diff --git a/localization/ndt_scan_matcher/CMakeLists.txt b/localization/ndt_scan_matcher/CMakeLists.txt
index 7ac78514c49fe..5e4db9571c404 100644
--- a/localization/ndt_scan_matcher/CMakeLists.txt
+++ b/localization/ndt_scan_matcher/CMakeLists.txt
@@ -22,20 +22,24 @@ else()
   endif()
 endif()
 
-find_package(glog REQUIRED)
 find_package(PCL REQUIRED COMPONENTS common io registration)
 include_directories(${PCL_INCLUDE_DIRS})
 
-ament_auto_add_executable(ndt_scan_matcher
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/diagnostics_module.cpp
   src/map_update_module.cpp
   src/ndt_scan_matcher_core.cpp
-  src/ndt_scan_matcher_node.cpp
   src/particle.cpp
 )
 
 link_directories(${PCL_LIBRARY_DIRS})
-target_link_libraries(ndt_scan_matcher ${PCL_LIBRARIES} glog::glog)
+target_link_libraries(ndt_scan_matcher ${PCL_LIBRARIES})
+
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "NDTScanMatcher"
+  EXECUTABLE ${PROJECT_NAME}_node
+  EXECUTOR MultiThreadedExecutor
+)
 
 if(BUILD_TESTING)
   add_launch_test(
@@ -46,19 +50,9 @@ if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
   ament_auto_add_gtest(standard_sequence_for_initial_pose_estimation
     test/test_cases/standard_sequence_for_initial_pose_estimation.cpp
-    src/diagnostics_module.cpp
-    src/map_update_module.cpp
-    src/ndt_scan_matcher_core.cpp
-#    src/ndt_scan_matcher_node.cpp
-    src/particle.cpp
   )
   ament_auto_add_gtest(once_initialize_at_out_of_map_then_initialize_correctly
     test/test_cases/once_initialize_at_out_of_map_then_initialize_correctly.cpp
-    src/diagnostics_module.cpp
-    src/map_update_module.cpp
-    src/ndt_scan_matcher_core.cpp
-#    src/ndt_scan_matcher_node.cpp
-    src/particle.cpp
   )
 endif()
 
diff --git a/localization/ndt_scan_matcher/launch/ndt_scan_matcher.launch.xml b/localization/ndt_scan_matcher/launch/ndt_scan_matcher.launch.xml
index cbcb0a9f74bc4..671e2ace56cad 100644
--- a/localization/ndt_scan_matcher/launch/ndt_scan_matcher.launch.xml
+++ b/localization/ndt_scan_matcher/launch/ndt_scan_matcher.launch.xml
@@ -14,7 +14,7 @@
 
   <arg name="node_name" default="ndt_scan_matcher" description="Use a different name for this node"/>
 
-  <node pkg="ndt_scan_matcher" exec="ndt_scan_matcher" name="$(var node_name)" output="log">
+  <node pkg="ndt_scan_matcher" exec="ndt_scan_matcher_node" name="$(var node_name)" output="both">
     <remap from="points_raw" to="$(var input_pointcloud)"/>
     <remap from="ekf_pose_with_covariance" to="$(var input_initial_pose_topic)"/>
     <remap from="regularization_pose_with_covariance" to="$(var input_regularization_pose_topic)"/>
diff --git a/localization/ndt_scan_matcher/package.xml b/localization/ndt_scan_matcher/package.xml
index b9a1f7dbad1bd..a37e7c370adf5 100644
--- a/localization/ndt_scan_matcher/package.xml
+++ b/localization/ndt_scan_matcher/package.xml
@@ -29,6 +29,7 @@
   <depend>ndt_omp</depend>
   <depend>pcl_conversions</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
   <depend>std_srvs</depend>
diff --git a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp
index 69349e75e786d..624eb89671a41 100644
--- a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp
+++ b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp
@@ -1070,3 +1070,6 @@ geometry_msgs::msg::PoseWithCovarianceStamped NDTScanMatcher::align_pose(
 
   return result_pose_with_cov_msg;
 }
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(NDTScanMatcher)
diff --git a/localization/ndt_scan_matcher/src/ndt_scan_matcher_node.cpp b/localization/ndt_scan_matcher/src/ndt_scan_matcher_node.cpp
deleted file mode 100644
index 785055eef3700..0000000000000
--- a/localization/ndt_scan_matcher/src/ndt_scan_matcher_node.cpp
+++ /dev/null
@@ -1,35 +0,0 @@
-// Copyright 2015-2019 Autoware Foundation
-//
-// 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 "ndt_scan_matcher/ndt_scan_matcher_core.hpp"
-
-#include <rclcpp/rclcpp.hpp>
-
-#include <glog/logging.h>
-
-int main(int argc, char ** argv)
-{
-  if (!google::IsGoogleLoggingInitialized()) {
-    google::InitGoogleLogging(argv[0]);  // NOLINT
-    google::InstallFailureSignalHandler();
-  }
-
-  rclcpp::init(argc, argv);
-  auto ndt_scan_matcher = std::make_shared<NDTScanMatcher>();
-  rclcpp::executors::MultiThreadedExecutor exec;
-  exec.add_node(ndt_scan_matcher);
-  exec.spin();
-  rclcpp::shutdown();
-  return 0;
-}