Need some direction on differential drive base controler

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I'm converting a robot from ROS_Arduino_Bridge over to ROS _Serial on a Teensy. As the bridge has its own base controller I have to replace it. I see only two existing options, differential_drive that is old and shows support only to Grovy and no updates lately and then diff_drive_controller that looks overly complicated. Is there any other options that already exits or must I write the Diff base controller. It seems like this would already exist. Can someone point me in the right direction? Thanks