diff --git a/lib/core/topic.dart b/lib/core/topic.dart
index 5791009..aa4d7d1 100644
--- a/lib/core/topic.dart
+++ b/lib/core/topic.dart
@@ -100,7 +100,7 @@ class Topic {
     if (subscribeId == null) {
       // Create the listenable broadcast subscription stream.
       subscription = ros.stream;
-      subscribeId = ros.requestSubscriber(name);
+      
       await safeSend(Request(
         op: 'subscribe',
         id: subscribeId,
@@ -144,11 +144,11 @@ class Topic {
   Future<void> publish(dynamic message) async {
     // Advertise the topic and then send the publish request.
     await advertise();
-    publishId = ros.requestPublisher(name);
     await safeSend(publishReq(message));
   }
 
   Request publishReq(dynamic message) {
+    publishId = ros.requestPublisher(name);
     return Request(
       op: 'publish',
       topic: name,
@@ -162,7 +162,6 @@ class Topic {
   Future<void> advertise() async {
     if (!isAdvertised) {
       // Send the advertisement request.
-      advertiseId = ros.requestAdvertiser(name);
       await safeSend(advertiseReq());
       // If the ROS connection closes show that we're not advertising anymore.
       watchForClose();
@@ -170,6 +169,7 @@ class Topic {
   }
 
   Request advertiseReq() {
+    advertiseId = ros.requestAdvertiser(name);
     return Request(
       op: 'advertise',
       id: advertiseId,