diff --git a/fuse_models/src/graph_ignition.cpp b/fuse_models/src/graph_ignition.cpp
index 80d5b56f1..f39e599c0 100644
--- a/fuse_models/src/graph_ignition.cpp
+++ b/fuse_models/src/graph_ignition.cpp
@@ -62,7 +62,11 @@ void GraphIgnition::onInit()
   {
     reset_client_ = node_handle_.serviceClient<std_srvs::Empty>(ros::names::resolve(params_.reset_service));
   }
+}
 
+void GraphIgnition::start()
+{
+  started_ = true;
   // Advertise
   subscriber_ = node_handle_.subscribe(ros::names::resolve(params_.topic), params_.queue_size,
                                        &GraphIgnition::subscriberCallback, this);
@@ -70,13 +74,10 @@ void GraphIgnition::onInit()
                                                      &GraphIgnition::setGraphServiceCallback, this);
 }
 
-void GraphIgnition::start()
-{
-  started_ = true;
-}
-
 void GraphIgnition::stop()
 {
+  set_graph_service_.shutdown();
+  subscriber_.shutdown();
   started_ = false;
 }
 
diff --git a/fuse_models/src/unicycle_2d_ignition.cpp b/fuse_models/src/unicycle_2d_ignition.cpp
index 5f162ab40..736a4bba3 100644
--- a/fuse_models/src/unicycle_2d_ignition.cpp
+++ b/fuse_models/src/unicycle_2d_ignition.cpp
@@ -88,6 +88,11 @@ void Unicycle2DIgnition::onInit()
   {
     reset_client_ = node_handle_.serviceClient<std_srvs::Empty>(ros::names::resolve(params_.reset_service));
   }
+}
+
+void Unicycle2DIgnition::start()
+{
+  started_ = true;
 
   // Advertise
   subscriber_ = node_handle_.subscribe(
@@ -103,14 +108,7 @@ void Unicycle2DIgnition::onInit()
     ros::names::resolve(params_.set_pose_deprecated_service),
     &Unicycle2DIgnition::setPoseDeprecatedServiceCallback,
     this);
-}
-
-void Unicycle2DIgnition::start()
-{
-  started_ = true;
 
-  // TODO(swilliams) Should this be executed every time optimizer.reset() is called, or only once ever?
-  //                 I feel like it should be "only once ever".
   // Send an initial state transaction immediately, if requested
   if (params_.publish_on_startup && !initial_transaction_sent_)
   {
@@ -129,6 +127,10 @@ void Unicycle2DIgnition::start()
 
 void Unicycle2DIgnition::stop()
 {
+  initial_transaction_sent_ = false;
+  set_pose_deprecated_service_.shutdown();
+  set_pose_service_.shutdown();
+  subscriber_.shutdown();
   started_ = false;
 }