diff --git a/messaging/impl_msgq.cc b/messaging/impl_msgq.cc
index 3b07fe5dcea303..a930a80d5b5d0a 100644
--- a/messaging/impl_msgq.cc
+++ b/messaging/impl_msgq.cc
@@ -119,6 +119,7 @@ void MSGQSubSocket::setTimeout(int t){
 }
 
 MSGQSubSocket::~MSGQSubSocket(){
+  msgq_close_queue(q);
   delete q;
 }
 
@@ -149,6 +150,7 @@ int MSGQPubSocket::send(char *data, size_t size){
 }
 
 MSGQPubSocket::~MSGQPubSocket(){
+  msgq_close_queue(q);
   delete q;
 }
 
diff --git a/messaging/msgq.cc b/messaging/msgq.cc
index f58072a411947f..89be689854b156 100644
--- a/messaging/msgq.cc
+++ b/messaging/msgq.cc
@@ -77,17 +77,24 @@ int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
   auto fd = open(full_path, O_RDWR | O_CREAT, 0777);
   delete[] full_path;
 
+  assert(fd >= 0); // TODO: properly handle exit codes
   if (fd < 0)
     return -1;
 
   int rc = ftruncate(fd, size + sizeof(msgq_header_t));
+  assert(rc == 0); // TODO: properly handle exit codes
   if (rc < 0)
     return -1;
 
   char * mem = (char*)mmap(NULL, size + sizeof(msgq_header_t), PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);
+  close(fd);
+
+  assert(mem != NULL); // TODO: properly handle exit codes
   if (mem == NULL)
     return -1;
 
+  q->mmap_p = mem;
+
   msgq_header_t *header = (msgq_header_t *)mem;
 
   // Setup pointers to header segment
@@ -107,18 +114,34 @@ int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
 
   q->endpoint = path;
   q->read_conflate = false;
+  q->read_fifo = -1;
 
   return 0;
 }
 
+void msgq_close_queue(msgq_queue_t *q){
+  if (q->read_fifo >= 0){
+    close(q->read_fifo);
+  }
+
+  for (uint64_t i = 0; i < NUM_READERS; i++){
+    if (q->read_fifos[i] >= 0){
+      close(q->read_fifos[i]);
+    }
+  }
+
+  if (q->mmap_p != NULL){
+    munmap(q->mmap_p, q->size + sizeof(msgq_header_t));
+  }
+}
+
 
 void msgq_init_publisher(msgq_queue_t * q) {
   std::cout << "Starting publisher" << std::endl;
 
-  std::random_device rd;
-  std::default_random_engine generator(rd());
+  std::random_device rd("/dev/urandom");
   std::uniform_int_distribution<uint64_t> distribution(0,std::numeric_limits<uint64_t>::max());
-  uint64_t uid = distribution(generator);
+  uint64_t uid = distribution(rd);
 
   *q->write_uid = uid;
   *q->num_readers = 0;
@@ -134,10 +157,12 @@ void msgq_init_publisher(msgq_queue_t * q) {
 }
 
 void msgq_init_subscriber(msgq_queue_t * q) {
-  std::random_device rd;
-  std::default_random_engine generator(rd());
+  assert(q != NULL);
+  assert(q->num_readers != NULL);
+
+  std::random_device rd("/dev/urandom");
   std::uniform_int_distribution<uint64_t> distribution(0,std::numeric_limits<uint64_t>::max());
-  uint64_t uid = distribution(generator);
+  uint64_t uid = distribution(rd);
 
   // Get reader id
   while (true){
@@ -179,12 +204,16 @@ void msgq_init_subscriber(msgq_queue_t * q) {
 
   std::cout << q->read_fifo_path << std::endl;
   int r = mkfifo(q->read_fifo_path.c_str(), 0777);
+  if (r != 0)
+    perror("Fifo: ");
   assert(r == 0);
 
   q->read_fifo = open(q->read_fifo_path.c_str(), O_RDWR | O_NONBLOCK);
 
   // Fysnc so the fifo shows up in the directory
-  fsync(open("/dev/shm", O_RDONLY));
+  auto shm_fd = open("/dev/shm", O_RDONLY);
+  fsync(shm_fd);
+  close(shm_fd);
 
   std::cout << "New subscriber id: " << q->reader_id << " uid: " << q->read_uid_local << std::endl;
   msgq_reset_reader(q);
@@ -271,6 +300,11 @@ int msgq_msg_send(msgq_msg_t * msg, msgq_queue_t *q){
 
     // Open fifo when not set, or when reader changes
     if (q->read_fifos[i] == -1 || q->read_fifos_uid[i] != reader_uid){
+      // Close old reader fifo
+      if (q->read_fifos[i] >= 0){
+        close(q->read_fifos[i]);
+      }
+
       q->read_fifos_uid[i] = reader_uid;
 
       std::string path = "/dev/shm/fifo-";
diff --git a/messaging/msgq.hpp b/messaging/msgq.hpp
index eb5c1ed940a3ce..116523e38d8250 100644
--- a/messaging/msgq.hpp
+++ b/messaging/msgq.hpp
@@ -27,6 +27,7 @@ struct msgq_queue_t {
   std::atomic<uint64_t> *read_pointers[NUM_READERS];
   std::atomic<uint64_t> *read_valids[NUM_READERS];
   std::atomic<uint64_t> *read_uids[NUM_READERS];
+  char * mmap_p;
   char * data;
   size_t size;
   int reader_id;
@@ -62,6 +63,7 @@ int msgq_msg_init_data(msgq_msg_t *msg, char * data, size_t size);
 int msgq_msg_close(msgq_msg_t *msg);
 
 int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size);
+void msgq_close_queue(msgq_queue_t *q);
 void msgq_init_publisher(msgq_queue_t * q);
 void msgq_init_subscriber(msgq_queue_t * q);