joint_state_controller required for diff_drive_controller?

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Hey,

Is joint_state_controller required when working with diff_drive_controller?

Technically if you talk in terms of simulation with Gazebo, joint states are published by ros_gazebo_diff_drive plugin and we do not require a separate joint state controller. You can just verify it by launching the ROS node for the same and looking into the rqt_graph. They basically use the model states from the gazebo to perform the calculation for the kinematics. If I remember correctly!

For example eborghi10/my_ROS_mobile_robot uses two yaml config files, one containing diff_drive_controller/DiffDriveController as expected and the other one contains joint_state_controller/JointStateController and even effort_controllers/JointEffortController. Are these controllers really required?

If you see the code from gazebo_diff_drive_controller they already publish the joint states!

I don't think,we need a joint effort controller for the diff drive robot ! Just if it is only the velocity!