diff --git a/cartographer_ros/cartographer_ros/map_builder_bridge.cc b/cartographer_ros/cartographer_ros/map_builder_bridge.cc
index c907bd6..c054355 100644
--- a/cartographer_ros/cartographer_ros/map_builder_bridge.cc
+++ b/cartographer_ros/cartographer_ros/map_builder_bridge.cc
@@ -191,10 +191,6 @@ visualization_msgs::MarkerArray MapBuilderBridge::GetTrajectoryNodeList() {
       if (node.trimmed()) {
         continue;
       }
-      // In 2D, the pose in node.pose is xy-aligned. Multiplying by
-      // node.constant_data->tracking_to_pose would give the full orientation,
-      // but that is not needed here since we are only interested in the
-      // translational part.
       const ::geometry_msgs::Point node_point =
           ToGeometryMsgPoint(node.pose.translation());
       marker.points.push_back(node_point);
@@ -284,14 +280,10 @@ visualization_msgs::MarkerArray MapBuilderBridge::GetConstraintList() {
         all_submap_data[constraint.submap_id.trajectory_id]
                        [constraint.submap_id.submap_index];
     const auto& submap_pose = submap_data.pose;
-    // Similar to GetTrajectoryNodeList(), we can skip multiplying with
-    // node.constant_data->tracking_to_pose.
     const auto& trajectory_node_pose =
         all_trajectory_nodes[constraint.node_id.trajectory_id]
                             [constraint.node_id.node_index]
                                 .pose;
-    // Similar to GetTrajectoryNodeList(), we can skip multiplying with
-    // node.constant_data->tracking_to_pose.
     const cartographer::transform::Rigid3d constraint_pose =
         submap_pose * constraint.pose.zbar_ij;