diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index bccabcb..1f860dd 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -16,6 +16,8 @@ Unreleased
 
 **Fixed**
 
+* Fixed blocking issues on the Twisted/Autobahn-based implementation of websockets
+
 **Deprecated**
 
 **Removed**
diff --git a/src/roslibpy/comm/comm_autobahn.py b/src/roslibpy/comm/comm_autobahn.py
index cf50461..a292559 100644
--- a/src/roslibpy/comm/comm_autobahn.py
+++ b/src/roslibpy/comm/comm_autobahn.py
@@ -45,11 +45,11 @@ def onClose(self, wasClean, code, reason):
         LOGGER.info('WebSocket connection closed: Code=%s, Reason=%s', str(code), reason)
 
     def send_message(self, payload):
-        return self.sendMessage(payload, isBinary=False, fragmentSize=None, sync=False, doNotCompress=False)
+        return reactor.callFromThread(self.sendMessage, payload, isBinary=False, fragmentSize=None, sync=False, doNotCompress=False)
 
     def send_close(self):
         self._manual_disconnect = True
-        self.sendClose()
+        reactor.callFromThread(self.sendClose)
 
 
 class AutobahnRosBridgeClientFactory(EventEmitterMixin, ReconnectingClientFactory, WebSocketClientFactory):
@@ -190,7 +190,7 @@ def call_later(self, delay, callback):
             delay (:obj:`int`): Number of seconds to wait before invoking the callback.
             callback (:obj:`callable`): Callable function to be invoked when the delay has elapsed.
         """
-        reactor.callLater(delay, callback)
+        reactor.callFromThread(reactor.callLater, delay, callback)
 
     def call_in_thread(self, callback):
         """Call the given function on a thread.
@@ -198,7 +198,7 @@ def call_in_thread(self, callback):
         Args:
             callback (:obj:`callable`): Callable function to be invoked in a thread.
         """
-        reactor.callInThread(callback)
+        reactor.callFromThread(reactor.callInThread, callback)
 
     def blocking_call_from_thread(self, callback, timeout):
         """Call the given function from a thread, and wait for the result synchronously
@@ -258,6 +258,9 @@ def inner_errback(error):
     def terminate(self):
         """Signals the termination of the main event loop."""
         if reactor.running:
-            reactor.stop()
+            reactor.callFromThread(reactor.stop)
+
+        if self._thread:
+            self._thread.join()
 
         self._log_observer.stop()