diff --git a/pcl_conversions/include/pcl_conversions/pcl_conversions.h b/pcl_conversions/include/pcl_conversions/pcl_conversions.h
index 6f5f20c6..9970ba7b 100644
--- a/pcl_conversions/include/pcl_conversions/pcl_conversions.h
+++ b/pcl_conversions/include/pcl_conversions/pcl_conversions.h
@@ -111,8 +111,7 @@ namespace pcl_conversions {
   inline
   void fromPCL(const pcl::PCLHeader &pcl_header, std_msgs::msg::Header &header)
   {
-    auto time_stamp = rclcpp::Time(header.stamp);
-    fromPCL(pcl_header.stamp, time_stamp);
+    header.stamp = fromPCL(pcl_header.stamp);
     header.frame_id = pcl_header.frame_id;
   }
 
diff --git a/pcl_conversions/test/test_pcl_conversions.cpp b/pcl_conversions/test/test_pcl_conversions.cpp
index f827ab01..83a3142e 100644
--- a/pcl_conversions/test/test_pcl_conversions.cpp
+++ b/pcl_conversions/test/test_pcl_conversions.cpp
@@ -9,6 +9,7 @@ namespace {
 class PCLConversionTests : public ::testing::Test {
 protected:
   virtual void SetUp() {
+    pcl_image.header.stamp = 3141592653;
     pcl_image.header.frame_id = "pcl";
     pcl_image.height = 1;
     pcl_image.width = 2;
@@ -19,6 +20,7 @@ protected:
     pcl_image.data[0] = 0x42;
     pcl_image.data[1] = 0x43;
 
+    pcl_pc2.header.stamp = 3141592653;
     pcl_pc2.header.frame_id = "pcl";
     pcl_pc2.height = 1;
     pcl_pc2.width = 2;
@@ -66,6 +68,7 @@ TEST_F(PCLConversionTests, imageConversion) {
   pcl::PCLImage pcl_image2;
   pcl_conversions::toPCL(image, pcl_image2);
   test_image(pcl_image2);
+  EXPECT_EQ(pcl_image.header.stamp, pcl_image2.header.stamp);
 }
 
 template<class T>
@@ -96,6 +99,7 @@ TEST_F(PCLConversionTests, pointcloud2Conversion) {
   pcl::PCLPointCloud2 pcl_pc2_2;
   pcl_conversions::toPCL(pc2, pcl_pc2_2);
   test_pc(pcl_pc2_2);
+  EXPECT_EQ(pcl_pc2.header.stamp, pcl_pc2_2.header.stamp);
 }
 
 } // namespace