diff --git a/perception/multi_object_tracker/CMakeLists.txt b/perception/multi_object_tracker/CMakeLists.txt
index fb2c4d73554a3..4f9268583dd34 100644
--- a/perception/multi_object_tracker/CMakeLists.txt
+++ b/perception/multi_object_tracker/CMakeLists.txt
@@ -44,17 +44,18 @@ set(MULTI_OBJECT_TRACKER_SRC
   src/tracker/model/pass_through_tracker.cpp
 )
 
-ament_auto_add_library(multi_object_tracker_node SHARED
+ament_auto_add_library(${PROJECT_NAME} SHARED
   ${MULTI_OBJECT_TRACKER_SRC}
 )
 
-target_link_libraries(multi_object_tracker_node
+target_link_libraries(${PROJECT_NAME}
   Eigen3::Eigen
   glog::glog
 )
 
-ament_auto_add_executable(${PROJECT_NAME}
-  src/multi_object_tracker_node.cpp
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "multi_object_tracker::MultiObjectTracker"
+  EXECUTABLE ${PROJECT_NAME}_node
 )
 
 ament_auto_package(INSTALL_TO_SHARE
diff --git a/perception/multi_object_tracker/launch/multi_object_tracker.launch.xml b/perception/multi_object_tracker/launch/multi_object_tracker.launch.xml
index 526ce23efd33b..b00ccd8fa623e 100644
--- a/perception/multi_object_tracker/launch/multi_object_tracker.launch.xml
+++ b/perception/multi_object_tracker/launch/multi_object_tracker.launch.xml
@@ -6,7 +6,7 @@
   <arg name="data_association_matrix_path" default="$(find-pkg-share multi_object_tracker)/config/data_association_matrix.param.yaml"/>
   <arg name="input_channels_path" default="$(find-pkg-share multi_object_tracker)/config/input_channels.param.yaml"/>
 
-  <node pkg="multi_object_tracker" exec="multi_object_tracker" name="multi_object_tracker" output="screen">
+  <node pkg="multi_object_tracker" exec="multi_object_tracker_node" name="multi_object_tracker" output="screen">
     <param name="selected_input_channels" value="$(var selected_input_channels)"/>
     <remap from="output" to="$(var output)"/>
     <param from="$(var tracker_setting_path)"/>
diff --git a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp
index c3bf7023fb068..54c23d39f5357 100644
--- a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp
+++ b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp
@@ -75,6 +75,12 @@ MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options)
   tf_listener_(tf_buffer_),
   last_published_time_(this->now())
 {
+  // glog for debug
+  if (!google::IsGoogleLoggingInitialized()) {
+    google::InitGoogleLogging("multi_object_tracker");
+    google::InstallFailureSignalHandler();
+  }
+
   // Get parameters
   double publish_rate = declare_parameter<double>("publish_rate");  // [hz]
   world_frame_id_ = declare_parameter<std::string>("world_frame_id");
diff --git a/perception/multi_object_tracker/src/multi_object_tracker_node.cpp b/perception/multi_object_tracker/src/multi_object_tracker_node.cpp
deleted file mode 100644
index 273e6ac1a06bd..0000000000000
--- a/perception/multi_object_tracker/src/multi_object_tracker_node.cpp
+++ /dev/null
@@ -1,36 +0,0 @@
-// Copyright 2024 TIER IV, inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "multi_object_tracker/multi_object_tracker_core.hpp"
-
-#include <rclcpp/rclcpp.hpp>
-
-#include <glog/logging.h>
-
-int main(int argc, char ** argv)
-{
-  if (!google::IsGoogleLoggingInitialized()) {
-    google::InitGoogleLogging(argv[0]);  // NOLINT
-    google::InstallFailureSignalHandler();
-  }
-
-  rclcpp::init(argc, argv);
-  rclcpp::NodeOptions options;
-  auto multi_object_tracker = std::make_shared<multi_object_tracker::MultiObjectTracker>(options);
-  rclcpp::executors::SingleThreadedExecutor exec;
-  exec.add_node(multi_object_tracker);
-  exec.spin();
-  rclcpp::shutdown();
-  return 0;
-}