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This may not be the direct answer to your question.

Although I can't tell why the error occurs after having browsed your code briefly, it might be worth separating Plugin.init and the logic you've currently put in there both from the design of rqt framework and from design of GUI programs points of view. Plugin class (btw I assume you mean Plugin as qt_gui.plugin.Plugin) works as the interface (View in MVC design pattern so to speak) between your own GUI programs and rqt framework, and that's why you are able to load your class on rqt AFTER Plugin.__init__ terminates. I'm not entirely sure the internal logic of it, but creating threads at __init__ might be troublesome from my experience (author of framework @Dirk Thomas can give the clearest explanation if he's available).