diff --git a/micro_ros_agent/src/agent/Agent.cpp b/micro_ros_agent/src/agent/Agent.cpp
index 355c797..6cc87ce 100644
--- a/micro_ros_agent/src/agent/Agent.cpp
+++ b/micro_ros_agent/src/agent/Agent.cpp
@@ -193,6 +193,8 @@ void Agent::stop()
     {
         element.second.stop();
     }
+
+    graph_manager_map_.clear();
 }
 
 graph_manager::GraphManager* Agent::find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id)