Adapt new structure for cob4-1 

Tested on cob4-1
Theoretically you have to load the module_ids for the canopen driver, but it is not working if you have several chains (head+sensorring) , the canopen parameters are loaded in the name space /head_sensorring_controller   and you need to load the module_ids in the name space for each chain /head_controller and /sensorring_controller , in order to init each component