diff --git a/cartographer/cloud/client/map_builder_stub.h b/cartographer/cloud/client/map_builder_stub.h
index 3150756..1aea0de 100644
--- a/cartographer/cloud/client/map_builder_stub.h
+++ b/cartographer/cloud/client/map_builder_stub.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_CLIENT_MAP_BUILDER_STUB_H_
-#define CARTOGRAPHER_GRPC_CLIENT_MAP_BUILDER_STUB_H_
+#ifndef CARTOGRAPHER_CLOUD_CLIENT_MAP_BUILDER_STUB_H_
+#define CARTOGRAPHER_CLOUD_CLIENT_MAP_BUILDER_STUB_H_
 
 #include <memory>
 
@@ -65,4 +65,4 @@ class MapBuilderStub : public mapping::MapBuilderInterface {
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_CLIENT_MAP_BUILDER_STUB_H_
+#endif  // CARTOGRAPHER_CLOUD_CLIENT_MAP_BUILDER_STUB_H_
diff --git a/cartographer/cloud/internal/client/pose_graph_stub.h b/cartographer/cloud/internal/client/pose_graph_stub.h
index 99b070a..f07002e 100644
--- a/cartographer/cloud/internal/client/pose_graph_stub.h
+++ b/cartographer/cloud/internal/client/pose_graph_stub.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_CLIENT_POSE_GRAPH_STUB_H_
-#define CARTOGRAPHER_GRPC_INTERNAL_CLIENT_POSE_GRAPH_STUB_H_
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_CLIENT_POSE_GRAPH_STUB_H_
+#define CARTOGRAPHER_CLOUD_INTERNAL_CLIENT_POSE_GRAPH_STUB_H_
 
 #include "cartographer/mapping/pose_graph_interface.h"
 #include "grpc++/grpc++.h"
@@ -52,4 +52,4 @@ class PoseGraphStub : public ::cartographer::mapping::PoseGraphInterface {
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_CLIENT_POSE_GRAPH_STUB_H_
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_CLIENT_POSE_GRAPH_STUB_H_
diff --git a/cartographer/cloud/internal/client/trajectory_builder_stub.h b/cartographer/cloud/internal/client/trajectory_builder_stub.h
index ab9e6a7..7382fb6 100644
--- a/cartographer/cloud/internal/client/trajectory_builder_stub.h
+++ b/cartographer/cloud/internal/client/trajectory_builder_stub.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_CLIENT_TRAJECTORY_BUILDER_STUB_H_
-#define CARTOGRAPHER_GRPC_INTERNAL_CLIENT_TRAJECTORY_BUILDER_STUB_H_
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_CLIENT_TRAJECTORY_BUILDER_STUB_H_
+#define CARTOGRAPHER_CLOUD_INTERNAL_CLIENT_TRAJECTORY_BUILDER_STUB_H_
 
 #include <thread>
 
@@ -86,4 +86,4 @@ class TrajectoryBuilderStub : public mapping::TrajectoryBuilderInterface {
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_CLIENT_TRAJECTORY_BUILDER_STUB_H_
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_CLIENT_TRAJECTORY_BUILDER_STUB_H_
diff --git a/cartographer/cloud/internal/framework/client.h b/cartographer/cloud/internal/framework/client.h
index f867a8c..31e313b 100644
--- a/cartographer/cloud/internal/framework/client.h
+++ b/cartographer/cloud/internal/framework/client.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_CLIENT_H
-#define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_CLIENT_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_CLIENT_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_CLIENT_H
 
 #include "cartographer/cloud/internal/framework/retry.h"
 #include "cartographer/cloud/internal/framework/rpc_handler_interface.h"
@@ -202,4 +202,4 @@ class Client {
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_CLIENT_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_CLIENT_H
diff --git a/cartographer/cloud/internal/framework/completion_queue_thread.h b/cartographer/cloud/internal/framework/completion_queue_thread.h
index 5e61254..c27a530 100644
--- a/cartographer/cloud/internal/framework/completion_queue_thread.h
+++ b/cartographer/cloud/internal/framework/completion_queue_thread.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_COMPLETION_QUEUE_THREAD_H
-#define CARTOGRAPHER_COMPLETION_QUEUE_THREAD_H
+#ifndef CARTOGRAPHER_INTERNAL_FRAMEWORK_COMPLETION_QUEUE_THREAD_H_
+#define CARTOGRAPHER_INTERNAL_FRAMEWORK_COMPLETION_QUEUE_THREAD_H_
 
 #include <grpc++/grpc++.h>
 #include <memory>
@@ -47,4 +47,4 @@ class CompletionQueueThread {
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_COMPLETION_QUEUE_THREAD_H
+#endif  // CARTOGRAPHER_INTERNAL_FRAMEWORK_COMPLETION_QUEUE_THREAD_H_
diff --git a/cartographer/cloud/internal/framework/event_queue_thread.h b/cartographer/cloud/internal/framework/event_queue_thread.h
index aacffcf..3b57601 100644
--- a/cartographer/cloud/internal/framework/event_queue_thread.h
+++ b/cartographer/cloud/internal/framework/event_queue_thread.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_EVENT_QUEUE_THREAD_H
-#define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_EVENT_QUEUE_THREAD_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_EVENT_QUEUE_THREAD_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_EVENT_QUEUE_THREAD_H
 
 #include <memory>
 #include <thread>
@@ -47,4 +47,4 @@ class EventQueueThread {
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_EVENT_QUEUE_THREAD_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_EVENT_QUEUE_THREAD_H
diff --git a/cartographer/cloud/internal/framework/execution_context.h b/cartographer/cloud/internal/framework/execution_context.h
index 6ea9034..f62c542 100644
--- a/cartographer/cloud/internal/framework/execution_context.h
+++ b/cartographer/cloud/internal/framework/execution_context.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_EXECUTION_CONTEXT_H
-#define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_EXECUTION_CONTEXT_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_EXECUTION_CONTEXT_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_EXECUTION_CONTEXT_H
 
 #include "cartographer/common/mutex.h"
 #include "glog/logging.h"
@@ -63,4 +63,4 @@ class ExecutionContext {
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_EXECUTION_CONTEXT_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_EXECUTION_CONTEXT_H
diff --git a/cartographer/cloud/internal/framework/retry.h b/cartographer/cloud/internal/framework/retry.h
index 9694471..5aaf75a 100644
--- a/cartographer/cloud/internal/framework/retry.h
+++ b/cartographer/cloud/internal/framework/retry.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RETRY_H
-#define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RETRY_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_RETRY_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_RETRY_H
 
 #include "cartographer/common/optional.h"
 #include "cartographer/common/time.h"
@@ -50,4 +50,4 @@ bool RetryWithStrategy(RetryStrategy retry_strategy, std::function<bool()> op,
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RETRY_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_RETRY_H
diff --git a/cartographer/cloud/internal/framework/rpc.h b/cartographer/cloud/internal/framework/rpc.h
index e168a71..2184136 100644
--- a/cartographer/cloud/internal/framework/rpc.h
+++ b/cartographer/cloud/internal/framework/rpc.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RPC_H
-#define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RPC_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_RPC_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_RPC_H
 
 #include <memory>
 #include <queue>
@@ -210,4 +210,4 @@ class ActiveRpcs {
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RPC_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_RPC_H
diff --git a/cartographer/cloud/internal/framework/rpc_handler.h b/cartographer/cloud/internal/framework/rpc_handler.h
index 32b3a4a..4024f61 100644
--- a/cartographer/cloud/internal/framework/rpc_handler.h
+++ b/cartographer/cloud/internal/framework/rpc_handler.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RPC_HANDLER_H
-#define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RPC_HANDLER_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_RPC_HANDLER_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_RPC_HANDLER_H
 
 #include "cartographer/cloud/internal/framework/execution_context.h"
 #include "cartographer/cloud/internal/framework/rpc.h"
@@ -90,4 +90,4 @@ class RpcHandler : public RpcHandlerInterface {
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RPC_HANDLER_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_RPC_HANDLER_H
diff --git a/cartographer/cloud/internal/framework/rpc_handler_interface.h b/cartographer/cloud/internal/framework/rpc_handler_interface.h
index 39354ee..685cc5a 100644
--- a/cartographer/cloud/internal/framework/rpc_handler_interface.h
+++ b/cartographer/cloud/internal/framework/rpc_handler_interface.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RPC_HANDLER_INTERFACE_H_H
-#define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RPC_HANDLER_INTERFACE_H_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_RPC_HANDLER_INTERFACE_H_
+#define CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_RPC_HANDLER_INTERFACE_H_
 
 #include "cartographer/cloud/internal/framework/execution_context.h"
 #include "cartographer/common/make_unique.h"
@@ -63,4 +63,4 @@ struct RpcHandlerInfo {
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RPC_HANDLER_INTERFACE_H_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_RPC_HANDLER_INTERFACE_H_
diff --git a/cartographer/cloud/internal/framework/server.h b/cartographer/cloud/internal/framework/server.h
index 20f5086..e8e83c1 100644
--- a/cartographer/cloud/internal/framework/server.h
+++ b/cartographer/cloud/internal/framework/server.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_SERVER_H
-#define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_SERVER_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_SERVER_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_SERVER_H
 
 #include <cstddef>
 #include <memory>
@@ -197,4 +197,4 @@ class Server {
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_SERVER_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_SERVER_H
diff --git a/cartographer/cloud/internal/framework/service.h b/cartographer/cloud/internal/framework/service.h
index 62bcf16..74b3879 100644
--- a/cartographer/cloud/internal/framework/service.h
+++ b/cartographer/cloud/internal/framework/service.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_SERVICE_H
-#define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_SERVICE_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_SERVICE_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_SERVICE_H
 
 #include "cartographer/cloud/internal/framework/completion_queue_thread.h"
 #include "cartographer/cloud/internal/framework/event_queue_thread.h"
@@ -64,4 +64,4 @@ class Service : public ::grpc::Service {
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_SERVICE_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_SERVICE_H
diff --git a/cartographer/cloud/internal/framework/testing/rpc_handler_test_server.h b/cartographer/cloud/internal/framework/testing/rpc_handler_test_server.h
index 0853279..7ea3a12 100644
--- a/cartographer/cloud/internal/framework/testing/rpc_handler_test_server.h
+++ b/cartographer/cloud/internal/framework/testing/rpc_handler_test_server.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_TESTING_RPC_HANDLER_TEST_SERVER_H_
-#define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_TESTING_RPC_HANDLER_TEST_SERVER_H_
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_TESTING_RPC_HANDLER_TEST_SERVER_H_
+#define CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_TESTING_RPC_HANDLER_TEST_SERVER_H_
 
 #include <functional>
 #include <string>
@@ -138,4 +138,4 @@ class RpcHandlerTestServer : public Server {
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_TESTING_RPC_HANDLER_TEST_SERVER_H_
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_TESTING_RPC_HANDLER_TEST_SERVER_H_
diff --git a/cartographer/cloud/internal/framework/testing/rpc_handler_wrapper.h b/cartographer/cloud/internal/framework/testing/rpc_handler_wrapper.h
index 5e79191..cd4b28e 100644
--- a/cartographer/cloud/internal/framework/testing/rpc_handler_wrapper.h
+++ b/cartographer/cloud/internal/framework/testing/rpc_handler_wrapper.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_TESTING_RPC_HANDLER_WRAPPER_H_
-#define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_TESTING_RPC_HANDLER_WRAPPER_H_
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_TESTING_RPC_HANDLER_WRAPPER_H_
+#define CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_TESTING_RPC_HANDLER_WRAPPER_H_
 
 #include <functional>
 
@@ -57,4 +57,4 @@ class RpcHandlerWrapper : public RpcHandlerType {
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_TESTING_RPC_HANDLER_WRAPPER_H_
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_TESTING_RPC_HANDLER_WRAPPER_H_
diff --git a/cartographer/cloud/internal/framework/type_traits.h b/cartographer/cloud/internal/framework/type_traits.h
index 0179311..c1a82e1 100644
--- a/cartographer/cloud/internal/framework/type_traits.h
+++ b/cartographer/cloud/internal/framework/type_traits.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_TYPES_H
-#define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_TYPES_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_TYPE_TRAITS_H_
+#define CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_TYPE_TRAITS_H_
 
 #include <grpc++/grpc++.h>
 
@@ -68,4 +68,4 @@ struct RpcType<Stream<Incoming>, Stream<Outgoing>>
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_TYPES_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_FRAMEWORK_TYPE_TRAITS_H_
diff --git a/cartographer/cloud/internal/handlers/add_fixed_frame_pose_data_handler.h b/cartographer/cloud/internal/handlers/add_fixed_frame_pose_data_handler.h
index b406584..2b15964 100644
--- a/cartographer/cloud/internal/handlers/add_fixed_frame_pose_data_handler.h
+++ b/cartographer/cloud/internal/handlers/add_fixed_frame_pose_data_handler.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_FIXED_FRAME_POSE_DATA_HANDLER_H
-#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_FIXED_FRAME_POSE_DATA_HANDLER_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_ADD_FIXED_FRAME_POSE_DATA_HANDLER_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_ADD_FIXED_FRAME_POSE_DATA_HANDLER_H
 
 #include "cartographer/cloud/internal/framework/rpc_handler.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
@@ -41,4 +41,4 @@ class AddFixedFramePoseDataHandler
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_FIXED_FRAME_POSE_DATA_HANDLER_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_ADD_FIXED_FRAME_POSE_DATA_HANDLER_H
diff --git a/cartographer/cloud/internal/handlers/add_imu_data_handler.h b/cartographer/cloud/internal/handlers/add_imu_data_handler.h
index c6a703f..5632049 100644
--- a/cartographer/cloud/internal/handlers/add_imu_data_handler.h
+++ b/cartographer/cloud/internal/handlers/add_imu_data_handler.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_IMU_DATA_HANDLER_H
-#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_IMU_DATA_HANDLER_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_ADD_IMU_DATA_HANDLER_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_ADD_IMU_DATA_HANDLER_H
 
 #include "cartographer/cloud/internal/framework/rpc_handler.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
@@ -40,4 +40,4 @@ class AddImuDataHandler
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_IMU_DATA_HANDLER_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_ADD_IMU_DATA_HANDLER_H
diff --git a/cartographer/cloud/internal/handlers/add_landmark_data_handler.h b/cartographer/cloud/internal/handlers/add_landmark_data_handler.h
index 924e9f7..7098473 100644
--- a/cartographer/cloud/internal/handlers/add_landmark_data_handler.h
+++ b/cartographer/cloud/internal/handlers/add_landmark_data_handler.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_LANDMARK_DATA_HANDLER_H
-#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_LANDMARK_DATA_HANDLER_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_ADD_LANDMARK_DATA_HANDLER_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_ADD_LANDMARK_DATA_HANDLER_H
 
 #include "cartographer/cloud/internal/framework/rpc_handler.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
@@ -41,4 +41,4 @@ class AddLandmarkDataHandler
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_LANDMARK_DATA_HANDLER_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_ADD_LANDMARK_DATA_HANDLER_H
diff --git a/cartographer/cloud/internal/handlers/add_local_slam_result_data_handler.h b/cartographer/cloud/internal/handlers/add_local_slam_result_data_handler.h
index 8bbf899..8cf3643 100644
--- a/cartographer/cloud/internal/handlers/add_local_slam_result_data_handler.h
+++ b/cartographer/cloud/internal/handlers/add_local_slam_result_data_handler.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_LOCAL_SLAM_RESULT_DATA_HANDLER_H
-#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_LOCAL_SLAM_RESULT_DATA_HANDLER_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_ADD_LOCAL_SLAM_RESULT_DATA_HANDLER_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_ADD_LOCAL_SLAM_RESULT_DATA_HANDLER_H
 
 #include "cartographer/cloud/internal/framework/rpc_handler.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
@@ -41,4 +41,4 @@ class AddLocalSlamResultDataHandler
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_LOCAL_SLAM_RESULT_DATA_HANDLER_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_ADD_LOCAL_SLAM_RESULT_DATA_HANDLER_H
diff --git a/cartographer/cloud/internal/handlers/add_odometry_data_handler.h b/cartographer/cloud/internal/handlers/add_odometry_data_handler.h
index a263323..e6fee7d 100644
--- a/cartographer/cloud/internal/handlers/add_odometry_data_handler.h
+++ b/cartographer/cloud/internal/handlers/add_odometry_data_handler.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_ODOMETRY_DATA_HANDLER_H
-#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_ODOMETRY_DATA_HANDLER_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_ADD_ODOMETRY_DATA_HANDLER_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_ADD_ODOMETRY_DATA_HANDLER_H
 
 #include "cartographer/cloud/internal/framework/rpc_handler.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
@@ -41,4 +41,4 @@ class AddOdometryDataHandler
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_ODOMETRY_DATA_HANDLER_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_ADD_ODOMETRY_DATA_HANDLER_H
diff --git a/cartographer/cloud/internal/handlers/add_rangefinder_data_handler.h b/cartographer/cloud/internal/handlers/add_rangefinder_data_handler.h
index b21d216..2ea65f6 100644
--- a/cartographer/cloud/internal/handlers/add_rangefinder_data_handler.h
+++ b/cartographer/cloud/internal/handlers/add_rangefinder_data_handler.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_RANGEFINDER_DATA_HANDLER_H
-#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_RANGEFINDER_DATA_HANDLER_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_ADD_RANGEFINDER_DATA_HANDLER_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_ADD_RANGEFINDER_DATA_HANDLER_H
 
 #include "cartographer/cloud/internal/framework/rpc_handler.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
@@ -41,4 +41,4 @@ class AddRangefinderDataHandler
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_RANGEFINDER_DATA_HANDLER_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_ADD_RANGEFINDER_DATA_HANDLER_H
diff --git a/cartographer/cloud/internal/handlers/add_trajectory_handler.h b/cartographer/cloud/internal/handlers/add_trajectory_handler.h
index dacc465..d4f4164 100644
--- a/cartographer/cloud/internal/handlers/add_trajectory_handler.h
+++ b/cartographer/cloud/internal/handlers/add_trajectory_handler.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_TRAJECTORY_HANDLER_H
-#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_TRAJECTORY_HANDLER_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_ADD_TRAJECTORY_HANDLER_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_ADD_TRAJECTORY_HANDLER_H
 
 #include "cartographer/cloud/internal/framework/rpc_handler.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
@@ -38,4 +38,4 @@ class AddTrajectoryHandler
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_TRAJECTORY_HANDLER_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_ADD_TRAJECTORY_HANDLER_H
diff --git a/cartographer/cloud/internal/handlers/finish_trajectory_handler.h b/cartographer/cloud/internal/handlers/finish_trajectory_handler.h
index 6568039..57baef2 100644
--- a/cartographer/cloud/internal/handlers/finish_trajectory_handler.h
+++ b/cartographer/cloud/internal/handlers/finish_trajectory_handler.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_FINISH_TRAJECTORY_HANDLER_H
-#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_FINISH_TRAJECTORY_HANDLER_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_FINISH_TRAJECTORY_HANDLER_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_FINISH_TRAJECTORY_HANDLER_H
 
 #include "cartographer/cloud/internal/framework/rpc_handler.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
@@ -39,4 +39,4 @@ class FinishTrajectoryHandler
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_FINISH_TRAJECTORY_HANDLER_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_FINISH_TRAJECTORY_HANDLER_H
diff --git a/cartographer/cloud/internal/handlers/get_all_submap_poses.h b/cartographer/cloud/internal/handlers/get_all_submap_poses.h
index 08450ae..f3d9fb3 100644
--- a/cartographer/cloud/internal/handlers/get_all_submap_poses.h
+++ b/cartographer/cloud/internal/handlers/get_all_submap_poses.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_ALL_SUBMAP_POSES_H
-#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_ALL_SUBMAP_POSES_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_GET_ALL_SUBMAP_POSES_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_GET_ALL_SUBMAP_POSES_H
 
 #include "cartographer/cloud/internal/framework/rpc_handler.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
@@ -39,4 +39,4 @@ class GetAllSubmapPosesHandler
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_ALL_SUBMAP_POSES_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_GET_ALL_SUBMAP_POSES_H
diff --git a/cartographer/cloud/internal/handlers/get_constraints_handler.h b/cartographer/cloud/internal/handlers/get_constraints_handler.h
index db0a110..bd5c542 100644
--- a/cartographer/cloud/internal/handlers/get_constraints_handler.h
+++ b/cartographer/cloud/internal/handlers/get_constraints_handler.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_CONSTRAINTS_HANDLER_H
-#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_CONSTRAINTS_HANDLER_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_GET_CONSTRAINTS_HANDLER_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_GET_CONSTRAINTS_HANDLER_H
 
 #include "cartographer/cloud/internal/framework/rpc_handler.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
@@ -39,4 +39,4 @@ class GetConstraintsHandler
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_CONSTRAINTS_HANDLER_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_GET_CONSTRAINTS_HANDLER_H
diff --git a/cartographer/cloud/internal/handlers/get_landmark_poses_handler.h b/cartographer/cloud/internal/handlers/get_landmark_poses_handler.h
index f9b4dbe..5da9638 100644
--- a/cartographer/cloud/internal/handlers/get_landmark_poses_handler.h
+++ b/cartographer/cloud/internal/handlers/get_landmark_poses_handler.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_LANDMARK_POSES_HANDLER_H
-#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_LANDMARK_POSES_HANDLER_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_GET_LANDMARK_POSES_HANDLER_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_GET_LANDMARK_POSES_HANDLER_H
 
 #include "cartographer/cloud/internal/framework/rpc_handler.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
@@ -39,4 +39,4 @@ class GetLandmarkPosesHandler
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_LANDMARK_POSES_HANDLER_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_GET_LANDMARK_POSES_HANDLER_H
diff --git a/cartographer/cloud/internal/handlers/get_local_to_global_transform_handler.h b/cartographer/cloud/internal/handlers/get_local_to_global_transform_handler.h
index 8d047fc..1171969 100644
--- a/cartographer/cloud/internal/handlers/get_local_to_global_transform_handler.h
+++ b/cartographer/cloud/internal/handlers/get_local_to_global_transform_handler.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_LOCAL_TO_GLOBAL_TRANSFORM_HANDLER_H
-#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_LOCAL_TO_GLOBAL_TRANSFORM_HANDLER_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_GET_LOCAL_TO_GLOBAL_TRANSFORM_HANDLER_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_GET_LOCAL_TO_GLOBAL_TRANSFORM_HANDLER_H
 
 #include "cartographer/cloud/internal/framework/rpc_handler.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
@@ -41,4 +41,4 @@ class GetLocalToGlobalTransformHandler
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_LOCAL_TO_GLOBAL_TRANSFORM_HANDLER_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_GET_LOCAL_TO_GLOBAL_TRANSFORM_HANDLER_H
diff --git a/cartographer/cloud/internal/handlers/get_submap_handler.h b/cartographer/cloud/internal/handlers/get_submap_handler.h
index 3293955..37931af 100644
--- a/cartographer/cloud/internal/handlers/get_submap_handler.h
+++ b/cartographer/cloud/internal/handlers/get_submap_handler.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_SUBMAP_HANDLER_H
-#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_SUBMAP_HANDLER_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_GET_SUBMAP_HANDLER_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_GET_SUBMAP_HANDLER_H
 
 #include "cartographer/cloud/internal/framework/rpc_handler.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
@@ -39,4 +39,4 @@ class GetSubmapHandler
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_SUBMAP_HANDLER_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_GET_SUBMAP_HANDLER_H
diff --git a/cartographer/cloud/internal/handlers/get_trajectory_node_poses_handler.h b/cartographer/cloud/internal/handlers/get_trajectory_node_poses_handler.h
index 30f26f5..a789d1e 100644
--- a/cartographer/cloud/internal/handlers/get_trajectory_node_poses_handler.h
+++ b/cartographer/cloud/internal/handlers/get_trajectory_node_poses_handler.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_TRAJECTORY_NODE_POSES_HANDLER_H
-#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_TRAJECTORY_NODE_POSES_HANDLER_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_GET_TRAJECTORY_NODE_POSES_HANDLER_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_GET_TRAJECTORY_NODE_POSES_HANDLER_H
 
 #include "cartographer/cloud/internal/framework/rpc_handler.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
@@ -39,4 +39,4 @@ class GetTrajectoryNodePosesHandler
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_TRAJECTORY_NODE_POSES_HANDLER_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_GET_TRAJECTORY_NODE_POSES_HANDLER_H
diff --git a/cartographer/cloud/internal/handlers/load_state_handler.h b/cartographer/cloud/internal/handlers/load_state_handler.h
index de6e49f..9dae7c7 100644
--- a/cartographer/cloud/internal/handlers/load_state_handler.h
+++ b/cartographer/cloud/internal/handlers/load_state_handler.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_LOAD_STATE_HANDLER_H
-#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_LOAD_STATE_HANDLER_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_LOAD_STATE_HANDLER_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_LOAD_STATE_HANDLER_H
 
 #include "cartographer/cloud/internal/framework/rpc_handler.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
@@ -44,4 +44,4 @@ class LoadStateHandler
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_LOAD_STATE_HANDLER_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_LOAD_STATE_HANDLER_H
diff --git a/cartographer/cloud/internal/handlers/receive_local_slam_results_handler.h b/cartographer/cloud/internal/handlers/receive_local_slam_results_handler.h
index f3681b1..fcf4ae8 100644
--- a/cartographer/cloud/internal/handlers/receive_local_slam_results_handler.h
+++ b/cartographer/cloud/internal/handlers/receive_local_slam_results_handler.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_RECEIVE_LOCAL_SLAM_RESULTS_HANDLER_H
-#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_RECEIVE_LOCAL_SLAM_RESULTS_HANDLER_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_RECEIVE_LOCAL_SLAM_RESULTS_HANDLER_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_RECEIVE_LOCAL_SLAM_RESULTS_HANDLER_H
 
 #include <memory>
 
@@ -47,4 +47,4 @@ class ReceiveLocalSlamResultsHandler
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_RECEIVE_LOCAL_SLAM_RESULTS_HANDLER_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_RECEIVE_LOCAL_SLAM_RESULTS_HANDLER_H
diff --git a/cartographer/cloud/internal/handlers/run_final_optimization_handler.h b/cartographer/cloud/internal/handlers/run_final_optimization_handler.h
index 3b927cd..8503223 100644
--- a/cartographer/cloud/internal/handlers/run_final_optimization_handler.h
+++ b/cartographer/cloud/internal/handlers/run_final_optimization_handler.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_RUN_FINAL_OPTIMIZATION_H
-#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_RUN_FINAL_OPTIMIZATION_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_RUN_FINAL_OPTIMIZATION_HANDLER_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_RUN_FINAL_OPTIMIZATION_HANDLER_H
 
 #include "cartographer/cloud/internal/framework/rpc_handler.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
@@ -39,4 +39,4 @@ class RunFinalOptimizationHandler
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_RUN_FINAL_OPTIMIZATION_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_RUN_FINAL_OPTIMIZATION_HANDLER_H
diff --git a/cartographer/cloud/internal/handlers/write_state_handler.h b/cartographer/cloud/internal/handlers/write_state_handler.h
index 7433675..1b8684e 100644
--- a/cartographer/cloud/internal/handlers/write_state_handler.h
+++ b/cartographer/cloud/internal/handlers/write_state_handler.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_WRITE_STATE_HANDLER_H
-#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_WRITE_STATE_HANDLER_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_WRITE_STATE_HANDLER_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_WRITE_STATE_HANDLER_H
 
 #include "cartographer/cloud/internal/framework/rpc_handler.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
@@ -39,4 +39,4 @@ class WriteStateHandler : public framework::RpcHandler<
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_WRITE_STATE_HANDLER_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_WRITE_STATE_HANDLER_H
diff --git a/cartographer/cloud/internal/local_trajectory_uploader.h b/cartographer/cloud/internal/local_trajectory_uploader.h
index 62141d1..ef29b7f 100644
--- a/cartographer/cloud/internal/local_trajectory_uploader.h
+++ b/cartographer/cloud/internal/local_trajectory_uploader.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_LOCAL_TRAJECTORY_UPLOADER_H
-#define CARTOGRAPHER_GRPC_LOCAL_TRAJECTORY_UPLOADER_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_LOCAL_TRAJECTORY_UPLOADER_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_LOCAL_TRAJECTORY_UPLOADER_H
 
 #include <memory>
 #include <set>
@@ -59,4 +59,4 @@ std::unique_ptr<LocalTrajectoryUploaderInterface> CreateLocalTrajectoryUploader(
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_LOCAL_TRAJECTORY_UPLOADER_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_LOCAL_TRAJECTORY_UPLOADER_H
diff --git a/cartographer/cloud/internal/map_builder_context.h b/cartographer/cloud/internal/map_builder_context.h
index b0c31d3..f0a65b4 100644
--- a/cartographer/cloud/internal/map_builder_context.h
+++ b/cartographer/cloud/internal/map_builder_context.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_MAP_BUILDER_CONTEXT_H
-#define CARTOGRAPHER_GRPC_MAP_BUILDER_CONTEXT_H
+#ifndef CARTOGRAPHER_INTERNAL_CLOUD_MAP_BUILDER_CONTEXT_H
+#define CARTOGRAPHER_INTERNAL_CLOUD_MAP_BUILDER_CONTEXT_H
 
 #include "cartographer/cloud/internal/map_builder_context_interface.h"
 #include "cartographer/mapping/2d/submap_2d.h"
@@ -62,4 +62,4 @@ class MapBuilderContext : public MapBuilderContextInterface {
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_MAP_BUILDER_CONTEXT_H
+#endif  // CARTOGRAPHER_INTERNAL_CLOUD_MAP_BUILDER_CONTEXT_H
diff --git a/cartographer/cloud/internal/map_builder_context_interface.h b/cartographer/cloud/internal/map_builder_context_interface.h
index 5723032..134c673 100644
--- a/cartographer/cloud/internal/map_builder_context_interface.h
+++ b/cartographer/cloud/internal/map_builder_context_interface.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_MAP_BUILDER_CONTEXT_INTERFACE_H
-#define CARTOGRAPHER_GRPC_MAP_BUILDER_CONTEXT_INTERFACE_H
+#ifndef CARTOGRAPHER_CLOUD_MAP_BUILDER_CONTEXT_INTERFACE_H
+#define CARTOGRAPHER_CLOUD_MAP_BUILDER_CONTEXT_INTERFACE_H
 
 #include "cartographer/cloud/internal/framework/execution_context.h"
 #include "cartographer/cloud/internal/local_trajectory_uploader.h"
@@ -83,4 +83,4 @@ class MapBuilderContextInterface : public framework::ExecutionContext {
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_MAP_BUILDER_CONTEXT_INTERFACE_H
+#endif  // CARTOGRAPHER_CLOUD_MAP_BUILDER_CONTEXT_INTERFACE_H
diff --git a/cartographer/cloud/internal/map_builder_server.h b/cartographer/cloud/internal/map_builder_server.h
index 74ea6bc..9476202 100644
--- a/cartographer/cloud/internal/map_builder_server.h
+++ b/cartographer/cloud/internal/map_builder_server.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_MAP_BUILDER_SERVER_H
-#define CARTOGRAPHER_GRPC_MAP_BUILDER_SERVER_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_MAP_BUILDER_SERVER_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_MAP_BUILDER_SERVER_H
 
 #include "cartographer/cloud/internal/framework/execution_context.h"
 #include "cartographer/cloud/internal/framework/server.h"
@@ -94,4 +94,4 @@ class MapBuilderServer : public MapBuilderServerInterface {
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_MAP_BUILDER_SERVER_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_MAP_BUILDER_SERVER_H
diff --git a/cartographer/cloud/internal/sensor/serialization.h b/cartographer/cloud/internal/sensor/serialization.h
index f16f6d7..90d8c50 100644
--- a/cartographer/cloud/internal/sensor/serialization.h
+++ b/cartographer/cloud/internal/sensor/serialization.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_SENSOR_SERIALIZATION_H
-#define CARTOGRAPHER_GRPC_INTERNAL_SENSOR_SERIALIZATION_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_SENSOR_SERIALIZATION_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_SENSOR_SERIALIZATION_H
 
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
 #include "cartographer/mapping/local_slam_result_data.h"
@@ -66,4 +66,4 @@ mapping::TrajectoryBuilderInterface::SensorId FromProto(
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_SENSOR_SERIALIZATION_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_SENSOR_SERIALIZATION_H
diff --git a/cartographer/cloud/internal/testing/handler_test.h b/cartographer/cloud/internal/testing/handler_test.h
index 6da1c91..d51774b 100644
--- a/cartographer/cloud/internal/testing/handler_test.h
+++ b/cartographer/cloud/internal/testing/handler_test.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_TESTING_HANDLER_TEST_H
-#define CARTOGRAPHER_GRPC_INTERNAL_TESTING_HANDLER_TEST_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_TESTING_HANDLER_TEST_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_TESTING_HANDLER_TEST_H
 
 #include "cartographer/cloud/internal/framework/testing/rpc_handler_test_server.h"
 #include "cartographer/common/make_unique.h"
@@ -78,4 +78,4 @@ class HandlerTest : public Test {
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_TESTING_HANDLER_TEST_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_TESTING_HANDLER_TEST_H
diff --git a/cartographer/cloud/internal/testing/mock_local_trajectory_uploader.h b/cartographer/cloud/internal/testing/mock_local_trajectory_uploader.h
index d27ccac..0234705 100644
--- a/cartographer/cloud/internal/testing/mock_local_trajectory_uploader.h
+++ b/cartographer/cloud/internal/testing/mock_local_trajectory_uploader.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_LOCAL_TRAJECTORY_UPLOADER_H
-#define CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_LOCAL_TRAJECTORY_UPLOADER_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_TESTING_MOCK_LOCAL_TRAJECTORY_UPLOADER_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_TESTING_MOCK_LOCAL_TRAJECTORY_UPLOADER_H
 
 #include "cartographer/cloud/internal/local_trajectory_uploader.h"
 #include "glog/logging.h"
@@ -46,4 +46,4 @@ class MockLocalTrajectoryUploader : public LocalTrajectoryUploaderInterface {
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_LOCAL_TRAJECTORY_UPLOADER_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_TESTING_MOCK_LOCAL_TRAJECTORY_UPLOADER_H
diff --git a/cartographer/cloud/internal/testing/mock_map_builder_context.h b/cartographer/cloud/internal/testing/mock_map_builder_context.h
index 240cea8..b01682e 100644
--- a/cartographer/cloud/internal/testing/mock_map_builder_context.h
+++ b/cartographer/cloud/internal/testing/mock_map_builder_context.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_MAP_BUILDER_CONTEXT_H
-#define CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_MAP_BUILDER_CONTEXT_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_TESTING_MOCK_MAP_BUILDER_CONTEXT_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_TESTING_MOCK_MAP_BUILDER_CONTEXT_H
 
 #include "cartographer/cloud/internal/map_builder_context_interface.h"
 #include "cartographer/mapping/local_slam_result_data.h"
@@ -77,4 +77,4 @@ class MockMapBuilderContext : public MapBuilderContextInterface {
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_MAP_BUILDER_CONTEXT_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_TESTING_MOCK_MAP_BUILDER_CONTEXT_H
diff --git a/cartographer/cloud/internal/testing/test_helpers.h b/cartographer/cloud/internal/testing/test_helpers.h
index d008f46..955ca26 100644
--- a/cartographer/cloud/internal/testing/test_helpers.h
+++ b/cartographer/cloud/internal/testing/test_helpers.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_TESTING_TEST_HELPERS_H
-#define CARTOGRAPHER_GRPC_INTERNAL_TESTING_TEST_HELPERS_H
+#ifndef CARTOGRAPHER_CLOUD_INTERNAL_TESTING_TEST_HELPERS_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_TESTING_TEST_HELPERS_H
 
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
 #include "cartographer/sensor/dispatchable.h"
@@ -55,4 +55,4 @@ ProtoPredicateType BuildProtoPredicateEquals(
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_TESTING_TEST_HELPERS_H
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_TESTING_TEST_HELPERS_H
diff --git a/cartographer/cloud/map_builder_server_interface.h b/cartographer/cloud/map_builder_server_interface.h
index 2590da3..cdc3ccf 100644
--- a/cartographer/cloud/map_builder_server_interface.h
+++ b/cartographer/cloud/map_builder_server_interface.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_MAP_BUILDER_SERVER_INTERFACE_H
-#define CARTOGRAPHER_GRPC_MAP_BUILDER_SERVER_INTERFACE_H
+#ifndef CARTOGRAPHER_CLOUD_MAP_BUILDER_SERVER_INTERFACE_H
+#define CARTOGRAPHER_CLOUD_MAP_BUILDER_SERVER_INTERFACE_H
 
 #include <memory>
 
@@ -53,4 +53,4 @@ std::unique_ptr<MapBuilderServerInterface> CreateMapBuilderServer(
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_MAP_BUILDER_SERVER_INTERFACE_H
+#endif  // CARTOGRAPHER_CLOUD_MAP_BUILDER_SERVER_INTERFACE_H
diff --git a/cartographer/cloud/map_builder_server_options.h b/cartographer/cloud/map_builder_server_options.h
index 93e8854..838ceae 100644
--- a/cartographer/cloud/map_builder_server_options.h
+++ b/cartographer/cloud/map_builder_server_options.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_MAP_BUILDER_SERVER_OPTIONS_H
-#define CARTOGRAPHER_GRPC_MAP_BUILDER_SERVER_OPTIONS_H
+#ifndef CARTOGRAPHER_CLOUD_MAP_BUILDER_SERVER_OPTIONS_H_
+#define CARTOGRAPHER_CLOUD_MAP_BUILDER_SERVER_OPTIONS_H_
 
 #include <string>
 
@@ -35,4 +35,4 @@ proto::MapBuilderServerOptions LoadMapBuilderServerOptions(
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_MAP_BUILDER_SERVER_OPTIONS_H
+#endif  // CARTOGRAPHER_CLOUD_MAP_BUILDER_SERVER_OPTIONS_H_
diff --git a/cartographer/cloud/metrics/prometheus/family_factory.h b/cartographer/cloud/metrics/prometheus/family_factory.h
index eaab0b6..dea1275 100644
--- a/cartographer/cloud/metrics/prometheus/family_factory.h
+++ b/cartographer/cloud/metrics/prometheus/family_factory.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_METRICS_PROMETHEUS_FAMILY_FACTORY_H_
-#define CARTOGRAPHER_GRPC_METRICS_PROMETHEUS_FAMILY_FACTORY_H_
+#ifndef CARTOGRAPHER_CLOUD_METRICS_PROMETHEUS_FAMILY_FACTORY_H_
+#define CARTOGRAPHER_CLOUD_METRICS_PROMETHEUS_FAMILY_FACTORY_H_
 
 #include <memory>
 #include <string>
@@ -63,4 +63,4 @@ class FamilyFactory : public ::cartographer::metrics::FamilyFactory {
 }  // namespace cloud
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_METRICS_PROMETHEUS_FAMILY_FACTORY_H_
+#endif  // CARTOGRAPHER_CLOUD_METRICS_PROMETHEUS_FAMILY_FACTORY_H_
diff --git a/cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.h b/cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.h
index 3b7e919..406b7ff 100644
--- a/cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.h
+++ b/cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.h
@@ -14,6 +14,9 @@
  * limitations under the License.
  */
 
+#ifndef CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_2D_H_
+#define CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_2D_H_
+
 // This is an implementation of the algorithm described in "Real-Time
 // Correlative Scan Matching" by Olson.
 //
@@ -33,9 +36,6 @@
 // This can be made even faster by transforming the scan exactly once over some
 // discretized range.
 
-#ifndef CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_2D_H_
-#define CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_2D_H_
-
 #include <iostream>
 #include <memory>
 #include <vector>
diff --git a/cartographer/mapping/internal/testing/mock_map_builder.h b/cartographer/mapping/internal/testing/mock_map_builder.h
index cb492ec..c5075d1 100644
--- a/cartographer/mapping/internal/testing/mock_map_builder.h
+++ b/cartographer/mapping/internal/testing/mock_map_builder.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_MAP_BUILDER_H
-#define CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_MAP_BUILDER_H
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_TESTING_MOCK_MAP_BUILDER_H
+#define CARTOGRAPHER_MAPPING_INTERNAL_TESTING_MOCK_MAP_BUILDER_H
 
 #include "cartographer/mapping/map_builder_interface.h"
 #include "cartographer/mapping/trajectory_builder_interface.h"
@@ -60,4 +60,4 @@ class MockMapBuilder : public mapping::MapBuilderInterface {
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_MAP_BUILDER_H
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_TESTING_MOCK_MAP_BUILDER_H
diff --git a/cartographer/mapping/internal/testing/mock_pose_graph.h b/cartographer/mapping/internal/testing/mock_pose_graph.h
index 4ba520d..92c103f 100644
--- a/cartographer/mapping/internal/testing/mock_pose_graph.h
+++ b/cartographer/mapping/internal/testing/mock_pose_graph.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_POSE_GRAPH_H
-#define CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_POSE_GRAPH_H
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_TESTING_MOCK_POSE_GRAPH_H
+#define CARTOGRAPHER_MAPPING_INTERNAL_TESTING_MOCK_POSE_GRAPH_H
 
 #include "cartographer/mapping/pose_graph_interface.h"
 #include "glog/logging.h"
@@ -54,4 +54,4 @@ class MockPoseGraph : public mapping::PoseGraphInterface {
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_POSE_GRAPH_H
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_TESTING_MOCK_POSE_GRAPH_H
diff --git a/cartographer/mapping/internal/testing/mock_trajectory_builder.h b/cartographer/mapping/internal/testing/mock_trajectory_builder.h
index 6e07224..64de58c 100644
--- a/cartographer/mapping/internal/testing/mock_trajectory_builder.h
+++ b/cartographer/mapping/internal/testing/mock_trajectory_builder.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_TRAJECTORY_BUILDER_CONTEXT_H
-#define CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_TRAJECTORY_BUILDER_CONTEXT_H
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_TESTING_MOCK_TRAJECTORY_BUILDER_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_TESTING_MOCK_TRAJECTORY_BUILDER_H_
 
 #include "cartographer/mapping/trajectory_builder_interface.h"
 #include "glog/logging.h"
@@ -55,4 +55,4 @@ class MockTrajectoryBuilder : public mapping::TrajectoryBuilderInterface {
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_TRAJECTORY_BUILDER_CONTEXT_H
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_TESTING_MOCK_TRAJECTORY_BUILDER_H_