diff --git a/pcl_ros/src/pcl_ros/io/concatenate_data.cpp b/pcl_ros/src/pcl_ros/io/concatenate_data.cpp
index 90000feb..f7a09a84 100644
--- a/pcl_ros/src/pcl_ros/io/concatenate_data.cpp
+++ b/pcl_ros/src/pcl_ros/io/concatenate_data.cpp
@@ -215,6 +215,8 @@ pcl_ros::PointCloudConcatenateDataSynchronizer::combineClouds (const PointCloud2
 
   // Concatenate the results
   pcl::concatenatePointCloud (*in1_t, *in2_t, out);
+  // Copy header
+  out.header.stamp = in1.header.stamp;
 }
 
 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -228,21 +230,21 @@ pcl_ros::PointCloudConcatenateDataSynchronizer::input (
   PointCloud2::Ptr out1 (new PointCloud2 ());
   PointCloud2::Ptr out2 (new PointCloud2 ());
   pcl_ros::PointCloudConcatenateDataSynchronizer::combineClouds (*in1, *in2, *out1);
-  if (in3)
+  if (in3 && in3->width * in3->height > 0)
   {
     pcl_ros::PointCloudConcatenateDataSynchronizer::combineClouds (*out1, *in3, *out2);
     out1 = out2;
-    if (in4)
+    if (in4 && in4->width * in4->height > 0)
     {
       pcl_ros::PointCloudConcatenateDataSynchronizer::combineClouds (*out2, *in4, *out1);
-      if (in5)
+      if (in5 && in5->width * in5->height > 0)
       {
         pcl_ros::PointCloudConcatenateDataSynchronizer::combineClouds (*out1, *in5, *out2);
         out1 = out2;
-        if (in6)
+        if (in6 && in6->width * in6->height > 0)
         {
           pcl_ros::PointCloudConcatenateDataSynchronizer::combineClouds (*out2, *in6, *out1);
-          if (in7)
+          if (in7 && in7->width * in7->height > 0)
           {
             pcl_ros::PointCloudConcatenateDataSynchronizer::combineClouds (*out1, *in7, *out2);
             out1 = out2;