diff --git a/cfg/HoleDetection.cfg b/cfg/HoleDetection.cfg
index 2ce0503b7b2848fbf2b32c3fb4cbe9a581aef400..a906897897bb04cdff6c696e3a9516026c86f3e6 100755
--- a/cfg/HoleDetection.cfg
+++ b/cfg/HoleDetection.cfg
@@ -40,11 +40,11 @@ gen = ParameterGenerator()
# Name Type Reconfiguration level Description Default Min Max
#gen.add("velocity_scale_factor", double_t, 0, "Maximum velocity scale factor", 0.5, 0.0, 1.0)
gen.add( "hole_min_p", int_t, 0, "No of Points to be hole (less points is a hole)", 30, 5, 200)
-gen.add( "box_y", double_t, 0, "Y distance hole detection zone", 0.6, 0, 1.5)
-gen.add( "box_z_ini", double_t, 0, "Z distance hole detection zone", 0, -0.5, 0.5)
-gen.add( "box_z_end", double_t, 0, "Initial Z hole detection zone", 0.1, -0.5, 0.5)
-gen.add( "box_x_ini", double_t, 0, "Initial X hole detection zone", 0.8, 0, 2)
-gen.add( "box_x_end", double_t, 0, "X distance hole detection zone", 0.9, 0.5, 2)
+gen.add( "box_x", double_t, 0, "X distance hole detection zone", 0.6, 0, 1.5)
+gen.add( "box_y_ini", double_t, 0, "Y distance hole detection zone", 0, -0.5, 0.5)
+gen.add( "box_y_end", double_t, 0, "Initial Y hole detection zone", 0.1, -0.5, 0.5)
+gen.add( "box_z_ini", double_t, 0, "Initial Z hole detection zone", 0.8, 0, 2)
+gen.add( "box_z_end", double_t, 0, "Z distance hole detection zone", 0.9, 0.5, 2)
diff --git a/cfg/OLD_HoleDetection.cfg b/cfg/OLD_HoleDetection.cfg
deleted file mode 100755
index a906897897bb04cdff6c696e3a9516026c86f3e6..0000000000000000000000000000000000000000
--- a/cfg/OLD_HoleDetection.cfg
+++ /dev/null
@@ -1,51 +0,0 @@
-#! /usr/bin/env python
-#* All rights reserved.
-#*
-#* Redistribution and use in source and binary forms, with or without
-#* modification, are permitted provided that the following conditions
-#* are met:
-#*
-#* * Redistributions of source code must retain the above copyright
-#* notice, this list of conditions and the following disclaimer.
-#* * Redistributions in binary form must reproduce the above
-#* copyright notice, this list of conditions and the following
-#* disclaimer in the documentation and/or other materials provided
-#* with the distribution.
-#* * Neither the name of the Willow Garage nor the names of its
-#* contributors may be used to endorse or promote products derived
-#* from this software without specific prior written permission.
-#*
-#* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-#* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-#* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-#* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-#* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-#* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-#* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-#* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-#* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-#* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-#* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-#* POSSIBILITY OF SUCH DAMAGE.
-#***********************************************************
-
-# Author:
-
-PACKAGE='iri_hole_detection'
-
-from dynamic_reconfigure.parameter_generator_catkin import *
-
-gen = ParameterGenerator()
-
-# Name Type Reconfiguration level Description Default Min Max
-#gen.add("velocity_scale_factor", double_t, 0, "Maximum velocity scale factor", 0.5, 0.0, 1.0)
-gen.add( "hole_min_p", int_t, 0, "No of Points to be hole (less points is a hole)", 30, 5, 200)
-gen.add( "box_x", double_t, 0, "X distance hole detection zone", 0.6, 0, 1.5)
-gen.add( "box_y_ini", double_t, 0, "Y distance hole detection zone", 0, -0.5, 0.5)
-gen.add( "box_y_end", double_t, 0, "Initial Y hole detection zone", 0.1, -0.5, 0.5)
-gen.add( "box_z_ini", double_t, 0, "Initial Z hole detection zone", 0.8, 0, 2)
-gen.add( "box_z_end", double_t, 0, "Z distance hole detection zone", 0.9, 0.5, 2)
-
-
-
-exit(gen.generate(PACKAGE, "HoleDetectionAlgorithm", "HoleDetection"))