diff --git a/cartographer_ros/configuration_files/3d_mapping.lua b/cartographer_ros/configuration_files/3d_mapping.lua
deleted file mode 100644
index 1d42b17..0000000
--- a/cartographer_ros/configuration_files/3d_mapping.lua
+++ /dev/null
@@ -1,19 +0,0 @@
--- Copyright 2016 The Cartographer Authors
---
--- Licensed under the Apache License, Version 2.0 (the "License");
--- you may not use this file except in compliance with the License.
--- You may obtain a copy of the License at
---
---      http://www.apache.org/licenses/LICENSE-2.0
---
--- Unless required by applicable law or agreed to in writing, software
--- distributed under the License is distributed on an "AS IS" BASIS,
--- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
--- See the License for the specific language governing permissions and
--- limitations under the License.
-
-include "backpack_3d.lua"
-
-options.trajectory_builder.scans_per_accumulation = 2
-
-return options
diff --git a/cartographer_ros/configuration_files/backpack_3d.lua b/cartographer_ros/configuration_files/backpack_3d.lua
index 43a4a4c..ae099e4 100644
--- a/cartographer_ros/configuration_files/backpack_3d.lua
+++ b/cartographer_ros/configuration_files/backpack_3d.lua
@@ -29,4 +29,6 @@ options.sparse_pose_graph.constraint_builder.adaptive_voxel_filter = TRAJECTORY_
 options.sparse_pose_graph.constraint_builder.min_score = 0.62
 options.sparse_pose_graph.constraint_builder.log_matches = true
 
+options.trajectory_builder.scans_per_accumulation = 2
+
 return options
diff --git a/cartographer_ros/launch/mapping_2d.launch b/cartographer_ros/launch/backpack_2d.launch
similarity index 100%
rename from cartographer_ros/launch/mapping_2d.launch
rename to cartographer_ros/launch/backpack_2d.launch
diff --git a/cartographer_ros/launch/3d_mapping.launch b/cartographer_ros/launch/backpack_3d.launch
similarity index 98%
rename from cartographer_ros/launch/3d_mapping.launch
rename to cartographer_ros/launch/backpack_3d.launch
index 91099d0..6801ef2 100644
--- a/cartographer_ros/launch/3d_mapping.launch
+++ b/cartographer_ros/launch/backpack_3d.launch
@@ -90,7 +90,7 @@
       configuration_files_directories: [
         "$(find cartographer_ros)/configuration_files"
       ]
-      mapping_configuration_basename: "3d_mapping.lua"
+      mapping_configuration_basename: "backpack_3d.lua"
       imu_topic: "/imu"
       laser_scan_3d_topics: ["/horizontal_3d_laser", "/vertical_3d_laser"]
       laser_min_range_m: 0.
diff --git a/cartographer_ros/src/cartographer_node_main.cc b/cartographer_ros/src/cartographer_node_main.cc
index 94d43d8..942d027 100644
--- a/cartographer_ros/src/cartographer_node_main.cc
+++ b/cartographer_ros/src/cartographer_node_main.cc
@@ -80,7 +80,7 @@ constexpr int kSubmapPublishPeriodInUts = 300 * 10000ll;  // 300 milliseconds
 constexpr int kPosePublishPeriodInUts = 5 * 10000ll;      // 5 milliseconds
 constexpr double kMaxTransformDelaySeconds = 1.;
 
-Rigid3d ToRidig3d(const geometry_msgs::TransformStamped& transform) {
+Rigid3d ToRigid3d(const geometry_msgs::TransformStamped& transform) {
   return Rigid3d(Eigen::Vector3d(transform.transform.translation.x,
                                  transform.transform.translation.y,
                                  transform.transform.translation.z),
@@ -220,7 +220,7 @@ Node::Node()
 
 Rigid3d Node::LookupToTrackingTransformOrThrow(
     const ::cartographer::common::Time time, const string& frame_id) {
-  return ToRidig3d(
+  return ToRigid3d(
       tf_buffer_.lookupTransform(tracking_frame_, frame_id, ToRos(time),
                                  ros::Duration(kMaxTransformDelaySeconds)));
 }