diff --git a/workspace/src/algorithm_pkg/algorithm_pkg/vision_node.py b/workspace/src/algorithm_pkg/algorithm_pkg/vision_node.py
index 4c8023a..a50574a 100755
--- a/workspace/src/algorithm_pkg/algorithm_pkg/vision_node.py
+++ b/workspace/src/algorithm_pkg/algorithm_pkg/vision_node.py
@@ -153,4 +153,7 @@ def main():
         pass
     finally:
         node.destroy_node()
-        rclpy.shutdown()
+        try:
+            rclpy.shutdown()
+        except RuntimeError:
+            pass
diff --git a/workspace/src/application_pkg/application_pkg/web_node.py b/workspace/src/application_pkg/application_pkg/web_node.py
index 48c77c6..7cea9b7 100755
--- a/workspace/src/application_pkg/application_pkg/web_node.py
+++ b/workspace/src/application_pkg/application_pkg/web_node.py
@@ -132,7 +132,7 @@ class WebNode(Node):
                 break
 
     def destroy_node(self):
-        self._server.shutdown()
+        self._server.server_close()
         super().destroy_node()
 
 
@@ -145,4 +145,7 @@ def main():
         pass
     finally:
         node.destroy_node()
-        rclpy.shutdown()
+        try:
+            rclpy.shutdown()
+        except RuntimeError:
+            pass
diff --git a/workspace/src/bringup_pkg/launch/vision_pipeline.launch.py b/workspace/src/bringup_pkg/launch/vision_pipeline.launch.py
index f25cec4..e78502e 100755
--- a/workspace/src/bringup_pkg/launch/vision_pipeline.launch.py
+++ b/workspace/src/bringup_pkg/launch/vision_pipeline.launch.py
@@ -43,7 +43,12 @@ def generate_launch_description():
             executable='rosbridge_websocket',
             name='rosbridge_websocket',
             output='screen',
-            parameters=[{'port': 9090}],
+            parameters=[{
+                'port': 9090,
+                'default_call_service_timeout': 5.0,
+                'call_services_in_new_thread': True,
+                'send_action_goals_in_new_thread': True,
+            }],
         ),
         Node(
             package='web_video_server',
diff --git a/workspace/src/driver_pkg/driver_pkg/camera_node.py b/workspace/src/driver_pkg/driver_pkg/camera_node.py
index c36a84b..fa58622 100755
--- a/workspace/src/driver_pkg/driver_pkg/camera_node.py
+++ b/workspace/src/driver_pkg/driver_pkg/camera_node.py
@@ -250,4 +250,7 @@ def main():
     finally:
         node.cleanup()
         node.destroy_node()
-        rclpy.shutdown()
+        try:
+            rclpy.shutdown()
+        except RuntimeError:
+            pass
diff --git a/workspace/src/gimbal_control_pkg/gimbal_control_pkg/gimbal_node.py b/workspace/src/gimbal_control_pkg/gimbal_control_pkg/gimbal_node.py
index 30d75da..1547bc9 100644
--- a/workspace/src/gimbal_control_pkg/gimbal_control_pkg/gimbal_node.py
+++ b/workspace/src/gimbal_control_pkg/gimbal_control_pkg/gimbal_node.py
@@ -159,4 +159,7 @@ def main():
         pass
     finally:
         node.destroy_node()
-        rclpy.shutdown()
+        try:
+            rclpy.shutdown()
+        except RuntimeError:
+            pass