diff --git a/rclcpp/include/rclcpp/rate.hpp b/rclcpp/include/rclcpp/rate.hpp
index 884e462a76..381e8d7908 100644
--- a/rclcpp/include/rclcpp/rate.hpp
+++ b/rclcpp/include/rclcpp/rate.hpp
@@ -163,7 +163,7 @@ class Rate : public RateBase
   reset();
 
   RCLCPP_PUBLIC
-  Duration
+  std::chrono::nanoseconds
   period() const;
 
 private:
diff --git a/rclcpp/src/rclcpp/rate.cpp b/rclcpp/src/rclcpp/rate.cpp
index 04a1f57185..9a6e3d486b 100644
--- a/rclcpp/src/rclcpp/rate.cpp
+++ b/rclcpp/src/rclcpp/rate.cpp
@@ -14,6 +14,7 @@
 
 #include "rclcpp/rate.hpp"
 
+#include <chrono>
 #include <stdexcept>
 
 namespace rclcpp
@@ -87,10 +88,10 @@ Rate::reset()
   last_interval_ = clock_->now();
 }
 
-Duration
+std::chrono::nanoseconds
 Rate::period() const
 {
-  return period_;
+  return std::chrono::nanoseconds(period_.nanoseconds());
 }
 
 WallRate::WallRate(const double rate)