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If you look here: https://github.com/husky/husky/blob/kinetic-devel/husky_control/config/control.yaml
You can see it loads the type: "diff_drive_controller/DiffDriveController" for the velocity controller.
The source for that is in the ros_controllers package, here: https://github.com/ros-controls/ros_controllers/blob/kinetic-devel/diff_drive_controller/src/diff_drive_controller.cpp.
Specifically, if you want to see how it handles the cmd_vel topic it records the command and does the logic here: https://github.com/ros-controls/ros_controllers/blob/kinetic-devel/diff_drive_controller/src/diff_drive_controller.cpp#L424
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