Hi elizabeth; As Jay says this can and has been done....very well by the romans, the chinese and others more recently ... however I think that feeding a rocket for this from outside would be "a bother, after a while" A batch stove with a longer burn time and hotter temps would be an improvement, especially if your under floor system has
enough mass to hold that heat. Using an outdoor furnace with underground pipes works very well at keeping your mess outdoors, and can be loaded to burn for 12 hrs or more, but requires electricity for the fans. It also produces large amounts of smoke ,is prone to creosote buildup and uses large quantities of wood. I think that living in a yurt with a
rocket mass heater inside, with a nice warm mass to sit/snooze on during those rainy- foggy -windy- raw days that coastal bc gets, would be just the thing. Small wood consumption , nothing but steam out your stack, never any creosote... and no running outside in the rain to feed the stove. I believe that there are posts here if you search dedicated to building & living with
rmh's in yurts. Good luck with whatever design you decide to build.