diff --git a/examples/rclrs_timer_demo/Cargo.toml b/examples/rclrs_timer_demo/Cargo.toml
new file mode 100644
index 000000000..772d635be
--- /dev/null
+++ b/examples/rclrs_timer_demo/Cargo.toml
@@ -0,0 +1,12 @@
+[package]
+name = "rclrs_timer_demo"
+version = "0.1.0"
+edition = "2021"
+
+[[bin]]
+name="rclrs_timer_demo"
+path="src/rclrs_timer_demo.rs"
+
+
+[dependencies]
+rclrs = "*"
diff --git a/examples/rclrs_timer_demo/package.xml b/examples/rclrs_timer_demo/package.xml
new file mode 100644
index 000000000..64e673704
--- /dev/null
+++ b/examples/rclrs_timer_demo/package.xml
@@ -0,0 +1,13 @@
+<package format="3">
+  <name>rclrs_timer_demo</name>
+  <version>0.1.0</version>
+  <description>Shows how to implement a timer within a Node using rclrs.</description>
+  <maintainer email="user@todo.todo">user</maintainer>
+  <license>TODO: License declaration.</license>
+
+  <depend>rclrs</depend>
+
+  <export>
+    <build_type>ament_cargo</build_type>
+  </export>
+</package>
diff --git a/examples/rclrs_timer_demo/src/rclrs_timer_demo.rs b/examples/rclrs_timer_demo/src/rclrs_timer_demo.rs
new file mode 100644
index 000000000..279858be3
--- /dev/null
+++ b/examples/rclrs_timer_demo/src/rclrs_timer_demo.rs
@@ -0,0 +1,48 @@
+/// Creates a SimpleTimerNode, initializes a node and the timer with a callback
+/// that prints the timer callback execution iteration. The callback is executed
+/// thanks to the spin, which is in charge of executing the timer's events among
+/// other entities' events.
+use rclrs::{create_node, Context, Node, RclrsError, Timer};
+use std::{
+    env,
+    sync::{Arc, Mutex},
+};
+
+/// Contains both the node and timer.
+struct SimpleTimerNode {
+    node: Arc<Node>,
+    timer: Arc<Timer>,
+}
+
+impl SimpleTimerNode {
+    /// Creates a node and a timer with a callback.
+    ///
+    /// The callback will simply print to stdout:
+    /// "Drinking 🧉 for the xth time every p nanoseconds."
+    /// where x is the iteration callback counter and p is the period of the timer.
+    fn new(context: &Context, timer_period_ns: i64) -> Result<Self, RclrsError> {
+        let node = create_node(context, "simple_timer_node")?;
+        let count: Arc<Mutex<i32>> = Arc::new(Mutex::new(0));
+        let timer = node.create_timer(
+            timer_period_ns,
+            context,
+            Some(Box::new(move |_| {
+                let x = *count.lock().unwrap();
+                println!(
+                    "Drinking 🧉 for the {}th time every {} nanoseconds.",
+                    x, timer_period_ns
+                );
+                *count.lock().unwrap() = x + 1;
+            })),
+            None,
+        )?;
+        Ok(Self { node, timer })
+    }
+}
+
+fn main() -> Result<(), RclrsError> {
+    let timer_period: i64 = 1e9 as i64; // 1 seconds.
+    let context = Context::new(env::args()).unwrap();
+    let simple_timer_node = Arc::new(SimpleTimerNode::new(&context, timer_period).unwrap());
+    rclrs::spin(simple_timer_node.node.clone())
+}
diff --git a/rclrs/src/clock.rs b/rclrs/src/clock.rs
index f7c085e14..8182d37ae 100644
--- a/rclrs/src/clock.rs
+++ b/rclrs/src/clock.rs
@@ -83,6 +83,11 @@ impl Clock {
         }
     }
 
+    /// Returns the clock's `rcl_clock_t`.
+    pub(crate) fn get_rcl_clock(&self) -> &Arc<Mutex<rcl_clock_t>> {
+        &self.rcl_clock
+    }
+
     /// Returns the clock's `ClockType`.
     pub fn clock_type(&self) -> ClockType {
         self.kind
diff --git a/rclrs/src/executor.rs b/rclrs/src/executor.rs
index 37c43a68e..bb795a96e 100644
--- a/rclrs/src/executor.rs
+++ b/rclrs/src/executor.rs
@@ -48,7 +48,11 @@ impl SingleThreadedExecutor {
             })
         {
             let wait_set = WaitSet::new_for_node(&node)?;
-            let ready_entities = wait_set.wait(timeout)?;
+            let mut ready_entities = wait_set.wait(timeout)?;
+
+            for ready_timer in ready_entities.timers.iter_mut() {
+                ready_timer.execute()?;
+            }
 
             for ready_subscription in ready_entities.subscriptions {
                 ready_subscription.execute()?;
diff --git a/rclrs/src/lib.rs b/rclrs/src/lib.rs
index 3a22c6da8..ddb3e9c3f 100644
--- a/rclrs/src/lib.rs
+++ b/rclrs/src/lib.rs
@@ -20,6 +20,7 @@ mod service;
 mod subscription;
 mod time;
 mod time_source;
+mod timer;
 mod vendor;
 mod wait;
 
@@ -49,6 +50,7 @@ pub use service::*;
 pub use subscription::*;
 pub use time::*;
 use time_source::*;
+pub use timer::*;
 pub use wait::*;
 
 /// Polls the node for new messages and executes the corresponding callbacks.
diff --git a/rclrs/src/node.rs b/rclrs/src/node.rs
index b51b59817..5df9c057d 100644
--- a/rclrs/src/node.rs
+++ b/rclrs/src/node.rs
@@ -16,7 +16,7 @@ use crate::{
     rcl_bindings::*, Client, ClientBase, Clock, Context, ContextHandle, GuardCondition, LogParams,
     Logger, ParameterBuilder, ParameterInterface, ParameterVariant, Parameters, Publisher,
     QoSProfile, RclrsError, Service, ServiceBase, Subscription, SubscriptionBase,
-    SubscriptionCallback, TimeSource, ToLogParams, ENTITY_LIFECYCLE_MUTEX,
+    SubscriptionCallback, TimeSource, Timer, TimerCallback, ToLogParams, ENTITY_LIFECYCLE_MUTEX,
 };
 
 // SAFETY: The functions accessing this type, including drop(), shouldn't care about the thread
@@ -63,6 +63,7 @@ pub struct Node {
     pub(crate) guard_conditions_mtx: Mutex<Vec<Weak<GuardCondition>>>,
     pub(crate) services_mtx: Mutex<Vec<Weak<dyn ServiceBase>>>,
     pub(crate) subscriptions_mtx: Mutex<Vec<Weak<dyn SubscriptionBase>>>,
+    pub(crate) timers_mtx: Mutex<Vec<Weak<Timer>>>,
     time_source: TimeSource,
     parameter: ParameterInterface,
     pub(crate) handle: Arc<NodeHandle>,
@@ -340,6 +341,30 @@ impl Node {
         Ok(subscription)
     }
 
+    /// Creates a [`Timer`][1].
+    ///
+    /// [1]: crate::Timer
+    /// TODO: make timer's lifetime depend on node's lifetime.
+    pub fn create_timer(
+        &self,
+        period_ns: i64,
+        context: &Context,
+        callback: Option<TimerCallback>,
+        clock: Option<Clock>,
+    ) -> Result<Arc<Timer>, RclrsError> {
+        let clock_used = match clock {
+            Some(value) => value,
+            None => self.get_clock(),
+        };
+        let timer = Timer::new(&clock_used, &context, period_ns, callback)?;
+        let timer = Arc::new(timer);
+        self.timers_mtx
+            .lock()
+            .unwrap()
+            .push(Arc::downgrade(&timer) as Weak<Timer>);
+        Ok(timer)
+    }
+
     /// Returns the subscriptions that have not been dropped yet.
     pub(crate) fn live_subscriptions(&self) -> Vec<Arc<dyn SubscriptionBase>> {
         { self.subscriptions_mtx.lock().unwrap() }
@@ -369,6 +394,13 @@ impl Node {
             .collect()
     }
 
+    pub(crate) fn live_timers(&self) -> Vec<Arc<Timer>> {
+        { self.timers_mtx.lock().unwrap() }
+            .iter()
+            .filter_map(Weak::upgrade)
+            .collect()
+    }
+
     /// Returns the ROS domain ID that the node is using.
     ///
     /// The domain ID controls which nodes can send messages to each other, see the [ROS 2 concept article][1].
@@ -551,6 +583,21 @@ mod tests {
         Ok(())
     }
 
+    #[test]
+    fn test_create_timer_without_clock_source() -> Result<(), RclrsError> {
+        let timer_period_ns: i64 = 1e6 as i64; // 1 millisecond.
+        let context = Context::new([])?;
+        let dut = NodeBuilder::new(&context, "node_with_timer")
+            .namespace("test_create_timer")
+            .build()?;
+
+        let _timer =
+            dut.create_timer(timer_period_ns, &context, Some(Box::new(move |_| {})), None)?;
+        assert_eq!(dut.live_timers().len(), 1);
+
+        Ok(())
+    }
+
     #[test]
     fn test_logger_name() -> Result<(), RclrsError> {
         // Use helper to create 2 nodes for us
diff --git a/rclrs/src/node/builder.rs b/rclrs/src/node/builder.rs
index 1e7a9fc63..4aec2686d 100644
--- a/rclrs/src/node/builder.rs
+++ b/rclrs/src/node/builder.rs
@@ -340,6 +340,7 @@ impl NodeBuilder {
             guard_conditions_mtx: Mutex::new(vec![]),
             services_mtx: Mutex::new(vec![]),
             subscriptions_mtx: Mutex::new(vec![]),
+            timers_mtx: Mutex::new(vec![]),
             time_source: TimeSource::builder(self.clock_type)
                 .clock_qos(self.clock_qos)
                 .build(),
diff --git a/rclrs/src/rcl_bindings.rs b/rclrs/src/rcl_bindings.rs
index 90f434009..dbfb5d5b0 100644
--- a/rclrs/src/rcl_bindings.rs
+++ b/rclrs/src/rcl_bindings.rs
@@ -89,6 +89,10 @@ cfg_if::cfg_if! {
         #[derive(Debug)]
         pub struct rcl_wait_set_t;
 
+        #[repr(C)]
+        #[derive(Debug)]
+        pub struct rcl_timer_t;
+
         #[repr(C)]
         #[derive(Debug)]
         pub struct rcutils_string_array_t;
diff --git a/rclrs/src/timer.rs b/rclrs/src/timer.rs
new file mode 100644
index 000000000..fb5f761a7
--- /dev/null
+++ b/rclrs/src/timer.rs
@@ -0,0 +1,398 @@
+use crate::{clock::Clock, context::Context, error::RclrsError, rcl_bindings::*, to_rclrs_result};
+// TODO: fix me when the callback type is properly defined.
+// use std::fmt::Debug;
+use std::sync::{atomic::AtomicBool, Arc, Mutex};
+
+/// Type alias for the `Timer` callback.
+pub type TimerCallback = Box<dyn Fn(i64) + Send + Sync>;
+
+/// Struct for executing periodic events.
+///
+/// The execution of the callbacks is tied to [`spin_once`][1] or [`spin`][2] on the timers's node.
+///
+/// Timer can be created via [`Node::create_timer()`][3], this is to ensure that [`Node`][4]s can
+/// track all the timers that have been created. However, a user of a `Timer` can also
+/// use it standalone.
+///
+/// [1]: crate::spin_once
+/// [2]: crate::spin
+/// [3]: crate::Node::create_timer
+/// [4]: crate::Node
+// TODO: callback type prevents us from making the Timer implement the Debug trait.
+// #[derive(Debug)]
+pub struct Timer {
+    pub(crate) rcl_timer: Arc<Mutex<rcl_timer_t>>,
+    /// The callback function that runs when the timer is due.
+    callback: Option<TimerCallback>,
+    pub(crate) in_use_by_wait_set: Arc<AtomicBool>,
+}
+
+impl Timer {
+    /// Creates a new timer.
+    pub fn new(
+        clock: &Clock,
+        context: &Context,
+        period: i64,
+        callback: Option<TimerCallback>,
+    ) -> Result<Timer, RclrsError> {
+        let mut rcl_timer;
+        let timer_init_result = unsafe {
+            // SAFETY: Getting a default value is always safe.
+            rcl_timer = rcl_get_zero_initialized_timer();
+            let mut rcl_clock = clock.get_rcl_clock().lock().unwrap();
+            let allocator = rcutils_get_default_allocator();
+            let mut rcl_context = context.handle.rcl_context.lock().unwrap();
+            // Callbacks will be handled in the WaitSet.
+            let rcl_timer_callback: rcl_timer_callback_t = None;
+            // Function will return Err(_) only if there isn't enough memory to allocate a clock
+            // object.
+            rcl_timer_init(
+                &mut rcl_timer,
+                &mut *rcl_clock,
+                &mut *rcl_context,
+                period,
+                rcl_timer_callback,
+                allocator,
+            )
+        };
+        to_rclrs_result(timer_init_result).map(|_| Timer {
+            rcl_timer: Arc::new(Mutex::new(rcl_timer)),
+            callback,
+            in_use_by_wait_set: Arc::new(AtomicBool::new(false)),
+        })
+    }
+
+    /// Gets the period of the timer in nanoseconds
+    pub fn get_timer_period_ns(&self) -> Result<i64, RclrsError> {
+        let mut timer_period_ns = 0;
+        let get_period_result = unsafe {
+            let rcl_timer = self.rcl_timer.lock().unwrap();
+            rcl_timer_get_period(&*rcl_timer, &mut timer_period_ns)
+        };
+        to_rclrs_result(get_period_result).map(|_| timer_period_ns)
+    }
+
+    /// Cancels the timer, stopping the execution of the callback
+    pub fn cancel(&self) -> Result<(), RclrsError> {
+        let mut rcl_timer = self.rcl_timer.lock().unwrap();
+        let cancel_result = unsafe { rcl_timer_cancel(&mut *rcl_timer) };
+        to_rclrs_result(cancel_result)
+    }
+
+    /// Checks whether the timer is canceled or not
+    pub fn is_canceled(&self) -> Result<bool, RclrsError> {
+        let mut is_canceled = false;
+        let is_canceled_result = unsafe {
+            let rcl_timer = self.rcl_timer.lock().unwrap();
+            rcl_timer_is_canceled(&*rcl_timer, &mut is_canceled)
+        };
+        to_rclrs_result(is_canceled_result).map(|_| is_canceled)
+    }
+
+    /// Retrieves the time since the last call to the callback
+    pub fn time_since_last_call(&self) -> Result<i64, RclrsError> {
+        let mut time_value_ns: i64 = 0;
+        let time_since_last_call_result = unsafe {
+            let rcl_timer = self.rcl_timer.lock().unwrap();
+            rcl_timer_get_time_since_last_call(&*rcl_timer, &mut time_value_ns)
+        };
+        to_rclrs_result(time_since_last_call_result).map(|_| time_value_ns)
+    }
+
+    /// Retrieves the time until the next call of the callback
+    pub fn time_until_next_call(&self) -> Result<i64, RclrsError> {
+        let mut time_value_ns: i64 = 0;
+        let time_until_next_call_result = unsafe {
+            let rcl_timer = self.rcl_timer.lock().unwrap();
+            rcl_timer_get_time_until_next_call(&*rcl_timer, &mut time_value_ns)
+        };
+        to_rclrs_result(time_until_next_call_result).map(|_| time_value_ns)
+    }
+
+    /// Resets the timer.
+    pub fn reset(&self) -> Result<(), RclrsError> {
+        let mut rcl_timer = self.rcl_timer.lock().unwrap();
+        to_rclrs_result(unsafe { rcl_timer_reset(&mut *rcl_timer) })
+    }
+
+    /// Executes the callback of the timer (this is triggered by the executor or the node directly)
+    pub fn call(&self) -> Result<(), RclrsError> {
+        let mut rcl_timer = self.rcl_timer.lock().unwrap();
+        to_rclrs_result(unsafe { rcl_timer_call(&mut *rcl_timer) })
+    }
+
+    /// Checks if the timer is ready (not canceled)
+    pub fn is_ready(&self) -> Result<bool, RclrsError> {
+        let (is_ready, is_ready_result) = unsafe {
+            let mut is_ready: bool = false;
+            let rcl_timer = self.rcl_timer.lock().unwrap();
+            let is_ready_result = rcl_timer_is_ready(&*rcl_timer, &mut is_ready);
+            (is_ready, is_ready_result)
+        };
+        to_rclrs_result(is_ready_result).map(|_| is_ready)
+    }
+
+    pub(crate) fn execute(&self) -> Result<(), RclrsError> {
+        if self.is_ready()? {
+            let time_since_last_call = self.time_since_last_call()?;
+            self.call()?;
+            if let Some(ref callback) = self.callback {
+                callback(time_since_last_call);
+            }
+        }
+        Ok(())
+    }
+}
+
+/// 'Drop' trait implementation to be able to release the resources
+impl Drop for rcl_timer_t {
+    fn drop(&mut self) {
+        // SAFETY: No preconditions for this function
+        let rc = unsafe { rcl_timer_fini(&mut *self) };
+        if let Err(e) = to_rclrs_result(rc) {
+            panic!("Unable to release Timer. {:?}", e)
+        }
+    }
+}
+
+impl PartialEq for Timer {
+    fn eq(&self, other: &Self) -> bool {
+        Arc::ptr_eq(&self.rcl_timer, &other.rcl_timer)
+    }
+}
+
+// SAFETY: The functions accessing this type, including drop(), shouldn't care about the thread
+// they are running in. Therefore, this type can be safely sent to another thread.
+unsafe impl Send for rcl_timer_t {}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use std::{thread, time};
+
+    fn create_dummy_callback() -> Option<TimerCallback> {
+        Some(Box::new(move |_| {}))
+    }
+
+    #[test]
+    fn traits() {
+        use crate::test_helpers::*;
+
+        assert_send::<Timer>();
+        assert_sync::<Timer>();
+    }
+
+    #[test]
+    fn test_new_with_system_clock() {
+        let clock = Clock::system();
+        let context = Context::new(vec![]).unwrap();
+        let period: i64 = 1e6 as i64; // 1 milliseconds.
+        let dut = Timer::new(&clock, &context, period, create_dummy_callback());
+        assert!(dut.is_ok());
+    }
+
+    #[test]
+    fn test_new_with_steady_clock() {
+        let clock = Clock::steady();
+        let context = Context::new(vec![]).unwrap();
+        let period: i64 = 1e6 as i64; // 1 milliseconds.
+        let dut = Timer::new(&clock, &context, period, create_dummy_callback());
+        assert!(dut.is_ok());
+    }
+
+    #[ignore = "SIGSEGV when creating the timer with Clock::with_source()."]
+    #[test]
+    fn test_new_with_source_clock() {
+        let (clock, source) = Clock::with_source();
+        // No manual time set, it should default to 0
+        assert!(clock.now().nsec == 0);
+        let set_time = 1234i64;
+        source.set_ros_time_override(set_time);
+        // Ros time is set, should return the value that was set
+        assert_eq!(clock.now().nsec, set_time);
+        let context = Context::new(vec![]).unwrap();
+        let period: i64 = 1e6 as i64; // 1 milliseconds..
+        let dut = Timer::new(&clock, &context, period, create_dummy_callback());
+        assert!(dut.is_ok());
+    }
+
+    #[test]
+    fn test_get_period() {
+        let clock = Clock::steady();
+        let context = Context::new(vec![]).unwrap();
+        let period: i64 = 1e6 as i64; // 1 milliseconds.
+        let dut = Timer::new(&clock, &context, period, create_dummy_callback());
+        assert!(dut.is_ok());
+        let dut = dut.unwrap();
+        let period_result = dut.get_timer_period_ns();
+        assert!(period_result.is_ok());
+        let period_result = period_result.unwrap();
+        assert_eq!(period_result, 1e6 as i64);
+    }
+
+    #[test]
+    fn test_cancel() {
+        let clock = Clock::steady();
+        let context = Context::new(vec![]).unwrap();
+        let period: i64 = 1e6 as i64; // 1 milliseconds.
+        let dut = Timer::new(&clock, &context, period, create_dummy_callback());
+        assert!(dut.is_ok());
+        let dut = dut.unwrap();
+        assert!(dut.is_canceled().is_ok());
+        assert!(!dut.is_canceled().unwrap());
+        let cancel_result = dut.cancel();
+        assert!(cancel_result.is_ok());
+        assert!(dut.is_canceled().is_ok());
+        assert!(dut.is_canceled().unwrap());
+    }
+
+    #[test]
+    fn test_time_since_last_call_before_first_event() {
+        let clock = Clock::steady();
+        let context = Context::new(vec![]).unwrap();
+        let period_ns: i64 = 2e6 as i64; // 2 milliseconds.
+        let sleep_period_ms = time::Duration::from_millis(1);
+        let dut = Timer::new(&clock, &context, period_ns, create_dummy_callback());
+        assert!(dut.is_ok());
+        let dut = dut.unwrap();
+        thread::sleep(sleep_period_ms);
+        let time_since_last_call = dut.time_since_last_call();
+        assert!(time_since_last_call.is_ok());
+        let time_since_last_call = time_since_last_call.unwrap();
+        assert!(
+            time_since_last_call > 9e5 as i64,
+            "time_since_last_call: {}",
+            time_since_last_call
+        );
+    }
+
+    #[test]
+    fn test_time_until_next_call_before_first_event() {
+        let clock = Clock::steady();
+        let context = Context::new(vec![]).unwrap();
+        let period_ns: i64 = 2e6 as i64; // 2 milliseconds.
+        let dut = Timer::new(&clock, &context, period_ns, create_dummy_callback());
+        assert!(dut.is_ok());
+        let dut = dut.unwrap();
+        let time_until_next_call = dut.time_until_next_call();
+        assert!(time_until_next_call.is_ok());
+        let time_until_next_call = time_until_next_call.unwrap();
+        assert!(
+            time_until_next_call < period_ns,
+            "time_until_next_call: {}",
+            time_until_next_call
+        );
+    }
+
+    #[test]
+    fn test_reset() {
+        let tolerance = 20e4 as i64;
+        let clock = Clock::steady();
+        let context = Context::new(vec![]).unwrap();
+        let period_ns: i64 = 2e6 as i64; // 2 milliseconds.
+        let dut = Timer::new(&clock, &context, period_ns, create_dummy_callback()).unwrap();
+        let elapsed = period_ns - dut.time_until_next_call().unwrap();
+        assert!(elapsed < tolerance, "elapsed before reset: {}", elapsed);
+        thread::sleep(time::Duration::from_millis(1));
+        assert!(dut.reset().is_ok());
+        let elapsed = period_ns - dut.time_until_next_call().unwrap();
+        assert!(elapsed < tolerance, "elapsed after reset: {}", elapsed);
+    }
+
+    #[test]
+    fn test_call() {
+        let tolerance = 20e4 as i64;
+        let clock = Clock::steady();
+        let context = Context::new(vec![]).unwrap();
+        let period_ns: i64 = 1e6 as i64; // 1 millisecond.
+        let dut = Timer::new(&clock, &context, period_ns, create_dummy_callback()).unwrap();
+        let elapsed = period_ns - dut.time_until_next_call().unwrap();
+        assert!(elapsed < tolerance, "elapsed before reset: {}", elapsed);
+        thread::sleep(time::Duration::from_micros(1500));
+        let elapsed = period_ns - dut.time_until_next_call().unwrap();
+        assert!(
+            elapsed > 1500000i64,
+            "time_until_next_call before call: {}",
+            elapsed
+        );
+        assert!(dut.call().is_ok());
+        let elapsed = dut.time_until_next_call().unwrap();
+        assert!(
+            elapsed < 500000i64,
+            "time_until_next_call after call: {}",
+            elapsed
+        );
+    }
+
+    #[test]
+    fn test_is_ready() {
+        let clock = Clock::steady();
+        let context = Context::new(vec![]).unwrap();
+        let period_ns: i64 = 1e6 as i64; // 1 millisecond.
+        let dut = Timer::new(&clock, &context, period_ns, create_dummy_callback()).unwrap();
+        let is_ready = dut.is_ready();
+        assert!(is_ready.is_ok());
+        assert!(!is_ready.unwrap());
+        thread::sleep(time::Duration::from_micros(1100));
+        let is_ready = dut.is_ready();
+        assert!(is_ready.is_ok());
+        assert!(is_ready.unwrap());
+    }
+
+    #[test]
+    fn test_callback() {
+        let clock = Clock::steady();
+        let context = Context::new(vec![]).unwrap();
+        let period_ns: i64 = 1e6 as i64; // 1 millisecond.
+        let foo = Arc::new(Mutex::new(0i64));
+        let foo_callback = foo.clone();
+        let dut = Timer::new(
+            &clock,
+            &context,
+            period_ns,
+            Some(Box::new(move |x| *foo_callback.lock().unwrap() = x)),
+        )
+        .unwrap();
+        dut.callback.unwrap()(123);
+        assert_eq!(*foo.lock().unwrap(), 123);
+    }
+
+    #[test]
+    fn test_execute_when_is_not_ready() {
+        let clock = Clock::steady();
+        let context = Context::new(vec![]).unwrap();
+        let period_ns: i64 = 1e6 as i64; // 1 millisecond.
+        let foo = Arc::new(Mutex::new(0i64));
+        let foo_callback = foo.clone();
+        let dut = Timer::new(
+            &clock,
+            &context,
+            period_ns,
+            Some(Box::new(move |x| *foo_callback.lock().unwrap() = x)),
+        )
+        .unwrap();
+        assert!(dut.execute().is_ok());
+        assert_eq!(*foo.lock().unwrap(), 0i64);
+    }
+
+    #[test]
+    fn test_execute_when_is_ready() {
+        let clock = Clock::steady();
+        let context = Context::new(vec![]).unwrap();
+        let period_ns: i64 = 1e6 as i64; // 1 millisecond.
+        let foo = Arc::new(Mutex::new(0i64));
+        let foo_callback = foo.clone();
+        let dut = Timer::new(
+            &clock,
+            &context,
+            period_ns,
+            Some(Box::new(move |x| *foo_callback.lock().unwrap() = x)),
+        )
+        .unwrap();
+        thread::sleep(time::Duration::from_micros(1500));
+        assert!(dut.execute().is_ok());
+        let x = *foo.lock().unwrap();
+        assert!(x > 1500000i64);
+        assert!(x < 1600000i64);
+    }
+}
diff --git a/rclrs/src/wait.rs b/rclrs/src/wait.rs
index 243c9d857..f19ebb8cb 100644
--- a/rclrs/src/wait.rs
+++ b/rclrs/src/wait.rs
@@ -20,7 +20,7 @@ use std::{sync::Arc, time::Duration, vec::Vec};
 use crate::{
     error::{to_rclrs_result, RclReturnCode, RclrsError, ToResult},
     rcl_bindings::*,
-    ClientBase, Context, ContextHandle, Node, ServiceBase, SubscriptionBase,
+    ClientBase, Context, ContextHandle, Node, ServiceBase, SubscriptionBase, Timer,
 };
 
 mod exclusivity_guard;
@@ -51,6 +51,7 @@ pub struct WaitSet {
     guard_conditions: Vec<ExclusivityGuard<Arc<GuardCondition>>>,
     services: Vec<ExclusivityGuard<Arc<dyn ServiceBase>>>,
     handle: WaitSetHandle,
+    timers: Vec<ExclusivityGuard<Arc<Timer>>>,
 }
 
 /// A list of entities that are ready, returned by [`WaitSet::wait`].
@@ -63,6 +64,8 @@ pub struct ReadyEntities {
     pub guard_conditions: Vec<Arc<GuardCondition>>,
     /// A list of services that have potentially received requests.
     pub services: Vec<Arc<dyn ServiceBase>>,
+    /// A list of timers that are potentially due.
+    pub timers: Vec<Arc<Timer>>,
 }
 
 impl Drop for rcl_wait_set_t {
@@ -127,6 +130,7 @@ impl WaitSet {
                 rcl_wait_set,
                 context_handle: Arc::clone(&context.handle),
             },
+            timers: Vec::new(),
         })
     }
 
@@ -138,13 +142,14 @@ impl WaitSet {
         let live_clients = node.live_clients();
         let live_guard_conditions = node.live_guard_conditions();
         let live_services = node.live_services();
+        let live_timers = node.live_timers();
         let ctx = Context {
             handle: Arc::clone(&node.handle.context_handle),
         };
         let mut wait_set = WaitSet::new(
             live_subscriptions.len(),
             live_guard_conditions.len(),
-            0,
+            live_timers.len(),
             live_clients.len(),
             live_services.len(),
             0,
@@ -166,6 +171,10 @@ impl WaitSet {
         for live_service in &live_services {
             wait_set.add_service(live_service.clone())?;
         }
+
+        for live_timer in &live_timers {
+            wait_set.add_timer(live_timer.clone())?;
+        }
         Ok(wait_set)
     }
 
@@ -178,6 +187,7 @@ impl WaitSet {
         self.guard_conditions.clear();
         self.clients.clear();
         self.services.clear();
+        self.timers.clear();
         // This cannot fail – the rcl_wait_set_clear function only checks that the input handle is
         // valid, which it always is in our case. Hence, only debug_assert instead of returning
         // Result.
@@ -311,6 +321,34 @@ impl WaitSet {
         Ok(())
     }
 
+    /// Adds a timer to the wait set.
+    ///
+    /// # Errors
+    /// - If the timer was already added to this wait set or another one,
+    ///   [`AlreadyAddedToWaitSet`][1] will be returned
+    /// - If the number of timer in the wait set is larger than the
+    ///   capacity set in [`WaitSet::new`], [`WaitSetFull`][2] will be returned
+    ///
+    /// [1]: crate::RclrsError
+    /// [2]: crate::RclReturnCode
+    pub fn add_timer(&mut self, timer: Arc<Timer>) -> Result<(), RclrsError> {
+        let exclusive_timer =
+            ExclusivityGuard::new(Arc::clone(&timer), Arc::clone(&timer.in_use_by_wait_set))?;
+        unsafe {
+            // SAFETY: I'm not sure if it's required, but the timer pointer will remain valid
+            // for as long as the wait set exists, because it's stored in self.timers.
+            // Passing in a null pointer for the third argument is explicitly allowed.
+            rcl_wait_set_add_timer(
+                &mut self.handle.rcl_wait_set,
+                &*timer.rcl_timer.lock().unwrap() as *const _,
+                core::ptr::null_mut(),
+            )
+        }
+        .ok()?;
+        self.timers.push(exclusive_timer);
+        Ok(())
+    }
+
     /// Blocks until the wait set is ready, or until the timeout has been exceeded.
     ///
     /// If the timeout is `None` then this function will block indefinitely until
@@ -365,6 +403,7 @@ impl WaitSet {
             clients: Vec::new(),
             guard_conditions: Vec::new(),
             services: Vec::new(),
+            timers: Vec::new(),
         };
         for (i, subscription) in self.subscriptions.iter().enumerate() {
             // SAFETY: The `subscriptions` entry is an array of pointers, and this dereferencing is
@@ -409,6 +448,16 @@ impl WaitSet {
                 ready_entities.services.push(Arc::clone(&service.waitable));
             }
         }
+
+        for (i, timer) in self.timers.iter().enumerate() {
+            // SAFETY: The `timers` entry is an array of pointers, and this dereferencing is
+            // equivalent to
+            // https://github.com/ros2/rcl/blob/35a31b00a12f259d492bf53c0701003bd7f1745c/rcl/include/rcl/wait.h#L419
+            let wait_set_entry = unsafe { *self.handle.rcl_wait_set.timers.add(i) };
+            if !wait_set_entry.is_null() {
+                ready_entities.timers.push(Arc::clone(&timer.waitable));
+            }
+        }
         Ok(ready_entities)
     }
 }
@@ -416,6 +465,8 @@ impl WaitSet {
 #[cfg(test)]
 mod tests {
     use super::*;
+    use crate::clock::Clock;
+    use crate::timer::TimerCallback;
 
     #[test]
     fn traits() {
@@ -440,4 +491,38 @@ mod tests {
 
         Ok(())
     }
+
+    #[test]
+    fn timer_in_wait_not_set_readies() -> Result<(), RclrsError> {
+        let context = Context::new([])?;
+        let clock = Clock::steady();
+        let period: i64 = 1e6 as i64; // 1 millisecond.
+        let callback: Option<TimerCallback> = Some(Box::new(move |_| {}));
+        let timer = Arc::new(Timer::new(&clock, &context, period, callback)?);
+
+        let mut wait_set = WaitSet::new(0, 0, 1, 0, 0, 0, &context)?;
+        wait_set.add_timer(timer.clone())?;
+
+        let readies = wait_set.wait(Some(std::time::Duration::from_micros(0)))?;
+        assert!(!readies.timers.contains(&timer));
+
+        Ok(())
+    }
+
+    #[test]
+    fn timer_in_wait_set_readies() -> Result<(), RclrsError> {
+        let context = Context::new([])?;
+        let clock = Clock::steady();
+        let period: i64 = 1e6 as i64; // 1 millisecond.
+        let callback: Option<TimerCallback> = Some(Box::new(move |_| {}));
+        let timer = Arc::new(Timer::new(&clock, &context, period, callback)?);
+
+        let mut wait_set = WaitSet::new(0, 0, 1, 0, 0, 0, &context)?;
+        wait_set.add_timer(timer.clone())?;
+
+        let readies = wait_set.wait(Some(std::time::Duration::from_micros(1500)))?;
+        assert!(readies.timers.contains(&timer));
+
+        Ok(())
+    }
 }