diff --git a/core/CMakeLists.txt b/core/CMakeLists.txt
index 7032b57dc..d16658c37 100644
--- a/core/CMakeLists.txt
+++ b/core/CMakeLists.txt
@@ -18,6 +18,7 @@ catkin_package(
 	LIBRARIES
 		${PROJECT_NAME}
 		${PROJECT_NAME}_stages
+		${PROJECT_NAME}_stage_plugins
 	INCLUDE_DIRS
 		include
 	CATKIN_DEPENDS
diff --git a/core/motion_planning_stages_plugin_description.xml b/core/motion_planning_stages_plugin_description.xml
index 75af7442d..389c11ff0 100644
--- a/core/motion_planning_stages_plugin_description.xml
+++ b/core/motion_planning_stages_plugin_description.xml
@@ -1,4 +1,4 @@
-<library path="libmoveit_task_constructor_core_stages">
+<library path="libmoveit_task_constructor_core_stage_plugins">
   <class name="moveit_task_constructor/Current State"
          type="moveit::task_constructor::stages::CurrentState"
          base_class_type="moveit::task_constructor::Stage">
diff --git a/core/src/stages/CMakeLists.txt b/core/src/stages/CMakeLists.txt
index 857a4977c..2becaa638 100644
--- a/core/src/stages/CMakeLists.txt
+++ b/core/src/stages/CMakeLists.txt
@@ -41,6 +41,11 @@ add_library(${PROJECT_NAME}_stages
 )
 target_link_libraries(${PROJECT_NAME}_stages ${PROJECT_NAME} ${catkin_LIBRARIES})
 
-install(TARGETS ${PROJECT_NAME}_stages
+add_library(${PROJECT_NAME}_stage_plugins
+   plugins.cpp
+)
+target_link_libraries(${PROJECT_NAME}_stage_plugins ${PROJECT_NAME}_stages ${catkin_LIBRARIES})
+
+install(TARGETS ${PROJECT_NAME}_stages ${PROJECT_NAME}_stage_plugins
 	ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 	LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
diff --git a/core/src/stages/current_state.cpp b/core/src/stages/current_state.cpp
index 51c5abc97..822dc5c34 100644
--- a/core/src/stages/current_state.cpp
+++ b/core/src/stages/current_state.cpp
@@ -96,7 +96,3 @@ void CurrentState::compute() {
 }  // namespace stages
 }  // namespace task_constructor
 }  // namespace moveit
-
-/// register plugin
-#include <pluginlib/class_list_macros.h>
-PLUGINLIB_EXPORT_CLASS(moveit::task_constructor::stages::CurrentState, moveit::task_constructor::Stage)
diff --git a/core/src/stages/plugins.cpp b/core/src/stages/plugins.cpp
new file mode 100644
index 000000000..9b9864f8f
--- /dev/null
+++ b/core/src/stages/plugins.cpp
@@ -0,0 +1,7 @@
+#include <moveit/task_constructor/stages/current_state.h>
+
+#include <pluginlib/class_list_macros.h>
+
+/// register plugins to use with ClassLoader
+
+PLUGINLIB_EXPORT_CLASS(moveit::task_constructor::stages::CurrentState, moveit::task_constructor::Stage)