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It looks like you have a PID controller to control the speed of each motor, but from what you describe it seems like it is always commanding maximum speed from your motor, regardless of the requested speed.
It may be that your PID controller is not working, or it could be that encoders aren't giving good feedback signals.
Since you are using a pre-built PID controller, I would check the encoders first. You should be able to see the RPM from both encoders by echoing the rpm topic, with
rostopic echo rpm
You should be able to turn your motors by hand and see the RPM values change. If you don't, I would double check that your encoder wires are hooked up, and that your arduino sketch has the correct pin settings for both encoders.
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