Regarding hardware implementation of ROS controllers to control a swerve drive

Hello ROS experts, I am an enthusiastic learner of ROS and always trying to learn and implement ROS on various real life scenario’s. This time I am planning to make autonomous swerve drive for various applications but I am unable to find suitable ros_controllers for the hardware implementation of it.
So please help me in this problem and also suggest any other methods of doing it smoothly.
Thank you in advance!