diff --git a/hydra_ros/include/hydra_ros/places/external_traversability_estimator.h b/hydra_ros/include/hydra_ros/places/external_traversability_estimator.h
index a8cea81..63772e1 100644
--- a/hydra_ros/include/hydra_ros/places/external_traversability_estimator.h
+++ b/hydra_ros/include/hydra_ros/places/external_traversability_estimator.h
@@ -60,9 +60,7 @@ class ExternalTraversabilityEstimator : public TraversabilityEstimator {
   ExternalTraversabilityEstimator(const Config& config);
   ~ExternalTraversabilityEstimator() override = default;
 
-  void updateTraversability(const ActiveWindowOutput& msg,
-                            const kimera_pgmo::MeshDelta& /* mesh_delta */,
-                            const spark_dsg::DynamicSceneGraph& /* graph */) override;
+  void updateTraversability(const ActiveWindowOutput& msg) override;
 
   void callback(const nav_msgs::msg::OccupancyGrid::SharedPtr msg);
 
diff --git a/hydra_ros/src/places/external_traversability_estimator.cpp b/hydra_ros/src/places/external_traversability_estimator.cpp
index 4f440b1..f331d04 100644
--- a/hydra_ros/src/places/external_traversability_estimator.cpp
+++ b/hydra_ros/src/places/external_traversability_estimator.cpp
@@ -74,9 +74,7 @@ const TraversabilityLayer& ExternalTraversabilityEstimator::getTraversabilityLay
 }
 
 void ExternalTraversabilityEstimator::updateTraversability(
-    const ActiveWindowOutput& msg,
-    const kimera_pgmo::MeshDelta&,
-    const spark_dsg::DynamicSceneGraph&) {
+    const ActiveWindowOutput& msg) {
   if (!traversability_layer_) {
     const auto& map_config = msg.map().config;
     traversability_layer_ = std::make_unique<TraversabilityLayer>(