diff --git a/cartographer_grpc/handlers/add_fixed_frame_pose_data_handler_test.cc b/cartographer_grpc/handlers/add_fixed_frame_pose_data_handler_test.cc
index ed2abb8..5e40666 100644
--- a/cartographer_grpc/handlers/add_fixed_frame_pose_data_handler_test.cc
+++ b/cartographer_grpc/handlers/add_fixed_frame_pose_data_handler_test.cc
@@ -38,15 +38,10 @@ const std::string kMessage = R"PROTO(
     timestamp: 2
     pose {
       translation {
-        x: 3
-        y: 4
-        z: 5
+        x: 3 y: 4 z: 5
       }
       rotation {
-        x: 6
-        y: 7
-        z: 8
-        w: 9
+        w: 6 x: 7 y: 8 z: 9
       }
     }
   })PROTO";
diff --git a/cartographer_grpc/handlers/add_imu_data_handler_test.cc b/cartographer_grpc/handlers/add_imu_data_handler_test.cc
index 7094b3b..b47dacf 100644
--- a/cartographer_grpc/handlers/add_imu_data_handler_test.cc
+++ b/cartographer_grpc/handlers/add_imu_data_handler_test.cc
@@ -37,14 +37,10 @@ const std::string kMessage = R"PROTO(
   imu_data {
     timestamp: 2
     linear_acceleration {
-      x: 3
-      y: 4
-      z: 5
+      x: 3 y: 4 z: 5
     }
     angular_velocity {
-      x: 6
-      y: 7
-      z: 8
+      x: 6 y: 7 z: 8
     }
   })PROTO";
 
diff --git a/cartographer_grpc/handlers/add_landmark_data_handler_test.cc b/cartographer_grpc/handlers/add_landmark_data_handler_test.cc
index fc982c0..0669d33 100644
--- a/cartographer_grpc/handlers/add_landmark_data_handler_test.cc
+++ b/cartographer_grpc/handlers/add_landmark_data_handler_test.cc
@@ -40,20 +40,15 @@ const std::string kMessage = R"PROTO(
       id: "3"
       landmark_to_tracking_transform {
         translation {
-          x: 4
-          y: 5
-          z: 6
-		}
-		rotation {
-		  x: 7
-		  y: 8
-		  z: 9
-		  w: 10
-		}
+          x: 4 y: 5 z: 6
+        }
+        rotation {
+          w:7 x: 8 y: 9 z: 10
+        }
       }
       translation_weight: 11.0
       rotation_weight: 12.0
-	}
+    }
   })PROTO";
 
 using AddLandmarkDataHandlerTest = testing::HandlerTest<AddLandmarkDataHandler>;
diff --git a/cartographer_grpc/handlers/add_odometry_data_handler_test.cc b/cartographer_grpc/handlers/add_odometry_data_handler_test.cc
index 22f63f1..2ad7f20 100644
--- a/cartographer_grpc/handlers/add_odometry_data_handler_test.cc
+++ b/cartographer_grpc/handlers/add_odometry_data_handler_test.cc
@@ -38,15 +38,10 @@ const std::string kMessage = R"PROTO(
     timestamp: 2
     pose {
       translation {
-        x: 3
-        y: 4
-        z: 5
+        x: 3 y: 4 z: 5
       }
       rotation {
-        x: 6
-        y: 7
-        z: 8
-        w: 9
+        w: 6 x: 7 y: 8 z: 9
       }
     }
   })PROTO";
diff --git a/cartographer_grpc/handlers/add_rangefind_data_handler_test.cc b/cartographer_grpc/handlers/add_rangefinder_data_handler_test.cc
similarity index 95%
rename from cartographer_grpc/handlers/add_rangefind_data_handler_test.cc
rename to cartographer_grpc/handlers/add_rangefinder_data_handler_test.cc
index 7deace0..9206d70 100644
--- a/cartographer_grpc/handlers/add_rangefind_data_handler_test.cc
+++ b/cartographer_grpc/handlers/add_rangefinder_data_handler_test.cc
@@ -37,15 +37,10 @@ const std::string kMessage = R"PROTO(
   timed_point_cloud_data {
     timestamp: 2
     origin {
-      x: 3.f
-      y: 4.f
-      z: 5.f
+      x: 3.f y: 4.f z: 5.f
     }
     point_data {
-      x: 6.f
-      y: 7.f
-      z: 8.f
-      t: 9.f
+      x: 6.f y: 7.f z: 8.f t: 9.f
     }
   })PROTO";
 
diff --git a/cartographer_grpc/handlers/add_trajectory_handler_test.cc b/cartographer_grpc/handlers/add_trajectory_handler_test.cc
index 995ec64..5fd24dd 100644
--- a/cartographer_grpc/handlers/add_trajectory_handler_test.cc
+++ b/cartographer_grpc/handlers/add_trajectory_handler_test.cc
@@ -52,15 +52,10 @@ const std::string kMessage = R"PROTO(
       initial_trajectory_pose {
         relative_pose {
           translation {
-            x: 1
-            y: 2
-            z: 3
+            x: 1 y: 2 z: 3
           }
           rotation {
-            x: 4
-            y: 5
-            z: 6
-            w: 7
+            w: 4 x: 5 y: 6 z: 7
           }
         }
         to_trajectory_id: 8
diff --git a/cartographer_grpc/handlers/get_landmark_poses_handler_test.cc b/cartographer_grpc/handlers/get_landmark_poses_handler_test.cc
index 3e40479..2f4b9e2 100644
--- a/cartographer_grpc/handlers/get_landmark_poses_handler_test.cc
+++ b/cartographer_grpc/handlers/get_landmark_poses_handler_test.cc
@@ -38,7 +38,7 @@ const std::string kMessage = R"PROTO(
         x: 1 y: 2 z: 3
       }
       rotation {
-        w:1 x: 0 y: 0 z: 0
+        w: 1 x: 0 y: 0 z: 0
       }
     }
   }
@@ -49,7 +49,7 @@ const std::string kMessage = R"PROTO(
         x: 3 y: 2 z: 1
       }
       rotation {
-        w:0 x: 1 y: 0 z: 0
+        w: 0 x: 1 y: 0 z: 0
       }
     }
   }