diff --git a/visualization/motion_planning_tasks/src/task_display.cpp b/visualization/motion_planning_tasks/src/task_display.cpp
index 0c07a2dea..ee8c5e498 100644
--- a/visualization/motion_planning_tasks/src/task_display.cpp
+++ b/visualization/motion_planning_tasks/src/task_display.cpp
@@ -184,12 +184,24 @@ void TaskDisplay::calculateOffsetPosition() {
 	scene_node_->setOrientation(orientation);
 }
 
+#if RCLCPP_VERSION_GTE(30, 0, 0)
+void TaskDisplay::update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt) {
+	requestPanel();
+	Display::update(wall_dt, ros_dt);
+	calculateOffsetPosition();
+	using namespace std::chrono;
+	float wall_dt_s = duration_cast<duration<float>>(wall_dt).count();
+	float ros_dt_s = duration_cast<duration<float>>(ros_dt).count();
+	trajectory_visual_->update(wall_dt_s, ros_dt_s);
+}
+#else
 void TaskDisplay::update(float wall_dt, float ros_dt) {
 	requestPanel();
 	Display::update(wall_dt, ros_dt);
 	calculateOffsetPosition();
 	trajectory_visual_->update(wall_dt, ros_dt);
 }
+#endif
 
 void TaskDisplay::changedRobotDescription() {
 	if (isEnabled())
diff --git a/visualization/motion_planning_tasks/src/task_display.h b/visualization/motion_planning_tasks/src/task_display.h
index 41fa159d1..077135694 100644
--- a/visualization/motion_planning_tasks/src/task_display.h
+++ b/visualization/motion_planning_tasks/src/task_display.h
@@ -38,6 +38,8 @@
 
 #pragma once
 
+#include <chrono>
+#include <rclcpp/version.h>
 #include <rviz_common/display.hpp>
 #include <rviz_common/ros_integration/ros_client_abstraction_iface.hpp>
 #include <moveit/visualization_tools/task_solution_visualization.h>
@@ -83,7 +85,11 @@ class TaskDisplay : public rviz_common::Display
 
 	void loadRobotModel();
 
+#if RCLCPP_VERSION_GTE(30, 0, 0)
+	void update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt) override;
+#else
 	void update(float wall_dt, float ros_dt) override;
+#endif
 	void reset() override;
 	void save(rviz_common::Config config) const override;
 	void load(const rviz_common::Config& config) override;