diff --git a/src/libs/pcl_utils/utils.h b/src/libs/pcl_utils/utils.h
index fdbcda074d..ebc404cef1 100644
--- a/src/libs/pcl_utils/utils.h
+++ b/src/libs/pcl_utils/utils.h
@@ -78,12 +78,12 @@ template <typename PointT>
 inline void
 set_time(pcl::PointCloud<PointT> &cloud, const fawkes::Time &time)
 {
-#if defined(HAVE_ROS_PCL) || defined(ROSCPP_TYPES_H)
+#if PCL_VERSION_COMPARE(>=, 1, 7, 0)
+	cloud.header.stamp = time.in_usec();
+#else
+#	if defined(HAVE_ROS_PCL) || defined(ROSCPP_TYPES_H)
 	cloud.header.stamp.sec  = time.get_sec();
 	cloud.header.stamp.nsec = time.get_usec() * 1000;
-#else
-#	if PCL_VERSION_COMPARE(>=, 1, 7, 0)
-	cloud.header.stamp = time.in_usec();
 #	else
 	PointCloudTimestamp pclts;
 	pclts.time.sec     = time.get_sec();
@@ -129,11 +129,11 @@ template <typename PointT>
 inline void
 get_time(const fawkes::RefPtr<const pcl::PointCloud<PointT>> &cloud, fawkes::Time &time)
 {
-#if defined(HAVE_ROS_PCL) || defined(ROSCPP_TYPES_H)
-	time.set_time(cloud->header.stamp.sec, cloud->header.stamp.nsec / 1000);
-#else
-#	if PCL_VERSION_COMPARE(>=, 1, 7, 0)
+#if PCL_VERSION_COMPARE(>=, 1, 7, 0)
 	time.set_time(cloud->header.stamp / 1000000U, cloud->header.stamp % 1000000);
+#else
+#	if defined(HAVE_ROS_PCL) || defined(ROSCPP_TYPES_H)
+	time.set_time(cloud->header.stamp.sec, cloud->header.stamp.nsec / 1000);
 #	else
 	PointCloudTimestamp pclts;
 	pclts.timestamp = cloud->header.stamp;
@@ -152,11 +152,11 @@ template <typename PointT>
 inline void
 get_time(const fawkes::RefPtr<pcl::PointCloud<PointT>> &cloud, fawkes::Time &time)
 {
-#if defined(HAVE_ROS_PCL) || defined(ROSCPP_TYPES_H)
-	time.set_time(cloud->header.stamp.sec, cloud->header.stamp.nsec / 1000);
-#else
-#	if PCL_VERSION_COMPARE(>=, 1, 7, 0)
+#if PCL_VERSION_COMPARE(>=, 1, 7, 0)
 	time.set_time(cloud->header.stamp / 1000000U, cloud->header.stamp % 1000000);
+#else
+#	if defined(HAVE_ROS_PCL) || defined(ROSCPP_TYPES_H)
+	time.set_time(cloud->header.stamp.sec, cloud->header.stamp.nsec / 1000);
 #	else
 	PointCloudTimestamp pclts;
 	pclts.timestamp = cloud->header.stamp;
@@ -175,11 +175,11 @@ template <typename PointT>
 inline void
 get_time(const pcl::PointCloud<PointT> &cloud, fawkes::Time &time)
 {
-#if defined(HAVE_ROS_PCL) || defined(ROSCPP_TYPES_H)
-	time.set_time(cloud.header.stamp.sec, cloud.header.stamp.nsec / 1000);
-#else
-#	if PCL_VERSION_COMPARE(>=, 1, 7, 0)
+#if PCL_VERSION_COMPARE(>=, 1, 7, 0)
 	time.set_time(cloud.header.stamp / 1000000U, cloud.header.stamp % 1000000);
+#else
+#	if defined(HAVE_ROS_PCL) || defined(ROSCPP_TYPES_H)
+	time.set_time(cloud.header.stamp.sec, cloud.header.stamp.nsec / 1000);
 #	else
 	PointCloudTimestamp pclts;
 	pclts.timestamp = cloud.header.stamp;
@@ -198,11 +198,11 @@ template <typename PointT>
 inline void
 get_time(const boost::shared_ptr<pcl::PointCloud<PointT>> &cloud, fawkes::Time &time)
 {
-#if defined(HAVE_ROS_PCL) || defined(ROSCPP_TYPES_H)
-	time.set_time(cloud->header.stamp.sec, cloud->header.stamp.nsec / 1000);
-#else
-#	if PCL_VERSION_COMPARE(>=, 1, 7, 0)
+#if PCL_VERSION_COMPARE(>=, 1, 7, 0)
 	time.set_time(cloud->header.stamp / 1000000U, cloud->header.stamp % 1000000);
+#else
+#	if defined(HAVE_ROS_PCL) || defined(ROSCPP_TYPES_H)
+	time.set_time(cloud->header.stamp.sec, cloud->header.stamp.nsec / 1000);
 #	else
 	PointCloudTimestamp pclts;
 	pclts.timestamp = cloud->header.stamp;
@@ -221,11 +221,11 @@ template <typename PointT>
 inline void
 get_time(const boost::shared_ptr<const pcl::PointCloud<PointT>> &cloud, fawkes::Time &time)
 {
-#if defined(HAVE_ROS_PCL) || defined(ROSCPP_TYPES_H)
-	time.set_time(cloud->header.stamp.sec, cloud->header.stamp.nsec / 1000);
-#else
-#	if PCL_VERSION_COMPARE(>=, 1, 7, 0)
+#if PCL_VERSION_COMPARE(>=, 1, 7, 0)
 	time.set_time(cloud->header.stamp / 1000000U, cloud->header.stamp % 1000000);
+#else
+#	if defined(HAVE_ROS_PCL) || defined(ROSCPP_TYPES_H)
+	time.set_time(cloud->header.stamp.sec, cloud->header.stamp.nsec / 1000);
 #	else
 	PointCloudTimestamp pclts;
 	pclts.timestamp = cloud->header.stamp;