Monitoring mode is not available [sunrise_driver_original]

[Svastits]

When activating only the 2 driver nodes, the monitoring mode is activated on the robot controller, but the activate() function of the RobotObserver class is not called, therefore the publisher is not activated and the joint states are not sent to the ROS2 side
Besides, the ConfigurationManager contains two client requests to sync the receive_multiplier and the send_period parameters with the joint_controller, which is not available with only the 2 drivers started, so configuration fails

Solution proposal:

• if monitoring mode is a wanted feature, add a commanding (bool) parameter to the node and call these syncing requests only if the parameter is false + move the activation of the RobotObserver to the LifeCycleNode activation function
• if monitoring mode is not needed, the syncing should remain as it is, and the whole commanding mode activation should be moved to the activation callback of the robot_manager_node (currently done in the changeRobotCommandingState() method of the system_manager)

[Groebehavn]

@resizoltan This will not be supported by the driver officially, there is a branch, referenced here, on which this probably could be solved if needed.