This node is designed to provide an interface between a diff_drive_controller from ros_control and an Arduino running firmware from ros_arduino_bridge.
This was designed for the Sabertooth 2x32 but should work with all motordriver models from Dimension Engineering that support packet serial.
The Kagaroo 2x Motion Controller handles the PID closed loop control to allow the wheels to be driven with velocity commands and uses hardware to keep the wheels at a constant speed.