diff --git a/com.unity.robotics.ros-tcp-connector/CHANGELOG.md b/com.unity.robotics.ros-tcp-connector/CHANGELOG.md
index f883a80f..d080d180 100644
--- a/com.unity.robotics.ros-tcp-connector/CHANGELOG.md
+++ b/com.unity.robotics.ros-tcp-connector/CHANGELOG.md
@@ -7,6 +7,8 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/) a
 
 ## Unreleased
 
+Clear static data on destroy
+
 ### Upgrade Notes
 
 ### Known Issues
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/TcpConnector/HudPanel.cs b/com.unity.robotics.ros-tcp-connector/Runtime/TcpConnector/HudPanel.cs
index 3725620e..87d0c2bb 100644
--- a/com.unity.robotics.ros-tcp-connector/Runtime/TcpConnector/HudPanel.cs
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/TcpConnector/HudPanel.cs
@@ -22,7 +22,8 @@ public class HudPanel : MonoBehaviour
         static SortedList<int, IHudTab> s_HUDTabs = new SortedList<int, IHudTab>();
         static SortedList<int, Action> s_HeaderContents = new SortedList<int, Action>();
         static List<HudWindow> s_ActiveWindows = new List<HudWindow>();
-        static int s_NextWindowID = 101;
+        const int INITIAL_NEXT_WINDOW_ID = 101;
+        static int s_NextWindowID = INITIAL_NEXT_WINDOW_ID;
 
         // ROS Message variables
         internal bool isEnabled;
@@ -123,6 +124,13 @@ public static void RegisterHeader(Action headerContent, int index = 0)
 
             s_HeaderContents.Add(index, headerContent);
         }
+        public static void ClearStaticContent()
+        {
+            s_HUDTabs.Clear();
+            s_HeaderContents.Clear();
+            s_ActiveWindows.Clear();
+            s_NextWindowID = INITIAL_NEXT_WINDOW_ID;
+        }
 
         public static void AddWindow(HudWindow window)
         {
@@ -204,24 +212,5 @@ public bool IsFreeWindowRect(Rect rect, out float maxX, out float maxY)
 
             return result;
         }
-
-#if UNITY_EDITOR
-        // automatically clear all static content on pressing play
-        [UnityEditor.InitializeOnLoadMethod]
-        static void InitializeOnLoad()
-        {
-            UnityEditor.EditorApplication.playModeStateChanged += OnPlayMode;
-        }
-
-        static void OnPlayMode(UnityEditor.PlayModeStateChange change)
-        {
-            if (change == UnityEditor.PlayModeStateChange.ExitingEditMode)
-            {
-                s_HUDTabs.Clear();
-                s_HeaderContents.Clear();
-                s_ActiveWindows.Clear();
-            }
-        }
-#endif
     }
 }
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/TcpConnector/ROSConnection.cs b/com.unity.robotics.ros-tcp-connector/Runtime/TcpConnector/ROSConnection.cs
index bf85d56c..8c252973 100644
--- a/com.unity.robotics.ros-tcp-connector/Runtime/TcpConnector/ROSConnection.cs
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/TcpConnector/ROSConnection.cs
@@ -491,6 +491,11 @@ void Start()
             if (ConnectOnStart)
                 Connect();
         }
+        void OnDestroy()
+        {
+            HudPanel.ClearStaticContent();
+            Disconnect();
+        }
 
         public void Connect(string ipAddress, int port)
         {
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/TcpConnector/TFSystem.cs b/com.unity.robotics.ros-tcp-connector/Runtime/TcpConnector/TFSystem.cs
index af4fd483..689770e1 100644
--- a/com.unity.robotics.ros-tcp-connector/Runtime/TcpConnector/TFSystem.cs
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/TcpConnector/TFSystem.cs
@@ -129,6 +129,14 @@ public static TFSystem GetOrCreateInstance()
         return instance;
     }
 
+    public static void ClearStaticData()
+    {
+        if (instance != null)
+        {
+            instance.m_TFTopics.Clear();
+            instance = null;
+        }
+    }
     public IEnumerable<string> GetTransformNames(string tfTopic = "/tf")
     {
         return GetOrCreateTFTopic(tfTopic).GetTransformNames();
diff --git a/com.unity.robotics.visualizations/CHANGELOG.md b/com.unity.robotics.visualizations/CHANGELOG.md
index 412bba73..7ab9a132 100644
--- a/com.unity.robotics.visualizations/CHANGELOG.md
+++ b/com.unity.robotics.visualizations/CHANGELOG.md
@@ -7,6 +7,8 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/) a
 
 ## Unreleased
 
+Clear static data on destroy
+
 ### Upgrade Notes
 
 ### Known Issues
diff --git a/com.unity.robotics.visualizations/Runtime/DefaultVisualizers/TFSystemVisualizer.cs b/com.unity.robotics.visualizations/Runtime/DefaultVisualizers/TFSystemVisualizer.cs
index 7b5d201f..d8058f91 100644
--- a/com.unity.robotics.visualizations/Runtime/DefaultVisualizers/TFSystemVisualizer.cs
+++ b/com.unity.robotics.visualizations/Runtime/DefaultVisualizers/TFSystemVisualizer.cs
@@ -20,6 +20,10 @@ public void Start()
             if (color.a == 0)
                 color.a = 1;
         }
+        void OnDestroy()
+        {
+            TFSystem.ClearStaticData();
+        }
 
         void EnsureSettings(TFStream stream)
         {