feat: Add subscriber plugins using pluginlib #229

Job	Run time
industrial_ci (jazzy, main)	4m 2s
industrial_ci (kilted, testing)	4m 7s
industrial_ci (humble, testing)	4m 23s
industrial_ci (kilted, main)	4m 24s
industrial_ci (rolling, main)	6m 2s
industrial_ci (rolling, testing)	5m 51s
industrial_ci (jazzy, testing)	4m 17s
industrial_ci (humble, main)	3m 49s
	36m 55s

Provide feedback