diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/wait_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/wait_action.hpp
index f452d24d320..af70a8cb35e 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/wait_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/wait_action.hpp
@@ -53,7 +53,7 @@ class WaitAction : public BtActionNode<nav2_msgs::action::Wait>
   {
     return providedBasicPorts(
       {
-        BT::InputPort<int>("wait_duration", 1, "Wait time")
+        BT::InputPort<double>("wait_duration", 1, "Wait time")
       });
   }
 };
diff --git a/nav2_behavior_tree/plugins/action/wait_action.cpp b/nav2_behavior_tree/plugins/action/wait_action.cpp
index d2b0e6484be..4b312d8b0fd 100644
--- a/nav2_behavior_tree/plugins/action/wait_action.cpp
+++ b/nav2_behavior_tree/plugins/action/wait_action.cpp
@@ -26,16 +26,17 @@ WaitAction::WaitAction(
   const BT::NodeConfiguration & conf)
 : BtActionNode<nav2_msgs::action::Wait>(xml_tag_name, action_name, conf)
 {
-  int duration;
+  double duration;
   getInput("wait_duration", duration);
   if (duration <= 0) {
     RCLCPP_WARN(
       node_->get_logger(), "Wait duration is negative or zero "
-      "(%i). Setting to positive.", duration);
+      "(%f). Setting to positive.", duration);
     duration *= -1;
   }
 
-  goal_.time.sec = duration;
+  goal_.time.sec = int(duration);
+  goal_.time.nanosec = int((duration - goal_.time.sec) * pow(10, 9));
 }
 
 void WaitAction::on_tick()