diff --git a/cartographer_ros/cartographer_ros/msg_conversion.cc b/cartographer_ros/cartographer_ros/msg_conversion.cc
index 2c3f216..6ab6a6c 100644
--- a/cartographer_ros/cartographer_ros/msg_conversion.cc
+++ b/cartographer_ros/cartographer_ros/msg_conversion.cc
@@ -162,11 +162,11 @@ sensor_msgs::PointCloud2 ToPointCloud2Message(
 
 sensor_msgs::PointCloud2 ToPointCloud2Message(
     const int64 timestamp, const string& frame_id,
-    const ::cartographer::sensor::proto::LaserFan3D& laser_scan_3d) {
-  CHECK(::cartographer::transform::ToEigen(laser_scan_3d.origin()).norm() == 0)
-      << "Trying to convert a laser_scan_3d that is not at the origin.";
+    const ::cartographer::sensor::proto::LaserFan& laser_fan) {
+  CHECK(::cartographer::transform::ToEigen(laser_fan.origin()).norm() == 0)
+      << "Trying to convert a laser_fan that is not at the origin.";
 
-  const auto& point_cloud = laser_scan_3d.point_cloud();
+  const auto& point_cloud = laser_fan.point_cloud();
   CHECK_EQ(point_cloud.x_size(), point_cloud.y_size());
   CHECK_EQ(point_cloud.x_size(), point_cloud.z_size());
   const auto num_points = point_cloud.x_size();
@@ -229,9 +229,9 @@ sensor_msgs::PointCloud2 ToPointCloud2Message(
   return proto;
 }
 
-::cartographer::sensor::proto::LaserFan3D ToCartographer(
+::cartographer::sensor::proto::LaserFan ToCartographer(
     const pcl::PointCloud<pcl::PointXYZ>& pcl_points) {
-  ::cartographer::sensor::proto::LaserFan3D proto;
+  ::cartographer::sensor::proto::LaserFan proto;
 
   auto* origin = proto.mutable_origin();
   origin->set_x(0.);
diff --git a/cartographer_ros/cartographer_ros/msg_conversion.h b/cartographer_ros/cartographer_ros/msg_conversion.h
index 2d3d329..b3d9770 100644
--- a/cartographer_ros/cartographer_ros/msg_conversion.h
+++ b/cartographer_ros/cartographer_ros/msg_conversion.h
@@ -50,7 +50,7 @@ sensor_msgs::PointCloud2 ToPointCloud2Message(
 
 sensor_msgs::PointCloud2 ToPointCloud2Message(
     int64 timestamp, const string& frame_id,
-    const ::cartographer::sensor::proto::LaserFan3D& laser_scan_3d);
+    const ::cartographer::sensor::proto::LaserFan& laser_fan);
 
 geometry_msgs::Transform ToGeometryMsgTransform(
     const ::cartographer::transform::Rigid3d& rigid3d);
@@ -64,7 +64,7 @@ geometry_msgs::Pose ToGeometryMsgPose(
 ::cartographer::sensor::proto::LaserScan ToCartographer(
     const sensor_msgs::MultiEchoLaserScan& msg);
 
-::cartographer::sensor::proto::LaserFan3D ToCartographer(
+::cartographer::sensor::proto::LaserFan ToCartographer(
     const pcl::PointCloud<pcl::PointXYZ>& pcl_points);
 
 ::cartographer::transform::Rigid3d ToRigid3d(
diff --git a/cartographer_ros/cartographer_ros/node_main.cc b/cartographer_ros/cartographer_ros/node_main.cc
index 3966297..6cbf3b8 100644
--- a/cartographer_ros/cartographer_ros/node_main.cc
+++ b/cartographer_ros/cartographer_ros/node_main.cc
@@ -511,13 +511,12 @@ void Node::HandleSensorData(const int64 timestamp,
                                      sensor_data->imu.angular_velocity);
       return;
 
-    case carto::sensor::Data::Type::kLaserFan3D:
+    case carto::sensor::Data::Type::kLaserFan:
       if (options_.map_builder_options.use_trajectory_builder_2d()) {
-        trajectory_builder->AddHorizontalLaserFan(time,
-                                                  sensor_data->laser_fan_3d);
+        trajectory_builder->AddHorizontalLaserFan(time, sensor_data->laser_fan);
       } else {
         CHECK(options_.map_builder_options.use_trajectory_builder_3d());
-        trajectory_builder->AddLaserFan3D(time, sensor_data->laser_fan_3d);
+        trajectory_builder->AddLaserFan3D(time, sensor_data->laser_fan);
       }
       return;
 
diff --git a/cartographer_ros/cartographer_ros/occupancy_grid.cc b/cartographer_ros/cartographer_ros/occupancy_grid.cc
index 68041c9..1a82502 100644
--- a/cartographer_ros/cartographer_ros/occupancy_grid.cc
+++ b/cartographer_ros/cartographer_ros/occupancy_grid.cc
@@ -41,9 +41,8 @@ void BuildOccupancyGrid(
   for (const auto& node : trajectory_nodes) {
     CHECK(node.constant_data->laser_fan_3d.returns.empty());  // No 3D yet.
     laser_fan_inserter.Insert(
-        carto::sensor::TransformLaserFan(
-            node.constant_data->laser_fan,
-            carto::transform::Project2D(node.pose).cast<float>()),
+        carto::sensor::TransformLaserFan(node.constant_data->laser_fan_2d,
+                                         node.pose.cast<float>()),
         &probability_grid);
   }
 
diff --git a/cartographer_ros/cartographer_ros/sensor_bridge.cc b/cartographer_ros/cartographer_ros/sensor_bridge.cc
index 0f764ad..f36873a 100644
--- a/cartographer_ros/cartographer_ros/sensor_bridge.cc
+++ b/cartographer_ros/cartographer_ros/sensor_bridge.cc
@@ -141,7 +141,7 @@ void SensorBridge::HandlePointCloud2Message(
         trajectory_id_, carto::common::ToUniversal(time), topic,
         carto::common::make_unique<::cartographer::sensor::Data>(
             CheckNoLeadingSlash(msg->header.frame_id),
-            carto::sensor::TransformLaserFan3D(
+            carto::sensor::TransformLaserFan(
                 carto::sensor::FromProto(ToCartographer(pcl_point_cloud)),
                 sensor_to_tracking->cast<float>())));
   }
@@ -151,7 +151,7 @@ void SensorBridge::HandleLaserScanProto(
     const string& topic, const ::cartographer::common::Time time,
     const string& frame_id,
     const ::cartographer::sensor::proto::LaserScan& laser_scan) {
-  const auto laser_fan = carto::sensor::ToLaserFan3D(
+  const auto laser_fan = carto::sensor::ToLaserFan(
       laser_scan, options_.horizontal_laser_min_range,
       options_.horizontal_laser_max_range,
       options_.horizontal_laser_missing_echo_ray_length);
@@ -161,7 +161,7 @@ void SensorBridge::HandleLaserScanProto(
         trajectory_id_, carto::common::ToUniversal(time), topic,
         carto::common::make_unique<::cartographer::sensor::Data>(
             CheckNoLeadingSlash(frame_id),
-            carto::sensor::TransformLaserFan3D(
+            carto::sensor::TransformLaserFan(
                 laser_fan, sensor_to_tracking->cast<float>())));
   }
 }