diff --git a/cartographer/cloud/internal/map_builder_server.h b/cartographer/cloud/internal/map_builder_server.h
index 03a70aa..22644f5 100644
--- a/cartographer/cloud/internal/map_builder_server.h
+++ b/cartographer/cloud/internal/map_builder_server.h
@@ -17,6 +17,7 @@
 #ifndef CARTOGRAPHER_CLOUD_INTERNAL_MAP_BUILDER_SERVER_H
 #define CARTOGRAPHER_CLOUD_INTERNAL_MAP_BUILDER_SERVER_H
 
+#include "cartographer/common/thread_annotations.h"
 #include "async_grpc/execution_context.h"
 #include "async_grpc/server.h"
 #include "cartographer/cloud/internal/local_trajectory_uploader.h"
diff --git a/cartographer/common/internal/blocking_queue.h b/cartographer/common/internal/blocking_queue.h
index cba91c0..1e3ddc3 100644
--- a/cartographer/common/internal/blocking_queue.h
+++ b/cartographer/common/internal/blocking_queue.h
@@ -21,6 +21,7 @@
 #include <deque>
 #include <memory>
 
+#include "cartographer/common/thread_annotations.h"
 #include "absl/synchronization/mutex.h"
 #include "cartographer/common/port.h"
 #include "cartographer/common/time.h"
diff --git a/cartographer/common/internal/testing/thread_pool_for_testing.cc b/cartographer/common/internal/testing/thread_pool_for_testing.cc
index 89744ba..430ba8e 100644
--- a/cartographer/common/internal/testing/thread_pool_for_testing.cc
+++ b/cartographer/common/internal/testing/thread_pool_for_testing.cc
@@ -15,7 +15,6 @@
  */
 
 #include "cartographer/common/internal/testing/thread_pool_for_testing.h"
-
 #ifndef WIN32
 #include <unistd.h>
 #endif
@@ -23,6 +22,7 @@
 #include <chrono>
 #include <numeric>
 
+#include "cartographer/common/thread_annotations.h"
 #include "absl/memory/memory.h"
 #include "cartographer/common/task.h"
 #include "cartographer/common/time.h"
diff --git a/cartographer/common/internal/testing/thread_pool_for_testing.h b/cartographer/common/internal/testing/thread_pool_for_testing.h
index f733d0f..dc2313c 100644
--- a/cartographer/common/internal/testing/thread_pool_for_testing.h
+++ b/cartographer/common/internal/testing/thread_pool_for_testing.h
@@ -16,12 +16,12 @@
 
 #ifndef CARTOGRAPHER_COMMON_INTERNAL_TESTING_THREAD_POOL_FOR_TESTING_H_
 #define CARTOGRAPHER_COMMON_INTERNAL_TESTING_THREAD_POOL_FOR_TESTING_H_
-
 #include <deque>
 #include <functional>
 #include <map>
 #include <thread>
 
+#include "cartographer/common/thread_annotations.h"
 #include "absl/synchronization/mutex.h"
 #include "cartographer/common/thread_pool.h"
 
diff --git a/cartographer/common/task.cc b/cartographer/common/task.cc
index 4085c97..643270b 100644
--- a/cartographer/common/task.cc
+++ b/cartographer/common/task.cc
@@ -13,7 +13,6 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
-
 #include "cartographer/common/task.h"
 
 namespace cartographer {
diff --git a/cartographer/common/task.h b/cartographer/common/task.h
index ae44fb1..d65b0cd 100644
--- a/cartographer/common/task.h
+++ b/cartographer/common/task.h
@@ -16,9 +16,9 @@
 
 #ifndef CARTOGRAPHER_COMMON_TASK_H_
 #define CARTOGRAPHER_COMMON_TASK_H_
-
 #include <set>
 
+#include "cartographer/common/thread_annotations.h"
 #include "absl/synchronization/mutex.h"
 #include "glog/logging.h"
 #include "thread_pool.h"
diff --git a/cartographer/common/thread_pool.cc b/cartographer/common/thread_pool.cc
index 2457152..7d7a62d 100644
--- a/cartographer/common/thread_pool.cc
+++ b/cartographer/common/thread_pool.cc
@@ -15,7 +15,6 @@
  */
 
 #include "cartographer/common/thread_pool.h"
-
 #ifndef WIN32
 #include <unistd.h>
 #endif
@@ -23,6 +22,7 @@
 #include <chrono>
 #include <numeric>
 
+#include "cartographer/common/thread_annotations.h"
 #include "absl/memory/memory.h"
 #include "cartographer/common/task.h"
 #include "glog/logging.h"
diff --git a/cartographer/common/thread_pool.h b/cartographer/common/thread_pool.h
index 3f6b94c..ff3751d 100644
--- a/cartographer/common/thread_pool.h
+++ b/cartographer/common/thread_pool.h
@@ -16,12 +16,12 @@
 
 #ifndef CARTOGRAPHER_COMMON_THREAD_POOL_H_
 #define CARTOGRAPHER_COMMON_THREAD_POOL_H_
-
 #include <deque>
 #include <functional>
 #include <memory>
 #include <thread>
 #include <vector>
+#include "cartographer/common/thread_annotations.h"
 
 #include "absl/container/flat_hash_map.h"
 #include "absl/synchronization/mutex.h"
diff --git a/cartographer/common/thread_pool_test.cc b/cartographer/common/thread_pool_test.cc
index fec82ee..596b145 100644
--- a/cartographer/common/thread_pool_test.cc
+++ b/cartographer/common/thread_pool_test.cc
@@ -18,6 +18,7 @@
 
 #include <vector>
 
+#include "cartographer/common/thread_annotations.h"
 #include "absl/memory/memory.h"
 #include "gtest/gtest.h"
 
diff --git a/cartographer/mapping/internal/2d/pose_graph_2d.cc b/cartographer/mapping/internal/2d/pose_graph_2d.cc
index 060277e..4434ab9 100644
--- a/cartographer/mapping/internal/2d/pose_graph_2d.cc
+++ b/cartographer/mapping/internal/2d/pose_graph_2d.cc
@@ -28,6 +28,7 @@
 #include <sstream>
 #include <string>
 
+#include "cartographer/common/thread_annotations.h"
 #include "Eigen/Eigenvalues"
 #include "absl/memory/memory.h"
 #include "cartographer/common/math.h"
diff --git a/cartographer/mapping/internal/2d/pose_graph_2d.h b/cartographer/mapping/internal/2d/pose_graph_2d.h
index 3733425..b1ac7cc 100644
--- a/cartographer/mapping/internal/2d/pose_graph_2d.h
+++ b/cartographer/mapping/internal/2d/pose_graph_2d.h
@@ -25,6 +25,7 @@
 #include <set>
 #include <vector>
 
+#include "cartographer/common/thread_annotations.h"
 #include "Eigen/Core"
 #include "Eigen/Geometry"
 #include "absl/container/flat_hash_map.h"
diff --git a/cartographer/mapping/internal/3d/pose_graph_3d.cc b/cartographer/mapping/internal/3d/pose_graph_3d.cc
index 8a91e59..74cc66b 100644
--- a/cartographer/mapping/internal/3d/pose_graph_3d.cc
+++ b/cartographer/mapping/internal/3d/pose_graph_3d.cc
@@ -27,6 +27,7 @@
 #include <sstream>
 #include <string>
 
+#include "cartographer/common/thread_annotations.h"
 #include "Eigen/Eigenvalues"
 #include "absl/memory/memory.h"
 #include "cartographer/common/math.h"
diff --git a/cartographer/mapping/internal/3d/pose_graph_3d.h b/cartographer/mapping/internal/3d/pose_graph_3d.h
index 12a3469..0389a2a 100644
--- a/cartographer/mapping/internal/3d/pose_graph_3d.h
+++ b/cartographer/mapping/internal/3d/pose_graph_3d.h
@@ -25,6 +25,7 @@
 #include <set>
 #include <vector>
 
+#include "cartographer/common/thread_annotations.h"
 #include "Eigen/Core"
 #include "Eigen/Geometry"
 #include "absl/container/flat_hash_map.h"
diff --git a/cartographer/mapping/internal/connected_components.h b/cartographer/mapping/internal/connected_components.h
index 05f327e..420dfe0 100644
--- a/cartographer/mapping/internal/connected_components.h
+++ b/cartographer/mapping/internal/connected_components.h
@@ -19,6 +19,7 @@
 
 #include <map>
 
+#include "cartographer/common/thread_annotations.h"
 #include "absl/container/flat_hash_map.h"
 #include "absl/synchronization/mutex.h"
 #include "cartographer/mapping/proto/connected_components.pb.h"
diff --git a/cartographer/mapping/internal/constraints/constraint_builder_2d.cc b/cartographer/mapping/internal/constraints/constraint_builder_2d.cc
index ad3dfb7..d7e0c57 100644
--- a/cartographer/mapping/internal/constraints/constraint_builder_2d.cc
+++ b/cartographer/mapping/internal/constraints/constraint_builder_2d.cc
@@ -27,6 +27,7 @@
 #include <tuple>
 #include <utility>
 
+#include "cartographer/common/thread_annotations.h"
 #include "Eigen/Eigenvalues"
 #include "absl/memory/memory.h"
 #include "cartographer/common/math.h"
diff --git a/cartographer/mapping/internal/constraints/constraint_builder_2d.h b/cartographer/mapping/internal/constraints/constraint_builder_2d.h
index 6667fdb..5e41da9 100644
--- a/cartographer/mapping/internal/constraints/constraint_builder_2d.h
+++ b/cartographer/mapping/internal/constraints/constraint_builder_2d.h
@@ -24,6 +24,7 @@
 #include <map>
 #include <vector>
 
+#include "cartographer/common/thread_annotations.h"
 #include "Eigen/Core"
 #include "Eigen/Geometry"
 #include "absl/synchronization/mutex.h"
diff --git a/cartographer/mapping/internal/constraints/constraint_builder_3d.cc b/cartographer/mapping/internal/constraints/constraint_builder_3d.cc
index 87b3742..c3eb767 100644
--- a/cartographer/mapping/internal/constraints/constraint_builder_3d.cc
+++ b/cartographer/mapping/internal/constraints/constraint_builder_3d.cc
@@ -27,6 +27,7 @@
 #include <tuple>
 #include <utility>
 
+#include "cartographer/common/thread_annotations.h"
 #include "Eigen/Eigenvalues"
 #include "absl/memory/memory.h"
 #include "cartographer/common/math.h"
diff --git a/cartographer/mapping/internal/constraints/constraint_builder_3d.h b/cartographer/mapping/internal/constraints/constraint_builder_3d.h
index 247a9da..d909358 100644
--- a/cartographer/mapping/internal/constraints/constraint_builder_3d.h
+++ b/cartographer/mapping/internal/constraints/constraint_builder_3d.h
@@ -24,6 +24,7 @@
 #include <map>
 #include <vector>
 
+#include "cartographer/common/thread_annotations.h"
 #include "Eigen/Core"
 #include "Eigen/Geometry"
 #include "absl/synchronization/mutex.h"
diff --git a/cartographer/mapping/internal/range_data_collator_test.cc b/cartographer/mapping/internal/range_data_collator_test.cc
index 43ceb00..6435e50 100644
--- a/cartographer/mapping/internal/range_data_collator_test.cc
+++ b/cartographer/mapping/internal/range_data_collator_test.cc
@@ -203,3 +203,4 @@ TEST(RangeDataCollatorTest, ThreeSensorsWithIntensities) {
 }  // namespace
 }  // namespace mapping
 }  // namespace cartographer
+
diff --git a/cartographer/sensor/imu_data.h b/cartographer/sensor/imu_data.h
index 18f1b6e..d5c504f 100644
--- a/cartographer/sensor/imu_data.h
+++ b/cartographer/sensor/imu_data.h
@@ -25,9 +25,9 @@ namespace cartographer {
 namespace sensor {
 
 struct ImuData {
-  common::Time time;
-  Eigen::Vector3d linear_acceleration;
-  Eigen::Vector3d angular_velocity;
+  common::Time time{};
+  Eigen::Vector3d linear_acceleration{Eigen::Vector3d::Zero()};
+  Eigen::Vector3d angular_velocity{Eigen::Vector3d::Zero()};
 };
 
 // Converts 'imu_data' to a proto::ImuData.
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