ROS2 question

[Averykla]

Hello author,sorry I don't know much about ros, I noticed that the kinect2grasp.py file is written in the ros1 architecture, but my system uses ros2 (humble). I have now reached the step of downloading the YCB dataset. I would like to ask if I only need to modify the kinect2grasp.py file or do I need to modify the architecture of other files at the same time when publishing the grasping candidate points using ros2.