diff --git a/orbbec_camera/CMakeLists.txt b/orbbec_camera/CMakeLists.txt
index e962d45b..faeee2f8 100644
--- a/orbbec_camera/CMakeLists.txt
+++ b/orbbec_camera/CMakeLists.txt
@@ -153,12 +153,6 @@ install(DIRECTORY
 
 if (BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # uncomment the line when a copyright and license is not present in all source files
-  #set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # uncomment the line when this package is not in a git repo
-  #set(ament_cmake_cpplint_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
 endif ()
 
diff --git a/orbbec_camera/src/ob_camera_node_factory.cpp b/orbbec_camera/src/ob_camera_node_factory.cpp
index ea08a191..2b53e40e 100644
--- a/orbbec_camera/src/ob_camera_node_factory.cpp
+++ b/orbbec_camera/src/ob_camera_node_factory.cpp
@@ -35,6 +35,11 @@ OBCameraNodeFactory::OBCameraNodeFactory(const std::string &node_name, const std
 
 OBCameraNodeFactory::~OBCameraNodeFactory() {
   is_alive_.store(false);
+  sem_unlink(DEFAULT_SEM_NAME.c_str());
+  int shm_id = shmget(DEFAULT_SEM_KEY, 1, 0666 | IPC_CREAT);
+  if (shm_id != -1) {
+    shmctl(shm_id, IPC_RMID, nullptr);
+  }
   if (query_thread_ && query_thread_->joinable()) {
     query_thread_->join();
   }