diff --git a/include/low_controller.hpp b/include/low_controller.hpp
index 52b25ed..3b6314d 100644
--- a/include/low_controller.hpp
+++ b/include/low_controller.hpp
@@ -10,7 +10,7 @@
 
 constexpr double PosStopF = (2.146E+9f);
 constexpr double VelStopF = (16000.0f);
-
+#define UT_CPU_ID_NONE  -1
 namespace custom {
 
 class LowController {
diff --git a/src/low_controller.cpp b/src/low_controller.cpp
index 8b414e4..f4ba816 100644
--- a/src/low_controller.cpp
+++ b/src/low_controller.cpp
@@ -37,11 +37,6 @@ bool LowController::stop()
     if(running_)
     {
         running_ = false;
-        if (publish_thread_)
-        {
-            publish_thread_->join();
-            publish_thread_.reset();
-        }
     }
     return true;
 }