diff --git a/sample_nodes/CMakeLists.txt b/sample_nodes/CMakeLists.txt
index e8aaafffe..217fec77d 100644
--- a/sample_nodes/CMakeLists.txt
+++ b/sample_nodes/CMakeLists.txt
@@ -33,3 +33,15 @@ target_link_libraries(movebase_node_dyn PRIVATE ${BTCPP_LIBRARY})
 target_compile_definitions(movebase_node_dyn PRIVATE  BT_PLUGIN_EXPORT )
 set_target_properties(movebase_node_dyn PROPERTIES LIBRARY_OUTPUT_DIRECTORY
     ${BTCPP_BIN_DESTINATION} )
+
+######################################################
+# INSTALL plugins for other packages to load
+
+INSTALL(TARGETS
+    crossdoor_nodes_dyn
+    dummy_nodes_dyn
+    movebase_node_dyn
+    LIBRARY DESTINATION share/${PROJECT_NAME}/bt_plugins
+    ARCHIVE DESTINATION share/${PROJECT_NAME}/bt_plugins
+    RUNTIME DESTINATION share/${PROJECT_NAME}/bt_plugins
+)
diff --git a/sample_nodes/crossdoor_nodes.cpp b/sample_nodes/crossdoor_nodes.cpp
index c9b0f0b82..29463c451 100644
--- a/sample_nodes/crossdoor_nodes.cpp
+++ b/sample_nodes/crossdoor_nodes.cpp
@@ -74,3 +74,11 @@ void CrossDoor::reset()
   _door_locked = true;
   _pick_attempts = 0;
 }
+
+// This function must be implemented in the .cpp file to create
+// a plugin that can be loaded at run-time
+BT_REGISTER_NODES(factory)
+{
+  static CrossDoor cross_door;
+  cross_door.registerNodes(factory);
+}