Hello, i am building a mobile manipulator and i have arleady written a hardware interface for my arm, I am a bit confused, on how to write the hardware interface for the differential controller my communication is with rosserial-arduino and i can get the encoder values (e.g 33000 ticks per meter) in the read() do i need jointposition = angle ?? jointvelocity = angle/time??

in the write() i can just get jointvelocitycommand_ and publish it to arduino? also i think there is a bug with the controller not publishing joint states for the wheels is that still the case?

my code https://github.com/panagelak/Open_Mobile_Manipulator