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The answer to this question unfortunately was not the one I was looking for.

The software serial library, even though it allows you to use whichever pins you want as software serial, it still uses the hardware serial, therefore microcontrollers that have only 1 hardware serial port can not be used for this application.

My solution was to buy a Feather M0 which has 1 hardware serial, but you can create more hardware serial ports through SERCOMs. Here is the relevant link for those who are interested.

IMPORTANT NOTE it took me some time before I could make the Feather communicate over its USB with rosserial. The reason behind this: to use samd21 native usb port you have to add

#define USE_USBCON

before including any ros libraries in the Feather code.

Hope this helps someone, and /or save some and frustration!

Best,

Mike