diff --git a/cartographer_ros/cartographer_ros/pbstream_map_publisher_main.cc b/cartographer_ros/cartographer_ros/pbstream_map_publisher_main.cc
index 0104e0d..11dd30e 100644
--- a/cartographer_ros/cartographer_ros/pbstream_map_publisher_main.cc
+++ b/cartographer_ros/cartographer_ros/pbstream_map_publisher_main.cc
@@ -26,8 +26,8 @@
 #include "cartographer/mapping/proto/submap.pb.h"
 #include "cartographer/mapping/submaps.h"
 #include "cartographer/mapping_2d/probability_grid.h"
-#include "cartographer/mapping_2d/submaps.h"
-#include "cartographer/mapping_3d/submaps.h"
+#include "cartographer/mapping_2d/submap_2d.h"
+#include "cartographer/mapping_3d/submap_3d.h"
 #include "cartographer_ros/msg_conversion.h"
 #include "cartographer_ros/node_constants.h"
 #include "cartographer_ros/ros_log_sink.h"
diff --git a/cartographer_ros/cartographer_ros/pbstream_to_ros_map_main.cc b/cartographer_ros/cartographer_ros/pbstream_to_ros_map_main.cc
index 0ab2025..d65a471 100644
--- a/cartographer_ros/cartographer_ros/pbstream_to_ros_map_main.cc
+++ b/cartographer_ros/cartographer_ros/pbstream_to_ros_map_main.cc
@@ -24,8 +24,8 @@
 #include "cartographer/mapping/proto/submap.pb.h"
 #include "cartographer/mapping/proto/trajectory_builder_options.pb.h"
 #include "cartographer/mapping_2d/probability_grid.h"
-#include "cartographer/mapping_2d/submaps.h"
-#include "cartographer/mapping_3d/submaps.h"
+#include "cartographer/mapping_2d/submap_2d.h"
+#include "cartographer/mapping_3d/submap_3d.h"
 #include "cartographer_ros/ros_map.h"
 #include "cartographer_ros/submap.h"
 #include "gflags/gflags.h"
diff --git a/cartographer_ros/cartographer_ros/ros_map_writing_points_processor.cc b/cartographer_ros/cartographer_ros/ros_map_writing_points_processor.cc
index eca6c61..0f8a632 100644
--- a/cartographer_ros/cartographer_ros/ros_map_writing_points_processor.cc
+++ b/cartographer_ros/cartographer_ros/ros_map_writing_points_processor.cc
@@ -25,7 +25,7 @@ namespace cartographer_ros {
 
 RosMapWritingPointsProcessor::RosMapWritingPointsProcessor(
     const double resolution,
-    const ::cartographer::mapping_2d::proto::RangeDataInserterOptions&
+    const ::cartographer::mapping::proto::RangeDataInserterOptions2D&
         range_data_inserter_options,
     ::cartographer::io::FileWriterFactory file_writer_factory,
     const std::string& filestem,
@@ -44,7 +44,7 @@ RosMapWritingPointsProcessor::FromDictionary(
     ::cartographer::io::PointsProcessor* const next) {
   return ::cartographer::common::make_unique<RosMapWritingPointsProcessor>(
       dictionary->GetDouble("resolution"),
-      ::cartographer::mapping_2d::CreateRangeDataInserterOptions(
+      ::cartographer::mapping::CreateRangeDataInserterOptions2D(
           dictionary->GetDictionary("range_data_inserter").get()),
       file_writer_factory, dictionary->GetString("filestem"), next);
 }
diff --git a/cartographer_ros/cartographer_ros/ros_map_writing_points_processor.h b/cartographer_ros/cartographer_ros/ros_map_writing_points_processor.h
index df64724..34f7473 100644
--- a/cartographer_ros/cartographer_ros/ros_map_writing_points_processor.h
+++ b/cartographer_ros/cartographer_ros/ros_map_writing_points_processor.h
@@ -20,8 +20,9 @@
 #include "cartographer/common/lua_parameter_dictionary.h"
 #include "cartographer/io/file_writer.h"
 #include "cartographer/io/points_processor.h"
-#include "cartographer/mapping_2d/proto/range_data_inserter_options.pb.h"
-#include "cartographer/mapping_2d/range_data_inserter.h"
+#include "cartographer/mapping_2d/probability_grid.h"
+#include "cartographer/mapping_2d/proto/range_data_inserter_options_2d.pb.h"
+#include "cartographer/mapping_2d/range_data_inserter_2d.h"
 
 namespace cartographer_ros {
 
@@ -33,7 +34,7 @@ class RosMapWritingPointsProcessor
   constexpr static const char* kConfigurationFileActionName = "write_ros_map";
   RosMapWritingPointsProcessor(
       double resolution,
-      const ::cartographer::mapping_2d::proto::RangeDataInserterOptions&
+      const ::cartographer::mapping::proto::RangeDataInserterOptions2D&
           range_data_inserter_options,
       ::cartographer::io::FileWriterFactory file_writer_factory,
       const std::string& filestem, PointsProcessor* next);
@@ -55,8 +56,8 @@ class RosMapWritingPointsProcessor
   const std::string filestem_;
   PointsProcessor* const next_;
   ::cartographer::io::FileWriterFactory file_writer_factory_;
-  ::cartographer::mapping_2d::RangeDataInserter range_data_inserter_;
-  ::cartographer::mapping_2d::ProbabilityGrid probability_grid_;
+  ::cartographer::mapping::RangeDataInserter2D range_data_inserter_;
+  ::cartographer::mapping::ProbabilityGrid probability_grid_;
 };
 
 }  // namespace cartographer_ros