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You will need to create a custom robot_hw interface first. Then I'd recommend starting with the PID class in the control_toolbox and creating two separate controllers, an inner and outer. You will need your inner loop to run faster than your outer loop or you could introduce significant instability to your outer control loop.

As for examples I'm not too sure there are many in ROS, most people use a single PID for position or velocity and write it straight as an effort (eg motor volts).