diff --git a/ros2action/ros2action/verb/send_goal.py b/ros2action/ros2action/verb/send_goal.py
index 97970a41e..f1aa2c6e6 100644
--- a/ros2action/ros2action/verb/send_goal.py
+++ b/ros2action/ros2action/verb/send_goal.py
@@ -109,14 +109,20 @@ def send_goal(action_name, action_type, goal_values, feedback_callback):
 
         goal = action_module.Goal()
 
+        timestamp_fields = []
         try:
-            set_message_fields(goal, goal_dict)
+            timestamp_fields = set_message_fields(
+                goal, goal_dict, expand_header_auto=True, expand_time_now=True)
         except Exception as ex:
             return 'Failed to populate message fields: {!r}'.format(ex)
 
         print('Waiting for an action server to become available...')
         action_client.wait_for_server()
 
+        stamp_now = node.get_clock().now().to_msg()
+        for field_setter in timestamp_fields:
+            field_setter(stamp_now)
+
         print('Sending goal:\n     {}'.format(message_to_yaml(goal)))
         goal_future = action_client.send_goal_async(goal, feedback_callback)
         rclpy.spin_until_future_complete(node, goal_future)
@@ -175,6 +181,7 @@ def _sigint_cancel_handler(sig, frame):
 
         print('Result:\n    {}'.format(message_to_yaml(result.result)))
         print('Goal finished with status: {}'.format(_goal_status_to_string(result.status)))
+
     finally:
         if action_client is not None:
             action_client.destroy()
diff --git a/ros2service/ros2service/verb/call.py b/ros2service/ros2service/verb/call.py
index 4f75f5462..7ee5dd850 100644
--- a/ros2service/ros2service/verb/call.py
+++ b/ros2service/ros2service/verb/call.py
@@ -96,8 +96,10 @@ def requester(service_type, service_name, values, period):
 
         request = srv_module.Request()
 
+        timestamp_fields = []
         try:
-            set_message_fields(request, values_dictionary)
+            timestamp_fields = set_message_fields(
+                request, values_dictionary, expand_header_auto=True, expand_time_now=True)
         except Exception as e:
             return 'Failed to populate field: {0}'.format(e)
 
@@ -106,6 +108,9 @@ def requester(service_type, service_name, values, period):
             cli.wait_for_service()
 
         while True:
+            stamp_now = node.get_clock().now().to_msg()
+            for field_setter in timestamp_fields:
+                field_setter(stamp_now)
             print('requester: making request: %r\n' % request)
             last_call = time.time()
             future = cli.call_async(request)