Ask about JTC and chained DDC

[moveito]

Hello community!

I have created a controller that would concatenate the output of the JTC to the DDC.
Take a look at the link.
https://github.com/moveito/mom_diff_drive_controller/tree/main
MOM is an acronym for MObile_Manipulator.
The purpose of creating this is to control a robot that is driven differentially by Moveit2.

What I did was to DDC.

1. added on_export_state_interfaces()
2. added odom values to state_interfaces_values_.
3. changed the calculation method of linear_command and angular_command values

I checked the changes with my own robot.
Maybe it is working.
https://x.com/move_ito/status/1905974761924305273

If possible, it would be great if this change could be reflected in ros2_controllers.
I'm new to this kind of OSS activity, so I'd like to know.

1. Is it already implemented in other ways to begin with?
2. which is the best direction to reflect this change?
   　2-1. reflect this change in DDC
   　2-2. create another controller (e.g. Planar Base Controller (PBC)) and make it chain Joint Trajectory Controller (JTC) → PBC → Diff Drive Controller (DDC)

Thank you in advance.