diff --git a/patch/ros-humble-gazebo-ros2-control.patch b/patch/ros-humble-gazebo-ros2-control.patch
new file mode 100644
index 00000000..9b406e5f
--- /dev/null
+++ b/patch/ros-humble-gazebo-ros2-control.patch
@@ -0,0 +1,22 @@
+diff --git a/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp b/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
+index 1ed72fc..6015669 100644
+--- a/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
++++ b/gazebo_ros2_control/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"
+ 
+@@ -506,7 +508,7 @@ 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.", 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...");