Px4 Topic Advertising

When connected to QGC, often trying to start a sensor calibration does nothing. using “screen” shows that “mavlink_receiver” is failing to advertise the topic “vehicle_command”

I notice that there are many modules that advertise to this topic, some of which immediately unadvertise afterwards, while others do not.

My question is: does the system deny a module from advertising to a topic if that topic has already been advertised by another module/thread? If so, would that explain why the topic advertisement is failing? Would a fix be to find all occurences of advertising to this module and calling “orb_unadvertise” immediately afterward?

Thank you.