From b7952c5f494663d5e03b40fbe6bf0fb072c6483e Mon Sep 17 00:00:00 2001
From: Shinnosuke Hirakawa <shinnosuke.hirakawa@tier4.jp>
Date: Mon, 1 Mar 2021 20:15:36 +0900
Subject: [PATCH] fix how to kill a thread

Signed-off-by: Shinnosuke Hirakawa <shinnosuke.hirakawa@tier4.jp>
---
 pandar_driver/src/driver/nodelet.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/pandar_driver/src/driver/nodelet.cpp b/pandar_driver/src/driver/nodelet.cpp
index 5d062b2..7d7c66f 100644
--- a/pandar_driver/src/driver/nodelet.cpp
+++ b/pandar_driver/src/driver/nodelet.cpp
@@ -15,12 +15,12 @@ class DriverNodelet : public nodelet::Nodelet
 
   ~DriverNodelet()
   {
-    if (running_) {
-      NODELET_INFO("shutting down driver thread");
-      running_ = false;
+    NODELET_INFO("shutting down driver thread");
+    running_ = false;
+    if(deviceThread_.joinable()){
       deviceThread_.join();
-      NODELET_INFO("driver thread stopped");
     }
+    NODELET_INFO("driver thread stopped");
   }
 
 private: