diff --git a/cartographer_ros/cartographer_ros/node.cc b/cartographer_ros/cartographer_ros/node.cc
index 7570451..15b1d59 100644
--- a/cartographer_ros/cartographer_ros/node.cc
+++ b/cartographer_ros/cartographer_ros/node.cc
@@ -114,21 +114,21 @@ Node::Node(
       node_handle_.advertise<sensor_msgs::PointCloud2>(
           kScanMatchedPointCloudTopic, kLatestOnlyPublisherQueueSize);
 
-  wall_timers_.push_back(node_handle_.createWallTimer(
-      ::ros::WallDuration(node_options_.submap_publish_period_sec),
+  timers_.push_back(node_handle_.createTimer(
+      ::ros::Duration(node_options_.submap_publish_period_sec),
       &Node::PublishSubmapList, this));
-  wall_timers_.push_back(node_handle_.createWallTimer(
-      ::ros::WallDuration(node_options_.pose_publish_period_sec),
+  timers_.push_back(node_handle_.createTimer(
+      ::ros::Duration(node_options_.pose_publish_period_sec),
       &Node::PublishTrajectoryStates, this));
-  wall_timers_.push_back(node_handle_.createWallTimer(
-      ::ros::WallDuration(node_options_.trajectory_publish_period_sec),
+  timers_.push_back(node_handle_.createTimer(
+      ::ros::Duration(node_options_.trajectory_publish_period_sec),
       &Node::PublishTrajectoryNodeList, this));
-  wall_timers_.push_back(node_handle_.createWallTimer(
-      ::ros::WallDuration(node_options_.trajectory_publish_period_sec),
+  timers_.push_back(node_handle_.createTimer(
+      ::ros::Duration(node_options_.trajectory_publish_period_sec),
       &Node::PublishLandmarkPosesList, this));
-  wall_timers_.push_back(node_handle_.createWallTimer(
-      ::ros::WallDuration(kConstraintPublishPeriodSec),
-      &Node::PublishConstraintList, this));
+  timers_.push_back(
+      node_handle_.createTimer(::ros::Duration(kConstraintPublishPeriodSec),
+                               &Node::PublishConstraintList, this));
 }
 
 Node::~Node() { FinishAllTrajectories(); }
@@ -143,7 +143,7 @@ bool Node::HandleSubmapQuery(
   return true;
 }
 
-void Node::PublishSubmapList(const ::ros::WallTimerEvent& unused_timer_event) {
+void Node::PublishSubmapList(const ::ros::TimerEvent& unused_timer_event) {
   carto::common::MutexLocker lock(&mutex_);
   submap_list_publisher_.publish(map_builder_bridge_.GetSubmapList());
 }
@@ -176,7 +176,7 @@ void Node::AddSensorSamplers(const int trajectory_id,
           options.landmarks_sampling_ratio));
 }
 
-void Node::PublishTrajectoryStates(const ::ros::WallTimerEvent& timer_event) {
+void Node::PublishTrajectoryStates(const ::ros::TimerEvent& timer_event) {
   carto::common::MutexLocker lock(&mutex_);
   for (const auto& entry : map_builder_bridge_.GetTrajectoryStates()) {
     const auto& trajectory_state = entry.second;
@@ -261,7 +261,7 @@ void Node::PublishTrajectoryStates(const ::ros::WallTimerEvent& timer_event) {
 }
 
 void Node::PublishTrajectoryNodeList(
-    const ::ros::WallTimerEvent& unused_timer_event) {
+    const ::ros::TimerEvent& unused_timer_event) {
   if (trajectory_node_list_publisher_.getNumSubscribers() > 0) {
     carto::common::MutexLocker lock(&mutex_);
     trajectory_node_list_publisher_.publish(
@@ -270,7 +270,7 @@ void Node::PublishTrajectoryNodeList(
 }
 
 void Node::PublishLandmarkPosesList(
-    const ::ros::WallTimerEvent& unused_timer_event) {
+    const ::ros::TimerEvent& unused_timer_event) {
   if (landmark_poses_list_publisher_.getNumSubscribers() > 0) {
     carto::common::MutexLocker lock(&mutex_);
     landmark_poses_list_publisher_.publish(
@@ -278,8 +278,7 @@ void Node::PublishLandmarkPosesList(
   }
 }
 
-void Node::PublishConstraintList(
-    const ::ros::WallTimerEvent& unused_timer_event) {
+void Node::PublishConstraintList(const ::ros::TimerEvent& unused_timer_event) {
   if (constraint_list_publisher_.getNumSubscribers() > 0) {
     carto::common::MutexLocker lock(&mutex_);
     constraint_list_publisher_.publish(map_builder_bridge_.GetConstraintList());
diff --git a/cartographer_ros/cartographer_ros/node.h b/cartographer_ros/cartographer_ros/node.h
index 1c7f25c..2c6df52 100644
--- a/cartographer_ros/cartographer_ros/node.h
+++ b/cartographer_ros/cartographer_ros/node.h
@@ -149,13 +149,13 @@ class Node {
   void LaunchSubscribers(const TrajectoryOptions& options,
                          const cartographer_ros_msgs::SensorTopics& topics,
                          int trajectory_id);
-  void PublishSubmapList(const ::ros::WallTimerEvent& timer_event);
+  void PublishSubmapList(const ::ros::TimerEvent& timer_event);
   void AddExtrapolator(int trajectory_id, const TrajectoryOptions& options);
   void AddSensorSamplers(int trajectory_id, const TrajectoryOptions& options);
-  void PublishTrajectoryStates(const ::ros::WallTimerEvent& timer_event);
-  void PublishTrajectoryNodeList(const ::ros::WallTimerEvent& timer_event);
-  void PublishLandmarkPosesList(const ::ros::WallTimerEvent& timer_event);
-  void PublishConstraintList(const ::ros::WallTimerEvent& timer_event);
+  void PublishTrajectoryStates(const ::ros::TimerEvent& timer_event);
+  void PublishTrajectoryNodeList(const ::ros::TimerEvent& timer_event);
+  void PublishLandmarkPosesList(const ::ros::TimerEvent& timer_event);
+  void PublishConstraintList(const ::ros::TimerEvent& timer_event);
   void SpinOccupancyGridThreadForever();
   bool ValidateTrajectoryOptions(const TrajectoryOptions& options);
   bool ValidateTopicNames(const ::cartographer_ros_msgs::SensorTopics& topics,
@@ -205,9 +205,9 @@ class Node {
   std::unordered_set<std::string> subscribed_topics_;
   std::unordered_map<int, bool> is_active_trajectory_ GUARDED_BY(mutex_);
 
-  // We have to keep the timer handles of ::ros::WallTimers around, otherwise
+  // We have to keep the timer handles of ::ros::Timers around, otherwise
   // they do not fire.
-  std::vector<::ros::WallTimer> wall_timers_;
+  std::vector<::ros::Timer> timers_;
 };
 
 }  // namespace cartographer_ros
diff --git a/cartographer_ros/cartographer_ros/occupancy_grid_node_main.cc b/cartographer_ros/cartographer_ros/occupancy_grid_node_main.cc
index 8385fad..3c4aaa6 100644
--- a/cartographer_ros/cartographer_ros/occupancy_grid_node_main.cc
+++ b/cartographer_ros/cartographer_ros/occupancy_grid_node_main.cc
@@ -58,7 +58,7 @@ class Node {
 
  private:
   void HandleSubmapList(const cartographer_ros_msgs::SubmapList::ConstPtr& msg);
-  void DrawAndPublish(const ::ros::WallTimerEvent& timer_event);
+  void DrawAndPublish(const ::ros::TimerEvent& timer_event);
   void PublishOccupancyGrid(const std::string& frame_id, const ros::Time& time,
                             const Eigen::Array2f& origin,
                             cairo_surface_t* surface);
@@ -71,7 +71,7 @@ class Node {
   ::ros::Subscriber submap_list_subscriber_ GUARDED_BY(mutex_);
   ::ros::Publisher occupancy_grid_publisher_ GUARDED_BY(mutex_);
   std::map<SubmapId, SubmapSlice> submap_slices_ GUARDED_BY(mutex_);
-  ::ros::WallTimer occupancy_grid_publisher_timer_;
+  ::ros::Timer occupancy_grid_publisher_timer_;
   std::string last_frame_id_;
   ros::Time last_timestamp_;
 };
@@ -91,9 +91,8 @@ Node::Node(const double resolution, const double publish_period_sec)
           node_handle_.advertise<::nav_msgs::OccupancyGrid>(
               kOccupancyGridTopic, kLatestOnlyPublisherQueueSize,
               true /* latched */)),
-      occupancy_grid_publisher_timer_(
-          node_handle_.createWallTimer(::ros::WallDuration(publish_period_sec),
-                                       &Node::DrawAndPublish, this)) {}
+      occupancy_grid_publisher_timer_(node_handle_.createTimer(
+          ::ros::Duration(publish_period_sec), &Node::DrawAndPublish, this)) {}
 
 void Node::HandleSubmapList(
     const cartographer_ros_msgs::SubmapList::ConstPtr& msg) {
@@ -153,7 +152,7 @@ void Node::HandleSubmapList(
   last_frame_id_ = msg->header.frame_id;
 }
 
-void Node::DrawAndPublish(const ::ros::WallTimerEvent& unused_timer_event) {
+void Node::DrawAndPublish(const ::ros::TimerEvent& unused_timer_event) {
   if (submap_slices_.empty() || last_frame_id_.empty()) {
     return;
   }