diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9f32b66..9b9ec89 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -111,13 +111,27 @@ elseif("$ENV{ROS_VERSION}" STREQUAL "2")
 
     find_package(ament_cmake REQUIRED)
     find_package(rclcpp REQUIRED)
+    find_package(rclcpp_components REQUIRED)
 
-    add_executable(foxglove_bridge
+    add_library(foxglove_bridge_component SHARED
       ros2_foxglove_bridge/src/message_definition_cache.cpp
       ros2_foxglove_bridge/src/ros2_foxglove_bridge.cpp
     )
+    target_include_directories(foxglove_bridge_component
+      PUBLIC
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/foxglove_bridge_base/include>
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/ros2_foxglove_bridge/include>
+        $<INSTALL_INTERFACE:include>
+    )
+    ament_target_dependencies(foxglove_bridge_component rclcpp rclcpp_components)
+    target_link_libraries(foxglove_bridge_component foxglove_bridge_base)
+    rclcpp_components_register_nodes(foxglove_bridge_component "foxglove_bridge::FoxgloveBridge")
+
+    add_executable(foxglove_bridge
+      ros2_foxglove_bridge/src/ros2_foxglove_bridge_node.cpp
+    )
     target_include_directories(foxglove_bridge SYSTEM PRIVATE ${rclcpp_INCLUDE_DIRS})
-    target_link_libraries(foxglove_bridge foxglove_bridge_base ${rclcpp_LIBRARIES})
+    ament_target_dependencies(foxglove_bridge rclcpp rclcpp_components)
   else()
     message(FATAL_ERROR "Could not find ament_cmake")
   endif()
@@ -177,11 +191,11 @@ elseif(ROS_BUILD_TYPE STREQUAL "ament_cmake")
     install(TARGETS foxglove_bridge
       DESTINATION lib/${PROJECT_NAME}
     )
-    install(TARGETS foxglove_bridge_base
+    install(TARGETS foxglove_bridge_base foxglove_bridge_component
       ARCHIVE DESTINATION lib
       LIBRARY DESTINATION lib
       RUNTIME DESTINATION bin
     )
-    ament_export_libraries(foxglove_bridge_base)
+    ament_export_libraries(foxglove_bridge_base foxglove_bridge_component)
     ament_package()
 endif()
diff --git a/package.xml b/package.xml
index e472fd9..222faf7 100644
--- a/package.xml
+++ b/package.xml
@@ -21,6 +21,7 @@
     <!-- ROS 2 runtime dependencies -->
     <depend condition="$ROS_VERSION == 2">ament_index_cpp</depend>
     <depend condition="$ROS_VERSION == 2">rclcpp</depend>
+    <depend condition="$ROS_VERSION == 2">rclcpp_components</depend>
 
     <!-- Test dependencies -->
     <build_depend condition="$ROS_VERSION == 1">rostest</build_depend>
diff --git a/ros2_foxglove_bridge/src/ros2_foxglove_bridge.cpp b/ros2_foxglove_bridge/src/ros2_foxglove_bridge.cpp
index 7893cac..73260b3 100644
--- a/ros2_foxglove_bridge/src/ros2_foxglove_bridge.cpp
+++ b/ros2_foxglove_bridge/src/ros2_foxglove_bridge.cpp
@@ -15,7 +15,6 @@
 
 constexpr uint16_t DEFAULT_PORT = 8765;
 constexpr char DEFAULT_ADDRESS[] = "0.0.0.0";
-constexpr int DEFAULT_NUM_THREADS = 0;
 constexpr size_t DEFAULT_MAX_QOS_DEPTH = 10;
 
 using namespace std::chrono_literals;
@@ -24,6 +23,8 @@ using LogLevel = foxglove::WebSocketLogLevel;
 using Subscription = std::pair<rclcpp::GenericSubscription::SharedPtr, rclcpp::SubscriptionOptions>;
 using SubscriptionsByClient = std::map<foxglove::ConnHandle, Subscription, std::owner_less<>>;
 
+namespace foxglove_bridge {
+
 class FoxgloveBridge : public rclcpp::Node {
 public:
   using TopicAndDatatype = std::pair<std::string, std::string>;
@@ -74,19 +75,6 @@ class FoxgloveBridge : public rclcpp::Node {
     keyfileDescription.read_only = true;
     this->declare_parameter("keyfile", "", keyfileDescription);
 
-    auto numThreadsDescription = rcl_interfaces::msg::ParameterDescriptor{};
-    numThreadsDescription.name = "num_threads";
-    numThreadsDescription.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    numThreadsDescription.description =
-      "The number of threads to use for the ROS node executor. 0 means one thread per CPU core.";
-    numThreadsDescription.read_only = true;
-    numThreadsDescription.additional_constraints = "Must be a non-negative integer";
-    numThreadsDescription.integer_range.resize(1);
-    numThreadsDescription.integer_range[0].from_value = 0;
-    numThreadsDescription.integer_range[0].to_value = INT32_MAX;
-    numThreadsDescription.integer_range[0].step = 1;
-    this->declare_parameter("num_threads", DEFAULT_NUM_THREADS, numThreadsDescription);
-
     auto maxQosDepthDescription = rcl_interfaces::msg::ParameterDescriptor{};
     maxQosDepthDescription.name = "max_qos_depth";
     maxQosDepthDescription.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
@@ -143,13 +131,6 @@ class FoxgloveBridge : public rclcpp::Node {
     RCLCPP_INFO(this->get_logger(), "Shutdown complete");
   }
 
-  size_t numThreads() {
-    int numThreads;
-    rclcpp::spin_some(this->get_node_base_interface());
-    this->get_parameter_or("num_threads", numThreads, DEFAULT_NUM_THREADS);
-    return size_t(numThreads);
-  }
-
   void rosgraphPollThread() {
     updateAdvertisedTopics();
 
@@ -504,13 +485,11 @@ class FoxgloveBridge : public rclcpp::Node {
   }
 };
 
-int main(int argc, char* argv[]) {
-  rclcpp::init(argc, argv);
-  auto bridgeNode = std::make_shared<FoxgloveBridge>();
-  rclcpp::executors::MultiThreadedExecutor executor{rclcpp::ExecutorOptions{},
-                                                    bridgeNode->numThreads()};
-  executor.add_node(bridgeNode);
-  executor.spin();
-  rclcpp::shutdown();
-  return 0;
-}
+}  // namespace foxglove_bridge
+
+#include <rclcpp_components/register_node_macro.hpp>
+
+// Register the component with class_loader.
+// This acts as a sort of entry point, allowing the component to be discoverable when its library
+// is being loaded into a running process.
+RCLCPP_COMPONENTS_REGISTER_NODE(foxglove_bridge::FoxgloveBridge)
diff --git a/ros2_foxglove_bridge/src/ros2_foxglove_bridge_node.cpp b/ros2_foxglove_bridge/src/ros2_foxglove_bridge_node.cpp
new file mode 100644
index 0000000..d62d63c
--- /dev/null
+++ b/ros2_foxglove_bridge/src/ros2_foxglove_bridge_node.cpp
@@ -0,0 +1,42 @@
+#include <rclcpp_components/component_manager.hpp>
+
+int main(int argc, char* argv[]) {
+  rclcpp::init(argc, argv);
+
+  auto dummyNode = std::make_shared<rclcpp::Node>("dummy");
+  auto numThreadsDescription = rcl_interfaces::msg::ParameterDescriptor{};
+  numThreadsDescription.name = "num_threads";
+  numThreadsDescription.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
+  numThreadsDescription.description =
+    "The number of threads to use for the ROS node executor. 0 means one thread per CPU core.";
+  numThreadsDescription.read_only = true;
+  numThreadsDescription.additional_constraints = "Must be a non-negative integer";
+  numThreadsDescription.integer_range.resize(1);
+  numThreadsDescription.integer_range[0].from_value = 0;
+  numThreadsDescription.integer_range[0].to_value = INT32_MAX;
+  numThreadsDescription.integer_range[0].step = 1;
+  constexpr int DEFAULT_NUM_THREADS = 0;
+  dummyNode->declare_parameter("num_threads", DEFAULT_NUM_THREADS, numThreadsDescription);
+
+  const auto numThreads = dummyNode->get_parameter("num_threads").as_int();
+
+  auto executor =
+    rclcpp::executors::MultiThreadedExecutor::make_shared(rclcpp::ExecutorOptions{}, numThreads);
+
+  rclcpp_components::ComponentManager componentManager(executor, "ComponentManager");
+  const auto componentResources = componentManager.get_component_resources("foxglove_bridge");
+  RCLCPP_INFO(componentManager.get_logger(), std::to_string(numThreads).c_str());
+
+  if (componentResources.empty()) {
+    RCLCPP_INFO(componentManager.get_logger(), "No loadable resources found");
+    return EXIT_FAILURE;
+  }
+
+  auto componentFactory = componentManager.create_component_factory(componentResources.front());
+  auto node = componentFactory->create_node_instance(rclcpp::NodeOptions());
+
+  executor->spin();
+  rclcpp::shutdown();
+
+  return EXIT_SUCCESS;
+}