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If you're still interested this two tutorials helped me a lot in a very similar problem. I use the pr2 controllers 'cause I don't have the time to make my own so I just build my own stats over the pr2. Hope it helps you:

http://www.ros.org/wiki/pr2_controllers/Tutorials/Using%20the%20robot%20base%20controllers%20to%20drive%20the%20robot

http://www.ros.org/wiki/pr2_controllers/Tutorials/Using%20the%20base%20controller%20with%20odometry%20and%20transform%20information