diff --git a/robot_state_publisher/CMakeLists.txt b/robot_state_publisher/CMakeLists.txt
index 3cffa58..9f9e7f5 100644
--- a/robot_state_publisher/CMakeLists.txt
+++ b/robot_state_publisher/CMakeLists.txt
@@ -35,4 +35,4 @@ rosbuild_declare_test(test_publisher)
 rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/test/test_publisher.launch)
 
 # Download needed data file
-rosbuild_download_test_data(http://pr.willowgarage.com/data/robot_state_publisher/joint_states.bag test/joint_states.bag)
+rosbuild_download_test_data(http://pr.willowgarage.com/data/robot_state_publisher/joint_states.bag test/joint_states.bag 6a41221f3569766052754a65ecd061ce)
diff --git a/robot_state_publisher/test/test_publisher.cpp b/robot_state_publisher/test/test_publisher.cpp
index ae321fd..34c06c2 100644
--- a/robot_state_publisher/test/test_publisher.cpp
+++ b/robot_state_publisher/test/test_publisher.cpp
@@ -132,5 +132,9 @@ int main(int argc, char** argv)
 
   g_argc = argc;
   g_argv = argv;
-  return RUN_ALL_TESTS();
+  int res = RUN_ALL_TESTS();
+  ros_thread.interrupt();
+  ros_thread.join();
+
+  return res;
 }