diff --git a/src/systems/ackermann_steering/AckermannSteering.cc b/src/systems/ackermann_steering/AckermannSteering.cc
index f01c72dfb9..59d81052f8 100644
--- a/src/systems/ackermann_steering/AckermannSteering.cc
+++ b/src/systems/ackermann_steering/AckermannSteering.cc
@@ -508,8 +508,8 @@ void AckermannSteering::PreUpdate(const UpdateInfo &_info,
   if (_info.dt < std::chrono::steady_clock::duration::zero())
   {
     gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
+           << std::chrono::duration<double>(_info.dt).count()
+           << "s]. System may not work properly." << std::endl;
   }
 
   // If the joints haven't been identified yet, look for them
diff --git a/src/systems/advanced_lift_drag/AdvancedLiftDrag.cc b/src/systems/advanced_lift_drag/AdvancedLiftDrag.cc
index a7c60109fd..80065691d5 100644
--- a/src/systems/advanced_lift_drag/AdvancedLiftDrag.cc
+++ b/src/systems/advanced_lift_drag/AdvancedLiftDrag.cc
@@ -802,8 +802,8 @@ void AdvancedLiftDrag::PreUpdate(const UpdateInfo &_info,
   if (_info.dt < std::chrono::steady_clock::duration::zero())
   {
     gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
+           << std::chrono::duration<double>(_info.dt).count()
+           << "s]. System may not work properly." << std::endl;
   }
 
   if (!this->dataPtr->initialized)
diff --git a/src/systems/air_pressure/AirPressure.cc b/src/systems/air_pressure/AirPressure.cc
index 7dba18337f..3a99824e76 100644
--- a/src/systems/air_pressure/AirPressure.cc
+++ b/src/systems/air_pressure/AirPressure.cc
@@ -132,8 +132,8 @@ void AirPressure::PostUpdate(const UpdateInfo &_info,
   if (_info.dt < std::chrono::steady_clock::duration::zero())
   {
     gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
+           << std::chrono::duration<double>(_info.dt).count()
+           << "s]. System may not work properly." << std::endl;
   }
 
   this->dataPtr->CreateSensors(_ecm);
diff --git a/src/systems/air_speed/AirSpeed.cc b/src/systems/air_speed/AirSpeed.cc
index 73c9e92466..39904b9575 100644
--- a/src/systems/air_speed/AirSpeed.cc
+++ b/src/systems/air_speed/AirSpeed.cc
@@ -134,8 +134,8 @@ void AirSpeed::PostUpdate(const UpdateInfo &_info,
   if (_info.dt < std::chrono::steady_clock::duration::zero())
   {
     gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
+           << std::chrono::duration<double>(_info.dt).count()
+           << "s]. System may not work properly." << std::endl;
   }
 
   this->dataPtr->CreateSensors(_ecm);
diff --git a/src/systems/altimeter/Altimeter.cc b/src/systems/altimeter/Altimeter.cc
index ecd3ee1ea1..7f45d2899f 100644
--- a/src/systems/altimeter/Altimeter.cc
+++ b/src/systems/altimeter/Altimeter.cc
@@ -132,8 +132,8 @@ void Altimeter::PostUpdate(const UpdateInfo &_info,
   if (_info.dt < std::chrono::steady_clock::duration::zero())
   {
     gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
+           << std::chrono::duration<double>(_info.dt).count()
+           << "s]. System may not work properly." << std::endl;
   }
 
   this->dataPtr->CreateSensors(_ecm);
diff --git a/src/systems/apply_joint_force/ApplyJointForce.cc b/src/systems/apply_joint_force/ApplyJointForce.cc
index 19add069df..b7ea5eba18 100644
--- a/src/systems/apply_joint_force/ApplyJointForce.cc
+++ b/src/systems/apply_joint_force/ApplyJointForce.cc
@@ -134,8 +134,8 @@ void ApplyJointForce::PreUpdate(const UpdateInfo &_info,
   if (_info.dt < std::chrono::steady_clock::duration::zero())
   {
     gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
+           << std::chrono::duration<double>(_info.dt).count()
+           << "s]. System may not work properly." << std::endl;
   }
 
   // If the joint hasn't been identified yet, look for it
diff --git a/src/systems/battery_plugin/LinearBatteryPlugin.cc b/src/systems/battery_plugin/LinearBatteryPlugin.cc
index 357b01df97..523950b172 100644
--- a/src/systems/battery_plugin/LinearBatteryPlugin.cc
+++ b/src/systems/battery_plugin/LinearBatteryPlugin.cc
@@ -550,8 +550,8 @@ void LinearBatteryPlugin::Update(const UpdateInfo &_info,
   if (_info.dt < std::chrono::steady_clock::duration::zero())
   {
     gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
+           << std::chrono::duration<double>(_info.dt).count()
+           << "s]. System may not work properly." << std::endl;
   }
 
   if (_info.paused)
diff --git a/src/systems/contact/Contact.cc b/src/systems/contact/Contact.cc
index f4b8019f0c..0dcea6a8b4 100644
--- a/src/systems/contact/Contact.cc
+++ b/src/systems/contact/Contact.cc
@@ -276,8 +276,8 @@ void Contact::PostUpdate(const UpdateInfo &_info,
   if (_info.dt < std::chrono::steady_clock::duration::zero())
   {
     gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
+           << std::chrono::duration<double>(_info.dt).count()
+           << "s]. System may not work properly." << std::endl;
   }
 
   if (!_info.paused)
diff --git a/src/systems/diff_drive/DiffDrive.cc b/src/systems/diff_drive/DiffDrive.cc
index 04fc968279..b65af3fce6 100644
--- a/src/systems/diff_drive/DiffDrive.cc
+++ b/src/systems/diff_drive/DiffDrive.cc
@@ -396,8 +396,8 @@ void DiffDrive::PreUpdate(const UpdateInfo &_info,
   if (_info.dt < std::chrono::steady_clock::duration::zero())
   {
     gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
+           << std::chrono::duration<double>(_info.dt).count()
+           << "s]. System may not work properly." << std::endl;
   }
 
   // If the joints haven't been identified yet, look for them
diff --git a/src/systems/force_torque/ForceTorque.cc b/src/systems/force_torque/ForceTorque.cc
index 71a2e2800b..8792f514d5 100644
--- a/src/systems/force_torque/ForceTorque.cc
+++ b/src/systems/force_torque/ForceTorque.cc
@@ -166,8 +166,8 @@ void ForceTorque::PostUpdate(const UpdateInfo &_info,
   if (_info.dt < std::chrono::steady_clock::duration::zero())
   {
     gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
+           << std::chrono::duration<double>(_info.dt).count()
+           << "s]. System may not work properly." << std::endl;
   }
 
   this->dataPtr->CreateSensors(_ecm);
diff --git a/src/systems/imu/Imu.cc b/src/systems/imu/Imu.cc
index eebbe77b6c..6026cda124 100644
--- a/src/systems/imu/Imu.cc
+++ b/src/systems/imu/Imu.cc
@@ -136,8 +136,8 @@ void Imu::PostUpdate(const UpdateInfo &_info,
   if (_info.dt < std::chrono::steady_clock::duration::zero())
   {
     gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
+           << std::chrono::duration<double>(_info.dt).count()
+           << "s]. System may not work properly." << std::endl;
   }
 
   this->dataPtr->CreateSensors(_ecm);
diff --git a/src/systems/joint_controller/JointController.cc b/src/systems/joint_controller/JointController.cc
index 40f5caac33..cf8f54187c 100644
--- a/src/systems/joint_controller/JointController.cc
+++ b/src/systems/joint_controller/JointController.cc
@@ -265,8 +265,8 @@ void JointController::PreUpdate(const UpdateInfo &_info,
   if (_info.dt < std::chrono::steady_clock::duration::zero())
   {
     gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
+           << std::chrono::duration<double>(_info.dt).count()
+           << "s]. System may not work properly." << std::endl;
   }
 
   // If the joints haven't been identified yet, look for them
diff --git a/src/systems/joint_position_controller/JointPositionController.cc b/src/systems/joint_position_controller/JointPositionController.cc
index b2835160ff..4b36a5076c 100644
--- a/src/systems/joint_position_controller/JointPositionController.cc
+++ b/src/systems/joint_position_controller/JointPositionController.cc
@@ -339,8 +339,8 @@ void JointPositionController::PreUpdate(
   if (_info.dt < std::chrono::steady_clock::duration::zero())
   {
     gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
+           << std::chrono::duration<double>(_info.dt).count()
+           << "s]. System may not work properly." << std::endl;
   }
 
   // If the joints haven't been identified yet, look for them
diff --git a/src/systems/lift_drag/LiftDrag.cc b/src/systems/lift_drag/LiftDrag.cc
index c83837c5ff..902bfec942 100644
--- a/src/systems/lift_drag/LiftDrag.cc
+++ b/src/systems/lift_drag/LiftDrag.cc
@@ -550,8 +550,8 @@ void LiftDrag::PreUpdate(const UpdateInfo &_info, EntityComponentManager &_ecm)
   if (_info.dt < std::chrono::steady_clock::duration::zero())
   {
     gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
+           << std::chrono::duration<double>(_info.dt).count()
+           << "s]. System may not work properly." << std::endl;
   }
 
   if (!this->dataPtr->initialized)
diff --git a/src/systems/log/LogRecord.cc b/src/systems/log/LogRecord.cc
index 8cbeadbfb1..3361c407f4 100644
--- a/src/systems/log/LogRecord.cc
+++ b/src/systems/log/LogRecord.cc
@@ -669,8 +669,8 @@ void LogRecord::PostUpdate(const UpdateInfo &_info,
   if (_info.dt < std::chrono::steady_clock::duration::zero())
   {
     gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
+           << std::chrono::duration<double>(_info.dt).count()
+           << "s]. System may not work properly." << std::endl;
   }
 
   // Publish only once
diff --git a/src/systems/logical_camera/LogicalCamera.cc b/src/systems/logical_camera/LogicalCamera.cc
index 1ddfe2146f..ded8c9c36f 100644
--- a/src/systems/logical_camera/LogicalCamera.cc
+++ b/src/systems/logical_camera/LogicalCamera.cc
@@ -134,8 +134,8 @@ void LogicalCamera::PostUpdate(const UpdateInfo &_info,
   if (_info.dt < std::chrono::steady_clock::duration::zero())
   {
     gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
+           << std::chrono::duration<double>(_info.dt).count()
+           << "s]. System may not work properly." << std::endl;
   }
 
   this->dataPtr->CreateSensors(_ecm);
diff --git a/src/systems/magnetometer/Magnetometer.cc b/src/systems/magnetometer/Magnetometer.cc
index 499664a046..82b4e8d0f4 100644
--- a/src/systems/magnetometer/Magnetometer.cc
+++ b/src/systems/magnetometer/Magnetometer.cc
@@ -274,8 +274,8 @@ void Magnetometer::PostUpdate(const UpdateInfo &_info,
   if (_info.dt < std::chrono::steady_clock::duration::zero())
   {
     gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
+           << std::chrono::duration<double>(_info.dt).count()
+           << "s]. System may not work properly." << std::endl;
   }
 
   this->dataPtr->CreateSensors(_ecm);
diff --git a/src/systems/mecanum_drive/MecanumDrive.cc b/src/systems/mecanum_drive/MecanumDrive.cc
index 2f585307c7..732bc07b1d 100644
--- a/src/systems/mecanum_drive/MecanumDrive.cc
+++ b/src/systems/mecanum_drive/MecanumDrive.cc
@@ -333,8 +333,8 @@ void MecanumDrive::PreUpdate(const gz::sim::UpdateInfo &_info,
   if (_info.dt < std::chrono::steady_clock::duration::zero())
   {
     gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
+           << std::chrono::duration<double>(_info.dt).count()
+           << "s]. System may not work properly." << std::endl;
   }
 
   // If the joints haven't been identified yet, look for them
diff --git a/src/systems/multicopter_control/MulticopterVelocityControl.cc b/src/systems/multicopter_control/MulticopterVelocityControl.cc
index 96f547fa4d..d352a68a7a 100644
--- a/src/systems/multicopter_control/MulticopterVelocityControl.cc
+++ b/src/systems/multicopter_control/MulticopterVelocityControl.cc
@@ -349,8 +349,8 @@ void MulticopterVelocityControl::PreUpdate(
   if (_info.dt < std::chrono::steady_clock::duration::zero())
   {
     gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
+           << std::chrono::duration<double>(_info.dt).count()
+           << "s]. System may not work properly." << std::endl;
   }
 
   // Nothing left to do if paused.
diff --git a/src/systems/multicopter_motor_model/MulticopterMotorModel.cc b/src/systems/multicopter_motor_model/MulticopterMotorModel.cc
index 8e6e421ce9..2bfe779776 100644
--- a/src/systems/multicopter_motor_model/MulticopterMotorModel.cc
+++ b/src/systems/multicopter_motor_model/MulticopterMotorModel.cc
@@ -399,8 +399,8 @@ void MulticopterMotorModel::PreUpdate(const UpdateInfo &_info,
   if (_info.dt < std::chrono::steady_clock::duration::zero())
   {
     gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
+           << std::chrono::duration<double>(_info.dt).count()
+           << "s]. System may not work properly." << std::endl;
   }
 
   // If the joint or links haven't been identified yet, look for them
diff --git a/src/systems/navsat/NavSat.cc b/src/systems/navsat/NavSat.cc
index f438a9d240..dd6ac144f7 100644
--- a/src/systems/navsat/NavSat.cc
+++ b/src/systems/navsat/NavSat.cc
@@ -128,8 +128,8 @@ void NavSat::PostUpdate(const UpdateInfo &_info,
   if (_info.dt < std::chrono::steady_clock::duration::zero())
   {
     gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
+           << std::chrono::duration<double>(_info.dt).count()
+           << "s]. System may not work properly." << std::endl;
   }
 
   this->dataPtr->CreateSensors(_ecm);
diff --git a/src/systems/odometry_publisher/OdometryPublisher.cc b/src/systems/odometry_publisher/OdometryPublisher.cc
index 8473328320..c2fff130f8 100644
--- a/src/systems/odometry_publisher/OdometryPublisher.cc
+++ b/src/systems/odometry_publisher/OdometryPublisher.cc
@@ -297,8 +297,8 @@ void OdometryPublisher::PreUpdate(const gz::sim::UpdateInfo &_info,
   if (_info.dt < std::chrono::steady_clock::duration::zero())
   {
     gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
+           << std::chrono::duration<double>(_info.dt).count()
+           << "s]. System may not work properly." << std::endl;
   }
 
   // Create the pose component if it does not exist.
diff --git a/src/systems/pose_publisher/PosePublisher.cc b/src/systems/pose_publisher/PosePublisher.cc
index 58661d4816..3cedb95b35 100644
--- a/src/systems/pose_publisher/PosePublisher.cc
+++ b/src/systems/pose_publisher/PosePublisher.cc
@@ -297,8 +297,8 @@ void PosePublisher::PostUpdate(const UpdateInfo &_info,
   if (_info.dt < std::chrono::steady_clock::duration::zero())
   {
     gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
+           << std::chrono::duration<double>(_info.dt).count()
+           << "s]. System may not work properly." << std::endl;
   }
 
   // Nothing left to do if paused.
diff --git a/src/systems/touch_plugin/TouchPlugin.cc b/src/systems/touch_plugin/TouchPlugin.cc
index 91007cfbcc..d9cab9fd1d 100644
--- a/src/systems/touch_plugin/TouchPlugin.cc
+++ b/src/systems/touch_plugin/TouchPlugin.cc
@@ -251,8 +251,8 @@ void TouchPluginPrivate::Update(const UpdateInfo &_info,
   if (_info.dt < std::chrono::steady_clock::duration::zero())
   {
     gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
+           << std::chrono::duration<double>(_info.dt).count()
+           << "s]. System may not work properly." << std::endl;
   }
 
   {
diff --git a/src/systems/velocity_control/VelocityControl.cc b/src/systems/velocity_control/VelocityControl.cc
index b5a1ccbde1..7af66e743b 100644
--- a/src/systems/velocity_control/VelocityControl.cc
+++ b/src/systems/velocity_control/VelocityControl.cc
@@ -188,8 +188,8 @@ void VelocityControl::PreUpdate(const UpdateInfo &_info,
   if (_info.dt < std::chrono::steady_clock::duration::zero())
   {
     gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
+           << std::chrono::duration<double>(_info.dt).count()
+           << "s]. System may not work properly." << std::endl;
   }
 
   // Nothing left to do if paused.
diff --git a/src/systems/wind_effects/WindEffects.cc b/src/systems/wind_effects/WindEffects.cc
index 5ef1e51aa4..e237d0b1bc 100644
--- a/src/systems/wind_effects/WindEffects.cc
+++ b/src/systems/wind_effects/WindEffects.cc
@@ -716,8 +716,8 @@ void WindEffects::PreUpdate(const UpdateInfo &_info,
   if (_info.dt < std::chrono::steady_clock::duration::zero())
   {
     gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
+           << std::chrono::duration<double>(_info.dt).count()
+           << "s]. System may not work properly." << std::endl;
   }
 
   // Process commands