From 1975ed5b9b7680d929c48718a8561e49edfd66d4 Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Wed, 19 Dec 2018 09:53:23 -0200
Subject: [PATCH] Fix scope problem in handPubThread. Join it.

---
 wam_node_sim/src/wam_node_sim.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/wam_node_sim/src/wam_node_sim.cpp b/wam_node_sim/src/wam_node_sim.cpp
index 10fcf0e..b6a3d70 100644
--- a/wam_node_sim/src/wam_node_sim.cpp
+++ b/wam_node_sim/src/wam_node_sim.cpp
@@ -817,7 +817,8 @@ int main(int argc,char *argv[])
   WamNode<7> wam_node(wam,bhand);
   ros::Rate loop(PUBLISH_FREQ);
 
-  if(useHand) std::thread handPubThread(&WamNode<7>::publishHand,&wam_node);
+  std::thread handPubThread;
+  if(useHand) handPubThread=std::thread(&WamNode<7>::publishHand,&wam_node);
 
   while (ros::ok())
   {
@@ -827,5 +828,6 @@ int main(int argc,char *argv[])
     loop.sleep();
   }
   
+  handPubThread.join();
   return 0;
 }
-- 
2.12.0