From e4de18cc651a15a872b54a7a611ec75b4c5df019 Mon Sep 17 00:00:00 2001
From: Wolfgang Hess <whess@google.com>
Date: Thu, 4 May 2017 16:20:45 +0200
Subject: [PATCH] Follow googlecartographer/cartographer#259. (#324)

---
 cartographer_ros/configuration_files/revo_lds.lua       | 6 +++---
 cartographer_ros/configuration_files/taurob_tracker.lua | 4 ++--
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/cartographer_ros/configuration_files/revo_lds.lua b/cartographer_ros/configuration_files/revo_lds.lua
index 6d687b5..1c8631e 100644
--- a/cartographer_ros/configuration_files/revo_lds.lua
+++ b/cartographer_ros/configuration_files/revo_lds.lua
@@ -32,9 +32,9 @@ options = {
 
 MAP_BUILDER.use_trajectory_builder_2d = true
 
-TRAJECTORY_BUILDER_2D.laser_min_range = 0.3
-TRAJECTORY_BUILDER_2D.laser_max_range = 8.
-TRAJECTORY_BUILDER_2D.laser_missing_echo_ray_length = 1.
+TRAJECTORY_BUILDER_2D.min_range = 0.3
+TRAJECTORY_BUILDER_2D.max_range = 8.
+TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1.
 TRAJECTORY_BUILDER_2D.use_imu_data = false
 TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
 
diff --git a/cartographer_ros/configuration_files/taurob_tracker.lua b/cartographer_ros/configuration_files/taurob_tracker.lua
index 4b0a1d6..ed05895 100644
--- a/cartographer_ros/configuration_files/taurob_tracker.lua
+++ b/cartographer_ros/configuration_files/taurob_tracker.lua
@@ -31,8 +31,8 @@ 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.min_range = 0.5
+TRAJECTORY_BUILDER_3D.max_range = 20.
 TRAJECTORY_BUILDER_3D.submaps.num_range_data = 40.
 
 MAP_BUILDER.use_trajectory_builder_3d = true