feat: multi-ODrive support with node_id + timestamp in odrive status message

[wgtayar]

Summary

This PR extends odrive_status.msg and updates the odrive_can_node implementation to support multi-ODrive setups by disambiguating messages and adding temporal context.

Motivation

The existing implementation works for a single ODrive but makes it impossible to distinguish messages when multiple ODrives are connected. Additionally, messages lacked a timestamp, complicating debugging, logging, and synchronization with other ROS data streams.

These changes:

• Enable reliable use of multiple ODrives in one ROS system.
• Improve traceability and debugging with accurate timestamps.
• Reduce overhead by defining node_id once.

This inspiration comes from working on a system with multiple ODrives, such as a quadruped robot.

Changes

• Message definition

  • Added std_msgs/Header header (provides stamp).
  • Added uint32 node_id field to uniquely identify each ODrive device.

• Publisher logic (odrive_can_node.cpp)

  • header.stamp is now assigned immediately before current and voltage measurements are taken, ensuring accurate timing of values.
  • node_id is defined once at initialization, rather than being re-set in every loop iteration.

Testing

• Verified build with colcon build.
• Ran ros2 topic echo /odrive_axis*/odrive_status with two ODrives connected:
  • Confirmed each message contains the correct node_id.
  • Confirmed header.stamp updates consistently at each publish cycle.

Notes

• This is a message definition change. Downstream packages depending on odrive_status.msg must be rebuilt.
• Maintainers: please confirm if uint32 is suitable for node_id or if a smaller type is preferred.

[CLAassistant]

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