diff --git a/include/behaviortree_cpp/bt_factory.h b/include/behaviortree_cpp/bt_factory.h
index 9919b4307..82d41c220 100644
--- a/include/behaviortree_cpp/bt_factory.h
+++ b/include/behaviortree_cpp/bt_factory.h
@@ -133,6 +133,11 @@ class Tree
     * @param timeout  duration of the sleep
     * @return         true if the timeout was NOT reached and the signal was received.
     *
+    * @note On MSVC, std::condition_variable::wait_for() rounds the timeout up to the
+    * system timer resolution (about 15.6 ms), see microsoft/STL#2173. A short sleep, e.g.
+    * in tickWhileRunning(), can take much longer there. Calling timeBeginPeriod(1) once
+    * at startup (Windows API, links winmm) restores a 1 ms resolution.
+    *
     * */
   bool sleep(std::chrono::system_clock::duration timeout);