...

src/impl/moveit_mediator.cpp

@@ -907,10 +907,10 @@ void Moveit_mediator::task_planner(){
 		
 		for(auto& t : th){
 			if(t.joinable()) t.join();
+		}
 		merge_acm(ps_m);
 		planning_scene_diff_publisher_->publish(ps_m);
 	}
-	}
 
 
 	// clean up