diff --git a/rtabmap_conversions/CMakeLists.txt b/rtabmap_conversions/CMakeLists.txt
index fc5dc2218..9e46de132 100644
--- a/rtabmap_conversions/CMakeLists.txt
+++ b/rtabmap_conversions/CMakeLists.txt
@@ -19,7 +19,7 @@ find_package(tf2 REQUIRED)
 find_package(tf2_eigen REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
 
-find_package(RTABMap 0.21.2 REQUIRED)
+find_package(RTABMap 0.21.3 REQUIRED)
 
 include_directories(
   ${CMAKE_CURRENT_SOURCE_DIR}/include
diff --git a/rtabmap_util/include/rtabmap_util/MapsManager.h b/rtabmap_util/include/rtabmap_util/MapsManager.h
index ee41af8cf..d54a0c444 100644
--- a/rtabmap_util/include/rtabmap_util/MapsManager.h
+++ b/rtabmap_util/include/rtabmap_util/MapsManager.h
@@ -132,6 +132,24 @@ class MapsManager {
 #if defined(WITH_GRID_MAP_ROS) and defined(RTABMAP_GRIDMAP)
 	rclcpp::Publisher<grid_map_msgs::msg::GridMap>::SharedPtr elevationMapPub_;
 #endif
+=======
+	ros::Publisher cloudMapPub_;
+	ros::Publisher cloudGroundPub_;
+	ros::Publisher cloudObstaclesPub_;
+	ros::Publisher projMapPub_;
+	ros::Publisher gridMapPub_;
+	ros::Publisher gridProbMapPub_;
+	ros::Publisher scanMapPub_;
+	ros::Publisher octoMapPubBin_;
+	ros::Publisher octoMapPubFull_;
+	ros::Publisher octoMapCloud_;
+	ros::Publisher octoMapFrontierCloud_;
+	ros::Publisher octoMapGroundCloud_;
+	ros::Publisher octoMapObstacleCloud_;
+	ros::Publisher octoMapEmptySpace_;
+	ros::Publisher octoMapProj_;
+	ros::Publisher elevationMapPub_;
+>>>>>>> c70f9f1b14ead8f51ee724bd0b2c88ff091d74fa
 
 	std::map<int, rtabmap::Transform> assembledGroundPoses_;
 	std::map<int, rtabmap::Transform> assembledObstaclePoses_;
@@ -154,9 +172,13 @@ class MapsManager {
 	int octomapTreeDepth_;
 	bool octomapUpdated_;
 
+<<<<<<< HEAD
 #ifdef RTABMAP_GRIDMAP
 	rtabmap::GridMap * elevationMap_;
 #endif
+=======
+	rtabmap::GridMap * elevationMap_;
+>>>>>>> c70f9f1b14ead8f51ee724bd0b2c88ff091d74fa
 	bool elevationMapUpdated_;
 
 	rtabmap::ParametersMap parameters_;