diff --git a/cartographer_ros/cartographer_ros/assets_writer_main.cc b/cartographer_ros/cartographer_ros/assets_writer_main.cc
index b4c356f..4cc09f7 100644
--- a/cartographer_ros/cartographer_ros/assets_writer_main.cc
+++ b/cartographer_ros/cartographer_ros/assets_writer_main.cc
@@ -28,6 +28,7 @@
 #include "cartographer/io/points_processor_pipeline_builder.h"
 #include "cartographer/io/proto_stream.h"
 #include "cartographer/mapping/proto/pose_graph.pb.h"
+#include "cartographer/mapping/proto/trajectory_builder_options.pb.h"
 #include "cartographer/sensor/point_cloud.h"
 #include "cartographer/sensor/range_data.h"
 #include "cartographer/transform/transform_interpolation_buffer.h"
@@ -135,6 +136,9 @@ void Run(const std::string& pose_graph_filename,
   carto::io::ProtoStreamReader reader(pose_graph_filename);
   carto::mapping::proto::PoseGraph pose_graph_proto;
   CHECK(reader.ReadProto(&pose_graph_proto));
+  ::cartographer::mapping::proto::AllTrajectoryBuilderOptions
+      all_trajectory_builder_options;
+  CHECK(reader.ReadProto(&all_trajectory_builder_options));
   CHECK_EQ(pose_graph_proto.trajectory_size(), bag_filenames.size())
       << "Pose graphs contains " << pose_graph_proto.trajectory_size()
       << " trajectories while " << bag_filenames.size()
diff --git a/cartographer_ros/cartographer_ros/pbstream_to_ros_map_main.cc b/cartographer_ros/cartographer_ros/pbstream_to_ros_map_main.cc
index be0ca42..0ab2025 100644
--- a/cartographer_ros/cartographer_ros/pbstream_to_ros_map_main.cc
+++ b/cartographer_ros/cartographer_ros/pbstream_to_ros_map_main.cc
@@ -22,7 +22,7 @@
 #include "cartographer/mapping/proto/pose_graph.pb.h"
 #include "cartographer/mapping/proto/serialization.pb.h"
 #include "cartographer/mapping/proto/submap.pb.h"
-#include "cartographer/mapping/submaps.h"
+#include "cartographer/mapping/proto/trajectory_builder_options.pb.h"
 #include "cartographer/mapping_2d/probability_grid.h"
 #include "cartographer/mapping_2d/submaps.h"
 #include "cartographer/mapping_3d/submaps.h"
@@ -45,6 +45,9 @@ void Run(const std::string& pbstream_filename, const std::string& map_filestem,
 
   ::cartographer::mapping::proto::PoseGraph pose_graph;
   CHECK(reader.ReadProto(&pose_graph));
+  ::cartographer::mapping::proto::AllTrajectoryBuilderOptions
+      all_trajectory_builder_options;
+  CHECK(reader.ReadProto(&all_trajectory_builder_options));
 
   LOG(INFO) << "Loading submap slices from serialized data.";
   std::map<::cartographer::mapping::SubmapId, ::cartographer::io::SubmapSlice>