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I've used @arebgun's controllers and ros_control so am familar with this problem. I have wanted to convert it to ros_control, but never have.

Are you sure you cannot maintain the performance of "broadcasting positions/velocities of mutliple joints on the bus simultaneously" while still using the hardware abstraction layer of ROS control? ROS control would still give you an array of memory representing joint values and you broadcast them across serial/usb however you wish.
ROS Control just recently added support for multiple hardware interfaces with one controller

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