diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/depth_cloud/depth_cloud_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/depth_cloud/depth_cloud_display.cpp
index 7b612b313..72aa8e318 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/depth_cloud/depth_cloud_display.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/depth_cloud/depth_cloud_display.cpp
@@ -370,6 +370,7 @@ void DepthCloudDisplay::subscribe()
           std::bind(&DepthCloudDisplay::processDepthMessage, this, std::placeholders::_1));
       }
     }
+    subscription_start_time_ = rviz_ros_node_->get_raw_node()->now();
   } catch (const image_transport::TransportLoadException & e) {
     setStatus(
       rviz_common::properties::StatusProperty::Error, "Message",