diff --git a/launch/rgbd_mapping.launch b/launch/rgbd_mapping.launch
index 98022b62..2b0a43fc 100644
--- a/launch/rgbd_mapping.launch
+++ b/launch/rgbd_mapping.launch
@@ -39,7 +39,7 @@
   <arg name="odom_topic"              default="/odom"/>         <!-- Odometry topic used if visual_odometry is false -->
    
   <arg name="namespace"               default="rtabmap"/>
-  <arg name="wait_for_transform"      default="0.1"/>
+  <arg name="wait_for_transform"      default="0.2"/>
   
   <!-- Nodes -->
   <group ns="$(arg namespace)">
diff --git a/launch/rtabmap.launch b/launch/rtabmap.launch
index e972a1db..7fab41d8 100644
--- a/launch/rtabmap.launch
+++ b/launch/rtabmap.launch
@@ -31,7 +31,7 @@
   <arg name="namespace"               default="rtabmap"/>
   <arg name="database_path"           default="~/.ros/rtabmap.db"/>
   <arg name="queue_size"              default="10"/>
-  <arg name="wait_for_transform"      default="0.1"/>
+  <arg name="wait_for_transform"      default="0.2"/>
   <arg name="rtabmap_args"            default=""/>              <!-- delete_db_on_start, udebug -->
   <arg name="launch_prefix"           default=""/>              <!-- for debugging purpose, it fills launch-prefix tag of the nodes -->
   
diff --git a/launch/stereo_mapping.launch b/launch/stereo_mapping.launch
index d55b810e..f5d8ad5a 100644
--- a/launch/stereo_mapping.launch
+++ b/launch/stereo_mapping.launch
@@ -42,7 +42,7 @@
   <arg name="odom_topic"              default="/odom"/>         <!-- Odometry topic used if visual_odometry is false -->
   
   <arg name="namespace"               default="rtabmap"/>
-  <arg name="wait_for_transform"      default="0.1"/>
+  <arg name="wait_for_transform"      default="0.2"/>
   
   <!-- Nodes -->
   <group ns="$(arg namespace)">
diff --git a/src/CoreWrapper.cpp b/src/CoreWrapper.cpp
index f98a6e3c..03ac463a 100644
--- a/src/CoreWrapper.cpp
+++ b/src/CoreWrapper.cpp
@@ -85,7 +85,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart, const ParametersMap & parameters)
 		configPath_(""),
 		databasePath_(UDirectory::homeDir()+"/.ros/"+rtabmap::Parameters::getDefaultDatabaseName()),
 		waitForTransform_(true),
-		waitForTransformDuration_(0.1), // 100 ms
+		waitForTransformDuration_(0.2), // 200 ms
 		useActionForGoal_(false),
 		genScan_(false),
 		genScanMaxDepth_(4.0),
diff --git a/src/GuiNode.cpp b/src/GuiNode.cpp
index 8e94f874..c506e314 100644
--- a/src/GuiNode.cpp
+++ b/src/GuiNode.cpp
@@ -34,13 +34,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <signal.h>
 
 QApplication * app = 0;
+ros::AsyncSpinner * spinner = 0;
 
 void my_handler(int s){
 	ROS_INFO("rtabmapviz: ctrl-c catched! Exiting Qt app...");
-	if(app)
-	{
-		QMetaObject::invokeMethod(app, "quit");
-	}
+	spinner->stop();
+	exit(-1);
 }
 
 int main(int argc, char** argv)
@@ -55,7 +54,7 @@ int main(int argc, char** argv)
 	app = new QApplication(argc, argv);
 	app->connect( app, SIGNAL( lastWindowClosed() ), app, SLOT( quit() ) );
 
-	GuiWrapper gui(argc, argv);
+	GuiWrapper * gui = new GuiWrapper(argc, argv);
 
 	// Catch ctrl-c to close the gui
 	// (Place this after QApplication's constructor)
@@ -66,15 +65,17 @@ int main(int argc, char** argv)
 	sigaction(SIGINT, &sigIntHandler, NULL);
 
 	// Here start the ROS events loop
-	ros::AsyncSpinner spinner(4); // Use 4 threads
-	spinner.start();
+	spinner = new ros::AsyncSpinner(1); // Use 1 thread
+	spinner->start();
 
 	ROS_INFO("rtabmapviz started.");
 	// Now wait for application to finish
 	int r = app->exec();// MUST be called by the Main Thread
 
-	spinner.stop();
+	spinner->stop();
+	delete spinner;
 
+	delete gui;
 	delete app;
 	ROS_INFO("rtabmapviz: All done! Closing...");
 	return r;
diff --git a/src/GuiWrapper.cpp b/src/GuiWrapper.cpp
index 87c408b5..eeee9034 100644
--- a/src/GuiWrapper.cpp
+++ b/src/GuiWrapper.cpp
@@ -71,7 +71,7 @@ GuiWrapper::GuiWrapper(int & argc, char** argv) :
 		mainWindow_(0),
 		frameId_("base_link"),
 		waitForTransform_(true),
-		waitForTransformDuration_(0.1), // 100 ms
+		waitForTransformDuration_(0.2), // 200 ms
 		cameraNodeName_(""),
 		lastOdomInfoUpdateTime_(0),
 		depthScanSync_(0),
@@ -211,6 +211,7 @@ GuiWrapper::GuiWrapper(int & argc, char** argv) :
 
 GuiWrapper::~GuiWrapper()
 {
+	UDEBUG("");
 	if(depthSync_)
 		delete depthSync_;
 	if(depth2Sync_)