diff --git a/cartographer_ros/cartographer_ros/msg_conversion.cc b/cartographer_ros/cartographer_ros/msg_conversion.cc
index 3b3afe5..35244cc 100644
--- a/cartographer_ros/cartographer_ros/msg_conversion.cc
+++ b/cartographer_ros/cartographer_ros/msg_conversion.cc
@@ -276,7 +276,7 @@ ToPointCloudWithIntensities(const sensor_msgs::PointCloud2& msg) {
 LandmarkData ToLandmarkData(const LandmarkList& landmark_list) {
   LandmarkData landmark_data;
   landmark_data.time = FromRos(landmark_list.header.stamp);
-  for (const LandmarkEntry& entry : landmark_list.landmark) {
+  for (const LandmarkEntry& entry : landmark_list.landmarks) {
     landmark_data.landmark_observations.push_back(
         {entry.id, ToRigid3d(entry.tracking_from_landmark_transform),
          entry.translation_weight, entry.rotation_weight});
diff --git a/cartographer_ros/cartographer_ros/msg_conversion_test.cc b/cartographer_ros/cartographer_ros/msg_conversion_test.cc
index 0f34536..0ba87ae 100644
--- a/cartographer_ros/cartographer_ros/msg_conversion_test.cc
+++ b/cartographer_ros/cartographer_ros/msg_conversion_test.cc
@@ -121,7 +121,7 @@ TEST(MsgConversion, LandmarkListToLandmarkData) {
   landmark_0.tracking_from_landmark_transform.orientation.z = 0.0;
   landmark_0.translation_weight = 1.0;
   landmark_0.rotation_weight = 2.0;
-  message.landmark.push_back(landmark_0);
+  message.landmarks.push_back(landmark_0);
 
   LandmarkData actual_landmark_data = ToLandmarkData(message);
   EXPECT_THAT(actual_landmark_data,
diff --git a/cartographer_ros_msgs/msg/LandmarkList.msg b/cartographer_ros_msgs/msg/LandmarkList.msg
index 5c5bd2d..a8e25ef 100644
--- a/cartographer_ros_msgs/msg/LandmarkList.msg
+++ b/cartographer_ros_msgs/msg/LandmarkList.msg
@@ -13,4 +13,4 @@
 # limitations under the License.
 
 std_msgs/Header header
-cartographer_ros_msgs/LandmarkEntry[] landmark
+cartographer_ros_msgs/LandmarkEntry[] landmarks