diff --git a/cartographer_ros/cartographer_ros/assets_writer.cc b/cartographer_ros/cartographer_ros/assets_writer.cc
index 91ecb23..76249a5 100644
--- a/cartographer_ros/cartographer_ros/assets_writer.cc
+++ b/cartographer_ros/cartographer_ros/assets_writer.cc
@@ -17,6 +17,7 @@
 #include "cartographer_ros/assets_writer.h"
 
 #include "cartographer/common/make_unique.h"
+#include "cartographer/common/time.h"
 #include "cartographer/io/file_writer.h"
 #include "cartographer/io/null_points_processor.h"
 #include "cartographer/io/ply_writing_points_processor.h"
@@ -54,19 +55,16 @@ void Write3DAssets(const std::vector<::cartographer::mapping::TrajectoryNode>&
 
   carto::io::NullPointsProcessor null_points_processor;
   carto::io::XRayPointsProcessor xy_xray_points_processor(
-      voxel_size,
-      carto::transform::Rigid3f::Rotation(
-          Eigen::AngleAxisf(-M_PI / 2.f, Eigen::Vector3f::UnitY())),
+      voxel_size, carto::transform::Rigid3f::Rotation(
+                      Eigen::AngleAxisf(-M_PI / 2.f, Eigen::Vector3f::UnitY())),
       {}, stem + "_xray_xy", file_writer_factory, &null_points_processor);
   carto::io::XRayPointsProcessor yz_xray_points_processor(
-      voxel_size,
-      carto::transform::Rigid3f::Rotation(
-          Eigen::AngleAxisf(M_PI, Eigen::Vector3f::UnitZ())),
+      voxel_size, carto::transform::Rigid3f::Rotation(
+                      Eigen::AngleAxisf(M_PI, Eigen::Vector3f::UnitZ())),
       {}, stem + "_xray_yz", file_writer_factory, &xy_xray_points_processor);
   carto::io::XRayPointsProcessor xz_xray_points_processor(
-      voxel_size,
-      carto::transform::Rigid3f::Rotation(
-          Eigen::AngleAxisf(-M_PI / 2.f, Eigen::Vector3f::UnitZ())),
+      voxel_size, carto::transform::Rigid3f::Rotation(
+                      Eigen::AngleAxisf(-M_PI / 2.f, Eigen::Vector3f::UnitZ())),
       {}, stem + "_xray_xz", file_writer_factory, &yz_xray_points_processor);
   carto::io::PlyWritingPointsProcessor ply_writing_points_processor(
       file_writer_factory(stem + ".ply"), &xz_xray_points_processor);
@@ -95,11 +93,18 @@ void Write3DAssets(const std::vector<::cartographer::mapping::TrajectoryNode>&
 void WriteAssets(const std::vector<::cartographer::mapping::TrajectoryNode>&
                      trajectory_nodes,
                  const NodeOptions& options, const std::string& stem) {
+  carto::mapping::proto::Trajectory trajectory;
+  for (const auto& node : trajectory_nodes) {
+    const auto& data = *node.constant_data;
+    auto* node_proto = trajectory.add_node();
+    node_proto->set_timestamp(carto::common::ToUniversal(data.time));
+    *node_proto->mutable_pose() =
+        carto::transform::ToProto(node.pose * data.tracking_to_pose);
+  }
+
   // Write the trajectory.
   std::ofstream proto_file(stem + ".pb",
                            std::ios_base::out | std::ios_base::binary);
-  const carto::mapping::proto::Trajectory trajectory =
-      carto::mapping::ToProto(trajectory_nodes);
   CHECK(trajectory.SerializeToOstream(&proto_file))
       << "Could not serialize trajectory.";
   proto_file.close();