diff --git a/built_packages b/built_packages
index b3492223..2bfe4639 100755
--- a/built_packages
+++ b/built_packages
@@ -10,7 +10,7 @@ https://github.com/eProsima/Micro-XRCE-DDS-Client.git 83f129a80770a09aac9e823896
 https://github.com/micro-ROS/micro_ros_msgs.git 325af0192ca40bd671b680b149dbe067a003c53b
 https://github.com/micro-ROS/micro_ros_utilities ae51419e61900bc521bce76ed2f8b0002a1a826a
 https://github.com/micro-ROS/rcl 3cb648546d77f5c2532a1c2886ad7b98711275e4
-https://github.com/micro-ROS/rcutils 516a8c142c6d00aa6e67d3a920f62d1698462e36
+https://github.com/micro-ROS/rcutils 09d49f07b64690137540836d4a125b33869e88f6
 https://github.com/micro-ROS/rmw-microxrcedds.git d8b8fbabded1200e3f4e328d2538e40224d48ea5
 https://github.com/micro-ROS/rosidl_typesupport.git 520d9243f17e0cfe53c658b8051ebe2f89ad7c68
 https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git 61bbb48d23378fb5eecf28aa202c0430c2761c37
diff --git a/src/cortex-m0plus/libmicroros.a b/src/cortex-m0plus/libmicroros.a
index c51a2fa7..1269dae4 100755
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diff --git a/src/cortex-m3/libmicroros.a b/src/cortex-m3/libmicroros.a
index 5db39c0d..335b106b 100755
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diff --git a/src/cortex-m4/libmicroros.a b/src/cortex-m4/libmicroros.a
index b88ca2a6..a7613451 100755
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diff --git a/src/cortex-m7/fpv5-d16-softfp/libmicroros.a b/src/cortex-m7/fpv5-d16-softfp/libmicroros.a
index f2ad7c1f..78a9816c 100755
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diff --git a/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a b/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a
index 7b4406cd..8eabab88 100755
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diff --git a/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a b/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a
index 2f8adaf6..8c44f05f 100755
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diff --git a/src/esp32/libmicroros.a b/src/esp32/libmicroros.a
index ee35f951..6e666a02 100755
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diff --git a/src/imxrt1062/fpv5-d16-hard/libmicroros.a b/src/imxrt1062/fpv5-d16-hard/libmicroros.a
index a6bb71f7..26e6468f 100755
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diff --git a/src/mk20dx256/libmicroros.a b/src/mk20dx256/libmicroros.a
index 06b9fdae..1dab5496 100755
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diff --git a/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a b/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a
index e0d2649e..94930dc7 100755
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diff --git a/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a b/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a
index e0d2649e..94930dc7 100755
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diff --git a/src/rcutils/time.h b/src/rcutils/time.h
index bff3e41a..0fb765e7 100755
--- a/src/rcutils/time.h
+++ b/src/rcutils/time.h
@@ -143,6 +143,37 @@ rcutils_time_point_value_as_nanoseconds_string(
   char * str,
   size_t str_size);
 
+/// Return a time point as an datetime in local time with milliseconds in a string.
+/**
+ *
+ * If the given string is not large enough, the result will be truncated.
+ * If you need a string with variable width, using `snprintf()` directly is
+ * recommended.
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No [1]
+ * Thread-Safe        | Yes
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ * <i>[1] if `snprintf()` does not allocate additional memory internally</i>
+ *
+ * \param[in] time_point the time to be made into a string
+ * \param[out] str the output string in which it is stored
+ * \param[in] str_size the size of the output string
+ * \return #RCUTILS_RET_OK if successful (even if truncated), or
+ * \return #RCUTILS_RET_INVALID_ARGUMENT if any arguments are invalid, or
+ * \return #RCUTILS_RET_ERROR if an unspecified error occur.
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t
+rcutils_time_point_value_as_date_string(
+  const rcutils_time_point_value_t * time_point,
+  char * str,
+  size_t str_size);
+
 /// Return a time point as floating point seconds in a string.
 /**
  * The number is always fixed width, with left padding zeros up to the maximum