diff --git a/nav2_amcl/include/nav2_amcl/amcl_node.hpp b/nav2_amcl/include/nav2_amcl/amcl_node.hpp
index c7341a5985a..58b48246a9d 100644
--- a/nav2_amcl/include/nav2_amcl/amcl_node.hpp
+++ b/nav2_amcl/include/nav2_amcl/amcl_node.hpp
@@ -29,6 +29,7 @@
 #include <vector>
 
 #include "message_filters/subscriber.hpp"
+#include "rclcpp/version.h"
 
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "nav2_util/lifecycle_node.hpp"
@@ -171,8 +172,14 @@ class AmclNode : public nav2_util::LifecycleNode
    * @brief Initialize incoming data message subscribers and filters
    */
   void initMessageFilters();
+
+  // To Support Kilted and Older from Message Filters API change
+  #if RCLCPP_VERSION_GTE(29, 6, 0)
+  std::unique_ptr<message_filters::Subscriber<sensor_msgs::msg::LaserScan>> laser_scan_sub_;
+  #else
   std::unique_ptr<message_filters::Subscriber<sensor_msgs::msg::LaserScan,
     rclcpp_lifecycle::LifecycleNode>> laser_scan_sub_;
+  #endif
   std::unique_ptr<tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan>> laser_scan_filter_;
   message_filters::Connection laser_scan_connection_;
 
diff --git a/nav2_amcl/src/amcl_node.cpp b/nav2_amcl/src/amcl_node.cpp
index 71b50bdcc79..953e5e05509 100644
--- a/nav2_amcl/src/amcl_node.cpp
+++ b/nav2_amcl/src/amcl_node.cpp
@@ -1523,9 +1523,15 @@ AmclNode::initMessageFilters()
 {
   auto sub_opt = rclcpp::SubscriptionOptions();
   sub_opt.callback_group = callback_group_;
+
+  #if RCLCPP_VERSION_GTE(29, 6, 0)
+  laser_scan_sub_ = std::make_unique<message_filters::Subscriber<sensor_msgs::msg::LaserScan>>(
+    shared_from_this(), scan_topic_, rclcpp::SensorDataQoS(), sub_opt);
+  #else
   laser_scan_sub_ = std::make_unique<message_filters::Subscriber<sensor_msgs::msg::LaserScan,
       rclcpp_lifecycle::LifecycleNode>>(
     shared_from_this(), scan_topic_, rmw_qos_profile_sensor_data, sub_opt);
+  #endif
 
   laser_scan_filter_ = std::make_unique<tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan>>(
     *laser_scan_sub_, *tf_buffer_, odom_frame_id_, 10,
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/obstacle_layer.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/obstacle_layer.hpp
index 1cdec808da7..16113d61b16 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/obstacle_layer.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/obstacle_layer.hpp
@@ -43,6 +43,7 @@
 #include <vector>
 
 #include "rclcpp/rclcpp.hpp"
+#include "rclcpp/version.h"
 #include "laser_geometry/laser_geometry.hpp"
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wreorder"
@@ -234,8 +235,13 @@ class ObstacleLayer : public CostmapLayer
   /// @brief Used to project laser scans into point clouds
   laser_geometry::LaserProjection projector_;
   /// @brief Used for the observation message filters
+  #if RCLCPP_VERSION_GTE(29, 6, 0)
+  std::vector<std::shared_ptr<message_filters::SubscriberBase>>
+  observation_subscribers_;
+  #else
   std::vector<std::shared_ptr<message_filters::SubscriberBase<rclcpp_lifecycle::LifecycleNode>>>
   observation_subscribers_;
+  #endif
   /// @brief Used to make sure that transforms are available for each sensor
   std::vector<std::shared_ptr<tf2_ros::MessageFilterBase>> observation_notifiers_;
   /// @brief Used to store observations from various sensors
diff --git a/nav2_costmap_2d/plugins/obstacle_layer.cpp b/nav2_costmap_2d/plugins/obstacle_layer.cpp
index c1717507bec..1102fd09a1c 100644
--- a/nav2_costmap_2d/plugins/obstacle_layer.cpp
+++ b/nav2_costmap_2d/plugins/obstacle_layer.cpp
@@ -231,13 +231,23 @@ void ObstacleLayer::onInitialize()
 
     // create a callback for the topic
     if (data_type == "LaserScan") {
+      // For Kilted and Older Support from Message Filters API change
+      #if RCLCPP_VERSION_GTE(29, 6, 0)
+      std::shared_ptr<message_filters::Subscriber<sensor_msgs::msg::LaserScan>> sub;
+      #else
       std::shared_ptr<message_filters::Subscriber<sensor_msgs::msg::LaserScan,
         rclcpp_lifecycle::LifecycleNode>> sub;
+      #endif
 
-      // For Jazzy compatibility
-      #if RCLCPP_VERSION_GTE(29, 0, 0)
+      // For Kilted compatibility in Message Filters API change
+      #if RCLCPP_VERSION_GTE(29, 6, 0)
+      sub = std::make_shared<message_filters::Subscriber<sensor_msgs::msg::LaserScan>>(
+        node, topic, custom_qos_profile, sub_opt);
+      // For Jazzy compatibility in Message Filters API change
+      #elif RCLCPP_VERSION_GTE(29, 0, 0)
       sub = std::make_shared<message_filters::Subscriber<sensor_msgs::msg::LaserScan,
           rclcpp_lifecycle::LifecycleNode>>(node, topic, custom_qos_profile, sub_opt);
+      // For Humble and Older compatibility in Message Filters API change
       #else
       sub = std::make_shared<message_filters::Subscriber<sensor_msgs::msg::LaserScan,
           rclcpp_lifecycle::LifecycleNode>>(
@@ -271,13 +281,23 @@ void ObstacleLayer::onInitialize()
       observation_notifiers_.back()->setTolerance(rclcpp::Duration::from_seconds(0.05));
 
     } else {
+      // For Kilted and Older Support from Message Filters API change
+      #if RCLCPP_VERSION_GTE(29, 6, 0)
+      std::shared_ptr<message_filters::Subscriber<sensor_msgs::msg::PointCloud2>> sub;
+      #else
       std::shared_ptr<message_filters::Subscriber<sensor_msgs::msg::PointCloud2,
         rclcpp_lifecycle::LifecycleNode>> sub;
+      #endif
 
-      // For Jazzy compatibility
-      #if RCLCPP_VERSION_GTE(29, 0, 0)
+      // For Kilted compatibility in Message Filters API change
+      #if RCLCPP_VERSION_GTE(29, 6, 0)
+      sub = std::make_shared<message_filters::Subscriber<sensor_msgs::msg::PointCloud2>>(
+        node, topic, custom_qos_profile, sub_opt);
+      // For Jazzy compatibility in Message Filters API change
+      #elif RCLCPP_VERSION_GTE(29, 0, 0)
       sub = std::make_shared<message_filters::Subscriber<sensor_msgs::msg::PointCloud2,
           rclcpp_lifecycle::LifecycleNode>>(node, topic, custom_qos_profile, sub_opt);
+      // For Humble and Older compatibility in Message Filters API change
       #else
       sub = std::make_shared<message_filters::Subscriber<sensor_msgs::msg::PointCloud2,
           rclcpp_lifecycle::LifecycleNode>>(