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One very simple implementation of what you're interested in is available here:

• updateCommand takes in a speed and angular rate in the range [-1.0,1.0] (which can be directly mapped to joystick axes) and generates left and right wheel int8_t commands in the range [-127,127]. You'd basically just have to substitute the "127" for a "100" as far as I can see.
• A message containing the left and right wheel command is sent to an Arduino via rosserial_arduino. This is then used to apply PWM to the motors on the Arduino side via this code in the command callback.