code: def stop(self):
          
          # Check that everything is running
          if not self._running:
              logging.warning('PhoXi not running. Aborting stop')
              return False
  
          # Stop the subscribers
          self._color_im_sub.unregister()
          self._depth_im_sub.unregister()
          self._normal_map_sub.unregister()
  
          # Disconnect from the camera
          rospy.ServiceProxy('phoxi_camera/disconnect_camera', Empty)()
  
          self._running = False
  
          return True
docs: Stop the sensor.