diff --git a/CMakeLists.txt b/CMakeLists.txt
index d33f37a7..46e7a3cc 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,7 +18,7 @@ find_package(rviz)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
-find_package(RTABMap 0.12.1 REQUIRED)
+find_package(RTABMap 0.12.2 REQUIRED)
 
 find_package(OpenCV REQUIRED)
 
diff --git a/package.xml b/package.xml
index 1fa8a3e8..4ed0cdf9 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>rtabmap_ros</name>
-  <version>0.11.13</version>
+  <version>0.12.2</version>
   <description>RTAB-Map's ros-pkg. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description>
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>
diff --git a/src/MapsManager.cpp b/src/MapsManager.cpp
index 169875ba..3c5bd1ed 100644
--- a/src/MapsManager.cpp
+++ b/src/MapsManager.cpp
@@ -277,7 +277,7 @@ void MapsManager::backwardCompatibilityParameters(ros::NodeHandle & pnh, Paramet
 
 #ifdef WITH_OCTOMAP_ROS
 #ifdef RTABMAP_OCTOMAP
-	parameterMoved(pnh, "octomap_ground_is_obstacle", Parameters::kGrid3DGroundIsObstacle(), parameters);
+	parameterMoved(pnh, "octomap_ground_is_obstacle", Parameters::kGridGroundIsObstacle(), parameters);
 #endif
 #endif
 }