I have setup a hardware interface to read/write to a robot base. The base has a diff drive and a few temperature sensors. I am able to read/write joint data. There is a diff drive controller that can send joy data to a joint and a joint state broadcaster that reads data from the joints(position, velocity and effort). Sensor data is populated by a sensor interface in the same hardware interface.

How do I get sensor data out. The example 4 in ros2control demos talks about an integrate FTS sensor, but no indication on how to get this data broadcasted. https://github.com/ros-controls/ros2controldemos/blob/master/example4/description/ros2control/rrbotsystemwithsensor.ros2_control.xacro#L37

The only available broadcasters are here: https://control.ros.org/master/doc/ros2_controllers/doc/controllers_index.html#available-broadcasters

Do I need to create a temperature sensor broadcaster? Can I use any of the available broadcasters?