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Basically what I'm trying to know is if it's possible for me to control the Kobuki motors directly (send a PWM/voltage signal) rather than input known velocity messages (values)

That's a completely different question than I had understood from your question text.

I don't believe there are any ROS APIs available to do that.

The lowest part of the stack if kobuki_driver which interfaces with the firmware onboard the Kobuki's embedded controller. Afaik (but I could be wrong) there is no interface for direct control of individual motors.

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