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2017-01-13 19:33:52 -0600 asked a question Why doesn't std_msgs::Float32MultiArray have a Header field?

Some messages (e.g., sensor_msgs::PointCloud2) have Header fields, while many others don't.

In particular, why don't float32 multiarrays (or any other std_msg/ messages) have header fields? Why was the decision made to only selectively provide header fields. How am I supposed to track the timing of messages without header fields, since the header contains the timestamp?