diff --git a/cartographer_ros/cartographer_ros/msg_conversion.cc b/cartographer_ros/cartographer_ros/msg_conversion.cc
index 6ab6a6c..0cb30a5 100644
--- a/cartographer_ros/cartographer_ros/msg_conversion.cc
+++ b/cartographer_ros/cartographer_ros/msg_conversion.cc
@@ -229,24 +229,6 @@ sensor_msgs::PointCloud2 ToPointCloud2Message(
   return proto;
 }
 
-::cartographer::sensor::proto::LaserFan ToCartographer(
-    const pcl::PointCloud<pcl::PointXYZ>& pcl_points) {
-  ::cartographer::sensor::proto::LaserFan proto;
-
-  auto* origin = proto.mutable_origin();
-  origin->set_x(0.);
-  origin->set_y(0.);
-  origin->set_z(0.);
-
-  auto* point_cloud = proto.mutable_point_cloud();
-  for (const auto& point : pcl_points) {
-    point_cloud->add_x(point.x);
-    point_cloud->add_y(point.y);
-    point_cloud->add_z(point.z);
-  }
-  return proto;
-}
-
 Rigid3d ToRigid3d(const geometry_msgs::TransformStamped& transform) {
   return Rigid3d(ToEigen(transform.transform.translation),
                  ToEigen(transform.transform.rotation));
diff --git a/cartographer_ros/cartographer_ros/msg_conversion.h b/cartographer_ros/cartographer_ros/msg_conversion.h
index b3d9770..ed7c7b6 100644
--- a/cartographer_ros/cartographer_ros/msg_conversion.h
+++ b/cartographer_ros/cartographer_ros/msg_conversion.h
@@ -64,9 +64,6 @@ geometry_msgs::Pose ToGeometryMsgPose(
 ::cartographer::sensor::proto::LaserScan ToCartographer(
     const sensor_msgs::MultiEchoLaserScan& msg);
 
-::cartographer::sensor::proto::LaserFan ToCartographer(
-    const pcl::PointCloud<pcl::PointXYZ>& pcl_points);
-
 ::cartographer::transform::Rigid3d ToRigid3d(
     const geometry_msgs::TransformStamped& transform);
 
diff --git a/cartographer_ros/cartographer_ros/sensor_bridge.cc b/cartographer_ros/cartographer_ros/sensor_bridge.cc
index d78aaaa..cb5fb10 100644
--- a/cartographer_ros/cartographer_ros/sensor_bridge.cc
+++ b/cartographer_ros/cartographer_ros/sensor_bridge.cc
@@ -74,7 +74,7 @@ void SensorBridge::HandleOdometryMessage(
   const auto sensor_to_tracking = tf_bridge_->LookupToTracking(
       time, CheckNoLeadingSlash(msg->child_frame_id));
   if (sensor_to_tracking != nullptr) {
-    trajectory_builder_->AddOdometerPose(
+    trajectory_builder_->AddOdometerData(
         topic, time, ToRigid3d(msg->pose.pose) * sensor_to_tracking->inverse(),
         covariance);
   }
@@ -101,46 +101,39 @@ void SensorBridge::HandleImuMessage(const string& topic,
 
 void SensorBridge::HandleLaserScanMessage(
     const string& topic, const sensor_msgs::LaserScan::ConstPtr& msg) {
-  HandleLaserScanProto(topic, FromRos(msg->header.stamp), msg->header.frame_id,
-                       ToCartographer(*msg));
+  HandleRangefinder(topic, FromRos(msg->header.stamp), msg->header.frame_id,
+                    carto::sensor::ToPointCloud(ToCartographer(*msg)));
 }
 
 void SensorBridge::HandleMultiEchoLaserScanMessage(
     const string& topic, const sensor_msgs::MultiEchoLaserScan::ConstPtr& msg) {
-  HandleLaserScanProto(topic, FromRos(msg->header.stamp), msg->header.frame_id,
-                       ToCartographer(*msg));
+  HandleRangefinder(topic, FromRos(msg->header.stamp), msg->header.frame_id,
+                    carto::sensor::ToPointCloud(ToCartographer(*msg)));
 }
 
 void SensorBridge::HandlePointCloud2Message(
     const string& topic, const sensor_msgs::PointCloud2::ConstPtr& msg) {
   pcl::PointCloud<pcl::PointXYZ> pcl_point_cloud;
   pcl::fromROSMsg(*msg, pcl_point_cloud);
-  const carto::common::Time time = FromRos(msg->header.stamp);
-  const auto sensor_to_tracking = tf_bridge_->LookupToTracking(
-      time, CheckNoLeadingSlash(msg->header.frame_id));
-  if (sensor_to_tracking != nullptr) {
-    trajectory_builder_->AddLaserFan(
-        topic, time,
-        carto::sensor::TransformLaserFan(
-            carto::sensor::FromProto(ToCartographer(pcl_point_cloud)),
-            sensor_to_tracking->cast<float>()));
+  carto::sensor::PointCloud point_cloud;
+  for (const auto& point : pcl_point_cloud) {
+    point_cloud.emplace_back(point.x, point.y, point.z);
   }
+  HandleRangefinder(topic, FromRos(msg->header.stamp), msg->header.frame_id,
+                    point_cloud);
 }
 
-void SensorBridge::HandleLaserScanProto(
-    const string& topic, const carto::common::Time time, const string& frame_id,
-    const carto::sensor::proto::LaserScan& laser_scan) {
-  const carto::sensor::LaserFan laser_fan = {
-      Eigen::Vector3f::Zero(),
-      carto::sensor::ToPointCloud(laser_scan),
-      {},
-      {}};
+void SensorBridge::HandleRangefinder(const string& topic,
+                                     const carto::common::Time time,
+                                     const string& frame_id,
+                                     const carto::sensor::PointCloud& ranges) {
   const auto sensor_to_tracking =
       tf_bridge_->LookupToTracking(time, CheckNoLeadingSlash(frame_id));
   if (sensor_to_tracking != nullptr) {
-    trajectory_builder_->AddLaserFan(
-        topic, time, carto::sensor::TransformLaserFan(
-                         laser_fan, sensor_to_tracking->cast<float>()));
+    trajectory_builder_->AddRangefinderData(
+        topic, time, sensor_to_tracking->translation().cast<float>(),
+        carto::sensor::TransformPointCloud(ranges,
+                                           sensor_to_tracking->cast<float>()));
   }
 }
 
diff --git a/cartographer_ros/cartographer_ros/sensor_bridge.h b/cartographer_ros/cartographer_ros/sensor_bridge.h
index acb6be4..7a7d271 100644
--- a/cartographer_ros/cartographer_ros/sensor_bridge.h
+++ b/cartographer_ros/cartographer_ros/sensor_bridge.h
@@ -63,10 +63,10 @@ class SensorBridge {
                                 const sensor_msgs::PointCloud2::ConstPtr& msg);
 
  private:
-  void HandleLaserScanProto(
-      const string& topic, const ::cartographer::common::Time time,
-      const string& frame_id,
-      const ::cartographer::sensor::proto::LaserScan& laser_scan);
+  void HandleRangefinder(const string& topic,
+                         const ::cartographer::common::Time time,
+                         const string& frame_id,
+                         const ::cartographer::sensor::PointCloud& ranges);
 
   const SensorBridgeOptions options_;
   const TfBridge* const tf_bridge_;