diff --git a/website/scripts/ros/ros_system_alert.js b/website/scripts/ros/ros_system_alert.js
index dbaaba0..40f2868 100644
--- a/website/scripts/ros/ros_system_alert.js
+++ b/website/scripts/ros/ros_system_alert.js
@@ -10,104 +10,119 @@
 function checkSystemAlerts() {
 
     // Subscribing to a Topic
-    listenerSystemAlert = new ROSLIB.Topic({
-        ros: g_ros,
-        name: T_SYSTEM_ALERT,
-        messageType: M_SYSTEM_ALERT
-    });
-    let systemAlertQueue = [];
-    // Then we add a callback to be called every time a message is published on this topic.
-    listenerSystemAlert.subscribe(function (message) 
+    // Check if our global subscription variable is defined already
+    if (typeof listenerSystemAlert === 'undefined' || listenerSystemAlert === null) 
     {
-         //Check ROSBridge connection before subscribe a topic
-         IsROSBridgeConnected();
-        var messageTypeFullDescription = 'NA';
-        console.log("system alert type" + message.type);
-        switch (message.type) 
+        // Initialize a topic object
+        listenerSystemAlert = new ROSLIB.Topic({
+            ros: g_ros,
+            name: T_SYSTEM_ALERT,
+            messageType: M_SYSTEM_ALERT
+        });
+
+        // Then we add a callback to be called every time a message is published on this topic.
+        systemAlertCallback = function (message) 
         {
-            case SYSTEM_ALERT_CAUTION:
-                session_isSystemAlert.ready = false;
-                messageTypeFullDescription = 'System received a CAUTION message. ' + message.description;
-                MsgPop.open({
-                    Type:			"caution",
-                    Content:		message.description,
-                    AutoClose:		true,
-                    CloseTimer:		30000,
-                    ClickAnyClose:	true,
-                    ShowIcon:		true,
-                    HideCloseBtn:	false});
-                break;
+            //Check ROSBridge connection before subscribe a topic
+            IsROSBridgeConnected();
+            var messageTypeFullDescription = 'NA';
+            console.log("system alert type" + message.type);
+            switch (message.type) 
+            {
+                case SYSTEM_ALERT_CAUTION:
+                    session_isSystemAlert.ready = false;
+                    messageTypeFullDescription = 'System received a CAUTION message. ' + message.description;
+                    MsgPop.open({
+                        Type:			"caution",
+                        Content:		message.description,
+                        AutoClose:		true,
+                        CloseTimer:		30000,
+                        ClickAnyClose:	true,
+                        ShowIcon:		true,
+                        HideCloseBtn:	false});
+                    break;
 
-            case SYSTEM_ALERT_WARNING:
-                session_isSystemAlert.ready = false;
-                messageTypeFullDescription = 'System received a WARNING message. ' + message.description;
-                MsgPop.open({
-                    Type:			"warning",
-                    Content:		message.description,
-                    AutoClose:		true,
-                    CloseTimer:		30000,
-                    ClickAnyClose:	true,
-                    ShowIcon:		true,
-                    HideCloseBtn:	false});
-                break;
+                case SYSTEM_ALERT_WARNING:
+                    session_isSystemAlert.ready = false;
+                    messageTypeFullDescription = 'System received a WARNING message. ' + message.description;
+                    MsgPop.open({
+                        Type:			"warning",
+                        Content:		message.description,
+                        AutoClose:		true,
+                        CloseTimer:		30000,
+                        ClickAnyClose:	true,
+                        ShowIcon:		true,
+                        HideCloseBtn:	false});
+                    break;
 
-            case SYSTEM_ALERT_FATAL:
-                session_isSystemAlert.ready = false;
-                messageTypeFullDescription = 'System received a CRITICAL message. ' + message.description;
-                MsgPop.open({
-                    Type:           "error",
-                    Content:        message.description,
-                    AutoClose:      true,
-                    ClickAnyClose:  true,
-                    ShowIcon:       true,
-                    HideCloseBtn:   false
-                });
-                break;
+                case SYSTEM_ALERT_FATAL:
+                    session_isSystemAlert.ready = false;
+                    messageTypeFullDescription = 'System received a CRITICAL message. ' + message.description;
+                    MsgPop.open({
+                        Type:           "error",
+                        Content:        message.description,
+                        AutoClose:      true,
+                        ClickAnyClose:  true,
+                        ShowIcon:       true,
+                        HideCloseBtn:   false
+                    });
+                    break;
 
-            case SYSTEM_ALERT_NOT_READY:
-                session_isSystemAlert.ready = false;
-                messageTypeFullDescription = 'System not ready, please wait and try again. ' + message.description;
-                break;
+                case SYSTEM_ALERT_NOT_READY:
+                    session_isSystemAlert.ready = false;
+                    messageTypeFullDescription = 'System not ready, please wait and try again. ' + message.description;
+                    break;
 
-            case SYSTEM_ALERT_DRIVERS_READY: 
-                session_isSystemAlert.ready = true;
-                messageTypeFullDescription = 'System ready. ' + message.description;
-                $('#divCapabilitiesSystemAlert').html('');
-                break;
+                case SYSTEM_ALERT_DRIVERS_READY: 
+                    session_isSystemAlert.ready = true;
+                    messageTypeFullDescription = 'System ready. ' + message.description;
+                    $('#divCapabilitiesSystemAlert').html('');
+                    break;
 
-            case SYSTEM_ALERT_SHUTDOWN: 
-                session_isSystemAlert.ready = false;
-                listenerSystemAlert.unsubscribe();
-                //Show modal popup for Fatal alerts.
-                messageTypeFullDescription = 'PLEASE TAKE <strong>MANUAL</strong> CONTROL OF THE VEHICLE.';
-                messageTypeFullDescription += '<br/><br/>System received a SHUTDOWN message. Please wait for system to shut down. <br/><br/>' + message.description;
-                listenerSystemAlert.unsubscribe();
-                //If this modal does not exist, create one 
-                if( $('#systemAlertModal').length < 1 ) 
-                { 
-                    $('#ModalsArea').append(createSystemAlertModal(
-                        '<span style="color:red"><i class="fas fa-exclamation-triangle"></i></span>&nbsp;&nbsp;SYSTEM ALERT', 
-                        messageTypeFullDescription,
-                        false,true
-                        ));              
-                }
-                $('#systemAlertModal').modal({backdrop: 'static', keyboard: false}); 
-                playSound('audioAlert1', false);
-                break;
+                case SYSTEM_ALERT_SHUTDOWN: 
+                    session_isSystemAlert.ready = false;
+                    listenerSystemAlert.unsubscribe();
+                    //Show modal popup for Fatal alerts.
+                    messageTypeFullDescription = 'PLEASE TAKE <strong>MANUAL</strong> CONTROL OF THE VEHICLE.';
+                    messageTypeFullDescription += '<br/><br/>System received a SHUTDOWN message. Please wait for system to shut down. <br/><br/>' + message.description;
+                    listenerSystemAlert.unsubscribe();
+                    //If this modal does not exist, create one 
+                    if( $('#systemAlertModal').length < 1 ) 
+                    { 
+                        $('#ModalsArea').append(createSystemAlertModal(
+                            '<span style="color:red"><i class="fas fa-exclamation-triangle"></i></span>&nbsp;&nbsp;SYSTEM ALERT', 
+                            messageTypeFullDescription,
+                            false,true
+                            ));              
+                    }
+                    $('#systemAlertModal').modal({backdrop: 'static', keyboard: false}); 
+                    playSound('audioAlert1', false);
+                    break;
 
-            default:
-                session_isSystemAlert.ready = false;
-                messageTypeFullDescription = 'System alert type is unknown. Assuming system it not yet ready.  ' + message.description;
-                break;
-        }
-        let currentTime = new Date().toLocaleTimeString("en-US", {timeZone: "America/New_York"});
-        let eachElement = currentTime+'-'+messageTypeFullDescription + "&#13;&#10;";
-        let eachElementLeight = eachElement.length;
-        $('#logs-panel-text-system-alert').prepend( eachElement );        
-        let currnettext = $('#logs-panel-text-system-alert').html();
-        if ( (currnettext.length / eachElementLeight) > MAX_LOG_LINES) 
-        {
-            $('#logs-panel-text-system-alert').html( currnettext.substring(0, (currnettext.length - eachElementLeight)) );
-        }
-    });
+                default:
+                    session_isSystemAlert.ready = false;
+                    messageTypeFullDescription = 'System alert type is unknown. Assuming system it not yet ready.  ' + message.description;
+                    break;
+            }
+            let currentTime = new Date().toLocaleTimeString("en-US", {timeZone: "America/New_York"});
+            let eachElement = currentTime+'-'+messageTypeFullDescription + "&#13;&#10;";
+            let eachElementLeight = eachElement.length;
+            $('#logs-panel-text-system-alert').prepend( eachElement );        
+            let currnettext = $('#logs-panel-text-system-alert').html();
+            if ( (currnettext.length / eachElementLeight) > MAX_LOG_LINES) 
+            {
+                $('#logs-panel-text-system-alert').html( currnettext.substring(0, (currnettext.length - eachElementLeight)) );
+            }
+        };
+
+    } 
+    else // If it was defined, close the existing subscription so it can be reopened
+    {
+        listenerSystemAlert.unsubscribe(systemAlertCallback)
+    }
+
+
+    
+
+    listenerSystemAlert.subscribe(systemAlertCallback);
 }
\ No newline at end of file