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Always keep tuned in the package wiki ( http://wiki.ros.org/navigation )

ROS Navigation - MoveBase image description

As you can see the only thing that ros navigation is taking care of is what is inside the white box. The velocities commands are exposed as /cmd_vel | geometry_msgs/Twist. Twist has the following struct: Twist

Usually, a wheeled robot just cares about linear.x and angular.z, so YOU should subscribe to this topic and create your personal kinematic model.

However, there are some already builds alternatives ( Differential Driver )

To create your own method you can use Hardware Interface, but this is your choice.