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/
https://index.ros.org/doc/ros2/Tutorials/Composition/
Please let us know your opinion on the same.
Thanks.