Need help to teleoprate a 4 wheel robot in webots via ros using a joystick.(pls go easy am a noob)

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This is the link for the code i have been working on: https://pastebin.com/FUfdT41G it doesn't seem to compile properly and have no idea how to fix. The source files that i have based my project file are on gitt hub with the following link https://codeload.github.com/rethink-r... . By installing and running the above packages, i have successfully controlled a pre-built robot in webot via a joystick. However, i am trying to modify the controller to work on a 4 wheel robot.