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We are using diff_drive_controller with a physical (and simulated) robot here:
https://github.com/memristor/mep3/

Firmware:
https://github.com/memristor/mep3/tree/main/firmware/motion_board

ros2_control hardware interface implementation:
https://github.com/memristor/mep3/blob/main/mep3_driver/src/motion_board_driver.cpp

Launch file:
https://github.com/memristor/mep3/blob/main/mep3_driver/launch/driver_launch.py

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