Is differetial_base_commander usable with a non-segway motor

I’m using ISAAC to build a turtle bot, using odrive as ESC. Basically what i’m trying to do is create mux for control over my robot, and select between remote control and autonomous. differetial_base_commander uses RobotRemoteControl which passes segway_cmd, and it also passes js_state from a Joystick. Is the implementation of RobotRemoteControl available somewhere? I cannot find it in the sdk.

The source is not available for RobotRemoteControl but you should not have a problem using the segway_cmd tx with another differential base. The name is misleading but the type is just a trajectory (series of linear and angular target velocities for time steps into the near future).