Use portable versio for usleep (#237) (#239)

Signed-off-by: Alejandro Hernández Cordero <[email protected]> (cherry picked from commit 0bdf13e) Co-authored-by: Alejandro Hernández Cordero <[email protected]>
ros-controls · Feb 14, 2024 · 700be8e · 700be8e
1 parent 9710133
commit 700be8e
Showing 1 changed file with 3 additions and 1 deletion.
diff --git 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");