diff --git a/cartographer_ros/cartographer_ros/node_main.cc b/cartographer_ros/cartographer_ros/node_main.cc
index 4dd4fcf..ecee233 100644
--- a/cartographer_ros/cartographer_ros/node_main.cc
+++ b/cartographer_ros/cartographer_ros/node_main.cc
@@ -33,7 +33,7 @@
 #include "cartographer/mapping/global_trajectory_builder_interface.h"
 #include "cartographer/mapping/map_builder.h"
 #include "cartographer/mapping/proto/submaps.pb.h"
-#include "cartographer/mapping/sensor_collator.h"
+#include "cartographer/sensor/collator.h"
 #include "cartographer/mapping_2d/global_trajectory_builder.h"
 #include "cartographer/mapping_2d/local_trajectory_builder.h"
 #include "cartographer/mapping_2d/sparse_pose_graph.h"
@@ -146,7 +146,7 @@ class Node {
   std::deque<carto::mapping::TrajectoryNode::ConstantData> constant_data_
       GUARDED_BY(mutex_);
   carto::mapping::MapBuilder map_builder_ GUARDED_BY(mutex_);
-  carto::mapping::SensorCollator<carto::sensor::Data> sensor_collator_
+  carto::sensor::Collator<carto::sensor::Data> sensor_collator_
       GUARDED_BY(mutex_);
   SensorBridge sensor_bridge_ GUARDED_BY(mutex_);
 
diff --git a/cartographer_ros/cartographer_ros/sensor_bridge.cc b/cartographer_ros/cartographer_ros/sensor_bridge.cc
index f36873a..b7dfb6e 100644
--- a/cartographer_ros/cartographer_ros/sensor_bridge.cc
+++ b/cartographer_ros/cartographer_ros/sensor_bridge.cc
@@ -59,7 +59,7 @@ SensorBridgeOptions CreateSensorBridgeOptions(
 SensorBridge::SensorBridge(
     const SensorBridgeOptions& options, const TfBridge* const tf_bridge,
     const int trajectory_id,
-    carto::mapping::SensorCollator<carto::sensor::Data>* const sensor_collator)
+    carto::sensor::Collator<carto::sensor::Data>* 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 d1f513a..9bcb023 100644
--- a/cartographer_ros/cartographer_ros/sensor_bridge.h
+++ b/cartographer_ros/cartographer_ros/sensor_bridge.h
@@ -17,7 +17,7 @@
 #ifndef CARTOGRAPHER_ROS_SENSOR_BRIDGE_H_
 #define CARTOGRAPHER_ROS_SENSOR_BRIDGE_H_
 
-#include "cartographer/mapping/sensor_collator.h"
+#include "cartographer/sensor/collator.h"
 #include "cartographer/sensor/data.h"
 #include "cartographer/transform/rigid_transform.h"
 #include "cartographer/transform/transform.h"
@@ -50,7 +50,7 @@ class SensorBridge {
   explicit SensorBridge(
       const SensorBridgeOptions& options, const TfBridge* tf_bridge,
       int trajectory_id,
-      ::cartographer::mapping::SensorCollator<::cartographer::sensor::Data>*
+      ::cartographer::sensor::Collator<::cartographer::sensor::Data>*
           sensor_collator);
 
   SensorBridge(const SensorBridge&) = delete;
@@ -77,7 +77,7 @@ class SensorBridge {
   const SensorBridgeOptions options_;
   const TfBridge* const tf_bridge_;
   const int trajectory_id_;
-  ::cartographer::mapping::SensorCollator<::cartographer::sensor::Data>* const
+  ::cartographer::sensor::Collator<::cartographer::sensor::Data>* const
       sensor_collator_;
 };