diff --git a/src/nebula_continental/nebula_continental/CMakeLists.txt b/src/nebula_continental/nebula_continental/CMakeLists.txt
index 07ee68569..62bf6e40a 100644
--- a/src/nebula_continental/nebula_continental/CMakeLists.txt
+++ b/src/nebula_continental/nebula_continental/CMakeLists.txt
@@ -6,6 +6,10 @@ find_package(message_filters REQUIRED)
 find_package(tf2_ros REQUIRED)
 autoware_package()
 
+if("$ENV{ENABLE_AGNOCAST}" AND NOT agnocast_components_FOUND)
+  message(FATAL_ERROR "agnocast_components is required when Agnocast is enabled")
+endif()
+
 # # Continental
 
 # ARS548
@@ -42,9 +46,16 @@ ament_target_dependencies(
   rclcpp_components
   tf2_ros)
 
-rclcpp_components_register_node(
-  continental_ars548_ros_wrapper PLUGIN "ContinentalARS548RosWrapper"
-  EXECUTABLE continental_ars548_ros_wrapper_node)
+if("$ENV{ENABLE_AGNOCAST}")
+  agnocast_components_register_node(
+    continental_ars548_ros_wrapper PLUGIN "ContinentalARS548RosWrapper"
+    EXECUTABLE continental_ars548_ros_wrapper_node
+    EXECUTOR CallbackIsolatedAgnocastExecutor)
+else()
+  rclcpp_components_register_node(
+    continental_ars548_ros_wrapper PLUGIN "ContinentalARS548RosWrapper"
+    EXECUTABLE continental_ars548_ros_wrapper_node)
+endif()
 
 # SRR520
 add_library(
@@ -79,9 +90,15 @@ ament_target_dependencies(
   message_filters
   tf2_ros)
 
-rclcpp_components_register_node(
-  continental_srr520_ros_wrapper PLUGIN "ContinentalSRR520RosWrapper"
-  EXECUTABLE continental_srr520_ros_wrapper_node)
+if("$ENV{ENABLE_AGNOCAST}")
+  agnocast_components_register_node(
+    continental_srr520_ros_wrapper PLUGIN "ContinentalSRR520RosWrapper"
+    EXECUTABLE continental_srr520_ros_wrapper_node)
+else()
+  rclcpp_components_register_node(
+    continental_srr520_ros_wrapper PLUGIN "ContinentalSRR520RosWrapper"
+    EXECUTABLE continental_srr520_ros_wrapper_node)
+endif()
 
 install(
   TARGETS continental_ars548_ros_wrapper
@@ -185,4 +202,8 @@ ament_export_dependencies(
   visualization_msgs
   yaml-cpp)
 
+if("$ENV{ENABLE_AGNOCAST}")
+  ament_export_dependencies(agnocast_components)
+endif()
+
 ament_package()
diff --git a/src/nebula_continental/nebula_continental/package.xml b/src/nebula_continental/nebula_continental/package.xml
index 1bd13c9f1..529c34f4a 100644
--- a/src/nebula_continental/nebula_continental/package.xml
+++ b/src/nebula_continental/nebula_continental/package.xml
@@ -16,6 +16,7 @@
   <buildtool_depend>ros_environment</buildtool_depend>
   <buildtool_depend>ros_testing</buildtool_depend>
 
+  <depend condition="$ENABLE_AGNOCAST == 1">agnocast_components</depend>
   <depend>autoware_sensing_msgs</depend>
   <depend>continental_msgs</depend>
   <depend>continental_srvs</depend>
diff --git a/src/nebula_hesai/nebula_hesai/CMakeLists.txt b/src/nebula_hesai/nebula_hesai/CMakeLists.txt
index 15aa9296c..8f2ed1804 100644
--- a/src/nebula_hesai/nebula_hesai/CMakeLists.txt
+++ b/src/nebula_hesai/nebula_hesai/CMakeLists.txt
@@ -8,6 +8,9 @@ autoware_package()
 if("$ENV{ENABLE_AGNOCAST}" AND NOT agnocastlib_FOUND)
   message(FATAL_ERROR "agnocastlib is required when Agnocast is enabled")
 endif()
+if("$ENV{ENABLE_AGNOCAST}" AND NOT agnocast_components_FOUND)
+  message(FATAL_ERROR "agnocast_components is required when Agnocast is enabled")
+endif()
 
 # Hesai
 add_library(
@@ -46,8 +49,15 @@ if("$ENV{ENABLE_AGNOCAST}")
   add_definitions(-DUSE_AGNOCAST_ENABLED)
 endif()
 
-rclcpp_components_register_node(hesai_ros_wrapper PLUGIN "HesaiRosWrapper"
-                                EXECUTABLE hesai_ros_wrapper_node)
+if("$ENV{ENABLE_AGNOCAST}")
+  agnocast_components_register_node(
+    hesai_ros_wrapper PLUGIN "HesaiRosWrapper"
+    EXECUTABLE hesai_ros_wrapper_node
+    EXECUTOR CallbackIsolatedAgnocastExecutor)
+else()
+  rclcpp_components_register_node(hesai_ros_wrapper PLUGIN "HesaiRosWrapper"
+                                  EXECUTABLE hesai_ros_wrapper_node)
+endif()
 
 install(
   TARGETS hesai_ros_wrapper
@@ -185,6 +195,7 @@ ament_export_dependencies(
 
 if("$ENV{ENABLE_AGNOCAST}")
   ament_export_dependencies(agnocastlib)
+  ament_export_dependencies(agnocast_components)
 endif()
 
 ament_package()
diff --git a/src/nebula_hesai/nebula_hesai/package.xml b/src/nebula_hesai/nebula_hesai/package.xml
index db2a74845..0b043f565 100644
--- a/src/nebula_hesai/nebula_hesai/package.xml
+++ b/src/nebula_hesai/nebula_hesai/package.xml
@@ -14,6 +14,7 @@
   <buildtool_depend>ros_environment</buildtool_depend>
   <buildtool_depend>ros_testing</buildtool_depend>
 
+  <depend condition="$ENABLE_AGNOCAST == 1">agnocast_components</depend>
   <depend condition="$ENABLE_AGNOCAST == 1">agnocastlib</depend>
   <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_utils_debug</depend>