ROS 2 canopen manager and roboteq driver refactor

[KmakD]

Description

This waits for DriverState update PR to be merged.
This PR mains to create Abstraction for Driver including its implementation for Roboteq. Also, it refactors canopen class

Modifications

• renamed canopen_controller to canopen_manager
• removed drivers from canopen_manager
• created driver, motor_driver abstraction
• created robote1 driver and roboteq motor driver implementations
• updated tests for roboteq and canopen class

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