diff --git a/pcl_ros/include/pcl_ros/features/feature.h b/pcl_ros/include/pcl_ros/features/feature.h
index 7ef9d644..3d5f9604 100644
--- a/pcl_ros/include/pcl_ros/features/feature.h
+++ b/pcl_ros/include/pcl_ros/features/feature.h
@@ -49,6 +49,9 @@
 #include <dynamic_reconfigure/server.h>
 #include "pcl_ros/FeatureConfig.h"
 
+// PCL conversions
+#include <pcl_conversions/pcl_conversions.h>
+
 namespace pcl_ros
 {
   namespace sync_policies = message_filters::sync_policies;
@@ -147,7 +150,7 @@ namespace pcl_ros
       input_callback (const PointCloudInConstPtr &input)
       {
         PointIndices indices;
-        indices.header.stamp = input->header.stamp;
+        indices.header.stamp = pcl_conversions::fromPCL(input->header).stamp;
         PointCloudIn cloud;
         cloud.header.stamp = input->header.stamp;
         nf_pc_.add (cloud.makeShared ());
diff --git a/pcl_ros/include/pcl_ros/impl/transforms.hpp b/pcl_ros/include/pcl_ros/impl/transforms.hpp
index 26fcbc3b..52b49e25 100644
--- a/pcl_ros/include/pcl_ros/impl/transforms.hpp
+++ b/pcl_ros/include/pcl_ros/impl/transforms.hpp
@@ -37,8 +37,12 @@
 #ifndef pcl_ros_IMPL_TRANSFORMS_H_
 #define pcl_ros_IMPL_TRANSFORMS_H_
 
+#include <pcl_conversions/pcl_conversions.h>
 #include "pcl_ros/transforms.h"
 
+using pcl_conversions::fromPCL;
+using pcl_conversions::toPCL;
+
 namespace pcl_ros
 {
 //////////////////////////////////////////////////////////////////////////////////////////////
@@ -99,7 +103,7 @@ transformPointCloudWithNormals (const std::string &target_frame,
   tf::StampedTransform transform;
   try
   {
-    tf_listener.lookupTransform (target_frame, cloud_in.header.frame_id, cloud_in.header.stamp, transform);
+    tf_listener.lookupTransform (target_frame, cloud_in.header.frame_id, fromPCL(cloud_in.header).stamp, transform);
   }
   catch (tf::LookupException &e)
   {
@@ -133,7 +137,7 @@ transformPointCloud (const std::string &target_frame,
   tf::StampedTransform transform;
   try
   {
-    tf_listener.lookupTransform (target_frame, cloud_in.header.frame_id, cloud_in.header.stamp, transform);
+    tf_listener.lookupTransform (target_frame, cloud_in.header.frame_id, fromPCL(cloud_in.header).stamp, transform);
   }
   catch (tf::LookupException &e)
   {
@@ -162,7 +166,7 @@ transformPointCloud (const std::string &target_frame,
   tf::StampedTransform transform;
   try
   {
-    tf_listener.lookupTransform (target_frame, target_time, cloud_in.header.frame_id, cloud_in.header.stamp, fixed_frame, transform);
+    tf_listener.lookupTransform (target_frame, target_time, cloud_in.header.frame_id, fromPCL(cloud_in.header).stamp, fixed_frame, transform);
   }
   catch (tf::LookupException &e)
   {
@@ -177,7 +181,9 @@ transformPointCloud (const std::string &target_frame,
 
   transformPointCloud (cloud_in, cloud_out, transform);
   cloud_out.header.frame_id = target_frame;
-  cloud_out.header.stamp = target_time;
+  std_msgs::Header header;
+  header.stamp = target_time;
+  cloud_out.header = toPCL(header);
   return (true);
 }
 
@@ -193,7 +199,7 @@ transformPointCloudWithNormals (const std::string &target_frame,
   tf::StampedTransform transform;
   try
   {
-    tf_listener.lookupTransform (target_frame, target_time, cloud_in.header.frame_id, cloud_in.header.stamp, fixed_frame, transform);
+    tf_listener.lookupTransform (target_frame, target_time, cloud_in.header.frame_id, fromPCL(cloud_in.header).stamp, fixed_frame, transform);
   }
   catch (tf::LookupException &e)
   {
@@ -208,7 +214,9 @@ transformPointCloudWithNormals (const std::string &target_frame,
 
   transformPointCloudWithNormals (cloud_in, cloud_out, transform);
   cloud_out.header.frame_id = target_frame;
-  cloud_out.header.stamp = target_time;
+  std_msgs::Header header;
+  header.stamp = target_time;
+  cloud_out.header = toPCL(header);
   return (true);
 }
 
diff --git a/pcl_ros/include/pcl_ros/pcl_nodelet.h b/pcl_ros/include/pcl_ros/pcl_nodelet.h
index 9fef5ba7..dbb8b460 100644
--- a/pcl_ros/include/pcl_ros/pcl_nodelet.h
+++ b/pcl_ros/include/pcl_ros/pcl_nodelet.h
@@ -46,9 +46,10 @@
 
 #include <sensor_msgs/PointCloud2.h>
 // PCL includes
-#include <pcl/PointIndices.h>
+#include <pcl_msgs/PointIndices.h>
 #include <pcl/ModelCoefficients.h>
 #include <pcl/point_types.h>
+#include <pcl_conversions/pcl_conversions.h>
 #include "pcl_ros/point_cloud.h"
 // ROS Nodelet includes
 #include <nodelet/nodelet.h>
@@ -60,6 +61,8 @@
 // Include TF
 #include <tf/transform_listener.h>
 
+using pcl_conversions::fromPCL;
+
 namespace pcl_ros
 {
   ////////////////////////////////////////////////////////////////////////////////////////////
@@ -75,7 +78,7 @@ namespace pcl_ros
       typedef PointCloud::Ptr PointCloudPtr;
       typedef PointCloud::ConstPtr PointCloudConstPtr;
 
-      typedef pcl::PointIndices PointIndices;
+      typedef pcl_msgs::PointIndices PointIndices;
       typedef PointIndices::Ptr PointIndicesPtr;
       typedef PointIndices::ConstPtr PointIndicesConstPtr;
 
@@ -157,7 +160,7 @@ namespace pcl_ros
       {
         if (cloud->width * cloud->height != cloud->points.size ())
         {
-          NODELET_WARN ("[%s] Invalid PointCloud (points = %zu, width = %d, height = %d) with stamp %f, and frame %s on topic %s received!", getName ().c_str (), cloud->points.size (), cloud->width, cloud->height, cloud->header.stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName (topic_name).c_str ());
+          NODELET_WARN ("[%s] Invalid PointCloud (points = %zu, width = %d, height = %d) with stamp %f, and frame %s on topic %s received!", getName ().c_str (), cloud->points.size (), cloud->width, cloud->height, fromPCL(cloud->header).stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName (topic_name).c_str ());
 
           return (false);
         }
diff --git a/pcl_ros/include/pcl_ros/publisher.h b/pcl_ros/include/pcl_ros/publisher.h
index 1bba8e2c..b019ba9b 100644
--- a/pcl_ros/include/pcl_ros/publisher.h
+++ b/pcl_ros/include/pcl_ros/publisher.h
@@ -46,7 +46,8 @@
 #define PCL_ROS_PUBLISHER_H_
 
 #include <ros/ros.h>
-#include <pcl/ros/conversions.h>
+#include <sensor_msgs/PointCloud2.h>
+#include <pcl/conversions.h>
 
 namespace pcl_ros 
 {
diff --git a/pcl_ros/src/pcl_ros/features/feature.cpp b/pcl_ros/src/pcl_ros/features/feature.cpp
index 434707ee..0625279b 100644
--- a/pcl_ros/src/pcl_ros/features/feature.cpp
+++ b/pcl_ros/src/pcl_ros/features/feature.cpp
@@ -204,25 +204,25 @@ pcl_ros::Feature::input_surface_indices_callback (const PointCloudInConstPtr &cl
                      "                                         - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
                      "                                         - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
                      "                                         - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
-                 cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), cloud->header.stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
-                 cloud_surface->width * cloud_surface->height, pcl::getFieldsList (*cloud_surface).c_str (), cloud_surface->header.stamp.toSec (), cloud_surface->header.frame_id.c_str (), pnh_->resolveName ("surface").c_str (),
+                 cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), fromPCL(cloud->header).stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
+                 cloud_surface->width * cloud_surface->height, pcl::getFieldsList (*cloud_surface).c_str (), fromPCL(cloud_surface->header).stamp.toSec (), cloud_surface->header.frame_id.c_str (), pnh_->resolveName ("surface").c_str (),
                  indices->indices.size (), indices->header.stamp.toSec (), indices->header.frame_id.c_str (), pnh_->resolveName ("indices").c_str ());
     else
       NODELET_DEBUG ("[input_surface_indices_callback]\n"
                      "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
                      "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.",
-                     cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), cloud->header.stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
-                     cloud_surface->width * cloud_surface->height, pcl::getFieldsList (*cloud_surface).c_str (), cloud_surface->header.stamp.toSec (), cloud_surface->header.frame_id.c_str (), pnh_->resolveName ("surface").c_str ());
+                     cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), fromPCL(cloud->header).stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
+                     cloud_surface->width * cloud_surface->height, pcl::getFieldsList (*cloud_surface).c_str (), fromPCL(cloud_surface->header).stamp.toSec (), cloud_surface->header.frame_id.c_str (), pnh_->resolveName ("surface").c_str ());
 
   else
     if (indices)
       NODELET_DEBUG ("[input_surface_indices_callback]\n"
                      "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
                      "                                 - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
-                     cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), cloud->header.stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
+                     cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), fromPCL(cloud->header).stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
                      indices->indices.size (), indices->header.stamp.toSec (), indices->header.frame_id.c_str (), pnh_->resolveName ("indices").c_str ());
     else
-      NODELET_DEBUG ("[input_surface_indices_callback] PointCloud with %d data points, stamp %f, and frame %s on topic %s received.", cloud->width * cloud->height, cloud->header.stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str ());
+      NODELET_DEBUG ("[input_surface_indices_callback] PointCloud with %d data points, stamp %f, and frame %s on topic %s received.", cloud->width * cloud->height, fromPCL(cloud->header).stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str ());
   ///
 
 
@@ -394,9 +394,9 @@ pcl_ros::FeatureFromNormals::input_normals_surface_indices_callback (
                      "                                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
                      "                                                 - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
                      getName ().c_str (),
-                     cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), cloud->header.stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
-                     cloud_surface->width * cloud_surface->height, pcl::getFieldsList (*cloud_surface).c_str (), cloud_surface->header.stamp.toSec (), cloud_surface->header.frame_id.c_str (), pnh_->resolveName ("surface").c_str (),
-                     cloud_normals->width * cloud_normals->height, pcl::getFieldsList (*cloud_normals).c_str (), cloud_normals->header.stamp.toSec (), cloud_normals->header.frame_id.c_str (), pnh_->resolveName ("normals").c_str (),
+                     cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), fromPCL(cloud->header).stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
+                     cloud_surface->width * cloud_surface->height, pcl::getFieldsList (*cloud_surface).c_str (), fromPCL(cloud_surface->header).stamp.toSec (), cloud_surface->header.frame_id.c_str (), pnh_->resolveName ("surface").c_str (),
+                     cloud_normals->width * cloud_normals->height, pcl::getFieldsList (*cloud_normals).c_str (), fromPCL(cloud_normals->header).stamp.toSec (), cloud_normals->header.frame_id.c_str (), pnh_->resolveName ("normals").c_str (),
                      indices->indices.size (), indices->header.stamp.toSec (), indices->header.frame_id.c_str (), pnh_->resolveName ("indices").c_str ());
     else
       NODELET_DEBUG ("[%s::input_normals_surface_indices_callback]\n"
@@ -404,9 +404,9 @@ pcl_ros::FeatureFromNormals::input_normals_surface_indices_callback (
                      "                                         - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
                      "                                         - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.",
                      getName ().c_str (), 
-                     cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), cloud->header.stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
-                     cloud_surface->width * cloud_surface->height, pcl::getFieldsList (*cloud_surface).c_str (), cloud_surface->header.stamp.toSec (), cloud_surface->header.frame_id.c_str (), pnh_->resolveName ("surface").c_str (),
-                     cloud_normals->width * cloud_normals->height, pcl::getFieldsList (*cloud_normals).c_str (), cloud_normals->header.stamp.toSec (), cloud_normals->header.frame_id.c_str (), pnh_->resolveName ("normals").c_str ());
+                     cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), fromPCL(cloud->header).stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
+                     cloud_surface->width * cloud_surface->height, pcl::getFieldsList (*cloud_surface).c_str (), fromPCL(cloud_surface->header).stamp.toSec (), cloud_surface->header.frame_id.c_str (), pnh_->resolveName ("surface").c_str (),
+                     cloud_normals->width * cloud_normals->height, pcl::getFieldsList (*cloud_normals).c_str (), fromPCL(cloud_normals->header).stamp.toSec (), cloud_normals->header.frame_id.c_str (), pnh_->resolveName ("normals").c_str ());
   else
     if (indices)
       NODELET_DEBUG ("[%s::input_normals_surface_indices_callback]\n"
@@ -414,16 +414,16 @@ pcl_ros::FeatureFromNormals::input_normals_surface_indices_callback (
                      "                                         - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
                      "                                         - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
                      getName ().c_str (),
-                     cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), cloud->header.stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
-                     cloud_normals->width * cloud_normals->height, pcl::getFieldsList (*cloud_normals).c_str (), cloud_normals->header.stamp.toSec (), cloud_normals->header.frame_id.c_str (), pnh_->resolveName ("normals").c_str (),
+                     cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), fromPCL(cloud->header).stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
+                     cloud_normals->width * cloud_normals->height, pcl::getFieldsList (*cloud_normals).c_str (), fromPCL(cloud_normals->header).stamp.toSec (), cloud_normals->header.frame_id.c_str (), pnh_->resolveName ("normals").c_str (),
                      indices->indices.size (), indices->header.stamp.toSec (), indices->header.frame_id.c_str (), pnh_->resolveName ("indices").c_str ());
     else
       NODELET_DEBUG ("[%s::input_normals_surface_indices_callback]\n"
                      "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
                      "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.",
                      getName ().c_str (), 
-                     cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), cloud->header.stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
-                     cloud_normals->width * cloud_normals->height, pcl::getFieldsList (*cloud_normals).c_str (), cloud_normals->header.stamp.toSec (), cloud_normals->header.frame_id.c_str (), pnh_->resolveName ("normals").c_str ());
+                     cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), fromPCL(cloud->header).stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
+                     cloud_normals->width * cloud_normals->height, pcl::getFieldsList (*cloud_normals).c_str (), fromPCL(cloud_normals->header).stamp.toSec (), cloud_normals->header.frame_id.c_str (), pnh_->resolveName ("normals").c_str ());
   ///
 
   if ((int)(cloud->width * cloud->height) < k_)
diff --git a/pcl_ros/src/transforms.cpp b/pcl_ros/src/transforms.cpp
index d35e2366..75fc6c4e 100644
--- a/pcl_ros/src/transforms.cpp
+++ b/pcl_ros/src/transforms.cpp
@@ -37,6 +37,7 @@
 #include <sensor_msgs/PointCloud2.h>
 #include <pcl/common/io.h>
 #include <pcl/point_types.h>
+#include <pcl_conversions/pcl_conversions.h>
 #include "pcl_ros/transforms.h"
 #include "pcl_ros/impl/transforms.hpp"
 
diff --git a/pcl_ros/tools/bag_to_pcd.cpp b/pcl_ros/tools/bag_to_pcd.cpp
index f66d74b5..b9114cf9 100644
--- a/pcl_ros/tools/bag_to_pcd.cpp
+++ b/pcl_ros/tools/bag_to_pcd.cpp
@@ -50,6 +50,7 @@ Cloud Data) format.
 #include <rosbag/view.h>
 #include <pcl/io/io.h>
 #include <pcl/io/pcd_io.h>
+#include <pcl_conversions/pcl_conversions.h>
 #include "pcl_ros/transforms.h"
 #include <tf/transform_listener.h>
 #include <tf/transform_broadcaster.h>
diff --git a/pcl_ros/tools/convert_pcd_to_image.cpp b/pcl_ros/tools/convert_pcd_to_image.cpp
index 2325f513..ff8e28af 100644
--- a/pcl_ros/tools/convert_pcd_to_image.cpp
+++ b/pcl_ros/tools/convert_pcd_to_image.cpp
@@ -48,9 +48,11 @@
 
 #include <ros/ros.h>
 #include <sensor_msgs/Image.h>
+#include <sensor_msgs/PointCloud2.h>
 #include <pcl/io/io.h>
 #include <pcl/io/pcd_io.h>
 #include <pcl/point_types.h>
+#include <pcl_conversions/pcl_conversions.h>
 
 /* ---[ */
 int
@@ -74,7 +76,7 @@ main (int argc, char **argv)
   {
     pcl::toROSMsg (cloud, image); //convert the cloud
   }
-  catch (std::runtime_error e)
+  catch (std::runtime_error &e)
   {
     ROS_ERROR_STREAM("Error in converting cloud to image message: "
                             << e.what());
diff --git a/pcl_ros/tools/convert_pointcloud_to_image.cpp b/pcl_ros/tools/convert_pointcloud_to_image.cpp
index ebadd99d..0fdd5e87 100644
--- a/pcl_ros/tools/convert_pointcloud_to_image.cpp
+++ b/pcl_ros/tools/convert_pointcloud_to_image.cpp
@@ -42,8 +42,11 @@
 #include <ros/ros.h>
 //Image message
 #include <sensor_msgs/Image.h>
+#include <sensor_msgs/PointCloud2.h>
 //pcl::toROSMsg
 #include <pcl/io/pcd_io.h>
+//conversions from PCL custom types
+#include <pcl_conversions/pcl_conversions.h>
 //stl stuff
 #include <string>
 
@@ -59,7 +62,7 @@ public:
     {
       pcl::toROSMsg (*cloud, image_); //convert the cloud
     }
-    catch (std::runtime_error e)
+    catch (std::runtime_error &e)
     {
       ROS_ERROR_STREAM("Error in converting cloud to image message: "
                         << e.what());
diff --git a/pcl_ros/tools/pcd_to_pointcloud.cpp b/pcl_ros/tools/pcd_to_pointcloud.cpp
index bbb3e769..655b4341 100644
--- a/pcl_ros/tools/pcd_to_pointcloud.cpp
+++ b/pcl_ros/tools/pcd_to_pointcloud.cpp
@@ -48,6 +48,7 @@
 #include <pcl/io/io.h>
 #include <pcl/io/pcd_io.h>
 #include <pcl/point_types.h>
+#include <pcl_conversions/pcl_conversions.h>
 
 #include "pcl_ros/publisher.h"
 
diff --git a/perception_pcl/package.xml b/perception_pcl/package.xml
index 5aeaac6b..9ac4e385 100644
--- a/perception_pcl/package.xml
+++ b/perception_pcl/package.xml
@@ -15,6 +15,8 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
+  <run_depend>pcl_conversions</run_depend>
+  <run_depend>pcl_msgs</run_depend>
   <run_depend>pcl_ros</run_depend>
 
   <export>