Thanks @Paul_Bovbel for your response. All these questions were related to existing code of pcl_ros in ROS. As per my analysis, nodelet/node monitoring is handled by bond package which is already added to nodelet. I am working on design doc for pcl_ros migration to ros2. Also I am checking how these things will be handled in ros2. Once the document is in good shape, will share with you. Thanks, --- [Visit Topic](https://discourse.ros.org/t/ros2-pcl-perceptions/3596/20) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: