src/tree_execution_server.cpp
index 6701eea..2a1a580 100644
--- a/behaviortree_ros2/src/tree_execution_server.cpp
+++ b/behaviortree_ros2/src/tree_execution_server.cpp
@@ -113,10 +113,10 @@ void TreeExecutionServer::executeRegistration()
   p_->factory.clearRegisteredBehaviorTrees();
 
   p_->params = p_->param_listener->get_params();
-  // user defined method
-  registerNodesIntoFactory(p_->factory);
   // load plugins from multiple directories
   RegisterPlugins(p_->params, p_->factory, node_);
+  // user defined method
+  registerNodesIntoFactory(p_->factory);
   // load trees (XML) from multiple directories
   RegisterBehaviorTrees(p_->params, p_->factory, node_);