diff --git a/sensing/vehicle_velocity_converter/CMakeLists.txt b/sensing/vehicle_velocity_converter/CMakeLists.txt
index 4f4a14bd9f045..bb50fbff90c4b 100644
--- a/sensing/vehicle_velocity_converter/CMakeLists.txt
+++ b/sensing/vehicle_velocity_converter/CMakeLists.txt
@@ -4,11 +4,15 @@ project(vehicle_velocity_converter)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_add_executable(vehicle_velocity_converter
-  src/vehicle_velocity_converter_node.cpp
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/vehicle_velocity_converter.cpp
 )
-ament_target_dependencies(vehicle_velocity_converter)
+
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "VehicleVelocityConverter"
+  EXECUTABLE ${PROJECT_NAME}_node
+  EXECUTOR SingleThreadedExecutor
+)
 
 ament_auto_package(
   INSTALL_TO_SHARE
diff --git a/sensing/vehicle_velocity_converter/include/vehicle_velocity_converter/vehicle_velocity_converter.hpp b/sensing/vehicle_velocity_converter/include/vehicle_velocity_converter/vehicle_velocity_converter.hpp
index 4a1a66b842892..8ef46609ee542 100644
--- a/sensing/vehicle_velocity_converter/include/vehicle_velocity_converter/vehicle_velocity_converter.hpp
+++ b/sensing/vehicle_velocity_converter/include/vehicle_velocity_converter/vehicle_velocity_converter.hpp
@@ -28,7 +28,7 @@
 class VehicleVelocityConverter : public rclcpp::Node
 {
 public:
-  VehicleVelocityConverter();
+  explicit VehicleVelocityConverter(const rclcpp::NodeOptions & options);
   ~VehicleVelocityConverter() = default;
 
 private:
diff --git a/sensing/vehicle_velocity_converter/launch/vehicle_velocity_converter.launch.xml b/sensing/vehicle_velocity_converter/launch/vehicle_velocity_converter.launch.xml
index 6302c09b526f9..84e1838dc89eb 100644
--- a/sensing/vehicle_velocity_converter/launch/vehicle_velocity_converter.launch.xml
+++ b/sensing/vehicle_velocity_converter/launch/vehicle_velocity_converter.launch.xml
@@ -3,7 +3,7 @@
   <arg name="output_twist_with_covariance" default="twist_with_covariance"/>
   <arg name="config_file" default="$(find-pkg-share vehicle_velocity_converter)/config/vehicle_velocity_converter.param.yaml"/>
 
-  <node pkg="vehicle_velocity_converter" exec="vehicle_velocity_converter" name="vehicle_velocity_converter_node" output="screen">
+  <node pkg="vehicle_velocity_converter" exec="vehicle_velocity_converter_node" output="both">
     <param from="$(var config_file)"/>
     <remap from="velocity_status" to="$(var input_vehicle_velocity_topic)"/>
     <remap from="twist_with_covariance" to="$(var output_twist_with_covariance)"/>
diff --git a/sensing/vehicle_velocity_converter/package.xml b/sensing/vehicle_velocity_converter/package.xml
index 39780deaccc28..b32b51bc52e10 100644
--- a/sensing/vehicle_velocity_converter/package.xml
+++ b/sensing/vehicle_velocity_converter/package.xml
@@ -13,6 +13,7 @@
   <depend>autoware_vehicle_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 
diff --git a/sensing/vehicle_velocity_converter/src/vehicle_velocity_converter.cpp b/sensing/vehicle_velocity_converter/src/vehicle_velocity_converter.cpp
index 360ec4cae58d5..2aece69f5283b 100644
--- a/sensing/vehicle_velocity_converter/src/vehicle_velocity_converter.cpp
+++ b/sensing/vehicle_velocity_converter/src/vehicle_velocity_converter.cpp
@@ -14,7 +14,8 @@
 
 #include "vehicle_velocity_converter/vehicle_velocity_converter.hpp"
 
-VehicleVelocityConverter::VehicleVelocityConverter() : Node("vehicle_velocity_converter")
+VehicleVelocityConverter::VehicleVelocityConverter(const rclcpp::NodeOptions & options)
+: rclcpp::Node("vehicle_velocity_converter", options)
 {
   // set covariance value for twist with covariance msg
   stddev_vx_ = declare_parameter<double>("velocity_stddev_xx");
@@ -52,3 +53,6 @@ void VehicleVelocityConverter::callbackVelocityReport(
 
   twist_with_covariance_pub_->publish(twist_with_covariance_msg);
 }
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(VehicleVelocityConverter)
diff --git a/sensing/vehicle_velocity_converter/src/vehicle_velocity_converter_node.cpp b/sensing/vehicle_velocity_converter/src/vehicle_velocity_converter_node.cpp
deleted file mode 100644
index cee25f6e6c62a..0000000000000
--- a/sensing/vehicle_velocity_converter/src/vehicle_velocity_converter_node.cpp
+++ /dev/null
@@ -1,25 +0,0 @@
-// Copyright 2021 TierIV
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <vehicle_velocity_converter/vehicle_velocity_converter.hpp>
-
-int main(int argc, char ** argv)
-{
-  rclcpp::init(argc, argv);
-  auto node = std::make_shared<VehicleVelocityConverter>();
-  rclcpp::spin(node);
-  rclcpp::shutdown();
-
-  return 0;
-}