diff --git a/rclrs/src/lib.rs b/rclrs/src/lib.rs
index a259fc7c..0b032ac6 100644
--- a/rclrs/src/lib.rs
+++ b/rclrs/src/lib.rs
@@ -57,6 +57,8 @@ impl SingleThreadedExecutor {
     }
 
     fn remove_node(&self, node: Arc<Node>) -> Result<(), RclrsError> {
+        { self.nodes_mtx.lock().unwrap() }
+            .retain(|n| !n.upgrade().map(|n| Arc::ptr_eq(&n, &node)).unwrap_or(false));
         Ok(())
     }