diff --git a/Assets/RGLUnityPlugin/Scripts/LidarUdpPublisher.cs b/Assets/RGLUnityPlugin/Scripts/LidarUdpPublisher.cs
index d07abab2b..28d08b579 100644
--- a/Assets/RGLUnityPlugin/Scripts/LidarUdpPublisher.cs
+++ b/Assets/RGLUnityPlugin/Scripts/LidarUdpPublisher.cs
@@ -33,6 +33,12 @@ public class LidarUdpPublisher : MonoBehaviour
 
         public bool emitRawPackets = true;
 
+        [Header("General UDP Flags")]
+
+        [Tooltip("If enabled the timestamp for all packets will be the same (current scene time).\n" +
+                 "If disabled the time progression (based on LiDAR manuals) will be simulated and different timestamps for each packet will be assigned.")]
+        public bool useTheSameTimestampForAllPackets = true;
+
         [Header("Hesai LiDARs Flags")]
 
         [Tooltip("Enable labeling the sequence number of Point Cloud UDP packets. It increases the packet size by an additional field.")]
@@ -304,6 +310,7 @@ private RGLUdpOptions GetUdpOptions(LidarModel currentLidarModel)
             udpOptions += enableHesaiUdpSequence ? (UInt32)RGLUdpOptions.RGL_UDP_ENABLE_HESAI_UDP_SEQUENCE : 0;
             udpOptions += enableHesaiUpCloseBlockageDetection ? (UInt32)RGLUdpOptions.RGL_UDP_UP_CLOSE_BLOCKAGE_DETECTION : 0;
             udpOptions += enableHesaiPandarDriverCompatibilityForQt ? (UInt32)RGLUdpOptions.RGL_UDP_FIT_QT64_TO_HESAI_PANDAR_DRIVER : 0;
+            udpOptions += useTheSameTimestampForAllPackets ? (UInt32)RGLUdpOptions.RGL_UDP_SAME_TIMESTAMP_FOR_PACKETS : 0;
 
             // Check if high resolution mode is enabled (available only on Hesai Pandar128E4X)
             if (currentLidarModel == LidarModel.HesaiPandar128E4X)
diff --git a/Assets/RGLUnityPlugin/Scripts/LowLevelWrappers/RGLNativeTypes.cs b/Assets/RGLUnityPlugin/Scripts/LowLevelWrappers/RGLNativeTypes.cs
index d03b20b3f..d7a1027b8 100644
--- a/Assets/RGLUnityPlugin/Scripts/LowLevelWrappers/RGLNativeTypes.cs
+++ b/Assets/RGLUnityPlugin/Scripts/LowLevelWrappers/RGLNativeTypes.cs
@@ -148,6 +148,7 @@ public enum RGLUdpOptions : UInt32
 		RGL_UDP_HIGH_RESOLUTION_MODE            = 1 << 1,
 		RGL_UDP_UP_CLOSE_BLOCKAGE_DETECTION     = 1 << 2,
 		RGL_UDP_FIT_QT64_TO_HESAI_PANDAR_DRIVER = 1 << 3,
+		RGL_UDP_SAME_TIMESTAMP_FOR_PACKETS      = 1 << 4
 	};
 
 	public enum RGLQosPolicyReliability