From a6b32b60cf47ce268d44e00dfb25b48f74221827 Mon Sep 17 00:00:00 2001
From: Tobias Fischer <info@tobiasfischer.info>
Date: Wed, 14 Feb 2024 10:39:21 +1000
Subject: [PATCH] Update gazebo_ros2_control_plugin.cpp

---
 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 1ed72fcb..6015669a 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"
 
@@ -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...");