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When the ROS core goes down, any running nodes with topic subscribers or publishers will have those topic connections terminated. They also will not automatically reconnect when a new core comes up, which is probably why you have to restart to the get the topics working again.

Therefore, I think if you always leave a terminal window/tab running a ROS core, your problems will go away. Another benefit of this is that any parameters that are set will continue to exist after stopping the launch file.