diff --git a/src/convert.rs b/src/convert.rs
index 8ada125..bb27969 100644
--- a/src/convert.rs
+++ b/src/convert.rs
@@ -125,7 +125,7 @@ pub(crate) fn check_coord(
     match coord {
         Some(y_idx) => {
             let field = &fields[y_idx];
-            if field.datatype != (*xyz_field_type).into() {
+            if field.datatype != u8::from(*xyz_field_type) {
                 return Err(ConversionError::InvalidFieldFormat);
             }
             Ok(field.clone())
diff --git a/src/lib.rs b/src/lib.rs
index dd41293..f3967e0 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -1,19 +1,19 @@
 //! A library to work with the PointCloud2 message type from ROS.
 //!
-//! ros_pointcloud2 mainly provides iterator-based `Reader` and `Writer` to interact
-//! with the internal message type `PointCloud2Msg` without forcing an iteration.
+//! ros_pointcloud2 mainly provides iterator-based [`ros_pointcloud2::Reader`] and [`ros_pointcloud2::Writer`] to interact
+//! with the internal message type [`ros_pointcloud2::PointCloud2Msg`] without forcing an iteration.
 //!
 //! For ROS interoperability, the message type generated by the respective crate must be converted to
-//! the internal message type `PointCloud2Msg` using the `From` trait,
+//! the [`ros_pointcloud2::PointCloud2Msg`] using the `From` trait,
 //! which is mostly a ownership transfer without copying the point data.
 //!
 //! There are implementations for the `r2r`, `rclrs` (ros2_rust) and `rosrust_msg` message types
 //! available in the feature flags. If you miss a message type, please open an issue or a PR.
-//! See the `ros_types` module for more information.
+//! See the [`ros_pointcloud2::ros_types`] module for more information.
 //!
-//! Common point types like `PointXYZ` are provided in the `pcl_utils` module. You can implement any custom point type
-//! that can be described by the specification of the `PointCloud2Msg` message type.
-//! See the `Reader` or `Writer` struct documentation for an example.
+//! Common point types like `PointXYZ` are provided in the [`ros_pointcloud2::pcl_utils`] module. You can implement any custom point type
+//! that can be described by the specification.
+//! See the [`ros_pointcloud2::Reader`] or [`ros_pointcloud2::Writer`] struct documentation for an example.
 //!
 //! # Example
 //! ```
diff --git a/src/ros_types.rs b/src/ros_types.rs
index 8d6d9eb..0e2bbfc 100644
--- a/src/ros_types.rs
+++ b/src/ros_types.rs
@@ -140,7 +140,7 @@ impl From<PointCloud2Msg> for rosrust_msg::sensor_msgs::PointCloud2 {
         rosrust_msg::sensor_msgs::PointCloud2 {
             header: rosrust_msg::std_msgs::Header {
                 seq: msg.header.seq,
-                stamp: rosrust_msg::Time {
+                stamp: TimeMsg {
                     sec: msg.header.stamp.sec,
                     nsec: msg.header.stamp.nsec,
                 },