fix(odrive_can_driver): never request new state

New state should not be requested after driver configuration, as it
negatively affects control loop on the device. Previously, "closed loop
control" state was requested at every update. This intterupted control
loop on the ODrive and caused motors to artificialy slow down. To work
around this, we now don't request "closed loop" state at all and instead
we should enable "startup_closed_loop_control" on ODrive.

odrive_can_driver/include/odrive_can_driver/odrive_can.hpp

@@ -322,7 +322,6 @@ class CanWriteThread
     for (auto & motor_axis : motor_axis_.get()) {
       auto node_id = motor_axis.GetNodeId();
       Send(node_id, CommandId::kControllerModes, deadline, uint32_t(1), uint32_t(0));
-      Send(node_id, CommandId::kAxisRequestedState, deadline, uint32_t(1));
     }
   };
   void Notify(const rclcpp::Time & time, const rclcpp::Duration & period)
@@ -428,24 +427,20 @@ class CanWriteThread
           Send(node_id, command_id, deadline, float(motor_axis.GetCommandValue()));
           // TODO: Replace command and input modes with enums
           Send(node_id, CommandId::kControllerModes, deadline, uint32_t(1), uint32_t(6));
-          Send(node_id, CommandId::kAxisRequestedState, deadline, uint32_t(8));
           break;
         }
         case CommandId::kInputVel: {
           Send(node_id, command_id, deadline, float(motor_axis.GetCommandValue()), uint32_t(0));
           Send(node_id, CommandId::kControllerModes, deadline, uint32_t(2), uint32_t(2));
-          Send(node_id, CommandId::kAxisRequestedState, deadline, uint32_t(8));
           break;
         }
         case CommandId::kInputPos: {
           Send(node_id, command_id, deadline, float(motor_axis.GetCommandValue()), uint32_t(0));
           Send(node_id, CommandId::kControllerModes, deadline, uint32_t(3), uint32_t(1));
-          Send(node_id, CommandId::kAxisRequestedState, deadline, uint32_t(8));
           break;
         }
         default: {
           Send(node_id, CommandId::kControllerModes, deadline, uint32_t(1), uint32_t(0));
-          Send(node_id, CommandId::kAxisRequestedState, deadline, uint32_t(1));
           break;
         }
       }