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I would keep the timestamp as 0 in your example (i.e. the time the underlying data was first generated). One big reason for this is TF. Ideally you want other applications that might use your pointcloud to get the correct transforms associated with it, which they would resolve using the TF tree, which in turn would pull up an interpolated transform from a TF buffer. As such keeping the original time stamp is the best strategy and will lead to the least amount of pain down the line.