diff --git a/google_cartographer/CMakeLists.txt b/cartographer_ros/CMakeLists.txt
similarity index 98%
rename from google_cartographer/CMakeLists.txt
rename to cartographer_ros/CMakeLists.txt
index 77d8088..89dde17 100644
--- a/google_cartographer/CMakeLists.txt
+++ b/cartographer_ros/CMakeLists.txt
@@ -14,12 +14,12 @@
 
 cmake_minimum_required(VERSION 2.8)
 
-project(google_cartographer)
+project(cartographer_ros)
 
 set(PACKAGE_DEPENDENCIES
   eigen_conversions
   geometry_msgs
-  google_cartographer_msgs
+  cartographer_ros_msgs
   roscpp
   rviz
   sensor_msgs
diff --git a/google_cartographer/configuration_files/3d_mapping.lua b/cartographer_ros/configuration_files/3d_mapping.lua
similarity index 100%
rename from google_cartographer/configuration_files/3d_mapping.lua
rename to cartographer_ros/configuration_files/3d_mapping.lua
diff --git a/google_cartographer/configuration_files/backpack_3d.lua b/cartographer_ros/configuration_files/backpack_3d.lua
similarity index 100%
rename from google_cartographer/configuration_files/backpack_3d.lua
rename to cartographer_ros/configuration_files/backpack_3d.lua
diff --git a/google_cartographer/configuration_files/turtlebot.lua b/cartographer_ros/configuration_files/turtlebot.lua
similarity index 100%
rename from google_cartographer/configuration_files/turtlebot.lua
rename to cartographer_ros/configuration_files/turtlebot.lua
diff --git a/google_cartographer/launch/3d_mapping.launch b/cartographer_ros/launch/3d_mapping.launch
similarity index 95%
rename from google_cartographer/launch/3d_mapping.launch
rename to cartographer_ros/launch/3d_mapping.launch
index 2671e2b..45517ba 100644
--- a/google_cartographer/launch/3d_mapping.launch
+++ b/cartographer_ros/launch/3d_mapping.launch
@@ -75,18 +75,18 @@
   </node>
 
   <param name="robot_description"
-    textfile="$(find google_cartographer)/urdf/backpack_3d.urdf" />
+    textfile="$(find cartographer_ros)/urdf/backpack_3d.urdf" />
 
   <node name="robot_state_publisher" pkg="robot_state_publisher"
     type="robot_state_publisher" />
 
-  <node name="cartographer" pkg="google_cartographer"
+  <node name="cartographer" pkg="cartographer_ros"
       type="cartographer_node" output="screen" >
     <rosparam subst_value="true">
       map_frame: "map"
       tracking_frame: "base_link"
       configuration_files_directories: [
-        "$(find google_cartographer)/configuration_files"
+        "$(find cartographer_ros)/configuration_files"
       ]
       mapping_configuration_basename: "3d_mapping.lua"
       imu_topic: "/imu"
diff --git a/google_cartographer/launch/state.launch b/cartographer_ros/launch/state.launch
similarity index 93%
rename from google_cartographer/launch/state.launch
rename to cartographer_ros/launch/state.launch
index c07f760..4a931e2 100644
--- a/google_cartographer/launch/state.launch
+++ b/cartographer_ros/launch/state.launch
@@ -16,12 +16,12 @@
 
 <launch>
   <param name="robot_description"
-    textfile="$(find google_cartographer)/urdf/backpack_3d.urdf" />
+    textfile="$(find cartographer_ros)/urdf/backpack_3d.urdf" />
 
   <node name="robot_state_publisher" pkg="robot_state_publisher"
     type="robot_state_publisher" />
 
-  <node name="cartographer" pkg="google_cartographer"
+  <node name="cartographer" pkg="cartographer_ros"
       type="cartographer_node" output="screen" >
     <rosparam subst_value="true">
       # This node publishes the transformation between the tracking and map
@@ -35,7 +35,7 @@
       # want to add your own configuration overwrites in your own node
       # directories - you should add the path here as first entry then.
       configuration_files_directories: [
-        "$(find google_cartographer)/configuration_files"
+        "$(find cartographer_ros)/configuration_files"
       ]
 
       # Configuration file for SLAM. The settings in here are tweaked to the
diff --git a/google_cartographer/launch/turtlebot.launch b/cartographer_ros/launch/turtlebot.launch
similarity index 87%
rename from google_cartographer/launch/turtlebot.launch
rename to cartographer_ros/launch/turtlebot.launch
index 75c9576..cfd0c54 100644
--- a/google_cartographer/launch/turtlebot.launch
+++ b/cartographer_ros/launch/turtlebot.launch
@@ -16,18 +16,18 @@
 
 <launch>
   <param name="robot_description"
-    textfile="$(find google_cartographer)/urdf/turtlebot.urdf" />
+    textfile="$(find cartographer_ros)/urdf/turtlebot.urdf" />
 
   <node name="robot_state_publisher" pkg="robot_state_publisher"
     type="robot_state_publisher" />
 
-  <node name="cartographer" pkg="google_cartographer"
+  <node name="cartographer" pkg="cartographer_ros"
       type="cartographer_node" output="screen" >
     <rosparam subst_value="true">
       map_frame: "map"
       tracking_frame: "base_link"
       configuration_files_directories: [
-        "$(find google_cartographer)/configuration_files"
+        "$(find cartographer_ros)/configuration_files"
       ]
       mapping_configuration_basename: "turtlebot.lua"
       imu_topic: "/imu"
diff --git a/google_cartographer/ogre_media/materials/glsl120/glsl120.program b/cartographer_ros/ogre_media/materials/glsl120/glsl120.program
similarity index 74%
rename from google_cartographer/ogre_media/materials/glsl120/glsl120.program
rename to cartographer_ros/ogre_media/materials/glsl120/glsl120.program
index 045f381..d8d6e6e 100644
--- a/google_cartographer/ogre_media/materials/glsl120/glsl120.program
+++ b/cartographer_ros/ogre_media/materials/glsl120/glsl120.program
@@ -14,22 +14,22 @@
  * limitations under the License.
  */
 
-fragment_program google_cartographer/glsl120/submap.frag glsl
+fragment_program cartographer_ros/glsl120/submap.frag glsl
 {
   source submap.frag
 }
 
-vertex_program google_cartographer/glsl120/submap.vert glsl
+vertex_program cartographer_ros/glsl120/submap.vert glsl
 {
   source submap.vert
 }
 
-fragment_program google_cartographer/glsl120/screen_blit.frag glsl
+fragment_program cartographer_ros/glsl120/screen_blit.frag glsl
 {
   source screen_blit.frag
 }
 
-vertex_program google_cartographer/glsl120/screen_blit.vert glsl
+vertex_program cartographer_ros/glsl120/screen_blit.vert glsl
 {
   source screen_blit.vert
 }
diff --git a/google_cartographer/ogre_media/materials/glsl120/screen_blit.frag b/cartographer_ros/ogre_media/materials/glsl120/screen_blit.frag
similarity index 100%
rename from google_cartographer/ogre_media/materials/glsl120/screen_blit.frag
rename to cartographer_ros/ogre_media/materials/glsl120/screen_blit.frag
diff --git a/google_cartographer/ogre_media/materials/glsl120/screen_blit.vert b/cartographer_ros/ogre_media/materials/glsl120/screen_blit.vert
similarity index 100%
rename from google_cartographer/ogre_media/materials/glsl120/screen_blit.vert
rename to cartographer_ros/ogre_media/materials/glsl120/screen_blit.vert
diff --git a/google_cartographer/ogre_media/materials/glsl120/submap.frag b/cartographer_ros/ogre_media/materials/glsl120/submap.frag
similarity index 100%
rename from google_cartographer/ogre_media/materials/glsl120/submap.frag
rename to cartographer_ros/ogre_media/materials/glsl120/submap.frag
diff --git a/google_cartographer/ogre_media/materials/glsl120/submap.vert b/cartographer_ros/ogre_media/materials/glsl120/submap.vert
similarity index 100%
rename from google_cartographer/ogre_media/materials/glsl120/submap.vert
rename to cartographer_ros/ogre_media/materials/glsl120/submap.vert
diff --git a/google_cartographer/ogre_media/materials/scripts/screen_blit.material b/cartographer_ros/ogre_media/materials/scripts/screen_blit.material
similarity index 79%
rename from google_cartographer/ogre_media/materials/scripts/screen_blit.material
rename to cartographer_ros/ogre_media/materials/scripts/screen_blit.material
index cd850fd..2853689 100644
--- a/google_cartographer/ogre_media/materials/scripts/screen_blit.material
+++ b/cartographer_ros/ogre_media/materials/scripts/screen_blit.material
@@ -14,15 +14,15 @@
  * limitations under the License.
  */
 
-material google_cartographer/ScreenBlit
+material cartographer_ros/ScreenBlit
 {
   technique
   {
     pass
     {
-      vertex_program_ref google_cartographer/glsl120/screen_blit.vert {}
+      vertex_program_ref cartographer_ros/glsl120/screen_blit.vert {}
 
-      fragment_program_ref google_cartographer/glsl120/screen_blit.frag
+      fragment_program_ref cartographer_ros/glsl120/screen_blit.frag
       {
         param_named u_texture int 0
       }
diff --git a/google_cartographer/ogre_media/materials/scripts/submap.material b/cartographer_ros/ogre_media/materials/scripts/submap.material
similarity index 81%
rename from google_cartographer/ogre_media/materials/scripts/submap.material
rename to cartographer_ros/ogre_media/materials/scripts/submap.material
index 1304156..1ee71e3 100644
--- a/google_cartographer/ogre_media/materials/scripts/submap.material
+++ b/cartographer_ros/ogre_media/materials/scripts/submap.material
@@ -14,15 +14,15 @@
  * limitations under the License.
  */
 
-material google_cartographer/Submap
+material cartographer_ros/Submap
 {
   technique
   {
     pass
     {
-      vertex_program_ref google_cartographer/glsl120/submap.vert {}
+      vertex_program_ref cartographer_ros/glsl120/submap.vert {}
 
-      fragment_program_ref google_cartographer/glsl120/submap.frag
+      fragment_program_ref cartographer_ros/glsl120/submap.frag
       {
         param_named u_submap int 0
         param_named u_alpha float 1.0
diff --git a/google_cartographer/package.xml b/cartographer_ros/package.xml
similarity index 91%
rename from google_cartographer/package.xml
rename to cartographer_ros/package.xml
index bf3d0b9..b7fce9c 100644
--- a/google_cartographer/package.xml
+++ b/cartographer_ros/package.xml
@@ -16,9 +16,9 @@
 -->
 
 <package>
-  <name>google_cartographer</name>
+  <name>cartographer_ros</name>
   <version>1.0.0</version>
-  <description>The google_cartographer package.</description>
+  <description>The cartographer_ros package.</description>
   <maintainer email="nobody@google.com">Google</maintainer>
   <license>Apache 2.0</license>
 
@@ -26,7 +26,7 @@
 
   <build_depend>eigen_conversions</build_depend>
   <build_depend>geometry_msgs</build_depend>
-  <build_depend>google_cartographer_msgs</build_depend>
+  <build_depend>cartographer_ros_msgs</build_depend>
   <build_depend>libpcl-all-dev</build_depend>
   <build_depend>message_generation</build_depend>
   <build_depend>nav_msgs</build_depend>
@@ -44,7 +44,7 @@
 
   <run_depend>eigen_conversions</run_depend>
   <run_depend>geometry_msgs</run_depend>
-  <run_depend>google_cartographer_msgs</run_depend>
+  <run_depend>cartographer_ros_msgs</run_depend>
   <run_depend>libpcl-all</run_depend>
   <run_depend>libqt5-core</run_depend>
   <run_depend>libqt5-gui</run_depend>
diff --git a/google_cartographer/rviz_plugin_description.xml b/cartographer_ros/rviz_plugin_description.xml
similarity index 100%
rename from google_cartographer/rviz_plugin_description.xml
rename to cartographer_ros/rviz_plugin_description.xml
diff --git a/google_cartographer/src/cartographer_node_main.cc b/cartographer_ros/src/cartographer_node_main.cc
similarity index 97%
rename from google_cartographer/src/cartographer_node_main.cc
rename to cartographer_ros/src/cartographer_node_main.cc
index 5dc619a..7612edb 100644
--- a/google_cartographer/src/cartographer_node_main.cc
+++ b/cartographer_ros/src/cartographer_node_main.cc
@@ -46,10 +46,10 @@
 #include "geometry_msgs/TransformStamped.h"
 #include "glog/log_severity.h"
 #include "glog/logging.h"
-#include "google_cartographer_msgs/SubmapEntry.h"
-#include "google_cartographer_msgs/SubmapList.h"
-#include "google_cartographer_msgs/SubmapQuery.h"
-#include "google_cartographer_msgs/TrajectorySubmapList.h"
+#include "cartographer_ros_msgs/SubmapEntry.h"
+#include "cartographer_ros_msgs/SubmapList.h"
+#include "cartographer_ros_msgs/SubmapQuery.h"
+#include "cartographer_ros_msgs/TrajectorySubmapList.h"
 #include "pcl/point_cloud.h"
 #include "pcl/point_types.h"
 #include "pcl_conversions/pcl_conversions.h"
@@ -173,8 +173,8 @@ class Node {
                                          const string& frame_id);
 
   bool HandleSubmapQuery(
-      ::google_cartographer_msgs::SubmapQuery::Request& request,
-      ::google_cartographer_msgs::SubmapQuery::Response& response);
+      ::cartographer_ros_msgs::SubmapQuery::Request& request,
+      ::cartographer_ros_msgs::SubmapQuery::Response& response);
 
   void PublishSubmapList(int64 timestamp);
   void PublishPose(int64 timestamp);
@@ -441,15 +441,15 @@ void Node::Initialize() {
       });
 
   submap_list_publisher_ =
-      node_handle_.advertise<::google_cartographer_msgs::SubmapList>(
+      node_handle_.advertise<::cartographer_ros_msgs::SubmapList>(
           kSubmapListTopic, 10);
   submap_query_server_ = node_handle_.advertiseService(
       kSubmapQueryServiceName, &Node::HandleSubmapQuery, this);
 }
 
 bool Node::HandleSubmapQuery(
-    ::google_cartographer_msgs::SubmapQuery::Request& request,
-    ::google_cartographer_msgs::SubmapQuery::Response& response) {
+    ::cartographer_ros_msgs::SubmapQuery::Request& request,
+    ::cartographer_ros_msgs::SubmapQuery::Response& response) {
   if (request.trajectory_id != 0) {
     return false;
   }
@@ -506,15 +506,15 @@ void Node::PublishSubmapList(int64 timestamp) {
       sparse_pose_graph_->GetSubmapTransforms(*submaps);
   CHECK_EQ(submap_transforms.size(), submaps->size());
 
-  ::google_cartographer_msgs::TrajectorySubmapList ros_trajectory;
+  ::cartographer_ros_msgs::TrajectorySubmapList ros_trajectory;
   for (int i = 0; i != submaps->size(); ++i) {
-    ::google_cartographer_msgs::SubmapEntry ros_submap;
+    ::cartographer_ros_msgs::SubmapEntry ros_submap;
     ros_submap.submap_version = submaps->Get(i)->end_laser_fan_index;
     ros_submap.pose = ToGeometryMsgPose(submap_transforms[i]);
     ros_trajectory.submap.push_back(ros_submap);
   }
 
-  ::google_cartographer_msgs::SubmapList ros_submap_list;
+  ::cartographer_ros_msgs::SubmapList ros_submap_list;
   ros_submap_list.trajectory.push_back(ros_trajectory);
   submap_list_publisher_.publish(ros_submap_list);
   last_submap_list_publish_timestamp_ = timestamp;
diff --git a/google_cartographer/src/drawable_submap.cc b/cartographer_ros/src/drawable_submap.cc
similarity index 96%
rename from google_cartographer/src/drawable_submap.cc
rename to cartographer_ros/src/drawable_submap.cc
index 5e2a035..c76f63a 100644
--- a/google_cartographer/src/drawable_submap.cc
+++ b/cartographer_ros/src/drawable_submap.cc
@@ -20,7 +20,7 @@
 #include <OgreImage.h>
 #include <cartographer/common/port.h>
 #include <eigen_conversions/eigen_msg.h>
-#include <google_cartographer_msgs/SubmapQuery.h>
+#include <cartographer_ros_msgs/SubmapQuery.h>
 #include <ros/ros.h>
 #include <rviz/display_context.h>
 #include <rviz/frame_manager.h>
@@ -42,7 +42,7 @@ constexpr char kMapFrame[] = "/map";
 constexpr char kSubmapTexturePrefix[] = "SubmapTexture";
 constexpr char kManualObjectPrefix[] = "ManualObjectSubmap";
 constexpr char kSubmapMaterialPrefix[] = "SubmapMaterial";
-constexpr char kSubmapSourceMaterialName[] = "google_cartographer/Submap";
+constexpr char kSubmapSourceMaterialName[] = "cartographer_ros/Submap";
 
 // Distance before which the submap will be shown at full opacity, and distance
 // over which the submap will then fade out.
@@ -89,7 +89,7 @@ DrawableSubmap::~DrawableSubmap() {
 }
 
 bool DrawableSubmap::Update(
-    const ::google_cartographer_msgs::SubmapEntry& metadata,
+    const ::cartographer_ros_msgs::SubmapEntry& metadata,
     ros::ServiceClient* const client) {
   ::cartographer::common::MutexLocker locker(&mutex_);
   tf::poseMsgToEigen(metadata.pose, submap_pose_);
@@ -113,11 +113,11 @@ void DrawableSubmap::QuerySubmap(const int submap_id, const int trajectory_id,
                                  ros::ServiceClient* const client) {
   rpc_request_future_ = std::async(
       std::launch::async, [this, submap_id, trajectory_id, client]() {
-        ::google_cartographer_msgs::SubmapQuery srv;
+        ::cartographer_ros_msgs::SubmapQuery srv;
         srv.request.submap_id = submap_id;
         srv.request.trajectory_id = trajectory_id;
         if (client->call(srv)) {
-          response_.reset(new ::google_cartographer_msgs::SubmapQuery::Response(
+          response_.reset(new ::cartographer_ros_msgs::SubmapQuery::Response(
               srv.response));
           Q_EMIT RequestSucceeded();
         } else {
diff --git a/google_cartographer/src/drawable_submap.h b/cartographer_ros/src/drawable_submap.h
similarity index 93%
rename from google_cartographer/src/drawable_submap.h
rename to cartographer_ros/src/drawable_submap.h
index cbdd53f..8332a70 100644
--- a/google_cartographer/src/drawable_submap.h
+++ b/cartographer_ros/src/drawable_submap.h
@@ -23,8 +23,8 @@
 #include <OgreSceneNode.h>
 #include <OgreTexture.h>
 #include <cartographer/common/mutex.h>
-#include <google_cartographer_msgs/SubmapEntry.h>
-#include <google_cartographer_msgs/SubmapQuery.h>
+#include <cartographer_ros_msgs/SubmapEntry.h>
+#include <cartographer_ros_msgs/SubmapQuery.h>
 #include <ros/ros.h>
 #include <rviz/display_context.h>
 #include <Eigen/Core>
@@ -55,7 +55,7 @@ class DrawableSubmap : public QObject {
   // 'submap_entry' contains metadata which is used to find out whether this
   // 'DrawableSubmap' should update itself. If an update is needed, it will send
   // an RPC using 'client' to request the new data for the submap.
-  bool Update(const ::google_cartographer_msgs::SubmapEntry& submap_entry,
+  bool Update(const ::cartographer_ros_msgs::SubmapEntry& submap_entry,
               ros::ServiceClient* client);
 
   // Returns whether an RPC is in progress.
@@ -105,7 +105,7 @@ class DrawableSubmap : public QObject {
   double last_query_slice_height_ GUARDED_BY(mutex_);
   std::future<void> rpc_request_future_;
   std::string cells_ GUARDED_BY(mutex_);
-  std::unique_ptr<::google_cartographer_msgs::SubmapQuery::Response> response_
+  std::unique_ptr<::cartographer_ros_msgs::SubmapQuery::Response> response_
       GUARDED_BY(mutex_);
   int texture_count_;
   float current_alpha_;
diff --git a/google_cartographer/src/msg_conversion.cc b/cartographer_ros/src/msg_conversion.cc
similarity index 100%
rename from google_cartographer/src/msg_conversion.cc
rename to cartographer_ros/src/msg_conversion.cc
diff --git a/google_cartographer/src/msg_conversion.h b/cartographer_ros/src/msg_conversion.h
similarity index 100%
rename from google_cartographer/src/msg_conversion.h
rename to cartographer_ros/src/msg_conversion.h
diff --git a/google_cartographer/src/node_constants.h b/cartographer_ros/src/node_constants.h
similarity index 100%
rename from google_cartographer/src/node_constants.h
rename to cartographer_ros/src/node_constants.h
diff --git a/google_cartographer/src/submaps_display.cc b/cartographer_ros/src/submaps_display.cc
similarity index 94%
rename from google_cartographer/src/submaps_display.cc
rename to cartographer_ros/src/submaps_display.cc
index 10e24f4..5b14dca 100644
--- a/google_cartographer/src/submaps_display.cc
+++ b/cartographer_ros/src/submaps_display.cc
@@ -35,8 +35,8 @@
 #include <OgreViewport.h>
 #include <cartographer/common/mutex.h>
 #include <geometry_msgs/TransformStamped.h>
-#include <google_cartographer_msgs/SubmapList.h>
-#include <google_cartographer_msgs/SubmapQuery.h>
+#include <cartographer_ros_msgs/SubmapList.h>
+#include <cartographer_ros_msgs/SubmapQuery.h>
 #include <pluginlib/class_list_macros.h>
 #include <ros/package.h>
 #include <ros/ros.h>
@@ -56,7 +56,7 @@ constexpr char kGlsl120Directory[] = "/glsl120";
 constexpr char kScriptsDirectory[] = "/scripts";
 constexpr char kScreenBlitMaterialName[] = "ScreenBlitMaterial";
 constexpr char kScreenBlitSourceMaterialName[] =
-    "google_cartographer/ScreenBlit";
+    "cartographer_ros/ScreenBlit";
 constexpr char kSubmapsRttPrefix[] = "SubmapsRtt";
 constexpr char kMapTextureName[] = "MapTexture";
 constexpr char kMapOverlayName[] = "MapOverlay";
@@ -76,8 +76,8 @@ SubmapsDisplay::SubmapsDisplay()
   topic_property_ = new ::rviz::RosTopicProperty(
       "Topic", "",
       QString::fromStdString(ros::message_traits::datatype<
-                             ::google_cartographer_msgs::SubmapList>()),
-      "google_cartographer_msgs::SubmapList topic to subscribe to.", this,
+                             ::cartographer_ros_msgs::SubmapList>()),
+      "cartographer_ros_msgs::SubmapList topic to subscribe to.", this,
       SLOT(UpdateTopic()));
   submap_query_service_property_ = new ::rviz::StringProperty(
       "Submap query service", "", "Submap query service to connect to.", this,
@@ -89,7 +89,7 @@ SubmapsDisplay::SubmapsDisplay()
       "Tracking frame", kDefaultTrackingFrame,
       "Tracking frame, used for fading out submaps.", this);
   client_ =
-      update_nh_.serviceClient<::google_cartographer_msgs::SubmapQuery>("");
+      update_nh_.serviceClient<::cartographer_ros_msgs::SubmapQuery>("");
   const std::string package_path = ::ros::package::getPath(ROS_PACKAGE_NAME);
   Ogre::ResourceGroupManager::getSingleton().addResourceLocation(
       package_path + kMaterialsDirectory, "FileSystem", ROS_PACKAGE_NAME);
@@ -149,7 +149,7 @@ void SubmapsDisplay::UpdateSubmapQueryServiceName() {
   Unsubscribe();
   Clear();
   client_.shutdown();
-  client_ = update_nh_.serviceClient<::google_cartographer_msgs::SubmapQuery>(
+  client_ = update_nh_.serviceClient<::cartographer_ros_msgs::SubmapQuery>(
       submap_query_service_property_->getStdString());
   Subscribe();
 }
@@ -190,7 +190,7 @@ void SubmapsDisplay::Subscribe() {
 void SubmapsDisplay::Unsubscribe() { submap_list_subscriber_.shutdown(); }
 
 void SubmapsDisplay::IncomingSubmapList(
-    const ::google_cartographer_msgs::SubmapList::ConstPtr& msg) {
+    const ::cartographer_ros_msgs::SubmapList::ConstPtr& msg) {
   submap_list_ = *msg;
   Q_EMIT SubmapListUpdated();
 }
@@ -215,7 +215,7 @@ void SubmapsDisplay::RequestNewSubmaps() {
     if (trajectory_id >= trajectories_.size()) {
       trajectories_.emplace_back(new Trajectory);
     }
-    const std::vector<::google_cartographer_msgs::SubmapEntry>& submap_entries =
+    const std::vector<::cartographer_ros_msgs::SubmapEntry>& submap_entries =
         submap_list_.trajectory[trajectory_id].submap;
     if (submap_entries.empty()) {
       return;
@@ -240,7 +240,7 @@ void SubmapsDisplay::RequestNewSubmaps() {
   }
   for (int trajectory_id = 0; trajectory_id < submap_list_.trajectory.size();
        ++trajectory_id) {
-    const std::vector<::google_cartographer_msgs::SubmapEntry>& submap_entries =
+    const std::vector<::cartographer_ros_msgs::SubmapEntry>& submap_entries =
         submap_list_.trajectory[trajectory_id].submap;
     for (int submap_id = submap_entries.size() - 1; submap_id >= 0;
          --submap_id) {
diff --git a/google_cartographer/src/submaps_display.h b/cartographer_ros/src/submaps_display.h
similarity index 95%
rename from google_cartographer/src/submaps_display.h
rename to cartographer_ros/src/submaps_display.h
index f3e85e6..41a9f18 100644
--- a/google_cartographer/src/submaps_display.h
+++ b/cartographer_ros/src/submaps_display.h
@@ -26,7 +26,7 @@
 #include <OgreVector3.h>
 #include <cartographer/common/mutex.h>
 #include <cartographer/common/port.h>
-#include <google_cartographer_msgs/SubmapList.h>
+#include <cartographer_ros_msgs/SubmapList.h>
 #include <nav_msgs/MapMetaData.h>
 #include <ros/time.h>
 #include <rviz/display.h>
@@ -94,14 +94,14 @@ class SubmapsDisplay : public ::rviz::Display {
   void Unsubscribe();
   void UpdateMapTexture();
   void IncomingSubmapList(
-      const ::google_cartographer_msgs::SubmapList::ConstPtr& msg);
+      const ::cartographer_ros_msgs::SubmapList::ConstPtr& msg);
   // Clears the current map.
   void Clear();
   void UpdateCurrentTrackingZ(const tf::tfMessage::ConstPtr& msg);
 
   int rtt_count_;
   SceneManagerListener scene_manager_listener_;
-  ::google_cartographer_msgs::SubmapList submap_list_;
+  ::cartographer_ros_msgs::SubmapList submap_list_;
   ros::Subscriber submap_list_subscriber_;
   ::tf2_ros::Buffer tf_buffer_;
   ::tf2_ros::TransformListener tf_listener_;
diff --git a/google_cartographer/src/time_conversion.cc b/cartographer_ros/src/time_conversion.cc
similarity index 100%
rename from google_cartographer/src/time_conversion.cc
rename to cartographer_ros/src/time_conversion.cc
diff --git a/google_cartographer/src/time_conversion.h b/cartographer_ros/src/time_conversion.h
similarity index 100%
rename from google_cartographer/src/time_conversion.h
rename to cartographer_ros/src/time_conversion.h
diff --git a/google_cartographer/src/time_conversion_test.cc b/cartographer_ros/src/time_conversion_test.cc
similarity index 100%
rename from google_cartographer/src/time_conversion_test.cc
rename to cartographer_ros/src/time_conversion_test.cc
diff --git a/google_cartographer/src/trajectory.cc b/cartographer_ros/src/trajectory.cc
similarity index 100%
rename from google_cartographer/src/trajectory.cc
rename to cartographer_ros/src/trajectory.cc
diff --git a/google_cartographer/src/trajectory.h b/cartographer_ros/src/trajectory.h
similarity index 100%
rename from google_cartographer/src/trajectory.h
rename to cartographer_ros/src/trajectory.h
diff --git a/google_cartographer/urdf/backpack_2d.urdf b/cartographer_ros/urdf/backpack_2d.urdf
similarity index 98%
rename from google_cartographer/urdf/backpack_2d.urdf
rename to cartographer_ros/urdf/backpack_2d.urdf
index e72be50..3bfdfd9 100644
--- a/google_cartographer/urdf/backpack_2d.urdf
+++ b/cartographer_ros/urdf/backpack_2d.urdf
@@ -14,7 +14,7 @@
   limitations under the License.
 -->
 
-<robot name="google_cartographer">
+<robot name="cartographer_ros">
   <material name="orange">
     <color rgba="1.0 0.5 0.2 1"/>
   </material>
diff --git a/google_cartographer/urdf/backpack_3d.urdf b/cartographer_ros/urdf/backpack_3d.urdf
similarity index 98%
rename from google_cartographer/urdf/backpack_3d.urdf
rename to cartographer_ros/urdf/backpack_3d.urdf
index 89f32ef..1772dbb 100644
--- a/google_cartographer/urdf/backpack_3d.urdf
+++ b/cartographer_ros/urdf/backpack_3d.urdf
@@ -14,7 +14,7 @@
   limitations under the License.
 -->
 
-<robot name="google_cartographer">
+<robot name="cartographer_ros">
   <material name="orange">
     <color rgba="1.0 0.5 0.2 1"/>
   </material>
diff --git a/google_cartographer/urdf/turtlebot.urdf b/cartographer_ros/urdf/turtlebot.urdf
similarity index 97%
rename from google_cartographer/urdf/turtlebot.urdf
rename to cartographer_ros/urdf/turtlebot.urdf
index f97dcb7..b40220e 100644
--- a/google_cartographer/urdf/turtlebot.urdf
+++ b/cartographer_ros/urdf/turtlebot.urdf
@@ -14,7 +14,7 @@
   limitations under the License.
 -->
 
-<robot name="google_cartographer">
+<robot name="cartographer_ros">
   <material name="orange">
     <color rgba="1.0 0.5 0.2 1"/>
   </material>
diff --git a/google_cartographer_msgs/CMakeLists.txt b/cartographer_ros_msgs/CMakeLists.txt
similarity index 96%
rename from google_cartographer_msgs/CMakeLists.txt
rename to cartographer_ros_msgs/CMakeLists.txt
index 9551707..251228d 100644
--- a/google_cartographer_msgs/CMakeLists.txt
+++ b/cartographer_ros_msgs/CMakeLists.txt
@@ -13,7 +13,7 @@
 # limitations under the License.
 
 cmake_minimum_required(VERSION 2.8.3)
-project(google_cartographer_msgs)
+project(cartographer_ros_msgs)
 set(CMAKE_CXX_FLAGS "-std=c++0x ${CMAKE_CXX_FLAGS}")
 find_package(catkin REQUIRED COMPONENTS geometry_msgs message_generation)
 
diff --git a/google_cartographer_msgs/msg/SubmapEntry.msg b/cartographer_ros_msgs/msg/SubmapEntry.msg
similarity index 100%
rename from google_cartographer_msgs/msg/SubmapEntry.msg
rename to cartographer_ros_msgs/msg/SubmapEntry.msg
diff --git a/google_cartographer_msgs/msg/SubmapList.msg b/cartographer_ros_msgs/msg/SubmapList.msg
similarity index 100%
rename from google_cartographer_msgs/msg/SubmapList.msg
rename to cartographer_ros_msgs/msg/SubmapList.msg
diff --git a/google_cartographer_msgs/msg/TrajectorySubmapList.msg b/cartographer_ros_msgs/msg/TrajectorySubmapList.msg
similarity index 100%
rename from google_cartographer_msgs/msg/TrajectorySubmapList.msg
rename to cartographer_ros_msgs/msg/TrajectorySubmapList.msg
diff --git a/google_cartographer_msgs/package.xml b/cartographer_ros_msgs/package.xml
similarity index 91%
rename from google_cartographer_msgs/package.xml
rename to cartographer_ros_msgs/package.xml
index a6d2cad..3fbf3e5 100644
--- a/google_cartographer_msgs/package.xml
+++ b/cartographer_ros_msgs/package.xml
@@ -15,10 +15,10 @@
 -->
 
 <package>
-  <name>google_cartographer_msgs</name>
+  <name>cartographer_ros_msgs</name>
   <version>1.0.0</version>
   <description>
-    The google_cartographer_msgs package.
+    The cartographer_ros_msgs package.
   </description>
   <maintainer email="nobody@google.com">Google</maintainer>
   <license>Apache 2.0</license>
diff --git a/google_cartographer_msgs/srv/SubmapQuery.srv b/cartographer_ros_msgs/srv/SubmapQuery.srv
similarity index 100%
rename from google_cartographer_msgs/srv/SubmapQuery.srv
rename to cartographer_ros_msgs/srv/SubmapQuery.srv