From 54c5306d5aa345fddde70a5c1a8a8d8b0ec3c064 Mon Sep 17 00:00:00 2001
From: "Felix Exner (fexner)" <exner@fzi.de>
Date: Mon, 1 Jul 2024 11:24:50 +0200
Subject: [PATCH] Add sleep between controller stopper's controller queries
 (#1038)

(cherry picked from commit db99daad7a383971803abb6f9b3ae78dfd949217)
---
 ur_robot_driver/src/controller_stopper.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/ur_robot_driver/src/controller_stopper.cpp b/ur_robot_driver/src/controller_stopper.cpp
index 26f0286e4..0fc37267b 100644
--- a/ur_robot_driver/src/controller_stopper.cpp
+++ b/ur_robot_driver/src/controller_stopper.cpp
@@ -42,6 +42,8 @@
 #include <string>
 #include <vector>
 
+#include <rclcpp/utilities.hpp>
+
 #include "ur_robot_driver/controller_stopper.hpp"
 
 ControllerStopper::ControllerStopper(const rclcpp::Node::SharedPtr& node, bool stop_controllers_on_startup)
@@ -89,6 +91,7 @@ ControllerStopper::ControllerStopper(const rclcpp::Node::SharedPtr& node, bool s
           }
         }
       }
+      rclcpp::sleep_for(std::chrono::milliseconds(100));
     }
     auto request_switch_controller = std::make_shared<controller_manager_msgs::srv::SwitchController::Request>();
     request_switch_controller->strictness = request_switch_controller->STRICT;