diff --git a/depthimage_to_pointcloud2/include/depthimage_to_pointcloud2/depth_traits.hpp b/depthimage_to_pointcloud2/include/depthimage_to_pointcloud2/depth_traits.hpp
index fb2e851..592284e 100644
--- a/depthimage_to_pointcloud2/include/depthimage_to_pointcloud2/depth_traits.hpp
+++ b/depthimage_to_pointcloud2/include/depthimage_to_pointcloud2/depth_traits.hpp
@@ -36,7 +36,10 @@
 #ifndef DEPTHIMAGE_TO_POINTCLOUD2__DEPTH_TRAITS_HPP_
 #define DEPTHIMAGE_TO_POINTCLOUD2__DEPTH_TRAITS_HPP_
 
+#include <stdint.h>
+
 #include <algorithm>
+#include <cmath>
 #include <limits>
 #include <vector>
 
diff --git a/turtlebot2_cartographer/configuration_files/turtlebot_2d.lua b/turtlebot2_cartographer/configuration_files/turtlebot_2d.lua
index 9b771a8..8e91b72 100644
--- a/turtlebot2_cartographer/configuration_files/turtlebot_2d.lua
+++ b/turtlebot2_cartographer/configuration_files/turtlebot_2d.lua
@@ -24,12 +24,19 @@ options = {
   odom_frame = "odom",
   provide_odom_frame = false,
   use_odometry = true,
-  use_laser_scan = true,
-  use_multi_echo_laser_scan = false,
+  -- use_laser_scan = true,
+  num_laser_scans = 1,
+  -- use_multi_echo_laser_scan = false,
+  num_multi_echo_laser_scans = 0,
+  num_subdivisions_per_laser_scan = 1,
   num_point_clouds = 0,
   lookup_transform_timeout_sec = 0.2,
   submap_publish_period_sec = 0.3,
   pose_publish_period_sec = 5e-3,
+  trajectory_publish_period_sec = 30e-3,
+  rangefinder_sampling_ratio = 1.0,
+  odometry_sampling_ratio = 1.,
+  imu_sampling_ratio = 1.,
 }
 
 MAP_BUILDER.use_trajectory_builder_2d = true
@@ -46,8 +53,8 @@ TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight = 300
 
 TRAJECTORY_BUILDER_2D.submaps.resolution = 0.035
 TRAJECTORY_BUILDER_2D.submaps.num_range_data = 120
-SPARSE_POSE_GRAPH.optimize_every_n_scans = 120
-SPARSE_POSE_GRAPH.constraint_builder.min_score = 0.82
-SPARSE_POSE_GRAPH.constraint_builder.sampling_ratio = 1.
+POSE_GRAPH.optimize_every_n_nodes = 120
+POSE_GRAPH.constraint_builder.min_score = 0.82
+POSE_GRAPH.constraint_builder.sampling_ratio = 1.
 
 return options
diff --git a/turtlebot2_cartographer/configuration_files/turtlebot_3d.lua b/turtlebot2_cartographer/configuration_files/turtlebot_3d.lua
index 3d4e4e5..6dac3cd 100644
--- a/turtlebot2_cartographer/configuration_files/turtlebot_3d.lua
+++ b/turtlebot2_cartographer/configuration_files/turtlebot_3d.lua
@@ -26,10 +26,15 @@ options = {
   use_odometry = true,
   use_laser_scan = false,
   use_multi_echo_laser_scan = false,
+  num_subdivisions_per_laser_scan = 1,
+  num_laser_scans = 0,
   num_point_clouds = 1,
   lookup_transform_timeout_sec = 0.2,
   submap_publish_period_sec = 0.3,
   pose_publish_period_sec = 5e-3,
+  rangefinder_sampling_ratio = 1.0,
+  odometry_sampling_ratio = 1.,
+  imu_sampling_ratio = 1.,
 }
 
 MAP_BUILDER.use_trajectory_builder_3d = true
@@ -56,16 +61,16 @@ TRAJECTORY_BUILDER_3D.ceres_scan_matcher.rotation_weight = 1e3
 TRAJECTORY_BUILDER_3D.ceres_scan_matcher.only_optimize_yaw = true
 TRAJECTORY_BUILDER_3D.kalman_local_trajectory_builder.scan_matcher_variance = 1e-8
 
-SPARSE_POSE_GRAPH.constraint_builder.sampling_ratio = 0.2
-SPARSE_POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10
-SPARSE_POSE_GRAPH.constraint_builder.adaptive_voxel_filter = TRAJECTORY_BUILDER_3D.high_resolution_adaptive_voxel_filter
-SPARSE_POSE_GRAPH.constraint_builder.min_score = 0.48
-SPARSE_POSE_GRAPH.constraint_builder.log_matches = true
-SPARSE_POSE_GRAPH.constraint_builder.fast_correlative_scan_matcher_3d.min_rotational_score = 0.
-SPARSE_POSE_GRAPH.constraint_builder.fast_correlative_scan_matcher_3d.linear_xy_search_window = 2.
+POSE_GRAPH.constraint_builder.sampling_ratio = 0.2
+POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10
+POSE_GRAPH.constraint_builder.adaptive_voxel_filter = TRAJECTORY_BUILDER_3D.high_resolution_adaptive_voxel_filter
+POSE_GRAPH.constraint_builder.min_score = 0.48
+POSE_GRAPH.constraint_builder.log_matches = true
+POSE_GRAPH.constraint_builder.fast_correlative_scan_matcher_3d.min_rotational_score = 0.
+POSE_GRAPH.constraint_builder.fast_correlative_scan_matcher_3d.linear_xy_search_window = 2.
 
-SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 1e1
-SPARSE_POSE_GRAPH.optimization_problem.acceleration_weight = 1e-1
-SPARSE_POSE_GRAPH.optimization_problem.rotation_weight = 1e3
+POSE_GRAPH.optimization_problem.huber_scale = 1e1
+POSE_GRAPH.optimization_problem.acceleration_weight = 1e-1
+POSE_GRAPH.optimization_problem.rotation_weight = 1e3
 
 return options
diff --git a/turtlebot2_drivers/src/kobuki_node.cpp b/turtlebot2_drivers/src/kobuki_node.cpp
index ffb6df3..f3ed05a 100644
--- a/turtlebot2_drivers/src/kobuki_node.cpp
+++ b/turtlebot2_drivers/src/kobuki_node.cpp
@@ -22,11 +22,13 @@
 
 #ifndef _WIN32
 # pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wdeprecated"
 # pragma GCC diagnostic ignored "-Wignored-qualifiers"
 # pragma GCC diagnostic ignored "-Wsign-compare"
 # pragma GCC diagnostic ignored "-Wstrict-aliasing"
 # pragma GCC diagnostic ignored "-Wunused-local-typedefs"
 # pragma GCC diagnostic ignored "-Wunused-parameter"
+# pragma GCC diagnostic ignored "-Wunused-but-set-variable"
 #endif
 #include "kobuki_driver/kobuki.hpp"
 #ifndef _WIN32
@@ -81,7 +83,6 @@ int main(int argc, char * argv[])
 
   auto node = rclcpp::Node::make_shared("kobuki_node");
   g_logger = node->get_logger();
-  auto parameter_service = std::make_shared<rclcpp::ParameterService>(node);
   auto cmd_vel_sub = node->create_subscription<geometry_msgs::msg::Twist>(
     "cmd_vel", cmdVelCallback, cmd_vel_qos_profile);
   auto odom_pub = node->create_publisher<nav_msgs::msg::Odometry>("odom", odom_and_imu_qos_profile);
diff --git a/turtlebot2_follower/include/turtlebot2_follower/depth_traits.h b/turtlebot2_follower/include/turtlebot2_follower/depth_traits.h
index 0004642..d32d271 100644
--- a/turtlebot2_follower/include/turtlebot2_follower/depth_traits.h
+++ b/turtlebot2_follower/include/turtlebot2_follower/depth_traits.h
@@ -34,8 +34,12 @@
 #ifndef DEPTH_IMAGE_PROC_DEPTH_TRAITS
 #define DEPTH_IMAGE_PROC_DEPTH_TRAITS
 
+#include <stdint.h>
+
 #include <algorithm>
+#include <cmath>
 #include <limits>
+#include <vector>
 
 namespace depth_image_proc {
 
diff --git a/turtlebot2_follower/src/follower.cpp b/turtlebot2_follower/src/follower.cpp
index c08ef9c..77a67d8 100644
--- a/turtlebot2_follower/src/follower.cpp
+++ b/turtlebot2_follower/src/follower.cpp
@@ -30,6 +30,7 @@
 // This file is originally from:
 // https://github.com/turtlebot/turtlebot_apps/blob/cefaf0a/turtlebot_follower/src/follower.cpp
 
+#include <cmath>
 #include <vector>
 
 #include <rclcpp/rclcpp.hpp>