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cherry-picking commit 4d5be00 from @cottsay See: https://github.com/wjwwood/serial/pull/209#issuecomment-520018303 Author: Scott K Logan <logans@cottsay.net> Date: Wed Jul 3 13:24:15 2019 -0700 Conflicts: CMakeLists.txt package.xml tests/CMakeLists.txt Signed-off-by: Alex Moriarty <alex.moriarty@picknik.ai>