From 3d5afba0c058c140dc8ab0f104cff0d24d3e85bb Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Aleksander=20Kami=C5=84ski?=
 <aleksander.kaminski@robotec.ai>
Date: Thu, 8 Aug 2024 12:51:17 +0200
Subject: [PATCH] Adjust to ROS2 gem changes
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Signed-off-by: Aleksander Kamiński <aleksander.kaminski@robotec.ai>
---
 Code/Source/Lidar/LidarRaycaster.cpp | 2 +-
 Code/Source/Lidar/LidarRaycaster.h   | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/Code/Source/Lidar/LidarRaycaster.cpp b/Code/Source/Lidar/LidarRaycaster.cpp
index 3d281dc..bc0e7cd 100644
--- a/Code/Source/Lidar/LidarRaycaster.cpp
+++ b/Code/Source/Lidar/LidarRaycaster.cpp
@@ -77,7 +77,7 @@ namespace RGL
         m_graph.ConfigureRayPosesNode(rglRayTransforms);
     }
 
-    void LidarRaycaster::ConfigureRayRange(ROS2::Range range)
+    void LidarRaycaster::ConfigureRayRange(ROS2::RayRange range)
     {
         m_range = range;
 
diff --git a/Code/Source/Lidar/LidarRaycaster.h b/Code/Source/Lidar/LidarRaycaster.h
index b54e36b..c38b842 100644
--- a/Code/Source/Lidar/LidarRaycaster.h
+++ b/Code/Source/Lidar/LidarRaycaster.h
@@ -32,7 +32,7 @@ namespace RGL
     protected:
         // LidarRaycasterRequestBus overrides
         void ConfigureRayOrientations(const AZStd::vector<AZ::Vector3>& orientations) override;
-        void ConfigureRayRange(ROS2::Range range) override;
+        void ConfigureRayRange(ROS2::RayRange range) override;
         void ConfigureRaycastResultFlags(ROS2::RaycastResultFlags flags) override;
         bool CanHandlePublishing() override;
 
@@ -59,7 +59,7 @@ namespace RGL
         bool m_isMaxRangeEnabled{ false }; //!< Determines whether max range point addition is enabled.
         ROS2::RaycastResultFlags m_resultFlags{ ROS2::RaycastResultFlags::Points };
 
-        AZStd::optional<ROS2::Range> m_range{};
+        AZStd::optional<ROS2::RayRange> m_range{};
         AZStd::vector<AZ::Matrix3x4> m_rayTransforms{ AZ::Matrix3x4::CreateIdentity() };
 
         PipelineGraph::RaycastResults m_rglRaycastResults;