diff --git a/launch/minimal.launch.py b/launch/minimal.launch.py
index 6266d8f..fb4f68c 100644
--- a/launch/minimal.launch.py
+++ b/launch/minimal.launch.py
@@ -49,11 +49,19 @@ def generate_launch_description():
         output="both",
     )
 
+    roboclaw_broadcaster_spawner = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["roboclaw_broadcaster", "--controller-manager", "/controller_manager"],
+        output="both",
+    )
+
     nodes = [
         ros2_control_node,
         robot_state_pub_node,
         joint_state_broadcaster_spawner,
         robot_controller_spawner,
+        roboclaw_broadcaster_spawner,
     ]
 
     return LaunchDescription(nodes)
diff --git a/package.xml b/package.xml
index d3ab369..f1a2a9c 100644
--- a/package.xml
+++ b/package.xml
@@ -12,6 +12,10 @@
   <exec_depend>launch</exec_depend>
   <exec_depend>launch_ros</exec_depend>
   <exec_depend>xacro</exec_depend>
+  <exec_depend>ros2_control</exec_depend>
+  <exec_depend>controller_manager</exec_depend>
+  <exec_depend>diff_drive_controller</exec_depend>
+  <exec_depend>joint_state_broadcaster</exec_depend>
   <exec_depend>roboclaw_hardware_interface</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/params/roboclaw_controllers.yaml b/params/roboclaw_controllers.yaml
index 5946915..5bcfb9b 100644
--- a/params/roboclaw_controllers.yaml
+++ b/params/roboclaw_controllers.yaml
@@ -5,9 +5,18 @@ controller_manager:
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
+    roboclaw_broadcaster:
+      type: roboclaw_broadcaster/RoboClawBroadcaster
+
     diffbot_base_controller:
       type: diff_drive_controller/DiffDriveController
 
+# TODO: These are not yet used
+roboclaw_broadcaster:
+  ros__parameters:
+    publish_rate: 1.0
+    roboclaw_name: roboclaw # TODO: Handle multiple roboclaw units in same interface
+
 diffbot_base_controller:
   ros__parameters:
     left_wheel_names: ["left_wheel_joint"]
diff --git a/urdf/roboclaw.ros2_control.xacro b/urdf/roboclaw.ros2_control.xacro
index 830ff65..a77ee6f 100644
--- a/urdf/roboclaw.ros2_control.xacro
+++ b/urdf/roboclaw.ros2_control.xacro
@@ -12,6 +12,10 @@
       <joint name="left_wheel_joint">
         <command_interface name="velocity"/>
         <state_interface name="position"/>
+        <state_interface name="effort">
+          <!-- effort = motor_constant * current. -->
+          <param name="motor_constant">1.0</param>
+        </state_interface>
         <param name="address">128</param>
         <!--motor types must be one of M1 or M2-->
         <param name="motor_type">M2</param>
@@ -21,12 +25,21 @@
       <joint name="right_wheel_joint">
         <command_interface name="velocity"/>
         <state_interface name="position"/>
+        <state_interface name="effort">
+          <!-- effort = motor_constant * current. -->
+          <param name="motor_constant">1.0</param>
+        </state_interface>
         <param name="address">128</param>
         <!--motor types must be one of M1 or M2-->
         <param name="motor_type">M1</param>
         <!-- Number of encoder ticks per wheel rotation -->
         <param name="qppr">51200</param>
       </joint>
+      <gpio name="roboclaw">
+        <state_interface name="battery_voltage"/>
+        <state_interface name="battery_percent"/>
+        <state_interface name="temperature"/>
+      </gpio>
     </ros2_control>
 
   </xacro:macro>