setup cartestian gantry Stepper-Motor-Control

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Hello, i´m trying to build a cartesian gantry-robot for an automated shelf-storage-solution. the storage will be connected to multiple robots that fill or empty the storage-shelf. I want the gantry to be ROS-compatible to communicate with the robots.

For the start i would like to control Nema23-Stepper-Motor that drives a belt drive for the up-and-down-movement of the gantry. The Stepper-Motor is driven by an DM542T-Motordriver that is attached to a Raspberry Pi 3 with ROS Melodic on Ubuntu Mate.

As i am a beginner in ROS i would appreciate any help and suggestions for RO-programming of the components. I am looking for existing Nodes or possible solutions to control the Motor.