diff --git a/localization/autoware_ekf_localizer/CMakeLists.txt b/localization/autoware_ekf_localizer/CMakeLists.txt
index 6ace0b413d..96a68bcf4b 100644
--- a/localization/autoware_ekf_localizer/CMakeLists.txt
+++ b/localization/autoware_ekf_localizer/CMakeLists.txt
@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.14)
 project(autoware_ekf_localizer)
 
 find_package(autoware_cmake REQUIRED)
+find_package(agnocast_components REQUIRED)
 autoware_package()
 
 find_package(Eigen3 REQUIRED)
@@ -24,10 +25,10 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
   src/ekf_module.cpp
 )
 
-rclcpp_components_register_node(${PROJECT_NAME}
+agnocast_components_register_node(${PROJECT_NAME}
   PLUGIN "autoware::ekf_localizer::EKFLocalizer"
   EXECUTABLE ${PROJECT_NAME}_node
-  EXECUTOR SingleThreadedExecutor
+  EXECUTOR CallbackIsolatedAgnocastExecutor
 )
 
 target_link_libraries(${PROJECT_NAME} Eigen3::Eigen)
diff --git a/localization/autoware_ekf_localizer/package.xml b/localization/autoware_ekf_localizer/package.xml
index 0d4a301a0e..e8575226c8 100644
--- a/localization/autoware_ekf_localizer/package.xml
+++ b/localization/autoware_ekf_localizer/package.xml
@@ -22,6 +22,7 @@
 
   <build_depend>eigen</build_depend>
 
+  <depend>agnocast_components</depend>
   <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_kalman_filter</depend>
   <depend>autoware_localization_util</depend>