I'm currently looking for a ROS package that can be used to detect the position of obstacles based on data produced by a 2D lidar on the /scan topic. I'm aware that there are a number of solutions available that use lidar data to perform navigation, but the problem I'm having (stopping for obstacles) only requires detection.

Are there existing packages available that allow for this? Or what would be the best strategy to achieve this if there aren't any? I've looked into several packages but none of them seems to achieve the required result. TIA.