diff --git a/rostime/include/ros/impl/duration.h b/rostime/include/ros/impl/duration.h
index 7ebd202a..967bf2fc 100644
--- a/rostime/include/ros/impl/duration.h
+++ b/rostime/include/ros/impl/duration.h
@@ -63,11 +63,14 @@ namespace ros {
   template<class T>
   T& DurationBase<T>::fromNSec(int64_t t)
   {
-    int64_t sec64 = t / 1000000000;
+    int64_t sec64 = t / 1000000000LL;
     if (sec64 < INT_MIN || sec64 > INT_MAX)
       throw std::runtime_error("Duration is out of dual 32-bit range");
     sec = (int32_t)sec64;
-    nsec = (int32_t)(t % 1000000000);
+    nsec = (int32_t)(t % 1000000000LL);
+
+    normalizeSecNSecSigned(sec, nsec);
+
     return *static_cast<T*>(this);
   }
 
diff --git a/rostime/test/time.cpp b/rostime/test/time.cpp
index 93ffd539..5c837d68 100644
--- a/rostime/test/time.cpp
+++ b/rostime/test/time.cpp
@@ -415,6 +415,21 @@ TEST(Duration, ToFromSec)
   EXPECT_EQ(ros::Duration(-0.5), ros::Duration(0, -500000000LL));
 }
 
+TEST(Duration, FromNSec)
+{
+  ros::Duration t;
+  t.fromNSec(-500000000LL);
+  EXPECT_EQ(ros::Duration(-0.5), t);
+
+  t.fromNSec(-1500000000LL);
+  EXPECT_EQ(ros::Duration(-1.5), t);
+
+  t.fromNSec(500000000LL);
+  EXPECT_EQ(ros::Duration(0.5), t);
+
+  t.fromNSec(1500000000LL);
+  EXPECT_EQ(ros::Duration(1.5), t);
+}
 
 TEST(Duration, OperatorPlus)
 {
@@ -448,6 +463,13 @@ TEST(Duration, OperatorMinus)
 
   }
 
+  ros::Time t1(1.1);
+  ros::Time t2(1.3);
+  ros::Duration time_diff = t1 - t2; //=-0.2
+
+  EXPECT_NEAR(time_diff.toSec(), -0.2, epsilon);
+  EXPECT_LE(time_diff, ros::Duration(-0.19));
+  EXPECT_GE(time_diff, ros::Duration(-0.21));
 }
 
 TEST(Duration, OperatorTimes)