diff --git a/msg/templates/urtps/RtpsTopics.cpp.em b/msg/templates/urtps/RtpsTopics.cpp.em
index d686a4c687..4b9dcc6484 100644
--- a/msg/templates/urtps/RtpsTopics.cpp.em
+++ b/msg/templates/urtps/RtpsTopics.cpp.em
@@ -122,6 +122,8 @@ void RtpsTopics::publish(uint8_t topic_ID, char data_buffer[], size_t len)
 @[    if topic == 'Timesync']@
             _timesync->processTimesyncMsg(&st);
 @[    end if]@
+            // apply timestamp offset
+            _timesync->applyOffset(st.timestamp());
             _@(topic)_pub.publish(&st);
         }
         break;
@@ -156,6 +158,9 @@ bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
                 @(topic) msg = _@(topic)_sub.getMsg();
 @[        end if]@
 @[    end if]@
+                // apply timestamp offset
+                _timesync->applyOffset(msg.timestamp());
+
                 msg.serialize(scdr);
                 ret = true;
                 _@(topic)_sub.unlockMsg();
diff --git a/msg/templates/urtps/microRTPS_timesync.h b/msg/templates/urtps/microRTPS_timesync.h
index 25f7341a87..2fd00fe8ff 100644
--- a/msg/templates/urtps/microRTPS_timesync.h
+++ b/msg/templates/urtps/microRTPS_timesync.h
@@ -90,8 +90,10 @@ public:
 
 	px4_msgs::msg::Timesync newTimesyncMsg();
 
+	inline void applyOffset(uint64_t &timestamp) { timestamp += _offset_ns.load(); }
+
 private:
-	int64_t _offset_ns;
+	std::atomic<int64_t> _offset_ns;
 	int64_t _skew_ns_per_sync;
 	int64_t _num_samples;