Sync with develop (#150)

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# PR Details
## Description

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## Related Issue

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## Motivation and Context

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## How Has This Been Tested?

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## Types of changes

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- [ ] Defect fix (non-breaking change that fixes an issue)
- [ ] New feature (non-breaking change that adds functionality)
- [ ] Breaking change (fix or feature that cause existing functionality
to change)

## Checklist:

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- [ ] I have added any new packages to the sonar-scanner.properties file
- [ ] My change requires a change to the documentation.
- [ ] I have updated the documentation accordingly.
- [ ] I have read the **CONTRIBUTING** document.
[CARMA Contributing Guide](Contributing.md) 
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.