Refactoring rmf-obstacles

enf
Tue, 05 Aug 2025 08:59:59 +0000
Open-RMF General

Hello,

Over the past month I tried to use the package rmf_obstacle, and since it hasn’t been actively maintained for some time, a lot of issues have piled up: at the current state of the affairs, none of the packages work out of the box with ROS 2 Jazzy! However, I still find the code extremely useful, and I’m willing to contribute.

For all the reasons described above, I wanted to ask:

1. Is the architecture described in Issue#22 still up-to-date?

2. Contributing will break compatibility with older ROS distro, namely Humble and before. How should I deal with that?

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