feat: Add subscriber plugins using pluginlib #225

Job	Run time
industrial_ci (jazzy, main)	3m 59s
industrial_ci (rolling, testing)	5m 56s
industrial_ci (kilted, main)	3m 53s
industrial_ci (kilted, testing)	4m 24s
industrial_ci (humble, testing)	4m 8s
industrial_ci (jazzy, testing)	3m 53s
industrial_ci (humble, main)	4m 33s
industrial_ci (rolling, main)	6m 15s
	37m 1s

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