diff --git a/include/behaviortree_cpp/bt_factory.h b/include/behaviortree_cpp/bt_factory.h
index 99b27d4ba..f7d7a8b1c 100644
--- a/include/behaviortree_cpp/bt_factory.h
+++ b/include/behaviortree_cpp/bt_factory.h
@@ -118,10 +118,14 @@ class Tree
 
   [[nodiscard]] TreeNode* rootNode() const;
 
-  /// Sleep for a certain amount of time.
-  /// This sleep could be interrupted by the method
-  /// TreeNode::emitWakeUpSignal()
-  void sleep(std::chrono::system_clock::duration timeout);
+  /**
+    * @brief Sleep for a certain amount of time. This sleep could be interrupted by the method TreeNode::emitWakeUpSignal()
+    *
+    * @param timeout  duration of the sleep
+    * @return         true if the timeout was NOT reached and the signal was received.
+    *
+    * */
+  bool sleep(std::chrono::system_clock::duration timeout);
 
   ~Tree();
 
diff --git a/src/bt_factory.cpp b/src/bt_factory.cpp
index 30fa25e2b..acf39492c 100644
--- a/src/bt_factory.cpp
+++ b/src/bt_factory.cpp
@@ -586,9 +586,10 @@ TreeNode* Tree::rootNode() const
   return subtree_nodes.empty() ? nullptr : subtree_nodes.front().get();
 }
 
-void Tree::sleep(std::chrono::system_clock::duration timeout)
+bool Tree::sleep(std::chrono::system_clock::duration timeout)
 {
-  wake_up_->waitFor(std::chrono::duration_cast<std::chrono::milliseconds>(timeout));
+  return wake_up_->waitFor(
+      std::chrono::duration_cast<std::chrono::milliseconds>(timeout));
 }
 
 Tree::~Tree()