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IIURC, you want to send commands to different interfaces from a single controller, but there is one interface associated to each resource (eg. joint). This is currently not well supported, and would require (C++ and ROS) API changes to be done correctly.

That being said, you could hack your way around by deriving your controller from controller_interface::ControllerBase (as opposed to controller_interface::Controller<T>). The upside is that you get access to a RobotHW*, (as opposed to a particular interface), hence to all the robot's resources. The downside is that the getHardwareInterfaceType method, which you must implement, assumes a single HW interface. Resource conflict handling might not work correctly in such a case, I haven't checked the implications in detail.

This is not what you are trying to do, but I add it here for completeness. If you want to attack the same resource from different HW interfaces, you can implement a custom checkForConflict(...) method for your hardware abstraction, and override the default exclusive resource usage policy.