Allow disabling homing mode in the CiA402 driver.

[zimmerman-pliant]

Is your feature request related to a problem? Please describe.

I have a drive that doesn't seem to support CiA402 Homing Method 0 ("No Homing"). Setting register 0x6098 to zero causes the drive to keep its default homing method, 37 "Homing on Actual Position."

My drive has an absolute position encoder so I don't need to home the drive. At present the ros2_canopen CiA402 drivers always put the drive in homing mode. This zeroes the angle at the initial position and defeats the utility of the absolute position encoder in my joint.

Describe the solution you'd like
I'd like the option from bus.yml or other suitable runtime configuration file to disable the homing routine.

Describe alternatives you've considered
For now, I've forked the driver and commented out the homing code in Motor402::handleInit().

I've also considered adding a different homing method like #245, but I have to check if putting the drive in homing mode at all is allowable, or if that will zero out the position reading at the joint's initial position.

I've also reached out to the manufacturer to verify the drive's lack of support for "No Homing" method 0.

EDIT: the manufacturer definitely recommends not putting the drive in homing mode if homing does not need to be carried out.