diff --git a/cartographer_ros/configuration_files/backpack_3d.lua b/cartographer_ros/configuration_files/backpack_3d.lua
index 2aef7c6..3eaf22c 100644
--- a/cartographer_ros/configuration_files/backpack_3d.lua
+++ b/cartographer_ros/configuration_files/backpack_3d.lua
@@ -34,15 +34,15 @@ options = {
 }
 
 options.map_builder.use_trajectory_builder_3d = true
-options.sparse_pose_graph.optimize_every_n_scans = 320
-options.sparse_pose_graph.constraint_builder.sampling_ratio = 0.03
-options.sparse_pose_graph.optimization_problem.ceres_solver_options.max_num_iterations = 10
+options.map_builder.sparse_pose_graph.optimize_every_n_scans = 320
+options.map_builder.sparse_pose_graph.constraint_builder.sampling_ratio = 0.03
+options.map_builder.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.
-options.sparse_pose_graph.constraint_builder.adaptive_voxel_filter = TRAJECTORY_BUILDER_3D.high_resolution_adaptive_voxel_filter
-options.sparse_pose_graph.constraint_builder.min_score = 0.62
-options.sparse_pose_graph.constraint_builder.log_matches = true
+options.map_builder.sparse_pose_graph.constraint_builder.adaptive_voxel_filter = TRAJECTORY_BUILDER_3D.high_resolution_adaptive_voxel_filter
+options.map_builder.sparse_pose_graph.constraint_builder.min_score = 0.62
+options.map_builder.sparse_pose_graph.constraint_builder.log_matches = true
 
-options.trajectory_builder.scans_per_accumulation = 20
+options.map_builder.trajectory_builder_3d.scans_per_accumulation = 20
 
 return options
diff --git a/cartographer_ros/configuration_files/turtlebot.lua b/cartographer_ros/configuration_files/turtlebot.lua
index b1e61d2..0e76314 100644
--- a/cartographer_ros/configuration_files/turtlebot.lua
+++ b/cartographer_ros/configuration_files/turtlebot.lua
@@ -34,7 +34,7 @@ options = {
 }
 
 options.map_builder.use_trajectory_builder_2d = true
-options.trajectory_builder.expect_imu_data = false
-options.trajectory_builder.use_online_correlative_scan_matching = true
+options.map_builder.trajectory_builder_2d.use_imu_data = false
+options.map_builder.trajectory_builder_2d.use_online_correlative_scan_matching = true
 
 return options
diff --git a/cartographer_ros/launch/backpack_2d.launch b/cartographer_ros/launch/backpack_2d.launch
index 41d8674..99b65f7 100644
--- a/cartographer_ros/launch/backpack_2d.launch
+++ b/cartographer_ros/launch/backpack_2d.launch
@@ -28,5 +28,4 @@
       output="screen">
     <remap from="echoes" to="horizontal_laser_2d" />
   </node>
-
 </launch>
diff --git a/cartographer_ros/launch/backpack_3d.launch b/cartographer_ros/launch/backpack_3d.launch
index 87fb752..579c69b 100644
--- a/cartographer_ros/launch/backpack_3d.launch
+++ b/cartographer_ros/launch/backpack_3d.launch
@@ -29,5 +29,4 @@
     <remap from="points2_1" to="horizontal_laser_3d" />
     <remap from="points2_2" to="vertical_laser_3d" />
   </node>
-
 </launch>
diff --git a/cartographer_ros/launch/demo_2d.launch b/cartographer_ros/launch/demo_2d.launch
index 5202e10..248e14b 100644
--- a/cartographer_ros/launch/demo_2d.launch
+++ b/cartographer_ros/launch/demo_2d.launch
@@ -23,5 +23,4 @@
       args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
   <node name="playbag" pkg="rosbag" type="play"
       args="--clock $(arg bag_filename)" />
-
 </launch>
diff --git a/cartographer_ros/launch/demo_3d.launch b/cartographer_ros/launch/demo_3d.launch
index 47a635a..f5bfc3a 100644
--- a/cartographer_ros/launch/demo_3d.launch
+++ b/cartographer_ros/launch/demo_3d.launch
@@ -23,5 +23,4 @@
       args="-d $(find cartographer_ros)/configuration_files/demo_3d.rviz" />
   <node name="playbag" pkg="rosbag" type="play"
       args="--clock $(arg bag_filename)" />
-
 </launch>
diff --git a/cartographer_ros/launch/turtlebot.launch b/cartographer_ros/launch/turtlebot.launch
index 194fe35..d9d3a26 100644
--- a/cartographer_ros/launch/turtlebot.launch
+++ b/cartographer_ros/launch/turtlebot.launch
@@ -25,8 +25,5 @@
       type="cartographer_node" args="
           -configuration_directory $(find cartographer_ros)/configuration_files
           -configuration_basename turtlebot.lua"
-      output="screen">
-    <remap from="scan" to="horizontal_laser_2d" />
-  </node>
-
+      output="screen" />
 </launch>