Add support for running multiple CommsClient nodes#772

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peci1 wants to merge 4 commits intoosrf:masterfrom

peci1:shared-comms

Commits on Feb 1, 2021

Initial implementation of a shared version of CommsClient.
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Merge branch 'master' of https://github.com/osrf/subt into shared-comms
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Commits on Feb 2, 2021

Fixed concurrency issues during Bind().
peci1
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Commits on Mar 3, 2021

Merge branch 'master' into shared-comms
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