diff --git a/cartographer_ros/cartographer_ros/map_builder_bridge.h b/cartographer_ros/cartographer_ros/map_builder_bridge.h
index 308f546..cd14e2c 100644
--- a/cartographer_ros/cartographer_ros/map_builder_bridge.h
+++ b/cartographer_ros/cartographer_ros/map_builder_bridge.h
@@ -83,7 +83,7 @@ class MapBuilderBridge {
       const ::cartographer::transform::Rigid3d local_pose,
       ::cartographer::sensor::RangeData range_data_in_local,
       const std::unique_ptr<const ::cartographer::mapping::NodeId>)
-      EXCLUDES(mutex_); 
+      EXCLUDES(mutex_);
 
   cartographer::common::Mutex mutex_;
   const NodeOptions node_options_;
diff --git a/cartographer_ros/cartographer_ros/sensor_bridge.cc b/cartographer_ros/cartographer_ros/sensor_bridge.cc
index 7f320d1..5d750a4 100644
--- a/cartographer_ros/cartographer_ros/sensor_bridge.cc
+++ b/cartographer_ros/cartographer_ros/sensor_bridge.cc
@@ -43,7 +43,7 @@ SensorBridge::SensorBridge(
     const int num_subdivisions_per_laser_scan,
     const std::string& tracking_frame,
     const double lookup_transform_timeout_sec, tf2_ros::Buffer* const tf_buffer,
-    carto::mapping::TrajectoryBuilder* const trajectory_builder)
+    carto::mapping::TrajectoryBuilderInterface* const trajectory_builder)
     : num_subdivisions_per_laser_scan_(num_subdivisions_per_laser_scan),
       tf_bridge_(tracking_frame, lookup_transform_timeout_sec, tf_buffer),
       trajectory_builder_(trajectory_builder) {}
@@ -67,8 +67,9 @@ void SensorBridge::HandleOdometryMessage(
   std::unique_ptr<::cartographer::sensor::OdometryData> odometry_data =
       ToOdometryData(msg);
   if (odometry_data != nullptr) {
-    trajectory_builder_->AddOdometerData(sensor_id, odometry_data->time,
-                                         odometry_data->pose);
+    trajectory_builder_->AddSensorData(
+        sensor_id, cartographer::sensor::OdometryData{odometry_data->time,
+                                                      odometry_data->pose});
   }
 }
 
@@ -106,9 +107,10 @@ void SensorBridge::HandleImuMessage(const std::string& sensor_id,
                                     const sensor_msgs::Imu::ConstPtr& msg) {
   std::unique_ptr<::cartographer::sensor::ImuData> imu_data = ToImuData(msg);
   if (imu_data != nullptr) {
-    trajectory_builder_->AddImuData(sensor_id, imu_data->time,
-                                    imu_data->linear_acceleration,
-                                    imu_data->angular_velocity);
+    trajectory_builder_->AddSensorData(
+        sensor_id, cartographer::sensor::ImuData{imu_data->time,
+                                                 imu_data->linear_acceleration,
+                                                 imu_data->angular_velocity});
   }
 }
 
@@ -169,10 +171,11 @@ void SensorBridge::HandleRangefinder(
   const auto sensor_to_tracking =
       tf_bridge_.LookupToTracking(time, CheckNoLeadingSlash(frame_id));
   if (sensor_to_tracking != nullptr) {
-    trajectory_builder_->AddRangefinderData(
-        sensor_id, time, sensor_to_tracking->translation().cast<float>(),
-        carto::sensor::TransformTimedPointCloud(
-            ranges, sensor_to_tracking->cast<float>()));
+    trajectory_builder_->AddSensorData(
+        sensor_id, cartographer::sensor::TimedPointCloudData{
+                       time, sensor_to_tracking->translation().cast<float>(),
+                       carto::sensor::TransformTimedPointCloud(
+                           ranges, sensor_to_tracking->cast<float>())});
   }
 }
 
diff --git a/cartographer_ros/cartographer_ros/sensor_bridge.h b/cartographer_ros/cartographer_ros/sensor_bridge.h
index a6a0519..86d46c3 100644
--- a/cartographer_ros/cartographer_ros/sensor_bridge.h
+++ b/cartographer_ros/cartographer_ros/sensor_bridge.h
@@ -19,7 +19,7 @@
 
 #include <memory>
 
-#include "cartographer/mapping/trajectory_builder.h"
+#include "cartographer/mapping/trajectory_builder_interface.h"
 #include "cartographer/sensor/imu_data.h"
 #include "cartographer/sensor/odometry_data.h"
 #include "cartographer/transform/rigid_transform.h"
@@ -42,7 +42,7 @@ class SensorBridge {
   explicit SensorBridge(
       int num_subdivisions_per_laser_scan, const std::string& tracking_frame,
       double lookup_transform_timeout_sec, tf2_ros::Buffer* tf_buffer,
-      ::cartographer::mapping::TrajectoryBuilder* trajectory_builder);
+      ::cartographer::mapping::TrajectoryBuilderInterface* trajectory_builder);
 
   SensorBridge(const SensorBridge&) = delete;
   SensorBridge& operator=(const SensorBridge&) = delete;
@@ -77,7 +77,8 @@ class SensorBridge {
 
   const int num_subdivisions_per_laser_scan_;
   const TfBridge tf_bridge_;
-  ::cartographer::mapping::TrajectoryBuilder* const trajectory_builder_;
+  ::cartographer::mapping::TrajectoryBuilderInterface* const
+      trajectory_builder_;
 };
 
 }  // namespace cartographer_ros
diff --git a/cartographer_ros/cartographer_ros/trajectory_options.cc b/cartographer_ros/cartographer_ros/trajectory_options.cc
index e06463a..603c756 100644
--- a/cartographer_ros/cartographer_ros/trajectory_options.cc
+++ b/cartographer_ros/cartographer_ros/trajectory_options.cc
@@ -16,7 +16,7 @@
 
 #include "cartographer_ros/trajectory_options.h"
 
-#include "cartographer/mapping/trajectory_builder.h"
+#include "cartographer/mapping/trajectory_builder_interface.h"
 #include "cartographer/transform/rigid_transform.h"
 #include "cartographer/transform/transform.h"
 #include "cartographer_ros/time_conversion.h"