diff --git a/cartographer_ros/cartographer_ros/pbstream_map_publisher_main.cc b/cartographer_ros/cartographer_ros/pbstream_map_publisher_main.cc
index 11dd30e..a9be180 100644
--- a/cartographer_ros/cartographer_ros/pbstream_map_publisher_main.cc
+++ b/cartographer_ros/cartographer_ros/pbstream_map_publisher_main.cc
@@ -21,13 +21,13 @@
 
 #include "cartographer/io/proto_stream.h"
 #include "cartographer/io/submap_painter.h"
+#include "cartographer/mapping/2d/probability_grid.h"
+#include "cartographer/mapping/2d/submap_2d.h"
+#include "cartographer/mapping/3d/submap_3d.h"
 #include "cartographer/mapping/proto/pose_graph.pb.h"
 #include "cartographer/mapping/proto/serialization.pb.h"
 #include "cartographer/mapping/proto/submap.pb.h"
 #include "cartographer/mapping/submaps.h"
-#include "cartographer/mapping_2d/probability_grid.h"
-#include "cartographer/mapping_2d/submap_2d.h"
-#include "cartographer/mapping_3d/submap_3d.h"
 #include "cartographer_ros/msg_conversion.h"
 #include "cartographer_ros/node_constants.h"
 #include "cartographer_ros/ros_log_sink.h"
diff --git a/cartographer_ros/cartographer_ros/pbstream_to_ros_map_main.cc b/cartographer_ros/cartographer_ros/pbstream_to_ros_map_main.cc
index d65a471..63be8fd 100644
--- a/cartographer_ros/cartographer_ros/pbstream_to_ros_map_main.cc
+++ b/cartographer_ros/cartographer_ros/pbstream_to_ros_map_main.cc
@@ -19,13 +19,13 @@
 
 #include "cartographer/io/proto_stream.h"
 #include "cartographer/io/submap_painter.h"
+#include "cartographer/mapping/2d/probability_grid.h"
+#include "cartographer/mapping/2d/submap_2d.h"
+#include "cartographer/mapping/3d/submap_3d.h"
 #include "cartographer/mapping/proto/pose_graph.pb.h"
 #include "cartographer/mapping/proto/serialization.pb.h"
 #include "cartographer/mapping/proto/submap.pb.h"
 #include "cartographer/mapping/proto/trajectory_builder_options.pb.h"
-#include "cartographer/mapping_2d/probability_grid.h"
-#include "cartographer/mapping_2d/submap_2d.h"
-#include "cartographer/mapping_3d/submap_3d.h"
 #include "cartographer_ros/ros_map.h"
 #include "cartographer_ros/submap.h"
 #include "gflags/gflags.h"
diff --git a/cartographer_ros/cartographer_ros/ros_map.h b/cartographer_ros/cartographer_ros/ros_map.h
index 64ad6d6..cdeab4a 100644
--- a/cartographer_ros/cartographer_ros/ros_map.h
+++ b/cartographer_ros/cartographer_ros/ros_map.h
@@ -22,7 +22,7 @@
 #include "Eigen/Core"
 #include "cartographer/io/file_writer.h"
 #include "cartographer/io/image.h"
-#include "cartographer/mapping_2d/map_limits.h"
+#include "cartographer/mapping/2d/map_limits.h"
 
 namespace cartographer_ros {
 
diff --git a/cartographer_ros/cartographer_ros/ros_map_writing_points_processor.h b/cartographer_ros/cartographer_ros/ros_map_writing_points_processor.h
index 34f7473..5ac32f7 100644
--- a/cartographer_ros/cartographer_ros/ros_map_writing_points_processor.h
+++ b/cartographer_ros/cartographer_ros/ros_map_writing_points_processor.h
@@ -20,9 +20,9 @@
 #include "cartographer/common/lua_parameter_dictionary.h"
 #include "cartographer/io/file_writer.h"
 #include "cartographer/io/points_processor.h"
-#include "cartographer/mapping_2d/probability_grid.h"
-#include "cartographer/mapping_2d/proto/range_data_inserter_options_2d.pb.h"
-#include "cartographer/mapping_2d/range_data_inserter_2d.h"
+#include "cartographer/mapping/2d/probability_grid.h"
+#include "cartographer/mapping/2d/proto/range_data_inserter_options_2d.pb.h"
+#include "cartographer/mapping/2d/range_data_inserter_2d.h"
 
 namespace cartographer_ros {