diff --git a/cartographer/cloud/internal/client/pose_graph_stub.cc b/cartographer/cloud/internal/client/pose_graph_stub.cc
index 96e9888..86f1dd8 100644
--- a/cartographer/cloud/internal/client/pose_graph_stub.cc
+++ b/cartographer/cloud/internal/client/pose_graph_stub.cc
@@ -23,6 +23,7 @@
 #include "cartographer/cloud/internal/handlers/get_trajectory_node_poses_handler.h"
 #include "cartographer/cloud/internal/handlers/run_final_optimization_handler.h"
 #include "cartographer/mapping/pose_graph.h"
+#include "cartographer/transform/transform.h"
 #include "glog/logging.h"
 
 namespace cartographer {
diff --git a/cartographer/cloud/internal/handlers/get_all_submap_poses.cc b/cartographer/cloud/internal/handlers/get_all_submap_poses.cc
index c6e81f4..3eb6526 100644
--- a/cartographer/cloud/internal/handlers/get_all_submap_poses.cc
+++ b/cartographer/cloud/internal/handlers/get_all_submap_poses.cc
@@ -20,6 +20,7 @@
 #include "cartographer/cloud/internal/map_builder_context_interface.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
 #include "cartographer/common/make_unique.h"
+#include "cartographer/transform/transform.h"
 #include "google/protobuf/empty.pb.h"
 
 namespace cartographer {
diff --git a/cartographer/cloud/internal/handlers/get_landmark_poses_handler.cc b/cartographer/cloud/internal/handlers/get_landmark_poses_handler.cc
index cbf88a2..c192b02 100644
--- a/cartographer/cloud/internal/handlers/get_landmark_poses_handler.cc
+++ b/cartographer/cloud/internal/handlers/get_landmark_poses_handler.cc
@@ -20,6 +20,7 @@
 #include "cartographer/cloud/internal/map_builder_context_interface.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
 #include "cartographer/common/make_unique.h"
+#include "cartographer/transform/transform.h"
 #include "google/protobuf/empty.pb.h"
 
 namespace cartographer {
diff --git a/cartographer/cloud/internal/handlers/get_local_to_global_transform_handler.cc b/cartographer/cloud/internal/handlers/get_local_to_global_transform_handler.cc
index e00ad9d..677d11f 100644
--- a/cartographer/cloud/internal/handlers/get_local_to_global_transform_handler.cc
+++ b/cartographer/cloud/internal/handlers/get_local_to_global_transform_handler.cc
@@ -19,6 +19,7 @@
 #include "cartographer/cloud/internal/framework/rpc_handler.h"
 #include "cartographer/cloud/internal/map_builder_context_interface.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
+#include "cartographer/transform/transform.h"
 #include "google/protobuf/empty.pb.h"
 
 namespace cartographer {
diff --git a/cartographer/cloud/internal/handlers/get_trajectory_node_poses_handler.cc b/cartographer/cloud/internal/handlers/get_trajectory_node_poses_handler.cc
index 58af67e..e00155d 100644
--- a/cartographer/cloud/internal/handlers/get_trajectory_node_poses_handler.cc
+++ b/cartographer/cloud/internal/handlers/get_trajectory_node_poses_handler.cc
@@ -20,6 +20,7 @@
 #include "cartographer/cloud/internal/map_builder_context_interface.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
 #include "cartographer/common/make_unique.h"
+#include "cartographer/transform/transform.h"
 #include "google/protobuf/empty.pb.h"
 
 namespace cartographer {
diff --git a/cartographer/cloud/internal/handlers/receive_local_slam_results_handler.cc b/cartographer/cloud/internal/handlers/receive_local_slam_results_handler.cc
index cbe88fa..3e829fb 100644
--- a/cartographer/cloud/internal/handlers/receive_local_slam_results_handler.cc
+++ b/cartographer/cloud/internal/handlers/receive_local_slam_results_handler.cc
@@ -20,6 +20,7 @@
 #include "cartographer/cloud/internal/map_builder_context_interface.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
 #include "cartographer/common/make_unique.h"
+#include "cartographer/transform/transform.h"
 
 namespace cartographer {
 namespace cloud {
diff --git a/cartographer/mapping/submaps.h b/cartographer/mapping/submaps.h
index c92a951..8919b49 100644
--- a/cartographer/mapping/submaps.h
+++ b/cartographer/mapping/submaps.h
@@ -23,7 +23,6 @@
 #include "Eigen/Geometry"
 #include "cartographer/common/math.h"
 #include "cartographer/common/port.h"
-#include "cartographer/mapping/2d/probability_grid.h"
 #include "cartographer/mapping/id.h"
 #include "cartographer/mapping/probability_values.h"
 #include "cartographer/mapping/proto/serialization.pb.h"