diff --git a/nav2_amcl/src/amcl_node.cpp b/nav2_amcl/src/amcl_node.cpp
index a1b37d62bb1..6d6ae171d6d 100644
--- a/nav2_amcl/src/amcl_node.cpp
+++ b/nav2_amcl/src/amcl_node.cpp
@@ -23,9 +23,9 @@
 #include "nav2_amcl/amcl_node.hpp"
 
 #include <algorithm>
+#include <cstdint>
 #include <cstdio>
 #include <ctime>
-#include <cstdint>
 #include <iomanip>
 #include <memory>
 #include <string>
@@ -148,7 +148,7 @@ AmclNode::on_activate(const rclcpp_lifecycle::State & /*state*/)
 
   // Create pose save timer if save_pose_rate > 0
   if (save_pose_rate_ > 0.0) {
-    save_pose_timer_ = create_wall_timer(
+    save_pose_timer_ = this->create_timer(
       std::chrono::duration<double>(1.0 / save_pose_rate_),
       std::bind(&AmclNode::savePoseTimerCallback, this));
   }
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/behavior_tree_engine.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/behavior_tree_engine.hpp
index d7f16f2a87e..b94fbe59e45 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/behavior_tree_engine.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/behavior_tree_engine.hpp
@@ -141,8 +141,8 @@ class BehaviorTreeEngine
   // The factory that will be used to dynamically construct the behavior tree
   BT::BehaviorTreeFactory factory_;
 
-  // Clock
-  rclcpp::Clock::SharedPtr clock_;
+  // Node handle used to obtain clocks at run time
+  nav2::LifecycleNode::WeakPtr node_;
 
   // Groot2 monitor
   std::unique_ptr<BT::Groot2Publisher> groot_monitor_;
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/utils/loop_rate.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/utils/loop_rate.hpp
index 728855f9807..4e981962471 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/utils/loop_rate.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/utils/loop_rate.hpp
@@ -16,6 +16,7 @@
 #define NAV2_BEHAVIOR_TREE__UTILS__LOOP_RATE_HPP_
 
 #include <memory>
+#include <utility>
 
 #include "rclcpp/rclcpp.hpp"
 #include "behaviortree_cpp/bt_factory.h"
@@ -27,8 +28,10 @@ namespace nav2_behavior_tree
 class LoopRate
 {
 public:
-  LoopRate(const rclcpp::Duration & period, BT::Tree * tree)
-  : clock_(std::make_shared<rclcpp::Clock>(RCL_STEADY_TIME)), period_(period),
+  LoopRate(
+    const rclcpp::Duration & period, BT::Tree * tree,
+    rclcpp::Clock::SharedPtr clock)
+  : clock_(std::move(clock)), period_(period),
     last_interval_(clock_->now()), tree_(tree)
   {}
 
@@ -57,11 +60,16 @@ class LoopRate
       // Either way do not sleep and return false
       return false;
     }
-    // Calculate the time to sleep
-    auto time_to_sleep = next_interval - now;
-    std::chrono::nanoseconds time_to_sleep_ns(time_to_sleep.nanoseconds());
-    // Sleep (can get interrupted by emitWakeUpSignal())
-    tree_->sleep(std::chrono::duration_cast<std::chrono::microseconds>(time_to_sleep_ns));
+    auto wake_up = tree_->wakeUpSignal();
+    static constexpr auto poll_interval = std::chrono::milliseconds(10);
+    while (clock_->now() < next_interval) {
+      // Sleep using the wake-up signal directly so we can poll the target clock.
+      // tree_->sleep() always waits in wall-clock time, which diverges from sim
+      // time.  Instead we do short wall-clock waits and re-check our clock.
+      if (wake_up->waitFor(poll_interval)) {  // Preempted by emitWakeUpSignal()
+        return true;
+      }
+    }
     return true;
   }
 
diff --git a/nav2_behavior_tree/src/behavior_tree_engine.cpp b/nav2_behavior_tree/src/behavior_tree_engine.cpp
index 31b5ab3e776..0318add3326 100644
--- a/nav2_behavior_tree/src/behavior_tree_engine.cpp
+++ b/nav2_behavior_tree/src/behavior_tree_engine.cpp
@@ -26,6 +26,7 @@
 #include "behaviortree_cpp/utils/shared_library.h"
 #include "nav2_behavior_tree/json_utils.hpp"
 #include "nav2_behavior_tree/utils/loop_rate.hpp"
+#include "nav2_ros_common/rate.hpp"
 
 namespace nav2_behavior_tree
 {
@@ -39,8 +40,7 @@ BehaviorTreeEngine::BehaviorTreeEngine(
     factory_.registerFromPlugin(loader.getOSName(p));
   }
 
-  // clock for throttled debug log
-  clock_ = node->get_clock();
+  node_ = node;
 }
 
 BtStatus
@@ -50,7 +50,16 @@ BehaviorTreeEngine::run(
   std::function<bool()> cancelRequested,
   std::chrono::milliseconds loopTimeout)
 {
-  nav2_behavior_tree::LoopRate loopRate(loopTimeout, tree);
+  auto node = node_.lock();
+  if (!node) {
+    RCLCPP_ERROR(
+      rclcpp::get_logger("BehaviorTreeEngine"),
+      "BehaviorTreeEngine node expired. Exiting with failure.");
+    return BtStatus::FAILED;
+  }
+
+  auto rate_clock = nav2::selectClock(node);
+  nav2_behavior_tree::LoopRate loopRate(loopTimeout, tree, rate_clock);
   BT::NodeStatus result = BT::NodeStatus::RUNNING;
 
   // Loop until something happens with ROS or the node completes
@@ -70,7 +79,7 @@ BehaviorTreeEngine::run(
       if (!loopRate.sleep()) {
         RCLCPP_DEBUG_THROTTLE(
           rclcpp::get_logger("BehaviorTreeEngine"),
-          *clock_, 1000,
+          *rate_clock, 1000,
           "Behavior Tree tick rate %0.2f was exceeded!",
           1.0 / (loopRate.period().count() * 1.0e-9));
       }
diff --git a/nav2_behavior_tree/test/plugins/action/test_bt_action_node.cpp b/nav2_behavior_tree/test/plugins/action/test_bt_action_node.cpp
index d44cf7c73af..b1a123e4830 100644
--- a/nav2_behavior_tree/test/plugins/action/test_bt_action_node.cpp
+++ b/nav2_behavior_tree/test/plugins/action/test_bt_action_node.cpp
@@ -267,7 +267,8 @@ TEST_F(BTActionNodeTestFixture, test_server_timeout_success)
   BT::NodeStatus result = BT::NodeStatus::RUNNING;
 
   // BT loop execution rate
-  nav2_behavior_tree::LoopRate loopRate(10ms, tree_.get());
+  nav2_behavior_tree::LoopRate loopRate(
+    10ms, tree_.get(), std::make_shared<rclcpp::Clock>(RCL_STEADY_TIME));
 
   // main BT execution loop
   while (rclcpp::ok() && result == BT::NodeStatus::RUNNING) {
diff --git a/nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp b/nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp
index 82b1d3d07c9..8120980a475 100644
--- a/nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp
+++ b/nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp
@@ -32,6 +32,7 @@
 #include "nav2_util/robot_utils.hpp"
 #include "nav2_util/twist_publisher.hpp"
 #include "nav2_ros_common/simple_action_server.hpp"
+#include "nav2_ros_common/rate.hpp"
 #include "nav2_core/behavior.hpp"
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wpedantic"
@@ -226,7 +227,7 @@ class TimedBehavior : public nav2_core::Behavior
     }
 
     auto start_time = clock_->now();
-    rclcpp::WallRate loop_rate(cycle_frequency_);
+    nav2::Rate loop_rate(node_.lock(), cycle_frequency_);
 
     while (rclcpp::ok()) {
       elapsed_time_ = clock_->now() - start_time;
diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp
index 04a03573c8f..8794ee04339 100644
--- a/nav2_controller/src/controller_server.cpp
+++ b/nav2_controller/src/controller_server.cpp
@@ -22,6 +22,7 @@
 #include "lifecycle_msgs/msg/state.hpp"
 #include "nav2_core/controller_exceptions.hpp"
 #include "nav2_ros_common/node_utils.hpp"
+#include "nav2_ros_common/rate.hpp"
 #include "nav2_util/geometry_utils.hpp"
 #include "nav2_util/path_utils.hpp"
 #include "nav2_controller/controller_server.hpp"
@@ -494,7 +495,7 @@ void ControllerServer::computeControl()
     }
 
     last_valid_cmd_time_ = now();
-    rclcpp::WallRate loop_rate(params_->controller_frequency);
+    nav2::Rate loop_rate(this, params_->controller_frequency);
     while (rclcpp::ok()) {
       auto start_time = this->now();
 
diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
index b1eeb7c939e..4ef7ea3096f 100644
--- a/nav2_costmap_2d/src/costmap_2d_ros.cpp
+++ b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -47,6 +47,7 @@
 #include "nav2_costmap_2d/layered_costmap.hpp"
 #include "nav2_util/execution_timer.hpp"
 #include "nav2_ros_common/node_utils.hpp"
+#include "nav2_ros_common/rate.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 #include "tf2_ros/create_timer_ros.hpp"
 #include "nav2_util/robot_utils.hpp"
@@ -532,7 +533,7 @@ Costmap2DROS::mapUpdateLoop(double frequency)
 
   RCLCPP_DEBUG(get_logger(), "Entering loop");
 
-  rclcpp::WallRate r(frequency);    // 200ms by default
+  nav2::Rate r(this, frequency);    // 200ms by default
 
   while (rclcpp::ok() && !map_update_thread_shutdown_) {
     nav2_util::ExecutionTimer timer;
diff --git a/nav2_docking/opennav_docking/src/docking_server.cpp b/nav2_docking/opennav_docking/src/docking_server.cpp
index 39a70e2bafb..7825f6a8a3f 100644
--- a/nav2_docking/opennav_docking/src/docking_server.cpp
+++ b/nav2_docking/opennav_docking/src/docking_server.cpp
@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include "angles/angles.h"
+#include "nav2_ros_common/rate.hpp"
 #include "opennav_docking/docking_server.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 #include "tf2/utils.hpp"
@@ -175,7 +176,7 @@ void DockingServer::dockRobot()
 {
   std::lock_guard<std::mutex> lock_reinit(param_handler_->getMutex());
   action_start_time_ = this->now();
-  rclcpp::Rate loop_rate(params_->controller_frequency);
+  nav2::Rate loop_rate(this, params_->controller_frequency);
 
   auto goal = docking_action_server_->get_current_goal();
   auto result = std::make_shared<DockRobot::Result>();
@@ -393,7 +394,7 @@ void DockingServer::doInitialPerception(Dock * dock, geometry_msgs::msg::PoseSta
     throw opennav_docking_core::FailedToDetectDock("Failed to start the detection process.");
   }
 
-  rclcpp::Rate loop_rate(params_->controller_frequency);
+  nav2::Rate loop_rate(this, params_->controller_frequency);
   auto start = this->now();
   auto timeout = rclcpp::Duration::from_seconds(params_->initial_perception_timeout);
   while (!dock->plugin->getRefinedPose(dock_pose, dock->id)) {
@@ -419,7 +420,7 @@ void DockingServer::rotateToDock(const geometry_msgs::msg::PoseStamped & dock_po
   target_pose.pose.orientation = nav2_util::geometry_utils::orientationAroundZAxis(
     tf2::getYaw(target_pose.pose.orientation) + M_PI);
 
-  rclcpp::Rate loop_rate(params_->controller_frequency);
+  nav2::Rate loop_rate(this, params_->controller_frequency);
   auto start = this->now();
   auto timeout = rclcpp::Duration::from_seconds(params_->rotate_to_dock_timeout);
 
@@ -452,7 +453,7 @@ void DockingServer::rotateToDock(const geometry_msgs::msg::PoseStamped & dock_po
 bool DockingServer::approachDock(
   Dock * dock, geometry_msgs::msg::PoseStamped & dock_pose, bool backward)
 {
-  rclcpp::Rate loop_rate(params_->controller_frequency);
+  nav2::Rate loop_rate(this, params_->controller_frequency);
   auto start = this->now();
   auto timeout = rclcpp::Duration::from_seconds(params_->dock_approach_timeout);
 
@@ -522,7 +523,7 @@ bool DockingServer::waitForCharge(Dock * dock)
     return true;
   }
 
-  rclcpp::Rate loop_rate(params_->controller_frequency);
+  nav2::Rate loop_rate(this, params_->controller_frequency);
   auto start = this->now();
   auto timeout = rclcpp::Duration::from_seconds(params_->wait_charge_timeout);
   while (rclcpp::ok()) {
@@ -550,7 +551,7 @@ bool DockingServer::waitForCharge(Dock * dock)
 bool DockingServer::resetApproach(
   const geometry_msgs::msg::PoseStamped & staging_pose, bool backward)
 {
-  rclcpp::Rate loop_rate(params_->controller_frequency);
+  nav2::Rate loop_rate(this, params_->controller_frequency);
   auto start = this->now();
   auto timeout = rclcpp::Duration::from_seconds(params_->dock_approach_timeout);
   while (rclcpp::ok()) {
@@ -621,7 +622,7 @@ void DockingServer::undockRobot()
 {
   std::lock_guard<std::mutex> lock_reinit(param_handler_->getMutex());
   action_start_time_ = this->now();
-  rclcpp::Rate loop_rate(params_->controller_frequency);
+  nav2::Rate loop_rate(this, params_->controller_frequency);
 
   auto goal = undocking_action_server_->get_current_goal();
   auto result = std::make_shared<UndockRobot::Result>();
diff --git a/nav2_following/opennav_following/src/following_server.cpp b/nav2_following/opennav_following/src/following_server.cpp
index 7bf26e0c522..c06cda46553 100644
--- a/nav2_following/opennav_following/src/following_server.cpp
+++ b/nav2_following/opennav_following/src/following_server.cpp
@@ -14,6 +14,7 @@
 // limitations under the License.
 
 #include "angles/angles.h"
+#include "nav2_ros_common/rate.hpp"
 #include "opennav_docking_core/docking_exceptions.hpp"
 #include "opennav_following/following_server.hpp"
 #include "nav2_util/geometry_utils.hpp"
@@ -180,7 +181,7 @@ void FollowingServer::followObject()
 {
   std::lock_guard<std::mutex> lock_reinit(param_handler_->getMutex());
   action_start_time_ = this->now();
-  rclcpp::Rate loop_rate(params_->controller_frequency);
+  nav2::Rate loop_rate(this, params_->controller_frequency);
 
   auto goal = following_action_server_->get_current_goal();
   auto result = std::make_shared<FollowObject::Result>();
@@ -525,7 +526,7 @@ bool FollowingServer::getRefinedPose(geometry_msgs::msg::PoseStamped & pose)
   if (detected.header.stamp == rclcpp::Time(0)) {
     auto start = this->now();
     auto timeout = rclcpp::Duration::from_seconds(params_->detection_timeout);
-    rclcpp::Rate wait_rate(params_->controller_frequency);
+    nav2::Rate wait_rate(this, params_->controller_frequency);
     while (this->now() - start < timeout) {
       // Check if a new detection arrived
       if (detected_dynamic_pose_.header.stamp != rclcpp::Time(0)) {
diff --git a/nav2_lifecycle_manager/src/lifecycle_manager.cpp b/nav2_lifecycle_manager/src/lifecycle_manager.cpp
index 63f2f01e0a9..a1caa469372 100644
--- a/nav2_lifecycle_manager/src/lifecycle_manager.cpp
+++ b/nav2_lifecycle_manager/src/lifecycle_manager.cpp
@@ -21,6 +21,7 @@
 #include <vector>
 
 #include "rclcpp/rclcpp.hpp"
+#include "nav2_ros_common/interface_factories.hpp"
 
 using namespace std::chrono_literals;
 using namespace std::placeholders;
@@ -73,7 +74,8 @@ LifecycleManager::LifecycleManager(const rclcpp::NodeOptions & options)
   transition_label_map_[Transition::TRANSITION_UNCONFIGURED_SHUTDOWN] =
     std::string("Shutting down ");
 
-  init_timer_ = this->create_wall_timer(
+  init_timer_ = nav2::create_timer(
+    this,
     0s,
     [this]() -> void {
       init_timer_->cancel();
@@ -81,7 +83,8 @@ LifecycleManager::LifecycleManager(const rclcpp::NodeOptions & options)
       createLifecycleServiceClients();
       createLifecycleServiceServers();
       if (autostart_) {
-        init_timer_ = this->create_wall_timer(
+        init_timer_ = nav2::create_timer(
+          this,
           0s,
           [this]() -> void {
             init_timer_->cancel();
@@ -481,7 +484,8 @@ LifecycleManager::createBondTimer()
   }
 
   message("Creating bond timer...");
-  bond_timer_ = this->create_wall_timer(
+  bond_timer_ = nav2::create_timer(
+    this,
     200ms,
     std::bind(&LifecycleManager::checkBondConnections, this),
     callback_group_);
@@ -556,7 +560,8 @@ LifecycleManager::checkBondConnections()
       // Initialize the bond respawn timer to check if server comes back online
       // after a failure, within a maximum timeout period.
       if (attempt_respawn_reconnection_) {
-        bond_respawn_timer_ = this->create_wall_timer(
+        bond_respawn_timer_ = nav2::create_timer(
+          this,
           1s,
           std::bind(&LifecycleManager::checkBondRespawnConnection, this),
           callback_group_);
diff --git a/nav2_lifecycle_manager/test/test_bond.cpp b/nav2_lifecycle_manager/test/test_bond.cpp
index b2dbc10115f..4020605e6cf 100644
--- a/nav2_lifecycle_manager/test/test_bond.cpp
+++ b/nav2_lifecycle_manager/test/test_bond.cpp
@@ -19,6 +19,7 @@
 #include "rclcpp/rclcpp.hpp"
 #include "nav2_ros_common/lifecycle_node.hpp"
 #include "nav2_ros_common/node_thread.hpp"
+#include "nav2_ros_common/rate.hpp"
 #include "nav2_lifecycle_manager/lifecycle_manager.hpp"
 #include "nav2_lifecycle_manager/lifecycle_manager_client.hpp"
 
@@ -128,7 +129,7 @@ class TestFixture
 TEST(LifecycleBondTest, POSITIVE)
 {
   // let the lifecycle server come up
-  rclcpp::Rate(1).sleep();
+  nav2::WallRate(1).sleep();
 
   auto node = std::make_shared<rclcpp::Node>("lifecycle_manager_test_service_client");
   nav2_lifecycle_manager::LifecycleManagerClient client("lifecycle_manager_test", node);
@@ -140,14 +141,14 @@ TEST(LifecycleBondTest, POSITIVE)
   EXPECT_TRUE(client.startup());
 
   // check if bond is connected after being activated
-  rclcpp::Rate(5).sleep();
+  nav2::WallRate(5).sleep();
   EXPECT_TRUE(bond_tester->isBondConnected());
   EXPECT_EQ(bond_tester->getState(), "activated");
 
   bond_tester->breakBond();
 
   // bond should be disconnected now and lifecycle manager should know and react to reset
-  rclcpp::Rate(5).sleep();
+  nav2::WallRate(5).sleep();
   EXPECT_EQ(
     nav2_lifecycle_manager::SystemStatus::INACTIVE,
     client.is_active(std::chrono::nanoseconds(1000000000)));
diff --git a/nav2_map_server/test/map_saver_cli/test_map_saver_cli.cpp b/nav2_map_server/test/map_saver_cli/test_map_saver_cli.cpp
index ad43a75ac67..d61f789387a 100644
--- a/nav2_map_server/test/map_saver_cli/test_map_saver_cli.cpp
+++ b/nav2_map_server/test/map_saver_cli/test_map_saver_cli.cpp
@@ -19,6 +19,7 @@
 #include <utility>
 
 #include "nav2_ros_common/qos_profiles.hpp"
+#include "nav2_ros_common/rate.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "nav_msgs/msg/occupancy_grid.hpp"
 
@@ -57,7 +58,7 @@ TEST(MapSaverCLI, CLITest)
 
   publisher->publish(std::move(msg));
 
-  rclcpp::Rate(1).sleep();
+  nav2::WallRate(1).sleep();
 
   // succeed on real map
   RCLCPP_INFO(node->get_logger(), "Calling saver...");
@@ -70,7 +71,7 @@ TEST(MapSaverCLI, CLITest)
   auto return_code = system(command.c_str());
   EXPECT_EQ(return_code, 0);
 
-  rclcpp::Rate(0.25).sleep();
+  nav2::WallRate(0.25).sleep();
 
   RCLCPP_INFO(node->get_logger(), "Checking on file...");
 
@@ -97,7 +98,7 @@ TEST(MapSaverCLI, CLITest)
   return_code = system(command.c_str());
   EXPECT_EQ(return_code, 256);
 
-  rclcpp::Rate(0.25).sleep();
+  nav2::WallRate(0.25).sleep();
 
   RCLCPP_INFO(node->get_logger(), "Checking on file...");
 
@@ -110,7 +111,7 @@ TEST(MapSaverCLI, CLITest)
   return_code = system(command.c_str());
   EXPECT_EQ(return_code, 0);
 
-  rclcpp::Rate(0.5).sleep();
+  nav2::WallRate(0.5).sleep();
 
   RCLCPP_INFO(node->get_logger(), "Testing invalid mode...");
   command =
@@ -119,7 +120,7 @@ TEST(MapSaverCLI, CLITest)
   return_code = system(command.c_str());
   EXPECT_EQ(return_code, 0);
 
-  rclcpp::Rate(0.5).sleep();
+  nav2::WallRate(0.5).sleep();
 
   RCLCPP_INFO(node->get_logger(), "Testing missing argument...");
   command =
@@ -128,7 +129,7 @@ TEST(MapSaverCLI, CLITest)
   return_code = system(command.c_str());
   EXPECT_EQ(return_code, 65280);
 
-  rclcpp::Rate(0.5).sleep();
+  nav2::WallRate(0.5).sleep();
 
   RCLCPP_INFO(node->get_logger(), "Testing wrong argument...");
   command =
@@ -137,7 +138,7 @@ TEST(MapSaverCLI, CLITest)
   return_code = system(command.c_str());
   EXPECT_EQ(return_code, 65280);
 
-  rclcpp::Rate(0.5).sleep();
+  nav2::WallRate(0.5).sleep();
 
   command =
     std::string(
diff --git a/nav2_ros_common/include/nav2_ros_common/interface_factories.hpp b/nav2_ros_common/include/nav2_ros_common/interface_factories.hpp
index 3f9f9db5131..875d6ef3cb4 100644
--- a/nav2_ros_common/include/nav2_ros_common/interface_factories.hpp
+++ b/nav2_ros_common/include/nav2_ros_common/interface_factories.hpp
@@ -27,6 +27,7 @@
 #include "nav2_ros_common/subscription.hpp"
 #include "nav2_ros_common/action_client.hpp"
 #include "rclcpp_action/client.hpp"
+#include "nav2_ros_common/rate.hpp"
 
 namespace nav2
 {
@@ -331,6 +332,53 @@ typename nav2::ActionClient<ActionT>::SharedPtr create_action_client(
 
 }  // namespace interfaces
 
+/**
+ * @brief A sim-time-aware timer creator for Nav2.
+ *
+ * When use_sim_time is true, the timer uses the node's ROS clock (simulation time).
+ * When use_sim_time is false, a steady (monotonic) clock is used.
+ *
+ * Usage:
+ *   auto timer = nav2::create_timer(this, 50ms, callback);
+ */
+template<typename NodeT, typename DurationRepT, typename DurationT, typename CallbackT>
+rclcpp::TimerBase::SharedPtr create_timer(
+  NodeT node,
+  std::chrono::duration<DurationRepT, DurationT> period,
+  CallbackT callback,
+  rclcpp::CallbackGroup::SharedPtr group = nullptr)
+{
+  return rclcpp::create_timer(
+    node,
+    selectClock(node),
+    rclcpp::Duration(period),
+    std::move(callback),
+    group);
+}
+
+/**
+ * @brief A steady-clock wall timer creator for Nav2.
+ *
+ * This timer always uses RCL_STEADY_TIME and is never sim-time-aware.
+ *
+ * Usage:
+ *   auto timer = nav2::create_wall_timer(this, 50ms, callback);
+ */
+template<typename NodeT, typename DurationRepT, typename DurationT, typename CallbackT>
+rclcpp::TimerBase::SharedPtr create_wall_timer(
+  NodeT node,
+  std::chrono::duration<DurationRepT, DurationT> period,
+  CallbackT callback,
+  rclcpp::CallbackGroup::SharedPtr group = nullptr)
+{
+  return rclcpp::create_timer(
+    node,
+    std::make_shared<rclcpp::Clock>(RCL_STEADY_TIME),
+    rclcpp::Duration(period),
+    std::move(callback),
+    group);
+}
+
 }  // namespace nav2
 
 #endif  // NAV2_ROS_COMMON__INTERFACE_FACTORIES_HPP_
diff --git a/nav2_ros_common/include/nav2_ros_common/lifecycle_node.hpp b/nav2_ros_common/include/nav2_ros_common/lifecycle_node.hpp
index 3e67feec660..98db3383160 100644
--- a/nav2_ros_common/include/nav2_ros_common/lifecycle_node.hpp
+++ b/nav2_ros_common/include/nav2_ros_common/lifecycle_node.hpp
@@ -31,6 +31,7 @@
 #include "bondcpp/bond.hpp"
 #include "bond/msg/constants.hpp"
 #include "nav2_ros_common/interface_factories.hpp"
+#include "nav2_ros_common/rate.hpp"
 
 namespace nav2
 {
@@ -297,13 +298,51 @@ class LifecycleNode : public rclcpp_lifecycle::LifecycleNode
     return nav2::CallbackReturn::SUCCESS;
   }
 
+  /**
+   * @brief Create a sim-time-aware timer for Nav2 lifecycle nodes.
+   */
+  template<typename DurationRepT, typename DurationT, typename CallbackT>
+  typename rclcpp::GenericTimer<CallbackT>::SharedPtr
+  create_timer(
+    std::chrono::duration<DurationRepT, DurationT> period,
+    CallbackT callback,
+    rclcpp::CallbackGroup::SharedPtr group = nullptr)
+  {
+    return rclcpp::create_timer(
+      nav2::selectClock(this),
+      period,
+      std::move(callback),
+      group,
+      this->get_node_base_interface().get(),
+      this->get_node_timers_interface().get());
+  }
+
+  /**
+   * @brief Create a steady-clock wall timer for Nav2 lifecycle nodes.
+   */
+  template<typename DurationRepT, typename DurationT, typename CallbackT>
+  typename rclcpp::GenericTimer<CallbackT>::SharedPtr
+  create_wall_timer(
+    std::chrono::duration<DurationRepT, DurationT> period,
+    CallbackT callback,
+    rclcpp::CallbackGroup::SharedPtr group = nullptr)
+  {
+    return rclcpp::create_timer(
+      std::make_shared<rclcpp::Clock>(RCL_STEADY_TIME),
+      period,
+      std::move(callback),
+      group,
+      this->get_node_base_interface().get(),
+      this->get_node_timers_interface().get());
+  }
+
   /**
    * @brief Automatically configure and active the node
    */
   void autostart()
   {
     using lifecycle_msgs::msg::State;
-    autostart_timer_ = this->create_wall_timer(
+    autostart_timer_ = this->create_timer(
       0s,
       [this]() -> void {
         autostart_timer_->cancel();
diff --git a/nav2_ros_common/include/nav2_ros_common/rate.hpp b/nav2_ros_common/include/nav2_ros_common/rate.hpp
new file mode 100644
index 00000000000..690ffb0bed3
--- /dev/null
+++ b/nav2_ros_common/include/nav2_ros_common/rate.hpp
@@ -0,0 +1,89 @@
+// Copyright (c) 2026 Dexory
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef NAV2_ROS_COMMON__RATE_HPP_
+#define NAV2_ROS_COMMON__RATE_HPP_
+
+#include <chrono>
+#include <functional>
+#include <memory>
+#include <utility>
+
+#include "rclcpp/rate.hpp"
+#include "rclcpp/create_timer.hpp"
+
+namespace nav2
+{
+
+/**
+ * @brief Select the appropriate clock for rate-limiting or timers.
+ *
+ * When use_sim_time is true, returns the node's ROS clock (simulation time).
+ * When use_sim_time is false, returns a steady (monotonic) clock to avoid
+ * issues with system clock jumps (e.g. NTP corrections).
+ *
+ * @param node Any ROS node pointer or shared_ptr
+ * @return The appropriate clock
+ */
+template<typename NodeT>
+rclcpp::Clock::SharedPtr selectClock(NodeT node)
+{
+  bool use_sim_time = false;
+  auto params = node->get_node_parameters_interface();
+  if (params->has_parameter("use_sim_time")) {
+    use_sim_time = params->get_parameter("use_sim_time").as_bool();
+  }
+  if (use_sim_time) {
+    return node->get_clock();
+  }
+  return std::make_shared<rclcpp::Clock>(RCL_STEADY_TIME);
+}
+
+/**
+ * @brief A sim-time-aware rate for Nav2 loops.
+ *
+ * When use_sim_time is true, the rate is governed by the node's ROS clock
+ * (simulation time). When use_sim_time is false, a steady (monotonic) clock
+ * is used to avoid issues with system clock jumps (e.g. NTP corrections).
+ */
+class Rate : public rclcpp::Rate
+{
+public:
+  /**
+   * @brief Construct a Rate from a node and frequency.
+   * @param node Any ROS node pointer or shared_ptr (used to check use_sim_time and obtain clock)
+   * @param rate Desired frequency in Hz
+   */
+  template<typename NodeT>
+  explicit Rate(NodeT node, double rate)
+  : rclcpp::Rate(rate, selectClock(node))
+  {}
+};
+
+/**
+ * @brief A steady-clock Nav2 wall rate.
+ *
+ * This rate always uses RCL_STEADY_TIME and is never sim-time-aware.
+ */
+class WallRate : public rclcpp::WallRate
+{
+public:
+  explicit WallRate(double rate)
+  : rclcpp::WallRate(rate)
+  {}
+};
+
+}  // namespace nav2
+
+#endif  // NAV2_ROS_COMMON__RATE_HPP_
diff --git a/nav2_route/include/nav2_route/route_tracker.hpp b/nav2_route/include/nav2_route/route_tracker.hpp
index a2a3d4e897c..90e999c83fb 100644
--- a/nav2_route/include/nav2_route/route_tracker.hpp
+++ b/nav2_route/include/nav2_route/route_tracker.hpp
@@ -124,6 +124,7 @@ class RouteTracker
   rclcpp::Logger logger_{rclcpp::get_logger("RouteTracker")};
   double radius_threshold_, boundary_radius_threshold_, tracker_update_rate_;
   bool aggregate_blocked_ids_;
+  nav2::LifecycleNode::WeakPtr node_;
   typename ActionServerTrack::SharedPtr action_server_;
   std::unique_ptr<OperationsManager> operations_manager_;
   std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
diff --git a/nav2_route/src/route_tracker.cpp b/nav2_route/src/route_tracker.cpp
index 6521dc2641b..07a41cc0e31 100644
--- a/nav2_route/src/route_tracker.cpp
+++ b/nav2_route/src/route_tracker.cpp
@@ -14,6 +14,8 @@
 
 #include "nav2_route/route_tracker.hpp"
 
+#include "nav2_ros_common/rate.hpp"
+
 namespace nav2_route
 {
 
@@ -25,6 +27,7 @@ void RouteTracker::configure(
   const std::string & route_frame,
   const std::string & base_frame)
 {
+  node_ = node;
   clock_ = node->get_clock();
   logger_ = node->get_logger();
   route_frame_ = route_frame;
@@ -163,7 +166,12 @@ TrackerResult RouteTracker::trackRoute(
     publishFeedback(true, route.start_node->nodeid, 0, 0, {});
   }
 
-  rclcpp::Rate r(tracker_update_rate_);
+  auto node = node_.lock();
+  if (!node) {
+    throw nav2_core::RouteException("Route tracker node expired");
+  }
+
+  nav2::Rate r(node, tracker_update_rate_);
   while (rclcpp::ok()) {
     bool status_change = false, completed = false;
 
diff --git a/nav2_route/test/test_graph_loader.cpp b/nav2_route/test/test_graph_loader.cpp
index 1f9d9433111..ad105fd68e3 100644
--- a/nav2_route/test/test_graph_loader.cpp
+++ b/nav2_route/test/test_graph_loader.cpp
@@ -19,6 +19,7 @@
 #include "rclcpp/rclcpp.hpp"
 #include "nav2_ros_common/lifecycle_node.hpp"
 #include "nav2_ros_common/node_utils.hpp"
+#include "nav2_ros_common/rate.hpp"
 #include "nav2_route/graph_loader.hpp"
 #include "tf2_ros/static_transform_broadcaster.hpp"
 
@@ -107,7 +108,7 @@ TEST(GraphLoader, test_transformation_api)
   transform.transform.rotation.w = 1.0;
   transform.transform.translation.x = 1.0;
   tf_broadcaster->sendTransform(transform);
-  rclcpp::Rate(1).sleep();
+  nav2::WallRate(1).sleep();
   tf_broadcaster->sendTransform(transform);
   executor.spin_all(std::chrono::milliseconds(50));
 
diff --git a/nav2_route/test/test_graph_saver.cpp b/nav2_route/test/test_graph_saver.cpp
index f888a652644..fc707662b7d 100644
--- a/nav2_route/test/test_graph_saver.cpp
+++ b/nav2_route/test/test_graph_saver.cpp
@@ -20,6 +20,7 @@
 #include "rclcpp/rclcpp.hpp"
 #include "nav2_ros_common/lifecycle_node.hpp"
 #include "nav2_ros_common/node_utils.hpp"
+#include "nav2_ros_common/rate.hpp"
 #include "nav2_route/graph_loader.hpp"
 #include "nav2_route/graph_saver.hpp"
 #include "tf2_ros/static_transform_broadcaster.hpp"
@@ -143,7 +144,7 @@ TEST(GraphSaver, test_transformation_api)
   transform.transform.rotation.w = 1.0;
   transform.transform.translation.x = 1.0;
   tf_broadcaster->sendTransform(transform);
-  rclcpp::Rate(1).sleep();
+  nav2::WallRate(1).sleep();
   tf_broadcaster->sendTransform(transform);
   executor.spin_all(std::chrono::milliseconds(50));
 
diff --git a/nav2_velocity_smoother/src/velocity_smoother.cpp b/nav2_velocity_smoother/src/velocity_smoother.cpp
index 71dd2294253..ba046d47eb0 100644
--- a/nav2_velocity_smoother/src/velocity_smoother.cpp
+++ b/nav2_velocity_smoother/src/velocity_smoother.cpp
@@ -167,7 +167,7 @@ VelocitySmoother::on_activate(const rclcpp_lifecycle::State &)
   RCLCPP_INFO(get_logger(), "Activating");
   smoothed_cmd_pub_->on_activate();
   double timer_duration_ms = 1000.0 / smoothing_frequency_;
-  timer_ = this->create_wall_timer(
+  timer_ = this->create_timer(
     std::chrono::milliseconds(static_cast<int>(timer_duration_ms)),
     std::bind(&VelocitySmoother::smootherTimer, this));
 
@@ -591,7 +591,7 @@ void VelocitySmoother::updateParametersCallback(const std::vector<rclcpp::Parame
         }
 
         double timer_duration_ms = 1000.0 / smoothing_frequency_;
-        timer_ = this->create_wall_timer(
+        timer_ = this->create_timer(
           std::chrono::milliseconds(static_cast<int>(timer_duration_ms)),
           std::bind(&VelocitySmoother::smootherTimer, this));
       } else if (param_name == "velocity_timeout") {
diff --git a/nav2_waypoint_follower/include/nav2_waypoint_follower/plugins/input_at_waypoint.hpp b/nav2_waypoint_follower/include/nav2_waypoint_follower/plugins/input_at_waypoint.hpp
index d5ecafcdc7b..a28567b17a0 100644
--- a/nav2_waypoint_follower/include/nav2_waypoint_follower/plugins/input_at_waypoint.hpp
+++ b/nav2_waypoint_follower/include/nav2_waypoint_follower/plugins/input_at_waypoint.hpp
@@ -76,6 +76,7 @@ class InputAtWaypoint : public nav2_core::WaypointTaskExecutor
   rclcpp::Duration timeout_;
   rclcpp::Logger logger_{rclcpp::get_logger("nav2_waypoint_follower")};
   rclcpp::Clock::SharedPtr clock_;
+  nav2::LifecycleNode::WeakPtr node_;
   std::mutex mutex_;
   nav2::Subscription<std_msgs::msg::Empty>::SharedPtr subscription_;
 };
diff --git a/nav2_waypoint_follower/plugins/input_at_waypoint.cpp b/nav2_waypoint_follower/plugins/input_at_waypoint.cpp
index e7325717ca7..a12d850e4f8 100644
--- a/nav2_waypoint_follower/plugins/input_at_waypoint.cpp
+++ b/nav2_waypoint_follower/plugins/input_at_waypoint.cpp
@@ -19,6 +19,7 @@
 #include "pluginlib/class_list_macros.hpp"
 
 #include "nav2_ros_common/node_utils.hpp"
+#include "nav2_ros_common/rate.hpp"
 
 namespace nav2_waypoint_follower
 {
@@ -46,6 +47,7 @@ void InputAtWaypoint::initialize(
     throw std::runtime_error{"Failed to lock node in input at waypoint plugin!"};
   }
 
+  node_ = parent;
   logger_ = node->get_logger();
   clock_ = node->get_clock();
 
@@ -81,8 +83,14 @@ bool InputAtWaypoint::processAtWaypoint(
 
   input_received_ = false;
 
+  auto node = node_.lock();
+  if (!node) {
+    RCLCPP_ERROR(logger_, "Failed to lock node in input at waypoint plugin.");
+    return false;
+  }
+
   rclcpp::Time start = clock_->now();
-  rclcpp::Rate r(50);
+  nav2::Rate r(node, 50);
   bool input_received = false;
   while (clock_->now() - start < timeout_) {
     {
diff --git a/nav2_waypoint_follower/src/waypoint_follower.cpp b/nav2_waypoint_follower/src/waypoint_follower.cpp
index 4d991178b05..c512f6eff27 100644
--- a/nav2_waypoint_follower/src/waypoint_follower.cpp
+++ b/nav2_waypoint_follower/src/waypoint_follower.cpp
@@ -21,6 +21,8 @@
 #include <utility>
 #include <vector>
 
+#include "nav2_ros_common/rate.hpp"
+
 namespace nav2_waypoint_follower
 {
 
@@ -198,7 +200,7 @@ void WaypointFollower::followWaypointsHandler(
     return;
   }
 
-  rclcpp::WallRate r(params_->loop_rate);
+  nav2::Rate r(this, params_->loop_rate);
 
   // get the goal index, by default, the first in the list of waypoints given.
   uint32_t goal_index = goal->goal_index;
diff --git a/nav2_waypoint_follower/test/test_task_executors.cpp b/nav2_waypoint_follower/test/test_task_executors.cpp
index 9f8af9f8f53..aed99149078 100644
--- a/nav2_waypoint_follower/test/test_task_executors.cpp
+++ b/nav2_waypoint_follower/test/test_task_executors.cpp
@@ -23,6 +23,7 @@
 #include "gtest/gtest.h"
 #include "rclcpp/rclcpp.hpp"
 #include "nav2_ros_common/lifecycle_node.hpp"
+#include "nav2_ros_common/rate.hpp"
 #include "nav2_waypoint_follower/plugins/photo_at_waypoint.hpp"
 #include "nav2_waypoint_follower/plugins/wait_at_waypoint.hpp"
 #include "nav2_waypoint_follower/plugins/input_at_waypoint.hpp"
@@ -65,7 +66,7 @@ TEST(WaypointFollowerTest, InputAtWaypoint)
   auto publish_message =
     [&]() -> void
     {
-      rclcpp::Rate(5).sleep();
+      nav2::WallRate(5).sleep();
       auto msg = std::make_unique<std_msgs::msg::Empty>();
       pub->publish(std::move(msg));
       executor.spin_some();
@@ -113,7 +114,7 @@ TEST(WaypointFollowerTest, PhotoAtWaypoint)
   auto publish_message =
     [&]() -> void
     {
-      rclcpp::Rate(5).sleep();
+      nav2::WallRate(5).sleep();
       auto msg = std::make_unique<sensor_msgs::msg::Image>();
       // fill image msg data.
       msg->encoding = "rgb8";
diff --git a/tools/underlay.repos b/tools/underlay.repos
index 7dcb5ae9b69..4691de716e2 100644
--- a/tools/underlay.repos
+++ b/tools/underlay.repos
@@ -1,8 +1,8 @@
 repositories:
-  # BehaviorTree/BehaviorTree.CPP:
-  #   type: git
-  #   url: https://github.com/BehaviorTree/BehaviorTree.CPP.git
-  #   version: 4.8.2
+  BehaviorTree/BehaviorTree.CPP:
+    type: git
+    url: https://github.com/BehaviorTree/BehaviorTree.CPP.git
+    version: 7119df95a17086f55e3690cf8d7b7663b59319d0
   # ros2/rviz:
   #   type: git
   #   url: https://github.com/ros2/rviz.git