diff --git a/cartographer_ros/cartographer_ros/ros_map_writing_points_processor.cc b/cartographer_ros/cartographer_ros/ros_map_writing_points_processor.cc
index 0f8a632..c25cb3b 100644
--- a/cartographer_ros/cartographer_ros/ros_map_writing_points_processor.cc
+++ b/cartographer_ros/cartographer_ros/ros_map_writing_points_processor.cc
@@ -25,8 +25,8 @@ namespace cartographer_ros {
 
 RosMapWritingPointsProcessor::RosMapWritingPointsProcessor(
     const double resolution,
-    const ::cartographer::mapping::proto::RangeDataInserterOptions2D&
-        range_data_inserter_options,
+    const ::cartographer::mapping::proto::
+        ProbabilityGridRangeDataInserterOptions2D& range_data_inserter_options,
     ::cartographer::io::FileWriterFactory file_writer_factory,
     const std::string& filestem,
     ::cartographer::io::PointsProcessor* const next)
@@ -44,7 +44,7 @@ RosMapWritingPointsProcessor::FromDictionary(
     ::cartographer::io::PointsProcessor* const next) {
   return ::cartographer::common::make_unique<RosMapWritingPointsProcessor>(
       dictionary->GetDouble("resolution"),
-      ::cartographer::mapping::CreateRangeDataInserterOptions2D(
+      ::cartographer::mapping::CreateProbabilityGridRangeDataInserterOptions2D(
           dictionary->GetDictionary("range_data_inserter").get()),
       file_writer_factory, dictionary->GetString("filestem"), next);
 }
diff --git a/cartographer_ros/cartographer_ros/ros_map_writing_points_processor.h b/cartographer_ros/cartographer_ros/ros_map_writing_points_processor.h
index 79a143c..b9e396c 100644
--- a/cartographer_ros/cartographer_ros/ros_map_writing_points_processor.h
+++ b/cartographer_ros/cartographer_ros/ros_map_writing_points_processor.h
@@ -21,8 +21,8 @@
 #include "cartographer/io/file_writer.h"
 #include "cartographer/io/points_processor.h"
 #include "cartographer/mapping/2d/probability_grid.h"
-#include "cartographer/mapping/2d/proto/range_data_inserter_options_2d.pb.h"
-#include "cartographer/mapping/2d/range_data_inserter_2d.h"
+#include "cartographer/mapping/2d/probability_grid_range_data_inserter_2d.h"
+#include "cartographer/mapping/2d/proto/probability_grid_range_data_inserter_options_2d.pb.h"
 
 namespace cartographer_ros {
 
@@ -34,8 +34,9 @@ class RosMapWritingPointsProcessor
   constexpr static const char* kConfigurationFileActionName = "write_ros_map";
   RosMapWritingPointsProcessor(
       double resolution,
-      const ::cartographer::mapping::proto::RangeDataInserterOptions2D&
-          range_data_inserter_options,
+      const ::cartographer::mapping::proto::
+          ProbabilityGridRangeDataInserterOptions2D&
+              range_data_inserter_options,
       ::cartographer::io::FileWriterFactory file_writer_factory,
       const std::string& filestem, PointsProcessor* next);
   RosMapWritingPointsProcessor(const RosMapWritingPointsProcessor&) = delete;
@@ -56,7 +57,8 @@ class RosMapWritingPointsProcessor
   const std::string filestem_;
   PointsProcessor* const next_;
   ::cartographer::io::FileWriterFactory file_writer_factory_;
-  ::cartographer::mapping::RangeDataInserter2D range_data_inserter_;
+  ::cartographer::mapping::ProbabilityGridRangeDataInserter2D
+      range_data_inserter_;
   ::cartographer::mapping::ProbabilityGrid probability_grid_;
 };