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Hi there is a list of available plugins in the wiki:

ROS_Motor_and_Sensor_Plugins

there you might find the plugins you are looking for...

I think the (GPU)Laser and Differential Drive could do the job(i never used the second one...)

btw for processing sensor information it would be more useful to write a sensor plugin instead of a model plugin. The rest of your approach seems to be right if you decide to implement this yourself.

I hope this helps