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You would use a ROS "client" node that sends messages to RosAria's cmd_vel topic to control robot velocity. See "Writing a Simple Publisher and Subscriber" at http://wiki.ros.org/ROS/Tutorials to get started writing your own client.
Some examples you can start from is available at https://github.com/pengtang/rosaria_client, including a simple teleoperation using keyboard control.
Another one that uses Python is http://wiki.ros.org/teleop_twist_keyboard, just map its cmd_vel output topic to /RosAria/cmd_vel or vice-versa.
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You would use a ROS "client" node that sends messages to RosAria's cmd_vel/RosAria/cmd_vel
Some examples you can start from is available at https://github.com/pengtang/rosaria_client, including a simple teleoperation using keyboard control.
Another one that uses Python is http://wiki.ros.org/teleop_twist_keyboard, just map its cmd_vel output topic to /RosAria/cmd_vel or vice-versa.
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