feat: Add subscriber plugins using pluginlib #233

Job	Run time
industrial_ci (jazzy, testing)	4m 8s
industrial_ci (humble, testing)	3m 38s
industrial_ci (rolling, testing)	6m 22s
industrial_ci (kilted, main)	4m 23s
industrial_ci (rolling, main)	5m 38s
industrial_ci (humble, main)	3m 54s
industrial_ci (kilted, testing)	4m 39s
industrial_ci (jazzy, main)	4m 15s
	36m 57s

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