unit tests shutdown issues

[anindex]

Description
The unit tests successfully generate results. However, they do not shutdown correctly because of suspected issue as deadlock of mutexes.

Issue reproduction on Ubuntu 16.04:

[ OK ] ExampleTest.PlaneEstimatorTest (466 ms)
[----------] 2 tests from ExampleTest (1367 ms total)

[----------] Global test environment tear-down
[==========] 2 tests from 1 test case ran. (1367 ms total)
[ PASSED ] 2 tests.
Inconsistency detected by ld.so: dl-close.c: 811: _dl_close: Assertion 'map->l_init_called' failed!

Issue reproduction on Ubuntu 18.04:

[ OK ] ExampleTest.PlaneEstimatorTest (801 ms)
[----------] 2 tests from ExampleTest (2013 ms total)

[----------] Global test environment tear-down
[==========] 2 tests from 1 test case ran. (2014 ms total)
[ PASSED ] 2 tests.
terminate called after throwing an instance of > 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injectorboost::lock_error >'
what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument
Aborted (core dumped)`