Hello,

I am building a differential drive robot using the diffdrivecontroller and now I am writing the hardware interface for it, there are some problems that I have faced and I hope someone can help me solve it

now the diffdrivecontroller should get a feedback from the motor encoders and will send velocity commands to the motors my question is which hardware interface class shall I use out of those? I have found that there is no class like velcommandinterface and velstateinterface same as the example which written on the wiki here using the joint interface, does that mean that I should use one of the classes which contain a vel command variable and a pos interface variable and consider the other variable as redundant and do not use them?