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The Problem is that if you disconnect the USB plug the USB UART (ftdi) Linux driver try to free the device Handel, but if the file handle is opened from pyserial, it can not be done properly. So one solution could be to shutdown the rosserial nodes best before the disconnect. And then run the nodes after a short time you reconneced the USB device. And you have to connect the device in the same USB plug as it was before.