diff --git a/src/fc_network_apps/arm_disarm.py b/src/fc_network_apps/arm_disarm.py
index 21f8386..d61eb67 100644
--- a/src/fc_network_apps/arm_disarm.py
+++ b/src/fc_network_apps/arm_disarm.py
@@ -37,7 +37,8 @@ def arm_disarm(
     param1: 1.0 to arm, 0.0 to disarm.
     param2: usually 0. Some stacks use 21196 for force-arm (ArduPilot); pass via param2 if needed.
     """
-    rclpy.init(args=None)
+    if not rclpy.ok():
+        rclpy.init(args=None)
     node: Optional[Node] = None
     try:
         node = Node("fc_arm_disarm_client_once")
@@ -82,7 +83,6 @@ def arm_disarm(
     finally:
         if node is not None:
             node.destroy_node()
-        rclpy.shutdown()
 
 
 if __name__ == "__main__":
diff --git a/src/fc_network_apps/changeMode.py b/src/fc_network_apps/changeMode.py
index aa98230..09e04b4 100644
--- a/src/fc_network_apps/changeMode.py
+++ b/src/fc_network_apps/changeMode.py
@@ -42,7 +42,8 @@ def change_mode(
 ) -> ChangeModeResult:
 
     """One-shot helper for collaborators who want minimal code."""
-    rclpy.init(args=None)
+    if not rclpy.ok():
+        rclpy.init(args=None)
     node: Optional[Node] = None
     try:
         node = Node("fc_change_mode_client_once")
@@ -87,7 +88,6 @@ def change_mode(
     finally:
         if node is not None:
             node.destroy_node()
-        rclpy.shutdown()
 
 
 if __name__ == "__main__":
diff --git a/src/fc_network_apps/takeoff.py b/src/fc_network_apps/takeoff.py
index 47754b7..040e783 100644
--- a/src/fc_network_apps/takeoff.py
+++ b/src/fc_network_apps/takeoff.py
@@ -35,7 +35,8 @@ def takeoff(
     service_name: str = DEFAULT_SERVICE_NAME,
 ) -> TakeoffResult:
     """One-shot MAV_CMD_NAV_TAKEOFF wrapper."""
-    rclpy.init(args=None)
+    if not rclpy.ok():
+        rclpy.init(args=None)
     node: Optional[Node] = None
     try:
         node = Node("fc_takeoff_client_once")
@@ -80,7 +81,6 @@ def takeoff(
     finally:
         if node is not None:
             node.destroy_node()
-        rclpy.shutdown()
 
 
 if __name__ == "__main__":