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Afaik, not without patching rosbridge.

As the header nees to be set manually depending on your needs, it is probably not correct if rosbridge sets the timestamp once it it publishing the message.

(Why this is the correct way to do it, consider the following two examples.

1. A sensor takes some measurements and sends them directly. There, the current time might be okay.
2. You do some more preprocessing on the sensor data which takes, say, 0.5s. If you now send this data out, ideally the timestamp would be the one of the measurement and thus 0.5s in the past.

)

So I guess you need to set the timestamp manually in JSON.