diff --git a/src/modules/uxrce_dds_client/dds_topics.h.em b/src/modules/uxrce_dds_client/dds_topics.h.em
index 81eadef1bb..deba362668 100644
--- a/src/modules/uxrce_dds_client/dds_topics.h.em
+++ b/src/modules/uxrce_dds_client/dds_topics.h.em
@@ -87,17 +87,27 @@ struct SendTopicsSubs {
 
 	uint32_t num_payload_sent{};
 
-	void init();
+	bool init(uxrSession *session, uxrStreamId reliable_out_stream_id, uxrStreamId reliable_in_stream_id, uxrStreamId best_effort_in_stream_id, uxrObjectId participant_id, const char *client_namespace);
 	void update(uxrSession *session, uxrStreamId reliable_out_stream_id, uxrStreamId best_effort_stream_id, uxrObjectId participant_id, const char *client_namespace);
 	void reset();
 };
 
-void SendTopicsSubs::init() {
+bool SendTopicsSubs::init(uxrSession *session, uxrStreamId reliable_out_stream_id, uxrStreamId reliable_in_stream_id, uxrStreamId best_effort_in_stream_id, uxrObjectId participant_id, const char *client_namespace) {
+	bool ret = true;
 	for (unsigned idx = 0; idx < sizeof(send_subscriptions)/sizeof(send_subscriptions[0]); ++idx) {
-		fds[idx].fd = orb_subscribe(send_subscriptions[idx].orb_meta);
-		fds[idx].events = POLLIN;
-		orb_set_interval(fds[idx].fd, UXRCE_DEFAULT_POLL_RATE);
+		if (fds[idx].events == 0) {
+			fds[idx].fd = orb_subscribe(send_subscriptions[idx].orb_meta);
+			fds[idx].events = POLLIN;
+			orb_set_interval(fds[idx].fd, UXRCE_DEFAULT_POLL_RATE);
+		}
+
+		if (!create_data_writer(session, reliable_out_stream_id, participant_id, static_cast<ORB_ID>(send_subscriptions[idx].orb_meta->o_id), client_namespace, send_subscriptions[idx].topic,
+								   send_subscriptions[idx].message_version,
+								   send_subscriptions[idx].dds_type_name, send_subscriptions[idx].data_writer)) {
+			ret = false;
+		}
 	}
+	return ret;
 }
 
 void SendTopicsSubs::reset() {
@@ -119,12 +129,6 @@ void SendTopicsSubs::update(uxrSession *session, uxrStreamId reliable_out_stream
 		if (fds[idx].revents & POLLIN) {
 			// Topic updated, copy data and send
 			orb_copy(send_subscriptions[idx].orb_meta, fds[idx].fd, &topic_data);
-			if (send_subscriptions[idx].data_writer.id == UXR_INVALID_ID) {
-				// data writer not created yet
-				create_data_writer(session, reliable_out_stream_id, participant_id, static_cast<ORB_ID>(send_subscriptions[idx].orb_meta->o_id), client_namespace, send_subscriptions[idx].topic,
-								   send_subscriptions[idx].message_version,
-								   send_subscriptions[idx].dds_type_name, send_subscriptions[idx].data_writer);
-			}
 
 			if (send_subscriptions[idx].data_writer.id != UXR_INVALID_ID) {
 
diff --git a/src/modules/uxrce_dds_client/uxrce_dds_client.cpp b/src/modules/uxrce_dds_client/uxrce_dds_client.cpp
index b550912791..9cc9bd516b 100644
--- a/src/modules/uxrce_dds_client/uxrce_dds_client.cpp
+++ b/src/modules/uxrce_dds_client/uxrce_dds_client.cpp
@@ -366,6 +366,11 @@ bool UxrceddsClient::setupSession(uxrSession *session)
 		return false;
 	}
 
+	if (!_subs->init(session, _reliable_out, reliable_in, best_effort_in, _participant_id, _client_namespace)) {
+		PX4_ERR("subs init failed");
+		return false;
+	}
+
 	// create VehicleCommand replier
 	if (_num_of_repliers < MAX_NUM_REPLIERS) {
 		if (add_replier(new VehicleCommandSrv(session, _reliable_out, reliable_in, _participant_id, _client_namespace,
@@ -388,11 +393,6 @@ void UxrceddsClient::deleteSession(uxrSession *session)
 		_session_created = false;
 	}
 
-	if (_subs_initialized) {
-		_subs->reset();
-		_subs_initialized = false;
-	}
-
 	_last_payload_tx_rate = 0;
 	_timesync.reset_filter();
 }
@@ -650,9 +650,6 @@ void UxrceddsClient::run()
 		int poll_error_counter = 0;
 		resetConnectivityCounters();
 
-		_subs->init();
-		_subs_initialized = true;
-
 		while (!should_exit() && _connected) {
 			perf_begin(_loop_perf);
 			perf_count(_loop_interval_perf);
diff --git a/src/modules/uxrce_dds_client/uxrce_dds_client.h b/src/modules/uxrce_dds_client/uxrce_dds_client.h
index 823e242f9d..7b5208a80e 100644
--- a/src/modules/uxrce_dds_client/uxrce_dds_client.h
+++ b/src/modules/uxrce_dds_client/uxrce_dds_client.h
@@ -197,7 +197,6 @@ private:
 	bool _connected{false};
 	bool _session_created{false};
 	bool _timesync_converged{false};
-	bool _subs_initialized{false};
 
 	Timesync _timesync{timesync_status_s::SOURCE_PROTOCOL_DDS};