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The PR2 has a rather complex drive configuration with 12 drive motors and a similarly complex control algorithm. It would not be an appropriate example.
The differential_drive package is a controller based on nodes and topics for controlling a mobile base. Should be easy to understand and work with, but won't work as well for high-speed navigation.
The diff_drive_controller package has a differential drive controller that is built on top of the ros_control framework. More difficult to understand and set up, but should work well at high speeds that require very fast cycle times from the controller.
Keep in mind that these packages provide the software, but to make them work well for your robot and your operating environment you'll need to spend time tuning the controller gains.
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