diff --git a/rmf_human_detector/src/HumanDetector.cpp b/rmf_human_detector/src/HumanDetector.cpp
index 35fac14d..e30afcbe 100644
--- a/rmf_human_detector/src/HumanDetector.cpp
+++ b/rmf_human_detector/src/HumanDetector.cpp
@@ -105,6 +105,9 @@ HumanDetector::HumanDetector(const rclcpp::NodeOptions& options)
       // perform detections
       auto [rmf_obstacles, image_detections] = _data->_detector->image_cb(msg);
 
+      rmf_obstacles.header.stamp = this->get_clock()->now();
+      rmf_obstacles.header.frame_id = _data->_camera_name;
+
       // populate fields like time stamp, etc
       for (auto& obstacle : rmf_obstacles.obstacles)
       {