Hi @Paul and all, pcl_ros have nodelets and replacement for this is component in ROS2. As per our investigation and the analysis, component is not developed completely and still under active development. We have many issues for handling dynamic reconfiguration(ROS2 parameter) with compoenent and seems that it is not possible as of now. So based on these experiences and our experimentation, pcl_ros work is stalled. referered:- [https://answers.ros.org/question/313001/ros2-diff-between-node-and-component/](http://) [https://index.ros.org/doc/ros2/Tutorials/Composition/](http://) Please let us know your opinion on the same. Thanks. --- [Visit Topic](https://discourse.ros.org/t/ros2-pcl-perceptions/3596/21) 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: