Thanks everyone for your comments.
I am looking into pcl_ros(under perception_pcl) porting and there I came across dynamic reconfigure dependency.
But now it is clear that dynamic reconfigure should not be ported on ROS2.
I will look into how Dynamic Reconfigure functionality can be replaced in pcl_ros using ROS2 parameters.
Please let me know if anybody has any information on this.
Thanks,
Poonam