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The github page has the instructions for how to use it, but if you have no knowledge of ROS you would not even be able to recognize what parts are the instruction. You need to get familiar with ROS.
I suggest you follow the ROS getting-started tutorials and but build up the simulated turtle bot and get it running. It will only take a few hours and make your life much easier.
After using ROS and getting familiar, go back and look at the github page again. The instructions will then jump out at you.
Now I will answer your direct question.
1 - connect the roboclaw to your PC with a USB cable and power the roboclaw.
2 - Install the driver exactly as shown on github
3 - Start roscore
4 - Start the driver
5 - feed test command to cmd_vel topic - if you've gone through the ROS tutorials, you already know how to do this.
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