feat: Add subscriber plugins using pluginlib #231

Job	Run time
industrial_ci (kilted, main)	4m 28s
industrial_ci (humble, testing)	3m 46s
industrial_ci (jazzy, testing)	4m 8s
industrial_ci (kilted, testing)	4m 7s
industrial_ci (humble, main)	4m 6s
industrial_ci (rolling, main)	6m 10s
industrial_ci (jazzy, main)	4m 21s
industrial_ci (rolling, testing)	6m 19s
	37m 25s

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