diff --git a/include/behaviortree_cpp_v3/decorators/retry_node.h b/include/behaviortree_cpp_v3/decorators/retry_node.h
index 60c4e2409..392f207e1 100644
--- a/include/behaviortree_cpp_v3/decorators/retry_node.h
+++ b/include/behaviortree_cpp_v3/decorators/retry_node.h
@@ -29,9 +29,9 @@ namespace BT
  *
  * Example:
  *
- * <RetryUntilSuccesful num_attempts="3">
+ * <RetryUntilSuccessful num_attempts="3">
  *     <OpenDoor/>
- * </RetryUntilSuccesful>
+ * </RetryUntilSuccessful>
  */
 class RetryNode : public DecoratorNode
 {
@@ -61,6 +61,22 @@ class RetryNode : public DecoratorNode
 
     virtual BT::NodeStatus tick() override;
 };
+
+class
+[[deprecated("RetryUntilSuccesful was a typo and deprecated, use RetryUntilSuccessful instead.")]]
+RetryNodeTypo : RetryNode{
+  public:
+    RetryNodeTypo(const std::string& name, int NTries)
+      : RetryNode(name, NTries)
+    { };
+
+    RetryNodeTypo(const std::string& name, const NodeConfiguration& config)
+      : RetryNode(name, config)
+    { };
+
+    virtual ~RetryNodeTypo() override = default;
+};
+
 }
 
 #endif
diff --git a/src/bt_factory.cpp b/src/bt_factory.cpp
index dbf3e2333..c25e73ef8 100644
--- a/src/bt_factory.cpp
+++ b/src/bt_factory.cpp
@@ -33,7 +33,7 @@ BehaviorTreeFactory::BehaviorTreeFactory()
     registerNodeType<WhileDoElseNode>("WhileDoElse");
 
     registerNodeType<InverterNode>("Inverter");
-    registerNodeType<RetryNode>("RetryUntilSuccesful"); //typo but back compatibility
+    registerNodeType<RetryNodeTypo>("RetryUntilSuccesful"); //typo but back compatibility
     registerNodeType<RetryNode>("RetryUntilSuccessful"); // correct one
     registerNodeType<KeepRunningUntilFailureNode>("KeepRunningUntilFailure");
     registerNodeType<RepeatNode>("Repeat");