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diff_drive_controller
The diff_drive_controller package for a differential drive mobile base. See also the corresponding controller's ROS wiki page and the C++ API documentation.
The controller works with a velocity twist (subscribes to cmd_vel of type geometry_msgs/Twist) from which it extracts the x component of the linear velocity and the z component of the angular velocity. Velocities on other components are ignored.
The data of the received velocity twist message is split then sent on the two wheels of a differential drive wheel base. Odometry is computed from the feedback from the hardware (via hardware_interface::VelocityJointInterface using pointers and no ROS interfaces (e.g. topics, services, actions)), and published over the odom topic of type nav_msgs/Odometry.