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I'm assuming you have ROS installed on your Pi3. I would first start by controlling a servo using the Pi PWM or any of the widely used Pi GPIO libraries. . Then start by writing a ROS servo subscriber node. You can use this ROS tutorial as an example.

Once you have the two parts running, you will have to merge the servo code to the subscriber code, so that the servo node listens on a ros topic, say /pi/servoAngle. You can then send commands to the topic using the rostopic pub command.

If you are not familiar with ROS concepts, I would start with the basic ROS tutorials first.