From a198796544ae0865423ac354cb7db71ffda61979 Mon Sep 17 00:00:00 2001
From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com>
Date: Wed, 14 Feb 2024 09:59:08 +0100
Subject: [PATCH] Update gazebo_ros2_control_plugin.cpp (#286) (#288)

(cherry picked from commit 5e1f9a52bcd1bf4164186dbb3c8b5cf070ed156e)

Co-authored-by: Tobias Fischer <info@tobiasfischer.info>
---
 gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp b/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
index 71084a3d..c77293fe 100644
--- 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"
 
@@ -476,7 +478,7 @@ 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...");