@prasenjitdan
It seems no body start on this task. Ref to ROS2 perception porting status. If you have resource on this tasks, I would suggest you announce on ROS 2 Collaboration Bulletin Board, and just start the work.
There is ROS2 pcl_conversion 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 pcl_conversion on ROS2.