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The hint from @NEngelhard was correct, using the option latch=True results in what I had expected before. Thanks a lot!

import rospy
from std_msgs.msg import String

def callback(data):
    rospy.loginfo("I heard %s",data.data)

rospy.init_node('node_name')

pub = rospy.Publisher('topic_name', String, queue_size=10, latch=True) # working as expected
#pub = rospy.Publisher('topic_name', String, queue_size=10) # not working as expected

sub = rospy.Subscriber("topic_name", String, callback)

pub.publish("no delay")

rospy.sleep(1)

pub.publish("with delay")

rospy.spin()