I have a use case of shutting down and reinitializing the publisher in ROS 2, i have included my init function inside the while loop when i execute the publisher i get this error """terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' what(): failed to create interrupt guard condition: rcl_init() has not been called, at /home/administrator/ros2_ws/src/ros2/rcl/rcl/src/rcl/guard_condition.c:61 Aborted (core dumped)""" my code:: int main(int argc, char * argv[] ) { auto node = rclcpp::Node::make_shared("talker1"); auto Pub = node->create_publisher("chatter1",rmw_qos_profile_default); rclcpp::WallRate loop_rate(1); size_t count = 1; auto msg = std::make_shared(); while(1) { rclcpp::init(argc, argv); msg->data = "Hello World" + to_string(count++); std::cout << msg->data << ":msg_no:" << count << std::endl; Pub->publish(msg); loop_rate.sleep(); } rclcpp::shutdown(); return 0; } Can anyone help me with this --- [Visit Topic](https://discourse.ros.org/t/how-to-shutdown-and-reinitialize-a-publisher-node-in-ros-2/4090/1) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: