I'm converting a robot from ROSArduinoBridge over to ROS Serial on a Teensy. As the bridge has its own base controller I have to replace it. I see only two existing options, differentialdrive that is old and shows support only to Grovy and no updates lately and then diffdrivecontroller that looks overly complicated. Is there any other options that already exits or must I write the Diff base controller. It seems like this would already exist. Can someone point me in the right direction? Thanks