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This has been asked before. See #q203760.

This has been asked before. See #q203760.

And we could also look at the source: ros::Duration::sleep() eventually calls ros_wallsleep(..), which basically does:

timespec req = { sec, nsec };
timespec rem = {0, 0};
while (nanosleep(&req, &rem) && !g_stopped)
{
  req = rem;
}

and nothing more.

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