diff --git a/point_cloud_transport/CMakeLists.txt b/point_cloud_transport/CMakeLists.txt
index c5c9fe2..323d0be 100644
--- a/point_cloud_transport/CMakeLists.txt
+++ b/point_cloud_transport/CMakeLists.txt
@@ -30,6 +30,7 @@ add_library(${PROJECT_NAME}
   src/publisher_plugin.cpp
   src/raw_subscriber.cpp
   src/single_subscriber_publisher.cpp
+  src/subscriber_filter.cpp
   src/subscriber.cpp
 )
 
diff --git a/point_cloud_transport/include/point_cloud_transport/subscriber_filter.hpp b/point_cloud_transport/include/point_cloud_transport/subscriber_filter.hpp
index 97417ad..cc99fd9 100644
--- a/point_cloud_transport/include/point_cloud_transport/subscriber_filter.hpp
+++ b/point_cloud_transport/include/point_cloud_transport/subscriber_filter.hpp
@@ -73,23 +73,14 @@ class SubscriberFilter : public message_filters::SimpleFilter<sensor_msgs::msg::
   POINT_CLOUD_TRANSPORT_PUBLIC
   SubscriberFilter(
     std::shared_ptr<rclcpp::Node> node, const std::string & base_topic,
-    const std::string & transport)
-  {
-    subscribe(node, base_topic, transport);
-  }
+    const std::string & transport);
 
   //! Empty constructor, use subscribe() to subscribe to a topic
   POINT_CLOUD_TRANSPORT_PUBLIC
-  SubscriberFilter()
-  {
-  }
+  SubscriberFilter();
 
   POINT_CLOUD_TRANSPORT_PUBLIC
-  ~SubscriberFilter()
-  {
-    unsubscribe();
-  }
-
+  ~SubscriberFilter();
   ///
   /// \brief Subscribe to a topic. If this Subscriber is already subscribed to a topic,
   /// this function will first unsubscribe.
@@ -105,48 +96,26 @@ class SubscriberFilter : public message_filters::SimpleFilter<sensor_msgs::msg::
     const std::string & base_topic,
     const std::string & transport,
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
-    rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions())
-  {
-    unsubscribe();
-    sub_ = point_cloud_transport::create_subscription(
-      node, base_topic,
-      std::bind(&SubscriberFilter::cb, this, std::placeholders::_1),
-      transport, custom_qos, options);
-  }
+    rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions());
 
   //! Force immediate unsubscription of this subscriber from its topic
   POINT_CLOUD_TRANSPORT_PUBLIC
-  void unsubscribe()
-  {
-    sub_.shutdown();
-  }
+  void unsubscribe();
 
   POINT_CLOUD_TRANSPORT_PUBLIC
-  std::string getTopic() const
-  {
-    return sub_.getTopic();
-  }
+  std::string getTopic() const;
 
   //! Returns the number of publishers this subscriber is connected to.
   POINT_CLOUD_TRANSPORT_PUBLIC
-  uint32_t getNumPublishers() const
-  {
-    return sub_.getNumPublishers();
-  }
+  uint32_t getNumPublishers() const;
 
   //! Returns the name of the transport being used.
   POINT_CLOUD_TRANSPORT_PUBLIC
-  std::string getTransport() const
-  {
-    return sub_.getTransport();
-  }
+  std::string getTransport() const;
 
   //! Returns the internal point_cloud_transport::Subscriber object.
   POINT_CLOUD_TRANSPORT_PUBLIC
-  const Subscriber & getSubscriber() const
-  {
-    return sub_;
-  }
+  const Subscriber & getSubscriber() const;
 
 private:
   void cb(const sensor_msgs::msg::PointCloud2::ConstSharedPtr & m)
diff --git a/point_cloud_transport/src/subscriber_filter.cpp b/point_cloud_transport/src/subscriber_filter.cpp
new file mode 100644
index 0000000..c92ce9b
--- /dev/null
+++ b/point_cloud_transport/src/subscriber_filter.cpp
@@ -0,0 +1,90 @@
+// Copyright 2024 Open Source Robotics Foundation, Inc.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the copyright holder nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#include "point_cloud_transport/subscriber_filter.hpp"
+
+#include <memory>
+#include <string>
+
+namespace point_cloud_transport
+{
+SubscriberFilter::SubscriberFilter(
+  std::shared_ptr<rclcpp::Node> node, const std::string & base_topic,
+  const std::string & transport)
+{
+  subscribe(node, base_topic, transport);
+}
+
+SubscriberFilter::SubscriberFilter()
+{
+}
+
+SubscriberFilter::~SubscriberFilter()
+{
+  unsubscribe();
+}
+
+void SubscriberFilter::subscribe(
+  std::shared_ptr<rclcpp::Node> node,
+  const std::string & base_topic,
+  const std::string & transport,
+  rmw_qos_profile_t custom_qos,
+  rclcpp::SubscriptionOptions options)
+{
+  unsubscribe();
+  sub_ = point_cloud_transport::create_subscription(
+    node, base_topic,
+    std::bind(&SubscriberFilter::cb, this, std::placeholders::_1),
+    transport, custom_qos, options);
+}
+
+void SubscriberFilter::unsubscribe()
+{
+  sub_.shutdown();
+}
+
+std::string SubscriberFilter::getTopic() const
+{
+  return sub_.getTopic();
+}
+
+uint32_t SubscriberFilter::getNumPublishers() const
+{
+  return sub_.getNumPublishers();
+}
+
+std::string SubscriberFilter::getTransport() const
+{
+  return sub_.getTransport();
+}
+
+const Subscriber & SubscriberFilter::getSubscriber() const
+{
+  return sub_;
+}
+}  // namespace point_cloud_transport
diff --git a/point_cloud_transport/test/test_message_filter.cpp b/point_cloud_transport/test/test_message_filter.cpp
index db39292..6eb17d7 100644
--- a/point_cloud_transport/test/test_message_filter.cpp
+++ b/point_cloud_transport/test/test_message_filter.cpp
@@ -59,25 +59,24 @@ void callback(
   (void) msg2;
 }
 
-// TEST_F(TestSubscriber, create_and_release_filter)
-// {
-// typedef message_filters::sync_policies::ApproximateTime<
-//     sensor_msgs::msg::PointCloud2, sensor_msgs::msg::PointCloud2>
-//   ApproximateTimePolicy;
+TEST_F(TestSubscriber, create_and_release_filter)
+{
+  typedef message_filters::sync_policies::ApproximateTime<
+      sensor_msgs::msg::PointCloud2, sensor_msgs::msg::PointCloud2>
+    ApproximateTimePolicy;
 
-// TODO(ahcorde): Review this test on Windows
-// point_cloud_transport::SubscriberFilter pcl_sub1(node_, "pointcloud1", "raw");
-//   point_cloud_transport::SubscriberFilter pcl_sub2(node_, "pointcloud2", "raw");
+  point_cloud_transport::SubscriberFilter pcl_sub1(node_, "pointcloud1", "raw");
+  point_cloud_transport::SubscriberFilter pcl_sub2(node_, "pointcloud2", "raw");
 
-//   auto sync = std::make_shared<message_filters::Synchronizer<ApproximateTimePolicy>>(
-//     ApproximateTimePolicy(
-//       10), pcl_sub1, pcl_sub2);
-//   sync->registerCallback(std::bind(callback, std::placeholders::_1, std::placeholders::_2));
+  auto sync = std::make_shared<message_filters::Synchronizer<ApproximateTimePolicy>>(
+    ApproximateTimePolicy(
+      10), pcl_sub1, pcl_sub2);
+  sync->registerCallback(std::bind(callback, std::placeholders::_1, std::placeholders::_2));
 
-//   pcl_sub1.unsubscribe();
-//   pcl_sub2.unsubscribe();
-//   sync.reset();
-// }
+  pcl_sub1.unsubscribe();
+  pcl_sub2.unsubscribe();
+  sync.reset();
+}
 
 int main(int argc, char ** argv)
 {