Bebop 2: Can I obtain information about motor rotation from Bebop_autonomy?

Product: Bebop 2
Use of libARController: YES
SDK platform: Ubuntu, ROS

Hello! I have two questions and search for someone who would like to help me.
I have successfully installed the Bebop_autonomy ROS package and the libARController library. They worked in gazebo simulator. However, I found that there is no function to designate moving speed in x, y and z coordinate directions (for example, 1m/s in x axis). And there seems to be no functions in libARController library to realize it. Could Bebop 2 move in designated moving speed in x, y and z directions?
The other question is concerning the motor. Is there any functions to read the information about motor rotation?
Thank you in advance.