diff --git a/Dockerfile.indigo b/Dockerfile.indigo
index 1de7513..52b1777 100644
--- a/Dockerfile.indigo
+++ b/Dockerfile.indigo
@@ -35,6 +35,9 @@ COPY cartographer_rviz/package.xml catkin_ws/src/cartographer_ros/cartographer_r
 COPY scripts/install_debs.sh cartographer_ros/scripts/
 RUN cartographer_ros/scripts/install_debs.sh && rm -rf /var/lib/apt/lists/*
 
+# Install proto3.
+RUN /catkin_ws/src/cartographer/scripts/install_proto3.sh
+
 # Build, install, and test all packages individually to allow caching. The
 # ordering of these steps must match the topological package ordering as
 # determined by Catkin.
diff --git a/Dockerfile.kinetic b/Dockerfile.kinetic
index e040ba4..0da1a97 100644
--- a/Dockerfile.kinetic
+++ b/Dockerfile.kinetic
@@ -38,6 +38,9 @@ COPY cartographer_rviz/package.xml catkin_ws/src/cartographer_ros/cartographer_r
 COPY scripts/install_debs.sh cartographer_ros/scripts/
 RUN cartographer_ros/scripts/install_debs.sh && rm -rf /var/lib/apt/lists/*
 
+# Install proto3.
+RUN /catkin_ws/src/cartographer/scripts/install_proto3.sh
+
 # Build, install, and test all packages individually to allow caching. The
 # ordering of these steps must match the topological package ordering as
 # determined by Catkin.
diff --git a/Dockerfile.lunar b/Dockerfile.lunar
index 5c6bd43..344b17e 100644
--- a/Dockerfile.lunar
+++ b/Dockerfile.lunar
@@ -38,6 +38,9 @@ COPY cartographer_rviz/package.xml catkin_ws/src/cartographer_ros/cartographer_r
 COPY scripts/install_debs.sh cartographer_ros/scripts/
 RUN cartographer_ros/scripts/install_debs.sh && rm -rf /var/lib/apt/lists/*
 
+# Install proto3.
+RUN /catkin_ws/src/cartographer/scripts/install_proto3.sh
+
 # Build, install, and test all packages individually to allow caching. The
 # ordering of these steps must match the topological package ordering as
 # determined by Catkin.
diff --git a/docs/source/index.rst b/docs/source/index.rst
index a31a067..b24164b 100644
--- a/docs/source/index.rst
+++ b/docs/source/index.rst
@@ -68,6 +68,9 @@ We recommend using `wstool <http://wiki.ros.org/wstool>`_ and `rosdep
     wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
     wstool update -t src
 
+    # Install proto3.
+    src/cartographer/scripts/install_proto3.sh
+
     # Install deb dependencies.
     # The command 'sudo rosdep init' will print an error if you have already
     # executed it since installing ROS. This error can be ignored.