diff --git a/include/iri_base_algorithm/iri_base_algorithm.h b/include/iri_base_algorithm/iri_base_algorithm.h
index e0d3026333be6b75ba52870006ad40f87f6d9ebb..b41f0a4df12dac6fcee2b0f795b2b6b64c688334 100644
--- a/include/iri_base_algorithm/iri_base_algorithm.h
+++ b/include/iri_base_algorithm/iri_base_algorithm.h
@@ -286,9 +286,6 @@ IriBaseAlgorithm<Algorithm>::IriBaseAlgorithm() :
 {
   ROS_DEBUG("IriBaseAlgorithm::Constructor");
 
-  // create the status thread
-  pthread_create(&this->thread,NULL,this->mainThread,this);
-
 //   // assign callback to dynamic reconfigure server
 //   dsrv_.setCallback(boost::bind(&IriBaseAlgorithm<Algorithm>::reconfigureCallback, this, _1, _2));
 
@@ -354,6 +351,9 @@ int IriBaseAlgorithm<Algorithm>::spin(void)
   // assign callback to dynamic reconfigure server
   this->dsrv_.setCallback(boost::bind(&IriBaseAlgorithm<Algorithm>::reconfigureCallback, this, _1, _2));
 
+  // create the status thread
+  pthread_create(&this->thread,NULL,this->mainThread,this);
+
   while(ros::ok() && !ctrl_c_hit_count_)
   {
     // update diagnostics