diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index b9c9033d..829a2502 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -10,7 +10,7 @@ Changelog
 * [BUGFIX]: ROS2 crashes when standby mode is set and then set to normal
 * [BUGFIX]: Implement lock free ring buffer with throttling to reduce partial frames
 * add support for FUSA udp profile ``FUSA_RNG15_RFL8_NIR8_DUAL``.
-* Set xyz values of individual points in the PointCloud to NaNs when range is zero.
+* [BREAKING]: Set xyz values of individual points in the PointCloud to NaNs when range is zero.
 
 
 ouster_ros v0.12.0
diff --git a/ouster-ros/include/ouster_ros/sensor_point_types.h b/ouster-ros/include/ouster_ros/sensor_point_types.h
index 353f6144..fa2a9a13 100644
--- a/ouster-ros/include/ouster_ros/sensor_point_types.h
+++ b/ouster-ros/include/ouster_ros/sensor_point_types.h
@@ -46,7 +46,7 @@ static constexpr ChanFieldTable<4> Profile_LEGACY{{
 // auto=LEGACY
 struct EIGEN_ALIGN16 _Point_LEGACY {
     PCL_ADD_POINT4D;
-    uint32_t t;             // timestamp relative to frame
+    uint32_t t;             // timestamp in nanoseconds relative to frame start
     uint16_t ring;          // equivalent to channel
     uint32_t range;
     uint32_t signal;        // equivalent to intensity
@@ -133,7 +133,7 @@ static constexpr ChanFieldTable<4> Profile_RNG19_RFL8_SIG16_NIR16_DUAL_2ND_RETUR
 // auto=RNG19_RFL8_SIG16_NIR16_DUAL
 struct EIGEN_ALIGN16 _Point_RNG19_RFL8_SIG16_NIR16_DUAL {
     PCL_ADD_POINT4D;
-    uint32_t t;             // timestamp relative to frame start time
+    uint32_t t;             // timestamp in nanoseconds relative to frame start
     uint16_t ring;          // equivalent channel
     uint32_t range;
     uint16_t signal;        // equivalent to intensity
@@ -205,7 +205,7 @@ static constexpr ChanFieldTable<4> Profile_RNG19_RFL8_SIG16_NIR16{{
 // auto=RNG19_RFL8_SIG16_NIR16
 struct EIGEN_ALIGN16 _Point_RNG19_RFL8_SIG16_NIR16 {
     PCL_ADD_POINT4D;
-    uint32_t t;             // timestamp relative to frame start time
+    uint32_t t;             // timestamp in nanoseconds relative to frame start
     uint16_t ring;          // equivalent channel
     uint32_t range;
     uint16_t signal;        // equivalent to intensity
@@ -277,7 +277,7 @@ static constexpr ChanFieldTable<3> Profile_RNG15_RFL8_NIR8{{
 struct EIGEN_ALIGN16 _Point_RNG15_RFL8_NIR8 {
     PCL_ADD_POINT4D;
     // No signal/intensity in low data mode
-    uint32_t t;             // timestamp relative to frame
+    uint32_t t;             // timestamp in nanoseconds relative to frame start
     uint16_t ring;          // equivalent to channel
     uint32_t range;
     uint16_t reflectivity;
@@ -364,7 +364,7 @@ static constexpr ChanFieldTable<3> Profile_FUSA_RNG15_RFL8_NIR8_DUAL_2ND_RETURN
 // auto=RNG19_RFL8_SIG16_NIR16_DUAL
 struct EIGEN_ALIGN16 _Point_FUSA_RNG15_RFL8_NIR8_DUAL {
     PCL_ADD_POINT4D;
-    uint32_t t;             // timestamp relative to frame start time
+    uint32_t t;             // timestamp in nanoseconds relative to frame start
     uint16_t ring;          // equivalent to channel
     uint32_t range;
     uint8_t reflectivity;