I don’t quite follow you here, but as far as I’m aware nothing related has been deprecated.
+1 to that. I would welcome any PRs for perception_pcl, and I’m happy to provide feedback, but my bandwidth to do actual work is fairly limited.
A few advance points - while a direct port of perception_pcl to ROS2 has value, what would be much more valuable is an overhaul of the perception_pcl ‘filter’ nodelets, taking the new ROS2 lifecycle concepts into account. That said, it would be great to have a design discussion prior to diving in.