ros-humble-gazebo-ros2-control.patch

diff --git a/CMakeLists.txt b/CMakeLists.txt
index cfba129..d91c6a3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -30,6 +30,7 @@ link_directories(
 add_library(${PROJECT_NAME} SHARED
   src/gazebo_ros2_control_plugin.cpp
 )
+target_compile_definitions(${PROJECT_NAME} PRIVATE "_USE_MATH_DEFINES" "NO_STRICT")
 ament_target_dependencies(${PROJECT_NAME}
   angles
   controller_manager
@@ -44,6 +45,7 @@ ament_target_dependencies(${PROJECT_NAME}
 add_library(gazebo_hardware_plugins SHARED
   src/gazebo_system.cpp
 )
+target_compile_definitions(gazebo_hardware_plugins PRIVATE "_USE_MATH_DEFINES" "NO_STRICT")
 ament_target_dependencies(gazebo_hardware_plugins
   angles
   gazebo_dev
diff --git a/src/gazebo_ros2_control_plugin.cpp b/src/gazebo_ros2_control_plugin.cpp
index 82b7ba7..eee85e6 100644
--- a/src/gazebo_ros2_control_plugin.cpp
+++ b/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"
 
@@ -465,7 +471,7 @@ 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...");