diff --git a/gazebo_msgs/msg/LinkStates.msg b/gazebo_msgs/msg/LinkStates.msg
index 275dd1dd0..43c4fb905 100644
--- a/gazebo_msgs/msg/LinkStates.msg
+++ b/gazebo_msgs/msg/LinkStates.msg
@@ -1,4 +1,5 @@
 # broadcast all link states in world frame
+Header header                 # stamp
 string[] name                 # link names
 geometry_msgs/Pose[] pose     # desired pose in world frame
 geometry_msgs/Twist[] twist   # desired twist in world frame
diff --git a/gazebo_msgs/msg/ModelStates.msg b/gazebo_msgs/msg/ModelStates.msg
index 1eac239a3..2f227a1fc 100644
--- a/gazebo_msgs/msg/ModelStates.msg
+++ b/gazebo_msgs/msg/ModelStates.msg
@@ -1,4 +1,5 @@
 # broadcast all model states in world frame
+Header header                 # stamp
 string[] name                 # model names
 geometry_msgs/Pose[] pose     # desired pose in world frame
 geometry_msgs/Twist[] twist   # desired twist in world frame
diff --git a/gazebo_ros/src/gazebo_ros_api_plugin.cpp b/gazebo_ros/src/gazebo_ros_api_plugin.cpp
index 1eaa7bc0f..098bfc9b9 100644
--- a/gazebo_ros/src/gazebo_ros_api_plugin.cpp
+++ b/gazebo_ros/src/gazebo_ros_api_plugin.cpp
@@ -2191,6 +2191,8 @@ void GazeboRosApiPlugin::publishSimTime()
 void GazeboRosApiPlugin::publishLinkStates()
 {
   gazebo_msgs::LinkStates link_states;
+  link_states.header.stamp = ros::Time::now();
+  link_states.header.frame_id = "map";
 
   // fill link_states
 #if GAZEBO_MAJOR_VERSION >= 8
@@ -2248,6 +2250,9 @@ void GazeboRosApiPlugin::publishLinkStates()
 void GazeboRosApiPlugin::publishModelStates()
 {
   gazebo_msgs::ModelStates model_states;
+  model_states.header.stamp = ros::Time::now();
+  model_states.header.frame_id = "map";
+
 
   // fill model_states
 #if GAZEBO_MAJOR_VERSION >= 8