From 86291024e05b33790342c84405099c1caefe884b Mon Sep 17 00:00:00 2001
From: Tobias Fischer <info@tobiasfischer.info>
Date: Fri, 3 Jan 2025 15:08:33 +1000
Subject: [PATCH 1/2] Fix error C3861: 'usleep': identifier not found on
 Windows

---
 tools/topic_tools/src/mux.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/topic_tools/src/mux.cpp b/tools/topic_tools/src/mux.cpp
index c7ff5f2816..bd27fdfe8a 100644
--- a/tools/topic_tools/src/mux.cpp
+++ b/tools/topic_tools/src/mux.cpp
@@ -157,7 +157,7 @@ void in_cb(const boost::shared_ptr<ShapeShifter const>& msg,
     // we need sleep for publisher initialization
     // otherwise the first topic will drop.
     if (g_wait_pub_init) {
-      usleep(g_wait_second * 1000000);
+      std::this_thread::sleep_for(std::chrono::microseconds(g_wait_second * 1000000));
     }
     g_advertised = true;
     

From d5990aab855f9b80ad9398f732a7071ba00135a6 Mon Sep 17 00:00:00 2001
From: Tobias Fischer <info@tobiasfischer.info>
Date: Fri, 3 Jan 2025 16:07:12 +1000
Subject: [PATCH 2/2] Fixup

---
 tools/topic_tools/src/mux.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/tools/topic_tools/src/mux.cpp b/tools/topic_tools/src/mux.cpp
index bd27fdfe8a..dd7363019c 100644
--- a/tools/topic_tools/src/mux.cpp
+++ b/tools/topic_tools/src/mux.cpp
@@ -32,6 +32,7 @@
 #include <cstdio>
 #include <vector>
 #include <list>
+#include <thread>
 #include "ros/console.h"
 #include "std_msgs/String.h"
 #include "topic_tools/MuxSelect.h"
@@ -157,7 +158,7 @@ void in_cb(const boost::shared_ptr<ShapeShifter const>& msg,
     // we need sleep for publisher initialization
     // otherwise the first topic will drop.
     if (g_wait_pub_init) {
-      std::this_thread::sleep_for(std::chrono::microseconds(g_wait_second * 1000000));
+      std::this_thread::sleep_for(std::chrono::microseconds(static_cast<int>(g_wait_second * 1000000)));
     }
     g_advertised = true;