diff --git a/include/actionlib/client/simple_action_client.h b/include/actionlib/client/simple_action_client.h
index dfe2f70..7dab227 100644
--- a/include/actionlib/client/simple_action_client.h
+++ b/include/actionlib/client/simple_action_client.h
@@ -601,7 +601,7 @@ bool SimpleActionClient<ActionSpec>::waitForResult(const ros::Duration & timeout
       time_left = loop_period;
     }

-    done_condition_.timed_wait(lock, boost::posix_time::milliseconds(time_left.toSec() * 1000.0f));
+    done_condition_.timed_wait(lock, boost::posix_time::milliseconds((long) (time_left.toSec() * 1000.0f)));
   }

   return cur_simple_state_ == SimpleGoalState::DONE;
diff --git a/include/actionlib/destruction_guard.h b/include/actionlib/destruction_guard.h
index 196a0a7..1aaa776 100644
--- a/include/actionlib/destruction_guard.h
+++ b/include/actionlib/destruction_guard.h
@@ -59,7 +59,7 @@ public:
     boost::mutex::scoped_lock lock(mutex_);
     destructing_ = true;
     while (use_count_ > 0) {
-      count_condition_.timed_wait(lock, boost::posix_time::milliseconds(1000.0f));
+      count_condition_.timed_wait(lock, boost::posix_time::milliseconds(1000));
     }
   }

diff --git a/include/actionlib/server/simple_action_server_imp.h b/include/actionlib/server/simple_action_server_imp.h
index 3975ec6..bee6137 100644
--- a/include/actionlib/server/simple_action_server_imp.h
+++ b/include/actionlib/server/simple_action_server_imp.h
@@ -394,7 +394,7 @@ void SimpleActionServer<ActionSpec>::executeLoop()
       }
     } else {
       execute_condition_.timed_wait(lock,
-        boost::posix_time::milliseconds(loop_duration.toSec() * 1000.0f));
+        boost::posix_time::milliseconds((long) (loop_duration.toSec() * 1000.0f)));
     }
   }
 }
diff --git a/src/connection_monitor.cpp b/src/connection_monitor.cpp
index 19fe21a..c707e48 100644
--- a/src/connection_monitor.cpp
+++ b/src/connection_monitor.cpp
@@ -275,7 +275,7 @@ bool actionlib::ConnectionMonitor::waitForActionServerToStart(const ros::Duratio
     }

     check_connection_condition_.timed_wait(lock,
-      boost::posix_time::milliseconds(time_left.toSec() * 1000.0f));
+      boost::posix_time::milliseconds((long) (time_left.toSec() * 1000.0f)));
   }

   return isServerConnected();
diff --git a/test/destruction_guard_test.cpp b/test/destruction_guard_test.cpp
index 4ae9e77..c3c7d75 100644
--- a/test/destruction_guard_test.cpp
+++ b/test/destruction_guard_test.cpp
@@ -86,7 +86,7 @@ TEST_F(TestRunner, threaded_test) {
   {
     boost::mutex::scoped_lock lock(mutex_);
     while (!done_protecting_) {
-      cond_.timed_wait(lock, boost::posix_time::milliseconds(100.0f));
+      cond_.timed_wait(lock, boost::posix_time::milliseconds(100));
     }
   }