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As Marcus said, you should declare wheel1_state and wheel2_state. In "writing a realtime controller", only one joint is controlled and its state is retrieved in the variable "joint_state_" declared in "my_controller_file.h . In your case, you will need two joints states (one for each wheel), so you have to replace "joint_state_" with "wheel1_state" and "wheel2_state".

Hope this helps,

Guido

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