Stopping teleop without shutting down SMACH state-machine

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I'm building a mobile robot that is using SMACH for high-level task management. I'm starting of trying to give users the ability to chose between between exploration and teleoperation. I have no issues setting up the the state-machine, and and the transistions between states seems to work fine. Both teleop and exploration starts up after adding the user-input.

The issue I'm running into is when I want to stop the teleop_twist_keyboard-node, and transistion back to mode select state(teleop or exploration). The only way that seem to stop teleop is using CTRL-C, and that shuts down the whole program, including the state-machine. I thought about using threading, but teleop seems to allready be using it, so I'm not sure if that is the correct path to pursue.

Have anyone been able to find a way to stop the teleop_twist_keyboard-node and without shutting down the state-machine?

I will gladly post code, but I'm not sure what to post for this one.

UPDATE: I am now able to stop teleop without shutting down the state-machine with the help of subprocess.Popen. But now it won't let me control the robot from the terminal, and quits teleop preemptively. This the two main states I'm switching between:

class RoamMode(smach.State):
     def init(self):
          smach.State.init(self, outcomes= ['Exploraiton mode selected', 'Teleoperation mode selected', 'Wrong key'])

     def execute(self, userdata):
          user_input = input('Press T for Teleoperation mode, or press E for Exploration mode')

          if user_input == 'T':
              return 'Teleoperation mode selected'
           elif user_input =='E':
              return 'Exploraiton mode selected'
           else:
              return 'Wrong key'

class RoamTeleOp(smach.State):
    def init(self):
       smach.State.init(self, outcomes=['Teleoperation stopped'])

    def execute(self, userdata):
       tp_process = subprocess.Popen('python3 run_teleop.py', shell=True)
       if tp_process.poll() == None:
          tp_process.kill()
          rospy.sleep(10.)
          return 'Teleoperation stopped'

This is the other file I'm running with subprocess.Popen('python3 run_teleop.py', shell=True):

import rospy
import roslaunch

package = 'teleop_twist_keyboard'
executable = 'teleop_twist_keyboard.py'
node = roslaunch.core.Node(package, executable)
launch = roslaunch.scriptapi.ROSLaunch()
launch.start()
process = launch.launch(node)
rospy.spin()