diff --git a/rclcpp/minimal_subscriber/static_wait_set.cpp b/rclcpp/minimal_subscriber/static_wait_set.cpp
index 5842ecc3..52e7bcc1 100644
--- a/rclcpp/minimal_subscriber/static_wait_set.cpp
+++ b/rclcpp/minimal_subscriber/static_wait_set.cpp
@@ -49,7 +49,9 @@ class MinimalSubscriber : public rclcpp::Node
 
   ~MinimalSubscriber()
   {
-    thread_.join();
+    if (thread_.joinable()) {
+      thread_.join();
+    }
   }
 
   void spin_wait_set()
diff --git a/rclcpp/minimal_subscriber/wait_set.cpp b/rclcpp/minimal_subscriber/wait_set.cpp
index 380323e1..fb1213a2 100644
--- a/rclcpp/minimal_subscriber/wait_set.cpp
+++ b/rclcpp/minimal_subscriber/wait_set.cpp
@@ -46,7 +46,9 @@ class MinimalSubscriber : public rclcpp::Node
 
   ~MinimalSubscriber()
   {
-    thread_.join();
+    if (thread_.joinable()) {
+      thread_.join();
+    }
   }
 
   void spin_wait_set()
diff --git a/rclcpp/wait_set/include/wait_set/listener.hpp b/rclcpp/wait_set/include/wait_set/listener.hpp
index 6ae55491..f4d9d7c5 100644
--- a/rclcpp/wait_set/include/wait_set/listener.hpp
+++ b/rclcpp/wait_set/include/wait_set/listener.hpp
@@ -23,7 +23,7 @@ class Listener : public rclcpp::Node
 {
 public:
   WAIT_SET_PUBLIC explicit Listener(rclcpp::NodeOptions options);
-  WAIT_SET_PUBLIC ~Listener();
+  WAIT_SET_PUBLIC ~Listener() override;
 
 private:
   void spin_wait_set();
diff --git a/rclcpp/wait_set/src/listener.cpp b/rclcpp/wait_set/src/listener.cpp
index 52cec13a..e56bda06 100644
--- a/rclcpp/wait_set/src/listener.cpp
+++ b/rclcpp/wait_set/src/listener.cpp
@@ -51,7 +51,9 @@ Listener::Listener(rclcpp::NodeOptions options)
 
 Listener::~Listener()
 {
-  thread_.join();
+  if (thread_.joinable()) {
+    thread_.join();
+  }
 }
 
 void Listener::spin_wait_set()