diff --git a/rclcpp/test/test_rate.cpp b/rclcpp/test/test_rate.cpp
index 8b421e8..cfff5d5 100644
--- a/rclcpp/test/test_rate.cpp
+++ b/rclcpp/test/test_rate.cpp
@@ -39,9 +39,9 @@ TEST(TestRate, rate_basics) {
   rclcpp::utilities::sleep_for(offset);
   ASSERT_TRUE(r.sleep());
   auto two = std::chrono::system_clock::now();
-  delta = two - one;
-  ASSERT_TRUE(period < delta + epsilon);
-  ASSERT_TRUE(period * overrun_ratio > delta);
+  delta = two - start;
+  ASSERT_TRUE(2 * period < delta);
+  ASSERT_TRUE(2 * period * overrun_ratio > delta);
 
   rclcpp::utilities::sleep_for(offset);
   auto two_offset = std::chrono::system_clock::now();
@@ -66,35 +66,35 @@ TEST(TestRate, wall_rate_basics) {
   auto epsilon = std::chrono::milliseconds(1);
   double overrun_ratio = 1.5;
 
-  auto start = std::chrono::system_clock::now();
+  auto start = std::chrono::steady_clock::now();
   rclcpp::rate::WallRate r(period);
   ASSERT_TRUE(r.is_steady());
   ASSERT_TRUE(r.sleep());
-  auto one = std::chrono::system_clock::now();
+  auto one = std::chrono::steady_clock::now();
   auto delta = one - start;
   ASSERT_TRUE(period < delta);
   ASSERT_TRUE(period * overrun_ratio > delta);
 
   rclcpp::utilities::sleep_for(offset);
   ASSERT_TRUE(r.sleep());
-  auto two = std::chrono::system_clock::now();
-  delta = two - one;
-  ASSERT_TRUE(period < delta + epsilon);
-  ASSERT_TRUE(period * overrun_ratio > delta);
+  auto two = std::chrono::steady_clock::now();
+  delta = two - start;
+  ASSERT_TRUE(2 * period < delta + epsilon);
+  ASSERT_TRUE(2 * period * overrun_ratio > delta);
 
   rclcpp::utilities::sleep_for(offset);
-  auto two_offset = std::chrono::system_clock::now();
+  auto two_offset = std::chrono::steady_clock::now();
   r.reset();
   ASSERT_TRUE(r.sleep());
-  auto three = std::chrono::system_clock::now();
+  auto three = std::chrono::steady_clock::now();
   delta = three - two_offset;
   ASSERT_TRUE(period < delta);
   ASSERT_TRUE(period * overrun_ratio > delta);
 
   rclcpp::utilities::sleep_for(offset + period);
-  auto four = std::chrono::system_clock::now();
+  auto four = std::chrono::steady_clock::now();
   ASSERT_FALSE(r.sleep());
-  auto five = std::chrono::system_clock::now();
+  auto five = std::chrono::steady_clock::now();
   delta = five - four;
   ASSERT_TRUE(epsilon > delta);
 }