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Because the start is done in a other thread then the stop.

If you like to stop the start thread you have to use the "data" as an global var

So in the constructur you write

Self. Cmd = "end"

In the service call back you write

Self. Cmd = data.command

Und you use the get frame without a parameter And write at the start

If Self. Cmd ! = "start" 
    Return

Because the start is done in a other thread then the stop.

If you like to stop the start thread you have to use the "data" as an global var

So in the constructur you write

Self. Cmd = "end"

In the service call back you write

Self. Cmd = data.command

Und you use the get frame without a parameter And write at the start

If Self. Cmd ! = "start" 
    Return

def callback(self, data):
    self.cmd = data.command 
    if data.command == "init":
        self.initialize()
    elif data.command == "start":
        self.get_frame()


def initialize(self):
    self.net = cv2.dnn.readNetFromDarknet(self.args.config, self.args.weight)
    self.net.setPreferableBackend(cv2.dnn.DNN_BACKEND_OPENCV)
    self.net.setPreferableTarget(cv2.dnn.DNN_TARGET_CPU)

    # load DetectBoxes class
    self.detect = DetectBoxes(self.args.labels,
                              confidence_threshold=self.args.confidence,
                              nms_threshold=self.args.nmsThreshold)

    try:
        self.cap = cv2.VideoCapture(0)
    except IOError:
        sys.exit(1)

@staticmethod
def get_outputs_names(net):
    # names of network layers e.g. conv_0, bn_0, relu_0....
    layer_names = net.getLayerNames()
    return [layer_names[i[0] - 1] for i in net.getUnconnectedOutLayers()]

def get_frame(self):
    # if start signal came before init signal
    # initialize net & camera
    if self.cap is None or not self.cap.isOpened():
        self.initialize()

    while self.cap.isOpened():
        if self.cmd != "start"
            return
        has_frame, frame = self.cap.read()

        # if end of frame, program is terminated
        if not has_frame:
            break

        # Create a 4D blob from a frame.
        blob = cv2.dnn.blobFromImage(frame, 1 / 255, (self.args.resol, self.args.resol),
                                     (0, 0, 0), True, crop=False)

        # Set the input to the network
        self.net.setInput(blob)

        # Runs the forward pass
        network_output = self.net.forward(self.get_outputs_names(self.net))

        # Extract the bounding box and draw rectangles
        self.frame_data.percent, self.frame_data.coords = self.detect.detect_bounding_boxes(frame, network_output)

        print("FPS {:5.2f}".format(1000/elapsed))

        # publish frames + detected objects
        self.frame_data.operate = cmd
        try:
            self.frame_data.frame = self.bridge.cv2_to_imgmsg(frame, encoding="passthrough")
            self.pub_frame.publish(self.frame_data)
        except CvBridgeError as e:
            print(e)

    self.log.publish(log_generator(self.node_name, "Camera closed"))
    # releases video and removes all windows generated by the program
    # cap.release()


 if __name__ == '__main__':
     rospy.init_node('get_frame', anonymous=True)
     g_frame = GetFrame('get_frame')
     try:
         rospy.spin()
     except KeyboardInterrupt:
         print("Shut down - keyboard interruption")

Because the start is done in a other thread then the stop.

If you like to stop the start thread you have to use the "data" as an global var

So in the constructur you write

Self. Cmd = "end"

In the service call back you write

Self. Cmd = data.command

Und you use the get frame without a parameter And write at the start

If Self. Cmd ! = "start" 
    Return

try this: class GetFrame: def __init__(self, node_name): self.operate = rospy.Subscriber('operate', operate, self.callback) self.pub_frame = rospy.Publisher('img_camera', sendframe, queue_size=3) self.node_name = node_name self.net = None self.detect = None self.cap = None self.args = arg_parse() self.frame_data = sendframe() self.bridge = CvBridge() self.cmd = "end"

"end"

def callback(self, data):
    self.cmd = data.command 
    if data.command == "init":
        self.initialize()
    elif data.command == "start":
        self.get_frame()


def initialize(self):
    self.net = cv2.dnn.readNetFromDarknet(self.args.config, self.args.weight)
    self.net.setPreferableBackend(cv2.dnn.DNN_BACKEND_OPENCV)
    self.net.setPreferableTarget(cv2.dnn.DNN_TARGET_CPU)

    # load DetectBoxes class
    self.detect = DetectBoxes(self.args.labels,
                              confidence_threshold=self.args.confidence,
                              nms_threshold=self.args.nmsThreshold)

    try:
        self.cap = cv2.VideoCapture(0)
    except IOError:
        sys.exit(1)

@staticmethod
def get_outputs_names(net):
    # names of network layers e.g. conv_0, bn_0, relu_0....
    layer_names = net.getLayerNames()
    return [layer_names[i[0] - 1] for i in net.getUnconnectedOutLayers()]

def get_frame(self):
    # if start signal came before init signal
    # initialize net & camera
    if self.cap is None or not self.cap.isOpened():
        self.initialize()

    while self.cap.isOpened():
        if self.cmd != "start"
            return
        has_frame, frame = self.cap.read()

        # if end of frame, program is terminated
        if not has_frame:
            break

        # Create a 4D blob from a frame.
        blob = cv2.dnn.blobFromImage(frame, 1 / 255, (self.args.resol, self.args.resol),
                                     (0, 0, 0), True, crop=False)

        # Set the input to the network
        self.net.setInput(blob)

        # Runs the forward pass
        network_output = self.net.forward(self.get_outputs_names(self.net))

        # Extract the bounding box and draw rectangles
        self.frame_data.percent, self.frame_data.coords = self.detect.detect_bounding_boxes(frame, network_output)

        print("FPS {:5.2f}".format(1000/elapsed))

        # publish frames + detected objects
        self.frame_data.operate = cmd
        try:
            self.frame_data.frame = self.bridge.cv2_to_imgmsg(frame, encoding="passthrough")
            self.pub_frame.publish(self.frame_data)
        except CvBridgeError as e:
            print(e)

    self.log.publish(log_generator(self.node_name, "Camera closed"))
    # releases video and removes all windows generated by the program
    # cap.release()


 if __name__ == '__main__':
     rospy.init_node('get_frame', anonymous=True)
     g_frame = GetFrame('get_frame')
     try:
         rospy.spin()
     except KeyboardInterrupt:
         print("Shut down - keyboard interruption")

Because the start is done in a other thread then the stop.

If you like to stop the start thread you have to use the "data" as an global var

So in the constructur you write

try this:

class GetFrame:
def __init__(self, node_name):
    self.operate = rospy.Subscriber('operate', operate, self.callback)
    self.pub_frame = rospy.Publisher('img_camera', sendframe, queue_size=3)
    self.node_name = node_name
    self.net = None
    self.detect = None
    self.cap = None
    self.args = arg_parse()
    self.frame_data = sendframe()
    self.bridge = CvBridge()
    self.cmd = "end"

def callback(self, data):
    self.cmd = data.command 
    if data.command == "init":
        self.initialize()
    elif data.command == "start":
        self.get_frame()


def initialize(self):
    self.net = cv2.dnn.readNetFromDarknet(self.args.config, self.args.weight)
    self.net.setPreferableBackend(cv2.dnn.DNN_BACKEND_OPENCV)
    self.net.setPreferableTarget(cv2.dnn.DNN_TARGET_CPU)

    # load DetectBoxes class
    self.detect = DetectBoxes(self.args.labels,
                              confidence_threshold=self.args.confidence,
                              nms_threshold=self.args.nmsThreshold)

    try:
        self.cap = cv2.VideoCapture(0)
    except IOError:
        sys.exit(1)

@staticmethod
def get_outputs_names(net):
    # names of network layers e.g. conv_0, bn_0, relu_0....
    layer_names = net.getLayerNames()
    return [layer_names[i[0] - 1] for i in net.getUnconnectedOutLayers()]

def get_frame(self):
    # if start signal came before init signal
    # initialize net & camera
    if self.cap is None or not self.cap.isOpened():
        self.initialize()

    while self.cap.isOpened():
        if self.cmd != "start"
            return
         has_frame, frame = self.cap.read()

        # if end of frame, program is terminated
        if not has_frame:
            break

        # Create a 4D blob from a frame.
        blob = cv2.dnn.blobFromImage(frame, 1 / 255, (self.args.resol, self.args.resol),
                                     (0, 0, 0), True, crop=False)

        # Set the input to the network
        self.net.setInput(blob)

        # Runs the forward pass
        network_output = self.net.forward(self.get_outputs_names(self.net))

        # Extract the bounding box and draw rectangles
        self.frame_data.percent, self.frame_data.coords = self.detect.detect_bounding_boxes(frame, network_output)

        print("FPS {:5.2f}".format(1000/elapsed))

        # publish frames + detected objects
        self.frame_data.operate = cmd
        try:
            self.frame_data.frame = self.bridge.cv2_to_imgmsg(frame, encoding="passthrough")
            self.pub_frame.publish(self.frame_data)
        except CvBridgeError as e:
            print(e)

    self.log.publish(log_generator(self.node_name, "Camera closed"))
    # releases video and removes all windows generated by the program
    # cap.release()


 if __name__ == '__main__':
     rospy.init_node('get_frame', anonymous=True)
     g_frame = GetFrame('get_frame')
     try:
         rospy.spin()
     except KeyboardInterrupt:
         print("Shut down - keyboard interruption")