Update

main.py

@@ -19,7 +19,7 @@ import baxter_interface
 from tf.transformations import quaternion_from_euler
 
 import threading
-
+import object_tf_service as ots
 import time
 
 table = {
@@ -346,7 +346,6 @@ class PickAndPlace(object):
 
 
 def _tf_service_initializer():
-    import object_tf_service as ots
     tf_service = ots.init()
 
 
@@ -359,7 +358,7 @@ def tf_service(init=True):
         tf_service_thread.start()
     else:
         print('Killing tf service thread')
-        tf_service_thread.terminate()
+        ots.SIGKILL = True
 
 
 

object_tf_service.py

@@ -3,6 +3,9 @@ import rospy
 import tf
 from gazebo_msgs.msg import LinkStates
 
+global SIGKILL # Horrible hack
+SIGKILL = False
+
 class tf_service():
 	def __init__(self):
 		self._nodes = ['baxter::base',
@@ -21,6 +24,7 @@ class tf_service():
 		# Get index
 		for object_name in self._nodes:
 			'''HORRIBLE HACK BEGIN'''
+			if SIGKILL: exit(0)
 			if object_name == 'baxter::base':
 				spawn_name = 'base'
 			else:
@@ -46,4 +50,8 @@ class tf_service():
 
 def init():
 	x = tf_service()
-	x.gazebo_link_subscriber()
+	x.gazebo_link_subscriber()
+
+def deinit():
+	global SIGKILL
+	SIGKILL = True