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As far as an example of a HardwareInterface + ControllerManager out of the wild, I can offer up the husky_base node:

https://github.com/husky/husky/blob/kinetic-devel/husky_base/src/husky_base.cpp

...which is launched with diff_drive_controller here:

https://github.com/husky/husky/blob/kinetic-devel/husky_base/launch/base.launch

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