diff --git a/src/comm/ros_bridge/include/RosBridgeClient.h b/src/comm/ros_bridge/include/RosBridgeClient.h
index 3d4ac6c1d3a1450cfa947e82711cd2f44bd2e470..ae1aeff3685431d6e78a6ea4f9bce90d8cd34c17 100644
--- a/src/comm/ros_bridge/include/RosBridgeClient.h
+++ b/src/comm/ros_bridge/include/RosBridgeClient.h
@@ -47,6 +47,9 @@ class RosbridgeWsClient
   std::deque<TopicData> advertised_topics_list;
   std::mutex mutex;
 
+  // Set to true on construction and to false on destruction. Used to notify independet threads.
+  std::shared_ptr<std::atomic_bool> alive;
+
   void start(const std::string& client_name, std::shared_ptr<WsClient> client, const std::string& message)
   {
     if (!client->on_open)
@@ -109,7 +112,8 @@ class RosbridgeWsClient
   }
 
 public:
-  RosbridgeWsClient(const std::string& server_port_path)
+  RosbridgeWsClient(const std::string& server_port_path) :
+      alive(std::make_shared<std::atomic_bool>(true))
   {
     this->server_port_path = server_port_path;
   }
@@ -124,6 +128,7 @@ public:
     {
       removeClient(client.first);
     }
+    alive->store(false);
   }
 
  // The execution can take up to 100 ms!
@@ -235,6 +240,50 @@ public:
 #endif
   }
 
+  //!
+  //! \brief Returns a string containing all advertised topics.
+  //! \return Returns a string containing all advertised topics.
+  //!
+  //! \note This function will wait until the /rosapi/topics service is available.
+  //! \note Call connected() in advance to ensure that a connection was established.
+  //!
+  std::string get_advertised_topics(){
+      this->waitForService("/rosapi/topics");
+      std::shared_ptr<std::promise<std::string>> promise;
+      auto future = promise->get_future();
+      // Call /rosapi/topics to see if topic is already available.
+      this->callService("/rosapi/topics", [promise](
+                        std::shared_ptr<WsClient::Connection> connection,
+                        std::shared_ptr<WsClient::InMessage> in_message){
+          promise->set_value(in_message->string());
+          connection->send_close(1000);
+      });
+      future.wait();
+      return future.get();
+  }
+
+  //!
+  //! \brief Returns a string containing all advertised services.
+  //! \return Returns a string containing all advertised services.
+  //!
+  //! \note This function will wait until the /rosapi/services service is available.
+  //! \note Call connected() in advance to ensure that a connection was established.
+  //!
+  std::string get_advertised_services(){
+      this->waitForService("/rosapi/services");
+      std::shared_ptr<std::promise<std::string>> promise;
+      auto future = promise->get_future();
+      // Call /rosapi/services to see if topic is already available.
+      this->callService("/rosapi/services", [promise](
+                        std::shared_ptr<WsClient::Connection> connection,
+                        std::shared_ptr<WsClient::InMessage> in_message){
+          promise->set_value(in_message->string());
+          connection->send_close(1000);
+      });
+      future.wait();
+      return future.get();
+  }
+
   // Gets the client from client_map and starts it. Advertising is essentially sending a message.
   // One client per topic!
   void advertise(const std::string& client_name, const std::string& topic, const std::string& type, const std::string& id = "")
@@ -266,9 +315,9 @@ public:
       message = "{" + message + "}";
 
 #ifdef DEBUG
-      client->on_open = [client_name, message, ready](std::shared_ptr<WsClient::Connection> connection) {
+      client->on_open = [this, topic, message, ready, client_name](std::shared_ptr<WsClient::Connection> connection) {
 #else
-      client->on_open = [message, ready](std::shared_ptr<WsClient::Connection> connection) {
+      client->on_open = [this, topic, message, ready](std::shared_ptr<WsClient::Connection> connection) {
 #endif
 
 #ifdef DEBUG
@@ -276,11 +325,22 @@ public:
         std::cout << client_name << ": Sending message: " << message << std::endl;
 #endif
         connection->send(message);
-        // Wait for rosbridge_server to process the request and mark topic as "ready".
-        // This could be avoided by waiting for a status message. However, at the time of
-        // writing rosbridge_server status messages are still experimental.
-        std::this_thread::sleep_for(std::chrono::milliseconds(500));
-        ready->store(true);
+        // Now wait until topic is successfully advertised.
+        while (true){
+            std::this_thread::sleep_for(std::chrono::milliseconds(100));
+            std::string advertised_topics = this->get_advertised_topics();
+            auto pos = advertised_topics.find(topic);
+            if (pos != std::string::npos){ // topic advertised!
+#ifdef DEBUG
+                std::cout << client_name << ": topic " << topic  << "successfully advertised" << std::endl;
+#endif
+                break;
+            }
+#ifdef DEBUG
+                std::cout << client_name << ": waiting for topic " << topic  << "to be advertised" << std::endl;
+#endif
+        }
+        ready->store(true); // Mark topic as successfully advertised.
       };
 
       start(client_name, client, message);
@@ -386,8 +446,8 @@ public:
       std::cout << client_name << ": Sending message." << std::endl;
       //std::cout << client_name << ": Sending message: " << message << std::endl;
 #endif
-      while ( !ready->load() ){ // Wait for the topic to be advertised.
-          std::this_thread::sleep_for(std::chrono::milliseconds(500));
+      while ( !ready->load() ){ // Wait for the topic to be successfully advertised.
+          std::this_thread::sleep_for(std::chrono::milliseconds(100));
       }
       connection->send(message);
 
@@ -430,10 +490,34 @@ public:
       {
         message += ", \"compression\":\"" + compression + "\"";
       }
-      message = "{" + message + "}";
+      message = "{" + message + "}";    
+
+      auto client = it->second;
+      client->on_message = callback;
+      const auto cAlive = this->alive;
+      // Start thread to wait for topic to be advertised.
+      std::thread t([this, client_name, client, message, cAlive, topic](){
+          while (cAlive->load()){ // RosBridgeClient alive?
+              auto advertised_topics = this->get_advertised_topics();
+              auto pos = advertised_topics.find(topic);
+              if (pos != std::string::npos){ // desired topic available!
+#ifdef DEBUG
+                std::cout << client_name << ": topic " << topic  << "available" << std::endl;
+#endif
+                break;
+            }
+#ifdef DEBUG
+                std::cout << client_name << ": waiting for topic " << topic << std::endl;
+#endif
+                std::this_thread::sleep_for(std::chrono::seconds(1));
+          }
 
-      it->second->on_message = callback;
-      start(client_name, it->second, message);
+         if ( cAlive->load() ){
+            this->start(client_name, client, message); // subscribe to topic
+         }
+      });
+
+      t.detach();
     }
 #ifdef DEBUG
     else