diff --git a/pointcloud_crop_box/CMakeLists.txt b/pointcloud_crop_box/CMakeLists.txt
index 950c6ee..e263f0a 100644
--- a/pointcloud_crop_box/CMakeLists.txt
+++ b/pointcloud_crop_box/CMakeLists.txt
@@ -12,6 +12,7 @@ set(PACKAGE_DEPENDENCIES
     pcl_conversions
     pcl_ros
     rclcpp
+    rclcpp_components
     sensor_msgs
     tf2
     tf2_geometry_msgs
@@ -30,18 +31,29 @@ include_directories(include ${PCL_INCLUDE_DIRS})
 generate_parameter_library(pointcloud_crop_box_params
                            src/pointcloud_crop_box_params.yaml)
 
-add_executable(pointcloud_crop_box_node src/main.cpp
-                                        src/pointcloud_crop_box_node.cpp)
+add_library(pointcloud_crop_box_node_component SHARED
+            src/pointcloud_crop_box_node.cpp)
 
-ament_target_dependencies(pointcloud_crop_box_node ${PACKAGE_DEPENDENCIES})
+ament_target_dependencies(pointcloud_crop_box_node_component
+                          ${PACKAGE_DEPENDENCIES})
 
-target_link_libraries(pointcloud_crop_box_node ${PCL_LIBRARIES}
+target_link_libraries(pointcloud_crop_box_node_component ${PCL_LIBRARIES}
                       pointcloud_crop_box_params)
 target_include_directories(
-  pointcloud_crop_box_node
+  pointcloud_crop_box_node_component
   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>)
 
-install(TARGETS pointcloud_crop_box_node DESTINATION lib/${PROJECT_NAME})
+rclcpp_components_register_node(
+  pointcloud_crop_box_node_component PLUGIN
+  "pointcloud_crop_box::PointCloudCropBoxNode" EXECUTABLE
+  pointcloud_crop_box_node)
+
+install(
+  TARGETS pointcloud_crop_box_node_component pointcloud_crop_box_params
+  EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
 
 install(DIRECTORY launch config DESTINATION share/${PROJECT_NAME})
 
diff --git a/pointcloud_crop_box/include/pointcloud_crop_box/pointcloud_crop_box_node.hpp b/pointcloud_crop_box/include/pointcloud_crop_box/pointcloud_crop_box_node.hpp
index 6aaef47..897ac32 100644
--- a/pointcloud_crop_box/include/pointcloud_crop_box/pointcloud_crop_box_node.hpp
+++ b/pointcloud_crop_box/include/pointcloud_crop_box/pointcloud_crop_box_node.hpp
@@ -35,13 +35,16 @@
 
 #include "pointcloud_crop_box/pointcloud_crop_box_params.hpp"
 
-class PointcloudCropBoxNode : public rclcpp::Node
+namespace pointcloud_crop_box
+{
+
+class PointCloudCropBoxNode : public rclcpp::Node
 {
 public:
-  PointcloudCropBoxNode();
+  PointCloudCropBoxNode(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
 
 private:
-  void PointcloudCallback(const sensor_msgs::msg::PointCloud2::SharedPtr msg);
+  void PointCloudCallback(const sensor_msgs::msg::PointCloud2::SharedPtr msg);
   void LaserScanCallback(const sensor_msgs::msg::LaserScan::SharedPtr msg);
 
   geometry_msgs::msg::TransformStamped GetTransform(const std::string & source_frame);
@@ -71,4 +74,6 @@ class PointcloudCropBoxNode : public rclcpp::Node
   laser_geometry::LaserProjection projector_;
 };
 
+}  // namespace pointcloud_crop_box
+
 #endif  // POINTCLOUD_CROP_BOX_POINTCLOUD_CROP_BOX_POINTCLOUD_CROP_BOX_NODE_HPP_
diff --git a/pointcloud_crop_box/package.xml b/pointcloud_crop_box/package.xml
index 6351c68..c829150 100644
--- a/pointcloud_crop_box/package.xml
+++ b/pointcloud_crop_box/package.xml
@@ -3,7 +3,7 @@
 <package format="3">
   <name>pointcloud_crop_box</name>
   <version>0.1.0</version>
-  <description>3D box filter for Pointcloud2</description>
+  <description>3D box filter for PointCloud2</description>
   <maintainer email="support@husarion.com">Husarion</maintainer>
   <license>Apache License 2.0</license>
 
@@ -12,6 +12,7 @@
   <url type="bugtracker">https://github.com/husarion/husarion_ugv_ros/issues</url>
 
   <author email="jakub.delicat@husarion.com">Jakub Delicat</author>
+  <author email="dawid.kmak@husarion.com">Dawid Kmak</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
@@ -20,6 +21,7 @@
   <depend>pcl_conversions</depend>
   <depend>pcl_ros</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
@@ -27,6 +29,8 @@
   <depend>tf2_sensor_msgs</depend>
   <depend>vision_msgs</depend>
 
+  <exec_depend>vision_msgs_rviz_plugins</exec_depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>
diff --git a/pointcloud_crop_box/src/main.cpp b/pointcloud_crop_box/src/main.cpp
deleted file mode 100644
index dbfb805..0000000
--- a/pointcloud_crop_box/src/main.cpp
+++ /dev/null
@@ -1,38 +0,0 @@
-// Copyright 2025 Husarion sp. z o.o.
-//
-// 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 <iostream>
-#include <memory>
-#include <stdexcept>
-
-#include <rclcpp/rclcpp.hpp>
-
-#include "pointcloud_crop_box/pointcloud_crop_box_node.hpp"
-
-int main(int argc, char ** argv)
-{
-  rclcpp::init(argc, argv);
-  auto pointcloud_crop_box = std::make_shared<PointcloudCropBoxNode>();
-
-  try {
-    rclcpp::spin(pointcloud_crop_box);
-  } catch (const std::runtime_error & e) {
-    std::cerr << "[" << pointcloud_crop_box->get_name() << "] Caught exception: " << e.what()
-              << std::endl;
-  }
-
-  std::cout << "[" << pointcloud_crop_box->get_name() << "] Shutting down" << std::endl;
-  rclcpp::shutdown();
-  return 0;
-}
diff --git a/pointcloud_crop_box/src/pointcloud_crop_box_node.cpp b/pointcloud_crop_box/src/pointcloud_crop_box_node.cpp
index cfb31a8..39070fb 100644
--- a/pointcloud_crop_box/src/pointcloud_crop_box_node.cpp
+++ b/pointcloud_crop_box/src/pointcloud_crop_box_node.cpp
@@ -24,8 +24,13 @@
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
-PointcloudCropBoxNode::PointcloudCropBoxNode()
-: rclcpp::Node("pointcloud_crop_box"), tf_buffer_(this->get_clock()), tf_listener_(tf_buffer_)
+namespace pointcloud_crop_box
+{
+
+PointCloudCropBoxNode::PointCloudCropBoxNode(const rclcpp::NodeOptions & options)
+: rclcpp::Node("pointcloud_crop_box", options),
+  tf_buffer_(this->get_clock()),
+  tf_listener_(tf_buffer_)
 {
   param_listener_ =
     std::make_shared<pointcloud_crop_box_params::ParamListener>(get_node_parameters_interface());
@@ -36,11 +41,11 @@ PointcloudCropBoxNode::PointcloudCropBoxNode()
   if (params_.message_type == "pointcloud") {
     pc2_sub_ = this->create_subscription<sensor_msgs::msg::PointCloud2>(
       params_.input_topic, 10,
-      std::bind(&PointcloudCropBoxNode::PointcloudCallback, this, std::placeholders::_1));
+      std::bind(&PointCloudCropBoxNode::PointCloudCallback, this, std::placeholders::_1));
   } else {
     ls_sub_ = this->create_subscription<sensor_msgs::msg::LaserScan>(
       params_.input_topic, 10,
-      std::bind(&PointcloudCropBoxNode::LaserScanCallback, this, std::placeholders::_1));
+      std::bind(&PointCloudCropBoxNode::LaserScanCallback, this, std::placeholders::_1));
   }
 
   if (params_.visualize_bounding_box) {
@@ -54,7 +59,7 @@ PointcloudCropBoxNode::PointcloudCropBoxNode()
   RCLCPP_INFO(this->get_logger(), "Initialized successfully.");
 }
 
-void PointcloudCropBoxNode::PointcloudCallback(const sensor_msgs::msg::PointCloud2::SharedPtr msg)
+void PointCloudCropBoxNode::PointCloudCallback(const sensor_msgs::msg::PointCloud2::SharedPtr msg)
 {
   pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());
 
@@ -96,15 +101,15 @@ void PointcloudCropBoxNode::PointcloudCallback(const sensor_msgs::msg::PointClou
   }
 }
 
-void PointcloudCropBoxNode::LaserScanCallback(const sensor_msgs::msg::LaserScan::SharedPtr msg)
+void PointCloudCropBoxNode::LaserScanCallback(const sensor_msgs::msg::LaserScan::SharedPtr msg)
 {
   auto cloud_msg = std::make_shared<sensor_msgs::msg::PointCloud2>();
 
   projector_.projectLaser(*msg, *cloud_msg);
-  PointcloudCallback(cloud_msg);
+  PointCloudCallback(cloud_msg);
 }
 
-geometry_msgs::msg::TransformStamped PointcloudCropBoxNode::GetTransform(
+geometry_msgs::msg::TransformStamped PointCloudCropBoxNode::GetTransform(
   const std::string & source_frame)
 {
   geometry_msgs::msg::TransformStamped transform_stamped;
@@ -121,7 +126,7 @@ geometry_msgs::msg::TransformStamped PointcloudCropBoxNode::GetTransform(
   return transform_stamped;
 }
 
-pcl::PointCloud<pcl::PointXYZ>::Ptr PointcloudCropBoxNode::TransformCloud(
+pcl::PointCloud<pcl::PointXYZ>::Ptr PointCloudCropBoxNode::TransformCloud(
   const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
   const geometry_msgs::msg::TransformStamped & transform_stamped)
 {
@@ -137,7 +142,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr PointcloudCropBoxNode::TransformCloud(
   return transformed_cloud;
 }
 
-pcl::PointCloud<pcl::PointXYZ>::Ptr PointcloudCropBoxNode::Crop(
+pcl::PointCloud<pcl::PointXYZ>::Ptr PointCloudCropBoxNode::Crop(
   const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud)
 {
   pcl::CropBox<pcl::PointXYZ> crop_box_filter;
@@ -151,7 +156,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr PointcloudCropBoxNode::Crop(
   return filtered_cloud;
 }
 
-geometry_msgs::msg::TransformStamped PointcloudCropBoxNode::InverseTransform(
+geometry_msgs::msg::TransformStamped PointCloudCropBoxNode::InverseTransform(
   const geometry_msgs::msg::TransformStamped & transform_stamped)
 {
   tf2::Transform tf2_transform;
@@ -180,7 +185,7 @@ geometry_msgs::msg::TransformStamped PointcloudCropBoxNode::InverseTransform(
   return inverse_transform_stamped;
 }
 
-vision_msgs::msg::BoundingBox3D PointcloudCropBoxNode::CreateBoundingBox()
+vision_msgs::msg::BoundingBox3D PointCloudCropBoxNode::CreateBoundingBox()
 {
   vision_msgs::msg::BoundingBox3D bbox;
 
@@ -194,3 +199,8 @@ vision_msgs::msg::BoundingBox3D PointcloudCropBoxNode::CreateBoundingBox()
 
   return bbox;
 }
+
+}  // namespace pointcloud_crop_box
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(pointcloud_crop_box::PointCloudCropBoxNode)