diff --git a/cartographer_ros/cartographer_ros/assets_writer.cc b/cartographer_ros/cartographer_ros/assets_writer.cc
index 13f295a..d3ec13c 100644
--- a/cartographer_ros/cartographer_ros/assets_writer.cc
+++ b/cartographer_ros/cartographer_ros/assets_writer.cc
@@ -21,8 +21,8 @@
 #include "cartographer/io/ply_writing_points_processor.h"
 #include "cartographer/io/points_processor.h"
 #include "cartographer/io/xray_points_processor.h"
+#include "cartographer/mapping/proto/trajectory.pb.h"
 #include "cartographer/mapping_2d/proto/laser_fan_inserter_options.pb.h"
-#include "cartographer/proto/trajectory.pb.h"
 #include "cartographer_ros/map_writer.h"
 #include "cartographer_ros/occupancy_grid.h"
 #include "nav_msgs/OccupancyGrid.h"
@@ -89,7 +89,7 @@ void WriteAssets(const std::vector<::cartographer::mapping::TrajectoryNode>&
   // Write the trajectory.
   std::ofstream proto_file(stem + ".pb",
                            std::ios_base::out | std::ios_base::binary);
-  const carto::proto::Trajectory trajectory =
+  const carto::mapping::proto::Trajectory trajectory =
       carto::mapping::ToProto(trajectory_nodes);
   CHECK(trajectory.SerializeToOstream(&proto_file))
       << "Could not serialize trajectory.";
diff --git a/cartographer_ros/cartographer_ros/assets_writer_main.cc b/cartographer_ros/cartographer_ros/assets_writer_main.cc
index 762ffa8..cc1e251 100644
--- a/cartographer_ros/cartographer_ros/assets_writer_main.cc
+++ b/cartographer_ros/cartographer_ros/assets_writer_main.cc
@@ -59,7 +59,7 @@ namespace carto = ::cartographer;
 std::unique_ptr<carto::transform::TransformInterpolationBuffer> ReadTrajectory(
     const std::string& trajectory_filename) {
   std::ifstream stream(trajectory_filename.c_str());
-  carto::proto::Trajectory trajectory_proto;
+  carto::mapping::proto::Trajectory trajectory_proto;
   CHECK(trajectory_proto.ParseFromIstream(&stream));
   return carto::transform::TransformInterpolationBuffer::FromTrajectory(
       trajectory_proto);
diff --git a/cartographer_ros/cartographer_ros/node_main.cc b/cartographer_ros/cartographer_ros/node_main.cc
index 805fce1..cb2a7ef 100644
--- a/cartographer_ros/cartographer_ros/node_main.cc
+++ b/cartographer_ros/cartographer_ros/node_main.cc
@@ -31,7 +31,7 @@
 #include "cartographer/kalman_filter/pose_tracker.h"
 #include "cartographer/mapping/global_trajectory_builder_interface.h"
 #include "cartographer/mapping/map_builder.h"
-#include "cartographer/mapping/proto/submaps.pb.h"
+#include "cartographer/mapping/proto/submap_visualization.pb.h"
 #include "cartographer/mapping_2d/global_trajectory_builder.h"
 #include "cartographer/mapping_2d/local_trajectory_builder.h"
 #include "cartographer/mapping_2d/sparse_pose_graph.h"