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This PR backports commits ea4fb7c and fc4b27e (PRs #256 and #264, respectively) into Crystal. These are needed as part of the fixes to bring Fast-RTPS up to version 1.7.2. Note that these have to go in before the update to v1.7.2, otherwise this will fail to build. A full CI run for these changes was run as part of ros2/ros2#669 (comment) . @nuclearsandwich FYI