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 6fdd0f4..38c9ca3 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/comm/pipeline.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/comm/pipeline.h
@@ -184,7 +184,10 @@ public:
 
     running_ = false;
 
-    pThread_.join();
+    if (pThread_.joinable())
+    {
+      pThread_.join();
+    }
     if (cThread_.joinable())
     {
       cThread_.join();
diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/producer.h b/ur_rtde_driver/include/ur_rtde_driver/comm/producer.h
index 58a20ee..167742d 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/comm/producer.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/comm/producer.h
@@ -24,6 +24,7 @@
 #include "ur_rtde_driver/comm/parser.h"
 #include "ur_rtde_driver/comm/stream.h"
 #include "ur_rtde_driver/comm/package.h"
+#include "ur_rtde_driver/exceptions.h"
 
 namespace ur_driver
 {
@@ -48,7 +49,10 @@ public:
     tv.tv_sec = 1;
     tv.tv_usec = 0;
     stream_.setReceiveTimeout(tv);
-    stream_.connect();
+    if(!stream_.connect())
+    {
+      throw UrException("Failed to connect to robot. Please check if the robot is booted and connected.");
+    }
   }
   void teardownProducer()
   {