diff --git a/cartographer_ros/cartographer_ros/node_main.cc b/cartographer_ros/cartographer_ros/node_main.cc
index ecee233..dcea646 100644
--- a/cartographer_ros/cartographer_ros/node_main.cc
+++ b/cartographer_ros/cartographer_ros/node_main.cc
@@ -146,8 +146,7 @@ class Node {
   std::deque<carto::mapping::TrajectoryNode::ConstantData> constant_data_
       GUARDED_BY(mutex_);
   carto::mapping::MapBuilder map_builder_ GUARDED_BY(mutex_);
-  carto::sensor::Collator<carto::sensor::Data> sensor_collator_
-      GUARDED_BY(mutex_);
+  carto::sensor::Collator sensor_collator_ GUARDED_BY(mutex_);
   SensorBridge sensor_bridge_ GUARDED_BY(mutex_);
 
   ::ros::NodeHandle node_handle_;
diff --git a/cartographer_ros/cartographer_ros/sensor_bridge.cc b/cartographer_ros/cartographer_ros/sensor_bridge.cc
index b7dfb6e..376955e 100644
--- a/cartographer_ros/cartographer_ros/sensor_bridge.cc
+++ b/cartographer_ros/cartographer_ros/sensor_bridge.cc
@@ -56,10 +56,10 @@ SensorBridgeOptions CreateSensorBridgeOptions(
   return options;
 }
 
-SensorBridge::SensorBridge(
-    const SensorBridgeOptions& options, const TfBridge* const tf_bridge,
-    const int trajectory_id,
-    carto::sensor::Collator<carto::sensor::Data>* const sensor_collator)
+SensorBridge::SensorBridge(const SensorBridgeOptions& options,
+                           const TfBridge* const tf_bridge,
+                           const int trajectory_id,
+                           carto::sensor::Collator* const sensor_collator)
     : options_(options),
       tf_bridge_(tf_bridge),
       trajectory_id_(trajectory_id),
diff --git a/cartographer_ros/cartographer_ros/sensor_bridge.h b/cartographer_ros/cartographer_ros/sensor_bridge.h
index 9bcb023..4527b47 100644
--- a/cartographer_ros/cartographer_ros/sensor_bridge.h
+++ b/cartographer_ros/cartographer_ros/sensor_bridge.h
@@ -47,11 +47,9 @@ SensorBridgeOptions CreateSensorBridgeOptions(
 // Converts ROS messages into SensorData in tracking frame for the MapBuilder.
 class SensorBridge {
  public:
-  explicit SensorBridge(
-      const SensorBridgeOptions& options, const TfBridge* tf_bridge,
-      int trajectory_id,
-      ::cartographer::sensor::Collator<::cartographer::sensor::Data>*
-          sensor_collator);
+  explicit SensorBridge(const SensorBridgeOptions& options,
+                        const TfBridge* tf_bridge, int trajectory_id,
+                        ::cartographer::sensor::Collator* sensor_collator);
 
   SensorBridge(const SensorBridge&) = delete;
   SensorBridge& operator=(const SensorBridge&) = delete;
@@ -77,8 +75,7 @@ class SensorBridge {
   const SensorBridgeOptions options_;
   const TfBridge* const tf_bridge_;
   const int trajectory_id_;
-  ::cartographer::sensor::Collator<::cartographer::sensor::Data>* const
-      sensor_collator_;
+  ::cartographer::sensor::Collator* const sensor_collator_;
 };
 
 }  // namespace cartographer_ros