missing commands of differential controller

[forgetwhatuwant]

as u can see i only got velocity commands
effort commands and position commands are missing, so i cant connect it with articulation controller
here is all three commands should be like:

[ayushgnv]

Hi @forgetwhatuwant the differential controller now only supports velocity commands. We initially supported all three but the most reliable method was determined to be velocity control. Leaving the other inputs empty in the articulation controller should not pose an issue.