Hi, we have implemented ODrive harware interface for ros2_control, which makes it easier to build robots in ROS2. No need to write drive code, only URDF and controller configurations are needed 
https://github.com/Factor-Robotics/odrive_ros2_control
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Looks great! Do you have an example / video of it working with a robot already? That would be awesome!
Hi, Iām trying to use this control package on our own robot. But It appears that spawner is unable to find control_manger/list_of_controllers as second libusb_bluk_transfer is taking too long.
Please submit an issue in our repo