diff --git a/isaac_ros_tensor_rt/include/isaac_ros_tensor_rt/tensor_rt_node.hpp b/isaac_ros_tensor_rt/include/isaac_ros_tensor_rt/tensor_rt_node.hpp
index e05b197..51902b5 100644
--- a/isaac_ros_tensor_rt/include/isaac_ros_tensor_rt/tensor_rt_node.hpp
+++ b/isaac_ros_tensor_rt/include/isaac_ros_tensor_rt/tensor_rt_node.hpp
@@ -71,6 +71,9 @@ class TensorRTNode : public nitros::NitrosNode
   const int32_t max_batch_size_;
   const bool enable_fp16_;
   const bool relaxed_dimension_check_;
+
+  // Plugin library paths
+  const StringList plugin_library_paths_;
 };
 
 }  // namespace dnn_inference
diff --git a/isaac_ros_tensor_rt/launch/isaac_ros_tensor_rt.launch.py b/isaac_ros_tensor_rt/launch/isaac_ros_tensor_rt.launch.py
index 4933b20..ea56757 100644
--- a/isaac_ros_tensor_rt/launch/isaac_ros_tensor_rt.launch.py
+++ b/isaac_ros_tensor_rt/launch/isaac_ros_tensor_rt.launch.py
@@ -58,6 +58,10 @@ def generate_launch_description():
             'force_engine_update',
             default_value='False',
             description='Whether TensorRT should update the TensorRT engine file or not'),
+        DeclareLaunchArgument(
+            'plugin_library_paths',
+            default_value='[]',
+            description='A list of plugin library names to load'),
     ]
 
     # TensorRT parameters
@@ -69,6 +73,7 @@ def generate_launch_description():
     output_binding_names = LaunchConfiguration('output_binding_names')
     verbose = LaunchConfiguration('verbose')
     force_engine_update = LaunchConfiguration('force_engine_update')
+    plugin_library_paths = LaunchConfiguration('plugin_library_paths')
 
     tensor_rt_node = ComposableNode(
         name='tensor_rt',
@@ -84,7 +89,8 @@ def generate_launch_description():
             'input_tensor_names': input_tensor_names,
             'input_binding_names': input_binding_names,
             'verbose': verbose,
-            'force_engine_update': force_engine_update
+            'force_engine_update': force_engine_update,
+            'plugin_library_paths': plugin_library_paths,
         }]
     )
 
diff --git a/isaac_ros_tensor_rt/src/tensor_rt_node.cpp b/isaac_ros_tensor_rt/src/tensor_rt_node.cpp
index cc12b29..d4e30ea 100644
--- a/isaac_ros_tensor_rt/src/tensor_rt_node.cpp
+++ b/isaac_ros_tensor_rt/src/tensor_rt_node.cpp
@@ -26,6 +26,49 @@
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_components/register_node_macro.hpp"
 
+// For loadLibrary
+#ifdef _MSC_VER
+// Needed so that the max/min definitions in windows.h do not conflict with std::max/min.
+#define NOMINMAX
+#include <windows.h>
+#undef NOMINMAX
+#else
+#include <dlfcn.h>
+#endif
+
+namespace
+{
+inline void loadLibrary(const std::string & path, const rclcpp::Logger & logger)
+{
+#ifdef _MSC_VER
+    void* handle = LoadLibrary(path.c_str());
+#else
+    int32_t flags{RTLD_LAZY};
+#if ENABLE_ASAN
+    // https://github.com/google/sanitizers/issues/89
+    // asan doesn't handle module unloading correctly and there are no plans on doing
+    // so. In order to get proper stack traces, don't delete the shared library on
+    // close so that asan can resolve the symbols correctly.
+    flags |= RTLD_NODELETE;
+#endif // ENABLE_ASAN
+
+    void* handle = dlopen(path.c_str(), flags);
+#endif
+    if (handle == nullptr)
+    {
+#ifdef _MSC_VER
+        RCLCPP_INFO_STREAM(
+          logger, "Could not load plugin library: " << path << std::endl
+        );
+#else
+        RCLCPP_INFO_STREAM(
+          logger, "Could not load plugin library: " << path << ", due to: " << dlerror() << std::endl
+        );
+#endif
+    }
+}
+}  // namespace
+
 namespace nvidia
 {
 namespace isaac_ros
@@ -114,7 +157,8 @@ TensorRTNode::TensorRTNode(const rclcpp::NodeOptions & options)
   dla_core_(declare_parameter<int64_t>("dla_core", default_dla_core)),
   max_batch_size_(declare_parameter<int32_t>("max_batch_size", 1)),
   enable_fp16_(declare_parameter<bool>("enable_fp16", true)),
-  relaxed_dimension_check_(declare_parameter<bool>("relaxed_dimension_check", true))
+  relaxed_dimension_check_(declare_parameter<bool>("relaxed_dimension_check", true)),
+  plugin_library_paths_(declare_parameter<StringList>("plugin_library_paths", StringList()))
 {
   RCLCPP_DEBUG(get_logger(), "[TensorRTNode] In TensorRTNode's constructor");
 
@@ -164,6 +208,10 @@ TensorRTNode::TensorRTNode(const rclcpp::NodeOptions & options)
       output_tensor_formats_[0].c_str());
   }
 
+  for (const auto & path : plugin_library_paths_) {
+    loadLibrary(path, get_logger());
+  }
+
   registerSupportedType<nvidia::isaac_ros::nitros::NitrosTensorList>();
 
   startNitrosNode();