From 272d00b7e83aeb415dadf020d2b8b8d9acb7ae28 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= <ahcorde@gmail.com>
Date: Wed, 14 Feb 2024 09:55:01 +0100
Subject: [PATCH] Use portable versio for usleep
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Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
---
 gz_ros2_control/src/gz_ros2_control_plugin.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/gz_ros2_control/src/gz_ros2_control_plugin.cpp b/gz_ros2_control/src/gz_ros2_control_plugin.cpp
index 54913710..48d1896b 100644
--- a/gz_ros2_control/src/gz_ros2_control_plugin.cpp
+++ b/gz_ros2_control/src/gz_ros2_control_plugin.cpp
@@ -14,9 +14,11 @@
 
 #include <unistd.h>
 
+#include <chrono>
 #include <map>
 #include <memory>
 #include <string>
+#include <thread>
 #include <utility>
 #include <vector>
 
@@ -231,7 +233,7 @@ std::string GazeboSimROS2ControlPluginPrivate::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");