Update gazebo_ros2_control_plugin.cpp (#286)

ros-controls · Feb 14, 2024 · 5e1f9a5 · 5e1f9a5
1 parent 5230b1e
commit 5e1f9a5
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp b/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
@@ -36,6 +36,8 @@
 #include <memory>
 #include <utility>
 #include <vector>
+#include <chrono>
+#include <thread>
 
 #include "gazebo_ros/node.hpp"
 
@@ -506,7 +508,7 @@ std::string GazeboRosControlPrivate::getURDF(std::string param_name) const
         model_nh_->get_logger(), "gazebo_ros2_control plugin is waiting for model"
         " URDF in parameter [%s] on the ROS param server.", param_name.c_str());
     }
-    usleep(100000);
+    std::this_thread::sleep_for(std::chrono::microseconds(100000));
   }
   RCLCPP_INFO(
     model_nh_->get_logger(), "Received urdf from param server, parsing...");