diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_utils.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_utils.hpp
index 63595fef985..27663c26123 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_utils.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_utils.hpp
@@ -210,24 +210,6 @@ inline std::chrono::milliseconds convertFromString<std::chrono::milliseconds>(co
   return std::chrono::milliseconds(std::stoul(key.data()));
 }
 
-/**
- * @brief Parse XML string to std::set<int>
- * @param key XML string
- * @return std::set<int>
- */
-template<>
-inline std::set<int> convertFromString(StringView key)
-{
-  // Real numbers separated by semicolons
-  auto parts = splitString(key, ';');
-
-  std::set<int> set;
-  for (const auto part : parts) {
-    set.insert(convertFromString<int>(part));
-  }
-  return set;
-}
-
 /**
  * @brief Return parameter value from behavior tree node or ros2 parameter file.
  * @param node rclcpp::Node::SharedPtr
diff --git a/nav2_behavior_tree/test/test_bt_utils.cpp b/nav2_behavior_tree/test/test_bt_utils.cpp
index 8d68a5a1c79..8e28e29f362 100644
--- a/nav2_behavior_tree/test/test_bt_utils.cpp
+++ b/nav2_behavior_tree/test/test_bt_utils.cpp
@@ -16,7 +16,6 @@
 #include <gtest/gtest.h>
 #include <memory>
 #include <chrono>
-#include <set>
 
 #include "geometry_msgs/msg/point.hpp"
 #include "geometry_msgs/msg/quaternion.hpp"
@@ -419,29 +418,6 @@ TEST(MillisecondsPortTest, test_correct_syntax)
   EXPECT_EQ(value.count(), 123);
 }
 
-TEST(ErrorCodePortTest, test_correct_syntax)
-{
-  std::string xml_txt =
-    R"(
-      <root BTCPP_format="4">
-        <BehaviorTree ID="MainTree">
-            <ErrorCodePort test="100;204;212"/>
-        </BehaviorTree>
-      </root>)";
-
-  BT::BehaviorTreeFactory factory;
-  factory.registerNodeType<TestNode<std::set<int>>>("ErrorCodePort");
-  auto tree = factory.createTreeFromText(xml_txt);
-
-  tree = factory.createTreeFromText(xml_txt);
-  std::set<int> value;
-  tree.rootNode()->getInput("test", value);
-
-  EXPECT_TRUE(value.find(100) != value.end());
-  EXPECT_TRUE(value.find(204) != value.end());
-  EXPECT_TRUE(value.find(212) != value.end());
-}
-
 TEST(deconflictPortAndParamFrameTest, test_correct_syntax)
 {
   std::string xml_txt =