diff --git a/perception/object_merger/CMakeLists.txt b/perception/object_merger/CMakeLists.txt
index b02983db11af3..721c5eff31ede 100644
--- a/perception/object_merger/CMakeLists.txt
+++ b/perception/object_merger/CMakeLists.txt
@@ -28,9 +28,12 @@ target_link_libraries(object_association_merger
   Eigen3::Eigen
 )
 
-rclcpp_components_register_node(object_association_merger
-  PLUGIN "object_association::ObjectAssociationMergerNode"
-  EXECUTABLE object_association_merger_node
+ament_auto_add_executable(object_association_merger_node
+  src/object_association_merger/main.cpp
+)
+
+target_link_libraries(object_association_merger_node
+  object_association_merger glog
 )
 
 ament_auto_package(INSTALL_TO_SHARE
diff --git a/perception/object_merger/src/object_association_merger/main.cpp b/perception/object_merger/src/object_association_merger/main.cpp
new file mode 100644
index 0000000000000..480766fdcd496
--- /dev/null
+++ b/perception/object_merger/src/object_association_merger/main.cpp
@@ -0,0 +1,34 @@
+// Copyright 2024 TIER IV, inc.
+//
+// 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 "object_merger/node.hpp"
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <glog/logging.h>
+
+int main(int argc, char ** argv)
+{
+  google::InitGoogleLogging(argv[0]);  // NOLINT
+  google::InstallFailureSignalHandler();
+
+  rclcpp::init(argc, argv);
+  rclcpp::NodeOptions options;
+  auto object_association_merger = std::make_shared<object_association::ObjectAssociationMergerNode>(options);
+  rclcpp::executors::SingleThreadedExecutor exec;
+  exec.add_node(object_association_merger);
+  exec.spin();
+  rclcpp::shutdown();
+  return 0;
+}