diff --git a/doc/source/doxygen-docs/changelog.md b/doc/source/doxygen-docs/changelog.md
index 6d6c709547..0ac719745b 100644
--- a/doc/source/doxygen-docs/changelog.md
+++ b/doc/source/doxygen-docs/changelog.md
@@ -1,6 +1,9 @@
 \page changelog Change Log
 
 # Version 2.13.5: UNRELEASED
+- Changes in libraries:
+  - \ref mrpt_ros2bridge_grp:
+    - mrpt::ros2bridge::toROS() conversion from `PointCloud2` to mrpt::maps::CPointsMapXYZIRT: recognize timestamp field names `"t"` and `"timestamp"`, apart of `"time"`.
 - Build system:
   - This main MRPT repository is no longer directly built as a ROS package. Please, use the wrappers for better modularity:
     - https://github.com/MRPT/mrpt_ros
diff --git a/libs/ros2bridge/src/point_cloud2.cpp b/libs/ros2bridge/src/point_cloud2.cpp
index 02ce0eebf3..631719e803 100644
--- a/libs/ros2bridge/src/point_cloud2.cpp
+++ b/libs/ros2bridge/src/point_cloud2.cpp
@@ -179,7 +179,10 @@ bool mrpt::ros2bridge::fromROS(const sensor_msgs::msg::PointCloud2& msg, CPoints
     incompatible |= check_field(msg.fields[i], "z", &z_field);
     incompatible |= check_field(msg.fields[i], "intensity", &i_field);
     incompatible |= check_field(msg.fields[i], "ring", &r_field);
+
+    incompatible |= check_field(msg.fields[i], "timestamp", &t_field);
     incompatible |= check_field(msg.fields[i], "time", &t_field);
+    incompatible |= check_field(msg.fields[i], "t", &t_field);
   }
 
   if (incompatible || (!x_field || !y_field || !z_field)) return false;