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Under some circumstances, I believe this can be related to pull request #308, where if the client exceeds one of the timeouts in nh.spinOnce(), the flag indicating it is configured will be set false, and the check before publishing will fail. The rosserial_python node currently goes in to an infinite loop until it receives a response from the correct service server.
I worked around this by making the code that sets the configuration flag false upon timeout optional at compile time, but I don't think this is the most clean solution in general.
See my fork. It may have changed, but commits around the time of this answer should have the change.
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