diff --git a/localization/ndt_scan_matcher/CMakeLists.txt b/localization/ndt_scan_matcher/CMakeLists.txt
index 4beecc2625fe3..bd424fb027684 100644
--- a/localization/ndt_scan_matcher/CMakeLists.txt
+++ b/localization/ndt_scan_matcher/CMakeLists.txt
@@ -26,16 +26,21 @@ 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(ndt_scan_matcher_node SHARED
   src/debug.cpp
-  src/ndt_scan_matcher_node.cpp
   src/ndt_scan_matcher_core.cpp
   src/map_module.cpp
   src/map_update_module.cpp
 )
 
 link_directories(${PCL_LIBRARY_DIRS})
-target_link_libraries(ndt_scan_matcher ${PCL_LIBRARIES} glog::glog)
+target_link_libraries(ndt_scan_matcher_node ${PCL_LIBRARIES} glog::glog)
+
+rclcpp_components_register_node(ndt_scan_matcher_node
+  PLUGIN "NDTScanMatcher"
+  EXECUTABLE ndt_scan_matcher
+  EXECUTOR MultiThreadedExecutor
+)
 
 if(BUILD_TESTING)
   add_launch_test(
diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp
index f0d90fdfa0e08..fd74e6568622a 100644
--- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp
+++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp
@@ -77,7 +77,7 @@ class NDTScanMatcher : public rclcpp::Node
     pclomp::MultiGridNormalDistributionsTransform<PointSource, PointTarget>;
 
 public:
-  NDTScanMatcher();
+  explicit NDTScanMatcher(const rclcpp::NodeOptions & node_options);
 
 private:
   void service_ndt_align(
diff --git a/localization/ndt_scan_matcher/package.xml b/localization/ndt_scan_matcher/package.xml
index dcfdd77cb5a18..2ba8c70b8b1cd 100644
--- a/localization/ndt_scan_matcher/package.xml
+++ b/localization/ndt_scan_matcher/package.xml
@@ -25,6 +25,7 @@
   <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 a2e89540a172f..3366cb8ae2016 100644
--- a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp
+++ b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp
@@ -108,8 +108,8 @@ bool validate_local_optimal_solution_oscillation(
 }
 
 // cspell: ignore degrounded
-NDTScanMatcher::NDTScanMatcher()
-: Node("ndt_scan_matcher"),
+NDTScanMatcher::NDTScanMatcher(const rclcpp::NodeOptions & node_options)
+: Node("ndt_scan_matcher", node_options),
   tf2_broadcaster_(*this),
   ndt_ptr_(new NormalDistributionsTransform),
   state_ptr_(new std::map<std::string, std::string>),
@@ -1009,3 +1009,6 @@ 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 d5ea544d3c5e5..0000000000000
--- a/localization/ndt_scan_matcher/src/ndt_scan_matcher_node.cpp
+++ /dev/null
@@ -1,33 +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)
-{
-  google::InitGoogleLogging(argv[0]);
-  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;
-}