ros::ok() within pthread

edit

I am have a couple of threads that run in a node. The threads have a while(ros::ok()) infinite loop inside. The problem is that when I Ctrl-C my program, it has to escalate to a SIGTERM because the ros::ok() variable never goes false. I also tried the ros::isShuttingDown() variable and this never goes true.

How should I handle the pthreads so that they exit when the rest of the program exits?

I launch threads with:

pthread_t thread1
pthread_create(&thread1,NULL,thread1Function,NULL);

My thread function looks something like this:

void *thread1Function(void *obj)
{
ros::Rate loop_rate(1);

while(ros::ok())
{
//Do stuff
loop_rate.sleep();
ros::spinOnce();
}

pthread_exit(NULL);
}

The loop never exits.