diff --git a/cartographer/mapping/2d/tsdf_range_data_inserter_2d_test.cc b/cartographer/mapping/2d/tsdf_range_data_inserter_2d_test.cc
index e36ef99..4db939a 100644
--- a/cartographer/mapping/2d/tsdf_range_data_inserter_2d_test.cc
+++ b/cartographer/mapping/2d/tsdf_range_data_inserter_2d_test.cc
@@ -48,7 +48,7 @@ class RangeDataInserterTest2DTSDF : public ::testing::Test {
   }
 
   void InsertPoint() {
-    sensor::RangeData range_data;
+    auto range_data = sensor::RangeData();
     range_data.returns.push_back({Eigen::Vector3f{-0.5f, 3.5f, 0.f}});
     range_data.origin.x() = -0.5f;
     range_data.origin.y() = -0.5f;
@@ -236,7 +236,7 @@ TEST_F(RangeDataInserterTest2DTSDF, InsertPointQuadraticWeight) {
 
 TEST_F(RangeDataInserterTest2DTSDF,
        InsertSmallAnglePointWithoutNormalProjection) {
-  sensor::RangeData range_data;
+  auto range_data = sensor::RangeData();
   range_data.returns.push_back({Eigen::Vector3f{-0.5f, 3.5f, 0.f}});
   range_data.returns.push_back({Eigen::Vector3f{5.5f, 3.5f, 0.f}});
   range_data.returns.push_back({Eigen::Vector3f{10.5f, 3.5f, 0.f}});
@@ -263,7 +263,7 @@ TEST_F(RangeDataInserterTest2DTSDF,
 TEST_F(RangeDataInserterTest2DTSDF, InsertSmallAnglePointWitNormalProjection) {
   options_.set_project_sdf_distance_to_scan_normal(true);
   range_data_inserter_ = absl::make_unique<TSDFRangeDataInserter2D>(options_);
-  sensor::RangeData range_data;
+  auto range_data = sensor::RangeData();
   range_data.returns.push_back({Eigen::Vector3f{-0.5f, 3.5f, 0.f}});
   range_data.returns.push_back({Eigen::Vector3f{5.5f, 3.5f, 0.f}});
   range_data.origin.x() = -0.5f;
@@ -293,7 +293,7 @@ TEST_F(RangeDataInserterTest2DTSDF,
   options_.set_update_weight_angle_scan_normal_to_ray_kernel_bandwidth(
       bandwidth);
   range_data_inserter_ = absl::make_unique<TSDFRangeDataInserter2D>(options_);
-  sensor::RangeData range_data;
+  auto range_data = sensor::RangeData();
   range_data.returns.push_back({Eigen::Vector3f{-0.5f, 3.5f, 0.f}});
   range_data.returns.push_back({Eigen::Vector3f{5.5f, 3.5f, 0.f}});
   range_data.origin.x() = -0.5f;
diff --git a/cartographer/mapping/internal/2d/scan_matching/tsdf_match_cost_function_2d_test.cc b/cartographer/mapping/internal/2d/scan_matching/tsdf_match_cost_function_2d_test.cc
index 821654c..c25840f 100644
--- a/cartographer/mapping/internal/2d/scan_matching/tsdf_match_cost_function_2d_test.cc
+++ b/cartographer/mapping/internal/2d/scan_matching/tsdf_match_cost_function_2d_test.cc
@@ -56,7 +56,7 @@ class TSDFSpaceCostFunction2DTest : public ::testing::Test {
   }
 
   void InsertPointcloud() {
-    sensor::RangeData range_data;
+    auto range_data = sensor::RangeData();
     for (float x = -.5; x < 0.5f; x += 0.1) {
       range_data.returns.push_back({Eigen::Vector3f{x, 1.0f, 0.f}});
     }
diff --git a/cartographer/sensor/compressed_point_cloud.cc b/cartographer/sensor/compressed_point_cloud.cc
index d840e47..f5337e5 100644
--- a/cartographer/sensor/compressed_point_cloud.cc
+++ b/cartographer/sensor/compressed_point_cloud.cc
@@ -61,8 +61,8 @@ RangefinderPoint CompressedPointCloud::ConstIterator::operator*() const {
   return {current_point_};
 }
 
-CompressedPointCloud::ConstIterator& CompressedPointCloud::ConstIterator::
-operator++() {
+CompressedPointCloud::ConstIterator&
+CompressedPointCloud::ConstIterator::operator++() {
   --remaining_points_;
   if (remaining_points_ > 0) {
     ReadNextPoint();