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I'm not terribly familiar with this code, but from reading through the documentation, it looks like it's running a full ROS node on the STM32.
If that's true, all you really need to do is set up a ROS master and set the ROS_MASTER_URI on the STM32, and it should connect to the ROS master and start advertising topics.
I don't see anything obvious in the docs or tutorials about how to set the ROS_MASTER_URI, but it looks like it's hardcoded into the example here: https://github.com/bosch-ros-pkg/stm32/blob/df1d808b23535d7d610d1c457d98652802954fce/src/device_config.h#L38-L43 . I would change that to your computer's IP address, make sure you have a roscore running, and then plug it in and see if it connects. If all is working, you should be able to see the node when and its topics when you run rosnode list and rostopic list on your PC.
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