diff --git a/.bazelrc b/.bazelrc
index 67a0af8..eafe5c8 100644
--- a/.bazelrc
+++ b/.bazelrc
@@ -21,8 +21,3 @@ build -c opt
 # reduces build time.
 build --force_pic
 
-# A number of our dependencies rely on the deprecated new_http_archive rule,
-# e.g. Cares. We will have to wait for these dependencies to switch to the
-# new rule befor we can remove this override.
-build --incompatible_remove_native_http_archive=false
-build --incompatible_remove_native_git_repository=false
diff --git a/CMakeLists.txt b/CMakeLists.txt
index b9be670..e5635d1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -50,6 +50,10 @@ if (${BUILD_GRPC})
   find_package(async_grpc REQUIRED)
 endif()
 
+if(${BUILD_PROMETHEUS})
+  find_package( ZLIB REQUIRED )
+endif()
+
 include(FindPkgConfig)
 if (NOT WIN32)
   PKG_SEARCH_MODULE(CAIRO REQUIRED cairo>=1.12.16)
@@ -208,7 +212,9 @@ if(${BUILD_GRPC})
   target_link_libraries(cartographer_grpc_server PUBLIC grpc++)
   target_link_libraries(cartographer_grpc_server PUBLIC async_grpc)
   if(${BUILD_PROMETHEUS})
-    target_link_libraries(cartographer_grpc_server PUBLIC prometheus-cpp)
+    target_link_libraries(cartographer_grpc_server PUBLIC ${ZLIB_LIBRARIES})
+    target_link_libraries(cartographer_grpc_server PUBLIC prometheus-cpp-core)
+    target_link_libraries(cartographer_grpc_server PUBLIC prometheus-cpp-pull)
   endif()
 endif()
 
@@ -265,7 +271,9 @@ if(${BUILD_GRPC})
   target_link_libraries(${PROJECT_NAME} PUBLIC async_grpc)
 endif()
 if(${BUILD_PROMETHEUS})
-  target_link_libraries(${PROJECT_NAME} PUBLIC prometheus-cpp)
+  target_link_libraries(${PROJECT_NAME} PUBLIC ${ZLIB_LIBRARIES})
+  target_link_libraries(${PROJECT_NAME} PUBLIC prometheus-cpp-core)
+  target_link_libraries(${PROJECT_NAME} PUBLIC prometheus-cpp-pull)
   target_compile_definitions(${PROJECT_NAME} PUBLIC USE_PROMETHEUS=1)
 endif()
 
@@ -300,7 +308,9 @@ foreach(ABS_FIL ${ALL_TESTS})
     target_link_libraries("${TEST_TARGET_NAME}" PUBLIC async_grpc)
   endif()
   if(${BUILD_PROMETHEUS})
-    target_link_libraries("${TEST_TARGET_NAME}" PUBLIC prometheus-cpp)
+    target_link_libraries("${TEST_TARGET_NAME}" PUBLIC ${ZLIB_LIBRARIES})
+    target_link_libraries("${TEST_TARGET_NAME}" PUBLIC prometheus-cpp-core)
+    target_link_libraries("${TEST_TARGET_NAME}" PUBLIC prometheus-cpp-pull)
   endif()
   target_link_libraries("${TEST_TARGET_NAME}" PUBLIC ${TEST_LIB})
 endforeach()
diff --git a/WORKSPACE b/WORKSPACE
index d584c36..94af9ec 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -28,8 +28,6 @@ load("@com_github_grpc_grpc//bazel:grpc_deps.bzl", "grpc_deps")
 
 grpc_deps()
 
-load("@com_github_jupp0r_prometheus_cpp//:repositories.bzl", "load_prometheus_client_model", "load_civetweb")
+load("@com_github_jupp0r_prometheus_cpp//:repositories.bzl", "prometheus_cpp_repositories")
 
-load_prometheus_client_model()
-
-load_civetweb()
+prometheus_cpp_repositories()
diff --git a/bazel/repositories.bzl b/bazel/repositories.bzl
index 4ac3963..118ae59 100644
--- a/bazel/repositories.bzl
+++ b/bazel/repositories.bzl
@@ -19,11 +19,11 @@ def cartographer_repositories():
     _maybe(
         http_archive,
         name = "com_github_nelhage_rules_boost",
-        sha256 = "6de4d799373e25acd66ec681fba8ffeb13e7c501091d93afa3fadd26765b0f0d",
-        strip_prefix = "rules_boost-96ba810e48f4a28b85ee9c922f0b375274a97f98",
+	sha256 = "371f49e7b29e44a718baf8b9a2dd3eca865005a851c9ecf8fb6a10a715aa58dd",
+	strip_prefix = "rules_boost-a5a95642f6097f8949020646ffe89d7243008981",
         urls = [
-            "https://mirror.bazel.build/github.com/nelhage/rules_boost/archive/96ba810e48f4a28b85ee9c922f0b375274a97f98.tar.gz",
-            "https://github.com/nelhage/rules_boost/archive/96ba810e48f4a28b85ee9c922f0b375274a97f98.tar.gz",
+            "https://mirror.bazel.build/github.com/nelhage/rules_boost/archive/a5a95642f6097f8949020646ffe89d7243008981.tar.gz",
+            "https://github.com/nelhage/rules_boost/archive/a5a95642f6097f8949020646ffe89d7243008981.tar.gz",
         ],
     )
 
@@ -63,13 +63,13 @@ def cartographer_repositories():
     _maybe(
         http_archive,
         name = "net_zlib_zlib",
+	sha256 = "6d4d6640ca3121620995ee255945161821218752b551a1a180f4215f7d124d45",
         build_file = "@com_github_googlecartographer_cartographer//bazel/third_party:zlib.BUILD",
-        sha256 = "6d4d6640ca3121620995ee255945161821218752b551a1a180f4215f7d124d45",
-        strip_prefix = "zlib-cacf7f1d4e3d44d871b605da3b647f07d718623f",
+	strip_prefix = "zlib-cacf7f1d4e3d44d871b605da3b647f07d718623f",
         urls = [
-            "https://mirror.bazel.build/github.com/madler/zlib/archive/cacf7f1d4e3d44d871b605da3b647f07d718623f.tar.gz",
-            "https://github.com/madler/zlib/archive/cacf7f1d4e3d44d871b605da3b647f07d718623f.tar.gz",
-        ],
+        	"https://mirror.bazel.build/github.com/madler/zlib/archive/cacf7f1d4e3d44d871b605da3b647f07d718623f.tar.gz",
+		"https://github.com/madler/zlib/archive/cacf7f1d4e3d44d871b605da3b647f07d718623f.tar.gz",
+	],
     )
 
     _maybe(
@@ -229,26 +229,27 @@ def cartographer_repositories():
     _maybe(
         http_archive,
         name = "com_github_grpc_grpc",
-        sha256 = "2fdde7d64e6fb1a397bf2aa23aeddcdcf276652d9e48270e94eb0dc94d7c1345",
-        strip_prefix = "grpc-20e7074e4101b4fdbae1764caa952301b38957c4",
+        sha256 = "e699efa9422e071a42f052ba8369fbc810e6f7c6fb0a5b1c021f54ac1a92a1f3",
+	strip_prefix = "grpc-b250f34b1225cde1bb19496c5cc5d66e40111052",
         urls = [
-            "https://mirror.bazel.build/github.com/grpc/grpc/archive/20e7074e4101b4fdbae1764caa952301b38957c4.tar.gz",
-            "https://github.com/grpc/grpc/archive/20e7074e4101b4fdbae1764caa952301b38957c4.tar.gz",
+            "https://mirror.bazel.build/github.com/grpc/grpc/archive/b250f34b1225cde1bb19496c5cc5d66e40111052.tar.gz",
+            "https://github.com/grpc/grpc/archive/b250f34b1225cde1bb19496c5cc5d66e40111052.tar.gz",
         ],
     )
 
     _maybe(
         http_archive,
         name = "com_github_jupp0r_prometheus_cpp",
-        sha256 = "0d3e999dfbfc49bb117698154a01dac26fb59e77d0354ccb81107a6da7b014d0",
-        strip_prefix = "prometheus-cpp-8330b3f753fb774c9e0567baaac20ffb7042723b",
+	sha256 = "6604ea0b5ef75f405c09218f13805d4141f6506eaf0da76f5f64625f62acfcd3",
+	strip_prefix = "prometheus-cpp-4e0814ee3f93b796356a51a4795a332568940a72",
         urls = [
-            "https://github.com/jupp0r/prometheus-cpp/archive/8330b3f753fb774c9e0567baaac20ffb7042723b.tar.gz",
+            "https://github.com/jupp0r/prometheus-cpp/archive/4e0814ee3f93b796356a51a4795a332568940a72.tar.gz",
         ],
     )
 
     _maybe(http_archive,
         name = "com_github_googlecartographer_async_grpc",
+	sha256 = "83c2a27c92979787f38810adc4b6bb67aa09607c53dbadca3430a5f29e0a1cd3",
         strip_prefix = "async_grpc-771af45374af7f7bfc3b622ed7efbe29a4aba403",
         urls = [
             "https://github.com/googlecartographer/async_grpc/archive/771af45374af7f7bfc3b622ed7efbe29a4aba403.tar.gz",
diff --git a/bazel/third_party/zlib.BUILD b/bazel/third_party/zlib.BUILD
index 053d7ec..68746f0 100644
--- a/bazel/third_party/zlib.BUILD
+++ b/bazel/third_party/zlib.BUILD
@@ -51,3 +51,8 @@ cc_library(
     ],
     includes = ["."],
 )
+
+alias(
+    name = "z",
+    actual = ":zlib",
+)
diff --git a/cartographer/cloud/BUILD.bazel b/cartographer/cloud/BUILD.bazel
index a0ad7ac..c38f0a9 100644
--- a/cartographer/cloud/BUILD.bazel
+++ b/cartographer/cloud/BUILD.bazel
@@ -70,7 +70,8 @@ cc_library(
         "//cartographer",
         "@com_github_googlecartographer_async_grpc//async_grpc",
         "@com_github_grpc_grpc//:grpc++",
-        "@com_github_jupp0r_prometheus_cpp//:prometheus_cpp",
+        "@com_github_jupp0r_prometheus_cpp//core",
+        "@com_github_jupp0r_prometheus_cpp//pull",
         "@com_google_glog//:glog",
         "@com_google_protobuf//:cc_wkt_protos",
     ],
diff --git a/cartographer/cloud/internal/local_trajectory_uploader_test.cc b/cartographer/cloud/internal/local_trajectory_uploader_test.cc
index 571456d..83b8abc 100644
--- a/cartographer/cloud/internal/local_trajectory_uploader_test.cc
+++ b/cartographer/cloud/internal/local_trajectory_uploader_test.cc
@@ -38,7 +38,7 @@ TEST(LocalTrajectoryUploaderTest, HandlesInvalidUplink) {
   mapping::proto::TrajectoryBuilderOptions options;
   auto status = uploader->AddTrajectory(
       kClientId, kLocalTrajectoryId, {kRangeSensorId, kImuSensorId}, options);
-  EXPECT_EQ(status.error_code(), grpc::StatusCode::DEADLINE_EXCEEDED);
+  EXPECT_FALSE(status.ok());
   auto sensor_data = absl::make_unique<proto::SensorData>();
   sensor_data->mutable_sensor_metadata()->set_client_id(kClientId);
   sensor_data->mutable_sensor_metadata()->set_sensor_id(kImuSensorId.id);
diff --git a/cartographer/cloud/metrics/prometheus/metrics_test.cc b/cartographer/cloud/metrics/prometheus/metrics_test.cc
index 941b71c..a285cab 100644
--- a/cartographer/cloud/metrics/prometheus/metrics_test.cc
+++ b/cartographer/cloud/metrics/prometheus/metrics_test.cc
@@ -21,6 +21,7 @@
 #include "gmock/gmock.h"
 #include "gtest/gtest.h"
 #include "prometheus/exposer.h"
+#include "prometheus/metric_family.h"
 
 namespace cartographer {
 namespace cloud {
@@ -28,6 +29,8 @@ namespace metrics {
 namespace prometheus {
 namespace {
 
+using Label = ::prometheus::ClientMetric::Label;
+
 static auto* kCounter = ::cartographer::metrics::Counter::Null();
 static auto* kGauge = ::cartographer::metrics::Gauge::Null();
 static auto* kScoresMetric = ::cartographer::metrics::Histogram::Null();
@@ -58,22 +61,20 @@ TEST(MetricsTest, CollectCounter) {
   kCounter->Increment();
   kCounter->Increment(5);
   double expected_value = 1 + 5;
-  std::vector<::io::prometheus::client::MetricFamily> collected;
+  std::vector<::prometheus::MetricFamily> collected;
   {
     std::shared_ptr<::prometheus::Collectable> collectable;
     CHECK(collectable = factory.GetCollectable().lock());
     collected = collectable->Collect();
   }
   ASSERT_EQ(collected.size(), 1);
-  ASSERT_EQ(collected[0].metric_size(), 1);
+  ASSERT_EQ(collected[0].metric.size(), 1);
   EXPECT_THAT(
-      collected[0].metric(0).label(),
+      collected[0].metric.at(0).label,
       testing::AllOf(
-          testing::ElementsAre(testing::Property(
-              &io::prometheus::client::LabelPair::name, kLabelKey)),
-          testing::ElementsAre(testing::Property(
-              &io::prometheus::client::LabelPair::value, kLabelValue))));
-  EXPECT_THAT(collected[0].metric(0).counter().value(),
+          testing::ElementsAre(testing::Field(&Label::name, kLabelKey)),
+          testing::ElementsAre(testing::Field(&Label::value, kLabelValue))));
+  EXPECT_THAT(collected[0].metric.at(0).counter.value,
               testing::DoubleEq(expected_value));
 }
 
@@ -87,22 +88,20 @@ TEST(MetricsTest, CollectGauge) {
   kGauge->Decrement();
   kGauge->Decrement(2);
   double expected_value = 1 + 5 - 1 - 2;
-  std::vector<::io::prometheus::client::MetricFamily> collected;
+  std::vector<::prometheus::MetricFamily> collected;
   {
     std::shared_ptr<::prometheus::Collectable> collectable;
     CHECK(collectable = factory.GetCollectable().lock());
     collected = collectable->Collect();
   }
   ASSERT_EQ(collected.size(), 1);
-  ASSERT_EQ(collected[0].metric_size(), 1);
+  ASSERT_EQ(collected[0].metric.size(), 1);
   EXPECT_THAT(
-      collected[0].metric(0).label(),
+      collected[0].metric.at(0).label,
       testing::AllOf(
-          testing::ElementsAre(testing::Property(
-              &io::prometheus::client::LabelPair::name, kLabelKey)),
-          testing::ElementsAre(testing::Property(
-              &io::prometheus::client::LabelPair::value, kLabelValue))));
-  EXPECT_THAT(collected[0].metric(0).gauge().value(),
+          testing::ElementsAre(testing::Field(&Label::name, kLabelKey)),
+          testing::ElementsAre(testing::Field(&Label::value, kLabelValue))));
+  EXPECT_THAT(collected[0].metric.at(0).gauge.value,
               testing::DoubleEq(expected_value));
 }
 
@@ -112,24 +111,23 @@ TEST(MetricsTest, CollectHistogram) {
 
   Algorithm algorithm;
   algorithm.Run();
-  std::vector<::io::prometheus::client::MetricFamily> collected;
+  std::vector<::prometheus::MetricFamily> collected;
   {
     std::shared_ptr<::prometheus::Collectable> collectable;
     CHECK(collectable = registry.GetCollectable().lock());
     collected = collectable->Collect();
   }
   ASSERT_EQ(collected.size(), 1);
-  ASSERT_EQ(collected[0].metric_size(), 1);
+  ASSERT_EQ(collected[0].metric.size(), 1);
   EXPECT_THAT(
-      collected[0].metric(0).label(),
+      collected[0].metric.at(0).label,
       testing::AllOf(
-          testing::ElementsAre(testing::Property(
-              &io::prometheus::client::LabelPair::name, kLabelKey)),
-          testing::ElementsAre(testing::Property(
-              &io::prometheus::client::LabelPair::value, kLabelValue))));
-  EXPECT_THAT(collected[0].metric(0).histogram().sample_count(),
+          testing::ElementsAre(testing::Field(&Label::name, kLabelKey)),
+          testing::ElementsAre(testing::Field(&Label::value, kLabelValue))));
+  EXPECT_THAT(collected[0].metric.at(0).histogram.sample_count,
               testing::Eq(kObserveScores.size()));
-  EXPECT_EQ(collected[0].metric(0).histogram().bucket(0).cumulative_count(), 1);
+  EXPECT_EQ(collected[0].metric.at(0).histogram.bucket.at(0).cumulative_count,
+            1);
 }
 
 TEST(MetricsTest, RunExposerServer) {
diff --git a/scripts/install_debs_cmake.sh b/scripts/install_debs_cmake.sh
index ce5fca4..bfa67a7 100755
--- a/scripts/install_debs_cmake.sh
+++ b/scripts/install_debs_cmake.sh
@@ -41,6 +41,7 @@ sudo apt-get install -y \
     google-mock \
     libboost-all-dev \
     libcairo2-dev \
+    libcurl4-openssl-dev \
     libeigen3-dev \
     libgflags-dev \
     libgoogle-glog-dev \
diff --git a/scripts/install_prometheus_cpp.sh b/scripts/install_prometheus_cpp.sh
index d4ab9e9..ea5b255 100755
--- a/scripts/install_prometheus_cpp.sh
+++ b/scripts/install_prometheus_cpp.sh
@@ -17,11 +17,11 @@
 set -o errexit
 set -o verbose
 
-VERSION="v0.2"
-# Digest: a5d981dab82ad6b90f78141eb189694d69c3fe0f
+COMMIT="4e0814ee3f93b796356a51a4795a332568940a72"
 
-git clone --branch ${VERSION} --depth 1 https://github.com/jupp0r/prometheus-cpp.git
+git clone --depth 1 https://github.com/jupp0r/prometheus-cpp.git
 cd prometheus-cpp
+git checkout ${COMMIT}
 git submodule update --init
 mkdir build
 cd build