diff --git a/grid_map_filters/CMakeLists.txt b/grid_map_filters/CMakeLists.txt
index 91a4b0de5..66c5da836 100644
--- a/grid_map_filters/CMakeLists.txt
+++ b/grid_map_filters/CMakeLists.txt
@@ -8,6 +8,7 @@ find_package(grid_map_cmake_helpers REQUIRED)
 find_package(grid_map_core REQUIRED)
 find_package(grid_map_msgs REQUIRED)
 find_package(grid_map_ros REQUIRED)
+find_package(pluginlib REQUIRED)
 
 ## System dependencies are found with CMake's conventions
 find_package(PkgConfig REQUIRED)
@@ -32,6 +33,9 @@ set(dependencies
   grid_map_ros
 )
 
+set(LIBRARY ${PROJECT_NAME})
+set(PLUGINS_LIBRARY ${PROJECT_NAME}_PLUGINS)
+
 ###########
 ## Build ##
 ###########
@@ -44,31 +48,60 @@ include_directories(
 )
 
 ## Declare a cpp library
-add_library(${PROJECT_NAME}
-  src/ThresholdFilter.cpp
-  src/MinInRadiusFilter.cpp
-  src/MeanInRadiusFilter.cpp
-  src/NormalVectorsFilter.cpp
-  src/CurvatureFilter.cpp
-  src/NormalColorMapFilter.cpp
-  src/LightIntensityFilter.cpp
-  src/MathExpressionFilter.cpp
-  src/SlidingWindowMathExpressionFilter.cpp
-  src/DuplicationFilter.cpp
-  src/DeletionFilter.cpp
-  src/ColorFillFilter.cpp
-  src/ColorMapFilter.cpp
-  src/ColorBlendingFilter.cpp
-  src/SetBasicLayersFilter.cpp
-  src/BufferNormalizerFilter.cpp
+add_library(${LIBRARY}
+  src/grid_map_filters/ThresholdFilter.cpp
+  src/grid_map_filters/MinInRadiusFilter.cpp
+  src/grid_map_filters/MeanInRadiusFilter.cpp
+  src/grid_map_filters/NormalVectorsFilter.cpp
+  src/grid_map_filters/CurvatureFilter.cpp
+  src/grid_map_filters/NormalColorMapFilter.cpp
+  src/grid_map_filters/LightIntensityFilter.cpp
+  src/grid_map_filters/MathExpressionFilter.cpp
+  src/grid_map_filters/SlidingWindowMathExpressionFilter.cpp
+  src/grid_map_filters/DuplicationFilter.cpp
+  src/grid_map_filters/DeletionFilter.cpp
+  src/grid_map_filters/ColorFillFilter.cpp
+  src/grid_map_filters/ColorMapFilter.cpp
+  src/grid_map_filters/ColorBlendingFilter.cpp
+  src/grid_map_filters/SetBasicLayersFilter.cpp
+  src/grid_map_filters/BufferNormalizerFilter.cpp
 )
 
-ament_target_dependencies(${PROJECT_NAME}
+ament_target_dependencies(${LIBRARY}
   ${dependencies}
 )
 
-target_compile_options(${PROJECT_NAME} PRIVATE "SHELL:--param ggc-min-expand=1")
-target_compile_options(${PROJECT_NAME} PRIVATE "SHELL:--param ggc-min-heapsize=32768")
+target_compile_options(${LIBRARY} PRIVATE "SHELL:--param ggc-min-expand=1")
+target_compile_options(${LIBRARY} PRIVATE "SHELL:--param ggc-min-heapsize=32768")
+
+## Declare plugins library
+add_library(${PLUGINS_LIBRARY}
+  src/plugins/ThresholdFilterPlugin.cpp
+  src/plugins/MinInRadiusFilterPlugin.cpp
+  src/plugins/MeanInRadiusFilterPlugin.cpp
+  src/plugins/NormalVectorsFilterPlugin.cpp
+  src/plugins/CurvatureFilterPlugin.cpp
+  src/plugins/NormalColorMapFilterPlugin.cpp
+  src/plugins/LightIntensityFilterPlugin.cpp
+  src/plugins/MathExpressionFilterPlugin.cpp
+  src/plugins/SlidingWindowMathExpressionFilterPlugin.cpp
+  src/plugins/DuplicationFilterPlugin.cpp
+  src/plugins/DeletionFilterPlugin.cpp
+  src/plugins/ColorFillFilterPlugin.cpp
+  src/plugins/ColorMapFilterPlugin.cpp
+  src/plugins/ColorBlendingFilterPlugin.cpp
+  src/plugins/SetBasicLayersFilterPlugin.cpp
+  src/plugins/BufferNormalizerFilterPlugin.cpp
+)
+
+target_link_libraries(${PLUGINS_LIBRARY} ${LIBRARY})
+
+ament_target_dependencies(${PLUGINS_LIBRARY}
+  pluginlib
+)
+
+target_compile_options(${PLUGINS_LIBRARY} PRIVATE "SHELL:--param ggc-min-expand=1")
+target_compile_options(${PLUGINS_LIBRARY} PRIVATE "SHELL:--param ggc-min-heapsize=32768")
 
 #############
 ## Install ##
@@ -76,23 +109,23 @@ target_compile_options(${PROJECT_NAME} PRIVATE "SHELL:--param ggc-min-heapsize=3
 
 # Mark executables and/or libraries for installation
 install(
-  TARGETS ${PROJECT_NAME}
+  TARGETS ${LIBRARY}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
+  RUNTIME DESTINATION lib/${LIBRARY}
 )
 
 # Mark cpp header files for installation
 install(
-  DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION include/${PROJECT_NAME}
+  DIRECTORY include/${LIBRARY}/
+  DESTINATION include/${LIBRARY}
   FILES_MATCHING PATTERN "*.hpp"
 )
 
 # Mark other files for installation
 install(
   FILES filter_plugins.xml
-  DESTINATION share/${PROJECT_NAME}
+  DESTINATION share/${PLUGINS_LIBRARY}
 )
 
 #############
@@ -130,5 +163,5 @@ ament_export_include_directories(
   ${TBB_INCLUDE_DIRS}
 )
 ament_export_dependencies(${dependencies})
-ament_export_libraries(${PROJECT_NAME})
+ament_export_libraries(${LIBRARY} ${PLUGINS_LIBRARY})
 ament_package()
diff --git a/grid_map_filters/src/BufferNormalizerFilter.cpp b/grid_map_filters/src/grid_map_filters/BufferNormalizerFilter.cpp
similarity index 86%
rename from grid_map_filters/src/BufferNormalizerFilter.cpp
rename to grid_map_filters/src/grid_map_filters/BufferNormalizerFilter.cpp
index dcc98a7cc..ddd6ff50c 100644
--- a/grid_map_filters/src/BufferNormalizerFilter.cpp
+++ b/grid_map_filters/src/grid_map_filters/BufferNormalizerFilter.cpp
@@ -35,7 +35,3 @@ bool BufferNormalizerFilter::update(const grid_map::GridMap & mapIn, grid_map::G
 }
 
 }  // namespace grid_map
-
-PLUGINLIB_EXPORT_CLASS(
-  grid_map::BufferNormalizerFilter,
-  filters::FilterBase<grid_map::GridMap>)
diff --git a/grid_map_filters/src/ColorBlendingFilter.cpp b/grid_map_filters/src/grid_map_filters/ColorBlendingFilter.cpp
similarity index 98%
rename from grid_map_filters/src/ColorBlendingFilter.cpp
rename to grid_map_filters/src/grid_map_filters/ColorBlendingFilter.cpp
index 79c707482..4d036684a 100644
--- a/grid_map_filters/src/ColorBlendingFilter.cpp
+++ b/grid_map_filters/src/grid_map_filters/ColorBlendingFilter.cpp
@@ -166,7 +166,3 @@ bool ColorBlendingFilter::update(const grid_map::GridMap & mapIn, grid_map::Grid
 }
 
 }  // namespace grid_map
-
-PLUGINLIB_EXPORT_CLASS(
-  grid_map::ColorBlendingFilter,
-  filters::FilterBase<grid_map::GridMap>)
diff --git a/grid_map_filters/src/ColorFillFilter.cpp b/grid_map_filters/src/grid_map_filters/ColorFillFilter.cpp
similarity index 96%
rename from grid_map_filters/src/ColorFillFilter.cpp
rename to grid_map_filters/src/grid_map_filters/ColorFillFilter.cpp
index 5842152ba..e95b5d637 100644
--- a/grid_map_filters/src/ColorFillFilter.cpp
+++ b/grid_map_filters/src/grid_map_filters/ColorFillFilter.cpp
@@ -94,7 +94,3 @@ bool ColorFillFilter::update(const grid_map::GridMap & mapIn, grid_map::GridMap
 }
 
 }  // namespace grid_map
-
-PLUGINLIB_EXPORT_CLASS(
-  grid_map::ColorFillFilter,
-  filters::FilterBase<grid_map::GridMap>)
diff --git a/grid_map_filters/src/ColorMapFilter.cpp b/grid_map_filters/src/grid_map_filters/ColorMapFilter.cpp
similarity index 97%
rename from grid_map_filters/src/ColorMapFilter.cpp
rename to grid_map_filters/src/grid_map_filters/ColorMapFilter.cpp
index 7289ad99c..9a6d4bad7 100644
--- a/grid_map_filters/src/ColorMapFilter.cpp
+++ b/grid_map_filters/src/grid_map_filters/ColorMapFilter.cpp
@@ -121,7 +121,3 @@ bool ColorMapFilter::update(const grid_map::GridMap & mapIn, grid_map::GridMap &
 }
 
 }  // namespace grid_map
-
-PLUGINLIB_EXPORT_CLASS(
-  grid_map::ColorMapFilter,
-  filters::FilterBase<grid_map::GridMap>)
diff --git a/grid_map_filters/src/CurvatureFilter.cpp b/grid_map_filters/src/grid_map_filters/CurvatureFilter.cpp
similarity index 96%
rename from grid_map_filters/src/CurvatureFilter.cpp
rename to grid_map_filters/src/grid_map_filters/CurvatureFilter.cpp
index 23fde9967..48a48eba3 100644
--- a/grid_map_filters/src/CurvatureFilter.cpp
+++ b/grid_map_filters/src/grid_map_filters/CurvatureFilter.cpp
@@ -88,7 +88,3 @@ bool CurvatureFilter::update(const grid_map::GridMap & mapIn, grid_map::GridMap
 }
 
 }  // namespace grid_map
-
-PLUGINLIB_EXPORT_CLASS(
-  grid_map::CurvatureFilter,
-  filters::FilterBase<grid_map::GridMap>)
diff --git a/grid_map_filters/src/DeletionFilter.cpp b/grid_map_filters/src/grid_map_filters/DeletionFilter.cpp
similarity index 92%
rename from grid_map_filters/src/DeletionFilter.cpp
rename to grid_map_filters/src/grid_map_filters/DeletionFilter.cpp
index 149590651..baef85928 100644
--- a/grid_map_filters/src/DeletionFilter.cpp
+++ b/grid_map_filters/src/grid_map_filters/DeletionFilter.cpp
@@ -61,7 +61,3 @@ bool DeletionFilter::update(const grid_map::GridMap & mapIn, grid_map::GridMap &
 }
 
 }  // namespace grid_map
-
-PLUGINLIB_EXPORT_CLASS(
-  grid_map::DeletionFilter,
-  filters::FilterBase<grid_map::GridMap>)
diff --git a/grid_map_filters/src/DuplicationFilter.cpp b/grid_map_filters/src/grid_map_filters/DuplicationFilter.cpp
similarity index 91%
rename from grid_map_filters/src/DuplicationFilter.cpp
rename to grid_map_filters/src/grid_map_filters/DuplicationFilter.cpp
index 25a02350b..3b1acf10d 100644
--- a/grid_map_filters/src/DuplicationFilter.cpp
+++ b/grid_map_filters/src/grid_map_filters/DuplicationFilter.cpp
@@ -51,7 +51,3 @@ bool DuplicationFilter::update(const grid_map::GridMap & mapIn, grid_map::GridMa
 }
 
 }  // namespace grid_map
-
-PLUGINLIB_EXPORT_CLASS(
-  grid_map::DuplicationFilter,
-  filters::FilterBase<grid_map::GridMap>)
diff --git a/grid_map_filters/src/LightIntensityFilter.cpp b/grid_map_filters/src/grid_map_filters/LightIntensityFilter.cpp
similarity index 96%
rename from grid_map_filters/src/LightIntensityFilter.cpp
rename to grid_map_filters/src/grid_map_filters/LightIntensityFilter.cpp
index 930f38321..460daab7f 100644
--- a/grid_map_filters/src/LightIntensityFilter.cpp
+++ b/grid_map_filters/src/grid_map_filters/LightIntensityFilter.cpp
@@ -99,7 +99,3 @@ bool LightIntensityFilter::update(const grid_map::GridMap & mapIn, grid_map::Gri
 }
 
 }  // namespace grid_map
-
-PLUGINLIB_EXPORT_CLASS(
-  grid_map::LightIntensityFilter,
-  filters::FilterBase<grid_map::GridMap>)
diff --git a/grid_map_filters/src/MathExpressionFilter.cpp b/grid_map_filters/src/grid_map_filters/MathExpressionFilter.cpp
similarity index 93%
rename from grid_map_filters/src/MathExpressionFilter.cpp
rename to grid_map_filters/src/grid_map_filters/MathExpressionFilter.cpp
index f1187eef2..6de9f981d 100644
--- a/grid_map_filters/src/MathExpressionFilter.cpp
+++ b/grid_map_filters/src/grid_map_filters/MathExpressionFilter.cpp
@@ -57,7 +57,3 @@ bool MathExpressionFilter::update(const grid_map::GridMap & mapIn, grid_map::Gri
 }
 
 }  // namespace grid_map
-
-PLUGINLIB_EXPORT_CLASS(
-  grid_map::MathExpressionFilter,
-  filters::FilterBase<grid_map::GridMap>)
diff --git a/grid_map_filters/src/MeanInRadiusFilter.cpp b/grid_map_filters/src/grid_map_filters/MeanInRadiusFilter.cpp
similarity index 96%
rename from grid_map_filters/src/MeanInRadiusFilter.cpp
rename to grid_map_filters/src/grid_map_filters/MeanInRadiusFilter.cpp
index f71aae40b..083112001 100644
--- a/grid_map_filters/src/MeanInRadiusFilter.cpp
+++ b/grid_map_filters/src/grid_map_filters/MeanInRadiusFilter.cpp
@@ -105,7 +105,3 @@ bool MeanInRadiusFilter::update(const grid_map::GridMap & mapIn, grid_map::GridM
 }
 
 }  // namespace grid_map
-
-PLUGINLIB_EXPORT_CLASS(
-  grid_map::MeanInRadiusFilter,
-  filters::FilterBase<grid_map::GridMap>)
diff --git a/grid_map_filters/src/MinInRadiusFilter.cpp b/grid_map_filters/src/grid_map_filters/MinInRadiusFilter.cpp
similarity index 96%
rename from grid_map_filters/src/MinInRadiusFilter.cpp
rename to grid_map_filters/src/grid_map_filters/MinInRadiusFilter.cpp
index e9332efa1..7e365e025 100644
--- a/grid_map_filters/src/MinInRadiusFilter.cpp
+++ b/grid_map_filters/src/grid_map_filters/MinInRadiusFilter.cpp
@@ -116,7 +116,3 @@ bool MinInRadiusFilter::update(const grid_map::GridMap & mapIn, grid_map::GridMa
 }
 
 }  // namespace grid_map
-
-PLUGINLIB_EXPORT_CLASS(
-  grid_map::MinInRadiusFilter,
-  filters::FilterBase<grid_map::GridMap>)
diff --git a/grid_map_filters/src/NormalColorMapFilter.cpp b/grid_map_filters/src/grid_map_filters/NormalColorMapFilter.cpp
similarity index 95%
rename from grid_map_filters/src/NormalColorMapFilter.cpp
rename to grid_map_filters/src/grid_map_filters/NormalColorMapFilter.cpp
index ab044aff3..593adae0f 100644
--- a/grid_map_filters/src/NormalColorMapFilter.cpp
+++ b/grid_map_filters/src/grid_map_filters/NormalColorMapFilter.cpp
@@ -76,7 +76,3 @@ bool NormalColorMapFilter::update(const grid_map::GridMap & mapIn, grid_map::Gri
 }
 
 }  // namespace grid_map
-
-PLUGINLIB_EXPORT_CLASS(
-  grid_map::NormalColorMapFilter,
-  filters::FilterBase<grid_map::GridMap>)
diff --git a/grid_map_filters/src/NormalVectorsFilter.cpp b/grid_map_filters/src/grid_map_filters/NormalVectorsFilter.cpp
similarity index 99%
rename from grid_map_filters/src/NormalVectorsFilter.cpp
rename to grid_map_filters/src/grid_map_filters/NormalVectorsFilter.cpp
index fbe7eb785..83dfa8ab3 100644
--- a/grid_map_filters/src/NormalVectorsFilter.cpp
+++ b/grid_map_filters/src/grid_map_filters/NormalVectorsFilter.cpp
@@ -478,7 +478,3 @@ void NormalVectorsFilter::rasterSingleNormalComputation(
 }
 
 }  // namespace grid_map
-
-PLUGINLIB_EXPORT_CLASS(
-  grid_map::NormalVectorsFilter,
-  filters::FilterBase<grid_map::GridMap>)
diff --git a/grid_map_filters/src/SetBasicLayersFilter.cpp b/grid_map_filters/src/grid_map_filters/SetBasicLayersFilter.cpp
similarity index 92%
rename from grid_map_filters/src/SetBasicLayersFilter.cpp
rename to grid_map_filters/src/grid_map_filters/SetBasicLayersFilter.cpp
index 21df81146..5835efba7 100644
--- a/grid_map_filters/src/SetBasicLayersFilter.cpp
+++ b/grid_map_filters/src/grid_map_filters/SetBasicLayersFilter.cpp
@@ -58,7 +58,3 @@ bool SetBasicLayersFilter::update(const grid_map::GridMap & mapIn, grid_map::Gri
 }
 
 }  // namespace grid_map
-
-PLUGINLIB_EXPORT_CLASS(
-  grid_map::SetBasicLayersFilter,
-  filters::FilterBase<grid_map::GridMap>)
diff --git a/grid_map_filters/src/SlidingWindowMathExpressionFilter.cpp b/grid_map_filters/src/grid_map_filters/SlidingWindowMathExpressionFilter.cpp
similarity index 97%
rename from grid_map_filters/src/SlidingWindowMathExpressionFilter.cpp
rename to grid_map_filters/src/grid_map_filters/SlidingWindowMathExpressionFilter.cpp
index b3fa03f5e..46e2f7c93 100644
--- a/grid_map_filters/src/SlidingWindowMathExpressionFilter.cpp
+++ b/grid_map_filters/src/grid_map_filters/SlidingWindowMathExpressionFilter.cpp
@@ -117,7 +117,3 @@ bool SlidingWindowMathExpressionFilter::update(
 }
 
 }  // namespace grid_map
-
-PLUGINLIB_EXPORT_CLASS(
-  grid_map::SlidingWindowMathExpressionFilter,
-  filters::FilterBase<grid_map::GridMap>)
diff --git a/grid_map_filters/src/ThresholdFilter.cpp b/grid_map_filters/src/grid_map_filters/ThresholdFilter.cpp
similarity index 96%
rename from grid_map_filters/src/ThresholdFilter.cpp
rename to grid_map_filters/src/grid_map_filters/ThresholdFilter.cpp
index 693ec28fa..30683d661 100644
--- a/grid_map_filters/src/ThresholdFilter.cpp
+++ b/grid_map_filters/src/grid_map_filters/ThresholdFilter.cpp
@@ -103,7 +103,3 @@ bool ThresholdFilter::update(const grid_map::GridMap & mapIn, grid_map::GridMap
 }
 
 }  // namespace grid_map
-
-PLUGINLIB_EXPORT_CLASS(
-  grid_map::ThresholdFilter,
-  filters::FilterBase<grid_map::GridMap>)
diff --git a/grid_map_filters/src/plugins/BufferNormalizerFilterPlugin.cpp b/grid_map_filters/src/plugins/BufferNormalizerFilterPlugin.cpp
new file mode 100644
index 000000000..5fb9796a9
--- /dev/null
+++ b/grid_map_filters/src/plugins/BufferNormalizerFilterPlugin.cpp
@@ -0,0 +1,13 @@
+/*
+ * BufferNormalizerFilter.cpp
+ *
+ *  Created on: Aug 18, 2017
+ *      Author: Peter Fankhauser
+ *   Institute: ETH Zurich, ANYbotics
+ */
+
+#include <pluginlib/class_list_macros.hpp>
+
+#include "grid_map_filters/BufferNormalizerFilter.hpp"
+
+PLUGINLIB_EXPORT_CLASS(grid_map::BufferNormalizerFilter, filters::FilterBase<grid_map::GridMap>)
diff --git a/grid_map_filters/src/plugins/ColorBlendingFilterPlugin.cpp b/grid_map_filters/src/plugins/ColorBlendingFilterPlugin.cpp
new file mode 100644
index 000000000..731679664
--- /dev/null
+++ b/grid_map_filters/src/plugins/ColorBlendingFilterPlugin.cpp
@@ -0,0 +1,13 @@
+/*
+ * ColorBlendingFilter.cpp
+ *
+ *  Created on: Sep 14, 2017
+ *      Author: Peter Fankhauser
+ *   Institute: ETH Zurich, ANYbotics
+ */
+
+#include <pluginlib/class_list_macros.hpp>
+
+#include "grid_map_filters/ColorBlendingFilter.hpp"
+
+PLUGINLIB_EXPORT_CLASS(grid_map::ColorBlendingFilter, filters::FilterBase<grid_map::GridMap>)
diff --git a/grid_map_filters/src/plugins/ColorFillFilterPlugin.cpp b/grid_map_filters/src/plugins/ColorFillFilterPlugin.cpp
new file mode 100644
index 000000000..dbfbbd301
--- /dev/null
+++ b/grid_map_filters/src/plugins/ColorFillFilterPlugin.cpp
@@ -0,0 +1,13 @@
+/*
+ * ColorFillFilter.cpp
+ *
+ *  Created on: Sep 14, 2017
+ *      Author: Peter Fankhauser
+ *   Institute: ETH Zurich, ANYbotics
+ */
+
+#include <pluginlib/class_list_macros.hpp>
+
+#include "grid_map_filters/ColorFillFilter.hpp"
+
+PLUGINLIB_EXPORT_CLASS(grid_map::ColorFillFilter, filters::FilterBase<grid_map::GridMap>)
diff --git a/grid_map_filters/src/plugins/ColorMapFilterPlugin.cpp b/grid_map_filters/src/plugins/ColorMapFilterPlugin.cpp
new file mode 100644
index 000000000..20fc9790a
--- /dev/null
+++ b/grid_map_filters/src/plugins/ColorMapFilterPlugin.cpp
@@ -0,0 +1,13 @@
+/*
+ * ColorMapFilter.cpp
+ *
+ *  Created on: Sep 23, 2017
+ *      Author: Peter Fankhauser
+ *   Institute: ETH Zurich, ANYbotics
+ */
+
+#include <pluginlib/class_list_macros.hpp>
+
+#include "grid_map_filters/ColorMapFilter.hpp"
+
+PLUGINLIB_EXPORT_CLASS(grid_map::ColorMapFilter, filters::FilterBase<grid_map::GridMap>)
diff --git a/grid_map_filters/src/plugins/CurvatureFilterPlugin.cpp b/grid_map_filters/src/plugins/CurvatureFilterPlugin.cpp
new file mode 100644
index 000000000..02ff1e353
--- /dev/null
+++ b/grid_map_filters/src/plugins/CurvatureFilterPlugin.cpp
@@ -0,0 +1,13 @@
+/*
+ * CurvatureFilter.cpp
+ *
+ *  Created on: Sep 23, 2017
+ *      Author: Peter Fankhauser
+ *   Institute: ETH Zurich, ANYbotics
+ */
+
+#include <pluginlib/class_list_macros.hpp>
+
+#include "grid_map_filters/CurvatureFilter.hpp"
+
+PLUGINLIB_EXPORT_CLASS(grid_map::CurvatureFilter, filters::FilterBase<grid_map::GridMap>)
diff --git a/grid_map_filters/src/plugins/DeletionFilterPlugin.cpp b/grid_map_filters/src/plugins/DeletionFilterPlugin.cpp
new file mode 100644
index 000000000..6daafd1f1
--- /dev/null
+++ b/grid_map_filters/src/plugins/DeletionFilterPlugin.cpp
@@ -0,0 +1,13 @@
+/*
+ * DeletionFilter.cpp
+ *
+ *  Created on: Mar 19, 2015
+ *      Author: Martin Wermelinger, Peter Fankhauser
+ *   Institute: ETH Zurich, ANYbotics
+ */
+
+#include <pluginlib/class_list_macros.hpp>
+
+#include "grid_map_filters/DeletionFilter.hpp"
+
+PLUGINLIB_EXPORT_CLASS(grid_map::DeletionFilter, filters::FilterBase<grid_map::GridMap>)
diff --git a/grid_map_filters/src/plugins/DuplicationFilterPlugin.cpp b/grid_map_filters/src/plugins/DuplicationFilterPlugin.cpp
new file mode 100644
index 000000000..1c52bd96f
--- /dev/null
+++ b/grid_map_filters/src/plugins/DuplicationFilterPlugin.cpp
@@ -0,0 +1,13 @@
+/*
+ * DuplicationFilter.cpp
+ *
+ *  Created on: Aug 18, 2017
+ *      Author: Peter Fankhauser
+ *   Institute: ETH Zurich, ANYbotics
+ */
+
+#include <pluginlib/class_list_macros.hpp>
+
+#include "grid_map_filters/DuplicationFilter.hpp"
+
+PLUGINLIB_EXPORT_CLASS(grid_map::DuplicationFilter, filters::FilterBase<grid_map::GridMap>)
diff --git a/grid_map_filters/src/plugins/LightIntensityFilterPlugin.cpp b/grid_map_filters/src/plugins/LightIntensityFilterPlugin.cpp
new file mode 100644
index 000000000..afe395990
--- /dev/null
+++ b/grid_map_filters/src/plugins/LightIntensityFilterPlugin.cpp
@@ -0,0 +1,13 @@
+/*
+ * LightIntensityFilter.cpp
+ *
+ *  Created on: Sep 23, 2017
+ *      Author: Peter Fankhauser
+ *   Institute: ETH Zurich, ANYbotics
+ */
+
+#include <pluginlib/class_list_macros.hpp>
+
+#include "grid_map_filters/LightIntensityFilter.hpp"
+
+PLUGINLIB_EXPORT_CLASS(grid_map::LightIntensityFilter, filters::FilterBase<grid_map::GridMap>)
diff --git a/grid_map_filters/src/plugins/MathExpressionFilterPlugin.cpp b/grid_map_filters/src/plugins/MathExpressionFilterPlugin.cpp
new file mode 100644
index 000000000..d37aec709
--- /dev/null
+++ b/grid_map_filters/src/plugins/MathExpressionFilterPlugin.cpp
@@ -0,0 +1,13 @@
+/*
+ * MathExpressionFilter.cpp
+ *
+ *  Created on: Aug 16, 2017
+ *      Author: Peter Fankhauser
+ *   Institute: ETH Zurich, ANYbotics
+ */
+
+#include <pluginlib/class_list_macros.hpp>
+
+#include "grid_map_filters/MathExpressionFilter.hpp"
+
+PLUGINLIB_EXPORT_CLASS(grid_map::MathExpressionFilter, filters::FilterBase<grid_map::GridMap>)
diff --git a/grid_map_filters/src/plugins/MeanInRadiusFilterPlugin.cpp b/grid_map_filters/src/plugins/MeanInRadiusFilterPlugin.cpp
new file mode 100644
index 000000000..65edf502c
--- /dev/null
+++ b/grid_map_filters/src/plugins/MeanInRadiusFilterPlugin.cpp
@@ -0,0 +1,13 @@
+/*
+ * MeanInRadiusFilter.cpp
+ *
+ *  Created on: May 3, 2017
+ *      Author: Tanja Baumann, Peter Fankhauser
+ *   Institute: ETH Zurich, ANYbotics
+ */
+
+#include <pluginlib/class_list_macros.hpp>
+
+#include "grid_map_filters/MeanInRadiusFilter.hpp"
+
+PLUGINLIB_EXPORT_CLASS(grid_map::MeanInRadiusFilter, filters::FilterBase<grid_map::GridMap>)
diff --git a/grid_map_filters/src/plugins/MinInRadiusFilterPlugin.cpp b/grid_map_filters/src/plugins/MinInRadiusFilterPlugin.cpp
new file mode 100644
index 000000000..c63a5372e
--- /dev/null
+++ b/grid_map_filters/src/plugins/MinInRadiusFilterPlugin.cpp
@@ -0,0 +1,13 @@
+/*
+ * MinInRadiusFilter.cpp
+ *
+ *  Created on: May 3, 2017
+ *      Author: Tanja Baumann, Peter Fankhauser
+ *   Institute: ETH Zurich, ANYbotics
+ */
+
+#include <pluginlib/class_list_macros.hpp>
+
+#include "grid_map_filters/MinInRadiusFilter.hpp"
+
+PLUGINLIB_EXPORT_CLASS(grid_map::MinInRadiusFilter, filters::FilterBase<grid_map::GridMap>)
diff --git a/grid_map_filters/src/plugins/NormalColorMapFilterPlugin.cpp b/grid_map_filters/src/plugins/NormalColorMapFilterPlugin.cpp
new file mode 100644
index 000000000..1470ebdc1
--- /dev/null
+++ b/grid_map_filters/src/plugins/NormalColorMapFilterPlugin.cpp
@@ -0,0 +1,13 @@
+/*
+ * NormalColorMapFilter.cpp
+ *
+ *  Created on: Aug 22, 2017
+ *      Author: Peter Fankhauser
+ *   Institute: ETH Zurich, ANYbotics
+ */
+
+#include <pluginlib/class_list_macros.hpp>
+
+#include "grid_map_filters/NormalColorMapFilter.hpp"
+
+PLUGINLIB_EXPORT_CLASS(grid_map::NormalColorMapFilter, filters::FilterBase<grid_map::GridMap>)
diff --git a/grid_map_filters/src/plugins/NormalVectorsFilterPlugin.cpp b/grid_map_filters/src/plugins/NormalVectorsFilterPlugin.cpp
new file mode 100644
index 000000000..8c4ceb8cd
--- /dev/null
+++ b/grid_map_filters/src/plugins/NormalVectorsFilterPlugin.cpp
@@ -0,0 +1,13 @@
+/*
+ * NormalVectorsFilter.cpp
+ *
+ *  Created on: May 05, 2015
+ *      Author: Peter Fankhauser, Martin Wermelinger
+ *   Institute: ETH Zurich, ANYbotics
+ */
+
+#include <pluginlib/class_list_macros.hpp>
+
+#include "grid_map_filters/NormalVectorsFilter.hpp"
+
+PLUGINLIB_EXPORT_CLASS(grid_map::NormalVectorsFilter, filters::FilterBase<grid_map::GridMap>)
diff --git a/grid_map_filters/src/plugins/SetBasicLayersFilterPlugin.cpp b/grid_map_filters/src/plugins/SetBasicLayersFilterPlugin.cpp
new file mode 100644
index 000000000..4bce7848e
--- /dev/null
+++ b/grid_map_filters/src/plugins/SetBasicLayersFilterPlugin.cpp
@@ -0,0 +1,13 @@
+/*
+ * SetBasicLayersFilters.cpp
+ *
+ *  Created on: Aug 16, 2017
+ *      Author: Peter Fankhauser
+ *   Institute: ETH Zurich, ANYbotics
+ */
+
+#include <pluginlib/class_list_macros.hpp>
+
+#include "grid_map_filters/SetBasicLayersFilter.hpp"
+
+PLUGINLIB_EXPORT_CLASS(grid_map::SetBasicLayersFilter, filters::FilterBase<grid_map::GridMap>)
diff --git a/grid_map_filters/src/plugins/SlidingWindowMathExpressionFilterPlugin.cpp b/grid_map_filters/src/plugins/SlidingWindowMathExpressionFilterPlugin.cpp
new file mode 100644
index 000000000..5ffa2945f
--- /dev/null
+++ b/grid_map_filters/src/plugins/SlidingWindowMathExpressionFilterPlugin.cpp
@@ -0,0 +1,15 @@
+/*
+ * SlidingWindowMathExpressionFilter.cpp
+ *
+ *  Created on: Aug 18, 2017
+ *      Author: Peter Fankhauser
+ *   Institute: ETH Zurich, ANYbotics
+ */
+
+#include <pluginlib/class_list_macros.hpp>
+
+#include "grid_map_filters/SlidingWindowMathExpressionFilter.hpp"
+
+PLUGINLIB_EXPORT_CLASS(
+  grid_map::SlidingWindowMathExpressionFilter,
+  filters::FilterBase<grid_map::GridMap>)
diff --git a/grid_map_filters/src/plugins/ThresholdFilterPlugin.cpp b/grid_map_filters/src/plugins/ThresholdFilterPlugin.cpp
new file mode 100644
index 000000000..5b7fa2931
--- /dev/null
+++ b/grid_map_filters/src/plugins/ThresholdFilterPlugin.cpp
@@ -0,0 +1,13 @@
+/*
+ * ThresholdFilter.cpp
+ *
+ *  Created on: Mar 18, 2015
+ *      Author: Martin Wermelinger, Peter Fankhauser
+ *   Institute: ETH Zurich, ANYbotics
+ */
+
+#include <pluginlib/class_list_macros.hpp>
+
+#include "grid_map_filters/ThresholdFilter.hpp"
+
+PLUGINLIB_EXPORT_CLASS(grid_map::ThresholdFilter, filters::FilterBase<grid_map::GridMap>)