diff --git a/cartographer_grpc/framework/rpc.cc b/cartographer_grpc/framework/rpc.cc
new file mode 100644
index 0000000..4fbc363
--- /dev/null
+++ b/cartographer_grpc/framework/rpc.cc
@@ -0,0 +1,79 @@
+/*
+ * Copyright 2017 The Cartographer Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "cartographer_grpc/framework/rpc.h"
+
+#include "glog/logging.h"
+#include "grpc++/impl/codegen/service_type.h"
+
+namespace cartographer_grpc {
+namespace framework {
+
+Rpc::Rpc(const RpcHandlerInfo& rpc_handler_info)
+    : rpc_handler_info_(rpc_handler_info) {}
+
+::grpc::internal::RpcMethod::RpcType Rpc::rpc_type() const {
+  return rpc_handler_info_.rpc_type;
+}
+
+::grpc::internal::ServerAsyncStreamingInterface* Rpc::responder() {
+  LOG(FATAL) << "Not yet implemented";
+  return nullptr;
+}
+
+Rpc::RpcState* Rpc::GetState(State state) {
+  switch (state) {
+    case State::NEW_CONNECTION:
+      return &new_connection_state_;
+    case State::READ:
+      return &read_state_;
+    case State::WRITE:
+      return &write_state_;
+    case State::DONE:
+      return &done_state_;
+  }
+  LOG(FATAL) << "Never reached.";
+}
+
+ActiveRpcs::ActiveRpcs() : lock_() {}
+
+ActiveRpcs::~ActiveRpcs() {
+  cartographer::common::MutexLocker locker(&lock_);
+  if (!rpcs_.empty()) {
+    LOG(FATAL) << "RPCs still in flight!";
+  }
+}
+
+Rpc* ActiveRpcs::Add(std::unique_ptr<Rpc> rpc) {
+  cartographer::common::MutexLocker locker(&lock_);
+  const auto result = rpcs_.emplace(rpc.release());
+  CHECK(result.second) << "RPC already active.";
+  return *result.first;
+}
+
+bool ActiveRpcs::Remove(Rpc* rpc) {
+  cartographer::common::MutexLocker locker(&lock_);
+  auto it = rpcs_.find(rpc);
+  if (it != rpcs_.end()) {
+    delete rpc;
+    rpcs_.erase(it);
+    return true;
+  }
+  return false;
+}
+
+}  // namespace framework
+}  // namespace cartographer_grpc
diff --git a/cartographer_grpc/framework/rpc.h b/cartographer_grpc/framework/rpc.h
new file mode 100644
index 0000000..0314e0d
--- /dev/null
+++ b/cartographer_grpc/framework/rpc.h
@@ -0,0 +1,84 @@
+/*
+ * Copyright 2017 The Cartographer Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_RPC_H
+#define CARTOGRAPHER_GRPC_FRAMEWORK_RPC_H
+
+#include <memory>
+#include <unordered_set>
+
+#include "cartographer/common/mutex.h"
+#include "cartographer_grpc/framework/rpc_handler.h"
+#include "grpc++/grpc++.h"
+
+namespace cartographer_grpc {
+namespace framework {
+
+class Service;
+class Rpc {
+ public:
+  enum class State { NEW_CONNECTION = 0, READ, WRITE, DONE };
+  struct RpcState {
+    const State state;
+    Rpc* rpc;
+  };
+
+  Rpc(const RpcHandlerInfo& rpc_handler_info);
+
+  ::grpc::internal::RpcMethod::RpcType rpc_type() const;
+  ::grpc::ServerContext* server_context() { return &server_context_; }
+  ::grpc::internal::ServerAsyncStreamingInterface* responder();
+  RpcState* GetState(State state);
+
+  ::google::protobuf::Message* request() { return request_.get(); }
+  ::google::protobuf::Message* response() { return response_.get(); }
+
+ private:
+  Rpc(const Rpc&) = delete;
+  Rpc& operator=(const Rpc&) = delete;
+
+  RpcHandlerInfo rpc_handler_info_;
+  ::grpc::ServerContext server_context_;
+
+  RpcState new_connection_state_ = RpcState{State::NEW_CONNECTION, this};
+  RpcState read_state_ = RpcState{State::READ, this};
+  RpcState write_state_ = RpcState{State::WRITE, this};
+  RpcState done_state_ = RpcState{State::DONE, this};
+
+  std::unique_ptr<google::protobuf::Message> request_;
+  std::unique_ptr<google::protobuf::Message> response_;
+};
+
+// This class keeps track of all in-flight RPCs for a 'Service'. Make sure that
+// all RPCs have been terminated and removed from this object before it goes out
+// of scope.
+class ActiveRpcs {
+ public:
+  ActiveRpcs();
+  ~ActiveRpcs() EXCLUDES(lock_);
+
+  Rpc* Add(std::unique_ptr<Rpc> rpc) EXCLUDES(lock_);
+  bool Remove(Rpc* rpc) EXCLUDES(lock_);
+
+ private:
+  cartographer::common::Mutex lock_;
+  std::unordered_set<Rpc*> rpcs_;
+};
+
+}  // namespace framework
+}  // namespace cartographer_grpc
+
+#endif  // CARTOGRAPHER_GRPC_FRAMEWORK_RPC_H
diff --git a/cartographer_grpc/framework/rpc_handler.h b/cartographer_grpc/framework/rpc_handler.h
index 9965dbe..e5f4668 100644
--- a/cartographer_grpc/framework/rpc_handler.h
+++ b/cartographer_grpc/framework/rpc_handler.h
@@ -17,7 +17,9 @@
 #ifndef CARTOGRAPHER_GRPC_FRAMEWORK_RPC_HANDLER_H
 #define CARTOGRAPHER_GRPC_FRAMEWORK_RPC_HANDLER_H
 
+#include "cartographer_grpc/framework/type_traits.h"
 #include "google/protobuf/message.h"
+#include "grpc++/grpc++.h"
 
 namespace cartographer_grpc {
 namespace framework {
@@ -35,6 +37,16 @@ struct RpcHandlerInfo {
   const google::protobuf::Descriptor* request_descriptor;
   const google::protobuf::Descriptor* response_descriptor;
   const RpcHandlerFactory rpc_handler_factory;
+  const grpc::internal::RpcMethod::RpcType rpc_type;
+};
+
+template <typename Incoming, typename Outgoing>
+class RpcHandler : public RpcHandlerInterface {
+ public:
+  using IncomingType = Incoming;
+  using OutgoingType = Outgoing;
+  using RequestType = StripStream<Incoming>;
+  using ResponseType = StripStream<Outgoing>;
 };
 
 }  // namespace framework
diff --git a/cartographer_grpc/framework/server.cc b/cartographer_grpc/framework/server.cc
index 83924d2..bbaa0d6 100644
--- a/cartographer_grpc/framework/server.cc
+++ b/cartographer_grpc/framework/server.cc
@@ -55,7 +55,7 @@ void Server::AddService(
   // Instantiate and register service.
   const auto result =
       services_.emplace(std::piecewise_construct, std::make_tuple(service_name),
-                        std::make_tuple(rpc_handler_infos));
+                        std::make_tuple(service_name, rpc_handler_infos));
   CHECK(result.second) << "A service named " << service_name
                        << " already exists.";
   server_builder_.RegisterService(&result.first->second);
diff --git a/cartographer_grpc/framework/server.h b/cartographer_grpc/framework/server.h
index b81a862..f49528b 100644
--- a/cartographer_grpc/framework/server.h
+++ b/cartographer_grpc/framework/server.h
@@ -62,7 +62,9 @@ class Server {
                     cartographer::common::make_unique<RpcHandlerType>();
                 rpc_handler->SetRpc(rpc);
                 return rpc_handler;
-              }});
+              },
+              RpcType<typename RpcHandlerType::Incoming,
+                      typename RpcHandlerType::Outgoing>::value});
     }
 
    private:
diff --git a/cartographer_grpc/framework/service.cc b/cartographer_grpc/framework/service.cc
index 973d555..35395ac 100644
--- a/cartographer_grpc/framework/service.cc
+++ b/cartographer_grpc/framework/service.cc
@@ -16,11 +16,53 @@
 
 #include "cartographer_grpc/framework/server.h"
 
+#include "glog/logging.h"
+#include "grpc++/impl/codegen/proto_utils.h"
+
 namespace cartographer_grpc {
 namespace framework {
 
-Service::Service(const std::map<std::string, RpcHandlerInfo>& rpc_handlers)
-    : rpc_handlers_(rpc_handlers) {}
+Service::Service(const std::string& service_name,
+                 const std::map<std::string, RpcHandlerInfo>& rpc_handler_infos)
+    : rpc_handler_infos_(rpc_handler_infos) {
+  for (const auto& rpc_handler_info : rpc_handler_infos_) {
+    std::string fully_qualified_method_name =
+        "/" + service_name + "/" + rpc_handler_info.first;
+    // The 'handler' below is set to 'nullptr' indicating that we want to
+    // handle this method asynchronously.
+    this->AddMethod(new grpc::internal::RpcServiceMethod(
+        fully_qualified_method_name.c_str(), rpc_handler_info.second.rpc_type,
+        nullptr /* handler */));
+  }
+}
+
+void Service::StartServing(
+    const std::vector<::grpc::ServerCompletionQueue*>& completion_queues) {
+  int i = 0;
+  for (const auto& rpc_handler_info : rpc_handler_infos_) {
+    for (auto completion_queue : completion_queues) {
+      Rpc* rpc = active_rpcs_.Add(
+          cartographer::common::make_unique<Rpc>(rpc_handler_info.second));
+      RequestNextMethodInvocation(i, rpc, completion_queue);
+    }
+    ++i;
+  }
+}
+
+void Service::RequestNextMethodInvocation(
+    int method_index, Rpc* rpc,
+    ::grpc::ServerCompletionQueue* completion_queue) {
+  switch (rpc->rpc_type()) {
+    case ::grpc::internal::RpcMethod::CLIENT_STREAMING:
+      RequestAsyncClientStreaming(method_index, rpc->server_context(),
+                                  rpc->responder(), completion_queue,
+                                  completion_queue,
+                                  rpc->GetState(Rpc::State::NEW_CONNECTION));
+      break;
+    default:
+      LOG(FATAL) << "RPC type not implemented.";
+  }
+}
 
 }  // namespace framework
 }  // namespace cartographer_grpc
diff --git a/cartographer_grpc/framework/service.h b/cartographer_grpc/framework/service.h
index fac13c1..6876bca 100644
--- a/cartographer_grpc/framework/service.h
+++ b/cartographer_grpc/framework/service.h
@@ -17,6 +17,7 @@
 #ifndef CARTOGRAPHER_GRPC_FRAMEWORK_SERVICE_H
 #define CARTOGRAPHER_GRPC_FRAMEWORK_SERVICE_H
 
+#include "cartographer_grpc/framework/rpc.h"
 #include "cartographer_grpc/framework/rpc_handler.h"
 #include "grpc++/impl/codegen/service_type.h"
 
@@ -29,10 +30,18 @@ namespace framework {
 // 'Rpc' handler objects.
 class Service : public ::grpc::Service {
  public:
-  Service(const std::map<std::string, RpcHandlerInfo>& rpc_handlers);
+  Service(const std::string& service_name,
+          const std::map<std::string, RpcHandlerInfo>& rpc_handlers);
+  void StartServing(
+      const std::vector<::grpc::ServerCompletionQueue*>& completion_queues);
 
  private:
-  std::map<std::string, RpcHandlerInfo> rpc_handlers_;
+  void RequestNextMethodInvocation(
+      int method_index, Rpc* rpc,
+      ::grpc::ServerCompletionQueue* completion_queue);
+
+  std::map<std::string, RpcHandlerInfo> rpc_handler_infos_;
+  ActiveRpcs active_rpcs_;
 };
 
 }  // namespace framework
diff --git a/cartographer_grpc/framework/type_traits.h b/cartographer_grpc/framework/type_traits.h
new file mode 100644
index 0000000..9daed7d
--- /dev/null
+++ b/cartographer_grpc/framework/type_traits.h
@@ -0,0 +1,69 @@
+/*
+ * Copyright 2017 The Cartographer Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_TYPES_H
+#define CARTOGRAPHER_GRPC_FRAMEWORK_TYPES_H
+
+#include <grpc++/grpc++.h>
+
+namespace cartographer_grpc {
+namespace framework {
+
+template <typename Request>
+class Stream {
+  using type = Request;
+};
+
+template <template <typename> class, typename T>
+struct Strip {
+  using type = T;
+};
+
+template <template <typename> class T, typename Param>
+struct Strip<T, T<Param>> {
+  using type = Param;
+};
+
+template <typename T>
+using StripStream = typename Strip<Stream, T>::type;
+
+template <typename Incoming, typename Outgoing>
+struct RpcType
+    : public std::integral_constant<grpc::internal::RpcMethod::RpcType,
+                                    grpc::internal::RpcMethod::NORMAL_RPC> {};
+
+template <typename Incoming, typename Outgoing>
+struct RpcType<Stream<Incoming>, Outgoing>
+    : public std::integral_constant<
+          grpc::internal::RpcMethod::RpcType,
+          grpc::internal::RpcMethod::CLIENT_STREAMING> {};
+
+template <typename Incoming, typename Outgoing>
+struct RpcType<Incoming, Stream<Outgoing>>
+    : public std::integral_constant<
+          grpc::internal::RpcMethod::RpcType,
+          grpc::internal::RpcMethod::SERVER_STREAMING> {};
+
+template <typename Incoming, typename Outgoing>
+struct RpcType<Stream<Incoming>, Stream<Outgoing>>
+    : public std::integral_constant<grpc::internal::RpcMethod::RpcType,
+                                    grpc::internal::RpcMethod::BIDI_STREAMING> {
+};
+
+}  // namespace framework
+}  // namespace cartographer_grpc
+
+#endif  // CARTOGRAPHER_GRPC_FRAMEWORK_TYPES_H
diff --git a/cartographer_grpc/framework/type_traits_test.cc b/cartographer_grpc/framework/type_traits_test.cc
new file mode 100644
index 0000000..700af3a
--- /dev/null
+++ b/cartographer_grpc/framework/type_traits_test.cc
@@ -0,0 +1,43 @@
+/*
+ * Copyright 2017 The Cartographer Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "cartographer_grpc/framework/type_traits.h"
+
+#include "gtest/gtest.h"
+
+namespace cartographer_grpc {
+namespace framework {
+namespace {
+
+TEST(TypeTraitsTest, StreamStripping) {
+  ::testing::StaticAssertTypeEq<StripStream<Stream<int>>, int>();
+  ::testing::StaticAssertTypeEq<StripStream<int>, int>();
+}
+
+TEST(TypeTraitsTest, RpcTypes) {
+  EXPECT_EQ((RpcType<int, int>::value),
+            ::grpc::internal::RpcMethod::NORMAL_RPC);
+  EXPECT_EQ((RpcType<Stream<int>, int>::value),
+            ::grpc::internal::RpcMethod::CLIENT_STREAMING);
+  EXPECT_EQ((RpcType<int, Stream<int>>::value),
+            ::grpc::internal::RpcMethod::SERVER_STREAMING);
+  EXPECT_EQ((RpcType<Stream<int>, Stream<int>>::value),
+            ::grpc::internal::RpcMethod::BIDI_STREAMING);
+}
+
+}  // namespace
+}  // namespace framework
+}  // namespace cartographer_grpc
diff --git a/scripts/install_grpc.sh b/scripts/install_grpc.sh
index 9e02cde..f8952c9 100755
--- a/scripts/install_grpc.sh
+++ b/scripts/install_grpc.sh
@@ -17,10 +17,8 @@
 set -o errexit
 set -o verbose
 
-VERSION="v1.7.2"
-
 # Build and install gRPC.
-git clone -b ${VERSION} https://github.com/grpc/grpc
+git clone https://github.com/grpc/grpc
 cd grpc
 git submodule update --init
 make