diff --git a/rcl/src/rcl/time.c b/rcl/src/rcl/time.c
index 2132b9b..17ef21a 100644
--- a/rcl/src/rcl/time.c
+++ b/rcl/src/rcl/time.c
@@ -218,9 +218,9 @@ rcl_difference_times(
   }
   if (finish->nanoseconds < start->nanoseconds) {
     rcl_time_point_value_t intermediate = start->nanoseconds - finish->nanoseconds;
-    delta->nanoseconds = -1 * (int) intermediate;
+    delta->nanoseconds = -1 * (int64_t) intermediate;
   } else {
-    delta->nanoseconds = (int)(finish->nanoseconds - start->nanoseconds);
+    delta->nanoseconds = (int64_t)(finish->nanoseconds - start->nanoseconds);
   }
   return RCL_RET_OK;
 }
diff --git a/rcl/test/rcl/test_time.cpp b/rcl/test/rcl/test_time.cpp
index f13283c..8955092 100644
--- a/rcl/test/rcl/test_time.cpp
+++ b/rcl/test/rcl/test_time.cpp
@@ -279,6 +279,58 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_difference) {
   EXPECT_EQ(d.nanoseconds, -1000);
 }
 
+TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_difference_signed) {
+  rcl_allocator_t allocator = rcl_get_default_allocator();
+  rcl_clock_t * ros_clock =
+    reinterpret_cast<rcl_clock_t *>(allocator.allocate(sizeof(rcl_clock_t), allocator.state));
+  rcl_ret_t retval = rcl_ros_clock_init(ros_clock, &allocator);
+  EXPECT_EQ(retval, RCL_RET_OK) << rcl_get_error_string_safe();
+
+  rcl_time_point_t a, b;
+  a.nanoseconds = RCL_S_TO_NS(0LL) + 0LL;
+  b.nanoseconds = RCL_S_TO_NS(10LL) + 0LL;
+  a.clock_type = RCL_ROS_TIME;
+  b.clock_type = RCL_ROS_TIME;
+
+  {
+    rcl_duration_t d;
+    rcl_ret_t ret;
+    ret = rcl_difference_times(&a, &b, &d);
+    EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
+    EXPECT_EQ(d.nanoseconds, RCL_S_TO_NS(10LL));
+  }
+
+  {
+    rcl_duration_t d;
+    rcl_ret_t ret;
+    ret = rcl_difference_times(&b, &a, &d);
+    EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
+    EXPECT_EQ(d.nanoseconds, RCL_S_TO_NS(-10LL));
+  }
+
+  // Construct example from issue.
+  a.nanoseconds = RCL_S_TO_NS(1514423496LL) + 0LL;
+  b.nanoseconds = RCL_S_TO_NS(1514423498LL) + 147483647LL;
+
+  {
+    rcl_duration_t d;
+    rcl_ret_t ret;
+    ret = rcl_difference_times(&a, &b, &d);
+    EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
+    EXPECT_EQ(d.nanoseconds, 2147483647LL);
+  }
+
+  {
+    rcl_duration_t d;
+    rcl_ret_t ret;
+    ret = rcl_difference_times(&b, &a, &d);
+    EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
+    // The erroneous value was -2147483648 (https://github.com/ros2/rcl/issues/204)
+    EXPECT_EQ(d.nanoseconds, -2147483647LL);
+  }
+}
+
+
 static bool pre_callback_called = false;
 static bool post_callback_called = false;