@prasenjitdan
It seems no body start on this task. Ref to [ROS2 perception porting status](
https://discourse.ros.org/t/ros2-perception-porting-status/6231). If you have resource on this tasks, I would suggest you announce on
https://discourse.ros.org/t/ros-2-collaboration-bulletin-board/2239/37, and just start the work.
There is ROS2 [pcl_conversion](
https://github.com/ros2/pcl_conversions.git) package ported on ROS2 before moving on perception_pcl. The pcl_conversions deprecated on ROS 1, if we port perception_pcl, we could switch to use perception_pcl instead of perception_pcl on ROS2.
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