compatibilties questions

[kleanbotmk2]

Hello,

I was wondering if your package works with ros2 humble, ODrive Firmware v0.5.4 and hoverboard motors?

If so, is it necessary to configure the odrive as indicated in the official documentation before running your hardware interface?

Also, it would be great if you could explain how to adapt this great hardware interface to our robot-specific urdf etc...

thanks in advance,

sacha