diff --git a/rcl/include/rcl/timer.h b/rcl/include/rcl/timer.h
index c2f7bc1fb..c7f48ebb0 100644
--- a/rcl/include/rcl/timer.h
+++ b/rcl/include/rcl/timer.h
@@ -284,7 +284,7 @@ rcl_timer_call(rcl_timer_t * timer);
 RCL_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
-rcl_timer_clock(rcl_timer_t * timer, rcl_clock_t ** clock);
+rcl_timer_clock(const rcl_timer_t * timer, rcl_clock_t ** clock);
 
 /// Calculates whether or not the timer should be called.
 /**
@@ -352,6 +352,30 @@ RCL_WARN_UNUSED
 rcl_ret_t
 rcl_timer_get_time_until_next_call(const rcl_timer_t * timer, int64_t * time_until_next_call);
 
+/// Retrieve the time when the next call to rcl_timer_call() shall occur.
+/**
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No
+ * Thread-Safe        | Yes
+ * Uses Atomics       | Yes
+ * Lock-Free          | Yes [1]
+ * <i>[1] if `atomic_is_lock_free()` returns true for `atomic_int_least64_t`</i>
+ *
+ * \param[in] timer the handle to the timer that is being queried
+ * \param[out] next_call_time the output variable for the result
+ * \return #RCL_RET_OK if the timer until next call was successfully calculated, or
+ * \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
+ * \return #RCL_RET_TIMER_INVALID if the timer->impl is invalid, or
+ * \return #RCL_RET_TIMER_CANCELED if the timer is canceled, or
+ * \return #RCL_RET_ERROR an unspecified error occur.
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_timer_get_next_call_time(const rcl_timer_t * timer, int64_t * next_call_time);
+
 /// Retrieve the time since the previous call to rcl_timer_call() occurred.
 /**
  * This function calculates the time since the last call and copies it into
diff --git a/rcl/src/rcl/timer.c b/rcl/src/rcl/timer.c
index 8030a653e..cdf7a238b 100644
--- a/rcl/src/rcl/timer.c
+++ b/rcl/src/rcl/timer.c
@@ -254,7 +254,7 @@ rcl_timer_fini(rcl_timer_t * timer)
 RCL_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
-rcl_timer_clock(rcl_timer_t * timer, rcl_clock_t ** clock)
+rcl_timer_clock(const rcl_timer_t * timer, rcl_clock_t ** clock)
 {
   RCL_CHECK_ARGUMENT_FOR_NULL(timer, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(clock, RCL_RET_INVALID_ARGUMENT);
@@ -333,6 +333,22 @@ rcl_timer_is_ready(const rcl_timer_t * timer, bool * is_ready)
   return RCL_RET_OK;
 }
 
+rcl_ret_t
+rcl_timer_get_next_call_time(const rcl_timer_t * timer, int64_t * next_call_time)
+{
+  RCL_CHECK_ARGUMENT_FOR_NULL(timer, RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_ARGUMENT_FOR_NULL(timer->impl, RCL_RET_TIMER_INVALID);
+  RCL_CHECK_ARGUMENT_FOR_NULL(next_call_time, RCL_RET_INVALID_ARGUMENT);
+
+  if (rcutils_atomic_load_bool(&timer->impl->canceled)) {
+    return RCL_RET_TIMER_CANCELED;
+  }
+
+  *next_call_time =
+    rcutils_atomic_load_int64_t(&timer->impl->next_call_time);
+  return RCL_RET_OK;
+}
+
 rcl_ret_t
 rcl_timer_get_time_until_next_call(const rcl_timer_t * timer, int64_t * time_until_next_call)
 {
diff --git a/rcl/src/rcl/wait.c b/rcl/src/rcl/wait.c
index 1f79a6a54..7fc56c5a0 100644
--- a/rcl/src/rcl/wait.c
+++ b/rcl/src/rcl/wait.c
@@ -541,47 +541,100 @@ rcl_wait(rcl_wait_set_t * wait_set, int64_t timeout)
   // By default, set the timer to block indefinitely if none of the below conditions are met.
   rmw_time_t * timeout_argument = NULL;
   rmw_time_t temporary_timeout_storage;
-
   bool is_timer_timeout = false;
-  int64_t min_timeout = timeout > 0 ? timeout : INT64_MAX;
-  {  // scope to prevent i from colliding below
-    uint64_t i = 0;
-    for (i = 0; i < wait_set->impl->timer_index; ++i) {
-      if (!wait_set->timers[i]) {
+
+  for (uint64_t t_idx = 0; t_idx < wait_set->impl->timer_index; ++t_idx) {
+    if (!wait_set->timers[t_idx]) {
+      continue;  // Skip NULL timers.
+    }
+    rmw_guard_conditions_t * rmw_gcs = &(wait_set->impl->rmw_guard_conditions);
+    size_t gc_idx = wait_set->size_of_guard_conditions + t_idx;
+    if (NULL != rmw_gcs->guard_conditions[gc_idx]) {
+      // This timer has a guard condition, so move it to make a legal wait set.
+      rmw_gcs->guard_conditions[rmw_gcs->guard_condition_count] =
+        rmw_gcs->guard_conditions[gc_idx];
+      ++(rmw_gcs->guard_condition_count);
+    }
+  }
+
+  if (timeout == 0) {
+    // Then it is non-blocking, so set the temporary storage to 0, 0 and pass it.
+    temporary_timeout_storage.sec = 0;
+    temporary_timeout_storage.nsec = 0;
+    timeout_argument = &temporary_timeout_storage;
+  } else {
+    int64_t min_next_call_time[RCL_STEADY_TIME + 1];
+    rcl_clock_t * clocks[RCL_STEADY_TIME + 1] = {0, 0, 0, 0};
+
+    min_next_call_time[RCL_ROS_TIME] = INT64_MAX;
+    min_next_call_time[RCL_SYSTEM_TIME] = INT64_MAX;
+    min_next_call_time[RCL_STEADY_TIME] = INT64_MAX;
+
+    for (size_t t_idx = 0; t_idx < wait_set->impl->timer_index; ++t_idx) {
+      if (!wait_set->timers[t_idx]) {
         continue;  // Skip NULL timers.
       }
-      rmw_guard_conditions_t * rmw_gcs = &(wait_set->impl->rmw_guard_conditions);
-      size_t gc_idx = wait_set->size_of_guard_conditions + i;
-      if (NULL != rmw_gcs->guard_conditions[gc_idx]) {
-        // This timer has a guard condition, so move it to make a legal wait set.
-        rmw_gcs->guard_conditions[rmw_gcs->guard_condition_count] =
-          rmw_gcs->guard_conditions[gc_idx];
-        ++(rmw_gcs->guard_condition_count);
+
+      rcl_clock_t * clock;
+      if (rcl_timer_clock(wait_set->timers[t_idx], &clock) != RCL_RET_OK) {
+        // should never happen
+        return RCL_RET_ERROR;
       }
-      // use timer time to to set the rmw_wait timeout
-      // TODO(sloretz) fix spurious wake-ups on ROS_TIME timers with ROS_TIME enabled
-      int64_t timer_timeout = INT64_MAX;
-      rcl_ret_t ret = rcl_timer_get_time_until_next_call(wait_set->timers[i], &timer_timeout);
+
+      if (clock->type == RCL_ROS_TIME) {
+        bool timer_override_active = false;
+        if (rcl_is_enabled_ros_time_override(clock, &timer_override_active) != RCL_RET_OK) {
+          // should never happen
+          return RCL_RET_ERROR;
+        }
+
+        if (timer_override_active) {
+          // if the timer override is active, there is no point in computing a wait time,
+          // as it might be on a total wrong time basis. In case this timer becomes ready,
+          // the guard_condition above will wake us.
+          continue;
+        }
+      }
+
+      clocks[clock->type] = clock;
+
+      // get the time of the next call to the timer
+      int64_t next_call_time = INT64_MAX;
+      rcl_ret_t ret = rcl_timer_get_next_call_time(wait_set->timers[t_idx], &next_call_time);
       if (ret == RCL_RET_TIMER_CANCELED) {
-        wait_set->timers[i] = NULL;
+        wait_set->timers[t_idx] = NULL;
         continue;
       }
       if (ret != RCL_RET_OK) {
         return ret;  // The rcl error state should already be set.
       }
+      if (next_call_time < min_next_call_time[clock->type]) {
+        min_next_call_time[clock->type] = next_call_time;
+      }
+    }
+
+    int64_t min_timeout = timeout > 0 ? timeout : INT64_MAX;
+
+    // determine the min timeout of all clocks
+    for (size_t i = RCL_ROS_TIME; i <= RCL_STEADY_TIME; i++) {
+      if (clocks[i] == 0) {
+        continue;
+      }
+
+      int64_t cur_time;
+      rmw_ret_t ret = rcl_clock_get_now(clocks[i], &cur_time);
+      if (ret != RCL_RET_OK) {
+        return ret;  // The rcl error state should already be set.
+      }
+
+      int64_t timer_timeout = min_next_call_time[i] - cur_time;
+
       if (timer_timeout < min_timeout) {
         is_timer_timeout = true;
         min_timeout = timer_timeout;
       }
     }
-  }
 
-  if (timeout == 0) {
-    // Then it is non-blocking, so set the temporary storage to 0, 0 and pass it.
-    temporary_timeout_storage.sec = 0;
-    temporary_timeout_storage.nsec = 0;
-    timeout_argument = &temporary_timeout_storage;
-  } else if (timeout > 0 || is_timer_timeout) {
     // If min_timeout was negative, we need to wake up immediately.
     if (min_timeout < 0) {
       min_timeout = 0;
diff --git a/rcl/test/rcl/test_wait.cpp b/rcl/test/rcl/test_wait.cpp
index 626d047dc..fe5015f9d 100644
--- a/rcl/test/rcl/test_wait.cpp
+++ b/rcl/test/rcl/test_wait.cpp
@@ -321,6 +321,122 @@ TEST_F(WaitSetTestFixture, zero_timeout_overrun_timer) {
   EXPECT_LE(diff, RCL_MS_TO_NS(50));
 }
 
+// Test rcl_wait with a timeout value and an overrun timer
+TEST_F(WaitSetTestFixture, no_wakeup_on_override_timer) {
+  rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
+  rcl_ret_t ret =
+    rcl_wait_set_init(&wait_set, 0, 0, 1, 0, 0, 0, context_ptr, rcl_get_default_allocator());
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    ret = rcl_wait_set_fini(&wait_set);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
+  rcl_clock_t clock;
+  rcl_allocator_t allocator = rcl_get_default_allocator();
+  ret = rcl_clock_init(RCL_ROS_TIME, &clock, &allocator);
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    ret = rcl_clock_fini(&clock);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
+  ret = rcl_enable_ros_time_override(&clock);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
+  rcl_timer_t timer = rcl_get_zero_initialized_timer();
+  ret = rcl_timer_init2(
+    &timer, &clock, this->context_ptr, RCL_MS_TO_NS(10), nullptr, rcl_get_default_allocator(),
+    true);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    ret = rcl_timer_fini(&timer);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
+  ret = rcl_wait_set_add_timer(&wait_set, &timer, NULL);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
+  // Time spent during wait should be negligible, definitely less than the given timeout
+  std::chrono::steady_clock::time_point before_sc = std::chrono::steady_clock::now();
+  ret = rcl_wait(&wait_set, RCL_MS_TO_NS(100));
+  std::chrono::steady_clock::time_point after_sc = std::chrono::steady_clock::now();
+  // We don't expect a timeout here (since the guard condition had already been triggered)
+  ASSERT_EQ(RCL_RET_TIMEOUT, ret) << rcl_get_error_string().str;
+  int64_t diff = std::chrono::duration_cast<std::chrono::nanoseconds>(after_sc - before_sc).count();
+  EXPECT_GE(diff, RCL_MS_TO_NS(100));
+}
+
+// Test rcl_wait with a timeout value and an overrun timer
+TEST_F(WaitSetTestFixture, wakeup_on_override_timer) {
+  rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
+  rcl_ret_t ret =
+    rcl_wait_set_init(&wait_set, 0, 0, 1, 0, 0, 0, context_ptr, rcl_get_default_allocator());
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    ret = rcl_wait_set_fini(&wait_set);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
+  rcl_clock_t clock;
+  rcl_allocator_t allocator = rcl_get_default_allocator();
+  ret = rcl_clock_init(RCL_ROS_TIME, &clock, &allocator);
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    ret = rcl_clock_fini(&clock);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
+  ret = rcl_enable_ros_time_override(&clock);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
+  rcl_timer_t timer = rcl_get_zero_initialized_timer();
+  ret = rcl_timer_init2(
+    &timer, &clock, this->context_ptr, RCL_MS_TO_NS(10), nullptr, rcl_get_default_allocator(),
+    true);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    ret = rcl_timer_fini(&timer);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
+  ret = rcl_wait_set_add_timer(&wait_set, &timer, NULL);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
+  // Time spent during wait should be negligible, definitely less than the given timeout
+  std::chrono::steady_clock::time_point before_sc = std::chrono::steady_clock::now();
+
+  rcl_ret_t wait_ret = RCL_RET_ERROR;
+  std::atomic_bool wait_done = false;
+  std::thread t([&wait_ret, &wait_set, &wait_done]() {
+      wait_ret = rcl_wait(&wait_set, RCL_MS_TO_NS(100));
+      wait_done = true;
+    });
+
+  ret = rcl_set_ros_time_override(&clock, RCL_MS_TO_NS(5));
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
+  std::this_thread::sleep_for(std::chrono::milliseconds(15));
+  EXPECT_EQ(wait_done, false) << "Error, wait terminated to early";
+
+  ret = rcl_set_ros_time_override(&clock, RCL_MS_TO_NS(15));
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
+  std::this_thread::sleep_for(std::chrono::milliseconds(5));
+
+  EXPECT_EQ(wait_done, true) << "Error, wait waken up by time jump";
+
+  t.join();
+
+  std::chrono::steady_clock::time_point after_sc = std::chrono::steady_clock::now();
+  // We don't expect a timeout here (since the guard condition had already been triggered)
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  int64_t diff = std::chrono::duration_cast<std::chrono::nanoseconds>(after_sc - before_sc).count();
+  EXPECT_LT(diff, RCL_MS_TO_NS(100));
+}
+
 // Check that a canceled timer doesn't wake up rcl_wait
 TEST_F(WaitSetTestFixture, canceled_timer) {
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();