diff --git a/cartographer_ros/cartographer_ros/msg_conversion.cc b/cartographer_ros/cartographer_ros/msg_conversion.cc
index 85b7857..296adb9 100644
--- a/cartographer_ros/cartographer_ros/msg_conversion.cc
+++ b/cartographer_ros/cartographer_ros/msg_conversion.cc
@@ -44,7 +44,6 @@ namespace {
 constexpr float kPointCloudComponentFourMagic = 1.;
 
 using ::cartographer::transform::Rigid3d;
-using ::cartographer::kalman_filter::PoseCovariance;
 using ::cartographer::sensor::PointCloudWithIntensities;
 
 sensor_msgs::PointCloud2 PreparePointCloud2Message(const int64 timestamp,
@@ -207,10 +206,6 @@ Eigen::Quaterniond ToEigen(const geometry_msgs::Quaternion& quaternion) {
                             quaternion.z);
 }
 
-PoseCovariance ToPoseCovariance(const boost::array<double, 36>& covariance) {
-  return Eigen::Map<const Eigen::Matrix<double, 6, 6>>(covariance.data());
-}
-
 geometry_msgs::Transform ToGeometryMsgTransform(const Rigid3d& rigid3d) {
   geometry_msgs::Transform transform;
   transform.translation.x = rigid3d.translation().x();
diff --git a/cartographer_ros/cartographer_ros/msg_conversion.h b/cartographer_ros/cartographer_ros/msg_conversion.h
index f89e57e..d175815 100644
--- a/cartographer_ros/cartographer_ros/msg_conversion.h
+++ b/cartographer_ros/cartographer_ros/msg_conversion.h
@@ -18,7 +18,6 @@
 #define CARTOGRAPHER_ROS_MSG_CONVERSION_H_
 
 #include "cartographer/common/port.h"
-#include "cartographer/kalman_filter/pose_tracker.h"
 #include "cartographer/sensor/point_cloud.h"
 #include "cartographer/transform/rigid_transform.h"
 #include "geometry_msgs/Pose.h"
@@ -64,9 +63,6 @@ Eigen::Vector3d ToEigen(const geometry_msgs::Vector3& vector3);
 
 Eigen::Quaterniond ToEigen(const geometry_msgs::Quaternion& quaternion);
 
-::cartographer::kalman_filter::PoseCovariance ToPoseCovariance(
-    const boost::array<double, 36>& covariance);
-
 }  // namespace cartographer_ros
 
 #endif  // CARTOGRAPHER_ROS_MSG_CONVERSION_H_
diff --git a/cartographer_ros/cartographer_ros/sensor_bridge.cc b/cartographer_ros/cartographer_ros/sensor_bridge.cc
index 5cd5b97..63ed5d6 100644
--- a/cartographer_ros/cartographer_ros/sensor_bridge.cc
+++ b/cartographer_ros/cartographer_ros/sensor_bridge.cc
@@ -16,7 +16,6 @@
 
 #include "cartographer_ros/sensor_bridge.h"
 
-#include "cartographer/kalman_filter/pose_tracker.h"
 #include "cartographer_ros/msg_conversion.h"
 #include "cartographer_ros/time_conversion.h"