diff --git a/core/roslib/src/roslib/rostime.py b/core/roslib/src/roslib/rostime.py
index c0807553..a2fcb7fb 100644
--- a/core/roslib/src/roslib/rostime.py
+++ b/core/roslib/src/roslib/rostime.py
@@ -411,15 +411,68 @@ class Duration(TVal):
 
     def __mul__(self, val):
         """
-        Multiply this duration by an integer
+        Multiply this duration by an integer or float
         @param val: multiplication factor
-        @type  val: int
+        @type  val: int/float
         @return: Duration multiplied by val
         @rtype:  L{Duration}
         """
-        if not type(val) == int:
+        t = type(val)
+        if t in (int, long):
+            return Duration(self.secs * val, self.nsecs * val)
+        elif t == float:
+            return Duration.from_sec(self.to_sec() * val)
+        else:
+            return NotImplemented
+
+    def __floordiv__(self, val):
+        """
+        Floor divide this duration by an integer or float
+        @param val: division factor
+        @type  val: int/float
+        @return: Duration multiplied by val
+        @rtype:  L{Duration}
+        """
+        t = type(val)
+        if t in (int, long):
+            return Duration(self.secs // val, self.nsecs // val)
+        elif t == float:
+            return Duration.from_sec(self.to_sec() // val)
+        else:
+            return NotImplemented
+
+    def __div__(self, val):
+        """
+        Divide this duration by an integer or float
+        @param val: division factor
+        @type  val: int/float
+        @return: Duration multiplied by val
+        @rtype:  L{Duration}
+        """
+        # unlike __floordiv__, this uses true div for float arg
+        t = type(val)
+        if t in (int, long):
+            return Duration(self.secs // val, self.nsecs // val)
+        elif t == float:
+            return Duration.from_sec(self.to_sec() / val)
+        else:
+            return NotImplemented
+
+    def __truediv__(self, val):
+        """
+        Divide this duration by an integer or float
+        @param val: division factor
+        @type  val: int/float
+        @return: Duration multiplied by val
+        @rtype:  L{Duration}
+        """
+        t = type(val)
+        if t in (int, long):
+            return Duration(self.secs / val, self.nsecs / val)
+        elif t == float:
+            return Duration.from_sec(self.to_sec() / val)
+        else:
             return NotImplemented
-        return Duration(self.secs * val, self.nsecs * val)
 
     def __cmp__(self, other):
         if not isinstance(other, Duration):
diff --git a/test/test_roslib/test/test_roslib_rostime.py b/test/test_roslib/test/test_roslib_rostime.py
index c3f890d8..a36f7890 100644
--- a/test/test_roslib/test/test_roslib_rostime.py
+++ b/test/test_roslib/test/test_roslib_rostime.py
@@ -409,6 +409,31 @@ class RostimeTest(unittest.TestCase):
         self.fail("should have thrown value error")
       except ValueError: pass
 
+      # Test mul 
+      self.assertEquals(Duration(4), Duration(2) * 2)
+      self.assertEquals(Duration(4), Duration(2) * 2.)
+      self.assertEquals(Duration(10), Duration(4) * 2.5)
+      self.assertEquals(Duration(4, 8), Duration(2, 4) * 2)
+      v = Duration(4, 8) - (Duration(2, 4) * 2.)
+      self.assert_(abs(v.to_nsec()) < 100)
+      v = Duration(5, 10) - (Duration(2, 4) * 2.5)
+      self.assert_(abs(v.to_nsec()) < 100)      
+      
+      # Test div
+      self.assertEquals(Duration(4), Duration(8) / 2)
+      self.assertEquals(Duration(4), Duration(8) / 2.)      
+      self.assertEquals(Duration(4), Duration(8) // 2)      
+      self.assertEquals(Duration(4), Duration(8) // 2.)      
+      self.assertEquals(Duration(4), Duration(9) // 2)      
+      self.assertEquals(Duration(4), Duration(9) // 2.)      
+      self.assertEquals(Duration(4, 2), Duration(8, 4) / 2)
+      v = Duration(4, 2) - (Duration(8, 4) / 2.)
+      self.assert_(abs(v.to_nsec()) < 100)            
+      
+      self.assertEquals(Duration(4, 2), Duration(8, 4) // 2)
+      self.assertEquals(Duration(4, 2), Duration(9, 5) // 2)
+      v = Duration(4, 2) - (Duration(9, 5) // 2.)
+      self.assert_(abs(v.to_nsec()) < 100)                  
       
 if __name__ == '__main__':
   rostest.unitrun('test_roslib', 'test_rostime', RostimeTest, coverage_packages=['roslib.rostime'])