diff --git a/recipes-ros/ros-comm/roscpp/0001-make-implicit-cast-explicit.patch b/recipes-ros/ros-comm/roscpp/0001-make-implicit-cast-explicit.patch
new file mode 100644
index 0000000..895dee6
--- /dev/null
+++ b/recipes-ros/ros-comm/roscpp/0001-make-implicit-cast-explicit.patch
@@ -0,0 +1,22 @@
+diff --git a/clients/roscpp/src/libros/callback_queue.cpp b/clients/roscpp/src/libros/callback_queue.cpp
+index cd2f4f8..fa600d5 100644
+--- a/clients/roscpp/src/libros/callback_queue.cpp
++++ b/clients/roscpp/src/libros/callback_queue.cpp
+@@ -229,7 +229,7 @@ CallbackQueue::CallOneResult CallbackQueue::callOne(ros::WallDuration timeout)
+     {
+       if (!timeout.isZero())
+       {
+-        condition_.timed_wait(lock, boost::posix_time::microseconds(timeout.toSec() * 1000000.0f));
++        condition_.timed_wait(lock, boost::posix_time::microseconds(static_cast<int64_t>(timeout.toSec() * 1000000.0f)));
+       }
+ 
+       if (callbacks_.empty())
+@@ -305,7 +305,7 @@ void CallbackQueue::callAvailable(ros::WallDuration timeout)
+     {
+       if (!timeout.isZero())
+       {
+-        condition_.timed_wait(lock, boost::posix_time::microseconds(timeout.toSec() * 1000000.0f));
++        condition_.timed_wait(lock, boost::posix_time::microseconds(static_cast<int64_t>(timeout.toSec() * 1000000.0f)));
+       }
+ 
+       if (callbacks_.empty() || !enabled_)
diff --git a/recipes-ros/ros-comm/roscpp_1.11.21.bb b/recipes-ros/ros-comm/roscpp_1.11.21.bb
index 04e3b61..b878e5a 100644
--- a/recipes-ros/ros-comm/roscpp_1.11.21.bb
+++ b/recipes-ros/ros-comm/roscpp_1.11.21.bb
@@ -10,7 +10,9 @@ DEPENDS = "cpp-common message-generation rosconsole roscpp-serialization roscpp-
 
 require ros-comm.inc
 
-SRC_URI += "file://0001-roscpp-add-missing-header-for-writev.patch;striplevel=3"
+SRC_URI += "\
+    file://0001-roscpp-add-missing-header-for-writev.patch;striplevel=3\
+    file://0001-make-implicit-cast-explicit.patch;striplevel=3"
 
 ROS_PKG_SUBDIR = "clients"
 
diff --git a/recipes-ros/roscpp-core/files/0001-remove-implicit-cast.patch b/recipes-ros/roscpp-core/files/0001-remove-implicit-cast.patch
new file mode 100644
index 0000000..f367160
--- /dev/null
+++ b/recipes-ros/roscpp-core/files/0001-remove-implicit-cast.patch
@@ -0,0 +1,26 @@
+diff --git a/rostime/include/ros/impl/duration.h b/rostime/include/ros/impl/duration.h
+index 2ca2f5b..7ebd202 100644
+--- a/rostime/include/ros/impl/duration.h
++++ b/rostime/include/ros/impl/duration.h
+@@ -179,7 +179,7 @@ namespace ros {
+ #if defined(BOOST_DATE_TIME_HAS_NANOSECONDS)
+     return bt::seconds(sec) + bt::nanoseconds(nsec);
+ #else
+-    return bt::seconds(sec) + bt::microseconds(nsec/1000.0);
++    return bt::seconds(sec) + bt::microseconds(nsec/1000);
+ #endif
+   }
+ }
+diff --git a/rostime/include/ros/impl/time.h b/rostime/include/ros/impl/time.h
+index ec991e6..61b686c 100644
+--- a/rostime/include/ros/impl/time.h
++++ b/rostime/include/ros/impl/time.h
+@@ -167,7 +167,7 @@ namespace ros
+ #if defined(BOOST_DATE_TIME_HAS_NANOSECONDS)
+     return pt::from_time_t(sec) + pt::nanoseconds(nsec);
+ #else
+-    return pt::from_time_t(sec) + pt::microseconds(nsec/1000.0);
++    return pt::from_time_t(sec) + pt::microseconds(nsec/1000);
+ #endif
+   }
+ 
diff --git a/recipes-ros/roscpp-core/rostime_0.5.8.bb b/recipes-ros/roscpp-core/rostime_0.5.8.bb
index 51dd349..40ad83a 100644
--- a/recipes-ros/roscpp-core/rostime_0.5.8.bb
+++ b/recipes-ros/roscpp-core/rostime_0.5.8.bb
@@ -6,3 +6,5 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc
 DEPENDS = "boost cpp-common"
 
 require roscpp-core.inc
+
+SRC_URI += "file://0001-remove-implicit-cast.patch;striplevel=2"