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Use portable version for usleep (backport #286) #287

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Feb 14, 2024
Merged

Use portable version for usleep (backport #286) #287

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4 changes: 3 additions & 1 deletion gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,8 @@
#include <memory>
#include <utility>
#include <vector>
#include <chrono>
#include <thread>

#include "gazebo_ros/node.hpp"

Expand Down Expand Up @@ -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.", search_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...");
Expand Down