[ros-diffs] [silverblade] 34571: Various changes/tweaks. There are a few nasty issues due to the way the library is presently implemented (deadlocking, unexpected I/O completions, hacky debug code...) so after this commit I intend on rewriting a majority of the code to make it cleaner and less hacky over the next few days. (hax equals code calories, which in turn equals fat and unstable)