diff --git a/cartographer_ros/CMakeLists.txt b/cartographer_ros/CMakeLists.txt
index ae3c115a4..82e4e8e29 100644
--- a/cartographer_ros/CMakeLists.txt
+++ b/cartographer_ros/CMakeLists.txt
@@ -87,6 +87,7 @@ set(ALL_SRCS
   "cartographer_ros/time_conversion.cc"
   "cartographer_ros/trajectory_options.cc"
   "cartographer_ros/submap.cc"
+  "cartographer_ros/ros_map.cc"
 )
 add_library(${PROJECT_NAME} ${ALL_SRCS})
 ament_target_dependencies(${PROJECT_NAME} PUBLIC
diff --git a/cartographer_ros/cartographer_ros/CMakeLists.txt b/cartographer_ros/cartographer_ros/CMakeLists.txt
index ea8f4c97c..b8512c084 100644
--- a/cartographer_ros/cartographer_ros/CMakeLists.txt
+++ b/cartographer_ros/cartographer_ros/CMakeLists.txt
@@ -30,9 +30,15 @@ ament_target_dependencies(occupancy_grid_node
   rclcpp
 )
 
+add_executable(pbstream_to_ros_map_node
+  pbstream_to_ros_map_main.cc)
+target_include_directories(pbstream_to_ros_map_node SYSTEM PUBLIC ${LUA_INCLUDE_DIR})
+target_link_libraries(pbstream_to_ros_map_node ${PROJECT_NAME})
+
 install(TARGETS
   cartographer_node
   occupancy_grid_node
+  pbstream_to_ros_map_node
   DESTINATION lib/${PROJECT_NAME})
 
 # google_binary(cartographer_assets_writer