diff --git a/plansys2_bt_actions/CMakeLists.txt b/plansys2_bt_actions/CMakeLists.txt
index 8879b22ed..efed76722 100644
--- a/plansys2_bt_actions/CMakeLists.txt
+++ b/plansys2_bt_actions/CMakeLists.txt
@@ -9,18 +9,10 @@ find_package(rclcpp REQUIRED)
 find_package(rclcpp_action REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
 find_package(plansys2_executor REQUIRED)
-find_package(behaviortree_cpp_v3 REQUIRED)
+find_package(behaviortree_cpp REQUIRED)
 find_package(action_msgs REQUIRED)
 find_package(lifecycle_msgs REQUIRED)
 
-find_package(ZMQ)
-if(ZMQ_FOUND)
-    message(STATUS "ZeroMQ found.")
-    add_definitions(-DZMQ_FOUND)
-else()
-  message(WARNING "ZeroMQ NOT found. Not including PublisherZMQ.")
-endif()
-
 set(CMAKE_CXX_STANDARD 17)
 
 set(dependencies
@@ -28,12 +20,12 @@ set(dependencies
     rclcpp_action
     rclcpp_lifecycle
     plansys2_executor
-    behaviortree_cpp_v3
+    behaviortree_cpp
     action_msgs
     lifecycle_msgs
 )
 
-include_directories(include ${ZMQ_INCLUDE_DIRS})
+include_directories(include)
 
 set(BT_ACTIONS_SOURCES
   src/plansys2_bt_actions/BTAction.cpp
@@ -41,7 +33,6 @@ set(BT_ACTIONS_SOURCES
 
 add_library(${PROJECT_NAME} SHARED ${BT_ACTIONS_SOURCES})
 ament_target_dependencies(${PROJECT_NAME} ${dependencies})
-target_link_libraries(${PROJECT_NAME} ${ZMQ_LIBRARIES})
 
 add_executable(bt_action_node
   src/bt_action_node.cpp
@@ -77,5 +68,6 @@ endif()
 
 ament_export_include_directories(include)
 ament_export_dependencies(${dependencies})
+include_directories(include)
 
 ament_package()
diff --git a/plansys2_bt_actions/README.md b/plansys2_bt_actions/README.md
index f7f0595fa..1ab8e63a7 100644
--- a/plansys2_bt_actions/README.md
+++ b/plansys2_bt_actions/README.md
@@ -20,7 +20,7 @@ Files created by the `.fbl` and minitrace loggers are stored in `/tmp/<node_name
 ### BT node for calling ROS2 action servers
 The `BtActionNode` template class provides a convenient means of calling ROS2 action servers from within a BT.  It takes care of the details of setting up and handling a ROS action client, reducing code duplication and providing a simple API.
 
-The template parameter for the class is the type of ROS action (e.g. `action_tutorials_interfaces::action::Fibonacci`) to be used. The node's constructor takes in three arguments: the XML tag name, the ROS topic for the action server (e.g. `/namepace/server_name`), and a `BT::NodeConfiguration`.  Note that the XML name and `NodeConfiguration` are the same as any other BT.CPP node.
+The template parameter for the class is the type of ROS action (e.g. `action_tutorials_interfaces::action::Fibonacci`) to be used. The node's constructor takes in three arguments: the XML tag name, the ROS topic for the action server (e.g. `/namepace/server_name`), and a `BT::NodeConfig`.  Note that the XML name and `NodeConfig` are the same as any other BT.CPP node.
 
 There are several functions which are provided for the end user to use/implement (some of which are optional).
 1. `static BT::PortsList providedPorts()`: every BT node which uses ports must define this member function.  A default implementation is provided, but you are free to override it if additional ports are desired.  By default, the function returns two input ports: `server_name` (string) and `server_timeout` (double).  These ports can be preserved when overriding using `providedBasicPorts`
diff --git a/plansys2_bt_actions/cmake/FindZMQ.cmake b/plansys2_bt_actions/cmake/FindZMQ.cmake
deleted file mode 100644
index cb2e4e6a2..000000000
--- a/plansys2_bt_actions/cmake/FindZMQ.cmake
+++ /dev/null
@@ -1,84 +0,0 @@
-# - Try to find ZMQ
-# Once done this will define
-#
-#  ZMQ_FOUND - system has ZMQ
-#  ZMQ_INCLUDE_DIRS - the ZMQ include directory
-#  ZMQ_LIBRARIES - Link these to use ZMQ
-#  ZMQ_DEFINITIONS - Compiler switches required for using ZMQ
-#
-#  Copyright (c) 2011 Lee Hambley <lee.hambley@gmail.com>
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-#    * Redistributions of source code must retain the above copyright
-#      notice, this list of conditions and the following disclaimer.
-#
-#    * Redistributions in binary form must reproduce the above copyright
-#      notice, this list of conditions and the following disclaimer in the
-#      documentation and/or other materials provided with the distribution.
-#
-#    * Neither the name of the copyright holder nor the names of its
-#      contributors may be used to endorse or promote products derived from
-#      this software without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-#  Original license text (changed to the above to pass ament_copyright):
-#  Redistribution and use is allowed according to the terms of the New
-#  BSD license.
-#  For details see the accompanying COPYING-CMAKE-SCRIPTS file.
-#
-
-if(ZMQ_LIBRARIES AND ZMQ_INCLUDE_DIRS)
-  # in cache already
-  set(ZMQ_FOUND TRUE)
-else()
-
-  find_path(ZMQ_INCLUDE_DIR
-    NAMES
-      zmq.h
-    PATHS
-      /usr/include
-      /usr/local/include
-      /opt/local/include
-  )
-
-  find_library(ZMQ_LIBRARY
-    NAMES
-      zmq
-    PATHS
-      /usr/lib
-      /usr/local/lib
-      /opt/local/lib
-      /sw/lib
-  )
-
-  set(ZMQ_INCLUDE_DIRS
-    ${ZMQ_INCLUDE_DIR}
-  )
-
-  if(ZMQ_LIBRARY)
-    set(ZMQ_LIBRARIES
-        ${ZMQ_LIBRARIES}
-        ${ZMQ_LIBRARY}
-    )
-  endif()
-
-  include(FindPackageHandleStandardArgs)
-  find_package_handle_standard_args(ZMQ DEFAULT_MSG ZMQ_LIBRARIES ZMQ_INCLUDE_DIRS)
-
-  # show the ZMQ_INCLUDE_DIRS and ZMQ_LIBRARIES variables only in the advanced view
-  mark_as_advanced(ZMQ_INCLUDE_DIRS ZMQ_LIBRARIES)
-
-endif()
diff --git a/plansys2_bt_actions/include/plansys2_bt_actions/BTAction.hpp b/plansys2_bt_actions/include/plansys2_bt_actions/BTAction.hpp
index 1864bf192..e7e015edb 100644
--- a/plansys2_bt_actions/include/plansys2_bt_actions/BTAction.hpp
+++ b/plansys2_bt_actions/include/plansys2_bt_actions/BTAction.hpp
@@ -19,15 +19,11 @@
 #include <string>
 #include <vector>
 
-#include "behaviortree_cpp_v3/behavior_tree.h"
-#include "behaviortree_cpp_v3/bt_factory.h"
-#include "behaviortree_cpp_v3/xml_parsing.h"
-#include "behaviortree_cpp_v3/loggers/bt_file_logger.h"
-#include "behaviortree_cpp_v3/loggers/bt_minitrace_logger.h"
-
-#ifdef ZMQ_FOUND
-#include <behaviortree_cpp_v3/loggers/bt_zmq_publisher.h>
-#endif
+#include "behaviortree_cpp/behavior_tree.h"
+#include "behaviortree_cpp/bt_factory.h"
+#include "behaviortree_cpp/xml_parsing.h"
+#include "behaviortree_cpp/loggers/bt_file_logger_v2.h"
+#include "behaviortree_cpp/loggers/bt_minitrace_logger.h"
 
 #include "plansys2_executor/ActionExecutorClient.hpp"
 #include "rclcpp/rclcpp.hpp"
@@ -69,8 +65,7 @@ class BTAction : public plansys2::ActionExecutorClient
   std::string bt_xml_file_;
   std::vector<std::string> plugin_list_;
   bool finished_;
-  std::unique_ptr<BT::PublisherZMQ> publisher_zmq_;
-  std::unique_ptr<BT::FileLogger> bt_file_logger_;
+  std::unique_ptr<BT::FileLogger2> bt_file_logger_;
   std::unique_ptr<BT::MinitraceLogger> bt_minitrace_logger_;
 };
 
diff --git a/plansys2_bt_actions/include/plansys2_bt_actions/BTActionNode.hpp b/plansys2_bt_actions/include/plansys2_bt_actions/BTActionNode.hpp
index 3ac832ba4..d1edc4d82 100644
--- a/plansys2_bt_actions/include/plansys2_bt_actions/BTActionNode.hpp
+++ b/plansys2_bt_actions/include/plansys2_bt_actions/BTActionNode.hpp
@@ -18,7 +18,7 @@
 #include <memory>
 #include <string>
 
-#include "behaviortree_cpp_v3/action_node.h"
+#include "behaviortree_cpp/action_node.h"
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
 #include "rclcpp_action/rclcpp_action.hpp"
@@ -35,10 +35,12 @@ class BtActionNode : public BT::ActionNodeBase
   BtActionNode(
     const std::string & xml_tag_name,
     const std::string & action_name,
-    const BT::NodeConfiguration & conf)
+    const BT::NodeConfig & conf)
   : BT::ActionNodeBase(xml_tag_name, conf), action_name_(action_name)
   {
-    config().blackboard->get("node", node_);
+    if (!config().blackboard->get("node", node_)) {
+      RCLCPP_ERROR(node_->get_logger(), "Failed to get 'node' from the blackboard");
+    }
 
     // Get the required items from the blackboard
     server_timeout_ = 5s;
@@ -95,6 +97,7 @@ class BtActionNode : public BT::ActionNodeBase
         5.0,
         "The amount of time to wait for a response from the action server, in seconds")
     };
+    // The user defined ports are added to the basic ports
     basic.insert(addition.begin(), addition.end());
 
     return basic;
@@ -307,7 +310,7 @@ class BtActionNode : public BT::ActionNodeBase
       cancel_goal();
     }
 
-    setStatus(BT::NodeStatus::IDLE);
+    resetStatus();
   }
 
 protected:
diff --git a/plansys2_bt_actions/package.xml b/plansys2_bt_actions/package.xml
index 4f7048d1a..a3fda8211 100644
--- a/plansys2_bt_actions/package.xml
+++ b/plansys2_bt_actions/package.xml
@@ -16,7 +16,7 @@
   <depend>rclcpp_action</depend>
   <depend>rclcpp_lifecycle</depend>
   <depend>plansys2_executor</depend>
-  <depend>behaviortree_cpp_v3</depend>
+  <depend>behaviortree_cpp</depend>
   <depend>action_msgs</depend>
   <depend>libzmq3-dev</depend>
 
diff --git a/plansys2_bt_actions/src/plansys2_bt_actions/BTAction.cpp b/plansys2_bt_actions/src/plansys2_bt_actions/BTAction.cpp
index 2509015f0..84e2531a8 100644
--- a/plansys2_bt_actions/src/plansys2_bt_actions/BTAction.cpp
+++ b/plansys2_bt_actions/src/plansys2_bt_actions/BTAction.cpp
@@ -22,7 +22,7 @@
 #include <memory>
 #include <chrono>
 
-#include "behaviortree_cpp_v3/utils/shared_library.h"
+#include "behaviortree_cpp/utils/shared_library.h"
 #include "plansys2_bt_actions/BTAction.hpp"
 
 namespace plansys2
@@ -38,12 +38,6 @@ BTAction::BTAction(
     "plugins", std::vector<std::string>({}));
   declare_parameter<bool>("bt_file_logging", false);
   declare_parameter<bool>("bt_minitrace_logging", false);
-#ifdef ZMQ_FOUND
-  declare_parameter<bool>("enable_groot_monitoring", true);
-  declare_parameter<int>("publisher_port", -1);
-  declare_parameter<int>("server_port", -1);
-  declare_parameter<int>("max_msgs_per_second", 25);
-#endif
 }
 
 rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
@@ -75,7 +69,6 @@ BTAction::on_configure(const rclcpp_lifecycle::State & previous_state)
 rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
 BTAction::on_cleanup(const rclcpp_lifecycle::State & previous_state)
 {
-  publisher_zmq_.reset();
   return ActionExecutorClient::on_cleanup(previous_state);
 }
 
@@ -93,8 +86,12 @@ BTAction::on_activate(const rclcpp_lifecycle::State & previous_state)
   }
 
   for (int i = 0; i < get_arguments().size(); i++) {
+    auto arg = get_arguments()[i];
+    RCLCPP_DEBUG_STREAM(
+      get_logger(),
+      "Setting arg" << i << " [" << arg << "]");
     std::string argname = "arg" + std::to_string(i);
-    blackboard_->set(argname, get_arguments()[i]);
+    blackboard_->set(argname, arg);
   }
 
   if (get_parameter("bt_file_logging").as_bool() ||
@@ -116,7 +113,7 @@ BTAction::on_activate(const rclcpp_lifecycle::State & previous_state)
         get_logger(),
         "Logging to file: " << filename_extension);
       bt_file_logger_ =
-        std::make_unique<BT::FileLogger>(tree_, filename_extension.c_str());
+        std::make_unique<BT::FileLogger2>(tree_, filename_extension.c_str());
     }
 
     if (get_parameter("bt_minitrace_logging").as_bool()) {
@@ -129,36 +126,6 @@ BTAction::on_activate(const rclcpp_lifecycle::State & previous_state)
     }
   }
 
-#ifdef ZMQ_FOUND
-  bool enable_groot_monitoring = get_parameter("enable_groot_monitoring").as_bool();
-  int publisher_port = get_parameter("publisher_port").as_int();
-  int server_port = get_parameter("server_port").as_int();
-  unsigned int max_msgs_per_second = get_parameter("max_msgs_per_second").as_int();
-
-  if (enable_groot_monitoring) {
-    if (publisher_port <= 0 || server_port <= 0) {
-      RCLCPP_WARN(
-        get_logger(),
-        "[%s] Groot monitoring ports not provided, disabling Groot monitoring."
-        " publisher port: %d, server port: %d",
-        get_name(), publisher_port, server_port);
-    } else {
-      RCLCPP_DEBUG(
-        get_logger(),
-        "[%s] Groot monitoring: Publisher port: %d, Server port: %d, Max msgs per second: %d",
-        get_name(), publisher_port, server_port, max_msgs_per_second);
-      try {
-        publisher_zmq_.reset(
-          new BT::PublisherZMQ(
-            tree_, max_msgs_per_second, publisher_port,
-            server_port));
-      } catch (const BT::LogicError & exc) {
-        RCLCPP_ERROR(get_logger(), "ZMQ error: %s", exc.what());
-      }
-    }
-  }
-#endif
-
   finished_ = false;
   return ActionExecutorClient::on_activate(previous_state);
 }
@@ -166,7 +133,6 @@ BTAction::on_activate(const rclcpp_lifecycle::State & previous_state)
 rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
 BTAction::on_deactivate(const rclcpp_lifecycle::State & previous_state)
 {
-  publisher_zmq_.reset();
   bt_minitrace_logger_.reset();
   bt_file_logger_.reset();
   tree_.haltTree();
diff --git a/plansys2_bt_actions/test/behavior_tree/CloseGripper.cpp b/plansys2_bt_actions/test/behavior_tree/CloseGripper.cpp
index 33a7eef7d..434dfc943 100644
--- a/plansys2_bt_actions/test/behavior_tree/CloseGripper.cpp
+++ b/plansys2_bt_actions/test/behavior_tree/CloseGripper.cpp
@@ -17,14 +17,14 @@
 
 #include "CloseGripper.hpp"
 
-#include "behaviortree_cpp_v3/behavior_tree.h"
+#include "behaviortree_cpp/behavior_tree.h"
 
 namespace plansys2_bt_tests
 {
 
 CloseGripper::CloseGripper(
   const std::string & xml_tag_name,
-  const BT::NodeConfiguration & conf)
+  const BT::NodeConfig & conf)
 : BT::ActionNodeBase(xml_tag_name, conf), counter_(0)
 {
 }
@@ -50,7 +50,7 @@ CloseGripper::tick()
 
 }  // namespace plansys2_bt_tests
 
-#include "behaviortree_cpp_v3/bt_factory.h"
+#include "behaviortree_cpp/bt_factory.h"
 BT_REGISTER_NODES(factory)
 {
   factory.registerNodeType<plansys2_bt_tests::CloseGripper>("CloseGripper");
diff --git a/plansys2_bt_actions/test/behavior_tree/CloseGripper.hpp b/plansys2_bt_actions/test/behavior_tree/CloseGripper.hpp
index 60b433880..3b496ed38 100644
--- a/plansys2_bt_actions/test/behavior_tree/CloseGripper.hpp
+++ b/plansys2_bt_actions/test/behavior_tree/CloseGripper.hpp
@@ -17,8 +17,8 @@
 
 #include <string>
 
-#include "behaviortree_cpp_v3/behavior_tree.h"
-#include "behaviortree_cpp_v3/bt_factory.h"
+#include "behaviortree_cpp/behavior_tree.h"
+#include "behaviortree_cpp/bt_factory.h"
 
 namespace plansys2_bt_tests
 {
@@ -28,7 +28,7 @@ class CloseGripper : public BT::ActionNodeBase
 public:
   explicit CloseGripper(
     const std::string & xml_tag_name,
-    const BT::NodeConfiguration & conf);
+    const BT::NodeConfig & conf);
 
   void halt();
   BT::NodeStatus tick();
diff --git a/plansys2_bt_actions/test/behavior_tree/FailureNodes.cpp b/plansys2_bt_actions/test/behavior_tree/FailureNodes.cpp
index 9cc2fa8e2..1dc633b20 100644
--- a/plansys2_bt_actions/test/behavior_tree/FailureNodes.cpp
+++ b/plansys2_bt_actions/test/behavior_tree/FailureNodes.cpp
@@ -15,14 +15,14 @@
 #include <string>
 #include <memory>
 
-#include "behaviortree_cpp_v3/bt_factory.h"
+#include "behaviortree_cpp/bt_factory.h"
 
 #include "FailureNodes.hpp"
 
 BT_REGISTER_NODES(factory)
 {
   BT::NodeBuilder builder =
-    [](const std::string & name, const BT::NodeConfiguration & config)
+    [](const std::string & name, const BT::NodeConfig & config)
     {
       return std::make_unique<plansys2_bt_tests::OnTickFail>(
         name, "move", config);
@@ -32,7 +32,7 @@ BT_REGISTER_NODES(factory)
     "OnTickFail", builder);
 
   builder =
-    [](const std::string & name, const BT::NodeConfiguration & config)
+    [](const std::string & name, const BT::NodeConfig & config)
     {
       return std::make_unique<plansys2_bt_tests::OnFeedbackFail>(
         name, "move", config);
diff --git a/plansys2_bt_actions/test/behavior_tree/FailureNodes.hpp b/plansys2_bt_actions/test/behavior_tree/FailureNodes.hpp
index f495a8e5e..0156af75e 100644
--- a/plansys2_bt_actions/test/behavior_tree/FailureNodes.hpp
+++ b/plansys2_bt_actions/test/behavior_tree/FailureNodes.hpp
@@ -32,7 +32,7 @@ class OnTickFail : public plansys2::BtActionNode<test_msgs::action::Fibonacci>
   explicit OnTickFail(
     const std::string & xml_tag_name,
     const std::string & action_name,
-    const BT::NodeConfiguration & conf)
+    const BT::NodeConfig & conf)
   : plansys2::BtActionNode<Fibonacci>(xml_tag_name,
       action_name,
       conf),
@@ -57,7 +57,7 @@ class OnFeedbackFail : public plansys2::BtActionNode<test_msgs::action::Fibonacc
   explicit OnFeedbackFail(
     const std::string & xml_tag_name,
     const std::string & action_name,
-    const BT::NodeConfiguration & conf)
+    const BT::NodeConfig & conf)
   : plansys2::BtActionNode<Fibonacci>(xml_tag_name,
       action_name,
       conf),
diff --git a/plansys2_bt_actions/test/behavior_tree/Move.cpp b/plansys2_bt_actions/test/behavior_tree/Move.cpp
index 6d87b9d6a..9a4b6a6f0 100644
--- a/plansys2_bt_actions/test/behavior_tree/Move.cpp
+++ b/plansys2_bt_actions/test/behavior_tree/Move.cpp
@@ -21,7 +21,7 @@
 
 #include "geometry_msgs/msg/pose2_d.hpp"
 
-#include "behaviortree_cpp_v3/behavior_tree.h"
+#include "behaviortree_cpp/behavior_tree.h"
 
 namespace plansys2_bt_tests
 {
@@ -29,11 +29,13 @@ namespace plansys2_bt_tests
 Move::Move(
   const std::string & xml_tag_name,
   const std::string & action_name,
-  const BT::NodeConfiguration & conf)
+  const BT::NodeConfig & conf)
 : plansys2::BtActionNode<test_msgs::action::Fibonacci>(xml_tag_name, action_name, conf)
 {
   rclcpp_lifecycle::LifecycleNode::SharedPtr node;
-  config().blackboard->get("node", node);
+  if (!config().blackboard->get("node", node)) {
+    RCLCPP_ERROR(node_->get_logger(), "Failed to get 'node' from the blackboard");
+  }
 
   node->declare_parameter<std::vector<std::string>>(
     "waypoints", std::vector<std::string>({}));
@@ -95,11 +97,11 @@ Move::on_success()
 
 }  // namespace plansys2_bt_tests
 
-#include "behaviortree_cpp_v3/bt_factory.h"
+#include "behaviortree_cpp/bt_factory.h"
 BT_REGISTER_NODES(factory)
 {
   BT::NodeBuilder builder =
-    [](const std::string & name, const BT::NodeConfiguration & config)
+    [](const std::string & name, const BT::NodeConfig & config)
     {
       return std::make_unique<plansys2_bt_tests::Move>(
         name, "move", config);
diff --git a/plansys2_bt_actions/test/behavior_tree/Move.hpp b/plansys2_bt_actions/test/behavior_tree/Move.hpp
index 9f807fbd2..bd2674197 100644
--- a/plansys2_bt_actions/test/behavior_tree/Move.hpp
+++ b/plansys2_bt_actions/test/behavior_tree/Move.hpp
@@ -22,8 +22,8 @@
 #include "test_msgs/action/fibonacci.hpp"
 
 #include "plansys2_bt_actions/BTActionNode.hpp"
-#include "behaviortree_cpp_v3/behavior_tree.h"
-#include "behaviortree_cpp_v3/bt_factory.h"
+#include "behaviortree_cpp/behavior_tree.h"
+#include "behaviortree_cpp/bt_factory.h"
 
 namespace plansys2_bt_tests
 {
@@ -34,7 +34,7 @@ class Move : public plansys2::BtActionNode<test_msgs::action::Fibonacci>
   explicit Move(
     const std::string & xml_tag_name,
     const std::string & action_name,
-    const BT::NodeConfiguration & conf);
+    const BT::NodeConfig & conf);
 
   BT::NodeStatus on_tick() override;
   BT::NodeStatus on_success() override;
diff --git a/plansys2_bt_actions/test/behavior_tree/OpenGripper.cpp b/plansys2_bt_actions/test/behavior_tree/OpenGripper.cpp
index 45b1dd974..4c48dab98 100644
--- a/plansys2_bt_actions/test/behavior_tree/OpenGripper.cpp
+++ b/plansys2_bt_actions/test/behavior_tree/OpenGripper.cpp
@@ -17,14 +17,14 @@
 
 #include "OpenGripper.hpp"
 
-#include "behaviortree_cpp_v3/behavior_tree.h"
+#include "behaviortree_cpp/behavior_tree.h"
 
 namespace plansys2_bt_tests
 {
 
 OpenGripper::OpenGripper(
   const std::string & xml_tag_name,
-  const BT::NodeConfiguration & conf)
+  const BT::NodeConfig & conf)
 : BT::ActionNodeBase(xml_tag_name, conf), counter_(0)
 {
 }
@@ -50,7 +50,7 @@ OpenGripper::tick()
 
 }  // namespace plansys2_bt_tests
 
-#include "behaviortree_cpp_v3/bt_factory.h"
+#include "behaviortree_cpp/bt_factory.h"
 BT_REGISTER_NODES(factory)
 {
   factory.registerNodeType<plansys2_bt_tests::OpenGripper>("OpenGripper");
diff --git a/plansys2_bt_actions/test/behavior_tree/OpenGripper.hpp b/plansys2_bt_actions/test/behavior_tree/OpenGripper.hpp
index dc64923a6..da5f7d239 100644
--- a/plansys2_bt_actions/test/behavior_tree/OpenGripper.hpp
+++ b/plansys2_bt_actions/test/behavior_tree/OpenGripper.hpp
@@ -17,8 +17,8 @@
 
 #include <string>
 
-#include "behaviortree_cpp_v3/behavior_tree.h"
-#include "behaviortree_cpp_v3/bt_factory.h"
+#include "behaviortree_cpp/behavior_tree.h"
+#include "behaviortree_cpp/bt_factory.h"
 
 namespace plansys2_bt_tests
 {
@@ -28,7 +28,7 @@ class OpenGripper : public BT::ActionNodeBase
 public:
   explicit OpenGripper(
     const std::string & xml_tag_name,
-    const BT::NodeConfiguration & conf);
+    const BT::NodeConfig & conf);
 
   void halt();
   BT::NodeStatus tick();
diff --git a/plansys2_bt_actions/test/unit/bt_action_test.cpp b/plansys2_bt_actions/test/unit/bt_action_test.cpp
index 9a81a0b71..a81987be2 100644
--- a/plansys2_bt_actions/test/unit/bt_action_test.cpp
+++ b/plansys2_bt_actions/test/unit/bt_action_test.cpp
@@ -18,9 +18,9 @@
 #include <iostream>
 #include <fstream>
 
-#include "behaviortree_cpp_v3/behavior_tree.h"
-#include "behaviortree_cpp_v3/bt_factory.h"
-#include "behaviortree_cpp_v3/utils/shared_library.h"
+#include "behaviortree_cpp/behavior_tree.h"
+#include "behaviortree_cpp/bt_factory.h"
+#include "behaviortree_cpp/utils/shared_library.h"
 
 #include "../behavior_tree/OpenGripper.hpp"
 #include "../behavior_tree/CloseGripper.hpp"
@@ -164,7 +164,7 @@ TEST(bt_actions, on_tick_failure)
     });
 
 
-  BT::NodeConfiguration config;
+  BT::NodeConfig config;
   BT::assignDefaultRemapping<plansys2_bt_tests::OnTickFail>(config);
   auto bb = BT::Blackboard::create();
   bb->set("node", node);
@@ -201,7 +201,7 @@ TEST(bt_actions, on_feedback_failure)
       }
     });
 
-  BT::NodeConfiguration config;
+  BT::NodeConfig config;
   BT::assignDefaultRemapping<plansys2_bt_tests::OnFeedbackFail>(config);
   auto bb = BT::Blackboard::create();
   bb->set("node", node);
diff --git a/plansys2_executor/CMakeLists.txt b/plansys2_executor/CMakeLists.txt
index 5c7231a70..4647fcbcf 100644
--- a/plansys2_executor/CMakeLists.txt
+++ b/plansys2_executor/CMakeLists.txt
@@ -20,18 +20,10 @@ find_package(plansys2_domain_expert REQUIRED)
 find_package(plansys2_problem_expert REQUIRED)
 find_package(plansys2_planner REQUIRED)
 find_package(pluginlib REQUIRED)
-find_package(behaviortree_cpp_v3 REQUIRED)
+find_package(behaviortree_cpp REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(std_srvs REQUIRED)
 
-find_package(ZMQ)
-if(ZMQ_FOUND)
-    message(STATUS "ZeroMQ found.")
-    add_definitions(-DZMQ_FOUND)
-else()
-  message(WARNING "ZeroMQ NOT found. Not including PublisherZMQ.")
-endif()
-
 set(CMAKE_CXX_STANDARD 17)
 
 set(dependencies
@@ -50,12 +42,12 @@ set(dependencies
     plansys2_problem_expert
     plansys2_planner
     pluginlib
-    behaviortree_cpp_v3
+    behaviortree_cpp
     std_msgs
     std_srvs
 )
 
-include_directories(include ${ZMQ_INCLUDE_DIRS})
+include_directories(include)
 
 set(EXECUTOR_SOURCES
   src/plansys2_executor/ExecutorClient.cpp
@@ -77,7 +69,7 @@ set(EXECUTOR_SOURCES
 
 add_library(${PROJECT_NAME} SHARED ${EXECUTOR_SOURCES})
 ament_target_dependencies(${PROJECT_NAME} ${dependencies})
-target_link_libraries(${PROJECT_NAME} ${ZMQ_LIBRARIES})
+target_link_libraries(${PROJECT_NAME})
 
 add_executable(executor_node
   src/executor_node.cpp
diff --git a/plansys2_executor/cmake/FindZMQ.cmake b/plansys2_executor/cmake/FindZMQ.cmake
deleted file mode 100644
index cb2e4e6a2..000000000
--- a/plansys2_executor/cmake/FindZMQ.cmake
+++ /dev/null
@@ -1,84 +0,0 @@
-# - Try to find ZMQ
-# Once done this will define
-#
-#  ZMQ_FOUND - system has ZMQ
-#  ZMQ_INCLUDE_DIRS - the ZMQ include directory
-#  ZMQ_LIBRARIES - Link these to use ZMQ
-#  ZMQ_DEFINITIONS - Compiler switches required for using ZMQ
-#
-#  Copyright (c) 2011 Lee Hambley <lee.hambley@gmail.com>
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-#    * Redistributions of source code must retain the above copyright
-#      notice, this list of conditions and the following disclaimer.
-#
-#    * Redistributions in binary form must reproduce the above copyright
-#      notice, this list of conditions and the following disclaimer in the
-#      documentation and/or other materials provided with the distribution.
-#
-#    * Neither the name of the copyright holder nor the names of its
-#      contributors may be used to endorse or promote products derived from
-#      this software without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-#  Original license text (changed to the above to pass ament_copyright):
-#  Redistribution and use is allowed according to the terms of the New
-#  BSD license.
-#  For details see the accompanying COPYING-CMAKE-SCRIPTS file.
-#
-
-if(ZMQ_LIBRARIES AND ZMQ_INCLUDE_DIRS)
-  # in cache already
-  set(ZMQ_FOUND TRUE)
-else()
-
-  find_path(ZMQ_INCLUDE_DIR
-    NAMES
-      zmq.h
-    PATHS
-      /usr/include
-      /usr/local/include
-      /opt/local/include
-  )
-
-  find_library(ZMQ_LIBRARY
-    NAMES
-      zmq
-    PATHS
-      /usr/lib
-      /usr/local/lib
-      /opt/local/lib
-      /sw/lib
-  )
-
-  set(ZMQ_INCLUDE_DIRS
-    ${ZMQ_INCLUDE_DIR}
-  )
-
-  if(ZMQ_LIBRARY)
-    set(ZMQ_LIBRARIES
-        ${ZMQ_LIBRARIES}
-        ${ZMQ_LIBRARY}
-    )
-  endif()
-
-  include(FindPackageHandleStandardArgs)
-  find_package_handle_standard_args(ZMQ DEFAULT_MSG ZMQ_LIBRARIES ZMQ_INCLUDE_DIRS)
-
-  # show the ZMQ_INCLUDE_DIRS and ZMQ_LIBRARIES variables only in the advanced view
-  mark_as_advanced(ZMQ_INCLUDE_DIRS ZMQ_LIBRARIES)
-
-endif()
diff --git a/plansys2_executor/include/plansys2_executor/ActionExecutor.hpp b/plansys2_executor/include/plansys2_executor/ActionExecutor.hpp
index 73997d720..912b472df 100644
--- a/plansys2_executor/include/plansys2_executor/ActionExecutor.hpp
+++ b/plansys2_executor/include/plansys2_executor/ActionExecutor.hpp
@@ -22,7 +22,7 @@
 #include "plansys2_msgs/msg/action_execution.hpp"
 #include "plansys2_msgs/msg/action_execution_info.hpp"
 #include "plansys2_msgs/msg/durative_action.hpp"
-#include "behaviortree_cpp_v3/behavior_tree.h"
+#include "behaviortree_cpp/behavior_tree.h"
 
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
diff --git a/plansys2_executor/include/plansys2_executor/behavior_tree/apply_atend_effect_node.hpp b/plansys2_executor/include/plansys2_executor/behavior_tree/apply_atend_effect_node.hpp
index 12fdf34db..1d8043ab2 100644
--- a/plansys2_executor/include/plansys2_executor/behavior_tree/apply_atend_effect_node.hpp
+++ b/plansys2_executor/include/plansys2_executor/behavior_tree/apply_atend_effect_node.hpp
@@ -19,7 +19,7 @@
 #include <string>
 #include <memory>
 
-#include "behaviortree_cpp_v3/action_node.h"
+#include "behaviortree_cpp/action_node.h"
 
 #include "plansys2_problem_expert/ProblemExpertClient.hpp"
 #include "plansys2_executor/ActionExecutor.hpp"
@@ -35,7 +35,7 @@ class ApplyAtEndEffect : public BT::ActionNodeBase
 public:
   ApplyAtEndEffect(
     const std::string & xml_tag_name,
-    const BT::NodeConfiguration & conf);
+    const BT::NodeConfig & conf);
 
   void halt() {}
   BT::NodeStatus tick() override;
diff --git a/plansys2_executor/include/plansys2_executor/behavior_tree/apply_atstart_effect_node.hpp b/plansys2_executor/include/plansys2_executor/behavior_tree/apply_atstart_effect_node.hpp
index 200a66603..b0dee8f9c 100644
--- a/plansys2_executor/include/plansys2_executor/behavior_tree/apply_atstart_effect_node.hpp
+++ b/plansys2_executor/include/plansys2_executor/behavior_tree/apply_atstart_effect_node.hpp
@@ -19,7 +19,7 @@
 #include <string>
 #include <memory>
 
-#include "behaviortree_cpp_v3/action_node.h"
+#include "behaviortree_cpp/action_node.h"
 
 #include "plansys2_problem_expert/ProblemExpertClient.hpp"
 #include "plansys2_executor/ActionExecutor.hpp"
@@ -35,7 +35,7 @@ class ApplyAtStartEffect : public BT::ActionNodeBase
 public:
   ApplyAtStartEffect(
     const std::string & xml_tag_name,
-    const BT::NodeConfiguration & conf);
+    const BT::NodeConfig & conf);
 
   void halt() {}
   BT::NodeStatus tick() override;
diff --git a/plansys2_executor/include/plansys2_executor/behavior_tree/check_action_node.hpp b/plansys2_executor/include/plansys2_executor/behavior_tree/check_action_node.hpp
index 150c9cb5d..dcc100ffc 100644
--- a/plansys2_executor/include/plansys2_executor/behavior_tree/check_action_node.hpp
+++ b/plansys2_executor/include/plansys2_executor/behavior_tree/check_action_node.hpp
@@ -20,7 +20,7 @@
 #include <memory>
 
 
-#include "behaviortree_cpp_v3/action_node.h"
+#include "behaviortree_cpp/action_node.h"
 
 #include "plansys2_executor/ActionExecutor.hpp"
 
@@ -36,7 +36,7 @@ class CheckAction : public BT::ActionNodeBase
 public:
   CheckAction(
     const std::string & xml_tag_name,
-    const BT::NodeConfiguration & conf);
+    const BT::NodeConfig & conf);
 
   void halt() {}
   BT::NodeStatus tick() override;
diff --git a/plansys2_executor/include/plansys2_executor/behavior_tree/check_atend_req_node.hpp b/plansys2_executor/include/plansys2_executor/behavior_tree/check_atend_req_node.hpp
index fb8a25407..7ff6d2009 100644
--- a/plansys2_executor/include/plansys2_executor/behavior_tree/check_atend_req_node.hpp
+++ b/plansys2_executor/include/plansys2_executor/behavior_tree/check_atend_req_node.hpp
@@ -19,7 +19,7 @@
 #include <string>
 #include <memory>
 
-#include "behaviortree_cpp_v3/action_node.h"
+#include "behaviortree_cpp/action_node.h"
 
 #include "plansys2_problem_expert/ProblemExpertClient.hpp"
 #include "plansys2_executor/ActionExecutor.hpp"
@@ -35,7 +35,7 @@ class CheckAtEndReq : public BT::ActionNodeBase
 public:
   CheckAtEndReq(
     const std::string & xml_tag_name,
-    const BT::NodeConfiguration & conf);
+    const BT::NodeConfig & conf);
 
   void halt() {}
   BT::NodeStatus tick() override;
diff --git a/plansys2_executor/include/plansys2_executor/behavior_tree/check_overall_req_node.hpp b/plansys2_executor/include/plansys2_executor/behavior_tree/check_overall_req_node.hpp
index bcb1cfdfd..a118a0bcf 100644
--- a/plansys2_executor/include/plansys2_executor/behavior_tree/check_overall_req_node.hpp
+++ b/plansys2_executor/include/plansys2_executor/behavior_tree/check_overall_req_node.hpp
@@ -19,7 +19,7 @@
 #include <string>
 #include <memory>
 
-#include "behaviortree_cpp_v3/action_node.h"
+#include "behaviortree_cpp/action_node.h"
 
 #include "plansys2_problem_expert/ProblemExpertClient.hpp"
 #include "plansys2_executor/ActionExecutor.hpp"
@@ -35,7 +35,7 @@ class CheckOverAllReq : public BT::ActionNodeBase
 public:
   CheckOverAllReq(
     const std::string & xml_tag_name,
-    const BT::NodeConfiguration & conf);
+    const BT::NodeConfig & conf);
 
   void halt() {}
   BT::NodeStatus tick() override;
diff --git a/plansys2_executor/include/plansys2_executor/behavior_tree/check_timeout_node.hpp b/plansys2_executor/include/plansys2_executor/behavior_tree/check_timeout_node.hpp
index 3c51857ec..87fb0943e 100644
--- a/plansys2_executor/include/plansys2_executor/behavior_tree/check_timeout_node.hpp
+++ b/plansys2_executor/include/plansys2_executor/behavior_tree/check_timeout_node.hpp
@@ -19,7 +19,7 @@
 #include <string>
 #include <memory>
 
-#include "behaviortree_cpp_v3/action_node.h"
+#include "behaviortree_cpp/action_node.h"
 
 #include "plansys2_problem_expert/ProblemExpertClient.hpp"
 #include "plansys2_executor/ActionExecutor.hpp"
@@ -35,7 +35,7 @@ class CheckTimeout : public BT::ActionNodeBase
 public:
   CheckTimeout(
     const std::string & xml_tag_name,
-    const BT::NodeConfiguration & conf);
+    const BT::NodeConfig & conf);
 
   void halt() {}
   BT::NodeStatus tick() override;
@@ -49,7 +49,8 @@ class CheckTimeout : public BT::ActionNodeBase
   }
 
 private:
-  std::chrono::high_resolution_clock::time_point start_;
+  rclcpp_lifecycle::LifecycleNode::SharedPtr node_;
+  rclcpp::Time start_;
   std::shared_ptr<std::map<std::string, ActionExecutionInfo>> action_map_;
   std::shared_ptr<plansys2::ProblemExpertClient> problem_client_;
 };
diff --git a/plansys2_executor/include/plansys2_executor/behavior_tree/execute_action_node.hpp b/plansys2_executor/include/plansys2_executor/behavior_tree/execute_action_node.hpp
index 6c51f3dce..6f79f24b8 100644
--- a/plansys2_executor/include/plansys2_executor/behavior_tree/execute_action_node.hpp
+++ b/plansys2_executor/include/plansys2_executor/behavior_tree/execute_action_node.hpp
@@ -20,7 +20,7 @@
 #include <memory>
 #include <random>
 
-#include "behaviortree_cpp_v3/action_node.h"
+#include "behaviortree_cpp/action_node.h"
 
 #include "plansys2_executor/ActionExecutor.hpp"
 
@@ -35,7 +35,7 @@ class ExecuteAction : public BT::ActionNodeBase
 public:
   ExecuteAction(
     const std::string & xml_tag_name,
-    const BT::NodeConfiguration & conf);
+    const BT::NodeConfig & conf);
 
   void halt();
   BT::NodeStatus tick() override;
diff --git a/plansys2_executor/include/plansys2_executor/behavior_tree/wait_action_node.hpp b/plansys2_executor/include/plansys2_executor/behavior_tree/wait_action_node.hpp
index 1c07cc9b4..9288e1713 100644
--- a/plansys2_executor/include/plansys2_executor/behavior_tree/wait_action_node.hpp
+++ b/plansys2_executor/include/plansys2_executor/behavior_tree/wait_action_node.hpp
@@ -20,7 +20,7 @@
 #include <memory>
 
 
-#include "behaviortree_cpp_v3/action_node.h"
+#include "behaviortree_cpp/action_node.h"
 
 #include "plansys2_executor/ActionExecutor.hpp"
 
@@ -34,7 +34,7 @@ class WaitAction : public BT::ActionNodeBase
 public:
   WaitAction(
     const std::string & xml_tag_name,
-    const BT::NodeConfiguration & conf);
+    const BT::NodeConfig & conf);
 
   void halt() {}
   BT::NodeStatus tick() override;
diff --git a/plansys2_executor/include/plansys2_executor/behavior_tree/wait_atstart_req_node.hpp b/plansys2_executor/include/plansys2_executor/behavior_tree/wait_atstart_req_node.hpp
index 5308e306c..d1b77cef0 100644
--- a/plansys2_executor/include/plansys2_executor/behavior_tree/wait_atstart_req_node.hpp
+++ b/plansys2_executor/include/plansys2_executor/behavior_tree/wait_atstart_req_node.hpp
@@ -19,7 +19,7 @@
 #include <string>
 #include <memory>
 
-#include "behaviortree_cpp_v3/action_node.h"
+#include "behaviortree_cpp/action_node.h"
 
 #include "plansys2_problem_expert/ProblemExpertClient.hpp"
 #include "plansys2_executor/ActionExecutor.hpp"
@@ -35,7 +35,7 @@ class WaitAtStartReq : public BT::ActionNodeBase
 public:
   WaitAtStartReq(
     const std::string & xml_tag_name,
-    const BT::NodeConfiguration & conf);
+    const BT::NodeConfig & conf);
 
   void halt() {}
   BT::NodeStatus tick() override;
diff --git a/plansys2_executor/package.xml b/plansys2_executor/package.xml
index 1acad37a7..e6ec80d3e 100644
--- a/plansys2_executor/package.xml
+++ b/plansys2_executor/package.xml
@@ -28,11 +28,10 @@
   <depend>plansys2_problem_expert</depend>
   <depend>plansys2_planner</depend>
   <depend>pluginlib</depend>
-  <depend>behaviortree_cpp_v3</depend>
+  <depend>behaviortree_cpp</depend>
   <depend>std_msgs</depend>
   <depend>std_srvs</depend>
-  <depend>libzmq3-dev</depend>
-
+  
   <exec_depend>popf</exec_depend>
 
   <test_depend>ament_lint_common</test_depend>
diff --git a/plansys2_executor/src/plansys2_executor/ComputeBT.cpp b/plansys2_executor/src/plansys2_executor/ComputeBT.cpp
index 59a4eb882..0b06a6f0b 100644
--- a/plansys2_executor/src/plansys2_executor/ComputeBT.cpp
+++ b/plansys2_executor/src/plansys2_executor/ComputeBT.cpp
@@ -26,14 +26,10 @@
 
 #include "plansys2_executor/ComputeBT.hpp"
 
-#include "behaviortree_cpp_v3/behavior_tree.h"
-#include "behaviortree_cpp_v3/bt_factory.h"
-#include "behaviortree_cpp_v3/utils/shared_library.h"
-#include "behaviortree_cpp_v3/blackboard.h"
-
-#ifdef ZMQ_FOUND
-#include <behaviortree_cpp_v3/loggers/bt_zmq_publisher.h>
-#endif
+#include "behaviortree_cpp/behavior_tree.h"
+#include "behaviortree_cpp/bt_factory.h"
+#include "behaviortree_cpp/utils/shared_library.h"
+#include "behaviortree_cpp/blackboard.h"
 
 #include "plansys2_executor/behavior_tree/execute_action_node.hpp"
 #include "plansys2_executor/behavior_tree/wait_action_node.hpp"
@@ -72,13 +68,6 @@ ComputeBT::ComputeBT()
       0.0);
   }
 
-#ifdef ZMQ_FOUND
-  this->declare_parameter<bool>("enable_groot_monitoring", true);
-  this->declare_parameter<int>("publisher_port", 2666);
-  this->declare_parameter<int>("server_port", 2667);
-  this->declare_parameter<int>("max_msgs_per_second", 25);
-#endif
-
   compute_bt_srv_ = create_service<std_srvs::srv::Trigger>(
     "compute_bt",
     std::bind(
@@ -349,28 +338,6 @@ ComputeBT::computeBTCallback(
 
   auto tree = factory.createTreeFromText(bt_xml_tree, blackboard);
 
-#ifdef ZMQ_FOUND
-  unsigned int publisher_port = this->get_parameter("publisher_port").as_int();
-  unsigned int server_port = this->get_parameter("server_port").as_int();
-  unsigned int max_msgs_per_second = this->get_parameter("max_msgs_per_second").as_int();
-
-  std::unique_ptr<BT::PublisherZMQ> publisher_zmq;
-  if (this->get_parameter("enable_groot_monitoring").as_bool()) {
-    RCLCPP_DEBUG(
-      get_logger(),
-      "[%s] Groot monitoring: Publisher port: %d, Server port: %d, Max msgs per second: %d",
-      get_name(), publisher_port, server_port, max_msgs_per_second);
-    try {
-      publisher_zmq.reset(
-        new BT::PublisherZMQ(
-          tree, max_msgs_per_second, publisher_port,
-          server_port));
-    } catch (const BT::LogicError & exc) {
-      RCLCPP_ERROR(get_logger(), "ZMQ error: %s", exc.what());
-    }
-  }
-#endif
-
   finish = true;
   t.join();
 
diff --git a/plansys2_executor/src/plansys2_executor/ExecutorNode.cpp b/plansys2_executor/src/plansys2_executor/ExecutorNode.cpp
index f7faa952b..3acd5b02f 100644
--- a/plansys2_executor/src/plansys2_executor/ExecutorNode.cpp
+++ b/plansys2_executor/src/plansys2_executor/ExecutorNode.cpp
@@ -35,14 +35,10 @@
 
 #include "ament_index_cpp/get_package_share_directory.hpp"
 
-#include "behaviortree_cpp_v3/behavior_tree.h"
-#include "behaviortree_cpp_v3/bt_factory.h"
-#include "behaviortree_cpp_v3/utils/shared_library.h"
-#include "behaviortree_cpp_v3/blackboard.h"
-
-#ifdef ZMQ_FOUND
-#include <behaviortree_cpp_v3/loggers/bt_zmq_publisher.h>
-#endif
+#include "behaviortree_cpp/behavior_tree.h"
+#include "behaviortree_cpp/bt_factory.h"
+#include "behaviortree_cpp/utils/shared_library.h"
+#include "behaviortree_cpp/blackboard.h"
 
 #include "plansys2_executor/behavior_tree/execute_action_node.hpp"
 #include "plansys2_executor/behavior_tree/wait_action_node.hpp"
@@ -82,13 +78,6 @@ ExecutorNode::ExecutorNode()
       0.0);
   }
 
-#ifdef ZMQ_FOUND
-  this->declare_parameter<bool>("enable_groot_monitoring", true);
-  this->declare_parameter<int>("publisher_port", 2666);
-  this->declare_parameter<int>("server_port", 2667);
-  this->declare_parameter<int>("max_msgs_per_second", 25);
-#endif
-
   execute_plan_action_server_ = rclcpp_action::create_server<ExecutePlan>(
     this->get_node_base_interface(),
     this->get_node_clock_interface(),
@@ -467,28 +456,6 @@ ExecutorNode::execute(const std::shared_ptr<GoalHandleExecutePlan> goal_handle)
 
   auto tree = factory.createTreeFromText(bt_xml_tree, blackboard);
 
-#ifdef ZMQ_FOUND
-  unsigned int publisher_port = this->get_parameter("publisher_port").as_int();
-  unsigned int server_port = this->get_parameter("server_port").as_int();
-  unsigned int max_msgs_per_second = this->get_parameter("max_msgs_per_second").as_int();
-
-  std::unique_ptr<BT::PublisherZMQ> publisher_zmq;
-  if (this->get_parameter("enable_groot_monitoring").as_bool()) {
-    RCLCPP_DEBUG(
-      get_logger(),
-      "[%s] Groot monitoring: Publisher port: %d, Server port: %d, Max msgs per second: %d",
-      get_name(), publisher_port, server_port, max_msgs_per_second);
-    try {
-      publisher_zmq.reset(
-        new BT::PublisherZMQ(
-          tree, max_msgs_per_second, publisher_port,
-          server_port));
-    } catch (const BT::LogicError & exc) {
-      RCLCPP_ERROR(get_logger(), "ZMQ error: %s", exc.what());
-    }
-  }
-#endif
-
   auto info_pub = create_wall_timer(
     1s, [this, &action_map]() {
       auto msgs = get_feedback_info(action_map);
@@ -502,7 +469,7 @@ ExecutorNode::execute(const std::shared_ptr<GoalHandleExecutePlan> goal_handle)
 
   while (status == BT::NodeStatus::RUNNING && !cancel_plan_requested_) {
     try {
-      status = tree.tickRoot();
+      status = tree.tickOnce();
     } catch (std::exception & e) {
       std::cerr << e.what() << std::endl;
       status = BT::NodeStatus::FAILURE;
diff --git a/plansys2_executor/src/plansys2_executor/behavior_tree/apply_atend_effect_node.cpp b/plansys2_executor/src/plansys2_executor/behavior_tree/apply_atend_effect_node.cpp
index 16d6b00cd..6cb2e59d9 100644
--- a/plansys2_executor/src/plansys2_executor/behavior_tree/apply_atend_effect_node.cpp
+++ b/plansys2_executor/src/plansys2_executor/behavior_tree/apply_atend_effect_node.cpp
@@ -23,7 +23,7 @@ namespace plansys2
 
 ApplyAtEndEffect::ApplyAtEndEffect(
   const std::string & xml_tag_name,
-  const BT::NodeConfiguration & conf)
+  const BT::NodeConfig & conf)
 : ActionNodeBase(xml_tag_name, conf)
 {
   action_map_ =
diff --git a/plansys2_executor/src/plansys2_executor/behavior_tree/apply_atstart_effect_node.cpp b/plansys2_executor/src/plansys2_executor/behavior_tree/apply_atstart_effect_node.cpp
index 7e6662c37..4e57977f6 100644
--- a/plansys2_executor/src/plansys2_executor/behavior_tree/apply_atstart_effect_node.cpp
+++ b/plansys2_executor/src/plansys2_executor/behavior_tree/apply_atstart_effect_node.cpp
@@ -23,7 +23,7 @@ namespace plansys2
 
 ApplyAtStartEffect::ApplyAtStartEffect(
   const std::string & xml_tag_name,
-  const BT::NodeConfiguration & conf)
+  const BT::NodeConfig & conf)
 : ActionNodeBase(xml_tag_name, conf)
 {
   action_map_ =
diff --git a/plansys2_executor/src/plansys2_executor/behavior_tree/check_action_node.cpp b/plansys2_executor/src/plansys2_executor/behavior_tree/check_action_node.cpp
index 033ab5ba5..e429c11c4 100644
--- a/plansys2_executor/src/plansys2_executor/behavior_tree/check_action_node.cpp
+++ b/plansys2_executor/src/plansys2_executor/behavior_tree/check_action_node.cpp
@@ -24,7 +24,7 @@ namespace plansys2
 
 CheckAction::CheckAction(
   const std::string & xml_tag_name,
-  const BT::NodeConfiguration & conf)
+  const BT::NodeConfig & conf)
 : ActionNodeBase(xml_tag_name, conf)
 {
   action_map_ =
diff --git a/plansys2_executor/src/plansys2_executor/behavior_tree/check_atend_req_node.cpp b/plansys2_executor/src/plansys2_executor/behavior_tree/check_atend_req_node.cpp
index d7c935eff..df013112f 100644
--- a/plansys2_executor/src/plansys2_executor/behavior_tree/check_atend_req_node.cpp
+++ b/plansys2_executor/src/plansys2_executor/behavior_tree/check_atend_req_node.cpp
@@ -24,7 +24,7 @@ namespace plansys2
 
 CheckAtEndReq::CheckAtEndReq(
   const std::string & xml_tag_name,
-  const BT::NodeConfiguration & conf)
+  const BT::NodeConfig & conf)
 : ActionNodeBase(xml_tag_name, conf)
 {
   action_map_ =
diff --git a/plansys2_executor/src/plansys2_executor/behavior_tree/check_overall_req_node.cpp b/plansys2_executor/src/plansys2_executor/behavior_tree/check_overall_req_node.cpp
index 5b7cb2236..227ac6dc8 100644
--- a/plansys2_executor/src/plansys2_executor/behavior_tree/check_overall_req_node.cpp
+++ b/plansys2_executor/src/plansys2_executor/behavior_tree/check_overall_req_node.cpp
@@ -24,7 +24,7 @@ namespace plansys2
 
 CheckOverAllReq::CheckOverAllReq(
   const std::string & xml_tag_name,
-  const BT::NodeConfiguration & conf)
+  const BT::NodeConfig & conf)
 : ActionNodeBase(xml_tag_name, conf)
 {
   action_map_ =
diff --git a/plansys2_executor/src/plansys2_executor/behavior_tree/check_timeout_node.cpp b/plansys2_executor/src/plansys2_executor/behavior_tree/check_timeout_node.cpp
index b49a6cca2..0aff9fdef 100644
--- a/plansys2_executor/src/plansys2_executor/behavior_tree/check_timeout_node.cpp
+++ b/plansys2_executor/src/plansys2_executor/behavior_tree/check_timeout_node.cpp
@@ -26,7 +26,7 @@ namespace plansys2
 
 CheckTimeout::CheckTimeout(
   const std::string & xml_tag_name,
-  const BT::NodeConfiguration & conf)
+  const BT::NodeConfig & conf)
 : ActionNodeBase(xml_tag_name, conf)
 {
   action_map_ =
@@ -36,6 +36,9 @@ CheckTimeout::CheckTimeout(
   problem_client_ =
     config().blackboard->get<std::shared_ptr<plansys2::ProblemExpertClient>>(
     "problem_client");
+
+  node_ = config().blackboard->get<rclcpp_lifecycle::LifecycleNode::SharedPtr>("node");
+  start_ = node_->now();
 }
 
 BT::NodeStatus
@@ -44,22 +47,18 @@ CheckTimeout::tick()
   std::string action;
   getInput("action", action);
 
-  if (status() == BT::NodeStatus::IDLE) {
-    start_ = std::chrono::high_resolution_clock::now();
-  }
-  setStatus(BT::NodeStatus::RUNNING);
-
   if ((*action_map_)[action].action_executor != nullptr) {
     double duration = (*action_map_)[action].duration;
     double duration_overrun_percentage = (*action_map_)[action].duration_overrun_percentage;
     if (duration_overrun_percentage >= 0) {
       double max_duration = (1.0 + duration_overrun_percentage / 100.0) * duration;
-      auto current_time = std::chrono::high_resolution_clock::now();
-      auto elapsed_time = std::chrono::duration_cast<std::chrono::milliseconds>(
-        current_time - start_);
-      if (elapsed_time > std::chrono::duration<double>(max_duration)) {
-        std::cerr << "Actual duration of " << action << " exceeds max duration (" << std::fixed <<
-          std::setprecision(2) << max_duration << " secs)." << std::endl;
+      auto current_time = node_->now();
+      auto elapsed_time = (current_time - start_).seconds();
+      if (elapsed_time > max_duration) {
+        RCLCPP_ERROR_STREAM(
+          node_->get_logger(),
+          "Actual duration of " << action << " exceeds max duration (" << std::fixed <<
+            std::setprecision(2) << max_duration << " secs).");
         return BT::NodeStatus::FAILURE;
       }
     }
diff --git a/plansys2_executor/src/plansys2_executor/behavior_tree/execute_action_node.cpp b/plansys2_executor/src/plansys2_executor/behavior_tree/execute_action_node.cpp
index 6a6cdb3d2..61214ce9d 100644
--- a/plansys2_executor/src/plansys2_executor/behavior_tree/execute_action_node.cpp
+++ b/plansys2_executor/src/plansys2_executor/behavior_tree/execute_action_node.cpp
@@ -23,7 +23,7 @@ namespace plansys2
 
 ExecuteAction::ExecuteAction(
   const std::string & xml_tag_name,
-  const BT::NodeConfiguration & conf)
+  const BT::NodeConfig & conf)
 : ActionNodeBase(xml_tag_name, conf)
 {
   action_map_ =
diff --git a/plansys2_executor/src/plansys2_executor/behavior_tree/wait_action_node.cpp b/plansys2_executor/src/plansys2_executor/behavior_tree/wait_action_node.cpp
index d4f9c5109..20a492a91 100644
--- a/plansys2_executor/src/plansys2_executor/behavior_tree/wait_action_node.cpp
+++ b/plansys2_executor/src/plansys2_executor/behavior_tree/wait_action_node.cpp
@@ -23,7 +23,7 @@ namespace plansys2
 
 WaitAction::WaitAction(
   const std::string & xml_tag_name,
-  const BT::NodeConfiguration & conf)
+  const BT::NodeConfig & conf)
 : ActionNodeBase(xml_tag_name, conf)
 {
   action_map_ =
diff --git a/plansys2_executor/src/plansys2_executor/behavior_tree/wait_atstart_req_node.cpp b/plansys2_executor/src/plansys2_executor/behavior_tree/wait_atstart_req_node.cpp
index 370e2caff..50c55f037 100644
--- a/plansys2_executor/src/plansys2_executor/behavior_tree/wait_atstart_req_node.cpp
+++ b/plansys2_executor/src/plansys2_executor/behavior_tree/wait_atstart_req_node.cpp
@@ -24,7 +24,7 @@ namespace plansys2
 
 WaitAtStartReq::WaitAtStartReq(
   const std::string & xml_tag_name,
-  const BT::NodeConfiguration & conf)
+  const BT::NodeConfig & conf)
 : ActionNodeBase(xml_tag_name, conf)
 {
   action_map_ =
diff --git a/plansys2_executor/src/plansys2_executor/bt_builder_plugins/simple_bt_builder.cpp b/plansys2_executor/src/plansys2_executor/bt_builder_plugins/simple_bt_builder.cpp
index d99fb8157..2a16b89b1 100644
--- a/plansys2_executor/src/plansys2_executor/bt_builder_plugins/simple_bt_builder.cpp
+++ b/plansys2_executor/src/plansys2_executor/bt_builder_plugins/simple_bt_builder.cpp
@@ -447,10 +447,10 @@ SimpleBTBuilder::get_tree(const plansys2_msgs::msg::Plan & current_plan)
   std::list<std::string> used_nodes;
 
   if (graph_->roots.size() > 1) {
-    bt_ = std::string("<root main_tree_to_execute=\"MainTree\">\n") +
+    bt_ = std::string("<root BTCPP_format=\"4\" main_tree_to_execute=\"MainTree\">\n") +
       t(1) + "<BehaviorTree ID=\"MainTree\">\n" +
-      t(2) + "<Parallel success_threshold=\"" + std::to_string(graph_->roots.size()) +
-      "\" failure_threshold=\"1\">\n";
+      t(2) + "<Parallel success_count=\"" + std::to_string(graph_->roots.size()) +
+      "\" failure_count=\"1\">\n";
 
     for (const auto & node : graph_->roots) {
       bt_ = bt_ + get_flow_tree(node, used_nodes, 3);
@@ -459,7 +459,7 @@ SimpleBTBuilder::get_tree(const plansys2_msgs::msg::Plan & current_plan)
     bt_ = bt_ + t(2) + "</Parallel>\n" +
       t(1) + "</BehaviorTree>\n</root>\n";
   } else {
-    bt_ = std::string("<root main_tree_to_execute=\"MainTree\">\n") +
+    bt_ = std::string("<root BTCPP_format=\"4\" main_tree_to_execute=\"MainTree\">\n") +
       t(1) + "<BehaviorTree ID=\"MainTree\">\n";
 
     bt_ = bt_ + get_flow_tree(*graph_->roots.begin(), used_nodes, 2);
@@ -613,8 +613,8 @@ SimpleBTBuilder::get_flow_tree(
     ret = ret + execution_block(node, l + 1);
 
     ret = ret + t(l + 1) +
-      "<Parallel success_threshold=\"" + std::to_string(node->out_arcs.size()) +
-      "\" failure_threshold=\"1\">\n";
+      "<Parallel success_count=\"" + std::to_string(node->out_arcs.size()) +
+      "\" failure_count=\"1\">\n";
 
     for (const auto & child_node : node->out_arcs) {
       ret = ret + get_flow_tree(child_node, used_nodes, l + 2);
diff --git a/plansys2_executor/src/plansys2_executor/bt_builder_plugins/stn_bt_builder.cpp b/plansys2_executor/src/plansys2_executor/bt_builder_plugins/stn_bt_builder.cpp
index f380aa181..e32f4b3a6 100644
--- a/plansys2_executor/src/plansys2_executor/bt_builder_plugins/stn_bt_builder.cpp
+++ b/plansys2_executor/src/plansys2_executor/bt_builder_plugins/stn_bt_builder.cpp
@@ -245,7 +245,7 @@ STNBTBuilder::build_bt(const Graph::Ptr stn) const
   std::set<Node::Ptr> used;
   const auto & root = stn->nodes.front();
 
-  auto bt = std::string("<root main_tree_to_execute=\"MainTree\">\n") + t(1) +
+  auto bt = std::string("<root BTCPP_format=\"4\" main_tree_to_execute=\"MainTree\">\n") + t(1) +
     "<BehaviorTree ID=\"MainTree\">\n";
   bt = bt + get_flow(root, nullptr, used, 1);
   bt = bt + t(1) + "</BehaviorTree>\n</root>\n";
@@ -1161,8 +1161,8 @@ STNBTBuilder::get_flow(
   int n = 0;
   if (num_output_arcs > 1) {
     flow = flow + t(l + 1) +
-      "<Parallel success_threshold=\"" + std::to_string(num_output_arcs) +
-      "\" failure_threshold=\"1\">\n";
+      "<Parallel success_count=\"" + std::to_string(num_output_arcs) +
+      "\" failure_count=\"1\">\n";
     n = 1;
   }
 
diff --git a/plansys2_executor/test/unit/action_execution_test.cpp b/plansys2_executor/test/unit/action_execution_test.cpp
index ce86dd6c7..74d2b24bc 100644
--- a/plansys2_executor/test/unit/action_execution_test.cpp
+++ b/plansys2_executor/test/unit/action_execution_test.cpp
@@ -36,10 +36,10 @@
 #include "plansys2_executor/ExecutorClient.hpp"
 #include "plansys2_problem_expert/Utils.hpp"
 
-#include "behaviortree_cpp_v3/behavior_tree.h"
-#include "behaviortree_cpp_v3/bt_factory.h"
-#include "behaviortree_cpp_v3/utils/shared_library.h"
-#include "behaviortree_cpp_v3/blackboard.h"
+#include "behaviortree_cpp/behavior_tree.h"
+#include "behaviortree_cpp/bt_factory.h"
+#include "behaviortree_cpp/utils/shared_library.h"
+#include "behaviortree_cpp/blackboard.h"
 
 #include "plansys2_executor/behavior_tree/execute_action_node.hpp"
 #include "plansys2_executor/behavior_tree/wait_action_node.hpp"
diff --git a/plansys2_executor/test/unit/bt_node_test.cpp b/plansys2_executor/test/unit/bt_node_test.cpp
index f1a511738..bb83211be 100644
--- a/plansys2_executor/test/unit/bt_node_test.cpp
+++ b/plansys2_executor/test/unit/bt_node_test.cpp
@@ -35,10 +35,10 @@
 #include "plansys2_problem_expert/Utils.hpp"
 #include "plansys2_pddl_parser/Utils.h"
 
-#include "behaviortree_cpp_v3/behavior_tree.h"
-#include "behaviortree_cpp_v3/bt_factory.h"
-#include "behaviortree_cpp_v3/utils/shared_library.h"
-#include "behaviortree_cpp_v3/blackboard.h"
+#include "behaviortree_cpp/behavior_tree.h"
+#include "behaviortree_cpp/bt_factory.h"
+#include "behaviortree_cpp/utils/shared_library.h"
+#include "behaviortree_cpp/blackboard.h"
 
 #include "plansys2_executor/behavior_tree/execute_action_node.hpp"
 #include "plansys2_executor/behavior_tree/wait_action_node.hpp"
@@ -118,7 +118,7 @@ TEST(problem_expert, wait_overall_req_test)
 
   std::string bt_xml_tree =
     R"(
-    <root main_tree_to_execute = "MainTree" >
+    <root BTCPP_format="4" main_tree_to_execute = "MainTree" >
       <BehaviorTree ID="MainTree">
         <Sequence name="root_sequence">
           <CheckOverAllReq action="(move robot1 wheels_zone assembly_zone):5"/>
@@ -151,7 +151,7 @@ TEST(problem_expert, wait_overall_req_test)
     auto tree = factory.createTreeFromText(bt_xml_tree, blackboard);
 
     auto status = BT::NodeStatus::RUNNING;
-    status = tree.tickRoot();
+    status = tree.tickOnce();
     ASSERT_EQ(status, BT::NodeStatus::FAILURE);
 
     for (const auto & pred : predicates) {
@@ -161,7 +161,7 @@ TEST(problem_expert, wait_overall_req_test)
     tree = factory.createTreeFromText(bt_xml_tree, blackboard);
 
     status = BT::NodeStatus::RUNNING;
-    status = tree.tickRoot();
+    status = tree.tickOnce();
     ASSERT_EQ(status, BT::NodeStatus::SUCCESS);
   } catch (std::exception & e) {
     std::cerr << e.what() << std::endl;
@@ -232,7 +232,7 @@ TEST(problem_expert, wait_atstart_req_test)
 
   std::string bt_xml_tree =
     R"(
-    <root main_tree_to_execute = "MainTree" >
+    <root BTCPP_format="4" main_tree_to_execute = "MainTree" >
       <BehaviorTree ID="MainTree">
         <Sequence name="root_sequence">
           <WaitAtStartReq action="(move robot1 wheels_zone assembly_zone):5"/>
@@ -265,11 +265,11 @@ TEST(problem_expert, wait_atstart_req_test)
     auto tree = factory.createTreeFromText(bt_xml_tree, blackboard);
 
     auto status = BT::NodeStatus::RUNNING;
-    status = tree.tickRoot();
+    status = tree.tickOnce();
     ASSERT_EQ(status, BT::NodeStatus::RUNNING);
-    status = tree.tickRoot();
+    status = tree.tickOnce();
     ASSERT_EQ(status, BT::NodeStatus::RUNNING);
-    status = tree.tickRoot();
+    status = tree.tickOnce();
     ASSERT_EQ(status, BT::NodeStatus::RUNNING);
 
 
@@ -277,7 +277,7 @@ TEST(problem_expert, wait_atstart_req_test)
       ASSERT_TRUE(problem_client->addPredicate(plansys2::Predicate(pred)));
     }
 
-    status = tree.tickRoot();
+    status = tree.tickOnce();
     ASSERT_EQ(status, BT::NodeStatus::SUCCESS);
   } catch (std::exception & e) {
     std::cerr << e.what() << std::endl;
@@ -348,7 +348,7 @@ TEST(problem_expert, wait_atend_req_test)
 
   std::string bt_xml_tree =
     R"(
-    <root main_tree_to_execute = "MainTree" >
+    <root BTCPP_format="4" main_tree_to_execute = "MainTree" >
       <BehaviorTree ID="MainTree">
         <Sequence name="root_sequence">
           <CheckAtEndReq action="(move robot1 wheels_zone assembly_zone):5"/>
@@ -381,7 +381,7 @@ TEST(problem_expert, wait_atend_req_test)
     auto tree = factory.createTreeFromText(bt_xml_tree, blackboard);
 
     auto status = BT::NodeStatus::RUNNING;
-    status = tree.tickRoot();
+    status = tree.tickOnce();
     ASSERT_EQ(status, BT::NodeStatus::FAILURE);
 
     for (const auto & pred : predicates) {
@@ -391,7 +391,7 @@ TEST(problem_expert, wait_atend_req_test)
     tree = factory.createTreeFromText(bt_xml_tree, blackboard);
 
     status = BT::NodeStatus::RUNNING;
-    status = tree.tickRoot();
+    status = tree.tickOnce();
     ASSERT_EQ(status, BT::NodeStatus::SUCCESS);
   } catch (std::exception & e) {
     std::cerr << e.what() << std::endl;
@@ -462,7 +462,7 @@ TEST(problem_expert, at_start_effect_test)
 
   std::string bt_xml_tree =
     R"(
-    <root main_tree_to_execute = "MainTree" >
+    <root BTCPP_format="4" main_tree_to_execute = "MainTree" >
       <BehaviorTree ID="MainTree">
         <Sequence name="root_sequence">
           <ApplyAtStartEffect action="(move robot1 wheels_zone assembly_zone):5"/>
@@ -498,7 +498,7 @@ TEST(problem_expert, at_start_effect_test)
     auto tree = factory.createTreeFromText(bt_xml_tree, blackboard);
 
     auto status = BT::NodeStatus::RUNNING;
-    status = tree.tickRoot();
+    status = tree.tickOnce();
     ASSERT_EQ(status, BT::NodeStatus::SUCCESS);
 
     {
@@ -581,7 +581,7 @@ TEST(problem_expert, at_end_effect_test)
 
   std::string bt_xml_tree =
     R"(
-    <root main_tree_to_execute = "MainTree" >
+    <root BTCPP_format="4" main_tree_to_execute = "MainTree" >
       <BehaviorTree ID="MainTree">
         <Sequence name="root_sequence">
           <ApplyAtEndEffect action="(move robot1 wheels_zone assembly_zone):5"/>
@@ -616,7 +616,7 @@ TEST(problem_expert, at_end_effect_test)
     auto tree = factory.createTreeFromText(bt_xml_tree, blackboard);
 
     auto status = BT::NodeStatus::RUNNING;
-    status = tree.tickRoot();
+    status = tree.tickOnce();
     ASSERT_EQ(status, BT::NodeStatus::SUCCESS);
 
     {
diff --git a/plansys2_executor/test/unit/bt_node_test_charging.cpp b/plansys2_executor/test/unit/bt_node_test_charging.cpp
index 462471f00..255643e1b 100644
--- a/plansys2_executor/test/unit/bt_node_test_charging.cpp
+++ b/plansys2_executor/test/unit/bt_node_test_charging.cpp
@@ -34,10 +34,10 @@
 #include "plansys2_executor/ActionExecutorClient.hpp"
 #include "plansys2_problem_expert/Utils.hpp"
 
-#include "behaviortree_cpp_v3/behavior_tree.h"
-#include "behaviortree_cpp_v3/bt_factory.h"
-#include "behaviortree_cpp_v3/utils/shared_library.h"
-#include "behaviortree_cpp_v3/blackboard.h"
+#include "behaviortree_cpp/behavior_tree.h"
+#include "behaviortree_cpp/bt_factory.h"
+#include "behaviortree_cpp/utils/shared_library.h"
+#include "behaviortree_cpp/blackboard.h"
 
 #include "plansys2_executor/behavior_tree/execute_action_node.hpp"
 #include "plansys2_executor/behavior_tree/wait_atstart_req_node.hpp"
@@ -113,7 +113,7 @@ TEST(problem_expert, wait_atstart_req_test)
 
   std::string bt_xml_tree =
     R"(
-    <root main_tree_to_execute = "MainTree" >
+    <root BTCPP_format="4" main_tree_to_execute = "MainTree" >
       <BehaviorTree ID="MainTree">
         <Sequence name="root_sequence">
           <WaitAtStartReq action="(move robot1 wp1 wp2):5"/>
@@ -152,11 +152,11 @@ TEST(problem_expert, wait_atstart_req_test)
     auto tree = factory.createTreeFromText(bt_xml_tree, blackboard);
 
     auto status = BT::NodeStatus::RUNNING;
-    status = tree.tickRoot();
+    status = tree.tickOnce();
     ASSERT_EQ(status, BT::NodeStatus::RUNNING);
-    status = tree.tickRoot();
+    status = tree.tickOnce();
     ASSERT_EQ(status, BT::NodeStatus::RUNNING);
-    status = tree.tickRoot();
+    status = tree.tickOnce();
     ASSERT_EQ(status, BT::NodeStatus::RUNNING);
 
     for (const auto & pred : predicates) {
@@ -167,7 +167,7 @@ TEST(problem_expert, wait_atstart_req_test)
       ASSERT_TRUE(problem_client->addFunction(plansys2::Function(func)));
     }
 
-    status = tree.tickRoot();
+    status = tree.tickOnce();
     ASSERT_EQ(status, BT::NodeStatus::SUCCESS);
   } catch (std::exception & e) {
     std::cerr << e.what() << std::endl;
@@ -238,7 +238,7 @@ TEST(problem_expert, apply_atstart_effect_test)
 
   std::string bt_xml_tree =
     R"(
-    <root main_tree_to_execute = "MainTree" >
+    <root BTCPP_format="4" main_tree_to_execute = "MainTree" >
       <BehaviorTree ID="MainTree">
         <Sequence name="root_sequence">
           <ApplyAtStartEffect action="(move robot1 wp1 wp2):5"/>
@@ -285,7 +285,7 @@ TEST(problem_expert, apply_atstart_effect_test)
     auto tree = factory.createTreeFromText(bt_xml_tree, blackboard);
 
     auto status = BT::NodeStatus::RUNNING;
-    status = tree.tickRoot();
+    status = tree.tickOnce();
     ASSERT_EQ(status, BT::NodeStatus::SUCCESS);
 
     {
@@ -365,7 +365,7 @@ TEST(problem_expert, apply_atend_effect_test)
 
   std::string bt_xml_tree =
     R"(
-    <root main_tree_to_execute = "MainTree" >
+    <root BTCPP_format="4" main_tree_to_execute = "MainTree" >
       <BehaviorTree ID="MainTree">
         <Sequence name="root_sequence">
           <ApplyAtEndEffect action="(move robot1 wp1 wp2):5"/>
@@ -412,7 +412,7 @@ TEST(problem_expert, apply_atend_effect_test)
     auto tree = factory.createTreeFromText(bt_xml_tree, blackboard);
 
     auto status = BT::NodeStatus::RUNNING;
-    status = tree.tickRoot();
+    status = tree.tickOnce();
     ASSERT_EQ(status, BT::NodeStatus::SUCCESS);
 
     {
diff --git a/plansys2_executor/test/unit/executor_test.cpp b/plansys2_executor/test/unit/executor_test.cpp
index c84e12f9d..e19c0b02f 100644
--- a/plansys2_executor/test/unit/executor_test.cpp
+++ b/plansys2_executor/test/unit/executor_test.cpp
@@ -36,10 +36,10 @@
 #include "plansys2_executor/ExecutorClient.hpp"
 #include "plansys2_problem_expert/Utils.hpp"
 
-#include "behaviortree_cpp_v3/behavior_tree.h"
-#include "behaviortree_cpp_v3/bt_factory.h"
-#include "behaviortree_cpp_v3/utils/shared_library.h"
-#include "behaviortree_cpp_v3/blackboard.h"
+#include "behaviortree_cpp/behavior_tree.h"
+#include "behaviortree_cpp/bt_factory.h"
+#include "behaviortree_cpp/utils/shared_library.h"
+#include "behaviortree_cpp/blackboard.h"
 
 #include "plansys2_executor/behavior_tree/execute_action_node.hpp"
 #include "plansys2_executor/behavior_tree/wait_action_node.hpp"
@@ -107,7 +107,7 @@ class MoveAction : public plansys2::ActionExecutorClient
   {
     std::cerr << "MoveAction::on_activate" << std::endl;
     counter_ = 0;
-    start_ = std::chrono::high_resolution_clock::now();
+    start_ = now();
 
     return ActionExecutorClient::on_activate(state);
   }
@@ -120,17 +120,18 @@ class MoveAction : public plansys2::ActionExecutorClient
     }
 
     cycles_++;
-    auto current_time = std::chrono::high_resolution_clock::now();
-    auto elapsed_time = std::chrono::duration_cast<std::chrono::milliseconds>(
-      current_time - start_);
+    auto current_time = now();
+    auto elapsed_time = (current_time - start_).seconds();
+
+    rclcpp::Rate rate(100);
 
     if (runtime_ > 1e-5) {
-      if (elapsed_time > std::chrono::duration<double>(runtime_)) {
+      if (elapsed_time > runtime_) {
         finish(true, 1.0, "completed");
         executions_++;
       } else {
-        send_feedback((static_cast<double>(elapsed_time.count()) / 1000.0) / runtime_, "running");
-        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+        send_feedback(elapsed_time / runtime_, "running");
+        rate.sleep();
       }
     } else {
       if (counter_++ > 3) {
@@ -146,7 +147,7 @@ class MoveAction : public plansys2::ActionExecutorClient
   int executions_;
   int cycles_;
   double runtime_;
-  std::chrono::high_resolution_clock::time_point start_;
+  rclcpp::Time start_;
 };
 
 class TransportAction : public plansys2::ActionExecutorClient
@@ -248,10 +249,10 @@ TEST(executor, action_executor_client)
 
   std::string bt_xml_tree =
     R"(
-    <root main_tree_to_execute = "MainTree" >
+    <root BTCPP_format="4" main_tree_to_execute = "MainTree" >
       <BehaviorTree ID="MainTree">
         <Sequence name="root_sequence">
-          <Parallel success_threshold="2" failure_threshold="1">
+          <Parallel success_count="2" failure_count="1">
             <ExecuteAction    action="(move robot1 wheels_zone assembly_zone):5"/>
             <ExecuteAction    action="(move robot1 steering_wheels_zone assembly_zone):5"/>
           </Parallel>
@@ -281,7 +282,7 @@ TEST(executor, action_executor_client)
 
   auto status = BT::NodeStatus::RUNNING;
   while (status != BT::NodeStatus::SUCCESS) {
-    status = tree.tickRoot();
+    status = tree.tickOnce();
   }
 
   ASSERT_EQ(status, BT::NodeStatus::SUCCESS);
@@ -691,7 +692,7 @@ TEST(executor, action_real_action_1)
 
   std::string bt_xml_tree =
     R"(
-    <root main_tree_to_execute="MainTree">
+    <root BTCPP_format="4" main_tree_to_execute="MainTree">
       <BehaviorTree ID="MainTree">
         <Sequence name="(move r2d2 steering_wheels_zone assembly_zone):0">
           <WaitAction action="other"/>
@@ -742,7 +743,7 @@ TEST(executor, action_real_action_1)
     auto status = BT::NodeStatus::RUNNING;
 
     for (int i = 0; i < 10; i++) {
-      status = tree.tickRoot();
+      status = tree.tickOnce();
       ASSERT_EQ(status, BT::NodeStatus::RUNNING);
       ASSERT_EQ(WaitActionTest::test_status, BT::NodeStatus::RUNNING);
     }
@@ -753,7 +754,7 @@ TEST(executor, action_real_action_1)
   // Test ApplyAtStartEffect and CheckOverAllReq
   bt_xml_tree =
     R"(
-    <root main_tree_to_execute="MainTree">
+    <root BTCPP_format="4" main_tree_to_execute="MainTree">
       <BehaviorTree ID="MainTree">
         <WaitAtStartReq action="(move r2d2 steering_wheels_zone assembly_zone):0"/>
         <Sequence name="(move r2d2 steering_wheels_zone assembly_zone):0">
@@ -786,7 +787,7 @@ TEST(executor, action_real_action_1)
     auto status = BT::NodeStatus::RUNNING;
 
     ASSERT_TRUE(problem_client->existPredicate(plansys2::Predicate("(robot_available r2d2)")));
-    status = tree.tickRoot();
+    status = tree.tickOnce();
 
     ASSERT_EQ(ApplyAtStartEffectTest::test_status, BT::NodeStatus::SUCCESS);
     ASSERT_FALSE(problem_client->existPredicate(plansys2::Predicate("(robot_available r2d2)")));
@@ -795,16 +796,16 @@ TEST(executor, action_real_action_1)
         plansys2::Predicate(
           "(robot_at r2d2 steering_wheels_zone)")));
 
-    status = tree.tickRoot();
+    status = tree.tickOnce();
     ASSERT_EQ(CheckOverAllReqTest::test_status, BT::NodeStatus::SUCCESS);
     ASSERT_EQ(ExecuteActionTest::test_status, BT::NodeStatus::RUNNING);
-    status = tree.tickRoot();
+    status = tree.tickOnce();
     ASSERT_EQ(CheckOverAllReqTest::test_status, BT::NodeStatus::SUCCESS);
     ASSERT_EQ(ExecuteActionTest::test_status, BT::NodeStatus::RUNNING);
 
     ASSERT_TRUE(problem_client->removePredicate(plansys2::Predicate("(battery_full r2d2)")));
 
-    status = tree.tickRoot();
+    status = tree.tickOnce();
     ASSERT_EQ(CheckOverAllReqTest::test_status, BT::NodeStatus::FAILURE);
     ASSERT_EQ(status, BT::NodeStatus::FAILURE);
   } catch (const std::exception & e) {
@@ -829,7 +830,7 @@ TEST(executor, action_real_action_1)
     ASSERT_TRUE(problem_client->existPredicate(plansys2::Predicate("(robot_available r2d2)")));
 
     while (ApplyAtStartEffectTest::test_status != BT::NodeStatus::SUCCESS) {
-      status = tree.tickRoot();
+      status = tree.tickOnce();
     }
 
     ASSERT_FALSE(
@@ -839,12 +840,12 @@ TEST(executor, action_real_action_1)
     ASSERT_FALSE(problem_client->existPredicate(plansys2::Predicate("(robot_available r2d2)")));
 
     while (ExecuteActionTest::test_status != BT::NodeStatus::SUCCESS) {
-      status = tree.tickRoot();
+      status = tree.tickOnce();
       ASSERT_EQ(CheckOverAllReqTest::test_status, BT::NodeStatus::SUCCESS);
     }
 
     while (ApplyAtEndEffectTest::test_status != BT::NodeStatus::SUCCESS) {
-      status = tree.tickRoot();
+      status = tree.tickOnce();
     }
 
     ASSERT_TRUE(
@@ -946,7 +947,7 @@ TEST(executor, cancel_bt_execution)
 
   std::string bt_xml_tree =
     R"(
-    <root main_tree_to_execute="MainTree">
+    <root BTCPP_format="4" main_tree_to_execute="MainTree">
       <BehaviorTree ID="MainTree">
         <WaitAtStartReq action="(move r2d2 steering_wheels_zone assembly_zone):0"/>
         <Sequence name="(move r2d2 steering_wheels_zone assembly_zone):0">
@@ -1005,7 +1006,7 @@ TEST(executor, cancel_bt_execution)
     auto status = BT::NodeStatus::RUNNING;
 
     ASSERT_TRUE(problem_client->existPredicate(plansys2::Predicate("(robot_available r2d2)")));
-    status = tree.tickRoot();
+    status = tree.tickOnce();
 
     ASSERT_EQ(ApplyAtStartEffectTest::test_status, BT::NodeStatus::SUCCESS);
     ASSERT_FALSE(problem_client->existPredicate(plansys2::Predicate("(robot_available r2d2)")));
@@ -1014,10 +1015,10 @@ TEST(executor, cancel_bt_execution)
         plansys2::Predicate(
           "(robot_at r2d2 steering_wheels_zone)")));
 
-    status = tree.tickRoot();
+    status = tree.tickOnce();
     ASSERT_EQ(CheckOverAllReqTest::test_status, BT::NodeStatus::SUCCESS);
     ASSERT_EQ(ExecuteActionTest::test_status, BT::NodeStatus::RUNNING);
-    status = tree.tickRoot();
+    status = tree.tickOnce();
     ASSERT_EQ(CheckOverAllReqTest::test_status, BT::NodeStatus::SUCCESS);
     ASSERT_EQ(ExecuteActionTest::test_status, BT::NodeStatus::RUNNING);
 
@@ -1037,9 +1038,9 @@ TEST(executor, cancel_bt_execution)
 
     tree = factory.createTreeFromText(bt_xml_tree, blackboard);
 
-    status = tree.tickRoot();
-    status = tree.tickRoot();
-    status = tree.tickRoot();
+    status = tree.tickOnce();
+    status = tree.tickOnce();
+    status = tree.tickOnce();
     ASSERT_EQ(ApplyAtStartEffectTest::test_status, BT::NodeStatus::SUCCESS);
     ASSERT_EQ(CheckOverAllReqTest::test_status, BT::NodeStatus::SUCCESS);
     ASSERT_EQ(ExecuteActionTest::test_status, BT::NodeStatus::RUNNING);
@@ -1550,7 +1551,6 @@ TEST(executor, executor_client_cancel_plan)
   t.join();
 }
 
-
 TEST(executor, action_timeout)
 {
   auto test_node_1 = rclcpp::Node::make_shared("test_node_1");
diff --git a/plansys2_executor/test/unit/simple_btbuilder_tests.cpp b/plansys2_executor/test/unit/simple_btbuilder_tests.cpp
index 098eae7f3..b6e61cacc 100644
--- a/plansys2_executor/test/unit/simple_btbuilder_tests.cpp
+++ b/plansys2_executor/test/unit/simple_btbuilder_tests.cpp
@@ -39,10 +39,10 @@
 #include "plansys2_executor/ExecutorNode.hpp"
 #include "plansys2_executor/ExecutorClient.hpp"
 
-#include "behaviortree_cpp_v3/behavior_tree.h"
-#include "behaviortree_cpp_v3/bt_factory.h"
-#include "behaviortree_cpp_v3/utils/shared_library.h"
-#include "behaviortree_cpp_v3/blackboard.h"
+#include "behaviortree_cpp/behavior_tree.h"
+#include "behaviortree_cpp/bt_factory.h"
+#include "behaviortree_cpp/utils/shared_library.h"
+#include "behaviortree_cpp/blackboard.h"
 
 #include "plansys2_executor/behavior_tree/execute_action_node.hpp"
 #include "plansys2_executor/behavior_tree/wait_action_node.hpp"
diff --git a/plansys2_tests/CMakeLists.txt b/plansys2_tests/CMakeLists.txt
index 4073ed13c..2959a571e 100644
--- a/plansys2_tests/CMakeLists.txt
+++ b/plansys2_tests/CMakeLists.txt
@@ -15,7 +15,7 @@ find_package(plansys2_domain_expert REQUIRED)
 find_package(plansys2_problem_expert REQUIRED)
 find_package(plansys2_planner REQUIRED)
 find_package(plansys2_executor REQUIRED)
-find_package(behaviortree_cpp_v3 REQUIRED)
+find_package(behaviortree_cpp REQUIRED)
 
 set(CMAKE_CXX_STANDARD 17)
 
@@ -32,7 +32,7 @@ set(dependencies
     plansys2_problem_expert
     plansys2_planner
     plansys2_executor
-    behaviortree_cpp_v3
+    behaviortree_cpp
 )
 
 include_directories(include)
diff --git a/plansys2_tests/package.xml b/plansys2_tests/package.xml
index 5616549ee..0e540a9ca 100644
--- a/plansys2_tests/package.xml
+++ b/plansys2_tests/package.xml
@@ -24,7 +24,7 @@
   <depend>plansys2_problem_expert</depend>
   <depend>plansys2_planner</depend>
   <depend>plansys2_executor</depend>
-  <depend>behaviortree_cpp_v3</depend>
+  <depend>behaviortree_cpp</depend>
  
   <exec_depend>popf</exec_depend>