More Robust CAN Communication

[Terracom12]

Our current CAN bus communication system makes use of two separate ROS2 Nodes running in both the drive and arm. These two ROS2 nodes are nearly identical, just interfacing with CAN nodes on different arbitration ids. Each ROS2 node, when attempting to read a message, discards all messages prior the queue that do match the message we're looking for.

Since each of these ROS2 nodes are run on different threads, this could potentially cause timing issues with one Node discarding the other's message, or even potential race conditions between threads attempting to read from the /dev/can0 file.

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[void-aere]

Odrive's ROS node: https://github.com/odriverobotics/ros_odrive

I've been looking into replacing the custom CAN interface the rover currently uses with this package.

[void-aere]

The new implementation should be:

• Written in C++ ideally
• Implemented in an independent node (separate from drive or arm)
• Parameterized, so that we can spin one node for each can bus
• Able to automatically receive and log ODrive errors when they occur
• Able to read and write ODrive configuration