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Your node doesn't seem to react on SIGINT, the signal that is sent when you hit CTRL-C to quit. I guess, roslaunch tries to send SIGTERM after some time to force your node to quit.

Does your thread that reads input from the keyboard exit when the ROS node is to shut down? In other words, does the thread's main loop call ros::ok() and does it terminate when it returns false? Is it maybe blocking on the function call to read keyboard input?