diff --git a/Dockerfile.indigo b/Dockerfile.indigo
deleted file mode 100644
index 2ea9ed6..0000000
--- a/Dockerfile.indigo
+++ /dev/null
@@ -1,76 +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.
-
-FROM ros:indigo
-
-ARG CARTOGRAPHER_VERSION=master
-
-# We require a GitHub access token to be passed.
-ARG github_token
-
-# First, we invalidate the entire cache if googlecartographer/cartographer has
-# changed. This file's content changes whenever master changes. See:
-# http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone
-ADD https://api.github.com/repos/googlecartographer/cartographer/git/refs/heads/master?access_token=$github_token \
-    cartographer_ros/cartographer_version.json
-
-# wstool needs the updated rosinstall file to clone the correct repos.
-COPY cartographer_ros.rosinstall cartographer_ros/
-COPY scripts/prepare_catkin_workspace.sh cartographer_ros/scripts/
-RUN CARTOGRAPHER_VERSION=$CARTOGRAPHER_VERSION \
-    cartographer_ros/scripts/prepare_catkin_workspace.sh
-
-# rosdep needs the updated package.xml files to install the correct debs.
-COPY cartographer_ros/package.xml catkin_ws/src/cartographer_ros/cartographer_ros/
-COPY cartographer_ros_msgs/package.xml catkin_ws/src/cartographer_ros/cartographer_ros_msgs/
-COPY cartographer_rviz/package.xml catkin_ws/src/cartographer_ros/cartographer_rviz/
-COPY scripts/install_debs.sh cartographer_ros/scripts/
-RUN cartographer_ros/scripts/install_debs.sh && rm -rf /var/lib/apt/lists/*
-
-# Install proto3.
-RUN /catkin_ws/src/cartographer/scripts/install_proto3.sh
-
-# Build, install, and test all packages individually to allow caching. The
-# ordering of these steps must match the topological package ordering as
-# determined by Catkin.
-COPY scripts/install.sh cartographer_ros/scripts/
-COPY scripts/catkin_test_results.sh cartographer_ros/scripts/
-
-COPY cartographer_ros_msgs catkin_ws/src/cartographer_ros/cartographer_ros_msgs/
-RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs && \
-    cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs \
-        --catkin-make-args run_tests && \
-    cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros_msgs
-
-RUN cartographer_ros/scripts/install.sh --pkg ceres-solver
-
-RUN cartographer_ros/scripts/install.sh --pkg cartographer && \
-    cartographer_ros/scripts/install.sh --pkg cartographer --make-args test
-
-COPY cartographer_ros catkin_ws/src/cartographer_ros/cartographer_ros/
-RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros && \
-    cartographer_ros/scripts/install.sh --pkg cartographer_ros \
-        --catkin-make-args run_tests && \
-    cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros
-
-COPY cartographer_rviz catkin_ws/src/cartographer_ros/cartographer_rviz/
-RUN cartographer_ros/scripts/install.sh --pkg cartographer_rviz && \
-    cartographer_ros/scripts/install.sh --pkg cartographer_rviz \
-        --catkin-make-args run_tests && \
-    cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_rviz
-
-COPY scripts/ros_entrypoint.sh /
-# A BTRFS bug may prevent us from cleaning up these directories.
-# https://btrfs.wiki.kernel.org/index.php/Problem_FAQ#I_cannot_delete_an_empty_directory
-RUN rm -rf cartographer_ros catkin_ws || true
diff --git a/Dockerfile.kinetic b/Dockerfile.kinetic
index d7a26c3..581d541 100644
--- a/Dockerfile.kinetic
+++ b/Dockerfile.kinetic
@@ -22,10 +22,10 @@ ARG github_token
 # Xenial's base image doesn't ship with sudo.
 RUN apt-get update && apt-get install -y sudo && rm -rf /var/lib/apt/lists/*
 
-# First, we invalidate the entire cache if googlecartographer/cartographer has
+# First, we invalidate the entire cache if cartographer-project/cartographer has
 # changed. This file's content changes whenever master changes. See:
 # http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone
-ADD https://api.github.com/repos/googlecartographer/cartographer/git/refs/heads/master?access_token=$github_token \
+ADD https://api.github.com/repos/cartographer-project/cartographer/git/refs/heads/master?access_token=$github_token \
     cartographer_ros/cartographer_version.json
 
 # wstool needs the updated rosinstall file to clone the correct repos.
diff --git a/Dockerfile.lunar b/Dockerfile.lunar
deleted file mode 100644
index f5af22a..0000000
--- a/Dockerfile.lunar
+++ /dev/null
@@ -1,79 +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.
-
-FROM ros:lunar
-
-ARG CARTOGRAPHER_VERSION=master
-
-# We require a GitHub access token to be passed.
-ARG github_token
-
-# Xenial's base image doesn't ship with sudo.
-RUN apt-get update && apt-get install -y sudo && rm -rf /var/lib/apt/lists/*
-
-# First, we invalidate the entire cache if googlecartographer/cartographer has
-# changed. This file's content changes whenever master changes. See:
-# http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone
-ADD https://api.github.com/repos/googlecartographer/cartographer/git/refs/heads/master?access_token=$github_token \
-    cartographer_ros/cartographer_version.json
-
-# wstool needs the updated rosinstall file to clone the correct repos.
-COPY cartographer_ros.rosinstall cartographer_ros/
-COPY scripts/prepare_catkin_workspace.sh cartographer_ros/scripts/
-RUN CARTOGRAPHER_VERSION=$CARTOGRAPHER_VERSION \
-    cartographer_ros/scripts/prepare_catkin_workspace.sh
-
-# rosdep needs the updated package.xml files to install the correct debs.
-COPY cartographer_ros/package.xml catkin_ws/src/cartographer_ros/cartographer_ros/
-COPY cartographer_ros_msgs/package.xml catkin_ws/src/cartographer_ros/cartographer_ros_msgs/
-COPY cartographer_rviz/package.xml catkin_ws/src/cartographer_ros/cartographer_rviz/
-COPY scripts/install_debs.sh cartographer_ros/scripts/
-RUN cartographer_ros/scripts/install_debs.sh && rm -rf /var/lib/apt/lists/*
-
-# Install proto3.
-RUN /catkin_ws/src/cartographer/scripts/install_proto3.sh
-
-# Build, install, and test all packages individually to allow caching. The
-# ordering of these steps must match the topological package ordering as
-# determined by Catkin.
-COPY scripts/install.sh cartographer_ros/scripts/
-COPY scripts/catkin_test_results.sh cartographer_ros/scripts/
-
-COPY cartographer_ros_msgs catkin_ws/src/cartographer_ros/cartographer_ros_msgs/
-RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs && \
-    cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs \
-        --catkin-make-args run_tests && \
-    cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros_msgs
-
-RUN cartographer_ros/scripts/install.sh --pkg ceres-solver
-
-RUN cartographer_ros/scripts/install.sh --pkg cartographer && \
-    cartographer_ros/scripts/install.sh --pkg cartographer --make-args test
-
-COPY cartographer_ros catkin_ws/src/cartographer_ros/cartographer_ros/
-RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros && \
-    cartographer_ros/scripts/install.sh --pkg cartographer_ros \
-        --catkin-make-args run_tests && \
-    cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros
-
-COPY cartographer_rviz catkin_ws/src/cartographer_ros/cartographer_rviz/
-RUN cartographer_ros/scripts/install.sh --pkg cartographer_rviz && \
-    cartographer_ros/scripts/install.sh --pkg cartographer_rviz \
-        --catkin-make-args run_tests && \
-    cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_rviz
-
-COPY scripts/ros_entrypoint.sh /
-# A BTRFS bug may prevent us from cleaning up these directories.
-# https://btrfs.wiki.kernel.org/index.php/Problem_FAQ#I_cannot_delete_an_empty_directory
-RUN rm -rf cartographer_ros catkin_ws || true
diff --git a/Dockerfile.melodic b/Dockerfile.melodic
index 3091e77..c1c48ce 100644
--- a/Dockerfile.melodic
+++ b/Dockerfile.melodic
@@ -22,10 +22,10 @@ ARG github_token
 # Bionic's base image doesn't ship with sudo.
 RUN apt-get update && apt-get install -y sudo && rm -rf /var/lib/apt/lists/*
 
-# First, we invalidate the entire cache if googlecartographer/cartographer has
+# First, we invalidate the entire cache if cartographer-project/cartographer has
 # changed. This file's content changes whenever master changes. See:
 # http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone
-ADD https://api.github.com/repos/googlecartographer/cartographer/git/refs/heads/master?access_token=$github_token \
+ADD https://api.github.com/repos/cartographer-project/cartographer/git/refs/heads/master?access_token=$github_token \
     cartographer_ros/cartographer_version.json
 
 # wstool needs the updated rosinstall file to clone the correct repos.
diff --git a/README.rst b/README.rst
index 9032f42..fb72eb6 100644
--- a/README.rst
+++ b/README.rst
@@ -25,7 +25,7 @@ Purpose
 and mapping (`SLAM`_) in 2D and 3D across multiple platforms and sensor
 configurations. This project provides Cartographer's ROS integration.
 
-.. _Cartographer: https://github.com/googlecartographer/cartographer
+.. _Cartographer: https://github.com/cartographer-project/cartographer
 .. _SLAM: https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping
 
 Getting started
@@ -35,7 +35,7 @@ Getting started
 * You can ask a question by `creating an issue`_.
 
 .. _our Read the Docs site: https://google-cartographer-ros.readthedocs.io
-.. _creating an issue: https://github.com/googlecartographer/cartographer_ros/issues/new?labels=question
+.. _creating an issue: https://github.com/cartographer-project/cartographer_ros/issues/new?labels=question
 
 Contributing
 ============
@@ -43,12 +43,12 @@ Contributing
 You can find information about contributing to Cartographer's ROS integration
 at `our Contribution page`_.
 
-.. _our Contribution page: https://github.com/googlecartographer/cartographer_ros/blob/master/CONTRIBUTING.md
+.. _our Contribution page: https://github.com/cartographer-project/cartographer_ros/blob/master/CONTRIBUTING.md
 
-.. |build| image:: https://travis-ci.org/googlecartographer/cartographer_ros.svg?branch=master
+.. |build| image:: https://travis-ci.org/cartographer-project/cartographer_ros.svg?branch=master
     :alt: Build Status
     :scale: 100%
-    :target: https://travis-ci.org/googlecartographer/cartographer_ros
+    :target: https://travis-ci.org/cartographer-project/cartographer_ros
 .. |docs| image:: https://readthedocs.org/projects/google-cartographer-ros/badge/?version=latest
     :alt: Documentation Status
     :scale: 100%
@@ -56,5 +56,5 @@ at `our Contribution page`_.
 .. |license| image:: https://img.shields.io/badge/License-Apache%202.0-blue.svg
      :alt: Apache 2 license.
      :scale: 100%
-     :target: https://github.com/googlecartographer/cartographer_ros/blob/master/LICENSE
+     :target: https://github.com/cartographer-project/cartographer_ros/blob/master/LICENSE
 
diff --git a/azure-pipelines.yml b/azure-pipelines.yml
index e359dd0..a778158 100644
--- a/azure-pipelines.yml
+++ b/azure-pipelines.yml
@@ -25,7 +25,7 @@ jobs:
       choco upgrade %ROS_METAPACKAGE% -y
       choco upgrade ros-melodic-perception -y
       robocopy "." ".\src\cartographer_ros" /E /MOVE /XD "src" > NUL
-      git clone https://github.com/googlecartographer/cartographer src\cartographer
+      git clone https://github.com/cartographer-project/cartographer src\cartographer
       call "C:\opt\ros\melodic\x64\env.bat" rosdep install --from-paths src --ignore-src -r -y
     env:
       ROS_METAPACKAGE: 'ros-melodic-desktop'
diff --git a/cartographer_ros.rosinstall b/cartographer_ros.rosinstall
index 89dae9b..6927cb8 100644
--- a/cartographer_ros.rosinstall
+++ b/cartographer_ros.rosinstall
@@ -1,3 +1,3 @@
-- git: {local-name: cartographer, uri: 'https://github.com/googlecartographer/cartographer.git', version: '1.0.0'}
-- git: {local-name: cartographer_ros, uri: 'https://github.com/googlecartographer/cartographer_ros.git', version: '1.0.0'}
+- git: {local-name: cartographer, uri: 'https://github.com/cartographer-project/cartographer.git', version: '1.0.0'}
+- git: {local-name: cartographer_ros, uri: 'https://github.com/cartographer-project/cartographer_ros.git', version: '1.0.0'}
 - git: {local-name: ceres-solver, uri: 'https://ceres-solver.googlesource.com/ceres-solver.git', version: '1.13.0'}
diff --git a/cartographer_ros/configuration_files/assets_writer_backpack_2d.lua b/cartographer_ros/configuration_files/assets_writer_backpack_2d.lua
index de48eb0..9a2d3bf 100644
--- a/cartographer_ros/configuration_files/assets_writer_backpack_2d.lua
+++ b/cartographer_ros/configuration_files/assets_writer_backpack_2d.lua
@@ -87,7 +87,7 @@ options = {
 
     -- We also write a PLY file at this stage, because gray points look good.
     -- The points in the PLY can be visualized using
-    -- https://github.com/googlecartographer/point_cloud_viewer.
+    -- https://github.com/cartographer-project/point_cloud_viewer.
     {
       action = "write_ply",
       filename = "points.ply",
diff --git a/cartographer_ros/package.xml b/cartographer_ros/package.xml
index f1f1c95..fe5cc9c 100644
--- a/cartographer_ros/package.xml
+++ b/cartographer_ros/package.xml
@@ -28,7 +28,7 @@
   </maintainer>
   <license>Apache 2.0</license>
 
-  <url>https://github.com/googlecartographer/cartographer_ros</url>
+  <url>https://github.com/cartographer-project/cartographer_ros</url>
 
   <author email="google-cartographer@googlegroups.com">
     The Cartographer Authors
diff --git a/cartographer_ros_msgs/package.xml b/cartographer_ros_msgs/package.xml
index 2e6825d..e267133 100644
--- a/cartographer_ros_msgs/package.xml
+++ b/cartographer_ros_msgs/package.xml
@@ -26,7 +26,7 @@
   </maintainer>
   <license>Apache 2.0</license>
 
-  <url>https://github.com/googlecartographer/cartographer_ros</url>
+  <url>https://github.com/cartographer-project/cartographer_ros</url>
 
   <author email="google-cartographer@googlegroups.com">
     The Cartographer Authors
diff --git a/cartographer_rviz/package.xml b/cartographer_rviz/package.xml
index 28fd224..b430389 100644
--- a/cartographer_rviz/package.xml
+++ b/cartographer_rviz/package.xml
@@ -28,7 +28,7 @@
   </maintainer>
   <license>Apache 2.0</license>
 
-  <url>https://github.com/googlecartographer/cartographer_ros</url>
+  <url>https://github.com/cartographer-project/cartographer_ros</url>
 
   <author email="google-cartographer@googlegroups.com">
     The Cartographer Authors
diff --git a/cartographer_rviz/rviz_plugin_description.xml b/cartographer_rviz/rviz_plugin_description.xml
index 833b601..58db708 100644
--- a/cartographer_rviz/rviz_plugin_description.xml
+++ b/cartographer_rviz/rviz_plugin_description.xml
@@ -20,7 +20,7 @@
          base_class_type="rviz::Display">
     <description>
       Displays submaps as a unified map in RViz.
-      https://github.com/googlecartographer/cartographer_ros
+      https://github.com/cartographer-project/cartographer_ros
     </description>
   </class>
 </library>
diff --git a/docs/source/algo_walkthrough.rst b/docs/source/algo_walkthrough.rst
index a5da0fb..483dcf5 100644
--- a/docs/source/algo_walkthrough.rst
+++ b/docs/source/algo_walkthrough.rst
@@ -31,8 +31,8 @@ IEEE, 2016. pp. 1271–1278.
 Overview
 --------
 
-.. image:: https://raw.githubusercontent.com/googlecartographer/cartographer/master/docs/source/high_level_system_overview.png
-     :target: https://github.com/googlecartographer/cartographer/blob/master/docs/source/high_level_system_overview.png
+.. image:: https://raw.githubusercontent.com/cartographer-project/cartographer/master/docs/source/high_level_system_overview.png
+     :target: https://github.com/cartographer-project/cartographer/blob/master/docs/source/high_level_system_overview.png
 
 Cartographer can be seen as two separate, but related subsystems.
 The first one is **local SLAM** (sometimes also called **frontend** or local trajectory builder).
@@ -40,8 +40,8 @@ Its job is to build a succession of **submaps**.
 Each submap is meant to be locally consistent but we accept that local SLAM drifts over time.
 Most of the local SLAM options can be found in `install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua`_ for 2D and `install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua`_ for 3D. (for the rest of this page we will refer to `TRAJECTORY_BUILDER_nD` for the common options)
 
-.. _install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua: https://github.com/googlecartographer/cartographer/blob/df337194e21f98f8c7b0b88dab33f878066d4b56/configuration_files/trajectory_builder_2d.lua
-.. _install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua: https://github.com/googlecartographer/cartographer/blob/df337194e21f98f8c7b0b88dab33f878066d4b56/configuration_files/trajectory_builder_3d.lua
+.. _install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua: https://github.com/cartographer-project/cartographer/blob/df337194e21f98f8c7b0b88dab33f878066d4b56/configuration_files/trajectory_builder_2d.lua
+.. _install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua: https://github.com/cartographer-project/cartographer/blob/df337194e21f98f8c7b0b88dab33f878066d4b56/configuration_files/trajectory_builder_3d.lua
 
 The other subsystem is **global SLAM** (sometimes called the **backend**).
 It runs in background threads and its main job is to find **loop closure constraints**.
@@ -50,7 +50,7 @@ It also incorporates other sensor data to get a higher level view and identify t
 In 3D, it also tries to find the direction of gravity.
 Most of its options can be found in `install_isolated/share/cartographer/configuration_files/pose_graph.lua`_
 
-.. _install_isolated/share/cartographer/configuration_files/pose_graph.lua: https://github.com/googlecartographer/cartographer/blob/df337194e21f98f8c7b0b88dab33f878066d4b56/configuration_files/pose_graph.lua
+.. _install_isolated/share/cartographer/configuration_files/pose_graph.lua: https://github.com/cartographer-project/cartographer/blob/df337194e21f98f8c7b0b88dab33f878066d4b56/configuration_files/pose_graph.lua
 
 On a higher abstraction, the job of local SLAM is to generate good submaps and the job of global SLAM is to tie them most consistently together.
 
diff --git a/docs/source/assets_writer.rst b/docs/source/assets_writer.rst
index cf5a4da..d3d6b4e 100644
--- a/docs/source/assets_writer.rst
+++ b/docs/source/assets_writer.rst
@@ -66,7 +66,7 @@ When running as an online node, Cartographer doesn't know when your bag (or sens
 
 Once you've retrieved your ``.pbstream`` file, you can run the assets writer with the `sample pipeline`_ for the 3D backpack:
 
-.. _sample pipeline: https://github.com/googlecartographer/cartographer_ros/blob/44459e18102305745c56f92549b87d8e91f434fe/cartographer_ros/configuration_files/assets_writer_backpack_3d.lua
+.. _sample pipeline: https://github.com/cartographer-project/cartographer_ros/blob/44459e18102305745c56f92549b87d8e91f434fe/cartographer_ros/configuration_files/assets_writer_backpack_3d.lua
 
 .. code-block:: bash
 
@@ -83,17 +83,17 @@ Configuration
 The assets writer is modeled as a pipeline of `PointsProcessor`_s.
 `PointsBatch`_\ s flow through each processor and they all have the chance to modify the ``PointsBatch`` before passing it on.
 
-.. _PointsProcessor: https://github.com/googlecartographer/cartographer/blob/30f7de1a325d6604c780f2f74d9a345ec369d12d/cartographer/io/points_processor.h
-.. _PointsBatch: https://github.com/googlecartographer/cartographer/blob/30f7de1a325d6604c780f2f74d9a345ec369d12d/cartographer/io/points_batch.h
+.. _PointsProcessor: https://github.com/cartographer-project/cartographer/blob/30f7de1a325d6604c780f2f74d9a345ec369d12d/cartographer/io/points_processor.h
+.. _PointsBatch: https://github.com/cartographer-project/cartographer/blob/30f7de1a325d6604c780f2f74d9a345ec369d12d/cartographer/io/points_batch.h
 
 For example the `assets_writer_backpack_3d.lua`_ pipeline uses ``min_max_range_filter`` to remove points that are either too close or too far from the sensor.
 After this, it saves "*X-Rays*" (translucent side views of the map), then recolors the ``PointsBatch``\ s depending on the sensor frame ids and writes another set of X-Rays using these new colors.
 
-.. _assets_writer_backpack_3d.lua: https://github.com/googlecartographer/cartographer_ros/blob/44459e18102305745c56f92549b87d8e91f434fe/cartographer_ros/configuration_files/assets_writer_backpack_3d.lua
+.. _assets_writer_backpack_3d.lua: https://github.com/cartographer-project/cartographer_ros/blob/44459e18102305745c56f92549b87d8e91f434fe/cartographer_ros/configuration_files/assets_writer_backpack_3d.lua
 
 The available ``PointsProcessor``\ s are all defined in the `cartographer/io`_ sub-directory and documented in their individual header files.
 
-.. _cartographer/io: https://github.com/googlecartographer/cartographer/tree/f1ac8967297965b8eb6f2f4b08a538e052b5a75b/cartographer/io
+.. _cartographer/io: https://github.com/cartographer-project/cartographer/tree/f1ac8967297965b8eb6f2f4b08a538e052b5a75b/cartographer/io
 
 * **color_points**: Colors points with a fixed color by frame_id.
 * **dump_num_points**: Passes through points, but keeps track of how many points it saw and output that on Flush.
@@ -115,18 +115,18 @@ First-person visualization of point clouds
 Two ``PointsProcessor``\ s are of particular interest: ``pcd_writing`` and ``ply_writing`` can save a point cloud in a ``.pcd`` or ``.ply`` file format.
 These file formats can then be used by specialized software such as `point_cloud_viewer`_ or `meshlab`_ to navigate through the high resolution map.
 
-.. _point_cloud_viewer: https://github.com/googlecartographer/point_cloud_viewer
+.. _point_cloud_viewer: https://github.com/cartographer-project/point_cloud_viewer
 .. _meshlab: http://www.meshlab.net/
 
 The typical assets writer pipeline for this outcome is composed of an IntensityToColorPointsProcessor_ giving points a non-white color, then a PlyWritingPointsProcessor_ exporting the results to a ``.ply`` point cloud.
 An example of such a pipeline is in `assets_writer_backpack_2d.lua`_.
 
-.. _IntensityToColorPointsProcessor: https://github.com/googlecartographer/cartographer/blob/30f7de1a325d6604c780f2f74d9a345ec369d12d/cartographer/io/intensity_to_color_points_processor.cc
-.. _PlyWritingPointsProcessor: https://github.com/googlecartographer/cartographer/blob/30f7de1a325d6604c780f2f74d9a345ec369d12d/cartographer/io/ply_writing_points_processor.h
-.. _assets_writer_backpack_2d.lua: https://github.com/googlecartographer/cartographer_ros/blob/44459e18102305745c56f92549b87d8e91f434fe/cartographer_ros/configuration_files/assets_writer_backpack_2d.lua
+.. _IntensityToColorPointsProcessor: https://github.com/cartographer-project/cartographer/blob/30f7de1a325d6604c780f2f74d9a345ec369d12d/cartographer/io/intensity_to_color_points_processor.cc
+.. _PlyWritingPointsProcessor: https://github.com/cartographer-project/cartographer/blob/30f7de1a325d6604c780f2f74d9a345ec369d12d/cartographer/io/ply_writing_points_processor.h
+.. _assets_writer_backpack_2d.lua: https://github.com/cartographer-project/cartographer_ros/blob/44459e18102305745c56f92549b87d8e91f434fe/cartographer_ros/configuration_files/assets_writer_backpack_2d.lua
 
 Once you have the ``.ply``, follow the README of `point_cloud_viewer`_ to generate an on-disk octree data structure which can be viewed by one of the viewers (SDL or web based) in the same repo.
 
-.. _point_cloud_viewer: https://github.com/googlecartographer/point_cloud_viewer
+.. _point_cloud_viewer: https://github.com/cartographer-project/point_cloud_viewer
 
 .. image:: point_cloud_viewer_demo_3d.jpg
diff --git a/docs/source/compilation.rst b/docs/source/compilation.rst
index f02032c..8ed7218 100644
--- a/docs/source/compilation.rst
+++ b/docs/source/compilation.rst
@@ -23,9 +23,7 @@ The Cartographer ROS requirements are the same as `the ones from Cartographer`_.
 
 The following `ROS distributions`_ are currently supported:
 
-* Indigo
 * Kinetic
-* Lunar
 * Melodic
 
 .. _the ones from Cartographer: https://google-cartographer.readthedocs.io/en/latest/#system-requirements
@@ -50,7 +48,7 @@ Create a new cartographer_ros workspace in 'catkin_ws'.
     mkdir catkin_ws
     cd catkin_ws
     wstool init src
-    wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
+    wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall
     wstool update -t src
 
 Install cartographer_ros' dependencies (proto3 and deb packages).
diff --git a/docs/source/configuration.rst b/docs/source/configuration.rst
index 1975e8b..0d34b25 100644
--- a/docs/source/configuration.rst
+++ b/docs/source/configuration.rst
@@ -130,6 +130,6 @@ landmarks_sampling_ratio
 .. _sensor_msgs/MultiEchoLaserScan: http://docs.ros.org/api/sensor_msgs/html/msg/MultiEchoLaserScan.html
 .. _sensor_msgs/PointCloud2: http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud2.html
 .. _sensor_msgs/NavSatFix: http://docs.ros.org/api/sensor_msgs/html/msg/NavSatFix.html
-.. _cartographer_ros_msgs/LandmarkList: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros_msgs/msg/LandmarkList.msg
-.. _cartographer_ros_msgs/LandmarkEntry: https://github.com/googlecartographer/cartographer_ros/blob/4b39ee68c7a4d518bf8d01a509331e2bc1f514a0/cartographer_ros_msgs/msg/LandmarkEntry.msg
+.. _cartographer_ros_msgs/LandmarkList: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/msg/LandmarkList.msg
+.. _cartographer_ros_msgs/LandmarkEntry: https://github.com/cartographer-project/cartographer_ros/blob/4b39ee68c7a4d518bf8d01a509331e2bc1f514a0/cartographer_ros_msgs/msg/LandmarkEntry.msg
 .. _tf2: http://wiki.ros.org/tf2
diff --git a/docs/source/faq.rst b/docs/source/faq.rst
index ce72a7a..c0e607f 100644
--- a/docs/source/faq.rst
+++ b/docs/source/faq.rst
@@ -33,7 +33,7 @@ incorporates motion estimation by combining constant velocity and IMU
 measurements, for matching. Since there are two VLP-16s, 160 UDP packets is
 enough for roughly 2 revolutions, one per VLP-16.
 
-__ https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros/configuration_files/backpack_3d.lua
+__ https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros/configuration_files/backpack_3d.lua
 
 Why is IMU data required for 3D SLAM but not for 2D?
 ----------------------------------------------------
diff --git a/docs/source/getting_involved.rst b/docs/source/getting_involved.rst
index 3e45097..c375087 100644
--- a/docs/source/getting_involved.rst
+++ b/docs/source/getting_involved.rst
@@ -32,15 +32,15 @@ If you want to stay tuned with announcements (such as new major releases or new
 If you think you've found an issue in Cartographer, you are welcome to open a `GitHub issue`_ but don't forget to provide a way to reproduce your bug!
 Typically, join a ``.bag`` and a link to a fork of the ``cartographer_ros`` repository containing your configuration and launch files.
 
-.. _GitHub issue: https://github.com/googlecartographer/cartographer/issues
+.. _GitHub issue: https://github.com/cartographer-project/cartographer/issues
 
 If you have an idea of a significant change that should be documented and discussed before finding its way into Cartographer, you should submit it as a pull request to `the RFCs repository`_ first.
 Simpler changes can also be discussed in GitHub issues so that developers can help you get things right from the first try.
 
-.. _the RFCs repository: https://github.com/googlecartographer/rfcs
+.. _the RFCs repository: https://github.com/cartographer-project/rfcs
 
 If you want to contribute code or documentation, this is done through `GitHub pull requests`_.
 However, make sure you have signed (online) the `Contributor License Agreement`_ first!
 
-.. _GitHub pull requests: https://github.com/googlecartographer/cartographer/pulls
-.. _Contributor License Agreement: https://github.com/googlecartographer/cartographer/blob/master/CONTRIBUTING.md
+.. _GitHub pull requests: https://github.com/cartographer-project/cartographer/pulls
+.. _Contributor License Agreement: https://github.com/cartographer-project/cartographer/blob/master/CONTRIBUTING.md
diff --git a/docs/source/going_further.rst b/docs/source/going_further.rst
index 47c803f..3e94757 100644
--- a/docs/source/going_further.rst
+++ b/docs/source/going_further.rst
@@ -42,7 +42,7 @@ For landmarks publishing on a ``cartographer_ros_msgs/LandmarkList`` (`message d
 
     use_landmarks = true
 
-.. _message defined in cartographer_ros: https://github.com/googlecartographer/cartographer_ros/blob/4b39ee68c7a4d518bf8d01a509331e2bc1f514a0/cartographer_ros_msgs/msg/LandmarkList.msg
+.. _message defined in cartographer_ros: https://github.com/cartographer-project/cartographer_ros/blob/4b39ee68c7a4d518bf8d01a509331e2bc1f514a0/cartographer_ros_msgs/msg/LandmarkList.msg
 
 Localization only
 =================
diff --git a/docs/source/index.rst b/docs/source/index.rst
index 0cbb5e4..03b85c0 100644
--- a/docs/source/index.rst
+++ b/docs/source/index.rst
@@ -38,5 +38,5 @@ configurations. This project provides Cartographer's ROS integration.
    data
    faq
 
-.. _Cartographer: https://github.com/googlecartographer/cartographer
+.. _Cartographer: https://github.com/cartographer-project/cartographer
 .. _SLAM: https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping
diff --git a/docs/source/ros_api.rst b/docs/source/ros_api.rst
index a4ddca9..6e89f8e 100644
--- a/docs/source/ros_api.rst
+++ b/docs/source/ros_api.rst
@@ -23,7 +23,7 @@ Cartographer Node
 
 The `cartographer_node`_ is the SLAM node used for online, real-time SLAM.
 
-.. _cartographer_node: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros/cartographer_ros/node_main.cc
+.. _cartographer_node: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros/cartographer_ros/node_main.cc
 
 Command-line Flags
 ------------------
@@ -139,14 +139,14 @@ If *provide_odom_frame* is enabled in the :doc:`configuration`, a continuous
 
 .. _robot_state_publisher: http://wiki.ros.org/robot_state_publisher
 .. _static_transform_publisher: http://wiki.ros.org/tf#static_transform_publisher
-.. _cartographer_ros_msgs/FinishTrajectory: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros_msgs/srv/FinishTrajectory.srv
-.. _cartographer_ros_msgs/SubmapList: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros_msgs/msg/SubmapList.msg
-.. _cartographer_ros_msgs/SubmapQuery: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros_msgs/srv/SubmapQuery.srv
-.. _cartographer_ros_msgs/StartTrajectory: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros_msgs/srv/StartTrajectory.srv
-.. _cartographer_ros_msgs/TrajectoryQuery: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros_msgs/srv/TrajectoryQuery.srv
-.. _cartographer_ros_msgs/WriteState: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros_msgs/srv/WriteState.srv
-.. _cartographer_ros_msgs/GetTrajectoryStates: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros_msgs/srv/GetTrajectoryStates.srv
-.. _cartographer_ros_msgs/ReadMetrics: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros_msgs/srv/ReadMetrics.srv
+.. _cartographer_ros_msgs/FinishTrajectory: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/srv/FinishTrajectory.srv
+.. _cartographer_ros_msgs/SubmapList: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/msg/SubmapList.msg
+.. _cartographer_ros_msgs/SubmapQuery: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/srv/SubmapQuery.srv
+.. _cartographer_ros_msgs/StartTrajectory: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/srv/StartTrajectory.srv
+.. _cartographer_ros_msgs/TrajectoryQuery: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/srv/TrajectoryQuery.srv
+.. _cartographer_ros_msgs/WriteState: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/srv/WriteState.srv
+.. _cartographer_ros_msgs/GetTrajectoryStates: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/srv/GetTrajectoryStates.srv
+.. _cartographer_ros_msgs/ReadMetrics: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/srv/ReadMetrics.srv
 .. _nav_msgs/OccupancyGrid: http://docs.ros.org/api/nav_msgs/html/msg/OccupancyGrid.html
 .. _nav_msgs/Odometry: http://docs.ros.org/api/nav_msgs/html/msg/Odometry.html
 .. _sensor_msgs/Imu: http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html
@@ -164,7 +164,7 @@ In all other regards, it behaves like the ``cartographer_node``.
 Each bag will become a separate trajectory in the final state.
 Once it is done processing all data, it writes out the final Cartographer state and exits.
 
-.. _offline_node: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros/cartographer_ros/offline_node_main.cc
+.. _offline_node: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros/cartographer_ros/offline_node_main.cc
 
 
 Published Topics
@@ -176,7 +176,7 @@ In addition to the topics that are published by the online node, this node also
   Bag files processing progress including detailed information about the bag currently being processed which will be published with a predefined
   interval that can be specified using ``~bagfile_progress_pub_interval`` ROS parameter.
 
-.. _cartographer_ros_msgs/BagfileProgress: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros_msgs/msg/BagfileProgress.msg
+.. _cartographer_ros_msgs/BagfileProgress: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/msg/BagfileProgress.msg
 
 Parameters
 ----------
@@ -194,7 +194,7 @@ Generating the map is expensive and slow, so map updates are in the order of sec
 You can can selectively include/exclude submaps from frozen (static) or active trajectories with a command line option.
 Call the node with the ``--help`` flag to see these options.
 
-.. _occupancy_grid_node: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros/cartographer_ros/occupancy_grid_node_main.cc
+.. _occupancy_grid_node: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros/cartographer_ros/occupancy_grid_node_main.cc
 
 Subscribed Topics
 -----------------
@@ -216,7 +216,7 @@ Pbstream Map Publisher Node
 The `pbstream_map_publisher`_ is a simple node that creates a static occupancy grid out of a serialized Cartographer state (pbstream format).
 It is an efficient alternative to the occupancy grid node if live updates are not important.
 
-.. _pbstream_map_publisher: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros/cartographer_ros/pbstream_map_publisher_main.cc
+.. _pbstream_map_publisher: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros/cartographer_ros/pbstream_map_publisher_main.cc
 
 Subscribed Topics
 -----------------
diff --git a/docs/source/tuning.rst b/docs/source/tuning.rst
index fd4f770..53ad0d3 100644
--- a/docs/source/tuning.rst
+++ b/docs/source/tuning.rst
@@ -46,8 +46,8 @@ It is visible in the laser scan data that contradicting information is passed to
 But the slipping also indicates that we trust the point cloud matching too much and disregard the other sensors quite strongly.
 Our aim is to improve the situation through tuning.
 
-.. _aba4575: https://github.com/googlecartographer/cartographer/commit/aba4575d937df4c9697f61529200c084f2562584
-.. _99c23b6: https://github.com/googlecartographer/cartographer_ros/commit/99c23b6ac7874f7974e9ed808ace841da6f2c8b0
+.. _aba4575: https://github.com/cartographer-project/cartographer/commit/aba4575d937df4c9697f61529200c084f2562584
+.. _99c23b6: https://github.com/cartographer-project/cartographer_ros/commit/99c23b6ac7874f7974e9ed808ace841da6f2c8b0
 
 If we only look at this particular submap, that the error is fully contained in one submap.
 We also see that over time, global SLAM figures out that something weird happened and partially corrects for it.
@@ -103,7 +103,7 @@ Before checking them in, we normalize all weights, since they only have relative
 The result of this tuning was `PR 428`_.
 In general, always try to tune for a platform, not a particular bag.
 
-.. _PR 428: https://github.com/googlecartographer/cartographer/pull/428
+.. _PR 428: https://github.com/cartographer-project/cartographer/pull/428
 
 Special Cases
 -------------
@@ -203,7 +203,7 @@ Developers are keen to help, but they can only be helpful if you follow `an issu
 
    There are already lots of GitHub issues with all sorts of problems solved by the developers. Going through `the closed issues of cartographer_ros`_ and `of cartographer`_ is a great way to learn more about Cartographer and maybe find a solution to your problem !
 
-.. _GitHub issue: https://github.com/googlecartographer/cartographer_ros/issues
-.. _an issue template: https://github.com/googlecartographer/cartographer_ros/issues/new?labels=question
-.. _the closed issues of cartographer_ros: https://github.com/googlecartographer/cartographer_ros/issues?q=is%3Aissue+is%3Aclosed
-.. _of cartographer: https://github.com/googlecartographer/cartographer_ros/issues?q=is%3Aissue+is%3Aclosed
+.. _GitHub issue: https://github.com/cartographer-project/cartographer_ros/issues
+.. _an issue template: https://github.com/cartographer-project/cartographer_ros/issues/new?labels=question
+.. _the closed issues of cartographer_ros: https://github.com/cartographer-project/cartographer_ros/issues?q=is%3Aissue+is%3Aclosed
+.. _of cartographer: https://github.com/cartographer-project/cartographer_ros/issues?q=is%3Aissue+is%3Aclosed
diff --git a/jenkins/Dockerfile.kinetic b/jenkins/Dockerfile.kinetic
index 227aa79..ada39e5 100644
--- a/jenkins/Dockerfile.kinetic
+++ b/jenkins/Dockerfile.kinetic
@@ -18,10 +18,10 @@ ARG CARTOGRAPHER_VERSION=master
 
 # Xenial's base image doesn't ship with sudo.
 RUN apt-get update && apt-get install -y sudo time && rm -rf /var/lib/apt/lists/*
-# First, we invalidate the entire cache if googlecartographer/cartographer has
+# First, we invalidate the entire cache if cartographer-project/cartographer has
 # changed. This file's content changes whenever master changes. See:
 # http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone
-ADD https://api.github.com/repos/googlecartographer/cartographer/git/refs/heads/master \
+ADD https://api.github.com/repos/cartographer-project/cartographer/git/refs/heads/master \
     cartographer_ros/cartographer_version.json
 
 # wstool needs the updated rosinstall file to clone the correct repos.
diff --git a/jenkins/Jenkinsfile b/jenkins/Jenkinsfile
index 06bb2fc..3a13d54 100644
--- a/jenkins/Jenkinsfile
+++ b/jenkins/Jenkinsfile
@@ -20,7 +20,7 @@ podTemplate(label: 'node-0', containers: [
       stage('Compile') {
         sh 'gcloud auth activate-service-account --key-file=/opt/config/gcloud-svc-account.json'
         sh 'cd /data && rm -Rf *'
-        sh 'cd /data && git clone https://github.com/googlecartographer/cartographer_ros'
+        sh 'cd /data && git clone https://github.com/cartographer-project/cartographer_ros'
         sh 'cd /data/cartographer_ros && docker build -f jenkins/Dockerfile.kinetic -t kinetic-jenkins-slave --build-arg CACHEBUST=$(date +%s)  .'
       }
       stage('Push') {
diff --git a/jenkins/worker.py b/jenkins/worker.py
index e23213e..de6b47d 100644
--- a/jenkins/worker.py
+++ b/jenkins/worker.py
@@ -104,7 +104,7 @@ def get_head_git_sha1():
   """Returns the SHA-1 hash of the commit tagged HEAD."""
   output = subprocess.check_output([
       'git', 'ls-remote',
-      'https://github.com/googlecartographer/cartographer.git'
+      'https://github.com/cartographer-project/cartographer.git'
   ])
   parsed = GIT_SHA1_PATTERN.extract(output)
   return parsed['sha1']
diff --git a/scripts/prepare_jenkins_catkin_workspace.sh b/scripts/prepare_jenkins_catkin_workspace.sh
index 1db3b06..9c96542 100755
--- a/scripts/prepare_jenkins_catkin_workspace.sh
+++ b/scripts/prepare_jenkins_catkin_workspace.sh
@@ -26,7 +26,7 @@ wstool init
 
 # Merge the cartographer_ros.rosinstall file and fetch code for dependencies.
 wstool merge ../../cartographer_ros/cartographer_ros.rosinstall
-wstool merge -y https://raw.githubusercontent.com/googlecartographer/cartographer_fetch/master/cartographer_fetch.rosinstall
+wstool merge -y https://raw.githubusercontent.com/cartographer-project/cartographer_fetch/master/cartographer_fetch.rosinstall
 wstool merge -y https://raw.githubusercontent.com/magazino/cartographer_magazino/master/cartographer_magazino.rosinstall
 wstool set cartographer -v ${CARTOGRAPHER_VERSION} -y
 wstool remove cartographer_ros