diff --git a/ur_calibration/include/ur_calibration/calibration_consumer.h b/ur_calibration/include/ur_calibration/calibration_consumer.h
index d9015f1..5f2793c 100644
--- a/ur_calibration/include/ur_calibration/calibration_consumer.h
+++ b/ur_calibration/include/ur_calibration/calibration_consumer.h
@@ -42,19 +42,6 @@ public:
   CalibrationConsumer();
   virtual ~CalibrationConsumer() = default;
 
-  virtual void setupConsumer()
-  {
-  }
-  virtual void teardownConsumer()
-  {
-  }
-  virtual void stopConsumer()
-  {
-  }
-  virtual void onTimeout()
-  {
-  }
-
   virtual bool
   consume(std::shared_ptr<ur_driver::comm::URPackage<ur_driver::primary_interface::PackageHeader>> product);
 
diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/pipeline.h b/ur_rtde_driver/include/ur_rtde_driver/comm/pipeline.h
index 38c9ca3..48a64dc 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/comm/pipeline.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/comm/pipeline.h
@@ -45,6 +45,7 @@ public:
   }
   virtual void teardownConsumer()
   {
+    stopConsumer();
   }
   virtual void stopConsumer()
   {
@@ -117,6 +118,7 @@ public:
   }
   virtual void teardownProducer()
   {
+    stopProducer();
   }
   virtual void stopProducer()
   {
@@ -178,10 +180,6 @@ public:
 
     LOG_DEBUG("Stopping pipeline! <%s>", name_.c_str());
 
-    if (consumer_ != nullptr)
-      consumer_->stopConsumer();
-    producer_.stopProducer();
-
     running_ = false;
 
     if (pThread_.joinable())
@@ -284,8 +282,6 @@ private:
     }
     producer_.teardownProducer();
     LOG_DEBUG("Pipeline producer ended! <%s>", name_.c_str());
-    if (consumer_ != nullptr)
-      consumer_->stopConsumer();
     running_ = false;
     notifier_.stopped(name_);
   }
@@ -311,7 +307,6 @@ private:
     }
     consumer_->teardownConsumer();
     LOG_DEBUG("Pipeline consumer ended! <%s>", name_.c_str());
-    producer_.stopProducer();
     running_ = false;
     notifier_.stopped(name_);
   }
diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/producer.h b/ur_rtde_driver/include/ur_rtde_driver/comm/producer.h
index 4c038d2..c852693 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/comm/producer.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/comm/producer.h
@@ -56,7 +56,7 @@ public:
   }
   void teardownProducer()
   {
-    stream_.disconnect();
+    stopProducer();
   }
   void stopProducer()
   {
diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/shell_consumer.h b/ur_rtde_driver/include/ur_rtde_driver/comm/shell_consumer.h
index 546b41f..19fd21b 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/comm/shell_consumer.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/comm/shell_consumer.h
@@ -43,19 +43,6 @@ public:
   ShellConsumer() = default;
   virtual ~ShellConsumer() = default;
 
-  virtual void setupConsumer()
-  {
-  }
-  virtual void teardownConsumer()
-  {
-  }
-  virtual void stopConsumer()
-  {
-  }
-  virtual void onTimeout()
-  {
-  }
-
   virtual bool consume(std::shared_ptr<URPackage<HeaderT>> product)
   {
     LOG_INFO("%s", product->toString().c_str());
diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/stream.h b/ur_rtde_driver/include/ur_rtde_driver/comm/stream.h
index cca63f0..8a7e13e 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/comm/stream.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/comm/stream.h
@@ -68,7 +68,7 @@ public:
    */
   void disconnect()
   {
-    LOG_INFO("Disconnecting from %s:%d", host_.c_str(), port_);
+    LOG_DEBUG("Disconnecting from %s:%d", host_.c_str(), port_);
     TCPSocket::close();
   }