diff --git a/cartographer_ros/cartographer_ros/assets_writer.cc b/cartographer_ros/cartographer_ros/assets_writer.cc
index 44aca6e..91ecb23 100644
--- a/cartographer_ros/cartographer_ros/assets_writer.cc
+++ b/cartographer_ros/cartographer_ros/assets_writer.cc
@@ -23,7 +23,7 @@
 #include "cartographer/io/points_processor.h"
 #include "cartographer/io/xray_points_processor.h"
 #include "cartographer/mapping/proto/trajectory.pb.h"
-#include "cartographer/mapping_2d/proto/laser_fan_inserter_options.pb.h"
+#include "cartographer/mapping_2d/proto/range_data_inserter_options.pb.h"
 #include "cartographer_ros/map_writer.h"
 #include "cartographer_ros/occupancy_grid.h"
 #include "nav_msgs/OccupancyGrid.h"
@@ -72,13 +72,14 @@ void Write3DAssets(const std::vector<::cartographer::mapping::TrajectoryNode>&
       file_writer_factory(stem + ".ply"), &xz_xray_points_processor);
 
   for (const auto& node : trajectory_nodes) {
-    const carto::sensor::LaserFan laser_fan = carto::sensor::TransformLaserFan(
-        carto::sensor::Decompress(node.constant_data->range_data_3d),
-        node.pose.cast<float>());
+    const carto::sensor::RangeData range_data =
+        carto::sensor::TransformRangeData(
+            carto::sensor::Decompress(node.constant_data->range_data_3d),
+            node.pose.cast<float>());
 
     auto points_batch = carto::common::make_unique<carto::io::PointsBatch>();
-    points_batch->origin = laser_fan.origin;
-    points_batch->points = laser_fan.returns;
+    points_batch->origin = range_data.origin;
+    points_batch->points = range_data.returns;
     for (const uint8 reflectivity :
          node.constant_data->range_data_3d.reflectivities) {
       points_batch->colors.push_back(
diff --git a/cartographer_ros/cartographer_ros/assets_writer_main.cc b/cartographer_ros/cartographer_ros/assets_writer_main.cc
index 79b3900..0b16db5 100644
--- a/cartographer_ros/cartographer_ros/assets_writer_main.cc
+++ b/cartographer_ros/cartographer_ros/assets_writer_main.cc
@@ -26,8 +26,8 @@
 #include "cartographer/io/file_writer.h"
 #include "cartographer/io/points_processor.h"
 #include "cartographer/io/points_processor_pipeline_builder.h"
-#include "cartographer/sensor/laser.h"
 #include "cartographer/sensor/point_cloud.h"
+#include "cartographer/sensor/range_data.h"
 #include "cartographer/transform/transform_interpolation_buffer.h"
 #include "cartographer_ros/bag_reader.h"
 #include "cartographer_ros/msg_conversion.h"
diff --git a/cartographer_ros/cartographer_ros/map_builder_bridge.cc b/cartographer_ros/cartographer_ros/map_builder_bridge.cc
index 2218d85..fd7d9d0 100644
--- a/cartographer_ros/cartographer_ros/map_builder_bridge.cc
+++ b/cartographer_ros/cartographer_ros/map_builder_bridge.cc
@@ -104,7 +104,7 @@ cartographer_ros_msgs::SubmapList MapBuilderBridge::GetSubmapList() {
          ++submap_index) {
       cartographer_ros_msgs::SubmapEntry submap_entry;
       submap_entry.submap_version =
-          submaps->Get(submap_index)->end_laser_fan_index;
+          submaps->Get(submap_index)->end_range_data_index;
       submap_entry.pose = ToGeometryMsgPose(submap_transforms[submap_index]);
       trajectory_submap_list.submap.push_back(submap_entry);
     }
diff --git a/cartographer_ros/cartographer_ros/msg_conversion.cc b/cartographer_ros/cartographer_ros/msg_conversion.cc
index 0cb30a5..fef34fa 100644
--- a/cartographer_ros/cartographer_ros/msg_conversion.cc
+++ b/cartographer_ros/cartographer_ros/msg_conversion.cc
@@ -162,11 +162,11 @@ sensor_msgs::PointCloud2 ToPointCloud2Message(
 
 sensor_msgs::PointCloud2 ToPointCloud2Message(
     const int64 timestamp, const string& frame_id,
-    const ::cartographer::sensor::proto::LaserFan& laser_fan) {
-  CHECK(::cartographer::transform::ToEigen(laser_fan.origin()).norm() == 0)
-      << "Trying to convert a laser_fan that is not at the origin.";
+    const ::cartographer::sensor::proto::RangeData& range_data) {
+  CHECK(::cartographer::transform::ToEigen(range_data.origin()).norm() == 0)
+      << "Trying to convert a range_data that is not at the origin.";
 
-  const auto& point_cloud = laser_fan.point_cloud();
+  const auto& point_cloud = range_data.point_cloud();
   CHECK_EQ(point_cloud.x_size(), point_cloud.y_size());
   CHECK_EQ(point_cloud.x_size(), point_cloud.z_size());
   const auto num_points = point_cloud.x_size();
diff --git a/cartographer_ros/cartographer_ros/msg_conversion.h b/cartographer_ros/cartographer_ros/msg_conversion.h
index ed7c7b6..91e564a 100644
--- a/cartographer_ros/cartographer_ros/msg_conversion.h
+++ b/cartographer_ros/cartographer_ros/msg_conversion.h
@@ -50,7 +50,7 @@ sensor_msgs::PointCloud2 ToPointCloud2Message(
 
 sensor_msgs::PointCloud2 ToPointCloud2Message(
     int64 timestamp, const string& frame_id,
-    const ::cartographer::sensor::proto::LaserFan& laser_fan);
+    const ::cartographer::sensor::proto::RangeData& range_data);
 
 geometry_msgs::Transform ToGeometryMsgTransform(
     const ::cartographer::transform::Rigid3d& rigid3d);
diff --git a/cartographer_ros/cartographer_ros/occupancy_grid.cc b/cartographer_ros/cartographer_ros/occupancy_grid.cc
index 2ecc400..ecbfefb 100644
--- a/cartographer_ros/cartographer_ros/occupancy_grid.cc
+++ b/cartographer_ros/cartographer_ros/occupancy_grid.cc
@@ -36,13 +36,13 @@ void BuildOccupancyGrid(
       carto::mapping_2d::MapLimits::ComputeMapLimits(
           submaps_options.resolution(), trajectory_nodes);
   carto::mapping_2d::ProbabilityGrid probability_grid(map_limits);
-  carto::mapping_2d::LaserFanInserter laser_fan_inserter(
-      submaps_options.laser_fan_inserter_options());
+  carto::mapping_2d::RangeDataInserter range_data_inserter(
+      submaps_options.range_data_inserter_options());
   for (const auto& node : trajectory_nodes) {
     CHECK(node.constant_data->range_data_3d.returns.empty());  // No 3D yet.
-    laser_fan_inserter.Insert(
-        carto::sensor::TransformLaserFan(node.constant_data->laser_fan_2d,
-                                         node.pose.cast<float>()),
+    range_data_inserter.Insert(
+        carto::sensor::TransformRangeData(node.constant_data->range_data_2d,
+                                          node.pose.cast<float>()),
         &probability_grid);
   }
 
diff --git a/cartographer_ros/configuration_files/taurob_tracker.lua b/cartographer_ros/configuration_files/taurob_tracker.lua
index 7f72ddf..4b0a1d6 100644
--- a/cartographer_ros/configuration_files/taurob_tracker.lua
+++ b/cartographer_ros/configuration_files/taurob_tracker.lua
@@ -33,7 +33,7 @@ options = {
 TRAJECTORY_BUILDER_3D.scans_per_accumulation = 180
 TRAJECTORY_BUILDER_3D.laser_min_range = 0.5
 TRAJECTORY_BUILDER_3D.laser_max_range = 20.
-TRAJECTORY_BUILDER_3D.submaps.num_laser_fans = 40.
+TRAJECTORY_BUILDER_3D.submaps.num_range_data = 40.
 
 MAP_BUILDER.use_trajectory_builder_3d = true
 MAP_BUILDER.num_background_threads = 7