diff --git a/package-lock.json b/package-lock.json
index f98cccf77..47b7c0c84 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -32,7 +32,7 @@
         "vitest": "^3.0.2"
       },
       "engines": {
-        "node": ">=0.10"
+        "node": ">=18"
       }
     },
     "node_modules/@asamuzakjp/css-color": {
@@ -2793,19 +2793,6 @@
         "url": "https://opencollective.com/eslint"
       }
     },
-    "node_modules/eslint/node_modules/@eslint/js": {
-      "version": "9.32.0",
-      "resolved": "https://registry.npmjs.org/@eslint/js/-/js-9.32.0.tgz",
-      "integrity": "sha512-BBpRFZK3eX6uMLKz8WxFOBIFFcGFJ/g8XuwjTHCqHROSIsopI+ddn/d5Cfh36+7+e5edVS8dbSHnBNhrLEX0zg==",
-      "dev": true,
-      "license": "MIT",
-      "engines": {
-        "node": "^18.18.0 || ^20.9.0 || >=21.1.0"
-      },
-      "funding": {
-        "url": "https://eslint.org/donate"
-      }
-    },
     "node_modules/eslint/node_modules/escape-string-regexp": {
       "version": "4.0.0",
       "resolved": "https://registry.npmjs.org/escape-string-regexp/-/escape-string-regexp-4.0.0.tgz",
diff --git a/src/core/Service.js b/src/core/Service.js
index 9d9984468..b3d6b2997 100644
--- a/src/core/Service.js
+++ b/src/core/Service.js
@@ -94,7 +94,9 @@ export default class Service extends EventEmitter {
    */
   advertise(callback) {
     if (this.isAdvertised) {
-      throw new Error('Cannot advertise the same Service twice!');
+      // If already advertised, unadvertise first then re-advertise with new callback
+      // This prevents throwing an error and allows smooth re-advertising
+      this.unadvertise();
     }
 
     // Store the new callback for removal during un-advertisement
@@ -127,17 +129,26 @@ export default class Service extends EventEmitter {
 
   unadvertise() {
     if (!this.isAdvertised) {
-      throw new Error(`Tried to un-advertise service ${this.name}, but it was not advertised!`);
+      // Silently return if not advertised instead of throwing an error
+      // This prevents race conditions where multiple unadvertise calls happen
+      return;
     }
-    this.ros.callOnConnection({
-      op: 'unadvertise_service',
-      service: this.name
-    });
-    // Remove the registered callback
+    
+    // Remove the registered callback first to stop processing new requests
     if (this._serviceCallback) {
       this.ros.off(this.name, this._serviceCallback);
+      this._serviceCallback = null;
     }
+    
+    // Mark as not advertised before sending the message
+    // This ensures that any new advertise calls won't be blocked
     this.isAdvertised = false;
+    
+    // Send the unadvertise message to the server
+    this.ros.callOnConnection({
+      op: 'unadvertise_service',
+      service: this.name
+    });
   }
 
   /**
@@ -146,8 +157,11 @@ export default class Service extends EventEmitter {
    */
   advertiseAsync(callback) {
     if (this.isAdvertised) {
-      throw new Error('Cannot advertise the same Service twice!');
+      // If already advertised, unadvertise first then re-advertise with new callback
+      // This prevents throwing an error and allows smooth re-advertising
+      this.unadvertise();
     }
+    
     this._serviceCallback = async (rosbridgeRequest) => {
       /** @type {{op: string, service: string, values?: TResponse, result: boolean, id?: string}} */
       let rosbridgeResponse = {
diff --git a/test/service.test.js b/test/service.test.js
index 645d5d0be..1e6b81332 100644
--- a/test/service.test.js
+++ b/test/service.test.js
@@ -52,4 +52,97 @@ describe('Service', () => {
     server.unadvertise();
     expect(ros.listenerCount(server.name)).toEqual(0);
   })
+  
+  it('Handles re-advertisement gracefully without throwing errors', async () => {
+    const server = new Service({
+      ros,
+      serviceType: 'std_srvs/Trigger',
+      name: '/test_readvertise'
+    });
+    
+    // First advertisement
+    server.advertise((_request, response) => {
+      response.success = true;
+      response.message = 'first';
+      return true;
+    });
+    
+    expect(server.isAdvertised).toBe(true);
+    expect(ros.listenerCount(server.name)).toEqual(1);
+    
+    // Re-advertise with different callback - should not throw
+    expect(() => {
+      server.advertise((_request, response) => {
+        response.success = true;
+        response.message = 'second';
+        return true;
+      });
+    }).not.toThrow();
+    
+    expect(server.isAdvertised).toBe(true);
+    expect(ros.listenerCount(server.name)).toEqual(1);
+    
+    server.unadvertise();
+    expect(server.isAdvertised).toBe(false);
+    expect(ros.listenerCount(server.name)).toEqual(0);
+  })
+  
+  it('Handles multiple unadvertise calls gracefully', () => {
+    const server = new Service({
+      ros,
+      serviceType: 'std_srvs/Trigger',
+      name: '/test_multiple_unadvertise'
+    });
+    
+    server.advertise((_request, response) => {
+      response.success = true;
+      return true;
+    });
+    
+    expect(server.isAdvertised).toBe(true);
+    
+    // First unadvertise
+    server.unadvertise();
+    expect(server.isAdvertised).toBe(false);
+    
+    // Second unadvertise - should not throw
+    expect(() => {
+      server.unadvertise();
+    }).not.toThrow();
+    
+    expect(server.isAdvertised).toBe(false);
+  })
+  
+  it('Handles re-advertisement with advertiseAsync gracefully', async () => {
+    const server = new Service({
+      ros,
+      serviceType: 'std_srvs/Trigger',
+      name: '/test_readvertise_async'
+    });
+    
+    // First advertisement
+    server.advertiseAsync(async () => {
+      return {
+        success: true,
+        message: 'first'
+      }
+    });
+    
+    expect(server.isAdvertised).toBe(true);
+    
+    // Re-advertise with different callback - should not throw
+    expect(() => {
+      server.advertiseAsync(async () => {
+        return {
+          success: true,
+          message: 'second'
+        }
+      });
+    }).not.toThrow();
+    
+    expect(server.isAdvertised).toBe(true);
+    
+    server.unadvertise();
+    expect(server.isAdvertised).toBe(false);
+  })
 })