diff --git a/cartographer_ros/configuration_files/demo_turtlebot.rviz b/cartographer_ros/configuration_files/demo_turtlebot.rviz
deleted file mode 100644
index 93cf3d4..0000000
--- a/cartographer_ros/configuration_files/demo_turtlebot.rviz
+++ /dev/null
@@ -1,317 +0,0 @@
-# Copyright 2016 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.
-
-Panels:
-  - Class: rviz/Displays
-    Help Height: 78
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Submaps1
-        - /PointCloud21
-      Splitter Ratio: 0.600671
-    Tree Height: 821
-  - Class: rviz/Selection
-    Name: Selection
-  - Class: rviz/Tool Properties
-    Expanded:
-      - /2D Pose Estimate1
-      - /2D Nav Goal1
-      - /Publish Point1
-    Name: Tool Properties
-    Splitter Ratio: 0.588679
-  - Class: rviz/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: PointCloud2
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.03
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 100
-      Reference Frame: <Fixed Frame>
-      Value: true
-    - Class: rviz/TF
-      Enabled: true
-      Frame Timeout: 15
-      Frames:
-        All Enabled: true
-        base_footprint:
-          Value: true
-        base_link:
-          Value: true
-        camera_depth_frame:
-          Value: true
-        camera_depth_optical_frame:
-          Value: true
-        camera_link:
-          Value: true
-        camera_rgb_frame:
-          Value: true
-        camera_rgb_optical_frame:
-          Value: true
-        caster_back_link:
-          Value: true
-        caster_front_link:
-          Value: true
-        cliff_sensor_front_link:
-          Value: true
-        cliff_sensor_left_link:
-          Value: true
-        cliff_sensor_right_link:
-          Value: true
-        gyro_link:
-          Value: true
-        laser:
-          Value: true
-        laser_mount_link:
-          Value: true
-        map:
-          Value: true
-        odom:
-          Value: true
-        plate_bottom_link:
-          Value: true
-        plate_middle_link:
-          Value: true
-        plate_top_link:
-          Value: true
-        pole_bottom_0_link:
-          Value: true
-        pole_bottom_1_link:
-          Value: true
-        pole_bottom_2_link:
-          Value: true
-        pole_bottom_3_link:
-          Value: true
-        pole_bottom_4_link:
-          Value: true
-        pole_bottom_5_link:
-          Value: true
-        pole_kinect_0_link:
-          Value: true
-        pole_kinect_1_link:
-          Value: true
-        pole_middle_0_link:
-          Value: true
-        pole_middle_1_link:
-          Value: true
-        pole_middle_2_link:
-          Value: true
-        pole_middle_3_link:
-          Value: true
-        pole_top_0_link:
-          Value: true
-        pole_top_1_link:
-          Value: true
-        pole_top_2_link:
-          Value: true
-        pole_top_3_link:
-          Value: true
-        wheel_left_link:
-          Value: true
-        wheel_right_link:
-          Value: true
-      Marker Scale: 1
-      Name: TF
-      Show Arrows: true
-      Show Axes: true
-      Show Names: true
-      Tree:
-        map:
-          odom:
-            base_footprint:
-              base_link:
-                camera_rgb_frame:
-                  camera_depth_frame:
-                    camera_depth_optical_frame:
-                      {}
-                  camera_link:
-                    {}
-                  camera_rgb_optical_frame:
-                    {}
-                caster_back_link:
-                  {}
-                caster_front_link:
-                  {}
-                cliff_sensor_front_link:
-                  {}
-                cliff_sensor_left_link:
-                  {}
-                cliff_sensor_right_link:
-                  {}
-                gyro_link:
-                  {}
-                laser_mount_link:
-                  laser:
-                    {}
-                plate_bottom_link:
-                  {}
-                plate_middle_link:
-                  {}
-                plate_top_link:
-                  {}
-                pole_bottom_0_link:
-                  {}
-                pole_bottom_1_link:
-                  {}
-                pole_bottom_2_link:
-                  {}
-                pole_bottom_3_link:
-                  {}
-                pole_bottom_4_link:
-                  {}
-                pole_bottom_5_link:
-                  {}
-                pole_kinect_0_link:
-                  {}
-                pole_kinect_1_link:
-                  {}
-                pole_middle_0_link:
-                  {}
-                pole_middle_1_link:
-                  {}
-                pole_middle_2_link:
-                  {}
-                pole_middle_3_link:
-                  {}
-                pole_top_0_link:
-                  {}
-                pole_top_1_link:
-                  {}
-                pole_top_2_link:
-                  {}
-                pole_top_3_link:
-                  {}
-                wheel_left_link:
-                  {}
-                wheel_right_link:
-                  {}
-      Update Interval: 0
-      Value: true
-    - Class: Submaps
-      Enabled: true
-      Map frame: map
-      Name: Submaps
-      Submap query service: /cartographer/submap_query
-      Topic: /cartographer/submap_list
-      Tracking frame: base_link
-      Unreliable: false
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz/PointCloud2
-      Color: 0; 255; 0
-      Color Transformer: FlatColor
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: PointCloud2
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.05
-      Style: Flat Squares
-      Topic: /scan_matched_points2
-      Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-  Enabled: true
-  Global Options:
-    Background Color: 100; 100; 100
-    Fixed Frame: map
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz/Interact
-      Hide Inactive Objects: true
-    - Class: rviz/MoveCamera
-    - Class: rviz/Select
-    - Class: rviz/FocusCamera
-    - Class: rviz/Measure
-    - Class: rviz/SetInitialPose
-      Topic: /initialpose
-    - Class: rviz/SetGoal
-      Topic: /move_base_simple/goal
-    - Class: rviz/PublishPoint
-      Single click: true
-      Topic: /clicked_point
-  Value: true
-  Views:
-    Current:
-      Angle: 0
-      Class: rviz/TopDownOrtho
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.06
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Name: Current View
-      Near Clip Distance: 0.01
-      Scale: 10
-      Target Frame: <Fixed Frame>
-      Value: TopDownOrtho (rviz)
-      X: 0
-      Y: 0
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 1123
-  Hide Left Dock: false
-  Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001c5000003c0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000041000003c0000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003c0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000041000003c0000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000077e0000003efc0100000002fb0000000800540069006d006501000000000000077e000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000049e000003c000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: false
-  Width: 1918
-  X: 0
-  Y: 24
diff --git a/cartographer_ros/configuration_files/turtlebot.lua b/cartographer_ros/configuration_files/turtlebot.lua
deleted file mode 100644
index 150839b..0000000
--- a/cartographer_ros/configuration_files/turtlebot.lua
+++ /dev/null
@@ -1,40 +0,0 @@
--- Copyright 2016 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 "map_builder.lua"
-
-options = {
-  map_builder = MAP_BUILDER,
-  map_frame = "map",
-  tracking_frame = "base_link",
-  odom_frame = "odom",
-  provide_odom_frame = false,
-  use_odometry_data = false,
-  publish_occupancy_grid = false,
-  use_horizontal_laser = true,
-  use_horizontal_multi_echo_laser = false,
-  horizontal_laser_min_range = 0.,
-  horizontal_laser_max_range = 30.,
-  horizontal_laser_missing_echo_ray_length = 5.,
-  num_lasers_3d = 0,
-  lookup_transform_timeout_sec = 0.2,
-  submap_publish_period_sec = 0.3,
-  pose_publish_period_sec = 5e-3,
-}
-
-options.map_builder.use_trajectory_builder_2d = true
-options.map_builder.trajectory_builder_2d.use_imu_data = false
-options.map_builder.trajectory_builder_2d.use_online_correlative_scan_matching = true
-
-return options
diff --git a/cartographer_ros/launch/demo_turtlebot.launch b/cartographer_ros/launch/demo_turtlebot.launch
deleted file mode 100644
index 6eff567..0000000
--- a/cartographer_ros/launch/demo_turtlebot.launch
+++ /dev/null
@@ -1,29 +0,0 @@
-<!--
-  Copyright 2016 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.
--->
-
-<launch>
-  <param name="/use_sim_time" value="true" />
-
-  <node name="cartographer" pkg="cartographer_ros"
-      type="cartographer_node" args="
-          -configuration_directory $(find cartographer_ros)/configuration_files
-          -configuration_basename turtlebot.lua"
-      output="screen" />
-  <node name="rviz" pkg="rviz" type="rviz" required="true"
-      args="-d $(find cartographer_ros)/configuration_files/demo_turtlebot.rviz" />
-  <node name="playbag" pkg="rosbag" type="play"
-      args="--clock $(arg bag_filename)" />
-</launch>
diff --git a/cartographer_ros/launch/turtlebot.launch b/cartographer_ros/launch/turtlebot.launch
deleted file mode 100644
index d9d3a26..0000000
--- a/cartographer_ros/launch/turtlebot.launch
+++ /dev/null
@@ -1,29 +0,0 @@
-<!--
-  Copyright 2016 The Cartographer Authors
-
-  Licensed under the Apache License, Version 2.0 (the "License");
-  you may not use this file except in compliance with the License.
-  You may obtain a copy of the License at
-
-       http://www.apache.org/licenses/LICENSE-2.0
-
-  Unless required by applicable law or agreed to in writing, software
-  distributed under the License is distributed on an "AS IS" BASIS,
-  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-  See the License for the specific language governing permissions and
-  limitations under the License.
--->
-
-<launch>
-  <param name="robot_description"
-    textfile="$(find cartographer_ros)/urdf/turtlebot.urdf" />
-
-  <node name="robot_state_publisher" pkg="robot_state_publisher"
-    type="robot_state_publisher" />
-
-  <node name="cartographer" pkg="cartographer_ros"
-      type="cartographer_node" args="
-          -configuration_directory $(find cartographer_ros)/configuration_files
-          -configuration_basename turtlebot.lua"
-      output="screen" />
-</launch>
diff --git a/cartographer_ros/package.xml b/cartographer_ros/package.xml
index 6f2fb2a..ba8bfb7 100644
--- a/cartographer_ros/package.xml
+++ b/cartographer_ros/package.xml
@@ -15,61 +15,52 @@
   limitations under the License.
 -->
 
-<package>
+<package format="2">
   <name>cartographer_ros</name>
   <version>1.0.0</version>
-  <description>The cartographer_ros package.</description>
-  <maintainer email="nobody@google.com">Google</maintainer>
+  <description>
+    Cartographer is a system that provides real-time simultaneous localization
+    and mapping SLAM across multiple platforms and sensor configurations. This
+    package provides Cartographer's ROS integration.
+  </description>
+  <maintainer email="google-cartographer@googlegroups.com">
+    The Cartographer Authors
+  </maintainer>
   <license>Apache 2.0</license>
 
+  <url>https://github.com/googlecartographer/cartographer_ros</url>
+
   <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>g++-static</build_depend>
-  <build_depend>wget</build_depend>  <!-- for glog -->
-  <build_depend>cartographer</build_depend>
-  <build_depend>eigen_conversions</build_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>cartographer_ros_msgs</build_depend>
-  <build_depend>libgflags-dev</build_depend>
-  <build_depend>libpcl-all-dev</build_depend>
-  <build_depend>message_generation</build_depend>
-  <build_depend>nav_msgs</build_depend>
-  <build_depend>pcl_conversions</build_depend>
-  <build_depend>protobuf-dev</build_depend>
+  <build_depend>google-mock</build_depend>
   <build_depend>python-sphinx</build_depend>
-  <build_depend>qtbase5-dev</build_depend>
-  <build_depend>rosbag</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>roslib</build_depend>
-  <build_depend>rviz</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>suitesparse</build_depend>
-  <build_depend>tf2</build_depend>
-  <build_depend>tf2_eigen</build_depend>
-  <build_depend>visualization_msgs</build_depend>
+  <build_depend>protobuf-dev</build_depend>
 
-  <run_depend>eigen_conversions</run_depend>
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>cartographer_ros_msgs</run_depend>
-  <run_depend>libgflags-dev</run_depend>
-  <run_depend>libpcl-all</run_depend>
-  <run_depend>libqt5-core</run_depend>
-  <run_depend>libqt5-gui</run_depend>
-  <run_depend>libqt5-widgets</run_depend>
-  <run_depend>message_runtime</run_depend>
-  <run_depend>nav_msgs</run_depend>
-  <run_depend>pcl_conversions</run_depend>
-  <run_depend>rosbag</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>roslib</run_depend>
-  <run_depend>rviz</run_depend>
-  <run_depend>sensor_msgs</run_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>suitesparse</run_depend>
-  <run_depend>tf2_eigen</run_depend>
-  <run_depend>tf2</run_depend>
-  <run_depend>visualization_msgs</run_depend>
+  <depend>cartographer</depend>
+  <depend>cartographer_ros_msgs</depend>
+
+  <depend>libgflags-dev</depend>
+  <depend>libgoogle-glog-dev</depend>
+  <depend>rosbag</depend>
+  <depend>roscpp</depend>
+  <depend>roslib</depend>
+  <depend>rviz</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>tf2</depend>
+  <depend>tf2_eigen</depend>
+  <depend>visualization_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>libpcl-all-dev</depend>
+  <depend>pcl_conversions</depend>
+  <depend>eigen_conversions</depend>
+  <depend>message_runtime</depend>
+  <depend>qtbase5-dev</depend>
+  <depend>libqt5-core</depend>
+  <depend>libqt5-gui</depend>
+  <depend>libqt5-widgets</depend>
 
   <test_depend>rosunit</test_depend>
 
diff --git a/cartographer_ros/urdf/backpack_2d.urdf b/cartographer_ros/urdf/backpack_2d.urdf
index dcb4181..9db4efd 100644
--- a/cartographer_ros/urdf/backpack_2d.urdf
+++ b/cartographer_ros/urdf/backpack_2d.urdf
@@ -14,7 +14,7 @@
   limitations under the License.
 -->
 
-<robot name="cartographer_ros">
+<robot name="cartographer_backpack_2d">
   <material name="orange">
     <color rgba="1.0 0.5 0.2 1" />
   </material>
diff --git a/cartographer_ros/urdf/backpack_3d.urdf b/cartographer_ros/urdf/backpack_3d.urdf
index ac12ede..0d31d0d 100644
--- a/cartographer_ros/urdf/backpack_3d.urdf
+++ b/cartographer_ros/urdf/backpack_3d.urdf
@@ -14,7 +14,7 @@
   limitations under the License.
 -->
 
-<robot name="cartographer_ros">
+<robot name="cartographer_backpack_3d">
   <material name="orange">
     <color rgba="1.0 0.5 0.2 1" />
   </material>
diff --git a/cartographer_ros/urdf/turtlebot.urdf b/cartographer_ros/urdf/turtlebot.urdf
deleted file mode 100644
index 56258a8..0000000
--- a/cartographer_ros/urdf/turtlebot.urdf
+++ /dev/null
@@ -1,68 +0,0 @@
-<!--
-  Copyright 2016 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.
--->
-
-<robot name="cartographer_ros">
-  <material name="orange">
-    <color rgba="1.0 0.5 0.2 1" />
-  </material>
-  <material name="gray">
-    <color rgba="0.2 0.2 0.2 1" />
-  </material>
-  <material name="green">
-    <color rgba="0.2 0.4 0.2 1" />
-  </material>
-
-  <link name="horizontal_laser_link">
-    <visual>
-      <origin xyz="0.0 0.0 0.0" />
-      <geometry>
-        <cylinder length="0.09" radius="0.03" />
-      </geometry>
-      <material name="gray" />
-    </visual>
-  </link>
-
-  <link name="base_link">
-    <visual>
-      <origin xyz="0. 0. 0." />
-      <geometry>
-        <box size="0.03 0.4 0.8" />
-      </geometry>
-      <material name="green" />
-    </visual>
-  </link>
-
-  <link name="camera_link" />
-  <link name="base_footprint" />
-
-  <joint name="horizontal_laser_link_joint" type="fixed">
-    <parent link="base_link" />
-    <child link="horizontal_laser_link" />
-    <origin xyz="0. 0. 0.6" />
-  </joint>
-
-  <joint name="camera_link_joint" type="fixed">
-    <parent link="base_link" />
-    <child link="camera_link" />
-    <origin xyz="0.15 0. 0.6" />
-  </joint>
-
-  <joint name="base_link_base_footprint_joint" type="fixed">
-    <parent link="base_footprint" />
-    <child link="base_link" />
-    <origin xyz="0. 0. 0." />
-  </joint>
-</robot>
diff --git a/cartographer_ros_msgs/package.xml b/cartographer_ros_msgs/package.xml
index 3fbf3e5..45dfeef 100644
--- a/cartographer_ros_msgs/package.xml
+++ b/cartographer_ros_msgs/package.xml
@@ -1,3 +1,4 @@
+<?xml version="1.0"?>
 <!--
   Copyright 2016 The Cartographer Authors
 
@@ -14,15 +15,19 @@
   limitations under the License.
 -->
 
-<package>
+<package format="2">
   <name>cartographer_ros_msgs</name>
   <version>1.0.0</version>
   <description>
-    The cartographer_ros_msgs package.
+    ROS messages for the cartographer_ros package.
   </description>
-  <maintainer email="nobody@google.com">Google</maintainer>
+  <maintainer email="google-cartographer@googlegroups.com">
+    The Cartographer Authors
+  </maintainer>
   <license>Apache 2.0</license>
 
+  <url>https://github.com/googlecartographer/cartographer_ros</url>
+
   <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>message_generation</build_depend>
diff --git a/cartographer_turtlebot/Dockerfile b/cartographer_turtlebot/Dockerfile
deleted file mode 100644
index ab34cb5..0000000
--- a/cartographer_turtlebot/Dockerfile
+++ /dev/null
@@ -1,23 +0,0 @@
-# Copyright 2016 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.
-
-FROM cartographer_ros_image
-RUN apt-get update && apt-get install -y \
-    ros-indigo-depthimage-to-laserscan \
-    ros-indigo-kobuki \
-    ros-indigo-kobuki-core \
-    ros-indigo-openni2-launch \
-    ros-indigo-turtlebot-bringup \
-    tmux \
- && rm -rf /var/lib/apt/lists/*