diff --git a/cartographer/pose_graph/constraint/cost_function/relative_pose_cost_2d_test.cc b/cartographer/pose_graph/constraint/cost_function/relative_pose_cost_2d_test.cc
index 4ca480d..6db8ff6 100644
--- a/cartographer/pose_graph/constraint/cost_function/relative_pose_cost_2d_test.cc
+++ b/cartographer/pose_graph/constraint/cost_function/relative_pose_cost_2d_test.cc
@@ -17,7 +17,7 @@
 #include "cartographer/pose_graph/constraint/cost_function/relative_pose_cost_2d.h"
 
 #include "cartographer/common/make_unique.h"
-#include "cartographer/pose_graph/internal/testing/test_helpers.h"
+#include "cartographer/testing/test_helpers.h"
 #include "ceres/gradient_checker.h"
 
 namespace cartographer {
diff --git a/cartographer/pose_graph/constraint/cost_function/relative_pose_cost_3d_test.cc b/cartographer/pose_graph/constraint/cost_function/relative_pose_cost_3d_test.cc
index 102241f..d44ad61 100644
--- a/cartographer/pose_graph/constraint/cost_function/relative_pose_cost_3d_test.cc
+++ b/cartographer/pose_graph/constraint/cost_function/relative_pose_cost_3d_test.cc
@@ -16,7 +16,7 @@
 
 #include "cartographer/pose_graph/constraint/cost_function/relative_pose_cost_3d.h"
 
-#include "cartographer/pose_graph/internal/testing/test_helpers.h"
+#include "cartographer/testing/test_helpers.h"
 
 namespace cartographer {
 namespace pose_graph {
diff --git a/cartographer/pose_graph/constraint/cost_function/rotation_cost_3d_test.cc b/cartographer/pose_graph/constraint/cost_function/rotation_cost_3d_test.cc
index 14b6342..132fa02 100644
--- a/cartographer/pose_graph/constraint/cost_function/rotation_cost_3d_test.cc
+++ b/cartographer/pose_graph/constraint/cost_function/rotation_cost_3d_test.cc
@@ -16,7 +16,7 @@
 
 #include "cartographer/pose_graph/constraint/cost_function/rotation_cost_3d.h"
 
-#include "cartographer/pose_graph/internal/testing/test_helpers.h"
+#include "cartographer/testing/test_helpers.h"
 
 namespace cartographer {
 namespace pose_graph {
diff --git a/cartographer/pose_graph/constraint/loss_function/loss_function_test.cc b/cartographer/pose_graph/constraint/loss_function/loss_function_test.cc
index 6a751f3..9f29be1 100644
--- a/cartographer/pose_graph/constraint/loss_function/loss_function_test.cc
+++ b/cartographer/pose_graph/constraint/loss_function/loss_function_test.cc
@@ -16,7 +16,7 @@
 
 #include "cartographer/pose_graph/constraint/loss_function/loss_function.h"
 
-#include "cartographer/pose_graph/internal/testing/test_helpers.h"
+#include "cartographer/testing/test_helpers.h"
 
 namespace cartographer {
 namespace pose_graph {
diff --git a/cartographer/pose_graph/constraint/rotation_constraint_3d_test.cc b/cartographer/pose_graph/constraint/rotation_constraint_3d_test.cc
index 6ef6388..0c2d861 100644
--- a/cartographer/pose_graph/constraint/rotation_constraint_3d_test.cc
+++ b/cartographer/pose_graph/constraint/rotation_constraint_3d_test.cc
@@ -16,7 +16,7 @@
 
 #include "cartographer/pose_graph/constraint/rotation_constraint_3d.h"
 
-#include "cartographer/pose_graph/internal/testing/test_helpers.h"
+#include "cartographer/testing/test_helpers.h"
 
 namespace cartographer {
 namespace pose_graph {
@@ -38,7 +38,6 @@ constexpr char kConstraint[] = R"PROTO(
       }
     }
   }
-
   loss_function { quadratic_loss {} }
 )PROTO";
 
diff --git a/cartographer/pose_graph/node/imu_calibration_test.cc b/cartographer/pose_graph/node/imu_calibration_test.cc
index 17496ac..79fb4ea 100644
--- a/cartographer/pose_graph/node/imu_calibration_test.cc
+++ b/cartographer/pose_graph/node/imu_calibration_test.cc
@@ -16,7 +16,7 @@
 
 #include "cartographer/pose_graph/node/imu_calibration.h"
 
-#include "cartographer/pose_graph/internal/testing/test_helpers.h"
+#include "cartographer/testing/test_helpers.h"
 
 namespace cartographer {
 namespace pose_graph {
diff --git a/cartographer/pose_graph/node/node_id_test.cc b/cartographer/pose_graph/node/node_id_test.cc
index cd64ba9..53d9d83 100644
--- a/cartographer/pose_graph/node/node_id_test.cc
+++ b/cartographer/pose_graph/node/node_id_test.cc
@@ -18,7 +18,7 @@
 
 #include <sstream>
 
-#include "cartographer/pose_graph/internal/testing/test_helpers.h"
+#include "cartographer/testing/test_helpers.h"
 
 namespace cartographer {
 namespace pose_graph {
diff --git a/cartographer/pose_graph/node/pose_2d_test.cc b/cartographer/pose_graph/node/pose_2d_test.cc
index eb6a179..c471993 100644
--- a/cartographer/pose_graph/node/pose_2d_test.cc
+++ b/cartographer/pose_graph/node/pose_2d_test.cc
@@ -16,7 +16,7 @@
 
 #include "cartographer/pose_graph/node/pose_2d.h"
 
-#include "cartographer/pose_graph/internal/testing/test_helpers.h"
+#include "cartographer/testing/test_helpers.h"
 
 namespace cartographer {
 namespace pose_graph {
diff --git a/cartographer/pose_graph/node/pose_3d_test.cc b/cartographer/pose_graph/node/pose_3d_test.cc
index ab05ada..5cb48ad 100644
--- a/cartographer/pose_graph/node/pose_3d_test.cc
+++ b/cartographer/pose_graph/node/pose_3d_test.cc
@@ -16,7 +16,7 @@
 
 #include "cartographer/pose_graph/node/pose_3d.h"
 
-#include "cartographer/pose_graph/internal/testing/test_helpers.h"
+#include "cartographer/testing/test_helpers.h"
 
 namespace cartographer {
 namespace pose_graph {
diff --git a/cartographer/pose_graph/optimizer/ceres_optimizer_test.cc b/cartographer/pose_graph/optimizer/ceres_optimizer_test.cc
index 3c090e1..a1579fc 100644
--- a/cartographer/pose_graph/optimizer/ceres_optimizer_test.cc
+++ b/cartographer/pose_graph/optimizer/ceres_optimizer_test.cc
@@ -18,7 +18,7 @@
 
 #include "cartographer/common/make_unique.h"
 #include "cartographer/pose_graph/constraint/relative_pose_constraint_2d.h"
-#include "cartographer/pose_graph/internal/testing/test_helpers.h"
+#include "cartographer/testing/test_helpers.h"
 
 namespace cartographer {
 namespace pose_graph {
diff --git a/cartographer/pose_graph/internal/testing/test_helpers.h b/cartographer/testing/test_helpers.h
similarity index 88%
rename from cartographer/pose_graph/internal/testing/test_helpers.h
rename to cartographer/testing/test_helpers.h
index 50861e3..4a7dbdf 100644
--- a/cartographer/pose_graph/internal/testing/test_helpers.h
+++ b/cartographer/testing/test_helpers.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_POSE_GRAPH_INTERNAL_TESTING_TEST_HELPERS_H_
-#define CARTOGRAPHER_POSE_GRAPH_INTERNAL_TESTING_TEST_HELPERS_H_
+#ifndef CARTOGRAPHER_TESTING_TEST_HELPERS_H_
+#define CARTOGRAPHER_TESTING_TEST_HELPERS_H_
 
 #include "gmock/gmock.h"
 #include "google/protobuf/text_format.h"
@@ -48,4 +48,4 @@ MATCHER_P(EqualsProto, expected_proto_string, "") {
 }  // namespace testing
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_POSE_GRAPH_INTERNAL_TESTING_TEST_HELPERS_H_
+#endif  // CARTOGRAPHER_TESTING_TEST_HELPERS_H_