From 944f12f887eeb7e9809915a49973f5a11f283c5b Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Tue, 1 Oct 2024 06:33:39 +0000
Subject: [PATCH] Add some sleep in the while loop

---
 gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp b/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
index 4dfa9db..398ade0 100644
--- a/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
+++ b/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
@@ -397,6 +397,8 @@ void GazeboRosControlPlugin::Load(gazebo::physics::ModelPtr parent, sdf::Element
       while (rclcpp::ok() && !impl_->stop_) {
         if (impl_->parent_model_->GetWorld()->IsPaused() == false) {
           impl_->executor_->spin_once();
+        } else {
+          std::this_thread::sleep_for(std::chrono::microseconds(100));
         }
       }
     };