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 5a4016e..25c0e83 100644
--- a/cartographer_ros/cartographer_ros/ros_map_writing_points_processor.cc
+++ b/cartographer_ros/cartographer_ros/ros_map_writing_points_processor.cc
@@ -51,8 +51,9 @@ RosMapWritingPointsProcessor::FromDictionary(
 
 void RosMapWritingPointsProcessor::Process(
     std::unique_ptr<::cartographer::io::PointsBatch> batch) {
-  range_data_inserter_.Insert({batch->origin, batch->points, {}},
-                              &probability_grid_);
+  range_data_inserter_.Insert(
+      {batch->origin, ::cartographer::sensor::PointCloud(batch->points), {}},
+      &probability_grid_);
   next_->Process(std::move(batch));
 }