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Fix nodes spins rather than blocking and waiting, using 100% CPU [kinetic]#1557

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meyerj wants to merge 12 commits intoros:kinetic-develfrom meyerj:fix-1343

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Commits on Dec 4, 2018

Commits on Dec 6, 2018

Commits on Jan 10, 2019

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Commits on Mar 12, 2019

Commits on Apr 5, 2019