diff --git a/rmw_fastrtps_shared_cpp/src/rmw_take.cpp b/rmw_fastrtps_shared_cpp/src/rmw_take.cpp
index b5c75bf4b..3ff4d63cf 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_take.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_take.cpp
@@ -37,6 +37,8 @@ _assign_message_info(
   rmw_message_info_t * message_info,
   const eprosima::fastrtps::SampleInfo_t * sinfo)
 {
+  message_info->source_timestamp = sinfo->sourceTimestamp.to_ns();
+  message_info->received_timestamp = sinfo->receptionTimestamp.to_ns();
   rmw_gid_t * sender_gid = &message_info->publisher_gid;
   sender_gid->implementation_identifier = identifier;
   memset(sender_gid->data, 0, RMW_GID_STORAGE_SIZE);