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Example code that should achieve what you want:

ros::Time start_time = ros::Time::now();
ros::Duration timeout(2.0); // Timeout of 2 seconds
while(ros::Time::now() - start_time < timeout) {
  // do your stuff
}

Example code that should achieve do what you want:

ros::Time start_time = ros::Time::now();
ros::Duration timeout(2.0); // Timeout of 2 seconds
while(ros::Time::now() - start_time < timeout) {
  // do your stuff
}