diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 158c63d4..7acce7cd 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,15 @@
 Changelog
 =========
 
+
+[20220927]
+==========
+
+ouster_client
+--------------
+* fix a bug in longform init_client which was not setting timestamp_mode and lidar_mode correctly
+  
+
 [20220826]
 ==========
 
@@ -43,7 +52,8 @@ ouster_ros
 * drop FW 1.13 compatibility for sensors and recorded bags
 * remove setting of EIGEN_MAX_ALIGN_BYTES
 * add two new ros services /ouster/get_config and /ouster/set_config (experimental)
-* Add new timestamp_mode TIME_FROM_ROS_TIME
+* add new timestamp_mode TIME_FROM_ROS_TIME
+* declare PCL_NO_PRECOMPILE ahead of all PCL library includes
 
 
 [20220608]
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 763f75ee..ca7d1f6d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -7,10 +7,10 @@ include(DefaultBuildType)
 include(VcpkgEnv)
 
 # ==== Project Name ====
-project(ouster_example VERSION 20220826)
+project(ouster_example VERSION 20220927)
 
 # generate version header
-set(OusterSDK_VERSION_STRING 0.5.1)
+set(OusterSDK_VERSION_STRING 0.5.2)
 include(VersionGen)
 
 # ==== Options ====
diff --git a/docs/ros/index.rst b/docs/ros/index.rst
index 3a958849..b2e4beea 100644
--- a/docs/ros/index.rst
+++ b/docs/ros/index.rst
@@ -72,6 +72,11 @@ Additionally, the launch file has following list of arguments that you can use:
 - ``udp_dest:=<hostname>`` to specify the hostname or IP to which the sensor should send data
 - ``lidar_mode:=<mode>`` where mode is one of ``512x10``, ``512x20``, ``1024x10``, ``1024x20``, or
   ``2048x10``, and
+- ``timestamp_mode`` choose any value of the following timestamp modes: ``TIME_FROM_INTERNAL_OSC``,
+  ``TIME_FROM_SYNC_PULSE_IN``, ``TIME_FROM_PTP_1588``, or ``TIME_FROM_ROS_TIME``. You can read about
+  the first three modes in `Ouster Sensor Guide <https://static.ouster.dev/sensor-docs/>`_. The last
+  mode ``TIME_FROM_ROS_TIME`` is specific to the ouster_ros driver; when this mode is set, the
+  driver uses ROS time as the timestamp for published IMU and Lidar messages.
 - ``viz:=true/false`` to visualize the sensor output, if you have the rviz ROS package installed
 
 
diff --git a/examples/client_example.cpp b/examples/client_example.cpp
index 36320c14..881a5e2d 100644
--- a/examples/client_example.cpp
+++ b/examples/client_example.cpp
@@ -9,8 +9,8 @@
 #include <iostream>
 #include <vector>
 
-#include "ouster/impl/build.h"
 #include "ouster/client.h"
+#include "ouster/impl/build.h"
 #include "ouster/lidar_scan.h"
 #include "ouster/types.h"
 
diff --git a/ouster_client/src/client.cpp b/ouster_client/src/client.cpp
index 82fb47de..3508dfe0 100644
--- a/ouster_client/src/client.cpp
+++ b/ouster_client/src/client.cpp
@@ -300,12 +300,11 @@ std::shared_ptr<client> init_client(const std::string& hostname,
 
         // if specified (not UNSPEC), set the lidar and timestamp modes
         if (mode) {
-            sensor_http->set_config_param("lidar_mode", std::to_string(mode));
+            sensor_http->set_config_param("lidar_mode", to_string(mode));
         }
 
         if (ts_mode) {
-            sensor_http->set_config_param("timestamp_mode",
-                                          std::to_string(ts_mode));
+            sensor_http->set_config_param("timestamp_mode", to_string(ts_mode));
         }
 
         // wake up from STANDBY, if necessary