diff --git a/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/Serializer.cs b/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/Serializer.cs
index 09c14e37..4ca4b6e0 100644
--- a/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/Serializer.cs
+++ b/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/Serializer.cs
@@ -36,7 +36,11 @@ public void Init(string frame_id)
             /// </summary>
             public void Serialize(float time)
             {
+#if ROS2
+                int sec = (int)Math.Truncate(time);
+#else
                 uint sec = (uint)Math.Truncate(time);
+# endif
                 _header.stamp.sec = sec;
                 _header.stamp.nanosec = (uint)((time - sec) * 1e+9);
                 _header.seq++;
diff --git a/Assets/UnitySensorsROS/Runtime/Scripts/Utils/Clock/ROSClock.cs b/Assets/UnitySensorsROS/Runtime/Scripts/Utils/Clock/ROSClock.cs
index 6fca642e..666e3b31 100644
--- a/Assets/UnitySensorsROS/Runtime/Scripts/Utils/Clock/ROSClock.cs
+++ b/Assets/UnitySensorsROS/Runtime/Scripts/Utils/Clock/ROSClock.cs
@@ -28,7 +28,11 @@ void Start()
     void Update()
     {
         float time = Time.time;
+#if ROS2
+        int sec = (int)Math.Truncate(time);
+#else
         uint sec = (uint)Math.Truncate(time);
+# endif
         uint nanosec = (uint)((time - sec) * 1e+9);
         _message.clock.sec = sec;
         _message.clock.nanosec = nanosec;