feat: Add subscriber plugins using pluginlib #226

Job	Run time
industrial_ci (rolling, main)	6m 9s
industrial_ci (humble, main)	3m 55s
industrial_ci (kilted, testing)	3m 58s
industrial_ci (jazzy, main)	4m 5s
industrial_ci (jazzy, testing)	3m 41s
industrial_ci (rolling, testing)	5m 46s
industrial_ci (kilted, main)	4m 2s
industrial_ci (humble, testing)	3m 57s
	35m 33s

Provide feedback