diff --git a/distros/eloquent/cartographer/default.nix b/distros/eloquent/cartographer/default.nix
index 1af04d1b96..4540623be8 100644
--- a/distros/eloquent/cartographer/default.nix
+++ b/distros/eloquent/cartographer/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2020 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, boost, cairo, ceres-solver, cmake, eigen, gflags, glog, gmock, lua5, protobuf, pythonPackages }:
+{ lib, buildRosPackage, fetchurl, boost, cairo, ceres-solver, cmake, eigen, gflags, glog, gmock, gtest, lua5, protobuf, python3Packages }:
 buildRosPackage {
   pname = "ros-eloquent-cartographer";
-  version = "1.0.0-r1";
+  version = "1.0.9001-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/cartographer-release/archive/release/eloquent/cartographer/1.0.0-1.tar.gz";
-    name = "1.0.0-1.tar.gz";
-    sha256 = "a528f0790014f53e4039ec96d0f7db68a3666012c6d22294c94e3d571a06c78a";
+    url = "https://github.com/ros2-gbp/cartographer-release/archive/release/eloquent/cartographer/1.0.9001-1.tar.gz";
+    name = "1.0.9001-1.tar.gz";
+    sha256 = "03eeee014c5ffb0085cd8ad43d5d030fc3f0fa50b85bd8aa7052d30bce267021";
   };
 
   buildType = "cmake";
-  buildInputs = [ gmock pythonPackages.sphinx ];
+  buildInputs = [ gmock gtest python3Packages.sphinx ];
   propagatedBuildInputs = [ boost cairo ceres-solver eigen gflags glog lua5 protobuf ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/eloquent/generated.nix b/distros/eloquent/generated.nix
index 36f353a4ce..58ee16ccf0 100644
--- a/distros/eloquent/generated.nix
+++ b/distros/eloquent/generated.nix
@@ -148,6 +148,8 @@ self: super: {
 
  can-msgs = self.callPackage ./can-msgs {};
 
+ cartographer = self.callPackage ./cartographer {};
+
  cartographer-ros = self.callPackage ./cartographer-ros {};
 
  cartographer-ros-msgs = self.callPackage ./cartographer-ros-msgs {};