diff --git a/src/core/Service.js b/src/core/Service.js
index 9d9984468..e014f8fe4 100644
--- a/src/core/Service.js
+++ b/src/core/Service.js
@@ -18,6 +18,16 @@ export default class Service extends EventEmitter {
      */
   _serviceCallback = null;
   isAdvertised = false;
+  /**
+   * Queue for serializing advertise/unadvertise operations to prevent race conditions
+   * @private
+   */
+  _operationQueue = Promise.resolve();
+  /**
+   * Track if an unadvertise operation is pending to prevent double operations
+   * @private
+   */
+  _pendingUnadvertise = false;
   /**
    * @param {Object} options
    * @param {Ros} options.ros - The ROSLIB.Ros connection handle.
@@ -93,51 +103,91 @@ export default class Service extends EventEmitter {
    * @param {advertiseCallback} callback - This works similarly to the callback for a C++ service and should take the following params
    */
   advertise(callback) {
-    if (this.isAdvertised) {
-      throw new Error('Cannot advertise the same Service twice!');
-    }
+    // Queue this operation to prevent race conditions
+    this._operationQueue = this._operationQueue.then(async () => {
+      // If already advertised, unadvertise first
+      if (this.isAdvertised) {
+        await this._doUnadvertise();
+      }
 
-    // Store the new callback for removal during un-advertisement
-    this._serviceCallback = (rosbridgeRequest) => {
-      var response = {};
-      var success = callback(rosbridgeRequest.args, response);
+      // Store the new callback for removal during un-advertisement
+      this._serviceCallback = (rosbridgeRequest) => {
+        var response = {};
+        var success = callback(rosbridgeRequest.args, response);
 
-      var call = {
-        op: 'service_response',
-        service: this.name,
-        values: response,
-        result: success
-      };
+        var call = {
+          op: 'service_response',
+          service: this.name,
+          values: response,
+          result: success
+        };
 
-      if (rosbridgeRequest.id) {
-        call.id = rosbridgeRequest.id;
-      }
+        if (rosbridgeRequest.id) {
+          call.id = rosbridgeRequest.id;
+        }
 
-      this.ros.callOnConnection(call);
-    };
+        this.ros.callOnConnection(call);
+      };
 
-    this.ros.on(this.name, this._serviceCallback);
-    this.ros.callOnConnection({
-      op: 'advertise_service',
-      type: this.serviceType,
-      service: this.name
+      this.ros.on(this.name, this._serviceCallback);
+      this.ros.callOnConnection({
+        op: 'advertise_service',
+        type: this.serviceType,
+        service: this.name
+      });
+      this.isAdvertised = true;
+    }).catch(err => {
+      this.emit('error', err);
+      throw err;
     });
-    this.isAdvertised = true;
+    
+    return this._operationQueue;
   }
 
-  unadvertise() {
-    if (!this.isAdvertised) {
-      throw new Error(`Tried to un-advertise service ${this.name}, but it was not advertised!`);
+  /**
+   * Internal method to perform unadvertisement without queueing
+   * @private
+   */
+  async _doUnadvertise() {
+    if (!this.isAdvertised || this._pendingUnadvertise) {
+      return;
     }
-    this.ros.callOnConnection({
-      op: 'unadvertise_service',
-      service: this.name
-    });
-    // Remove the registered callback
-    if (this._serviceCallback) {
-      this.ros.off(this.name, this._serviceCallback);
+    
+    this._pendingUnadvertise = true;
+    
+    try {
+      // Mark as not advertised first to prevent new service calls
+      // This ensures callService() will not be blocked while we're unadvertising
+      this.isAdvertised = false;
+      
+      // Remove the registered callback to stop processing new requests
+      if (this._serviceCallback) {
+        this.ros.off(this.name, this._serviceCallback);
+        this._serviceCallback = null;
+      }
+      
+      // Send the unadvertise message to the server
+      // Note: This is fire-and-forget, but the operation queue ensures
+      // no new advertise can start until this completes
+      this.ros.callOnConnection({
+        op: 'unadvertise_service',
+        service: this.name
+      });
+    } finally {
+      this._pendingUnadvertise = false;
     }
-    this.isAdvertised = false;
+  }
+
+  unadvertise() {
+    // Queue this operation to prevent race conditions
+    this._operationQueue = this._operationQueue.then(async () => {
+      await this._doUnadvertise();
+    }).catch(err => {
+      this.emit('error', err);
+      throw err;
+    });
+    
+    return this._operationQueue;
   }
 
   /**
@@ -145,32 +195,42 @@ export default class Service extends EventEmitter {
    * @param {(request: TRequest) => Promise<TResponse>} callback An asynchronous callback processing the request and returning a response.
    */
   advertiseAsync(callback) {
-    if (this.isAdvertised) {
-      throw new Error('Cannot advertise the same Service twice!');
-    }
-    this._serviceCallback = async (rosbridgeRequest) => {
-      /** @type {{op: string, service: string, values?: TResponse, result: boolean, id?: string}} */
-      let rosbridgeResponse = {
-        op: 'service_response',
-        service: this.name,
-        result: false
+    // Queue this operation to prevent race conditions
+    this._operationQueue = this._operationQueue.then(async () => {
+      // If already advertised, unadvertise first
+      if (this.isAdvertised) {
+        await this._doUnadvertise();
       }
-      try {
-        rosbridgeResponse.values = await callback(rosbridgeRequest.args);
-        rosbridgeResponse.result = true;
-      } finally {
-        if (rosbridgeRequest.id) {
-          rosbridgeResponse.id = rosbridgeRequest.id;
+      
+      this._serviceCallback = async (rosbridgeRequest) => {
+        /** @type {{op: string, service: string, values?: TResponse, result: boolean, id?: string}} */
+        let rosbridgeResponse = {
+          op: 'service_response',
+          service: this.name,
+          result: false
+        }
+        try {
+          rosbridgeResponse.values = await callback(rosbridgeRequest.args);
+          rosbridgeResponse.result = true;
+        } finally {
+          if (rosbridgeRequest.id) {
+            rosbridgeResponse.id = rosbridgeRequest.id;
+          }
+          this.ros.callOnConnection(rosbridgeResponse);
         }
-        this.ros.callOnConnection(rosbridgeResponse);
       }
-    }
-    this.ros.on(this.name, this._serviceCallback);
-    this.ros.callOnConnection({
-      op: 'advertise_service',
-      type: this.serviceType,
-      service: this.name
+      this.ros.on(this.name, this._serviceCallback);
+      this.ros.callOnConnection({
+        op: 'advertise_service',
+        type: this.serviceType,
+        service: this.name
+      });
+      this.isAdvertised = true;
+    }).catch(err => {
+      this.emit('error', err);
+      throw err;
     });
-    this.isAdvertised = true;
+    
+    return this._operationQueue;
   }
 }
diff --git a/test/service.test.js b/test/service.test.js
index 645d5d0be..db5504a1a 100644
--- a/test/service.test.js
+++ b/test/service.test.js
@@ -5,13 +5,15 @@ describe('Service', () => {
   const ros = new Ros({
     url: 'ws://localhost:9090'
   });
+  
+
   it('Successfully advertises a service with an async return', async () => {
     const server = new Service({
       ros,
       serviceType: 'std_srvs/Trigger',
       name: '/test_service'
     });
-    server.advertiseAsync(async () => {
+    await server.advertiseAsync(async () => {
       return {
         success: true,
         message: 'foo'
@@ -26,7 +28,7 @@ describe('Service', () => {
     expect(response).toEqual({success: true, message: 'foo'});
     // Make sure un-advertisement actually disposes of the event handler
     expect(ros.listenerCount(server.name)).toEqual(1);
-    server.unadvertise();
+    await server.unadvertise();
     expect(ros.listenerCount(server.name)).toEqual(0);
   })
   it('Successfully advertises a service with a synchronous return', async () => {
@@ -35,7 +37,7 @@ describe('Service', () => {
       serviceType: 'std_srvs/Trigger',
       name: '/test_service'
     });
-    server.advertise((request, response) => {
+    await server.advertise((_request, response) => {
       response.success = true;
       response.message = 'bar';
       return true;
@@ -49,7 +51,132 @@ describe('Service', () => {
     expect(response).toEqual({success: true, message: 'bar'});
     // Make sure un-advertisement actually disposes of the event handler
     expect(ros.listenerCount(server.name)).toEqual(1);
-    server.unadvertise();
+    await 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
+    await 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
+    await server.advertise((_request, response) => {
+      response.success = true;
+      response.message = 'second';
+      return true;
+    });
+    
+    expect(server.isAdvertised).toBe(true);
+    expect(ros.listenerCount(server.name)).toEqual(1);
+    
+    await server.unadvertise();
+    expect(server.isAdvertised).toBe(false);
+    expect(ros.listenerCount(server.name)).toEqual(0);
+  })
+  
+  it('Handles multiple unadvertise calls gracefully', async () => {
+    const server = new Service({
+      ros,
+      serviceType: 'std_srvs/Trigger',
+      name: '/test_multiple_unadvertise'
+    });
+    
+    await server.advertise((_request, response) => {
+      response.success = true;
+      return true;
+    });
+    
+    expect(server.isAdvertised).toBe(true);
+    
+    // First unadvertise
+    await server.unadvertise();
+    expect(server.isAdvertised).toBe(false);
+    
+    // Second unadvertise - should not throw
+    await server.unadvertise();
+    
+    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
+    await server.advertiseAsync(async () => {
+      return {
+        success: true,
+        message: 'first'
+      }
+    });
+    
+    expect(server.isAdvertised).toBe(true);
+    
+    // Re-advertise with different callback - should not throw
+    await server.advertiseAsync(async () => {
+      return {
+        success: true,
+        message: 'second'
+      }
+    });
+    
+    expect(server.isAdvertised).toBe(true);
+    
+    await server.unadvertise();
+    expect(server.isAdvertised).toBe(false);
+  })
+  
+  it('Ensures operations are serialized through queue', async () => {
+    const server = new Service({
+      ros,
+      serviceType: 'std_srvs/Trigger',
+      name: '/test_queue'
+    });
+    
+    // Rapid advertise/unadvertise operations
+    const operations = [
+      server.advertise((_request, response) => {
+        response.success = true;
+        response.message = 'first';
+        return true;
+      }),
+      server.unadvertise(),
+      server.advertise((_request, response) => {
+        response.success = true;
+        response.message = 'second';
+        return true;
+      }),
+      server.unadvertise(),
+      server.advertise((_request, response) => {
+        response.success = true;
+        response.message = 'third';
+        return true;
+      })
+    ];
+    
+    // All operations should complete without errors
+    await Promise.all(operations);
+    
+    // Final state should be advertised
+    expect(server.isAdvertised).toBe(true);
+    
+    await server.unadvertise();
+    expect(server.isAdvertised).toBe(false);
+  })
 })