diff --git a/cartographer_ros/configuration_files/backpack_3d.lua b/cartographer_ros/configuration_files/backpack_3d.lua
index 3a6296b..bdcf559 100644
--- a/cartographer_ros/configuration_files/backpack_3d.lua
+++ b/cartographer_ros/configuration_files/backpack_3d.lua
@@ -37,13 +37,13 @@ TRAJECTORY_BUILDER_3D.scans_per_accumulation = 160
 
 MAP_BUILDER.use_trajectory_builder_3d = true
 MAP_BUILDER.num_background_threads = 7
-MAP_BUILDER.sparse_pose_graph.optimization_problem.huber_scale = 5e2
-MAP_BUILDER.sparse_pose_graph.optimize_every_n_scans = 320
-MAP_BUILDER.sparse_pose_graph.constraint_builder.sampling_ratio = 0.03
-MAP_BUILDER.sparse_pose_graph.optimization_problem.ceres_solver_options.max_num_iterations = 10
+SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 5e2
+SPARSE_POSE_GRAPH.optimize_every_n_scans = 320
+SPARSE_POSE_GRAPH.constraint_builder.sampling_ratio = 0.03
+SPARSE_POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10
 -- Reuse the coarser 3D voxel filter to speed up the computation of loop closure
 -- constraints.
-MAP_BUILDER.sparse_pose_graph.constraint_builder.adaptive_voxel_filter = TRAJECTORY_BUILDER_3D.high_resolution_adaptive_voxel_filter
-MAP_BUILDER.sparse_pose_graph.constraint_builder.min_score = 0.62
+SPARSE_POSE_GRAPH.constraint_builder.adaptive_voxel_filter = TRAJECTORY_BUILDER_3D.high_resolution_adaptive_voxel_filter
+SPARSE_POSE_GRAPH.constraint_builder.min_score = 0.62
 
 return options
diff --git a/cartographer_ros/configuration_files/taurob_tracker.lua b/cartographer_ros/configuration_files/taurob_tracker.lua
index 847aae4..2ca2a84 100644
--- a/cartographer_ros/configuration_files/taurob_tracker.lua
+++ b/cartographer_ros/configuration_files/taurob_tracker.lua
@@ -40,14 +40,14 @@ TRAJECTORY_BUILDER_3D.submaps.num_range_data = 40.
 
 MAP_BUILDER.use_trajectory_builder_3d = true
 MAP_BUILDER.num_background_threads = 7
-MAP_BUILDER.sparse_pose_graph.optimization_problem.huber_scale = 5e2
-MAP_BUILDER.sparse_pose_graph.optimize_every_n_scans = 40
-MAP_BUILDER.sparse_pose_graph.constraint_builder.sampling_ratio = 0.03
-MAP_BUILDER.sparse_pose_graph.optimization_problem.ceres_solver_options.max_num_iterations = 10
+SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 5e2
+SPARSE_POSE_GRAPH.optimize_every_n_scans = 40
+SPARSE_POSE_GRAPH.constraint_builder.sampling_ratio = 0.03
+SPARSE_POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10
 -- Reuse the coarser 3D voxel filter to speed up the computation of loop closure
 -- constraints.
-MAP_BUILDER.sparse_pose_graph.constraint_builder.adaptive_voxel_filter = TRAJECTORY_BUILDER_3D.high_resolution_adaptive_voxel_filter
-MAP_BUILDER.sparse_pose_graph.constraint_builder.min_score = 0.62
-MAP_BUILDER.sparse_pose_graph.constraint_builder.log_matches = true
+SPARSE_POSE_GRAPH.constraint_builder.adaptive_voxel_filter = TRAJECTORY_BUILDER_3D.high_resolution_adaptive_voxel_filter
+SPARSE_POSE_GRAPH.constraint_builder.min_score = 0.62
+SPARSE_POSE_GRAPH.constraint_builder.log_matches = true
 
 return options