Hi,
A long time coming, we finally released the official odrive_can ROS package. It lets you command ODrive axis states, torque/velocity/position setpoints, and query controller status and feedback, all over CAN bus.
It currently supports the most common cyclical command and feedback messages, and setting the most common parameters. Granular access to the full parameter tree is not implemented yet but is on our roadmap. What’s available now should be sufficient for the majority of use cases.
Github package: GitHub - odriverobotics/odrive_can
Package docs: ROS2 CAN Package — ODrive Documentation 0.6.7 documentation