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If the plugin doesn't provide the necessary Publishers yet, and the data you're after is internal to the plugin, you'll probably have to add ros::Publishers yourself. Basically extend the plugin to create additional publishers for the data you're interested in.

A quick look shows that apart from this single Publisher that publishes motor velocity, there are no others.

You could follow a similar pattern to add your own (and if you want to be nice, add some configuration settings for them as well).