diff --git a/system_metrics_collector/CMakeLists.txt b/system_metrics_collector/CMakeLists.txt
index 4dd37c8c..792abfc1 100644
--- a/system_metrics_collector/CMakeLists.txt
+++ b/system_metrics_collector/CMakeLists.txt
@@ -127,6 +127,11 @@ if(BUILD_TESTING)
           test/system_metrics_collector/test_utilities.cpp)
   target_link_libraries(test_utilities system_metrics_collector)
   ament_target_dependencies(test_utilities rclcpp)
+
+  ament_add_gtest(test_subscriber_topic_statistics
+          test/topic_statistics_collector/test_subscriber_topic_statistics.cpp)
+  target_link_libraries(test_subscriber_topic_statistics system_metrics_collector)
+  ament_target_dependencies(test_subscriber_topic_statistics rcl rclcpp sensor_msgs)
 endif()
 
 # Install launch files
diff --git a/system_metrics_collector/package.xml b/system_metrics_collector/package.xml
index 96c24914..a3dd195c 100644
--- a/system_metrics_collector/package.xml
+++ b/system_metrics_collector/package.xml
@@ -27,6 +27,7 @@
   <test_depend>ament_lint_common</test_depend>
   <test_depend>class_loader</test_depend>
   <test_depend>lifecycle_msgs</test_depend>
+  <test_depend>sensor_msgs</test_depend>
 
   <!--Required for e2e test file-->
   <test_depend>python3-retrying</test_depend>
diff --git a/system_metrics_collector/src/topic_statistics_collector/subscriber_topic_statistics.hpp b/system_metrics_collector/src/topic_statistics_collector/subscriber_topic_statistics.hpp
index 2ed506f5..191e5e85 100644
--- a/system_metrics_collector/src/topic_statistics_collector/subscriber_topic_statistics.hpp
+++ b/system_metrics_collector/src/topic_statistics_collector/subscriber_topic_statistics.hpp
@@ -26,16 +26,22 @@
 #include "rclcpp/rclcpp.hpp"
 #include "rcpputils/asserts.hpp"
 
-#include "received_message_age.hpp"
-#include "received_message_period.hpp"
+#include "libstatistics_collector/topic_statistics_collector/received_message_age.hpp"
+#include "libstatistics_collector/topic_statistics_collector/received_message_period.hpp"
+#include "libstatistics_collector/topic_statistics_collector/topic_statistics_collector.hpp"
 #include "system_metrics_collector/constants.hpp"
 #include "system_metrics_collector/metrics_message_publisher.hpp"
-#include "topic_statistics_collector.hpp"
 
 
 namespace topic_statistics_collector
 {
 
+using libstatistics_collector::topic_statistics_collector::TopicStatisticsCollector;
+using libstatistics_collector::topic_statistics_collector::ReceivedMessageAgeCollector;
+using libstatistics_collector::topic_statistics_collector::ReceivedMessagePeriodCollector;
+namespace constants =
+  libstatistics_collector::topic_statistics_collector::topic_statistics_constants;
+
 /**
  * Build a positive integer range to use in parameter descriptors.
  *
@@ -147,17 +153,17 @@ class SubscriberTopicStatisticsNode : public system_metrics_collector::MetricsMe
     const auto collect_topic_desc = buildTopicParameterDescriptor(
       "The topic to subscribe to, for calculating topic statistics.");
     collect_topic_name_ = declare_parameter(
-      topic_statistics_constants::kCollectStatsTopicNameParam,
+      constants::kCollectStatsTopicNameParam,
       std::string(),
       collect_topic_desc);
     validateStringParam(
-      topic_statistics_constants::kCollectStatsTopicNameParam,
+      constants::kCollectStatsTopicNameParam,
       collect_topic_name_);
 
     const auto publish_topic_desc = buildTopicParameterDescriptor(
       "The topic to publish topic statistics to.");
     publish_topic_name_ = declare_parameter(
-      topic_statistics_constants::kPublishStatsTopicNameParam,
+      constants::kPublishStatsTopicNameParam,
       system_metrics_collector::collector_node_constants::kStatisticsTopicName,
       publish_topic_desc);
 
diff --git a/system_metrics_collector/test/topic_statistics_collector/test_subscriber_topic_statistics.cpp b/system_metrics_collector/test/topic_statistics_collector/test_subscriber_topic_statistics.cpp
index 3e19f2d3..be61796a 100644
--- a/system_metrics_collector/test/topic_statistics_collector/test_subscriber_topic_statistics.cpp
+++ b/system_metrics_collector/test/topic_statistics_collector/test_subscriber_topic_statistics.cpp
@@ -22,13 +22,16 @@
 #include "lifecycle_msgs/msg/state.hpp"
 #include "sensor_msgs/msg/imu.hpp"
 
+#include "libstatistics_collector/topic_statistics_collector/constants.hpp"
+#include "libstatistics_collector/topic_statistics_collector/topic_statistics_collector.hpp"
 #include "system_metrics_collector/constants.hpp"
-#include "topic_statistics_collector/constants.hpp"
 #include "topic_statistics_collector/subscriber_topic_statistics.hpp"
-#include "topic_statistics_collector/topic_statistics_collector.hpp"
 #include "../system_metrics_collector/test_functions.hpp"
 
 using lifecycle_msgs::msg::State;
+using libstatistics_collector::moving_average_statistics::StatisticData;
+namespace constants =
+  libstatistics_collector::topic_statistics_collector::topic_statistics_constants;
 
 namespace
 {
@@ -98,9 +101,9 @@ class TestSubscriberTopicStatisticsNode
    *
    * @return statistic data collected by all collectors
    */
-  std::vector<moving_average_statistics::StatisticData> GetCollectorData() const
+  std::vector<StatisticData> GetCollectorData() const
   {
-    std::vector<moving_average_statistics::StatisticData> data;
+    std::vector<StatisticData> data;
     for (const auto & collector : statistics_collectors_) {
       data.push_back(collector->GetStatisticsResults());
     }
@@ -185,9 +188,7 @@ class SubscriberTopicStatisticsNodeTestFixture : public testing::Test
     options.append_parameter_override(
       system_metrics_collector::collector_node_constants::kPublishPeriodParam,
       kVeryLongPublishPeriod.count());
-    options.append_parameter_override(
-      topic_statistics_collector::topic_statistics_constants::kCollectStatsTopicNameParam,
-      kTestTopicName);
+    options.append_parameter_override(constants::kCollectStatsTopicNameParam, kTestTopicName);
 
     imu_publisher_ = std::make_shared<ImuMessagePublisher>();
     EXPECT_EQ(imu_publisher_->getSubscriptionCount(), 0);
@@ -363,9 +364,7 @@ TEST_F(RclcppFixture, TestConstructorPublishPeriodValidation) {
 
 TEST_F(RclcppFixture, TestConstructorTopicNameValidation) {
   rclcpp::NodeOptions options;
-  options.append_parameter_override(
-    topic_statistics_collector::topic_statistics_constants::kCollectStatsTopicNameParam,
-    std::string());
+  options.append_parameter_override(constants::kCollectStatsTopicNameParam, std::string());
 
   ASSERT_THROW(
     TestSubscriberTopicStatisticsNode("throw", options),
@@ -377,9 +376,7 @@ TEST_F(RclcppFixture, TestMetricsMessagePublisher) {
   options.append_parameter_override(
     system_metrics_collector::collector_node_constants::kPublishPeriodParam,
     std::chrono::milliseconds{kTestDuration}.count());
-  options.append_parameter_override(
-    topic_statistics_collector::topic_statistics_constants::kCollectStatsTopicNameParam,
-    kTestTopicName);
+  options.append_parameter_override(constants::kCollectStatsTopicNameParam, kTestTopicName);
 
   auto test_node = std::make_shared<TestSubscriberTopicStatisticsNode>(
     "TestMetricsMessagePublisher",