diff --git a/src/actionlib/Goal.ts b/src/actionlib/Goal.ts
index a7ea2be48..2eed63d47 100644
--- a/src/actionlib/Goal.ts
+++ b/src/actionlib/Goal.ts
@@ -41,8 +41,8 @@ export default class Goal<T> extends EventEmitter {
     this.goalMessage = {
       goal_id: {
         stamp: {
-          sec: 0,
-          nsec: 0,
+          secs: 0,
+          nsecs: 0,
         },
         id: this.goalID,
       },
diff --git a/src/actionlib/SimpleActionServer.ts b/src/actionlib/SimpleActionServer.ts
index 70f34599f..b16a2dfe0 100644
--- a/src/actionlib/SimpleActionServer.ts
+++ b/src/actionlib/SimpleActionServer.ts
@@ -97,7 +97,7 @@ export default class SimpleActionServer<
     // Track the goals and their status in order to publish status...
     this.statusMessage = {
       header: {
-        stamp: { sec: 0, nsec: 100 },
+        stamp: { secs: 0, nsecs: 100 },
         frame_id: "",
       },
       /** @type {{goal_id: any, status: number}[]} */
@@ -143,8 +143,8 @@ export default class SimpleActionServer<
     cancelListener.subscribe((cancelMessage) => {
       // cancel ALL goals if both empty
       if (
-        cancelMessage.stamp.sec === 0 &&
-        cancelMessage.stamp.nsec === 0 &&
+        cancelMessage.stamp.secs === 0 &&
+        cancelMessage.stamp.nsecs === 0 &&
         cancelMessage.id === ""
       ) {
         this.nextGoal = null;
@@ -189,7 +189,7 @@ export default class SimpleActionServer<
       );
       this.statusMessage.header = {
         ...this.statusMessage.header,
-        stamp: { sec: secs, nsec: nsecs },
+        stamp: { secs, nsecs },
       };
       statusPublisher.publish(this.statusMessage);
     }, 500); // publish every 500ms
diff --git a/src/types/actionlib_msgs.ts b/src/types/actionlib_msgs.ts
index 0ad1594d0..d48423893 100644
--- a/src/types/actionlib_msgs.ts
+++ b/src/types/actionlib_msgs.ts
@@ -4,7 +4,7 @@ import { GoalStatus as GoalStatusEnum } from "../core/GoalStatus.js";
 export namespace actionlib_msgs {
   export interface GoalID {
     id: string;
-    stamp: { sec: number; nsec: number };
+    stamp: std_msgs.time;
   }
   export interface GoalStatus {
     goal_id: GoalID;
diff --git a/src/types/std_msgs.ts b/src/types/std_msgs.ts
index 89f7353a1..5888db015 100644
--- a/src/types/std_msgs.ts
+++ b/src/types/std_msgs.ts
@@ -2,7 +2,12 @@ export namespace std_msgs {
   // rosbridge fills this in with defaults if you leave them unspecified, which is common in roslibjs code, so we artificially make it a Partial
   export type ROS1Header = Partial<{
     seq: number;
-    stamp: { sec: number; nsec: number };
+    stamp: time;
     frame_id: string;
   }>;
+  // This is ROS 1 time. It is rectified to ROS 2 time by rosbridge_suite in-transit. We'll switch this to ROS 2 time when we drop ROS 1 support.
+  export interface time {
+    secs: number;
+    nsecs: number;
+  }
 }