diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/pipeline.h b/ur_rtde_driver/include/ur_rtde_driver/comm/pipeline.h
index 6a85056..608da29 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/comm/pipeline.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/comm/pipeline.h
@@ -185,7 +185,10 @@ public:
     running_ = false;
 
     pThread_.join();
-    cThread_.join();
+    if (cThread_.joinable())
+    {
+      cThread_.join();
+    }
     notifier_.stopped(name_);
   }