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avoid calling multiple compinit #746

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Signed-off-by: Chen Lihui lihui.chen@sony.com

Signed-off-by: Chen Lihui <lihui.chen@sony.com>
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to fix ros2/ros2_documentation#2944

Signed-off-by: Chen Lihui <lihui.chen@sony.com>
@mjbogusz
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Ref #534

Another approach: #750

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