diff --git a/rcl/src/rcl/wait.c b/rcl/src/rcl/wait.c
index 8bac519c5..f351bd469 100644
--- a/rcl/src/rcl/wait.c
+++ b/rcl/src/rcl/wait.c
@@ -506,17 +506,17 @@ rcl_wait(rcl_wait_set_t * wait_set, int64_t timeout)
         rmw_gcs->guard_conditions[rmw_gcs->guard_condition_count] =
           rmw_gcs->guard_conditions[gc_idx];
         ++(rmw_gcs->guard_condition_count);
-      } else {
-        // No guard condition, instead use to set the rmw_wait timeout
-        int64_t timer_timeout = INT64_MAX;
-        rcl_ret_t ret = rcl_timer_get_time_until_next_call(wait_set->timers[i], &timer_timeout);
-        if (ret != RCL_RET_OK) {
-          return ret;  // The rcl error state should already be set.
-        }
-        if (timer_timeout < min_timeout) {
-          is_timer_timeout = true;
-          min_timeout = timer_timeout;
-        }
+      }
+      // use timer time to to set the rmw_wait timeout
+      // TODO(sloretz) fix spurious wake-ups on ROS_TIME timers with ROS_TIME enabled
+      int64_t timer_timeout = INT64_MAX;
+      ret = rcl_timer_get_time_until_next_call(wait_set->timers[i], &timer_timeout);
+      if (ret != RCL_RET_OK) {
+        return ret;  // The rcl error state should already be set.
+      }
+      if (timer_timeout < min_timeout) {
+        is_timer_timeout = true;
+        min_timeout = timer_timeout;
       }
     }
   }