diff --git a/costmap_2d/src/costmap_2d_ros.cpp b/costmap_2d/src/costmap_2d_ros.cpp
index 3ed351cfe1..3ebe91361d 100644
--- a/costmap_2d/src/costmap_2d_ros.cpp
+++ b/costmap_2d/src/costmap_2d_ros.cpp
@@ -184,6 +184,8 @@ void Costmap2DROS::setUnpaddedRobotFootprintPolygon(const geometry_msgs::Polygon
 
 Costmap2DROS::~Costmap2DROS()
 {
+  timer_.stop();
+
   map_update_thread_shutdown_ = true;
   if (map_update_thread_ != NULL)
   {