From 1aa0f75efe1841eaea7880a55b9a602ab60bd085 Mon Sep 17 00:00:00 2001
From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com>
Date: Wed, 14 Feb 2024 10:52:14 +0100
Subject: [PATCH] Use portable versio for usleep (backport #237) (#238)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* Use portable versio for usleep (#237)

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
(cherry picked from commit 0bdf13e6986c613c99a595889a587da1db6d7f69)

# Conflicts:
#	ign_ros2_control/src/ign_ros2_control_plugin.cpp

* fixed merge

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

---------

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
---
 ign_ros2_control/src/ign_ros2_control_plugin.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/ign_ros2_control/src/ign_ros2_control_plugin.cpp b/ign_ros2_control/src/ign_ros2_control_plugin.cpp
index a08e671a..9e0fefa5 100644
--- a/ign_ros2_control/src/ign_ros2_control_plugin.cpp
+++ b/ign_ros2_control/src/ign_ros2_control_plugin.cpp
@@ -12,9 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <unistd.h>
+
+#include <chrono>
 #include <map>
 #include <memory>
 #include <string>
+#include <thread>
 #include <utility>
 #include <vector>
 
@@ -219,7 +223,7 @@ std::string IgnitionROS2ControlPluginPrivate::getURDF() const
         " URDF in parameter [%s] on the ROS param server.",
         this->robot_description_.c_str());
     }
-    usleep(100000);
+    std::this_thread::sleep_for(std::chrono::microseconds(100000));
   }
   RCLCPP_INFO(node_->get_logger(), "Received URDF from param server");