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amalpavithran Add optional private parameter config to Python server (#562 )

Add optional private parameter config to Python server (#562 )

* Made tcp_port a local parameter

The tcp_port parameter being a global parameter prevents the launch of multiple serial nodes on different port numbers using a launch file

* Added Fallback & Modified fork_server parameter

* Removed unnecessary defaults & added comments

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README.md

rosserial

Please see rosserial on the ROS wiki to get started.